WO2019084881A1

WO2019084881A1 - Robot system, driver, memory device, and control mode switching method

Info

Publication number: WO2019084881A1
Application number: PCT/CN2017/109157
Authority: WO
Inventors: 李宇翔
Original assignee: 深圳配天智能技术研究院有限公司
Priority date: 2017-11-02
Filing date: 2017-11-02
Publication date: 2019-05-09
Also published as: CN109313420B; CN109313420A

Abstract

The present invention discloses a robot system, a driver, a memory device, and a control mode switching method. The method comprises: activating a virtual first control module when switching from a control mode of a second control module to a control mode of a first control module is required, wherein the first control module is a higher-level control module of the second control module; the virtual first control module generating, according to a received instruction from the second control module, a virtual instruction corresponding to the first control module; and the virtual first control module sending the virtual instruction corresponding to the first control module to the first control module, and switching from the control mode of the second control module to the control mode of the first control module. The present invention enables a driver to perform fast, dynamic mode switching between different control modules.

Description

Robot system, driver, storage device and control mode switching method

【技术领域】[Technical Field]

The invention relates to a motor drive technology, in particular to a robot system, a drive, a storage device and a switching method of a control mode.

【背景技术】【Background technique】

Servo drives typically use three feedback control modules to control the servo motor, which are position loop, speed loop, and torque loop. The position loop is used for precise control of the motor position, the speed loop is used for precise control of the motor speed, and the torque loop is used for precise control of the motor output. In some cases, it is necessary to switch the command from one control module to another in real time while the motor is working. In the prior art, the switching of the dynamic mode of the servo driver requires the user to first configure the two rings to be switched. Therefore, in actual use, only the two rings can be dynamically switched. In the process of switching, the servo driver needs to be disabled, and any ring dynamic mode switching cannot be realized, and the switching takes a long time.

【发明内容】 [Summary of the Invention]

The invention provides a robot system, a driver, a storage device and a control mode switching method, which can realize fast switching of dynamic modes between different control modules.

A technical solution adopted by the present invention is to provide a method for switching a dynamic mode of a driver, the method comprising: running a virtual first control module when a control mode of the second control module is required to be switched to a control mode of the first control module The first control module is an upper control module of the second control module; the virtual first control module generates, according to the received instruction of the second control module, corresponding to the first control module a virtual instruction; the virtual first control module sends a virtual instruction corresponding to the first control module to the first control module, and is switched by a control mode of the second control module to a control mode of the first control module.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a driver, the driver includes: a first interface, a second interface, and a third interface; a processor, and the first interface, the second The interface is connected to the third interface, the first interface is configured to be connected to the upper computer for receiving an instruction from the upper computer, and the second interface is configured to connect the motor to output the instruction of the processor to The motor, the third interface is configured to receive feedback information from the motor or a load; wherein, when a control mode of the second control module is required to be switched to a control mode of the first control module, the virtual first control is executed a module, wherein the first control module is a higher-level control module of the second control module; the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; The virtual first control module sends a virtual instruction corresponding to the first control module to the first control module, and is controlled by a second control module A first control mode is switched to the control module.

In order to solve the above technical problem, another technical solution adopted by the present invention is to provide a robot system including a driver and an electrode, the driver including: a first interface, a second interface, and a third interface; a processor, a coupling a first interface, a second interface, and a third interface, the first interface is configured to be connected to the upper computer for receiving an instruction from the upper computer, and the second interface is configured to connect the motor to output An instruction of the processor to the motor, the third interface is configured to receive feedback information from the motor or a load; wherein, when a control mode of the second control module is required to be switched to a control mode of the first control module a virtual first control module, wherein the first control module is a higher control module of the second control module; the virtual first control module generates a corresponding one according to the received instruction of the second control module a virtual instruction of the control module; the virtual first control module sends a virtual instruction corresponding to the first control module to the first control module, and The second control mode is switched to the control module of the control mode of the first control module.

The invention has the beneficial effects of providing a robot system, a driver and a control mode switching method. When the control module parameters are not pre-configured by the host computer, the virtual control module of the control module is operated to obtain an instruction corresponding to the control module. The problem that the corresponding control module cannot obtain the corresponding instruction in time due to the failure of the control module can be solved, and the dynamic mode of the different control modules can be quickly switched.

