Motor control method and device, electronic device, and storage medium

Abstract

The application provides a motor control method and device, electronic equipment and a storage medium, and belongs to the technical field of motor control. The method comprises the following steps: obtaining a target angle set in advance; determining an actual angle of a target motor in a current control period, and an angle estimation value and a disturbance estimation value of a previous control period; performing running disturbance analysis according to the actual angle, the angle estimation value and the disturbance estimation value to obtain a running disturbance parameter; generating an angle control parameter according to the running disturbance parameter, the actual angle and the target angle; performing performance parameter range analysis according to the angle control parameter; in response to the fact that a performance parameter range analysis result meets a preset performance condition, generating a target angle control instruction according to the angle control parameter, and controlling the target motor according to the target angle control instruction; iterating the current control period and returning to execution until the target motor reaches the target angle. The application can further improve the accuracy of motor control under the premise of safe control of the motor.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor control method and apparatus, electronic device and storage medium. Background Technology

[0002] In the field of motor control technology, the current angle and the required angle of the motor are acquired according to the control cycle. The angle deviation is calculated in real time, and the angle control command is determined. The angle control command is output to adjust the running angle of the motor shaft. In the next control cycle, the current angle is acquired again and the adjustment continues until the motor shaft finally reaches the target angle, thus achieving motor control. However, the motor's operating state may change due to external or internal disturbances in different control cycles. The mapping relationship between the angle deviation and the angle control command in this type of motor control method cannot change accordingly, resulting in limitations in the accuracy of motor control.

[0003] Currently, some methods have been developed in the industry to improve this type of motor control, employing sliding mode control or finite-time control to dynamically compensate for angle control commands based on changes in the motor's operating state. However, for safe motor control, the angle deviation in each control cycle must meet the corresponding preset performance parameter range. These improved motor control methods cannot guarantee that the angle deviation consistently meets the preset performance parameter range in each control cycle, leading to reduced safety in motor angle control. Therefore, how to further improve the accuracy of motor control while ensuring safe motor control is a pressing technical problem that needs to be solved in the industry. Summary of the Invention

[0004] The main objective of this application is to provide a motor control method and device, electronic device and storage medium, which aims to further improve the accuracy of motor control while ensuring the safety of the motor.

[0005] To achieve the above objectives, a first aspect of this application provides a motor control method, the method comprising: Obtain the pre-set target angle; For the current control cycle, determine the actual angle of the target motor in the current control cycle, and determine the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle; Operational disturbance analysis is performed based on the actual angle, the estimated angle value, and the estimated disturbance value to obtain operational disturbance parameters. The operational disturbance parameters are the estimated disturbance value plus the product of the rate of change of the operational disturbance parameters in the current control cycle and the duration of the current control cycle. The rate of change of the operational disturbance parameters in the current control cycle is determined based on the actual angle, the estimated angle value, and the estimated disturbance value. Angle control parameters are generated based on the operational interference parameters, the actual angle, and the target angle. Based on the angle control parameters, a performance parameter range analysis is performed to obtain the performance parameter range analysis results; In response to the performance parameter range analysis result meeting the preset performance conditions, a target angle control command is generated according to the angle control parameters, and the target motor is controlled according to the target angle control command in the current control cycle; Iterate through the current control cycle, return to determine the actual angle of the target motor in the current control cycle, and determine the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle.

[0006] In some embodiments, the step of performing performance parameter range analysis based on the angle control parameters to obtain performance parameter range analysis results includes: Based on the angle control parameters, perform an analysis to determine if the angle deviation exceeds the upper limit, and obtain the result of the angle deviation exceeding the upper limit. Based on the angle control parameters, perform an analysis to determine if the angle deviation exceeds the lower limit, and obtain the result of the angle deviation exceeding the lower limit. The performance parameter range analysis results are determined based on the results of the angle deviation exceeding the upper limit and the results of the angle deviation exceeding the lower limit.

[0007] In some embodiments, the step of performing angle deviation exceeding the upper limit analysis based on the angle control parameters to obtain the angle deviation exceeding the upper limit result includes: Determine the actual angular velocity of the target motor in the current control cycle; The angle deviation value is determined based on the actual angle and the target angle; The upper limit of the angle deviation is calculated based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters to obtain the upper limit parameter of the angle deviation for the current control cycle. An angle deviation exceeding the upper limit analysis is performed based on the upper limit parameter of the angle deviation and the angle control parameter to obtain the result of angle deviation exceeding the upper limit.

[0008] In some embodiments, the step of performing angle deviation lower limit analysis based on the angle control parameters to obtain angle deviation lower limit results includes: The lower limit of the angle deviation is calculated based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters to obtain the lower limit parameter of the angle deviation for the current control cycle. An angle deviation exceeding the lower limit analysis is performed based on the lower limit parameter of the angle deviation and the angle control parameter to obtain the result of the angle deviation exceeding the lower limit.

[0009] In some embodiments, the motor control method further includes: In response to the performance parameter range analysis result not meeting the preset performance conditions, the angle control parameter is adjusted according to the result of the angle deviation exceeding the upper limit and the result of the angle deviation exceeding the lower limit, to obtain the adjusted angle control parameter; A target angle control command is generated based on the adjusted angle control parameters, and the target motor is controlled according to the target angle control command in the current control cycle.

[0010] In some embodiments, after controlling the target motor according to the target angle control command in the current control cycle, the method further includes: Determine the estimated angular velocity and angle control parameters of the previous control cycle adjacent to the current control cycle; Based on the actual angle, the operating disturbance parameters, and the angle estimate, angular velocity estimate, and angle control parameters from the previous control cycle, an angular velocity estimation analysis is performed to obtain the angular velocity estimate for the current control cycle. An angle estimation analysis is performed based on the actual angle, the estimated angular velocity of the current control cycle, and the estimated angle of the previous control cycle to obtain the estimated angle of the current control cycle. The operating disturbance parameter of the current control cycle is determined as the disturbance estimate of the current control cycle.

[0011] In some embodiments, the step of generating angle control parameters based on the operating interference parameters, the actual angle, and the target angle to obtain the angle control parameters includes: Obtain the pre-set target angular velocity; The angular velocity deviation value is determined based on the actual angular velocity of the target motor in the current control cycle and the target angular velocity, and the angular deviation value is determined based on the target angle and the actual angle; The feedback control quantity is calculated based on the angle deviation value and the angular velocity deviation value. The angle control parameters are obtained by performing interference compensation based on the feedback control quantity and the operating interference parameters.

[0012] To achieve the above objectives, a second aspect of this application provides a motor control device, the device comprising: Angle acquisition unit, used to acquire a pre-set target angle; The periodic data determination unit is used to determine the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle, for the current control cycle. An operation disturbance analysis unit is used to perform operation disturbance analysis based on the actual angle, the estimated angle value, and the estimated disturbance value to obtain operation disturbance parameters; the operation disturbance parameters are the estimated disturbance value plus the product of the rate of change of the operation disturbance parameters in the current control cycle and the duration of the current control cycle; the rate of change of the operation disturbance parameters in the current control cycle is determined based on the actual angle, the estimated angle value, and the estimated disturbance value; A control parameter generation unit is used to generate angle control parameters based on the operating interference parameters, the actual angle, and the target angle, thereby obtaining the angle control parameters. The performance parameter analysis unit is used to perform performance parameter range analysis based on the angle control parameters and obtain the performance parameter range analysis results. A condition control unit is configured to, in response to the performance parameter range analysis result satisfying a preset performance condition, generate a target angle control command based on the angle control parameters, and control the target motor in the current control cycle based on the target angle control command; The periodic iteration unit is used to iterate the current control cycle and return to determine the actual angle of the target motor in the current control cycle, as well as the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle.

[0013] To achieve the above objectives, a third aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described in the first aspect.

[0014] To achieve the above objectives, a fourth aspect of the present application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method described in the first aspect.

