Motor control method and device, electronic equipment and storage medium

Abstract

The invention provides a motor control method and device, electronic equipment and a storage medium, and the method comprises the steps: obtaining an actual position and a motion state of target equipment at a current moment in a process that the target equipment moves to a target position; the target equipment moves based on at least one linear motor based on the piezoelectric walking principle inside the target equipment; according to the motion state and the distance between the actual position and the target position, determining a piezoelectric pin voltage parameter of an internal motor of the target equipment in a target motion mode; and based on the target motion mode and the piezoelectric pin voltage parameters, control signals are issued to motors in the target equipment in parallel so as to control the motors. According to the invention, the voltage parameter of the piezoelectric pin of the motor can be adjusted according to the distance between the actual position of the target equipment and the target position, so that the motion step length and the motion speed of the motor are adjusted, and the accuracy of motor positioning control is improved.

Description

Technical Field

[0001] This invention relates to the field of motor control, and more specifically, to a motor control method, apparatus, electronic device, and storage medium. Background Technology

[0002] In the field of precision drive, small linear motors based on the piezoelectric walking principle, leveraging the inverse piezoelectric effect of piezoelectric materials, can directly convert electrical energy into linear displacement by simulating periodic stepping movements such as "walking" or "creeping." They offer significant advantages including a wide stroke range, compact structure, fast response speed, and high positioning resolution, and are widely used in precision optics, biomedicine, semiconductor processing, and other scenarios with stringent requirements for equipment miniaturization and positioning accuracy. The drive process typically involves a host computer issuing control commands, the motor driver receiving the commands, switching to the corresponding motion mode, and then outputting drive signals to drive the motor to complete the stepping motion.

[0003] However, in existing technologies, the control voltage waveform of the motor is usually fixed before operation, which makes it impossible to adjust the motor's step size and speed while ensuring nanometer-level positioning accuracy, resulting in insufficient precision in motor positioning control. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a motor control method, device, electronic device and storage medium that can adjust the piezoelectric pin voltage parameters of the motor according to the distance between the actual position of the target device and the target position, thereby adjusting the motor's movement step size and movement speed, and improving the accuracy of motor positioning control.

[0005] In a first aspect, embodiments of this application provide a motor control method, the motor control method comprising: During the movement of the target device toward the target position, the actual position and motion state of the target device at the current moment are acquired; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; Based on the motion state and the distance between the actual position and the target position, determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode; Based on the target motion mode and the piezoelectric foot voltage parameters, control signals are sent in parallel to each motor inside the target device to control each motor.

[0006] In one possible implementation, determining the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the motion state and the distance between the actual position and the target position includes: Based on the motion state and the distance between the actual position and the target position, the target motion mode of the motor inside the target device is determined; If the motion state is uniform motion and the target motion mode is step motion mode, then the fixed piezoelectric pin voltage amplitude and the first preset voltage waveform period of the motor inside the target device are input into the curve generator to obtain the first piezoelectric pin voltage waveform curve of the motor inside the target device; and the first piezoelectric pin voltage waveform curve is determined as the piezoelectric pin voltage parameter. If the motion state is variable speed motion or the target motion mode is simulated motion mode, then the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode are determined based on the distance between the actual position and the target position.

[0007] In one possible implementation, determining the target motion mode of the motor inside the target device based on the motion state and the distance between the actual position and the target position includes: If the motion state is variable speed motion, then the stepping motion mode is determined as the target motion mode of the motor inside the target device; If the motion state is uniform motion, the target motion mode of the motor inside the target device is determined based on the numerical comparison result between the distance and the preset distance threshold.

[0008] In one possible implementation, determining the target motion pattern of the motor inside the target device based on a numerical comparison between the distance and a preset distance threshold includes: If the numerical comparison result is that the distance is greater than or equal to the preset distance threshold, then the stepping motion mode is determined as the target motion mode of the motor inside the target device. If the numerical comparison result indicates that the distance is less than the preset distance threshold, then the simulated motion mode is determined as the target motion mode of the motor inside the target device.

[0009] In one possible implementation, determining the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the distance between the actual position and the target position includes: The distance between the actual position and the target position is input into the PID controller to obtain the predicted piezoelectric pin voltage amplitude of the motor inside the target device; Based on the predicted piezoelectric pin voltage amplitude, the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode are determined.

