37results about How to "Improve control quality" patented technology

The invention discloses a water-based acrylate composite adhesive emulsion, a water-based acrylate composite adhesive and a preparation method, and belongs to the technical field of acrylate composite adhesives. The waterborne acrylate composite adhesive emulsion is prepared from the following components in parts by weight: 450 to 520 parts of deionized water, 250 to 300 parts of a soft monomer, 119 to 215 parts of a hard monomer, 45 to 55 parts of polyurethane resin, 5.0 to 5.5 parts of a reactive emulsifier, 1 to 11 parts of a non-reactive emulsifier, 1.5 to 10.5 parts of a self-crosslinking monomer and 3.25 to 3.34 parts of an initiator. According to the invention, the non-reactive emulsifier and the reactive emulsifier are simultaneously used for emulsifying and modifying the polyurethane resin and the acrylate copolymer, so that the influence that the non-reactive emulsifier is easy to migrate to the surface of an adhesive film, so that the water resistance and the humidity and heat resistance of the composite adhesive become poor can be weakened; therefore, the moisture and heat resistance of the water-based acrylate composite adhesive can be improved.

The invention relates to a rapid guidance method for an unmanned ship, which comprises the following steps of: establishing a parameterized reference path, determining a position and attitude relationship of the unmanned ship on a horizontal plane, designing a finite time drift angle observer for accurately observing an unknown drift angle of the unmanned ship, defining an estimated value of the drift angle, an adjusting parameter and an error term, and determining the position and attitude relationship of the unmanned ship on the horizontal plane. Deriving a derivative expression of the error term, proving that the error term converges to zero in finite time, establishing a drift angle estimation formula, and proving that the observation error converges to zero in finite time; designing a virtual speed and an updating law thereof; designing a nonlinear function for accelerating the convergence speed of the lateral error; establishing a line-of-sight tracking angle formula; and by parameterizing the reference path and accurately calculating the error between the unmanned ship and the virtual target point and combining the derivative expression of the error, the unmanned ship can be more accurately controlled to sail along the preset path, and the path tracking precision is remarkably improved.

The anti-disturbance control method of the high-altitude platform air intake system based on the non-smooth feedback function of the present invention includes 1. establishing the main equipment characteristic models such as the cavity pressure model, the regulating valve flow model and the regulating valve control model of the high-altitude platform air intake control system, and constructing an approximate second-order system model of the air intake control system; 2. designing a non-smooth feedback function algorithm; 3. constructing a nonlinear enhanced filtering algorithm; 4. introducing adjustment signal amplitude parameters and phase compensation parameters to improve the signal processing capability of the nonlinear enhanced filtering algorithm; 5. feeding back the pressure output filter signal obtained in 4 to the non-smooth feedback sliding mode controller obtained in 2, and the non-smooth feedback sliding mode controller algorithm and the nonlinear enhanced filtering algorithm are used together in the air intake control system to realize the control of the intake pressure in the transient state test of the aircraft engine. Step 6: repeat the above 2 to 5.

The invention relates to the technical field of industrial automation control, in particular to a valve positioner control algorithm switching method, system and device based on self-tuning and a storage medium, and the method comprises the steps that S1, a self-tuning calibration process is executed on a valve, and motion parameters including the whole-course motion time, the position deviation and the minimum effective control quantity of the valve are obtained; s2, according to the motion parameters, a discrimination factor representing the resistance characteristic of the valve is obtained through calculation according to a preset weighted calculation formula; and S3, comparing the discrimination factor with a preset critical value, automatically selecting a target control algorithm from a plurality of pre-stored control algorithms according to a comparison result, and performing closed-loop control on the valve by adopting the target control algorithm. According to the method, the control algorithm and the resistance characteristic of the valve are automatically and accurately matched, the adaptability, the stability and the control quality of valve control are effectively improved, and meanwhile the debugging and maintenance cost is remarkably reduced.

