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3 DOF with AC motor project

Discussion in 'DIY Motion Simulator Projects' started by pathetic, Oct 6, 2010.

  1. pathetic

    pathetic Member

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    Hi,

    I ve started a 2dof wiper motor project a year ago. But couldnt get the feelings i want from it. So i began to think something big with different motors.

    And now it is time to start with your help :)


    LAST UPDATE
    http://www.youtube.com/watch?v=J-nzxScgfoM
  2. Ads Master

    Ads Master

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  3. pathetic

    pathetic Member

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    Re: 3 DOF with AC motor project (Starting)

    I ve a 3p 380V 19rpm 750w motor and invertor for it. Invertor takes 1 start,1 direction and 1 speed(0-10V) input. I had tronics amc board so i modified it a bit and now i can control the motor both direction and different speeds.
    I need help for making profiler.

    For now i ve 1 motor and a small prototype base for 1 axis simulation. If i success i will buy two more motors and design a system :)
  4. pathetic

    pathetic Member

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  5. riton

    riton Active Member

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    Re: 3 DOF with AC motor project (Starting)

    how you pilot your engine?
    what is the brand, manufacturer's name and the reference variator frequency?
    you use the dynamic speed or you control on / off with speed 100%?

    i need this information to see your concept and fonctionnement.
    thanks
  6. Frakk

    Frakk Active Member

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    Re: 3 DOF with AC motor project (Starting)

    Could you explain how you modified the AMC?

    Looking forward to see this sim completed!
  7. pathetic

    pathetic Member

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    Re: 3 DOF with AC motor project (Starting)

    I will record new video with the other parts soon.

    if i am not wrong the motor is 380V 1350rpm to reducted 19rpm 750W 393N (I will correct this infos if is wrong soon because i am not near it)

    AMC board is giving out 0-5V so i make it 0-10V using opamps like thanos described one of his posts.
    And my var.freq.controller use 1 start input (i use 5V) and 1 direction input(i use 5V).
    So
    start-------direction-------pwm
    1-------------0 ------------- 0-10V it turns cw
    1 ----------- 1 -------------- 0-10V it turns ccw
    0 (if this is 0 it stops and gives enough current to keep the motor in last position)

    So i use diodes to get this outputs from our AMC board as i need for my controller. Because AMC has two 5V output for each direction as 0-0 or 0-1 or 1-0.


    I will post soon :)
  8. pathetic

    pathetic Member

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    Re: 3 DOF with AC motor project (Starting)

    I finaly have made some tests with help from nima. Below are some videos and photos of my new prototype.

    In this video i am simulating only Y axis with
    Effect 27 percent 100
    Effect 25 percent 80
    Effect 26 percent 30
    Effect 23 percent 20
    Effect 30 percent 60
    Effect 33 percent 100

    http://www.youtube.com/watch?v=FeMfuHPu4bU

    Here i tried to force a bit with my poor 75kg weight but it is more powerful then i hope :)

    http://www.youtube.com/watch?v=VsqDlZ9ih4U

    [​IMG]
    [​IMG]
    [​IMG]
    [​IMG]
    [​IMG]
    [​IMG]
  9. egoexpress

    egoexpress Active Member

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    Re: 3 DOF with AC motor project (Starting)

    I've got a security alert message (website is known for attacking) for http://www.erenmert.com when trying to zoom the pics. Please upload them onto the X-Sim server.

    I am pleased to see an AMC board working with a freq. inverter finally!

    Regards
  10. Frakk

    Frakk Active Member

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    Re: 3 DOF with AC motor project (Starting)

    Good work!

    Are you using an RC filter to average out the PWM to 0-5V?

    I would really like to see those motors controlled by a full PID once!

    Keep it up!
  11. riton

    riton Active Member

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    Re: 3 DOF with AC motor project (Starting)

    i don't understant how it work correctly...???
    can you give me some information?
    are you sure to have full speed for 100% XSIM?
    if XSIM gives 100%, your engine is running at 100% of the frequency?
    you need 0 ..... 100% for + x and 0 ... 100%-X is that ok? 0...100% on Xsim = 0...10v on VF

    how to turn your encoder or potentiometer with a rotary engine to 1500rpm??

    how thanos card controls the direction rotation?
  12. pathetic

    pathetic Member

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    Re: 3 DOF with AC motor project (Starting)

    Finally i ve bought a new game PC. Now waiting for my new AC motors :)

    [​IMG][​IMG]
    [​IMG][​IMG]
    [​IMG][​IMG]

