Electric actuator control method and control system

Abstract

The invention discloses an electric actuator control method and system, and the method comprises the following steps: carrying out the safety check of hardware connection, and carrying out the safety test of an electric actuator; basic parameters and control parameters of the actuator are set, the basic parameters and the control parameters are matched based on the control demand information, and a control mode is selected; controlling the actuator to act based on the control mode, and acquiring state information of the actuator in real time; comparing the actuator state information with the limit state information to obtain a state deviation rate; judging whether the state deviation rate is greater than or equal to a set deviation rate threshold value; if yes, an emergency processing strategy is matched with the electric actuator based on the early warning information; if yes, state information of the actuator is displayed in real time; different control modes are selected according to different requirements to analyze the state of the electric actuator, so that faults and abnormities of the electric actuator are accurately and efficiently analyzed, dynamic early warning is carried out, and the use safety of the electric actuator is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric actuators, and in particular to an electric actuator control method and control system. Background Art

[0002] The control steps for electric actuators must be tailored to the specific application scenario (e.g., industrial automation, robotics, smart homes) and the control objectives (e.g., position control, speed control, torque control, etc.). Existing electric actuator control methods make it difficult to accurately analyze the operating status of the actuator by selecting different control modes, thus failing to precisely control the actuator's motion accuracy and intelligent operation. Summary of the Invention

[0003] The purpose of the present invention is to provide a method for controlling an electric actuator, comprising the following steps:

[0004] S1, hardware connection safety check and safety test of electric actuator;

[0005] S2, setting the basic parameters and control parameters of the actuator, matching the basic parameters and control parameters based on the control requirement information, and selecting the control mode;

[0006] S3, controls the actuator action based on the control mode and obtains the actuator status information in real time;

[0007] S4, comparing the actuator state information with the limit state information to obtain the state deviation rate;

[0008] S5, determining whether the state deviation rate is greater than or equal to a set deviation rate threshold;

[0009] S6: If it is greater than or equal to, an early warning message is generated, and an emergency treatment strategy is matched to the electric actuator based on the early warning message; if it is less than, the status information of the actuator is displayed in real time.

[0010] Furthermore, step S1 specifically includes:

[0011] S101, check that the mechanical structure of the electric actuator is firmly connected and not stuck or loose;

[0012] S102, analyzing the circuit connections between the electric actuator and the controller, and between the sensor and the power supply;

[0013] S103, conducting a power-on test on the connected electric actuator to obtain test data;

[0014] S104, comparing the test data with the test standard to obtain a data difference;

[0015] S105: Analyze the data difference to determine whether it meets the data difference safety range. If so, the test is considered safe. If not, the test fails and the abnormal connection position of the connection structure and circuit is repeatedly checked.

[0016] The controller includes one or a combination of two or more of a PLC, a motion controller and a single chip microcomputer;

[0017] The sensor includes an encoder, a limit switch and a force sensor.

[0018] Furthermore, step S2 specifically includes:

[0019] The actuator substrate parameters include motor type, rated voltage, rated current, reduction ratio, encoder resolution, feedback type, and travel limit range; the motor types include stepper motors, servo motors, and DC motors;

[0020] The control parameters include PID parameters of the position loop, speed loop, current loop, maximum speed, and acceleration;

[0021] The control modes include position control mode, speed control mode and torque control mode.

[0022] Furthermore, step S3 specifically includes:

[0023] Control the actuator to reach the specified position based on the position control mode, and obtain the actuator position change status information in real time;

[0024] Based on the speed control mode, the actuator is controlled to move at a constant speed and the actuator speed change status information is obtained in real time;

[0025] Based on the torque control mode, the actuator is controlled to output a constant torque, and the actuator torque change status information is obtained in real time;

[0026] The actuator state information is obtained by fusing the actuator position change state information, the actuator speed change state information and the actuator torque change state information.

[0027] Furthermore, in step S4, the actuator state information is compared with the limit state information to obtain the state deviation rate, which specifically includes:

[0028] Real-time analysis of the position error between the actuator's current position and the target position based on the actuator's status information;

[0029] Analyze the speed error between the actuator's current speed and the target speed;

[0030] Analyze the torque error between the actuator torque and the target torque;

[0031] Analyze the state deviation rate at the current time based on the position error, velocity error and torque error at the same time;

[0032] The state deviation rate of the complete time is averaged to obtain the final state deviation rate.