[0015] This application embodiment obtains a pre-set target angle, then determines the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle. Next, it performs operational disturbance analysis based on the actual angle, estimated angle, and estimated disturbance value to obtain operational disturbance parameters. Further, it generates angle control parameters based on the operational disturbance parameters, actual angle, and target angle. Then, it performs performance parameter range analysis based on the angle control parameters to obtain performance parameter range analysis results. Subsequently, in response to the performance parameter range analysis results meeting preset performance conditions, it generates a target angle control command based on the angle control parameters and controls the target motor in the current control cycle according to the target angle control command. Finally, it iterates through the current control cycle, returning to determine the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle. Thus, in this embodiment, when the motor is subjected to external or internal disturbances, the operating disturbance parameters can be integrated into the angle control parameter generation process through operating disturbance analysis. This allows the mapping relationship between the angle deviation and the target angle control command to be dynamically adjusted according to changes in the motor's operating state, thereby reducing control deviations caused by a fixed mapping relationship. Furthermore, through performance parameter range analysis, the target angle control command is generated and the target motor is controlled only when the performance parameter range analysis results meet preset performance conditions. This ensures that the angle deviation of the motor in each control cycle meets the motor safety control requirements, thereby ensuring the safety of motor control. In other words, this embodiment can further improve the accuracy of motor control while ensuring the safety of the motor. Attached Figure Description

[0016] Figure 1 This is a flowchart of a motor control method provided in an embodiment of this application; Figure 2 yes Figure 1 A flowchart of step S105 in the process; Figure 3 yes Figure 2 A flowchart of step S201 in the process; Figure 4 yes Figure 2 A flowchart of step S202 in the process; Figure 5 This is another flowchart of the motor control method provided in the embodiments of this application; Figure 6 yes Figure 1 A flowchart of the steps following step S106; Figure 7 yes Figure 1 A flowchart of step S104 in the process; Figure 8A This is a comparison graph of the position error variation curves of different control methods under rated load conditions in the first comparative simulation experiment provided in this application embodiment; Figure 8B This is a comparison graph of the position change curves of different control methods under rated load conditions in the first comparative simulation experiment provided in this application embodiment; Figure 9A This is a comparison of the position error variation curves of different control methods under sudden load conditions in the second comparative simulation experiment provided in this application embodiment; Figure 9B This is a comparison of the actual angular velocity variation curves of different control methods under sudden load conditions in the second comparative simulation experiment provided in this application embodiment; Figure 10A This is a comparison graph of the position error variation curves of different control methods under different initial angle deviation values ​​in the third comparative simulation experiment provided in this application embodiment; Figure 10B This is a comparison graph of position change curves of different control methods under different initial angle deviation values ​​in the third comparative simulation experiment provided in this application embodiment; Figure 11 This is a schematic diagram of the structure of the motor control device provided in the embodiments of this application; Figure 12 This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0018] It should be noted that although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the aforementioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0020] First, let's analyze some of the terms used in this application: Preset performance parameter range: This refers to the allowable range for angle deviation set in advance during motor control. The preset performance parameter range is used to constrain the instantaneous value of angle deviation during motor angle adjustment to be within this allowable range, and this allowable range usually gradually shrinks over time to ensure the safety and accuracy of motor control.

[0021] In industrial applications such as industrial robots, CNC machine tools, and electric vehicles, precise control of motor shaft rotation to specific angles is often required. For example, the joints of an industrial robotic arm need to rotate to a designated angle to grip a workpiece, and the feed axis of a CNC machine tool needs to move to a target coordinate position. However, in actual operation, the motor shaft may not accurately reach the target angle. Therefore, motor control is necessary to gradually adjust the motor shaft to the target angle. Based on this, in the field of motor control technology, the current angle and the required angle of the motor are acquired according to a control cycle. The angle deviation is calculated in real time, and an angle control command is determined. This command is then output to adjust the operating angle of the motor shaft. In the next control cycle, the current angle is acquired again, and adjustment continues until the motor shaft finally reaches the target angle, thus achieving motor control. However, the motor's operating state may change due to external or internal disturbances within different control cycles. The mapping relationship between the angle deviation and the angle control command in this type of motor control method cannot change accordingly, resulting in limitations in the accuracy of motor control.

[0022] Currently, some methods in the industry have improved this type of motor control, employing sliding mode control or finite-time control to dynamically compensate for angle control commands based on changes in the motor's operating state. However, for safe motor control, the angle deviation of the motor in each control cycle must meet the corresponding preset performance parameter range. These improved motor control methods cannot guarantee that the angle deviation consistently meets the preset performance parameter range in each control cycle, leading to reduced safety in motor angle control. Other methods in the industry employ preset performance control methods, setting an allowable range for angle deviation and constraining it through preset strict constraint functions to regulate the dynamic performance of the motor during angle adjustment, thereby achieving safe motor control. However, these preset performance control methods require the initial value of the angle deviation to be within this allowable range. If the initial angle deviation exceeds this allowable range, it cannot be guaranteed that the subsequent angle deviation will enter and remain within the allowable range, resulting in limitations in the safety of motor angle control. Based on this, embodiments of this application provide a motor control method and device, electronic device, and storage medium, aiming to further improve the accuracy of motor control while ensuring safe motor control—a technical problem urgently needing to be solved in the industry.

[0023] The motor control method provided in this application relates to the field of motor control technology. The motor control method provided in this application can be applied to a terminal, a server, or software running on either a terminal or a server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, etc.; the server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms; the software can be an application implementing the motor control method, but is not limited to the above forms.

[0024] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0025] Figure 1 This is a flowchart of a motor control method provided in an embodiment of this application. Figure 1 The method may include, but is not limited to, steps S101 to S107: Step S101: Obtain the preset target angle; Step S102: For the current control cycle, determine the actual angle of the target motor in the current control cycle, and determine the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle. Step S103: Perform operational interference analysis based on the actual angle, angle estimate, and disturbance estimate to obtain operational interference parameters; Step S104: Generate angle control parameters based on the running interference parameters, actual angle, and target angle to obtain the angle control parameters; Step S105: Perform performance parameter range analysis based on angle control parameters to obtain performance parameter range analysis results; Step S106: In response to the performance parameter range analysis result meeting the preset performance conditions, a target angle control command is generated based on the angle control parameters, and the target motor is controlled in the current control cycle based on the target angle control command. Step S107: Iterate through the current control cycle, return to determine the actual angle of the target motor in the current control cycle, and determine the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle.

[0026] Steps S101 to S107 as illustrated in this embodiment involve obtaining a pre-set target angle, then determining the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle. Next, an operational disturbance analysis is performed based on the actual angle, the estimated angle, and the estimated disturbance value to obtain operational disturbance parameters. Further, angle control parameters are generated based on the operational disturbance parameters, the actual angle, and the target angle to obtain angle control parameters. Then, a performance parameter range analysis is performed based on the angle control parameters to obtain the performance parameter range analysis result. Subsequently, in response to the performance parameter range analysis result satisfying a preset performance condition, a target angle control command is generated based on the angle control parameters, and the target motor is controlled in the current control cycle according to the target angle control command. Finally, the current control cycle is iterated, and the process returns to determine the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle. Thus, in this embodiment, when the motor is subjected to external or internal disturbances, the operating disturbance parameters can be integrated into the angle control parameter generation process through operating disturbance analysis. This allows the mapping relationship between the angle deviation and the target angle control command to be dynamically adjusted according to changes in the motor's operating state, thereby reducing control deviations caused by a fixed mapping relationship. Furthermore, through performance parameter range analysis, the target angle control command is generated and the target motor is controlled only when the performance parameter range analysis results meet preset performance conditions. This ensures that the angle deviation of the motor in each control cycle meets the motor safety control requirements, thereby ensuring the safety of motor control. In other words, this embodiment can further improve the accuracy of motor control while ensuring the safety of the motor.

