傾動式自動注湯機の液面制御に関する研究 : 第1報, モデリングと制御

抄録

In this paper we present the first report of the liquid surface wave control of an incline-type automatic pouring machine, especially the model and control. We modeled incline-type pouring machine by a double pendulum system, the first pendulum is considered as a ladle and the second pendulum is as surface waves of liquid in it. First we considered reducing vibrations of the second pendulum by controlling the first pendulum angle. We calculate acceleration values that are product of the second pendulum velocity and constant values plus absolute its angles. After that, we make an aim angle of the ladle by adding an angle get from the previous acceleration values and a basic ladle angle. Controlling the ladle on the aim angle could reduce the second pendulum velocity. Second we simulated this system, and demonstrated a laboratory experiments.