Multi-degree-of-freedom motion control system and method for high-precision magnetic suspension motor

Abstract

The invention relates to the technical field of magnetic suspension motor motion state control, and discloses a multi-degree-of-freedom motion control system and method for a high-precision magnetic suspension motor, and the system comprises a magnetic suspension motor motion judgment module, a magnetic suspension motor motion parameter analysis module, and a magnetic suspension motor motion control module. According to the motor axial distance parameter between the placing end of the magnetic suspension workbench and the processed object; a magnetic suspension motor operation state control instruction required by magnetic suspension workbench space position adjustment is intelligently matched by combining an intelligent identification algorithm with magnetic suspension motor operation state control instruction information stored based on big data according to a motor radial minimum plane included angle parameter of a magnetic suspension workbench placing end and a processed object; the multi-directional freedom-degree movement of the magnetic suspension motor is intelligently and accurately controlled based on the spatial position state of the processed object on the basis of the spatial distance parameter between the magnetic suspension workbench and the processed object.

Description

Technical Field

[0001] The present invention relates to the technical field of motion state control of magnetic levitation motors, and specifically to a multi-degree-of-freedom motion control system and method for high-precision magnetic levitation motors. Background Art

[0002] A magnetic levitation motor is a special motor composed of non-contact operation between a stator and a rotor; it is divided into an attraction type and a repulsion type according to the magnetic field force; it is divided into an independent control type of levitation force and driving force and a coupled control type of levitation force and driving force according to the degree of magnetic field coupling; magnetic levitation motors are widely used in wafer stage positioning of lithography machines, spindle drives of numerical control machine tools, and ultra-high-speed centrifuges, etc. Among them, the motion directions of magnetic levitation motors include linear motion in the axial direction and rotational motion in the axial direction. The existing control of the operating state of magnetic levitation motors mostly cannot achieve intelligent and precise control of the operating state of magnetic levitation motors based on the spatial position of the workpiece through setting programs, which reduces the accuracy and intelligence of the control of the operating state of magnetic levitation motors.

[0003] The Chinese invention patent with the publication number CN115236987B discloses an iterative learning robust control method for a magnetic levitation workbench based on error tracking. By converting the multi-degree-of-freedom control of the magnetic levitation planar motor into a single degree of freedom, constructing a nonlinear system model, combining the desired state trajectory, designing the desired error trajectory using an attenuation function, constructing a sliding mode surface, and designing an adaptive robust control term to ensure the stability of the magnetic levitation workbench, an iterative learning robust controller for the magnetic levitation workbench based on error tracking is constructed to improve the control accuracy of the magnetic levitation workbench. However, the above technical solutions still adjust the errors in the process of controlling the operating state of the magnetic levitation workbench and cannot achieve intelligent adjustment of the operating state of the magnetic levitation workbench based on the spatial position of the target object. Summary of the Invention

[0004] (1) Technical Problems to be Solved

[0005] To solve the problem that the existing control of the operating state of magnetic levitation motors mostly cannot achieve intelligent and precise control of the operating state of magnetic levitation motors based on the spatial position of the workpiece through setting programs, which reduces the accuracy and intelligence of the control of the operating state of magnetic levitation motors, the above purposes of accurately judging the operating actions of magnetic levitation motors, scientifically collecting the spatial positions and spatial entity combination models of magnetic levitation processing tables and workpieces, independently measuring the axial distance information between the placement end of the magnetic levitation processing table and the workpiece motor, scientifically constructing the spatial contact entity combination model of the magnetic levitation processing table and the workpiece, accurately measuring the minimum plane included angle information between the placement end of the magnetic levitation processing table and the workpiece motor in the radial direction, intelligently matching the control instruction information for the operating state of the magnetic levitation motor, and precisely controlling the multi-degree-of-freedom operating state of the magnetic levitation motor are achieved.

[0006] (2) Technical Solutions

[0007] The present invention is realized through the following technical solutions: A multi-degree-of-freedom motion control method for a high-precision maglev motor, the method comprising the following steps:

[0008] S1. Collect the characteristic image data of the workpiece.

[0009] S2. Based on the characteristic image data of the workpiece and the standard characteristic image data of the maglev motor's action on the workpiece, perform judgment processing on the operating actions of the maglev motor to generate maglev motor operating action judgment data. When it is determined as non-action, directly end the current maglev motor operating state control operation.

[0010] S3. When it is determined as action, collect the spatial position and spatial entity combination model data of the maglev workbench and the workpiece, and perform distance measurement processing on the distance along the axial direction of the maglev motor from the workpiece to the placement end on the surface of the maglev workbench to generate the axial distance data of the maglev workbench placement end and the workpiece.

[0011] S4. Based on the spatial position and spatial entity combination model data of the maglev workbench and the workpiece, perform mutual contact assembly processing on the spatial entity model of the maglev workbench and the spatial entity model of the workpiece to generate the spatial contact entity combination model data of the maglev workbench and the workpiece.

[0012] S5. According to the spatial contact entity combination model data of the maglev workbench and the workpiece, perform measurement processing on the minimum plane angle along the radial direction of the maglev motor on the workbench plane between the workpiece and the placement end on the surface of the maglev workbench to generate the minimum plane angle data of the maglev workbench placement end and the workpiece along the radial direction of the maglev motor.

[0013] S6. Based on the axial distance data of the maglev workbench placement end and the workpiece, the minimum plane angle data of the maglev workbench placement end and the workpiece along the radial direction of the maglev motor, and the maglev motor operating state control instruction data, perform matching processing on the maglev motor operating state control instructions required for adjusting the spatial position of the maglev workbench to generate the target maglev motor operating state control instruction data.

[0014] S7. Construct the maglev motor operating state control data and execute the maglev motor operating state control operation.

[0015] Preferably, the operation steps for collecting the characteristic image data of the workpiece are as follows:

[0016] S11. Through the shooting cloud lens, collect in real time the appearance characteristic image information of the workpiece waiting to be manufactured at a station on the maglev workbench controlled by the maglev motor, and generate the characteristic image data of the workpiece. , the magnetic levitation workbench includes a magnetic levitation motor and a workbench. The magnetic levitation motor and the workbench are coaxially and fixedly installed. The workbench includes a workbench surface main body and a placement end. The placement ends are evenly arranged on the surface of the workbench main body and are used to place workpieces to be processed. The operation types of the magnetic levitation workbench include telescopic motion and rotary motion.

