Patient support apparatus with drive wheel speed control
View Patent ↗A control system for a self-propelled patient-support apparatus includes a controller that utilizes a power drive speed control algorithm to control the power output to a motor of a drive mechanism for driving the patient-support apparatus across a floor. The control algorithm normalizes a force input by a user on a user input device, the force indicative of a desired drive speed. The algorithm varies the responsiveness of the output to the drive mechanism based on the current operating conditions of the drive mechanism.
1. A control system for a patient-support apparatus comprising,
a user input device,
a motor for driving a wheel over a floor,
a controller including a processor and a memory device including instructions that, when executed by the processor, monitor the user input device to determine a speed input request from the user, calculate a speed output value based on a current speed input request and a previous speed output value, normalize the speed output value based on the current speed input request and the previous speed output value, and transmit the speed output value to the motor.
2. The control system of claim 1 , wherein the memory device further includes instructions that, when executed by the processor, determine a desired direction of movement of the patient-support apparatus across the floor by comparing the current speed input request with a previous speed input request.
3. The control system of claim 2 , wherein the memory device further includes instructions that, when executed by the processor, normalize the current speed input request based on the direction of the request.
4. The control system of claim 1 , wherein the memory device further includes instructions that, when executed by the processor, scale the speed output value based on the desired direction of movement of the patient-support apparatus across the floor.
5. The control system of claim 4 , wherein the scaling applied to the speed output value is based on an intended use environment of the patient-support apparatus.
6. The control system of claim 1 , wherein the memory device further includes instructions that, when executed by the processor, calculate an effective speed input value based on the current speed input request and a previous speed output value.
7. The control system of claim 6 , wherein the memory device further includes instructions that, when executed by the processor, apply a speed transfer function to the effective speed input value to determine a current raw speed output value.
8. The control system of claim 7 , wherein the memory device further includes instructions that, when executed by the processor, vary the speed transfer function over time.
9. The control system of claim 7 , wherein the memory device further includes instructions that, when executed by the processor, vary the speed transfer function if a normalized speed input request exceeds a threshold value.
10. The control system of claim 7 , wherein the memory device further includes instructions that, when executed by the processor, calculate the scaled speed value by scaling the raw speed output value based on the direction of the speed input request.
11. The control system of claim 10 , wherein the memory device further includes instructions that, when executed by the processor, apply weighting to the scaled speed value and the previous speed output value to determine the speed output value to transmit to the motor.
12. The control system of claim 11 , wherein the memory device further includes instructions that, when executed by the processor, decrease the weighting of the current scaled speed value as the value of the previous speed output value increases.
13. The control system of claim 1 , wherein the memory device further includes instructions that, when executed by the processor, apply weighting to the current speed input request and the previous speed output value to determine the speed output value to transmit to the motor.
14. The control system of claim 1 , wherein the memory device further includes instructions that, when executed by the processor, calculate a reference force using at least the current normalized speed input request and the previous speed output value.
15. The control system of claim 14 , wherein the memory device further includes instructions that utilize the reference force to increase the proportional response of the control system to the speed input request as the value of the speed input request increases.
16. The control system of claim 1 , wherein the user input device comprises a load cell.
17. The control system of claim 16 , wherein the memory device further includes instructions that apply a strain gage constant to normalize the speed input request.
18. The control system of claim 17 , wherein the user input device comprises an enable switch.
19. The control system of claim 1 , wherein the memory device further includes instructions that apply a strain gage constant to normalize the speed input request.
20. The control system of claim 1 , wherein the user input device comprises an enable switch.