由於傳統靜脈內滴注點滴架的不便，開發了背負式靜脈內滴注點滴架以確保患者有更好的活動性。然而，背負式靜脈滴注架的當前設計缺乏平衡控制導致血液返回的增加。為此，這項工作旨在通過比例 - 積分 - 微分（PID）控制技術和倒立擺系統來解決這個問題，從而可以應用可靠的系統來促進患者的移動性並通過補償傾斜角來確保患者的安全。因而可以實現血液回流的減少和背負式靜脈點滴架的平衡控制。

Due to the inconvenience of the conventional intravenous drip frame, the piggyback intravenous drip frame is developed to ensure better mobility of the patient. However, the current design of the piggyback intravenous drip frame leads to a lack of balance control and increment of blood returning. To this end, this work aims to solve this problem with proportional-integral-derivative (PID) control techniques and an inverted-pendulum system such that a reliable system may be applied to facilitate patient’s mobility and ensure the patient’s safety with compensating the inclination angle of the piggyback intravenous drip frame. Therefore, the reduction of blood returning and the balance control of the piggyback intravenous drip frame can be achieved.

背負式點滴架、平衡調控、PID

Balance Intravenous Drip Frame, PID control