42results about How to "Increase dynamics" patented technology

The invention relates to the technical field of grid-connected inverter networking synchronization control, and relates to a networking inverter adaptive synchronization control method considering dynamic performance and stability. The method comprises the following steps: firstly, injecting a harmonic signal with a specific frequency into a power grid from an inverter side, acquiring a voltage and current signal corresponding to the harmonic signal with the specific frequency at a grid-connected point, and calculating to obtain power grid side impedance; then, converting a grid-connected inverter adaptive control optimization problem into a Markov decision process based on the power grid side impedance; and finally, substituting the Markov decision process into a reinforcement learning algorithm framework for reverse training to obtain an optimal control law of the grid-connected inverter based on hybrid synchronous control, and controlling the grid-forming inverter based on the optimal control law. The invention provides the self-adaptive synchronous control method for the grid-forming inverter, which gives consideration to the dynamic performance and the stability, so that an inverter grid-connected system can operate stably, has enough stability margin and also has good dynamic performance.

The invention discloses an electric energy metering method and device based on harmonic self-adaptive observation and zero point tracking type SOGI-FLL. The electric energy metering method comprises the following steps: step 1, carrying out ADC sampling on voltage and current signals of a power grid; 2, performing frequency rapid estimation on the voltage signal based on a zero point tracking frequency-locked loop, and obtaining a fundamental wave angular frequency of a power grid in real time; step 3, constructing adaptive observers of voltage and current by using the fundamental wave angular frequency, and estimating parameters of fundamental waves, harmonic waves and direct current components in voltage and current signals in real time through an adaptive law based on Lyapunov stability; 4, according to the parameter estimation value, the amplitude and phase of the voltage and current are calculated; and step 5, calculating active power and reactive power of each harmonic based on the voltage and current amplitudes and phases obtained in the step 4, and summing to obtain total active power and total reactive power so as to realize metering of active electric energy and reactive electric energy. According to the invention, rapid and accurate metering of fundamental wave and harmonic wave electric energy under complex working conditions is realized.

The invention belongs to the field of coal-fired power generation, and particularly relates to a heat supply and power generation system for improving the flexibility of a thermoelectric load by coupling molten salt heat storage and an operation method, the system is additionally provided with a heat supply network heating system on the basis of a conventional coal-fired power generation system, and is coupled with an innovative heat storage system adopting a collaborative heat storage and collaborative heat release structure. When the power supply load of the coupling heat supply power generation system is reduced, reheated steam and redundant electric power which is not connected to the network are used for heating molten salt for collaborative heat storage, meanwhile, reheated cold section extraction steam is used for supplying heat to a heat supply network, the load reduction rate is increased, the downward peak regulation depth of the coupling heat supply power generation system can be effectively reduced, and the power supply efficiency is improved. And zero power output of the power generation system can be realized under the condition that the boiler maintains the lowest operation load. The thermoelectric load characteristic interval range of the coupling heat supply power generation system is remarkably expanded, the variable load rate of the coupling heat supply power generation system is improved, and the heat supply and power supply flexibility of the coupling heat supply power generation system is improved.

The invention discloses an unpowered returning-field aircraft spoiler speed control method based on active disturbance rejection control, belongs to the technical field of unmanned aerial vehicle flight control, and aims to solve the problem that high-precision speed control is difficult to realize due to insufficient robustness when a traditional spoiler control strategy faces a complex and changeable environment and unknown disturbance. According to the method, the expansion state observer introducing active disturbance rejection control is adopted, unmodeled dynamics and external disturbance in the system are estimated on line and compensated in real time, the speed deviation is responded in a short time, the adaptive capacity to unknown disturbance is remarkably improved in unpowered return field section spoiler speed control, and the speed control accuracy of the spoiler is improved. According to the method, the dependence on an accurate model is reduced, higher-precision and more robust speed control is realized, and an effective technical means is provided for safe, stable and accurate landing of unmanned aerial vehicles and other unpowered landing aircrafts.