[0017] Preferably, based on the workpiece feature image data and the magnetic levitation motor action standard workpiece feature image data, the operation action judgment process of the magnetic levitation motor is carried out to generate magnetic levitation motor operation action judgment data. When it is not in operation, the operation steps to directly end the current magnetic levitation motor operation state control operation are as follows:

[0018] S21. Establish a set of magnetic levitation motor action standard workpiece feature image data , ; where represents the th magnetic levitation motor action standard workpiece feature image data, represents the maximum value of the number of magnetic levitation motor action standard workpiece feature images; the magnetic levitation motor action standard workpiece feature image data represents the standard different type workpiece feature image information set for controlling the action response of the magnetic levitation motor of the magnetic levitation workbench;

[0019] S22. Use the SURF image matching algorithm to match the workpiece feature image data with the magnetic levitation motor action standard workpiece feature image data in the set of magnetic levitation motor action standard workpiece feature image data to perform workpiece image feature matching, and generate magnetic levitation motor operation action judgment data based on the workpiece image feature matching result ; ;

[0020] When and are successfully matched in workpiece image features, indicating that the workpiece meets the processing standard. At this time, the magnetic levitation motor needs to act to control the operation of the magnetic levitation workbench, and then output the magnetic levitation motor operation action judgment data as action;

[0021] When and are not successfully matched in workpiece image features, indicating that the workpiece does not meet the processing standard. At this time, the magnetic levitation motor does not need to act to control the operation of the magnetic levitation workbench, and then output the magnetic levitation motor operation action judgment data as not in operation, and directly end the current magnetic levitation motor operation state control operation.

[0022] Preferably, when the operation is performed, the spatial position and the spatial entity combination model data of the magnetic levitation workbench and the workpiece are collected, and the distance measurement processing is performed on the distance from the workpiece to the placement end of the surface of the magnetic levitation workbench along the axial direction of the magnetic levitation motor, and the operation steps for generating the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece are as follows:

[0023] S31. Online scan and collect the three-dimensional entity model of the magnetic levitation workbench and the workpiece, as well as the relative spatial position model between the workpiece and the magnetic levitation workbench through an industrial robot equipped with a three-dimensional laser scanner, and generate the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece ;

[0024] S32. Import the corresponding spatial three-dimensional entity model of the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece into a mechanical three-dimensional modeling software and run it to open. After the spatial three-dimensional entity model is opened and run in the mechanical three-dimensional modeling software, use the dimension measurement tool in the mechanical three-dimensional modeling software to measure the distance parameter from the lower surface of the workpiece entity model along the power axis direction of the magnetic levitation motor to the inner side of the placement end of the surface of the magnetic levitation workbench, and generate the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece , where the unit is meter; the mechanical three-dimensional modeling software includes any one of AutoCAD, SolidWorks, and CATIA.

[0025] Preferably, based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece, the mutual contact assembly processing of the spatial entity model of the magnetic levitation workbench and the spatial entity model of the workpiece is performed, and the operation steps for generating the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece are as follows:

[0026] S41. Use the position movement tool in the mechanical three-dimensional modeling software to move the workpiece entity model in the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece opened in step S32 along the lower surface along the power axis direction of the magnetic levitation motor as the operation surface, and move it along the power axis direction of the magnetic levitation motor until it comes into contact and cooperation with the surface of the magnetic levitation workbench, and generate the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece .

[0027] Preferably, according to the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece, the measurement processing of the minimum plane angle along the radial direction of the magnetic levitation motor on the workbench plane between the placement end of the workpiece and the surface of the magnetic levitation workbench is performed, and the operation steps for generating the minimum plane angle data of the motor in the radial direction between the placement end of the magnetic levitation workbench and the workpiece are as follows:

[0028] S51. Measure the combined model data of the spatial contact entities of the magnetic levitation workbench and the workpiece generated in step S41 through the dimension measurement tool in the mechanical 3D modeling software For the corresponding spatial 3D solid model, with the magnetic levitation workbench surface as the rotation reference plane, measure the two plane included angle parameters between the line connecting the center point of the workpiece along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane and the line connecting the center point of the placement end of the magnetic levitation workbench surface along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane, and select the minimum plane included angle parameter to generate the minimum plane included angle data of the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece through data identification , where The unit is degree, and the sum of the two plane included angle parameters is 360 degrees; It includes positive numbers, zero and negative numbers, When it is a positive number, it means that in the same plane reference system, the angle by which the workpiece deviates counterclockwise from the placement end of the magnetic levitation workbench surface in the rotation reference plane of the magnetic levitation workbench is ; When it is zero, it means that in the same plane reference system, the position of the workpiece in the rotation reference plane of the magnetic levitation workbench surface coincides with the placement end of the magnetic levitation workbench surface; When it is a negative number, it means that in the same plane reference system, the angle by which the workpiece deviates clockwise from the placement end of the magnetic levitation workbench surface in the rotation reference plane of the magnetic levitation workbench is , where represents the absolute value.

[0029] Preferably, the operation steps for generating the target magnetic levitation motor operating state control instruction data by performing matching processing on the magnetic levitation motor operating state control instruction data required for adjusting the spatial position of the magnetic levitation workbench based on the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece, the minimum plane included angle data of the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece, and the magnetic levitation motor operating state control instruction data are as follows:

[0030] S61. Establish a set of magnetic levitation motor operating state control instruction data , ; where represents the magnetic levitation motor operating state control instruction data corresponding to the th type of magnetic levitation motor control parameter combination type, Represents the maximum value of the number of types of magnetic levitation motor control parameter combinations. The magnetic levitation motor control parameter combination types represent index data types for searching magnetic levitation motor operating state control instructions mainly formed by combining the motor axial distance parameter between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane angle parameter of the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece. The magnetic levitation motor operating state control instruction data is magnetic levitation motor operating state control instruction information for controlling the position movement of the magnetic levitation workbench, which is set according to different magnetic levitation motor control parameter combination types.

