Command control in a multi-servo feedback control system

A servo used for a multi-servo feedback control system comprising a main controller and a plurality of servos electrically connected to the main controller, each of the servos comprising:

• at least one processor,
• a storage system;
• one or more programs that are stored in the storage system and are executed by the at least one processor, the one or more programs comprising:
• an acquiring unit, configured for receiving a first action command from the main controller via serial data bus, acquiring preset delay time corresponding to the servo, and performing actions according to the first action command, wherein the preset delay time of the plurality of servos are different from each other;
• an information sending unit, configured for sending feedback information to the main controller after the preset delay time, wherein the feedback information is configured to identify work status of the servo;
• the information sending unit, further configured for receiving a second action command from the main controller, and determining whether the second action command is valid;
• the information sending unit, further configured for determining that the second action command is valid, performing actions corresponding to the second action command, and sending the feedback information to the main controller after the preset delay time, in response to the actions corresponding to the first action command being not performed by the servo;
• and
• the information sending unit, further configured for determining that the second action command is not valid, and masking the second action command, in response to the actions corresponding to the first action command being performed by the servo;
• wherein the second action command is sent by the main controller, in response to the feedback information from any one of the servos are not fully received by the main controller within a preset time period after the first action command is sent.

A multi-servo feedback control system, the system comprising:

• a main controller and a plurality of servos;
• wherein
• the main controller comprises at least one communication interface, at least one of the at least one communication interface is connected in series with the plurality of servos;
• the main controller is configured for sending a first action command to the plurality of servos via serial data bus;
• the plurality of servos are configured for receiving the first action command from the main controller via serial data bus, acquiring preset delay time, performing actions according to the first action command, and sending feedback information to the main controller after the preset delay time, wherein the preset delay time of the plurality of servos are different from each other, the feedback information is configured to identify work status of the servos;
• the main controller is further configured for sending a second action command to the plurality of servos, in response to the feedback information from any one of the servos are not fully received by the main controller within a preset time period after the first action command is sent;
• the plurality of servos are further configured for receiving the second action command from the main controller, and determining whether the second action command is valid;
• in response to the actions corresponding to the first action command being not performed by one of the servos, said one of the servos is further configured for determining that the second action command is valid, performing actions corresponding to the second action command, and sending the feedback information to the main controller after the preset delay time;
• and
• the plurality of servos are further configured for determining that the second action command is not valid, and masking the second action command, in response to the actions corresponding to the first action command being performed by the servos.