Method, device and system for linkage control of multi-joint permanent magnet synchronous motors in robots

Abstract

This invention relates to the field of motors, and in particular to a method, apparatus, and system for linkage control of multi-joint permanent magnet synchronous motors in robots. The method introduces errors into the drive current of each motor based on the motion parameters of each joint corresponding to the target task. It establishes a first set of equations and a second set of equations based on the principles that the cumulative sum of joint motion vectors equals the overall robot motion and that motion is continuous during task transitions. By solving the equations, the introduced errors can be obtained, thereby correcting the drive current of each motor. This yields an actual current that takes into account motor operating deviations and enables the robot to accurately complete the target action, thus achieving precise control of the robot.

Description

Technical Field

[0001] This invention relates to the field of electric motors, and in particular to a method, apparatus and system for linkage control of multi-joint permanent magnet synchronous motors for robots. Background Technology

[0002] The joint drives of multi-shutdown robots generally use permanent magnet synchronous motors, mainly because they have many advantages such as high efficiency, high torque density, high control precision, wide speed range, simple structure and reliable operation.

[0003] The working principle of a permanent magnet synchronous motor is the interaction between the rotating magnetic field generated by the stator after the drive current is applied and the magnetic field of the permanent magnet on the rotor, which drives the rotor to rotate. In the existing technology, when a robot needs to perform a certain target action, a corresponding drive current is usually applied to the permanent magnet synchronous motor of each joint. This drive current is the drive current in the ideal state (i.e., the corresponding joint action is completely standard) derived from the target action. However, the actual action performed by the driven joint often has deviations, which will lead to the overall action deviation of the robot, affecting the robot's motion accuracy and stability, and failing to meet the requirements of high-precision operation. Summary of the Invention

[0004] Therefore, it is necessary to provide a method, device, and system for linkage control of multi-joint permanent magnet synchronous motors in robots to address the above-mentioned problems.

[0005] The present invention is implemented as follows: a method for linkage control of multi-joint permanent magnet synchronous motors in a robot is provided, the method comprising:

[0006] S1: Obtain the target task and determine the motion parameters of each motor in the target task;

[0007] S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors;

[0008] S3: Based on the motion parameters of each motor, the distribution of the drive current of each motor on the time axis is obtained;

[0009] S4: Construct the joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation;

[0010] S5: Switch the master motor, execute steps S3 to S5, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations;

[0011] S6: Divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected;

[0012] S7: Solve the first and second sets of equations to obtain the error of each motor's operation;

[0013] S8: Correct the motor drive current according to the corresponding error, and control the motor operation according to the corrected drive current.

[0014] In one embodiment, the present invention provides a method for linkage control of a robot's multi-joint permanent magnet synchronous motor, wherein the module of the robot's multi-joint permanent magnet synchronous motor linkage control device is used to execute the robot's multi-joint permanent magnet synchronous motor linkage control method, including:

[0015] The acquisition module is used to acquire the target task and determine the motion parameters of each motor in the target task.

[0016] The first processing module is used to determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors.

[0017] The second processing module is used to obtain the distribution of the drive current of each motor on the time axis based on the motion parameters of each motor.

[0018] The third processing module is used to construct a joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and to incorporate the error to obtain the first equation;

[0019] The fourth processing module is used to switch the master motor, execute steps S3 to S6, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations;

[0020] The fifth processing module is used to divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected.

[0021] The sixth processing module is used to solve the first and second sets of equations to obtain the error of each motor action;

[0022] The seventh processing module is used to correct the motor's drive current based on the corresponding error, and to control the motor's operation based on the corrected drive current.

[0023] In one embodiment, the present invention provides a robot multi-joint permanent magnet synchronous motor linkage control system, the method comprising:

[0024] The robot has several motors used to drive the movement of its joints;

[0025] A computer device, connected to each motor, is used to execute the aforementioned robot multi-joint permanent magnet synchronous motor linkage control method.

