Optimum design of tank shape and liquid contaienr transfer control considerug snppressin of sloshing

考虑晃动抑制的罐体形状及液体容器输送控制优化设计

• 批准号: 05650233
• 负责人: TERASHIMA Kazuhiko
• 金额: $ 1.22万
• 依托单位: Toyohashi University of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1994
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05650233/
• 关键词: sloshing control; Liquid container Transfer control; Optimum design of Jank shape; Vibration control; Optimum design of weighting matrix in LQ control; タンク形状最適化; スロッシング; 搬送制御; 流体振動制御; BEM; ロバスト制御; 最適レギュレータ; 重み行列の自動決定; グラジエント法

The purpose of this research is to present the optimal transfer control method of liquid container for various desing specifications in consideration of the transfer time, maximum displacement of the liquid level, energy consumption, and contamination. The purpose of this research also is to obtain necessary knowledge for applying this control system to the actual processes.This main content of the present research is the following.(1) The rectangular or cylindrical-type liquid container transfer was considered in only a straight transfer track and first-order mode sloshing in the container was represented by a mechanical model using a simple pendulum. The target liquid is water or olive oil to investigate the effect of the difference of viscosity on sloshing.(2) An optimal control method for a liquid container transfer was given through simulations and experiments using optimal servo control system with kalman filter. This research also presents method for reasonably obtaining the weighting matrices of the quadratic performance function in the optimal servo system by means of Carroll's created-response surface method using the simplex method. With this method, the optimal transfer control of liquid container was obtained for the practical various performance specifications.In order to analyze the higher-order sloshing modes which may occur in liquid container transfer, computer simulation has been conducted by using the boundary element method (BEM) . The basic equations of sloshing are Laplace equation in terms of velocity potential and pressure equation on free surface. Then, spillover phenomena of liquid container transfer control has been studied by BEM simulations, and the method have been given to avoid the spillover phenomena.

本研究的目的是在考虑传输时间、液位最大位移、能耗和污染的情况下，提出针对各种设计规格的液体容器的最佳传输控制方法。本研究的目的也是为了获得将该控制系统应用到实际过程中所必需的知识。本研究的主要内容如下：（1）矩形或圆柱形液体容器传输仅考虑直线转移轨迹和容器中晃动的一阶模式通过使用简单摆的机械模型来表示。以水或橄榄油为目标液体，研究粘度差异对晃动的影响。(2)利用带卡尔曼滤波器的最优伺服控制系统，通过仿真和实验，给出了液体容器输送的优化控制方法。本研究还提出了利用单纯形法，利用卡罗尔创建响应面法，合理获得最优伺服系统二次性能函数权重矩阵的方法。为了分析液体容器传输过程中可能出现的高阶晃动模态，采用边界元法进行了计算机仿真（边界元法）。晃动的基本方程是速度势方程和自由表面压力方程的拉普拉斯方程。然后，通过边界元模拟研究了液体容器传输控制的溢出现象，并给出了避免溢出现象的方法。

项目成果

濱口,雅史、茂木,隆彦、寺嶋,一彦、野村宗之: "境界要素解剖に基づく液体タンクの最適搬送制御" 計測自動制御学会論文集. 31(9号)-予定. (1995)

Hamaguchi、Masashi、Mogi、Takahiko、Terashima、Kazuhiko 和 Nomura Muneyuki：“基于边界元分析的液体储罐的优化传输控制”，仪器与控制工程师学会汇刊 31(9)-预定 (1995)。

K.Terashima,M.Hamaguchi and G.Schmidt: "Sloshing Aaslysis and Transportation Control of Rectangnlen Liquid JanR" Proc.of 1st Asian Control Conference,Tokyo(JAPAN). Vol.2. 773-776 (1994)

K.Terashima、M.Hamaguchi 和 G.Schmidt：“矩形液体 JanR 的晃动分析和运输控制”，第一届亚洲控制会议，东京（日本）。

M.Hamaguchi and K.Terashima: "Modelling and optimal control of liquid vibration in transferring a rcctangular container" Proc. of FLUCOME '94-4th Triennial Int. Symp. on Fluid Conotrol Measurement and Visualization, Vol. 1, Toulouse France, Aug. 379-384 (

M.Hamaguchi 和 K.Terashima：“矩形容器传输过程中液体振动的建模和优化控制”Proc。

寺嶋一彦: "Transportation Control of Container considering Suppression of Liquid Vibration" Proceedings of the second European Control Conference(ECC'93). 3. 1297-1303 (1993)

Kazuhiko Terashima：“考虑液体振动抑制的集装箱运输控制”第二届欧洲控制会议记录(ECC93) 3. 1297-1303 (1993)。

M.Hamaguchi and K.Terachima: "Modelling and Optincl Contrul of Ligid Uibraeoon in Traneferreing a Rectangula Container" Prot of FLUCOUE 194-4th Jriennicl out Symp on Flnid Contvel Measureasid and Visoaligation (Tonlouse(France)). Vol1. 379-384 (1994)

M.Hamaguchi 和 K.Terachima：“在 Traneferreing 矩形容器中的 Ligid Uibraeoon 的建模和光学控制”FLUCOUE 194-4th Jriennicl 的 Flnid Contvel Measureasid 和 Visoaligation 症状的 Prot（Tonlouse（法国））。