Abstract: A linear motor motion control method, device, equipment and storage medium. The proposed invention uses an extended state observer constructed in advance based on the model parameters of the linear motor, and performs state estimation based on the total control amount of the linear motor and the actual displacement signal to obtain each observation signal. The phase advance controller is used to improve the estimated lag of the disturbance observation signal, and a model prediction controller built in advance based on the mathematical model of the linear motor is used to perform rolling optimization based on each observation signal to obtain the optimal control amount increment; The total control amount is updated based on the improved disturbance observation signal and the optimal control amount increment, and the corresponding drive signal is output to the drive end of the linear motor based on the updated total control amount.

Abstract: A decoupled XY parallel micro-positioning stage, including a central moving platform, fixed mechanisms, bridge-type micro-displacement amplification mechanisms, a four-bar symmetrical flexible guide mechanism and a piezoelectric ceramic. Each fixed mechanism is arranged between adjacent amplification mechanisms and is symmetrical about X and Y axes centered on the moving platform. The amplification mechanism is symmetrically arranged with respect to the X and Y axes, and includes two first and second longitudinal beams and multiple crossbeams. The two first longitudinal beams are provided in parallel and spaced apart. The two second longitudinal beams are arranged spaced apart between the two first longitudinal beams, and are connected to the two first longitudinal beams via the crossbeams. The crossbeams are connected to the longitudinal beams via a flexible hinge. The piezoelectric ceramic is arranged between the two first longitudinal beams.

Abstract: The present application provides a high-gravity device for generating nano/micron bubble and a reaction system. In the device, the liquid phase is continuous phase and the gas phase is dispersed phase. A gas enters the interior of the device from a hollow shaft, and the gas is subjected to primary shearing under a shearing effect of aerating micropores to form bubbles; then, the bubbles rapidly disengage from the surface of a rotating shaft under the effect of the rotating shaft rotating at a high speed, and are subjected to secondary shearing under the high-gravity environment with the strong shearing force formed by the rotating shaft to form nano/micron bubbles. The device has the advantages of fastness, stability, and small average particle size. The average particle size of the formed nano/micron bubbles is between 800 nanometers and 50 microns, and the average particle size of the bubbles can be regulated in a range by adjusting the rotating speed of the rotating shaft.

Abstract: A linear motor motion control method, device, equipment and storage medium. The proposed invention uses an extended state observer constructed in advance based on the model parameters of the linear motor, and performs state estimation based on the total control amount of the linear motor and the actual displacement signal to obtain each observation signal. The phase advance controller is used to improve the estimated lag of the disturbance observation signal, and a model prediction controller built in advance based on the mathematical model of the linear motor is used to perform rolling optimization based on each observation signal to obtain the optimal control amount increment; The total control amount is updated based on the improved disturbance observation signal and the optimal control amount increment, and the corresponding drive signal is output to the drive end of the linear motor based on the updated total control amount.

Abstract: A fusion gene, a recombinant novel coronavirus high-efficiency immune DNA vaccine, a construction method and use thereof are provided. The immune DNA vaccine ZD-nCor19 provided herein uses RBD protein, residues 301-538 in the S2 subunit and residues 138-369 in the N protein of the novel coronavirus as target antigens, and has specific immune synergism molecules introduced at suitable positions, and thus can simultaneously efficiently induce humoral immunity and cellular immunity, and can avoid safety problems associated with ADE that may be generated by the full-length S protein and the full-length N protein, thereby achieving dual effects of prevention and treatment. The vaccine can be used as a safe, efficient and stable vaccine variety against novel coronavirus infection.

Abstract: The present application provides a high-gravity device for generating nano/micron bubble and a reaction system. In the device, the liquid phase is continuous phase and the gas phase is dispersed phase. A gas enters the interior of the device from a hollow shaft, and the gas is subjected to primary shearing under a shearing effect of aerating micropores to form bubbles; then, the bubbles rapidly disengage from the surface of a rotating shaft under the effect of the rotating shaft rotating at a high speed, and are subjected to secondary shearing under the high-gravity environment with the strong shearing force formed by the rotating shaft to form nano/micron bubbles. The device has the advantages of fastness, stability, and small average particle size. The average particle size of the formed nano/micron bubbles is between 800 nanometers and 50 microns, and the average particle size of the bubbles can be regulated in a range by adjusting the rotating speed of the rotating shaft.

Abstract: A decoupled XY parallel micro-positioning stage, including a central moving platform, fixed mechanisms, bridge-type micro-displacement amplification mechanisms, a four-bar symmetrical flexible guide mechanism and a piezoelectric ceramic. Each fixed mechanism is arranged between adjacent amplification mechanisms and is symmetrical about X and Y axes centered on the moving platform. The amplification mechanism is symmetrically arranged with respect to the X and Y axes, and includes two first and second longitudinal beams and multiple crossbeams. The two first longitudinal beams are provided in parallel and spaced apart. The two second longitudinal beams are arranged spaced apart between the two first longitudinal beams, and are connected to the two first longitudinal beams via the crossbeams. The crossbeams are connected to the longitudinal beams via a flexible hinge. The piezoelectric ceramic is arranged between the two first longitudinal beams.