CN112051777B - Intelligent control alternating current servo system - Google Patents
Intelligent control alternating current servo system Download PDFInfo
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- G05B19/00—Programme-control systems
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Abstract
The invention discloses an intelligent control alternating current servo system, which relates to the technical field of intelligent control, wherein a data acquisition module is used for acquiring three-dimensional data of a working environment of an alternating current servo system, a modeling module is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data acquired by the data acquisition module, an assignment module is used for giving a coordinate value to each point in the three-dimensional model, a data analysis module is used for analyzing and calculating the three-dimensional data change of the working environment of the alternating current servo system, and a verification control module is used for verifying the analysis and calculation result of the data analysis module.
Description
Technical Field
The invention relates to the technical field of intelligent control, in particular to an intelligent control alternating current servo system.
Background
The alternating current servo system comprises an alternating current servo system based on an asynchronous motor and an alternating current servo system based on a synchronous motor, and has a series of advantages except the characteristics of good stability, good rapidity and high precision, the alternating current servo system means that the system moves expected by people along with an external instruction, the moving elements comprise positions, speeds and moments, the alternating current servo system is used for a mechanical arm in a large number, and the mechanical arm is controlled by the alternating current servo system to process a product.
Disclosure of Invention
The invention aims to provide an intelligent control alternating current servo system to solve the problems in the prior art.
In order to achieve the purpose, the invention provides the following technical scheme: an intelligent control alternating current servo system comprises a data acquisition module, a modeling module, a value assignment module, a data analysis module and a verification control module;
the data acquisition module is used for acquiring three-dimensional data of a working environment of the alternating current servo system, the modeling module is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data acquired by the data acquisition module so as to facilitate digital three-dimensional simulation of the working process of the alternating current servo system according to the three-dimensional model, the assignment module is used for giving a coordinate value to each point in the three-dimensional model so as to control the alternating current servo system to carry out intelligent processing in a digital form more accurately, the data analysis module is used for analyzing and calculating three-dimensional data change of the working environment of the alternating current servo system so as to make corresponding change according to the three-dimensional data change of the working environment of the alternating current servo system and realize intelligent control over the alternating current servo system, and the verification control module is used for verifying analysis and calculation results of the data analysis module so as to control over the alternating current servo system more accurately, and errors caused by the control over the alternating current servo system can be effectively avoided;
the output electric connection of data acquisition module models the input of module, the output electric connection of assignment module models the input of module, the output electric connection of modeling module data analysis module's input, the output electric connection of data analysis module verifies the input of control module.
According to the technical scheme, the data acquisition module comprises a three-dimensional scanner and a data refreshing unit;
the three-dimensional scanner is used for three-dimensional scanning of a working environment of the alternating current servo system to obtain three-dimensional data of the working environment of the alternating current servo system, and is the first step of achieving intelligent control of the alternating current servo system;
the output end of the three-dimensional scanner is electrically connected with the input end of the data refreshing unit.
According to the technical scheme, the modeling module comprises a data processing unit, a model establishing unit and a three-dimensional model;
the data processing unit is used for processing three-dimensional data scanned by the three-dimensional scanner so that a three-dimensional model can be established according to the processed three-dimensional data, the model establishing unit is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data of the working environment of the alternating current servo system processed by the data processing unit, the three-dimensional model is output by the model establishing unit, the three-dimensional model is a three-dimensional model of the working environment of the alternating current servo system, and the three-dimensional model is continuously changed under the action of the data refreshing unit;
the output ends of the three-dimensional scanner and the data refreshing unit are electrically connected with the input end of the data processing unit, the output end of the data processing unit is electrically connected with the input end of the model establishing unit, and the model establishing unit outputs the three-dimensional model.