[0033] Furthermore, step S5 specifically includes:

[0034] The set deviation rate threshold includes a first deviation rate threshold and a second deviation rate threshold;

[0035] Comparing the state deviation rate with a first deviation rate threshold and a second deviation rate threshold respectively;

[0036] If the state deviation rate is greater than the first deviation rate threshold and less than the second deviation rate threshold, a first warning message is generated;

[0037] If the state deviation rate is greater than or equal to the second deviation rate threshold, a second warning information is generated.

[0038] Furthermore, in step S6, an emergency treatment strategy is matched to the electric actuator based on the warning information, specifically including:

[0039] Analyze overload, overvoltage, and encoder fault data based on early warning information;

[0040] Train the initial model based on historical data and dynamically modify the model hyperparameters to obtain a fault handling model;

[0041] Analyze overload, overvoltage, and encoder fault data based on the fault handling model to obtain a fault handling strategy;

[0042] Perform emergency processing on electric actuators based on fault handling strategies and dynamically analyze actuator status information.

[0043] The present invention also provides an electric actuator control system, comprising a processor, a memory, and at least one program, wherein the program is stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the electric actuator control method as described in any one of the above items.

[0044] The present invention further provides a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute to implement any one of the above-mentioned electric actuator control methods.

[0045] Due to the application of the above technical solution, the present invention has the following advantages compared with the prior art:

[0046] The present invention performs different operations on the electric actuator by flexibly switching between different control modes, and analyzes the position change state, speed change state and torque change state of the electric actuator under different control modes, accurately analyzes the motion accuracy of the electric actuator, and performs real-time early warning processing based on motion errors, thereby improving the operating accuracy and safety of the electric actuator. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A schematic flow chart of a method for controlling an electric actuator according to an embodiment of the present invention is shown;

[0048] Figure 2 The electric actuator test flow chart of the electric actuator control method provided in this embodiment is shown. DETAILED DESCRIPTION

[0049] In order to enable those skilled in the art to better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of this application.

[0050] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0051] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0052] like Figure 1-Figure 2 As shown, an embodiment of the present invention provides an electric actuator control method, comprising the following steps:

[0053] S1, hardware connection safety check and safety test of electric actuator;

[0054] S2, setting the basic parameters and control parameters of the actuator, matching the basic parameters and control parameters based on the control requirement information, and selecting the control mode;

[0055] S3, controls the actuator action based on the control mode and obtains the actuator status information in real time;

[0056] S4, comparing the actuator state information with the limit state information to obtain the state deviation rate;

[0057] S5, determining whether the state deviation rate is greater than or equal to a set deviation rate threshold;

[0058] S6: If it is greater than or equal to, an early warning message is generated, and an emergency treatment strategy is matched to the electric actuator based on the early warning message; if it is less than, the status information of the actuator is displayed in real time.

[0059] It should be noted that by setting different control modes and selecting different control modes according to different needs to analyze the status of the electric actuator, the faults and abnormalities of the electric actuator can be analyzed accurately and efficiently, and dynamic early warnings can be performed to improve the safety of the electric actuator.

[0060] According to an embodiment of the present invention, step S1 specifically includes:

[0061] S101, check that the mechanical structure of the electric actuator is firmly connected and not stuck or loose;

[0062] S102, analyzing the circuit connections between the electric actuator and the controller, and between the sensor and the power supply;

[0063] S103, conducting a power-on test on the connected electric actuator to obtain test data;

[0064] S104, comparing the test data with the test standard to obtain a data difference;

[0065] S105: Analyze the data difference to determine whether it meets the data difference safety range. If so, the test is considered safe. If not, the test fails and the abnormal connection position of the connection structure and circuit is repeatedly checked.

[0066] The controller includes one or a combination of two or more of PLC, motion controller and single chip microcomputer;

[0067] Sensors include encoders, limit switches and force sensors.

[0068] It should be noted that the encoder provides real-time feedback of motor speed and position for position or speed closed loop.

[0069] The limit switch detects whether the actuator has reached the mechanical limit position and triggers an emergency stop.

