A Study on Vibration Isolating Bed for Emergency Patient Transportation using Pleasure Boat

研究了隔振床的弹簧机构和作动器的控制规律。首先，假设隔振床的加速度使被运输的病人承受载荷，确定隔振床的传递特性规范。其次，考虑了弹簧的一些理想弹性特性。为了满足理想的弹性特性，设计了一种由若干拉簧组成的非线性弹簧机构。设计了具有非线性弹簧机构的全尺寸隔振床，该隔振床具有缩小的可能性。最后，从控制输入的幅度、灵敏度特性以及对干扰和被测传感器噪声的鲁棒性等方面考察了一些反馈控制律。在控制输入的幅度和灵敏度上显示出卓越的性能，天钩阻尼器控制可以预期缩小尺寸，并对trans的重量差异具有鲁棒性。

A spring mechanism and some control laws of actuator for vibration isolating bed have been investigated. Firstly, a specification on the transfer characteristics of the vibration isolating bed is determined on the supposition that the acceleration of the bed makes the transported patient's load. Secondarily, some ideal elastic characteristics of the spring are considered. To satisfy the ideal elastic characteristics, a nonlinear spring mechanism employing some pull springs is devised. The full size vibration isolating bed with the nonlinear spring mechanism is designed, and the bed can show possibility of downsizing. Finally, some feedback control laws are examined from viewpoints of magnitude of the control input, sensitivity characteristic, and robustness for disturbances and measured sensor noise. Showing superior performance on the magnitude of the control input and on the sensitivity, the skyhook damper control can be expected to downsize and to have robustness against the weight difference of the trans.