CN112051777A - Intelligent control alternating current servo system - Google Patents
Intelligent control alternating current servo system Download PDFInfo
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- CN112051777A CN112051777A CN202010961586.3A CN202010961586A CN112051777A CN 112051777 A CN112051777 A CN 112051777A CN 202010961586 A CN202010961586 A CN 202010961586A CN 112051777 A CN112051777 A CN 112051777A
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- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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. The workpiece does not need to be readjusted, and the applicability of the alternating current servo system is improved.
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 as expected by following an external instruction, moving elements comprise position, speed and moment, the alternating current servo system is used for a mechanical arm in many applications, and the mechanical arm is controlled by the alternating current servo system to process a product, however, the existing alternating current servo system applied to the mechanical arm has some problems in use, most of the existing alternating current servo systems applied to the mechanical arm are realized by program control, only the operation set by a program can be completed, when the product is displaced or deviated, the product cannot be accurately processed, and although the motion of the alternating current servo system can be changed by visual identification, however, when the three-dimensional space moves, the product cannot be accurately processed according to the displacement position of the product, once the product moves in the three-dimensional space, the product cannot be continuously processed, the position of the product needs to be readjusted, more time is wasted, the process is complicated, and the optimal trajectory cannot be planned by the conventional alternating current servo system, so that people urgently need an intelligent control alternating current servo system to solve the problems.
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 the 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 coordinate values 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 changes of the working environment of the alternating current servo system so as to make corresponding changes according to the three-dimensional data changes of the working environment of the alternating current servo system and realize intelligent control 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 control of the alternating current servo system is more accurate, and the control error of the alternating current servo system caused by calculation errors 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.
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 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 three-dimensional data is the first step of 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 the three-dimensional data scanned by the three-dimensional scanner so as to establish a three-dimensional model 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 the coordinate value data of the feature points with changed relative positions, so as to calculate the displacement of the changed characteristic point, the displacement calculating unit is used for calculating the displacement of the relative position of the processed workpiece in the working environment of the AC servo system, so as to intelligently control and adjust the AC servo system according to the displacement of the processed workpiece, adjust the position of the AC servo system matched with the processed workpiece for processing, so that when the position of the processed workpiece changes, the alternating current servo system can be adjusted in time to prevent the workpiece from being continuously processed, the track planning unit is used for planning the optimal displacement route of the mechanical arm controlled by the alternating current servo system, the processing position of the mechanical arm can be changed most quickly according to the change situation 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 characteristic 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 workpiece1,Y1,Z1),(X2,Y2,Z2),…,(XN,YN,ZN) 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'iAnd (4) carrying out verification:
is L'iWhen the displacement is L, it indicates that the whole workpiece to be machined is displaced by the displacement amount L, and the current control program of the ac servo system cannot continue to 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 needs to control the calculated AC servo systemDisplacement vector of arm displacement
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 alternating current 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 the 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 so as to realize intelligent control of the alternating current servo system, and the verification control module is used for verifying the analysis, the control of the alternating current servo system is more accurate, and the control error of the alternating current servo system caused by calculation errors 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 extracting unit and a coordinate value endowing 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 the coordinate value data of the feature points with changed relative positions, so as to calculate the displacement of the changed characteristic point, the displacement calculating unit is used for calculating the displacement of the relative position of the processed workpiece in the working environment of the AC servo system, so as to intelligently control and adjust the AC servo system according to the displacement of the processed workpiece, adjust the position of the AC servo system matched with the processed workpiece for processing, so that when the position of the workpiece to be processed changes, the alternating current servo system can be adjusted in time to prevent the workpiece from being continuously processed, the track planning unit is used for planning the optimal displacement route of the mechanical arm controlled by the alternating current servo system, the processing position of the mechanical arm can be changed most quickly according to the change situation 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.
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, 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 in the data temporary storage unit are (X, Y, Z), the variation coordinate values of the workpiece feature points temporarily stored in 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, and then the point to be drilled is a characteristic 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.
The original data input unit uses the coordinate value of the other characteristic points of the workpiece as the original data { (X)1,Y1,Z1),(X2,Y2,Z2),…,(XN,YN,ZN) The input verification unit, data temporaryThe storage unit stores the remaining 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 unit for verifying displacement L 'of other characteristic points of the workpiece according to the following formula'iAnd (4) carrying out verification:
is L'iWhen the displacement is L, it indicates that the whole workpiece to be machined is displaced by the displacement amount L, and the current control program of the ac servo system cannot continue to 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 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 specified position to process the workpiece to be processed, and machiningThe coordinate value of a certain current point of the arm is (x, y, z), and the coordinate value (x ', y ', z ') of the target point of the mechanical arm displacement is calculated according to the following formula:
example (b): 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 processed 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 coordinate values of the remaining feature points 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 variation data of the remaining feature points of the workpiece { (10,22,20), (12,24,22), (13,25,23) } to the verification check unit, and the verification check unit inputs the displacement amount L 'of the remaining feature points of the workpiece to the verification check unit according to the following formula'iAnd (4) carrying out verification:
L′1＝L，L′2＝L,L′3l indicates that the whole workpiece to be machined is displaced by an amount L, and the current control program of the ac servo system cannot continue to 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 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) ═ 8,7,9, and calculating the coordinate value (x ', y ', z ') of a target point of the mechanical arm displacement according to the following formula:
and (7,5,12) are the pre-target 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 (10)
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, 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, 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.
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 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, 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.
4. An intelligent control ac servo system according to claim 3, wherein: the assignment module comprises a coordinate system establishing unit, a feature extracting 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, the feature extracting unit is used for extracting features in 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 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 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, 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.
6. An intelligent control ac servo system as claimed in claim 5, wherein: 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 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 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 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.
7. An intelligent control ac servo system as claimed in claim 6, 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 processed of the workpiece, and the displacement calculation unit calculates the displacement 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.
8. An intelligent control ac servo system as claimed in claim 7, wherein: the original data input unit is used for inputting original data { (X) of coordinate values of other feature points of the workpiece1，Y1，Z1)，(X2，Y2，Z2)，...，(XN，YN，ZN) 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'iAnd (4) carrying out verification:
is L'iWhen the displacement is L, it indicates that the whole workpiece to be machined is displaced by the displacement amount L, and the current control program of the ac servo system cannot continue to machine the workpiece to be machined.
9. An intelligent control ac servo system as claimed in claim 8, 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.
10. An intelligent control ac servo system according to claim 9, wherein: the checking and verifying unit sends a verifying 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:
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