[0070] Torque sensors monitor forces during contact movements (such as assembly and gripping) to prevent overloads or collisions.

[0071] According to an embodiment of the present invention, step S2 specifically includes:

[0072] The actuator's substrate parameters include motor type, rated voltage, rated current, reduction ratio, encoder resolution, feedback type, and travel limit range; motor types include stepper motors, servo motors, and DC motors;

[0073] Control parameters include PID parameters of position loop, speed loop, current loop, maximum speed, and acceleration;

[0074] The control modes include position control mode, speed control mode and torque control mode.

[0075] It should be noted that the goal of the position control mode is to accurately control the actuator to reach a specified position (such as robotic arm positioning, valve opening control).

[0076] The control steps are as follows:

[0077] Enter the target position value (number of pulses or physical units, such as mm, degrees).

[0078] The controller uses the encoder to feedback the real-time position and adjust the motor speed and direction in a closed loop until the target position is reached.

[0079] The goal of speed control mode is to keep the actuator moving at a constant speed (such as conveyor drive, fan speed regulation).

[0080] The control steps are as follows:

[0081] Enter the target speed value (such as speed RPM, linear speed mm / s).

[0082] The controller adjusts the motor voltage or pulse frequency according to the speed error fed back by the encoder to maintain a stable speed.

[0083] The torque control mode aims to control the actuator to output a constant torque (such as tightening screws and tension control).

[0084] The control steps are as follows:

[0085] Enter the target torque value (such as N·m).

[0086] The controller adjusts the motor current through the current loop (current is proportional to torque) and combines the torque sensor feedback to achieve torque closed-loop control.

[0087] According to an embodiment of the present invention, step S3 specifically includes:

[0088] Control the actuator to reach the specified position based on the position control mode, and obtain the actuator position change status information in real time;

[0089] Based on the speed control mode, the actuator is controlled to move at a constant speed and the actuator speed change status information is obtained in real time;

[0090] Based on the torque control mode, the actuator is controlled to output a constant torque, and the actuator torque change status information is obtained in real time;

[0091] The actuator state information is obtained by fusing the actuator position change state information, the actuator speed change state information and the actuator torque change state information.

[0092] It should be noted that data recording and analysis are performed during the analysis of actuator status information, and motion process data (such as position-time curve, current fluctuation) is stored for fault tracing or performance optimization, statistics of actuator working hours and movement times, and auxiliary maintenance plans (such as regular lubrication and component replacement).

[0093] According to an embodiment of the present invention, in step S4, the actuator state information is compared with the limit state information to obtain the state deviation rate, which specifically includes:

[0094] Real-time analysis of the position error between the actuator's current position and the target position based on the actuator's status information;

[0095] Analyze the speed error between the actuator's current speed and the target speed;

[0096] Analyze the torque error between the actuator torque and the target torque;

[0097] Analyze the state deviation rate at the current time based on the position error, velocity error and torque error at the same time;

[0098] The state deviation rate of the complete time is averaged to obtain the final state deviation rate.

[0099] It should be noted that by screening the actuator state information into different types of data, the position, speed and torque errors are analyzed separately, thereby improving the analysis accuracy of the state deviation.

[0100] According to an embodiment of the present invention, step S5 specifically includes:

[0101] The set deviation rate threshold includes a first deviation rate threshold and a second deviation rate threshold;

[0102] Comparing the state deviation rate with a first deviation rate threshold and a second deviation rate threshold respectively;

[0103] If the state deviation rate is greater than the first deviation rate threshold and less than the second deviation rate threshold, a first warning message is generated;

[0104] If the state deviation rate is greater than or equal to the second deviation rate threshold, a second warning information is generated.

[0105] It should be noted that by setting two levels of deviation rate thresholds, the state deviation rate is accurately analyzed and two levels of warning are achieved. Different warning information represents different levels of failure of the electric actuator, thereby establishing a processing plan for the failed level.

[0106] According to an embodiment of the present invention, in step S6, matching an emergency processing strategy for the electric actuator based on the warning information specifically includes:

[0107] Analyze overload, overvoltage, and encoder fault data based on early warning information;

[0108] Train the initial model based on historical data and dynamically modify the model hyperparameters to obtain a fault handling model;

[0109] Analyze overload, overvoltage, and encoder fault data based on the fault handling model to obtain a fault handling strategy;

[0110] Perform emergency processing on electric actuators based on fault handling strategies and dynamically analyze actuator status information.

