197results about How to "Improve maneuverability" patented technology

The invention provides the application of the non-dehydrogenation after hydrogen decrepitation treatment in the aspect of improving the residual magnetism of the neodymium-iron-boron magnet. The hydrogen content of the high-hydrogen-content coarse powder which is not dehydrogenated after the hydrogen decrepitation treatment is 1500-3500 ppm. According to the method, dehydrogenation treatment is not carried out especially in the hydrogen decrepitation treatment process, and the alloy coarse powder with high hydrogen content is obtained and used for improving the residual magnetism of the neodymium-iron-boron magnet. According to the preparation method of the high-remanence neodymium-iron-boron magnet, the production process is creatively designed and improved, the total amount of rare earth is reduced through formula design, the hydrogen content of coarse powder is increased, the coarse powder is sieved to remove impurities, an antioxidant is added into the coarse powder, and the measures of secondary high-temperature sintering and the like are adopted, so that the high-remanence neodymium-iron-boron magnet is obtained. And finally, the oxygen content of the magnet is reduced, namely, the beta non-ferromagnetic phase is reduced, and meanwhile, the density of the magnet is improved, so that the residual magnetism Br of the neodymium-iron-boron magnet is effectively improved.

The invention discloses a power-interruption-free gear-shifting hub motor two-gear transmission of a duplex planetary compound gear train. The power-interruption-free gear-shifting hub motor two-gear transmission is mainly composed of a driving motor; a first planetary gear train; a second planetary gear train; a controllable one-way clutch; a clutch; a central support shaft; and a transmission shell and the like. The first planetary gear train is a duplex planet compound planetary gear train with small characteristic parameters. An output shaft of the driving motor is connected with the first sun gear; the first right planet carrier is connected with the second sun gear; the second planet carrier is connected with wheels; the controllable one-way clutch is used for connecting the first gear ring and a transmission shell, and a one-way locking state, a two-way locking state or a two-way overrunning state can be achieved. The clutch is used for connecting the drive motor output shaft and the first left planet carrier. According to the hub motor two-gear transmission, seven different running states including first-gear driving, second-gear driving, neutral gear, reversing, first-gear regenerative braking, second-gear regenerative braking and low-speed sliding friction braking can be achieved through the control clutch and the controllable one-way clutch.

The invention relates to the field of powder coatings, and particularly discloses a slow-release coated heat-curable powder coating catalyst composition, a powder coating and a preparation method of the powder coating. The slow-release coated heat-curable powder coating catalyst composition comprises: i) a component A, which is an inner core coated object and comprises at least one basic catalyst capable of promoting the ring-opening reaction of epoxy resin, and i) a component B, which is an outer core coated object and comprises at least one basic catalyst capable of promoting the ring-opening reaction of epoxy resin; ii) a component B, which is a coated shell comprising at least one crystalline solid unsaturated polyester resin or a semi-crystalline solid unsaturated polyester resin; the component C is a coating medium and comprises at least one alkane wax.The low-temperature powder coating can be cured at the ultralow temperature, the curing temperature is as low as 90-120 DEG C, the storage time of the low-temperature powder coating is effectively prolonged, and the requirement of a normal powder coating process is met.

The invention belongs to the technical field of biochemical engineering, and particularly relates to a Pickering emulsion microcapsule of interface immobilized lipase as well as a preparation method and application of the Pickering emulsion microcapsule. The preparation method of the Pickering emulsion microcapsule comprises the following steps: ultrasonically dispersing silicon oxide nanoparticles which have an emulsifying function and can adsorb enzyme into an organic solvent to serve as an oil phase, dissolving lipase into a buffer solution to serve as a water phase, mixing the water phase and the oil phase, and carrying out ultrasonic dispersion to obtain the Pickering emulsion microcapsule. And then adding a silane coupling agent, organic amine and an organic solvent, and carrying out interface gel-sol treatment to obtain the Pickering emulsion microcapsule. The Pickering emulsion microcapsule disclosed by the invention has better high temperature resistance and pressure resistance, and can realize efficient preparation of epoxide in a fixed bed continuous enzyme catalysis olefin epoxidation reaction.

