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Post by mhensen on Feb 28, 2016 1:53:10 GMT
(...) So what should be theoretically the right lever length?! any advice appreciated!!(...)
Please provide:
motor RMS motor peak torque curve. gearbox ratio gearbox nominal and maximal output torque
hmmm.. only know the max outut on the gearbox of 200nm and 23.3 rpm.. what do I need for RMS ?? I see on the plate 220v and 3.25A nominal with 1350 rpm output
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Post by mhensen on Feb 28, 2016 2:15:59 GMT
I re-ask my question : why on your video from 21s to 25s when the arms go down (about 40° angle) there is no jitter ? Why when the arm reach the horizontal position and lower the jitter begins? You need to have answer to this (for yourself) ? I can't understand or have an explaination for this behaviour .Are you sure that the sensors measure the arm angle movement .You are maybe out of the sensor range when the arm comes on horizontal position ! You are absolutely right.. That is a question that needs to be answered first! I haven't got the answer as the pots don't bind and are at mid range at that level, it is gone without load, but with only te minimal base top it starts to wiggle.. Could it be that around that point extra noise is generated or that the control frequency lowers.. and noise vs frequency , the noise is getting the overhand.. I will check and keep an eye on the frequencies on the VFD when I simulate it again.. but you are right, this is something that needs be looked at closer! But first I will do a reset of the VFD's again but this time unloaded, at least one just to see if it does matter.. otherwise I am thinking of resizing the lever from 180mm to 125mm, just to release stress from the motor.. I think this might be a design error, but I'll try the reset first |
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Post by hexpod on Feb 28, 2016 3:12:04 GMT
Please provide:
motor RMS motor peak torque curve. gearbox ratio gearbox nominal and maximal output torque
hmmm.. only know the max outut on the gearbox of 200nm and 23.3 rpm.. what do I need for RMS ?? I see on the plate 220v and 3.25A nominal with 1350 rpm output
Let's assume that the motor can deliver a sufficient torque all over the RPM. In any case, if your gearbox ratio is 60 your motor should not send more than 3.3Nm, otherwise your gearbox can suffer.
200Nm on the gearbox output should be a good margin in order to drive the platform with 1G acceleration, 180mm lever and well balanced 160 kg on the top of it.
Basically, with 180mm crank, your static limit is 111kg per actuator. dynamic load depends of the position of the platform (in some positions you will easily put the double charge in comparison to the start position) and the acceleration. (in order to accelerate to one G you will need twice as much torque)
111kg (max static load) /4 = 27.7kg (with 75 % of margin for dynamic load)
your payload 27.7x6 = 166kg.
good luck!
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Post by mhensen on Feb 28, 2016 16:29:34 GMT
OK that should mean that I am in the clear!! And I have to admit, I am officially stupid, yesterday I mentioned that I had the feel that the motors were lacking power? today I removed an arm and manually started the motor at low frequency .. just though well if I can stand on the end I should be able to hold it, but eventually by just pushing down I could hold.. Thus I that explains why my platform doesn't like me on top of it.. I have been resetting the VFD's and Autotuned them so many times that I forgot the vector control setting A44 ..So resetted all again and started all over clean... Now it's all working!!!! And YES.. I have tried LFS with the BFF drivers.. It works!!! movement is ok'ish.. but I have movement and it can hold me!!!.. Although I have a lot of crackling noise, I guess that is what paulg100 is working on, but I dont't mind for now. Just have to live this moment, no cutting up parts or redoing stuff :-) My happy face is back!! I am ecstatic!! |
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Post by paulg100 on Feb 28, 2016 17:01:55 GMT
Great at least its sorted! sometimes the smallest things are the easiest to overlook and there are ALOT of settings  did you do any work on PID yet or are you just running with P set to an arbitrary value at the moment? if the arms are not returning to absolute home then I feel that may be contributing to the crackling noise problem. If you have a play with A013 and B082 that helps a lot but its more effective in combination with the caps. |
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Post by tronicgr on Feb 28, 2016 17:54:06 GMT
Great at least its sorted! sometimes the smallest things are the easiest to overlook and there are ALOT of settings did you do any work on PID yet or are you just running with P set to an arbitrary value at the moment? if the arms are not returning to absolute home then I feel that may be contributing to the crackling noise problem. If you have a play with A013 and B082 that helps a lot but its more effective in combination with the caps. Hey, why not trying different home position? 49% or 48%? I had a case that some sensors were more willing to settle in other than 50% position...  |
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Post by mhensen on Feb 28, 2016 18:26:15 GMT
Didn't do any PID tuning.. just a value of 15,0,0.. I'll try to figure out how the PID all works..
