102 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 servo system control method based on frequency domain self-tuning and linear active disturbance rejection, and relates to the technical field of servo control and motor control. Comprising the following steps: based on a mathematical model of a permanent magnet synchronous motor, establishing a double-inertia model suitable for a large-inertia servo system, and constructing an equivalent mathematical expression of an electrical and mechanical transmission system; in a three-stage cascade control architecture composed of a current loop, a speed loop and a position loop, the current loop is used for current adjustment, the speed loop is used for dynamic response adjustment, and the position loop is used for displacement target tracking. Based on a frequency domain performance index and a rule method, PI controller parameters of a speed loop and a position loop are set respectively, and the frequency domain index comprises an open-loop cut-off frequency and a phase margin; and establishing a frequency domain equivalent mapping relation between the PI controller and the LADRC controller. The method has the advantages that the method does not depend on accurate modeling and manual interference, automatic parameter setting can be achieved, non-overshoot dynamic response is achieved, and the remarkable disturbance suppression capacity is shown.

The invention discloses an aircraft performance constraint compliance control method for contact type nondestructive testing, and belongs to the field of aircraft control. The implementation method comprises the following steps: introducing a saturated contact force controller into a position ring, and dynamically adjusting a confidence factor based on a position error to adaptively adjust normal rigidity and tangential flexibility; a zero-order control barrier function ZOCBF restrains the force controller, a three-dimensional dynamic safety boundary is established by using a sampling data mechanism, and the position, speed and contact force of the unmanned aerial vehicle are optimized and limited through quadratic programming; designing a hybrid torque controller in the attitude ring, and dynamically selecting a balance point through a binary logic switching strategy; the controller performs safety limitation on the attitude and angular velocity of the unmanned aerial vehicle in combination with zero-order control obstacle function constraint; monitoring a quaternion scalar component symbol in real time by defining a manifold switching set and a jump set; by fusing position loop and attitude loop control logic, compliance control during contact-type nondestructive testing of the unmanned aerial vehicle is realized.

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 discloses a three-axis modulation inertial navigation decoupling control method which comprises the following steps: establishing a three-axis modulation inertial navigation dynamic model which comprises inter-axis coupling torque and equivalent rotational inertia disturbance torque; obtaining the rotational inertia of the inner ring, the middle ring and the outer ring of the three-axis modulation inertial navigation along each axis; the rotation angles of the inner ring, the middle ring and the outer ring are obtained in real time, and angular acceleration is obtained through differential; according to the dynamic model, the rotational inertia, the rotation angle and the angular acceleration, inter-axis coupling torque and equivalent rotational inertia disturbance torque are obtained through calculation; compensating the calculated inter-axis coupling torque and equivalent rotational inertia disturbance torque, and changing the dynamic model into a first-order linear model, so that the three-axis modulation inertial navigation system is changed into a decoupling linear system; and finally, carrying out closed-loop control on the three-axis inertial navigation through a position loop-speed loop-current loop three closed-loop control structure. The control complexity can be reduced, and the system stability can be improved.

The invention relates to the technical field of bolt tightening robot control, in particular to a wind turbine generator bolt tightening robot control method and related equipment.The method comprises the steps that torque, position and motor rotating speed data of a bolt tightening robot are obtained in real time, and the data serve as feedback signals to be input into a three-closed-loop control framework to generate a control instruction; the architecture comprises a current loop, a position loop and a speed loop, the current loop and the position loop adopt a PID control algorithm, and adjusting signals are generated according to torque and position data; and the speed ring adopts a BPFN-PID control algorithm to perform fuzzification processing on motor rotating speed data to obtain an initial speed instruction, and then a PID speed control instruction is updated in combination with target rotating speed self-learning to finally obtain an optimal speed control instruction, so that accurate control on the bolt tightening robot is realized.

