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
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[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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