The invention relates to a model prediction fault-tolerant control method and system for a dual three-phase permanent magnet synchronous motor, and the method comprises the steps: estimating the lumped disturbance in the operation process of the motor in real time based on an extended state observer, and carrying out the feed-forward compensation of the reference voltage of the motor according to the lumped disturbance information; and based on the compensated voltage reference value, constructing a dynamic voltage vector set and correcting an initial voltage vector set, searching an optimal voltage vector in the dynamic voltage vector set, and driving the motor through three-phase decoupling space vector pulse width modulation. According to the field loss fault-tolerant control strategy designed by the invention, phase current harmonics caused by local field loss faults of the dual three-phase permanent magnet synchronous motor can be effectively suppressed, and the steady-state precision and the dynamic response capability of the system under the local field loss faults are enhanced.

The invention discloses a three-phase electrode current preset time intelligent loop control method for an electric smelting furnace for magnesia, which specifically comprises the following steps: 1) selecting the electric smelting furnace for magnesia as a research object and analyzing the characteristics of equipment, and taking the electric smelting furnace as a representative as the production index of the smelting process of major energy-consuming equipment in the smelting process, namely the electric energy consumed by each ton of qualified products, namely the unit energy consumption; (2) controlled objects of a control system of the electrical smelting furnace for magnesium comprise unit energy consumption of the electrical smelting furnace for magnesium and three-phase electrode current of the electrical smelting furnace for magnesium, the controlled quantity is the rotating speed and direction of a three-phase dragging motor of the electrical smelting furnace for magnesium, and the unit energy consumption of a product is directly influenced by the magnitude and the stability degree of the three-phase electrode current value in the smelting process; and (3) analyzing the relationship between the three-phase electrode current of the electric smelting magnesium furnace and the rotating speed of the three-phase dragging motor, and calculating the rotating speed of the three-phase dragging motor according to the deviation between the actual three-phase electrode current value and the three-phase electrode current set value under the heating and melting working condition. A preset time consistency control algorithm based on self-adjusting gain is adopted to obtain the rotating speed and direction of the three-phase dragging motor under the heating and melting working condition; and (4) adjusting parameters of the preset time consistency control scheme in the step (3), performing preset time algorithm verification, and performing corresponding comparison with a PID algorithm of a traditional control method.

The invention discloses a shopping webpage design platform and method based on big data acquisition, and belongs to the technical field of internet big data, the platform comprises a data acquisition module, a data storage module, a data processing and analysis module and an information generation module, and the method comprises the steps of data acquisition; storing and processing data; feature extraction and analysis; and generating design information. According to the method, the preference and the behavior mode of the user can be comprehensively understood, so that commodities which better meet personalized requirements of the user can be recommended to the user.

This invention belongs to the field of polyurethane elastomer technology and discloses a high-strength, room-temperature self-healing lignin / polyurethane composite elastomer, its preparation method, and its applications. The preparation method includes the following steps: First, a long-chain diol, irregular isocyanate, hydrazine chain extender, and dioxime chain extender are progressively polymerized to obtain a polyurethane matrix with multiple dynamic bonds. Then, high-rigidity lignin and metal ions are introduced to prepare a lignin-reinforced polyurethane composite elastomer. The lignin / polyurethane composite elastomer prepared by this invention exhibits good compatibility, high strength, room-temperature self-healing, and repeatable heat processing characteristics, overcoming the problems of poor compatibility and the inability to simultaneously achieve high strength and low-temperature self-healing in general lignin-based polyurethane elastomers.

The utility model discloses a kind of floating mechanism suitable for robot clamp application, including robot side flange, balance module is installed on the robot side flange, balance module is installed with floating module, air cylinder is installed on the two sides of floating module, floating module is installed with gripper side flange, the utility model relates to robot clamp technical field.Response speed is extremely fast, dynamic performance is excellent, control precision is high, can realize micron level regulation, compact structure, flexible arrangement, force output linearity is good, easy to digital control.

