Electric steering engine control method based on star flash communication

Abstract

The invention provides an electric steering engine control method based on star flash communication, and belongs to the technical field of electric steering engines. The method provided by the invention comprises the following steps: designing a protocol specification for a host end and a slave end to communicate through a star flash SLE wireless communication module, defining a frame format and a protocol stack of communication data according to the protocol specification, and defining a handshake communication process of the host end and the slave end; a register addressing function is designed for the star flash SLE wireless communication module, and data interaction between the star flash SLE wireless communication module and the electric steering engine is achieved; the host end issues a control instruction to a controller of the electric steering engine through the star flash SLE wireless communication module, the controller generates an instruction signal, the instruction signal is modulated by SVPWM to generate a PWM signal for driving an inverter, and the running state of the electric steering engine is adjusted. According to the invention, a star flash SLE wireless communication mode between the electric steering engine and the remote control terminal is established through the SLE transparent transmission protocol, so that the remote control function of the electric steering engine is realized, and the connection mode of the electric steering engine is expanded.

Description

Technical Field

[0001] This invention belongs to the field of electric servo motor technology, specifically relating to an electric servo motor control method based on star-flash communication. Background Technology

[0002] An electric servo motor is a position (angle) servo controller suitable for control systems where the angle is constantly changing and can be maintained. Its superior angle control performance is widely used in fields such as aircraft, submarine models, remote-controlled robots, logistics, robotics, artificial intelligence, and automobiles.

[0003] In related technologies, electric servos are typically connected to a control terminal via a wired connection to receive control commands and control the servo's operation. However, this wired connection method limits the control terminal to local deployment and hinders the implementation of remote control functionality.

[0004] NearLink is a new generation of wireless short-range communication technology. Compared with traditional short-range transmission technology solutions, NearLink has advantages in power consumption, speed, coverage and connection performance. Currently, there is a lack of application of NearLink in electric servo motors.

[0005] Therefore, it is necessary to provide an electric servo control method based on star-flash communication to solve the above problems. Summary of the Invention

[0006] This invention provides an electric servo control method based on star-flash communication. By establishing a star-flash SLE wireless communication mode between the electric servo and the remote control terminal through the SLE transparent transmission protocol, the remote control function of the electric servo can be realized, thereby effectively solving at least one of the technical problems involved in the background art.

[0007] To solve the above-mentioned technical problems, the present invention is implemented as follows: An electric servo motor control method based on star-flash communication includes the following steps: Step S1: Establish a vector control system model for the electric servo motor; Step S2: Define the remote control terminal as the master end, configure the electric servo motor of the StarShine SLE wireless communication module as the slave end, design the protocol specification for communication between the master end and the slave end through the StarShine SLE wireless communication module, define the frame format and protocol stack of communication data according to the protocol specification, and define the handshake communication process between the master end and the slave end. Step S3: Configure the basic parameters of the StarShine SLE wireless communication module, design register addressing function for the StarShine SLE wireless communication module, and perform read and write operations on the registers of each sampling module in the electric servo motor through unique address mapping to realize data interaction between the StarShine SLE wireless communication module and the electric servo motor. Step S4: Establish the control signal transmission path for the electric servo motor: The host computer sends control commands to the controller of the electric servo motor through the StarSignal SLE wireless communication module. The controller generates command signals, which are then modulated by SVPWM to generate PWM signals that drive the inverter and adjust the operating status of the electric servo motor.

[0008] As a preferred improvement, step S1 specifically includes the following steps: Step S11: Determine the technical specifications, motor parameters, and control strategy based on the design requirements of the electric servo motor; Step S12: Establish the three-phase voltage equations, and transform the three-phase stationary coordinate system into a rotating coordinate system through Clark / Park transformation to obtain the mathematical model of the motor; Step S13: Design a controller with a three-loop control structure. The outer loop is the position loop, which generates a speed command signal based on the input position command through a PID controller. The middle loop is the speed loop, which outputs a current command signal based on the speed command signal output from the position loop through a PI controller. The inner loop is the current loop, which uses the current command signal output from the speed loop to achieve decoupling control of the d-axis and q-axis currents of the rotating coordinate system through a PI controller, generating voltage command signals for the d-axis and q-axis, which serve as inputs to the inverter to adjust the operating state of the electric servo motor.