[0010] In one possible implementation, determining the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the predicted piezoelectric pin voltage amplitude includes: If the target motion mode is a stepping motion mode, the predicted piezoelectric foot voltage amplitude and the second preset voltage waveform period are input into the curve generator to obtain the second piezoelectric foot voltage waveform curve of the motor inside the target device; and the second piezoelectric foot voltage waveform curve is determined as the piezoelectric foot voltage parameter.

[0011] If the target motion mode is a simulated motion mode, then the predicted voltage amplitude of the sheared piezoelectric foot in the predicted piezoelectric foot voltage amplitude is determined as the piezoelectric foot voltage parameter.

[0012] In one possible implementation, the step of sending control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric foot voltage parameters to control each motor includes: If the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is less than or equal to the preset shear voltage amplitude, then control each motor to stop moving; If the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is greater than the preset shear voltage amplitude, then the voltage signal corresponding to the piezoelectric foot voltage parameter and the target motion mode are sent in parallel to each motor inside the target device to control each motor.

[0013] Secondly, embodiments of this application also provide a motor control device, the device comprising: The acquisition module is used to acquire the actual position and motion state of the target device at the current moment during the process of the target device moving towards the target position; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; The determining module is used to determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the motion state and the distance between the actual position and the target position; The control module is used to send control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric foot voltage parameters, so as to control each motor.

[0014] In one possible implementation, the determining module is specifically used to determine the target motion mode of the motor inside the target device based on the motion state and the distance between the actual position and the target position; if the motion state is uniform motion and the target motion mode is step motion mode, then the fixed piezoelectric pin voltage amplitude and the first preset voltage waveform period of the motor inside the target device are input into the curve generator to obtain the first piezoelectric pin voltage waveform curve of the motor inside the target device; and the first piezoelectric pin voltage waveform curve is determined as the piezoelectric pin voltage parameter; if the motion state is variable speed motion or the target motion mode is simulated motion mode, then the piezoelectric pin voltage parameter of the motor inside the target device in the target motion mode is determined based on the distance between the actual position and the target position.

[0015] In one possible implementation, the determining module is specifically configured to determine the stepping motion mode as the target motion mode of the motor inside the target device if the motion state is variable speed motion; and to determine the target motion mode of the motor inside the target device based on the numerical comparison result between the distance and the preset distance threshold if the motion state is uniform speed motion.

[0016] In one possible implementation, the determining module is specifically configured to determine the stepping motion mode as the target motion mode of the motor inside the target device if the numerical comparison result is that the distance is greater than or equal to the preset distance threshold; and to determine the simulated motion mode as the target motion mode of the motor inside the target device if the numerical comparison result is that the distance is less than the preset distance threshold.

[0017] In one possible implementation, the determining module is specifically used to input the distance between the actual position and the target position into the PID controller to obtain the predicted piezoelectric pin voltage amplitude of the motor inside the target device; and to determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the predicted piezoelectric pin voltage amplitude.

[0018] In one possible implementation, the determining module is specifically configured to, if the target motion mode is a stepping motion mode, input the predicted piezoelectric pin voltage amplitude and the second preset voltage waveform period into a curve generator to obtain the second piezoelectric pin voltage waveform curve of the motor inside the target device; and determine the second piezoelectric pin voltage waveform curve as the piezoelectric pin voltage parameter. If the target motion mode is a simulated motion mode, the predicted voltage amplitude that is cut off from the predicted piezoelectric pin voltage amplitude is determined as the piezoelectric pin voltage parameter.

[0019] In one possible implementation, the control module is specifically used to control each motor to stop moving if the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is less than or equal to a preset shear voltage amplitude; and to send voltage signals corresponding to the piezoelectric foot voltage parameters and the target motion mode in parallel to each motor inside the target device to control each motor if the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is greater than the preset shear voltage amplitude.

[0020] Thirdly, embodiments of this application also provide an electronic device, including: a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is running, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the motor control method as described in any of the first aspects.

[0021] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the motor control method as described in any of the first aspects.

