Optimum design of tank shape and liquid contaienr transfer control considerug snppressin of sloshing

本研究的目的是在考虑传递时间、液位最大位移、能耗和污染的情况下，提出各种设计规格下液体容器的最优传递控制方法。本研究的目的也是为了获得将该控制系统应用于实际过程所需的知识。本文研究的主要内容如下。(1)将矩形或圆柱型液体容器的传递仅考虑为直线传递轨迹，将容器内的一阶模态晃动用单摆力学模型表示。以水或橄榄油为目标液体，考察粘度差异对晃动的影响。(2)通过仿真和实验，给出了一种基于卡尔曼滤波的最优伺服控制系统对液体容器输送的最优控制方法。本文还提出了利用单纯形法，利用卡罗尔创建响应面法合理求得最优伺服系统中二次性能函数的权重矩阵的方法。利用该方法，得到了适合实际各种性能指标的液体容器的最优传递控制。为了分析液体容器传递过程中可能出现的高阶晃动模式，采用边界元法进行了计算机模拟。晃动的基本方程是速度势的拉普拉斯方程和自由表面上的压力方程。然后，通过边界元法模拟研究了液体容器转移控制的溢出现象，并给出了避免溢出现象的方法。

The purpose of this research is to present the optimal transfer control method of liquid container for various desing specifications in consideration of the transfer time, maximum displacement of the liquid level, energy consumption, and contamination. The purpose of this research also is to obtain necessary knowledge for applying this control system to the actual processes.This main content of the present research is the following.(1) The rectangular or cylindrical-type liquid container transfer was considered in only a straight transfer track and first-order mode sloshing in the container was represented by a mechanical model using a simple pendulum. The target liquid is water or olive oil to investigate the effect of the difference of viscosity on sloshing.(2) An optimal control method for a liquid container transfer was given through simulations and experiments using optimal servo control system with kalman filter. This research also presents method for reasonably obtaining the weighting matrices of the quadratic performance function in the optimal servo system by means of Carroll's created-response surface method using the simplex method. With this method, the optimal transfer control of liquid container was obtained for the practical various performance specifications.In order to analyze the higher-order sloshing modes which may occur in liquid container transfer, computer simulation has been conducted by using the boundary element method (BEM) . The basic equations of sloshing are Laplace equation in terms of velocity potential and pressure equation on free surface. Then, spillover phenomena of liquid container transfer control has been studied by BEM simulations, and the method have been given to avoid the spillover phenomena.