골프 드라이버 스윙 시 백스윙 크기에 따른 Crunch factor 비교분석

김종인(Kim, Jong-In),하정훈(Ha, Jung-Hoon) 한국체육과학회 2018 한국체육과학회지 Vol.27 No.6

The purpose of this study is to provide basic data of golf instruction to prevent back pain by comparing and analyzing a normal swing and a control swing which is shorter backswing during driver swing. In this study, we measured the size of swing, the speed of body rotation, the angle of side-bend, and the value of crunch factor of ten members of Professional Golfers" Association in their 20s by using six infrared cameras at the sampling rate of 100Hz per second. First, the analysis on the difference in angles between forward swings and control swings revealed that forward swings were made bigger than control swings; it showed a statistically significant difference (p<.01). Second the analysis on the difference in lateral bending angles between forward swings and control swings revealed that forward swings had bigger side body angles than control swings at the points of impact (E3) and follow-through (E4) (p<.05). Third, the analysis on the difference in crunch factors between forward swings and control swings revealed that forward swings had bigger crunch factors compared to control swings at the points of impact (E3) and follow-through (E4) (p<.05, p<.01). In conclusion, the above results indicate that control swing makes the backswing angle small, resulting in small lateral bending angle and crunch factor. For professional golfers and instructors in the field to prevent low back pain during golf games, it is encouraged to practice control swing to make small backswings.

스위칭 기법에 의한 Anti-Sway 시스템 설계

김영복(Y. B. Kim),김경현(K. H. Kim),정지현(J. H. Jeong),지상원(S. W. Ji),고대권(D. K. Koh),이권순(K. S. Lee) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. For this many control strategies have tried and presented. In this paper, we apply a new control approach to design an anti-sway control system of the crane. In the crane system, the main issue is to suppress the undesirable sway-motion and many good results have been obtained. Especially, the authors have proposed an unique control approach. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. However, if we consider the rope length is varying in operating process, then we should apply some effective control strategy. In this paper, we design two or three controllers in the specified operating ranges. They will work very well in each specified range, but they may not guarantee good control performance in unspecified operating ranges. If we use these facts, we can obtain more developed control performance. So, in this paper, we design several controllers for each operating range and do switching the controllers. Of course, the system stability must be preserved in switching. The simulation result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

A GPC-based Multi-variable PID Control Algorithm and Its Application in Anti-swing Control and Accurate Positioning Control for Bridge Cranes

Bin Yang,Zhenxing Liu,Hui-Kang Liu,Yan Li,Sen Lin 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.10

It is one of the key tasks for the bridge crane to achieve anti-swing control of the hook and the accurate positioning of the body to work efficiently, safely and automatically. Based on the Lagrange equation, this paper is to propose a dynamic model of the crane motion system for designing controller. In the controller design, ProportionalIntegral-Derivative (PID), the most widely used controller in engineering, is adopted and a new parameter tuning algorithm for a multi-variable PID controller based on generalized predictive control (GPC) is given. It is foundthat the multi-variable PID controller shares the same structural mathematical expressions with the GPC law, which makes for the transfer and calculation of the three parameters P, I and D, and that the new algorithm enables the traditional PID controller to perform as brilliantly as the GPC. The results of both the simulation and real-time control experiments show that the newly-proposed PID controller can effectively eliminate the swing of the hook and control the bridge cranes moving position accurately.

Composite Control for Inverted Pendulum System

Kwon, Yo-Han,Kim, Beom-Soo,Lee, Sang-Yup,Lim, Myo-Taeg Institute of Control 2002 Transaction on control, automation and systems eng Vol.4 No.1

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the cart(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.

Composite Control for Inverted Pendulum System

Yo-HanKwon,임묘택,김범수,Sang-Yup Lee 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.1

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the card (below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on tow regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.

Identification of Volterra Kernels of Nonlinear Van de Vusse Reactor

Hiroshi Kashiwagi,Li Rong 제어·로봇·시스템학회 2002 International Journal of Control, Automation, and Vol.4 No.2

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the card(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the stats space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state round the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.