[0022] This application provides a motor control method, device, electronic device, and storage medium. The method includes: acquiring the actual position and motion state of the target device at the current moment during the movement of the target device towards a target position; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; determining the piezoelectric pin voltage parameters of the internal motors of the target device in a target motion mode based on the motion state and the distance between the actual position and the target position; and sending control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric pin voltage parameters to control each motor. This application enables the adjustment of the piezoelectric pin voltage parameters of the motors according to the distance between the actual position and the target position, thereby adjusting the motor's step size and speed, and improving the accuracy of motor positioning control. Attached Figure Description

[0023] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 A flowchart illustrating a motor control method provided in an embodiment of this application is shown; Figure 2This invention provides a schematic diagram of the structure of the internal motor of the target device according to an embodiment of the present application. Figure 3 This application provides a schematic diagram illustrating the motion principle of the internal motor of the target device according to an embodiment of the present application. Figure 4 A flowchart illustrating the determination of piezoelectric pin voltage parameters provided in an embodiment of this application is shown; Figure 5 This illustration shows a schematic diagram of motor operation controlled by a continuous stepping control method according to an embodiment of this application; Figure 6 This invention provides a schematic diagram of motor operation for switching between stepper motion mode and analog motion mode according to an embodiment of the present application. Figure 7 A schematic diagram of the structure of a motor control device provided in an embodiment of this application is shown; Figure 8 A schematic diagram of the structure of an electronic device provided in an embodiment of this application is shown. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0026] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0027] To enable those skilled in the art to utilize the content of this application, and in conjunction with the specific application scenario of "motor control," the following implementation methods are provided. For those skilled in the art, the general principles defined herein can be applied to other embodiments and application scenarios without departing from the spirit and scope of this application. Although this application is primarily described within the "motor control field," it should be understood that this is merely an exemplary embodiment.

[0028] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0029] The following is a detailed description of a motor control method provided in the embodiments of this application.

[0030] Reference Figure 1 The diagram shown is a flowchart illustrating a motor control method provided in an embodiment of this application. The exemplary steps of this embodiment are described below: S101. During the process of the target device moving towards the target position, obtain the actual position and motion state of the target device at the current moment.

[0031] In this embodiment, the target device moves based on at least one internal linear motor (also known as a piezoelectric linear motor) based on the piezoelectric walking principle, such as a semiconductor lithography machine (applicable to wafer stage micro-motion positioning, nanoscale scanning and stitching, etc.), a PI N-422 PIShift linear actuator (applicable to optical component calibration, cell microneedle manipulation, medical microtitering, etc.), and a digital pathology scanning stage (applicable to continuous scanning of hospital pathology slides at 40× oil immersion with no backlash), etc. During the movement of the target device towards the target position, the actual position and movement status of the target device can be acquired periodically, and the acquisition period can be set according to the actual situation.

[0032] Among them, motion states include uniform motion and variable motion.

[0033] Here, refer to Figure 2 The diagram shown is a structural schematic of the internal motor of the target device provided in an embodiment of this application. The internal motor of the target device (i.e., a piezoelectric walking linear motor) includes clamping piezoelectric feet, shearing piezoelectric feet, and a drive rod. (Refer to...) Figure 3 The diagram shown illustrates the motion principle of the internal motor of the target device provided in this embodiment. The internal motor of the target device exhibits two motion modes: stepping motion and analog motion. Stepping motion refers to the motion that simultaneously controls the clamping and shearing actions of the piezoelectric foot; analog motion refers to the motion that only controls the shearing action of the piezoelectric foot.

[0034] The core function of the clamping piezoelectric foot (also known as the holding foot, which generates vertical deformation) is to achieve the "clamp-release" action, responsible for fixing or releasing the driven components such as the drive rod, providing a stable foundation for the driving action of the shearing piezoelectric foot, and preventing relative slippage during transmission. The core function of the shearing piezoelectric foot (also known as the shearing foot, which generates horizontal deformation) is to generate displacement in the shear direction, converting the shear deformation of the piezoelectric material into driving force, pushing the driven components such as the drive rod to move linearly. It is one of the core power components for realizing the "walking" of the motor, and can also be used in conjunction with the structure to achieve fine displacement adjustment in multiple directions.

[0035] S102. Based on the motion state and the distance between the actual position and the target position, determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode.

