Title :
Motion control of a cart-based container considering suppression of liquid oscillations
Author :
Terashima, Kazuhiko ; Schmidt, Günther
Author_Institution :
Dept. of Prod. Syst. Eng., Toyohashi Univ. of Technol., Japan
Abstract :
This paper presents a model-based control method for transportation control of a rectangular tank, considering the suppression of sloshing, i.e. liquid oscillations. Sloshing phenomena as caused by horizontal motion are analysed by means of a 2D distributed parameter model and a modal model. The latter is used for generating an optimal open-loop control input which reduces sloshing and provides savings in total transportation time. Furthermore, H∞ feedback control is incorporated in the neighborhood of the target location, in case more precise control is needed. Key points for transportation control of a cart-based rectangular tank are clarified
Keywords :
distributed parameter systems; feedback; fluid oscillations; model reference adaptive control systems; motion estimation; optimal control; position control; transportation; 2D distributed parameter model; H∞ feedback; carts; horizontal motion; liquid oscillations; modal model; model-based control; optimal open-loop control; precision; rectangular tank; sloshing; suppression; transportation control; Acceleration; Automatic control; Containers; Control design; Frequency response; Laboratories; Motion control; Open loop systems; Optimal control; Road transportation;
Conference_Titel :
Industrial Electronics, 1994. Symposium Proceedings, ISIE '94., 1994 IEEE International Symposium on
Conference_Location :
Santiago
Print_ISBN :
0-7803-1961-3
DOI :
10.1109/ISIE.1994.333105
