CN-121979105-A - Universal servo system control method and system based on special equipment application

Abstract

The invention provides a general servo system control method and a system based on special equipment application, which relate to the technical field of special equipment control, and comprise the steps of firstly receiving an operation instruction sequence corresponding to a special equipment application scene, then constructing a work flow time sequence chart according to the operation instruction sequence, determining time sequence association of each operation instruction unit, then acquiring a real-time running state data set of the special equipment, generating a predicted motion track curve based on the work flow time sequence chart and the real-time running state data set, covering expected position and speed parameters of each time point in a future time window, finally calling a track tracking controller of the general servo system to carry out deviation correction processing on the predicted motion track curve and the real-time running state data set, generating a control signal sequence of a driving component, driving the special equipment to move according to the predicted motion track curve, effectively improving the motion precision and dynamic response capability of the special equipment, and enhancing the adaptability and reliability of the equipment under the complex application scene.

Inventors

• JIANG LIPING
• QIN MENG
• JIA XIN
• CUI XIN
• JIANG MAN

Assignees

• 成都航天凯特机电科技有限公司

Dates

Publication Date

20260505

Application Date

20260407

Claims (10)

1. 1.A universal servo control method based on a specialty equipment application, said method comprising: Receiving an operation instruction sequence corresponding to an application scene of special equipment, wherein the operation instruction sequence comprises a plurality of discrete operation instruction units which are arranged according to a time sequence, and each discrete operation instruction unit carries an operation type identifier and an operation parameter set; Constructing a work flow time sequence chart of the special equipment according to the operation instruction sequence, wherein the work flow time sequence chart comprises a plurality of work nodes and time sequence related edges connected with the work nodes, each work node corresponds to one discrete operation instruction unit, and the time sequence related edges are used for representing time interval parameters between adjacent discrete operation instruction units; acquiring a real-time running state data set of the special equipment, wherein the real-time running state data set comprises a current position parameter, a current speed parameter and a current load parameter of a driving component of the special equipment at the current moment; generating a predicted motion trail curve of the special equipment based on the workflow timing diagram and the real-time running state data set, wherein the predicted motion trail curve comprises expected position parameters and expected speed parameters of the special equipment at each time point in a future time window; And invoking a track tracking controller of the general servo system to perform deviation correction processing on the predicted motion track curve and the real-time running state data set, and generating a control signal sequence of the driving component, wherein the control signal sequence is used for driving the special equipment to execute motion according to the predicted motion track curve.
2. 2. The general purpose servo system control method based on special equipment application according to claim 1, wherein the constructing a workflow timing diagram of the special equipment according to the operation instruction sequence comprises: Analyzing the operation type identifier of each discrete operation instruction unit in the operation instruction sequence, and calling an operation execution parameter template corresponding to the operation type identifier from a preset instruction template library according to the operation type identifier, wherein the operation execution parameter template comprises a standard motion track curve template and a standard execution duration parameter corresponding to the operation type identifier; performing parameter assignment processing on the operation execution parameter templates according to the operation parameter set to generate operation nodes corresponding to each discrete operation instruction unit, wherein the operation nodes comprise the standard motion track curve templates and the standard execution duration parameters; Extracting the time interval parameter between the adjacent discrete operation instruction units in the operation instruction sequence, and taking the time interval parameter as a time sequence associated edge for connecting the adjacent operation nodes, wherein the time sequence associated edge is used for restraining the time connection relation between the adjacent operation nodes; Arranging the operation nodes according to the sequence of the operation instruction sequence, connecting adjacent operation nodes through the time sequence related edges, and generating an operation flow time sequence chart of the special equipment, wherein the sequence of the operation nodes in the operation flow time sequence chart is consistent with the sequence of the discrete operation instruction units in the operation instruction sequence; Calculating a starting execution time point and an ending execution time point of each operation node in the operation flow time sequence chart according to the standard motion track curve template and the standard execution time length parameter of the operation node and the time interval parameter of the time sequence related edge in the operation flow time sequence chart, and obtaining a time axis parameter set of the operation flow time sequence chart; Acquiring the standard execution time length parameter of the first operation node in the operation flow time sequence chart, taking a preset initial time zero point as a starting execution time point of the first operation node, and calculating an ending execution time point of the first operation node according to the standard execution time length parameter of the first operation node to obtain the starting execution time point and the ending execution time point of the first operation node; Adding the ending execution time point of the first operation node and the time interval parameter of the time sequence related edge connecting the first operation node and the second operation node to obtain the starting execution time point of the second operation node, and calculating the ending execution time point of the second operation node according to the standard execution time length parameter of the second operation node to obtain the starting execution time point and the ending execution time