[0027] In step S101 of some embodiments, the preset target angle can refer to the desired angular position that the motor shaft is preset to reach during the motor control process. For example, the preset target angle can be 90 degrees; or, the preset target angle can also be 45 degrees. It is understood that the specific value of the preset target angle can be set according to actual control requirements, corresponding to different angular position requirements in scenarios such as industrial robots, CNC machine tools, and electric vehicles.

[0028] In step S102 of some embodiments, the current control cycle can refer to the cycle in which the control operation is currently being performed during motor control. For example, the current control cycle can be the 5th control cycle; or, the current control cycle can also be the 10th control cycle. It is understood that the specific sequence number of the current control cycle can be determined according to the actual progress of motor control. The control cycle can refer to the time interval between performing one control operation during motor control. For example, the control cycle can be 1 millisecond; or, the control cycle can also be 10 milliseconds. It is understood that the specific duration of the control cycle can be set according to actual control requirements. The actual angle can refer to the angle that the target motor has actually rotated to within the current control cycle. For example, the actual angle can be 85 degrees acquired by the angle encoder in the current control cycle; or, the actual angle can also be 42 degrees acquired by the rotary transformer in the current control cycle. It is understood that the specific method of acquiring the actual angle can be adjusted according to actual needs. The previous control cycle can refer to the control cycle preceding the current control cycle. For example, if the current control cycle is the 5th control cycle, the previous control cycle could be the 4th control cycle; or, if the current control cycle is the 10th control cycle, the previous control cycle could also be the 9th control cycle. The angle estimate refers to the result obtained by estimating the target motor angle in the previous control cycle. The disturbance estimate refers to the result obtained by estimating the operating disturbance experienced by the target motor in the previous control cycle. It should be noted that if the current control cycle is the 1st control cycle, since there is no adjacent preceding control cycle, the angle estimate and disturbance estimate from the previous control cycle corresponding to the 1st control cycle can be preset initial estimates, such as both set to 0.

[0029] In step S103 of some embodiments, operational disturbance analysis can refer to the process of analyzing the operational disturbances experienced by the target motor in the current control cycle based on the actual angle, the estimated angle value, and the estimated disturbance value. Operational disturbance parameters can refer to parameters obtained through operational disturbance analysis that reflect the degree of operational disturbance experienced by the target motor in the current control cycle. For example, the specific calculation method for operational disturbance parameters can be as follows:

[0030]

[0031] in, It can refer to the rate of change of the disturbance parameters during the current control cycle. This can refer to the operating disturbance parameters of the current control cycle. It should be noted that the operating disturbance parameters of the current control cycle... The disturbance parameters can be determined based on the disturbance estimate from the previous control cycle and the rate of change of the operating disturbance parameters for the current control cycle. For example, the operating disturbance parameters for the current control cycle can also be the disturbance estimate from the previous control cycle plus the product of the rate of change of the operating disturbance parameters for the current control cycle and the duration of the current control cycle. An adjustable constant that can be corrected is used to characterize the responsiveness of the operational disturbance analysis process to changes in operational disturbances; for example, It can be 10 or 20; The specific values ​​can be set according to actual control requirements. It can refer to the actual angle of the target motor in the current control cycle. It can refer to the angle estimate obtained by estimating the angle of the target motor in the previous control cycle. It can refer to the angle estimation error, which is the deviation between the actual angle of the target motor in the current control cycle and the angle estimation value in the previous control cycle. It can refer to the natural constant. An adjustable constant that can be pointed to is used to adjust the attenuation characteristics of the nonlinear gain term as the angle estimation error changes; for example, It can be 0.5 or 1.0; The specific values ​​can be set according to actual needs.

[0032] In step S104 of some embodiments, angle control parameter generation can refer to the process of generating angle control parameters required by the target motor in the current control cycle based on operating disturbance parameters, the actual angle, and the target angle. Angle control parameters can refer to control parameters generated from angle control parameters, used to control the target motor to adjust towards the target angle in the current control cycle. For example, angle control parameters can be voltage control quantities used to drive the target motor to adjust its operating angle; or, angle control parameters can also be current control quantities used to drive the target motor to adjust its operating angle.

[0033] In step S105 of some embodiments, performance parameter range analysis can refer to the process of analyzing whether the angle control parameters meet the motor safety control requirements based on the angle control parameters. The performance parameter range analysis result can refer to the analysis result obtained through the performance parameter range analysis, used to characterize whether the angle control parameters meet the motor safety control requirements. For example, the performance parameter range analysis result can be 1 or 0, where 1 indicates that the angle control parameters meet the motor safety control requirements, and 0 indicates that the angle control parameters do not meet the motor safety control requirements; alternatively, the performance parameter range analysis result can also be yes or no, where yes indicates that the angle control parameters meet the motor safety control requirements, and no indicates that the angle control parameters do not meet the motor safety control requirements.

[0034] In step S106 of some embodiments, the preset performance condition may refer to a performance judgment condition pre-set for the performance parameter range analysis result during motor control. For example, the preset performance condition may be that the performance parameter range analysis result is 1; or, the preset performance condition may also be that the performance parameter range analysis result is yes. In response to the performance parameter range analysis result satisfying the preset performance condition, it indicates that the angle control parameters meet the motor safety control requirements. At this time, a target angle control command can be generated based on the angle control parameters, and the target motor can be controlled according to the target angle control command in the current control cycle. The target angle control command may refer to a command generated based on the angle control parameters for controlling the target motor in the current control cycle. For example, the target angle control command may be a voltage control command for driving the target motor to adjust its operating angle; or, the target angle control command may also be a current control command for driving the target motor to adjust its operating angle. It is understood that the specific form of the target angle control command can be adjusted according to the actual motor drive requirements. Controlling the target motor may refer to outputting the target angle control command to the target motor, causing the target motor to adjust its operating angle according to the target angle control command in the current control cycle.

[0035] If the performance parameter range analysis results do not meet the preset performance conditions, it indicates that the angle control parameters do not meet the motor safety control requirements. In this case, the angle control parameters can be adjusted to obtain the adjusted angle control parameters, and a target angle control command can be generated based on the adjusted angle control parameters. Alternatively, the angle control parameters can be regenerated to obtain new angle control parameters, and a target angle control command can be generated based on the new angle control parameters. It is understandable that the specific handling method for the angle control parameters can be adjusted according to actual control needs when the preset performance conditions are not met.

[0036] In step S107 of some embodiments, iterating the current control cycle can refer to advancing the current control cycle to the next control cycle after the current control cycle has been completed. Returning to execution can refer to, after iterating the current control cycle, re-executing the determination of the actual angle of the target motor in the current control cycle, as well as the determination of the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, and sequentially executing the operation disturbance analysis, angle control parameter generation, performance parameter range analysis, target angle control command generation, and target motor control, in this iterative cycle until the target motor reaches the target angle. For example, if the current control cycle is the 5th control cycle, after the 5th control cycle is completed, the current control cycle is iterated to the 6th control cycle, and the execution returns to determine the actual angle of the target motor in the 6th control cycle, as well as the determination of the angle estimate and disturbance estimate of the 5th control cycle, and sequentially executing the operation disturbance analysis, angle control parameter generation, performance parameter range analysis, target angle control command generation, and target motor control.

[0037] Please see Figure 2 In some embodiments, step S105 may include, but is not limited to, steps S201 to S203: Step S201: Perform an analysis of angle deviation exceeding the upper limit based on the angle control parameters to obtain the result of angle deviation exceeding the upper limit; Step S202: Perform angle deviation lower limit analysis based on angle control parameters to obtain angle deviation lower limit results; Step S203: Determine the performance parameter range analysis results based on the results of angle deviation exceeding the upper limit and angle deviation exceeding the lower limit.

[0038] In step S201 of some embodiments, the angle deviation exceeding the upper limit analysis can refer to the process of analyzing whether the angle control parameters meet the upper limit requirements of motor safety control based on the angle control parameters. The angle deviation exceeding the upper limit result can refer to the analysis result obtained through the angle deviation exceeding the upper limit analysis, which characterizes whether the angle control parameters meet the upper limit requirements of motor safety control. For example, the angle deviation exceeding the upper limit result can be that the angle control parameters meet the upper limit requirements of motor safety control or that the angle control parameters do not meet the upper limit requirements of motor safety control.