[0026] This invention provides a method, apparatus, and system for the linkage control of multi-joint permanent magnet synchronous motors in a robot. The method includes: acquiring a target task; determining the motion parameters of each motor in the target task; determining a master motor based on the motion parameters of each motor, with the remaining motors being slave motors; obtaining the distribution of the drive current of each motor on the time axis based on the motion parameters of each motor; constructing a joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and incorporating errors to obtain a first equation; switching the master motor and executing the above steps to obtain the first equation under different master-slave motor combinations, constructing a first equation set consisting of several first equations; dividing the target task into stages, and establishing a second equation set based on the condition of continuous motion during stage transitions. The system of equations is used to solve the first and second sets of equations to obtain the error of each motor's movement. The drive current of the motor is then corrected based on the corresponding error, and the motor operation is controlled based on the corrected drive current. In this application, the drive current of each motor can be introduced with error based on the motion parameters of each joint corresponding to the target task. The first and second sets of equations are established based on the principle that the cumulative sum of the joint motion vectors equals the overall motion of the robot and the condition that the motion is continuous when the task phases are connected. By solving the system of equations, the introduced error can be obtained, and the drive current of each motor can be corrected. The actual current that takes into account the motor running deviation can be obtained, which enables the robot to accurately complete the target action, thereby achieving precise control of the robot. Attached Figure Description

[0027] Figure 1 This is a first flowchart of a robot multi-joint permanent magnet synchronous motor linkage control method provided in one embodiment;

[0028] Figure 2 This is a second flowchart of a robot multi-joint permanent magnet synchronous motor linkage control method provided in one embodiment;

[0029] Figure 3 A flowchart of a robot multi-joint permanent magnet synchronous motor linkage control device provided in one embodiment;

[0030] Figure 4 This is a schematic diagram of the composition of a robot multi-joint permanent magnet synchronous motor linkage control system provided in one embodiment;

[0031] Figure 5 This is a block diagram of the internal structure of a computer device in one embodiment. Detailed Implementation

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0033] It is understood that the terms "first," "second," etc., used in this invention may be used to describe various elements herein, but unless specifically stated otherwise, these elements are not limited by these terms. These terms are used only to distinguish one element from another. For example, without departing from the scope of this invention, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script.

[0034] like Figures 1-2 As shown, in one embodiment, a method for linkage control of multi-joint permanent magnet synchronous motors in a robot is proposed, the method comprising:

[0035] S1: Obtain the target task and determine the motion parameters of each motor in the target task;

[0036] S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors;

[0037] S3: Based on the motion parameters of each motor, the distribution of the drive current of each motor on the time axis is obtained;

[0038] S4: Construct the joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation;

[0039] S5: Switch the master motor, execute steps S3 to S5, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations;

[0040] S6: Divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected;

[0041] S7: Solve the first and second sets of equations to obtain the error of each motor's operation;

[0042] S8: Correct the motor drive current according to the corresponding error, and control the motor operation according to the corrected drive current.

[0043] In this embodiment, the method is executed in a computer device, which can be an independent physical server or terminal, or a server cluster consisting of multiple physical servers, or a cloud server that provides basic cloud computing services such as cloud servers, cloud databases, cloud storage, and CDN; the robot in this embodiment is a multi-joint robot, such as a robotic arm or a humanoid robot; the multi-joint robot is equipped with several motors (permanent magnet synchronous motors) for controlling the joint movement, and each motor is controlled by the computer device;

[0044] In this embodiment, the target task is a task performed by the coordinated movement of all joints of the robot, such as 'picking up object A'. The robot is equipped with a vision device controlled by a computer. The computer device can determine the relative position of object A and the robot itself through the vision device, and then determine the target action that the robot needs to perform to complete the target task. This allows the computer device to determine the motion actions that each joint needs to perform to enable the robot to complete the target action, and thus determine the motion parameters corresponding to each motion action. Specifically, the computer device can generate a simulation model of the robot and invoke the simulation model to execute the target action, thereby identifying the motion parameters of each joint in the model (including motion amplitude, motion speed, motion acceleration, start time, etc.). In this embodiment, by calculating the complexity of the motion parameters, the motor with the highest complexity can be identified as the master motor, and the remaining motors are slave motors.

[0045] In this embodiment, the drive current of the permanent magnet synchronous motor is a sinusoidal current. The specific starting time corresponds to the position of the starting point of the sinusoidal wave, and the specific motion amplitude, motion speed and motion acceleration correspond to the specific sinusoidal phase, so that the drive current of motors with different motion parameters is also different on the time axis.