According to the technical scheme, the assignment module comprises a coordinate system establishing unit, a feature extraction unit and a coordinate value giving unit;
the coordinate system establishing unit is configured to establish a three-dimensional rectangular coordinate system of the three-dimensional model so as to digitally locate each point in the three-dimensional model, and the feature extracting unit is configured to extract features in the three-dimensional model, such as: the feature extraction unit extracts central features of a workpiece in the working environment of the alternating current servo system, and the coordinate value giving unit is used for giving coordinate values to the features extracted by the feature extraction unit, so that the change condition of the extracted feature points in the three-dimensional rectangular coordinate system can be monitored more accurately;
the output end of the coordinate system establishing unit is electrically connected with the input end of the three-dimensional model, the output end of the three-dimensional model is electrically connected with the input end of the characteristic extracting unit, and the output end of the coordinate value endowing unit is electrically connected with the input end of the characteristic extracting unit.
According to the technical scheme, the data analysis module comprises a data temporary storage unit, a displacement calculation unit and a track planning unit;
the data temporary storage unit is used for temporarily storing coordinate value data of the feature points with changed relative positions so as to calculate the displacement amount of the changed feature points, the displacement amount calculation unit is used for calculating the displacement amount of the relative position of the processed workpiece in the working environment of the alternating current servo system so as to intelligently control and adjust the alternating current servo system according to the displacement amount of the processed workpiece, the position of the alternating current servo system matched with the processed workpiece is adjusted for processing, when the position of the processed workpiece is changed, the alternating current servo system can timely make adjustment so as not to be incapable of continuously processing the workpiece, and the track planning unit is used for planning the optimal displacement route of the mechanical arm controlled by the alternating current servo system so as to change the processing position of the mechanical arm at the highest speed according to the change condition of the position of the workpiece;
the output end of the characteristic extraction unit is electrically connected with the input end of the data temporary storage unit, and the output end of the data temporary storage unit is electrically connected with the input ends of the track planning unit and the verification control module.
According to the technical scheme, the verification control module comprises a verification unit, an original data import unit and a controller;
the verification and check unit is used for calculating the displacement of the other characteristic points of the workpiece according to original coordinate value data of the workpiece processed by the alternating current servo system in the three-dimensional model and the current coordinate values of the other characteristic points of the workpiece so as to be compared with the displacement of the workpiece calculated by the displacement calculation unit, and verifying the accuracy of the calculation result of the displacement calculation unit, the original data input unit is used for inputting the original coordinate value data of the workpiece to be processed in the three-dimensional model of the working environment of the alternating current servo system, and the controller is used for controlling the alternating current servo system to adjust according to the verification result of the verification and check unit and the adjustment track planned by the track planning unit and continuing to process the workpiece;
the output end of the displacement amount calculation unit is electrically connected with the input end of the verification and verification unit, the output end of the original data input unit is electrically connected with the input end of the verification and verification unit, the output ends of the verification and verification unit and the track planning unit are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the alternating current servo system.
According to the above technical solution, the original coordinate values of the workpiece feature points temporarily stored by the data temporary storage unit are (X, Y, Z), the change coordinate values of the workpiece feature points temporarily stored by the data temporary storage unit are (X ', Y ', Z '), and the feature points are to-be-processed points of the workpiece, for example: a certain point of the workpiece needs to be drilled, then, the point to be drilled is a feature point, and the displacement amount calculating unit calculates the displacement amount L of the workpiece in the three-dimensional model according to the following formula:
when L ≠ 0, it indicates that the characteristic point of the workpiece to be processed is displaced, and the ac servo system cannot continue to perform the predetermined processing operation on the workpiece.
According to the above technical solution, the raw data input unit is used for inputting the raw data { (X) of the coordinate values of the other feature points of the workpiece 1 ,Y 1 ,Z 1 ),(X 2 ,Y 2 ,Z 2 ),…,(X N ,Y N ,Z N ) Inputting into a verification and verification unit, wherein the data temporary storage unit changes the other characteristic point change data { (X }) of the workpiece' 1 ,Y′ 1 ,Z′ 1 ),(X′ 2 ,Y′ 2 ,Z′ 1 ),…,(X′ n ,Y′ n ,Z′ n ) Inputting verification and verification units, wherein the verification and verification units carry out displacement L 'on the rest characteristic points of the workpiece according to the following formula' i And (4) carrying out verification:
is L' i And if the displacement is L, the whole workpiece to be machined is displaced by the displacement amount L, and the current control program of the alternating current servo system cannot continuously machine the workpiece to be machined.
