Control method of linear motor and actuator

Abstract

The invention provides a control method of a linear motor and an actuator. According to the control method of the linear motor, after the linear motor is powered on, in an electrical angle area, a plurality of electrical angles are selected through electrical angle selection logic; the stator is controlled through current control logic, so that the magnetic field of the stator is changed into an electrical angle, and the total stopping frequency of the stator is obtained; determining the corresponding electrical angle as a theoretical stator electrical angle corresponding to the power-on position of the linear motor until the total number of times of stopping meets a preset condition; and determining a target electrical angle according to the preset target displacement and the theoretical stator electrical angle, and controlling the stator according to the target electrical angle, so that the rotor moves at the preset target displacement. According to the control mode, wrong phase searching caused by small displacement of the rotor in the phase searching process is avoided, so that the phase searching precision is ensured, locked rotor or galloping of the rotor in the control process of the linear motor is avoided, and the control precision of the linear motor is further improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor control, in particular to a control method of a linear motor and an actuator. BACKGROUND

[0002] The existing actuator includes a linear motor and an incremental encoder. When the linear motor is controlled, the absolute position of the mover cannot be directly determined by the incremental encoder, so the current of the motor cannot be directly and accurately controlled. Therefore, the theoretical phase of the upper electric position of the mover needs to be determined first.

[0003] During the phase searching process, the actuator is mainly applied to the electronic 3C, semiconductor and other industries, the mechanical stroke is small, and the mechanical end may be installed with a load. The linear motor is not allowed to have obvious phase searching displacement before accurate control, that is, micro-motion phase searching is performed. When the mechanical position is caused by excessive guide rail static friction or excessive spring force or excessive external connected load, the output provided by the micro-motion phase searching cannot overcome the above resistance, so that the mover cannot generate effective displacement, thereby easily causing false judgment of successful phase searching. The false phase searching will cause the mover to stall or fly in the control process of the linear motor. SUMMARY

[0004] Therefore, the purpose of the present application is to provide a control method of a linear motor and an actuator to alleviate the above problems.

[0005] In a first aspect, an embodiment of the present application provides a control method of a linear motor. The linear motor includes a stator and a mover. The electrical angle period of the stator is divided into a plurality of electrical angle regions. The control method includes: after the linear motor is powered on, selecting a plurality of electrical angles in an electrical angle region by using electrical angle selection logic; controlling the stator by using current control logic to change the magnetic field of the stator to an electrical angle, and obtaining the total number of stops of the stator; wherein the total number of stops is the sum of the number of stops of the stator in the same electrical angle region; when the total number of stops meets a preset condition, determining the corresponding electrical angle as the theoretical stator electrical angle corresponding to the upper electric position of the linear motor; obtaining a preset target displacement, determining a target electrical angle according to the preset target displacement and the theoretical stator electrical angle; and controlling the stator according to the target electrical angle to move the mover by the preset target displacement.

[0006] Optionally, the control method further includes: obtaining the total number of iterations of the stator, and determining whether the total number of stops meets the preset condition according to the total number of iterations; wherein the total number of iterations is the number of times of controlling the stator by using different electrical angles.

[0007] Optionally, the preset condition includes: the total number of iterations is greater than a preset iteration number, the total number of stops is not greater than a preset multiple of the total number of iterations, and the preset multiple is less than 1.

[0008] Optionally, the control method further comprises: if the total number of stops cannot meet the preset condition in an electrical angle region, switching to another electrical angle region, and continuing to select a plurality of new electrical angles by using the electrical angle selection logic.

[0009] Optionally, the step of controlling the stator by using the current control logic to change the magnetic field of the stator to the electrical angle and obtaining the total number of stops of the stator comprises: controlling the stator by using a gradually increasing control current until the control current increases to a target current, and keeping the magnetic field of the stator at the current electrical angle; obtaining the displacement amount and the displacement direction of the mover, and if the displacement amount is not greater than a preset threshold or the current displacement direction of the mover is the same as the previous displacement direction, obtaining the number of stops corresponding to the current electrical angle.

