救护车载 PAM担架缓冲系统特性分析

摘要

Based on the analysis of the vibration isolation system of ambulance stretcher and the study on its dynamic model,a new buffer system of stretcher based on pneumatic artificial muscle was proposed.Then a vehicle-stretcher-human vibration model was built up,and a semi-active neural network PID controller for stretcher vibration control based on pneumatic artificial muscle was designed.The vibration isolation system performances were simulated by using the Simulation software,and the simulation results were analysed.The results show that compared with traditional system,the pneumatic artificial muscle buffer system using neural network PID control has more obvious isolation effect on stretcher and patient vibration,indicating the feasibility of using pneumatic artificial muscle in buffer system of ambulance stretcher.%经对救护车担架隔振系统及动力学模型研究分析，提出气动人工肌肉（PAM）救护车担架隔振系统。建立车体－担架－分段人体振动模型，设计基于该系统的半主动神经网络 PID 控制器，并用 Simulink 对隔振系统进行性能仿真分析。仿真结果表明，与被动系统相比，采用神经网络 PID 控制的气动人工肌肉隔振系统对担架及人体有明显隔振效果，气动人工肌肉用于救护车担架隔振系统具有可行性。