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Modeling, system identification, and control for slosh-free motion of an open container of liquid

机译：建模，系统识别和控制开放式液体容器的无晃动

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This report discusses work to analyze and test various techniques for controlling the motion of a high speed robotic arm carrying an open container of viscous liquid, in this case, molten glass. A computer model was generated to estimate the modes of oscillation of the liquid based on the shape of the container and the viscosity of the liquid. This fluid model was experimentally verified and tuned based on experimental data from a capacitive sensor on the side of the container. A model of the robot dynamics was also developed and verified through experimental tests on a Fanuc S-800 robot arm. These two models were used to estimate the overall modes of oscillation of an open container of liquid being carried by a robot arm. Using the estimated modes, inverse dynamic control techniques were used to determine a motion profile which would eliminate waves on the liquid's surface.

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Feddema, J.; Baty, R.; Dykhuizen, R.; Dohrmann, C.; Parker, G.;
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年度 1996
页码 1-127
总页数 127
原文格式 PDF
正文语种 eng
中图分类工业技术;
关键词
Glass ; Liquids ; Robots ; Computerized Simulation ; Containers ; Flow Models ; Fluid Mechanics ; Liquid Flow ; Materials Handling ; Melting ; Mitigation ; Process Control ; Viscous Flow ; Wave Propagation;

机译：玻璃;液体;机器人;计算机模拟;容器;流动模型;流体力学;液体流动;材料处理;熔化;缓解;过程控制;粘性流动;波传播;

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专利

1. Control for slosh-free motion of an open container [J] . Feddema J.T., Dohrmann C.R. IEEE Control Systems Magazine . 1997,第1期

机译：控制开放容器的无晃动运动
2. Sliding mode control for slosh-free motion-A class of underactuated system [J] . B. Bandyopadhyay, Shailaja Kurode, P. S. Gandhi International Journal of Advanced Mechatronic Systems . 2009,第3期

机译：无晃荡运动的滑模控制-一类欠驱动系统
3. Corrigendum to “Modeling, simulation and control of a scheibel liquid-liquid contactor: Part 1. Dynamic analysis and system identification”[Chem. Eng. Process. 44 (2005) 543-555] [J] . Farouq S. Mjalli, Nabil M. Abdel-Jabbar, John P. Fletcher Chemical Engineering and Processing . 2009,第4期

机译：“Scheibel液体液体接触器的建模，仿真和控制的勘探：第1部分。动态分析与系统识别”[化学。 eng。过程。 44（2005）543-555]
4. A comparison of maneuver optimization and input shaping filters for robotically controlled slosh-free motion of an open container of liquid [C] . Feddema, J., Dohrmann, . 1997

机译：操纵优化和输入整形过滤器的比较，用于开放液体容器的机器人控制的无晃动运动
5. Improved parametrization for system identification and digital control: Theory and applications to motion control systems. [D] . Guo, Lin. 1996

机译：用于系统识别和数字控制的改进参数化：运动控制系统的理论和应用。
6. Clinical outcomes in a controlled trial of early identification and rapid systematic treatment of shock modeled after the trauma system [O] . F Sebat, D Johnson, S Moore, 2002

机译：以创伤系统为模型的早期识别和快速系统治疗休克的对照试验中的临床结果
7. Modeling, system identification, and control for slosh-free motion of an open container of liquid [O] . Feddema, J., Baty, R., Dykhuizen, R., 1996

机译：建模，系统识别和控制开放式液体容器的无晃动
8. Modeling, system identification, and control for slosh-free motion of an open container of liquid [R] . Feddema, J. , Baty, R. , Dykhuizen, R. , 1996

机译：建模，系统识别和控制开放式液体容器的无晃动

Modeling, system identification, and control for slosh-free motion of an open container of liquid

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