CN113853740A

CN113853740A - Motor, motor control method, computer-readable storage medium, and mechanical apparatus

Info

Publication number: CN113853740A
Application number: CN202080035628.9A
Authority: CN
Inventors: 王文杰; 林荣华; 苏铁
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2020-09-28
Filing date: 2020-09-28
Publication date: 2021-12-28
Also published as: WO2022061915A1

Abstract

A motor, a control method thereof, a computer-readable storage medium, and a mechanical apparatus. The motor is used for driving the rotation between the first connecting piece and the second connecting piece which are connected with each other, and the control method of the motor comprises the following steps: receiving a control torque of the motor and acquiring the current torque of the motor; and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque. The problems that the first connecting piece and the second connecting piece are violently shaken and suddenly fall to one side from the balance position in the adjusting process are solved, the use experience of a user is improved, and the safety of the user is guaranteed.

Description

Motor, motor control method, computer-readable storage medium, and mechanical apparatus

Copyright declaration

The disclosure of this patent document contains material which is subject to copyright protection. The copyright is owned by the copyright owner. The copyright owner has no objection to the facsimile reproduction by anyone of the patent document or the patent disclosure, as it appears in the patent and trademark office official records and records.

Technical Field

The present disclosure relates to the field of motor control technologies, and in particular, to a motor, a control method thereof, a computer-readable storage medium, and a mechanical apparatus.

Background

The motor may be used to drive rotation between the interconnected links, for example, to drive rotation between robotic arms, rotation between the arms of a pan/tilt head, etc. The output torque of most motors can be adjusted, however, the connecting piece can suddenly shake sharply and fall to one side from the balance position in the adjusting process, and the like, so that the use experience of a user is influenced, and even the safety of the user is endangered.

Disclosure of Invention

In view of the above, a control method of a motor, a computer readable storage medium, a motor, and a mechanical apparatus are proposed that overcome or at least partially solve the above problems.

According to a first aspect of the present application, there is provided a method of controlling a motor for driving rotation between a first link and a second link connected to each other, comprising: receiving a control torque of the motor, and acquiring a current torque of the motor; and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

According to a second aspect of the present application, there is provided a computer-readable storage medium storing instructions for implementing the control method described above.

According to a third aspect of the present application, there is provided a motor for driving rotation between first and second interconnected links, the motor comprising a motor processor configured to: receiving a control torque of the motor, and acquiring a current torque of the motor; and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

According to a fourth aspect of the present application, there is provided a mechanical device, comprising a first connecting member, a second connecting member connected to the first connecting member, a motor for driving rotation between the first connecting member and the second connecting member, and a device processor configured to: receiving a control torque of the motor, and acquiring a current torque of the motor; and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

When the output torque of the motor is adjusted, the first connecting piece and the second connecting piece are easy to generate sudden and violent shaking or suddenly fall to one side from a balance position, and the like. Specifically, when the control torque of the motor is larger than the current torque of the motor, the output torque of the motor is too large, the first connecting piece and the second connecting piece are unstable, the first connecting piece and the second connecting piece shake violently or even rotate excessively, and when the motor is applied to a movable platform, the load or the supporting mechanism is even damaged by collision. When the control torque to the motor is less than the current torque of the motor, the motor can suddenly unload force, the first connecting piece and the second connecting piece can suddenly fall to one side from the balance position, and when the motor is applied to the movable platform, the load is easily damaged. When the control torque is different from the current torque, the output torque of the motor is gradually adjusted according to the control torque and the current torque. Therefore, when the control torque of the motor is larger than the current torque of the motor, the output torque is gradually adjusted, namely, the output torque is gradually increased, and at the moment, the first connecting piece and the second connecting piece cannot suddenly shake, so that the output torque can be adjusted before the first connecting piece and the second connecting piece suddenly shake, and the problem that the first connecting piece and the second connecting piece suddenly shake and even rotate too fast is solved. When the control torque to the motor is smaller than the current torque of the motor, the output torque is gradually adjusted, namely, the output torque is gradually reduced, at the moment, the motor cannot suddenly unload force, and the first connecting piece and the second connecting piece cannot suddenly fall to one side from the balance position. From this, strengthened the stability and the security of motor to user experience has been promoted.

Additional aspects and advantages of the present application will be set forth in part in the description which follows, or may be learned by practice of the present application. What is provided in this application is merely one embodiment and not the application itself, and the effects of this application are merely effects of the embodiment and not all of the technical effects of this application.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of an application of a motor applied to a robot arm device according to an embodiment of the present application;

FIG. 2 is a control schematic of a motor applied to a movable platform according to one embodiment of the present application;

FIG. 3 is a schematic illustration of an application of a motor applied to a first movable platform according to an embodiment of the present application;

FIG. 4 is a schematic view of an application of a motor applied to a second movable platform according to an embodiment of the present application;

FIG. 5 is a schematic view of a motor applied to a third movable platform according to one embodiment of the present application;

FIG. 6 is a schematic illustration of an application of a motor applied to a fourth movable platform according to an embodiment of the present application;

FIG. 7 is a schematic illustration of a method of controlling a motor according to one embodiment of the present application;

FIG. 8 is a schematic illustration of a linear increase in output torque of a motor according to one embodiment of the present application;

FIG. 9 is a schematic illustration of a linear reduction in output torque of a motor according to one embodiment of the present application;

FIG. 10 is a schematic illustration of a non-linear increase in output torque of a motor according to one embodiment of the present application;

FIG. 11 is a schematic illustration of a non-linear reduction in output torque of a motor according to one embodiment of the present application.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include, but are not limited to, one or more of the described features.