The invention discloses a preparation method of a high-ionic-conductivity solid electrolyte material of a solid-state battery, a pure-phase sulfide solid electrolyte is prepared in a solvent-free and dry method mode, generation of impure phases can be reduced, the purity and ionic conductivity of the sulfide solid electrolyte are further improved, the electrochemical stability is enhanced, and meanwhile, the solid-state battery has the high-ionic-conductivity solid electrolyte material. The high-purity sulfide solid electrolyte is beneficial to further improving the rate capability of the all-solid-state battery and improving the energy density, and a solid material basis is provided for performance improvement and reliability of the all-solid-state battery.

The application discloses an IBCU plunger cavity rigidity self-learning algorithm and relates to the technical field of hydraulic brake-by-wire systems, and comprises the following steps: triggering a plunger cavity sealing detection state in the IBCU power-on process; when the plunger cavity pressure and the plunger position meet the credible condition, acquiring the pressure data of the plunger cavity in the pressure building process and the corresponding plunger cavity liquid consumption volume data. The application acquires the plunger cavity rigidity parameter through self-learning, realizes individual modeling, and improves the parameter accuracy; optimizes the liquid quantity estimation based on the corrected rigidity parameter, improves the pressure building speed and the control accuracy, especially improves the single round pressure building performance; simultaneously compensates the individual differences, enhances the system consistency, makes the theoretical model and the actuality more matched, and thus improves the overall braking performance and stability.

The invention relates to a camshaft adjuster (1) for the relative rotation of a camshaft (2) relative to a crankshaft, having a stator (3) and a rotor (4) which is rotatable relative to the stator (4) about an axial axis (a), two counteracting, oilable working chambers (A, B), a front cover (5) and a rear cover (6) which axially enclose the working chambers (A, B), a control valve (7) by means of which the working chambers (A, B) can be acted upon by oil pressure, an oil reservoir (8) for the oil, an oil drain channel (9) which guides leakage oil escaping between the rotor (4) and the front cover (5) to the oil reservoir (8), wherein an additional oil drain channel (10) guides further leakage oil to the oil reservoir (8).

The application discloses a kind of pet snack processing uses air-drying equipment and process, it is related to meat product drying technical field, the first flexible hollow plate and the second flexible hollow plate are set to each other by the present application, for flexible clamping to meat strip, reciprocating transverse extrusion force is applied to the left end of two flexible hollow plates by first electric push rod, so that the two flexible hollow plates of pair arrangement can be clamped meat strip reciprocating bending, flatten, so that the hard shell formed on the surface of meat strip can be periodically destroyed, guarantee the smoothness of internal moisture export in the process of meat strip air-drying, not only can effectively improve air-drying efficiency, but also can significantly improve palatability after meat strip air-drying, and it has good applicability to young, old and pet population with weak oral function.

The invention discloses a magnetic suspension device, comprising a float, a magnetic base and a controller; the magnetic base comprises a chassis, two or three excitation coils, a permanent magnet array and a float position monitoring unit; the chassis is a mounting surface for the excitation coil and the permanent magnet array; the float position monitoring unit is arranged at the center point of the chassis for real-time detection of the current position of the float on the suspension plane and transmits it to the controller; the controller compares the current position value with the target position value, generates a position deviation signal, combines the force analysis and the calculation result of the electromagnetic force between the excitation coil and the float, changes the current magnitude and direction in all the excitation coils, so that the resultant force F of all the excitation coils on the float is P The float can be pulled to the target position value. The present invention breaks through the limitation that a set of two coils in pairs can only realize the control of the degree of freedom in a certain direction, can save space and materials, and is conducive to the miniaturization of the magnetic suspension device.

