55 results about "Position loop" patented technology

The invention discloses a motor coil press fitting process parameter self-adaptive regulation and control method and device, and relates to the technical field of motor vehicle motor manufacturing. The method comprises the steps that press fitting target parameters including a target termination position and target pressing force are obtained, press fitting is started, actual pressure and displacement values are collected in real time, a process state deduction model is constructed, whether double targets can be met at the same time when press fitting is finished in a current control mode or not is predicted, and an analysis result is output. If the conditions cannot be met at the same time, the predicted pressure deviation value and the displacement deviation value are taken as optimization targets, a process state compensation value is introduced, a multi-target optimization function is constructed to solve a control target weighting coefficient, a press fitting tail-section hybrid controller is reconstructed, output instructions of a position ring and a force ring are fused, and press fitting is executed. According to the invention, synchronous high-precision control of the pressing force and the termination position under material fluctuation and environmental interference is realized, and the adaptability and stability of coil press-fitting processes of various motors such as a new energy automobile driving motor and a household appliance motor are improved.

The invention provides an anti-disturbance unmanned aerial vehicle trajectory tracking control method, system and device and a medium. The method comprises the following steps: establishing a six-degree-of-freedom rigid body dynamic model of a four-rotor unmanned aerial vehicle; selecting an unmanned aerial vehicle feasible trajectory of the kinetic model as an expected trajectory, and introducing a coupling attitude; designing a position loop control law, generating a virtual control force based on a smooth terminal sliding mode control surface, and calculating an actual thrust; designing an attitude loop control law, representing an attitude error based on Lie group SO (3), constructing an attitude tracking controller with a stable global index, and outputting a control torque; constructing a four-order state observer to estimate the angular velocity and the angular acceleration of the coupling attitude, and replacing a true value with an estimated value to participate in control law calculation; thrust and control torque are converted into thrust input of the unmanned aerial vehicle, the unmanned aerial vehicle is driven to track an expected trajectory, and the problems that in trajectory tracking control of the four-rotor unmanned aerial vehicle, dependence on position acceleration measurement is high, noise is amplified through differential derivation, disturbance rejection is weak, and real-time calculation burden is large are solved.

The invention discloses a periodic synchronous position interpolation control method and system for a servo driver, and relates to the technical field of servo control, and the method comprises the steps: receiving a synchronous position instruction at a fixed bus period, and recording a theoretical / actual arrival timestamp of the synchronous position instruction; converting the instruction into a position increment and storing the position increment into a buffer; calculating a cache saturation index reflecting instruction stream supply and demand balance in real time; based on the index and the change trend, dynamically calculating and smoothly adjusting a next position loop sampling period through a feedback control model; position loop processing is triggered in the post-adjustment period. According to the invention, by monitoring the instruction stream state and adaptively adjusting local processing, the influence caused by master and slave clock skew and network jitter is compensated, and continuous and uniform instruction input is ensured to be always obtained by a position ring, so that high-stability and high-precision motion control under bus communication is realized, and the anti-interference capability and the synchronization performance of the system are improved.

The invention relates to the technical field of robot control, in particular to a magnetorheological damper-based flexible landing control method for a hydraulic leg unit, which comprises the following steps of: S1, establishing a rigid-flexible coupling dynamic model, optimizing parameters, and simplifying a landing process into a mass-spring-damping system; the hydraulic cylinder is equivalent to a spring module, the magneto-rheological damper is equivalent to a variable damping module, and the optimal landing track and the optimal rigidity and damping parameters are obtained by minimizing the foot end impact force; s2, decomposing the optimal trajectory into joint target displacement through an inverse kinematics model; and S3, position and force double closed-loop control is conducted on the hydraulic damping actuator, displacement is tracked by the position outer loop control hydraulic cylinder, damping force is output by the force inner loop control magnetorheological damper, the intervention and quit time of the hydraulic damping actuator is decided, the damping force is dynamically distributed, and actual force signals are fed back to correct target displacement. The method realizes flexible landing, reduces impact, gives consideration to control precision and energy consumption, adapts to multiple terrains and prolongs the service life of equipment.