point of the second operation node; sequentially adding the ending execution time point of the current operation node and the time interval parameter of the time sequence related edge connecting the current operation node and the next operation node according to the sequence of the operation nodes in the operation flow time sequence diagram to obtain the starting execution time point of the next operation node, and calculating the ending execution time point of the next operation node according to the standard execution time length parameter of the next operation node to obtain the starting execution time point and the ending execution time point of all the operation nodes; Arranging the starting execution time point and the ending execution time point of each job node according to the order of the job nodes, and generating a time axis parameter set of the job flow time sequence chart, wherein the time axis parameter set comprises a starting execution time point value and an ending execution time point value of each job node; And carrying out time axis alignment processing on the initial execution time point value and the end execution time point value of each operation node in the time axis parameter set and the standard motion trail curve template corresponding to the operation node respectively to obtain a motion trail curve segment of each operation node on a time axis.
3. 3. The generic servo control method based on a specialty equipment application of claim 1, wherein said generating a predicted motion trajectory profile for said specialty equipment based on said workflow timing diagram and said real-time running state data set comprises: extracting an operation node at the current moment from the operation flow time sequence chart as a current operation node, and acquiring a starting execution time point and an ending execution time point of the current operation node and a motion track curve segment corresponding to the current operation node; Calculating the position deviation amount of the current moment on the motion trail curve section according to the motion trail curve section of the current operation node and the current position parameter in the real-time running state data set, and obtaining the trail deviation parameter of the current position of the driving part relative to the motion trail curve section; Subtracting the starting execution time point of the current operation node from the ending execution time point of the current operation node to obtain a residual execution duration parameter of the current operation node, and generating a residual motion trail curve section corresponding to the current operation node according to the motion trail curve section of the current operation node and the residual execution duration parameter; acquiring all subsequent operation nodes positioned behind the current operation node in the operation flow time sequence diagram, splicing the motion track curve segments of the subsequent operation nodes according to the sequence of the operation flow time sequence diagram, and generating a subsequent operation track curve segment set; Performing time sequence connection processing on the residual motion trail curve segments and the subsequent operation trail curve segment sets to generate an initial predicted motion trail curve of the special equipment in a future time window, wherein the initial predicted motion trail curve comprises all motion trail curve segments in a time range from the current moment to the last subsequent operation node; Extracting a current speed parameter in the real-time running state data set, and comparing the current speed parameter with an expected speed parameter corresponding to the current moment in the initial predicted motion track curve to obtain a speed deviation parameter of the current speed of the driving part relative to the initial predicted motion track curve; extracting current load parameters in the real-time running state data set, inputting the current load parameters into a preset load compensation function to calculate to obtain a load compensation coefficient, wherein the load compensation coefficient is used for adjusting acceleration response capacities of the driving component under different load conditions; Carrying out point-by-point correction processing on expected speed parameters of all time points after the current moment in the initial predicted motion track curve according to the speed deviation parameters and the load compensation coefficient to obtain a corrected expected speed parameter sequence, wherein the expected speed parameter of each time point in the corrected expected speed parameter sequence has a negative correlation with the speed deviation parameters and has a positive correlation with the load compensation coefficient; Performing integral reconstruction processing on expected position parameters of all time points after the current moment in the initial predicted motion track curve according to the corrected expected speed parameter sequence to obtain a corrected expected position parameter sequence, wherein the expected position parameter of each time point in the corrected expected position parameter sequence is equal to the sum of products of expected position parameters of the previous moment and corrected expected speed parameters of the current moment multiplied by time intervals; And combining the corrected expected position parameter sequence and the corrected expected speed parameter sequence according to a time sequence to generate a predicted motion track curve of the special equipment, wherein each time point in the predicted motion track curve corresponds to one corrected expected position parameter and one corrected expected speed parameter.
4. 4. The general purpose servo system control method based on special equipment application according to claim 1, wherein the invoking the trajectory tracking controller of the general purpose servo system to perform deviation correction processing on the predicted motion trajectory curve and the real-time running state data set, generating a control signal sequence of the driving part, comprises: Inputting the predicted motion track curve into a reference track generation module of the track tracking controller, and performing discretization sampling processing on the predicted motion track curve according to a preset time step to obtain a reference track point sequence, wherein the reference track point sequence comprises a plurality of reference track points, and each reference track point corresponds to a sampling time point, and a reference position parameter and a reference speed parameter of the sampling time point; inputting a current position parameter and a current speed parameter in the real-time running state data set into a state feedback module of the track tracking controller, and constructing a current state vector according to the current position