3 Boyutlu Yazıcılar için Uyarlamalı PID Kontrol Tabanlı Algoritma Geliştirilmesi ve Gerçeklenmesi
Dünyada yaygın olarak kullanılan 3B yazıcılar farklı mekanik ve elektronik tasarımlarda üretilmektedirler. Kartezyen, delta ve core (xy, xz) gibi çeşitli mekanik yapılara sahip olan 3B yazıcılarda hâlihazırda Sprinter, Marlin, Cura 3D ve Teacup gibi açık kaynak kodlu farklı yazılımlar kullanılmaktadır. 3B yazıcıların denetimi genellikle klasik PID denetim algoritması ile yapılmaktadır. Bu çalışmada, klasik PID yerine uyarlamalı PID kontrol algoritması kullanılarak yeni bir yazılım ile 3B yazıcı tasarlanmakta ve geliştirilmektedir. Tasarlanan 3B yazıcıda beş adet adım motoru kullanılmakta, her bir motorun denetimi uyarlamalı PID ile yapılmaktadır. Ayrıca, ekstruder sisteminde hem ısıtma hem de soğutma yapıları bulunmakta olup bu süreçler uyarlamalı PID ile kontrol edilmektedir. Mekanik tasarımında ivmeli hareketler için elverişli olan kayış ve kasnak sürücü sistemi kullanılmaktadır. Sistemin yazılımında, 3B yazıcı yazılım aşamaları (giriş modeli, yönlendirme ve konumlandırma, destek yapıları, dilimleme, yol planlama, makine komutları) uygulanmaktadır. C ortamında gerçekleştirilen yazılımda ekstruder ve step motorlar için kontrol algoritmaları ayrı fonksiyon dosyaları şeklinde hazırlanmaktadır. Tasarlanan yazılımın özellikle ürünlerin yüzeyindeki hataların giderilmesinde başarılı olduğu gözlemlenmektedir.
The Algorithm Development and Implementation for 3D Printers based on Adaptive PID Controller
The 3D printers widely used in the world are produced in different mechanical and electronic designs. The 3D printers which have various mechanical structures such as cartesian, delta and core (xy, xz) already are used open source code software such as Sprinter, Marlin, Cura 3D and Teacup. The control of the 3D printers is usually done by the classical Propotional-Integral-Derivative (PID) control algorithm. In this study, we have developed for the designed 3D printer a new software by using adaptive PID control algorithm instead of classical PID. Five step motors of the designed 3D printer are controlled by the adaptive PID. In addition, there are both heating and cooling processes in the extruder system and these processes are controlled by the adaptive PID. The mechanical design uses a belt and pulley drive system which is suitable for accelerated movements. In the system software, 3D Printing Software Pipeline (input model, orientation and positioning, support structures, slicing, path planning, machine instructions) is applied. The control algorithms for extruder and step motors are prepared as separate function files in software implemented in C. It has been observed that the designed software is particularly successful in eliminating errors on the surface of the products.
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