According to the technical scheme, the track planning unit calculates the displacement distance and the displacement direction of the alternating current servo system to be moved and plans the displacement track of the alternating current servo system, and the track planning unit plans the displacement vector of the alternating current servo system according to the following formula
And (3) calculating:
the trajectory planning unit calculates displacement vectors of the alternating current servo system required to control the displacement of the mechanical arm
And sending the data to a controller.
According to the technical scheme, the verification and verification unit sends the verification result and the displacement L of the workpiece determined after verification to the controller, and the controller controls the alternating current servo system according to the coordinate value of the current machining point of the mechanical arm and the displacement vector
Moving to a designated position to process a workpiece to be processed, wherein the current coordinate value of a certain point of the mechanical arm is (x, y, z), and calculating the coordinate value (x ', y ', z ') of a target point of the mechanical arm displacement according to the following formula:
compared with the prior art, the invention has the beneficial effects that:
1. according to the invention, the three-dimensional model is established for the working environment of the alternating current servo system, the characteristic points in the three-dimensional model are extracted and the coordinate values are given, so that the displacement of the workpiece in the working environment of the alternating current servo system can be detected and calculated, when the workpiece to be processed generates displacement in a three-dimensional space, so that the alternating current servo system cannot control the mechanical arm to process the workpiece, the displacement can be calculated according to the displacement of the workpiece to be processed, the alternating current servo system is driven to change according to the displacement, the mechanical arm is driven to continue processing the workpiece, the workpiece does not need to be readjusted, and the applicability of the alternating current servo system is improved;
2. according to the invention, the displacement vector of the workpiece can be obtained by calculating the distance and the direction of the displacement of the workpiece, so that the displacement track of the alternating current servo system after the displacement of the workpiece can be planned, the adjustment of the mechanical arm can be realized more quickly, and the displacement path of the mechanical arm is the shortest path.
Drawings
FIG. 1 is a schematic diagram of a modular configuration of an intelligent control AC servo system according to the present invention;
FIG. 2 is a schematic diagram of the module connection of an intelligent control AC servo system according to the present invention;
FIG. 3 is a schematic diagram of an AC servo system according to the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 to 3, an intelligent control ac servo system includes a data acquisition module, a modeling module, a value assignment module, a data analysis module, and a verification control module;
the data acquisition module is used for acquiring three-dimensional data of a working environment of the alternating current servo system, the modeling module is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data acquired by the data acquisition module so as to carry out digital three-dimensional simulation of the working process of the alternating current servo system according to the three-dimensional model, the assignment module is used for giving a coordinate value to each point in the three-dimensional model so as to control the alternating current servo system to carry out intelligent processing in a digital mode more accurately, the data analysis module is used for analyzing and calculating three-dimensional data change of the working environment of the alternating current servo system so as to make corresponding change according to the three-dimensional data change of the working environment of the alternating current servo system, intelligent control over the alternating current servo system is realized, and the verification control module is used for verifying analysis and calculation results of the data analysis module so that control over the alternating current servo system is more accurate, and control errors caused by the alternating current servo system can be effectively avoided;
the output end of the data acquisition module is electrically connected with the input end of the modeling module, the output end of the assignment module is electrically connected with the input end of the modeling module, the output end of the modeling module is electrically connected with the input end of the data analysis module, and the output end of the data analysis module is electrically connected with the input end of the verification control module.
The data acquisition module comprises a three-dimensional scanner and a data refreshing unit;
the three-dimensional scanner is used for three-dimensional scanning of the working environment of the alternating current servo system to obtain three-dimensional data of the working environment of the alternating current servo system, the three-dimensional data is the first step of achieving intelligent control of the alternating current servo system, and the data refreshing unit refreshes the three-dimensional scanning data of the alternating current servo system every t time, and the three-dimensional scanning data is used for updating the three-dimensional data moving in the working environment of the alternating current servo system, so that the three-dimensional data of a changing object can be continuously updated, and the specific position of the changing object in the three-dimensional model can be more accurately determined;
the output end of the three-dimensional scanner is electrically connected with the input end of the data refreshing unit.
The modeling module comprises a data processing unit, a model establishing unit and a three-dimensional model;
the data processing unit is used for processing the three-dimensional data scanned by the three-dimensional scanner, so that a three-dimensional model can be established according to the processed three-dimensional data, the model establishing unit is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data of the working environment of the alternating current servo system processed by the data processing unit, the three-dimensional model is output by the model establishing unit, the three-dimensional model is a three-dimensional model of the working environment of the alternating current servo system, and the three-dimensional model is continuously changed under the action of the data refreshing unit;
the output ends of the three-dimensional scanner and the data refreshing unit are electrically connected with the input end of the data processing unit, the output end of the data processing unit is electrically connected with the input end of the model establishing unit, and the model establishing unit outputs the three-dimensional model.
The assignment module comprises a coordinate system establishing unit, a feature extraction unit and a coordinate value giving unit;
the coordinate system establishing unit is used for establishing a three-dimensional rectangular coordinate system of the three-dimensional model so as to digitally locate each point in the three-dimensional model, and the feature extracting unit is used for extracting features in the three-dimensional model, such as: the feature extraction unit extracts central features of a workpiece in the working environment of the alternating current servo system, and the coordinate value giving unit is used for giving coordinate values to the features extracted by the feature extraction unit, so that the change condition of the extracted feature points in the three-dimensional rectangular coordinate system can be monitored more accurately;
the output end of the coordinate system establishing unit is electrically connected with the input end of the three-dimensional model, the output end of the three-dimensional model is electrically connected with the input end of the characteristic extracting unit, and the output end of the coordinate value endowing unit is electrically connected with the input end of the characteristic extracting unit.
The data analysis module comprises a data temporary storage unit, a displacement calculation unit and a track planning unit;
the data temporary storage unit is used for temporarily storing coordinate value data of the feature points with changed relative positions so as to calculate the displacement of the changed feature points, the displacement calculation unit is used for calculating the displacement of the relative positions of the processed workpieces in the working environment of the alternating current servo system so as to intelligently control and adjust the alternating current servo system according to the displacement of the processed workpieces, the position of the alternating current servo system is adjusted to be matched with the processed workpieces for processing, when the positions of the processed workpieces are changed, the alternating current servo system can timely make adjustment so as not to be incapable of continuously processing the workpieces, and the track planning unit is used for planning the optimal displacement route of the mechanical arm controlled by the alternating current servo system, so that the processing position of the mechanical arm can be changed most quickly according to the change condition of the positions of the workpieces;
the output end of the characteristic extraction unit is electrically connected with the input end of the data temporary storage unit, and the output end of the data temporary storage unit is electrically connected with the input ends of the track planning unit and the verification control module.
The verification control module comprises a verification unit, an original data import unit and a controller;
the verification and check unit is used for calculating the displacement of other characteristic points of the workpiece according to original coordinate value data of the workpiece processed by the alternating current servo system in the three-dimensional model and the current coordinate value of other characteristic points of the workpiece so as to be compared with the displacement of the workpiece calculated by the displacement calculation unit, the accuracy of the calculation result of the displacement calculation unit is verified, the original data input unit is used for inputting the original coordinate value data of the workpiece to be processed in the three-dimensional model of the working environment of the alternating current servo system, and the controller is used for controlling the alternating current servo system to adjust according to the verification result of the verification and check unit and the adjustment track planned by the track planning unit and continuing to process the workpiece;
the output end of the displacement amount calculation unit is electrically connected with the input end of the verification and verification unit, the output end of the original data input unit is electrically connected with the input end of the verification and verification unit, the output ends of the verification and verification unit and the track planning unit are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the alternating current servo system.
The original coordinate values of the workpiece feature points temporarily stored by the data temporary storage unit are (X, Y, Z), the variation coordinate values of the workpiece feature points temporarily stored by the data temporary storage unit are (X ', Y ', Z '), and the feature points are points to be processed of the workpiece, for example: a certain point of the workpiece needs to be drilled, then, the point to be drilled is a feature point, and the displacement amount calculating unit calculates the displacement amount L of the workpiece in the three-dimensional model according to the following formula:
when L ≠ 0, it indicates that the characteristic point of the workpiece to be processed is displaced, and the ac servo system cannot continue to perform the predetermined processing operation on the characteristic point.
The original data input unit enables the coordinate value original data of the other characteristic points of the workpiece to be { (X) 1 ,Y 1 ,Z 1 ),(X 2 ,Y 2 ,Z 2 ),…,(X N ,Y N ,Z N ) The input verification checking unit is used for inputting the variation data of the other characteristic points of the workpiece to the data temporary storage unit { (X' 1 ,Y′ 1 ,Z′ 1 ),(X′ 2 ,Y′ 2 ,Z′ 1 ),…,(X′ n ,Y′ n ,Z′ n ) Inputting verification unit for verifying displacement L 'of other characteristic points of the workpiece according to the following formula' i And (4) carrying out verification:
is L' i If the displacement is L, it indicates that the entire workpiece to be machined is displaced by the displacement amount L, and the current control program of the ac servo system cannot continue machining the workpiece to be machined.
The track planning unit calculates the displacement distance and the displacement direction of the AC servo system to be moved and carries out displacement track planning on the AC servo systemPlanning, the track planning unit is used for planning the displacement vector of the alternating current servo system according to the following formula
And (3) calculating:
the trajectory planning unit calculates the displacement vector of the alternating current servo system required to control the displacement of the mechanical arm
And sending the data to the controller.
The checking and verifying unit sends the verification result and the displacement L of the workpiece determined after verification to the controller, and the controller controls the alternating current servo system according to the coordinate value of the current machining point of the mechanical arm and the displacement vector
Moving to a designated position to process a workpiece to be processed, wherein the current coordinate value of a certain point of the mechanical arm is (x, y, z), and calculating the coordinate value (x ', y ', z ') of a target point of the mechanical arm displacement according to the following formula:
the embodiment is as follows: the original coordinate values of the workpiece drilling characteristic points temporarily stored by the data temporary storage unit are (12, 25, 18), the change coordinate values of the workpiece characteristic points temporarily stored by the data temporary storage unit are (11, 23, 21), the characteristic points are points to be machined of the workpiece, and the displacement calculating unit calculates the displacement L of the workpiece in the three-dimensional model according to the following formula:
and L is not equal to 0, which indicates that the characteristic point of the workpiece to be machined is displaced and the alternating current servo system cannot continue to perform the set machining operation on the workpiece.
The original data input unit inputs the remaining feature point coordinate values of the workpiece original data { (11, 24, 17), (13, 26, 19), (14, 27, 20) } to the verification check unit, the data temporary storage unit inputs the remaining feature point variation data { (10, 22, 20), (12, 24, 22), (13, 25, 23) } of the workpiece to the verification check unit, and the verification check unit checks the amount L 'of displacement of the remaining feature points of the workpiece by the following formula' i And (4) carrying out verification:
L′ 1 ＝L，L′ 2 ＝L,L′ 3 and = L indicates that the workpiece to be machined is displaced by the displacement amount L as a whole, and the current control program of the alternating current servo system cannot continuously machine the workpiece to be machined.
The path planning unit calculates the displacement distance and the displacement direction of the AC servo system to be moved, plans the displacement path of the AC servo system, and carries out the displacement vector of the AC servo system according to the following formula
And (3) calculating:
the trajectory planning unit calculates the displacement vector of the alternating current servo system required to control the displacement of the mechanical arm
And sending the data to a controller.