parameter and the current speed parameter, wherein the current state vector comprises a position component and a speed component; Comparing a reference position parameter and a reference speed parameter corresponding to a current sampling time point in the reference track point sequence with the current state vector to obtain a position tracking error vector and a speed tracking error vector, wherein the position tracking error vector is equal to the reference position parameter minus the current position parameter, and the speed tracking error vector is equal to the reference speed parameter minus the current speed parameter; inputting the position tracking error vector and the speed tracking error vector into a feedforward control module of the track tracking controller, and calculating feedforward control quantity according to the reference speed parameter and the reference position parameter to obtain feedforward control signal components; Inputting the position tracking error vector and the speed tracking error vector into a feedback control module of the track tracking controller, and carrying out weighted summation calculation on the position tracking error vector and the speed tracking error vector according to preset proportional gain parameters and integral gain parameters to obtain a feedback control signal component; The feedforward control signal component and the feedback control signal component are subjected to superposition processing to generate an initial control signal at the current moment, wherein the initial control signal comprises a target control quantity which is required to be output by the driving component at the next moment; Acquiring a driving part physical constraint condition set of the general servo system, wherein the driving part physical constraint condition set comprises a maximum output torque constraint parameter, a maximum output speed constraint parameter and a maximum acceleration constraint parameter, and performing amplitude limiting processing on the initial control signal according to the driving part physical constraint condition set to obtain an amplitude-limited control signal; Converting the limited control signal into a pulse width modulation signal format which can be identified by the driving component, and generating a control signal unit at the current moment, wherein the control signal unit comprises a duty ratio parameter and a frequency parameter of the pulse width modulation signal; Repeatedly executing the steps from the step of comparing the reference position parameter and the reference speed parameter corresponding to the current sampling time point in the reference track point sequence with the current state vector to the step of converting the limited control signal into a pulse width modulation signal format which can be identified by the driving component according to the preset time step to obtain a control signal unit sequence; And arranging the control signal unit sequences according to a time sequence to generate a control signal sequence of the driving component, wherein each control signal unit in the control signal sequence corresponds to one sampling moment.
5. 5. The special equipment application-based universal servo control method of claim 1, wherein the generating a predicted motion trajectory profile for the special equipment based on the workflow timing diagram and the real-time running state data set further comprises: extracting an operation node at the current moment from the operation flow time sequence chart as a current operation node, and acquiring a starting execution time point and an ending execution time point of the current operation node and a motion track curve segment corresponding to the current operation node; discretizing the motion trail curve segment of the current operation node according to a preset curve discretization step length to obtain a position discrete point sequence and a speed discrete point sequence corresponding to the current operation node, wherein the position discrete point sequence comprises position parameters of each discrete point on the motion trail curve segment corresponding to the current operation node, and the speed discrete point sequence comprises speed parameters of each discrete point on the motion trail curve segment corresponding to the current operation node; Acquiring current position parameters in the real-time running state data set, and carrying out matching processing on the current position parameters and each position parameter in the position discrete point sequence to obtain matching position index parameters of the current position parameters in the position discrete point sequence, wherein the matching position index parameters are used for indicating discrete point positions of the current position parameters on a motion track curve segment corresponding to the current operation node; Extracting all the residual position discrete points after the matching position index parameters from the position discrete point sequence according to the matching position index parameters to obtain a residual position discrete point set; Extracting all the residual speed discrete points after the matching position index parameters from the speed discrete point sequence according to the matching position index parameters to obtain a residual speed discrete point set; arranging all the residual position discrete points in the residual position discrete point set according to an original sequence to generate a residual position discrete point sequence corresponding to the current operation node; Arranging each residual speed discrete point in the residual speed discrete point set according to an original sequence to generate a residual speed discrete point sequence corresponding to the current operation node; Acquiring all subsequent operation nodes positioned behind the current operation node in the operation flow time sequence diagram, and extracting a position discrete point sequence and a speed discrete point sequence corresponding to each subsequent operation node to obtain a subsequent position discrete point sequence set and a subsequent speed discrete point sequence set; splicing the residual position discrete point sequence and each subsequent position discrete point sequence in the subsequent position discrete point sequence set according to the sequence of the operation flow time sequence diagram to generate a predicted position discrete point sequence; Splicing the residual speed discrete point sequence and each subsequent speed discrete point sequence in the subsequent speed discrete point sequence set according to the sequence of the operation flow time sequence diagram to generate a predicted speed discrete point sequence; And combining the predicted position discrete point sequence and the predicted speed discrete point sequence according to a time sequence to generate a predicted motion track curve of the special equipment, wherein the predicted motion track curve comprises expected position parameters of each discrete point in the predicted position discrete point sequence and expected speed parameters of each discrete point in the predicted speed discrete point sequence.
