• 전기학회논문지
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• 제66권1호
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• pp.72-81
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• 2017

We propose a switching control scheme for the control of a ball and beam system. It was reported in [4] that a ball and beam system is a nonlinear system which has an ill-defined relative degree. So, the traditional control approaches have been mostly either Jacobian-based control or approximate input-output linearized control in nature. In this paper, motivated by [7], we combine these two traditional control approaches and operate each controller via a pre-designed switching logic so that the improved control result can be obtained without any excessive use of control input. Switching algorithm is developed based on both analysis and actual experimental observation. We verify the effectiveness of our proposed controller via actual experimental results.

• Journal of Advanced Marine Engineering and Technology
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• 제29권7호
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• pp.758-768
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• 2005

The ball screw actuated by the electric motor is widely used as an essential actuator for driving the mechanical system by virtue of accuracy and force transmission capability. In this paper, a design of the global sliding mode control is presented to drive the ball screw actuator along the minimum time trajectory, In the proposed control scheme, if the ranges of parametric uncertainties and torque limits of the system are specified, the arrival time of the load along the minimum time trajectory can be estimated. Also, the arriving time at the reference input and the maximum acceleration are expressed in a closed form solution. Conversely, the capacity of a ball screw actuator including the motor can be easily designed if the external load and its transportation time are specified. The superior performance of the proposed control scheme and analysis is validated by the computer simulation and experiments comparing with other sliding mode controllers.

• PNF and Movement
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• 제18권3호
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• pp.343-350
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• 2020

Purpose: The purpose of this study was to determine how a shoulder complex stabilization exercise affects ball control and ball speed in elementary school baseball players with an instable scapula. Methods: The subjects of the study were 16 baseball players attending S elementary school in Kwangju Metropolitan City. A shoulder complex stabilization exercise was conducted three times per week for one hour for four weeks. Then, the participants were divided into a scapular instability group or stability group based on their lateral scapular slide test scores. The measurement tool was measured using the target, the ball speed tester (PR1000-BC). All inspections were measured before and after the mediation period to examine the change in the subjects according to the mediation period. Results: As a result of measuring ball control, there was a statistically significant difference in the variation over time (p < 0.05), and there was no statistically significant difference in the interaction between time and group (p > 0.05). As a result of the test of effectiveness between subjects, there was no statistically significant difference found among the groups (p > 0.05). In terms of ball speed, there was no statistically significant difference found in the variation over time (p > 0.05) as well as in the interaction between time and group (p > 0.05). In terms of the effectiveness between subjects, there was no statistically significant difference found among the groups (p > 0.05). Conclusion: It was found that the shoulder complex stabilization exercise could improve ball control for elementary school baseball players. It is believed that this will help prevent and solve possible sport damages experienced during training or competitions, thereby helping athletes use training methods to improve their exercise capacity and continue their careers.

• 전기학회논문지
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• 제57권12호
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• pp.2322-2329
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• 2008

In this study, we introduce the design methodology of an optimized fuzzy cascade controller with the aid of particle swarm optimization(PSO) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. We introduce the fuzzy cascade controller scheme which consists of the outer(1st) controller and the inner(2nd) controller as two cascaded fuzzy controllers, and auto-tune the control parameters(scaling facrors) of each fuzzy controller using PSO. For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on PSO, is presented in comparison with the conventional PD cascade controller based on serial genetic alogritms.

• 생물환경조절학회지
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• 제10권2호
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• pp.88-94
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• 2001

Ash ball 배지의 이화학적특성과 사용배지의 염류집적 및 제거효과를 펄라이트 및 입상암면과 비교하였다. ash ball의 가비중, 진비중, 공극율은 각각 0.93 g.$cm^{-3}$, 2.29 g.$cm^{-3}$, 40.6%, 59.4%로서 그중 가비중은 펄라이트 및 입상암면에 비해 현저히 높았고 가공율은 낮았다. 배지의 포화수분함량(saturation moisture capacity)은 ash ball이 52%, 펄라이트가 71%, 입상암면이 90%로 나타났고, 배수 1시간 후 수분율은 ahs ball이가 21%, 펄라이트가 27%, 입상암면이 80%로 낮아졌다. Ash ball의 입도별 수분율은 소립(3~5 mm)이 대립 (7~15mm)에 비해 5% 정도 높았다. Ash ball의 배드내 수분율은 수직 및 수평방향의 분포가 균일하여 수분확산성이 좋은 것으로 나타났다. ash ball의 pH는 7.6으로 약염기성을 나타내었다. 배지를 침지한 배양액의 pH는 7.6으로 약염기성을 나타내었다. 배지를 침지한 배양액의 pH는 다소 증가하는 경향을 보였으며 EC는 거의 변호가 없었으며, 배지내 무기이온의 흡착은 ash ball과 입상암면은 인산의 흡착이 비교적 많았다. 토마토 재배에 사용된 ash ball의 염류집적은 펄라이트와 비슷하였고 8회 정도의 침수처리로 배지표면에 흡착된 무기염을 대부분 제거할 수 있었다. 위의 결과로부터, ash ball 배지는 보수력은 다소 낮지만 통기성 및 수분확산성이 우수하여 배지내의 수분조절이 용이한 배지임을 알 수 있었다.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2011년도 추계학술대회 논문집
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• pp.438-439
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• 2011

