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中南大学学报(自然科学版)

Journal of Central South University

第50卷    第1期    总第293期    2019年1月

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文章编号:1672-7207(2019)01-0059-08
基于并联机构的车载担架及振动半主动控制研究
高翔1, 2,牛军川1, 3,沈国栋1,田莉莉1

(1. 山东大学 机械工程学院,山东 济南,250061;
2. 吉林大学 汽车仿真与控制国家重点实验室,吉林 长春,130025;
3. 山东大学 高效洁净机械制造教育部重点实验室,山东 济南,250061
)

摘 要: 位于救护车车载担架上的卧姿人体,会承受来自路面的多维激励。为了对多维振动进行隔离,改进一种4-PUU并联机构作为车载担架的主体,并在移动副处安装弹簧与磁流变阻尼器,推导隔振系统的动力学与状态空间方程。磁流变阻尼器的可控阻尼力由LQR方法结合限界Hrovat半主动算法得到,研究担架系统在随机路面谱激励下振动半主动控制及隔振性能。研究结果表明:该担架系统能够有效隔离沿坐标轴的平移振动以及绕x轴的旋转振动,采用磁流变阻尼器的振动半主动控制担架系统的隔振性能明显优于被动控制的隔振性能,且能够取得与振动主动控制接近的减振效果。

 

关键字: 救护车担架;并联机构;磁流变阻尼器;半主动控制

Ambulance stretcher based on parallel mechanism and vibration semi-active control
GAO Xiang1, 2, NIU Junchuan1, 3, SHEN Guodong1, TIAN Lili1

1. School of Mechanical Engineering, Shandong University, Jinan 250061, China;
2. State Key Laboratory of Automotive Simulation and Control, Jilin University, Changchun 130025, China;
3. Key Laboratory of High-efficiency and Clean Mechanical Manufacture of Ministry of Education,
Shandong University, Jinan 250061, China

Abstract:The supine patients on ambulance stretcher experienced multi-dimensional excitations from the road. In order to isolate the multi-dimensional vibration effectively, an improved 4-PUU parallel mechanism was proposed as the main structure of the stretcher. Springs and magneto-rheological dampers were installed at the prismatic pairs. Dynamic and state-space equations of the vibration isolation system were deduced. The controllable damping force was obtained by combining LQR with Hrovat semi-active algorithm. The semi-active control and vibration isolation capability were addressed with stochastic road profile excitation. The results show that the stretcher system is able to reduce the translational vibrations along the axes and the rotational vibration around the x-axis validly. The vibration isolation capability of semi-active control stretcher system composed of MR dampers is significantly better than passive control system, and it can achieve almost the same vibration isolation performance as active control system.

 

Key words: ambulance stretcher; parallel mechanism; magneto-rheological damper; semi-active control

中南大学学报(自然科学版)
  ISSN 1672-7207
CN 43-1426/N
ZDXZAC
中南大学学报(英文版)
  ISSN 2095-2899
CN 43-1516/TB
JCSTFT
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