The invention relates to the technical field of aircraft control, and discloses an aircraft and a double-shaft rotary type control surface thereof, and the double-shaft rotary type control surface comprises a circular rotating disc which is rotatably installed on the surface of the aircraft through a rotating disc rotating shaft; the control surface is rotatably mounted on the circular turntable through a control surface rotating shaft, the control surface rotating shaft is perpendicular to the turntable rotating shaft, and when the control surface is folded, the control surface is flush with the surface of the aircraft; the rotary table power mechanism is connected with the rotary table rotating shaft and used for driving the circular rotary table to rotate by 360 degrees in the surface of the aircraft around the rotary table rotating shaft; the control surface power mechanism is connected with the control surface rotating shaft and used for driving the control surface to rotate around the control surface rotating shaft; and the turntable power mechanism and the control surface power mechanism are both in signal connection with the control device. Therefore, when the rotating shaft of the control surface and the incoming flow direction form an included angle, the control surface has the control capability in three directions of pitching, yawing and rolling at the same time, the compound control capability is strong, and the stability and the control performance of the aircraft can be improved.

The invention relates to a cable pay-off and laying device for an electric construction conduit, and relates to the technical field of cable pay-off, a base is provided with a base, a central shaft is arranged in the base, the base is provided with a first support frame, the bottom of a retainer at the side part of the first support frame is provided with a lantern ring, the outer side of the lantern ring is connected with a suspension, and the bottom of the suspension is provided with a connecting plate; a cable tray is arranged on the inner side of the second support frame on the connecting plate; a reference plate is installed on the side portion of the suspension, a sliding plate is arranged on the reference plate, a shaft seat is connected to the side portion of the sliding plate, a transmission shaft is arranged in the shaft seat, a wheel seat is arranged in the shaft seat, a driven shaft is installed in the wheel seat, a supporting wheel is sleeved on the outer wall of the transmission shaft, and a limiting wheel is sleeved on the outer wall of the driven shaft. According to the invention, the cable can conveniently pass through the wire conduit of the power construction equipment, the surface wear of the cable can be avoided, the service life of the cable is prolonged, the penetration position and angle of the cable are further ensured to accord with the installation standard, and the stability of the power construction equipment during operation is ensured.

The invention belongs to the technical field of ship construction, and particularly relates to a method for installing a guide plate on a ship. The method comprises the following steps: setting allowance of guide plate parts; the field actual flow guide plate machining line type and size are confirmed; determining the trepanning position of the guide plate on the outer plate; the positioning sequence, method and matters needing attention of the guide plates are selected according to the field segmentation state; the allowance added during blanking is cut according to requirements; the installation sequence, method and matters needing attention of the guide plates are selected according to the field segmentation state; and determining the precision size of the guide plate according to a laser theodolite. By correctly adding part allowance and controlling the installation process of the flow guide plate, most of the conditions such as construction difficulty in the construction process can be avoided, meanwhile, the fluid performance of fluid can be better improved, efficiency is improved, energy consumption is reduced, the structure is protected against damage of natural factors, and safety is improved.

The invention relates to an agile satellite relay real transmission method and device based on attitude extrapolation and a medium. The method comprises the steps that S1, a servo controller receives a relay satellite orbit sent by a satellite platform and extrapolates the position and speed of a relay satellite; s2, receiving GPS broadcast data, and determining the position and speed of a satellite platform; s3, attitude broadcast data are received, and satellite platform attitude extrapolation is completed; and S4, the relay antenna is driven to track the relay satellite through coordinate conversion and antenna limiting judgment. According to the method, relay link resources can be effectively utilized, the data return efficiency can be improved, meanwhile, the agile satellite can realize multifunctional and fast-response imaging efficiency by utilizing fast maneuvering, and the timeliness of data acquisition can also be ensured.