[0039] In step S202 of some embodiments, the angle deviation exceeding the lower limit analysis can refer to the process of analyzing whether the angle control parameters meet the lower limit requirements of motor safety control based on the angle control parameters. The angle deviation exceeding the lower limit result can refer to the analysis result obtained through the angle deviation exceeding the lower limit analysis, used to characterize whether the angle control parameters meet the lower limit requirements of motor safety control. For example, the angle deviation exceeding the lower limit result can be that the angle control parameters meet the lower limit requirements of motor safety control or that the angle control parameters do not meet the lower limit requirements of motor safety control.

[0040] In step S203 of some embodiments, the performance parameter range analysis result may refer to the analysis result determined comprehensively based on the angle deviation exceeding the upper limit result and the angle deviation exceeding the lower limit result, used to characterize whether the angle control parameter meets the motor safety control requirements. For example, if the angle deviation exceeding the upper limit result indicates that the angle control parameter meets the upper limit requirement of motor safety control, and the angle deviation exceeding the lower limit result indicates that the angle control parameter meets the lower limit requirement of motor safety control, then the performance parameter range analysis result indicates that the angle control parameter meets the motor safety control requirements; if the angle deviation exceeding the upper limit result indicates that the angle control parameter does not meet the upper limit requirement of motor safety control, or the angle deviation exceeding the lower limit result indicates that the angle control parameter does not meet the lower limit requirement of motor safety control, then the performance parameter range analysis result indicates that the angle control parameter does not meet the motor safety control requirements.

[0041] It is understood that this application embodiment performs an upper limit analysis of the angle deviation based on the angle control parameters to obtain an upper limit deviation result, then performs a lower limit analysis of the angle deviation based on the angle control parameters to obtain a lower limit deviation result, and finally determines the performance parameter range analysis result based on both the upper limit and lower limit deviation results. Thus, this application embodiment independently determines whether the angle control parameters meet the upper and lower limit requirements of motor safety control, and determines that the angle control parameters meet the motor safety control requirements when both the upper and lower limit deviation results meet the corresponding requirements. This dual determination improves the accuracy of the performance parameter range analysis results, thereby improving the reliability of motor safety control.

[0042] Please see Figure 3 In some embodiments, step S201 may include, but is not limited to, steps S301 to S304: Step S301: Determine the actual angular velocity of the target motor in the current control cycle; Step S302: Determine the angle deviation value based on the actual angle and the target angle; Step S303: Calculate the upper limit of the angle deviation based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters to obtain the upper limit parameter of the angle deviation for the current control cycle; Step S304: Perform an analysis of angle deviation exceeding the upper limit based on the upper limit parameter of angle deviation and the angle control parameter to obtain the result of angle deviation exceeding the upper limit.

[0043] In steps S301 to S302 of some embodiments, the actual angular velocity can refer to the angular velocity actually reached by the target motor during the current control cycle. For example, the actual angular velocity can be the angular velocity value acquired by the angle encoder during the current control cycle; or, the actual angular velocity can also be the angular velocity value acquired by the rotary transformer during the current control cycle. It is understood that the specific method of acquiring the actual angular velocity can be adjusted according to actual needs. The angle deviation value can refer to the difference between the actual angle of the target motor in the current control cycle and the preset target angle.

[0044] In step S303 of some embodiments, the calculation of the upper limit of angle deviation can refer to the process of calculating an upper limit parameter used to determine whether the angle deviation exceeds the limit, based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters. The upper limit parameter of angle deviation can refer to a parameter obtained through the calculation of the upper limit of angle deviation, used to characterize the upper limit standard that the angle deviation is allowed to reach. For example, the specific calculation method of the upper limit parameter of angle deviation can be as follows:

[0045]

[0046]

[0047]

[0048]

[0049] in, This can refer to the upper limit parameter of the angle deviation. It can refer to the angular deviation value. It can refer to the actual angle of the target motor in the current control cycle. It can refer to a pre-set target angle. It can refer to the preset performance constraint function, which is a pre-defined time-varying function used to define the allowable boundary of angular deviation. It can refer to the initial value parameter of the preset performance constraint function, which is a positive constant. It can refer to the steady-state parameter of the preset performance constraint function, which is a positive constant. It can refer to the attenuation coefficient of the preset performance constraint function, which is a positive constant. It can refer to a power function term with the natural constant as the base and the product of the decay coefficient and time as the exponent, used to characterize the decay characteristics of the preset performance constraint function over time. This can refer to intermediate parameters determined by the angular deviation value and a preset performance constraint function; it should be noted that, for safe motor control, it is necessary to ensure... It is a non-negative number to ensure that the angle deviation value is within the allowable boundary defined by the preset performance constraint function. This can refer to the known parameters of the motor, which are normal values. It can refer to the number of pole pairs of the motor, which is a normal number. It can refer to the flux linkage of a permanent magnet, which is a positive constant. It can refer to the moment of inertia, which is a positive constant. It can refer to the target angular acceleration, which is determined by the second-order rate of change of the target angle with respect to time. It can refer to the error transformation auxiliary parameter, which is a positive adjustable constant. It can refer to another auxiliary parameter for error transformation, which is also a positive adjustable constant. It can refer to the first-order rate of change of intermediate parameters, which is jointly determined by the rate of change of the angle deviation value and the first-order rate of change of the preset performance constraint function; the rate of change of the angle deviation value can be jointly determined by the actual angular velocity of the target motor in the current control cycle and the target angular velocity; the target angular velocity can be determined by calculating the first-order rate of change of the preset target angle with respect to time. It can refer to the second-order rate of change of the preset performance constraint function. It can refer to the operational disturbance parameters obtained through operational disturbance analysis in the current control cycle. It can refer to the error of perturbation observation.

[0050] In step S304 of some embodiments, the angle deviation exceeding the upper limit analysis can refer to the process of analyzing whether the angle control parameters meet the upper limit requirements of motor safety control based on the angle deviation upper limit parameter and the angle control parameters. The angle deviation exceeding the upper limit result can refer to the analysis result obtained through the angle deviation exceeding the upper limit analysis, which characterizes whether the angle control parameters meet the upper limit requirements of motor safety control. For example, if the angle control parameter is less than or equal to the angle deviation upper limit parameter, the angle deviation exceeding the upper limit result indicates that the angle control parameters meet the upper limit requirements of motor safety control; if the angle control parameter is greater than the angle deviation upper limit parameter, the angle deviation exceeding the upper limit result indicates that the angle control parameters do not meet the upper limit requirements of motor safety control.

[0051] It is understood that the embodiments of this application determine the actual angular velocity of the target motor in the current control cycle, determine the angle deviation value based on the actual angle and the target angle, calculate the upper limit of the angle deviation based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters, and obtain the upper limit parameter of the angle deviation for the current control cycle. Then, based on the upper limit parameter of the angle deviation and the angle control parameters, an analysis of whether the angle deviation exceeds the upper limit is performed to obtain the result of whether the angle deviation exceeds the upper limit. Thus, the embodiments of this application, by combining the actual angular velocity of the target motor, the angle deviation value, and the operating disturbance parameters to calculate the upper limit parameter of the angle deviation, enable the upper limit parameter of the angle deviation to reflect the actual operating state and operating disturbance of the motor in the current control cycle. Furthermore, based on this upper limit parameter of the angle deviation, a determination is made as to whether the angle control parameters meet the upper limit requirements of motor safety control, thereby improving the accuracy of the analysis of whether the angle deviation exceeds the upper limit and thus improving the reliability of motor safety control.

