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A new approach of modeling and control for the tilting-ladle-type automatic pouring process is proposed. The flow rate model is described by nonlinear systems with hydrodynamics. The pouring control system is built by a feedforward control using inverse dynamics of the proposed model. In the control system, control parameters without a flow rate coefficient are obtained from configuration of the ladle, and the flow rate coefficient can be identified by doing experiment only one time. By using the proposed pouring control system, the actual flow rate of the outflow liquid from the ladle could be precisely approximated to the desired flow rate. A proposed system is applied to the tiltingladle-type automatic pouring system with a cylindrical ladle, and then the effectiveness of the system is shown in experiments.

Flow Rate Model for Tilting-Type Automatic Pouring System and Flow Rate Feedforward Control by using Inverse Model