Supervisory control of automatic pouring process considering residual pouring quantity

This paper presents a supervisory control of the automatic pouring process to improve the productivity of the factory, the safety of workers, and the quality of the product. A mathematical model of a series of the pouring processes was built. Through the model, a forward tilting control input was calculated to hold the liquid in the sprue cup at a constant level. A backward tilting input is obtained by means of the Hybrid Shape Approach applied to suppress the slosh. The supervisory control system reasonably switches from the forward tilting motion to the backward tilting motion by using a model predictive control to achieve the accurate poured quantity. The validity of the proposed total control system was demonstrated through simulations and experiments.