I will set A13 to 1% for sure in the beginning and B082 to 1 hz, and will do the capping too!!
As I will be run BFF I am thinking of a real low home of 29% as that is nice to get in and almost the park position in BFF :-)
I have to get to the whole x-sim later.. But that is all on the TO-DO list.. the list that only grows instead of getting smaller ;-)
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Post by tronicgr on Feb 28, 2016 19:16:37 GMT
The AMC1280USB has its own "home" position setting for power up or just to settle in off-line mode. You can try to match that with Ian's BFF home position setting.
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Post by mhensen on Feb 28, 2016 20:35:30 GMT
Despite not all tuned in I had to try it all.. I only ran at 25% online speed.. and damn.. that is scary!! could be that I was shaking too much with a joystick but it is a blast.. now first try to get the PID more under control and learn to tune in the BFF software, to soften and sharpen cues etc.. I know you have less control with a joystick, so I am setting up my gear on the platform.. I had it all there to see if the weight was still manageable by the platform and all holds well.. Just a matter of cabling and find a good way to let the cables run without interfering the arms.. The crackling is much less with the a13 at 1% and motor speed at 4.. running accelerate and decelerate at 0.1.. so far no problems!!! Thanks all for suggestions and helping me in this real big adventure.. I hope I can contribute with my experiences in time!! Video's of the proof will follow!.. paulg100 I hope you'll have yours up and running soon, even just test rides!. It is soo unbelievable cool (and scary).. |
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Post by paulg100 on Feb 28, 2016 20:47:28 GMT
looking forward to it Michael, ill be asking for help soon enough this is my first motion sim (skipped the 2 dof idea despite buying most of the parts!) so i have no idea what to expect but it looks damn cool I just have to be patient and get things right.. |
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Post by mhensen on Feb 29, 2016 20:30:23 GMT
pretty untuned.. but running bff at 50% online speed but also the profile for that also untuned .. so it probably can get only better!!!
But it is weird.. Standing outside you see a whacking load of morion but as soon as you get on it and put the oculus on you have no notion of the movement at all.. well you feel it but in a good way, you might think it is a wild ride but it is much better in it then outside!! You feel the stomach on bumps an.
So a lot of tuning to do and still have the weird vibration in the front!.. but as I am increasing the speed it looks like it's getting less vibrant..
But still something I need to look at.. at isolate it.. is it one motor of is it both 1 and 2.. so something to do!!!
I need to isolate the rambling.. could be I am not completely in balance, too much weight on the back or something like that.. !
but here is my proof.. This is my son testing the ride :-)
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Post by vicpopo on Feb 29, 2016 21:10:01 GMT
Yes it's a good start ;-)
Congratulations !
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Post by snafky on Feb 29, 2016 21:13:07 GMT
Looking very nice!! Congrats!
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Post by paulg100 on Feb 29, 2016 21:41:39 GMT
great job! and good idea letting your Son be the test pilot ha!
hope you got in early for your CV1 rift order, mine should be here in April.
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Post by mhensen on Feb 29, 2016 21:52:31 GMT
:-) he was very nervous, but slowly we could crank it up.. Now reading up on the bff config files.. It seems that my settings are pretty lame and safe.. So I can make some nice improvements there.. but that is all part of the tuning..
I might move the complete upper layout a 10cm more foreward so I have the weight a little more balanced. Just an idea afer watching the video a couple of times..
And that's an advantage if you have a 80/20 rig on top.. I can move it around pretty easy and quick..
Yep.. Mine should be in at april too !! I have been running the DK2 from the beginning and I don't go for monitors :-)
So much fun and now with the sim totally immersive!
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