The utility model relates to a sliding connection structure for linear motion of a machine tool spindle, which comprises a sliding body, a transverse bottom plate and a guide rail pair, the spindle is mounted in the sliding body, and the sliding body is connected with the transverse bottom plate through the guide rail pair; two mutually vertical side surfaces of the sliding body are respectively connected with the guide rail pair; the transverse bottom plate is of an L-shaped structure, and the two inner side faces perpendicular to each other are connected with the guide rail pairs respectively. The L-shaped sliding connection structure is adopted, and the supporting guide rails are arranged on the two side faces, perpendicular to each other, of the sliding body respectively, so that the connection rigidity and the dynamic performance are greatly improved.

The application discloses a resonant converter control method and device based on threshold voltage control, and the method comprises the following steps: comparing an input voltage with a primary side equivalent voltage to determine whether the resonant converter is currently working in a boost mode or a buck mode; determining threshold voltages of a resonant capacitor in the boost mode and the buck mode; comparing the threshold voltages with collected resonant capacitor voltages to determine switching signals of an inverter circuit; and the threshold voltages of the resonant capacitor in the boost mode and the buck mode are calculated based on P-stage cosine response parameters and N-stage cosine response parameters of the resonant capacitor voltages. By using the above technical scheme, the resonant converter has strong voltage ripple suppression capability, effectively suppresses secondary harmonic voltage ripples from a previous stage, and the control signals are directly determined by input and output states, thereby having excellent dynamic performance.

The invention provides a mechanical arm self-adaptive grading grabbing control method and system based on visual feedback, and belongs to the technical field of robot control. The method comprises the steps that target position information is obtained through a visual sensor, and contact state information of the tail end of a mechanical arm and a target is obtained through a force sensor; according to the target position information and the contact state information, the current control stage of the mechanical arm is judged, and the control stage comprises the vision dominant stage that the mechanical arm approaches the target but does not make contact with the target, the force dominant stage that the mechanical arm grabs the target and the transition stage from the vision dominant stage to the force dominant stage; generating a first control component and a second control component based on the target position information, and generating a third control component based on the contact state information; according to the current control stage of the mechanical arm, the weights of the first control component, the second control component and the third control component are dynamically distributed and fused to generate a comprehensive control instruction; and the mechanical arm is driven to grab the target according to the comprehensive control instruction, and jumping of the control instruction is avoided.

The present invention is a spherical metamorphic robot and an environmental information monitoring system based on the robot. The robot includes a control unit, a spherical shell and a plurality of telescopic feet evenly distributed on the spherical shell. The axes of all the telescopic feet intersect at the center of the spherical shell. The telescopic feet can be extended and retracted along the radial direction of the spherical shell. All the telescopic feet can be completely wrapped in the spherical shell or extend out of the spherical shell. The system includes a self-organizing network communication module, an environmental information collection component, a host computer, a positioning module and a plurality of metamorphic robots; the plurality of metamorphic robots are arranged at various positions in the area to be detected, and each metamorphic robot is equipped with a self-organizing network communication module, a positioning module and an environmental information collection component; the self-organizing network communication module communicates with the host computer, and the self-organizing network communication module on each robot can communicate bidirectionally with the self-organizing network communication modules on the other robots. The environmental information monitoring system has three modes to realize all-weather, all-round and fully autonomous intelligent dynamic monitoring.

According to the robot self-adaptive controller adopting robust control, control methods of robust control and self-adaptive control are selected, a mechanical arm is adopted as a research object, modeling and control research results of a two-degree-of-freedom mechanical arm can be expanded to an n-degree-of-freedom mechanical arm, and the robot self-adaptive controller adopting robust control is provided. Therefore, the method can be applied to the field of industrial robot control development. Different from other nonlinear control methods such as traditional PID (Proportion Integration Differentiation) control and the like which have the characteristic that different constraints in an actual system are not considered, the mechanical arm is controlled by adopting a model robust adaptive algorithm, and the robust adaptive control method can realize trajectory tracking control without establishing an accurate system model.

