Abstract
In this paper, sloshing in a cylindrical container caused by a curved path transfer is represented by a spherical pendulum model. The model is used to design the curved path and the cart control system considering the damping of sloshing in the liquid container transfer. Radii of curved path are designed by a preshaping method, and a two-degree-of-freedom control system is applied to control the position and the speed of the container on the cart. The two-degree-of-freedom control system is constructed of feed-forward and feedback parts. The feed-forward control input is derived from the preshaping method, and the feedback part is constructed from a LQ controller and Kalman filter. The effectiveness of the present method has been clarified through experimental and simulation results.
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