[0046] In this embodiment, from the starting point to the ending point, that is, the robot executes the starting action corresponding to the target task to the ending action; the error includes the delay time and the motion deviation. The delay time will affect the position of the starting point of the driving current on the time axis, while the motion deviation will affect the phase of the driving current.

[0047] In this embodiment, the robot's movement from the starting point to the ending point can be considered as the sum of the motion vectors of each joint. Based on this quantitative relationship, a first equation can be established; the main motor is switched by adjusting... The complexity of the motion parameters changes, thereby altering the complexity of the motion parameters of each motor, causing the master motor to change (this process is simulated in a computer device), thus enabling the establishment of several first equations (corresponding to specific master-slave motor combinations), forming a set of first equations;

[0048] In this embodiment, the target task can be divided into several stages. For example, the target task 'picking up object A' can be divided into three stages: 'approaching object A, grasping object A, and lifting object A'. The three stages are divided based on the characteristic that there is no delay in the synchronous motion of the motor when the stages are connected. According to this characteristic, at the transition point between stages, the acceleration of the robot's overall motion (the resultant vector of the motion vectors of each joint) is 0, which yields the second set of equations. Thus, a second set of equations consisting of several (the number of transition points between stages) can be established.

[0049] In this embodiment, by solving the first set of equations and the second set of equations, the error can be obtained for each master-slave motor pairing, and then the drive current of each motor under the master-slave motor pairing can be corrected and adjusted; by selecting a set of master-slave motor pairings and the corresponding corrected drive currents to drive the corresponding motors, the robot can accurately execute the target task.

[0050] In this application, errors can be introduced into the drive current of each motor based on the motion parameters of each joint corresponding to the target task. Based on the principle that the cumulative sum of joint motion vectors equals the overall robot motion and the condition that motion is continuous during the transition of task phases, a first set of equations and a second set of equations are established. By solving the set of equations, the introduced errors can be obtained, thereby correcting the drive current of each motor. The actual current that takes into account the motor running deviation is obtained, which enables the robot to accurately complete the target action, thus enabling precise control of the robot.

[0051] In a preferred embodiment, the motion parameters include motion amplitude, motion speed, motion acceleration, and start time;

[0052] A main motor is determined based on the motion parameters of each motor, including:

[0053] For each motor, the motion complexity is calculated based on the corresponding motion parameters:

[0054]

[0055] in, Here, A represents the motion complexity, V represents the motion amplitude normalization value, a represents the motion velocity normalization value, and O represents the motion acceleration normalization value. Let A be the weighting coefficient. The weighting coefficients for V; Let be the weighting coefficient of 'a'; The weighting coefficient for 0;

[0056] The normalized value at startup time is calculated using the following formula:

[0057]

[0058] in, This is the start-up time of the motor. The moment when the target action begins to be executed. The moment when the target action is completed.

[0059] In this embodiment, the weighting coefficients are determined based on the specific application scenario of the robot, for example... The weights of motion speed and acceleration can be set to be greater than those of motion amplitude, for example... Set to 0.2, and All are set to 0.5; additionally, since the main motor needs to be changed by altering the start-up time, therefore... Set it to the maximum, for example, 1.0;

[0060] In this embodiment, to ensure the stability of the motion, a parameter range is preset for each motion parameter; the motion amplitude normalization value is calculated using the following formula:

[0061]

[0062] in, For the range of motion, The maximum value (minimum value is 0) of the parameter range for the amplitude of motion.

[0063] The normalized value of motion velocity is calculated using the following formula:

[0064]

[0065] in, For the speed of movement, The maximum value (minimum value is 0) of the parameter range for motion speed.

[0066] The normalized value of the acceleration is calculated using the following formula:

[0067]

[0068] in, For acceleration of motion, This represents the maximum acceleration (minimum value is 0).

[0069] In this embodiment, after the computer device obtains the target task, it sets a future time (e.g., 2 seconds after the current time) to start executing the target task and a time to complete the target task (e.g., 5 seconds after the current time), thus obtaining the execution time period of the target task; after determining the time period, the normalized value of the start time can be determined based on the relationship between the start time and the time period.

