Design and Development of a Novel 2DOF Actuation Slosh Rig

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME - Tập 131 Số 1 - 2009
Prasanna S. Gandhi1, Keyur Joshi1, N. Ananthkrishnan1
1Indian Institute of Technology Bombay, Mumbai, Maharashtra 400076, India

Tóm tắt

Sloshing of liquid in a tank is critical in several areas, including launch vehicles carrying liquid fuel, satellites, industrial packaging of liquids, systems handling molten metal, and so on. Hence modeling, characterization, and control of nonlinear slosh phenomena are important in these applications. To study slosh dynamics, develop useful identification schemes, and design and verify slosh control algorithms, a new 2DOF actuation slosh rig is reported in this paper considering the fact that most of the times these tanks are subjected to linear as well as pitching excitation/control inputs. The paper discusses mechatronic design and several advantages that the new design offers. A slosh phenomenon of beating observed when both lateral and pitching excitations are provided is simulated using a model based on pendulum approximation to slosh and is further verified in experiments. The results confirm that the effects of both excitations together can be detrimental against separate excitations of the same amplitude. Moreover, slosh compensation in open loop is demonstrated by giving excitation in pitching and developing a compensatory input in the lateral direction. Furthermore, active slosh control strategy is developed and its effectiveness is demonstrated with control in translation and disturbance in pitching. Thus the proposed rig is an ideal tool for the study, identification, and control development of slosh in the presence of two excitations/inputs.

Từ khóa


Tài liệu tham khảo

Abramson, H. , 1966, “The Dynamic Behavior of Liquids in Moving Containers,” NASA, Report No. NASA SP-106.

Vreeburg, Spacecraft Maneuvers and Slosh Control, IEEE Control Syst. Mag., 25, 12

Widmayer, E., and Reese, J., 1953, “Moment of Inertia and Damping of Fluid in Tanks Undergoing Pitching Oscillations,” NACA National Advisory Committee on Aeronautics, Research Memorandum RM L53E01a.

Unruh, Digital Data Analysis Techniques for Extraction of Fuel Slosh Parameters, J. Spacecr. Rockets, 23, 171, 10.2514/3.25096

Pal, Experimental Investigation of Slosh Dynamics of Liquid-Filled Containers, Exp. Mech., 41, 63, 10.1007/BF02323106

Anderson, Experiments to Control Sloshing in Cylindrical Containers, J. Sound Vib., 240, 398, 10.1006/jsvi.2000.3121

Ibrahim, Recent Advances in Liquid Sloshing Dynamics, Appl. Mech. Rev., 54, 133, 10.1115/1.3097293

Gangadharan, S., Sudermann, J., Marlowe, A., and Njenga, C., 2004 “Parameter Estimation of Spacecraft Fuel Slosh Model,” AIAA Paper No. 2004-1965.

Product Catalog, Hiwin Linear Motion Products and Technology, Beds, UK, www.pmshiwin.co.uk

2003, Multi-Axis Force/Torque Sensor System: Installation and Operation Manual, ATI Industrial Automation, Apex, NC, Oct., www.ati-ia.com

2003, dSPACE, DS1104 R & D Controller Board: Installation and Configuration Guide, Release 3.5, dSPACE GmbH, Paderborn, Germany, Mar.

2003, IPM 240/640 Intelligent Servo Drives, Technosoft US Inc., Canton, MI, www.technosoftmotion.com

Odhekar, Novel Methods for Slosh Parameter Estimation Using Pendulum Analogy, 10.2514/6.2005-5923

Gandhi, Development of 2DOF Actuation Slosh Rig: A Novel Mechatronic System, Proceedings of IEEE International Conference on Industrial Technology, 1810

Grundelius, M. , 2001, “Methods for Control of Liquid Slosh,” Lic. Tech. thesis, Lund Institute of Technology, Lund.

Khalil, Non-Linear Systems, 3rd ed.

Thông tin
Thông tin xuất bản

Journal of Dynamic Systems, Measurement and Control, Transactions of the ASME

Tập 131 Số 1

Thông tin tác giả