Modeling and input shaping control of liquid vibration for an automatic pouring system

This paper presents a modeling and a control of the liquid vibration for an automatic pouring system of tilting-type. Liquid vibrations as caused by the rotation of a tank are analysed by means of a 2-D distributed parameter model and a simplified pendulum-type model. The latter is used for designing the control input which reduces the liquid vibration. Model validity is confirmed by laboratory experiments. A method of preshaping command input is applied for producing the shaped control inputs which reduces the endpoint vibration. Desired control inputs are altered so that the system completes the requested angle for the tank rotation without the residual vibration. Experimental results show that the input shaping method applied for an automatic pouring system is useful to reduce the endpoint residual vibration and also attain the requested motion