• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.1-6
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• 2015

In this paper, a fuzzy control method is used for balancing a single-wheel robot. A single-wheel robot controlled by the PD control method becomes easily unstable since the flywheel tends to lean against one direction. In the previous research, we have used the gain scheduling method. To remedy this problem, in this paper, a fuzzy compensation technique is proposed to compensate for the balancing angle. The fuzzy control method compensates offset values at the balancing angle to prevent the gimbal from falling against one direction. Experimental studies of the balancing control performance of a single-wheel mobile robot validate the proposed control method.

• The Journal of the Acoustical Society of Korea
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• v.10 no.2
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• pp.13-22
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• 1991

The presence of an unbalanced mass is originated the common source of vibration in machines with rotating rotor. In this study, the unbalanced rigid rotor mounted on an overhang shaft is balanced using the static balancing procedure, and the compensation mass is estimated by the phase angle method and four run method. Also, the reduction of vibration level before and after balancing is examined. In the experimental results, it is shown that the vibration due to the unbalanced mass is decreased by eliminating the effect of the unbalance. Above all, the four run method is proved more effective on the ability of vibration reduction, in small unbalanced mass, the phase angle method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.188-196
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• 2016

For the balancing control of a one-wheel mobile robot, CMG (Control Moment Gyro) can be used as a gyroscopic actuator. Balancing control has to be done in the roll angle direction by an induced gyroscopic motion. Since the dedicated CMG cannot produce the rolling motion of the body directly, the yawing motion with the help of the frictional reaction can be used. The dynamic uncertainties including the chattering of the control input, disturbances, and vibration during the flipping control of the high rotating flywheel, however, cause ill effect on the balancing performance and even lead to the instability of the system. Fuzzy compensation is introduced as an auxiliary control method to prevent the robot from the failure due to leaning aside of the flywheel. Simulation studies are conducted to see the feasibility of the proposed control method. In addition, experimental studies are conducted for the verification of the proposed control.

• 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.

• Korean Institute of Interior Design Journal
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• v.24 no.1
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• pp.64-71
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• 2015

This study aims to disclose the dynamics of Daniel Libeskind Museums by the principles of counterbalance. Balance as a dynamic concept is the settlement of instability and tension and to draw overall sense of balance by controlling new perception elements that may cope with the unbalance elements. This is based on balancing compensation and can be explained as a counterbalance. Daniel Libeskind, a representative architect of deconstructivism, creates dynamic space by using oblique lines on the plane. The study was carried out under the assumption that this space would be designed under the certain principles rather than the result of momentary feelings and the analysis was conducted by the counterpoint of music and counterbalance. As a result, Daniel Libeskind balances in a way of forming the mutual right angle by using oblique lines which cancel out the unbalance in plane composition or making the same angle based on vertical / horizontal axis. Counterbalance has been achieved in the section and elevation as well as plane and complex and diverse oblique lines were worked under the constant principle not accidental results. The axes of Daniel Libeskind's architecture have been known to follow contextualism with symbolism and historicity but it was found that a design technique considering counterbalance was used in the overall control.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.5
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• pp.652-658
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• 2010

This paper presents the implementation and control of a two wheeled mobile robot(TWMR) based on a balancing mechanism. The TWMR is a mobile inverted pendulum structure that combines an inverted pendulum system and a mobile robot system with two arms instead of a rod. To improve robustness due to disturbances, the radial basis function (RBF) network is used to control an angle and a position at the same time. The reference compensation technique(RCT) is used as a neural control method. Experimental studies are conducted to demonstrate performance of neural network controllers. The robot are implemented with the remote control capability.