59results about How to "Improve dynamic stability" patented technology

This invention relates to the field of precision mechanical control technology, specifically to a method based on a magnetoelectric converter and linearity control. The method includes: acquiring raw magnetic induction data through a magnetoelectric converter; obtaining a three-dimensional magnetic field distribution through electromagnetic field spatial mapping and extracting the axial gradient vector field; constructing a virtual magnetic streamline model based on this to identify local disturbance regions where magnetic field distortion exceeds a threshold; performing multi-scale time-frequency analysis on the data in this region to separate high-frequency fluctuations caused by mechanical vibration and low-frequency drift components caused by thermal deformation; inputting the two components into a cross-coupled compensation decision network to generate high-frequency suppression commands and low-frequency compensation trajectories, which are then merged to form a comprehensive drive signal for compensation. This method can accurately locate the source of linearity disturbance and perform targeted decoupling control of errors from different physical sources, improving control accuracy and stability under complex operating conditions.

The application relates to the technical field of robots, and discloses a kind of two-degree-of-freedom parallel ankle joint mechanism of humanoid robot and kinematics and mechanics solving method, including seven-link transmission structure, which is composed of two groups of closed-chain transmission of parallel four-bar linkages.Motor I and II are installed on the upper end of the lower leg, and the rotation drives link IV and III to move through link I, II, V and VI, and then coupled control ankle joint pitch and lateral freedom degree.The mechanism realizes load balancing of double motors through parallel transmission, improves equivalent torque, and can combine kinematics and mechanics solving method, so that precise control can be realized only by motor feedback, sensor cost is reduced, and is suitable for high stability motion demand of biped robot.

The application discloses an anti-deformation crown-shaped cage of a super-speed motor bearing and a manufacturing method, and belongs to the technical field of motor bearings. The anti-deformation crown-shaped cage of the super-speed motor bearing is printed by a functionally graded material, the functionally graded material comprises hard-phase material and soft-phase material, the hard-phase material is glass fiber, and the soft-phase material is nylon 66; the equivalent elastic modulus of the functionally graded material continuously and gradually changes along the axial direction from the bottom of the pocket hole to the end of the locking claw, so that the elastic modulus of the bottom area of the pocket hole is higher than that of the end area of the locking claw, and the ovalization deformation of the pocket hole and the centrifugal deformation of the locking claw are cooperatively inhibited; the functionally graded material is introduced to actively reconstruct the stiffness field of the crown-shaped cage; the toughness phase is constructed in the locking claw area to absorb collision energy, the reinforced phase is formed in the pocket hole area to weaken stress concentration, and the stiffness gradient is established at the connecting position to inhibit the umbrella effect; and the application provides the crown-shaped cage with the characteristics of high toughness, gradient and high strength and a design method thereof.

The invention provides a multi-dimensional vibration platform with oppositely-arranged double-sandwich piezoelectric actuators and an excitation method of the multi-dimensional vibration platform, and belongs to the technical field of high-frequency vibration engineering and micro-nano machining.The vibration platform comprises a center platform, the two oppositely-arranged piezoelectric actuators, two end covers and two bolts, wherein the center platform is integrated with the tail end platform, the two flexible hinges and the two amplitude-change poles, and the center platform is slender and is in mirror symmetry about the longitudinal symmetry plane of the tail end platform. The piezoelectric actuator comprises a longitudinal vibration ceramic group, a bending vibration ceramic group around the Y axis and a bending vibration ceramic group around the Z axis, translation along the X / Y / Z axis and rotation around the Y / Z axis can be realized through in-phase or anti-phase excitation different combinations under the condition of not increasing extra driving channels, and five-degree-of-freedom high-frequency micro-vibration output can be achieved at most. The structure has high symmetry, low parasitic vibration, compact size and high integration, and is suitable for precise engineering scenes such as micro-nano processing, laser-assisted manufacturing, cell manipulation and active vibration suppression.