The invention provides a dynamic test gear selecting and shifting performance test bench and a test method, and belongs to the technical field of gearbox testing, the test bench comprises a motor, a flywheel and clutch assembly, a clutch pump, a clutch pedal, a gear selecting and shifting flexible shaft, a gear shifting performance tester, a computer and a motor controller. According to the invention, the driving condition of the whole vehicle can be simulated, and the index data of the dynamic gear shifting performance can be read from the gear shifting performance tester in the upshift and downshift process of each gear, so that the maneuverability of the whole vehicle can be evaluated, the gear selecting and shifting performance of a gearbox can be optimized, and the requirements of a whole vehicle factory and a user on the maneuverability of the whole vehicle can be met.

The invention provides a vehicle lock control method, a mobile terminal and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: establishing communication connection between a target vehicle and a mobile terminal through a near field communication network; the mobile terminal receives a vehicle control request initiated by a user, and generates encrypted key data according to the vehicle control request; the mobile terminal sends the key data to the target vehicle through a near field communication network; the target vehicle decrypts the encrypted key data to generate a vehicle control instruction; and the target vehicle is controlled to be unlocked or locked based on the vehicle control instruction, so that the controllability and intelligence of the vehicle are improved, and the problem that the vehicle cannot be unlocked or locked by depending on network remote control when the network signal is poor in the related technology is solved.

The unmanned sailing boat comprises a boat body, a steering control mechanism, a sail, a shipborne radar, an electronic scanning sonar, an anemograph, a balancing weight and an electric control unit, the boat body is of a spindle-shaped structure which is symmetrical front and back, and an upper cover plate is arranged at the top of the boat body. A solar panel is arranged on the top of the upper cover plate, and the sail is vertically arranged above the boat body and connected with a steering driving device in the boat body. The two steering control mechanisms are symmetrically arranged at the front end and the rear end of the ship body. The balancing weight is fixedly arranged below the ship body, the electronic scanning sonar is arranged at the bottom of the ship body, the shipborne radar is installed on the front upper portion of the ship body, and the anemograph is arranged on the rear upper portion of the ship body. The electric control unit comprises a shipborne computer, a lithium battery pack, a navigation module and a communication module. The unmanned sailboat provided by the utility model uses solar energy and wind energy as power, has bidirectional sailing capability, is suitable for long-term offshore tasks, reduces the operation difficulty, and improves the scanning efficiency.

The invention belongs to the field of vehicle control, and particularly relates to an additional yawing moment distribution control strategy for a hybrid commercial vehicle in a combined driving mode, which comprises the following steps of: judging the steering state of the vehicle in the combined driving mode; for insufficient and excessive steering states, determining an optimal distribution target of the additional yaw moment, namely target braking wheels; the method comprises the following steps: selecting a control quantity, establishing an optimization objective function according to a friction ellipse theory and a ratio of a wheel longitudinal force to an adhesion force, determining constraint conditions according to a lateral stability control demand, a road adhesion condition and a driving system limitation, and solving an optimal control problem under multiple constraint conditions by adopting a quadratic programming algorithm. According to the method, the additional yawing moment value serves as a control target, torque optimization distribution among the wheels is carried out in the engine and motor dual-drive mode, the target wheels are braked, the motor output torque is adjusted, the longitudinal force of the wheels is changed, the additional yawing moment is applied, and the maneuverability and lateral stability of the vehicle under the complex working condition are improved.

The invention discloses a CMAS corrosion resistant novel gradient structure thermal barrier coating and a preparation method thereof, and belongs to the technical field of thermal barrier coatings. The novel gradient structure thermal barrier coating comprises a base body, a spraying state NiCrAlY bonding layer, a spraying state 8YSZ ceramic layer, a spraying state LaYbZrCeO7 ceramic layer and a laser glazing LaYbZrCeO7 ceramic layer from bottom to top, the base body is made of nickel base alloy, and 8YSZ is ZrO2 stabilized by Y2O3 with the mass fraction of 8%. The design thought that the laser glazing compact ceramic layer and the spraying state porous ceramic layer are introduced into the thermal barrier coating structure is adopted, the excellent molten CMAS corrosion resistance can be achieved, meanwhile, the low thermal conductivity is achieved, and wide application prospects are achieved in the field of thermal barrier coating materials.

