• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2309-2311
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• 1998

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbance link. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional link attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling a proposed inverted pendulum is consisted of a state feedback control and a fuzzy logic controller. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. In these case, the change of the angle and COG of an upper link is compensated with on-line. Simulations with a mathematical model are conducted to show the validity of the proposed controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.18 no.9
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• pp.68-75
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• 2017

This paper presents the experimental and theoretical results of the dynamic responses of a pendular energy extractor in a two-dimensional wave channel. By adopting a wave maker with varying wave height and period, the dynamic responses of the pendular buoy were experimentally obtained. Furthermore, with the aid of the co-simulation of moving particle analysis and rigid dynamic analysis, the dynamic responses of the pendular system were evaluated. In order to validate the feasibility of the proposed wave power generator, the force tuning of the pendular system with restoring energy was carried out. The results provide proof of concept data for the development and design of a commercial model for horizontal wave power generators in the shoreline area.