[0111] It should be noted that the exception handling logic is as follows:

[0112] Emergency stop: When over-limit, overload or abnormal signal is detected, the motor power supply is immediately cut off or an emergency stop command is sent.

[0113] Fault Reset: Automatically or manually clears the alarm state and allows the system to restart.

[0114] Safety protection: Set soft limits (motion range limits at the software level) to prevent hardware damage.

[0115] To sum up, the present invention performs different operations on the electric actuator by flexibly switching between different control modes, and analyzes the position change state, speed change state and torque change state of the electric actuator under different control modes, accurately analyzes the motion accuracy of the electric actuator, and performs real-time early warning processing based on motion errors, thereby improving the operating accuracy and safety of the electric actuator.

[0116] This embodiment also provides an electric actuator control system, including a processor, a memory, and at least one program. The program is stored in the memory and is configured to be executed by the processor. The program includes instructions for executing any of the above-mentioned electric actuator control methods.

[0117] The present invention also provides a computer-readable storage medium storing a computer program, which enables a computer to execute to implement any of the above electric actuator control methods.

[0118] Those skilled in the art will appreciate that, for ease of explanation, the following example illustrates a configuration in which one memory and one processor are provided. In an actual terminal or server, multiple processors and memories may exist. A memory may also be referred to as a storage medium or storage device, etc., which is not limited in the present embodiment.

[0119] It should be understood that in the embodiments of the present application, the processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The processor may also be a general-purpose microprocessor, a graphics processing unit (GPU), or one or more integrated circuits for executing relevant programs to implement the functions required to be executed in the embodiments of the present application.

[0120] The processor can also be an integrated circuit chip with signal processing capabilities. During the implementation process, the various steps of the present application can be completed by the integrated logic circuit of the hardware in the processor or by instructions in the form of software. The above-mentioned processor can implement or execute the various methods, steps and logic block diagrams disclosed in the embodiments of the present application. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware decoding processor, or can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a mature storage medium in the art such as random access memory, flash memory and read-only memory, programmable read-only memory or electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in combination with its hardware, completes the functions required to be performed by the units included in the method, device and storage medium of the embodiments of the present application.

[0121] It should also be understood that the memory mentioned in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache.

[0122] By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDR SDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct RAM bus random access memory (DR RAM).

[0123] The memory may also be a compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical disc, laser disc, optical disc, digital versatile disc, Blu-ray disc, etc.), magnetic disk storage medium or other magnetic storage device, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory may be independent and connected to the processor via a bus. The memory may also be integrated with the processor, and the memory may store a program. When the program stored in the memory is executed by the processor, the processor is used to execute the various steps of the determination method in the above-mentioned embodiment of the present application.

[0124] It should be noted that when the processor is a general-purpose processor, DSP, ASIC, FPGA or other programmable logic device, discrete gate or transistor logic device, or discrete hardware component, the memory (storage module) is integrated into the processor. It should be noted that the memory described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0125] It should be understood that the term "and / or" in this document simply describes a relationship between related objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A exists alone, A and B exist simultaneously, or B exists alone. Furthermore, the character " / " in this document generally indicates that the related objects are in an "or" relationship.

[0126] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or an instruction in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0127] Those skilled in the art will appreciate that the various illustrative logical blocks (ILBs) and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0128] In the above embodiments, all or part of the embodiments may be implemented using software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer-programmed program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a processor, the processes or functions according to the embodiments of the present application are generated in whole or in part. The computer may be a general-purpose computer, a computer network, or other programmable device.

[0129] This embodiment further provides a computer-readable storage medium, which stores a computer program. The computer program enables a computer to execute to implement the above-mentioned electric actuator control method.

[0130] It should be noted that computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, computer instructions can be transmitted from one website, computer, server or data center to another website, computer, server or data center via wired (e.g., coaxial cable, optical fiber) or wireless (e.g., infrared, wireless, microwave, etc.) means, or can be transmitted from one website, computer, server or data center to a mobile phone processor via wired means. A computer-readable storage medium can be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media. Available media can be magnetic media (e.g., floppy disk, hard disk), optical media (e.g., DVD), or semiconductor media (e.g., solid-state drive), etc.

