Development of data-driven controller for slosh suppression in liquid cargo vehicles
Recently, with the rapid growth in science and engineering, most of the real world process plants have been built on a large scale and complex systems. As a consequence, modeling of such systems may become very difficult and require a lot of effort. Therefore, it is necessary to develop a control me...
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| Main Authors: | , , , , |
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| Format: | Research Report |
| Language: | English |
| Subjects: | |
| Online Access: | http://umpir.ump.edu.my/id/eprint/36535/1/Development%20of%20data-driven%20controller%20for%20slosh%20suppression%20in%20liquid%20cargo%20vehicles.wm.pdf http://umpir.ump.edu.my/id/eprint/36535/ |
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| Summary: | Recently, with the rapid growth in science and engineering, most of the real world process plants have been built on a large scale and complex systems. As a consequence, modeling of such systems may become very difficult and require a lot of effort. Therefore, it is necessary to develop a control method that does not depend on plant models, which is known as the data-driven control approach. At the same time, it is also worthy to consider an optimization tool for the data-driven approach that is simple to understand for engineers and can optimize a large number of control parameters in a fast manner. So far, there have not been enough literatures to discuss the application of data-driven control schemes for the above demands. Motivated by the above background, a data-driven control scheme is considered in our study. Here, a Safe Experimentation Dynamics (SED) algorithm is suggested as a promising tool for the data-driven control approach. Then, this research report focuses on assessing the effectiveness of the SED-based algorithm for data-driven proportional-integral derivative (PID) control tuning in liquid slosh problems. Slosh or oscillation of liquid inside a container often occurs in many cases, such as, vehicles or ships with liquid cargo carriers, molten metal industries, which is dangerous to handle by the operator. Moreover, sloshing of fuel and other liquids in moving vehicles may cause instability and rollover of the vehicle. For the past decades, various control strategies of liquid slosh motion are based on model-based control schemes. Nevertheless, these methods are difficult to apply in practice. The main reason is that their control schemes do not accurately consider the chaotic behaviour of slosh and the complex fluid dynamic motion in the container. Therefore, a data-driven approach will be more attractive. In this research project, we propose a data-driven PID controller design based on SED for controlling liquid slosh. The effectiveness of the proposed data-driven PID based SED is evaluated in terms of liquid slosh reduction, tracking performance, and computation time. In addition, the performance of the SED based methods is compared to the other stochastic optimization based approaches, such as Simultaneous Perturbation Stochastic Approximation (SA) and Simulated Annealing (SA). In this study, a real experimental rig of liquid slosh plant is considered to validate the effectiveness of our proposed scheme. In particular, we develop our own liquid slosh model from the input-output data of real plant through the system identification method. Then, the proposed data-driven PID based SED is applied to the developed model. The outcome of this study has shown that the SED based method is successfully produced better control performances as compared with other stochastic methods. In particular, the proposed data-driven PID scheme can produce slightly minimum liquid slosh motion while maintain the input tracking of the trolley position. |
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