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Showroom FlyPT - 6DOF Brushless DIY Actuators

Discussion in 'DIY Motion Simulator Projects' started by pmvcda, Aug 29, 2017.

  1. twinking

    twinking New Member

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    First you have to transform the torgue into a radial force: Nr=M/r=0.6Nm/0.008m=75N
    To get the axial force you have to multiply the radial force with the gear transmission Ratio i. This is the spindle circumference divided by the pitch: i=r*2*pi/pitch=0.008m*2*pi/0.005m=10.05

    Na=Nr*i=754N
    Or
    Na=M*r*2*pi/r*pitch=M*2*pi/pitch
    • Like Like x 1
  2. Koala70

    Koala70 New Member

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    My Motion Simulator:
    Joyrider
    I got it.. thank you :- )
  3. Ilyesgtsport

    Ilyesgtsport New Member

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    My Motion Simulator:
    2DOF, 3DOF, Arduino
    HI pmvcda ,
    After your 5 years of use, what is your experience with your simulator and GruntyPig the 57BLF03 motors work without any problem, just a little slow!!
  4. GruntyPig

    GruntyPig New Member Gold Contributor

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    Ice Cream QC Engineer
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    My Motion Simulator:
    Arduino, Motion platform, 6DOF
    Hi Ilyesgtsport,

    The 57BLF03 motors are still working good. For the speed, the motors should run at 3000rpm and I find this is fast enough with 400mm 1605 ballscrews. The Mover software is just amazing!!!
    • Like Like x 2
  5. roli

    roli New Member

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    Hi there! I finally decided to build my first motion sim and this is the design that seems the most newbie friendly.

    I managed to get my first actuator assembled and working. However... it seems slow... Too slow. I have 57BLF03 motors, and with calibration speed set to 255 the thing travels around 40cm in 4.8s. Which is roughly 80mm/s. When I was testing it first I accidentally left the controller with RV pin enabled and it seemed to slam into the mount with a lot more speed than what I am getting now. Any ideas on what could be the reason for the slow speed? Otherwise everything seems fine. When it starts it gets to the max end stop, then to the min endstop and I get this back: Minimum=-926 Maximum=926. I am using the same BLDC-8015A controller and the code from the first page (no changes).

    Another side question... how much weight can this design handle? I was thinking of a pretty similar setup as the OP, but was thinking about adding an actual car dashboard (at least the drivers side and the middle console). Could this design handle something like this? If not... could I tweak it somehow?
  6. pmvcda

    pmvcda aka FlyPT

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    My Motion Simulator:
    6DOF
    Hi,

    Somewhere in this topic I adjust a pot inside the 8015A to match the speed in all the actuators.
    Maybe try to adjust it to reach the maximum speed without noise in the actuator.
    Lacking ideas right now. (are you sure the wires are connected in the right order?)

    For weight, my rig has lot's of stuff on it, a big monitor, a simcube 2, pedals and me with 80 kg.
    I think it can handle the weight, but try to make it the lightest possible to have a better performance.
  7. roli

    roli New Member

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    Thanks. Will try the adjustment pot if I don't get it faster otherwise.

    I am currently a bit suspicious of my DIY perfboard with all of the connections. I designed a PCB that will break out all of the needed stuff into screw terminals for easier and cleaner wiring. So waiting for that to arrive first before I invest too much time debugging this.

    But I am sure that the controller-motor wiring is fine since the RV control seems to be able to move the motor with a lot more speed. So my guess is something to do with ESP-controller wiring. Though I am not sure what since things are otherwise working.
  8. roli

    roli New Member

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    Well I think I fixed the speed issue. For anyone else having the same issue - it was the pot in the controller that just needed some adjustment. I made like 10 turns with it - which slightly worries me. But it seems stable to me. If my calculations are correct then this should be around 233 mm/s.

    • Like Like x 2
  9. bobo

    bobo Member

    Joined:
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    My Motion Simulator:
    6DOF
    Hello, is this program the final version? I have many questions that I would like to ask you.
    Question 1:
    I used two 10K resistors for the limit switch, following the exact same method as you described. However, in practice, one of the switches is not being detected.
    Question 2:
    Why is the PWM resolution only 8 bits with a maximum value of 255? The data sent by your PC appears to have 15 bits (32768), which seems to have a very low precision for the resolution.
    Question 3:
    After powering on, I first create a hall thread and then perform a calibration function. After the calibration is complete, should the motor be positioned and held in the middle of its travel range? This is because our BLDC motor does not have a braking mechanism.
    Question 4:
    Is the information sent from the PC in the form of 16 hexadecimal values (e.g., FF FF 12 34 12 34 12 34)? And does the actual speed information of axis 1 correspond to 12 * 256 + 34, map ranging from -255 to 255?
    Question 5:
    The current behavior I'm experiencing is that when I power on the system, the computer does not send any information. Then, after performing the calibration in the program (I changed the limit switches to separate channels and they are working correctly), once the calibration is complete, the motor starts spinning rapidly, reaching a speed of 255 and it doesn't change. After that, if I manually press the limit switch, the motor immediately reverses but still at a speed of 255. What could be the reason for this? Is it related to the PID controller? I'm using your default values of 255, 0, 255.

    Basic Information:

    My motor has 4 pole pairs and 8 poles. When I manually rotate it, there are a total of 24 steps for one complete revolution. It uses Hall sensors for position detection. In my case, the motor should not rotate when there are no commands from the PC. However, it is spinning rapidly. What should I do?
    Thank you.

    Attached Files:

  10. profetadelmus

    profetadelmus New Member

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    Dec 9, 2017
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    Vigo
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    My Motion Simulator:
    2DOF
    I not have enough space to build a 6dof... but i think that i have space to build a 3dof with 3 or 4 motors (more easy 3 motors because the esp32 position controller) but with minor actuator travel (10-15cm max)... can be possible? what about max weight supported?
  11. Walter Flores

    Walter Flores New Member

    Joined:
    Nov 3, 2023
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    My Motion Simulator:
    3DOF, DC motor, Arduino
    Hi all, I just joined today and I am glad I found this forum, have been thinking about building one of these rigs for a while now but had not found the proper motivation to get started, one of the reason was that I could not find enough information on how to get started, until a few days a go I came across this forum and boy am I fired up to get started :grin.

    First off I'd like to thank @pmvcda for this helpful post, you really provide very good detailed information specially for a newbie like myself, I have experience in Electronic Engineering and some software background, so I really hope I can come up with my own simulator very soon :)

    The most important thing for me at the moment is acquiring the materials, i.e. motors, motor drivers and all the other materials to start mocking up the set up, I wanted to ask aside from the brands of motors you used, are there any other brands similar in spec to the ones you are using, hopefully some that are a bit cheaper, I've been doing some digging in Amazon and came across a few but not sure if I should trust them as they seem way less expensive than all the other ones I've seen other people use.

    Anyhow, thank you so much @pmvcda for providing all these helpful information, I will be downloading your software as soon as I have my motors.

    Cheers all :cheers

    Walter