[0036] In this embodiment, when the target motion mode is stepping motion, the piezoelectric foot voltage parameter is the piezoelectric foot voltage waveform curve (including the shear voltage waveform curve of the shearing piezoelectric foot and the clamping voltage waveform curve of the clamping piezoelectric foot). When the target motion mode is simulated motion, the piezoelectric foot voltage parameter is the shear voltage (referring to the voltage controlling the shearing piezoelectric foot). The closer the actual position is to the target position, the smaller the shear voltage amplitude corresponding to the shear voltage waveform curve, and the smaller the step size of the motor, that is, the smaller the movement step size of the target device.

[0037] The smaller the voltage waveform period corresponding to the piezoelectric foot voltage waveform curve, the smaller the motor's moving speed, which in turn means the smaller the target device's moving speed.

[0038] Specifically, refer to Figure 4 The diagram shown is a flowchart illustrating the determination of piezoelectric pin voltage parameters according to an embodiment of this application. The specific determination process includes: S401. Determine the target motion mode of the motor inside the target device based on the motion state, the distance between the actual position and the target position.

[0039] In this embodiment of the application, if the motion state is variable speed motion, the stepping motion mode is determined as the target motion mode of the motor inside the target device; if the motion state is uniform speed motion, the target motion mode of the motor inside the target device is determined based on the numerical comparison result between the distance and the preset distance threshold.

[0040] In this embodiment, if the motion state is variable speed motion, the stepping motion mode is determined as the target motion mode of the motor inside the target device, and the motor motion is controlled by continuous stepping control. If the motion state is uniform speed motion, it is necessary to switch between stepping motion mode and analog motion mode based on the numerical comparison result between the distance and the preset distance threshold to control the motor motion.

[0041] Reference Figure 5 The diagram shown is a schematic representation of motor operation controlled by a continuous stepping control method according to an embodiment of this application. (Refer to...) Figure 6 The diagram shown is a schematic of motor operation for switching between stepper motion mode and simulated motion mode according to an embodiment of this application.

[0042] Specifically, based on the numerical comparison result between the distance and the preset distance threshold, the target motion mode of the motor inside the target device is determined, including: if the numerical comparison result is that the distance is greater than or equal to the preset distance threshold, then the stepping motion mode is determined as the target motion mode of the motor inside the target device; if the numerical comparison result is that the distance is less than the preset distance threshold, then the simulation motion mode is determined as the target motion mode of the motor inside the target device.

[0043] In this embodiment, when the distance between the actual position and the target position is greater than or equal to a preset distance threshold, the motor is controlled to move in a stepping motion mode. When the distance between the actual position and the target position is less than the preset distance threshold, the motor is controlled to enter a simulated motion mode, and the stepping motion mode is stopped.

[0044] S402. If the motion state is uniform motion and the target motion mode is step motion mode, then the fixed piezoelectric pin voltage amplitude and the first preset voltage waveform period of the motor inside the target device are input into the curve generator to obtain the first piezoelectric pin voltage waveform curve of the motor inside the target device; and the first piezoelectric pin voltage waveform curve is determined as the piezoelectric pin voltage parameter.

[0045] In this embodiment, the first piezoelectric pin voltage waveform curve is a voltage waveform with a fixed piezoelectric pin voltage amplitude and a first preset voltage waveform period as the period. Therefore, by using the first piezoelectric pin voltage waveform curve, the motor can perform stepping motion with a fixed step size, enabling the target device to move at a uniform speed.

[0046] The fixed piezoelectric pin voltage amplitude can be a user-preset piezoelectric pin voltage amplitude within the usable range of the motor, including the fixed voltage amplitude for clamping the piezoelectric pin and the fixed voltage amplitude for shearing the piezoelectric pin. The first preset voltage waveform period can be a user-preset voltage waveform period that meets the voltage waveform period range requirements of the motor, including the first preset voltage waveform period for clamping the piezoelectric pin and the first preset voltage waveform period for shearing the piezoelectric pin.

