Evaluating Vibrations and Optimizing Damper Systems - Revision history

OlliW at 13:21, 13 January 2023

2023-01-13T13:21:57Z

← Older revision		Revision as of 15:21, 13 January 2023
Line 54:		Line 54:
	[[File:Vibration-isolation-amplitude-vs-frequency-01.jpg\|360px\|center]]		[[File:Vibration-isolation-amplitude-vs-frequency-01.jpg\|360px\|center]]

			<!--
	== 3rd IMU ==		== 3rd IMU ==
	''The information in this chapter refers to firmware v2.19e up to version v2.53.''		''The information in this chapter refers to firmware v2.19e up to version v2.53.''
Line 112:		Line 113:

	The NTLoggerTool allows us to convert the data into Blackbox Explorer compatible .cfl files. The Blackbox Explorer allows us then to overlay the recorded video with the logged data, and thus to directly correlate any video artifacts with features in the logged data.		The NTLoggerTool allows us to convert the data into Blackbox Explorer compatible .cfl files. The Blackbox Explorer allows us then to overlay the recorded video with the logged data, and thus to directly correlate any video artifacts with features in the logged data.
			-->

OlliW at 13:21, 13 January 2023

2023-01-13T13:21:26Z

← Older revision		Revision as of 15:21, 13 January 2023
Line 1:		Line 1:
	For aerial video applications, one of the most difficult aspect of a DIY gimbal system is to achieve a low level of vibration and a well working damping system. The first reaction of most users to artefacts such as micro vibs or jello in the video seems to be "better PID tuning", while in fact the secret sauce of a well working system usually lies not in the PID tuning, but the copter's vibration level and construction of the gimbal damping system.		For aerial video applications, one of the most difficult aspect of a DIY gimbal system is to achieve a low level of vibration and a well working damping system. The first reaction of most users to artefacts such as micro vibs or jello in the video seems to be "better PID tuning", while in fact the secret sauce of a well working system usually lies not in the PID tuning, but the copter's vibration level and construction of the gimbal damping system.

	Unfortunately, when it comes to the latter aspects the current approach available to us DIY guys is essentially trial-and-error, which at times can be frustrating. ~~The STorM32 NT thus aims at providing tools to alleviate the situation.~~		Unfortunately, when it comes to the latter aspects the current approach available to us DIY guys is essentially trial-and-error, which at times can be frustrating.

	{{COMMENT\|Support of a 3rd IMU is not available in firmware versions higher than v2.53. Some information on this page is thus obsolete for later versions, but it is kept since it provides useful information on vibration damping which is generally valid.}}

	== Conceptional ==		== Conceptional ==
Line 22:		Line 20:

	{{#ev:youtube\|nGp_PlPxleQ\|480\|center}}		{{#ev:youtube\|nGp_PlPxleQ\|480\|center}}

			{{COMMENT\|A 3rd IMU was supported in firmware versions v2.19e to v2.53, but is not available in firmware versions higher than v2.53. Some information in the video is thus obsolete.}}

	== Basic Physics ==		== Basic Physics ==

OlliW at 13:17, 13 January 2023

2023-01-13T13:17:53Z

← Older revision		Revision as of 15:17, 13 January 2023
Line 7:		Line 7:
	== Conceptional ==		== Conceptional ==

	The basic idea of ~~the STorM32's~~ vibration and damping system analysis is sketched in the following picture.		The basic idea of a vibration and damping system analysis using IMUs is sketched in the following picture.

	[[File:Storm32-nt-vibrations-overview-01.jpg\|680px\|center]]		[[File:Storm32-nt-vibrations-overview-01.jpg\|680px\|center]]

OlliW: /* Conceptional */

2023-01-13T13:17:25Z

Conceptional

← Older revision		Revision as of 15:17, 13 January 2023
Line 12:		Line 12:

	Flight controller often provide options for analyzing the copter's vibrations. However, the limitation is obvious: In most cases it does not see the real copter vibrations, since it is mounted with some dampers to the copter. Also, what matters to us are the vibrations at the camera, which is "far away" from the flight controller. That is, in a technical language, the transfer functions for the copter's vibrations to the flight controller and to the camera are substantially different. For a complete vibration analysis one needs to know the vibrations on the copter, on the gimbal frame, and the camera. It is pointed out that only with knowing the vibrations on the copter '''''and''''' the gimbal frame, the performance of a gimbal damping system can actually be assessed.		Flight controller often provide options for analyzing the copter's vibrations. However, the limitation is obvious: In most cases it does not see the real copter vibrations, since it is mounted with some dampers to the copter. Also, what matters to us are the vibrations at the camera, which is "far away" from the flight controller. That is, in a technical language, the transfer functions for the copter's vibrations to the flight controller and to the camera are substantially different. For a complete vibration analysis one needs to know the vibrations on the copter, on the gimbal frame, and the camera. It is pointed out that only with knowing the vibrations on the copter '''''and''''' the gimbal frame, the performance of a gimbal damping system can actually be assessed.
	<!--
	This is the basic idea of the STorM32's three IMU setup, to provide us with a means to properly evaluate the vibrations and especially the gimbal damping system, which hopefully will allow us to get better gimbals.		<!--This is the basic idea of the STorM32's three IMU setup, to provide us with a means to properly evaluate the vibrations and especially the gimbal damping system, which hopefully will allow us to get better gimbals.