The invention relates to an exhaust brake electromagnetic valve. According to the electromagnetic valve, a main gas circuit unit, a proportional electromagnetic driving structure, a gas circuit switching structure and a gas pressure detection structure are integrated. Continuous and linear accurate adjustment of output air pressure is realized through a proportional electromagnetic driving structure; the gas path switching structure can intelligently switch gas flow between the first gas outlet and the second gas outlet according to an instruction; the pressure sensor integrated in the valve body monitors the actual output air pressure in real time, closed-loop feedback control is formed, and accurate matching of braking force is ensured. The system is compact in structure, remarkably reduces external pipelines and leakage points, has the advantages of being rapid in response, accurate in control, high in reliability and high in adaptability, and remarkably improves the smoothness and safety of vehicle braking.

The invention discloses a model-free self-adaptive discrete time fast terminal sliding mode control method and system based on a novel discrete approaching rate, and the method is compared with a conventional PI controller, a sliding mode controller and a model-free self-adaptive linear sliding mode controller. The response speed of the system is improved, and the method does not depend on a system model any more. Meanwhile, on the basis of input and output data of the permanent magnet synchronous motor system, a pseudo-partial derivative estimation algorithm is constructed according to a criterion function to obtain a time-varying parameter, a pseudo-partial derivative resetting mechanism is perfected, motor control based on data driving is achieved, and convergence of the pseudo-partial derivative estimation algorithm and stability of a control algorithm are analyzed; the control method is high in control precision and high in response speed, the robustness and the anti-interference performance of the system are improved, and then the control performance of the motor system under the complex working condition is improved.

The invention provides an EGR (Exhaust Gas Recirculation) system for preventing gas leakage and a control method, and belongs to the technical field of engine exhaust gas recirculation control. The EGR valve is used for controlling the flow of exhaust gas extracted from the exhaust pipe; the EGR cooler is used for cooling flowing waste gas; an air inlet of the EGR proportional valve is connected with a vehicle compressed air source, and an air outlet of the EGR proportional valve is connected with the EGR valve cylinder through an air path pipeline; the engine ECU controller is used for controlling the output pressure of the EGR proportional valve; the engine ECU controller is configured to control the EGR proportional valve to output preset holding pressure if the EGR valve does not need to be opened at present after the engine is powered on; the value of the holding pressure is set to enable the sealing structure in the cylinder of the EGR valve to be sealed and to be lower than a pressure threshold value required for starting to open the EGR valve. The air leakage abnormal sound of the EGR system is effectively solved, the sealing performance and reliability are improved, the cost is optimized, and the user experience is enhanced.

The invention provides a permanent magnet synchronous motor current controller design method, a current controller and a permanent magnet synchronous motor. The permanent magnet synchronous motor current controller design method comprises the steps of 1, designing a model-free nonsingular terminal sliding mode current controller; 2, designing a quasi-resonance regulator; and step 3, a quasi-resonance compensation step: respectively connecting two ends of the d-axis model-free nonsingular terminal sliding mode current controller and the q-axis model-free nonsingular terminal sliding mode current controller in parallel with a quasi-resonance regulator. According to the current controller design method, a current tracking controller of a permanent magnet synchronous motor with a current tracking function is designed, and the two ends of a d-axis model-free nonsingular terminal sliding mode current controller and the two ends of a q-axis model-free nonsingular terminal sliding mode current controller are respectively connected with a quasi-resonance regulator in parallel. Therefore, the motor not only has good dynamic performance, but also can effectively reduce the current fluctuation, suppress the torque ripple and improve the steady-state performance.