The application discloses a kind of redundancy servo systems based on nested screw drive, comprising: control computer, first / second redundancy branch chain, differential mechanism, position feedback mechanism and external load;First / second redundancy branch chain includes: first / second control module, first / second servo controller, first / second power driver, first / second servo motor, first / second rotary transformer, first / second brake, first / second reducer and first / second screw drive mechanism;Differential mechanism is connected with external load, differential mechanism directly bears the load situation introduced by external load, environmental condition situation;Position feedback mechanism is connected with differential mechanism, and the motion displacement signal of differential mechanism is collected by position feedback mechanism, and motion displacement signal is simultaneously fed back to first / second servo controller, to realize first / second control module position loop closed-loop control further.This application is in the consideration of system structure, volume weight index requirement, and greatly improves the reliability of system.

The application belongs to the technical field of automobiles, and particularly relates to a multi-closed-loop control method for clamping force of an electromechanical brake system considering nonlinear disturbance. The method comprises the following steps: step one, building an electromechanical brake actuator model; step two, designing a clamping force loop controller considering the variable stiffness characteristics of the system; step three, designing a position loop controller based on friction model compensation by using an inversion sliding mode control method; and step four, designing a current loop controller based on current decoupling, so as to finally realize multi-closed-loop control of the clamping force. The application has higher control precision, faster response speed and stronger robustness, can effectively improve the braking performance of the electromechanical brake system, and provides a feasible solution for high-precision control of braking force of an intelligent automobile.

The invention discloses a servo motor PID position pointing smooth optimization method based on acceleration feedback, and belongs to the technical field of motor control. The method comprises the following steps: acquiring PID parameters, a motor target position and in-place preset time; determining an acceleration section, a deceleration section and an adjustment section in the travel according to the starting point and the target position; executing acceleration section three-loop PID control, and adjusting a position loop command value according to acceleration feedback; executing deceleration section three-ring PID control, and adjusting a position ring command value according to acceleration feedback; adjusting section PID control is executed, and the position loop command value is kept at the final position; according to the invention, the position ring command value during execution of each position ring can be dynamically adjusted according to real-time acceleration measurement and calculation, so that the movement speed of the motor from the initial position to the final position is ensured to be a smooth acceleration-first deceleration-second movement curve; the target position is approached at a low speed, so that the position, speed overshoot and in-place position fluctuation can be effectively reduced, and the pointing precision of the servo motor is remarkably improved.

The invention relates to a flexible joint system control method and device, computer equipment and a storage medium. The method comprises the following steps: acquiring a basic proportional gain of a position ring in the flexible joint system, and a current load rotational inertia and a current output torque of the flexible joint system; querying a target load compensation gain matched with the current load rotational inertia and a target torque compensation gain matched with the current output torque; wherein the target load compensation gain and the target torque compensation gain are control gains which enable the bandwidth corresponding to a preset amplitude-frequency characteristic curve of the flexible joint system to be maximum and the resonance peak value of the preset amplitude-frequency characteristic curve to be within a preset amplitude range; and controlling the flexible joint system according to the target load compensation gain, the target torque compensation gain and the basic proportional gain. By adopting the method, the flexible joint system can be accurately controlled.

The application provides a method, device and system for adjusting control parameters of a robot, the method comprising: obtaining a displacement waveform of the robot collected by a displacement sensor, the displacement sensor being installed on an edge point of the robot, the edge point of the robot being an intersection between a movement direction of the robot and a shell of the robot; determining whether overshoot exists in the displacement waveform; and adjusting a position loop gain to a product of a preset multiple and a current position loop gain to reduce a probability of overshoot appearing again in the displacement waveform after a current time, in a case where it is determined that overshoot exists in the displacement waveform. The application solves the problem that the actual displacement error of the robot exceeds a tolerance error range due to a large difference between a position waveform of a robot end and a position waveform of a motor end under the same condition, and the position waveform of the motor end cannot fully reflect the actual operation of the robot.

The invention belongs to the field of intelligent control of missile-borne electric steering engines, and particularly relates to a redundant electric steering engine high-fidelity modeling and RBF-PID neural network control system and method. The system mainly comprises a brushless direct current motor, a bearing, a shaft, a spur gear, a helical gear, an output shaft, a control surface, a main controller, a motor driver and an inverter. The main controller receives position instruction information sent by a missile-borne computer, a control signal is transmitted to the driver after the position instruction information is processed by the three-closed-loop control system, the driver further drives the brushless direct current motor to rotate, the motor is connected with the multi-stage gear reducer through a bearing to drive the output shaft to rotate, and finally the control surface is driven to deflect by a certain position. A control strategy based on an RBF neural network optimization PID algorithm is introduced into a position loop of a three-closed-loop control system of the main controller, so that the control surface position response has a higher response speed, a better tracking effect, a more stable motion state and higher robustness.