[0010] Optionally, the step of controlling the stator by using the current control logic to change the magnetic field of the stator to the electrical angle and obtaining the total number of stops of the stator further comprises: if the displacement amount is greater than the preset threshold and the current displacement direction of the mover is different from the previous displacement direction, controlling the stator by using the next electrical angle.

[0011] Optionally, the target electrical angle is determined according to the preset target displacement amount and the theoretical stator electrical angle, and the method comprises: determining an electrical angle difference value according to the preset target displacement amount; and determining the target electrical angle according to the electrical angle difference value and the theoretical stator electrical angle.

[0012] Optionally, the electrical angle selection logic comprises an electrical angle that changes from an end electrical angle of an electrical angle region as a starting point by using bisection method; and / or when the displacement direction of the mover corresponding to the electrical angle is opposite to the displacement direction of the mover corresponding to the previous electrical angle, the number of stops of the electrical angle is 1.

[0013] In a second aspect, an embodiment of the present application further provides an actuator, comprising a linear motor and a controller; wherein the controller is configured to control the linear motor by using the control method in the first aspect.

[0014] In a third aspect, an embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is configured to execute the steps of the control method in the first aspect when the computer program is run by a processor.

[0015] The embodiments of the present application have the following beneficial effects: The embodiment of the present application provides a control method of a linear motor and an actuator, divides the electric angle period of a stator into a plurality of electric angle regions, after the linear motor is powered on, first selects a plurality of electric angles in an electric angle region by using electric angle selection logic; then controls the stator by using current control logic, so that the magnetic field of the stator changes to the electric angle, and the total stop times of the stator are obtained; until the total stop times meet a preset condition, the corresponding electric angle is determined as the theoretical stator electric angle corresponding to the power-on position of the linear motor; finally, a preset target displacement amount is obtained, the target electric angle is determined according to the preset target displacement amount and the theoretical stator electric angle, and the stator is controlled according to the target electric angle, so that the mover moves at the preset target displacement amount. The above control method divides the electric angle period of the stator into a plurality of electric angle regions, and selects a plurality of electric angles in an electric angle region by using electric angle selection logic, so that the magnetic field of the stator changes to the electric angle, so as to determine the theoretical stator electric angle corresponding to the power-on position of the linear motor according to the total stop times of the stator, avoid the false phase search caused by the small displacement of the mover in the phase search process, thereby ensuring the phase search precision, avoiding the stall or flywheel of the mover in the linear motor control process, and further improving the control precision of the linear motor.

[0016] Other features and advantages of the present application will be set forth in the following description, and in part will become apparent to those skilled in the art from the description, or can be learned by practice of the present application. The objects and other advantages of the present application will be realized and achieved by the structure particularly pointed out in the description and the appended drawings.

[0017] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the following preferred embodiments are specifically described below, and the accompanying drawings are described in detail as follows. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the specific embodiments of the present application or the technical solutions in the prior art, the following will briefly introduce the drawings needed to be used in the specific embodiments or prior art description. Obviously, the drawings described below are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.

[0019] Figure 1 A structural schematic diagram of a linear motor provided by the embodiment of the present application is provided. Figure 2 A schematic diagram of electric angle period division electric angle region provided by the embodiment of the present application is provided. Figure 3 A flow chart of a control method of a linear motor provided by the embodiment of the present application is provided. DETAILED DESCRIPTION

[0020] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0021] To facilitate understanding of this embodiment, the embodiments of the present invention will be described in detail below.

[0022] This invention provides a control method for a linear motor; wherein the linear motor includes a stator and a mover, such as... Figure 1 As shown, the stator includes a magnet array with alternating N and N magnetic poles along a straight line, and the mover includes a power coil. By controlling the current flowing through the stator, the magnetic field of the stator is made to be at a specific electrical angle. Under the mutual attraction of the magnetic fields of the mover and the stator, the mover rotates to a position where the magnetic fields of the mover and the stator are completely attracted to each other.

