Multi-degree-of-freedom motion control system and method for magnetic levitation motor

Abstract

The present invention relates to the technical field of magnetic levitation motor motion state control, and discloses a multi-degree-of-freedom motion control system and method for a magnetic levitation motor. The system comprises a magnetic levitation motor action judgment module, a magnetic levitation motor action parameter analysis module, and a magnetic levitation motor action control module. The system intelligently matches magnetic levitation motor operation state control instructions required for spatial position adjustment of the magnetic levitation workbench based on an axial distance parameter of a magnetic levitation workbench placement end and a workpiece, a radial minimum plane angle parameter of a magnetic levitation workbench placement end and the workpiece, combined with an intelligent recognition algorithm and magnetic levitation motor operation state control instruction information stored based on big data, thereby realizing intelligent and precise control of the multi-directional freedom motion of the magnetic levitation motor based on the spatial distance parameter between the magnetic levitation workbench and the workpiece and the spatial position state of the workpiece.

Description

Technical Field

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

[0002] A magnetic levitation motor is a special motor consisting of a stator and a mover that operate without contact with each other. According to the force of the magnetic field, it is divided into an attraction type and a repulsion type. According to the degree of magnetic field coupling, it is divided into an independent control type of the levitation force and the driving force and a coupling control type of the levitation force and the driving force. Magnetic levitation motors are widely used in lithography machine wafer table positioning, CNC machine tool spindle drive, and ultra-high-speed centrifuges. The movement directions of magnetic levitation motors include axial linear motion and axial rotational motion. The existing magnetic levitation motor operation status control is mostly through set program control, which cannot achieve intelligent and precise control of the magnetic levitation motor operation status based on the spatial position of the workpiece, reducing the accuracy and intelligence of the magnetic levitation motor operation status control.

[0003] The Chinese invention patent with announcement number CN115236987B discloses an iterative learning robust control method for a magnetic levitation worktable based on error tracking. By converting the multi-freedom control of a magnetic levitation planar motor into a single degree of freedom, a nonlinear system model is constructed. Combined with the desired state trajectory, the desired error trajectory is designed using an attenuation function, and a sliding surface is constructed. Adaptive robust control items are designed to ensure the stability of the magnetic levitation worktable, and an iterative learning robust controller for the magnetic levitation worktable based on error tracking is constructed to improve the control accuracy of the magnetic levitation worktable. However, the above technical solution still adjusts the error of the magnetic levitation worktable's operating state control process, and cannot realize intelligent adjustment of the magnetic levitation worktable's operating state based on the spatial position of the target object. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In order to solve the problem that the existing magnetic levitation motor operation state control is mostly controlled by setting programs and cannot realize intelligent and precise control of the magnetic levitation motor operation state based on the spatial position of the workpiece, which reduces the accuracy and intelligence of the magnetic levitation motor operation state control, the above purposes are achieved: accurately judging the operation action of the magnetic levitation motor, scientifically collecting the spatial position and spatial entity combination model of the magnetic levitation processing table and the workpiece, autonomously 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 radial minimum plane angle information between the placement end of the magnetic levitation processing table and the workpiece motor, intelligently matching the magnetic levitation motor operation state control instruction information, and precisely controlling the multi-degree-of-freedom operation state of the magnetic levitation motor.

[0006] (2) Technical solution

[0007] The present invention is implemented by the following technical solution: a multi-degree-of-freedom motion control method for a magnetic levitation motor, the method comprising the following steps:

[0008] S1, collecting feature image data of the processed object;

[0009] S2. Performing operation judgment processing on the magnetic levitation motor based on the workpiece characteristic image data and the standard workpiece characteristic image data of the magnetic levitation motor operation, generating magnetic levitation motor operation judgment data, and directly ending the magnetic levitation motor operation state control operation when the magnetic levitation motor is not operating;

[0010] S3, when in action, collects the spatial position data of the magnetic levitation worktable and the workpiece, as well as the spatial entity combination model data, and measures the distance from the workpiece to the placement end of the magnetic levitation worktable surface along the axial direction of the magnetic levitation motor to generate the distance data of the motor axial direction between the placement end of the magnetic levitation worktable and the workpiece;

[0011] S4, performing contact assembly processing between the magnetic levitation workbench and the workpiece spatial entity model based on the spatial positions of the magnetic levitation workbench and the workpiece and the spatial entity combination model data, to generate spatial contact entity combination model data between the magnetic levitation workbench and the workpiece;

[0012] S5. Measuring and processing the minimum plane angle between the workpiece and the placement end of the magnetic levitation worktable on the workpiece surface along the radial direction of the magnetic levitation motor based on the combined model data of the spatial contact entity between the magnetic levitation worktable and the workpiece, and generating data on the minimum plane angle between the placement end of the magnetic levitation worktable and the workpiece in the radial direction of the motor;

[0013] S6, performing matching processing on the magnetic levitation motor operating state control instruction required for adjusting the spatial position of the magnetic levitation worktable based on 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 operating state control instruction data, to generate target magnetic levitation motor operating state control instruction data;

[0014] S7: Constructing magnetic levitation motor operation state control data and executing magnetic levitation motor operation state control operation.

[0015] Preferably, the steps of collecting feature image data of the processed object are as follows:

[0016] S11. Capture, in real time, feature image information of the appearance of a workpiece waiting to be manufactured at a workstation on a magnetic levitation workbench controlled by a magnetic levitation motor through a shooting cloud lens, and generate feature image data O of the workpiece. The magnetic levitation workbench includes a magnetic levitation motor and a workbench, which are coaxially fixedly mounted. The workbench includes a workbench main body and a placement end, which is evenly arranged on the surface of the workbench main body and is used to place the workpiece. The operation types of the magnetic levitation workbench include telescopic motion and rotary motion.