The application provides a kind of integrated node flexible variable mechanism of rope drive active deformation topology structure, it is related to flexible deformation device technical field, control is realized to large-span deformable structure by using rope drive, structural weight is reduced, and the operating performance of flexible deformation body mechanism is improved.The shortening of first winding makes the radius of annular framework larger;The shortening of second winding makes the length of annular framework longer;Between the first annular framework and the second annular framework, the first winding on the first annular framework is arranged on the first node on the second annular framework, and the second winding on the first annular framework is arranged on the first node on the second annular framework to realize active turning, which can reduce the stress applied to the mechanism by the outside when the pipeline moves, help protect the flexible structure, improve the system use time, and better adapt to complex terrain space scenarios, actively adjust the travel speed and direction to select the optimal path to improve work efficiency.

The invention discloses a direct yawing moment control and active steering integrated control strategy for a multi-axle vehicle, and aims to realize efficient vehicle stability control of the multi-axle vehicle under different road conditions and improve the driving safety, maneuverability and comfort of the multi-axle vehicle. The method specifically comprises the following steps: (1) establishing a two-degree-of-freedom multi-axle vehicle dynamics model considering transverse and yawing motions; (2) considering the influence of the road adhesion coefficient on the coordination effect, and designing a fuzzy controller for coordinating direct yawing moment control and active front wheel steering; and (3) taking a coordination result of the fuzzy controller as input, designing a yaw stability integrated controller based on adaptive model predictive control, and calculating an additional front wheel steering angle and a direct yaw moment for ensuring stable driving of the vehicle. According to the method, integrated control over the yaw stability of the multi-axle vehicle is achieved by coordinating the DYC and the AFS, the influence of road adhesion on the coordinating effect is considered, and finally stable and safe driving of the multi-axle vehicle under different road conditions is achieved.

An Ethernet data transmission device based on Linux system and implementation method, comprising a multiplexing terminal device and a tapping terminal device; the circuit connection of the multiplexing terminal device is: the main control chip I is respectively connected to the control network port I, the data network port I and the digital optical port I, and the control network port I is connected to the touch display screen I; the circuit connection of the tapping terminal device is: the main control chip II is respectively connected to the control network port II, the data network port II and the digital optical port II, and the control network port II is connected to the touch display screen II; the multiplexing terminal device is connected to the digital optical port II of the tapping terminal device through the digital optical port I. The beneficial effect of the present invention is that the multiplexing terminal device integrates multiple signals into a single signal and transmits it with a single optical signal, and the tapping terminal device restores the data to multiple signals for transmission.

The invention discloses a hub motor two-gear speed control system of an integrated multiplexing electronic mechanical brake. The hub motor two-gear speed control system is mainly composed of a driving motor, a central supporting shaft, a speed change planetary gear train, a speed reduction gear train, a controllable one-way clutch, the electronic mechanical brake, a hub and the like. An inner ring and an outer ring of the controllable one-way clutch are respectively connected with the central support shaft and the first sun gear; a planet carrier of the variable-speed planetary gear train is connected with the torque output frame; a sun gear of the variable-speed planetary gear train is connected with the hub; the torque output frame is in spline connection with the pressure plate; the pressing disc can axially move to press the hub under the action of a pressing executing mechanism of the electronic mechanical brake, and mutual contact sliding friction connection is achieved through the friction lining. According to the hub motor two-gear transmission, nine different working states of first-gear driving, second-gear driving, neutral gear, reversing, first-gear pure electric braking, second-gear pure electric braking, first-gear mechanical braking, first-gear composite braking and parking braking can be achieved by controlling the electronic mechanical brake and the controllable one-way clutch.