The application discloses a workshop constant temperature and humidity control method and system based on ultrasonic cold atomization, and belongs to the technical field of industrial environment control. In view of the defects of high energy consumption, heat interference, control lag and too tight coupling with a production system of a steam humidification mode in the prior art, the method comprises the following steps: obtaining real-time humidity of a workshop, and generating a standard industrial simulation control signal by an air conditioner main control unit; the signal is converted into a driving signal through an independently arranged signal conversion control module, and normal-temperature atomized water vapor output by an ultrasonic cold atomization humidification device is controlled, so that the original steam humidification device is completely replaced. The system also has a manual control mode and a state display function, and can realize decoupling of humidification and a boiler, so that the boiler is completely stopped when a production line is shut down. The application replaces fossil fuels with electric energy, saves energy and reduces cost, eliminates heat interference and improves temperature control accuracy, and can be seamlessly integrated without modifying the original PLC program, thereby supporting lean energy management.

This invention discloses a system and control method for enhancing the variable load capacity of coal-fired power units through integrated molten salt energy storage. The system comprises a coal-fired power unit and a molten salt energy storage system. The molten salt energy storage system heats feedwater after steam preheating, and the resulting superheated steam is injected into the intermediate-pressure cylinder to perform work. The corresponding control method is as follows: First, determine the load commands for the coal-fired power unit and the molten salt energy storage system; second, formulate a control strategy for the molten salt energy storage system; next, determine the key parameter setpoints for the integrated molten salt energy storage system to enhance the variable load capacity of the coal-fired power unit; then, calculate the superheated steam flow setpoint for the molten salt energy storage system; finally, iteratively determine the PID controller parameters under optimal conditions. This control method is compatible with the existing control system of the coal-fired power unit, reduces the system's computational complexity and retrofitting costs, and significantly improves variable load capacity and operational control quality.

The utility model belongs to the technical field of special equipment for ceramic capacitor manufacturing, specifically relates to a heating system for green porcelain belt preparation. The heating system for green porcelain belt preparation, including heating chamber, silicon rubber heating plate and hot -blast heating mechanism, load film carries ceramic slurry and can enter from the feed port of one end of heating chamber, leave from the discharge port of the other end, silicon rubber heating plate is fixedly arranged in the heating chamber, and the load film is located above the silicon rubber heating plate when running, the hot -blast heating mechanism is used for introducing the outside air, forms hot -blast after heating and makes hot -blast blow into the heating chamber in the way of parallel to the load film running direction and countercurrent to the load film running direction, and the ceramic slurry on the load film is dried. The utility model has the advantages of low cost, small temperature difference in the width direction of film and high safety.

A double-pulse differential back-blowing flue gas sampling device and method, which is composed of alternating back-blowing sampling cycles and non-back-blowing sampling cycles. The periodic sampler operates continuously, and the flue gas is sucked in from the inner tube inlet and discharged from the sampler outlet. In the non-back-blowing cycle, the back-blowing pulse valve and the back-suction pulse valve are both closed. The flue gas enters the inner cavity from the outer surface of the smoke filter and then enters the inner tube inlet after being collected. The back-blowing pulse valve is opened and lasts for ΔT1 time, and the gas in the back-blowing preheating tube enters the inner cavity of the smoke filter. The dust accumulated on the outer surface of the smoke filter is back-blown, and the gas entering the inner tube inlet is the flue gas in the inner cavity. At the end of ΔT1, the back-suction pulse valve is opened and lasts for ΔT2 time, and the gas in the inner cavity flows to the vacuum tank, and the flue gas enters the inner cavity through the smoke filter. The present invention can achieve uninterrupted sampling during back-blowing, and realize truly continuous flue gas sampling, which provides conditions for improving the level of environmental monitoring and the control quality of environmental protection devices.

