MakerBotControlSystem
From Clothbot
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| ==== Mechanical Engineering ==== | ==== Mechanical Engineering ==== | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-001Fall-2006/CourseHome/index.htm 2.001 Mechanics & Materials I] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-002Spring2004/CourseHome/index.htm 2.002 Mechanics and Materials II] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-003Spring-2005/CourseHome/index.htm 2.003 Modeling Dynamics and Control I] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-003JSpring-2007/CourseHome/index.htm 2.003J / 1.053J Dynamics and Control I] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-004Fall-2007/CourseHome/index.htm 2.004 Systems, Modeling, and Control II] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-12Fall-2005/CourseHome/index.htm 2.12 Introduction to Robotics] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-72Spring-2009/CourseHome/index.htm 2.72 Elements of Mechanical Design] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-067Spring-2004/CourseHome/index.htm 2.067 Advanced Structural Dynamics and Acoustics (13.811)] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-093Computer-Methods-in-DynamicsFall2002/CourseHome/index.htm 2.093 Computer Methods in Dynamics] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-094Spring-2008/CourseHome/index.htm 2.094 Finite Element Analysis of Solids and Fluids] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-158JSpring-2003/CourseHome/index.htm 2.158J / 1.128J / 16.940J Computational Geometry] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-171Fall-2006/CourseHome/index.htm 2.171 Analysis and Design of Digital Control Systems] | ||
| + | * [http://ocw.mit.edu/OcwWeb/Mechanical-Engineering/2-26Spring2004/CourseHome/index.htm 2.26 Compressible Fluid Dynamics] | ||
| * [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)] | * [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)] | ||
Revision as of 19:34, 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
- 6.011 Introduction to Communication, Control, and Signal Processing
- 6.231 Dynamic Programming and Stochastic Control
- 6.241 Dynamic Systems & Control
- 6.243J / 2.156J / 16.337J Dynamics of Nonlinear Systems
- 6.245 Multivariable Control Systems
- 6.091 Hands-On Introduction to Electrical Engineering Lab Skills
- 6.152J / 3.155J Micro/Nano Processing Technology
- 6.302 Feedback Systems
- 6.341 Discrete-Time Signal Processing
- 6.432 Stochastic Processes, Detection, and Estimation
- 6.435 System Identification
- 6.774 Physics of Microfabrication: Front End Processing
- 6.777J / 2.372J Design and Fabrication of Microelectromechanical Devices
Mechanical Engineering
- 2.001 Mechanics & Materials I
- 2.002 Mechanics and Materials II
- 2.003 Modeling Dynamics and Control I
- 2.003J / 1.053J Dynamics and Control I
- 2.004 Systems, Modeling, and Control II
- 2.12 Introduction to Robotics
- 2.72 Elements of Mechanical Design
- 2.067 Advanced Structural Dynamics and Acoustics (13.811)
- 2.093 Computer Methods in Dynamics
- 2.094 Finite Element Analysis of Solids and Fluids
- 2.158J / 1.128J / 16.940J Computational Geometry
- 2.171 Analysis and Design of Digital Control Systems
- 2.26 Compressible Fluid Dynamics
- 2.830J / 6.780J / ESD.63J Control of Manufacturing Processes (SMA 6303)
Materials Science and Engineering
- 3.00 Thermodynamics of Materials
- 3.016 Mathematics for Materials Scientists and Engineers
- 3.032 Mechanical Behavior of Materials
- 3.044 Materials Processing
- 3.063 Polymer Physics
- 3.064 Polymer Engineering
- 3.14 Physical Metallurgy
- 3.185 Transport Phenomena in Materials Engineering
- 3.A04 Modern Blacksmithing and Physical Metallurgy
- 3.11 Mechanics of Materials
- 3.20 Materials at Equilibrium (SMA 5111)
- 3.205 Thermodynamics and Kinetics of Materials
- 3.21 Kinetic Processes in Materials
- 3.22 Mechanical Behavior of Materials
- 3.225 Electronic and Mechanical Properties of Materials
