2results about How to "Easy function extension" patented technology

The invention relates to the technical field of electric power inspection and maintenance robot control, and discloses a power transmission line crawling robot lifting self-adaptive shake suppression control method and system. The method comprises the following steps: acquiring three-axis acceleration and three-axis angular velocity data of a robot platform, calculating a yaw angle and an angular velocity of the robot platform relative to a vertical balance position, and constructing an evaluation index representing the shaking strength of the platform; according to the shake strength evaluation index, driving parameters of a lifting motor are dynamically adjusted through a nonlinear mapping relation; and the swing period and phase of the robot platform are monitored, and when the platform swings to a specific phase point, an instantaneous driving pulse is applied to a lifting motor to consume swing energy. By means of the method, the maximum swing angle of the robot platform can be reduced by 60% or above, the static time after the robot platform reaches the target position is shortened by 70% or above, and the working efficiency is remarkably improved.

The application discloses a motor signal acquisition method, device and motor control system. The motor signal acquisition method comprises the following steps: a FlexPWM generates an overload signal according to a sampling start signal; a cross trigger module starts cross trigger judgment according to the overload signal, so that trigger comparison values of each to-be-tested signal are cross triggered with values of a counting signal; when the trigger comparison value of the to-be-tested signal is equal to the value of the counting signal, the cross trigger module generates an acquisition trigger signal of the to-be-tested signal; in the process of cross trigger judgment, the cross trigger module changes the trigger comparison value of the to-be-tested signal or the maximum value of the counting signal according to an instruction of an upper computer, so as to adjust the acquisition time of the to-be-tested signal; and an analog-digital conversion module opens a sampling channel of the corresponding to-be-tested signal according to the acquisition trigger signal of the to-be-tested signal, so as to acquire the corresponding to-be-tested signal. The application can improve the flexibility and efficiency of signal acquisition.