[0009] As a preferred improvement, in step S11, the technical indicators include the rated torque, speed range, position control accuracy, dynamic response time requirements, and working environment conditions of the motor servo; the motor parameters include the motor type, number of motor pole pairs, rated voltage, and rated current; and the control strategy is selected as a field-oriented control strategy.

[0010] As a preferred improvement, in step S12, the three-phase voltage equations are expressed as: ; In the formula, , , These represent the three-phase stator voltages; , , These represent the three-phase stator currents; , , These represent the three-phase constant resistances; , , Indicates three-phase flux linkage; Indicates time; The Clark transform equation is expressed as: (1) From the three-phase stationary coordinate system To the two-phase stationary coordinate system Transformation: ; In the formula, , Representing a two-phase stationary coordinate system axis, The current in the shaft; (2) From the two-phase stationary coordinate system To the three-phase stationary coordinate system Transformation: ; The Park transformation equation is expressed as: (1) From the two-phase stationary coordinate system To the two-phase rotating coordinate system Transformation: ; In the formula, , Representing a two-phase rotating coordinate system axis, The current in the shaft; Representing a two-phase rotating coordinate system Relative to the two-phase stationary coordinate system The rotation angle is characterized by the electrical angle of the electric servo rotor; (2) From a two-phase rotating coordinate system To the two-phase stationary coordinate system Transformation: ; Two-phase rotating coordinate system The voltage-current equation under the following conditions is expressed as: ; In the formula, , Representing a two-phase rotating coordinate system axis, Voltage on the shaft; Indicates stator resistance; , Representing a two-phase rotating coordinate system axis, The inductance of the shaft; Indicates the electric angular velocity of the rotor. , Indicates the mechanical angular velocity of the rotor. Indicates the number of pole pairs of the motor; This indicates the magnetic flux linkage of a permanent magnet.

[0011] As a preferred improvement, in step S13, the speed command generation process of the position loop is represented as follows: ; In the formula, This indicates the mechanical angular velocity command value of the rotor; Indicates the position command value; Indicates the actual location; Indicates the proportional gain of the position loop; This represents the integral gain of the position loop; Represents the differential gain of the position loop; Indicates time; The torque command generation process of the speed loop is represented as follows: ; In the formula, Representing a two-phase rotating coordinate system The current command value for the shaft; This represents the proportional gain of the velocity loop; Indicates the integral gain of the velocity loop; The decoupling control equation for the current loop is expressed as: ; In the formula, , Representing a two-phase rotating coordinate system axis, The voltage command value of the shaft is used as the input of the inverter; Representing a two-phase rotating coordinate system The current command value of the shaft, Set to 0; Indicates the proportional gain of the current loop; This represents the integral gain of the current loop.

[0012] As a preferred improvement, in step S2, the protocol specifications include: data frame format, byte order for data reading and writing, unit signal reading and writing format, and communication mode, wherein: The data frame format includes a data frame header or function addressing ID, frame number, data length, and checksum method; the data frame includes a transmit frame and a response frame; The byte order for data reading and writing is set to big-endian. The unit signal read / write format includes the data read / write length, offset, and resolution of the specified signal; Communication modes include single-device communication mode and multi-device communication mode.