[0070] In a preferred embodiment, the joint parameters are the vector coordinates corresponding to the equivalent vectors of the joints; based on the joint parameters and the motion parameters of each motor, a joint motion vector from the starting point to the ending point is constructed, and the error is incorporated to obtain the first equation, which includes:

[0071] Identify the starting and ending poses of the joints, and then determine the pose for each process from the starting pose to the ending pose based on the motion parameters.

[0072] By determining the joint vector coordinates corresponding to each pose, we can obtain the joint motion vector:

[0073]

[0074] in, For the first The joint motion vector of each joint as of time t. For the first The x-coordinate function of the joint motion of each joint. For the first The y-coordinate function of the joint motion of each joint. For the first The z-coordinate function of the joint motion of each joint;

[0075] Each joint motion vector is incorporated into two error parameters: delay duration and motion deviation.

[0076] Identify the end-effector pose vectors of the robot and establish the first equation based on each end-effector pose vector and each joint motion vector.

[0077] The joint motion vector incorporating two error parameters is represented as follows:

[0078]

[0079] in, For the first The joint motion vector after incorporating two error parameters. Incorporate delay duration into motion vectors, This is motion deviation;

[0080] The first equation is expressed as:

[0081]

[0082] in, The endpoint pose vector.

[0083] The first system of equations constructed is shown below:

[0084]

[0085] in, Let be the joint motion vector of the j-th joint after incorporating error parameters, when the i-th shutdown is used as the main motor.

[0086] In this embodiment, while the computer device generates the robot simulation model, it also generates a spatial coordinate system, thereby determining the vector coordinates corresponding to each joint. The equivalent vector of a joint is the vector connecting the start and end points of the joint (direction from the start to the end point). Since the joints are constantly moving during the execution of the target task, their joint motion vectors also change accordingly with time. Therefore, the x, y, and z coordinates are all functions that change with time t. The starting pose is the position and orientation of the joint at the moment when the target task begins to be executed, the ending pose is the position and orientation of the joint at the moment when the target task is completed, and the process pose is the position and orientation of the joint during the execution of the target task. Each pose can be determined by simulating the execution of the target task in the simulation model. In addition, the end point pose vector of the robot's end point is the vector connecting the start and end points of the robot, which is equal to the cumulative sum of the motion vectors of each joint, thus establishing the first equation. The first equations are then summarized into a first set of equations.

[0087] As a preferred embodiment, the target task is divided into stages, and a second set of equations is established based on the condition of continuous motion during stage transitions, including:

[0088] The target task is divided into m stages;

[0089] Determine the end time of each stage;

[0090] The second system of equations is constructed as follows:

[0091]

[0092] in, This is the moment when the p-th stage ends.

[0093] In this embodiment, the set of equations is the second set of equations, which includes several second equations. When any stage connects to the next stage, there is no delay in the synchronous movement of each motor. That is, at each stage connection point, each motor simultaneously reaches the pose when the previous action was completed. At this time, the movement of each joint is synchronized, and the cumulative acceleration of the joint motion vector of each joint is 0, thus enabling the construction of one second equation. According to this method, a second equation can be established for each two stage connections, thus obtaining a set of second equations. For example, if there are 5 stages, that is, 4 stage connections, a set of second equations including four second equations can be established.

[0094] As a preferred embodiment, the distribution of the motor's drive current along the time axis is expressed by the following formula:

[0095]

[0096] in, For driving current, The amplitude of the driving current, The phase of the driving current, It is a time function;

[0097] The corrected drive current is expressed as:

[0098]

[0099] in, The corrected drive current, for The resulting phase compensation function.

[0100] Also includes:

[0101] For each master-slave motor combination, retrieve the corrected drive current of each motor in the combination on the time axis;

[0102] The starting time of the earliest drive current curve on the time axis is identified as the first moment, the starting time of the latest drive current curve is identified as the second moment, and the time between the first moment and the second moment is determined as the running time.

[0103] For each operating moment, the current value corresponding to that operating moment on each drive current curve is accumulated to obtain the supply current for that operating moment;

[0104] Establish a power supply current curve, identify the peak current of the curve, and determine whether the peak current exceeds the preset value. If so, exclude the master-slave motor combination.

[0105] If not, calculate the standard deviation of the supply current curve;

[0106] The master-slave motor combination corresponding to the power supply current curve with the smallest standard deviation is determined as the target master-slave motor combination, so that the corresponding motor is controlled to run according to the corrected drive current corresponding to the target master-slave motor combination.

