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정종익,주도윤,Yusuke Fujiyama,이영삼 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.9
This study investigates the transition control problem for a double inverted pendulum system, which has one stable and three unstable equilibrium points. We propose a method for implementing transition control using a lab-built double inverted pendulum and extend swing-up control to achieve this. The proposed method uses a two-degree-of-freedom control structure that combines feedforward and feedback controls. To obtain the feedforward trajectories offline, we construct an optimal control problem with two-point boundary values that has constraints on the dynamic equations, boundary values at the equilibrium points, and input and output constraints. We use energy as the cost of the optimal control problem and employ a direct collocation method to transform the continuous-time optimal control problem with constraints into a nonlinear optimization problem. During real-time control, we use a time-varying LQ controller as a feedback controller to compensate for the uncertainty of feedforward control and accurately follow the feedforward trajectories. We implement the proposed transition control based on high-level thinking using the lab-built light-weight rapid control prototyping (LW-RCP) system to shorten the design time and provide useful information in the design and experiment processes. Finally, we perform an actual transition control experiment and validate the performance of the proposed method using the experimental results. .
모델기반 swing-up 제어를 위한 2단 도립진자의 구조 설계 및 계수 추정에 대한 연구
주도윤,최창규,정종익,이영삼 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.9
Mathematical models and parameters with high accuracy are required for the swing-up control of a double inverted pendulum. This study proposes a mechanical structure of a double inverted pendulum having excellent matching characteristics with a mathematical model. The implementation of a parameter estimation method based on nonlinear optimization, which is essential for swing-up control, is also proposed. The proposed structure of a double inverted pendulum eliminates backlash using the direct drive of a BLDC motor, minimizes the unmodeled frictional force through bearing cleaning and oiling, minimizes unnecessary load torque using the double support of a timing pulley shaft and power transmission through a coupling, and constrains the pendulum rotation to one degree-of- freedom by adopting a dual-bearing joint. In addition, both 3D printing and CNC milling are appropriately used to satisfy the requirements for each mechanical part. The swing motion of the manufactured double inverted pendulum is measured using the lab-built light-weight rapid control prototyping 02 (LW-RCP02). The proposed parameter estimation method based on nonlinear optimization is implemented to match the response trajectory of the actual double inverted pendulum with that of a Simulink model implemented as an S-function. Finally, the effectiveness of the proposed double inverted pendulum design and parameter estimation method is confirmed by showing that the mathematical model that, based on the parameters estimated using the proposed method, accurately describes the response characteristics of the double inverted pendulum. .
3단 도립진자의 구조 제안 및 LW-RCP02를 이용한 Swing-up Control의 구현
최창규,주도윤,정종익,이영삼 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.10
In this paper, we propose a new structure for a triple inverted pendulum with easy construction properties. We also implement a swing-up control for the proposed triple inverted pendulum using a lab-built rapid control prototyping environment known as light-weight rapid control prototyping 02 (LW-RCP02). The swing-up control of a triple inverted pendulum has a two-degree-of-freedom structure and requires a very accurate mathematical model. The proposed triple inverted pendulum adopts the same method that was developed for a double inverted pendulum by the authors’ laboratory to achieve excellent matching properties with the model. For free rotation of three pendulums, a hollow shaft revolute joint that can be used with a slip ring is newly proposed. Swing-up control of a triple inverted pendulum is implemented using Simulink and LW-RCP02. Moreover, a two-degree-of-freedom control structure combining feedforward and feedback is adopted for swing-up control of a triple inverted pendulum. We implement the parameter estimation method for the triple inverted pendulum and calculate the trajectory for feedforward control using estimated parameters and the direct transcription method. The uncertainty of feedforward control is compensated by adding a time-varying LQ feedback controller. As the sampling frequency of the implemented controller is 1KHz, real-time control is achievable using a standard PC. .
본드 및 휘발성 용제의 습관적 흡입 후에 발생한 재생불량성 빈혈 1예
신재욱,신동우,정상용,정종익,권덕호,송태의,김진휘,천정현,권정아 대한내과학회 1999 대한내과학회지 Vol.57 No.1
The inhalation of volatile substances has becoming a popular fad among adolescents in the world. Glue sniffing is associated with injury of nervous system, liver and kidney. And rarely abnormality of blood and bone marrow suppression can develop. The main components of volatile substances that cause hematologic abnormality is thought to be benzene, toluene, and xylene. A 24 year-old male was admitted to our hospital due to gum bleeding. He was a chronic glue and organic solvents sniffer for 6 years, and quit sniffing 1 year before admission. He had no specific drug history. On admission, CBC was as follows: WBC 2,500/mm3; hemoglobin 8.9g/dl; hematocrit 25.1%; platelet 2,000/mm3. Bone marrow biopsy showed severe hypocellular marrow compatible with aplastic anemia. We report a case of aplastic anemia after habitual sniffing of glue and volatile substances with brief review of the literature.
서동진,정상용,신동우,구양서,김진휘,정종익,한병철,권덕호 대한내과학회 2000 대한내과학회지 Vol.59 No.1
Rotor syndrome is a rare benign familial disorder characterized by chronic, fluctuating, nonhemolytic and predominantly conjugated hyperbilirubinemia with normal liver tissue. In contrast to Dubin-Johnson syndrome, there is no liver hyperpigmentation in Rotor syndrome, and BSP clearance does not show a secondary retention peak. The serum bilirubin in patients with Gilbert's syndrome is almost all unconjugated in contrast to Rotor syndrome. A 29-year-old male was admitted due to persistent jaundice. Physical examination revealed icteric sclera without hepatosplenomegaly. Laboratory findings showed increased serum bilirubin with indirect bilirubin predominance. Urinary excretion of total coproporphyrin was markedly elevated, and coproporphyrin Ⅰ was 66% of total urinary coproporphyrin. Oral cholecystography showed well visualized the gallbladder, but 99mTc-DISIDA scan showed markedly decreased hepatic uptake and poor visualization of the gallbladder and biliary tract. Histology of the liver showed no abnormalfinding. We report the case with the review of literature.(Korean J Med 59:109-113, 2000)