• 한국생산제조학회지
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• 제22권5호
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• pp.837-844
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• 2013

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.176.1-176
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• 2001

Conventional researches almost have been focused on the one dimensional inverted pendulum. Recently, Sprenger et al[2] have researched a two dimensional inverted pendulum Observing human's action to control an inverted pendulum, one can recognize that human uses a three dimensional metier including the up and down motion. In this paper, we propose a fuzzy logic controller(FLC) of a new three dimensional inverted pendulum system. We derive a dynamic equation of the mechanism including a 3-axis cartesian robot and a inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of a inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot ...

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.

• Structural Engineering and Mechanics
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• 제89권6호
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• pp.549-556
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• 2024

A serial pendulum dynamic vibration absorber (DVA) was designed to suppress the vibration of two degrees of freedom (Two-DOF) structure model. The optimal DVA parameters are selected using a genetic algorithm (GA) by minimizing the fitness function formulated from the system's frequency response function (FRF). Two fitness function criteria, using one and two target frequency ranges, were utilized to calculate the optimal DVA parameters. The optimized serial pendulum DVA parameters were used to reduce structural vibration under free and forced excitation conditions. The simulation study found that the serial pendulum DVA can effectively reduce the vibration response for a small excitation amplitude. However, the DVA performance decreases for a large excitation amplitude due to the nonlinearity of pendulum motion, and the percentage of vibration response attenuation is smaller than that obtained using a small excitation amplitude.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2569-2572
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• 2003

In this paper, we Proposed the inverted pendulum control method using single neuron neural network that have weights as PID parameters. The proposed method has three inputs(proportion, integration, differentiation term of the error), and uses weights as P, I, D parameters. In order to verify the effectiveness of the proposed method, we experimented on the rotary inverted pendulum with load effect disturbance. The results showed the effectiveness and robustness of the proposed pendulum controller.

• Coupled systems mechanics
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• 제6권2호
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• pp.127-139
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• 2017

During the last decades, Pendulum Bearings with one or more concave sliding surfaces have been dominating bridge structures. For bridges with relative small lengths, the use of classical pendulum bearings could be a simple and cheaper solution. This work attempts to investigate the effectiveness of such a system, and especially its behavior for the case of a seismic excitation. The results obtained have shown that the classical pendulum bearings are very effective, mainly for bridges with short or intermediate length.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 하계학술대회 논문집 B
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• pp.863-865
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• 1995

The studies about the swing control of the travelling pendulum have been developed in many ways. Most of them deal with the linearized pendulum model. This paper shows that the pendulum can be modelled without linearization by using MATRIXx, the dynamics simulation software. The fuzzy controller for reducing swing of the travelling pendulum is implemented with fuzzy tools supplied by MATRIXx.

• 대한소아치과학회지
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• 제36권3호
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• pp.464-474
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• 2009

상악 대구치의 원심이동이 요구되는 경우, 구외견인, Wilson distalizing arches, 가철식 스프링 장치 그리고 Schwarz plate-type 장치 등을 사용 할 수 있다. 그러나 이러한 전통적인 대구치의 원심이동 장치들로 치료에 성공하기 위해서는 환자의 협조가 필수적이기 때문에 많은 소아치과 의사들은 환자 의존성을 최소화하고 임상가가 통제 할 수 있는 장치들로 전환하고 있다. 이 중 가장 일반적인 것이 pendulum 장치인데, 고정원이 되는 전방치아의 원하지 않는 이동과 고정원 소실, 그리고 구개부 고정원이 좋지 않은 경우 원하는 정도의 구치부 원심이동을 얻기 어렵다는 단점이 있다. 이와 같은 전통적인 pendulum의 단점을 해결하고자, SAS(Skeletal Anchorage System)를 pendulum에 접목하여 골에서 직접 지지를 얻는 변형된 형태의 pendulum, 즉 bone-supported pendulum을 제작하여 장착 시킨 후 주기적인 관찰을 시행하였다. 본 증례는 혼합치열기 환자를 대상으로 bone-supported pendulum을 사용하여 안정된 고정원 유지, 원치 않는 치아이동의 최소화 및 양호한 상악 대구치 원심이동 등을 관찰하였기에 이를 보고하는 바이다.

• 한국해양공학회지
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• 제23권2호
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• pp.1-7
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• 2009

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

• 전자공학회논문지SC
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• 제47권3호
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• pp.63-70
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• 2010

단진자 운동의 분석은 일반적으로 분석하며, 분석 결과는 자료에서 찾아볼 수가 있다. 일반적으로 단진자 운동의 해석은 뉴턴 제2법칙에 의해 선형화된 모델에서 속도, 주기, 시간에 따른 각도등이 계산된다. 본 논문에서는 단진자 운동을 비선형 하중제어 모델로 구현해 진자의 주기 운동을 해석한다. 즉 운동하는 진자의 위치에 따라 실시간으로 변화하는 하중을 분석해본다. 그리고 운동하는 진자의 위치 제어를 위해 필요한 하중 제어 값을 찾아보고, 마지막으로 선형화된 모델에서 구해진 값과 비선형 모델에서 구해진 값과 비교한다. 이와 같이 진자의 운동 및 비행체를 포함한 운동하는 물체를 제어하기 위해 비선형 하중제어 모델이 다양하게 적용될 수 있음을 나타낸다.