Development of Active Controlled Pendulum type Bed for Ambulance

主动控制摆式救护车床的研制

基本信息

批准号：
12650236
负责人：
KAWASHIMA Takeshi
金额：
$ 2.11万
依托单位：
Kanagawa Institute of Technology
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (C)
财政年份：
2000
资助国家：
日本
起止时间：
2000 至 2002
项目状态：
已结题

来源：
https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-12650236/
关键词：
Ambulance Motion Control Comfortability in Riding Bed Pendulum Optimal Control LQI Control Stretcher

项目摘要

Purpose of this study is to reduce the pain on a patient laid in the bed of ambulance. An active controlled pendulum type bed is being proposed in order to achieve this purpose. This bed system prevents the patient from swaying on the bed as the ambulance turns around a corner and from surging as the ambulance increases or decreases the speed. The system is designed introducing the pendulum mechanism to provide the passive safety and to control the bed plane in limited power source. Also, the center of rotation of the bed is made to agree with the patient center of gravity to prevent the patient from getting carsick and to provide the robustness of the controller. A LQ control system tilting the bed is developed using the optimal control theory. A half scale model of the active controlled pendulum type bed is produced and loaded on a pickup truck. The numerical simulations and the control experiments have been conducted to confirm the effectiveness of the bed system. As the results, the acceleration parallel to the bed plane is less than 20% of the acceleration affecting the vehicle. And the steady-state deviation is suppressed by switching to the LQI control in the stoppage from the LQ control in the running.Then, a feedforward system is constructed to suppress the remaining acceleration parallel to the bed plane in the acceleration affecting the vehicle changing rapidly. The system estimates the transverse acceleration from the rotation angle of the steering wheel and the vehicle speed, and the longitudinal deceleration from the depressing force of the brake pedal. The control experiments have been conducted to confirm the effectiveness of the active controlled pendulum type bed with the feedforward system. As the result, the acceleration is less than the half.

这项研究的目的是减轻救护车床上患者的疼痛。为了实现此目的，正在提出一个主动控制的摆式床。随着救护车在拐角处转动，随着救护车的增加或降低速度，该床系统可防止患者在床上摇摆。该系统的设计引入了摆动机制，以提供被动安全性并以有限的电源来控制床平面。同样，床的旋转中心与患者的重心一致，以防止患者获得汽车和提供控制器的稳健性。使用最佳控制理论开发了倾斜床的LQ控制系统。活跃控制的摆床的半比例模型是在皮卡车上产生的。进行了数值模拟和控制实验，以确认床系统的有效性。结果，与床平面平行的加速度小于影响车辆加速度的20％。并且通过从跑步中的LQ控制中切换到停止中的LQI控制来抑制稳态偏差。然后，构建了一个前馈系统，以抑制剩余的加速度，平行于与床平面相似，从而在加速度中迅速迅速变化。该系统从方向盘的旋转角度和车辆速度的旋转角度估算了横向加速度，以及从制动踏板的凹陷力下的纵向减速。已经进行了控制实验，以确认使用前馈系统的主动控制摆床的有效性。结果，加速度小于一半。