Motion Control - Slosh Free movement of open Containers
Background
In a Motion Control System the objective is to control the motion of a
mechanical system. The desired motion is specified as an acceleration
reference. A block diagram of the control system is shown below. Typically,
the feedback loop is a PID controller and the feedforward is used to compensate
for the inertia of the mechanical system, viscous and static friction.
At the department we have an experimental setup from Tetra Pak, see
picture below, where the control system can be evaluated. The setup is
used to for fast movement an open container containing liquid without excessive
slosh. This is a common problem in the packaging industry.The setup is
now controlled with a comercial Motion Control system from Atlas Copco.
The Task
Design and implementation of:
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Motion Control system on a VME-PowerPC system, using our own Real-time
kernel
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Graphical User Interface programmed in Java
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Automatic tuning functions for both the feedback loop and the feedforward
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Iterative Learning Control algorithms for fast movement of open containers
containg liquid without excessive slosh - try to beat the industrial teams!
Contacts
Supervisors are Mattias Grundelius and Tore Hägglund: