Damping control of sloshing in liquid container on cart with active vibration reducer having parallel linkage

- Running on uneven road by using both disturbance suppression control and frequency-dependent optimal servo -

Abstract

In this paper, we consider to transport a liquid container by a cart installed an active vibration reducer having a parallel linkage mechanism with six degrees of freedom. Sloshing in the liquid container is generated by the movement of the cart running on uneven road. To damp the sloshing, the liquid container tilts and horizontally moves by using the active vibration reducer. Damping control system consists of both disturbance suppression control and frequency-dependent optimal servo. The weighting matrix for the frequency-dependent optimal servo is determined using a genetic algorithm. The usefulness of the proposed control system is verified through experiment.