Modeling and input shaping control of liquid vibration for an automatic pouring system

Terashima, Kazuhiko; Hamaguchi, Masafumi; Yamaura, Kazuto

doi:10.1109/cdc.1996.577707

Cited by 14 publications

(9 citation statements)

References 5 publications

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“…generalized coordinates of the structure, with 1 q the vertical deviation of the platform from the level corresponding to the natural length of the passive absorbers' spring, 2 q the rotation angle of the vehicle's platform, 3 q the rotation angle of the tank with respect to the vehicle, p q the rotation of the pendulum with respect to the tank and a x , b x the aforementioned deviations of the resonators. Note that the angle p q denotes the angle between the liquid's free surface with the bottom of the tank.…”

Section: Modeling Of the Liquid Transfer Vehiclementioning

confidence: 99%

A Simulated Annealing Controller for Sloshing Suppression in Liquid Transfer with Delayed Resonators

Tzamtzi¹,

Koumboulis²,

Kouvakas³

et al. 2006

2006 14th Mediterranean Conference on Control and Automation

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A simulated annealing controller for sloshing suppression during the transfer of a liquid using a vehicle with active and passive vibration absorption is proposed. The proposed design technique aims to suppress sloshing induced by vehicle vibrations due to force disturbances applied on the liquid carrying vehicle due to road surface unevenness, while dealing with practical problems like the lack of measurements of the liquid's motion within the tank. Active vibration absorption is achieved with the use of a couple of Delayed Resonators. Despite the high complexity of the system's model, the proposed technique results in an easy to implement linear static measurement output feedback controller with satisfactory performance with respect to sloshing suppression.

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Section: Modeling Of the Liquid Transfer Vehiclementioning

confidence: 99%

A Simulated Annealing Controller for Sloshing Suppression in Liquid Transfer with Delayed Resonators

Tzamtzi¹,

Koumboulis²,

Kouvakas³

et al. 2006

2006 14th Mediterranean Conference on Control and Automation

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“…For instance, in [3] and [4] the of slosh dynamics is compensated via tilt angle modification. Input shaping techniques are widely used in conjunction with smooth trajectory planning and other kinds of filtering/smoothing methods, see [5], [6], [7], [8], [9] among many others. Alternative feed-forward methods are based on the optimization of the reference trajectories applied to the liquid container, computed by taking into account the dynamic model of the system and a number of constraints, like maximum velocity, acceleration, etc.…”

Section: Introductionmentioning

confidence: 99%

Toward the Next Generation of Robotic Waiters

Moriello

Chiaravalli

Biagiotti

et al. 2018

2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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In this paper, the problem of suppressing sloshing dynamics in liquid handling robotic systems has been faced by designing a dynamic filter that starting from the desired motion of the liquid container calculates the complete position/orientation trajectory for the robot end-effector. Specifically, a design philosophy mixing a filtering technique that suppresses the frequency contributions of the reference motion that may cause liquid oscillations and an active compensation of lateral accelerations by a proper container reorientation has been adopted. In principle, the latter contribution requires the knowledge of acceleration of the reference trajectory, but because of the use of an harmonic smoother that performs a shaping of the original motion, it is possible to obtain the value of the acceleration in runtime. In this way, the proposed methods can be applied also to reference motions that are not known in advance, e.g. commands directly provided by a human operator. This possibility has been demonstrated by means of a number of experimental tests in which the user teleoperates the robot carrying the container with the liquid by simply moving the hand in the free space whose 3D position is detected by a motion capture system.

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“…Nowadays, and because of the simplicity of application, the input shaping method has been employed successfully to many applications in the field of mechanical and electrical engineering such as cranes, flexible spacecraft, long-reach manipulators and computer disc drive manufacturing machines [21,[26][27][28]. For instance, Mohamed and Tokhi [22] successfully applied a feed-forward control strategy based on input shaping method for vibration control of a flexible robot manipulator.…”

Section: Introductionmentioning

confidence: 99%

Semi-active control of flexible structures using closed-loop input shaping techniques

Alqado

Nikolakopoulos

Dritsas

2016

Struct. Control Health Monit.

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In this research effort, a novel approach on the control of structures with magnetorheological (MR) dampers is presented, based on an appropriately adapted closed-loop version of the generic input shaping control theory. The MR damper is a very promising kind of semi-active control system (actuator), mixing the advantages of the active and passive structural control systems, hence their increasing use as attenuators that reject the effects of dynamic loads on civil engineering structures. The main contribution of this article is the application and performance evaluation of the novel 'Linear Matrix Inequality-based' feedback version of the input shaping control theory for the first time in the area of structural control. The need for the use of a feedback version of input shaping control stems from the design trade-off between robustness and speed of response requirements. A simulation of a benchmark three-story building with one MR damper is employed to verify the efficiency of the proposed control approach. The nonlinear behaviour of the MR damper, rigidly connected between the first floor of the structure and the ground, is captured by the well-known Bouc-Wen model. The superiority and effectiveness of the proposed scheme in reducing the responses of the structure were proved using seven quantifiable evaluation criteria and by comparing these results with those achieved by classical and well-established alternative control schemes.

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Modeling and input shaping control of liquid vibration for an automatic pouring system

Cited by 14 publications

References 5 publications

A Simulated Annealing Controller for Sloshing Suppression in Liquid Transfer with Delayed Resonators

A Simulated Annealing Controller for Sloshing Suppression in Liquid Transfer with Delayed Resonators

Toward the Next Generation of Robotic Waiters

Semi-active control of flexible structures using closed-loop input shaping techniques

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