Sloshing Control in Tilting Phases of the Pouring Process
We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.
[1] K. Yano, S. Higashikawa and K. Terashima, "Motion control of liquid
container considering an inclined transfer path," Control Engineering
Practice, vol. 10, pp. 465-472, 2002.
[2] K. Yano and K. Terashima, "Robust liquid container transfer control for
complete sloshing suppression," IEEE Trans. on Control Systems
Technology, vol. 9, no. 3, pp. 483-493, 2001.
[3] K. Terashima, M, Hamaguchi and K. Yamaura, "Modeling and input
shaping control of liquid vibration for an automated pouring system," in
Proc. of the 35th Conf. on Decision and Control, Kobe, Japan, 1996, pp.
4844-4850.
[4] K. Yano, T. Toda and K. Terashima, "Sloshing suppression control of
automatic pouring robot by hybrid shape approach," in Proc. of the 40th
IEEE Conf. on Decision and Control, Orlando, Florida, USA, 2001, pp.
1328-1333.
[5] K. Terashima and K. Yano, "Sloshing analysis and suppression control
of tilting-type automatic pouring machine," Control Engineering
Practice, vol. 9, pp. 607-620, 2001.
[6] M.P. Tzamtzi, F.N. Koumboulis, N.D. Kouvakas, G.E. Panagiotakis, "A
Simulated Annealing Controller for Sloshing Suppression in Liquid
Transfer", in Proc. of the 14th Med. Conf. on Control and Automation,
Italy, 2006.
[7] M.P. Tzamtzi, F.N. Koumboulis, "A Two Stage Robot Control for
Liquid Transfer", 12th IEEE Conf. on Emerging Techn. and Factory
Autom., Patras, Greece, 2007, pp. 1324-1333.
[8] F.N. Koumboulis, M.P. Tzamtzi, "A metaheuristic approach for
controller design of multivariable processes", 12th IEEE Conf. on
Emerging Techn. and Factory Autom., Patras, Greece, 2007, pp. 1429-
1432.
[9] B. Yao, W.B. Gao, S.P. Chan and M. Cheng, "VSC coordinated control
of two manipulator arms in the presence of environmental constraints",
IEEE Trans. Automat. Contr., vol. 37, pp. 1806-1812, 1992.
[1] K. Yano, S. Higashikawa and K. Terashima, "Motion control of liquid
container considering an inclined transfer path," Control Engineering
Practice, vol. 10, pp. 465-472, 2002.
[2] K. Yano and K. Terashima, "Robust liquid container transfer control for
complete sloshing suppression," IEEE Trans. on Control Systems
Technology, vol. 9, no. 3, pp. 483-493, 2001.
[3] K. Terashima, M, Hamaguchi and K. Yamaura, "Modeling and input
shaping control of liquid vibration for an automated pouring system," in
Proc. of the 35th Conf. on Decision and Control, Kobe, Japan, 1996, pp.
4844-4850.
[4] K. Yano, T. Toda and K. Terashima, "Sloshing suppression control of
automatic pouring robot by hybrid shape approach," in Proc. of the 40th
IEEE Conf. on Decision and Control, Orlando, Florida, USA, 2001, pp.
1328-1333.
[5] K. Terashima and K. Yano, "Sloshing analysis and suppression control
of tilting-type automatic pouring machine," Control Engineering
Practice, vol. 9, pp. 607-620, 2001.
[6] M.P. Tzamtzi, F.N. Koumboulis, N.D. Kouvakas, G.E. Panagiotakis, "A
Simulated Annealing Controller for Sloshing Suppression in Liquid
Transfer", in Proc. of the 14th Med. Conf. on Control and Automation,
Italy, 2006.
[7] M.P. Tzamtzi, F.N. Koumboulis, "A Two Stage Robot Control for
Liquid Transfer", 12th IEEE Conf. on Emerging Techn. and Factory
Autom., Patras, Greece, 2007, pp. 1324-1333.
[8] F.N. Koumboulis, M.P. Tzamtzi, "A metaheuristic approach for
controller design of multivariable processes", 12th IEEE Conf. on
Emerging Techn. and Factory Autom., Patras, Greece, 2007, pp. 1429-
1432.
[9] B. Yao, W.B. Gao, S.P. Chan and M. Cheng, "VSC coordinated control
of two manipulator arms in the presence of environmental constraints",
IEEE Trans. Automat. Contr., vol. 37, pp. 1806-1812, 1992.
@article{"International Journal of Information, Control and Computer Sciences:58317", author = "Maria P. Tzamtzi and Fotis N. Koumboulis", title = "Sloshing Control in Tilting Phases of the Pouring Process", abstract = "We propose a control design scheme that aims to
prevent undesirable liquid outpouring and suppress sloshing during
the forward and backward tilting phases of the pouring process, for
the case of liquid containers carried by manipulators. The proposed
scheme combines a partial inverse dynamics controller with a PID
controller, tuned with the use of a “metaheuristic" search algorithm.
The “metaheuristic" search algorithm tunes the PID controller based
on simulation results of the plant-s linearization around the operating
point corresponding to the critical tilting angle, where outpouring
initiates. Liquid motion is modeled using the well-known pendulumtype
model. However, the proposed controller does not require
measurements of the liquid-s motion within the tank.", keywords = "Robotic systems, Controller design, Sloshingsuppression, Metaheuristic optimization.", volume = "1", number = "10", pages = "3169-8", }