Servo motor control method, system and device and storage medium

The invention discloses a servo motor control method, system and device and a storage medium, belongs to the technical field of servo motor control, and aims to solve the problem that when an application environment or a model of an existing servo motor changes, parameters need to be adjusted again to be used. The objective of the invention is to solve the technical problems of tedious process and low precision caused by manual experience-based debugging, and the method comprises the steps of obtaining state parameters a, b and c of a motor, establishing a current model # imgabs0 # of the motor according to the state parameters, establishing a system following error # imgabs1 #, establishing a control track # imgabs2 #, establishing a robust control law model # imgabs3 #, establishing an optimization function # imgabs4 #, and solving an optimal parameter k and # imgabs5 #. And controlling the operation of the motor according to the optimal parameter k, # imgabs6 # and a current model. 本发明公开了一种伺服电机控制方法、系统、设备及存