[0023] Furthermore, for the stator, the electrical angle period is a continuous 360°, such as... Figure 2 As shown, the electrical angle period is set to [α, α+360°]. When α is 0°, the electrical angle period is [0°, 360°]. When α is 90°, the electrical angle period is [90°, 90°+360°]. Since the theoretical stator electrical angle corresponding to the power-on position (or zero point) P of the linear motor is unknown, it is necessary to determine the theoretical stator electrical angle corresponding to the power-on position of the linear motor within the electrical angle period. To improve the accuracy and efficiency of determining the theoretical stator electrical angle, this embodiment of the invention further divides the stator electrical angle period into multiple electrical angle regions. Here, multiple electrical angle regions refer to at least two electrical angle regions. For example, such as... Figure 2 As shown, [α, α+360°] is divided into four electrical angle regions. The number of electrical angle regions divided by the specific electrical angle period can be set according to the actual situation.

[0024] Based on the above-described multiple electrical angle regions, such as Figure 3 As shown, the linear motor control method provided in this embodiment of the invention includes the following steps: Step S302: After the linear motor is powered on, multiple electrical angles are selected within an electrical angle range using electrical angle selection logic.

[0025] Specifically, after the linear motor is powered on, for the multiple electrical angle regions divided, taking any electrical angle region as an example, in the electrical angle region, multiple electrical angles are selected by using electrical angle selection logic. In the electrical angle selection logic, the two end point electrical angles of the electrical angle region are used as the starting changing electrical angles for control, and then the bisection method is used to obtain different electrical angles in sequence, so that different electrical angles are determined in sequence by the bisection method in each electrical angle region, and the determination accuracy and efficiency of the theoretical stator electrical angle are further improved. It should be noted that the process of determining the electrical angle by the bisection method can refer to the existing bisection method technology, and the embodiments of the present application will not be described in detail here.

[0026] In step S304, the stator is controlled by using the current control logic to change the magnetic field of the stator to the electrical angle, and the total stop times of the stator are obtained.

[0027] For the above electrical angle region, after each electrical angle such as the current electrical angle is determined according to the bisection method, the stator is controlled by using the current control logic to change the magnetic field of the stator to the current electrical angle, and the total stop times of the stator are obtained; wherein the total stop times are the sum of the stop times of the stator in the same electrical angle region; for example, from the end point electrical angle of the electrical angle region to the current electrical angle, the sum of the stop times of the stator corresponding to each electrical angle is the total stop times; at this time, if the next electrical angle is determined according to the bisection method, the stator is controlled by using the current control logic to change the magnetic field of the stator to the next electrical angle, and the total stop times are updated based on the stop times of the stator corresponding to the next electrical angle to obtain the updated total stop times.

[0028] Wherein, when the displacement direction of the rotor corresponding to the electrical angle is not opposite to the displacement direction of the rotor corresponding to the last electrical angle, the stop times of the electrical angle is 1. For example, for the current electrical angle, if the displacement direction of the rotor is not opposite to the displacement direction of the last rotor, the stop times of the current electrical angle is 1, so that the order of determining the electrical angle according to the bisection method is obtained, and the stop times corresponding to the latest electrical angle and the updated total stop times are obtained, so as to determine the theoretical stator electrical angle according to the updated total stop times, and the determination efficiency and accuracy of the theoretical stator electrical angle are improved.

[0029] In step S306, until the total stop times meet the preset condition, the corresponding electrical angle is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor.

[0030] In step S308, a preset target displacement amount is obtained, and a target electrical angle is determined according to the preset target displacement amount and the theoretical stator electrical angle.

[0031] Specifically, after the theoretical stator electric angle corresponding to the power-on position of the linear motor is determined, in the subsequent control process of the linear motor, when the preset target displacement amount is obtained, first, the electric angle difference value is determined according to the preset target displacement amount, and then the target electric angle is determined according to the electric angle difference value and the theoretical stator electric angle, so as to control the stator according to the target electric angle, so that the mover moves by the preset target displacement amount, thereby improving the control precision of the linear motor.