[0017] Preferably, the operation of the magnetic levitation motor is judged based on the feature image data of the processed object and the feature image data of the standard processing object of the magnetic levitation motor, and the operation judgment data of the magnetic levitation motor operation is generated. When the magnetic levitation motor operation judgment data is not in operation, the operation steps of directly ending the operation state control operation of the magnetic levitation motor are as follows:

[0018] S21, establish the magnetic levitation motor motion standard processing object feature image data set V = (v1, ..., v a ,…,v β ), a=1,2,3,…,β; where v a represents the ath frame of standard processing object characteristic image data of the magnetic levitation motor operation, and β represents the maximum number of standard processing object characteristic images of the magnetic levitation motor operation; the standard processing object characteristic image data of the magnetic levitation motor operation represents standard processing object characteristic image information of different types set for controlling the magnetic levitation motor operation response of the magnetic levitation worktable;

[0019] S22, using the SURF image matching algorithm to match the processing object feature image data O with the magnetic levitation motor action standard processing object feature image data v in the magnetic levitation motor action standard processing object feature image data set V. a Perform feature matching on the processed object image and generate the magnetic levitation motor operation judgment data based on the feature matching result of the processed object image. panduan ;

[0020] When O and v a If the image feature matching of the processed object is successful, it means that the processed object meets the processing standards. At this time, the magnetic levitation motor needs to respond to control the operation of the magnetic levitation workbench, and the magnetic levitation motor operation action judgment data is output. panduan For action;

[0021] When O and v a If the image feature of the processed object is not matched successfully, it means that the processed object does not meet the processing standards. At this time, the magnetic levitation motor does not need to respond to control the operation of the magnetic levitation workbench, and the magnetic levitation motor operation action judgment data is output. panduan To not take any action, directly end the current magnetic levitation motor operating status control operation.

[0022] Preferably, when the operation is in progress, the spatial position data of the magnetic levitation worktable and the workpiece and the spatial entity combination model data are collected, and the distance from the workpiece to the placement end of the magnetic levitation worktable surface along the axial direction of the magnetic levitation motor is measured and processed. The operation steps for generating the motor axial distance data between the placement end of the magnetic levitation worktable and the workpiece are as follows:

[0023] S31. Using an industrial robot equipped with a 3D laser scanner, online scanning is performed to collect a 3D solid model of the magnetic levitation worktable and the workpiece, as well as a relative spatial position model between the workpiece and the magnetic levitation worktable, and spatial position and spatial solid combination model data Y of the magnetic levitation worktable and the workpiece is generated.

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

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

[0026] S41, using the position moving tool in the mechanical three-dimensional modeling software, the spatial position of the magnetic levitation workbench and the workpiece and the workpiece solid model in the spatial entity combination model data Y opened in step S32 are moved along the lower surface of the magnetic levitation motor power axis direction as the operation surface, and moved along the magnetic levitation motor power axis direction to contact and cooperate with the surface of the magnetic levitation workbench, and generate the magnetic levitation workbench and workpiece spatial contact entity combination model data Y jiechu .

[0027] Preferably, the minimum plane angle between the workpiece and the placement end of the magnetic levitation worktable on the workpiece surface along the radial direction of the magnetic levitation motor is measured based on the combined model data of the spatial contact entity between the magnetic levitation worktable and the workpiece, and the operation steps for generating the minimum plane angle data along the radial direction of the magnetic levitation motor between the placement end of the magnetic levitation worktable and the workpiece are as follows:

[0028] S51, using the dimension measurement tool in the mechanical three-dimensional modeling software to measure the spatial contact entity combination model data Y of the magnetic suspension workbench and the workpiece generated in step S41. jiechu The corresponding three-dimensional spatial solid model is measured with the magnetic levitation worktable as the rotation reference plane. The two plane angle parameters between 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 are measured, and the center point of the placement end of the magnetic levitation worktable surface along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane are measured. The minimum plane angle parameter is selected and the minimum plane angle data P between the placement end of the magnetic levitation worktable and the motor radial direction of the workpiece is generated through data identification. The unit of P is degree, and the sum of the two plane angle parameters is three hundred and sixty degrees. ; P includes positive, zero and negative numbers. When P is a positive number, it means that the angle of the workpiece deviating counterclockwise from the placement end of the magnetic levitation worktable surface on the rotation reference plane of the magnetic levitation worktable in the same plane reference system is |P|; when P is zero, it means that the position of the workpiece on the rotation reference plane of the magnetic levitation worktable and the placement end of the magnetic levitation worktable surface in the same plane reference system coincides; when P is a negative number, it means that the angle of the workpiece on the rotation reference plane of the magnetic levitation worktable in the same plane reference system deviates clockwise from the placement end of the magnetic levitation worktable surface on the rotation reference plane of the magnetic levitation worktable in the same plane reference system is |P|, where |P| represents the absolute value of P.

[0029] Preferably, the steps of performing matching processing on the magnetic levitation motor operating state control instruction required for adjusting the spatial position of the magnetic levitation worktable 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 operating state control instruction data to generate the target magnetic levitation motor operating state control instruction data are as follows:

[0030] S61, establish the magnetic levitation motor operation state control instruction data set G=(g1,…,g b ,…,g χ ), b=1,2,3,…,χ; where g b represents the magnetic levitation motor operating state control instruction data corresponding to the b-th magnetic levitation motor control parameter combination type, x represents the maximum number of magnetic levitation motor control parameter combination types, the magnetic levitation motor control parameter combination type represents an index data type for searching for magnetic levitation motor operating state control instructions, which is 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; 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 worktable, set according to different magnetic levitation motor control parameter combination type standards;

[0031] S62, the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece, and the magnetic levitation motor operation state control instruction data g in the magnetic levitation motor operation state control instruction data set G. b Compare the parameters of the motor axial distance and the minimum radial plane angle between the magnetic levitation workbench and the workpiece, and search for the magnetic levitation motor operation state control instruction data g corresponding to the motor axial distance data L and the motor radial minimum plane angle data P between the magnetic levitation workbench and the workpiece. b , and generate target magnetic levitation motor operation state control instruction data Q through data identification, and the specific operation steps for generating the target magnetic levitation motor operation state control instruction data Q are as follows:

[0032] S621, in the search space of the magnetic levitation motor operation state control instruction data set G, all the magnetic levitation motor operation state control instruction data g are searched. b Initialize to honey source i; at the same time, initialize the number of honey source i to χ, the current number of iterations t and the maximum number of iterations T and the initial position U of honey source i i , initial position U i The calculation formula is as follows: Randomly generated in the search space of the magnetic levitation motor operation state control instruction data set G, where rand represents a random number in (0,1), and ψ represent the upper bound and lower bound of the search space of the magnetic levitation motor operation state control instruction data set G, respectively;

[0033] S622, initial position U i Assign employed bees. At the beginning of the search, the employed bees search the search space of the magnetic levitation motor operation state control instruction data set G by all the magnetic levitation motor operation state control instruction data g b The initial position U i Around, according to the formula U' i =U i +Ω×(U i -U ζ ), searching in the search space of the magnetic levitation motor operation state control instruction data set G for the magnetic levitation motor operation state control instruction data g that matches the motor axial distance data L between the magnetic levitation worktable placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation worktable placement end and the workpiece. b New nectar source location U' i ;in Indicates randomly selecting a nectar source that is not equal to i among x nectar sources, U ζ represents the position of the randomly selected nectar source ζ in the search space of the magnetic levitation motor operation state control instruction data set G, and Ω represents a random number in the interval [-1,1];

[0034] S623, based on the new nectar source location U' i The fitness value is determined by the greedy selection method to determine the retained nectar source, and the magnetic levitation motor operation state control instruction data g that matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece is retained. b ;

[0035] S624, the employed bees share the nectar source information, and the follower bees search the magnetic levitation motor operation state control instruction data set G in the search space according to the probability value. b The following bee searches for the magnetic levitation motor operating state control instruction data g that matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece based on the search results shared by the employed bee. b , the probability of the nectar source found by the employed bees being followed is calculated according to the probability formula. The probability calculation formula is as follows: where K i Indicates the location of the new nectar source U' i The probability of being followed by an employed bee, Φ i The new nectar source location U' shared by the follower bee according to the employed bee i The fitness value of

[0036] S625. Follower bees search in the same way as employed bees, and search the search space of the magnetic levitation motor operation state control instruction data set G according to the greedy selection method to find the magnetic levitation motor operation state control instruction data g that matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece. b Nectar source i and retain;

[0037] S626, during the random search process of the scout bee in the search space of the magnetic levitation motor operation state control instruction data set G, if the nectar source position U i After t iterations of searching, the iteration threshold Ξ is reached and no better nectar source is found. The nectar source location U i The bees will be abandoned, and the corresponding employed bees will become scout bees. The calculation formula for the location of new nectar sources randomly generated by scout bees in the search space is as follows: in represents the position of the new nectar source i in the search space of the magnetic levitation motor operation state control instruction data set G after t+1 iterations, represents the position of the new nectar source i generated after t iterations in the search space of the magnetic levitation motor operation state control instruction data set G;

[0038] S627. When the algorithm satisfies the maximum number of iterations T, the magnetic levitation motor operation state control instruction data g is output that matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece. b , and generate the target magnetic levitation motor operation state control instruction data Q through data identification, wherein 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 processing object with the spatial position parameters of the control magnetic levitation worktable.

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

[0040] S71, constructing magnetic levitation motor operating state control data F by data identification of the target magnetic levitation motor operating state control instruction data Q;

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

[0042] A multi-degree-of-freedom motion control system for a magnetic levitation motor, used to implement the multi-degree-of-freedom motion control method for a magnetic levitation motor, the system comprising 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 processing object feature image information acquisition unit, a magnetic levitation motor action standard processing object feature image information storage unit, and a magnetic levitation motor operation action judgment unit;

[0044] The processing object characteristic image information acquisition unit is configured to acquire processing object characteristic image data by shooting a cloud lens; the magnetic levitation motor action standard processing object characteristic image information storage unit is configured to store the magnetic levitation motor action standard processing object characteristic image data; the magnetic levitation motor operation action judgment unit is configured to perform operation action judgment processing on the magnetic levitation motor based on the processing object characteristic image data and the magnetic levitation motor action standard processing object characteristic image data, and generate magnetic levitation motor operation action judgment data;

[0045] The magnetic levitation motor motion parameter analysis module includes a magnetic levitation workbench and a 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 magnetic levitation workbench and the workpiece spatial position and spatial entity combination model acquisition unit collects the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece through an industrial robot equipped with a three-dimensional laser scanner; the magnetic levitation workbench placement end and the workpiece motor axial distance measurement unit measures the distance from the workpiece to the magnetic levitation workbench surface placement end 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 in combination with mechanical three-dimensional modeling software, and generates the axial distance data of the magnetic levitation workbench placement end and the workpiece motor; the magnetic levitation workbench and the workpiece spatial contact entity combination model construction unit performs mutual contact assembly processing of the magnetic levitation workbench space entity model and the workpiece space entity model based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece in combination with mechanical three-dimensional modeling software, and generates the magnetic levitation workbench and the workpiece spatial contact entity combination model data; The magnetic levitation workbench placement end and the workpiece motor radial minimum plane angle measuring unit, according to the magnetic levitation workbench and the workpiece spatial contact entity combination model data combined with mechanical three-dimensional modeling software, performs measurement processing on the workpiece and the magnetic levitation workbench surface placement end along the workbench plane magnetic levitation motor radial minimum plane angle measurement, and generates the magnetic levitation workbench placement end and the workpiece motor radial minimum plane angle data; the magnetic levitation motor operation state control instruction storage unit is used to store the magnetic levitation motor operation state control instruction data; the target magnetic levitation motor operation state control instruction matching unit performs magnetic levitation motor operation state control instruction matching processing required for magnetic levitation workbench spatial position adjustment based on the magnetic levitation workbench placement end and the workpiece motor axial distance data, the magnetic levitation workbench placement end and the workpiece motor radial minimum plane angle data 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 motion 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 operating state control parameter construction unit constructs magnetic levitation motor operating state control data based on the target magnetic levitation motor operating state control instruction information; the magnetic levitation motor operating state control operation execution unit executes the magnetic levitation motor operating state control operation according to the magnetic levitation motor operating state control data in combination with the magnetic levitation workbench management end.

