救护车担架-卧位人体系统振动主动控制研究

A Study on Active Vibration Control for Ambulance Stretcher-Supine Body System

针对救护车担架-卧位人体系统,建立了六自由度主动减振系统的数学模型,并采用模糊控制的方法研究了救护车担架—卧位人体系统振动的主动减振问题。以担架质心处垂向速度、俯仰角速度及其变化率作为模糊控制器输入,使用双模糊控制器实现担架减振装置的主动控制,达到改善担架垂直和俯仰振动的综合减振目的。用Matlab语言及其Simulink工具箱进行了仿真,结果表明,主动控制的减振系统能有效地降低救护车担架-卧位人体系统垂直振动和俯仰振动,从而在改善救护车减振性能方面具有重要的应用价值。

A 6-degree-of-freedoms（6DOFS） model of the active vibration control system is built according to ambulance stretcher-supine body system,and the objective of this study is to develop an active vibration isolation system for ambulance stretcher using a fuzzy control method.Vertical velocity and pitch angular velocity of ambulance stretcher,and their change rates,were chosen as the inputs of fuzzy controllers,and the active control of damper stretcher was done with the use of double fuzzy controllers,which attained the comprehensive goal of vehicle vertical and pitching vibration.The control system was numerically simulated in Matlab and Simulink.The simulation results show that the active vibration isolation system is superior to the passive ambulance-stretcher in reducing the vertical vibration and pitch angular vibration of ambulance stretcher-supine body system,and has important applications in improving the damping performance of ambulance.