	The offered mechanisms however can also be used in other ways, e.g., for balancing motors and propellers. The possibilities are only limited by our creativity :).		The offered mechanisms however can also be used in other ways, e.g., for balancing motors and propellers. The possibilities are only limited by our creativity :).

OlliW: /* Conceptional */

2023-01-13T13:17:16Z

Conceptional

← Older revision		Revision as of 15:17, 13 January 2023
Line 12:		Line 12:

	Flight controller often provide options for analyzing the copter's vibrations. However, the limitation is obvious: In most cases it does not see the real copter vibrations, since it is mounted with some dampers to the copter. Also, what matters to us are the vibrations at the camera, which is "far away" from the flight controller. That is, in a technical language, the transfer functions for the copter's vibrations to the flight controller and to the camera are substantially different. For a complete vibration analysis one needs to know the vibrations on the copter, on the gimbal frame, and the camera. It is pointed out that only with knowing the vibrations on the copter '''''and''''' the gimbal frame, the performance of a gimbal damping system can actually be assessed.		Flight controller often provide options for analyzing the copter's vibrations. However, the limitation is obvious: In most cases it does not see the real copter vibrations, since it is mounted with some dampers to the copter. Also, what matters to us are the vibrations at the camera, which is "far away" from the flight controller. That is, in a technical language, the transfer functions for the copter's vibrations to the flight controller and to the camera are substantially different. For a complete vibration analysis one needs to know the vibrations on the copter, on the gimbal frame, and the camera. It is pointed out that only with knowing the vibrations on the copter '''''and''''' the gimbal frame, the performance of a gimbal damping system can actually be assessed.
			<!--
	This is the basic idea of the STorM32's three IMU setup, to provide us with a means to properly evaluate the vibrations and especially the gimbal damping system, which hopefully will allow us to get better gimbals.		This is the basic idea of the STorM32's three IMU setup, to provide us with a means to properly evaluate the vibrations and especially the gimbal damping system, which hopefully will allow us to get better gimbals.

	The offered mechanisms however can also be used in other ways, e.g., for balancing motors and propellers. The possibilities are only limited by our creativity :).		The offered mechanisms however can also be used in other ways, e.g., for balancing motors and propellers. The possibilities are only limited by our creativity :).
			-->
	{{COMMENT\|In order to avoid confusion, this clarification: In the above sketch the IMUs are numbered as IMU-A, IMU-B, and IMU-C, which is different to the usual terminology used by the STorM32 gimbal controller. This is so since, e.g., the 2nd IMU (in the terminology of the STorM32 gimbal controller) could be either IMU-B or IMU-C, depending on the user's setup~~, and similarly for~~ IMU1 ~~and IMU3~~.}}		{{COMMENT\|In order to avoid confusion, this clarification: In the above sketch the IMUs are numbered as IMU-A, IMU-B, and IMU-C, which is different to the usual terminology used by the STorM32 gimbal controller. This is so since, e.g., the 2nd IMU (in the terminology of the STorM32 gimbal controller) could be either IMU-B or IMU-C, depending on the user's setup. IMU-A is however IMU1.}}

	The following video explains that, and also shows possible uses of the NTLoggerTool.		The following video explains that, and also shows possible uses of the NTLoggerTool.

OlliW at 13:13, 13 January 2023

2023-01-13T13:13:23Z

← Older revision		Revision as of 15:13, 13 January 2023
Line 3:		Line 3:
	Unfortunately, when it comes to the latter aspects the current approach available to us DIY guys is essentially trial-and-error, which at times can be frustrating. The STorM32 NT thus aims at providing tools to alleviate the situation.		Unfortunately, when it comes to the latter aspects the current approach available to us DIY guys is essentially trial-and-error, which at times can be frustrating. The STorM32 NT thus aims at providing tools to alleviate the situation.