[0013] As a preferred improvement, step S2, the handshake communication process between the host and slave devices specifically includes the following steps: I. Connection Phase: Update handshake information and record device information, specifically including the following processes: Step S211: The host scans for online slave devices and connects to them. After a successful connection, the host stores the slave device's service information in the slave device information list; the slave stores the host's service information in the host device information list. In step S212, the host polls the list of slave devices and sends a Ping command to confirm communication. After receiving the Ping command, the slave returns a response message to confirm that the communication is normal. Step S213: The host sends a command to query device information, and the slave reports the electric servo motor device information, including the electric servo motor device ID, project version, bootloader version number, hardware version number and software version number. The host synchronously updates the device information to the slave device information list, and the handshake information update is completed. II. The instruction execution phase includes the following processes: Step S221: The host queries the slave device information list, confirms the slave device information, and sends instruction information according to the slave's service information and device information; after receiving the instruction information, the slave queries the host device information list and performs communication confirmation. Step S222: Communication confirmation complete. The slave device executes the instruction information and responds accordingly. After receiving the response information, the master device confirms that the instruction execution is complete.

[0014] As a preferred improvement, step S3, "configuring the basic parameters of the StarShine SLE wireless communication module" specifically includes: (1) Configure the StarShine SLE wireless communication module as a slave device; (2) Configure broadcast parameters, including: unique UUID, connection ID, MTU parameter, task priority, task stack size and ssap service parameters; (3) Set callback parameters, including: SLE enable callback function, scan enable / disable callback function, disable callback function, scan result callback function, register scan callback function, connection status change callback function, pairing completion callback function, register connection callback function, exchange information callback function, find structure callback function, compare structure callback function, find attribute callback function, write confirmation callback function, read confirmation callback function and register SSAP client callback function; (4) Perform other initialization configurations, including adding services to ssap, adding feature values, feature descriptors, and exchanging MTUs; (5) Client initialization, registering callback functions and enabling SLE.

[0015] As a preferred improvement, in step S3, the interaction data between the StarShine SLE wireless communication module and the electric servo motor specifically includes: current data, voltage data, temperature data, speed data, and torque data.

[0016] As a preferred improvement, the remote control terminal is selected from mobile phones, tablets, and computers.

[0017] The beneficial effects of this invention are as follows: (1) A star flash communication mode was added to the electric servo motor, which enriched the wireless communication mode between the electric servo motor and the remote control terminal; (2) It enables electric servos to connect directly to smart devices such as mobile phones, tablets and computers that support the star flash function, expands the types of remote control terminals, increases the communication application scenarios of electric servos, and can be better popularized. (3) Star Flash Communication has the advantages of low latency, high throughput, high burst, high reliability, anti-interference, and precise positioning, which can effectively reduce power consumption, increase communication speed, increase coverage and connection stability. (4) Star Flash Communication allows multiple devices to be connected, and multiple electric servos can be controlled simultaneously using a single remote control terminal. Detailed Implementation

[0018] The technical solutions of the present invention will be clearly and completely described below with reference to the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and 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.

[0019] This embodiment provides an electric servo motor control method based on star-flash communication, including the following steps: Step S1: Establish the vector control system model of the electric servo motor.

[0020] The vector control system model deeply integrates motor vector control technology with servo angle control. Through three-level closed-loop control of current loop, speed loop, and position loop, it achieves ultra-precision definition (accuracy of ±0.1°, more than 10 times higher than traditional servos), millisecond-level dynamic response (step response <20ms, bandwidth >50Hz), and strong anti-interference capability (suppressing the influence of external disturbances on the angle through real-time load observation and feedforward decoupling).

[0021] Step S1 specifically includes the following steps: Step S11: Determine the technical specifications, motor parameters, and control strategy based on the design requirements of the electric servo motor.

[0022] Technical specifications include the rated torque, speed range, position control accuracy, dynamic response time requirements, and operating environment conditions of the motor servo; motor parameters include motor type, number of pole pairs, rated voltage, and rated current; the control strategy selected is a field-oriented control strategy.

[0023] Step S12: Establish the three-phase voltage equations, and transform the three-phase stationary coordinate system into a rotating coordinate system through Clark / Park transformation to obtain the mathematical model of the motor.