The following disclosure provides many different embodiments or examples for implementing the application. To simplify the disclosure of the present application, specific example components and methods are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed.

The embodiment of the application firstly provides a control method of a motor, and the motor is used for driving a first connecting piece and a second connecting piece which are connected with each other to rotate.

It will be appreciated that the motor may comprise a rotor portion and a stator portion, the stator and rotor portions being rotatable relative to each other, one of the stator and rotor portions being connected to the first connection member and the other of the stator and rotor portions being connected to the second connection member, such that the first connection member is connected to the second connection member and rotation between the first and second connection members is driven. That is, in some embodiments, it may be the stator portion that is coupled to the first coupling member and the rotor portion that is coupled to the second coupling member, and in other embodiments, it may be the rotor portion that is coupled to the first coupling member and the stator portion that is coupled to the second coupling member.

In some embodiments, the motor may be applied to a robot arm device, and fig. 1 is an application schematic diagram of the motor applied to the robot arm device according to an embodiment of the present application. Referring to fig. 1, the robot apparatus includes a base 100, a first connecting arm 200, a motor 300, a second connecting arm 400, and a clamping mechanism 500. Wherein the base 100 is used for supporting the robot arm device; the first connecting arm 200 is connected with the base 100 and connected with the second connecting arm 400 through the motor 300; the second connecting arm 400 is connected with the clamping mechanism 500 and is connected with the first connecting hip 200 through a motor 300; the gripper mechanism 5000 is connected to the second connecting arm 400 and the gripper mechanism 500 may be used to grip an object. The mechanical arm device can be applied to various fields such as processing, transportation, production and the like. Taking a robot arm device in the transportation field as an example, the robot arm device may clamp an article by the clamping mechanism 500, and may move the article by driving the motor 300. It will be appreciated that the base 100 may be a movable base, e.g., moved by wheels, tracks, etc. It is to be understood that only one motor 300 is shown in fig. 1, but the robot arm device may have a plurality of motors 300, for example, the first connecting arm 200 may be connected to the base 100 through the motor 300, and the second connecting arm 400 may be connected to the clamping mechanism 500 through the motor 300. Also, the first link may be any one of the base 100, the first link arm 200, the second link arm 400, and the chucking mechanism 500, and the second link may be any one of the base 100, the first link arm 200, the second link arm 400, and the chucking mechanism 500 different from the first link, that is, the control method of the motor provided in the embodiment of the present application may be applied to one or more of the motor 300 between the first link arm 200 and the base 100, the motor 300 between the first link arm 200 and the second link arm 400, and the motor 300 between the second link arm 400 and the chucking mechanism 500.

In other embodiments, the motor may be applied to a movable platform including a pan/tilt head, for example, the movable platform may be a handheld pan/tilt head, an unmanned vehicle, a robot, an unmanned aerial vehicle, and the like.

The movable platform comprises a holder for carrying a load and a supporting mechanism for supporting the holder, and the holder can comprise a holder part and a motor.

Fig. 2 is a control schematic diagram of a motor applied to a movable platform according to an embodiment of the present application, as shown in fig. 2, when the movable platform adjusts the posture of the load, the current posture of the load is detected by an inertial measurement unit, and the current posture of the load is compared with a target posture to obtain a control deviation, and a control system controls the motor according to the control deviation to adjust the movable platform and the load, so as to finally reduce the control deviation, ensure that the deviation between the actual posture and the target posture of the load is as small as possible, and when the load is an imaging device, enable stable imaging of the imaging device.

Wherein the pan/tilt head may comprise one or more pan/tilt head components, such as one pan/tilt head component, two pan/tilt head components, three pan/tilt head components or more pan/tilt head components. Each pan and tilt head member may be a connecting arm.

Taking a three-axis pan-tilt as an example, the pan-tilt comprises a first pan-tilt component, a second pan-tilt component and a third pan-tilt component. Wherein first cloud platform part is connected with supporting mechanism to first cloud platform part can rotate relative supporting mechanism to make the yaw angle of load change, when first cloud platform part rotates relative supporting mechanism promptly, can make the load rotate around driftage axle Y. The second holder part is connected with the first holder part, and the second holder part can rotate relative to the supporting mechanism, so that the roll angle of the load changes, namely, when the second holder part rotates relative to the supporting mechanism, the load can rotate around the roll axis R. The third pan/tilt head part is connected to the second pan/tilt head part and can rotate relative to the support mechanism, so that the pitch angle of the load changes, i.e. when the third pan/tilt head part rotates relative to the support mechanism, the load can rotate around the pitch axis P.

It can be understood that the first pan/tilt unit and the support mechanism, the first pan/tilt unit and the second pan/tilt unit, and the second pan/tilt unit and the third pan/tilt unit can be connected by a motor. The first connecting member may be a first pan and tilt head unit and the second connecting member may be a support mechanism; or the first connecting piece can be a first pan-tilt-unit, and the second connecting piece can be a second pan-tilt-unit; or the first connecting member may be a second pan/tilt member, the second connecting member may be a third pan/tilt member, etc.