    Nvidia 3d Vision glasses, SAMSUNG 2233RZ 3D 22 1680x1050 3ms DVI , Dark Evo 5 600W case,Intel Core i7 950 3.06DC 4.8GT/Sec 1366Pin 8Mb Box,Kingston 6GB DDR3 HyperX 1600Mhz CL9 (3*2GB)XMP,ASUS GTX470 GDDR5 1280MB 320Bit Nvidia DX11, SEAGATE 500GB 16MB SATA2 7200RPM,GIGABYTE X58A-UD3R Intel X58,Logitech MK300 Wireless Keyboard Mouse,Logitech G27 Wheel,Logitech G35 7.1 Headphones,Asus DRW-24B1ST 24X DVD-RW SM SATA
  13. kermit

    kermit New Member

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    Re: 3 DOF with AC motor project (Starting)

    HI, Please can you place a link for reading about the opamps ,
    I have also frequentyinverters Bongiglioli vectron Synthesis with a 10volts signal driving AEG 1,5 230 -400 volts 3 ph motors and Bongiglioli MVF 86 gearboxes.
    Could load(3drive units or 3dof) a calculated 900kilo platform at a speed of 60 rpm/min, but want to start with 2 dof or 2 drive units .
    greetz
  14. pathetic

    pathetic Member

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    Re: 3 DOF with AC motor project (Starting)

    I used the thanos AMC 1.5 adaptor for getting 0-10V from AMC outputs
    [​IMG]

    .
    .

    The AMC board is giving 0-5V pwm right? Then i convert it double to 0-10V by opamp circuit.

    My invertor needs one Digital direction input and one Digital start(Enable) input. I use one of the direction outputs of AMC for direction, and the other for Enable by using Diodes the way in the picture :)

    [​IMG]

    .
    .

    Here is the design i am building

    [​IMG]

    will be updated soon...
  15. riton

    riton Active Member

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    Re: 3 DOF with AC motor project (Starting)

    Yes, I understand that you transform the PWM 0/5V to 0 ... 10v analog , but it is not enough!

    it is not so easy!
    after analog conversion you will have:
    2.5v =motor stop, and with your electronic modification: 5v = motor stop
    0V =motor speed ful left with electronic modification : 0v = full speed left
    5V = full speed right motor 10v= full speed right

    it is not running properly ...
    how do you?
    there are 2 solutions, an electronic card or a modified firmware I think it should be possible
  16. pathetic

    pathetic Member

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    Re: 3 DOF with AC motor project (Starting)

    No riton, but we are both right.
    One of the control method is as yours. But i am not using that 2.5V center stop method.
    I use one speed input (0-10V) --> 0V is stop, 10V is full speed

    And one digital direction input. If i give 1(mean 5V logic) it turns CW if i give 0 it turns CCW
    Also i have to give 1 to the enable pin.
    I use this method by using the trick with AMC that i show in the last post.
  17. riton

    riton Active Member

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    Re: 3 DOF with AC motor project (Starting)

    yes ok, but the Xsim logic is 2.5v motor stop , and 0 and 5v motor full speed.
    Thanos make you a special firmware to make the adaptation??

    in standard configuration, Xsim+ standard AMC, is not possible to work correctly? confirm?
  18. Frakk

    Frakk Active Member

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    Re: 3 DOF with AC motor project (Starting)

    riton:
    X-Sim logic is: Transmit 8/16bit position data, where the actuators have to move. THAT IS ALL!

    It has nothing to do with the motor speed or direction in any way. The AMC is doing the Proportional calculations and outputs analog/digital signals to drive hardware.
    In standard configuration the AMC will output PWM for speed, and digital outputs for direction. This is what is needed for pathetic's hardware.
    Your frequency inverter operates in a different way, you only need 1 analog signal for BOTH direction and speed.
    I hope you can clear up your long time confusion here. :)

    pathetic:
    Great job making this conversion! Hacking the ENABLE line with those diodes is not the best solution, but it works! :D
  19. riton

    riton Active Member

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    Re: 3 DOF with AC motor project (Starting)

    In standard configuration the AMC will output PWM for speed, and digital outputs for direction. This is what is needed for pathetic's hardware
    yes ok is the same for me

    i think you don't undersand. it's very difficult...

    the AMC firmware is spécific for his configuration i think...i think Tonigr make a different firmware for this application.

    maybe i don't give a corect explication but if you use AMC with a Hbridge you have in PWM direction and speed.
    it' not possible to have a different configuration if you dont change the firmware
  20. Frakk

    Frakk Active Member

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    Re: 3 DOF with AC motor project (Starting)

    There are no firmware changes needed for this setup.

    He doesn't use the H-Bridge at all, so you must be confusing the system with something that uses an H-Bridge?
  21. riton

    riton Active Member

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