The invention belongs to the technical field of unmanned aerial vehicle flight control, and discloses an unmanned aerial vehicle rapid composite control method and system based on fuzzy asymptotic. In the aspect of steady-state precision, the method breaks through the inherent limitation that traditional finite time control can only achieve bounded neighborhood convergence, and the reliability and execution capacity of the system in a high-precision task are remarkably improved. In the aspect of transient response, a nonlinear feedback mechanism in a fractional power form is introduced, so that the system can obtain a super-linear convergence rate in an initial stage or when encountering large-deviation disturbance. In terms of robustness and realizability, a structure combining low-pass filtering and dynamic error compensation is adopted in the method, and implementation difficulty caused by high-order differential calculation is effectively avoided; meanwhile, parameter perturbation, unmodeled dynamics, external wind disturbance and the like are estimated and compensated in combination with an adaptive fuzzy system, and the adaptive capacity and anti-interference performance of the system in a strong-coupling and nonlinear environment are remarkably enhanced.

The invention discloses an intelligent art design product hanging display rack, and belongs to the technical field of hanging display racks, the intelligent art design product hanging display rack comprises a rotating mechanism, the rotating mechanism comprises a tray and a rotating base, the rotating base is used for lifting a hanging rope and an artwork body, and telescopic rods are arranged on the two sides of the top of the rotating base; hanging mechanisms are fixed to the tops of the telescopic ends of the two telescopic rods through connecting blocks, each hanging mechanism comprises a fixed curved plate and a rotatable arc-shaped rotating rod, and a plurality of hanging assemblies for supporting and limiting a hanging rope are arranged on the opposite sides of the two arc-shaped rotating rods; supporting plates are fixed to the opposite sides of the two curved plates through fixing rods, supporting pads are arranged on the tops of the supporting plates, and arc-shaped structures are arranged on the sides of the bottoms of the two curved plates. When the intelligent hanging display rack for the art design articles is used for displaying jades, the artwork body and the hanging rope can be in a three-dimensional display state, and the dynamic sense and the space sense of the jades during display can be improved.

The invention discloses a rapidly-formed layer blocking air supporting type string structure which comprises an air bag, a layer blocking component and a mooring rope. The air bag is suitable for being unfolded through inflation and folded through deflation so as to be switched between a use form and a storage form, and the air bag is suitable for sealing internal air and bearing internal air pressure when being unfolded through inflation; the layer blocking component is arranged on the upper surface of the air bag; the cable is tensioned and connected to the lower surface of the airbag; the layer blocking component comprises a vacuum bag and flexible material pieces, the flexible material pieces are arranged in the vacuum bag, and the multiple flexible material pieces are arranged in a stacked mode; the vacuum bag is suitable for vacuumizing or releasing vacuum so as to be suitable for stiffness change of the layer blocking component; the layer blocking member in the stiffened state is adapted to withstand pressure and transfer the pressure to the bladder, the bladder being adapted to provide resilient support to the layer blocking member. The layer blocking air support type string structure can be integrally folded and is convenient to transport; the construction operation process is simple and efficient, and rapid construction can be achieved.

The application discloses a kind of centrifugal pump dynamic performance optimization method under given flow mutation, first deduce the maximum slope when motor torque rises and falls;Second, the turning point of torque instruction mutation is deduced;Finally, the corresponding torque instruction is sent out: when flow mutation time to turning point, this section of time gives forward vector, so that torque rises according to maximum slope, after reaching turning point, give retreat vector, so that torque falls at maximum slope, until torque returns to initial value, speed tracks on mutation after given speed, flow reaches given flow, system reaches stable state.The application controls torque linearly in dynamic time, and the control rate is the hardware limit value.A linear differential equation is constructed with the torque integral of dynamic imbalance and the given speed increment being equal as a constraint to solve the torque turning point, which makes up for the speed overshoot of traditional speed PI loop, and realizes the optimal torque control curve and optimal flow response curve under dynamic linear control.

