Time- and state-dependent input delay-compensated bang-bang control of a screw extruder for 3D printing

DOI10.1002/RNC.3761zbMATH Open1386.49008OpenAlexW2590817262WikidataQ59621321 ScholiaQ59621321MaRDI QIDQ4599894FDOQ4599894

Authors Nikolaos Bekiaris-Liberis, Miroslav Krstic, Mamadou Diagne

Publication date 5 January 2018

Published in International Journal of Robust and Nonlinear Control (Search for Journal in Brave)

Full work available at URL https://arxiv.org/abs/1505.06375

zbMATH Keywords

time-varying delaybang-bang controlextrusion3D printingcoupled PDE/ODE

Mathematics Subject Classification ID

PDEs in connection with control and optimization (35Q93) Existence of optimal solutions belonging to restricted classes (Lipschitz controls, bang-bang controls, etc.) (49J30) Applications of optimal control and differential games (49N90)

Abstract: A delay-compensated Bang-Bang control design methodology for the control of the nozzle output flow rate of screw-extruder-based 3D printing processes is developed. The presented application has a great potential to move beyond the most commonly used processes such as Fused Deposition Modeling (FDM) and Syringe Based Extrusion (SBE), improving the build speed. A geometrical decomposition of the screw extruder in a partially and a fully filled regions (PFZ and FFZ) allows to describe the material convection in the extruder chamber by a 1D hyperbolic Partial Differential Equation (PDE) coupled with an Ordinary Differential Equation (ODE). After solving the hyperbolic PDE by the Method of Characteristics (MC), the coupled PDE-ODE's system is transformed into a nonlinear state-dependent input delay system. The aforementioned delay system is extended to the nonisothermal case with the consideration of periodic fluctuations acting on the material's convection speed, which represent the effect of viscosity variations due to temperature changes in the extruder chamber, resulting to a nonlinear system with an input delay that simultaneously depends on the state and the time variable. Global Exponential Stability (GES) of the nonlinear delay-free plant is established under a piecewise exponential feedback controller that is designed. By combining the nominal, piecewise exponential feedback controller with nonlinear predictor feedback the compensation of the time- and state-dependent input delay of the extruder model is achieved. Global Asymptotic Stability (GAS) of the closed-loop system under the Bang-Bang predictor feedback control law is established when certain conditions, which are easy to verify, related to the extruder design and the material properties, as well as to the magnitude and frequency of the materials transport speed variations, are satisfied.

Recommendations

• Compensation of input delay that depends on delayed input
• Prediction-based control of linear systems by compensating input-dependent input delay of integral-type
• Compensation of state-dependent state delay for nonlinear systems
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• Predictor-feedback stabilization of two-input nonlinear systems with distinct and state-dependent input delays

Cited in

(4)

• Prediction-based control of multi-input linear systems subject to distinct unknown delays
• Local proportional-integral boundary feedback stabilization for quasilinear hyperbolic systems of balance laws
• Robustness of reaction-diffusion PDEs predictor-feedback to stochastic delay perturbations
• Exponential regulation of the anti-collocatedly disturbed cage in a wave PDE-modeled ascending cable elevator

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