A study on the 3D printing simulator for construction and application of robust control Using SMCSPO

摘要

In the field of architecture, 3D printing technology has the advantage of shortening the construction period by continuous addition and installing the desired shape and structure directly on site. However, the conventional 3D printer structure has limitations in practical use because of its versatility, mobility, and limited accessibility. In this study, a 3-axis gantry robot type 3D printing simulator for construction is proposed, and nozzle part is designed to inject viscous material. Since viscous material has strong nonlinear characteristics due to compression and elasticity, the robust controller Sliding Mode Control with Sliding Perturbation Observer (SMCSPO) was applied to the nozzle control and compared with the PID control results. From the simulation results, it can be confirmed that SMCSPO control is more suitable than PID control on the nozzle control for viscous material injection.