[0032] It should be noted that the preset target displacement amount can be directly obtained, or the target position of the linear motor can be obtained, and the preset target displacement amount can be determined according to the target position and the power-on position. The specific acquisition method of the preset target displacement amount can be set according to actual conditions.

[0033] In step S310, the stator is controlled according to the target electric angle, so that the mover moves by the preset target displacement amount.

[0034] The control method of the linear motor provided by the embodiment of the application divides the electric angle period of the stator into a plurality of electric angle regions, selects a plurality of electric angles in an electric angle region by using electric angle selection logic, changes the magnetic field of the stator to an electric angle, determines the theoretical stator electric angle corresponding to the power-on position of the linear motor according to the total stop times of the stator, avoids false phase searching due to small displacement of the mover in the phase searching process, ensures the phase searching precision, avoids the occurrence of locked rotor or flywheel of the mover in the control process of the linear motor, and further improves the control precision of the linear motor.

[0035] In an embodiment, the control method further comprises: obtaining the total iteration times of the stator, and determining whether the total stop times meet a preset condition according to the total iteration times; wherein the total iteration times are the number of times of controlling the stator by using different electric angles; thereby determining the theoretical stator electric angle corresponding to the power-on position of the linear motor according to the total stop times and the total iteration times corresponding to the electric angle region, and further improving the determination precision of the theoretical stator electric angle.

[0036] The preset condition includes that the total iteration times are greater than a preset iteration times, the total stop times are not greater than a preset multiple of the total iteration times, and the preset multiple is less than 1, for example, the preset multiple is 0.5, that is, when the total iteration times are greater than the preset iteration times, and the total stop times are not greater than half of the total iteration times, it is determined that the total stop times meet the preset condition, otherwise, it is determined that the total stop times do not meet the preset condition. The specific values of the preset iteration times and the preset multiple can be set according to actual conditions.

[0037] Therefore, in an electrical angle region, if the total iteration number is greater than the preset iteration number, and the total stop number is not greater than the preset multiple of the total iteration number, the total stop number satisfies the preset condition at this time, it is determined that the electrical angle region is successfully phase-locked, and the electrical angle corresponding to the total stop number satisfying the preset condition in the electrical angle region is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor.

[0038] In addition, if the total stop number cannot satisfy the preset condition in an electrical angle region, another electrical angle region is switched to, and the electrical angle selection logic is used to select a plurality of new electrical angles; the current control logic is used to control the stator so that the magnetic field of the stator changes to the new electrical angle, and the total stop number of the stator is obtained. For example, in an electrical angle region, if the total iteration number is greater than the preset iteration number, but the total stop number is always greater than the preset multiple of the total iteration number, it is determined that the total stop number cannot satisfy the preset condition at this time, it is determined that the electrical angle region fails to be phase-locked, that is, the theoretical stator electrical angle is not in the electrical angle region, at this time, another electrical angle region is switched to, and the electrical angle selection logic is used to select a plurality of new electrical angles, for example, the end electrical angles of the following electrical angle region are used as the starting change electrical angles, the bisection method is used to sequentially determine a plurality of new electrical angles, the current control logic is used to control the stator so that the magnetic field of the stator changes to the new electrical angle, the total stop number of the stator in the next electrical angle region is obtained, and whether the total stop number of the stator in the next electrical angle region satisfies the preset condition is re-determined. The specific determination process can refer to the foregoing embodiments, and will not be described in detail herein.

[0039] If the total stop number of the stator in the next electrical angle region satisfies the preset condition, the corresponding electrical angle in the next electrical angle region is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor; otherwise, if the total stop number of the stator in the next electrical angle region cannot satisfy the preset condition, the next electrical angle region is re-selected from the unselected electrical angle region, until the theoretical stator electrical angle is determined.

[0040] In particular, in an electrical angle region, if the total iteration number is not greater than the preset iteration number, it indicates that the number of electrical angles selected in the electrical angle region is insufficient, at this time, the bisection method is used to continue to select new electrical angles in the electrical angle region, and the current control logic is used to control the stator so that the magnetic field of the stator changes to the new electrical angle, until the total iteration number is greater than the preset iteration number. In addition, on the basis that the total iteration number is greater than the preset iteration number, whether the total stop number satisfies the preset condition is determined according to the preset multiple of the total iteration number and the total stop number.

