Control of Pendulum-Sloshing Dynamics in Suspended Liquid Containers

Motion-induced unwanted cable swing and liquid sloshing degrade the effectiveness and safety of suspended liquid container. The manipulations of cable-suspended liquid container become more challenging due to the coupled pendulum-sloshing dynamics. This article develops the dynamic modeling of cable-suspended liquid container with coupled pendulum-sloshing dynamics. Afterward, a novel control method is proposed for controlling the coupled pendulum-sloshing dynamics. Numerous simulated and experimental results obtained from a small-scale industrial crane carrying a liquid container validated the dynamic behavior of the nonlinear model and demonstrated the effectiveness of the control method.