The utility model provides a vehicle logo detecting, screening, marking and stacking integrated device which is characterized in that all the devices are installed on the periphery of a working table top, a laser marking machine is installed behind the working table top, and a module is installed on the surface of the working table top; the servo motor is installed at one end of the module, the first lifting air cylinder and the second lifting air cylinder are installed on the front side of the module, and the vacuum suction cup is installed below the first lifting air cylinder and the second lifting air cylinder. The lifting unit is mounted below the working table; the stacking unit is mounted below the working table; the photoelectric switch is mounted on the surface of the working table, and the detection station is mounted on the surface of the working table; the camera is mounted on the surface of the working table; through mutual cooperation of all the structures, visual inspection, laser marking, automatic distinguishing of defective products and automatic stacking are integrated, the manual error probability is greatly reduced, and the product error date is tracked in time.

The utility model provides a kind of alkali method bromine extraction system for air blow-out method, through acidification oxidation-blow out-multistage absorption-absorption liquid cascade configuration circulation-distillation bromine extraction whole process cooperation, constructs the closed loop bromine extraction system of " bromine ion directional conversion→brim gas grading enrichment→absorption liquid gradient utilization→bromine precise purification". With at least two levels of series absorption tower to match independent absorption liquid pool, realize alkali liquid cascade configuration and absorption liquid reverse flow, adapt to different seawater bromine content and working condition, reduce alkali consumption and tail gas bromine loss;Each unit of whole process is accurately connected, both improve the conversion efficiency of bromine oxidation, absorption, distillation, also ensure the purity of bromine through multistage purification, solve the problem of low traditional bromine extraction yield, high energy consumption, poor adaptability, provide efficient, energy saving, quality controllable system scheme for large-scale seawater bromine extraction, achieve the collaborative optimization of bromine extraction efficiency, resource utilization, product quality.

The utility model relates to the technical field of quartz crucible production, in particular to a quartz crucible forming rod which comprises a hollow forming rod body, the forming rod body is provided with an outline matched with a quartz crucible and comprises a bottom end and a top end, and a plurality of positioning grooves are formed in the bottom end of the forming rod body; the forming rod tip is movably arranged at the bottom end of the forming rod body, one end of the forming rod tip is located in the bottom end of the forming rod body and can be selectively clamped into any one of the multiple positioning grooves, and the other end of the forming rod tip is located outside the bottom end of the forming rod body so that the forming rod body can be positioned at different positions. The forming rod can be positioned at different positions by adjusting the tip of the forming rod so as to be matched with different thicknesses of the inner-layer quartz sand and the outer-layer quartz sand during preparation of the quartz crucible, so that frequent replacement of the forming rod is avoided, and the operation process is simplified.

This invention discloses an online identification method for key parameters of a magnetically driven rotor for twin control. The method includes: constructing a parameterized digital twin model of the magnetically driven rotor, defining the time-varying key internal parameters in the model as parameter vectors to be identified; defining an objective function within a set time window, transforming the parameter identification problem into a nonlinear optimization problem that minimizes the objective function; adaptively identifying system parameters based on the LM optimization method to obtain parameter update vectors; passing the parameter update vectors to the system matrix of the parameterized digital twin model for state prediction at the next time step, and outputting the parameter update vectors to complete the online identification of key parameters. This invention effectively improves the accuracy, real-time performance, and embedded platform adaptability of parameter identification, providing a reliable model foundation for high-precision control, performance degradation monitoring, and predictive maintenance of magnetically driven rotors.

This invention discloses a path planning method for a robotic arm platform, a robotic arm platform, and a storage medium, relating to the field of robotic arm path planning technology, and is invented to improve path planning accuracy. The method involves acquiring the current pose of the robotic arm platform, current environmental information, and the target arrival point. An initial obstacle avoidance path is generated using a gradient descent method with the adversarial potential field as parameters, taking the current environmental information and the target arrival point as parameters. This initial obstacle avoidance path is then smoothed using a filtering algorithm to obtain a smoothed obstacle avoidance path. The dynamic model of the robotic arm platform is used as a constraint, and an iterative optimization of the smoothed obstacle avoidance path is performed using a target value function with tracking error penalty, smoothness penalty, and energy consumption penalty as parameters, resulting in the planned path for the robotic arm platform after the target value function converges. This invention is used for robotic arm path planning.