[0024] The phase voltage equation is expressed as: ; In the formula, , , These represent the three-phase stator voltages; , , These represent the three-phase stator currents; , , These represent the three-phase constant resistances; , , Indicates three-phase flux linkage; Indicates time; The Clark transform equation is expressed as: (1) From the three-phase stationary coordinate system To the two-phase stationary coordinate system Transformation: ; In the formula, , Representing a two-phase stationary coordinate system axis, The current in the shaft; (2) From the two-phase stationary coordinate system To the three-phase stationary coordinate system Transformation: ; The Park transformation equation is expressed as: (1) From the two-phase stationary coordinate system To the two-phase rotating coordinate system Transformation: ; In the formula, , Representing a two-phase rotating coordinate system axis, The current in the shaft; Representing a two-phase rotating coordinate system Relative to the two-phase stationary coordinate system The rotation angle is characterized by the electrical angle of the electric servo rotor; (2) From a two-phase rotating coordinate system To the two-phase stationary coordinate system Transformation: ; Two-phase rotating coordinate system The voltage-current equation under the following conditions is expressed as: ; In the formula, , Representing a two-phase rotating coordinate system axis, Voltage on the shaft; Indicates stator resistance; , Representing a two-phase rotating coordinate system axis, The inductance of the shaft; Indicates the electric angular velocity of the rotor. , Indicates the mechanical angular velocity of the rotor. Indicates the number of pole pairs of the motor; This indicates the magnetic flux linkage of a permanent magnet.

[0025] Step S13: Design a controller with a three-loop control structure. The outer loop is the position loop, which generates a speed command signal based on the input position command through a PID controller. The middle loop is the speed loop, which outputs a current command signal based on the speed command signal output from the position loop through a PI controller. The inner loop is the current loop, which uses the current command signal output from the speed loop to achieve decoupling control of the d-axis and q-axis currents of the rotating coordinate system through a PI controller, generating voltage command signals for the d-axis and q-axis, which serve as inputs to the inverter to adjust the operating state of the electric servo motor.

[0026] The speed command generation process of the position loop is represented as follows: ; In the formula, This indicates the mechanical angular velocity command value of the rotor; Indicates the position command value; Indicates the actual location; Indicates the proportional gain of the position loop; This represents the integral gain of the position loop; Represents the differential gain of the position loop; Indicates time; The torque command generation process of the speed loop is represented as follows: ; In the formula, Representing a two-phase rotating coordinate system The current command value for the shaft; This represents the proportional gain of the velocity loop; Indicates the integral gain of the velocity loop; The decoupling control equation for the current loop is expressed as: ; In the formula, , Representing a two-phase rotating coordinate system axis, The voltage command value of the shaft is used as the input of the inverter; Representing a two-phase rotating coordinate system The current command value of the shaft, Set to 0; Indicates the proportional gain of the current loop; This represents the integral gain of the current loop.

[0027] Step S2: Define the remote control terminal as the master end, configure the electric servo motor of the StarShine SLE wireless communication module as the slave end, design the protocol specification for communication between the master end and the slave end through the StarShine SLE wireless communication module, define the frame format and protocol stack of communication data according to the protocol specification, and define the handshake communication process between the master end and the slave end.

[0028] The protocol specifications include: data frame format, byte order for data reading and writing, unit signal reading and writing format, and communication mode, among which: The data frame format includes a data frame header or function addressing ID, frame number, data length, and checksum method; the data frame includes a transmit frame and a response frame; The byte order for data reading and writing is set to big-endian. The unit signal read / write format includes the data read / write length, offset, and resolution of the specified signal; Communication modes include single-device communication mode and multi-device communication mode.