[0049] (3) Beneficial effects

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

[0051] 1. Dynamically capture the characteristic image information of the workpiece through cloud lens shooting to provide real data support for the precise control of the operation of the magnetic levitation motor; based on the characteristic image information of the workpiece, combined with intelligent search algorithms and scientifically stored standard processing image information of the magnetic levitation motor, the operation of the magnetic levitation motor is independently and efficiently judged, realizing intelligent control of the operation of the magnetic levitation motor, 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.

[0052] 2. Through the industrial robot equipped with a 3D laser scanner, the 3D spatial position status information between the magnetic levitation worktable and the workpiece is efficiently collected, and the axial distance parameters between the placement end of the magnetic levitation worktable and the workpiece motor are accurately measured in combination with the mechanical 3D modeling software, 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 parameters of the workpiece along the magnetic levitation motor; based on the numerical analysis, the 3D spatial position status information of the relative reference plane between the magnetic levitation worktable and the workpiece is scientifically constructed, and the mechanical 3D modeling software is combined to efficiently measure the radial minimum plane angle parameters between the placement end of the magnetic levitation worktable and the workpiece motor, so as to realize the intelligent control of the radial angle parameters of the magnetic levitation motor based on the radial angle parameters of the workpiece along the magnetic levitation motor. the axial degree of freedom motion state; according to the motor axial distance parameters between the placement end of the magnetic levitation worktable and the workpiece, the radial minimum plane angle parameters between the placement end of the magnetic levitation worktable and the workpiece, combined with the intelligent recognition algorithm and the magnetic levitation motor operation state control instruction information based on big data storage, the magnetic levitation worktable space position adjustment required for the magnetic levitation motor operation state control instruction intelligent matching is performed, and the magnetic levitation motor along the axial extension and rotation motion is intelligently controlled based on the spatial distance parameters and spatial angle parameters between the magnetic levitation worktable and the workpiece, and the multi-directional degree of freedom motion of the magnetic levitation motor is intelligently and accurately controlled based on the spatial position state of the workpiece, thereby improving the applicability and control accuracy of the magnetic levitation motor.

[0053] 3. By scientifically constructing the magnetic levitation motor operating status control information based on the target magnetic levitation motor operating status control instruction information combined with data processing, timely and accurate collection of the magnetic levitation motor's multi-degree-of-freedom control information is achieved, thereby improving the control efficiency of the magnetic levitation motor's operating actions; based on the magnetic levitation motor operating status control information combined with the magnetic levitation workbench management terminal, the magnetic levitation motor operating status control operation is autonomously and accurately executed, thereby improving the accuracy and quality of the magnetic levitation motor's multi-degree-of-freedom control. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] Figure 1 A schematic diagram of a module for a multi-degree-of-freedom motion control system for a magnetic levitation motor provided by the present invention;

[0055] Figure 2 This is a flow chart of the multi-degree-of-freedom motion control method for a magnetic levitation motor provided by the present invention. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

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

[0058] Example 1:

[0059] See also Figure 1-Figure 2 A multi-degree-of-freedom motion control method for a magnetic levitation motor comprises the following steps:

[0060] S1, collecting feature image data of the processed object;

[0061] S2. Performing operation judgment processing on the magnetic levitation motor based on the feature image data of the workpiece and the feature image data of the standard workpiece of the magnetic levitation motor operation, generating magnetic levitation motor operation judgment data. If the magnetic levitation motor is not operating, directly ending the current magnetic levitation motor operation state control operation;

[0062] S3, when in action, collects the spatial position data of the magnetic levitation worktable and the workpiece, as well as the spatial entity combination model data, and measures the distance from the workpiece to the placement end of the magnetic levitation worktable surface along the axial direction of the magnetic levitation motor to generate the distance data of the motor axial direction between the placement end of the magnetic levitation worktable and the workpiece;

[0063] S4. Performing contact assembly processing between the magnetic levitation workbench and the workpiece spatial entity model based on the spatial positions of the magnetic levitation workbench and the workpiece and the spatial entity combination model data to generate spatial contact entity combination model data between the magnetic levitation workbench and the workpiece;

[0064] S5. Based on the combined model data of the spatial contact entity between the magnetic levitation worktable and the workpiece, a minimum plane angle between the workpiece and the placement end of the magnetic levitation worktable on the workpiece plane along the radial direction of the magnetic levitation motor is measured and processed to generate data on the minimum plane angle between the placement end of the magnetic levitation worktable and the workpiece in the radial direction of the motor;

[0065] S6. Perform matching processing on the magnetic levitation motor operating state control instruction required for adjusting the spatial position of the magnetic levitation worktable based on 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 operating state control instruction data, to generate target magnetic levitation motor operating state control instruction data.

[0066] S7: Constructing magnetic levitation motor operation state control data and executing magnetic levitation motor operation state control operation.

[0067] For further information, see Figure 1-Figure 2 ,The steps for collecting feature image data of the processed object are as follows:

[0068] S11. Capture, in real time, appearance feature image information of a workpiece waiting to be manufactured at a workstation on a magnetic levitation workbench controlled by a magnetic levitation motor through a shooting cloud lens, and generate feature image data O of the workpiece. 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 main body and a placement end. The placement end is evenly arranged on the surface of the workbench main body and is used to place the workpiece. The operation types of the magnetic levitation workbench include telescopic motion and rotary motion.

[0069] The operation of the magnetic levitation motor is judged based on the feature image data of the workpiece and the feature image data of the standard workpiece of the magnetic levitation motor, and the operation judgment data of the magnetic levitation motor operation is generated. If the magnetic levitation motor operation judgment data is not in operation, the operation steps of directly ending the operation state control operation of the magnetic levitation motor are as follows:

[0070] S21, establish the magnetic levitation motor motion standard processing object feature image data set V = (v1, ..., v a ,…,v β ), a=1,2,3,…,β; where v arepresents the ath frame of standard processing object characteristic image data of the magnetic levitation motor operation, and β represents the maximum number of standard processing object characteristic images of the magnetic levitation motor operation; the standard processing object characteristic image data of the magnetic levitation motor operation represents standard processing object characteristic image information of different types set for controlling the magnetic levitation motor operation response of the magnetic levitation worktable;

[0071] S22, using the SURF image matching algorithm to match the object feature image data O with the magnetic levitation motor motion standard object feature image data v in the magnetic levitation motor motion standard object feature image data set V. a Perform feature matching on the processed object image and generate the magnetic levitation motor operation judgment data based on the feature matching result of the processed object image. panduan ;

[0072] When O and v a If the image feature matching of the processed object is successful, it means that the processed object meets the processing standards. At this time, the magnetic levitation motor needs to respond to control the operation of the magnetic levitation workbench, and the magnetic levitation motor operation action judgment data O is output. panduan For action;

[0073] When O and v a If the image feature of the processed object is not matched successfully, it means that the processed object does not meet the processing standards. At this time, the magnetic levitation motor does not need to respond to control the operation of the magnetic levitation workbench, and the magnetic levitation motor operation action judgment data is output. panduan To not take any action, directly end the current magnetic levitation motor operating status control operation.

[0074] Through the processing object characteristic image information acquisition unit, the cloud lens is used to dynamically collect the processing object characteristic image information, providing real data support for the precise control of the operation of the magnetic levitation motor; the magnetic levitation motor operation judgment unit performs autonomous and efficient judgment of the magnetic levitation motor operation based on the processing object characteristic image information combined with the intelligent search algorithm and the scientifically stored magnetic levitation motor operation standard processing object characteristic image information, realizes the intelligent control of the magnetic levitation motor operation, improves the intelligent management of the magnetic levitation motor multi-degree-of-freedom motion control operation, and improves the intelligence of the magnetic levitation motor.

[0075] For further information, see Figure 1-Figure 2 When in motion, the spatial position and spatial entity combination model data of the magnetic levitation worktable and the workpiece are collected, and the distance from the workpiece to the placement end of the magnetic levitation worktable surface along the axial direction of the magnetic levitation motor is measured and processed. The operating steps for generating the motor axial distance data between the placement end of the magnetic levitation worktable and the workpiece are as follows:

[0076] S31. Using an industrial robot equipped with a 3D laser scanner, online scanning is performed to collect a 3D solid model of the magnetic levitation worktable and the workpiece, as well as a relative spatial position model between the workpiece and the magnetic levitation worktable, and spatial position and spatial solid combination model data Y of the magnetic levitation worktable and the workpiece is generated.

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

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

[0079] S41, using the position moving tool in the mechanical three-dimensional modeling software, moves the magnetic levitation workbench opened in step S32 and the spatial position of the workpiece and the workpiece solid model in the spatial entity combination model data Y along the lower surface of the magnetic levitation motor power axis as the operation surface, moves along the magnetic levitation motor power axis direction to contact and cooperate with the surface of the magnetic levitation workbench, and generates the magnetic levitation workbench and workpiece spatial contact entity combination model data Y jiechu .

[0080] Based on the combined model data of the spatial contact entity between the magnetic levitation worktable and the workpiece, the minimum plane angle between the workpiece and the placement end of the magnetic levitation worktable on the workpiece plane along the radial direction of the magnetic levitation motor is measured and processed. The steps for generating the minimum plane angle data along the radial direction of the magnetic levitation motor between the placement end of the magnetic levitation worktable and the workpiece are as follows:

[0081] S51, using the dimension measurement tool in the mechanical three-dimensional modeling software to measure the combined model data Y of the magnetic suspension workbench and the workpiece space contact entity generated in step S41 jiechuThe corresponding three-dimensional spatial solid model is measured with the magnetic levitation worktable as the rotation reference plane. The two plane angle parameters between 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 are measured, and the center point of the placement end of the magnetic levitation worktable surface along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane are measured. The minimum plane angle parameter is selected and the minimum plane angle data P between the placement end of the magnetic levitation worktable and the motor radial direction of the workpiece is generated through data identification. The unit of P is degree, and the sum of the two plane angle parameters is three hundred and sixty degrees. ; P includes positive, zero and negative numbers. When P is a positive number, it means that the angle of the workpiece deviating counterclockwise from the placement end of the magnetic levitation worktable surface on the rotation reference plane of the magnetic levitation worktable in the same plane reference system is |P|; when P is zero, it means that the position of the workpiece on the rotation reference plane of the magnetic levitation worktable and the placement end of the magnetic levitation worktable surface in the same plane reference system coincides; when P is a negative number, it means that the angle of the workpiece on the rotation reference plane of the magnetic levitation worktable in the same plane reference system deviates clockwise from the placement end of the magnetic levitation worktable surface on the rotation reference plane of the magnetic levitation worktable in the same plane reference system is |P|, where |P| represents the absolute value of P.

[0082] Based on 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 data required for adjusting the magnetic levitation worktable space position is matched and processed. The operation steps for generating the target magnetic levitation motor operation state control instruction data are as follows:

[0083] S61, establish the magnetic levitation motor operation state control instruction data set G=(g1,…,g b ,…,g χ ), b=1,2,3,…,χ; where g b represents the magnetic levitation motor operating state control instruction data corresponding to the b-th magnetic levitation motor control parameter combination type, χ represents the maximum number of magnetic levitation motor control parameter combination types, and the magnetic levitation motor control parameter combination type represents an index data type for searching for magnetic levitation motor operating state control instructions, which is 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; 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 worktable, which is set according to different magnetic levitation motor control parameter combination type standards;

[0084] S62, the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece, and the magnetic levitation motor operation state control instruction data set G.b Compare the parameters of the motor axial distance and the minimum radial plane angle between the magnetic levitation workbench and the workpiece, and search for the magnetic levitation motor operation state control instruction data g corresponding to the motor axial distance data L and the motor radial minimum plane angle data P between the magnetic levitation workbench and the workpiece. b , and generate the target magnetic levitation motor operating state control instruction data Q through data identification, and the specific operation steps for generating the target magnetic levitation motor operating state control instruction data Q are as follows:

[0085] S621, in the search space of the magnetic levitation motor operation state control instruction data set G, all the magnetic levitation motor operation state control instruction data g are searched. b Initialize to honey source i; at the same time, initialize the number of honey source i to χ, the current number of iterations t and the maximum number of iterations T and the initial position U of honey source i i , initial position U i The calculation formula is as follows:

[0086] Randomly generated in the search space of the magnetic levitation motor operation state control instruction data set G, where rand represents a random number in (0,1), and ψ represent the upper and lower bounds of the search space of the magnetic levitation motor operation state control instruction data set G, respectively;

[0087] S622, initial position U i Assign employed bees. At the beginning of the search, the employed bees search the search space of the magnetic levitation motor operation state control instruction data set G by all the magnetic levitation motor operation state control instruction data g b The initial position U i Around, according to the formula U' i =U i +Ω×(U i -U ζ ), searching for the magnetic levitation motor operating state control instruction data set G in the search space of the magnetic levitation motor operating state control instruction data set G to generate the magnetic levitation motor operating state control instruction data g that matches the motor axial distance data L between the magnetic levitation worktable placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation worktable placement end and the workpiece. b New nectar source location U' i ;in Indicates randomly selecting a nectar source that is not equal to i among x nectar sources, U ζ represents the position of the randomly selected nectar source ζ in the search space of the magnetic levitation motor operation state control instruction data set G, and Ω represents a random number in the interval [-1,1];

[0088] S623, based on the new nectar source location U' i The fitness value is determined by the greedy selection method to determine the retained nectar source, and the magnetic levitation motor operation state control instruction data g that matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece is retained. b ;

[0089] S624, the employed bees share the nectar source information, and the follower bees search the magnetic levitation motor operating state control instruction data set G in the search space according to the probability value. b Search, follow the bee according to the search results shared by the employed bee to search for the magnetic levitation motor operation state control instruction data g that matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece. b , the probability of the nectar source found by the employed bees being followed is calculated according to the probability formula. The probability calculation formula is as follows: where K i Indicates the location of the new nectar source U' i The probability of being followed by an employed bee, Φ i The new nectar source location U' shared by the follower bee according to the employed bee i The fitness value of

[0090] S625. The follower bee searches in the same way as the employed bee, and searches the search space of the magnetic levitation motor operation state control instruction data set G according to the greedy selection method to find the magnetic levitation motor operation state control instruction data g that matches the motor axial distance data L between the magnetic levitation worktable placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation worktable placement end and the workpiece. b Nectar source i and retain;

[0091] S626, during the random search process of the scout bee in the search space of the magnetic levitation motor operation state control instruction data set G, if the nectar source position U i After t iterations of searching, the iteration threshold Ξ is reached and no better nectar source is found. The nectar source location U i The bees will be abandoned, and the corresponding employed bees will become scout bees. The calculation formula for the location of new nectar sources randomly generated by scout bees in the search space is as follows: in It represents the position of the new nectar source i in the search space of the magnetic levitation motor operation state control instruction data set G after t+1 iterations, It represents the position of the new nectar source i in the search space of the magnetic levitation motor operation state control instruction data set G after t iterations;

[0092] S627. When the algorithm meets the maximum number of iterations T, the magnetic levitation motor operation state control instruction data g is output, which matches the motor axial distance data L between the magnetic levitation workbench placement end and the workpiece, and the motor radial minimum plane angle data P between the magnetic levitation workbench placement end and the workpiece. b , and generate target magnetic levitation motor operation state control instruction data Q 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 processing object with the spatial position parameters of the control magnetic levitation worktable.

[0093] Through the cooperation between the magnetic levitation workbench and the workpiece spatial position and spatial entity combination model acquisition unit and the magnetic levitation workbench placement end and the workpiece motor axial distance measurement unit, an industrial robot equipped with a 3D laser scanner is used to efficiently collect the 3D spatial position state information between the magnetic levitation workbench and the workpiece, and the mechanical 3D modeling software is used to accurately measure the axial distance parameters between the magnetic levitation workbench placement end and the workpiece motor, 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 parameters of the workpiece along the magnetic levitation motor; the magnetic levitation workbench and the workpiece spatial contact entity combination model construction unit and the magnetic levitation workbench placement end and the workpiece motor radial minimum plane angle measurement unit cooperate with each other, and based on numerical analysis, the 3D spatial position state information of the relative reference plane between the magnetic levitation workbench and the workpiece is scientifically constructed, and the mechanical 3D modeling software is used to efficiently measure the magnetic levitation workbench placement end. and the radial minimum plane angle parameter of the motor of the workpiece, so as to realize intelligent control of the radial degree of freedom motion state of the magnetic levitation motor based on the radial angle parameter of the magnetic levitation motor along the radial direction of the workpiece; the target magnetic levitation motor operation state control instruction matching unit, according to the motor axial distance parameter of the magnetic levitation worktable placement end and the workpiece, the radial minimum plane angle parameter of the motor of the workpiece, combined with the intelligent recognition algorithm and the magnetic levitation motor operation state control instruction information based on big data storage, performs intelligent matching of the magnetic levitation motor operation state control instructions required for the spatial position adjustment of the magnetic levitation worktable, so as to realize intelligent control of the extension and rotation motion of the magnetic levitation motor along the axial direction based on the spatial distance parameter and spatial angle parameter between the magnetic levitation worktable and the workpiece, so as to realize 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, thereby improving the applicability and control accuracy of the magnetic levitation motor.

