• 대한전기학회논문지:전력기술부문A
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• 제48권9호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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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.

• 한국산학기술학회논문지
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• 제18권9호
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• pp.68-75
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• 2017

본 논문에서는 해안가의 수평 파력발전 장치에 도입되는 상단 힌지 진자 형태의 파랑에너지 1차 추출 시스템에 대한 동적 운동 특성을 수조에서 모형실험과 연동 시뮬레이션을 통해 고찰 하였다. 조파기의 일정한 파고와 주기의 정현파형태 파도가 수조 프레임에 고정된 상단 힌지 진자 체의 플랩 부이에 부딪쳤을 때 부이 전체의 토크와 운동 궤적을 측정하였다. 또한 파도가 플랩부이에 부딪치는 현상을 강체 동력학과 입자유체 거동에 대한 연동 시뮬레이션을 통해 유체입자가 플랩부이에 부딪칠 때의 압력을 구하여 전체 부이에서의 토크와 힌지에서의 반력을 도출하여 비교 고찰 하였다. 그리고 일 방향수평 파도에 따른 진자 체의 규칙적이고 효과적인 좌우 주기운동을 발생시키기 위한 인장력 조정 값을 도출하였다. 향후 상단 힌지 진자 형태의 에너지 추출장치를 특징으로 하는 해안가 수평파력 발전 장치의 개발 및 제작 시 본 연구에서 도출된 결과 값을 주요 설계 데이터로 적용하고자 한다.