[0052] Please see Figure 4 In some embodiments, step S202 may include, but is not limited to, steps S401 to S402: Step S401: Calculate the lower limit of the angle deviation based on the angle deviation value, actual angular velocity, and operating disturbance parameters to obtain the lower limit parameter of the angle deviation for the current control cycle; Step S402: Perform angle deviation below the lower limit analysis based on the angle deviation lower limit parameter and the angle control parameter to obtain the angle deviation below the lower limit result.

[0053] In step S401 of some embodiments, the calculation of the lower limit of angle deviation can refer to the process of calculating a lower limit parameter used to determine whether the angle deviation has exceeded the limit, based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters. The lower limit parameter of angle deviation can refer to a parameter obtained through the calculation of the lower limit of angle deviation, used to characterize the lower limit standard that the angle deviation is allowed to reach. For example, the specific calculation method of the lower limit parameter of angle deviation can be as follows:

[0054] in, It can refer to the lower limit parameter of angle deviation. It can refer to the operational disturbance parameters obtained through operational disturbance analysis in the current control cycle.

[0055] In step S402 of some embodiments, the angle deviation lower limit analysis can refer to the process of analyzing whether the angle control parameters meet the lower limit requirements of motor safety control based on the angle deviation lower limit parameter and the angle control parameters. The angle deviation lower limit result can refer to the analysis result obtained through the angle deviation lower limit analysis, which characterizes whether the angle control parameters meet the lower limit requirements of motor safety control. For example, if the angle control parameter is greater than or equal to the angle deviation lower limit parameter, the angle deviation lower limit result indicates that the angle control parameters meet the lower limit requirements of motor safety control; if the angle control parameter is less than the angle deviation lower limit parameter, the angle deviation lower limit result indicates that the angle control parameters do not meet the lower limit requirements of motor safety control.

[0056] It is understood that, in this embodiment, the lower limit of angle deviation is calculated based on the angle deviation value, actual angular velocity, and operating disturbance parameters to obtain the lower limit parameter of angle deviation for the current control cycle. Then, based on the lower limit parameter and angle control parameters, an angle deviation exceeding the lower limit analysis is performed to obtain the result. Thus, by combining the actual angular velocity, angle deviation value, and operating disturbance parameters of the target motor to calculate the lower limit parameter, this embodiment ensures that the lower limit parameter reflects the actual operating state and operating disturbance of the motor within the current control cycle. Furthermore, based on this lower limit parameter, a determination is made as to whether the angle control parameters meet the lower limit requirements for motor safety control, improving the accuracy of the angle deviation exceeding the lower limit analysis and thereby enhancing the reliability of motor safety control.

[0057] Figure 5 This is another flowchart of the motor control method provided in the embodiments of this application. Figure 5 The method may include, but is not limited to, steps S501 to S502: Step S501: In response to the fact that the performance parameter range analysis results do not meet the preset performance conditions, the angle control parameters are adjusted according to the results of the angle deviation exceeding the upper limit and the results of the angle deviation exceeding the lower limit, so as to obtain the adjusted angle control parameters. Step S502: Generate a target angle control command based on the adjusted angle control parameters, and control the target motor in the current control cycle according to the target angle control command.

[0058] In step S501 of some embodiments, if the performance parameter range analysis result does not meet the preset performance conditions, it indicates that the angle control parameters do not meet the motor safety control requirements. At this time, the angle control parameters can be adjusted based on the results of the angle deviation exceeding the upper and lower limits to obtain the adjusted angle control parameters. Parameter adjustment can refer to the process of correcting the angle control parameters based on the results of the angle deviation exceeding the upper and lower limits. The adjusted angle control parameters can refer to the angle control parameters obtained through parameter adjustment, used to generate the target angle control command. For example, the calculation principle of the angle control parameter adjustment can be as follows:

[0059] in, This can refer to the adjusted angle control parameters. This can refer to angle control parameters. This can refer to the deviation between the adjusted angle control parameters and the actual angle control parameters.

[0060] It should be noted that parameter adjustment is used to correct the angle control parameters to a range that meets the motor's safety control requirements. For example, if the angle control parameter is between the lower and upper limits of the angle deviation, the adjusted angle control parameter is the same as the original angle control parameter; if the angle control parameter is greater than the upper limit, it is adjusted to the upper limit; if the angle control parameter is less than the lower limit, it is adjusted to the lower limit. In this way, by minimizing the deviation between the adjusted and original angle control parameters, the adjusted angle control parameters are as close as possible to the original angle control parameters while still meeting the motor's safety control requirements.

[0061] In step S502 of some embodiments, the target angle control command may refer to a command generated based on the adjusted angle control parameters, used to control the target motor in the current control cycle. Controlling the target motor may refer to outputting the target angle control command to the target motor, causing the target motor to adjust its operating angle according to the target angle control command in the current control cycle.

[0062] It is understood that, in response to the performance parameter range analysis results not meeting preset performance conditions, this embodiment adjusts the angle control parameters based on whether the angle deviation exceeds the upper or lower limit, obtaining adjusted angle control parameters. A target angle control command is then generated based on the adjusted angle control parameters, and the target motor is controlled according to the target angle control command in the current control cycle. Thus, when the angle control parameters do not meet the motor safety control requirements, this embodiment corrects the angle control parameters to a range that meets the motor safety control requirements through parameter adjustment, making the adjusted angle control parameters as close as possible to the original angle control parameters, thereby improving the accuracy of angle control parameter adjustment and enhancing the safety of motor control.

[0063] Please see Figure 6 In some embodiments, after step S106, steps S601 to S604 may also be included: Step S601: Determine the estimated angular velocity and angle control parameters of the previous control cycle adjacent to the current control cycle; Step S602: Based on the actual angle and operating disturbance parameters, as well as the angle estimate, angular velocity estimate and angle control parameters of the previous control cycle, perform angular velocity estimation analysis to obtain the angular velocity estimate for the current control cycle; Step S603: Based on the actual angle, the estimated angular velocity of the current control cycle, and the estimated angle of the previous control cycle, perform angle estimation analysis to obtain the estimated angle of the current control cycle. Step S604: Determine the operating disturbance parameters of the current control cycle as the disturbance estimate of the current control cycle.

[0064] In step S601 of some embodiments, the estimated angular velocity value may refer to the estimation result obtained by estimating the angular velocity of the target motor in the previous control cycle. The angle control parameter may refer to the parameter used to control the target motor in the previous control cycle. For example, if the current control cycle is the 6th control cycle, the estimated angular velocity value of the previous control cycle may be the estimated angular velocity value of the 5th control cycle; the angle control parameter of the previous control cycle may be the angle control parameter of the 5th control cycle.

[0065] In step S602 of some embodiments, angular velocity estimation analysis can refer to the process of estimating and analyzing the angular velocity of the target motor in the current control cycle based on the actual angle, the estimated angle value of the previous control cycle, the operating disturbance parameters of the current control cycle, the estimated angular velocity value of the previous control cycle, and the angle control parameters of the previous control cycle. The estimated angular velocity value of the current control cycle can refer to the estimated value obtained through angular velocity estimation analysis, used to characterize the angular velocity state of the target motor in the current control cycle. For example, the specific calculation method of the estimated angular velocity value of the current control cycle can be as follows:

[0066] in, It can refer to the rate of change of the estimated angular velocity during the current control cycle. It can refer to the operating disturbance parameters of the current control cycle. It can refer to the angle control parameters of the previous control cycle. It can refer to the estimated angular velocity value of the current control cycle.

[0067] It should be noted that the estimated angular velocity for the current control cycle can be determined based on the rate of change of the estimated angular velocity for the previous control cycle and the estimated angular velocity for the current control cycle. For example, the estimated angular velocity for the current control cycle can be the sum of the integral values ​​of the rates of change of the estimated angular velocity for the previous control cycle and the estimated angular velocity for the current control cycle over the duration of the current control cycle; or, the estimated angular velocity for the current control cycle can also be the estimated angular velocity for the previous control cycle plus the product of the rate of change of the estimated angular velocity for the current control cycle and the duration of the current control cycle.

