Sloshing suppression control during liquid container transfer involving dynamic tilting using Wigner distribution analysis

This paper addresses concerned with the advanced control of the transfer of liquid in a container, with special consideration given to transfer involving liquid container with dynamic tilting as well as the suppression of sloshing (liquid vibration) while maintaining a high transfer speed for the container. In the transfer with dynamic (continuous) tilting, the sloshing's natural frequency is varied with the change of tilting angle. In order to suppress the sloshing caused by such transfer, a new controller design method is proposed. First, the varying natural frequency is estimated using the Wigner distribution. Then, in order to suppress the sloshing, the position control is designed using the hybrid shape approach utilizing a time-varying notch filter. The effectiveness of the proposed control system is shown experimentally in a liquid container transfer system.