Liquid Slosh Suppression Hardware-in-the-Loop System by Implementing PID Model-Free Controller
Keywords:
liquid slosh suppression, Labview, myRIO, PID controllerAbstract
Traditionally, the model-based controllers are hard to implement for the container system which contains liquid due to the disordered behavior of the liquid slosh. The purpose of this article is to develop a liquid slosh suppression hardware-in-the-loop (HIL) system by implementing model-free PID controller. This system consists of DC motor to actuate the liquid container/tank to the prescribed location in the horizontal movement in the same time minimize the liquid slosh. The feedback signal from the encoder is used for developing the model-free PID controller. The experiment works is done by using LabVIEW and interfaced with hardware via data acquisition card. The performances evaluation of the liquid slosh suppression HIL system are based on the
ability of the tank to follow the input in horizontal motion and liquid slosh level reduction. Based on the experimental results, the suggested model-free PID controller is capable to reduce the liquid
slosh level up to 75% in the same time produces fast input tracking of the tank compared to system
without PID.
Downloads
References
P. Krata, “Linear Characteristics of the Sloshing Phenomenon for the Purpose of On-Board Ship’s Stability Assessment,” Journal of Theoretical and Applied Mechanics. 47 (2). pp. 307-320. 2009.
K. Terashima and K. Yano, “Sloshing analysis and suppression control of tilting-type automatic pouring machine,” Control Engineering Practice. Vol 9. pp. 607-620. 2001.
T. Acarman and U. Ozguner, “Rollover prevention for heavy trucks using frequency shaped sliding mode control,” International Journal of Vehicle Mechanics and Mobility. Vol. 44 (10). 2006.
B. U. Guzel, M. Gradinscak, S. E. Semercigil and O. F. Turan, “Control of Liquid Sloshing in Flexible Containers: Part 1. Added Mass,” in 15th Australasian Fluid Mechanics Conference, Sydney, Australia, 13-17 December 2004.
A. P. March, M. Prakash, S. E. Semercigil and O. F. Turan, “A shallow-depth sloshing absorber for structural control,” Journal of Fluids and Structures, vol. 26. pp. 780-792. 2010.
L. Consolini. A. Costalunga. A. Piazzi and M. Vezzosi, “Minimum-time feedforward control of an open liquid container,” in IECON 2013 - 39th Annual Conference of the IEEE Industrial Electronics Society, Vienna, 2013, pp. 3592-3597.
L. Moriello, L. Biagiotti, C. Melchiorri and A. Paoli, “Control of Liquid Handling Robotic Systems: a Feed-Forward Approach to Suppress Sloshing,” in IEEE International Conference on Robotics and Automation (ICRA), Singapore, May 29-June 3, 2017. pp. 4286-4291.
Q. Zang, J. Huang and Z. Liang, “Slosh Suppression for Infinite Modes in a Moving Liquid Container.” IEEE/ASME Transactions on Mechatronics. Vol. 20 (1). pp. 217-225. 2015.
A. Alsaibie and W. Singhose, “Experimental Testing of Liquid Slosh Suppression in a Suspended Container with Compound-Pendulum Dynamics,” in 2013 9th Asian Control Conference (ASCC), Istanbul, 2013, pp. 1-6.
A. Samba Murthy, A. Kivila and W. Singhose, “Slosh Suppression of a Liquid in a Suspended Container using Robust Input Shaping,” in 19th International Congress on Sound and Vibration, Vilnius, Lithuania, July 8-12. 2012. pp. 1-8.
J. P. Mishra and S. R. Kurode, “Robust Output-Feedback Control for Container-Slosh System using Variable Gain Super-Twisting Algorithm,” in 13th IEEE Workshop on Variable Structure Systems, Nantes, France. June 29-July 2, 2014. pp. 1-6.
S. Kurode, S. K. Spurgeon, B. Bandyopadhyay and P. S. Gandhi, “Sliding Mode Control for Slosh-Free Motion Using a Nonlinear Sliding Surface,” IEEE/ASME Transactions on Mechatronics. Vol. 18(2). pp. 714-724. 2013.
M. A. Ahmad, M. A. Rohani, R. M. T. Raja Ismail, M. F. Mat Jusof, M. H. Suid and A. N. K. Nasir, “A Model-Free PID Tuning to Slosh Control using Simultaneous Perturbation Stochastic Approximation,” in 2015 IEEE International Conference on Control System, Computing and Engineering (ICCSCE), George Town, 2015, pp. 331-335.
N. S. Abdul Shukor, M. A. Ahmad and M. Z. Mohd Tumari. “Data-driven PID Tuning based on Safe Experimentation Dynamics for Control of Liquid Slosh,” in IEEE 8th Control and System Graduate Research Colloquium (ICSGRC), 4-5 August 2017, Shah Alam, Malaysia. pp. 62-66.
N. M. Z. A. Mustapha, M. Z. Mohd Tumari, M. H. Suid, R. M. T. Raja Ismail and M. A. Ahmad. “Data-Driven PID Tuning for Liquid Slosh-Free Motion Using Memory-Based SPSA Algorithm,” in Proceedings of the 10th National Technical Seminar on Underwater System Technology. Springer, Singapore. pp. 197-210. 2018.
B. Robu, L. Baudouin, C. Prieur and D. Arzelier, “Simultaneous H-infinity vibration control of liquid/plate system via reduced-order controller,” IEEE Transactions on Control Systems Technology, Institute of Electrical and Electronics Engineers. Vol. 20(3). pp 700-711. 2012.
D. Setyo Purnomo, A. R. Anom Besari and Z. Darojah, “Control of Liquid Sloshing Container using Active Force Control Method,” IOP Conf. Series: Materials Science and Engineering. Vol. 190. pp. 1-8. 2017.
M. Z. Mohd Tumari, S. Saat, M. S. Johal, M. F. Bahari and M. A. Ahmad. “Single Input Fuzzy Logic Controller for Liquid Slosh Suppression,” International Journal of Electrical Engineering and Applied Sciences (IJEEAS). Vol. 2 (1). pp. 45-52. 2019.
M. Z. Mohd Tumari, L. Shabudin, M. A. Zawawi and L. H. Ahmad Shah, “Active sway control of a gantry crane using hybrid input shaping and PID control schemes,” IOP Conference Series: Materials Science and Engineering. Vol. 50 (1). pp. 012029. 2013.
M. N. Kamarudin, S. M. Rozali, M. H. Hairi, F. Hanaffi, M. S. Mohd Aras and M. K. Mohd Zambri, “Realization of Real-Time Hardware-in-the-Loop for a Liquid Level with Open-loop Ziegler Nichols Technique,” International Journal of Electrical Engineering and Applied Sciences. Vol. 1(2). pp. 47-51. 2018.
K. H. Ang, G. Chong, Yun Li (2005), "PID control system analysis, design, and technology, " IEEE Transactions on Control Systems Technology, vol. 13 (4). pp. 559–576. 2005.
Downloads
Published
How to Cite
Issue
Section
License
Authors who publish with this journal agree to the following terms:
- Authors retain copyright and grant the journal right of first publication with the work simultaneously licensed under a Creative Commons Attribution License that allows others to share the work with an acknowledgement of the work's authorship and initial publication in this journal.
- Authors are able to enter into separate, additional contractual arrangements for the non-exclusive distribution of the journal's published version of the work (e.g., post it to an institutional repository or publish it in a book), with an acknowledgement of its initial publication in this journal.
- Authors are permitted and encouraged to post their work online (e.g., in institutional repositories or on their website) prior to and during the submission process, as it can lead to productive exchanges, as well as earlier and greater citation of published work (See The Effect of Open Access).
