• Structural Engineering and Mechanics
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• v.66 no.2
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• pp.161-172
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• 2018

The passive control of structures using a pendulum tuned mass damper has been extensively studied in the technical literature. As the frequency of the pendulum depends only on its length and the acceleration of gravity, to tune the frequency of the pendulum with that of the structure, the pendulum length is the only design variable. However, in many cases, the required length and the space necessary for its installation are not compatible with the design. In these cases, one can replace the classical pendulum by a virtual pendulum which consists of a mass moving over a curved surface, allowing thus for a greater flexibility in the absorber design, since the length of the pendulum becomes irrelevant and the shape of the curved surface can be optimized. A mathematical model for a building with a pendular tuned mass damper and a detailed parametric analysis is conducted to study the influence of this device on the nonlinear oscillations and stability of the main system under harmonic and seismic base excitation. In addition to the circular profiles, different curved surfaces with softening and hardening characteristics are analyzed. Also, the influence of impact on energy dissipation is considered. A detailed parametric analysis is presented showing that the proposed damper can not only reduce sharply the displacements, and consequently the internal forces in the main structure, but also the accelerations, increasing user comfort. A review of the relevant aspects is also presented.

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

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.207-210
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• 1997

In this paper, a hierarchical fuzzy controller for stabilization of the inverted pendulum system is proposed. The facility of this hierarchical fuzzy controller which has a swing-up control mode and a stabilization one, moves a pendulum in an initial natural stable equilibrium point and a cart in arbitrary position to an unstable equilibrium point and a center of rail. Specially, the virtual equilibrium point (.PHI.$_{VEq}$ ) which describes functionally considers the interactive dynamics between a position of cart and a angle of inverted pendulum is introduced. And comparing with the convention optimal controller, the proposed hierarchical fuzzy inference made substantially the inverted pendulum system robust and stable.e.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.92-99
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• 2004

In this paper, the decoupled neural network reference compensation technique (DRCT) is applied to the control of a two degrees-of-freedom inverted pendulum mounted on an x-y table. Neural networks are used as auxiliary controllers for both the x axis and y axis of the PD controlled inverted pendulum. The DRCT method known to compensate for uncertainties at the trajectory level is used to control both the angle of a pendulum and the position of a cart simultaneously. Implementation of an on-line neural network learning algorithm has been implemented on the DSP board of the dSpace DSP system. Experimental studies have shown successful balancing of a pendulum on an x-y plane and good position control under external disturbances as well.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.544-546
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• 2004

This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.157-162
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• 2000

The inverted pendulum is a typical example of unstable systems and has been used for verification of designed control systems. It is also very popular in control education in laboratories, serving as a good example to show the utility of the state space approach to the controller design. This paper shows two kinds of experiment using inverted pendulum: one is the stabilization of a single spherical inverted pendulum by a plane manipulator using visual feedback, and the other is the state transfer control of a double pendulum. In the former experiment, the feedback stabilization using a CCD camera has major importance as an example of controller implementation with non-contact measurement. The latter involves the standard stabilizing regulation method and nonlinear control techniques. The details of the experimental systems, the control algorithms and the experimental results will be given.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.901-904
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• 1998

In this paper, we describes PID-neural network controller for the rotary inverted pendulum. PID control is applied to many fields but has some problems in nonlinear system due to a variation of parameter. So, we should desing the controller which is adjusted PI parameters by the neural network which is learned by backpropagation algorithm. And we show that on-line control is possible through the PID-neural network controller. The angle of the pendulum is controlled and then the position of the rotating arm is also controlled to maintain with in the set point. Measurement of the pendulum angle is obtained using a potentionmeter. The objective of the experiment is to design a PID-neural network control system that positions the arm as well as maintains the ivnerted pendulum vertical. Finally, we describe the actual experiment system and confirm the experimental results.

• Transactions of The Korea Fluid Power Systems Society
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• v.8 no.2
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• pp.1-7
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• 2011

An inverted pendulum mounted on a cart and actuated by a hydraulic servo cylinder was designed and built. Position information of the cart was acquired via a potentiometer and a angle of the pendulum was sensed by an incremental encoder. These were collected by a DAQ board and processed through the Real-Time Windows Target software(included in simulink). A simulink graphical program was implemented as a controller of the hydraulic system that governed the motion of the cart in order to maintain vertical balance of the inverted pendulum. The purpose of this study is to develop an electro-hydraulic inverted pendulum system for a modeling and controling the intrinsic unstable system. The simulation results were compared with the experimental and verified.

• Journal of KSNVE
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• v.6 no.4
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• pp.439-446
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• 1996

This paper introduces a newly designed pendulum system that enables the more accurate boservation of dynamic behaviour arising from both horizontal and vertical(i.e. two dimension) excitation. First, experiments were carried out to examine the frequency responses of the devised pendulum system. Interestingly, experimental results for the three excitation angles of 22, 32 and 48 degree show 'new' jump phenomena. For the further understanding of these phenomena, experimental investigationhas been made to identify the equation of motion of the pendulum system from experimental data. This attempt has revealed that the viscous, coulomb and aerodynamic damping factors are involved in the equation of motion. By applying the Ritz averaging method to the equation, it becomes apparent that the jumping phenomena of the pendulum system in this work is more theoretically understood.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.6
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• pp.619-624
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• 2015

Owing to miniaturization and low-power electronics, mobile, implanted, and wearable devices have become the main trends of electronics during the past decade. There has been much research regarding energy harvesting to achieve battery-free or self-powered devices. The optimal design problems of a double-pendulum kinetic-energy harvester from human motion are studied in this paper. For the given form factor, the weight of the harvester, and the known human excitation, the optimal design problem is solved using a dynamic non-linear double-pendulum model and an electric generator. The average electrical power was selected as the performance index for the given time period. A double-pendulum harvester was proven to be more efficient than a single-pendulum harvester when the appropriate parameters were used.