[0068] In step S603 of some embodiments, angle estimation analysis can refer to the process of estimating and analyzing the angle of the target motor in the current control cycle based on the actual angle, the angle estimate of the previous control cycle, and the angular velocity estimate of the current control cycle. The angle estimate of the current control cycle can refer to the estimate obtained through angle estimation analysis, used to characterize the angle state of the target motor in the current control cycle. For example, the specific calculation method of the angle estimate of the current control cycle can be as follows:

[0069] in, It can refer to the rate of change of the current control cycle angle estimate. It can refer to the angle estimate of the current control cycle. It can refer to the estimated angular velocity value of the current control cycle.

[0070] It should be noted that the angle estimate for the current control cycle can be determined based on the angle estimate for the previous control cycle and the rate of change of the angle estimate for the current control cycle. For example, the angle estimate for the current control cycle can be the sum of the integral values ​​of the rates of change of the angle estimates for the previous and current control cycles over the duration of the current control cycle; or, the angle estimate for the current control cycle can also be the angle estimate for the previous control cycle plus the product of the rate of change of the angle estimate for the current control cycle and the duration of the current control cycle.

[0071] In step S604 of some embodiments, the disturbance estimate of the current control cycle may refer to the running disturbance parameter obtained by running disturbance analysis in the current control cycle, which is used as the iterative input for the next control cycle.

[0072] It should be noted that in the first control cycle, since there is no adjacent previous control cycle, the angle estimate, angular velocity estimate, and disturbance estimate of the previous control cycle can be the preset initial estimates (e.g., 0). Based on the actual angle and the above initial estimates, operation disturbance analysis, angular velocity estimation analysis, and angle estimation analysis are performed to obtain the operation disturbance parameters, angular velocity estimate, and angle estimate of the current control cycle, and the operation disturbance parameters of the current control cycle are determined as the disturbance estimate of the current control cycle. In the second control cycle, the angle estimate, angular velocity estimate, and disturbance estimate obtained in the first control cycle are used as the corresponding estimates of the previous control cycle, and the above analysis process is repeated. By doing so, the angle estimate, angular velocity estimate, and disturbance estimate of the previous control cycle adjacent to any current control cycle can be determined.

[0073] It is understood that this embodiment determines the estimated angular velocity and angle control parameters of the previous control cycle adjacent to the current control cycle. Based on the actual angle and operating disturbance parameters, as well as the estimated angle, angular velocity, and angle control parameters of the previous control cycle, angular velocity estimation analysis is performed to obtain the estimated angular velocity value for the current control cycle. Similarly, based on the actual angle, the estimated angular velocity value for the current control cycle, and the estimated angle value of the previous control cycle, angle estimation analysis is performed to obtain the estimated angle value for the current control cycle. The operating disturbance parameters of the current control cycle are then determined as the disturbance estimate for the current control cycle. Thus, this embodiment, by iteratively updating the estimated angular velocity and angle values ​​within each control cycle, enables the estimated angular velocity and angle values ​​to be dynamically adjusted according to changes in the motor's operating state. Furthermore, by determining the operating disturbance parameters of the current control cycle as the disturbance estimate for use in the next control cycle, the accuracy of estimating the target motor's operating state is improved.

[0074] Please see Figure 7In some embodiments, step S104 may include, but is not limited to, steps S701 to S704: Step S701: Obtain the preset target angular velocity; Step S702: Determine the angular velocity deviation value based on the actual angular velocity of the target motor in the current control cycle and the target angular velocity, and determine the angle deviation value based on the target angle and the actual angle; Step S703: Calculate the feedback quantity based on the angle deviation value and the angular velocity deviation value to obtain the feedback control quantity; Step S704: Perform interference compensation based on the feedback control quantity and operating interference parameters to obtain the angle control parameters.

[0075] In steps S701 to S702 of some embodiments, the target angular velocity may refer to a pre-set desired angular velocity corresponding to the target angle. For example, the target angular velocity may be 10 degrees per second; or, the target angular velocity may also be 20 degrees per second. It is understood that the specific value of the target angular velocity can be adjusted according to actual control requirements. The actual angular velocity may refer to the angular velocity actually achieved by the target motor during the current control cycle. For example, the actual angular velocity may be 8 degrees per second acquired by the angle encoder during the current control cycle; or, the actual angular velocity may also be 15 degrees per second acquired by the rotary transformer during the current control cycle. It is understood that the specific method of acquiring the actual angular velocity can be adjusted according to actual needs. The angular velocity deviation value may refer to the difference between the target angular velocity and the actual angular velocity. The angle deviation value may refer to the difference between the target angle and the actual angle.

[0076] In steps S703 to S704 of some embodiments, feedback quantity calculation can refer to the process of calculating the feedback control quantity used to adjust the angle and angular velocity of the target motor based on the angle deviation value and angular velocity deviation value. The feedback control quantity can refer to the control quantity obtained through feedback quantity calculation, used to adjust the angle deviation and angular velocity deviation of the target motor. Disturbance compensation can refer to the process of compensating the target motor for operational disturbances experienced by the target motor in the current control cycle based on the feedback control quantity and operational disturbance parameters. Angle control parameters can refer to the control parameters obtained through disturbance compensation, used to control the target motor to adjust towards the target angle in the current control cycle. For example, the angle control parameters can be calculated as follows:

[0077]

[0078]

[0079] in, This can refer to angle control parameters. It can refer to feedback control variables. It can refer to the angle deviation feedback gain, which is a positive adjustable constant. It can refer to another angular velocity deviation feedback gain, which is a positive adjustable constant. It can refer to the angular deviation value. It can refer to the angular velocity deviation value. It can refer to the operating disturbance parameters of the current control cycle. It can refer to the target angular acceleration, which is determined by calculating the first-order rate of change of the target angular velocity with respect to time. It can refer to a pre-set target angle. It can refer to the actual angle of the target motor in the current control cycle. It can refer to the actual angular velocity of the target motor in the current control cycle. It can refer to a pre-set target angular velocity.

[0080] It is understood that this embodiment of the application obtains a pre-set target angular velocity, determines the angular velocity deviation value based on the actual angular velocity of the target motor in the current control cycle and the target angular velocity, determines the angle deviation value based on the target angle and the actual angle, calculates the feedback quantity based on the angle deviation value and the angular velocity deviation value, obtains the feedback control quantity, and performs interference compensation based on the feedback control quantity and operating interference parameters to obtain the angle control parameters. Thus, this embodiment of the application, by combining the angle deviation value and the angular velocity deviation value for feedback control, and simultaneously incorporating operating interference parameters for interference compensation, enables the angle control parameters to simultaneously reflect position tracking accuracy and anti-interference capability, thereby improving the accuracy of motor control.

[0081] Please see Figure 8A and Figure 8B In some embodiments, a first comparative simulation experiment was conducted to verify the control performance of this application under rated load conditions. Among them, Figure 8A This is a comparison chart of the position error (angle deviation value) variation curves of different control methods under rated load conditions. It shows the response of the target motor's position error (angle deviation value) to change over time when using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), the traditional extended state observer method (method 4), and the motor control method (method 5) provided in the embodiments of this application. Figure 8B This is a comparison chart of the position (actual angle) change curves of different control methods under rated load conditions. It shows the response of the target motor's position (actual angle) to change over time when using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), the traditional extended state observer method (method 4), and the motor control method (method 5) provided in the embodiments of this application.

[0082] It should be noted that in the first comparative simulation experiment, the target motor was set to operate under rated load conditions, the pre-set target angle was a fixed angle, and the constraint boundary (pre-set performance conditions) was set to ensure that the angle control parameters met the motor's safety control requirements. Rated load conditions can refer to the operating state of the target motor under rated working load. Method 1 can refer to the proportional-derivative-integral control method, which determines the angle control command based on a linear combination of the proportional, integral, and derivative terms of the angle deviation value to control the angle of the target motor. Method 2 can refer to the preset performance control method, which constrains the angle deviation value through a preset strict constraint function to regulate the dynamic performance of the motor during angle adjustment, thereby ensuring safe motor control. Method 3 can refer to the preset performance non-singular fast terminal sliding mode control method, which, based on preset performance control, combines non-singular fast terminal sliding mode control to dynamically compensate the angle control command, achieving rapid convergence of the motor's angle deviation value. Method 4 can refer to the traditional extended state observer method, which is a control method that estimates disturbances during motor operation using a fixed high-gain extended state observer and feeds the disturbance estimate back to the controller for angle control of the target motor. Method 5 can refer to the motor control method provided in the embodiments of this application.