6. 6. The general purpose servo system control method based on special equipment application according to claim 1, wherein the invoking the trajectory tracking controller of the general purpose servo system performs deviation correction processing on the predicted motion trajectory curve and the real-time running state data set, generates a control signal sequence of the driving part, and further comprises: Inputting the predicted motion track curve into a look-ahead planning module of the track tracking controller, and calculating an acceleration parameter sequence required by the driving component at each time point in a future time window according to the expected speed parameters of each time point in the predicted motion track curve to obtain an expected acceleration parameter sequence; inputting the current speed parameter in the real-time running state data set into a state observation module of the track tracking controller, and calculating the momentum parameter of the driving component at the current moment according to the current speed parameter and the inertia parameter of the driving component to obtain the current momentum parameter; inputting the expected acceleration parameter sequence into a moment feedforward module of the track tracking controller, and calculating an inertia moment parameter sequence required by the driving part at each time point in a future time window according to the expected acceleration parameter sequence and the inertia parameter of the driving part to obtain a feedforward moment parameter sequence; Inputting the current momentum parameter into a damping compensation module of the track tracking controller, and calculating a damping compensation moment parameter required by the driving component at the current moment according to the current momentum parameter and a damping coefficient of the driving component to obtain a damping compensation moment parameter; comparing the expected position parameter corresponding to the current moment in the predicted motion trail curve with the current position parameter in the real-time running state data set to obtain a position deviation parameter; comparing the expected speed parameter corresponding to the current moment in the predicted motion trail curve with the current speed parameter in the real-time running state data set to obtain a speed deviation parameter; Calculating a position loop control output parameter according to the position deviation parameter and a preset position loop proportion coefficient, wherein the position loop control output parameter is a moment physical quantity, and the position loop control quantity is obtained; Performing accumulated summation calculation on the speed deviation parameter according to the speed deviation parameter and a preset speed loop integral coefficient to obtain a speed loop integral control quantity, wherein the speed loop integral control quantity is a moment physical quantity; The position loop control quantity and the speed loop integral control quantity are subjected to fusion processing to obtain a first fusion control quantity, and the first fusion control quantity, a feedforward torque parameter corresponding to the current moment in the feedforward torque parameter sequence and the damping compensation torque parameter are subjected to superposition processing to generate a control signal at the current moment, wherein the control signal comprises an electromagnetic torque command parameter which needs to be output by the driving component; And repeatedly generating the control signals according to a preset control period to obtain a control signal sequence, wherein each control signal in the control signal sequence corresponds to one control period.
7. 7. The special equipment application-based universal servo control method of claim 1, wherein the generating a predicted motion trajectory profile for the special equipment based on the workflow timing diagram and the real-time running state data set further comprises: extracting an operation node at the current moment from the operation flow time sequence chart as a current operation node, and acquiring a starting execution time point and an ending execution time point of the current operation node and a motion track curve segment corresponding to the current operation node; Calculating the position deviation amount of the current moment on the motion trail curve section according to the motion trail curve section of the current operation node and the current position parameter in the real-time running state data set, and obtaining the trail deviation parameter of the current position of the driving part relative to the motion trail curve section; Acquiring all subsequent operation nodes positioned behind the current operation node in the operation flow time sequence diagram, and extracting a starting execution time point and an ending execution time point of each subsequent operation node and a motion trail curve segment corresponding to each subsequent operation node to obtain a subsequent operation node parameter set; inputting the track deviation parameter into a preset track correction function to calculate to obtain a track correction coefficient, wherein the track correction coefficient is used for carrying out morphological adjustment on a motion track curve segment corresponding to the current operation node; Performing morphological correction processing on the motion trail curve segment corresponding to the current operation node according to the trail correction coefficient to obtain a corrected motion trail curve segment of the current operation node; Splicing the motion trail curve segments of the corrected current operation node and the motion trail curve segments corresponding to each subsequent operation node in the subsequent operation node parameter set according to the sequence of the operation flow time sequence diagram to generate a corrected complete operation trail curve segment set; Extracting all track curve segments in a time range from the current moment to the end of the last subsequent operation node from the corrected complete operation track curve segment set to obtain a time window track curve segment set; Parameterizing the time window track curve segment set according to a preset curve parameterization method to obtain a position parameterization function and a speed parameterization function taking time as independent variables; calculating expected position parameters of each time point in a future time window according to the position parameterization function to obtain an expected position parameter sequence; Calculating expected speed parameters of all time points in a future time window according to the speed parameterization function to obtain an expected speed parameter sequence; And combining the expected position parameter sequence and the expected speed parameter sequence according to a time sequence to generate a predicted motion track curve of the special equipment.
