液体容器搬送システムにおける振動予測手法を用いた傾動をともなう制振搬送制御

抄録

Recently, autonomous robots have been actively developed in manufacturing due to orbital space-free and personnel reduction for production line. Especially, in the plants treating a liquid such as foods, chemicals and molten metal, the liquid transferring robots with an open container are used. However, in the case of the packaging for liquid medicine products and transferring molten metal, liquid containers are transferred slowly to prevent outflow and intervention of air or gas. Thus, transfer motion spends a lot of time and delays tact time. Therefore, in this paper, the sloshing suppression control in open liquid container transfer system is proposed. In many previous sloshing control researches, mathematical models of pendulum type that can be estimated firstmode sloshing are mainly built. These models can express the behavior of liquid at the side-wall of a container. Although these approach can suppress the sloshing, the liquid surface is tilted by the effect of inertia while a liquid container is accelerated with high-speed. Therefore, in this research, the sloshing suppression control method with transferring and tilt motion is proposed. This paper proposes to completely suppress sloshing (liquid vibration) by both of transfer and tilt control using Generalized Predictive Control (GPC).