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docs: Update Kinematics.md document with "smooth pressure advance"
Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
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7 changed files with 169 additions and 410 deletions
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@ -264,35 +264,36 @@ through the nozzle orifice (as in
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key idea is that the relationship between filament, pressure, and flow
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rate can be modeled using a linear coefficient:
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```
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stepper_position = requested_e_position + pressure_advance_coefficient * nominal_extruder_velocity
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pa_position = nominal_position + pressure_advance_coefficient * nominal_velocity
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```
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See the [pressure advance](Pressure_Advance.md) document for
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information on how to find this pressure advance coefficient.
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Once configured, Klipper will push in an additional amount of filament
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during acceleration. The higher the desired filament flow rate, the
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more filament must be pushed in during acceleration to account for
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pressure. During head deceleration the extra filament is retracted
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(the extruder will have a negative velocity).
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The basic pressure advance formula can cause the extruder motor to
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make sudden velocity changes. Klipper implements "smoothing" of the
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extruder movement to avoid this.
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One may notice that the pressure advance algorithm can cause the
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extruder motor to make sudden velocity changes. This is tolerated
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based on the idea that the majority of the inertia in the system is in
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changing the extruder pressure. As long as the extruder pressure does
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not change rapidly the sudden changes in extruder motor velocity are
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tolerated.
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The above graph shows an example of two extrusion moves with a
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non-zero cornering velocity between them. Note that the pressure
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advance system causes additional filament to be pushed into the
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extruder during acceleration. The higher the desired filament flow
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rate, the more filament must be pushed in during acceleration to
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account for pressure. During head deceleration the extra filament is
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retracted (the extruder will have a negative velocity).
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One area where sudden velocity changes become problematic is during
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small changes in head speed due to cornering.
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The "smoothing" is implemented by averaging the extruder position over
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a small time period (as specified by the
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`pressure_advance_smooth_time` config parameter). This averaging can
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span multiple g-code moves. Note how the extruder motor will start
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moving prior to the nominal start of the first extrusion move and will
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continue to move after the nominal end of the last extrusion move.
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To prevent this, the Klipper pressure advance code utilizes the move
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look-ahead queue to detect intermittent speed changes. During a
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deceleration event the code finds the maximum upcoming head speed
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within a configurable time window. The pressure is then only adjusted
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to this found maximum. This can greatly reduce (or even completely
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eliminate) pressure changes during cornering.
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Key formula for "smoothed pressure advance":
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```
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smooth_pa_position(t) =
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( definitive_integral(pa_position, from=t-smooth_time/2, to=t+smooth_time/2)
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/ smooth_time )
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```
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Add table
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Reference in a new issue