It will be appreciated that in other embodiments the head need not be a three axis head, but may be a single axis head, a two axis head or other number of axes, so that the load can rotate about one, two or more axes. And the axes for rotation may or may not be orthogonal to each other. In some embodiments, the pan/tilt head may control the attitude of the load, including controlling the pitch angle, roll angle, and yaw angle of the load. Accordingly, the load may rotate about the pitch axis P, the roll axis R, and the yaw axis Y, and it should be understood that the connection relationship among the first, second, and third pan/tilt members is merely illustrative and not limiting to the present disclosure, and for example, the first pan/tilt member in which the load rotates about the yaw axis may be connected to the support mechanism, the third pan/tilt member in which the load rotates about the pitch axis may be connected to the first pan/tilt member, and the second pan/tilt member in which the load rotates about the roll axis may be connected to the third pan/tilt member.

Fig. 3 is a schematic diagram of an application of a motor applied to a first movable platform according to an embodiment of the present application, and as shown in fig. 3, a supporting mechanism 600 is taken as an example of a handle. It should be understood that the shape of the handle for supporting the holder 700 and being held by the user is not limited to the cylindrical shape shown in fig. 3, that is, the handle may be not only cylindrical, prismatic, etc., but also truncated cone, pyramid, sphere, etc., or even a combination of the above shapes or a special shape, and the specific shape of the handle is not limited in this embodiment. The movable platform can be directly operated by a user in a handheld mode, is wide in application scene, convenient for the user to operate and cost-saving.

And as will be understood by those skilled in the art, the handle may be provided with an operating device, which may be an operating button, an operating rod, or an operating interface, so as to control the movable platform or the load, such as controlling the motor 300 to turn on or off, and when the load is an imaging device, the operating device may be used to control the imaging device to turn on or off, and shoot, etc.

Fig. 4 is a schematic diagram of an application of a motor applied to a second movable platform according to an embodiment of the present application, as shown in fig. 4, taking an example in which the supporting mechanism 600 is an unmanned vehicle chassis. It is understood that the moving manner of the chassis of the unmanned vehicle for supporting the pan/tilt head 700 and moving is not limited to the manner shown in fig. 4, that is, the unmanned vehicle can directly move by using the wheels, and can also move by using other mechanisms such as the caterpillar, and when the unmanned vehicle directly moves by using the wheels, the number of the wheels of the unmanned vehicle can be one or more, which is not limited in this embodiment.

Fig. 5 is a schematic diagram of an application of a motor applied to a third movable platform according to an embodiment of the present application, as shown in fig. 5, taking a support mechanism 600 as an example of a main body of a robot. It should be understood that the connection position of the pan/tilt head 700 and the body of the robot is not limited to the position shown in fig. 5, that is, the pan/tilt head 700 may be connected to not only the head of the body of the robot but also other parts of the body of the robot, such as the robot arm and the back of the robot, and the present embodiment is not limited thereto.

Fig. 6 is a schematic diagram of an application of a motor applied to a fourth movable platform according to an embodiment of the present application, as shown in fig. 6, taking a supporting mechanism 600 as a main body of an unmanned aerial vehicle as an example. It is understood that drones are also commonly referred to as UAVs (Unmanned Aerial vehicles), and that drones may include fixed wing drones, rotary wing drones, parachute drones, and the like. It can be understood that the connection position of the cradle head 700 and the fuselage of the drone is not limited to the position shown in fig. 6, that is, the cradle head 700 can be connected not only with the bottom of the drone, but also with the top, side, etc. positions of the drone, which is not limited by this embodiment.

In some embodiments, the load may be an imaging device, for example, a camera, a video camera, and the like, and in particular, may be a single lens reflex camera, a micro single camera, and the like. In other embodiments, the load may be a smart terminal, such as a mobile phone with a camera function, a tablet, or the like. In other embodiments, the load may also be other devices that need to be moved, manipulated or posed, such as a ranging device, a microphone, and the like.

It is understood that the corresponding relationship between the pan/tilt head components and the supporting mechanism 600 in fig. 3, 4, 5 and 6 is only an exemplary illustration and is not a limitation to the present embodiment. For example, when the supporting mechanism 600 is an unmanned aerial vehicle body, the number of the pan/tilt/. When the support mechanism 600 is a handle, a body of a robot, or a chassis of an unmanned vehicle, there may be one, two, or more than three pan/tilt units, and the load may be rotated around one or two of a pitch axis, a roll axis, and a yaw axis, or may be rotated around three or more axes. That is, regardless of the type of support mechanism 600, the head 700 may be a single axis head, a dual axis head, a triple axis head, or other number of axes.

Fig. 7 is a schematic diagram of a control method of a motor according to an embodiment of the present application, and as shown in fig. 7, the control method of the motor of the present embodiment includes:

s702, receiving the control torque of the motor and acquiring the current torque of the motor.

And S704, when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

The inventors of the present application have found that, when adjusting the output torque of the motor, the first link and the second link are liable to suddenly shake sharply or suddenly fall aside from the equilibrium position. Specifically, when the control torque of the motor is larger than the current torque of the motor, the output torque of the motor is too large, the first connecting piece and the second connecting piece are unstable, the first connecting piece and the second connecting piece suddenly shake or even rotate too fast, and when the motor is applied to a movable platform, the load or the supporting mechanism is even damaged by collision. When the control torque to the motor is less than the current torque of the motor, the motor can suddenly unload force, the first connecting piece and the second connecting piece can suddenly fall to one side from the balance position, and when the motor is applied to the movable platform, the load is easily damaged. And the technical scheme of this embodiment gradually adjusts the output torque of the motor according to the control torque and the current torque when the control torque is different from the current torque. Therefore, when the control torque of the motor is larger than the current torque of the motor, the output torque is gradually adjusted, namely, the output torque is gradually increased, and at the moment, the first connecting piece and the second connecting piece cannot suddenly shake, so that the output torque can be adjusted before the first connecting piece and the second connecting piece suddenly shake, and the problem that the first connecting piece and the second connecting piece suddenly shake and even rotate too fast is solved. When the control torque to the motor is less than the current torque of motor, because output torque is gradually adjusted, that is to say, output torque reduces gradually, and at this moment, the motor can not unload the power suddenly, and first connecting piece and second connecting piece also can not fall to one side from the equilibrium position suddenly yet, have strengthened the stability and the security of motor.

