抄録
Purpose of this study is to reduce the pain on a patient laid in the bed of ambulance. An active controlled pendulum type bed is being proposed in order to achieve this purpose. This bed system prevents the patient from swaying on the bed as the ambulance turns around a corner and from surging as the ambulance increases or decreases the speed. It is designed to provide the passive safety and the robustness of the controller. In addition, it is designed to prevent the patient from getting carsick. A control system tilting the bed is developed using the optimal control theory. A half scale model of the active controlled pendulum type bed is produced and loaded on a pickup truck. The numerical simulations and the control experiments have been conducted to confirm the effectiveness of the bed system. The following results are noted. (1) The acceleration parallel to the bed plane is less than 20% of the acceleration affecting the vehicle. (2) The bed is tilted without delay by the active control system as the acceleration changes rapidly. (3) The passive safety and the robustness of the controller for the patient are provided.