【附图说明】 [Description of the Drawings]

1 is a schematic flow chart of a first embodiment of a control mode switching method according to the present invention;

2 is a schematic structural view of an embodiment of switching a speed loop of the present invention to a position loop;

3 is a schematic structural view of an embodiment of the present invention in which a torque ring is switched to a speed loop;

4 is a schematic flow chart of a second embodiment of a control mode switching method according to the present invention;

5 is a schematic structural view of an embodiment of a position loop switching to a speed loop according to the present invention;

6 is a schematic structural view of an embodiment of the speed loop switching to a torque ring of the present invention;

Figure 7 is a schematic structural view of an embodiment of a driver of the present invention;

8 is a schematic structural view of an embodiment of a robot system of the present invention;

Figure 9 is a block diagram showing an embodiment of a memory device of the present invention.

【具体实施方式】【Detailed ways】

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that, in the embodiments of the present invention, the terms “first,” “second,” and “third” are used for descriptive purposes only, and are not to be construed as indicating or implying relative importance or implicitly indicating the indicated technology. The number of features. Thus, features defining "first", "second", and "third" may include at least one of the features, either explicitly or implicitly.

Please refer to FIG. 1. FIG. 1 is a schematic flowchart diagram of an embodiment of a control mode switching method according to the present invention. The driver in the present invention may be, but not limited to, a servo driver. Generally, the servo driver realizes precise operation of the motor through a position command of a position loop, a speed command of a speed loop, and a torque command of a torque ring. In some cases, it is necessary to switch the command from one control module to another in real time while the motor is working. The present invention provides a method for switching a control mode. As shown, the method includes the following steps:

S1. When the control mode of the second control module is required to be switched to the control mode of the first control module, the virtual first control module is operated, where the first control module is the upper control module of the second control module.

The switching method of the control mode of the present invention is applicable to any multi-mode switching control system, and is applicable to both a closed-loop control system and an open-loop control system. The first control module is an upper control module of the second control module, that is, the instruction of the second control module is generated by the first control module, that is, when in the control mode of the first control module, in the instruction transmission direction A control module parses the instruction of the corresponding first control module into an instruction of the second control module, and then passes the instruction of the second control module to the second control module for processing. The second control module referred to in the present invention may be a speed loop of a servo drive or a torque loop of a servo drive, and the first control module may correspond to a position loop of a servo drive or a speed loop of a servo drive. And switching to the first control module during the actual switching process may be represented as switching from the speed loop as the second control module to the position loop as the first control module, or may be represented as the second control by the torque loop. The module switches to be switched by the speed loop as the first control module and by the torque loop as the second control module to the position loop as the first control module.

In a specific embodiment, the switching method of the control mode may include the following situations:

1. The speed loop is switched as a second control module to the position loop as the first control module, and the virtual position loop is operated at the time of switching. Specifically, the virtual position loop can generate a virtual command by the speed command and the position feedback information generated by the motor, and the virtual position loop is not used for loop control, and is only used for dynamic mode switching from the speed loop to the position loop. .

Further, the speed command is directly sent by the upper computer to the speed loop instead of the position loop, and then transmitted to the virtual position loop. The position feedback information may include, but is not limited to, current position information and load information of the driven object obtained by the motor.

2. The torque loop is switched as a second control module to the speed loop as the first control module, and the virtual speed loop is operated during the switching. Specifically, the virtual speed loop can generate virtual commands from the torque command and the speed feedback information generated by the motor, and the virtual speed loop is not used for loop control, only for dynamic mode switching from the torque loop to the speed loop.

Further, the torque command is directly sent by the upper computer instead of the torque ring to the speed loop, and then transmitted to the virtual ring of the speed loop. The speed feedback information may include, but is not limited to, a current position of the driven object and load information obtained by the motor.

3. The torque ring is switched as a second control module to the position loop as the first control module.

The first control module and the second control module include a third control module, that is, the third control module is a speed loop, and before running the virtual position ring, the virtual speed loop is operated. That is, during this switching process, since the torque ring cannot directly switch across the speed loop to the position loop, the torque loop needs to be switched to the speed loop, and then the speed loop is switched to the position loop, and the dynamic mode switching has been completed. Therefore, the situation is the same as the process of switching the torque ring to the speed loop in this embodiment, and details are not described herein again.

S2. The virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module.