The application discloses a kind of laser scanning cutting endoscope robots based on carbon fiber paper micro-vibration mirror, the endoscope robot is fixedly installed with paper transmission structure in one end of support structure, and the other end is fixedly installed with GRIN lens;Fixed mirror, X galvanometer and Y galvanometer are fixedly installed in paper transmission structure, and optical path is formed by optical fiber, GRIN lens, fixed mirror, X galvanometer and Y galvanometer;First piezoelectric bimorph driver and second piezoelectric bimorph driver are piezoelectric bimorph driver installed between support structure and paper transmission structure;First piezoelectric bimorph driver is used to drive X galvanometer to rotate around Y axis and / or by paper transmission structure;Second piezoelectric bimorph driver is used to drive Y galvanometer to rotate around Z axis by paper transmission structure.The above-mentioned endoscope robot is compact, light, stable in motion and has excellent dynamic performance by using piezoelectric bimorph driver and paper transmission structure.

The utility model relates to a three-gear electric drive axle structure of a single gear shifting sliding sleeve, a speed reducing mechanism comprises a first-stage driven gear, a gear shifting shaft, a third-stage driving gear shaft and a three-gear gear pair, a third-stage driving shaft gear is fixedly arranged on the third-stage driving gear shaft, and the three-gear gear pair comprises a driving gear and a driven gear corresponding to each gear. The first-level driven gear is fixedly arranged on the gear shifting shaft, the gear shifting shaft is sleeved with the driving gears of the three gears in an idle mode, the driven gears of the three gears are fixed to the third-level driving gear shaft, the driven gears of the three gears are connected with the corresponding driving gears respectively, and the gear shifting mechanism is arranged on the gear shifting shaft. The gear shifting mechanism performs gear shifting by being meshed with gears of different gears. By means of the single gear shifting executing mechanism and the single gear shifting sliding sleeve, output of three different speed ratios can be achieved, the gear shifting executing mechanism or a clutch and the like do not need to be additionally arranged, and the cost is more advantageous.

The invention relates to a method for measuring and compensating cogging torque of a permanent magnet synchronous motor. The method comprises the following steps: establishing a permanent magnet motor torque output model; establishing a parameter identification model; establishing a compensation current calculation model; collecting compensation current data and position data; fitting data and establishing a cogging torque compensation model; and cogging torque compensation. According to the method, related parameters of the motor are not needed, the parameters of the motor are identified through the recursive least square method with the forgetting factor, the cogging torque compensation robustness is improved, the cogging torque compensation current is calculated in real time based on the identification result, and the precision is higher; calculating the cogging torque compensation current in real time based on the position information by performing function fitting on the position information of the motor and the cogging torque compensation current; compared with an observer method, the compensation torque is more stable and accurate, and the dynamic performance is better; compared with a table look-up method, the method is smaller in occupied storage space and higher in precision, and does not need to depend on external measuring instruments and equipment.

The utility model relates to the technical field of propelling power, in particular to a split type outer rotor rim shaftless propeller which comprises a driving module and a transmission module, and the driving module comprises a main support, a stator winding and a waterproof cover. The stator winding is arranged on the main support, the waterproof cover is arranged on the main support and covers the stator winding, the transmission module comprises a rotor shell, a plurality of rotor magnetic shoes and an impeller, the rotor shell is rotationally connected with the main support and / or the waterproof cover, the rotor magnetic shoes are uniformly distributed on the inner circumference of the rotor shell, and the impeller comprises a connecting disc and fan blades. A round hole is formed in the axis of the connecting disc, the fan blades are arranged on the round hole, and the main support is provided with a through groove facing the round hole. According to the utility model, the split type outer rotor rim design is adopted, and the impeller and the rotor magnetic shoes are reasonably arranged, so that the efficient propulsion performance is realized. The impeller is reasonable in design, electric energy can be effectively converted into propulsive force, and propulsive efficiency is improved.