The invention provides a control system and an anti-disturbance method of an electromagnetic bearing, a rotor position outer ring is controlled by a non-singular fast terminal sliding mode controller, external disturbance borne by the system is estimated in real time by introducing a non-linear disturbance observer, and an estimation result is fed back to a position controller for compensation; the input of the position controller is the difference value between the given position and the feedback position of the magnetic bearing rotor, and the output value is the reference value of the current loop control current; a stator coil inner ring is controlled by a nonsingular fast terminal sliding mode controller, input values of the controller comprise a current bias value + a current reference value output by a position ring and a current bias value-a current reference value output by the position ring, and an output quantity is a driving PWM signal duty ratio of a magnetic bearing stator coil; driving the PWM signal to be output to the power amplifier; the power amplifier supplies power to the stator coil; the axial thrust load sudden change anti-disturbance capability can be enhanced, it is ensured that when the thrust load suddenly changes, the magnetic bearing maintains stable suspension of the rotor, and anti-disturbance control is achieved.

This invention proposes an online gyroscope zero-drift calibration method, apparatus, and readable storage medium based on the steady-state of the position loop of a servo system. The method is applied to a servo system containing position and velocity closed loops. The position closed loop is set to a pure proportional (P) control mode. The servo system is controlled to move from a first motion direction and an opposite second motion direction to the same position reference point, reaching first and second steady-state states respectively in P control mode. The first and second steady-state position deviations are acquired and recorded. Finally, the first and second steady-state position deviations are averaged, and the gyroscope zero-drift value is determined based on the average deviation value and the proportional gain of the position loop. This invention utilizes a bidirectional approximation averaging method, mathematically eliminating the interference of static friction of the servo system on the calibration results. It achieves online, high-precision, and interference-resistant gyroscope zero-drift calibration without external equipment and provides a closed-loop verification mechanism.

This invention discloses a periodic synchronous position interpolation control method and system for servo drives, relating to the field of servo control technology. The method includes: receiving synchronous position commands at a fixed bus cycle and recording their theoretical / actual arrival timestamps; converting the commands into position increments and storing them in a buffer; calculating a buffer saturation index reflecting the supply and demand balance of the command stream in real time; dynamically calculating and smoothly adjusting the next position loop sampling cycle based on this index and its changing trend using a feedback control model; and triggering position loop processing with the adjusted cycle. This invention, by monitoring the command stream status and adaptively adjusting local processing, compensates for the effects of master-slave clock deviation and network jitter, ensuring that the position loop always receives continuous and uniform command input. This achieves high stability and high precision motion control under bus communication, improving the system's anti-interference capability and synchronization performance.

The present application relates to a nonlinear multi-mode adaptive intelligent control method for large angle slewing in the field of radio tracking measurement, comprising the following steps: obtaining the maximum speed, maximum acceleration and speed loop gain parameters of measurement; calculating the antenna large angle slewing error, and using the last position loop regulator output speed to calculate the current position loop regulator output speed U n ; calculating the descending section position loop output speed value U d according to the antenna actual maximum speed, speed loop gain and antenna large angle slewing error; comparing the sizes of U d and U n ; if U n is greater than or equal to U d , then U d is assigned to U n ; if U n is less than U d , then the value of U n remains unchanged; calculating the gain control output U pi in the digital PI controller; comparing the sizes of the descending section position loop output speed value U d and the value of U pi ; if U d is greater than or equal to U pi , then U pi is assigned to U n ; if U d is less than the value of U pi , then the value of U n remains unchanged. The present application avoids excessive acceleration / deceleration, reduces the impact on the antenna transmission mechanism, and improves the service life of the antenna.

The invention discloses a control method of a high-thrust tilting machine electric servo system for an unmanned aerial vehicle, and belongs to the technical field of tilting machine electric servo control, a two-stage closed loop is adopted, an inner ring is a speed ring, an outer ring is a position ring and is connected with a synchronous ring in series, and the control method comprises the following steps: S1, the position ring: controlling a steering engine to reach a specified position; s2, synchronous ring: controlling a steering engine to move according to a preset track; s3, speed ring: controlling the rotating speed of a motor according to the output of the position ring and the synchronous ring, and driving a steering engine to move; wherein the motor is a brushless direct current motor. The brushless direct current motor is used for replacing a permanent magnet synchronous motor, an angle sensor and a current sensor are not needed, and the hardware cost is low; and meanwhile, the complexity of a control algorithm of the tilting servo system is reduced. The method has high-precision position control, synchronous control and variable speed control capabilities, is suitable for various servo system application scenes, and has relatively high universality and popularization value.