In a specific embodiment, for the open-loop control system, the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; for the closed-loop control system, the virtual first The control module generates a virtual instruction corresponding to the first module according to the received first feedback information of the first control module and the instruction of the second control module. Taking the closed-loop servo driver control as an example, step S2 corresponds to the three cases described in the above step S1, and may also include the following cases:

1. The first control module is the position loop of the servo driver, the second control module is the speed loop of the servo driver, and the speed loop is switched as the second control module to the position loop as the first control module. For details, refer to FIG. 3, FIG. 3 is The schematic diagram of the embodiment in which the speed loop of the present invention is switched to the position loop.

The virtual position loop receives the position feedback information of the position loop and the speed command from the speed loop, and uses the position feedback information and the speed command to calculate and generate a virtual command corresponding to the position loop. The position feedback information may be position information of the motor itself, and may also be current position information of the motor load. The virtual command may include configuration information, such as location information at a previous moment, in order to make the location loop work properly. Further, the speed command of the speed loop is directly sent to the speed loop by the upper computer instead of the position loop, and the speed command sent by the upper computer is the same as the speed command sent by the original position loop.

It should be noted that during the process of switching from the speed loop to the position loop, the position loop receives the virtual command and other related information from the virtual position loop, and then normally issues a speed command to the speed loop, so that the subsequent link works normally, thereby completing the speed loop. The control mode is switched to the control mode of the position loop.

2. The torque ring is switched to the speed loop as the first control module as a second control module. For details, refer to FIG. 4. FIG. 4 is a schematic structural diagram of an embodiment of the torque ring switching to the speed loop of the present invention.

The virtual speed loop receives speed feedback information from the speed loop and commands from the torque loop, and uses the speed feedback information and the torque command to calculate a virtual command corresponding to the speed loop. The speed feedback information may be current speed information of the motor load, and the second feedback information may also be speed information of the motor itself. The virtual command may include configuration information, such as torque information from a previous moment, in order to make the speed loop work properly.

Optionally, the torque command of the torque ring is directly sent to the torque ring by the upper computer instead of the speed ring, and the torque command sent by the upper computer is the same as the torque command sent by the original speed ring.

It should be noted that during the process of switching from the torque loop to the speed loop, the speed loop receives relevant information such as virtual commands from the virtual speed loop, and then normally issues a torque command to the torque loop to make the subsequent links work normally, thereby completing the torque loop. The control mode switches to the control mode of the speed loop.

3. The torque ring is switched as the second control module to the position loop as the first control module. Since the torque ring cannot directly cross the speed loop and directly switches to the position loop, the torque ring is first switched to the speed loop control, and then switched by the speed loop. The location loop is the same as the corresponding handover method, and is not described here.

S3. The virtual first control module sends the virtual instruction corresponding to the first control module to the first control module, and is switched by the control mode of the second control module to the control mode of the first control module.

In step S3, after the virtual second control module calculates its virtual instruction, the virtual instruction needs to be sent to the first control module to implement dynamic mode switching from the first control module to the second control module.

Specifically, referring further to FIG. 2 and FIG. 3, it can be divided into the following cases:

1. The speed loop is switched as the first control module to the position loop as the second control module.

In a specific embodiment, during the process of switching from the speed loop to the position loop, the position loop does not run at this time, and the position loop does not save the last position information and other parameters, so the virtual ring in the position loop When the configuration information (command and position feedback information) of the corresponding position loop is sent to the position loop, the position loop can be operated according to the configuration information to realize the dynamic mode switching of the speed loop to the position loop. It should be noted that, during the switching process from the speed loop to the position loop, the configuration information of the position loop does not need to be preset by the upper computer, but is calculated by the virtual position loop according to the speed command of the speed loop and the position feedback information. Thereby a fast switching from the speed loop to the position loop can be achieved.

2. The torque ring is switched as the first control module to the speed loop as the second control module.

In a specific embodiment, during the process of switching from the torque ring to the speed loop, the position loop and the speed loop are not operated at this time, and the speed loop does not save the parameters of the previous speed information, etc., so the speed is When the virtual ring sends the configuration information (command and speed feedback information) corresponding to the speed loop to the speed loop, the speed loop can be started and run according to its configuration information to realize the dynamic mode switching of the torque loop to the speed loop. It should be noted that during the switching process from the torque ring to the speed loop, the configuration information of the speed loop does not need to be preset by the upper computer, but is calculated by the virtual speed loop according to the torque command of the torque ring and the speed feedback information. This enables a fast switching from the torque ring to the speed loop.