[0083] It is understandable that, such as Figure 8A As shown, under rated load conditions, using the motor control method (method 5) provided in this application embodiment, the position error (angle deviation value) of the target motor is within the allowable range; however, using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), and the traditional extended state observer method (method 4), the position error (angle deviation value) of the target motor fluctuates to varying degrees during the tracking process, exceeding the allowable range. Figure 8B As shown, under rated load conditions, using the motor control method (method 5) provided in this application embodiment, the position (actual angle) of the target motor can accurately track the preset target angle; however, using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), and the traditional extended state observer method (method 4), the position (actual angle) of the target motor fluctuates to varying degrees during the tracking process and cannot accurately reach the target angle. Figure 8A and Figure 8BAs can be seen, under rated load conditions, the embodiments of this application obtain operating interference parameters through operating interference analysis and integrate the operating interference parameters into the angle control parameter generation process, so that the mapping relationship between the angle deviation value and the angle control command can be dynamically adjusted as the motor operating state changes. At the same time, the performance parameter range analysis ensures that the angle control parameters meet the motor safety control requirements, thereby ensuring that the target motor accurately tracks the target angle while keeping the angle deviation value in an allowable state, thus improving the accuracy and safety of motor control.

[0084] Please see Figure 9A and Figure 9B In some embodiments, a second comparative simulation experiment was conducted to verify the control performance of this application under sudden load conditions. Among them, Figure 9A This is a comparison chart of the position error (angle deviation value) variation curves of different control methods under sudden load conditions. It shows the response of the target motor's position error (angle deviation value) to change over time when using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), the traditional extended state observer method (method 4), and the motor control method (method 5) provided in the embodiments of this application. Figure 9B The actual angular velocity (") of different control methods under sudden load conditions The curve comparison chart shows the response of the actual angular velocity of the target motor to time when using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), the traditional extended state observer method (method 4), and the motor control method provided in the embodiments of this application (method 5).

[0085] It should be noted that in the second comparative simulation experiment, the target motor was set to experience a sudden load change during operation, the pre-set target angle was a fixed angle, and the constraint boundary (pre-set performance condition) was set to ensure that the angle control parameters met the motor safety control requirements. The target motor was angle-controlled using the proportional-derivative-integral control method (Method 1), the pre-set performance control method (Method 2), the pre-set performance non-singular fast terminal sliding mode control method (Method 3), the traditional extended state observer method (Method 4), and the motor control method provided in this application embodiment (Method 5), respectively. The angle tracking results and angular velocity tracking results of each method before and after the load change were obtained.

[0086] It is understandable that, such as Figure 9AAs shown, under sudden load conditions, using the motor control method (method 5) provided in this application embodiment, the position error (angle deviation value) of the target motor is always within the allowable state; while using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), and the traditional extended state observer method (method 4), the position error (angle deviation value) of the target motor fluctuates to varying degrees after the load sudden change, exceeding the allowable state. Figure 9B As shown, under sudden load conditions, using the motor control method (method 5) provided in this application embodiment, the actual angular velocity of the target motor can be quickly adjusted and restored to stability after a sudden load change; while using the proportional-derivative-integral control method (method 1), the preset performance control method (method 2), the preset performance non-singular fast terminal sliding mode control method (method 3), and the traditional extended state observer method (method 4), the actual angular velocity of the target motor fluctuates to varying degrees after a sudden load change. Figure 9A and Figure 9B As can be seen, under sudden load conditions, the embodiments of this application obtain operating interference parameters through operating interference analysis and integrate the operating interference parameters into the angle control parameter generation process, so that the mapping relationship between the angle deviation value and the angle control command can be dynamically adjusted with the change of the motor operating state. At the same time, the performance parameter range analysis ensures that the angle control parameters meet the motor safety control requirements. Thus, under adverse conditions such as sudden load changes, the angle deviation value of the target motor always meets the motor safety control requirements, improving the accuracy and safety of motor control.

[0087] Please see Figure 10A and Figure 10B In some embodiments, a third comparative simulation experiment was conducted to verify the control performance of this application when the initial angle deviation value exceeds the allowable state. Among them, Figure 10A This is a comparison chart of the position error (angle deviation value) variation curves of different control methods under different initial angle deviation values. It shows the response of the target motor's position error (angle deviation value) to change over time when using the proportional-derivative-integral control method (method 1), the preset performance non-singular fast terminal sliding mode control method (method 3), the traditional extended state observer method (method 4), and the motor control method (method 5) provided in the embodiments of this application. Figure 10B This is a comparison chart of the position (actual angle) change curves of different control methods under different initial angle deviation values. It shows the response of the target motor's position (actual angle) to change over time when using the proportional-derivative-integral control method (method 1), the preset performance non-singular fast terminal sliding mode control method (method 3), the traditional extended state observer method (method 4), and the motor control method (method 5) provided in the embodiments of this application.

[0088] It should be noted that in the third comparative simulation experiment, the initial angle deviation value of the target motor was set to exceed the allowable state required by the constraint function (preset performance condition). The pre-set target angle was a time-varying trajectory (true value), and the constraint boundary (preset performance condition) was set to ensure that the angle control parameters met the motor safety control requirements. The proportional-derivative-integral control method (Method 1), the preset performance non-singular fast terminal sliding mode control method (Method 3), the traditional extended state observer method (Method 4), and the motor control method provided in the embodiments of this application (Method 5) were used to control the angle of the target motor, and the angle tracking results of each method when the initial angle deviation value exceeded the allowable state were obtained.

[0089] It is understandable that, such as Figure 10A As shown, when the initial angle deviation value exceeds the allowable state, using the motor control method (method 5) provided in this application embodiment, the position error (angle deviation value) of the target motor enters the constraint function (allowable state boundary) within a finite time and remains within the constraint function; while using the proportional-derivative-integral control method (method 1), the preset performance non-singular fast terminal sliding mode control method (method 3), and the traditional extended state observer method (method 4), the position error (angle deviation value) of the target motor exceeds the constraint function (allowable state boundary) in the initial stage, and exhibits varying degrees of oscillation or divergence in the subsequent control process, failing to enter the constraint function. Figure 10B As shown, when the initial angle deviation exceeds the allowable state, the motor control method (method 5) provided in this application embodiment can accurately track the true value (pre-set target angle) of the target motor position (actual angle); however, when using the proportional-derivative-integral control method (method 1), the preset performance non-singular fast terminal sliding mode control method (method 3), and the traditional extended state observer method (method 4), the target motor position (actual angle) deviates to varying degrees during the tracking of the true value and cannot accurately track the true value. Figure 10A and Figure 10B As can be seen, when the initial angle deviation value exceeds the allowable state, the embodiments of this application obtain the operating interference parameters through operating interference analysis and integrate the operating interference parameters into the angle control parameter generation process. At the same time, the angle control parameters are constrained through performance parameter range analysis, so that the angle control parameters can still be adaptively adjusted when the initial angle deviation value exceeds the allowable state, guiding the angle deviation value of the target motor to enter the allowable state within a limited time, thereby realizing safe control of the motor and improving the accuracy and safety of motor control.