The application relates to the technical field of data processing, and discloses an airborne optoelectronic platform turning system, which comprises the following: a nonlinear controller, a selection switch, a current loop controller, a power driving element, a motor, a current feedback element, a speed feedback element, an angular position feedback element, a first error transformation processing unit, a position loop controller, a second error transformation processing unit and a speed loop controller. The nonlinear given value output by the nonlinear controller is used to make the airborne optoelectronic platform rotate to a preset angle. However, the nonlinear given value will cause large overshoot, which is not conducive to the requirement of fast turning stability. Therefore, the second phase current is determined through the speed loop controller and the position loop controller, and the motor is controlled by adopting the closed-loop phase second phase current, so that the airborne optoelectronic platform is rotated to a position of 180 degrees, the overshoot amount of fast turning is reduced, and the 180-degree fast turning of the airborne optoelectronic platform is realized.

This invention discloses a linear motor friction compensation method combining model feedforward and observer, belonging to the field of linear motor friction compensation. The invention addresses the problem of frictional abrupt changes in existing permanent magnet synchronous linear motors during positive and negative velocity crossings, where the Stribeck friction model leads to overcompensation. The method includes: calculating the current static frictional force F based on the current mover velocity v. f Take the current static friction force F f The friction force feedforward compensation is calculated as 0.5 times the current value. Simultaneously, an observer estimates the viscous friction force compensation as an auxiliary compensation for the current static friction force based on the q-axis current command and the current actual position of the mover. The friction force feedforward compensation and viscous friction force compensation are converted into a compensation current and then superimposed with the current control command output by the position loop controller to obtain a compensated current control command, which is then input to the current loop. This invention is used for friction force compensation in linear motors.

The invention relates to the technical field of robot motion control, and provides a high-frequency control method and system for a multi-degree-of-freedom connecting rod mechanism and a motion device.The actual tail end position and the actual tail end speed of a tail end executor are positively mapped through an actual joint position set and an actual joint speed set; the target tail end speed of the tail end actuator is determined according to the actual and target tail end positions in cooperation with a position ring, and the target tail end equivalent force of the tail end actuator is determined according to the deviation value of the actual and target tail end speeds through a speed ring; according to a statics model of the connecting rod mechanism, the target tail end equivalent force is reversely mapped into target joint torque of all joints, target current values corresponding to all the motors are obtained, and a current loop controls the motors according to the target current values so as to achieve motion control over the tail end actuator. And equivalently, the direct control of the driver on the end effector is virtually equivalent. And the problems of control level limitation, communication rate bottleneck, insufficient control bandwidth under large load and the like are solved.

The application discloses a control method for compensating for the nonlinear influence of the gear gap of an electric rudder. The method first performs offline identification of the gear gap parameters after power-on starting; then in the working state, the load side angle and the motor side angle are collected in real time, and the load side speed and acceleration are calculated by using a differential tracker to predict the tracking error of the next beat; then the load side given angle is input, and the motor side given angle is obtained according to the designed gear gap inverse model and the switching condition; finally, the appropriate given current is calculated through the motor position loop algorithm, so that the motor position follows the given motor position signal, and the tracking error of the electric rudder is reduced. The method provided by the application can effectively compensate for the steady-state error and tracking error caused by the gear gap, the algorithm is simple and easy to implement, and can also be applied to complex working conditions with acceleration and time-varying load.

The application provides a control method of a servo motor, a storage medium and a driver, the control method is applied to a three-closed-loop control system comprising a position loop, a speed loop and a current loop, the position loop performs the following steps: acquiring a position error between an instruction position and a real-time position of the servo system; calculating a theoretical setting rotating speed according to a uniform acceleration motion model based on the position error and a preset maximum acceleration of the system; calculating a dynamic rotating speed limiting value according to a current cumulative acceleration number; comparing the theoretical setting rotating speed with the dynamic rotating speed limiting value, taking the smaller one as a position loop output rotating speed, and sending the position loop output rotating speed to the speed loop. The application replaces the traditional PI adjustment with a physical model calculation, realizes precise control without hysteresis at starting and without overshoot in the whole process, and does not need complex parameter setting, and has the advantages of fast response and strong robustness.

