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执行器的几种控制规律。首先，假定隔振床的加速度作用于运送的病人，确定了隔振床传递特性的指标。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，设计了一种采用拉力弹簧的非线性弹簧机构。设计了具有非线性弹簧机构的全尺寸隔振床，使其具有小型化的可能性。最后，从控制输入的大小、灵敏度特性以及对干扰和测量传感器噪声的鲁棒性等角度对几种反馈控制律进行了分析。天钩阻尼器控制在控制输入的大小和灵敏度方面表现出优越的性能，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.