The present invention relates to a deformable flexible rudder for an underwater vehicle, comprising a rudder bow fixed to the outer surface of the underwater vehicle, the tail end of the rudder bow is bonded to a deformable rudder middle part, the tail end of the rudder middle part is bonded to a rudder tail part, and along the chord length direction of the flexible rudder, the ratio of the length of the rudder bow to the total length of the flexible rudder is greater than 3:10; a through hole is provided in the middle of the rudder bow, and the through hole is used to install a rudder shaft, one end of the rudder shaft is connected to the output end of the steering gear, and the other end of the rudder shaft extends through the through hole to the outside of the rudder bow; a connecting rod is fixed on the outside of the rudder tail, the connecting rod is arranged parallel to the rudder shaft, and the connecting rod and the rudder shaft are connected by a connecting piece. By providing a flexible rudder, the maneuverability of the rudder can be improved, and the rigidity and strength of the overall structure of the rudder can be improved, thereby improving the structural stability between the underwater vehicle and the flexible rudder at high speed, and ensuring the running stability and safety of the underwater vehicle.

The application discloses a kind of high-efficiency omni-directional decoupling annular vector tilt-rotor aircraft and control method thereof, aircraft includes fuselage, fuselage driving gear set, four tilting mechanisms, four annular vector tilt-rotor power groups and electronic equipment etc.Parts.The aircraft described in the application can realize six degrees of freedom omni-directional pose decoupling flight, the attitude angle is omni-directional arbitrary angle in it, including roll angle, pitch angle and yaw angle, can realize arbitrary attitude hovering and flight of aircraft.The aircraft described in the application solves the controllable attitude angle limit of conventional variable tilt-rotor mechanism from structure, improves the ability of complex space activity of aircraft, and fundamentally solves the problem of power offset and power redundancy, reduces energy loss, improves power efficiency, prolongs endurance time, and is suitable for application scenarios requiring strong anti-interference and air physical interaction capability, and has important significance and value in the future.

The invention discloses a marine empennage, which relates to the technical field of ships, and comprises a ship shell of a wave-shaped flat bottom structure, and the upper end of the ship shell is fixedly connected with a deck used for covering the space in a ship and horizontally dividing the space into layers; the side, close to a deck, of the hull is fixedly connected with a cabin used for storing materials and allowing sailors to work and live, the outer wall of the side, away from the cabin, of the hull is fixedly connected with an empennage plate body used for keeping course stability and providing rotation or trim adjusting capacity, and dynamic wingspan expansion mechanisms are arranged on the two sides of the upper end of the empennage plate body. An arc wing guide swing mechanism is arranged at the center of the upper end of the empennage plate body, a trapping screen wing mechanism is arranged on one side of the tail end of the empennage plate body, plate wings and an electric telescopic rod are matched with each other, and the stress area of the empennage can be increased by improving the sailing performance and expanding the wingspan; therefore, larger lift force is generated under the condition of the same wind speed or water flow.

The invention belongs to the technical field of gastroscope sharp foreign body taking-out devices, and particularly discloses a multi-form adjustable gastroscope sharp foreign body taking-out auxiliary device which comprises a gastroscope head tube, one end of the gastroscope head tube is sleeved with a transparent tube cap, and folding rubber bags are evenly and fixedly installed on the outer surface of an auxiliary connecting end. According to the multi-form adjusting sharp foreign matter taking-out auxiliary device for the gastroscope, after the gastroscope lens tube is fed into the body of a patient and a sharp foreign matter is clamped, endoscope foreign matter forceps can be pulled to enable the sharp foreign matter to be close to the auxiliary connecting end, then air can be injected into the folding rubber bag through the ventilation channel, and the sharp foreign matter can be taken out through the ventilation channel. The folding rubber bag can be gradually expanded and expanded through air injection so as to shield the clamped sharp foreign matter, the sharp foreign matter cannot scratch the interior of the digestive tract of a patient in the taking-out process, secondary damage caused by the sharp foreign matter is reduced, and the comfort degree of the patient after the foreign matter is taken out is improved.

