Motor control method and device, and storage medium

Abstract

The invention discloses a motor control method and device, and a storage medium, so that the operation rotating speed of a motion motor is smoother and more stable, and the operation efficiency of a robot is improved. The method comprises the following steps of: acquiring a torque mean value of output torque of the motor at at least two different moments; determining preset torque of the motor; calculating deviation torque according to the preset torque and the torque mean value; performing proportional operation, differential operation and integral operation on the deviation torque to obtain compensation torque; and correcting the motor according to the compensation torque.

Description

technical field [0001] The present application relates to the field of motor technology, and in particular to a motor control method, device and storage medium. Background technique [0002] The motor is an electromagnetic device that realizes the conversion or transmission of electric energy according to the law of electromagnetic induction. The main function of the motor is to generate driving torque as a power source for electrical appliances or various machines. Especially in the control of robots, the motor is widely used. Power components used. [0003] However, during the rotation of the motor, due to the vibration of the output shaft of the motor and the structural resonance of the associated reducer, it will cause abnormal vibration of the motor, resulting in protruding vibration or shrinking vibration, which reduces the stability of the motion system. Especially in the case of fast running of the legged robot, because the motor as the motion joint of the legged mo...

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Problems solved by technology

[0003] However, during the rotation of the motor, due to the vibration of the output shaft of the motor and the structural resonance of the associated reducer, it will cause abnormal vibration of the motor, resulting in protruding vibration or shrinking vibration, which reduces the stability of the motion system. Especially in the case of fast running of the legged robot, because the motor as the motion joint of the legged mobile robot needs to continuously rotate rapidly forward, stop and reverse rapidly to ensure its own balance and movement ability, which will cause The abnormal vibration of the motor and the increase of reactive power reduce the working efficiency and normal working time of the robot

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