[0107] In this embodiment, the joint movement driven by the phase compensation function of the modified drive current can compensate for the motion deviation, so that the joint movement meets the standard; after subtracting the delay time from the modified drive current, the start time of the joint can be adjusted to eliminate the deviation of the joint in the motion time.

[0108] In this embodiment, a master-slave motor combination (including one master motor and the remaining slave motors) is a master-slave motor pairing. The corrected drive current of each motor has a different distribution on the time axis. The horizontal axis of the power supply current curve is the time axis, and the vertical axis is the current value. The horizontal axis of each point is a moment, and the vertical axis is the cumulative sum of the drive current values ​​of each motor at that moment, which represents the instantaneous power supply current at that moment. The power supply current curve represents the changing trend of the overall power supply current required for the robot during the entire target task execution process. In order to protect the safety of the circuit, the power supply current usually has a preset upper limit value, i.e., a preset value, such as 30A. If the peak current of the power supply current exceeds the upper limit value, there is a circuit safety hazard according to the corresponding master-slave motor combination for each motor, which should be eliminated. In addition, determining the master-slave motor combination corresponding to the power supply current curve with the smallest standard deviation as the target master-slave motor combination can reduce the fluctuation of the power supply current and is more conducive to ensuring the stability of the circuit.

[0109] like Figure 3 As shown, in one embodiment, a robot multi-joint permanent magnet synchronous motor linkage control method is proposed. The module of the robot multi-joint permanent magnet synchronous motor linkage control device is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method, including:

[0110] The acquisition module is used to acquire the target task and determine the motion parameters of each motor in the target task.

[0111] The first processing module is used to determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors.

[0112] The second processing module is used to obtain the distribution of the drive current of each motor on the time axis based on the motion parameters of each motor.

[0113] The third processing module is used to construct a joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and to incorporate the error to obtain the first equation;

[0114] The fourth processing module is used to switch the master motor, execute steps S3 to S6, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations;

[0115] The fifth processing module is used to divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected.

[0116] The sixth processing module is used to solve the first and second sets of equations to obtain the error of each motor action;

[0117] The seventh processing module is used to correct the motor's drive current based on the corresponding error, and to control the motor's operation based on the corrected drive current.

[0118] The process by which each module in the robot multi-joint permanent magnet synchronous motor linkage control method device provided in this embodiment realizes its respective function can be specifically referred to the foregoing. Figure 1 The description of the illustrated embodiment will not be repeated here.

[0119] like Figure 4 As shown, in one embodiment, a robot multi-joint permanent magnet synchronous motor linkage control system is proposed, the method comprising:

[0120] The robot has several motors used to drive the movement of its joints;

[0121] A computer device, connected to each motor, is used to execute the aforementioned robot multi-joint permanent magnet synchronous motor linkage control method.

[0122] In this application, the computer equipment works in conjunction with each motor to introduce errors into the drive current of each motor based on the motion parameters of each joint corresponding to the target task. Based on the principles that the cumulative sum of joint motion vectors equals the overall robot motion and the condition that motion is continuous during task transitions, a first set of equations and a second set of equations are established. By solving the equations, the introduced errors can be obtained, thereby correcting the drive current of each motor. This yields the actual current that takes into account motor operating deviations and enables the robot to accurately complete the target action, thus achieving precise control of the robot.

[0123] Figure 5 An internal structural diagram of a computer device in one embodiment is shown. Figure 5 As shown, the computer device includes a processor, memory, network interface, input device, and display screen connected via a system bus. The memory includes a non-volatile storage medium and internal memory. The non-volatile storage medium stores an operating system and may also store a computer program. When executed by the processor, this computer program enables the processor to implement the robot multi-joint permanent magnet synchronous motor linkage control method provided in this embodiment of the invention. The internal memory may also store a computer program. When executed by the processor, this computer program enables the processor to execute the robot multi-joint permanent magnet synchronous motor linkage control method provided in this embodiment of the invention. The display screen of the computer device can be a liquid crystal display screen or an e-ink display screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, a trackball, or a touchpad mounted on the casing of the computer device, or an external keyboard, touchpad, or mouse, etc.

