基于水泥基材料挤出的鲁棒线性二次最优控制
Robust Linear Quadratic Optimal Control of Cementitious Material Extrusion
AI总结：
本文提出一种鲁棒线性二次最优控制框架，用于调节水泥直接墨水书写系统的材料挤出，以提高在扰动、材料性能变化和过程不确定性下的稳定性与精度。
摘要：
基于挤出的3D打印水泥基材料能够制造复杂结构，但对扰动、材料性能变化和过程不确定性高度敏感，这会降低流体稳定性与尺寸保真度。为解决这些问题，本文提出了一种鲁棒线性二次最优控制框架，用于调节水泥直接墨水书写系统的材料挤出。打印机被建模为两个耦合子系统：一个代表喷嘴流动动力学的执行系统，另一个描述在构建板上打印丝流动的打印系统。开发了一种混合控制架构，结合滑模控制用于扰动抑制和线性二次最优反馈用于能量高效跟踪，以确保鲁棒性和最优性。在模拟案例研究中，该控制架构在有界扰动下保证喷嘴和丝流动跟踪误差的可接受收敛。
英文摘要：
Extrusion-based 3D printing of cementitious materials enables fabrication of complex structures, however it is highly sensitive to disturbances, material property variations, and process uncertainties that decrease flow stability and dimensional fidelity. To address these challenges, this study proposes a robust linear quadratic optimal control framework for regulating material extrusion in cementitious direct ink writing systems. The printer is modeled using two coupled subsystems: an actuation system representing nozzle flow dynamics and a printing system describing the printed strand flow on the build plate. A hybrid control architecture combining sliding mode control for disturbance rejection with linear quadratic optimal feedback for energy-efficient tracking is developed to ensure robustness and optimality. In simulation case studies, the control architecture guarantees acceptable convergence of nozzle and strand flow tracking errors under bounded disturbances.
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