[0094] For further information, see Figure 1-Figure 2 The steps for constructing the magnetic levitation motor operating state control data and executing the magnetic levitation motor operating state control operation are as follows:

[0095] S71 , constructing magnetic levitation motor operating state control data F by using target magnetic levitation motor operating state control instruction data Q through data identification;

[0096] S72 , the magnetic levitation workbench management end controls the magnetic levitation motor to perform the magnetic levitation motor operation status control operation according to the magnetic levitation motor operation status control data F.

[0097] Through the cooperation between the magnetic levitation motor operation state control parameter construction unit and the magnetic levitation motor operation state control operation execution unit, the magnetic levitation motor operation state control information is scientifically constructed based on the target magnetic levitation motor operation state control instruction information combined with data processing, so as to realize the timely and accurate collection of the multi-degree-of-freedom control information of the magnetic levitation motor and improve the control efficiency of the operation of the magnetic levitation motor; the magnetic levitation motor operation state control operation execution unit, based on the magnetic levitation motor operation state control information and combined with the magnetic levitation workbench management end, independently and accurately executes the magnetic levitation motor operation state control operation, thereby improving the accuracy and quality of the multi-degree-of-freedom control of the magnetic levitation motor.

[0098] Example 2:

[0099] See also Figure 1-Figure 2 , a multi-degree-of-freedom motion control system for a magnetic levitation motor, used to implement a multi-degree-of-freedom motion control method for a 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;

[0100] The magnetic levitation motor action judgment module includes a processing object feature image information acquisition unit, a magnetic levitation motor action standard processing object feature image information storage unit, and a magnetic levitation motor operation action judgment unit;

[0101] The processing object characteristic image information acquisition unit is used to collect processing object characteristic image data by shooting cloud lenses; the magnetic levitation motor action standard processing object characteristic image information storage unit is used to store the magnetic levitation motor action standard processing object characteristic image data; the magnetic levitation motor operation action judgment unit is used to perform magnetic levitation motor operation action judgment processing based on the processing object characteristic image data and the magnetic levitation motor action standard processing object characteristic image data to generate magnetic levitation motor operation action judgment data;

[0102] The magnetic levitation motor motion parameter analysis module includes a magnetic levitation workbench and the workpiece spatial position and spatial entity combination model acquisition unit, a magnetic levitation workbench placement end and the workpiece motor axial distance measurement unit, a magnetic levitation workbench and the workpiece spatial contact entity combination model construction unit, a magnetic levitation workbench placement end and the 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;

[0103] The magnetic levitation workbench and the workpiece spatial position and spatial entity combination model acquisition unit collects the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece through an industrial robot equipped with a three-dimensional laser scanner; the magnetic levitation workbench placement end and the workpiece motor axial distance measurement unit measures the distance from the workpiece to the placement end of the magnetic levitation workbench surface 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 in combination with 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 magnetic levitation workbench and the workpiece spatial contact entity combination model construction unit performs mutual contact assembly processing of the magnetic levitation workbench spatial entity model and the workpiece spatial entity model based on the spatial position and spatial entity combination model data of the magnetic levitation workbench and the workpiece in combination with mechanical three-dimensional modeling software, and generates the spatial contact entity combination model data of the magnetic levitation workbench and the workpiece; a magnetic levitation worktable placement end and the workpiece motor radial minimum plane angle measurement unit, which measures and processes the magnetic levitation motor radial minimum plane angle between the workpiece and the magnetic levitation worktable placement end on the worktable plane according to the magnetic levitation worktable and workpiece spatial contact entity combination model data combined with mechanical three-dimensional modeling software, and generates the magnetic levitation motor placement end and workpiece motor radial minimum plane angle data; a magnetic levitation motor operation state control instruction storage unit, which is used to store the magnetic levitation motor operation state control instruction data; a target magnetic levitation motor operation state control instruction matching unit, which matches the magnetic levitation motor operation state control instruction required for magnetic levitation worktable spatial position adjustment according to the magnetic levitation worktable placement end and workpiece motor axial distance data, the magnetic levitation worktable placement end and workpiece motor radial minimum plane angle data, and the magnetic levitation motor operation state control instruction data, and generates the target magnetic levitation motor operation state control instruction data;

[0104] The magnetic levitation motor motion control module includes a magnetic levitation motor operation state control parameter construction unit and a magnetic levitation motor operation state control operation execution unit;

[0105] 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 based on the magnetic levitation motor operation state control data and the magnetic levitation workbench management end.