[0047] Here, the voltage waveform curve of the first piezoelectric foot includes the first voltage waveform curve of the clamped piezoelectric foot (a voltage waveform with the fixed voltage amplitude of the clamped piezoelectric foot as the amplitude and the first preset voltage waveform period of the clamped piezoelectric foot as the period) and the first voltage waveform curve of the sheared piezoelectric foot (a voltage waveform with the fixed voltage amplitude of the sheared piezoelectric foot as the amplitude and the first preset voltage waveform period of the sheared piezoelectric foot as the period).

[0048] In addition, the fixed voltage amplitude of the shear piezoelectric foot can be set to the voltage amplitude corresponding to the motor stepping at half the length of the shear piezoelectric foot, or it can be set to the voltage amplitude corresponding to the motor stepping at the full length of the shear piezoelectric foot.

[0049] It should be noted that the curve generator is a "waveform synthesis function" encapsulated in the motor driver or motion control firmware, which is essentially a callable interface.

[0050] S403. If the motion state is variable speed motion or the target motion mode is simulated motion mode, then determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the distance between the actual position and the target position.

[0051] In this embodiment, the distance between the actual position and the target position is input into the PID controller to obtain the predicted piezoelectric pin voltage amplitude of the motor inside the target device; based on the predicted piezoelectric pin voltage amplitude, the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode are determined.

[0052] In this embodiment, the predicted voltage amplitude of the shearing piezoelectric foot in the predicted piezoelectric foot voltage amplitude of the motor stepping motion is changed according to the distance between the actual position and the target position, thus changing the step size of the motor. The smaller the distance between the actual position and the target position, the smaller the predicted voltage amplitude of the shearing piezoelectric foot, and the smaller the step size of the motor.

[0053] The predicted voltage amplitude of the piezoelectric foot includes the predicted voltage amplitude of the sheared piezoelectric foot and the predicted voltage amplitude of the clamped piezoelectric foot.

[0054] Here, the PID controller is a core component of closed-loop control based on the coordinated operation of proportional (P), integral (I), and derivative (D) operations. It outputs a precise control signal by calculating the deviation between the target value and the actual value in real time. In this application, the distance between the actual position and the target position is used as the loop error of the PID controller. After proportional-integral-derivative operations, a voltage value U is directly output. This U is the 'predicted voltage amplitude of the piezoelectric pin' to be applied in the next step.

[0055] Furthermore, based on the predicted piezoelectric pin voltage amplitude, the piezoelectric pin voltage parameters of the motor inside the target device under the target motion mode are determined, including: Step 1: If the target motion mode is step motion mode, input the predicted piezoelectric pin voltage amplitude and the second preset voltage waveform period into the curve generator to obtain the second piezoelectric pin voltage waveform curve of the motor inside the target device; and determine the second piezoelectric pin voltage waveform curve as the piezoelectric pin voltage parameter.

[0056] In this embodiment, the second piezoelectric foot voltage waveform curve is a voltage waveform with the predicted piezoelectric foot voltage amplitude as the amplitude and the second preset voltage waveform period as the period. The predicted piezoelectric foot voltage amplitude is obtained based on the distance between the actual position and the target position, including the predicted voltage amplitude for clamping the piezoelectric foot and the predicted voltage amplitude for shearing the piezoelectric foot; therefore, the motor can perform stepping motion according to the predicted voltage amplitude, and the target device can perform variable speed motion according to the distance between the actual position and the target position. The smaller the distance between the actual position and the target position, the lower the speed of the target device, thereby ensuring positioning accuracy.

[0057] The second preset voltage waveform period can be a voltage waveform period that is set in advance by the user to meet the voltage waveform period range requirements of the motor, including the second preset voltage waveform period for clamping the piezoelectric foot and the second preset voltage waveform period for shearing the piezoelectric foot.

[0058] Here, the second piezoelectric foot voltage waveform curve includes the second voltage waveform curve of clamping the piezoelectric foot (a voltage waveform with the fixed voltage amplitude of the clamping piezoelectric foot as the amplitude and the second preset voltage waveform period of the clamping piezoelectric foot as the period) and the second voltage waveform curve of shearing the piezoelectric foot (a voltage waveform with the fixed voltage amplitude of the shearing piezoelectric foot as the amplitude and the second preset voltage waveform period of the shearing piezoelectric foot as the period).

