Sloshing Dynamics Estimation for Liquid-filled Containers under 2-Dimensional Excitation

Leva, Roberto Di; Carricato, Marco; Gattringer, Hubert; Müller, Andreas

doi:10.3311/eccomasmbd2021-274

Cited by 10 publications

(3 citation statements)

References 10 publications

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“…The damping ratio depends on the liquid height ℎ, liquid kinematic viscosity 𝜐𝜐, and tank diameter 𝑅𝑅 [21]:…”

Section: Model Parametersmentioning

confidence: 99%

Flatness-Based Nonlinear Control for Path Planning and Tracking of Sloshing Liquid Container

2023

JST: SSAD

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The movement of the liquid inside the container, known as sloshing, is usually undesired. Thus, there is the necessity to keep under control the peaks that the liquid free-surface exhibits during motion. This paper aims at providing a solution for suppressing sloshing liquid in horizontally moving cylindrical container. After introducing equivalent discrete models based on a mass-spring-damper system introduced by the literature (non-linear model), the identification and utilization of flat outputs is presented to generate rest-to-rest trajectories in sloshing liquid systems, which is ensure the equilibrium of the sloshing height at both initial and final points. Moreover, a sliding-mode controller is described to solve the trajectory tracking problem. The effectiveness of the proposed approach is demonstrated through numerical simulations comparisons with a model predictive controller (MPC). This research contributes to the advancement of control techniques for anti-sloshing technology systems, enabling enhanced stability, performance, and safety in various engineering applications.

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“…The damping ratio depends on the liquid height ℎ, liquid kinematic viscosity 𝜐𝜐, and tank diameter 𝑅𝑅 [21]:…”

Section: Model Parametersmentioning

confidence: 99%

Flatness-Based Nonlinear Control for Path Planning and Tracking of Sloshing Liquid Container

2023

JST: SSAD

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“…In a previous work [20], we developed a simple and general method to predict the sloshing height when the container moves on a prescribed planar path. The technique was then studied also on more complex spatial movements performed by an industrial robot [21]. This method uses the linear mass-spring-damper model for sloshing.…”

Section: Alma Mater Studiorum Università DI Bolognamentioning

confidence: 99%

Antisloshing Trajectories for High-Acceleration Motions in Automatic Machines

Guagliumi

Berti²,

Monti³

et al. 2022

Journal of Dynamic Systems, Measurement, and Control

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This paper studies the design of anti-sloshing trajectories for application in automatic machines for packaging liquid products, with specific reference to cylindrical containers and emphasis on prescribed motion durations. Different strategies, based on a discrete linear model of the sloshing phenomenon and applicable in real-time, are analyzed to perform anti-sloshing feedforward control of the container motion: FIR filters (input shapers and others), dynamic-model inversion, and IIR filters. Unlike the previous literature, these strategies are applied to highly dynamical motion laws, with maximum accelerations from 4m=s2 to 13m=s2. The effectiveness of the proposed anti-sloshing trajectories is assessed by experiments.

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“…The latter is the objective of this paper, particularly referring to 2-dimensional planar motions of a cylindrical container, with accelerations up to 9.5 m/s 2 . With respect to the preliminary conference version presented in [1], this contribution also reports an extension of the formulation to 3-dimensional motions comprising a vertical acceleration up to 5 m/s 2 . Experiments are also provided for this case.…”

Section: Introductionmentioning

confidence: 99%

Sloshing dynamics estimation for liquid-filled containers performing 3-dimensional motions: modeling and experimental validation

et al. 2022

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Many industrial applications require the displacement of liquid-filled containers on planar paths (namely, paths on a horizontal plane), by means of linear transport systems or serial robots. The movement of the liquid inside the container, known as sloshing, is usually undesired, thus there is the necessity to keep under control the peaks that the liquid free-surface exhibits during motion. This paper aims at validating a model for estimating the liquid sloshing height, taking into account 2-dimensional motions of a cylindrical container occurring on a horizontal plane, with accelerations up to 9.5 m/s2. This model can be exploited for assessment or optimization purposes. Experiments performed with a robot following three paths, each one of them with different motion profiles, are described. Comparisons between experimental results and model predictions are provided and discussed.Finally, the previous formulation is extended in order to take into account the addition of a vertical acceleration, up to 5 m/s2. The resulting 3-dimensional motions are experimentally validated to prove the effectiveness of the extended technique.

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Sloshing Dynamics Estimation for Liquid-filled Containers under 2-Dimensional Excitation

Cited by 10 publications

References 10 publications

Flatness-Based Nonlinear Control for Path Planning and Tracking of Sloshing Liquid Container

Flatness-Based Nonlinear Control for Path Planning and Tracking of Sloshing Liquid Container

Antisloshing Trajectories for High-Acceleration Motions in Automatic Machines

Sloshing dynamics estimation for liquid-filled containers performing 3-dimensional motions: modeling and experimental validation

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