3. When the torque loop is switched as the first control module to the position loop as the second control module, the conversion process is as follows:

When the torque ring is switched as the first control module to the position loop as the second control module, the third control module is included between the first control module and the second control module, that is, the torque ring and the position ring are further included as the speed loop. Three control modules. Running a virtual speed loop before running the virtual position loop, the virtual speed loop generates a virtual command corresponding to the speed loop through the received second feedback information and the command of the torque loop, that is, the torque loop is switched to When positioning the ring, you need to switch the torque ring to the speed loop first. For the process of switching from the torque ring to the speed ring, refer to the above description, and details are not described herein again.

After the torque ring is switched to the speed loop, the running of the virtual position loop and its subsequent steps are continued to implement the mode switching of the torque loop to the position loop. For the method of switching the speed loop to the position loop, refer to the foregoing description, and details are not described herein again.

In the above embodiment, when the parameter of the control module is not pre-configured by the host computer, the instruction of the corresponding control module is obtained by running the virtual control module, which can solve the problem that the corresponding control module cannot obtain the corresponding instruction in time because it is not enabled. Realize fast switching between dynamic modes between different control modules.

Please refer to FIG. 4. FIG. 4 is a schematic flowchart diagram of a third embodiment of a control mode switching method according to the present invention. As shown in the figure, the method includes the following steps:

S20, when the first control module in the instruction transfer direction is switched to the second control module, the upper control unit replaces the first control module to send an instruction to the second control module.

In a specific embodiment, when the first control module of the instruction transfer direction is switched to the second control module, the following two situations may be included:

1. The position loop of the first control module is switched to the speed loop of the second control module. For details, refer to FIG. 5. FIG. 5 is a schematic structural diagram of an embodiment of the position loop switching to the speed loop according to the present invention.

Specifically, when the position command is switched to the speed command, since the speed loop command is generated by the position loop, when switching from the position loop to the speed loop, the speed command is directly sent to the speed loop by the upper machine instead of the position loop, the new speed. The instruction replaces the command generated by the original position loop, so mode switching does not require special handling. It should be noted that the speed command directly from the host computer to the speed loop should be the same as the command from the home position loop to the speed loop.

2. The speed loop of the first control module is switched to the torque loop of the second control module. For details, refer to FIG. 6. FIG. 6 is a schematic structural diagram of an embodiment of the speed loop switching to the torque loop of the present invention.

Specifically, when the speed command is switched to the torque command, since the torque ring command is generated by the speed loop, when switching from the speed loop to the torque loop, the upper limiter directly substitutes the speed loop to give the torque command to the torque ring, and the new torque The instruction replaces the command generated by the original speed loop, so mode switching does not require special pre-configuration. It should be noted that the torque command directly from the host computer to the torque ring should be the same as the command from the original speed ring to the torque ring.

S21. The second control module receives the instruction and processes.

Step S21 Object The above steps also include the following cases:

1. The position loop as the first control module switches to the speed loop as the second control module.

Specifically, the speed loop receives and processes the speed command sent by the host computer to complete the dynamic mode switching from the position loop to the speed loop.

2. The speed loop as the first control module switches to the torque loop as the second control module.

Specifically, the torque loop receives and processes the torque command sent by the host computer to complete the dynamic mode switching from the speed loop to the torque loop.

It should be noted that if it is necessary to switch from the position loop to the torque ring, the position loop needs to be switched to the speed loop first, and then the speed loop is switched to the torque loop.

In the above embodiment, the instruction between the dynamic modes of the control modules can be realized by directly transmitting instructions to the control module by the host computer without special pre-configuration.

Please refer to FIG. 7. FIG. 7 is a schematic structural diagram of an embodiment of a driver of the present invention. As shown, the drive 10 includes a first interface 11, a second interface 12, and a third interface 13.

The processor 14 is connected to the first interface 11, the second interface 12, and the third interface 13. The first interface 11 is configured to be connected to the host computer 20 for receiving commands from the host computer 20, and the second interface 12 is used. The motor 30 is connected to output an instruction of the processor 14 to the motor 30, and the third interface 13 is configured to receive feedback information from the motor 30, and may be omitted, and the second interface 12 is used to receive feedback from the motor 30 or the motor load. information. In practical applications, peripheral circuits can also be included to achieve more functions.

