Investigation on the Application of Operating Speed Dependent Motion Profiles in Processing Machines at the Example of Controlling Liquid Slosh

  • Clemens TrollEmail author
  • Sven Tietze
  • Jens-Peter Majschak
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 73)


This paper deals with the task of conveying open containers filled with liquids in processing machines. It is experimentally shown that the process indicates a significant dynamic behavior. Such behavior leads to undesired effects like residual vibration. Common motion profiles cannot avoid these vibrations. Due to this a limited usable machine operating speed range results. For increasing this range, the necessity of operating speed dependent motion profiles is explained, for which an approach is constructed by using a special motion law. Eventually, the success of this approach is experimentally shown.


Processing machines Trajectory optimizing Liquid slosh 


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Abramson, H. N. (Editor): The Dynamic Behavior of Liquids in Moving Containers. With Applications to Space Vehicle Technology. (1966).Google Scholar
  2. 2.
    Ibrahim, R. A.: Liquid Sloshing Dynamics. Theory and Applications. (2005).Google Scholar
  3. 3.
    Hamaguchi, M. and Terashima, K.: Modeling and Optimal Control of Liquid Vibration in Transferring a Rectangular Container. In: Proceeding of FLUCOME 1, 379-384 (1994).Google Scholar
  4. 4.
    Yano, K., Yoshida, T., Hamaguchi, M., Terashima, K.: Liquid Container Transfer Considering the Suppression of Sloshing for the Change of Liquid Level. In: 13th World Congress of IFAC 29(1), 701 – 706 (1996).CrossRefGoogle Scholar
  5. 5.
    Bosch Rexroth: How Adaptive Systems unlock big productivity gains. (2014).Google Scholar
  6. 6.
    Harris, C. M., and Piersol, A. G.: Harris’ Shock and Vibration Handbook. 5th edition. McGraw Hill (2002).Google Scholar
  7. 7.
    Singhose, W.: Command Shaping for Flexible Systems: A Review of the First 50 Years. International Journal of Precision Engineering and Manufacturing 10(4), 153-168 (2009).CrossRefGoogle Scholar
  8. 8.
    Holowenko, O., Kauschinger, B. and Ihlenfeldt, S.: Increasing the Performance of Processing Machines by Executing Output Rate Dependent Motion Profiles. International Journal of Automation Technology 11(2), 165-170 (2017).CrossRefGoogle Scholar
  9. 9.
    Troll, C., Schebitz, B., Majschak, J.-P., Döring M., Holowenko, O. and Ihlenfeldt, S.: Commissioning new applications on processing machines. Part II - implementation. Advances in Mechanical Engineering 10(1), 1–12 (2018).Google Scholar
  10. 10.
    Dietze, S. and Schmidt, F. J.: Entwurf zur Optimalsteuerung offener Behälter zum Fördern von Fluid in Verarbeitungsmaschinen. Technical Report MATH-NM-13-1997, (1997).Google Scholar
  11. 11.
    Grundelius, M.: Methods for Control of Liquid Slosh. Department of Automatic Control, Lund Institute of Technology (2001).Google Scholar

Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Clemens Troll
    • 1
    Email author
  • Sven Tietze
    • 1
  • Jens-Peter Majschak
    • 1
  1. 1.Chair of Processing Machines and Processing TechnologyInstitute of Natural Materials Technology, Technische Universität DresdenDresdenGermany

Personalised recommendations