It is understood that when the control torque is equal to the current torque, the output torque of the motor may not be adjusted.

Wherein the control torque of the motor can be adjusted by the external module. For example, when the motor is applied to a movable platform, a parameter adjusting button may be provided on the movable platform, and a user may adjust the control torque through the parameter adjusting button. It can be understood that the user can also adjust the load posture through the parameter adjusting button. In other embodiments, the parameter tuning button may be separate from the movable platform, such as a remote control, a smart terminal, etc. located on the movable platform. It is understood that the external module may be a joystick, a touch screen, etc. in addition to the parameter adjustment button.

Gradually adjusting the output torque of the motor according to the control torque and the current torque may include: determining the duration of the output torque of the adjusting motor according to the control torque and the current torque; and adjusting the output torque of the motor from the current torque to the direction of the control torque to meet the preset condition according to the duration. Namely, when the control torque is different from the current torque, the output torque of the motor is gradually adjusted according to the control torque and the current torque in a time mapping mode until the output torque of the motor is adjusted from the current torque to the direction of the control torque to meet the preset condition.

Specifically, when receiving the control torque for the motor, the control torque received by the motor is gradually mapped onto the current torque in a time mapping manner, so that the output torque reaches the control torque, and the duration time calculated according to the control torque and the current torque may specifically be as follows:

in the formula, duration is duration, ρ is a conversion factor from the ratio of the target torque and the initial torque to the duration of the mapping, target _ T is the control torque, and initial _ T is the current torque. Where ρ may be determined from actual or experimental conditions.

When the motor acquires the control torque, timing is started, the timing time is counter, and then the output torque current _ T of the motor is calculated according to the following formula:

in the formula, duration is duration, target _ T is control torque, initial _ T is current torque, counter is timing time, and counter _ T is output torque.

The duration may be such that the output torque is adjusted to the control torque when the adjusted time reaches the duration. That is, when the adjusted time reaches the duration, the output torque of the motor is the torque desired by the user, so that the use experience of the user can be improved.

In some embodiments, the output torque of the motor may vary linearly as the current torque is adjusted in the direction of the control torque. For example, when the control torque is larger than the current torque, the output torque of the motor may increase linearly when the current torque is adjusted in the direction of the control torque; when the control torque is smaller than the current torque, the output torque of the motor can be linearly reduced when the output torque is adjusted from the current torque to the direction of the control torque.

Fig. 8 is a schematic diagram of a linear increase in output torque of a motor according to an embodiment of the present application, as shown in fig. 8, wherein the abscissa represents time and the ordinate represents output torque. T0 is the time at which the control torque is received, T1 is the time at which all the control torques are mapped onto the current torque (i.e., the time between T0 and T1 indicates the above-described duration), T1 is the current torque of the motor, and T2 is the control torque. In some embodiments, T1 may be equal to 0, and in other embodiments, T1 may be greater than 0. Because the output torque of the motor is increased linearly, the change of the output torque is uniform, and the user experience is better.

Fig. 9 is a schematic diagram of a linear reduction in output torque of a motor according to an embodiment of the present application, as shown in fig. 9, where the abscissa represents time and the ordinate represents output torque. T0 is the time at which the control torque is received, T1 is the time at which all the control torques are mapped onto the current torque (i.e., the time between T0 and T1 indicates the above-described duration), T1 is the current torque of the motor, and T2 is the control torque. In some embodiments, T2 may be equal to 0, and in other embodiments, T2 may be greater than 0. Because the output torque of the motor is linearly reduced, the change of the output torque is uniform, and the user experience is better.

In other embodiments, the output torque of the motor may change nonlinearly when adjusted from the current torque to the control torque, and when the output torque changes nonlinearly, the method may save cost because it is not necessary to ensure uniform change of the output torque, and it is not necessary to have a particularly high torque control accuracy.

The change speed of the output torque of the motor when the output torque is adjusted from the current torque to the direction of the control torque can be gradually reduced. It is understood that the gradual decrease in the change speed of the output torque is one of the non-linear changes.

Fig. 10 is a schematic diagram of a non-linear increase in output torque of a motor according to an embodiment of the present application, as shown in fig. 10, wherein the abscissa represents time and the ordinate represents output torque. T0 is the time at which the control torque is received, T1 is the time at which all the control torques are mapped onto the current torque (i.e., the time between T0 and T1 indicates the above-described duration), T1 is the current torque of the motor, and T2 is the control torque. In some embodiments, T1 may be equal to 0, and in other embodiments, T1 may be greater than 0. Because the output torque of motor reduces by the change speed when current moment increases to control torque's direction gradually to make output torque can be close control torque relatively fast, with promotion user experience, and, produce the condition of sudden trembling more easily in the later stage of duration, this kind of mode can further avoid shaking suddenly between first connecting piece and second connecting piece.