The present application relates to the technical field of pipeline construction, and provides a pipeline intelligent assembly robot and an automatic assembly method, the robot comprising: a mobile carriage provided with a plurality of supporting legs at the bottom, and each supporting leg is provided with a mobile pulley at the bottom; a mobile sliding rail provided on the top surface of the mobile carriage along the length direction of the mobile carriage; two sliding plates, each provided with a driving assembly and a lifting assembly, the driving assembly being used for moving the sliding plate along the mobile sliding rail; an image acquisition sensor provided on the sliding plate; an intelligent remote controller in communication connection with the driving assembly, the lifting assembly and the image acquisition sensor; wherein the lifting assembly is used for hoisting the pipeline, and the image acquisition sensor is used for acquiring the position information of the pipeline interface; the assembly method comprising: S1, transportation preparation; S2, visual positioning; S3, intelligent centering; S4, fixed evacuation; having the characteristics of compact structure, high assembly precision and high construction safety and efficiency.

The invention discloses a high-stability static pressure guide rail device for heavy equipment, and relates to the technical field of precision mechanical guide rails, the bottom surface of a movable sliding table is fixedly connected with a pull-down constraint support, a plane static pressure oil cavity group is located on the bottom surface of the pull-down constraint support, and the bottom end of a plane oil supply channel extends into the plane static pressure oil cavity group; and the V-shaped sliding rails are fixedly connected to the two sides of the bottom face of the movable sliding table, the V-shaped static pressure oil cavity sets are located on the side faces of the bottoms of the V-shaped sliding rails, and the bottom ends of the V-shaped oil supply channels extend into the V-shaped static pressure oil cavity sets. The comprehensive bearing capacity of the guide rail is remarkably improved, the large-load requirement of heavy equipment is met, the central plane supporting area provides main vertical bearing capacity, the double-V-shaped guide rail provides multidirectional constraint and auxiliary bearing, and the lateral constraint structure provides static pressure support in the horizontal direction.

The present application relates to the technical field of data processing, in particular to a data processing method and system based on unmanned aerial vehicle video and vector data fusion. By calculating the deviation of the predicted position and the actual detection position of each reference point in the image, the reference points with large errors are screened and the camera pose parameters are adjusted using the random consistency algorithm and the iterative optimization method to improve the projection accuracy and stability. Through grid division, corner detection and feature descriptor extraction, a reference point set is established, the parallax change standard deviation is introduced, and the unstable reference points with large fluctuations are removed to ensure the reliability of the pose solving process and the consistency of spatial registration. According to the registration and fusion of unmanned aerial vehicle video and vector geographic data, the problems of current vector element drift, occlusion determination difficulty and attitude error dynamic correction are solved, the spatial reality and dynamic stability of the augmented reality scene are enhanced, and the industrial needs of various application scenarios such as underground pipe network inspection are met.

The present application relates to the technical field of liquid flow control, and particularly relates to a kind of integrated perfusion and negative pressure suction pyelostasis control method, comprising: in the embodiment of the present application, according to the size of renal pelvis pressure and the difference of renal pelvis pressure at adjacent time, determine the severity of each time suspected problem, according to the difference of renal pelvis pressure in different period, and the change related situation of each dimension data in the same period, determine the corresponding pressure effective dangerous fluctuation factor of each time, to determine the control weight of each time renal pelvis pressure, to constitute time weight time sequence, and then output perfusion pump flow adjustment instruction and negative pressure suction pump flow adjustment instruction through fuzzy controller, realize pyelostasis control.The present application enhances the identification ability of the change trend of renal pelvis pressure data in key period by introducing time weight, so as to more accurately and more stably maintain the constant of renal pelvis pressure.

