4results about How to "Reduce smoothness" patented technology

The utility model discloses a dissolving device for soil detection, which belongs to the technical field of soil detection, and comprises a mounting shell and a heat dissipation net, the side wall of the mounting shell is fixedly connected with the heat dissipation net, a rotating assembly is arranged in the mounting shell, a lubricating assembly is arranged in the mounting shell, the rotating assembly comprises a motor, and the motor is connected with the lubricating assembly. An output shaft of the motor is fixedly connected with a cooling fan, the top end of the cooling fan is fixedly connected with a rotating table, and a fixing hole is formed in the top of the rotating table; according to the soil dissolving device disclosed by the utility model, through the arrangement of the rotating assembly, the design, the use of the rotating table, the dissolving bottle and the motor, various types of soil can be dissolved, and the dissolving efficiency when the various types of soil need to be detected is improved, so that the detection efficiency is improved; and the motor is cooled by cold air exhausted by the cooling fan and the refrigeration pipe, so that the temperature of the motor is prevented from rising and the service life is not influenced.

The invention provides a mechanical arm trajectory tracking control method fusing model prediction and sliding mode control. The mechanical arm trajectory tracking control method comprises the steps that a discrete sliding mode controller is constructed, and a discrete sliding mode surface based on trajectory tracking errors is designed; calculating a sliding mode control law; constructing a dynamics prediction model based on an echo state network, and performing online learning and updating by taking historical state data and a sliding mode control law of the mechanical arm as input so as to predict a state track of the mechanical arm in a future time domain; constructing a model prediction controller embedded with sliding mode control, and introducing a prediction state and a sliding mode control law into an optimization objective function of the model prediction controller; and under the model prediction controller, an optimization problem is converted into a quadratic programming problem to be solved, a smooth optimization control quantity meeting physical constraints is obtained, and the control quantity acts on the mechanical arm system. The high-frequency buffeting problem of sliding mode control is effectively solved, and meanwhile high-precision trajectory tracking of the mechanical arm under strong nonlinear interference is guaranteed.

The application belongs to the technical field of papermaking, and provides a food contactable double-coated copper-coated card paper, a preparation method and application thereof. The food contactable double-coated copper-coated card paper comprises, from the front side to the back side, a front side surface coating layer, a front side base coating layer, a base paper, a back side base coating layer and a back side surface coating layer which are sequentially stacked, and the base paper comprises, from the front side to the back side, a surface layer, a core layer and a bottom layer which are sequentially stacked, the front side base coating layer and the back side base coating layer are obtained by coating a first coating material, and the front side surface coating layer and the back side surface coating layer are obtained by coating a second coating material, wherein the first coating material comprises the following components: 65-grade ground calcium carbonate, a first latex and a starch-acrylate graft copolymer, and the second coating material comprises the following components: 95-grade ground calcium carbonate, a second latex and a starch-acrylate graft copolymer. The double-coated copper-coated card paper has the advantages of high printing surface strength, high gloss, low surface roughness, low difference between two sides and low heavy metal content.

This utility model relates to the field of welding slag removal technology and discloses a device for removing welding slag from the bottom slide rail of an automobile seat. The device includes a main shell with a movable opening slot at the top and a welding slag collection bin at the bottom. An arc-shaped groove plate is fixedly connected to the inner wall of the main shell. A movable slide rod is fixedly connected to the inner wall of the main shell. A cylinder slider is movably connected to the outer side wall of the movable slide rod. A rotary motor is fixedly connected to the top of the cylinder slider, and a grinding steel wire wheel is fixedly connected to the top of the rotary motor. This utility model, by incorporating a slide rod and a cylinder slider, provides a more compact structure compared to other types of cylinders, which helps save installation space and enables efficient pneumatic control even in limited spaces. The installation and disassembly process of the sliding cylinder is relatively simple, reducing installation costs and time and improving work efficiency.