MakerBotControlSystem
From Clothbot
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Revision as of 01:42, 7 May 2010
Contents |
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MakerBot: Control System Design, Implementation and Characterization
Time to brush off some of that rusty old control system design knowledge I once majored in.
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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 [[1][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).
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The Model
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Controllable Parameters
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Extruder
- Heater On/Off (PWM control code)
- DC Motor Voltage (PWM control code)
- Nozzle aperture diameter (fixed)
- Incoming filament diameter (fixed)
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X Axis
- Stepper Position
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Y Axis
- Stepper Position
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Z Axis
- Stepper Position
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Observable Parameters
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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.
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X Axis
- Endstop activation
- Closed loop
- Position (ruler)
- Open loop
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Y Axis
- Endstop activation
- Closed loop
- Position (ruler)
- Open loop
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Z Axis
- Endstop activation
- Closed loop
- Position (ruler)
- Open loop