- Titel
- Damping of Sloshing in a Moving Container
- Zitierfähige Url:
- https://nbn-resolving.org/urn:nbn:de:bsz:l189-qucosa2-1026562
- Konferenz
- 22. AALE-Konferenz. Rosenheim, 25. Februar - 27. Februar 2026
- Quellenangabe
- Tagungsband AALE 2026
; Mechatronische Systeme für die Automatisierung: Fortschritt durch Präzision und Qualität
Herausgeber: Hochschule für Technik, Wirtschaft und Kultur Leipzig
Erscheinungsort: Leipzig
Erscheinungsjahr: 2026
Seiten: 191-200
ISBN: 978-3-910103-08-5 - Erstveröffentlichung
- 2026
- DOI
- https://doi.org/10.33968/2026.19
- Abstract (EN)
- Liquid sloshing limits speed, accuracy, and reliability of pick-and-place systems, laboratory automation, and mobile robots that transport open containers. Motivated by industrial anti-sloshing motion functions [1], this work presents a compact testbed and a simple open-loop strategy that reproduces the effect on a low-cost setup. A camera rigidly mounted to the carriage moves with the tank and records the free surface, enabling extraction of the visible surface angle per frame. The first two sloshing frequencies and the dominant-mode damping are identified from experiments. The dominant mode is then modeled as a lightly damped second-order system excited by the carriage motion. Two command-side strategies are compared: Zero-Vibration-Derivative (ZVD) input shaping and an inverse transfer function prefilter. The ZVD method delivers near-zero residual slosh after the end of the move with a predictable, fixed time extension equal to the damped period. The inverse function prefilter also suppresses the sloshing with the advantage of being a simpler approach. Both approaches are open-loop and need only the identified frequency and damping for a given fill level of the container. A single-mode simulation based on the identified model predicts the measured behaviour successfully, and both suppression strategies are verified in simulation and experiments.
- Freie Schlagwörter (DE)
- 22. Konferenz für Angewandte Automatisierungstechnik in Lehre und Entwicklung an Hochschulen (AALE)
- Freie Schlagwörter (EN)
- Sloshing, input shaping, system identification, feedforward control, vibration suppression
- Herausgeber (Institution)
- Hochschule für Technik, Wirtschaft und Kultur Leipzig, Leipzig
- Version / Begutachtungsstatus
- publizierte Version / Verlagsversion
- URN Qucosa
- urn:nbn:de:bsz:l189-qucosa2-1026562
- Veröffentlichungsdatum Qucosa
- 26.02.2026
- Dokumenttyp
- Konferenzbeitrag
- Sprache des Dokumentes
- Englisch
- Lizenz / Rechtehinweis
CC BY 4.0