Antisloshing Trajectories for High-Acceleration Motions in Automatic Machines

This paper studies the design of antisloshing trajectories for application in automatic machines for packaging liquid products, with specific reference to cylindrical containers and emphasis on prescribed motion durations. Different strategies, based on a discrete linear model of the sloshing phenomenon and applicable in real-time, are analyzed to perform antisloshing feedforward control of the container motion: finite impulse response (FIR) filters (input shapers and others), dynamic-model inversion, and infinite impulse response (IIR) filters. Unlike the previous literature, these strategies are applied to highly dynamical motion laws, with maximum accelerations from 4 m/s2 to 13 m/s2. The effectiveness of the proposed antisloshing trajectories is assessed by experiments.