[0124] Those skilled in the art will understand that Figure 5The structure shown is merely a block diagram of a portion of the structure related to the present invention and does not constitute a limitation on the computer device to which the present invention is applied. A specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0125] In one embodiment, the robot multi-joint permanent magnet synchronous motor linkage control device provided by the present invention can be implemented as a computer program, and the computer program can be implemented in the form of, for example, Figure 5 The computer device shown is running the program. The computer device's memory can store the various program modules that make up the robot's multi-joint permanent magnet synchronous motor linkage control device, for example, Figure 3 The diagram shows the acquisition module, first processing module, second processing module, third processing module, fourth processing module, fifth processing module, sixth processing module, and seventh processing module. The computer program comprised of these modules causes the processor to execute the steps in the robot multi-joint permanent magnet synchronous motor linkage control method of the various embodiments of the present invention described in this specification.

[0126] For example, Figure 5 The computer equipment shown can be used as follows Figure 3 The acquisition module in the robot multi-joint permanent magnet synchronous motor linkage control device shown executes step S1; the computer device can execute step S2 through the first processing module; the computer device can execute step S3 through the second processing module; the computer device can execute step S4 through the third processing module; the computer device can execute step S5 through the fourth processing module; the computer device can execute step S6 through the fifth processing module; the computer device can execute step S7 through the sixth processing module; and the computer device can execute step S8 through the seventh processing module.

[0127] In one embodiment, a computer device is provided, the computer device including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, performs the following steps:

[0128] S1: Obtain the target task and determine the motion parameters of each motor in the target task;

[0129] S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors;

[0130] S3: Based on the motion parameters of each motor, the distribution of the drive current of each motor on the time axis is obtained;

[0131] S4: Construct the joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation;

[0132] S5: Switch the master motor, execute steps S3 to S5, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations;

[0133] S6: Divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected;

[0134] S7: Solve the first and second sets of equations to obtain the error of each motor's operation;

[0135] S8: Correct the motor drive current according to the corresponding error, and control the motor operation according to the corrected drive current.

[0136] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which, when executed by a processor, causes the processor to perform the following steps:

[0137] S1: Obtain the target task and determine the motion parameters of each motor in the target task;

[0138] S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors;

[0139] S3: Based on the motion parameters of each motor, the distribution of the drive current of each motor on the time axis is obtained;

[0140] S4: Construct the joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation;

[0141] S5: Switch the master motor, execute steps S3 to S5, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations;

[0142] S6: Divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected;

[0143] S7: Solve the first and second sets of equations to obtain the error of each motor's operation;

[0144] S8: Correct the motor drive current according to the corresponding error, and control the motor operation according to the corrected drive current.

[0145] It should be understood that although the steps in the flowcharts of the various embodiments of the present invention are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the various embodiments may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least a portion of the sub-steps or stages of other steps.

[0146] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in the embodiments provided by this invention can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0147] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0148] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of this patent should be determined by the appended claims.

Claims

1. A method for linkage control of multi-joint permanent magnet synchronous motors in a robot, characterized in that, The method includes: S1: Obtain the target task and determine the motion parameters of each motor in the target task; S2: Determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors; S3: Based on the motion parameters of each motor, the distribution of the drive current of each motor on the time axis is obtained; S4: Construct the joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and incorporate the error to obtain the first equation; S5: Switch the master motor, execute steps S3 to S5, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations; S6: Divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected; S7: Solve the first and second sets of equations to obtain the error of each motor's operation; S8: Correct the motor drive current according to the corresponding error, and control the motor operation according to the corrected drive current.

2. The method according to claim 1, characterized in that, Motion parameters include amplitude of motion, velocity of motion, acceleration of motion, and start time; A main motor is determined based on the motion parameters of each motor, including: For each motor, the motion complexity is calculated based on the corresponding motion parameters: in, Here, A represents the motion complexity, V represents the motion amplitude normalization value, a represents the motion velocity normalization value, and O represents the motion acceleration normalization value. Let A be the weighting coefficient. The weighting coefficients for V; Let be the weighting coefficient of 'a'; The weighting coefficient for 0; The normalized value at startup time is calculated using the following formula: in, This is the start-up time of the motor. The moment when the target action begins to be executed. The moment when the target action is completed.

