3次元液体タンクの最適搬送制御と液位, 粘性変化に対する制振ロバスト性

抄録

This paper presents the optimum control of three dimensional liquid container transfer considering the suppression of sloshing (liquid vibration), and studies on the robustness of sloshing suppression for the change of liquid level, viscosity and so on. Rectangular and cylindrical container are respectively considered, and the straight tranfer path is studied. The pendulum-type sloshing model is used for the present container. Optimum servo control system with Kalman filter is applied, and optimum weighting matrix in LQ problem is determined by using a simplex method. Robustness of the sloshing suppression has been analyzed for the change stated above, and a guid-line of the safety design also given. The usefulness of the present paper has been demonstrated through simulations and laboratory experiments