[0031] S62. The motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane angle data of the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece are compared with the magnetic levitation motor operating state control instruction data in the magnetic levitation motor operating state control instruction data set to search for the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane angle data of the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece corresponding magnetic levitation motor operating state control instruction data . And through data identification, target magnetic levitation motor operating state control instruction data is generated, and the specific operation steps for generating the target magnetic levitation motor operating state control instruction data are as follows:

[0032] S621. In the search space of the magnetic levitation motor operating state control instruction data set , all the magnetic levitation motor operating state control instruction data are initialized as nectar sources . At the same time, the number of nectar sources is initialized to , the current iteration number t, the maximum iteration number T, and the initial position of the nectar source . The calculation formula for the initial position is as follows: is randomly generated in the search space of the magnetic levitation motor operating state control instruction data set , where represents a random number within, and respectively represent the magnetic levitation motor operating state control instruction data set The upper and lower bounds in the search space;

[0033] S622. The initial position Allocate employed bees. At the beginning of the search, the employed bees are in the search space of the magnetic levitation motor operating state control instruction data set around the initial position formed by all the magnetic levitation motor operating state control instruction data in the magnetic levitation motor operating state control instruction data set According to the formula search in the search space of the magnetic levitation motor operating state control instruction data set to generate the magnetic levitation motor operating state control instruction data that matches the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data between the placement end of the magnetic levitation workbench and the workpiece in the motor radial direction The new nectar source position ; where represents randomly selecting a nectar source that is not equal to i from among the nectar sources, represents the randomly selected nectar source in the search space of the magnetic levitation motor operating state control instruction data set the position, represents a random number in the range [-1, 1];

[0034] S623. Based on the fitness value of the new nectar source position determine the nectar sources to be retained according to the method of greedy selection, and retain the magnetic levitation motor operating state control instruction data that matches the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data between the placement end of the magnetic levitation workbench and the workpiece in the motor radial direction ;

[0035] S624. The employed bees share the nectar source information, and the follower bees search in the search space of the magnetic levitation motor operating state control instruction data set for the magnetic levitation motor operating state control instruction data according to the probability value. The follower bees search for the magnetic levitation motor operating state control instruction data that matches the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data between the placement end of the magnetic levitation workbench and the workpiece in the motor radial direction based on the search results shared by the employed bees ​​, calculate the probability that the nectar source found by the employed bee is followed according to the probability formula, and the probability calculation formula is as follows: , where represents the position of the new nectar source is the probability that the nectar source found by the employed bee is followed, represents that the follower bee follows the new nectar source position shared by the employed bee of the fitness value;

[0036] S625. The follower bee searches in the same way as the employed bee, and searches in the search space of the magnetic levitation motor operating state control instruction data set for the magnetic levitation motor operating state control instruction data that matches the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data in the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece and retains it; nectar source and retains it;

[0037] S626. During the random search process of the scout bee in the search space of the magnetic levitation motor operating state control instruction data set , if the nectar source position reaches the iteration threshold after t iterations of search and no better nectar source is found, this nectar source position will be abandoned, and the corresponding employed bee will become a scout bee; the calculation formula for the scout bee to randomly generate a new nectar source position in the search space is as follows: , where represents generating a new nectar source after iterations at the position in the search space of the magnetic levitation motor operating state control instruction data set , represents generating a new nectar source after t iterations at the position in the search space of the magnetic levitation motor operating state control instruction data set ;

[0038] S627. When the algorithm meets the maximum number of iterations T, output the magnetic levitation motor operating state control instruction data that matches the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data in the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece , and generate the target magnetic levitation motor operating state control instruction data through data identification , , the target magnetic levitation motor operation state control instruction data represents the optimal operation state control instruction information of the magnetic levitation motor for matching the spatial position parameters of the workpiece and the control magnetic levitation workbench.

[0039] Preferably, the operation steps of constructing the magnetic levitation motor operation state control data and performing the magnetic levitation motor operation state control operation are as follows:

[0040] S71. The target magnetic levitation motor operation state control instruction data Construct the magnetic levitation motor operation state control data through data identification ;

[0041] S72. The magnetic levitation workbench management end controls the magnetic levitation motor to perform the magnetic levitation motor operation state control operation according to the magnetic levitation motor operation state control data

[0042] A multi-degree-of-freedom motion control system for a high-precision magnetic levitation motor, used to implement the multi-degree-of-freedom motion control method for the high-precision magnetic levitation motor. The system includes a magnetic levitation motor action judgment module, a magnetic levitation motor action parameter analysis module, and a magnetic levitation motor action control module;

[0043] The magnetic levitation motor action judgment module includes a workpiece feature image information acquisition unit, a magnetic levitation motor action standard workpiece feature image information storage unit, and a magnetic levitation motor operation action judgment unit;

[0044] The workpiece feature image information acquisition unit collects workpiece feature image data by shooting a cloud lens; the magnetic levitation motor action standard workpiece feature image information storage unit is used to store magnetic levitation motor action standard workpiece feature image data; the magnetic levitation motor operation action judgment unit performs magnetic levitation motor operation action judgment processing based on the workpiece feature image data and the magnetic levitation motor action standard workpiece feature image data, and generates magnetic levitation motor operation action judgment data;

[0045] The magnetic levitation motor action parameter analysis module includes a magnetic levitation workbench and workpiece spatial position and spatial entity combination model acquisition unit, a magnetic levitation workbench placement end and workpiece motor axial distance measurement unit, a magnetic levitation workbench and workpiece spatial contact entity combination model construction unit, a magnetic levitation workbench placement end and workpiece motor radial minimum plane angle measurement unit, a magnetic levitation motor operation state control instruction storage unit, and a target magnetic levitation motor operation state control instruction matching unit;

[0046] The spatial position and spatial entity combination model acquisition unit of the magnetic levitation workbench and the workpiece collects the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece through an industrial robot carrying a three-dimensional laser scanner; the axial distance measurement unit of the placement end of the magnetic levitation workbench and the workpiece motor measures the distance from the workpiece to the placement end of the surface of the magnetic levitation workbench along the axial direction of the magnetic levitation motor based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece and combines mechanical three-dimensional modeling software, and generates the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece; the spatial contact entity combination model construction unit of the magnetic levitation workbench and the workpiece performs mutual contact assembly processing on the spatial entity model of the magnetic levitation workbench and the spatial entity model of the workpiece based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece and combines mechanical three-dimensional modeling software, and generates the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece; the minimum plane angle measurement unit of the radial direction of the motor between the placement end of the magnetic levitation workbench and the workpiece measures the minimum plane angle between the workpiece and the placement end of the surface of the magnetic levitation workbench in the plane of the workbench along the radial direction of the magnetic levitation motor based on the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece and combines mechanical three-dimensional modeling software, and generates the minimum plane angle data of the radial direction of the motor between the placement end of the magnetic levitation workbench and the workpiece; the storage unit of the magnetic levitation motor operation state control instruction stores the magnetic levitation motor operation state control instruction data; the target magnetic levitation motor operation state control instruction matching unit performs matching processing on the magnetic levitation motor operation state control instruction required for adjusting the spatial position of the magnetic levitation workbench based on the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece, the minimum plane angle data of the radial direction of the motor between the placement end of the magnetic levitation workbench and the workpiece and the magnetic levitation motor operation state control instruction data, and generates the target magnetic levitation motor operation state control instruction data;

[0047] The magnetic levitation motor action control module includes a magnetic levitation motor operation state control parameter construction unit and a magnetic levitation motor operation state control operation execution unit;

[0048] The magnetic levitation motor operation state control parameter construction unit constructs magnetic levitation motor operation state control data based on the target magnetic levitation motor operation state control instruction information; the magnetic levitation motor operation state control operation execution unit executes the magnetic levitation motor operation state control operation based on the magnetic levitation motor operation state control data and combines the magnetic levitation workbench management terminal.

[0049] (III) Beneficial effects

[0050] The present invention provides a multi-degree-of-freedom motion control system and method for a high-precision magnetic levitation motor. It has the following beneficial effects:

[0051] 1. Dynamically collect the characteristic image information of the workpiece by shooting cloud lenses, providing real data support for accurately controlling the operation of the magnetic levitation motor; based on the characteristic image information of the workpiece, combine intelligent search algorithms with the scientifically stored characteristic image information of the standard workpieces for the operation of the magnetic levitation motor to independently and efficiently judge the operation of the magnetic levitation motor, realize the intelligent control of the operation of the magnetic levitation motor, improve the intelligent management of the multi-degree-of-freedom motion control operation of the magnetic levitation motor, and enhance the intelligence of the magnetic levitation motor.

[0052] 2. Use an industrial robot equipped with a three-dimensional laser scanner to efficiently collect the three-dimensional spatial position state information between the magnetic levitation workbench and the workpiece, and combine mechanical three-dimensional modeling software to accurately measure the axial distance parameter between the placement end of the magnetic levitation workbench and the motor of the workpiece, realizing the intelligent control of the axial degree-of-freedom motion state of the magnetic levitation motor based on the axial distance parameter of the workpiece along the magnetic levitation motor; scientifically construct the three-dimensional spatial position state information of the reference plane between the magnetic levitation workbench and the workpiece based on numerical analysis, and combine mechanical three-dimensional modeling software to efficiently measure the minimum plane angle parameter between the placement end of the magnetic levitation workbench and the radial direction of the motor of the workpiece, realizing the intelligent control of the radial degree-of-freedom motion state of the magnetic levitation motor based on the radial angle parameter of the workpiece along the magnetic levitation motor; based on the axial distance parameter between the placement end of the magnetic levitation workbench and the motor of the workpiece and the minimum plane angle parameter between the placement end of the magnetic levitation workbench and the radial direction of the motor of the workpiece, combine intelligent recognition algorithms with the magnetic levitation motor operation state control instruction information stored in the big data to intelligently match the magnetic levitation motor operation state control instructions required for adjusting the spatial position of the magnetic levitation workbench, realizing the intelligent control of the telescopic motion and rotational motion of the magnetic levitation motor along the axial direction based on the spatial distance parameter and spatial angle parameter between the magnetic levitation workbench and the workpiece, and realizing the intelligent and accurate control of the multi-directional degree-of-freedom motion of the magnetic levitation motor based on the spatial position state of the workpiece, improving the applicability and control accuracy of the magnetic levitation motor.

[0053] 3. Based on the magnetic levitation motor operation state control instruction information, scientifically construct the magnetic levitation motor operation state control information through data processing, realizing the timely and accurate collection of the multi-degree-of-freedom control information of the magnetic levitation motor and improving the control efficiency of the operation of the magnetic levitation motor; based on the magnetic levitation motor operation state control information, the magnetic levitation workbench management terminal independently and accurately executes the magnetic levitation motor operation state control operation, improving the accuracy and quality of the multi-degree-of-freedom control of the magnetic levitation motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 It is a schematic diagram of the modules of the multi-degree-of-freedom motion control system for a high-precision magnetic levitation motor provided by the present invention;

[0055] Figure 2 It is a flowchart of the multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor provided by the present invention. Detailed implementation manners

[0056] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0057] The embodiments of the multi-degree-of-freedom motion control system and method for a high-precision magnetic levitation motor are as follows:

[0058] Embodiment 1:

[0059] Please refer to Figure 1 - Figure 2 , the multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor, and the method includes the following steps:

[0060] S1. Collect the characteristic image data of the workpiece;

[0061] S2. Based on the characteristic image data of the workpiece and the characteristic image data of the standard workpiece for the operation of the magnetic levitation motor, perform judgment processing on the operation of the magnetic levitation motor to generate magnetic levitation motor operation judgment data. When it is non-operation, directly end the control operation of the current magnetic levitation motor operation state;

[0062] S3. When it is operation, collect the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece, and perform distance measurement processing on the distance along the axial direction of the magnetic levitation motor from the workpiece to the placement end on the surface of the magnetic levitation workbench to generate the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece;

[0063] S4. Based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece, perform mutual contact and assembly processing on the spatial entity model of the magnetic levitation workbench and the spatial entity model of the workpiece to generate spatial contact entity combination model data of the magnetic levitation workbench and the workpiece;

[0064] S5. According to the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece, perform measurement processing on the minimum plane angle along the radial direction of the magnetic levitation motor on the plane of the workbench between the workpiece and the placement end on the surface of the magnetic levitation workbench to generate the minimum plane angle data of the motor between the placement end of the magnetic levitation workbench and the workpiece;

[0065] S6. Based on the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece, the minimum plane angle data of the motor between the placement end of the magnetic levitation workbench and the workpiece, and the magnetic levitation motor operation state control instruction data, perform matching processing on the magnetic levitation motor operation state control instructions required for adjusting the spatial position of the magnetic levitation workbench to generate target magnetic levitation motor operation state control instruction data;

[0066] S7. Construct the operating state control data of the magnetic levitation motor and perform the operating state control operation of the magnetic levitation motor.

[0067] Further, please refer to Figure 1 - Figure 2 , and the operation steps for collecting the characteristic image data of the workpiece are as follows:

[0068] S11. Real-time collect the appearance characteristic image information of the workpiece waiting to be manufactured at a work station on the magnetic levitation workbench controlled by the magnetic levitation motor through a shooting cloud lens, and generate the workpiece characteristic image data , the magnetic levitation workbench includes a magnetic levitation motor and a workbench, the magnetic levitation motor and the workbench are coaxially fixedly installed, the workbench includes a workbench surface main body and a placement end, the placement ends are uniformly arranged on the surface of the workbench main body and are used for placing workpieces, and the operation types of the magnetic levitation workbench include telescopic movement and rotary movement.

[0069] Based on the workpiece characteristic image data and the standard workpiece characteristic image data of the magnetic levitation motor action, perform the operation action judgment process of the magnetic levitation motor to generate the magnetic levitation motor operation action judgment data. When it is non-action, the operation steps for directly ending the current magnetic levitation motor operation state control operation are as follows:

[0070] S21. Establish a set of standard workpiece characteristic image data of the magnetic levitation motor action , ; where represents the th standard workpiece characteristic image data of the magnetic levitation motor action, represents the maximum value of the number of standard workpiece characteristic image data of the magnetic levitation motor action; the standard workpiece characteristic image data of the magnetic levitation motor action represents the standard different type workpiece characteristic image information set for controlling the action response of the magnetic levitation motor of the magnetic levitation workbench;

[0071] S22. Use the SURF image matching algorithm to match the workpiece characteristic image data with the standard workpiece characteristic image data of the magnetic levitation motor action in the set to perform workpiece image feature matching, and generate the magnetic levitation motor operation action judgment data according to the workpiece image feature matching result; ;

[0072] When and are successfully matched in workpiece image features, it means that the workpiece meets the processing standard. At this time, the magnetic levitation motor needs to perform an action response to control the magnetic levitation workbench to work, and then output the magnetic levitation motor operation action judgment data is an action;

[0073] When is not successfully matched with the processed object image features, indicating that the processed object does not meet the processing standards. At this time, the magnetic levitation motor does not require action response to control the magnetic levitation workbench, and then outputs the magnetic levitation motor operation action judgment data is no action, and directly ends the current magnetic levitation motor operation state control operation.

[0074] Through the processed object feature image information acquisition unit, the processed object feature image information is dynamically collected by shooting a cloud lens, providing real data support for accurately controlling the operation action of the magnetic levitation motor; the magnetic levitation motor operation action judgment unit, based on the processed object feature image information, combines intelligent search algorithms with the scientifically stored magnetic levitation motor action standard processed object feature image information to independently and efficiently judge the operation action of the magnetic levitation motor, realizing the intelligent control of the magnetic levitation motor operation action, improving the intelligent management of the multi-degree-of-freedom motion control operation of the magnetic levitation motor, and improving the intelligence of the magnetic levitation motor.

[0075] Further, please refer to Figure 1 - Figure 2 , when it is an action, collect the spatial position and spatial entity combination model data of the magnetic levitation workbench and the processed object, and perform distance measurement processing on the distance from the processed object to the placement end of the magnetic levitation workbench surface along the axial direction of the magnetic levitation motor. The operation steps for generating the motor axial distance data between the placement end of the magnetic levitation workbench and the processed object are as follows:

[0076] S31. Online scan and collect the three-dimensional entity models of the magnetic levitation workbench and the processed object, as well as the relative spatial position model between the processed object and the magnetic levitation workbench through an industrial robot equipped with a three-dimensional laser scanner, and generate the spatial position and spatial entity combination model data of the magnetic levitation workbench and the processed object ;

[0077] S32. Import the spatial three-dimensional entity model corresponding to the spatial position and spatial entity combination model data of the magnetic levitation workbench and the processed object into the mechanical three-dimensional modeling software to run and open. After the spatial three-dimensional entity model runs and opens in the mechanical three-dimensional modeling software, use the dimension measurement tool in the mechanical three-dimensional modeling software to measure the distance parameter from the lower surface of the processed object entity model along the power axis direction of the magnetic levitation motor to the inner side of the placement end of the magnetic levitation workbench surface, and generate the motor axial distance data between the placement end of the magnetic levitation workbench and the processed object , where the unit is meters; the mechanical three-dimensional modeling software includes any one of AutoCAD, SolidWorks, and CATIA.

[0078] Based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece, the operation steps for generating the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece through the mutual contact and assembly processing of the spatial entity model of the magnetic levitation workbench and the spatial entity model of the workpiece are as follows:

[0079] S41. Use the position movement tool in the mechanical 3D modeling software to move the workpiece entity model in the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece opened in step S32 along the lower surface in the direction of the magnetic levitation motor power axis as the operation surface, and move it along the direction of the magnetic levitation motor power axis to contact and fit with the surface of the magnetic levitation workbench, and generate the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece 。 。

[0080] The operation steps for generating the minimum plane angle data between the placement end of the workpiece and the magnetic levitation workbench on the workbench plane along the radial direction of the magnetic levitation motor according to the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece are as follows:

[0081] S51. Use the dimension measurement tool in the mechanical 3D modeling software to measure the spatial 3D entity model corresponding to the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece generated in step S41. Taking the magnetic levitation workbench surface as the rotation reference plane, measure the two plane angle parameters between the connection line from the center point of the workpiece along the radius direction of the magnetic levitation motor power axis to the center of the rotation reference plane and the connection line from the center point of the placement end of the magnetic levitation workbench surface along the radius direction of the magnetic levitation motor power axis to the center of the rotation reference plane, and select the minimum plane angle parameter and generate the minimum plane angle data between the placement end of the magnetic levitation workbench and the workpiece along the radial direction of the magnetic levitation motor through data identification ,where the unit is degree, and the sum of the two plane angle parameters is 360 degrees; including positive numbers, zero and negative numbers, when it is a positive number, it means that in the same plane reference system, the angle by which the workpiece deviates counterclockwise from the placement end of the magnetic levitation workbench surface in the rotation reference plane of the magnetic levitation workbench surface is ; ; when it is zero, it means that in the same plane reference system, the position of the workpiece in the rotation reference plane of the magnetic levitation workbench surface coincides with the placement end of the magnetic levitation workbench surface; when it is a negative number, it means that in the same plane reference system, the angle by which the workpiece deviates clockwise from the placement end of the magnetic levitation workbench surface in the rotation reference plane of the magnetic levitation workbench surface is ,where represents the absolute value.

[0082] According to the motor axial distance data between the magnetic levitation worktable placement end and the workpiece, the motor radial minimum plane angle data between the magnetic levitation worktable placement end and the workpiece, and the magnetic levitation motor operation state control instruction data, the magnetic levitation motor operation state control instruction matching processing required for the magnetic levitation worktable spatial position adjustment is performed, and the operation steps for generating the target magnetic levitation motor operation state control instruction data are as follows:

[0083] S61. Establishing a magnetic levitation motor operation state control instruction data set , ;in Indicates The magnetic levitation motor operation state control instruction data corresponding to the magnetic levitation motor control parameter combination type, Indicates the maximum value of the number of magnetic levitation motor control parameter combination types, the magnetic levitation motor control parameter combination type indicates an index data type mainly formed by combining the motor axial distance parameter between the magnetic levitation worktable placement end and the workpiece, and the motor radial minimum plane angle parameter between the magnetic levitation worktable placement end and the workpiece, which is used to search for the magnetic levitation motor operation state control instruction; the magnetic levitation motor operation state control instruction data is the magnetic levitation motor operation state control instruction information used to control the magnetic levitation worktable position action according to different magnetic levitation motor control parameter combination type standards;

[0084] S62, the motor axial distance data between the magnetic suspension worktable placement end and the workpiece , the minimum radial plane angle data between the magnetic suspension worktable placement end and the motor of the workpiece And the magnetic suspension motor running state control instruction data collection The control instruction data of the running state of the magnetic suspension motor Compare the motor axial distance between the magnetic suspension workbench and the workpiece, and the motor radial minimum plane angle parameters, and search for the motor axial distance data between the magnetic suspension workbench and the workpiece , the minimum radial plane angle data between the magnetic suspension worktable placement end and the motor of the workpiece Corresponding magnetic suspension motor operation status control instruction data , and generate the target magnetic suspension motor operation state control instruction data through data identification , execute and generate the target magnetic levitation motor operation state control instruction data The specific steps are as follows:

[0085] S621, control instruction data collection in the running state of the magnetic levitation motor All the magnetic levitation motor operation state control instruction data are collected in the search space Initialize as a honey source ; Meanwhile, initialize the nectar sources The quantity is , the current iteration number t, the maximum iteration number T, and the initial positions of the nectar sources , the initial positions The calculation formula is as follows: Randomly generated within the search space of the magnetic levitation motor operating state control instruction data set , where represents a random number within and respectively represent the upper and lower bounds in the search space of the magnetic levitation motor operating state control instruction data set ;

[0086] S622. Assign employed bees to the initial positions . At the beginning of the search, the employed bees search around the initial positions formed by all the magnetic levitation motor operating state control instructions in the search space of the magnetic levitation motor operating state control instruction data set , and according to the formula , search and generate in the search space of the magnetic levitation motor operating state control instruction data set magnetic levitation motor operating state control instruction data matching the axial distance data between the placement end of the magnetic levitation workbench and the motor of the workpiece and the minimum plane angle data in the radial direction of the motor of the workpiece new nectar source positions ; where represents randomly selecting a nectar source not equal to i from nectar sources, represents the randomly selected nectar source in the search space of the magnetic levitation motor operating state control instruction data set position, represents a random number in the range of [-1, 1];

[0087] S623. Determine the retained nectar sources according to the fitness value of the new nectar source positions , and retain the magnetic levitation motor operating state control instruction data matching the axial distance data between the placement end of the magnetic levitation workbench and the motor of the workpiece and the minimum plane angle data in the radial direction of the motor of the workpiece;

[0088] ​S624. The employed bees share the nectar source information, and the follower bees search for the magnetic levitation motor operating state control instruction data in the search space of the magnetic levitation motor operating state control instruction data set according to the probability value. The follower bees search for the magnetic levitation motor operating state control instruction data based on the search results shared by the employed bees, and the follower bees search for the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data between the placement end of the magnetic levitation workbench and the workpiece in the motor radial direction to match the magnetic levitation motor operating state control instruction data . Calculate the probability that the nectar source found by the employed bees is followed according to the probability formula. The probability calculation formula is as follows: , where represents the position of the new nectar source being found and followed by the employed bees, represents the fitness value of the new nectar source position shared by the employed bees by the follower bees;

[0089] S625. The follower bees search in the same way as the employed bees, and search for the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece and the minimum plane included angle data between the placement end of the magnetic levitation workbench and the workpiece in the motor radial direction in the search space of the magnetic levitation motor operating state control instruction data set to match the magnetic levitation motor operating state control instruction data for the nectar source and retain it;

[0090] S626. During the random search process of the scout bees in the search space of the magnetic levitation motor operating state control instruction data set , if the nectar source position does not find a better nectar source after t iterations of search reaching the iteration threshold , this nectar source position will be abandoned, and the corresponding employed bee will become a scout bee; the calculation formula for the scout bee to randomly generate a new nectar source position in the search space is as follows: , where represents generating a new nectar source after t iterations at the position in the search space of the magnetic levitation motor operating state control instruction data set , represents generating a new nectar source after t iterations at the position in the search space of the magnetic levitation motor operating state control instruction data set ;

[0091] ​S627. When the algorithm meets the maximum number of iterations T, output the data of the axial distance between the placement end of the magnetic levitation workbench and the motor of the workpiece , the data of the minimum plane angle between the radial direction of the motor of the placement end of the magnetic levitation workbench and the workpiece The matching magnetic levitation motor operating state control instruction data , and generate the target magnetic levitation motor operating state control instruction data through data identification . The target magnetic levitation motor operating state control instruction data represents the optimal operating state control instruction information of the magnetic levitation motor for matching the spatial position parameters of the workpiece and the controlled magnetic levitation workbench.