The invention discloses an intelligent water and fertilizer integrated irrigation machine with an accurate proportioning mechanism, and relates to the technical field of agricultural irrigation machines. The mixing bin is fixedly connected with the device shell, a transmission mechanism is arranged in the device shell, a raw material receiving bin is arranged at the top of the device shell, the device shell is connected with the raw material receiving bin through the transmission mechanism, a filter box is arranged at the rear end of the mixing bin, and the bottom of the filter box is connected with the mixing bin through an electromagnetic valve; a driving motor is arranged in the device shell, a mixing mechanism is arranged in the mixing bin, the driving motor can drive the conveying mechanism and the mixing mechanism to operate, and a filtering mechanism is arranged in the filtering box. Through the arrangement of the transmission mechanism, the transmission mechanism can adjust the usage amount of raw materials, so that the equipment can adjust the usage amount of the water and fertilizer raw materials more accurately, and through the arrangement of the mixing mechanism, when the transmission mechanism is started to operate by the driving motor, the mixing mechanism can also operate; therefore, the water and fertilizer raw materials can be uniformly mixed in the mixing bin more conveniently.

The utility model discloses an electric shock experience safety simulation device which comprises a rack, and a conductive grip is installed on the rack. Two conical holes are symmetrically formed in the front surface of the rack, a groove is formed in each conical hole, a travel switch is installed in each groove, a connecting rod is fixedly connected to a push rod of each travel switch, and a movable rod is fixedly connected to the end of each connecting rod; according to the utility model, when the input power of the conductive grip is increased and the body cannot bear the input power, the long rod connected with the push plate moves along with the body through the inclination of the body or the movement of the lower limbs to drive the movable rod to move in the groove and trigger the travel switch to be gradually turned on, so that the manual reduction or closing of the current is realized, and the electric shock intensity in an emergency is reduced; the safety of electric shock experience simulation is improved, the conductive grip does not need to be released, and high controllability is achieved.

The utility model discloses a kind of medicine applying devices for gynaecology vaginitis, belong to gynaecology medical instrument technical field, a kind of medicine applying device for gynaecology vaginitis, including push plate, push plate front end is fixedly connected with medicine applying structure, medicine applying structure inside is threadedly connected with injection structure, push plate rear end is fixedly connected with limit ring, push plate inner surface and limit ring inner surface are threadedly connected with push structure, it is cooperated by medicine applying structure and push structure, when gynaecology doctor treats vaginitis patient, capsule, tablet and powder drug can be quickly sent into patient vagina, complete medicine applying, by injection structure and medicine applying structure and push structure cooperation, so that device can also complete liquid medicine applying, eliminate limitation, by push structure, so that the controllability of device is higher, can effectively avoid to cause harm to the inside of patient's vagina, can realize the function of convenient liquid medicine and high operating precision, improve the practicality of device.

The invention relates to a connector housing assembly (1) comprising: a connector housing (10) for receiving at least one electrical terminal; a pivotable lever (20) for mating the connector housing with a mating connector (30) along a mating direction (A), the lever (20) being pivotable about a pivot axis (13) of the connector housing (10) between an initial position and an end position; and an anti-rotation structure (40) configured to prevent rotation of the lever (20) in the initial position. The lever (20) comprises a deformation portion (22) that is deformable when mated with the mating connector (30) such that the lever (20) can rotate, in particular, from an initial position. In order to improve operational safety, the connector housing assembly (1) further comprises a deformation retaining structure configured to retain a deformed state of the deformed portion up to an end position of the lever (20). The invention also relates to a connector having such a connector housing assembly.

