Sloshing Control of Molten Metal Uring Transfer and Tilt Motion of Ladle by Automatic Pouring Robot

摘要

This paper presents a sloshing suppression control during a ladle transfer with tilt motion. In this transfer system, molten metal in the ladle is poured into a mold by tilting the ladle while the ladle is transferred. Sloshing in the ladle is then generated if the ladle is rapidly moved. Natural frequency of sloshing is varied by the tilting condition and the ladle shape. In the present paper, the natural frequency of sloshing is estimated by the analysis formula with principal components. Sloshing suppression control can be designed by using the estimated natural frequency, and the designed controller has the time-varying notch filter corresponding to the estimated sloshing natural frequency. The effectiveness of proposed control system is shown thorough experiments using a ladle transfer system.