3. The method according to claim 1, characterized in that, Joint parameters are the vector coordinates corresponding to the equivalent vectors of the joint; Based on the joint parameters and the motion parameters of each motor, a joint motion vector from the starting point to the ending point is constructed, and the error is incorporated to obtain the first equation, which includes: Identify the starting and ending poses of the joints, and then determine the pose for each process from the starting pose to the ending pose based on the motion parameters. By determining the joint vector coordinates corresponding to each pose, we can obtain the joint motion vector: in, Let be the joint motion vector of the j-th joint as time t changes. Let x be the x-coordinate function of the joint motion of the j-th joint. Let be the y-coordinate function of the joint motion of the j-th joint. Let z be the z-coordinate function of the joint motion of the j-th joint; Each joint motion vector is incorporated into two error parameters: delay duration and motion deviation. Identify the end-effector pose vectors of the robot and establish the first equation based on each end-effector pose vector and each joint motion vector.

4. The method according to claim 3, characterized in that, The joint motion vector incorporating two error parameters is represented as follows: in, Let the j-th joint be the joint motion vector after incorporating two error parameters. Incorporate delay duration into motion vectors, This is motion deviation; The first equation is expressed as: in, The endpoint pose vector.

5. The method according to claim 4, characterized in that, The first system of equations constructed is shown below: in, Let k be the joint motion vector of the j-th joint after incorporating error parameters, with the i-th shutdown as the main motor.

6. The method according to claim 5, characterized in that, The target task is divided into stages, and a second set of equations is established based on the condition of continuous motion during the transition between stages, including: The target task is divided into m stages; Determine the end time of each stage; The second system of equations is constructed as follows: in, This is the moment when the p-th stage ends.

7. The method according to claim 6, characterized in that, The distribution of the motor's drive current along the time axis is represented by the following formula: in, For driving current, The amplitude of the driving current, The phase of the driving current, It is a time function; The corrected drive current is expressed as: in, The corrected drive current, for The resulting phase compensation function.

8. The method according to claim 7, characterized in that, Also includes: For each master-slave motor combination, retrieve the corrected drive current of each motor in the combination on the time axis; The starting time of the earliest drive current curve on the time axis is identified as the first moment, the starting time of the latest drive current curve is identified as the second moment, and the time between the first moment and the second moment is determined as the running time. For each operating moment, the current value corresponding to that operating moment on each drive current curve is accumulated to obtain the supply current for that operating moment; Establish a power supply current curve, identify the peak current of the curve, and determine whether the peak current exceeds the preset value. If so, exclude the master-slave motor combination. If not, calculate the standard deviation of the supply current curve; The master-slave motor combination corresponding to the power supply current curve with the smallest standard deviation is determined as the target master-slave motor combination, so that the corresponding motor is controlled to run according to the corrected drive current corresponding to the target master-slave motor combination.

9. A method for linkage control of multi-joint permanent magnet synchronous motors in a robot, characterized in that, The module of the robot multi-joint permanent magnet synchronous motor linkage control device is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method, including: The acquisition module is used to acquire the target task and determine the motion parameters of each motor in the target task. The first processing module is used to determine a master motor based on the motion parameters of each motor, and the remaining motors are slave motors. The second processing module is used to obtain the distribution of the drive current of each motor on the time axis based on the motion parameters of each motor. The third processing module is used to construct a joint motion vector from the starting point to the ending point based on the joint parameters and the motion parameters of each motor, and to incorporate the error to obtain the first equation; The fourth processing module is used to switch the master motor, execute steps S3 to S6, obtain the first equation under different master-slave motor combinations, and construct a first equation group consisting of several first equations; The fifth processing module is used to divide the target task into stages and establish the second set of equations based on the condition of continuous motion when the stages are connected. The sixth processing module is used to solve the first and second sets of equations to obtain the error of each motor action; The seventh processing module is used to correct the motor's drive current based on the corresponding error, and to control the motor's operation based on the corrected drive current.

10. A linkage control system for a multi-joint permanent magnet synchronous motor of a robot, characterized in that, The method includes: The robot has several motors used to drive the movement of its joints; A computer device, connected to each motor, is used to execute the robot multi-joint permanent magnet synchronous motor linkage control method as described in any one of claims 1-8.

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