The invention discloses a model prediction direct position control method based on point-to-point trajectory planning, and belongs to the technical field of motor control. The method comprises the following steps: measuring a three-phase current signal, a rotating speed signal and a position signal of the PMSM; converting the three-phase current signal into a current component under a two-phase static coordinate system through Clark conversion; performing Park transformation to obtain a d-q coordinate system current signal; and performing voltage prediction to generate a d-q axis voltage control signal. Planning a target curve trajectory; and performing online prediction and rolling optimization. According to the invention, bandwidth limitation of a traditional cascade structure is broken through, position loop time delay is reduced, speed oscillation and position overshoot near a target positioning point are suppressed, stability of a control system is improved, multi-target collaborative optimization of position, rotating speed and current is realized, and economical efficiency and engineering practicability are both realized.

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 present invention discloses a method, apparatus, device, and storage medium for detecting the performance of a motor encoder. The method includes: controlling a machine tool to run a preset distance at a plurality of target speeds; obtaining speed and displacement data generated by the machine tool running at each target speed; and determining, based on the speed and displacement data, whether the motor encoder has a performance problem of uneven output pulses. This solution detects encoder performance, which is often overlooked, and can help avoid ineffective adjustments to speed and position loop parameters during current machine tool debugging. This can improve the efficiency and accuracy of machine tool debugging, and eliminates the need for high-voltage power, reducing debugging risks.

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.

This invention discloses a fixed-time control method for a rotary-wing unmanned aerial vehicle (UAV) in unknown environments. The steps are as follows: 1. Constructing a nonlinear system model of the UAV's position loop and attitude loop, simultaneously considering system uncertainty, output constraints, and unknown external disturbances; 2. Designing a safe desired tracking signal, obtaining the remaining desired signals through inverse kinematics, calculating the errors of the position loop and attitude loop, and designing a barrier Lyapunov function based on the characteristics of the nonlinear system model of the UAV's position and attitude loops, and selecting appropriate upper and lower bounds; 3. Designing a tracking controller based on the barrier Lyapunov function, combined with a fuzzy logic system, a fixed-time disturbance observer, a filter, and an adaptive backstepping method. This invention has the advantage of enabling a rotary-wing UAV to track a preset desired tracking signal within a fixed time while ensuring system safety and stability, under the influence of output constraints, system uncertainty, and unknown external disturbances.

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.

The invention relates to a motor control method and device, control equipment and a storage medium, and the method comprises the steps: obtaining the motion state of each output shaft in a first group of output shafts of a multi-shaft motor; for each output shaft, determining a target loop execution period of a plurality of control loops of the output shaft according to the motion state of the output shaft; adjusting an original loop execution period of the output shaft according to the target loop execution period; and controlling the execution of the plurality of control loops according to the target loop execution period. Through a loop execution period dynamic optimization strategy, the execution periods of the speed ring and the position ring are adaptively adjusted according to the motion state of each axis, and the calculation load is reduced on the premise of ensuring the control performance.

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.

A method for eliminating redundant force disputes in an over-determined system relates to the field of automatic control technology. It solves the problems of poor control system accuracy, high noise, and low static output caused by redundant force disputes in existing over-determined systems. The method includes: constructing an over-determined system, wherein the over-determined system includes: a conventional rigid body position loop and a redundant force control loop; obtaining a rigid body posture decomposition factor according to the over-determined system; calculating a rigid body posture synthesis factor according to the rigid body posture decomposition factor; calculating a deformation posture decomposition factor according to the rigid body posture synthesis factor; generating a position correction control signal according to the redundant force controller and the deformation posture decomposition factor; generating a position loop control signal according to the posture controller and the rigid body posture decomposition factor; superimposing the position correction control signal and the position loop control signal as the input signal to excite the system, thereby completing the elimination of redundant force disputes. It is applied to the control of over-determined systems in ground test equipment in the fields of transportation, aerospace, civil engineering, etc.

The invention provides a gyroscope null drift online calibration method and device based on a servo system position loop steady state and a readable storage medium thereof. The method is applied to a servo system comprising a position closed loop and a speed closed loop, and the position closed loop is set to be in a pure proportion (P) control mode; controlling the servo system to move to the same position reference point from a first motion direction and an opposite second motion direction respectively, and reaching a first static steady state and a second static steady state respectively in a P control mode; acquiring and recording a first steady-state position deviation and a second steady-state position deviation under the two steady states; and finally, averaging the first steady-state position deviation and the second steady-state position deviation, and determining the zero drift value of the gyroscope according to the average deviation value and the proportional gain of the position ring. According to the method disclosed by the invention, the interference of the static friction force of the servo system on the calibration result is eliminated in the mathematical principle by utilizing a bidirectional approximation averaging mode, online, high-precision and anti-interference gyroscope null drift calibration can be realized without external equipment, and a closed-loop verification mechanism is provided.

