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Research Papers

Design and Development of a Novel 2DOF Actuation Slosh Rig

[+] Author and Article Information
Prasanna S. Gandhi

 Indian Institute of Technology, Bombay, Mumbai, Maharashtra 400076, Indiagandhi@me.iitb.ac.in

Keyur B. Joshi, N. Ananthkrishnan

 Indian Institute of Technology, Bombay, Mumbai, Maharashtra 400076, India

J. Dyn. Sys., Meas., Control 131(1), 011006 (Dec 08, 2008) (9 pages) doi:10.1115/1.3023113 History: Received July 07, 2007; Revised August 28, 2008; Published December 08, 2008

Sloshing of liquid in a tank is critical in several areas, including launch vehicles carrying liquid fuel, satellites, industrial packaging of liquids, systems handling molten metal, and so on. Hence modeling, characterization, and control of nonlinear slosh phenomena are important in these applications. To study slosh dynamics, develop useful identification schemes, and design and verify slosh control algorithms, a new 2DOF actuation slosh rig is reported in this paper considering the fact that most of the times these tanks are subjected to linear as well as pitching excitation/control inputs. The paper discusses mechatronic design and several advantages that the new design offers. A slosh phenomenon of beating observed when both lateral and pitching excitations are provided is simulated using a model based on pendulum approximation to slosh and is further verified in experiments. The results confirm that the effects of both excitations together can be detrimental against separate excitations of the same amplitude. Moreover, slosh compensation in open loop is demonstrated by giving excitation in pitching and developing a compensatory input in the lateral direction. Furthermore, active slosh control strategy is developed and its effectiveness is demonstrated with control in translation and disturbance in pitching. Thus the proposed rig is an ideal tool for the study, identification, and control development of slosh in the presence of two excitations/inputs.

Copyright © 2009 by American Society of Mechanical Engineers
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Figures

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Figure 1

Mechanism of pitching excitation

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Figure 2

Photograph of the proposed slosh rig interfaced with PC

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Figure 3

Schematic illustrating the placement of load cell

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Figure 4

Schematic of slosh rig interfaced with PC

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Figure 5

Simulation results: slosh angle in beating phenomenon

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Figure 6

Experimental results: slosh angle in beating phenomenon

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Figure 7

Simulation results: force Fx and moment My in beating phenomenon

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Figure 8

Experimental results: force Fx and moment My in beating phenomenon

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Figure 9

Excitation in pitching and compensation in linear DOF: simulation

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Figure 10

Excitation in pitching and compensation in linear DOF: experimental force and moment data

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Figure 11

Excitation in pitching and compensation in linear DOF: results at various fill fractions

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Figure 12

Experimental results: Fx with translation at an angle of 45 deg with respect to pitching axis

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Figure 13

Simplified schematic of the rig considering translation actuation

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Figure 14

Comparison of experimental slosh angles with and without control (initial lateral excitation)

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Figure 15

Comparison of experimental Fx values with and without control (initial lateral excitation)

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Figure 16

Comparison of experimental slosh angles with pitching disturbance with and without control in lateral input

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Figure 17

Experimental Fx values with pitching disturbance with and without control in lateral input

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Figure 18

Model of rig under coplanar pitching and translation excitation considering a two pendulum slosh

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Figure 19

Schematic showing the direction of translation excitation at an angle with respect to the axis of pitching

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