[0106] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

Claims

1. A multi-degree-of-freedom motion control method for a magnetic levitation motor, characterized in that: The method comprises the following steps: S1, collecting feature image data O of the workpiece; S2. Performing operation judgment processing of the magnetic levitation motor to generate operation judgment data of the magnetic levitation motor. If the operation is not in progress, directly ending the operation of controlling the operation state of the magnetic levitation motor; The S2 comprises the following steps: S21, establish the magnetic levitation motor motion standard processing object feature image data set V = (v1, ..., v a ,…,v β ), a=1,2,3,…,β; where v a represents the ath frame of the characteristic image data of the standard processed object in the action of the magnetic levitation motor, and β represents the maximum number of characteristic images of the standard processed object in the action of the magnetic levitation motor; S22, using SURF image matching algorithm to match the O with the v in the V a Perform feature matching on the processed object image and generate the magnetic levitation motor operation judgment data based on the feature matching result of the processed object image. panduan ; When O and v a If the feature matching of the processed object image is successful, the O panduan For action; When O and v a If the image feature of the processed object is not matched successfully, the O panduan To not take any action, directly end the current magnetic levitation motor operating state control operation; S3, when in action, collects the spatial position data of the magnetic levitation worktable and the workpiece, as well as the spatial entity combination model data, and measures the distance from the workpiece to the placement end of the magnetic levitation worktable surface along the axial direction of the magnetic levitation motor to generate the distance data of the motor axial direction between the placement end of the magnetic levitation worktable and the workpiece; The S3 includes the following steps: S31. Using an industrial robot equipped with a 3D laser scanner, online scanning is performed to collect a 3D solid model of the magnetic levitation worktable and the workpiece, as well as a relative spatial position model between the workpiece and the magnetic levitation worktable, and spatial position and spatial solid combination model data Y of the magnetic levitation worktable and the workpiece is generated. S32, importing the spatial three-dimensional solid model corresponding to the Y into mechanical three-dimensional modeling software and running it. After the spatial three-dimensional solid model is run and opened in the mechanical three-dimensional modeling software, using the dimension measurement tool in the mechanical three-dimensional modeling software to measure the distance parameter between the lower surface of the workpiece solid model along the direction of the magnetic levitation motor power axis and the inner side of the placement end of the magnetic levitation worktable surface, and generating the motor axial distance data L between the placement end of the magnetic levitation worktable and the workpiece, where L is in meters; S4, performing contact assembly processing on the magnetic levitation workbench space entity model and the workpiece space entity model to generate contact entity combination model data of the magnetic levitation workbench and the workpiece space; The S4 comprises the following steps: S41, using the position moving tool in the mechanical 3D modeling software, move the workpiece solid model in the Y opened in step S32 along the lower surface of the magnetic levitation motor power axis as the operating surface, move it along the magnetic levitation motor power axis to contact and cooperate with the surface of the magnetic levitation workbench, and generate the magnetic levitation workbench and workpiece space contact entity combination model data Y jiechu ; S5, measuring and processing the minimum plane angle between the workpiece and the placement end of the magnetic levitation worktable on the worktable plane along the radial direction of the magnetic levitation motor, and generating data of the minimum plane angle between the placement end of the magnetic levitation worktable and the workpiece in the radial direction of the motor; The S5 comprises the following steps: S51, using the dimension measuring tool in the mechanical three-dimensional modeling software to measure the Y generated in step S41 jiechu The corresponding three-dimensional spatial solid model is measured with the magnetic levitation worktable as the rotation reference plane, and 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 center point of the placement end of the magnetic levitation worktable along the radial direction of the magnetic levitation motor power axis and the center of the rotation reference plane are measured. The minimum plane angle parameter is selected and the motor radial minimum plane angle data P between the placement end of the magnetic levitation worktable and the workpiece is generated through data identification; S6, performing matching processing on the magnetic levitation motor operating state control instructions required for adjusting the spatial position of the magnetic levitation workbench to generate target magnetic levitation motor operating state control instruction data; The S6 comprises the following steps: S61, establish the magnetic levitation motor operation state control instruction data set G=(g1,…,g b ,…,g χ ), b=1,2,3,…,χ; where g b represents the magnetic levitation motor operating state control instruction data corresponding to the bth magnetic levitation motor control parameter combination type, and χ represents the maximum number of magnetic levitation motor control parameter combination types; S62, the L, the P and the g in the G b Compare the parameters of the motor axial distance between the magnetic suspension workbench placement end and the workpiece, and the motor radial minimum plane angle, and search for the g corresponding to the L and P. b , and generate the target magnetic levitation motor operating state control instruction data Q through data identification: S7: Constructing magnetic levitation motor operation state control data and executing magnetic levitation motor operation state control operation.

2. The multi-degree-of-freedom motion control method for a magnetic levitation motor according to claim 1, characterized in that: Said S1 comprises the following steps: S11. Capture, in real time, the appearance feature image information of the workpiece waiting to be manufactured at a station on the magnetic levitation workbench controlled by the magnetic levitation motor through a shooting cloud lens, and generate feature image data O of the workpiece.

3. The multi-degree-of-freedom motion control method for a magnetic levitation motor according to claim 1, characterized in that: The S62 includes the following steps: S621, in the search space of G, all the g b Initialize to honey source i; at the same time, initialize the number of honey source i to χ, the current number of iterations t and the maximum number of iterations T and the initial position U of honey source i i ; S622, initial position U i Assign employed bees. At the beginning of the search, employed bees are assigned to all the g in the search space of G. b The initial position U i Around, search in the search space of G to generate the g that matches the L and the P b New nectar source location U' i ; S623, based on the new nectar source location U' i The fitness value of the nectar source is determined according to the greedy selection method, and the g that matches the L and the P is retained. b ; S624, the employed bees share the nectar source information, and the follower bees search the g in the search space of G according to the probability value. b Search, follow the bee to search for the g that matches the L and P based on the search results shared by the employed bee b , calculate the probability of the nectar source found by the employed bees being followed according to the probability formula; S625: Follower bees search in the same way as employed bees, and search for the g that matches L and P in the search space of G according to the greedy selection method. b Nectar source i and retain; S626, during the random search process of the scout bee in the search space G, if the nectar source location U i After t iterations of searching, the iteration threshold Ξ is reached and no better nectar source is found. The nectar source location U i Will be abandoned, and the corresponding hired bees will become scout bees; S627, when the algorithm meets the maximum number of iterations T, output the g that matches the L and P b , and generate the target magnetic levitation motor operating state control instruction data Q through data identification.

4. The multi-degree-of-freedom motion control method for a magnetic levitation motor according to claim 3, characterized in that: The S7 comprises the following steps: S71, constructing magnetic levitation motor operation state control data F by data identification of Q; S72. The magnetic levitation workbench management terminal controls the magnetic levitation motor according to F to perform a magnetic levitation motor operation status control operation.

5. A multi-degree-of-freedom motion control system for a magnetic levitation motor, configured to implement the multi-degree-of-freedom motion control method for a magnetic levitation motor according to any one of claims 1 to 4, characterized in that: The system comprises 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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