The processor 14 is configured to run a virtual first control module when the control mode of the second control module is required to be switched to the control mode of the first control module, where the first control module is a higher-level control module of the second control module, The virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module, and the processor 14 passes the virtual first control module according to the received first control module. The first feedback information and the instruction of the second control module generate a virtual instruction corresponding to the first module; the virtual instruction corresponding to the first control module is sent to the first control module by the virtual first control module, and is used by the second control module The control mode is switched to the control mode of the first control module.

Optionally, when the driver is a servo driver, the first control module is a position loop of the servo driver, and the second control module is a speed loop of the servo driver, the processor 14 performs the following steps:

The processor 14 receives the position feedback information of the position loop and the speed command of the speed loop through the virtual position loop; calculates the virtual position command of the position loop by using the position feedback information and the speed command; and virtualizes the position loop through the virtual position loop The position command is sent to the position loop and switched from the control mode of the speed loop to the control mode of the position loop.

Optionally, when the first control module is a speed loop of the servo driver and the second control module is a torque loop of the servo driver, the processor 14 performs the following steps:

The speed feedback information of the speed loop and the torque command of the torque loop are received through the virtual speed loop; the speed feedback information and the torque command are used to calculate the virtual speed command of the speed loop; and the virtual speed command of the speed loop is sent through the virtual speed loop. Go to the speed loop and switch from the control mode of the torque loop to the control mode of the speed loop.

Optionally, when the third control module is included between the first control module and the second control module, the processor 14 runs the virtual third control module before the virtual second control module is executed, and the virtual third control module receives the third control module. The instruction of the second control module to generate a virtual instruction corresponding to the third control module.

Specifically, the virtual third control module virtual instruction is sent to the third control module to implement mode switching of the second control module to the third control module. After the control mode of the second control module is switched to the control mode of the third control module, the processor 14 continues to execute the virtual first control module and its subsequent steps.

Optionally, when the driver is a servo driver, the first control module is a position loop of the servo driver, the second control module is a torque ring of the servo driver, and the third control module is a speed loop of the servo driver, the processor 14 performs the following steps. : Before running the virtual position loop, it includes: running a virtual speed loop; receiving speed feedback information of the speed loop and torque command of the torque loop through the virtual speed loop; calculating by using the speed feedback information and the torque command to obtain the virtual position of the speed loop The virtual speed command is sent to the speed loop through the virtual speed loop, and is switched from the control mode of the torque loop to the control mode of the speed loop; wherein, after the control mode of the torque loop is switched to the control mode of the speed loop, the processor 14 Continue to run the virtual location loop and its subsequent steps.

It should be noted that the driver can perform the steps performed by the driver in the above method. For details, refer to the detailed description in the above method, and details are not described herein.

Please refer to FIG. 8. FIG. 8 is a schematic structural diagram of an embodiment of a robot system according to the present invention. As shown, the robot system 40 includes a driver 10 and a motor 30.

The driver 10 includes a first interface 11, a second interface 12, and a third interface 13, and the specific structure of the driver can be referred to the description in FIG.

The processor 14 is coupled to the first interface 11, the second interface 12, and the third interface 13. The first interface 11 is configured to be connected to the host computer 20 for receiving commands from the upper computer 20, and the second interface is for connecting the motor. 30, for outputting instructions of the processor 14 to the motor, and the third interface 13 for receiving feedback information from the motor 30 or the load.

The processor 14 runs a virtual first control module when the control mode of the second control module needs to be switched to the control mode of the first control module, where the first control module is a virtual control module of the second control module. a control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module; and sends a virtual instruction corresponding to the first control module to the first control module by using the virtual first control module, and The control mode of the two control modules is switched to the control mode of the first control module.

Referring to FIG. 9, FIG. 9 is a schematic structural diagram of an embodiment of a storage device according to the present invention. The storage device of the present invention stores a program file 31 capable of implementing all of the above methods, wherein the program file 21 may be stored in the storage device in the form of a software product, including a plurality of instructions for causing a computer device (which may be an individual) A computer, server, or network device, or the like, or a processor, performs all or part of the steps of the methods of the various embodiments of the present invention. The foregoing storage device includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory), random access memory (RAM, Random Access Memory, memory, or optical disk, etc., which can store program code, or terminal devices such as computers, servers, mobile phones, and tablets.

