Transferring and tilt motion control of the liquid container to suppress sloshing by using Generalized Predictive Control Method

Shibuya, Ryota; Okatsuka, Hisashi; Noda, Yoshiyuki; Terashima, Kazuhiko

doi:10.1109/sii.2011.6147595

Cited by 3 publications

(5 citation statements)

References 6 publications

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“…Experimental results provide evidence that our control approach using both the BEM model and MPC achieves better results than any conventional control methods such as the notch filter technique and PID control. Furthermore, useful research based on this paper was reported (Shibuya et al, 2011)…”

Section: Discussionmentioning

confidence: 80%

Sloshing Suppression Control by using Physical Boundary Element Model and Predictive Control in Liquid Container Transfer System

Okatsuka

Shibuya

Terashima

et al. 2012

Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics

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This paper presents sloshing suppression control of liquid transferred at a desirable-speed. In order to suppress sloshing, a mathematical model consisting of continuous equations and the pressure equation is used and the sloshing phenomena are analyzed by using the Boundary Element Method (BEM). Further, the BEM model is transformed into the state-variable model. The proposed model can estimate not only first-order mode sloshing but also higher-order mode sloshing and predict the future behavior of liquid level more precisely. Moreover, sloshing is suppressed by using Model Predictive Control (MPC). We were able to transfer the container while minimizing sloshing and maintaining a desirable speed.

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Section: Discussionmentioning

confidence: 80%

Sloshing Suppression Control by using Physical Boundary Element Model and Predictive Control in Liquid Container Transfer System

Okatsuka

Shibuya

Terashima

et al. 2012

Proceedings of the 9th International Conference on Informatics in Control, Automation and Robotics

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show abstract

“…In this study, a numerical example is proposed to demonstrate the feasibility and effectiveness of the developed method used by considering the slosh container system in equation (16). The combination of slosh and uncertainty j used in the simulation was defined by the following expression 34 :…”

Section: Resultsmentioning

confidence: 99%

“…Based on equation (16) it is assumed that the position state x and the velocity state v are measurable with reference states x r and v r respectively. The reference states for both position and velocity used in this simulation is assumed to be in the following form:…”

Section: Resultsmentioning

confidence: 99%

“…These methods include PI/PID control, [8][9][10][11] H-infinity control, 12 sliding mode control, [13][14][15] predictive controller, 16 active force control, 17 genetic algorithm, 18 control the robot end-effector movement by using Lyapunov-based feedback controllers 19 and variable gain by using super-twisting algorithm. 20 There also exist a passive control methods which tried to smooth the liquid's sloshing without direct measurements of the sloshing state such as intermittent air-bubble injection method, 21 inverse dynamic control technique by generating a computer model to estimate the modes of oscillation of the liquid in the container system, 22 guidance, navigation, and control (GNC) algorithm commands thruster firings to counter the fluid slosh forces 21 and a shallow-depth sloshing absorber.…”

Section: Introductionmentioning

confidence: 99%

“…These methods include PI/PID control, 8–11 H-infinity control, 12 sliding mode control, 13–15 predictive controller, 16 active force control, 17 genetic algorithm, 18 control the robot end-effector movement by using Lyapunov-based feedback controllers 19 and variable gain by using super-twisting algorithm. 20…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

Modeling and adaptive robust wavelet control for a liquid container system under slosh and uncertainty

Аl-Мashhadani

2020

Measurement and Control

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Liquid sloshing in moving or stationary containers and flexible uncertainty caused by the slosh are considered to be the most probable causing unexpected coupling effects on the dynamics of many systems such as aerospace, ground vehicles, and high speed industries arms. The coupling of dynamic liquid slosh in a container system with the uncertainty caused by the sensors or dampers is rare documented and this coupling can be considered as a highly nonlinear system. In this paper, an investigation is presented to demonstrate a new approach for enabling the reduction of the liquid slosh and uncertainty by implementing adaptive robust wavelet control technique. Starting by creating the mathematical dynamic model for the nonlinear slosh coupled by uncertainty, adaptive robust control based wavelet transform is applied for calculating optimal motion that minimize residual slosh and uncertainty. Subsequently the adaptive robust control based wavelet network approximation and the appropriate parameter algorithms for the container system with slosh and uncertainty are derived to achieve the feedback linearization, adaptive control, and H∞ tracking performance. The simulation results show that the effects of slosh errors and external uncertainty can be successfully attenuated within a desired attenuation level.

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Trajectory Planning to Transfer Liquid Container and Simulation for Robot

Sekine

Ishibashi

Sugiuchi

et al. 2016

JRSJ

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This paper describes the liquid container transfer by robot, due to the demand for the conveyance of molten metal in casting processes, for the tray service by robot, and so on. Since a liquid in container can wave greatly by changes of transferring velocity due to the inertial force acting on its own, robots cannot carry the container as a rigid box. Therefore, transferring liquid containers using robots requires a carrying method which prevents content fluid from spilling from the container. The proposed method, TGCW (Trajectory Generation to Control Wave) method, is a feed-forward control to realize the prevention of the spillover of content fluid. To reveal the performance of the TGCW method, we performed the verification simulations using the Explicit-MPS (Moving Particle Simulation) method and the validation experiments using a robot arm. We obtained the result that the proposed method has the effect of reducing the displacement of liquid and the simulation results close to experiments.

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Transferring and tilt motion control of the liquid container to suppress sloshing by using Generalized Predictive Control Method

Cited by 3 publications

References 6 publications

Sloshing Suppression Control by using Physical Boundary Element Model and Predictive Control in Liquid Container Transfer System

Sloshing Suppression Control by using Physical Boundary Element Model and Predictive Control in Liquid Container Transfer System

Modeling and adaptive robust wavelet control for a liquid container system under slosh and uncertainty

Trajectory Planning to Transfer Liquid Container and Simulation for Robot

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