[0090] Please see Figure 11 This application also provides a motor control device that can implement the above-described motor control method. The device includes: Angle acquisition unit 1101 is used to acquire a preset target angle; The periodic data determination unit 1102 is used to determine the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle for the current control cycle. The operation disturbance analysis unit 1103 is used to perform operation disturbance analysis based on the actual angle, the estimated angle value, and the estimated disturbance value to obtain operation disturbance parameters. The operation disturbance parameters are the estimated disturbance value plus the product of the rate of change of the operation disturbance parameters in the current control cycle and the duration of the current control cycle. The rate of change of the operation disturbance parameters in the current control cycle is determined based on the actual angle, the estimated angle value, and the estimated disturbance value. The control parameter generation unit 1104 is used to generate angle control parameters based on the operating interference parameters, the actual angle and the target angle, and obtain the angle control parameters. The performance parameter analysis unit 1105 is used to perform performance parameter range analysis based on the angle control parameters and obtain the performance parameter range analysis results. The condition control unit 1106 is used to generate a target angle control command based on the angle control parameters in response to the performance parameter range analysis result meeting the preset performance conditions, and to control the target motor in the current control cycle based on the target angle control command. The periodic iteration unit 1107 is used to iterate the current control cycle and return to determine the actual angle of the target motor in the current control cycle, as well as the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle.

[0091] The specific implementation of this motor control device is basically the same as the specific embodiment of the motor control method described above, and will not be repeated here.

[0092] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described motor control method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.

[0093] Please see Figure 12 , Figure 12 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1201 can be implemented using a general-purpose central processing unit (CPU), microprocessor, application specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1202 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1202 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1202 and is called and executed by the processor 1201 using the motor control method of the embodiments of this application. The input / output interface 1203 is used to implement information input and output; The communication interface 1204 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1205 transmits information between various components of the device (e.g., processor 1201, memory 1202, input / output interface 1203, and communication interface 1204); The processor 1201, memory 1202, input / output interface 1203 and communication interface 1204 are connected to each other within the device via bus 1205.

[0094] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described motor control method.

[0095] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0096] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.

[0097] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.

[0098] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0099] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0100] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.

[0101] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0102] The units described above as separate components may or may not be physically separate. The components shown as units 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.

[0103] Furthermore, 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. The integrated unit can be implemented in hardware or as a software functional unit.

[0104] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a 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 all or part 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 multiple 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 of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0105] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.

Claims

1. A motor control method, characterized in that, The method includes: Obtain the pre-set target angle; For the current control cycle, determine the actual angle of the target motor in the current control cycle, and determine the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle; Operational disturbance analysis is performed based on the actual angle, the estimated angle value, and the estimated disturbance value to obtain operational disturbance parameters. The operational disturbance parameters are the estimated disturbance value plus the product of the rate of change of the operational disturbance parameters in the current control cycle and the duration of the current control cycle. The rate of change of the operational disturbance parameters in the current control cycle is determined based on the actual angle, the estimated angle value, and the estimated disturbance value. Angle control parameters are generated based on the operational interference parameters, the actual angle, and the target angle. Based on the angle control parameters, a performance parameter range analysis is performed to obtain the performance parameter range analysis results; In response to the performance parameter range analysis result meeting the preset performance conditions, a target angle control command is generated according to the angle control parameters, and the target motor is controlled according to the target angle control command in the current control cycle; Iterate through the current control cycle, return to determine the actual angle of the target motor in the current control cycle, and determine the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle.

2. The method according to claim 1, characterized in that, The step of performing performance parameter range analysis based on the angle control parameters to obtain performance parameter range analysis results includes: Based on the angle control parameters, perform an analysis to determine if the angle deviation exceeds the upper limit, and obtain the result of the angle deviation exceeding the upper limit. Based on the angle control parameters, perform an analysis to determine if the angle deviation exceeds the lower limit, and obtain the result of the angle deviation exceeding the lower limit. The performance parameter range analysis results are determined based on the results of the angle deviation exceeding the upper limit and the results of the angle deviation exceeding the lower limit.

3. The method according to claim 2, characterized in that, The step of performing angle deviation exceeding the upper limit analysis based on the angle control parameters to obtain the angle deviation exceeding the upper limit result includes: Determine the actual angular velocity of the target motor in the current control cycle; The angle deviation value is determined based on the actual angle and the target angle; The upper limit of the angle deviation is calculated based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters to obtain the upper limit parameter of the angle deviation for the current control cycle. An angle deviation exceeding the upper limit analysis is performed based on the upper limit parameter of the angle deviation and the angle control parameter to obtain the result of angle deviation exceeding the upper limit.

4. The method according to claim 3, characterized in that, The step of performing angle deviation lower limit analysis based on the angle control parameters to obtain angle deviation lower limit results includes: The lower limit of the angle deviation is calculated based on the angle deviation value, the actual angular velocity, and the operating disturbance parameters to obtain the lower limit parameter of the angle deviation for the current control cycle. An angle deviation exceeding the lower limit analysis is performed based on the lower limit parameter of the angle deviation and the angle control parameter to obtain the result of the angle deviation exceeding the lower limit.

5. The method according to claim 2, characterized in that, The motor control method further includes: In response to the performance parameter range analysis result not meeting the preset performance conditions, the angle control parameter is adjusted according to the result of the angle deviation exceeding the upper limit and the result of the angle deviation exceeding the lower limit, to obtain the adjusted angle control parameter; A target angle control command is generated based on the adjusted angle control parameters, and the target motor is controlled according to the target angle control command in the current control cycle.

6. The method according to claim 1, characterized in that, After controlling the target motor according to the target angle control command in the current control cycle, the method further includes: Determine the estimated angular velocity and angle control parameters of the previous control cycle adjacent to the current control cycle; Based on the actual angle, the operating disturbance parameters, and the angle estimate, angular velocity estimate, and angle control parameters from the previous control cycle, an angular velocity estimation analysis is performed to obtain the angular velocity estimate for the current control cycle. An angle estimation analysis is performed based on the actual angle, the estimated angular velocity of the current control cycle, and the estimated angle of the previous control cycle to obtain the estimated angle of the current control cycle. The operating disturbance parameter of the current control cycle is determined as the disturbance estimate of the current control cycle.

7. The method according to claim 1, characterized in that, The step of generating angle control parameters based on the operational interference parameters, the actual angle, and the target angle, to obtain the angle control parameters, includes: Obtain the pre-set target angular velocity; The angular velocity deviation value is determined based on the actual angular velocity of the target motor in the current control cycle and the target angular velocity, and the angular deviation value is determined based on the target angle and the actual angle; The feedback control quantity is calculated based on the angle deviation value and the angular velocity deviation value. The angle control parameters are obtained by performing interference compensation based on the feedback control quantity and the operating interference parameters.

8. A motor control device, characterized in that, The device includes: Angle acquisition unit, used to acquire a pre-set target angle; The periodic data determination unit is used to determine the actual angle of the target motor in the current control cycle, as well as the estimated angle and disturbance value of the previous control cycle adjacent to the current control cycle, for the current control cycle. An operation disturbance analysis unit is used to perform operation disturbance analysis based on the actual angle, the estimated angle value, and the estimated disturbance value to obtain operation disturbance parameters; the operation disturbance parameters are the estimated disturbance value plus the product of the rate of change of the operation disturbance parameters in the current control cycle and the duration of the current control cycle; the rate of change of the operation disturbance parameters in the current control cycle is determined based on the actual angle, the estimated angle value, and the estimated disturbance value; A control parameter generation unit is used to generate angle control parameters based on the operating interference parameters, the actual angle, and the target angle, thereby obtaining the angle control parameters. The performance parameter analysis unit is used to perform performance parameter range analysis based on the angle control parameters and obtain the performance parameter range analysis results. A condition control unit is configured to, in response to the performance parameter range analysis result satisfying a preset performance condition, generate a target angle control command based on the angle control parameters, and control the target motor in the current control cycle based on the target angle control command; The periodic iteration unit is used to iterate the current control cycle and return to determine the actual angle of the target motor in the current control cycle, as well as the angle estimate and disturbance estimate of the previous control cycle adjacent to the current control cycle, until the target motor reaches the target angle.

9. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the motor control method according to 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, implements the motor control method according to any one of claims 1 to 7.

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