• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.5
• /
• pp.577-584
• /
• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• Journal of Power Electronics
• /
• v.17 no.4
• /
• pp.1004-1013
• /
• 2017

This paper presents an interleaving scheme for parallel-connected power systems to reduce the DC-link current ripple. A paralleled generator system generates current ripple by the Pulse Width Modulation (PWM) of each generator side converter. The current ripple in the DC-link degrades the efficiency of the whole generator system and decreases the lifetime of the DC-link capacitors. To mitigate these issues, the expression of the DC-link current is derived by a double-integral Fourier analysis while considering the modulation schemes. Optimized interleaving angles for the parallel generator system are obtained based on an analysis to minimize the dominant current harmonics component. Finally, the proposed interleaving scheme reduces the RMS value of the DC-link current ripple. Simulation and experimental results verify the effectiveness of the proposed interleaving scheme.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.257-260
• /
• 1997

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link is hinged on the plate to free for rotation in the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though the proposed inverted pendulum has no actuator in lower hinge. The algorithm to control the inverted pendulum is consisted of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a feedback linearization control for the rest of the range. Concept of the virtual work is employed to drive the linearlized model for the state feedback controller. The feedback linearization controller drives a DC motor with the modified reference joint angle from the fuzzy controller which adjusts a upright posture of a proposed pendulum system. Finally, the experiments are conducted to show the validity of the proposed controller.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.2
• /
• pp.383-393
• /
• 1996

This paper considers the evaluation of the ecquistion performance for an accesschannel preamble based on a random access procedure of direct sequence code division multiple access(DS/CDMA) reverse link. The parallel acquistion technique that employs the single-well detection scheme and the multiple-dwell(double-dwell) detection scheme is mentioned. The acquisition performance for two detection schemes is compared in therms of the acquisition probability and the acquisition time. The parallel acquisition is done by a bank of N parallel I/Q noncoherent correlators. Expressions on the detection, false alarm, and miss probabilities of the single-dwell and multiple-dwell(double-well) detection schemes are derived for multiple H$_{1}$ cells and multipath Rayleight fading channel. comparing the single-dwell detection scheme with the multiple-dwell(double-dwell) detection scheme in the case of employing the parallel acquisition technique in the reverse link,the numerical results show that the single-dwell detection scheme deomonstrates a better performance.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.35 no.12A
• /
• pp.1105-1112
• /
• 2010

Link-16 is a up-to-date tactical data link used in the armed forces of U.S. and NATO. In order to guarantee the required capabilities of anti-jamming and low probability of detection, Link-16 uses the techniques of frequency hopping and spreading code etc. In this paper, under Nakagami fading channels, we ananlyze the symbol error rates (SERs) of JTIDS/Link-16-type waveform based on both the single- and double-pulse schemes by considering the partial band noise jamming and the pulse jamming models, respectively.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.30 no.10 s.253
• /
• pp.1293-1297
• /
• 2006

In this paper, kinematic analysis of a double-action link-type die set for enclosed die forging is carried out. The structure of the die set and its operational principle during enclosed die forging are introduced in detail. A closed-form solution of the relative velocity of the middle plate with respect to the upper plate after the upper and lower dies are enclosed is given in terms of the link lengths and the distance from the lower pin to the upper pin of the link system. The effect of the link lengths on both strokes and velocities is investigated. It has been shown that the relative velocity of the middle plate with respect to the upper plate varies almost linearly with the stroke of the upper plate.

• Journal of Korean Society of Steel Construction
• /
• v.12 no.6
• /
• pp.715-725
• /
• 2000

As a link composition of a double link type level luffing jib crane was determinated through the link composition design, the design to be considered will be computations of the luffing trajectory deviation at the fly jib tip and the required luffing device capacity. This paper is a study regarding the static and dynamic analysis for a mechanism of the crane. The objective of the static analysis is to determinate the capacity and the dimension of luffing device when the crane selfload, rated hoisting load, wind load and inertia force are applied on the crane. The objective of dynamic analysis is to compute the luffing trajectory deviation, velocity and inertia force due to luffing acceleration for each link. All analyses are performed by computer programs. The reliability of the program was checked by results from analyses of the related commercial package. It is expected that the productivity and reliability of the design can be improved by this program which can rapidly and exactly deal with static and dynamic analysis for a given link composition of the crane.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.27 no.7B
• /
• pp.727-736
• /
• 2002

In this paper, the broadband microstrip antenna with small size, thin-profile, conformability and ease of manufacture is proposed for providing PCS(down link: 1.75GHz∼1.78GHz, up link: 1.84GHz∼1.87GHz) '||'&'||' IMT-2000(down link: 1.92GHz∼1.98GHz, up link: 2.11GHz∼2.17GHz) services simultaneously. By using double U-slots and matching stub, the bandwidth and operating performance of printed antenna was significantly improved, with need for a complex fabrication procedure. We have also studied the various parameters of the U-slot$_2$for the performances of the antenna. Impedance bandwidth of the wideband microstrip antenna with the double U-slots is about 30.45% (VSWR<2)

• Proceedings of the Korean Society for Technology of Plasticity Conference
• /
• 2006.05a
• /
• pp.386-390
• /
• 2006

In this paper, kinematic analysis of a double-action link-type die set for the enclosed die forging is carried out. Operational principle of the die set in the enclosed die forging is introduced in detail. A closed form solution of the relative velocity of the middle plate with respect to the upper plate is given. The effect of link lengths on both strokes and velocities is investigated.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.22 no.3
• /
• pp.194-202
• /
• 2014

Steering axis of suspensions is an important factor that affects ride and handling quality in the vehicle chassis development. Macpherson strut and double wishbone's steering axis are defined geometrically, but multi-link suspensions can not be geometrically analyzed. In this case instant axis theory is commonly used to find a steering axis. Since the steering axis is moving with varying caster and kingpin inclination angle, this method approximately corresponds with exact solution. In this paper, we propose a velocity analysis method to find a pure rotational axis of the wheel relative to suspension arms, that is exact solution of the steering axis. This paper extends the method to analyze the steering axis of multi-link suspensions with bushing compliance. The analysis results applied to double wishbone and multi-link suspensions demonstrate validity and accuracy of the proposed method.