Sloshing Suppression Control by using Physical Boundary Element Model and Predictive Control in Liquid Container Transfer System

摘要

This paper presents sloshing suppression control of liquid transferred at a desirable-speed. In order to suppress sloshing, a mathematical model consisting of continuous equations and the pressure equation is used and the sloshing phenomena are analyzed by using the Boundary Element Method (BEM). Further, the BEM model is transformed into the state-variable model. The proposed model can estimate not only first-order mode sloshing but also higher-order mode sloshing and predict the future behavior of liquid level more precisely. Moreover, sloshing is suppressed by using Model Predictive Control (MPC). We were able to transfer the container while minimizing sloshing and maintaining a desirable speed.