The utility model discloses a flange angle iron processing device, which belongs to the technical field of flange processing, and comprises a machine table, one side of the machine table is sequentially provided with a feeding guide device, a processing machine head and a discharging guide device from left to right, the machining machine head comprises a machine head installation frame, the included angle between the machine head installation frame and the horizontal plane is 45 degrees, a set of positioning installation plates are arranged in the center of the machine head installation frame, and a set of L-shaped positioning grooves are formed in the positioning installation plates. According to the technical scheme, the complete machining process of feeding, machining and discharging can be automatically completed, the machining efficiency is greatly improved, manpower and material resources are saved, angle iron profiles are limited, positioned and fixed in the machining process, the quality of the angle iron profiles punched through the punching machine head and machined and formed is stable and controllable, and the good using effect is achieved.

The utility model discloses a kind of electric heating wire lengthening device, linear guide is provided on base, first fixed seat, second fixed seat are connected with guide rail, and the initial position of both is interval arrangement, electric heating wire is located between first fixed seat, second fixed seat, and the both ends of electric heating wire are respectively positioned and connected with first fixed seat, second fixed seat, first fixed seat, second fixed seat are respectively connected with a driving source, and driving source drives first fixed seat, second fixed seat moves along guide rail opposite to lengthen electric heating wire. By first fixed seat, second fixed seat positioning and connecting electric heating wire, and first fixed seat, second fixed seat linearly stretch electric heating wire, to keep lengthening electric heating wire, first fixed seat, second fixed seat are driven by different driving sources respectively, by the same speed, rate, stroke design of both, to keep evenly stretching electric heating wire, lengthening device is suitable for electric heating wire of different original length, and is suitable for different lengthening length.

This invention relates to the field of traditional Chinese medicine preparation technology, specifically to a Qi-invigorating and blood-activating granule for heart pain and its preparation method, comprising the following raw materials in parts by weight: 25-35 parts of raw Astragalus membranaceus, 10-20 parts of Angelica sinensis, 5-15 parts of ginseng, 4-8 parts of Panax notoginseng, 10-20 parts of Ligusticum chuanxiong, 8-12 parts of earthworm, and 2-4 parts of leech. This invention precisely targets the core pathogenesis of Qi deficiency and blood stasis syndrome, which is "Qi deficiency as the root and blood stasis as the manifestation," selecting raw Astragalus membranaceus and ginseng as the core Qi-invigorating components, and Panax notoginseng, leech, Ligusticum chuanxiong, Angelica sinensis, and earthworm as the core blood-activating components. The formulation follows the traditional Chinese medicine principle of "invigorating Qi to promote blood circulation without harming the body's vital energy." The dosage of each raw material has been optimized through systematic experiments to form a specific range of parts by weight, solving the technical problems of poor targeting and insufficient synergy in existing formulations.

This invention relates to the field of electrolysis process control technology, and particularly to a method and system for preventing over-temperature control of the deaerator in a water electrolysis hydrogen production purification system. The method includes: acquiring monitoring data of the electrolyzer's operating status and oxygen content monitoring data at the deaerator inlet; performing logical judgment calculations on the electrolyzer's operating status monitoring data based on a preset set of disturbance parameter thresholds to obtain a feedforward control signal; performing deviation calculations and feedback control algorithm calculations on the oxygen content monitoring data based on a preset first oxygen content threshold to obtain a feedback control signal related to the preset threshold; and performing control logic operations based on the feedforward and feedback control signals to generate control commands. This approach solves the technical problem of response lag in existing deaerator temperature control technologies, improving the control quality, equipment safety, and operational reliability of alkaline water electrolysis hydrogen production systems under complex operating conditions.

