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Title Transcription
パラレル リンクガタ アクティブ キュウシンキ ツキ ハンソウ ダイシャ ニヨル エキタイ タンク ノ セイシン ハンソウ セイギョ : コウジ モード スロッシング オ レイキ サセナイ セイシン セイギョ
Title Alternative (English)
Damping control of sloshing in liquid container on cart with active vibration reducer having parallel linkage : Damping control without excitation of higher-mode sloshing
Author
Fukuda, Masahiro
Taniguchi, Takao
Description
This paper presents a control system to damp sloshing in a liquid container during its transfer in a cart equipped with an active vibration reducer having a parallel linkage with six degrees of freedom. Sloshing is generated during the liquid container’s transfer. To damp this sloshing, the active vibration reducer tilts and horizontally moves the container. The reducer is controlled by a reference following control and optimal servo control. When a large liquid container is used, higher-mode sloshing that is not modeled in the control system is easily generated and causes spillover. The reference following control was adopted to avoid this phenomenon. The weighting matrix of the quadratic performance index for the optimal servo control is optimized with a genetic algorithm (GA). The amplitude of sloshing is considered for GA fitness. In this study, a cart was driven along a straight path on a horizontal plane, and only (1, 1) mode sloshing was modeled in the control system. When the optimal servo control was used alone in a damping control experiment, the active vibration reducer and liquid container vibrated violently because of spillover. On the other hand, when the optimal servo control and reference following control were used together, the liquid container did not vibrate, and sloshing in the container was damped by the active vibration reducer.
Subject
Sloshing
Damping control
Parallel linkage
Optimal servo
Reference model following
Journal Title
Transactions of the JSME
Volume
81
Issue
822
Start Page
14_00470_1
End Page
14_00470_13
Published Date
2015-02
DOI
Publisher
一般社団法人日本機械学会
Publisher Aalternative
The Japan Society of Mechanical Engineers
NII Type
Journal Article
Resource URL(IsVersionOf)
https://www.jstage.jst.go.jp/article/transjsme/81/822/81_14-00470/_article/-char/ja/
Rights
一般社団法人日本機械学会
Gyoseki ID
e28225
OAI-PMH Set
Interdisciplinary Graduate School of Science and Engineering
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