In the several embodiments provided by the present invention, it should be understood that the disclosed system, apparatus, and method may be implemented in other manners. For example, the device implementations described above are merely illustrative. For example, the division of the modules or units is only a logical function division. In actual implementation, there may be another division manner, for example, multiple units or components may be used. Combinations can be integrated into another system, or some features can be ignored or not executed. In addition, the mutual coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interface, device or unit, and may be in an electrical, mechanical or other form.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of the present embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit.

The integrated unit, if implemented in the form of a software functional unit and sold or used as a standalone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or contributes to the prior art, or all or part of the technical solution, may be embodied in the form of a software product stored in a storage medium. A number of instructions are included to cause a computer device (which may be a personal computer, server, or network device, etc.) or a processor to perform all or part of the steps of the methods of the various embodiments of the present invention. The foregoing storage medium includes: a U disk, a mobile hard disk, a read only memory (ROM, Read-Only) Memory, random access memory (RAM), disk or optical disk, and other media that can store program code.

In summary, those skilled in the art will readily understand that the present invention provides a method for switching a robot system, a driver, a storage device, and a control mode, by running a virtual control module without pre-configuring control module parameters by the host computer. The instruction of the corresponding control module is obtained, which can solve the problem that the corresponding control module cannot obtain the corresponding instruction in time because it is not enabled, and thus can realize the fast switching of the dynamic mode between different control modules.

The above is only the embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structure or equivalent process transformations made by the description of the invention and the drawings are directly or indirectly applied to other related technologies. The fields are all included in the scope of patent protection of the present invention.

Claims

A method for switching a control mode, the method comprising:

When the control mode of the second control module is required to be switched to the control mode of the first control module, the virtual first control module is operated, wherein the first control module is a higher-level control module of the second control module;

The virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module;

The virtual first control module sends a virtual instruction corresponding to the first control module to the first control module, and is switched by a control mode of the second control module to a control mode of the first control module.
The method according to claim 1, wherein the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module, including:

The virtual first control module generates a virtual instruction corresponding to the first module according to the received first feedback information of the first control module and the instruction of the second control module.
The method according to claim 2, wherein the first control module is a position loop of a servo driver, and the second control module is a speed loop of a servo driver;

The generating, by the virtual first control module, the virtual instruction corresponding to the first module according to the received instruction of the second control module includes:

The virtual position loop receives position feedback information of the position loop and a speed command of the speed loop;

Calculating with the position feedback information and the speed command to obtain a virtual position command of the position loop;

The virtual position loop sends a virtual position command of the position loop to the position loop and is switched from a control mode of the speed loop to a control mode of the position loop.
The method according to claim 2, wherein the first control module is a speed loop of a servo driver, and the second control module is a torque loop of a servo driver;

The generating, by the virtual first control module, the virtual instruction corresponding to the first module according to the received instruction of the second control module includes:

The virtual speed loop receives speed feedback information of the speed loop and a torque command of the torque loop;

Calculating with the speed feedback information and the torque command to obtain a virtual speed command of the speed loop;

The virtual speed loop transmits a virtual speed command of the speed loop to the speed loop and is switched from a control mode of the torque loop to a control mode of the speed loop.
The method according to claim 1, wherein a third control module is included between the first control module and the second control module;

Before the running the virtual first control module, the method includes:

Running a virtual third control module;

The virtual third control module generates a virtual instruction corresponding to the third control module according to an instruction received by the second control module;

The virtual third control module sends the virtual instruction to the third control module, and is switched by a control mode of the second control module to a control mode of the third control module;

After the control mode of the second control module is switched to the control mode of the third control module, the execution of the virtual first control module and subsequent steps thereof are continued.
The method according to claim 5, wherein the first control module is a position loop of a servo drive, the second control module is a torque ring of a servo drive, and the third control module is a speed of a servo drive. ring;

Before running the virtual location ring, include:

Running the virtual speed loop;

The virtual speed loop receives speed feedback information of the speed loop and a torque command of the torque loop;