The utility model discloses a hydro-pneumatic spring with a heat dissipation function, and belongs to the technical field of hydro-pneumatic springs. The device comprises a hydro-pneumatic spring body, a floating piston, a one-way check valve, a cooler and a pipeline system. The floating piston achieves oil-gas isolation, the main piston divides an inner cavity of the cylinder body into a center cavity and an annular cavity, and the center cavity and the annular cavity are communicated through a piston rod damping oil channel and an external pipeline. The core innovation is that in the active cooling circulation, in the compression stroke, hot oil in a central cavity is pressed out, is forcibly guided into an external cooler through a one-way check valve to be cooled, and then is injected into an annular cavity; and in the stretching stroke, the oil flows back to the central cavity through the damping hole. By means of the structure, a double heat dissipation mechanism combining cylinder barrel convection radiation heat dissipation and oil liquid replacement convection heat dissipation is formed, the limitation that a traditional hydro-pneumatic spring only relies on a cylinder body for heat dissipation is broken through, the temperature of oil liquid and gas can be actively and efficiently controlled, temperature rise is remarkably restrained, and sealing reliability and system work stability are guaranteed.

The invention discloses an air magnetic spring with a cooling function, and belongs to the technical field of elastic elements. The device comprises an upper cover plate, a lower base and a main rubber air bag, and is characterized in that an upper auxiliary rubber air bag, a lower auxiliary rubber air bag, an upper magnetic ring and a lower magnetic ring are additionally arranged, the auxiliary rubber air bag is fixed to the center of the upper cover plate and the lower cover plate and located in the main air bag. The magnetic rings are embedded in the cover plates and pressed by the auxiliary air bag. And communicated cooling water channels are arranged in the upper cover plate, the lower cover plate and the auxiliary air bag. When the main air bag loses efficacy, the auxiliary air bag provides emergency buffering, and double failure protection is achieved in combination with repulsive force of the magnetic ring; under extreme impact, the repulsive force of the magnetic ring can enhance the breakdown resistance; the cooling water channel can effectively reduce the working temperature of the spring and delay rubber aging. The spring integrates the functions of failure protection, strong impact resistance and active cooling, and the reliability and environmental adaptability are remarkably improved.

The application discloses a flower-shaped solar photovoltaic module, which comprises a device base and a flower-shaped photovoltaic array, a plurality of cross support rods are arranged on the device base, one end of the cross support rods is connected to the device base, and the other end is connected to the flower-shaped photovoltaic array, the flower-shaped photovoltaic array comprises a flower center part and a plurality of petal parts, the petal parts are arranged outside the flower center part, and solar photovoltaic plates are arranged on the flower center part and the petal parts; in the application, the petal parts of the flower-shaped photovoltaic array are arranged outside the flower center part in a slanting angle direction and are overlapped, when the sunlight is directly incident, the effective light receiving area of the solar photovoltaic plates of the petal parts and the flower center part is completely unfolded, the three-dimensional overlapping structure makes the effective light receiving area greater than the plane occupied area, and the light coverage area can reach 120%-200% of the plane occupied area at noon.

The utility model discloses a kind of intelligent mower of quick detach self-locking cutterhead, it is related to mower technical field, including machine body;Output shaft, set in the bottom of the machine body, the output shaft is connected with the output end transmission of machine body internal drive motor;Base, fixed on the output shaft;Cutterhead assembly, including blade and the mounting seat for installing blade, the mounting seat is detachably connected on base;Manual unlocking mechanism, set on mounting seat, for the mounting seat and base fixed connection or disconnection;Centrifugal self-locking device, integrated in the base interior.The utility model passes through integrated electronic safety interlock system, through sensor and intelligent control, ensure that cutterhead is not correctly installed or locked when machine cannot start, and cutterhead state is monitored in real time in operation, immediately stop once abnormal, greatly improve the safety performance of product.

This utility model relates to the field of constant temperature testing technology for ice-water mixtures, and discloses a constant temperature testing device for ice-water mixtures, comprising: a cylindrical assembly, including a cylindrical stirring tank and four support legs fixedly welded to its bottom end, with an axially penetrating transmission hole on the upper part of the tank wall; a power system, including a servo motor fixedly installed on the outside of the stirring tank, a drive gear coaxially connected to the motor output shaft, and a waterproof protective cover covering the outside of the motor, the protective cover forming a sealed connection with the outer wall of the stirring tank; and a stirring assembly, including at least three sets of inclined stirring blades radially and evenly distributed at the bottom of the rotating platform. This constant temperature testing device for ice-water mixtures features efficient constant temperature control. The precise power ratio between the semiconductor refrigeration module and the volume of the stirring tank, combined with the forced convection of the inclined stirring blades, achieves rapid heat exchange, improving temperature uniformity by more than 40%. The composite structure of the annular insulation layer reduces heat loss by 60%, and its insulation performance is superior to traditional single-layer materials.