[0029] The handshake communication process between the host and slave devices specifically includes the following steps: I. Connection Phase: Update handshake information and record device information, specifically including the following processes: Step S211: The host scans for online slave devices and connects to them. After a successful connection, the host stores the slave device's service information in the slave device information list; the slave stores the host's service information in the host device information list. In step S212, the host polls the list of slave devices and sends a Ping command to confirm communication. After receiving the Ping command, the slave returns a response message to confirm that the communication is normal. Step S213: The host sends a command to query device information, and the slave reports the electric servo motor device information, including the electric servo motor device ID, project version, bootloader version number, hardware version number and software version number. The host synchronously updates the device information to the slave device information list, and the handshake information update is completed. II. The instruction execution phase includes the following processes: Step S221: The host queries the slave device information list, confirms the slave device information, and sends instruction information according to the slave's service information and device information; after receiving the instruction information, the slave queries the host device information list and performs communication confirmation. Step S222: Communication confirmation complete. The slave device executes the instruction information and responds accordingly. After receiving the response information, the master device confirms that the instruction execution is complete.

[0030] The handshake communication process is set up to ensure that the master and slave ends achieve time synchronization, parameter synchronization, identity synchronization, and status synchronization before data transmission through preset interaction steps. At the same time, in a distributed control system where one master end corresponds to multiple slave ends, multiple electric servos with the same device ID can access the system simultaneously.

[0031] Step S3: Configure the basic parameters of the StarShine SLE wireless communication module, design register addressing function for the StarShine SLE wireless communication module, and perform read and write operations on the registers of each sampling module in the electric servo motor through unique address mapping to realize data interaction between the StarShine SLE wireless communication module and the electric servo motor.

[0032] The "basic parameters for configuring the StarShine SLE wireless communication module" specifically include: (1) Configure the StarShine SLE wireless communication module as a slave device; (2) Configure broadcast parameters, including: unique UUID, connection ID, MTU parameter, task priority, task stack size and ssap service parameters; (3) Set callback parameters, including: SLE enable callback function, scan enable / disable callback function, disable callback function, scan result callback function, register scan callback function, connection status change callback function, pairing completion callback function, register connection callback function, exchange information callback function, find structure callback function, compare structure callback function, find attribute callback function, write confirmation callback function, read confirmation callback function and register SSAP client callback function; (4) Perform other initialization configurations, including adding services to ssap, adding feature values, feature descriptors, and exchanging MTUs; (5) Client initialization, registering callback functions and enabling SLE.

[0033] The specific data exchanged between the StarShine SLE wireless communication module and the electric servo motor includes: current data, voltage data, temperature data, speed data, and torque data.

[0034] During the operation of the electric servo motor, each sampling module is configured to sample at regular intervals with a sampling frequency of 1µs. The sampling data from each module effectively reflects the operating status of the electric servo motor. After the sampling data is acquired by the StarSign SLE wireless communication module, it is transmitted to the host terminal, enabling real-time monitoring of the electric servo motor's operating status.

[0035] Step S4: Establish the control signal transmission path for the electric servo motor: The host computer sends control commands to the controller of the electric servo motor through the StarSignal SLE wireless communication module. The controller generates command signals, which are then modulated by SVPWM to generate PWM signals that drive the inverter and adjust the operating status of the electric servo motor.

[0036] This signal transmission path relies on the Star Flash SLE wireless communication method, which has advantages such as low latency, high throughput, high burst speed, high reliability, anti-interference, and precise positioning. It can effectively reduce power consumption, improve communication speed, increase coverage and connection stability, and provide a new connection method for electric servos, which can effectively expand the application scenarios of electric servos.

[0037] The embodiments of the present invention have been described above. However, the present invention is not limited to the specific embodiments described above. The specific embodiments described above are merely illustrative and not restrictive. Those skilled in the art can make many other forms under the guidance of the present invention without departing from the spirit and scope of the claims, and all of these forms are within the protection scope of the present invention.

