• 한국강구조학회 논문집
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• 제17권4호통권77호
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• pp.407-417
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• 2005

원전 주 제어실에 마찰진자 베어링을 이용한 면진시스템을 적용하기 위한 해석 및 실험적 연구를 수행하였다. 마찰진자 베어링을 제작하였으며 동적 물성치 시험을 통하여 이의 성능을 평가하였다. 강재 격자 바닥판, 캐비넷, 4개의 마찰진자로 구성된 주제어실의 부분 면진시스템 모형을 제작하고 진동시험대 실험을 수행함으로써 마찰진자 시스템의 원전 적용성을 평가하였다. 진동대 실험에서는 원전 스펙트럼을 이용한 인공지진파를 사용하였으며 마찰진자 위치 점의 층응답 스펙트럼의 변화를 통하여 면진 성능을 평가하였다. 향후 실험을 통하여 구현하기 어려운 실험변수의 영향을 검토하기 위하여 수치해석 모형을 작성하여 실험 결과 비교 검증하였다.

• Earthquakes and Structures
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• 제12권1호
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• pp.35-45
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• 2017

The current paper investigates the effect of the seismic pounding of neighboring buildings on the response of structures isolated by Triple Friction Pendulum Bearing (TFPB). To this end, a symmetric three-dimensional single story building is modeled for analysis with two specified levels of top deck and base deck, to capture the seismic response of the base isolators and building's roof. Linear elastic springs with different level of gaps are employed to calculate the impact between the buildings. Nonlinear Dynamic Time History Analyses (NDTHA) are conducted for seismic evaluation. Also, five different sizes with four different sets of friction coefficients are assumed for base isolators to cover a whole range of base isolation systems with various geometry configurations and fundamental period. The results are investigated in terms of base shear, buildings' drift and top deck acceleration of the superstructure. The results also indicate the profound effect of the stiffness of the adjacent buildings on the value of the impact they impose to the superstructure. Also, in situations of potential pounding, the increment of the fundamental period of the TFPB base isolator could intensify the impact force up to nearly five-fold.

• Earthquakes and Structures
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• 제13권1호
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• pp.51-58
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• 2017

Passive dynamic vibration absorbers (DVAs) are often used to suppress the excessive vibration of a large structure due to their simple construction and low maintenance cost compared to other vibration control techniques. A new type of passive DVA consists of two pendulums connected with spring and dashpot element is investigated. This research evaluated the performance of the DVA in reducing the vibration response of a two degree of freedom shear structure. A model for the two DOF vibration system with the absorber is developed. The nominal absorber parameters are calculated using a Genetic Algorithm(GA) procedure. A parametric study is performed to evaluate the effect of each absorber parameter on performance. The simulation results show that the optimum condition for the absorber frequencies and damping ratios is mainly affected by pendulum length, mass, and the damping coefficient of the pendulum's hinge joint. An experimental model validates the theoretical results. The simulation and experimental results show that the proposed technique is able be used as an effective alternative solution for reducing the vibration response of a multi degree of freedom vibration system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2143-2145
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• 2002

This paper proposes the control problem of an inverted pendulum system based on adaptive fuzzy sliding mode. The universal approximating capability, learning ability, adaptation capability and disturbance rejection are collected in one control strategy. The proposed scheme does not require an accurate dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking. Experimental results perform with an inverted pendulum to show the effectiveness of the approach.

• 한국지능시스템학회논문지
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• 제20권5호
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• pp.617-623
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• 2010

본 논문에서는 차륜형 역진자에 적용되는 LMI 제어기 설계와 그 수치 시뮬레이션이 수행되었다. 차륜형 역진자는 2개의 평형점을 갖고 있는 역진자의 일종이다. 불안정한 평형점에 대하여 평형을 유지하기 위하여 차륜형 역진자는 지속적으로 제어되어야 한다. 경사면을 고려하여 차륜형 역진자의 동역학 방정식이 유도되었다. 경사면을 적극적으로 고려하여 차륜형 역진자를 안정화 시킬 수 있는 제어기를 구성하는데 선형행렬부등식 기법이 적용되었다. LMI 기반 제어기가 평면과 경사면에 대해서 유효함을 보이기 위해서 다양한 수치 시뮬레이션이 수행되었다.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제15권2호
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• pp.126-131
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• 2015

Studies on the control of inverted pendulum type systems have been widely reported. This is because this type of system is a typical complex nonlinear system and may be a good model to verify the performance of a proposed control system. In this paper, we propose the design of two fuzzy logic control systems for the control of a Segway mobile robot which is an inverted pendulum type system. We first introduce a dynamic model of the Segway mobile robot and then analyze the system. We then propose the design of the fuzzy logic control system, which shows good performance for the control of any nonlinear system. In this paper, we here design two fuzzy logic control systems for the position and balance control of the Segway mobile robot. We demonstrate their usefulness through simulation examples. We also note the possibility of simplifying the design process and reducing the computational complexity. This possibility is the result of the skew symmetric property of the fuzzy rule tables of the system.

• 한국정밀공학회지
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• 제29권1호
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• pp.72-78
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• 2012

In this research an equilibrium point of a Wheeled Inverted Pendulum (WIP) running on an inclined road is derived and validated by some experiments. Generally, The WIP has stable and unstable equilibrium point. Only unstable equilibrium point is interested in the research. To keep the WIP on the unstable equilibrium point, the WIP is consistently controlled. A controller for the WIP needs a reference state for the equilibrium point. The reference state can be obtained by studying an equilibrium point of the WIP. This research is deriving dynamic equations of the WIP running on the inclined road and equilibrium of it based on statics. Several experiments are carried out to show the validation of the equilibrium point.

• 제어로봇시스템학회논문지
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• 제18권5호
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• pp.496-501
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• 2012

An equilibrium point of a WIP (Wheeled Inverted Pendulum) with changing its center of gravity is derived and validated by various numerical simulations. Generally, the WIP has two equilibrium points which are unstable and stable one. The unstable one is interested in this study. To keep the WIP over the unstable equilibrium point, the WIP is consistently being adjusted. A state feedback controller for the WIP needs a control reference for the equilibrium point. The control reference can be obtained by studying an equilibrium point of the WIP based on statics. By using Lagrange method, this study is deriving dynamic equations of the WIP both with and without changing its center of gravity. Various numerical simulations are carried out to show the validation of the equilibrium point.

• 소음진동
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• 제8권3호
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• pp.399-407
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• 1998

An investigation into the modal interaction of an autoparameteric systemunder broad-band random excitation is made. The specific system examined is a spring-pendulum system with internal resonance, which is known to be a good model for a variety of engineering systems, including ship motions with nonlinear coupling between pitching and rolling motions. By means of the Gaussian closure method the dynamic moment equations explaining the random responses of the system are reduced to a system of autonomous ordinanary differential equations of the first and second moments. In view of equilibrium solutions of this system and their stability we examine the system responses. The stabilizing effect of system damping is also examined.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.193-196
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• 2002

This paper proposes the control problem of an inverted pendulum system based on Sugeno-Type of fuzzy logic. The universal approximating capability, learning ability, adaptation capability and disturbance rejection are collected in one control strategy. The proposed scheme does not require an accurate dynamic model and the joint acceleration measurement, yet it guarantees asymptotic trajectory tracking. Experimental results perform with an inverted pendulum to show the effectiveness of the approach.