8. 8. The general purpose servo system control method based on special equipment application according to claim 1, wherein the invoking the trajectory tracking controller of the general purpose servo system performs deviation correction processing on the predicted motion trajectory curve and the real-time running state data set, generates a control signal sequence of the driving part, and further comprises: inputting the predicted motion track curve into a track smoothing module of the track tracking controller, and performing differential processing on expected speed parameters between adjacent time points in the predicted motion track curve to obtain a speed change rate parameter sequence; When the change rate parameter exceeding a preset acceleration limit threshold exists in the speed change rate parameter sequence, carrying out re-planning processing on the expected speed parameter near the corresponding time point in the predicted motion track curve to obtain a smoothed predicted motion track curve; Inputting the smoothed predicted motion track curve into a reference track generation module of the track tracking controller, and sampling the smoothed predicted motion track curve according to a preset control period to obtain a reference track point sequence, wherein the reference track point sequence comprises a reference position parameter and a reference speed parameter of each control period; Inputting the current position parameter and the current speed parameter in the real-time running state data set into an error calculation module of the track tracking controller, calculating a difference value between the reference position parameter and the current position parameter as a position error parameter, and calculating a difference value between the reference speed parameter and the current speed parameter as a speed error parameter; Inputting the position error parameter into a position loop controller of the track tracking controller, and calculating a speed loop given parameter according to the position error parameter and a preset position loop control parameter to obtain a speed loop given value; Inputting the speed error parameter and the speed loop given value into a speed loop controller of the track tracking controller, and calculating a current loop given parameter according to a difference value between the speed error parameter and the speed loop given value and a preset speed loop control parameter to obtain the current loop given value; Inputting the current loop given value into a current loop controller of the track tracking controller, and calculating a voltage control parameter according to the current loop given value and a phase current instantaneous value parameter in the real-time running state data set to obtain a voltage control quantity; Inputting the voltage control quantity into a pulse width modulation generation module of the track tracking controller, and generating a pulse width modulation signal corresponding to a duty ratio according to the voltage control quantity to obtain a control signal unit; Repeatedly executing the step of inputting the smoothed predicted motion track curve into a reference track generation module of the track tracking controller according to the preset control period to the step of generating a pulse width modulation signal corresponding to a duty ratio by the pulse width modulation generation module according to the voltage control quantity, so as to obtain a control signal unit sequence; and arranging the control signal unit sequences according to a time sequence to generate the control signal sequences of the driving components.
9. 9. The general purpose servo system control method based on the special equipment application according to claim 1, wherein the constructing the operation flow timing chart of the special equipment according to the operation instruction sequence further comprises: Acquiring motion speed limiting parameters contained in an operation parameter set of each discrete operation instruction unit in the operation instruction sequence, wherein the motion speed limiting parameters are used for limiting the maximum allowable speed of a motion track curve segment corresponding to the discrete operation instruction units; Performing speed limiting processing on a standard motion track curve template corresponding to the discrete operation instruction unit according to the motion speed limiting parameters to obtain a motion track curve template after speed limiting, wherein the speed parameters of all time points in the motion track curve template after speed limiting do not exceed the motion speed limiting parameters; Acquiring motion acceleration limiting parameters contained in an operation parameter set of each discrete operation instruction unit in the operation instruction sequence, wherein the motion acceleration limiting parameters are used for limiting the maximum allowable acceleration of a motion track curve segment corresponding to the discrete operation instruction units; Performing acceleration limiting processing on the motion track curve template after speed limiting according to the motion acceleration limiting parameters to obtain a motion track curve template after speed limiting and acceleration, wherein the acceleration parameters of all time points in the motion track curve template after speed limiting and acceleration do not exceed the motion acceleration limiting parameters; taking the motion trail curve template after speed limiting and acceleration as an updated standard motion trail curve template corresponding to the discrete operation instruction unit; Recalculating the standard execution duration parameter corresponding to the discrete operation instruction unit according to the updated standard motion trail curve template to obtain an updated standard execution duration parameter; And taking the updated standard motion track curve template and the updated standard execution duration parameter as operation nodes corresponding to the discrete operation instruction units, wherein the operation nodes comprise the updated standard motion track curve template and the updated standard execution duration parameter.
10. 10. A universal servo control system based on a specialty equipment application, comprising: A processor; a machine-readable storage medium storing machine-executable instructions for the processor; wherein the processor is configured to execute the generic servo control method based on a specialty equipment application of any of claims 1 to 9 via execution of the machine executable instructions.

