1A2-B03 傾動をともなう液体容器搬送ロボットのLTVシステムによる高速制振搬送

概要

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This paper presents sloshing (liquid vibration) suppression control of a liquid container transfer with tilting. In this transfer system, liquid in the container is poured into a tray by tilting the container while the container is transferred. In this case, sloshing in the container is generated when the container is rapidly moved. Moreover, the natural frequency of sloshing is changed by tilting a container and a container form. In the present paper, the natural frequency of sloshing is estimated by Principal Component Analysis (PCA) using values of tilting angle and liquid volume for the container in real time. Then, sloshing suppression control can be designed by using the low-pass filter and the notch filter based on the estimated natural frequency. Then, proposed control system becomes Linear Time Varying (LTV) system. The effectiveness of proposed control system is shown through experiments of a container transfer system.
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