[0092] Through the mutual cooperation of the spatial position and spatial entity combination model acquisition unit of the magnetic levitation workbench and the workpiece, and the axial distance measurement unit of the motor of the placement end of the magnetic levitation workbench and the workpiece, use an industrial robot equipped with a 3D laser scanner to efficiently collect the three-dimensional spatial position state information between the magnetic levitation workbench and the workpiece, and combine mechanical 3D modeling software to accurately measure the axial distance parameter of the motor of the placement end of the magnetic levitation workbench and the workpiece, so as to realize the intelligent control of the axial degree of freedom motion state of the magnetic levitation motor based on the axial distance parameter of the workpiece along the magnetic levitation motor; the spatial contact entity combination model construction unit of the magnetic levitation workbench and the workpiece and the minimum plane angle measurement unit of the motor of the placement end of the magnetic levitation workbench and the workpiece cooperate with each other to construct the three-dimensional spatial position state information of the reference plane between the magnetic levitation workbench and the workpiece based on numerical analysis science, and combine mechanical 3D modeling software to efficiently measure the minimum plane angle parameter of the motor of the placement end of the magnetic levitation workbench and the workpiece in the radial direction, so as to realize the intelligent control of the radial degree of freedom motion state of the magnetic levitation motor based on the radial angle parameter of the workpiece along the magnetic levitation motor; the target magnetic levitation motor operating state control instruction matching unit, based on the axial distance parameter of the motor of the placement end of the magnetic levitation workbench and the workpiece, the minimum plane angle parameter of the motor of the placement end of the magnetic levitation workbench and the workpiece in the radial direction, combines the intelligent recognition algorithm and the magnetic levitation motor operating state control instruction information stored in the big data to perform intelligent matching of the magnetic levitation motor operating state control instructions required for adjusting the spatial position of the magnetic levitation workbench, so as to realize the intelligent control of the telescopic motion and rotary motion of the magnetic levitation motor along the axial direction based on the spatial distance parameter and spatial angle parameter between the magnetic levitation workbench and the workpiece, and realize the intelligent and precise control of the multi-directional degree of freedom motion of the magnetic levitation motor based on the spatial position state of the workpiece, improving the applicability and control accuracy of the magnetic levitation motor.

[0093] Furthermore, please refer to Figure 1 - Figure 2 , the operation steps for constructing the magnetic levitation motor operating state control data and performing the magnetic levitation motor operating state control operation are as follows:

[0094] S71. The target magnetic levitation motor operating state control instruction data Construct the operation state control data of the magnetic levitation motor through data identification ;

[0095] S72. The management end of the magnetic levitation workbench controls the magnetic levitation motor to perform the operation state control operation of the magnetic levitation motor according to the operation state control data of the magnetic levitation motor Control the magnetic levitation motor to perform the operation state control operation of the magnetic levitation motor.

[0096] Through the mutual cooperation of the magnetic levitation motor operation state control parameter construction unit and the magnetic levitation motor operation state control operation execution unit, based on the target magnetic levitation motor operation state control instruction information and combined with data processing science, construct the magnetic levitation motor operation state control information, realize the timely and accurate acquisition of the multi-degree-of-freedom control information of the magnetic levitation motor, and improve the control efficiency of the operation action of the magnetic levitation motor; the magnetic levitation motor operation state control operation execution unit accurately executes the magnetic levitation motor operation state control operation independently according to the magnetic levitation motor operation state control information combined with the magnetic levitation workbench management end, and improves the accuracy and quality of the multi-degree-of-freedom control of the magnetic levitation motor.

[0097] Embodiment 2:

[0098] Please refer to Figure 1 - Figure 2 , a multi-degree-of-freedom motion control system for a high-precision magnetic levitation motor, used to implement a multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor. The system includes a magnetic levitation motor action judgment module, a magnetic levitation motor action parameter analysis module, and a magnetic levitation motor action control module;

[0099] The magnetic levitation motor action judgment module includes a workpiece feature image information acquisition unit, a magnetic levitation motor action standard workpiece feature image information storage unit, and a magnetic levitation motor operation action judgment unit;

[0100] The workpiece feature image information acquisition unit acquires workpiece feature image data by shooting a cloud lens; the magnetic levitation motor action standard workpiece feature image information storage unit is used to store magnetic levitation motor action standard workpiece feature image data; the magnetic levitation motor operation action judgment unit performs magnetic levitation motor operation action judgment processing based on the workpiece feature image data and the magnetic levitation motor action standard workpiece feature image data, and generates magnetic levitation motor operation action judgment data;

[0101] The magnetic levitation motor action parameter analysis module includes a magnetic levitation workbench and workpiece spatial position and spatial entity combination model acquisition unit, a magnetic levitation workbench placement end and workpiece motor axial distance measurement unit, a magnetic levitation workbench and workpiece spatial contact entity combination model construction unit, a magnetic levitation workbench placement end and workpiece motor radial minimum plane angle measurement unit, a magnetic levitation motor operation state control instruction storage unit, and a target magnetic levitation motor operation state control instruction matching unit;

[0102] The spatial position and spatial entity combination model acquisition unit of the magnetic levitation workbench and the workpiece collects the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece through an industrial robot carrying a three-dimensional laser scanner; the axial distance measurement unit of the placement end of the magnetic levitation workbench and the workpiece motor measures the distance along the axial direction of the magnetic levitation motor from the workpiece to the placement end of the surface of the magnetic levitation workbench based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece and combines mechanical three-dimensional modeling software, and generates the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece; the spatial contact entity combination model construction unit of the magnetic levitation workbench and the workpiece performs mutual contact assembly processing on the spatial entity model of the magnetic levitation workbench and the spatial entity model of the workpiece based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece and combines mechanical three-dimensional modeling software, and generates the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece; the minimum plane angle measurement unit of the radial direction of the motor between the placement end of the magnetic levitation workbench and the workpiece measures the minimum plane angle along the radial direction of the magnetic levitation motor on the workbench plane between the workpiece and the placement end of the surface of the magnetic levitation workbench according to the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece and combines mechanical three-dimensional modeling software, and generates the minimum plane angle data of the radial direction of the motor between the placement end of the magnetic levitation workbench and the workpiece; the storage unit of the operation state control instruction of the magnetic levitation motor is used to store the operation state control instruction data of the magnetic levitation motor; the target magnetic levitation motor operation state control instruction matching unit performs matching processing on the operation state control instruction of the magnetic levitation motor required for adjusting the spatial position of the magnetic levitation workbench based on the axial distance data of the motor between the placement end of the magnetic levitation workbench and the workpiece, the minimum plane angle data of the radial direction of the motor between the placement end of the magnetic levitation workbench and the workpiece, and the operation state control instruction data of the magnetic levitation motor, and generates the target magnetic levitation motor operation state control instruction data;

[0103] The magnetic levitation motor action control module includes a magnetic levitation motor operation state control parameter construction unit and a magnetic levitation motor operation state control operation execution unit;

[0104] The magnetic levitation motor operation state control parameter construction unit constructs the magnetic levitation motor operation state control data based on the target magnetic levitation motor operation state control instruction information; the magnetic levitation motor operation state control operation execution unit executes the magnetic levitation motor operation state control operation according to the magnetic levitation motor operation state control data in combination with the magnetic levitation workbench management terminal.