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.

An electromechanical coupling parameter identification and motor control parameter frequency domain setting method comprises the following steps: establishing a permanent magnet synchronous motor electrical parameter identification mathematical model, setting a robot excitation experiment, collecting joint permanent magnet synchronous motor data in the experiment process, and identifying joint permanent magnet synchronous motor electrical parameters from the joint permanent magnet synchronous motor data; and a control system model comprising a permanent magnet synchronous motor current loop, a speed loop and a position loop is established, optimized three-loop control PI parameters are obtained according to joint permanent magnet synchronous motor electrical parameters, a robot controller is arranged, and the position tracking precision of each joint motor is improved. According to the method, single off-line setting of the motor by adopting nominal electromechanical coupling parameters can be avoided, accurate setting of three-loop control parameters of the motor is realized, the position tracking error of the permanent magnet synchronous motor of each joint of the industrial robot is reduced, and the positioning precision of an end effector of the industrial robot is improved.

The embodiment of the invention relates to the technical field of minimally invasive surgery robots, and discloses a cascade control system and method and a minimally invasive surgery robot. The system comprises a controller and a driver, wherein the controller comprises a speed planning module and a control module; the control module comprises a position ring and a speed ring; the driver comprises a current loop; the speed planning module is used for determining a planning position and a planning speed; the position ring is used for outputting a reference speed to the speed ring according to the planned position; the speed ring is used for determining a reference current according to the reference speed and the planned speed and transmitting the reference current to the driver; and the current loop is used for outputting current to a controlled motor according to the reference current. And at least some technical problems existing in single-layer impedance control and single-stage PI control in related technologies can be solved.

The application relates to a semi-implicit high-order sliding mode control method, medium and system for a high dynamic servo system. The method comprises the following steps: adopting a sweep signal and a step signal to perform system identification on a linear motor, so as to construct a linear motor system model; replacing a position loop and a speed loop in an original three-loop PID in the system with a PSTA, and adopting a semi-implicit Euler discretization method for discretization; and compensating for a system disturbance term through a sliding mode observer method. The application can improve the control performance and stability of the system.

The application discloses a water cannon control method and device, a storage medium, an electronic device and a water cannon. The method comprises the following steps: acquiring a fire source position, environment parameters and system parameters of the water cannon; calculating a water jet path of the water cannon according to the fire source position, the environment parameters and the system parameters, and correcting a pitch angle and an azimuth angle of the water cannon according to the water jet path to obtain a target pitch angle and a target azimuth angle; and controlling the water cannon according to the target pitch angle and the target azimuth angle, so that a water jet landing point of the water cannon covers the fire source position. According to the method, the water jet path of the water cannon is calculated according to the fire source position, the environment parameters and the system parameters of the water cannon, and the pitch angle and the azimuth angle of the water cannon are corrected according to the water jet path, so that the water cannon can automatically correct the pitch angle and the azimuth angle after receiving fire information, and accurately jet according to the corrected pitch angle and the azimuth angle, and the water jet landing point of the water cannon can accurately cover the fire source point.

The application provides a hybrid control method for an electromechanical actuating system under the influence of nonlinear factors, and belongs to the field of control algorithms for electromechanical actuating systems. For a speed loop, a hybrid control algorithm of a Super-Twisting sliding mode controller and a generalized proportional integral observer is designed; for a position loop, a hybrid control algorithm combining RBF neural networks and sliding mode control is designed, Lyapunov functions are designed for the speed loop and the position loop respectively, and the stability and convergence of the speed and the position are tested; a joint simulation model is built to verify the inhibition ability of the hybrid control algorithm to the nonlinear factors of the electromechanical actuating system. The hybrid control algorithm disclosed by the application can effectively inhibit the nonlinear factor interference in the movement of the actuator system, and can make the system run smoothly, and at the same time, the system has better dynamic performance.