The checking and verifying unit sends a checking result and the displacement L of the workpiece determined after checking to the controller, and the controller controls the alternating current servo system according to the coordinate value of the current processing point of the mechanical arm and the displacement vector
Moving to a designated position to process a workpiece to be processed, wherein the current coordinate value of a certain point of the mechanical arm is (x, y, z) = (8, 7, 9), and the coordinate value (x ', y ', z ') of the target point of the mechanical arm displacement is calculated according to the following formula:
and (7, 5, 12) are target pre-coordinate values of the mechanical arm displacement processing.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (8)
1. The utility model provides an intelligent control exchanges servo which characterized in that: the intelligent control alternating current servo system comprises a data acquisition module, a modeling module, an assignment module, a data analysis module and a verification control module;
the data acquisition module is used for acquiring three-dimensional data of a working environment of the alternating current servo system, the modeling module is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data acquired by the data acquisition module, the assignment module is used for giving a coordinate value to each point in the three-dimensional model, the data analysis module is used for analyzing and calculating three-dimensional data change of the working environment of the alternating current servo system, and the verification control module is used for verifying the analysis and calculation results of the data analysis module;
the output end of the data acquisition module is electrically connected with the input end of the modeling module, the output end of the assignment module is electrically connected with the input end of the modeling module, the output end of the modeling module is electrically connected with the input end of the data analysis module, and the output end of the data analysis module is electrically connected with the input end of the verification control module;
the modeling module comprises a model establishing unit and a three-dimensional model;
the model establishing unit is used for establishing a three-dimensional model of the working environment of the alternating current servo system according to the three-dimensional data of the working environment of the alternating current servo system processed by the data processing unit, the three-dimensional model is output by the model establishing unit, the three-dimensional model is the three-dimensional model of the working environment of the alternating current servo system, and the three-dimensional model is continuously changed under the action of the data refreshing unit;
the assignment module comprises a feature extraction unit;
the feature extraction unit is used for extracting features in the three-dimensional model;
the data analysis module comprises a data temporary storage unit, a displacement calculation unit and a track planning unit;
the data temporary storage unit is used for temporarily storing coordinate value data of the feature points with changed relative positions, the displacement calculating unit is used for calculating the displacement of the relative positions of the processed workpieces in the working environment of the alternating current servo system, and the track planning unit is used for planning the optimal displacement route of the mechanical arm controlled by the alternating current servo system;
the output end of the characteristic extraction unit is electrically connected with the input end of the data temporary storage unit, and the output end of the data temporary storage unit is electrically connected with the input ends of the track planning unit and the verification control module;
the verification control module comprises a verification unit, an original data import unit and a controller;
the verification and check unit is used for calculating the displacement of the rest characteristic points of the workpiece according to original coordinate value data of the workpiece processed by the alternating current servo system in the three-dimensional model and the current coordinate values of the rest characteristic points of the workpiece, the original data import unit is used for inputting the original coordinate value data of the workpiece to be processed in the three-dimensional model of the working environment of the alternating current servo system, and the controller is used for controlling the alternating current servo system to adjust the alternating current servo system according to the verification result of the verification and check unit and the adjustment track planned by the track planning unit and continuing to process the workpiece;
the output end of the displacement calculating unit is electrically connected with the input end of the verification and verification unit, the output end of the original data importing unit is electrically connected with the input end of the verification and verification unit, the output ends of the verification and verification unit and the track planning unit are electrically connected with the input end of the controller, and the output end of the controller is electrically connected with the input end of the alternating current servo system.
2. An intelligent control ac servo system as claimed in claim 1, wherein: the data acquisition module comprises a three-dimensional scanner and a data refreshing unit;
the three-dimensional scanner is used for three-dimensional scanning of the working environment of the alternating current servo system to obtain three-dimensional data of the working environment of the alternating current servo system, and the data refreshing unit refreshes the three-dimensional scanning data of the alternating current servo system every t time;
the output end of the three-dimensional scanner is electrically connected with the input end of the data refreshing unit.