Description

Universal servo system control method and system based on special equipment application Technical Field The invention relates to the technical field of special equipment control, in particular to a general servo system control method and system based on special equipment application. Background Conventional special equipment control methods often rely on a fixed program that is preset to drive the equipment to perform tasks. However, the application scenes of special equipment are complex and various, and the operation instructions of the equipment in different scenes have obvious differences and dynamics. For example, in some scenarios requiring fast response and flexible adjustment, such as aircraft attitude adjustment in the aerospace field, it is difficult for a pre-set fixed program to accommodate real-time changing operational requirements. Existing control methods generally simply execute instructions in sequence when processing complex sequences of operating instructions, and lack efficient analysis and utilization of timing relationships between operating instructions. Meanwhile, for real-time running state data of special equipment, such as information of the position, the speed, the load and the like of a driving component, the integrated processing cannot be fully combined with an operation instruction sequence, so that accurate track tracking and dynamic adjustment of the equipment are difficult to realize in the motion process, motion deviation is easy to occur, and the performance and the task execution effect of the equipment are affected. Disclosure of Invention In view of the above-mentioned problems, in combination with the first aspect of the present invention, an embodiment of the present invention provides a general servo control method based on a special equipment application, the method including: Receiving an operation instruction sequence corresponding to an application scene of special equipment, wherein the operation instruction sequence comprises a plurality of discrete operation instruction units which are arranged according to a time sequence, and each discrete operation instruction unit carries an operation type identifier and an operation parameter set; Constructing a work flow time sequence chart of the special equipment according to the operation instruction sequence, wherein the work flow time sequence chart comprises a plurality of work nodes and time sequence related edges connected with the work nodes, each work node corresponds to one discrete operation instruction unit, and the time sequence related edges are used for representing time interval parameters between adjacent discrete operation instruction units; acquiring a real-time running state data set of the special equipment, wherein the real-time running state data set comprises a current position parameter, a current speed parameter and a current load parameter of a driving component of the special equipment at the current moment; generating a predicted motion trail curve of the special equipment based on the workflow timing diagram and the real-time running state data set, wherein the predicted motion trail curve comprises expected position parameters and expected speed parameters of the special equipment at each time point in a future time window; And invoking a track tracking controller of the general servo system to perform deviation correction processing on the predicted motion track curve and the real-time running state data set, and generating a control signal sequence of the driving component, wherein the control signal sequence is used for driving the special equipment to execute motion according to the predicted motion track curve. In still another aspect, an embodiment of the present invention further provides a general-purpose servo system control system based on a special equipment application, including: the system comprises a processor, a machine-readable storage medium for storing machine-executable instructions of the processor, wherein the processor is configured to perform the generic servo control method based on the specialty equipment application via execution of the machine-executable instructions. In yet another aspect, an embodiment of the present invention further provides a computer program product including machine-executable instructions stored in a computer-readable storage medium, from which a processor of a special equipment application-based general purpose servo control system reads the machine-executable instructions, the processor executing the machine-executable instructions, such that the special equipment application-based general purpose servo control system performs the special equipment application-based general purpose servo control method described above. Based on the above aspects, by receiving an operation instruction sequence including a plurality of discrete operation instruction units which are arranged in time sequence and carry operation type identifiers and ope