The embodiment of the invention relates to the technical field of transmission, in particular to a mover control method of a transmission line, which comprises the following steps: controlling a target mover in the transmission line to move according to a preset position and time trajectory diagram to obtain an actual position and time trajectory diagram; according to the actual position and time trajectory diagram and the preset position and time trajectory diagram, performing position ring adjustment processing on the target mover to obtain a target position and time trajectory diagram; controlling the target rotor to move according to the target position and the time trajectory diagram to obtain an actual speed and time trajectory diagram; according to the actual speed and time trajectory diagram and a preset speed and time trajectory diagram corresponding to the target rotor, performing speed ring adjustment processing on the target rotor to obtain a target speed and time trajectory diagram; and obtaining a first control parameter according to the target speed and the time trajectory diagram. According to the invention, through layered adjustment of the position ring and the speed ring, double optimization of the motion accuracy and smoothness of the rotor is realized, and finally, the control stability of the rotor under load change is improved.

The invention relates to a low-rotating-speed motor control method based on disturbance compensation, and the method comprises the following steps: 1, designing a position loop controller, and achieving the closed-loop control of a position loop; 2, performing compensation design on the position loop controller designed in the step 1; 3, weighting the output value of the position loop controller subjected to the compensation design in the step 2 and the system disturbance observation value to obtain a compensated position loop control quantity; and step 4, realizing position control on the rotating shaft of the low-rotating-speed motor based on the compensated position loop control quantity obtained in the step 3. The method does not depend on building of a precise motor model, the robustness of the system is enhanced, and low-speed and high-precision motor control of the motor is achieved.

The invention discloses an anti-interference prediction control method and device for a robot joint motor, and belongs to the technical field of robot joint motor control, and the method comprises the steps: obtaining the actual position of a robot joint, calculating the position deviation between the actual position and a preset reference position, inputting the obtained position deviation into a position loop PID controller, and controlling the position loop PID controller according to the position deviation. The reference speed of a joint motor is obtained through calculation of a position loop PID controller; completing the design of a model-free predictive control module; completing the design of a model-based predictive control module; the model-based prediction control module comprises a current prediction model and a current loop cost function optimization; and optimizing the bandwidth of the linear extended state observer. According to the method, the balance between the disturbance suppression performance and the algorithm complexity is realized, and the integrated joint motor module with limited adaptive computing power is adapted.

The embodiment of the invention discloses a control method, device and equipment for a robot driving motor and a storage medium, the driving motor adopts a three-closed-loop control system structure, and the three-closed-loop control system structure comprises a position loop, a speed loop and a current loop. The method aims at calculating sampled data in each loop of a three-closed-loop control system structure by using a least square method and an interpolation method according to a sequence, on one hand, the least square method is firstly used for filtering high-frequency noise of the sampled data in each loop and eliminating abnormal sampling points, and on the other hand, the least square method is used for filtering high-frequency noise of the sampled data in each loop; the interval blank of the sampling data in each loop is filled by using an interpolation method, so that the sampling data with lower noise and accuracy can be obtained in each loop; and on the other hand, by obtaining lower noise and accurate sampling data in each loop, a more accurate driving signal is calculated, so that the running stability of the driving motor and the motion control accuracy of the robot are improved.

The embodiment of the invention discloses an underground pulser motor rotary transformer zero position detection method and device, and the method comprises the steps: controlling a stator of an underground pulser motor to be electrified so as to adsorb a rotor, and determining a reference rotary transformer zero position according to a relative angle between a rotary transformer and the rotor in a stable state; adjusting the zero position of the to-be-calibrated resolver to obtain the adjusted zero position of the to-be-calibrated resolver; the initial value of the to-be-calibrated resolver zero position is a reference resolver zero position; when the adjusted to-be-calibrated resolver zero position is obtained, motor position loop control is carried out according to the adjusted to-be-calibrated resolver zero position, and the current value of a bus driven by an underground pulser motor is recorded; and obtaining the adjusted to-be-calibrated resolver zero position correspondingly adopted by the bus current value meeting the calibration condition, and determining the adjusted to-be-calibrated resolver zero position as a detection result of the resolver zero position. Through the mode, the zero position of the rotary transformer can be automatically, efficiently and accurately identified under the condition that the load caused by the spring exists in the motor of the underground pulser.

