• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제55권11호
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• pp.483-490
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• 2006

When the nonlinearities, such as friction and backlash, are not considered in the controller design, undesirable oscillations can occur in the steady-state response of a control system. This paper deals with a method to reduce oscillations that often appear in the steady-state response of a pendulum system, which is controlled by a state feedback controller based on the linearized system model. With an assumption that the oscillations shown in the steady-state are caused by the Coulomb friction, we improve the performance of stabilization and tracking by estimating and compensating for the Coulomb friction in the pendulum system. Experimental results show that the control performance can be improved sufficiently by the proposed method, when it is applied to an inverted cart pendulum which is a multi-variable unstable system. Furthermore, we could see that the Coulomb friction model used in the estimation of the friction is valid in applying the suggested method.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.335-343
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• 2007

This paper deals with the method to estimate the friction in a system. We study a nonlinear friction model to estimate the friction in an inverted pendulum and approximate the friction model using fuzzy basis functions expansion. To demonstrate the friction observer using FBFs, we derive a update rule based on the error term that is formed by the output from a real system and observer output with a friction estimate. And two compensation algorithms to improve the response of an inverted pendulum are proposed. The first method that a observer parameter is updated in on-line and the friction is compensated at the same time. The second method is to compensate the friction with observer parameter estimated priori. The two methods is compared through the experimental results.

• 한국지진공학회논문집
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• 제20권1호
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• pp.1-8
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• 2016

Permanent deformation plays a key role in performance based earthquake resistant design. In order to estimate permanent deformation after earthquake, it is essential to secure reliable response history analysis(RHA) as well as earthquake scenario. This study focuses on permanent deformation of an inverted T-type wall under earthquake. The study is composed of two separate parts. The first one is on the verification of RHA and the second one is on an effect of input earthquake motion. The former is discussed in this paper and the latter in the companion paper. The verification is conducted via geotechnical dynamic centrifuge test in prototype scale. Response of wall stem, ground motions behind the wall obtained from RHA matched pretty well with physical test performed under centrifugal acceleration of 50g. The rigorously verified RHA is used for parametric study to investigate an effect of input earthquake motion selection in the companion paper.

• Steel and Composite Structures
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• 제18권1호
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• pp.165-185
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• 2015

The suspended zipper bracing system is suggested to reduce the flaws of ordinary zipper braced and concentric inverted V braced frames. In the design procedure of suspended zipper bracing systems, columns and top story truss elements are strengthened. This bracing system show different performances and characteristics compared with inverted V braced and ordinary zipper frames. As a result, a different response modification factor for suspend zipper frames is needed. In this research paper, the response modification factor of suspended zipper frames was obtained using the incremental dynamic analysis. Suspended zipper braced frames with different stories and bay lengths were selected to be representations of the design space. To analyze the frames, a number of models were constructed and calibrated using experimental data. These archetype models were subjected to 44 earthquake records of the FEMA-P695 project data set. The incremental dynamic analysis and elastic dynamic analysis were carried out to determine the yield base shear value and elastic base shear value of archetype models using the OpenSEES software. The seismic response modification factor for each frame was calculated separately and the values of 9.5 and 13.6 were recommended for ultimate limit state and allowable stress design methods, respectively.

• 한국지진공학회논문집
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• 제20권1호
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• pp.9-19
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• 2016

Permanent deformation plays a key role in performance based earthquake resistant design. In order to estimate permanent deformation after earthquake, it is essential to secure reliable response history analysis(RHA) as well as earthquake scenario. This study focuses on permanent deformation of an inverted T-type wall under earthquake. The study is composed of two separate parts. The first one is on the verification of RHA and the second one is on an effect of input earthquake motion. The former is discussed in companion paper and the latter in this paper. In order to investigate the effect of an input earthquake motion on the permanent deformation, three bins of spectral matched real earthquake records with different magnitude, regions, epicentral distance are constructed. Parametric study was performed using the verified RHA through the companion paper for each earthquake records in the bins. The most influential parameter affecting permanent displacement is magnitude. The other parameters describing earthquake motion are not significant enough to increase permanent displacement of the inverted T-type wall except for energy related parameters(AI, CI, SEI).

• Computers and Concrete
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• 제31권6호
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• pp.469-484
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• 2023

The response mechanism of simply supported two-way reinforced concrete (RC) slabs under fire was numerically studied from the view of stress redistribution using the finite element software ABAQUS. Results show that: (1) Simply supported two-way RC slabs undergo intense stress redistribution, and their responses show four stages, namely elastic, elastic-plastic, plastic and tensile membrane stages. There is no cracking in the fire area of the slabs until the tensile membrane stage. (2) The inverted arch effect and tensile membrane effect improve the fire resistance of the two-way slabs. When the deflection is L/20, the slab is in an inverted arch effect state, and the slab still has a good deflection reserve. The deformation rate of the slab in the tensile membrane stage is smaller than that in the elastic-plastic and plastic stages. (3) Fire resistance of square slabs is better than that of rectangular slabs. Besides, increasing the reinforcement ratio or slab thickness improves the fire resistance of the slabs. However, an increase of cover thickness has little effect on the fire resistance of two-way slabs. (4) Compared with one-way slabs, the time for two-way slabs to enter the plastic and tensile cracking stage is postponed, and the deformation rate in the plastic and tensile cracking stage is also slowed down. (5) The simply supported two-way RC slabs can satisfy with the requirements of a class I fire resistance rating of 90 min without additional fire protection.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2006년도 정기 학술대회 논문집
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• pp.733-740
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• 2006

Inverted V (or chevron) braced steel frames have been seen as being highly prone to soft story response once the compression brace buckles under earthquake loading. To salvage chevron braced frames. the concept of the zipper column was proposed many years ago such that the zipper column can redistribute the inelastic demand over the height of the building. However. rational design method for the zipper column has not been established yet. In this paper, a new dynamic design method for the zipper column was proposed by combining the refined physical braced model and modal pushover analysis. Inelastic dynamic analysis conducted on 6 story building model showed that the proposed method was more superior to the existing static design method and was very effective in improving seismic performance of chevron braced steel frames.

• 로봇학회논문지
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• 제7권3호
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• pp.161-170
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• 2012

The Industrial Ethernet technology enables advanced control architectures and offers several advantages for high precision multiple motors actuation. This paper presents the implementation and analysis of a motor drive with EtherCAT, an industrial standard for real time Ethernet. Considering the characteristics of the implemented software and the network interface, the motion and time-response of motor actuation for the networked Mobile Inverted Pendulum have been analyzed. Using the analysis with the task execution times measured from the developed drive, the performance characteristics of the drive in respect of the maximum achievable throughput have been verified by comparing to the conventional RS232.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.367-372
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• 1998

In this paper, the mathematical model of a cut with an inverted flexible beam and a concentrated tip mass was derived. The characteristic equation for calculating the natural frequencies of the cart-beam-mass system was obtained and the motion of the system was analyzed through unconstrained modal analysis. A good positioning response of the cart without excessive vibrational motion of the tip mass could be obtained through numerical simulation using PID controller with the feedback of both the position of the cart and the deflection of the beam.