Claims

1. A method for controlling an electric servo motor based on star-flash communication, characterized in that, Includes the following steps: Step S1: Establish a vector control system model for the electric servo motor; Step S2: Define the remote control terminal as the master end, configure the electric servo motor of the StarShine SLE wireless communication module as the slave end, design the protocol specification for communication between the master end and the slave end through the StarShine SLE wireless communication module, define the frame format and protocol stack of communication data according to the protocol specification, and define the handshake communication process between the master end and the slave end. Step S3: Configure the basic parameters of the StarShine SLE wireless communication module, design register addressing function for the StarShine SLE wireless communication module, and perform read and write operations on the registers of each sampling module in the electric servo motor through unique address mapping to realize data interaction between the StarShine SLE wireless communication module and the electric servo motor. Step S4: Establish the control signal transmission path for the electric servo motor: The host computer sends control commands to the controller of the electric servo motor through the StarSignal SLE wireless communication module. The controller generates command signals, which are then modulated by SVPWM to generate PWM signals that drive the inverter and adjust the operating status of the electric servo motor.

2. The electric servo motor control method based on star-flash communication according to claim 1, characterized in that, Step S1 specifically includes the following steps: Step S11: Determine the technical specifications, motor parameters, and control strategy based on the design requirements of the electric servo motor; Step S12: Establish the three-phase voltage equations, and transform the three-phase stationary coordinate system into a rotating coordinate system through Clark / Park transformation to obtain the mathematical model of the motor; Step S13: Design a controller with a three-loop control structure. The outer loop is the position loop, which generates a speed command signal based on the input position command through a PID controller. The middle loop is the speed loop, which outputs a current command signal based on the speed command signal output from the position loop through a PI controller. The inner loop is the current loop, which uses the current command signal output from the speed loop to achieve decoupling control of the d-axis and q-axis currents of the rotating coordinate system through a PI controller, generating voltage command signals for the d-axis and q-axis, which serve as inputs to the inverter to adjust the operating state of the electric servo motor.

3. The electric servo motor control method based on star-flash communication according to claim 2, characterized in that, In step S11, the technical specifications include the rated torque, speed range, position control accuracy, dynamic response time requirements, and working environment conditions of the motor servo; the motor parameters include the motor type, number of motor pole pairs, rated voltage, and rated current; and the control strategy selected is the field-oriented control strategy.

4. The electric servo motor control method based on star-flash communication according to claim 2, characterized in that, In step S12, the three-phase voltage equations are expressed as follows: ； In the formula, , , These represent the three-phase stator voltages; , , These represent the three-phase stator currents; , , These represent the three-phase constant resistances; , , Indicates three-phase flux linkage; Indicates time; The Clark transform equation is expressed as: (1) From the three-phase stationary coordinate system To the two-phase stationary coordinate system Transformation: ； In the formula, , Representing a two-phase stationary coordinate system axis, The current in the shaft; (2) From the two-phase stationary coordinate system To the three-phase stationary coordinate system Transformation: ； The Park transformation equation is expressed as: (1) From the two-phase stationary coordinate system To the two-phase rotating coordinate system Transformation: ； In the formula, , Representing a two-phase rotating coordinate system axis, The current in the shaft; Representing a two-phase rotating coordinate system Relative to the two-phase stationary coordinate system The rotation angle is characterized by the electrical angle of the electric servo rotor; (2) From a two-phase rotating coordinate system To the two-phase stationary coordinate system Transformation: ； Two-phase rotating coordinate system The voltage-current equation under the following conditions is expressed as: ； In the formula, , Representing a two-phase rotating coordinate system axis, Voltage on the shaft; Indicates stator resistance; , Representing a two-phase rotating coordinate system axis, The inductance of the shaft; Indicates the electric angular velocity of the rotor. , Indicates the mechanical angular velocity of the rotor. Indicates the number of pole pairs of the motor; This indicates the magnetic flux linkage of a permanent magnet.