[0059] Step 2: If the target motion mode is a simulated motion mode, then the predicted voltage amplitude of the sheared piezoelectric foot in the predicted piezoelectric foot voltage amplitude is determined as the piezoelectric foot voltage parameter.

[0060] S103. Based on the target motion mode and the piezoelectric foot voltage parameters, control signals are sent in parallel to each motor inside the target device to control each motor.

[0061] In this embodiment of the application, if the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is greater than the preset shear voltage amplitude, then the voltage signal corresponding to the piezoelectric foot voltage parameter and the target motion mode are sent in parallel to each motor inside the target device to control each motor.

[0062] In this embodiment, if the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is less than or equal to the preset shear voltage amplitude, then each motor is controlled to stop moving.

[0063] In this embodiment, if the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is less than or equal to the preset shear voltage amplitude and the motion state is uniform motion, then the target motion mode is the simulated motion mode. In this case, the motor driver automatically executes the step motion mode to the position where the shear voltage is 0, maintains the current drive rod position and keeps the output shear voltage close to 0.

[0064] In this embodiment, before the motor controller switches from closed-loop to open-loop control, the driver is forced to perform a stepping action to a position where the shear voltage is 0, maintaining the current drive rod position and keeping the output shear voltage close to 0.

[0065] Here, by automatically executing the stepping motion mode to the position where the shear voltage is 0 through the motor driver, maintaining the current drive rod position and keeping the output shear voltage close to 0, the influence of the shear piezoelectric foot shape on the actuator position can be reduced when the motor controller is set to open loop after the motor has moved to the position.

[0066] This application provides a motor control method, which includes: acquiring the actual position and motion state of the target device at the current moment during the movement of the target device towards a target position; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; determining the piezoelectric pin voltage parameters of the internal motors of the target device in a target motion mode based on the motion state and the distance between the actual position and the target position; and sending control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric pin voltage parameters to control each motor. This application enables the adjustment of the piezoelectric pin voltage parameters of the motors according to the distance between the actual position and the target position, thereby adjusting the motor's step size and speed, and improving the accuracy of motor positioning control.

[0067] Among them, motor positioning control refers to making the motor shaft or mover move accurately from the current position to the commanded position and remain stationary after arriving at the position—the whole process only cares about "where it will finally stop" and not "how fast it will move in the middle".

[0068] Based on the same inventive concept, this application also provides a motor control device corresponding to the motor control method. Since the principle of the device in this application is similar to that of the motor control method described above, the implementation of the device can refer to the implementation of the method, and the repeated parts will not be described again.

[0069] Reference Figure 7 The diagram shown is a schematic of a motor control device provided in an embodiment of this application. The motor control device includes: The acquisition module 701 is used to acquire the actual position and motion state of the target device at the current moment during the process of the target device moving towards the target position; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; The determining module 702 is used to determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the motion state and the distance between the actual position and the target position; The control module 703 is used to send control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric foot voltage parameters, so as to control each motor.

[0070] This device allows for the adjustment of the piezoelectric pin voltage parameters of the motor based on the distance between the actual position of the target device and the target position, thereby adjusting the motor's step size and speed and improving the accuracy of motor positioning control.

[0071] like Figure 8 As shown in the embodiment of this application, an electronic device 800 includes a processor 801, a memory 802, and a bus. The memory 802 stores machine-readable instructions executable by the processor 801. When the electronic device is running, the processor 801 communicates with the memory 802 via the bus, and the processor 801 executes the machine-readable instructions to perform the steps of the motor control method described above.

[0072] Specifically, the memory 802 and processor 801 can be general-purpose memory and processor, without any specific limitations. When the processor 801 runs the computer program stored in the memory 802, it can execute the above-mentioned motor control method.

[0073] Corresponding to the above-described motor control method, this application embodiment also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the steps of the above-described motor control method.

[0074] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the specific working processes of the systems and devices described above can be referred to the corresponding processes in the method embodiments, and will not be repeated here. In the several embodiments provided in this application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of modules is only a logical functional division, and in actual implementation, there may be other division methods. Furthermore, multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed mutual coupling or direct coupling or communication connection can be through some communication interfaces; the indirect coupling or communication connection of devices or modules can be electrical, mechanical, or other forms.