골프 드라이버 스윙 시 컨트롤스윙과 일반스윙의 운동학적 비교분석

김종인(Kim, Jong-In),하정훈(Ha, Jung-Hoon) 한국체육과학회 2020 한국체육과학회지 Vol.29 No.2

The purpose of this study was to identify the factors that influence size of swing by the kinematic comparative analysis of control and regular swings during driver swing. The results of this study were expected to provide preliminary information for effective swing coaching methods to increase the distance. this study obtained the kinematic data by using a sampling rate of 100 Hz per second with Trackman and six infrared cameras from ten male professional golfers. The measurements of kinematic variables during both regular and control swings were analyzed by Paired t-Test (α=.05). As a result, there were statistically significant differences in size of swing, club head speed, wrist angles, release point of wrist caulking, angle of rotation of pelvis, and angle of X-factor stretch. the results from this study indicated that wrist coking and negative direction for pelvic rotation at top of back swing influence the swing size during driver swing; therefore, rotation angle of pelvic and value of X-factor stretch are increased in the normal swing during downswing. In addition, the normal swing provided advantage of increasing club head speed in terms of the release point of wrist caulking make delay.

자기통제 피드백을 적용한 골프 스윙 훈련과 반응시간에 대한 예비연구

이동연 ( Lee Dongyoun ),남수미 ( Nam Soo Mi ),김선진 ( Kim Seonjin ),송영훈 ( Song Younghoon ),김민주 ( Kim Min Joo ) 한국리듬운동학회 2021 한국리듬운동학회지 Vol.14 No.1

The purpose of this study was to examine difference of various types of reaction time changed by self-control feedback in golf swing. Fifteen adult amateur golf players were voluntarily participated in this research. The golf swing training was to receive information according to self-control feedback with a 7-iron. Information about swing trajectory, body angle change, and sequence was provided through the sensors. Participants received golf swing training using self-control feedback for a total of 6 times for 3 weeks. In the test, participants were required to perform a pressing-button correctly as fast as they can in various tasks(visual-simple reaction time, auditory-simple reaction time, visual-choice reaction time, auditory-choice reaction time, and auditory-discriminate reaction time). As a result, this experiments found out after golf swing training using self-control feedback to amateur golfers, the tendency of reaction time to decrease in various tasks was confirmed except 3-auditory-discriminate reaction time. This means that the learner's information processing ability improved when learning the swing using self-control feedback.

On the Energy Based Control for Underactuated Mechanical Systems

Xin Xin 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

The energy based control approach aiming to controlling the total energy and actuated variables of underactuated mechanical systems has generated renewed interests in studying these systems. Successful applications of the approach to the swing-up control for the Pendubot (2-link planar robot with passive first joint), the Acrobot (2-link planar robot with passive second joint), and an n-link revolute planar robot with a passive joint robot, have been reported. This paper investigates whether the objective of controlling the energy and actuated variables to some given desired values can be achieved for any underactuated mechanical system. In this paper, we attempt to answer this question by studying the problem of swinging up the Acrobot like robot with a counterweight connected to its first link, called CWA (Counter- Weighted Acrobot). By analyzing globally the behavior of the solution of the closed-loop system consisted of the CWA and the controller designed via the energy based control approach, we show that unless the mechanical parameters of the CWA satisfying a constraint, the swing-up controller fails to achieve the goal of driving the energy to the desired value and stabilizing the actuated variable. Numerical simulation results are provided to validate the theoretical results.

Swing-up Fuzzy Control of an Inverted Pendulum System for Control Education with an Experimental Kit

Jaekook Ahn,Seul Jung 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10

This paper presents the swing up control of the inverted pendulum system. The inverted pendulum system should have enough energy to become upright position. Pumping motions are generated by the fuzzy rules to increase energy. When the pendulum arrives at the range of certain angle, fuzzy control is switched to the PD control to balance the pendulum. The angle and switching time have been selected based on experimental studies. Successful demonstration has been shown by the experimental studies. The maximum energy is calculated based on theory and compared with that of experimental result.