Research On Key Techniques Of Liquid Sloshing Adaptive Suppression During Movement

The sloshing of liquid in the liquid storage container will not only affect the stability of the system,but also seriously affect the accuracy of the system response,work efficiency and safety at the production field.A large number of studies have shown that the suppression of liquid sloshing requires the use of liquid state information for feedback control or the use of input shaping technology and command smoother to shape the input signal to suppress liquid sloshing.The technology of input shaping or command smoother increases the response time of the system and not suitable for application to low-level closed-loop control.Therefore,it is of great theoretical significance and practical application value to study liquid sloshing suppression methods that require fast response and do not require liquid state information feedback.In this paper,starting from the establishment of a dynamic model of liquid sloshing,the key technologies for adaptive suppression of liquid sloshing during movement are studied.The research work is carried out in the following three aspects.A multi-objective optimization control method based on input shaping technology and internal model sensitive components for liquid sloshing suppression is researched.For practical situations in which the liquid state information is undetectable,a mathematical definition of the sensitive component of the internal model is given,and compared with the liquid sloshing suppression based on input shaping technology,it can more quickly and accurately achieve the liquid sloshing suppression in movement.A model reference adaptive control method using liquid sloshing suppression model based on support vector machine regression prediction is researched.For a large amount of uncertainties in the system,the groundbreaking application of model reference adaptive control methods in the suppression of liquid sloshing,and the use of support vector machine regression to predict adaptive parameters,achieve the suppression of liquid sloshing in systems with uncertain parameters.The experimental platform of servo system based on EtherCAT is researched and experimental verification of the liquid sloshing suppression algorithms of this paper is conducted.It breaks through the limitation of the existing controller and realizes the closed-loop direct-drive control of the position loop,speed loop and torque loop of the bottom layer of the servo device by the host computer,while achieving a stable communication cycle of 1ms.Develop a carrying platform and a liquid level detection system.Based on the EtherCAT servo system experimental platform,the liquid sloshing suppression algorithm proposed in this paper is experimentally verified.Through the above research,this paper proposes a technology for adaptive suppression of liquid surface sloshing during liquid movement.Based on the equivalent mechanical model of liquid sloshing,fast motion response and liquid sloshing model reference adaptive suppression control are achieved.With the help of EtherCAT technology,a servo control system and an experimental platform are constructed,and the effectiveness,stability,and advancedness of the proposed control method and technology are verified by combining simulation and experiments.