Servo driving method, apparatus, and robot thereof

A servo driving apparatus for a servo of a robot, wherein the servo is driven by a motor, and the apparatus comprises:

• a first obtaining unit configured to obtain a current voltage of a power supply of the motor, in response to receiving, by a control circuit of the motor, a control instruction for driving the servo and describing target position information of the servo;
• a second obtaining unit configured to obtain a duty ratio of a PWM (pulse width modulation) signal generated according to the control instruction and the current voltage, in response to the current voltage being not equal to a preset voltage;
• a first calculation unit configured to calculate a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio;
• and
• a signal generation unit configured to output a target PWM signal according to the target duty ratio, wherein the target PWM signal is for controlling the motor to drive the servo;
• wherein the second obtaining unit comprises:
• a calculation unit configured to calculate actual position information of the servo under the driving of the PWM signal according to the control instruction;
• and
• a second calculation unit configured to import the target position information and the actual position information into a preset proportional adjustment PID (proportional integral derivative) control algorithm to perform a cycle operation to obtain the duty ratio.

A robot comprising:

• at least a servo;
• one or more processors;
• a memory;
• and
• one or more computer programs stored in the memory and executed by the one or more processors, wherein the one or more computer programs comprise:
• a first obtaining unit configured to obtain a current voltage of a power supply of the motor, in response to receiving, by a control circuit of the motor, a control instruction for driving the servo and describing target position information of the servo;
• a second obtaining unit configured to obtain a duty ratio of a PWM (pulse width modulation) signal generated according to the control instruction and the current voltage, in response to the current voltage being not equal to a preset voltage;
• a first calculation unit configured to calculate a target duty ratio based on a ratio between the preset voltage and the current voltage and the duty ratio;
• and
• a signal generation unit configured to output a target PWM signal according to the target duty ratio, wherein the target PWM signal is for controlling the motor to drive the servo;
• wherein the second obtaining unit comprises:
• a calculation unit configured to calculate actual position information of the servo under the driving of the PWM signal according to the control instruction;
• and
• a second calculation unit configured to import the target position information and the actual position information into a preset proportional adjustment PID (proportional integral derivative) control algorithm to perform a cycle operation to obtain the duty ratio.