[0041] To sum up, the embodiment of the application divides the electric angle period of the stator into multiple electric angle regions, selects multiple electric angles in an electric angle region by using electric angle selection logic, and makes the magnetic field of the stator change to an electric angle, so as to determine the theoretical stator electric angle corresponding to the power-on position of the linear motor according to the total number of stops of the stator and the preset condition, thereby realizing correct phase detection of the linear motor. In addition, compared with the existing micro-motion phase detection scheme, by dividing the electric angle region, the output provided by the phase detection in each electric angle region can overcome the resistance caused by excessive guide rail static friction, excessive spring force or excessive external connected load in some mechanical positions, thereby avoiding incorrect phase detection caused by small displacement of the mover during phase detection, improving the phase detection accuracy and efficiency of the linear motor, avoiding the occurrence of motor stall or flywheel during the control process of the linear motor, and further improving the control accuracy of the linear motor. In addition, this phase detection method does not require additional sensors, thereby reducing the phase detection cost of the linear motor.

[0042] In an embodiment, the stator is controlled by using current control logic to make the magnetic field of the stator change to an electric angle, and the total number of stops of the stator is obtained, including: controlling the stator by using a gradually increasing control current until the control current increases to a target current, and keeping the magnetic field of the stator at the current electric angle; obtaining the displacement amount and displacement direction of the mover, and if the displacement amount is not greater than a preset threshold or the current displacement direction of the mover is the same as the previous displacement direction, the number of stops corresponding to the current electric angle is obtained.

[0043] When the stator is controlled by using current control logic, the displacement direction of the mover may change at the same electric angle because the control current gradually increases in the current control logic. For multiple electric angles in an electric angle region, the current electric angle is taken as an example for illustration.

[0044] Specifically, the stator is controlled by using a gradually increasing control current until the control current increases to a target current, and the magnetic field of the stator is kept at the current electric angle; at this time, the displacement amount and displacement direction of the mover are obtained, and if the displacement amount of the mover is not greater than a preset threshold or the current displacement direction of the mover is the same as the previous displacement direction, the number of stops corresponding to the current electric angle is obtained, so as to update the total number of stops according to the number of stops corresponding to the current electric angle, and determine whether the updated total number of stops meets the preset condition. In addition, if the displacement amount of the mover is greater than the preset threshold and the current displacement direction of the mover is different from the previous displacement direction, the stator is controlled by using the next electric angle.

[0045] It should be noted that if the previous displacement direction does not exist, i.e., the first displacement of the mover, at this time, it is determined that the current displacement direction of the mover is not opposite to the previous displacement direction, and is recorded as the number of stops once.

[0046] On the basis of the method embodiments, the embodiment of the present application further provides an executor, wherein the executor comprises a linear motor and a controller, and the controller is configured to control the linear motor by using the method embodiments. The specific control process can refer to the above embodiments, and the embodiment of the present application will not be described in detail here.

[0047] The executor provided by the embodiment of the present application has the same technical features as the control method of the linear motor provided by the above embodiments, and can solve the same technical problems and achieve the same technical effects.

[0048] The embodiment of the present application further provides a computer readable storage medium, and the computer readable storage medium stores a computer program. When the computer program is run by a processor, the control method of the linear motor is executed.

[0049] The computer program product of the linear motor control method and the executor provided by the embodiment of the present application comprises a computer readable storage medium storing program codes, and the instructions included in the program codes can be used to execute the method described in the above method embodiments. The specific implementation can refer to the method embodiments, and will not be described here.

[0050] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the executor described above can refer to the corresponding process in the above method embodiments, and will not be described here.

[0051] In addition, in the description of the embodiment of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood in a broad sense, for example, it can be fixed connection, or detachable connection, or integral connection; it can be mechanical connection, or electrical connection; it can be direct connection, or indirect connection through an intermediate medium, or the communication between the two elements. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.