The invention relates to the technical field of active noise control, in particular to a sound quality active control variable step size method based on auditory time coherence. The method comprises the following steps: firstly, initializing, and clearing all buffer areas and counting units; then, generating a preset estimation response signal from the preset signal through the estimation secondary path; then, the content of the buffer area is updated, the oldest data is removed, newest noise and error signal data are added, meanwhile, cyclic shift is carried out on a preset signal and an estimation response thereof, and a counting unit value is increased. Then, the noise passes through a filter to obtain a filter output, and the filter output and a preset signal are added to form a control output. And when the counting reaches a specified number of times, calculating auditory time coherence by using the error signal and the preset estimation response, adjusting a step length factor according to the auditory time coherence, then subtracting the error signal from the preset estimation response signal to obtain a residual signal, and finally updating the weight of the filter by using a new step length factor and the residual signal. According to the method, the step length is dynamically adjusted through hearing time coherence between the error signal and the preset estimation response signal from hearing subjective feeling of people, so that the error signal is gradually close to the preset estimation response signal. Different from a traditional method for pursuing the minimum sound energy, the method enables the quality of the processed sound to be controllable by controlling the error signal to approach the preset signal.

The invention provides an aircraft intelligent control method based on dynamic teaching deep reinforcement learning, and the method comprises the steps: constructing an aircraft feedback control architecture: taking a deep neural network as an aircraft intelligent controller, taking a command signal and a real-time state as neural network input, and taking an execution mechanism control signal as neural network output; an aircraft simulation environment containing hidden parameter random pulling deviation is constructed; constructing an expert controller according to the hidden parameters; constructing a neural network model of the intelligent controller: adopting an Actor-Critic network structure when the intelligent controller is trained; constructing a mixed experience pool, wherein data maintained by the mixed experience pool comprises an experience data set, a priority data set and an environment similarity data set; and training the deep neural network by adopting a determined strategy gradient in combination with a dynamic expert teaching deep reinforcement learning algorithm to obtain a control strategy for realizing a flight index to the maximum extent. According to the invention, the control quality of the aircraft control method for high uncertainty of hidden kinetic parameters can be improved.

The utility model discloses a two-stage fluidized bed series-connection drying and cooling system. The two-stage fluidized bed series-connection drying and cooling system comprises an internal heating type drying bed, a drying cyclone dust collector, a washing tower, an internal heating type cooling bed, a cooling bag-type dust collector and a surface air cooler, the drying cyclone dust collector is connected with the top of the internal heating type drying bed, the bottom of the washing tower is connected with the top of the drying cyclone dust collector, and a discharge port of the internal heating type drying bed is connected with the internal heating type cooling bed; the top of the washing tower is connected with the bottom of the internal heating type drying bed; the top of the internal heating type cooling bed is connected with the cooling bag-type dust collector, the surface air cooler is connected with the top of the cooling bag-type dust collector, the surface air cooler is further connected with the internal heating type cooling bed, and carrier gas in the internal heating type cooling bed is treated by the cooling bag-type dust collector and the surface air cooler and then returns to the internal heating type cooling bed for recycling. The two-stage fluidized bed series drying and cooling system disclosed by the utility model is higher in operation reliability, can operate continuously, and has a wide application prospect.

The invention relates to a denitration NOx control method and device based on an intelligent control strategy and electronic equipment, and relates to the technical field of power plant automatic control, and the denitration NOx control method comprises the steps that according to a monitoring instrument state signal of a reactor, process reaction parameters corresponding to the reactor are obtained; predicting a first NOx concentration corresponding to the reactor by using different concentration prediction algorithms according to the process reaction parameters; determining a second NOx concentration corresponding to the reactor based on the first NOx concentration and the process reaction parameters through cooperative operation of a concentration prediction model and a state compensator; and performing ammonia flow closed-loop regulation by using the first PID controller based on the second NOx concentration and the ammonia flow feed-forward control instruction, and generating an ammonia flow control instruction corresponding to the reactor. The first PID controller is combined with the second NOx concentration and the ammonia gas flow feed-forward instruction for closed-loop adjustment, the large lag characteristic of the denitration system is counteracted, and the ammonia spraying flow control precision is improved.