[0075] The modules described as separate components may or may not be physically separate. The components shown as modules may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0076] In addition, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0077] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a processor-executable, non-volatile, computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, ROM, RAM, magnetic disks, or optical disks.

[0078] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A motor control method, characterized in that, The method includes: During the movement of the target device toward the target position, the actual position and motion state of the target device at the current moment are acquired; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; Based on the motion state and the distance between the actual position and the target position, determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode; Based on the target motion mode and the piezoelectric foot voltage parameters, control signals are sent in parallel to each motor inside the target device to control each motor.

2. The motor control method according to claim 1, characterized in that, The step of determining the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the motion state and the distance between the actual position and the target position includes: Based on the motion state and the distance between the actual position and the target position, the target motion mode of the motor inside the target device is determined; If the motion state is uniform motion and the target motion mode is step motion mode, then the fixed piezoelectric pin voltage amplitude and the first preset voltage waveform period of the motor inside the target device are input into the curve generator to obtain the first piezoelectric pin voltage waveform curve of the motor inside the target device; and the first piezoelectric pin voltage waveform curve is determined as the piezoelectric pin voltage parameter. If the motion state is variable speed motion or the target motion mode is simulated motion mode, then the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode are determined based on the distance between the actual position and the target position.

3. The motor control method according to claim 2, characterized in that, Determining the target motion mode of the motor inside the target device based on the motion state and the distance between the actual position and the target position includes: If the motion state is variable speed motion, then the stepping motion mode is determined as the target motion mode of the motor inside the target device; If the motion state is uniform motion, the target motion mode of the motor inside the target device is determined based on the numerical comparison result between the distance and the preset distance threshold.

4. The motor control method according to claim 3, characterized in that, Determining the target motion mode of the motor inside the target device based on the numerical comparison result between the distance and the preset distance threshold includes: If the numerical comparison result is that the distance is greater than or equal to the preset distance threshold, then the stepping motion mode is determined as the target motion mode of the motor inside the target device. If the numerical comparison result indicates that the distance is less than the preset distance threshold, then the simulated motion mode is determined as the target motion mode of the motor inside the target device.

5. The motor control method according to claim 2, characterized in that, The step of determining the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the distance between the actual position and the target position includes: The distance between the actual position and the target position is input into the PID controller to obtain the predicted piezoelectric pin voltage amplitude of the motor inside the target device; Based on the predicted piezoelectric pin voltage amplitude, the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode are determined.

6. The motor control method according to claim 5, characterized in that, The step of determining the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the predicted piezoelectric pin voltage amplitude includes: If the target motion mode is a stepping motion mode, the predicted piezoelectric pin voltage amplitude and the second preset voltage waveform period are input into the curve generator to obtain the second piezoelectric pin voltage waveform curve of the motor inside the target device; and the second piezoelectric pin voltage waveform curve is determined as the piezoelectric pin voltage parameter. If the target motion mode is a simulated motion mode, then the predicted voltage amplitude of the sheared piezoelectric foot in the predicted piezoelectric foot voltage amplitude is determined as the piezoelectric foot voltage parameter.

7. The motor control method according to claim 6, characterized in that, The method of sending control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric foot voltage parameters to control each motor includes: If the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is less than or equal to the preset shear voltage amplitude, then control each motor to stop moving; If the shear voltage amplitude corresponding to the piezoelectric foot voltage parameter is greater than the preset shear voltage amplitude, then the voltage signal corresponding to the piezoelectric foot voltage parameter and the target motion mode are sent in parallel to each motor inside the target device to control each motor.

8. A motor control device, characterized in that, The device includes: The acquisition module is used to acquire the actual position and motion state of the target device at the current moment during the process of the target device moving towards the target position; the target device moves based on at least one internal linear motor based on the piezoelectric walking principle; The determining module is used to determine the piezoelectric pin voltage parameters of the motor inside the target device in the target motion mode based on the motion state and the distance between the actual position and the target position; The control module is used to send control signals in parallel to each motor inside the target device based on the target motion mode and the piezoelectric foot voltage parameters, so as to control each motor.

9. An electronic device, characterized in that, include: The device includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electronic device is in operation, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the motor control method as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, performs the steps of the motor control method as described in any one of claims 1 to 7.

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