5. The electric servo motor control method based on star-flash communication according to claim 4, characterized in that, In step S13, the speed command generation process of the position loop is represented as follows: ； In the formula, This indicates the mechanical angular velocity command value of the rotor; Indicates the position command value; Indicates the actual location; Indicates the proportional gain of the position loop; This represents the integral gain of the position loop; Represents the differential gain of the position loop; Indicates time; The torque command generation process of the speed loop is represented as follows: ； In the formula, Representing a two-phase rotating coordinate system The current command value for the shaft; This represents the proportional gain of the velocity loop; Indicates the integral gain of the velocity loop; The decoupling control equation for the current loop is expressed as: ； In the formula, , Representing a two-phase rotating coordinate system axis, The voltage command value of the shaft is used as the input of the inverter; Representing a two-phase rotating coordinate system The current command value of the shaft, Set to 0; Indicates the proportional gain of the current loop; This represents the integral gain of the current loop.

6. The electric servo motor control method based on star-flash communication according to claim 1, characterized in that, In step S2, the protocol specifications include: data frame format, byte order for data reading and writing, unit signal reading and writing format, and communication mode, wherein: The data frame format includes a data frame header or function addressing ID, frame number, data length, and checksum method; the data frame includes a transmit frame and a response frame; The byte order for data reading and writing is set to big-endian. The unit signal read / write format includes the data read / write length, offset, and resolution of the specified signal; Communication modes include single-device communication mode and multi-device communication mode.

7. The electric servo motor control method based on star-flash communication according to claim 6, characterized in that, In step S2, the handshake communication process between the host and slave devices specifically includes the following steps: I. Connection Phase: Update handshake information and record device information, specifically including the following processes: Step S211: The host scans for online slave devices and connects to them. After a successful connection, the host stores the slave device's service information in the slave device information list; the slave stores the host's service information in the host device information list. In step S212, the host polls the list of slave devices and sends a Ping command to confirm communication. After receiving the Ping command, the slave returns a response message to confirm that the communication is normal. Step S213: The host sends a command to query device information, and the slave reports the electric servo motor device information, including the electric servo motor device ID, project version, bootloader version number, hardware version number and software version number. The host synchronously updates the device information to the slave device information list, and the handshake information update is completed. II. The instruction execution phase includes the following processes: Step S221: The host queries the slave device information list, confirms the slave device information, and sends instruction information according to the slave's service information and device information; after receiving the instruction information, the slave queries the host device information list and performs communication confirmation. Step S222: Communication confirmation complete. The slave device executes the instruction information and responds accordingly. After receiving the response information, the master device confirms that the instruction execution is complete.

8. The electric servo motor control method based on star-flash communication according to claim 7, characterized in that, In step S3, "Configuring the basic parameters of the StarShine SLE wireless communication module" specifically includes: (1) Configure the StarShine SLE wireless communication module as a slave device; (2) Configure broadcast parameters, including: unique UUID, connection ID, MTU parameter, task priority, task stack size and ssap service parameters; (3) Set callback parameters, including: SLE enable callback function, scan enable / disable callback function, disable callback function, scan result callback function, register scan callback function, connection status change callback function, pairing completion callback function, register connection callback function, exchange information callback function, find structure callback function, compare structure callback function, find attribute callback function, write confirmation callback function, read confirmation callback function and register SSAP client callback function; (4) Perform other initialization configurations, including adding services to ssap, adding feature values, feature descriptors, and exchanging MTUs; (5) Client initialization, registering callback functions and enabling SLE.

9. The electric servo motor control method based on star-flash communication according to claim 1, characterized in that, In step S3, the interaction data between the StarShine SLE wireless communication module and the electric servo motor specifically includes: current data, voltage data, temperature data, speed data, and torque data.

10. The electric servo motor control method based on star-flash communication according to claim 1, characterized in that, The remote control terminal is selected from one of the following: mobile phone, tablet computer, or computer.

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