2002 Fiscal Year Final Research Report Summary
Development of Active Controlled Pendulum type Bed for Ambulance
| Project/Area Number |
12650236
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Dynamics/Control
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| Research Institution | Kanagawa Institute of Technology |
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Principal Investigator |
KAWASHIMA Takeshi Kanagawa Institute of Technology, Engineering, Associate Professor, 工学部, 助教授 (70186089)
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| Project Period (FY) |
2000 – 2002
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| Keywords | Ambulance / Motion Control / Comfortability in Riding / Bed / Pendulum / Optimal Control / LQI Control / Stretcher |
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| Research Abstract |
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.
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Research Products
(2 results)
