Abstract
The need for fast maneuvering and accurate positioning of flexible structures poses a control challenge. The flexibility inherent in these lightly damped systems creates large residual vibrations in response to fast disturbances. Several control approaches have been proposed to tackle this class of problems, of which the input shaping technique seems quite appealing. While input shaping has been widely investigated to attenuate residual vibrations in flexible structures, less attention was granted to expand its viability in further applications. It is therefore the aim of this work to develop a methodology for applying input shaping techniques to suppress sloshing effects in open moving containers to facilitate safe and fast point-to-point movements. The liquid behavior is modeled using finite element analysis. The input shaper parameters are optimized to find the commands that would result in minimum residual vibration. Other objectives, such as improved robustness and motion constraints such as deflection limiting are also included in the optimization scheme. Numerical results are verified on an experimental setup consisting of a small motor-driven water tank that is precisely guided to undergo rectilinear motion, while measuring both the tank motion and free surface displacement of the water. The results obtained suggest that input shaping is an effective method for suppressing residual liquid vibrations.
School
School of Sciences and Engineering
Department
Mechanical Engineering Department
Degree Name
MS in Mechanical Engineering
Date of Award
2-1-2008
Online Submission Date
2-27-2013
First Advisor
Arafa, Mustafa
Committee Member 1
Arafa, Mustafa
Committee Member 2
Nassef, Ashraf
Document Type
Thesis
Extent
91 p.
Rights
The author retains all rights with regard to copyright.
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IRB
Not necessary for this item
Recommended Citation
APA Citation
Aboel Hassan, A.
(2008).Design and optimization of input shapers for liquid slosh suppression [Thesis, the American University in Cairo]. AUC Knowledge Fountain.
https://fount.aucegypt.edu/retro_etds/2291
MLA Citation
Aboel Hassan, Ameen. Design and optimization of input shapers for liquid slosh suppression. 2008. American University in Cairo, Thesis. AUC Knowledge Fountain.
https://fount.aucegypt.edu/retro_etds/2291