Covariance-based detection method and device for collision detection module

A technology of collision detection and detection method, which is applied in the control of electromechanical transmission, motor generator control, control of electromechanical brakes, etc. The effect of generality

Pending Publication Date: 2022-07-05
FOSHAN INST OF INTELLIGENT EQUIP TECH
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  • Claims
  • Application Information

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Problems solved by technology

This method has a large amount of calculation and is not suitable for embedded microprocessors, and it needs to be re-modeled for different devices, and its versatility is low

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  • Covariance-based detection method and device for collision detection module
  • Covariance-based detection method and device for collision detection module
  • Covariance-based detection method and device for collision detection module

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Embodiment Construction

[0045] The following examples are further explanations and supplements to the present invention, and do not constitute any limitation to the present invention.

[0046] A method for detecting a collision detection module based on covariance, comprising the following steps:

[0047] S1: Collect the three-phase current data of the motor, and obtain the quadrature axis current Iq and the direct axis current Id through Clark transformation and Park transformation;

[0048] Collect the motor encoder value, and perform the second derivative to get the feedback acceleration a;

[0049] S2: Connect the collision detection module with the motion controller, and issue the moment of inertia m to the collision detection module through the motion controller, if not, the moment of inertia is 1 by default;

[0050] S3: Perform low-pass filtering on the quadrature axis current Iq and the feedback acceleration a to obtain the required filtered quadrature axis current Iq 2 and filtered feedba...

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Abstract

The invention relates to the field of motor collision detection, and discloses a collision detection module detection method and device based on covariance, and the method comprises the steps S1 to S5. According to the method, the correlation is judged by calculating the feedback current, the feedback acceleration and the rotational inertia through the covariance, whether collision occurs or not is detected, no additional sensor needs to be added to servo drive of the motor pair, the cost is well saved, re-modeling is not needed for different loads, dynamic modeling and parameter identification are not needed, and the method is suitable for large-scale popularization and application. The method has the advantages of high universality and small calculated amount, is suitable for embedded microprocessors with small calculated amount, and increases the input of the rotational inertia, so that the judgment on collision is not influenced even if the rotational inertia is changed in the movement process, and the application range of the method can be expanded to a multi-axis linkage robot.

Description

【Technical field】 [0001] The invention relates to the field of motor collision detection, in particular to a covariance-based collision detection module detection method and device. 【Background technique】 [0002] Nowadays, AC permanent magnet servo motors are widely used in mechanical equipment, robots and other fields. In the process of use, obstacles will inevitably be encountered and collisions will occur. If the collision is not detected and protected in time, it will lead to more serious consequences, such as damage to other equipment, and even damage to the drive and motor. [0003] At present, many methods have been proposed in the field of robot collision detection. One of the more common methods is to install various sensors on the robotic arm to detect the occurrence of collisions, such as wrist sensors, vision sensors, skin perception, etc. Although installing sensors can quickly detect collisions, it will increase the production cost of the robot at the same ti...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): H02P21/14H02P21/18H02P21/22H02P29/024H02P25/02
CPCH02P21/14H02P21/18H02P21/22H02P29/024H02P25/02
Inventor 张立群招子安张兴恩龚智浩张卓奇周星
Owner FOSHAN INST OF INTELLIGENT EQUIP TECH
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