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Ambulances are essential vehicles for providing emergency medical services to patients. Passive suspension systems exhibit limitations in vibration isolation performance due to their inability to adjust damping. To enhance the ride comfort of patients, this paper focuses on the suspension system of ambulances and establishes a nine-degree-of-freedom half-car stretcher human model. Based on this model, a novel time-delay LQR vibration isolation control method for ambulances is proposed, with controllers introduced to both the front and rear suspensions. Simulation analyses are conducted for passive suspension and active suspension systems. Compared to the passive suspension model, the RMS values of the vertical acceleration of the head, chest, and legs of the human body in the active suspension model decreased by 56.61%, 57.64%, and 60.05%, respectively, on a random road surface. The results validate the significant improvement on vibration isolation performance and a notable enhancement in ride comfort provided by the proposed control method.

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Study on Vibration Reduction Effects of Ambulance Suspension System Based on LQR Controller

  • 会议论文

  • 发表日期：

    2025年

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  • Zhongzheng Zhang,
  • An Qin,
  • Shichen Wang,
  • Jiewen Lai,
  • Bangji Zhang

摘要

Ambulances are essential vehicles for providing emergency medical services to patients. Passive suspension systems exhibit limitations in vibration isolation performance due to their inability to adjust damping. To enhance the ride comfort of patients, this paper focuses on the suspension system of ambulances and establishes a nine-degree-of-freedom half-car stretcher human model. Based on this model, a novel time-delay LQR vibration isolation control method for ambulances is proposed, with controllers introduced to both the front and rear suspensions. Simulation analyses are conducted for passive suspension and active suspension systems. Compared to the passive suspension model, the RMS values of the vertical acceleration of the head, chest, and legs of the human body in the active suspension model decreased by 56.61%, 57.64%, and 60.05%, respectively, on a random road surface. The results validate the significant improvement on vibration isolation performance and a notable enhancement in ride comfort provided by the proposed control method.