The utility model discloses a kind of heating and refrigeration dual-purpose oil cooling control system pry body equipment, including hot oil side system, desalted water water replenishment side system, desalted water side system, heating and refrigeration side system, cooling tower system and intelligent control cabinet.Hot oil side system exchanges heat by full-welded plate heat exchanger;Desalted water side system is switched by desalted water internal circulation pump and cooling tower circulation pump, and cooperation electric regulating valve realizes winter heating and summer refrigeration mode;Heating and refrigeration side is by multiple sets of coil fan to indoor delivery heat or cold quantity;Intelligent control cabinet integrated control entire system operation.The utility model realizes the integration of all-year heating and refrigeration function, with the advantages of energy-efficient, control accurate, stable and reliable operation, small footprint and easy to install and maintain.

The invention belongs to the technical field of equipment control, and particularly relates to a sliding mode suppression method for chaotic motion of a mechanical arm joint motor and a storage medium, and the method comprises the steps: building a permanent magnet synchronous motor (PMSM) mathematical model with stator d-axis current, q-axis current and rotor angular velocity as state variables; performing affine transformation and time scale transformation on the established PMSM mathematical model to obtain a dimensionless PMSM mathematical model; based on the dimensionless PMSM mathematical model, determining a PMSM chaotic model when there is no external input of the motor; defining PMSM system state variables associated with the given rotating speed and the actual rotating speed; by constructing a novel non-singular fast terminal sliding mode surface and designing a corresponding reaching law, the PMSM system in a chaos state can be quickly guided to a stable equilibrium point under external disturbance and parameter change. The stability of the controller is strictly proved based on the Lyapunov theory, and it is ensured that the system state converges within finite time.

The utility model relates to the technical field of soluble microneedle roller production, in particular to a production mold for roller surface forming soluble microneedles, which comprises a horizontally arranged turntable and a centrifugal driving assembly, the centrifugal driving assembly is mounted at the bottom of the turntable, and the turntable is provided with a mounting base, a plurality of groups of brackets and a door-shaped frame; a surrounding power part is arranged on the inner side of the support, arc-shaped outer templates are arranged at the output end of the surrounding power part, the multiple arc-shaped outer templates are used for forming a cylinder structure in a surrounding mode, an annular forming cavity is formed between the massage rolling wheels and the cylinder structure, and needle point holes are formed in the inner side faces of the arc-shaped outer templates in an array mode; a lifting power assembly is arranged at the top of the door-shaped frame, and a sealing cover plate is arranged at the output end of the lifting power assembly. The production mold and process are simpler, the production efficiency is higher, the work of cutting and bonding the soluble microneedle patch is omitted, the needle tip of the soluble microneedle patch is not prone to being damaged, and the product quality can be controlled easily.

The invention provides a hybrid active-disturbance-rejection admittance control system of a cervical vertebra rehabilitation robot, and relates to the technical field of admittance control, the cervical vertebra rehabilitation robot adopts a pneumatic artificial muscle system as a driving element, and the control system comprises an outer ring admittance controller, an inner ring active-disturbance-rejection controller and a self-adaptive combination valve; the outer ring admittance controller is used for adjusting an expected track according to the error between the actual feedback force and the expected tracking force; the inner-loop active-disturbance-rejection controller comprises a tracking differentiator, an extended observer and a nonlinear feedback controller and is used for suppressing nonlinearity and external disturbance of the pneumatic artificial muscle system; the self-adaptive combination valve is used for controlling the inflation and deflation flow of the pneumatic artificial muscle system; wherein the output of the outer ring admittance controller is used as the input of the inner ring active-disturbance-rejection controller, and the output of the inner ring active-disturbance-rejection controller is used for controlling the adaptive combination valve. According to the invention, effective suppression of nonlinearity and external interference is realized, and the accuracy of position control and the flexibility of force output are considered at the same time.