Fig. 11 is a schematic diagram of a non-linear reduction in output torque of a motor according to an embodiment of the present application, as shown in fig. 11, where the abscissa represents time and the ordinate represents output torque. T0 is the time when the control torque is received, T1 is the time when all the control torques are mapped to the current torque (i.e., the time between T0 and tl represents the above-described duration), T1 is the current torque of the motor, and T2 is the control torque. In some embodiments, T2 may be equal to 0, and in other embodiments, T2 may be greater than 0. Because the output torque of motor is by the change speed when current moment increases to the direction of control torque reduces gradually to make output torque can be close control torque relatively fast, with promotion user experience, and, the later stage of duration takes place first connecting piece and second connecting piece suddenly from the balanced position condition of falling to one side more easily, and this kind of mode can further avoid first connecting piece and second connecting piece suddenly from the balanced position fall to one side.

In some embodiments, the output torque of the motor is gradually adjusted according to the control torque and the current torque when the external interference force for promoting the first connecting piece and the second connecting piece to rotate is detected between the first connecting piece and the second connecting piece. At this moment, the dynamics value of motor has been adjusted in other words, the sensitivity that external disturbance was resisted to first connecting piece and second connecting piece has been adjusted promptly, when the motor was applied to portable platform, has promoted portable platform's the performance of increasing steady to user experience has been promoted.

It can be understood that the larger the force value of the motor, the larger the output torque of the motor when resisting the external disturbance. Thus, in some embodiments, the output torque may be adjusted only when the motor resists external disturbances, i.e. the force value of the motor is adjusted directly. That is, the duration of the map may be calculated by replacing the control torque and the current initial torque in the above method with the target force value and the current initial force value acquired by the motor, that is, the duration may be calculated according to the following formula:

in the formula, duration is duration, ρ is a conversion coefficient from the ratio of the target torque and the initial torque to the duration of the mapping, target _ strength is a target force value, and initial _ strength is an initial force value. Where ρ may be determined from actual or experimental conditions.

Accordingly, the output force value current _ strength of the motor is calculated according to the following formula:

in the formula, duration is duration, target _ strength is a target force value, initial _ strength is an initial force value, counter is a timing time, and counter _ strength is an output force value.

It can be understood that, when it is detected that there is no external interference force for facilitating the rotation of the first connecting member and the second connecting member between the first connecting member and the second connecting member, the output torque of the motor may not be gradually adjusted according to the control torque and the current torque.

When the control torque is larger than the current torque, the preset condition can be that shaking is generated between the first connecting piece and the second connecting piece, so that violent shaking generated between the first connecting piece and the second connecting piece can be avoided, and user experience is improved.

In some embodiments, the condition of the jitter between the first connecting element and the second connecting element may be determined by measuring vibration amplitudes of the first connecting element and the second connecting element, and when the vibration amplitudes are greater than or equal to a preset amplitude, the jitter between the first connecting element and the second connecting element may be considered to be generated. The preset amplitude may be determined according to an actual condition or an experimental condition, for example, according to a mass of the first connecting member or the second connecting member, that is, when the mass of the first connecting member or the second connecting member is different, a size of the preset amplitude may also be different.

In other embodiments, the change rule of the output torque of the motor is detected by a jump detection method and a spectrum peak detection method, so as to judge whether the first connecting piece and the second connecting piece of the motor shake or not.

When the control torque is larger than the current torque, the output torque of the motor is adjusted from the current torque to the direction of the control torque according to the duration until the preset condition is met, and the method also comprises the steps of maintaining the output torque unchanged, adjusting the output torque to the current torque, gradually reducing the output torque or adjusting the output torque to be the middle torque.

In some embodiments, when the shaking between the first connecting piece and the second connecting piece of the motor is detected, the output torque is kept unchanged. In this way, the output torque is close to the control torque expected by the user, and the situation that the first connecting piece and the second connecting piece shake is avoided at the same time.

In some embodiments, when the shake between the first connecting piece and the second connecting piece of the motor is detected, the output torque is adjusted to the current torque. Through this kind of mode, can make between first connecting piece and the second connecting piece relatively stable to user experience has been promoted.

In some embodiments, when a wobble between the first connection member and the second connection member of the motor is detected, the output torque is gradually decreased until a signal to stop decreasing the output torque is received or the output torque is decreased to zero. It can be understood that the signal for stopping the output torque may be output by the user, and it can be understood that, in the adjusting process, if the signal is received, the output torque may be adjusted to be the torque desired by another user between the control torque and the current torque, so as to improve the user experience, and if the signal is not received, the situation that the motor suddenly releases the force may not occur.

In some embodiments, when the shake between the first connecting piece and the second connecting piece of the motor is detected, the intermediate torque is determined, and the output torque is adjusted to be the intermediate torque. Specifically, the intermediate torque is a torque value between the current torque and the control torque. Through the mode, the output torque is close to the control torque expected by a user, the situation that the first connecting piece and the second connecting piece shake is avoided, a user does not need to input signals, automatic adjustment can be achieved, user operation is simplified, and user experience is improved.

The intermediate torque can be determined according to the condition of generating the shake between the first connecting piece and the second connecting piece, and the condition of generating the shake between the first connecting piece and the second connecting piece can reflect the degree that the control torque exceeds the reasonable torque without generating the shake between the first connecting piece and the second connecting piece, so that the output torque can be ensured to be stable between the first connecting piece and the second connecting piece by the mode.