3. An intelligent control ac servo system according to claim 2, wherein: the modeling module further comprises a data processing unit;
the data processing unit is used for processing the three-dimensional data scanned by the three-dimensional scanner;
the output ends of the three-dimensional scanner and the data refreshing unit are electrically connected with the input end of the data processing unit, the output end of the data processing unit is electrically connected with the input end of the model establishing unit, and the model establishing unit outputs the three-dimensional model.
4. An intelligent control ac servo system according to claim 3, wherein: the assignment module also comprises a coordinate system establishing unit and a coordinate value giving unit;
the coordinate system establishing unit is used for establishing a three-dimensional rectangular coordinate system of the three-dimensional model, and the coordinate value giving unit is used for giving coordinate values to the features extracted by the feature extracting unit;
the output end of the coordinate system establishing unit is electrically connected with the input end of the three-dimensional model, the output end of the three-dimensional model is electrically connected with the input end of the characteristic extracting unit, and the output end of the coordinate value endowing unit is electrically connected with the input end of the characteristic extracting unit.
5. An intelligent control ac servo system according to claim 4, wherein: the original coordinate values of the workpiece feature points temporarily stored by the data temporary storage unit are (X, Y, Z), the change coordinate values of the workpiece feature points temporarily stored by the data temporary storage unit are (X ', Y ', Z '), the feature points are points to be machined of the workpiece, and the displacement amount calculation unit calculates the displacement amount L of the workpiece in the three-dimensional model according to the following formula:
when L ≠ 0, it indicates that the characteristic point of the workpiece to be processed is displaced, and the ac servo system cannot continue to perform the predetermined processing operation on the workpiece.
6. An intelligent control ac servo system as claimed in claim 5, wherein: the original data import sheetThe primitive data of the coordinate values of the other feature points of the workpiece { (X) 1 ，Y 1 ，Z 1 )，(X 2 ，Y 2 ，Z 2 )，...，(X N ，Y N ，Z N ) Inputting into a verification and verification unit, wherein the data temporary storage unit changes the other characteristic point change data { (X }) of the workpiece' 1 ，Y′ 1 ，Z′ 1 )，(X′ 2 ，Y′ 2 ，Z′ 2 )，...，(X′ n ，Y′ n ，Z′ n ) Inputting a verification checking unit, wherein the verification checking unit is used for checking displacement L 'of the rest characteristic points of the workpiece according to the following formula' i And (4) carrying out verification:
when L' i And if the displacement is L, the whole workpiece to be machined is displaced by the displacement amount L, and the current control program of the alternating current servo system cannot continuously machine the workpiece to be machined.
7. An intelligent control ac servo system as claimed in claim 6, wherein: the trajectory planning unit calculates the displacement distance and the displacement direction of the alternating current servo system to be moved and plans the displacement trajectory of the alternating current servo system, and the trajectory planning unit plans the displacement vector of the alternating current servo system according to the following formula
And (3) calculating:
the trajectory planning unit calculates displacement vectors of the alternating current servo system required to control the displacement of the mechanical arm
And sending the data to a controller.
8. An intelligent control ac servo system as claimed in claim 7, wherein: the verification and verification unit sends a verification result and the displacement L of the workpiece determined after verification to the controller, and the controller controls the alternating current servo system according to the coordinate value of the current machining point of the mechanical arm and the displacement vector
Moving to a specified position to process a workpiece to be processed, wherein the current coordinate value of a certain point of the mechanical arm is (x, y, z), and calculating the coordinate value (x ', y ', z ') of the target point of the mechanical arm displacement according to the following formula:
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010961586.3A CN112051777B (en) | 2020-09-14 | 2020-09-14 | Intelligent control alternating current servo system |
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| JP2001318709A (en) * | 2000-05-09 | 2001-11-16 | Toshiba Mach Co Ltd | Moving route plotting method and numerical controller |
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