Calculating with the speed feedback information and the torque command to obtain a virtual position command of the speed loop;

The virtual speed loop sends the virtual speed command to the speed loop and is switched from a control mode of the torque loop to a control mode of the speed loop;

After the control mode of the torque ring is switched to the control mode of the speed loop, the running of the virtual position loop and its subsequent steps are continued.
A driver, characterized in that the driver comprises:

a first interface, a second interface, and a third interface;

a processor, connected to the first interface, the second interface, and the third interface, where the first interface is used to connect to the upper computer for receiving an instruction from the upper computer, and the second interface is used for connecting a motor for outputting instructions of the processor to the motor, the third interface for receiving feedback information from the motor or load;

Wherein, when the control mode of the second control module is required to be switched to the control mode of the first control module, the virtual first control module is operated, wherein the first control module is a higher-level control module of the second control module;

The virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module;

The virtual first control module sends a virtual instruction corresponding to the first control module to the first control module, and is switched by a control mode of the second control module to a control mode of the first control module.
The driver according to claim 7, wherein the virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module, including:

The virtual first control module generates a virtual instruction corresponding to the first module according to the received first feedback information of the first control module and the instruction of the second control module.
The driver according to claim 8, wherein the driver is a servo driver, the first control module is a position loop of a servo driver, and the second control module is a speed loop of a servo driver;

The generating, by the virtual first control module, the virtual instruction corresponding to the first module according to the received instruction of the second control module includes:

The virtual position loop receives position feedback information of the position loop and a speed command of the speed loop;

Calculating with the position feedback information and the speed command to obtain a virtual position command of the position loop;

The virtual position loop sends a virtual position command of the position loop to the position loop and is switched from a control mode of the speed loop to a control mode of the position loop.
The driver according to claim 8, wherein the first control module is a speed loop of a servo driver, and the second control module is a torque loop of a servo driver;

The generating, by the virtual first control module, the virtual instruction corresponding to the first module according to the received instruction of the second control module includes:

The virtual speed loop receives speed feedback information of the speed loop and a torque command of the torque loop;

Calculating with the speed feedback information and the torque command to obtain a virtual speed command of the speed loop;

The virtual speed loop transmits a virtual speed command of the speed loop to the speed loop and is switched from a control mode of the torque loop to a control mode of the speed loop.
The driver according to claim 7, wherein a third control module is included between the first control module and the second control module;

Before the running the second virtual control module, the method includes:

Running the virtual third control module;

The virtual third control module generates a virtual instruction corresponding to the third control module according to the received instruction of the second control module;

The virtual third control module sends the virtual instruction to the third control module, and is switched by a control mode of the second control module to a control mode of the third control module;

After the control mode of the second control module is switched to the control mode of the third control module, the execution of the virtual first control module and subsequent steps thereof are continued.
The driver according to claim 11, wherein the driver is a servo driver, the first control module is a position loop of a servo driver, the second control module is a torque ring of a servo driver, and the third The control module is a speed loop of the servo drive;

Before running the virtual location ring, include:

Running the virtual speed loop;

The virtual speed loop receives speed feedback information of the speed loop and a torque command of the torque loop;

Calculating with the speed feedback information and the torque command to obtain a virtual position command of the speed loop;

The virtual speed loop sends the virtual speed command to the speed loop and is switched from a control mode of the torque loop to a control mode of the speed loop;

After the control mode of the torque ring is switched to the control mode of the speed loop, the running of the virtual position loop and its subsequent steps are continued.
A robot system, comprising: a driver and a motor, the driver comprising:

a first interface, a second interface, and a third interface;

The processor is coupled to the first interface, the second interface, and the third interface, where the first interface is used to connect to the upper computer to receive an instruction from the upper computer, and the second interface is used to connect to the a motor for outputting instructions of the processor to the motor, the third interface for receiving feedback information from the motor or load;

Wherein, when the control mode of the second control module is required to be switched to the control mode of the first control module, the virtual first control module is operated, wherein the first control module is a higher-level control module of the second control module;

The virtual first control module generates a virtual instruction corresponding to the first control module according to the received instruction of the second control module;

The virtual first control module sends a virtual instruction corresponding to the first control module to the first control module, and is switched by a control mode of the second control module to a control mode of the first control module.
A storage device characterized by storing a program file capable of implementing the method of any one of claims 1-6.