Experiment on a Semi-Active In-Car Crib with Joint Application of Regular and Inverted Pendulum Mechanisms Using Scale Model

摘要

To reduce the collision shock and risk of injury to an infant in an in-car crib(or in a child safety bed)dur-ing a car crash,it is necessary to limit the force acting on the crib below a certain allowable value.To realize this objective,we propose a semi-active in-car crib system with the joint application of regular and inverted pendulum mechanisms.The crib is supported by arms similar to a pendulum,and the pendulum system itself is supported by arms similar to an inverted pendulum.In addition,the arm acting as a regular pendulum is joined with the arm act-ing as an inverted pendulum through a linking mechanism for simplicity,and the friction torque of the joint con-necting the base and the latter arm is controlled using a brake mechanism,which enables the proposed in-car crib to gradually increase the deceleration of the crib and maintain it at around the target value.This system not only re-duces the impulsive force but also transfers the force to the infant′s back using a spin control system,i.e.,the im-pulse force is made to act perpendicularly on the crib.The spin control system was developed in our previous work.The present work focuses on the acceleration control system.A semi-active control law with acceleration feedback is introduced using the sliding mode control theory.Especially,a feedback system of the crib acceleration relative to the vehicle is proposed for the high-vibrational environment.Further,a control experiment using scale model is conducted to confirm the effectiveness,and some results are reported.