The application discloses a carbon material cutting positioning table, a cutting equipment and a cutting process, and belongs to the technical field of carbon processing. The carbon material cutting equipment includes a carbon material cutting positioning table, a self-protection cutting mechanism and a vibration suppression protection mechanism. The application realizes coupling enhancement of positioning stability and vibration suppression efficiency in the cutting and processing of special-shaped carbon materials through deep cooperation of the material self-adaptive positioning mechanism, the special-shaped positioning assembly, the self-protection cutting mechanism and the vibration suppression protection mechanism. The overall technical effect of single mechanism independent operation is significantly better. The cutting edge collapse rate of the special-shaped carbon material is significantly reduced, the section quality is greatly improved, and automatic, self-adaptive and efficient precision cutting is realized.

The application discloses a leg movement mechanism of a humanoid robot, which comprises a hip joint structure, a thigh structure, a knee joint structure, a shank structure, an ankle joint structure and a foot sole structure, an ankle joint pitching driving motor and an ankle joint horizontal rolling driving motor are fixedly installed at the thigh structure close to the hip joint structure, the two motors are connected to two power input gears of a differential mechanism through a transmission mechanism, a power output gear of the differential mechanism is connected to a shank connecting rod through a spherical hinge, and the shank connecting rod is connected to the foot sole structure at the end. The ankle joint pitching driving motor and the ankle joint horizontal rolling driving motor are moved upward to the thigh structure close to the hip joint structure, the mass and the rotational inertia of the shank structure are effectively reduced, the energy consumption is reduced, the movement flexibility and the response speed are improved, and the adaptability to different movement modes and terrains is enhanced through coupling and decoupling control.

The application discloses a method and device for suppressing wide-frequency oscillation of a converter, equipment and a medium, and belongs to the field of power grid safety. The method is as follows: obtaining the fundamental equivalent impedance of the converter corresponding to the fundamental frequency and the wide-frequency equivalent impedance corresponding to each interference frequency through a preset interference signal; judging the damping characteristic of the converter according to the real part of the fundamental equivalent impedance; if the damping characteristic is positive, and the imaginary part of at least one wide-frequency equivalent impedance satisfies a preset resonance criterion, determining a resonance frequency band from all interference frequencies, and adjusting the current control loop parameters of the converter according to the resonance frequency band until all imaginary parts do not satisfy the preset resonance criterion, so as to realize wide-frequency oscillation suppression; wherein, the preset resonance criterion is determined according to the reactance characteristic of the wide-frequency equivalent impedance. The application can improve the accuracy of wide-frequency oscillation suppression of the converter.

The invention relates to the technical field of maglev train control, in particular to a sliding mode active-disturbance-rejection control method of a permanent magnet and electromagnetic hybrid suspension electromagnet. Comprising the following steps: step 1, establishing a hybrid suspension electromagnet model based on a magnetic diversion type hybrid suspension electromagnet system; 2, carrying out suspension force modeling according to the hybrid suspension electromagnet model, and establishing a suspension force equation of the magnetic diversion type hybrid suspension control system by enabling the suspension force to be equal to the gravity of the train; the sliding mode active-disturbance-rejection control method provided by the invention is applied to the magnetic diversion type hybrid suspension system, and the dynamic stability and robustness of the system are remarkably improved. According to the method, the advantages of sliding mode control and active disturbance rejection control (ADRC) are fused, the defects of a traditional control strategy (such as PID) in coping with load change, airflow disturbance and parameter uncertainty are effectively overcome, and high-precision air gap position control and rapid dynamic response are achieved.