[0105] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor, characterized in that, The method includes the following steps: S1. Collect the characteristic image data of the workpiece; S2. Perform the operation action judgment process of the magnetic levitation motor to generate the magnetic levitation motor operation action judgment data. When it is in the non-operation state, directly end the current magnetic levitation motor operation state control operation; S3. When it is in the operation state, collect the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece, and perform the distance measurement process along the axial direction of the magnetic levitation motor from the workpiece to the placement end on the surface of the magnetic levitation workbench to generate the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece; S4. Perform the mutual contact and assembly process of the spatial entity model of the magnetic levitation workbench and the spatial entity model of the workpiece to generate the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece; S5. Perform the measurement process of the minimum plane angle along the radial direction of the magnetic levitation motor on the workbench plane between the workpiece and the placement end on the surface of the magnetic levitation workbench to generate the motor radial minimum plane angle data between the placement end of the magnetic levitation workbench and the workpiece; S6. Perform the matching process of the magnetic levitation motor operation state control instruction required for the spatial position adjustment of the magnetic levitation workbench to generate the target magnetic levitation motor operation state control instruction data; S7. Construct the magnetic levitation motor operation state control data and execute the magnetic levitation motor operation state control operation.

2. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 1, wherein: The S1 includes the following steps: S11. Real-time collect the image information of the appearance features of the workpiece waiting to be manufactured at a work station on the magnetic levitation workbench controlled by the magnetic levitation motor through shooting the cloud lens, and generate workpiece feature image data .

3. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 2, wherein: The S2 includes the following steps: S21. Establish a characteristic image data set of the standard workpiece for the operation of the magnetic levitation motor , wherein represents the th characteristic image data of the standard workpiece for the operation of the magnetic levitation motor, represents the maximum value of the number of characteristic images of the standard workpiece for the operation of the magnetic levitation motor; S22. Use the SURF image matching algorithm to match the with the described in the to perform workpiece image feature matching, and generate magnetic levitation motor operation action judgment data based on the workpiece image feature matching result ; When matches successfully with the workpiece image features, output the as an action; When and the feature matching of the workpiece image fails, output the as inoperative and directly end the current operation state control task of the maglev motor.

4. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 3, characterized in that: The S3 includes the following steps: S31. Use an industrial robot to carry a three-dimensional laser scanner to online scan and collect the three-dimensional solid models of the magnetic levitation workbench and the workpiece, as well as the relative spatial position model between the workpiece and the magnetic levitation workbench, and generate the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece ; S32. Import the corresponding three-dimensional spatial entity model into a mechanical three-dimensional modeling software and run it to open. After the three-dimensional spatial entity model is opened in the mechanical three-dimensional modeling software, use the dimension measurement tool in the mechanical three-dimensional modeling software to measure the distance parameter from the lower surface of the workpiece entity model along the direction of the magnetic levitation motor's power axis to the inner side of the placement end of the magnetic levitation workbench surface, and generate the motor axial distance data between the placement end of the magnetic levitation workbench and the workpiece The unit is meters. , where The unit is meters.

5. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 4, characterized in that: The S4 includes the following steps: S41. Use the position movement tool in the mechanical 3D modeling software to move the workpiece solid model opened in step S32 along the lower surface in the direction of the magnetic levitation motor power shaft as the operation surface, and move it along the direction of the magnetic levitation motor power shaft to contact and cooperate with the surface of the magnetic levitation workbench, and generate the combined model data of the spatial contact between the magnetic levitation workbench and the workpiece .​ 6. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 5, characterized in that: The S5 includes the following steps: S51. Using the dimension measurement tool in the mechanical 3D modeling software to measure the corresponding 3D solid model in space. Taking the magnetic levitation workbench surface as the rotation reference plane, measure the two plane angle parameters between the line connecting the center point of the workpiece along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane, and the line connecting the center point of the placement end of the magnetic levitation workbench surface along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane. Select the minimum plane angle parameter and generate the minimum plane angle data of the motor radial direction between the placement end of the magnetic levitation workbench and the workpiece through data identification .

7. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 6, characterized in that: The S6 includes the following steps: S61. Establish a data set of control instructions for the operating state of the maglev motor , ; where represents the control instruction data for the operating state of the maglev motor corresponding to the th type of maglev motor control parameter combination, represents the maximum value of the number of maglev motor control parameter combination types; S62. Place the , the and the described in for comparison of the axial distance between the motor of the magnetic levitation workbench placement end and the workpiece and the minimum plane angle parameter of the motor radial direction, search for the , the corresponding to the , and generate the target magnetic levitation motor operating state control instruction data through data identification, and execute the specific operation steps for generating the target magnetic levitation motor operating state control instruction data as follows: S621. Initialize all the in the search space of as nectar sources ; meanwhile, initialize the number of nectar sources as , the current iteration number t, the maximum iteration number T, and the initial position of the nectar source ; S622 is the initial position Allocate employed bees. At the beginning stage of the search, the employed bees are in the search space, around the initial position formed by all of the search for and generate a new nectar source position matching the and the in the search space of the ; ; S623. According to the fitness value of the new nectar source location , determine the nectar sources to be retained according to the method of greedy selection, and retain the ones that match the , the ; ; S624. The employed bees share the nectar source information, and the follower bees search for the in the search space according to the probability value, and the follower bees search for the based on the search results shared by the employed bees, and the follower bees search out the and the matched , and calculate the probability that the nectar source found by the employed bees is followed according to the probability formula; S625. The follower bees search in the same way as the employed bees and search for the nectar source that matches the in the search space according to the greedy selection method and retain the and the that match the nectar source ; S626. During the random search process of the scout bee in the search space of , if the nectar source location reaches the iteration threshold after t iterations of search and no better nectar source is found, the nectar source location will be abandoned, and the employed bee corresponding to it will become a scout bee; S627. When the algorithm meets the maximum number of iterations T, output the that matches, and generate the target magnetic levitation motor operating state control instruction data through data identification .

8. The multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor according to claim 7, characterized in that: The S7 includes the following steps: S71. Construct the operation state control data of the maglev motor by using the data identification; ​ S72. The management terminal of the maglev workbench controls the maglev motor to perform the maglev motor operation state control operation according to the control the maglev motor to perform the maglev motor operation state control operation.

9. A multi-degree-of-freedom motion control system for a high-precision magnetic levitation motor, which is used to implement the multi-degree-of-freedom motion control method for a high-precision magnetic levitation motor described in any one of claims 1-8, characterized in that: The system includes a magnetic levitation motor action judgment module, a magnetic levitation motor action parameter analysis module, and a magnetic levitation motor action control module.

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