Specifically, the larger the dithering parameter of the dithering, the smaller the difference between the intermediate torque and the current torque may be. In some embodiments, the jitter parameter may include an angular velocity or an angular amplitude of the jitter, and in other embodiments, the jitter parameter may select other parameters that reflect the jitter condition. It will be appreciated that the larger the jitter parameter, i.e. the more severe the jitter. When the shaking is more severe, the larger the degree that the control moment exceeds the reasonable moment which does not shake between the first connecting piece and the second connecting piece is, so that in order to ensure that the shaking does not shake between the first connecting piece and the second connecting piece, the difference between the middle moment setting place and the current moment is required to be smaller, and the user experience is improved.

Through the method for adjusting the output torque in the embodiment, the effect of reducing or eliminating the shaking of the motor connecting piece can be achieved, the stability and the safety of the holder are enhanced, and the user experience is improved.

In some embodiments, after detecting the shake between the first connecting piece and the second connecting piece of the motor, the method for controlling the motor may further include sending a prompt message for prompting that the control torque is unreasonable, so that the user may reset the control torque value, and the user may grasp the reason why the output torque cannot be continuously increased, so as to improve the user experience.

Wherein the prompt message may include at least one of a visual prompt message, an audible prompt message, and a tactile prompt message. That is, in some embodiments, the cue information may include only visual cue information, only audible cue information, or only tactile cue information. In other embodiments, the cue information may include any two of visual cue information, audible cue information, and tactile cue information. In other embodiments, the cue information may include both visual cue information, audible cue information, and tactile cue information.

In some embodiments, the visual cue information may be displayed by a display device. The visual cue information may include images, text, and both images and text. When the motor is applied to the movable platform, the movable platform may comprise a display device, and images and/or text may be displayed by the display device. In this embodiment, the position of the display device is not limited, for example, the display device may be located on the support mechanism, may also be located on the pan/tilt head component, or may be separately disposed from the support mechanism and the pan/tilt head component.

The audible prompting message may include a sound produced by the vibration of the motor. The frequency of the motor vibration may be selected according to actual conditions, which is not limited in this embodiment.

The tactile indication information may include vibration, for example, when the motor is applied to the movable platform, vibration of the supporting mechanism, vibration of the pan/tilt/head component, and the like, wherein the frequency of the vibration may be selected according to practical situations, and the embodiment is not limited thereto.

When the control torque is smaller than the current torque, the preset condition is that the adjustment time is equal to or longer than the duration time. Specifically, the counting period may be determined according to actual needs, and in a general case, when the adjusted time is equal to the duration, the output torque of the motor is adjusted to the received control torque, but in consideration of a timing error caused by timing accuracy, in some embodiments, when the output torque of the motor is adjusted to the received control torque, the adjusted time may be longer than the duration. In this way, it is ensured that the output torque can reach the torque value desired by the user.

The present embodiments also provide a computer-readable storage medium having stored thereon executable instructions that, when executed by one or more processors, may cause the one or more processors to perform any of the control methods described above.

The embodiment also provides a computer-readable storage medium, and the computer-readable storage medium stores instructions for implementing any one of the control methods. It will be appreciated that the instructions, when executed by the one or more processors, may cause the one or more processors to perform any of the control methods described above.

Wherein the computer-readable storage medium may also be referred to as memory and the instructions may also be referred to as programs. The processor may perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) or a program loaded into a Random Access Memory (RAM). The processor may comprise, for example, a general purpose microprocessor (e.g., a CPU), an instruction set processor and/or associated chipset, and/or a special purpose microprocessor (e.g., an Application Specific Integrated Circuit (ASIC)), among others. The processor may also include on-board memory for caching purposes. The processor may comprise a single processing unit or a plurality of processing units for performing the different actions of the method flow according to the present embodiment.

The processor, the ROM, and the RAM are connected to each other through a bus. The processor performs various operations of the method flow according to the present embodiment by executing programs in the ROM and/or RAM. Note that the program may also be stored in one or more memories other than the ROM and RAM. The processor may also perform various operations of the method flows according to the present embodiments by executing programs stored in the one or more memories.

According to the present embodiment, the apparatus to which the computer-readable storage medium is applied may further include an input/output (I/O) interface, which is also connected to the bus. The apparatus employing the computer-readable storage medium may further include one or more of the following components connected to the I/O interface: an input section including a keyboard, a mouse, and the like; an output section including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage section including a hard disk and the like; and a communication section including a network interface card such as a LAN card, a modem, or the like. The communication section performs communication processing via a network such as the internet. The drive is also connected to the I/O interface as needed. A removable medium such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive as necessary, so that a computer program read out therefrom is mounted into the storage section as necessary.

The method flow according to the present embodiment may be implemented as a computer software program. For example, the present embodiments include a computer program product comprising a computer program embodied on a computer readable storage medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network via the communication section, and/or installed from a removable medium. The computer program, when executed by a processor, performs the above-described functions defined in the present embodiment.

It is understood that a computer-readable storage medium may include, but is not limited to, non-volatile or volatile storage media such as Random Access Memory (RAM), static RAM, dynamic RAM, Read Only Memory (ROM), programmable ROM, erasable programmable ROM, electrically erasable programmable ROM, flash memory, Secure Digital (SD) cards, and the like.

The present embodiment further provides a motor, the motor is used for driving rotation between a first connecting piece and a second connecting piece which are connected with each other, the motor comprises a motor processor, and the motor processor is configured to: receiving a control torque of the motor and acquiring the current torque of the motor; and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

It is understood that such a motor may be applied to a robot arm device or a movable platform, and the related contents of the robot arm device and the movable platform can be referred to the above contents, which are not described herein again.

