Control method for electronically controlled servo mechanism and electronically controlled servo mechanism and robot thereof

An electronically controlled servo mechanism comprising a servo having a PI controller, comprising:

• an obtaining module configured to obtain one or more related parameters of the PI controller before tuning, wherein the related parameters comprises a proportional coefficient and an integral coefficient;
• a calculating module configured to obtain a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo;
• a tuning module configured to tune the one or more related parameters of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation;
• a determining unit configured to determine whether the current rotational angle of the output shaft of the servo has reached a maximum value at a current time;
• an obtaining unit configured to obtain a deviation of the rotational angle in each sampling period since the current time until the electronically controlled servo mechanism is in a steady state, in response to the current rotational angle of the output shaft of the servo having reached the maximum value at the current time;
• and
• an integrating unit configured to integrate the obtained deviation of the rotational angle to take as the deviation of the current rotational angle and the expected rotational angle.

A robot, comprising:

• an electronically controlled servo mechanism comprising a servo having a PI controller;
• a memory;
• a processor;
• and
• one or more computer programs stored in the memory and executable on the processor, wherein the one or more computer programs comprise:
• instructions for obtaining one or more related parameters of the PI controller before tuning, wherein the related parameters comprises a proportional coefficient and an integral coefficient;
• instructions for obtaining a current rotational angle of an output shaft of the servo, and calculating an angular deviation between the obtained current rotational angle and an expected rotational angle of an output shaft of the servo;
• instructions for tuning the one or more related parameters of the PI controller based on the proportional coefficient, the integral coefficient, and the angular deviation;
• wherein the instructions for obtaining the current rotational angle of the output shaft of the servo, and calculating the angular deviation between the obtained current rotational angle and the expected rotational angle of the output shaft of the servo comprise:
• instructions for determining whether the current rotational angle of the output shaft of the servo has reached a maximum value at a current time;
• instructions for obtaining a deviation of the rotational angle in each sampling period since the current time until the electronically controlled servo mechanism is in a steady state, in response to the current rotational angle of the output shaft of the servo having reached the maximum value at the current time;
• and
• instructions for integrating the obtained deviation of the rotational angle to take as the deviation of the current rotational angle and the expected rotational angle.