SMCSPO based 3D printing simulator control for building construction

In this paper, we propose 3D printing simulator which consist of a 3-axis gantry robot and nozzle system. 3-axis gantry robot follows injection path. Nozzle system utilizing principle of silicon gun injects silicon by using control unit. Injection experiment result using PID controller has not good performance due to modeling error, uncertainty and nonlinearity. To overcome the problems, sliding mode control with sliding perturbation observer (SMCSPO) control algorithm is simulated to determine whether it is suitable in simulator's controller or not. Simulation results show that SMCSPO overcomes the modeling error, uncertainty, disturbance of simulator. In the future, we will apply SMCSPO to nozzle injection experiment and tune SMCSPO gains.