The utility model relates to the technical field of ceiling lamps, and discloses a hardware ceiling lamp, which comprises a linear hanging plate fixed on a ceiling or a support, a straight pipe connected with a pendant chain is hung at the bottom of the linear hanging plate, and the bottom of the pendant chain is fixedly connected with a hardware outer frame. A synchronous motor for driving the lamp body of the lower half part to rotate is fixedly mounted on the hardware outer frame, and a square support A fixed on the hardware outer frame is fixedly connected with a light source disc arranged on the outer side of an output shaft of the synchronous motor in a sleeving manner. And the synchronous motor on the hardware outer frame can drive the lamp body on the lower half part to rotate, so that the visual attraction is enhanced, the light source disc uniformly illuminates the whole space, and the illumination efficiency is improved.

The invention relates to robot equipment, in particular to few-joint branch redundant drive over-constraint heavy-load milling parallel robot equipment. The invention aims to provide few-joint branch redundant drive over-constrained heavy-load milling parallel robot equipment so as to overcome the defects that a traditional series machine tool is insufficient in rigidity, poor in dynamic performance and limited in precision, and an existing parallel mechanism is small in working space, too many in joints and difficult to consider bearing and flexibility at the same time. According to the technical scheme, the few-joint branch redundant drive over-constraint heavy-load milling parallel robot equipment comprises a machining base frame fixed to the ground. The two stand columns are arranged on the two sides of the machining base frame in the X-axis direction and can slide in the X-axis direction, the X rack is horizontally arranged on the X-axis direction and supported by the two stand columns, and the fixed platform is horizontally arranged and can slide in the X-axis direction. The movable platform is positioned below the fixed platform; and the four branch chains are connected between the fixed platform and the movable platform in parallel and are provided with main shaft heads.

The invention belongs to the technical field of aircraft tires, and particularly relates to graphene-reinforced inner liner rubber for an aircraft tire and a preparation method of the graphene-reinforced inner liner rubber. The graphene reinforced aircraft tire inner liner rubber provided by the invention is prepared from 60 to 80 parts of halogenated butyl rubber, 10 to 30 parts of natural rubber, 10 to 20 parts of butadiene styrene rubber, 10 to 40 parts of N326 carbon black, 20 to 50 parts of semi-reinforced carbon black, 3 to 5 parts of dibutyl phthalate, 0.5 to 2 parts of stearic acid, 3 to 5 parts of zinc oxide, 0 to 1 part of magnesium oxide, 1 to 3 parts of tackifying resin, 1 to 2 parts of homogenizing agent, 1.5 to 2 parts of anti-aging agent, 0.5 to 2 parts of accelerant, 1 to 2 parts of insoluble sulfur and 0 to 0.5 part of scorch retarder. The invention designs the formula of the inner liner rubber for the aircraft tire, which is excellent in air tightness, good in mechanical property and excellent in aging resistance, and the inner liner rubber can maintain the stability of the internal air pressure of the aircraft tire for a long time and can effectively ensure the use safety of the aircraft tire.

The application provides an event camera-based vibration measurement method and device, equipment and a storage medium. The method comprises the following steps: converting an event stream corresponding to a vibrating object collected by an event camera into a complex image; decomposing the complex image into a plurality of subbands of different scales and directions; calculating a phase change signal of the vibrating object in combination with phase information of each subband; and determining a vibration frequency of the vibrating object according to the phase change signal. Through implementation of the application, the vibration frequency of the object is measured by using a non-contact measurement method. The event camera has the characteristics of high time resolution and high dynamicity, can support capturing high-speed motion of the object under low brightness conditions, and the collected data is only related to the motion of the object, thereby reducing data redundancy. Therefore, the accuracy of the vibration measurement result is effectively improved, and the data processing amount is reduced.