The paper considers a minimum-time feedforward motion control problem for an open container carrying a liquid. The proposed solution is a time-continuous acceleration planning that avoids liquid spilling and satisfies amplitude constraints on jerk, acceleration, and velocity of the container moving on a linear guide of an automation line. This solution is based on linear programming and can provide rest-to-rest liquid motion planning or, alternatively, a rest-to-disequilibrium planning with bounded post-motion liquid oscillations. Experimental results on a test bench prototype show the effectiveness of the presented approach.

Minimum-time feedforward control of an open liquid container / Consolini, Luca; Costalunga, Alessandro; Piazzi, Aurelio; M., Vezzosi. - (2013), pp. 3590-3595. (Intervento presentato al convegno IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society tenutosi a Vienna, Austria nel 10-13 November 2013) [10.1109/IECON.2013.6699706].

Minimum-time feedforward control of an open liquid container

CONSOLINI, Luca;COSTALUNGA, Alessandro;PIAZZI, Aurelio;
2013-01-01

Abstract

The paper considers a minimum-time feedforward motion control problem for an open container carrying a liquid. The proposed solution is a time-continuous acceleration planning that avoids liquid spilling and satisfies amplitude constraints on jerk, acceleration, and velocity of the container moving on a linear guide of an automation line. This solution is based on linear programming and can provide rest-to-rest liquid motion planning or, alternatively, a rest-to-disequilibrium planning with bounded post-motion liquid oscillations. Experimental results on a test bench prototype show the effectiveness of the presented approach.
2013
9781479902231
Minimum-time feedforward control of an open liquid container / Consolini, Luca; Costalunga, Alessandro; Piazzi, Aurelio; M., Vezzosi. - (2013), pp. 3590-3595. (Intervento presentato al convegno IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society tenutosi a Vienna, Austria nel 10-13 November 2013) [10.1109/IECON.2013.6699706].
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11381/2670262
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