基于并联机构的车载担架及振动半主动控制研究
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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。
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.
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.
引文
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[16]陈杰平,陈无畏,祝辉,等.基于Matlab/Simulink的随机路面建模与不平度仿真[J].农业机械学报,2010,41(3):11-15.CHEN Jieping,CHEN Wuwei,ZHU Hui,et al.Modeling and simulation on stochastic road surface irregularity based on Matlab/Simulink[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(3):11-15.
[17]PADDAN G S,GRIFFIN M J.Evaluation of whole-body vibration in vehicles[J].Journal of Sound and Vibration,2002,253(1):195-213.
[2]徐鉴.振动控制研究进展综述[J].力学季刊,2015,36(4):547-565.XU Jian.Advances of research on vibration control[J].Chinese Quarterly of Mechanics,2015,36(4):547-565.
[3]王猛,徐新喜,任旭东.某型急救车担架台隔振特性仿真分析与优化设计研究[J].振动与冲击,2008,27(8):77-80.WANG Meng,XU Xinxi,REN Xudong.Simulation analysis and optimization design for vibration isolation characteristics of stretchers on ambulance[J].Journal of Vibration and Shock,2008,27(8):77-80.
[4]高蓬,孙大刚,梁培根,等.急救车载担架人工肌肉隔振系统特性分析[J].噪声与振动控制,2014,34(3):119-123.GAO Peng,SUN Dagang,LIANG Peigen,et al.Characteristics analysis of pneumatic artificial muscle isolation systems on ambulance vehicle mounted stretchers[J].Noise and Vibration Control,2014,34(3):119-123.
[5]于德福,符朝兴,杨德超,等.救护车担架-卧位人体系统振动主动控制研究[J].青岛大学学报(工程技术版),2011,26(2):89-93.YU Defu,FU Chaoxing,YANG Dechao,et al.Study on vibration active control of ambulance stretcher and supine patient system[J].Journal of Qingdao University(Engineering&Technology Edition),2011,26(2):89-93.
[6]任旭东,段德光,高振海,等.空气弹簧在车载担架隔振系统中的应用[J].医疗卫生装备,2009,30(10):20-22.REN Xudong,DUAN Deguang,GAO Zhenhai,et al.Application study of air spring for vehicle stretcher vibration isolation system[J].Medical Equipment,2009,30(10):20-22.
[7]ZHAO Wei,LI Bing,LIU Ping,et al.Semi-active control for a multi-dimensional vibration isolator with parallel mechanism[J].Journal of Vibration and Control,2012,19(6):879-888.
[8]CHAE H D,CHOI S B.A new vibration isolation bed stage with magnetorheological dampers for ambulance vehicles[J].Smart Materials and Structures,2015,24:1-14.
[9]BRUZZONE L,MOLFINO R M.Special-purpose parallel robot for active suspension of ambulance stretchers[J].International Journal of Robotics and Automation,2003,18(3):121-130.
[10]牛军川,杨峰,李勇.基于变胞并联机构的多维隔振研究[J].振动与冲击,2014,33(7):206-209.NIU Junchuan,YANG Feng,LI Yong.Multi-dimensional vibration isolation based on metamorphic parallel mechanism[J].Journal of Vibration and Shock,2014,33(7):206-209.
[11]祁晓园,李宁宁,陈江,等.一种新型4-PUU并联机构运动学分析[J].燕山大学学报,2007,31(5):387-391.QI Xiaoyuan,LI Ningning,CHEN Jiang,et al.Kinematic analysis of a new style 4-PUU parallel mechanism[J].Journal of Yanshan University,2007,31(5):387-391.
[12]张志勇,刘鑫,黄彩霞,等.具有参数不确定性的车辆座椅悬架H∞输出反馈半主动控制[J].振动与冲击,2013,32(14):93-97.ZHANG Zhiyong,LIU Xin,HUANG Caixia,et al.H∞output feedback semi-active control for a vehicle seat suspension with parametric uncertainty[J].Journal of Vibration and Shock,2013,32(14):93-97.
[13]龙垚坤,文桂林,陈哲吾.汽车主动悬架鲁棒保性能控制仿真研究[J].汽车工程,2014,36(2):216-221.LONG Yaokun,WEN Guilin,CHEN Zhewu.A simulation study on robust guaranteed cost control for vehicle active suspension[J].Automotive Engineering,2014,36(2):216-221.
[14]CHOI S B,LEE H S,PARK Y P.H∞control performance of a full-vehicle suspension featuring magnetorheological dampers[J].International Journal of Vehicle Mechanics and Mobility,2002,38(5):341-360.
[15]欧进萍.结构振动控制:主动,半主动和智能控制[M].北京:科学出版社,2003:131-140.OU Jinping.Structure vibration control:active,semi-active and intelligent control[M].Beijing:Science Press,2003:131-140.
[16]陈杰平,陈无畏,祝辉,等.基于Matlab/Simulink的随机路面建模与不平度仿真[J].农业机械学报,2010,41(3):11-15.CHEN Jieping,CHEN Wuwei,ZHU Hui,et al.Modeling and simulation on stochastic road surface irregularity based on Matlab/Simulink[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(3):11-15.
[17]PADDAN G S,GRIFFIN M J.Evaluation of whole-body vibration in vehicles[J].Journal of Sound and Vibration,2002,253(1):195-213.