MakerBotControlSystem

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=== [http://ocw.mit.edu/ MIT OpenCourseWare] === === [http://ocw.mit.edu/ MIT OpenCourseWare] ===
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-*** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-774Fall-2004/CourseHome/index.htm 6.774 Physics of Microfabrication: Front End Processing]+* [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-774Fall-2004/CourseHome/index.htm 6.774 Physics of Microfabrication: Front End Processing]
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-*** [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-830JSpring-2008/CourseHome/index.htm 2.830J / 6.780J / ESD.63J Control of Manufacturing Processes (SMA 6303)]+==== Mechanical Engineering ====
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-*** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-00Thermodynamics-of-MaterialsFall2002/CourseHome/index.htm 3.00 Thermodynamics of Materials]+ 
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-*** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-20Materials-at-EquilibriumFall2003/CourseHome/index.htm 3.20 Materials at Equilibrium (SMA 5111)]+* [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-A04Fall-2008/CourseHome/index.htm 3.A04 Modern Blacksmithing and Physical Metallurgy]
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-*** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-21Spring-2006/CourseHome/index.htm 3.21 Kinetic Processes in Materials]+* [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-20Materials-at-EquilibriumFall2003/CourseHome/index.htm 3.20 Materials at Equilibrium (SMA 5111)]
-*** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-22Spring-2008/CourseHome/index.htm 3.22 Mechanical Behavior of Materials]+* [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-205Fall-2006/CourseHome/index.htm 3.205 Thermodynamics and Kinetics of Materials]
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Revision as of 19:16, 7 May 2010

Contents

MakerBot: Control System Design, Implementation and Characterization

Time to brush off some of that rusty old control system design knowledge I once majored in.

Goals

My goals will be to:

  • Describe the MakerBot thermal, electrical and mechanical system in terms of a state-space model.
  • Model said system using the GNU Octave free open-source software (FOSS) suite of tools.
  • Design test and measurement criteria and data to generate a set of parameter estimation functions to calibrate the control system model.
  • Generate discrete-time state-space octave model.
  • Implement discrete-time algorithm using microcontroller or DSP (as required).

The Model

Controllable Parameters

Extruder

  • Heater On/Off (PWM control code)
  • DC Motor Voltage (PWM control code)
  • Nozzle aperture diameter (fixed)
  • Incoming filament diameter (fixed)

X Axis

  • Stepper Velocity (step rate)

Y Axis

  • Stepper Velocity (step rate)

Z Axis

  • Stepper Velocity (step rate)

Observable Parameters

Extruder

  • Relative Nozzle Temperature (thermistor ADC code)
    • Closed loop
  • Calibrated Nozzle Temperature (thermocouple based digital thermometer)
    • Open loop
  • Incoming filament position (with encoder wheel/sensor)
    • Closed loop
  • Incoming filament travel (callipers)
    • Open loop
  • Outgoing filament diameter (callipers)
    • Open loop
  • Outgoing filament length (callipers)
    • Open loop
  • Outgoing filament mass (scale)
    • Open loop
    • Possibly closed loop with build platform integrated weight cells.

X Axis

  • Endstop activation
    • Closed loop
  • Position (ruler)
    • Open loop

Y Axis

  • Endstop activation
    • Closed loop
  • Position (ruler)
    • Open loop

Z Axis

  • Endstop activation
    • Closed loop
  • Position (ruler)
    • Open loop

References

Online Course Material

MIT OpenCourseWare

Electrical Engineering and Computer Science

Mechanical Engineering

Materials Science and Engineering

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