Motion control of a cart-based container considering suppression ofliquid oscillations

摘要

This paper presents a model-based control method fortransportation control of a rectangular tank, considering thesuppression of sloshing, i.e. liquid oscillations. Sloshing phenomena ascaused by horizontal motion are analysed by means of a 2D distributedparameter model and a modal model. The latter is used for generating anoptimal open-loop control input which reduces sloshing and providessavings in total transportation time. Furthermore, H∞feedback control is incorporated in the neighborhood of the targetlocation, in case more precise control is needed. Key points fortransportation control of a cart-based rectangular tank are clarified