• Transactions of the Korean Society of Machine Tool Engineers
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• v.18 no.2
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• pp.187-193
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• 2009

Dynamic response of an elastic pendulum system under random excitations was studied by using the Lagrangian equations of motion which uses the kinetic and potential energy of a target system. The responses of random excitations were calculated by using Monte Carl simulation which uses the series of random numbers. The procedure of Monte Carlo simulation is generation of random numbers, system model, system output, and statistical management of output. When the levels of random excitations were changed, the expected responses of the pendulum system showed various responses.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.176.1-176
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• 2001

Conventional researches almost have been focused on the one dimensional inverted pendulum. Recently, Sprenger et al[2] have researched a two dimensional inverted pendulum Observing human's action to control an inverted pendulum, one can recognize that human uses a three dimensional metier including the up and down motion. In this paper, we propose a fuzzy logic controller(FLC) of a new three dimensional inverted pendulum system. We derive a dynamic equation of the mechanism including a 3-axis cartesian robot and a inverted pendulum. We propose a design method of a fuzzy controller of the yaw and pitch angles of a inverted pendulum. In the design, the redundant degree-of-freedom(DOF) of the robot ...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.341-345
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• 1996

This paper presents the dynamics and the teal-time control of a horizontally rotating inverted pendulum. The dynamic equations representing three degrees of freedom rigid body motion of the pendulum are derived, and the state feedback controller is applied to the motion control of the pendulum. A 32 bit counter board with 16 bit hardware communication ability is developed to improve the real-time control performance and is applied to a horizontally rotating inverted pendulum. The simulation and experimental studies are conducted to evaluate the performance of the developed pendulum system and the timing in the real-time control is analyzed.

• Structural Engineering and Mechanics
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• v.89 no.6
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• pp.549-556
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• 2024

A serial pendulum dynamic vibration absorber (DVA) was designed to suppress the vibration of two degrees of freedom (Two-DOF) structure model. The optimal DVA parameters are selected using a genetic algorithm (GA) by minimizing the fitness function formulated from the system's frequency response function (FRF). Two fitness function criteria, using one and two target frequency ranges, were utilized to calculate the optimal DVA parameters. The optimized serial pendulum DVA parameters were used to reduce structural vibration under free and forced excitation conditions. The simulation study found that the serial pendulum DVA can effectively reduce the vibration response for a small excitation amplitude. However, the DVA performance decreases for a large excitation amplitude due to the nonlinearity of pendulum motion, and the percentage of vibration response attenuation is smaller than that obtained using a small excitation amplitude.

• Polymer(Korea)
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• v.25 no.1
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• pp.15-24
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• 2001

In this study, the effects of different glycol molar ratios of unsaturated polyester(UPE) resins on the curing behaviors were investigated. The cross linking process was checked or monitored by differential scanning calorimetry(DSC) and by viscoelastic properties of rigid-body pendulum model. The knife-edge from which the pendulum is suspended, is immersed in a reaction mixture, and the change of the viscoelastic behavior brings on those of the period(T) and logarithmic decrement(${\Delta}$) of the damped free oscillations of the pendulum. The values of T and ${\Delta}$ obtained are related to the dynamic modulus(E') and modulus loss(E'). The information on the viscoelastic behavior of unsaturated polyester(UPE) resins during the curing process are shown to illustrate the usefulness of the techniques. As the content of NPG in a propylene glycol(PG)/NPG glycol mixture increased, both the cycle time during cure and the change of damping during cure of UPE resin decreased.

• 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.

• Journal of Ocean Engineering and Technology
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• v.23 no.2
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• pp.1-7
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• 2009

This paper presents a sliding mode controller based on Ackermann's formula and applies it to stabilizing a two-wheeled mobile inverted pendulum in equilibrium. The mobile inverted pendulum is a system with an inverted pendulum on a mobile cart. The dynamic modeling of the mobile inverted pendulum was established under the assumptions of a cart with no slip and a pendulum with only planar motion. The proposed sliding mode controller was based upon a class of nonlinear systems whose nonlinear part of the modeling can be linearly parameterized. The sliding surface was obtained in an explicit form using Ackermann's formula, and then a control law was designed from reachability conditions and made the sliding surface attractive to the equilibrium state of the mobile inverted pendulum. The proposed controller was implemented in a Microchip PIC16F877 micro-controller. The developed overall control system is described. The simulation and experimental results are presented to show the effectiveness of the modeling and controller.

• International Journal of Highway Engineering
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• v.19 no.1
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• pp.21-28
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• 2017

PURPOSES : This paper presents a finite element model to accurately represent the soil-post interaction of single guardrail posts in sloping ground. In this study, the maximum lateral resistance of a guardrail post has been investigated under static and dynamic loadings, with respect given to several parameters including post shape, embedment depth, ground inclination, and embedment location of the steel post. METHODS : Because current analytical methods applied to horizontal ground, including Winkler's elastic spring model and the p-y curve method, cannot be directly applied to sloping ground, it is necessary to seek an alternative 3-D finite element model. For this purpose, a 3D FHWA soil model for road-base soils, as constructed using LS-DYNA, has been adopted to estimate the dynamic behavior of single guardrail posts using the pendulum drop test. RESULTS : For a laterally loaded guardrail post near slopes under static and dynamic loadings, the maximum lateral resistance of a guardrail post has been found to be reduced by approximately 12% and 13% relative to the static analysis and pendulum testing, respectively, due to the effects of ground inclination. CONCLUSIONS : It is expected that the proposed soil material model can be applied to guardrail systems installed near slopes.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1996.04a
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• pp.177-183
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• 1996

By utilizing the concept of normal modes, nonlinear dynamics is studied on pendulum dynamic absorber. When the spring mode loses the stability in undamped free system, a dynamic two-well potential is formed in Poincare map. A procedure is formulated to compute the forced responses associated with bifurcating mode and predict double saddle-loop phenomenon. It is found that quasiperiodic motion and stable periodic motion coexist in some parameter ranges, and only periodic motions or rotation of pendulum with chaotic fluctuation are observed in other ranges.