The invention relates to the technical field of manned rockets, in particular to a front propeller of a rocket engine three-view PD-3S manned rocket and a manufacturing process of the front propeller. The front propeller is designed and installed at the head of the manned rocket, so that the position, posture, speed and accelerated speed of the rocket in the flying process can be sensed, accumulated errors of an inertial navigation system are corrected, and the precision of the manned rocket is improved. By arranging the power generation device, the energy loss is reduced, mechanical support is provided, the dynamic stability of the rocket is improved, and the orbit operation capability of the manned rocket is guaranteed, so that the power generation device is suitable for popularization and application. The technical problems that an existing manned rocket can generate a passive rotation phenomenon under the action of natural force such as airflow and gravitational force, and spinning generally does not greatly influence the flight of the rocket but can influence the flight stability of the rocket are solved.

The utility model discloses a feeder for accurately feeding rice and shrimps, which relates to the technical field of rice and shrimp feeders and comprises a feed box, a blanking hopper communicated with the bottom surface of the feed box, a cover plate hinged to the top surface of the blanking hopper, two flange pipes symmetrically communicated with two sides of the bottom end of the blanking hopper, and four supporting legs arranged on the peripheral side of the bottom surface of the feed box. A mounting platform is fixedly connected to the positions, located in the middle of the discharging hopper, of the four supporting legs, a scattering assembly is arranged on the mounting platform, a pneumatic feeder is arranged on one sides of the bottom ends of the four supporting legs, an output shaft of the pneumatic feeder is connected with one of the two flange pipes through an air supply connecting pipe, and a conveying pipe is arranged on the other flange pipe in a communicating mode. According to the utility model, the pneumatic feeder, the air supply connecting pipe and the flange pipe are matched, so that a stable power source can be conveniently provided; finally, the problems that traditional equipment is unstable in power output, uneven in feed scattering and difficult to meet diversified feeding requirements are solved, and the overall efficiency and effect of feed conveying and feeding are improved.

The invention discloses a geological disaster slope reinforcing structure with a high-stability load, and belongs to the technical field of geological disaster protection. The structure comprises a protective net arranged at the slope bottom, and a plurality of cement beads, fixed pulley assemblies and slope top fixing columns which are arranged between the protective net and the slope top; the cement ribs are mounted through the elastic anchoring assemblies and can generate elastic displacement along the slope surface when being pulled; the suspended rope is connected with the top of the protective net, bypasses the fixed pulley and is fixed on the cement rib; the buried rope is connected with the top of the protective net, penetrates through the bottom of the cement rib from the lower portion and is finally connected to the fixing column. When the protective net bears loads and tends to turn over, the buried ropes are tensioned and drive the cement protruding edges to move, the force direction is converted through the fixed pulleys, the suspended ropes are promoted to generate reverse tension, and therefore the rollover force is counteracted. Dynamic dispersion and feedback compensation of the load on the whole slope are achieved through linkage cooperation of micro-displacement of the cement protruding edges and the rope system.

The utility model discloses a kind of eccentric disc for rotary electronic multi-arm machine, including eccentric disc body and eccentric disc boss, the eccentric disc body is equipped with mounting hole;The eccentric disc boss is extended from the side of eccentric disc body, the eccentric disc boss and eccentric disc body form stepped structure, the eccentric disc body and eccentric disc boss are integrally formed whole component.The utility model improves machining precision, operating stability and manufacturing economy by structure optimization and function integration.Eccentric disc body and eccentric disc boss, integrally formed whole component with stepped structure is formed by the two, the design not only guarantees the integrity and rigidity of structure, but also provides reliable positioning datum plane for subsequent assembly and clamping, effectively avoids the problem of looseness or misplacement possibly caused by split connection, improves dynamic stability under high-speed operation.

The invention relates to the technical field of articulated vehicle steering, aims to solve the problems that an existing hydraulic steering system is high in energy consumption, low in precision, slow in response, insufficient in transverse rigidity, prone to causing vehicle body oscillation and the like, and discloses drive-by-wire electromechanical steering equipment and method for an articulated mining vehicle. The required torque is calculated by the data processing terminal and then is transmitted to the inverter through the CAN bus so as to drive the servo motor; the servo motor drives the enveloping worm through the planetary reduction gear, so that the turbine set is driven, and steering of the rear vehicle body of the hinged type mining vehicle relative to the front vehicle body of the hinged type mining vehicle is achieved. The system has the advantages of energy conservation, high efficiency, accurate response, high stability, fault redundancy capability, simplified structure and low maintenance cost, and the steering performance and reliability of the articulated mining vehicle under severe working conditions are remarkably improved.

