Development of the liquid tank transportation control system with an autonomous mobile overhead crane that considers safety and efficiency

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This research presents the development of control system of 3-D transfer of liquid tank with an overhead crane considering the suppression of sloshing. First of all, we will make an overhead crane experimental equipment that has the rod-tank system. Next, the mathematical model of the rod-tank system for the liquid transfer with an overhead crane is built by the double-pendulum model considering viscosity in this research. The validity of the proposed model is verified by comparing results of computer simulation with experiment. Finally, the control method of sloshing with an overhead crane, and optimal design of shape and size for the rod-tank system is discussed.