The motor processor may be further configured to: determining the duration of the output torque of the adjusting motor according to the control torque and the current torque; and adjusting the output torque of the motor from the current torque to the direction of the control torque to meet the preset condition according to the duration.

The duration may be such that the output torque is adjusted to the control torque when the adjusted time reaches the duration.

The output torque of the motor can be changed linearly when the current torque is adjusted to the direction of the control torque.

The output torque of the motor can be nonlinearly changed when the current torque is adjusted to the direction of the control torque.

The change speed of the output torque of the motor when the output torque is adjusted from the current torque to the direction of the control torque can be gradually reduced.

The motor processor may be further configured to: when the control torque is larger than the current torque and the external interference force for driving the first connecting piece and the second connecting piece to rotate is detected between the first connecting piece and the second connecting piece, the output torque of the motor is gradually adjusted according to the control torque and the current torque. The predetermined condition may be that a jitter is generated between the first connector and the second connector.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the motor processor may be further configured to: the output torque is maintained unchanged.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the motor processor may be further configured to: the output torque is adjusted to the current torque.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the motor processor may be further configured to: the output torque is gradually reduced until a signal to stop reducing the output torque is received or the output torque is reduced to zero.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the motor processor may be further configured to: determining a middle moment, wherein the middle moment is a moment value between the current moment and the control moment; the output torque is adjusted to be the middle torque.

The motor processor may be further configured to: and determining the intermediate moment according to the shaking condition generated between the first connecting piece and the second connecting piece.

In some embodiments, the larger the jitter parameter for generating jitter between the first connector and the second connector, the smaller the difference between the intermediate torque and the current torque. The jitter parameters may include angular velocity or angular amplitude of the jitter.

When the control torque is smaller than the current torque, the preset condition may be that the adjusted time is equal to or greater than the duration.

As can be understood, the implementation of the motor processor for receiving the relevant content of the control torque of the motor, obtaining the relevant content of the current torque of the motor, gradually adjusting the relevant content of the output torque of the motor according to the control torque and the current torque, and the effect that the motor can achieve may refer to the foregoing embodiments, and details are not described here.

The present embodiment further provides a mechanical apparatus, which includes a first connecting member, a second connecting member connected to the first connecting member, a motor for driving the first connecting member to rotate relative to the second connecting member, and an apparatus processor. The device processor is configured to: receiving a control torque of the motor and acquiring the current torque of the motor; and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

The device processor may be further configured to: determining the duration of the output torque of the adjusting motor according to the control torque and the current torque; and adjusting the output torque of the motor from the current torque to the direction of the control torque to meet the preset condition according to the duration.

The device processor may be further configured to: when the control torque is larger than the current torque and the external interference force for driving the first connecting piece and the second connecting piece to rotate is detected between the first connecting piece and the second connecting piece, the output torque of the motor is gradually adjusted according to the control torque and the current torque. The predetermined condition may be that a jitter is generated between the first connector and the second connector.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the device processor may be further configured to: the output torque is maintained unchanged.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the device processor may be further configured to: the output torque is adjusted to the current torque.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the device processor may be further configured to: the output torque is gradually reduced until a signal to stop reducing the output torque is received or the output torque is reduced to zero.

In some embodiments, after adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy the preset condition, the device processor may be further configured to: determining a middle moment, wherein the middle moment is a moment value between the current moment and the control moment; the output torque is adjusted to be the middle torque.

The device processor may be further configured to: and determining the intermediate moment according to the shaking condition generated between the first connecting piece and the second connecting piece. The larger the jitter parameter for generating jitter between the first connecting piece and the second connecting piece is, the smaller the difference between the intermediate moment and the current moment can be. The jitter parameters may include angular velocity or angular amplitude of the jitter.

In some embodiments, the mechanical device may comprise a pan and tilt head. The rotation between the first connecting piece and the second connecting piece can be around the yaw axis, the pitch axis or the roll axis of the holder. For the related content of the pan/tilt head, reference may be made to the foregoing embodiments, which are not described herein again.

In some embodiments, the mechanical device may comprise a movable platform. The movable platform may comprise a drone, an unmanned vehicle, or a robot. The relevant content of the unmanned aerial vehicle, the unmanned vehicle or the robot can be referred to the foregoing embodiments, and is not repeated here.

In other embodiments, the mechanical device may further include a mechanical arm device, and the related content of the mechanical arm device may be referred to in the foregoing embodiments, which are not described herein again.

It can be understood that the implementation of the device processor for receiving the content related to the control torque of the motor, obtaining the content related to the current torque of the motor, gradually adjusting the content related to the output torque of the motor according to the control torque and the current torque, and the effect that the mechanical device can achieve may refer to the foregoing embodiments, and will not be described herein again.

For the embodiments of the present application, it should also be noted that, in a case of no conflict, the embodiments of the present application and features of the embodiments may be combined with each other to obtain a new embodiment.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method of controlling a motor for driving rotation between a first coupling member and a second coupling member coupled to each other, the method comprising:

receiving a control torque of the motor, and acquiring a current torque of the motor;

and when the control torque is different from the current torque, gradually adjusting the output torque of the motor according to the control torque and the current torque.

2. The control method according to claim 1, wherein the gradually adjusting the output torque of the motor according to the control torque and the current torque includes:

determining and adjusting the duration of the output torque of the motor according to the control torque and the current torque;

and adjusting the output torque of the motor from the current torque to the direction of the control torque to meet a preset condition according to the duration.

3. The control method according to claim 2,

the duration is such that the output torque is adjusted to the control torque when the adjusted time reaches the duration.

4. The control method according to claim 2 or 3,

the output torque of the motor is linearly changed when the current torque is adjusted to the direction of the control torque.

5. The control method according to claim 2 or 3,

the output torque of the motor changes in a nonlinear way when the current torque is adjusted to the direction of the control torque.

6. The control method according to claim 5,

and the change speed of the output torque of the motor is gradually reduced when the current torque is adjusted to the direction of the control torque.

7. The control method according to any one of claims 1 to 6,

and when detecting that a force for promoting the first connecting piece and the second connecting piece to generate external rotating interference exists between the first connecting piece and the second connecting piece, gradually adjusting the output torque of the motor according to the control torque and the current torque.

8. The control method according to claim 2,

when the control torque is larger than the current torque, the preset condition is that jitter is generated between the first connecting piece and the second connecting piece.

9. The control method according to claim 7, wherein after the adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration time to satisfy a preset condition, the method further comprises:

and maintaining the output torque unchanged.

10. The control method according to claim 7, wherein after the adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration time to satisfy a preset condition, the method further comprises:

and adjusting the output torque to the current torque.

11. The control method according to claim 7, wherein after the adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration time to satisfy a preset condition, the method further comprises:

gradually reducing the output torque until a signal to stop reducing the output torque is received or the output torque is reduced to zero.

12. The control method according to claim 7, wherein after the adjusting the output torque of the motor from the current torque to the direction of the control torque according to the duration time to satisfy a preset condition, the method further comprises:

determining a middle moment, wherein the middle moment is a moment value between the current moment and the control moment;

and adjusting the output torque to be the intermediate torque.

13. The control method of claim 12, wherein the determining an intermediate torque value comprises:

and determining the intermediate moment according to the condition that the first connecting piece and the second connecting piece shake.

14. The control method according to claim 13,

the larger the jitter parameter for generating jitter between the first connecting piece and the second connecting piece is, the smaller the difference between the intermediate moment and the current moment is.

15. The control method according to claim 14,

the jitter parameter comprises an angular velocity or an angular amplitude of the jitter.

16. The control method according to any one of claims 2 to 6,

when the control torque is smaller than the current torque, the preset condition is that the adjusted time is equal to or longer than the duration.

17. A computer-readable storage medium, characterized in that,

the computer-readable storage medium stores instructions for implementing the control method according to any one of claims 1 to 16.

18. An electric motor for driving rotation between interconnected first and second links, the electric motor comprising a motor processor, wherein the motor processor is configured to:

19. The electric machine of claim 18, wherein the motor processor is further configured to:

20. The electric machine of claim 19,

21. The electrical machine according to claim 19 or 20,

22. The electrical machine according to claim 19 or 20,

23. The electric machine of claim 22,

24. The electric machine of any one of claims 18 to 23, wherein the motor processor is further configured to:

25. The electric machine of claim 19,

26. The electric machine of claim 25, wherein after the adjusting the output torque of the electric machine from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the motor processor is further configured to:

and maintaining the output torque unchanged.

27. The electric machine of claim 25, wherein after the adjusting the output torque of the electric machine from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the motor processor is further configured to:

and adjusting the output torque to the current torque.

28. The electric machine of claim 25, wherein after the adjusting the output torque of the electric machine from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the motor processor is further configured to:

29. The electric machine of claim 25, wherein after the adjusting the output torque of the electric machine from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the motor processor is further configured to:

and adjusting the output torque to be the intermediate torque.

30. The electric machine of claim 29, wherein the motor processor is further configured to:

31. The electric machine of claim 30,

32. The electric machine of claim 31,

33. The electric machine according to any of the claims 19 to 23,

34. A mechanical device comprising a first linkage, a second linkage coupled to the first linkage, a motor for driving rotation between the first linkage and the second linkage, and a device processor, wherein the device processor is configured to:

35. The mechanical device of claim 34, wherein the device processor is further configured to:

36. The mechanical device of claim 35,

37. The mechanical device of claim 35 or 36,

38. The mechanical device of claim 35 or 36,

39. The mechanical device of claim 38,

40. The mechanical device of any one of claims 34 to 39, wherein the device processor is further configured to:

41. The mechanical device of claim 35,

42. The mechanical device of claim 41, wherein after the adjusting of the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the device processor is further configured to:

and maintaining the output torque unchanged.

43. The mechanical device of claim 41, wherein after the adjusting of the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the device processor is further configured to:

and adjusting the output torque to the current torque.

44. The mechanical device of claim 41, wherein after the adjusting of the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the device processor is further configured to:

45. The mechanical device of claim 41, wherein after the adjusting of the output torque of the motor from the current torque to the direction of the control torque according to the duration to satisfy a preset condition, the device processor is further configured to:

and adjusting the output torque to be the intermediate torque.

46. The mechanical device of claim 45, wherein the device processor is further configured to:

47. The mechanical device of claim 46,

48. The mechanical device of claim 47,

49. The mechanical device of any one of claims 35 to 39,

50. The mechanical device of any one of claims 34 to 49,

the mechanical device comprises a holder.

51. The mechanical device of claim 50,

the first connecting piece and the second connecting piece rotate around a yaw axis, a pitching axis or a rolling axis of the holder.

52. The mechanical device of any one of claims 34 to 49,

the mechanism includes a movable platform.

53. The mechanical device of claim 52,

the movable platform comprises an unmanned aerial vehicle, an unmanned vehicle or a robot.