The invention relates to the technical field of BT knife handles, in particular to a modular interface structure of a universal quick-change knife handle, which comprises a knife handle, a blind rivet and a thermal shrinkage rod, the knife handle is composed of a circular truncated cone section and a circular ring section, the interior of the knife handle is of a hollow structure, a first threaded hole is formed in the left end of the circular truncated cone section, and a second threaded hole is formed in the right end of the circular ring section; the blind rivet is in threaded connection with the cutter handle through the first threaded hole, and the thermal shrinkage rod is in threaded connection with the cutter handle through the second threaded hole. The blind rivet and the thermal shrinkage rod are designed into detachable and replaceable independent modules and are in standardized threaded connection with the knife handle, and accumulated errors which are difficult to control in multi-stage assembly are structurally eliminated; the thermal shrinkage rod is used as an independent standardized function module, and the universal threaded connector at the tail end of the thermal shrinkage rod can adapt to various knife handles with different standards and specifications.

The present application relates to the field of smart grid and distribution network flexible control technology, and particularly relates to a voltage and reactive power collaborative management adaptive control method for distribution network, which freezes the shunt compensation control state before the gear switching by identifying the transition state of the equivalent impedance of the distribution network in the gear switching process of the series compensation unit; and establishes the mapping relationship between the control reference state before the switching and the operation state of the distribution network after the switching according to the target compensation gear, to generate the initial control reference state after the switching; then the initial control reference state after the switching is used to maintain the stable compensation output of the shunt compensation unit, and the dynamic correction is carried out after the distribution network exits the equivalent impedance transition state, to realize the smooth transition to the steady-state compensation output; the present application can reduce the control state mismatch and compensation output mutation caused by the gear switching, and improve the dynamic stability and power supply quality in the voltage regulation and reactive power compensation collaborative management process.

The application discloses a kind of virtual synchronous generator secondary frequency modulation adaptive control method and system.For the frequency deviation of virtual synchronous generator primary frequency modulation in off-grid mode, the problem that traditional secondary frequency modulation is difficult to consider regulation rapidity and suppress overshoot, the application is divided into two stages with the zero point of frequency change rate as boundary on the basis of traditional VSG secondary frequency modulation active ring integral feedback: the first stage adopts fixed large integral coefficient to suppress frequency drop quickly, the second stage dynamically adjusts integral coefficient based on power deviation and frequency deviation integral, while trigger signal and key parameter design are completed.Compared with the traditional method, the application can realize frequency no-error regulation, effectively consider fast response and overshoot suppression, significantly improve the dynamic stability and operation safety of off-grid VSG under load disturbance, suitable for frequency control scene of high proportion renewable energy grid-connected microgrid, with wide application prospect and practical significance.

The application discloses a constant voltage-to-frequency ratio control method and device, equipment and a medium, and relates to the technical field of asynchronous motors. The method comprises the following steps: sampling three-phase currents of the motor, obtaining a voltage orientation angle by integrating a given frequency, and transforming the currents to a two-phase rotating coordinate system by using the voltage orientation angle to decouple active current feedback components and reactive current feedback components; after generating a total voltage given value according to a constant voltage-to-frequency ratio, establishing a voltage closed-loop control loop to output a reactive current instruction; establishing a reactive current closed-loop control loop to output a quadrature-axis voltage given value; deducting the quadrature-axis voltage given value from the total voltage given value to obtain a direct-axis voltage given value; synthesizing a space voltage vector based on the direct-axis voltage given value and the quadrature-axis voltage given value, and feeding back the amplitude of the space voltage vector to the voltage closed loop. The application effectively suppresses low-frequency oscillation and improves the output voltage precision while maintaining a simple structure through double closed-loop control of the voltage and the reactive current.