The invention discloses a gear measurement center motion control method and system, and relates to the technical field of gear measurement center motion control, and the method comprises the steps: building a kinematic model of a gear measurement center, and carrying out the coordinate transformation between a machine tool coordinate system and a workpiece coordinate system; establishing an electromechanical coupling control model; constructing a contour error calculation model, and decoupling a contour error and a trajectory tracking error; designing a single-axis position loop P control and speed feedforward combined composite controller; and designing a cross-coupling coordination controller based on the contour error model, generating real-time compensation amounts for the X axis and the theta axis by using the contour error and the trajectory tracking error through PID control, and feeding back the real-time compensation amounts to a single-axis controller to realize closed-loop compensation of multi-axis coordination motion. The system comprises a motion control unit, a coordination control unit, an error calculation unit and a servo driving unit. According to the method, the problem of contour errors caused by multi-axis dynamic response differences and nonlinear coupling is effectively solved, and the contour tracking precision is improved.

This application provides a resonance suppression method and device for a dual-inertia servo system. The method includes: determining whether the motor of the servo control subsystem is experiencing abnormal operating conditions, including at least one of the following: resonance, the rate of change of shaft current exceeding a rate of change threshold; obtaining an initial position deviation, which is the difference between the actual position of the load and the actual position of the motor; in the event of abnormal motor operating conditions, filtering the initial position deviation according to the target parameters of the motor to obtain the position deviation, and sending the position deviation to the input of the position loop, so that the position loop performs closed-loop control of the motor position based on the position setpoint, the actual position of the motor, and the position deviation, thereby preventing abnormal operating conditions from occurring in the controlled motor. This application solves the problem of large oscillations in existing dual-inertia servo systems.

The application discloses a rudder control method based on integral saturation optimization and commutation differential enhancement, and belongs to the technical field of motor control, and solves the problems of integral saturation, commutation impact and steady-state jitter of traditional PID control. The method comprises the following steps: generating a real-time position error according to a real-time target position and a real-time position feedback signal of an electric rudder; judging whether the electric rudder enters a steady state according to the change of the real-time position error and the real-time target position; if the electric rudder does not enter the steady state, performing amplitude limiting output on a position loop according to the change rate of the real-time position error and the real-time target position, so as to perform direction and commutation control on the electric rudder and perform amplitude limiting output on a current loop, and driving the electric rudder to operate; and if the electric rudder enters the steady state, controlling the output of the position loop to be 0, clearing the integral term of the current loop, and not operating the electric rudder.

The invention discloses an unmanned aerial vehicle / ship asynchronous cooperative adaptive control method based on an extreme learning machine, and the method comprises the steps: building a vector information consistent nonlinear mathematical model of an unmanned aerial vehicle / ship cooperative system, and further obtaining the relation between a control instruction and a force and a torque; obtaining a position / attitude error vector of the system based on the reference position / attitude vector; designing a virtual control law by using a backstepping method in combination with a conditional filter; defining a speed error vector according to the virtual control law, performing fitting through a continuous function separation technology and an extreme learning machine, and combining a Lyapunov stability theory to obtain an intermediate control law of a position loop / attitude loop; and through an intermediate control law of a position loop / attitude loop, a control instruction is solved so as to realize accurate and stable closed-loop control of the unmanned aerial vehicle / ship cooperative system. The method is oriented to different working conditions and navigation scenes, and accurate and rapid reference signal tracking of the aircraft-ship cooperative system can be ensured.

The application discloses a kind of motor control system and control method based on DSP, it is related to motor control technical field.The method includes the following steps: collecting armature voltage and current signal, and the voltage and current signal are pretreated;Motor position signal is collected, and position information is calculated according to motor position signal;According to position information, position loop is generated, current loop is generated according to current signal, and error calculation is carried out based on the double closed-loop control of current loop and position loop on two independent CPU kernels, wherein, CPU kernel 2 runs control algorithm to carry out error calculation, CPU kernel 1 carries out external communication and carries out the supervision and distribution of task based on dynamic task allocation method;According to the error generated by calculation, modulation signal is generated, and motor is controlled using modulation signal.The application combines control algorithm and external communication by separation, and fully improves the precision and rate of motor control.