A voltage conversion circuit and a display device, the voltage conversion circuit comprising: a voltage output module, a power supply branch, a voltage conversion module and a switch module; the first end of the power supply branch is connected to a power supply, and the power supply branch converts the power supply electric energy output by the power supply into a first DC voltage; the dimming signal input end of the voltage conversion module is connected to a dimming control signal, and the modulation signal input end of the voltage conversion module is connected to a pulse width modulation signal, and the voltage conversion module generates a voltage drive signal according to the dimming control signal, and generates a switch control signal according to the pulse width modulation signal; the switch module is connected between the voltage conversion module and the power supply branch, and the switch module performs overvoltage protection on the power supply branch according to the switch control signal; the voltage output module is connected to the second end of the power supply branch, the voltage conversion module and the electrical equipment, and the voltage output module outputs a second DC voltage according to the first DC voltage and the voltage drive signal, so that the electrical equipment is in a rated working state.

The invention belongs to the technical field of multi-ship fleets, and relates to a ship paddle propulsion module of a multi-ship fleet. The fixed base (7) is fixed on a ship body (8), the connecting sliding seat (5) is arranged on the fixed base (7), the movable sliding rail (4) is movably clamped on the connecting sliding seat (5), one end of the movable mechanism telescopic component (6) is connected with the fixed base (7) located on the inner side of the ship body (8), the other end of the movable mechanism telescopic component (6) is connected with the propelling cabin body (1), and an engine (9) on the propelling cabin body (1) is connected with a steering oar (11). A clamping block (12) is arranged on the moving track (4), and the locking mechanism (3) comprises a first hoop (13), a second hoop (14) and a locking mechanism telescopic component (15). The multi-ship fleet ship propeller propulsion module is simple in structure and high in rudder propeller maneuverability and flexibility, the propulsion module body can be laterally pushed out, front ship interference is prevented, wake flow accumulation is reduced, and the propulsion efficiency is improved.

The utility model discloses an ultrasonic keyboard device and medical imaging equipment, and relates to the field of imaging equipment. The ultrasonic keyboard device comprises a first shell, a second shell, a touch display screen and a display screen driving plate, the touch display screen is assembled in a mounting cavity in the upper end face of the first shell, the touch display screen is electrically connected with the display screen driving plate, on one hand, a user can directly operate the touch display screen to carry out input operation, and on the other hand, the user can conveniently carry out input operation; the image controllability of the user in the medical diagnosis stage is improved; on the other hand, the touch display screen can serve as output equipment to display medical image information, and the control function integration degree of the ultrasonic keyboard device is high.

The invention provides a torque feedback control method, a vehicle and a storage medium. The method comprises the steps that the yaw control quantity and PID control parameters of the vehicle are determined; inputting the yaw control quantity and the PID control parameters into a PID controller so as to carry out PID control on the actual yaw velocity of the vehicle, and outputting feedback yaw torque; and performing torque distribution on left and right wheels of the vehicle according to the feedback yaw torque. According to the invention, PID feedback control can be carried out on the actual yaw velocity of the vehicle according to the yaw control quantity of the vehicle, and correction of the actual yaw torque is realized, so that closed-loop correction can be carried out on the control result under the condition that the driving environment has relatively large disturbance or the calculation result has deviation, the control accuracy is improved, the control efficiency is improved, and the control cost is reduced. And therefore, the stability and safety of the vehicle driving state and the driver maneuverability are improved.

The present invention designs an initial rainwater collection and purification pool and a purification process, comprising five systems: pool body ventilation, rainwater inlet, coagulant addition, mud water gas distribution, and collection pool emptying. The space required for rainwater storage is utilized, and on the basis of the storage function, it has both rainwater purification and sludge removal functions, and can realize the separation of impurities in the water, without the need to build an independent water purification structure separately; a reciprocating traction mud suction vehicle group is adopted at the bottom of the pool body to collect sludge and debris, and there is no live equipment in the pool body; the purification process is in an intermittent operation mode, which is automatically controlled by a configured industrial control computer, and sequentially completes the processes of rainwater collection → coagulant addition → coagulation sedimentation → mud discharge → (clean) water discharge → standby, etc. The coagulation process adopts an air bubble stirring mode, which has the advantages of saving land, high utilization efficiency of engineering facilities, reliable water purification effect, simple structure, convenient operation and management, high degree of automation, etc.; and it has the advantages of low investment and low operation and maintenance costs.