Magnetic levitation control system of a metal ball was designed using combined PID and fuzzy logic, in which two electromagnets are used to control the vertical and horizontal position of the ball. Single synchronization coil sensor was used to detect the vertical position. Electric power is differentially supplied to two electromagnets so that the ball can move horizontally. In the experiment 25 cm diameter metal ball was levitated and successfully controlled to move horizontally.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.282-285
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• 1989

This paper presents a new algorithm for position control of the BALL-HOOP system driven by th D.C. servo motor-through the micro computer simulation. The Stale Feed back + PID control algorithm is proposed. This algorithm performs that the settling time is faster and overshoot is decreased more remarkably than the PID and the State Feedback algorithm alone. In this simulation the difference equations are used to calculate the output of the control system.

• 한국멀티미디어학회논문지
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• 제16권2호
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• pp.213-225
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• 2013

본 논문에서는 단일 카메라와 2개의 모터를 이용하는 볼-플레이트 로봇제어장치를 설계하는 방법과 제어 오차를 줄이는 방법을 제안한다. 볼-플레이트 시스템을 설계하기 위해서는 볼의 상태 파악과 플레이트의 균형 유지가 필요하다. 볼의 상태는 캠시프트 알고리즘을 이용하여 추적하고 칼만필터로 공의 위치 오차를 보정한다. 플레이트 균형은 두 개의 모터를 움직여 제어하는데 측정 오차가 적은 DC모터를 사용하였다. 플레이트의 표면적 상태나 공의 위치 추적오류 등을 인하여 작은 오차가 여전히 남아있다. 이러한 오차는 점점 쌓이게 되며 결국은 볼의 균형유지를 방해하게 된다. 이를 해결하기 위해 적분기를 추가한 제어기를 제안한다.

• 전기전자학회논문지
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• 제25권1호
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• pp.148-155
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• 2021

로봇 기술이 발전함에 따라 모바일 로봇의 주행 시스템에 대한 연구가 활발히 진행되고 있다. 2륜 및 4륜의 휠을 기반으로 구성되는 모바일 로봇의 주행 시스템은 직선과 같은 단반향 주행에 장점이 있으나 방향 전환 및 제자리 회전에 단점을 가지고 있다. 볼을 휠로 사용하는 볼 로봇은 전방향 이동에 장점이 있으나, 구조적인 불안정한 특성에 의해 균형을 유지하기 위한 자세 제어 및 이동을 위한 주행 제어가 요구된다. 기존의 볼 로봇은 모터에 부착된 엔코더를 이용하여 주행제어를 위한 위치를 추정함으로써 오차가 누적되는 한계를 가지고 있다. 본 연구에서는 영상처리를 통해 볼 로봇의 위치 좌표를 추정하고, 이를 주행 제어에 사용하는 주행 제어 시스템을 제안하였다. 볼 로봇의 위치를 추정하기 위한 영상처리부, 통신부, 표시부 및 제어부를 포함하는 볼 로봇의 주행 제어 시스템을 설계 및 제작하고, 주행 제어 시스템을 적용한 볼 로봇의 주행 실험을 통해 x축 방향 ±50.3mm 및 y축 방향 ±53.9mm의 오차범위 이내에서 오차의 누적 없이 제어됨을 확인하였다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.897-900
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• 1998

Through fuzzy logic controller is very useful to many areas, it is difficult to build up the rule-base by experience and trial-error. So, effective self-tuning fuzzy controller for the position control of ball and beam is designed. In this paper, we developed the neural network control system with fuzzy-neuron which conducts the adjustment process for the parameters to satisfy have nonlinear property of the ball and beam system. The proposed algorithm is based on a fuzzy logic control system using a neural network learinign algorithm which is a back-propagation algorithm. This system learn membership functions with input variables. The purpose of the design is to control the position of the ball along the track by manipulating the angualr position of the serve. As a result, it is concluded that the neural network control system with fuzzy-neuron is more effective than the conventional fuzzy system.