Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt

This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsyst...

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Published inJournal of Electrical Engineering Vol. 61; no. 2; pp. 65 - 74
Main Authors Hubinský, Peter, Pospiech, Thomas
Format Journal Article
LanguageEnglish
Published Bratislava Versita 01.03.2010
De Gruyter Poland
Subjects
elimination of residual vibration
input signal shaping
liquid container transfer
two-mode system
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Abstract This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsystems, theoretical modelling of the complete system is described. With respect to industrial application, feedforward control is used to transfer the container in horizontal direction without sloshing. The applied method requires deterministic and hard real time communication between the PLC and the servo amplifier which is realized here with Ethernet POWERLINK. The principle structure, calculations, time duration and the robustness of the basic types of input shaper are described and compared with each other. Additionally the positioning results of the two-mode system are presented. Finally, a possibility of the principle software implementation is presented.
AbstractList Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsystems, theoretical modelling of the complete system is described. With respect to industrial application, feedforward control is used to transfer the container in horizontal direction without sloshing. The applied method requires deterministic and hard real time communication between the PLC and the servo amplifier which is realized here with Ethernet POWERLINK. The principle structure, calculations, time duration and the robustness of the basic types of input shaper are described and compared with each other. Additionally the positioning results of the two-mode system are presented. Finally, a possibility of the principle software implementation is presented.
Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsystems, theoretical modelling of the complete system is described. With respect to industrial application, feedforward control is used to transfer the container in horizontal direction without sloshing. The applied method requires deterministic and hard real time communication between the PLC and the servo amplifier which is realized here with Ethernet POWERLINK. The principle structure, calculations, time duration and the robustness of the basic types of input shaper are described and compared with each other. Additionally the positioning results of the two-mode system are presented. Finally, a possibility of the principle software implementation is presented.
This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental results, that a container filled with a liquid can be regarded as a damped pendulum. Upon parameter identification of the two single-mode subsystems, theoretical modelling of the complete system is described. With respect to industrial application, feedforward control is used to transfer the container in horizontal direction without sloshing. The applied method requires deterministic and hard real time communication between the PLC and the servo amplifier which is realized here with Ethernet POWERLINK. The principle structure, calculations, time duration and the robustness of the basic types of input shaper are described and compared with each other. Additionally the positioning results of the two-mode system are presented. Finally, a possibility of the principle software implementation is presented.
Author Pospiech, Thomas
Hubinský, Peter
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References B. MURPHY (9) 1992; 8
4
A. VITKO (7) 2008; 12
P. HUBINSKÝ (8) 2004
H. LUTZ (3) 1998
6
F. DODGE (1) 2000
A. RAOUF (2) 2005
P. HUBINSKÝ (5) 2005
References_xml – volume-title: Liquid Sloshing Dynamics
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  ident: 2
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    fullname: A. RAOUF
– year: 2004
  ident: 8
  article-title: Feedforward — Methods With Spectral Approach to Reduction of Oscillations in Mechatronic Systems
  contributor:
    fullname: P. HUBINSKÝ
– ident: 4
– start-page: 623
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  ident: 5
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  publication-title: Kybernetika Journal
  contributor:
    fullname: P. HUBINSKÝ
– volume: 8
  issue: 2
  year: 1992
  ident: 9
  article-title: Digital Shaping Filters for Reducing Machine Vibration
  publication-title: IEEE Transactions on robotics and automotion
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    fullname: B. MURPHY
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– volume: 12
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  article-title: Context Based Intelligent Behaviour of Mechatronic Systems
  publication-title: Acta Mechanica Slovaca
  contributor:
    fullname: A. VITKO
– volume-title: The New Dynamic Behaviour of Liquids in Moving Containers; remake of NASA SP106
  year: 2000
  ident: 1
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    fullname: F. DODGE
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Snippet This paper describes a method for slosh-free moving of containers with a liquid at which the conveyor belt is flexible. It shows, by means of experimental...
Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt This paper describes a method for slosh-free moving of containers with a liquid at...
Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt This paper describes a method for slosh-free moving of containers with a liquid at...
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StartPage 65
SubjectTerms elimination of residual vibration
input signal shaping
liquid container transfer
two-mode system
Title Slosh-Free Positioning of Containers with Liquids and Flexible Conveyor Belt
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