MakerBotControlSystem
From Clothbot
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* Position (ruler) | * Position (ruler) | ||
** Open loop | ** Open loop | ||
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+ | = References = | ||
+ | |||
+ | == Online Course Material == | ||
+ | |||
+ | * [http://ocw.mit.edu/ MIT OpenCourseWare] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-011Spring2004-Spring2005/CourseHome/index.htm 6.011 Introduction to Communication, Control, and Signal Processing] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-231Fall-2008/CourseHome/index.htm 6.231 Dynamic Programming and Stochastic Control] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-241Fall2003/CourseHome/index.htm 6.241 Dynamic Systems & Control] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-243JFall2003/CourseHome/index.htm 6.243J / 2.156J / 16.337J Dynamics of Nonlinear Systems] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-245Spring2004/CourseHome/index.htm 6.245 Multivariable Control Systems] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-091January--IAP--2008/CourseHome/index.htm 6.091 Hands-On Introduction to Electrical Engineering Lab Skills] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-152JFall-2005/CourseHome/index.htm 6.152J / 3.155J Micro/Nano Processing Technology] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-302Spring-2007/CourseHome/index.htm 6.302 Feedback Systems] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-341Fall-2005/CourseHome/index.htm 6.341 Discrete-Time Signal Processing] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-432Spring2004/CourseHome/index.htm 6.432 Stochastic Processes, Detection, and Estimation] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Electrical-Engineering-and-Computer-Science/6-435Spring-2005/CourseHome/index.htm 6.435 System Identification] | ||
+ | ** [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/6-777JSpring-2007/CourseHome/index.htm 6.777J / 2.372J Design and Fabrication of Microelectromechanical Devices] | ||
+ | ** [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/Materials-Science-and-Engineering/3-00Thermodynamics-of-MaterialsFall2002/CourseHome/index.htm 3.00 Thermodynamics of Materials] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-044Spring-2005/CourseHome/index.htm 3.044 Materials Processing] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-063Spring-2007/CourseHome/index.htm 3.063 Polymer Physics] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-064Polymer-EngineeringFall2003/CourseHome/index.htm 3.064 Polymer Engineering] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-14Fall2003/CourseHome/index.htm 3.14 Physical Metallurgy] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-185Fall-2003/CourseHome/index.htm 3.185 Transport Phenomena in Materials Engineering] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-A04Fall-2008/CourseHome/index.htm 3.A04 Modern Blacksmithing and Physical Metallurgy] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-11Mechanics-of-MaterialsFall1999/CourseHome/index.htm 3.11 Mechanics of 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/3-205Fall-2006/CourseHome/index.htm 3.205 Thermodynamics and Kinetics of Materials] | ||
+ | ** [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/3-22Spring-2008/CourseHome/index.htm 3.22 Mechanical Behavior of Materials] | ||
+ | ** [http://ocw.mit.edu/OcwWeb/Materials-Science-and-Engineering/3-225Fall-2007/CourseHome/index.htm 3.225 Electronic and Mechanical Properties of Materials] |
Revision as of 19:10, 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
- 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
- 2.830J / 6.780J / ESD.63J Control of Manufacturing Processes (SMA 6303)
- 3.00 Thermodynamics 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