	{{COMMENT\|Support of a 3rd IMU is not available in firmware versions higher than v2.53. Some information on this page is thus obsolete for ~~these~~ versions, but it is kept since it provides useful information on vibration damping which is generally valid.}}		{{COMMENT\|Support of a 3rd IMU is not available in firmware versions higher than v2.53. Some information on this page is thus obsolete for later versions, but it is kept since it provides useful information on vibration damping which is generally valid.}}

	== Conceptional ==		== Conceptional ==

OlliW: /* 3rd IMU */

2021-03-29T08:47:48Z

3rd IMU

← Older revision		Revision as of 10:47, 29 March 2021
Line 55:		Line 55:

	== 3rd IMU ==		== 3rd IMU ==
	''The information in this chapter refers to firmware v2.19e ~~and higher~~.''		''The information in this chapter refers to firmware v2.19e up to version v2.53.''

	As discussed in the chapter [[#Conceptional\|Conceptional]], the evaluation of all vibrations relevant to the gimbal performance asks for three IMUs. The STorM32 NT thus supports this, in the following way.		As discussed in the chapter [[#Conceptional\|Conceptional]], the evaluation of all vibrations relevant to the gimbal performance asks for three IMUs. The STorM32 NT thus supports this, in the following way.

OlliW: /* Basic Physics */

2021-03-29T08:47:00Z

Basic Physics

← Older revision		Revision as of 10:47, 29 March 2021
Line 35:		Line 35:

	'''''Vibration Absorption:'''''		'''''Vibration Absorption:'''''
	The system is separated from a vibrating source by some dampers, ~~with~~ in addition a second mass of payload attached to the primary mass via some further dampers.		The system is separated from a vibrating source by some dampers, where in addition a second mass of payload is attached to the primary mass via some further dampers.

	[[File:Vibration-isolation-absortpion-schemes-02.jpg\|680px\|center]]		[[File:Vibration-isolation-absortpion-schemes-02.jpg\|680px\|center]]

OlliW: /* Conceptional */

2021-03-29T08:45:57Z

Conceptional

← Older revision		Revision as of 10:45, 29 March 2021
Line 19:		Line 19:
	{{COMMENT\|In order to avoid confusion, this clarification: In the above sketch the IMUs are numbered as IMU-A, IMU-B, and IMU-C, which is different to the usual terminology used by the STorM32 gimbal controller. This is so since, e.g., the 2nd IMU (in the terminology of the STorM32 gimbal controller) could be either IMU-B or IMU-C, depending on the user's setup, and similarly for IMU1 and IMU3.}}		{{COMMENT\|In order to avoid confusion, this clarification: In the above sketch the IMUs are numbered as IMU-A, IMU-B, and IMU-C, which is different to the usual terminology used by the STorM32 gimbal controller. This is so since, e.g., the 2nd IMU (in the terminology of the STorM32 gimbal controller) could be either IMU-B or IMU-C, depending on the user's setup, and similarly for IMU1 and IMU3.}}

	The following video explains that ~~too~~, and also shows possible uses of the NTLoggerTool.		The following video explains that, and also shows possible uses of the NTLoggerTool.

	{{#ev:youtube\|nGp_PlPxleQ\|480\|center}}		{{#ev:youtube\|nGp_PlPxleQ\|480\|center}}

OlliW: /* Conceptional */

2021-03-29T08:45:22Z

Conceptional

← Older revision		Revision as of 10:45, 29 March 2021
Line 17:		Line 17:
	The offered mechanisms however can also be used in other ways, e.g., for balancing motors and propellers. The possibilities are only limited by our creativity :).		The offered mechanisms however can also be used in other ways, e.g., for balancing motors and propellers. The possibilities are only limited by our creativity :).

	{{COMMENT\|In order to avoid confusion, this clarification: In the above sketch the IMUs are numbered as IMU-A, IMU-B, and IMU-C, which is different to the usual terminology used by the STorM32 gimbal controller. This is so since, e.g., the 2nd IMU (in the terminology of the STorM32 gimbal controller) could be either IMU-B or ~~and~~ IMU-C, depending on the user's setup.}}		{{COMMENT\|In order to avoid confusion, this clarification: In the above sketch the IMUs are numbered as IMU-A, IMU-B, and IMU-C, which is different to the usual terminology used by the STorM32 gimbal controller. This is so since, e.g., the 2nd IMU (in the terminology of the STorM32 gimbal controller) could be either IMU-B or IMU-C, depending on the user's setup, and similarly for IMU1 and IMU3.}}

	The following video explains that too, and also shows possible uses of the NTLoggerTool.		The following video explains that too, and also shows possible uses of the NTLoggerTool.