[0131] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent replacements for some of the technical features therein. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for controlling an electric actuator, characterized in that: The following steps are involved: S1, hardware connection safety check and safety test of electric actuator; S2, setting the basic parameters and control parameters of the actuator, matching the basic parameters and control parameters based on the control requirement information, and selecting the control mode; S3, controls the actuator action based on the control mode and obtains the actuator status information in real time; S4, comparing the actuator state information with the limit state information to obtain the state deviation rate; S5, determining whether the state deviation rate is greater than or equal to a set deviation rate threshold; S6: If it is greater than or equal to, an early warning message is generated, and an emergency treatment strategy is matched to the electric actuator based on the early warning message; if it is less than, the status information of the actuator is displayed in real time.

2. The electric actuator control method according to claim 1, wherein: Step S1 specifically includes: S101, check that the mechanical structure of the electric actuator is firmly connected and not stuck or loose; S102, analyzing the circuit connections between the electric actuator and the controller, and between the sensor and the power supply; S103, conducting a power-on test on the connected electric actuator to obtain test data; S104, comparing the test data with the test standard to obtain a data difference; S105: Analyze the data difference to determine whether it meets the data difference safety range. If so, the test is considered safe. If not, the test fails and the abnormal connection position of the connection structure and circuit is repeatedly checked. The controller includes one or a combination of two or more of a PLC, a motion controller and a single chip microcomputer; The sensor includes an encoder, a limit switch and a force sensor.

3. The electric actuator control method according to claim 2, wherein: Step S2 specifically includes: The actuator substrate parameters include motor type, rated voltage, rated current, reduction ratio, encoder resolution, feedback type, and travel limit range; the motor types include stepper motors, servo motors, and DC motors; The control parameters include PID parameters of the position loop, speed loop, current loop, maximum speed, and acceleration; The control modes include position control mode, speed control mode and torque control mode.

4. The electric actuator control method according to claim 3, wherein: Step S3 specifically includes: Control the actuator to reach the specified position based on the position control mode, and obtain the actuator position change status information in real time; Based on the speed control mode, the actuator is controlled to move at a constant speed and the actuator speed change status information is obtained in real time; Based on the torque control mode, the actuator is controlled to output a constant torque, and the actuator torque change status information is obtained in real time; The actuator state information is obtained by fusing the actuator position change state information, the actuator speed change state information and the actuator torque change state information.

5. The electric actuator control method according to claim 4, wherein: In step S4, the actuator state information is compared with the limit state information to obtain the state deviation rate, which specifically includes: Real-time analysis of the position error between the actuator's current position and the target position based on the actuator's status information; Analyze the speed error between the actuator's current speed and the target speed; Analyze the torque error between the actuator torque and the target torque; Analyze the state deviation rate at the current time based on the position error, velocity error and torque error at the same time; The state deviation rate of the complete time is averaged to obtain the final state deviation rate.

6. The electric actuator control method according to claim 5, wherein: Step S5 specifically includes: The set deviation rate threshold includes a first deviation rate threshold and a second deviation rate threshold; Comparing the state deviation rate with a first deviation rate threshold and a second deviation rate threshold respectively; If the state deviation rate is greater than the first deviation rate threshold and less than the second deviation rate threshold, a first warning message is generated; If the state deviation rate is greater than or equal to the second deviation rate threshold, a second warning information is generated.

7. The electric actuator control method according to claim 6, wherein: In step S6, an emergency treatment strategy is matched to the electric actuator based on the warning information, specifically including: Analyze overload, overvoltage, and encoder fault data based on early warning information; Train the initial model based on historical data and dynamically modify the model hyperparameters to obtain a fault handling model; Analyze overload, overvoltage, and encoder fault data based on the fault handling model to obtain a fault handling strategy; Perform emergency processing on electric actuators based on fault handling strategies and dynamically analyze actuator status information.

8. An electric actuator control system, characterized in that: The device comprises a processor, a memory, and at least one program, wherein the program is stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the electric actuator control method according to any one of claims 1 to 7.

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