The utility model relates to the technical field of fluid machinery, and discloses a novel multi-section shaft structure capable of being spliced and disassembled, which comprises at least two shaft section units provided with male and female end connecting parts, the bottom ends of the shaft section units are the male end connecting parts, and the top ends of the shaft section units are the female end connecting parts; the two shaft section units are connected through the male end connecting part and the female end connecting part, a conical surface self-centering mechanism is arranged between the male end connecting part and the female end connecting part which are connected, and due to the fact that the shaft section units can be transported and installed in a segmented mode, the deformation problem of a long shaft during transportation is avoided, and the difficulty of field installation and centering is simplified. When local abrasion occurs, only the abraded shaft section unit needs to be replaced, overall replacement is avoided, and material waste is reduced. The shafting length can be flexibly adjusted according to the lift change, and the application range and the flexibility of equipment are improved.

The invention relates to the technical field of hydrogen storage material preparation, in particular to a preparation method and application of a Ti and Ni mixed catalyst and carbon nanotube co-doped magnesium-based hydrogen storage composite material. The preparation method comprises the following steps: mixing an iron source, a magnesium source and an aluminum source, and sequentially drying and calcining to obtain precursor powder; performing carbonization reaction on the precursor powder by using ethylene-containing mixed gas comprising ethylene, nitrogen and hydrogen to obtain a composite carbon nanotube; the method comprises the following steps: heating a titanium source and a nickel source in a composite organic solvent in a water bath to obtain a mixed catalyst precursor; and sequentially mixing a dibutyl magnesium solution, the mixed catalyst precursor and the composite carbon nanotube, heating, evaporating to dryness, and hydrogenating to obtain the magnesium-based hydrogen storage composite material. According to the preparation method, through the synergistic effect of doping modification of the Ti and Ni mixed heterogeneous catalyst and a carbon coating structure constructed by the carbon nanotubes, the thermodynamic stability of MgH2 is synchronously reduced, and the dynamic performance is remarkably improved.

The invention relates to the technical field of recycled asphalt, and particularly discloses a high-temperature-resistant large-dosage RAP recycled asphalt mixture and a gradient activation preparation method thereof, and the recycled asphalt mixture comprises the following components in parts by weight: 70-90 parts of an RAP material, 5-26 parts of a new aggregate, 4-5 parts of SBS modified asphalt and 0.04-0.05 part of a composite regenerant. The composite regenerant and the bio-oil-based regenerant provided by the invention can recover the flexibility of the aged asphalt; after the silane coupling agent is hydrolyzed, silicon hydroxyl (Si-OH) formed by the silane coupling agent and the bio-oil-based regenerant can be bonded with hydroxyl (Si-O-Si bond) on the surface of the aggregate to form a bonded network, so that the interface adhesion strength is improved, the interface slippage is reduced, the skeleton of the mixture is more stable, the stripping resistance of the interface is enhanced, the dynamic stability and the water stability are improved, and the service life of the mixture is prolonged. And after the recycling agent recovers the flexibility of the asphalt, a bonding network formed by the silane coupling agent endows the recycled asphalt mixture with a high-elasticity characteristic, and the risk of fatigue cracking is reduced.

In order to complete the emergency obstacle avoidance operation under different road friction coefficients and vehicle driving speeds, improve the lateral dynamic stability of the automatic driving vehicle, the application discloses an automatic driving vehicle adaptive obstacle avoidance method. The method considers different road friction coefficients and vehicle speeds, generates corresponding expected obstacle avoidance speed by using fuzzy fitting method, and generates expected obstacle avoidance trajectory by using hybrid A* method, so as to reduce the steering burden of the vehicle during obstacle avoidance. A new steering enhancement method is constructed, a direct yaw turning controller is designed, a steering torque is generated, the dynamic stability of the vehicle during emergency obstacle avoidance is improved, a fuzzy speed controller based on BP neural network prediction is designed, and a driving torque is generated. The tracking accuracy of the expected obstacle avoidance speed is improved. The planning method provides a new solution for the emergency obstacle avoidance problem of the vehicle, and provides a new driving force for the development of the industry.