[0052] If the functions are realized in the form of software function units and sold or used as independent products, they can be stored in a nonvolatile computer readable storage medium executable by a processor. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a number of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the method described in various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), a magnetic disk or an optical disk, and various media that can store program codes.

[0053] In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third" are only for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0054] Finally, it should be noted that: the above-described embodiments are only specific embodiments of the present application, used to illustrate the technical solutions of the present application, and are not limited thereto, the protection scope of the present application is not limited thereto, although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that any person skilled in the art within the technical scope disclosed by the present application can still modify or easily think of changes to the technical solutions recorded in the foregoing embodiments, or make equivalent replacements to part of the technical features; and these modifications, changes or replacements do not make the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A control method for a linear motor, the linear motor comprising a stator and a mover, wherein the electrical angle period of the stator is divided into multiple electrical angle regions; characterized in that, The control method includes: After the linear motor is powered on, multiple electrical angles are selected within an electrical angle region using electrical angle selection logic; The stator is controlled by current control logic to change the magnetic field of the stator to the electrical angle, and the total number of stops of the stator is obtained; wherein, the total number of stops is the sum of the number of stops of the stator within the same electrical angle region; When the total number of stops meets the preset condition, the corresponding electrical angle is determined as the theoretical stator electrical angle corresponding to the power-on position of the linear motor; Obtain a preset target displacement, and determine the target electrical angle based on the preset target displacement and the theoretical stator electrical angle; The stator is controlled according to the target electrical angle so that the mover moves by the preset target displacement.

2. The control method according to claim 1, characterized in that, The control method further includes: The total number of iterations of the stator is obtained, and the total number of stops is determined based on the total number of iterations to determine whether the total number of stops meets a preset condition; wherein, the total number of iterations is the number of times the stator is controlled using different electrical angles.

3. The control method according to claim 2, characterized in that, The preset conditions include: The total number of iterations is greater than the preset number of iterations, and the total number of stops is not greater than a preset multiple of the total number of iterations, wherein the preset multiple is less than 1.

4. The control method according to claim 2, characterized in that, The control method further includes: If the total number of stops cannot meet the preset condition within one electrical angle region, then switch to another electrical angle region and continue to use the electrical angle selection logic to select multiple new electrical angles; The stator is controlled using the current control logic so that the magnetic field of the stator changes to the new electrical angle, and the total number of times the stator stops is obtained.

5. The control method according to claim 1, characterized in that, The method of using current control logic to control the stator so that the magnetic field of the stator changes to the electrical angle, and obtaining the total number of stator stops, includes: The stator is controlled by a gradually increasing control current until it reaches the target current, and the magnetic field of the stator is maintained at the current electrical angle. The displacement and direction of the mover are obtained. If the displacement is not greater than a preset threshold, or if the current displacement direction of the mover is the same as the previous displacement direction, the number of stops corresponding to the current electrical angle is obtained.

6. The control method according to claim 5, characterized in that, The method of using current control logic to control the stator so that the magnetic field of the stator changes to the electrical angle, and obtaining the total number of stator stops, further includes: If the displacement is greater than the preset threshold, and the current displacement direction of the mover is different from the previous displacement direction, then the stator is controlled by the next electrical angle.

7. The control method according to claim 1, characterized in that, The step of determining the target electrical angle based on the preset target displacement and the theoretical stator electrical angle includes: The electrical angle difference value is determined based on the preset target displacement. The target electrical angle is determined based on the electrical angle difference and the theoretical stator electrical angle.

8. The control method according to claim 1, characterized in that, The electrical angle selection logic includes performing a bisection method on the electrical angle that changes starting from the endpoint electrical angle of the electrical angle region; and / or, When the displacement direction of the mover corresponding to the electrical angle is opposite to the displacement direction of the mover corresponding to the previous electrical angle, the number of stops for the electrical angle is 1.

9. An actuator, characterized in that, It includes a linear motor and a controller; wherein the controller is used to control the linear motor using the control method described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, performs the steps of the control method according to any one of claims 1-8.

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