跳到主要內容

發表文章

Besiege Notes on Automation Block Stabilization #3 --- Hover Car Implementation

Lemonade-1, with a 3-sensor tracker based 3-controller system for hovering This series of articles document how my approximated automation-block PID controller works and how I implement them on self-stabilizing machines. Hinged Thruster Configuration for Hovering Machines The P-controller output was introduced as a opposed hinged thruster pair. The the force generated by a hinged thruster pair is cancelled at neutral. When having multiple controller units in a machine, the side-way force can be cancelled by one of the hinged thrusters in another unit. Thus the block count can be cut down and the implementation of the mechanism is easier as there are less moving parts to install. 1-sensor PD controller unit with a hinged thruster pair and D thruster pair; Hover system that consists 4 controllers A note for the initial angle of hinged thrusters. The Initial angle of hinged thrusters determines the output range. In the configuration shown in the pic below, the 1-sen
張貼留言
閱讀完整內容
最近的文章

Besiege Notes on Automation Block Stabilization #2 --- Bike, Car & Ekranoplan Implementations

Automation block balanced motorcycle This series of articles document how my approximated automation-block PID controller works and how I implement them on self-stabilizing machines. Proportional Controller on Bikes For a motorcycle to self balance, a P controller is a must. A simple 2 sensor and reaction wheel will make a motorcycle oscillate badly. To build a vanilla self-balancing bike, the mechanism has to be small. I chose to fit this gyroscope system in the bike shown in the picture. As the spinning-block-powered contra-rotating gyroscope spins, the torque is canceled. However if the axes of rotation of the two gyroscopes are not aligned perfectly, a net torque is generated and increases as the angle between the axes of rotation gets bigger. The two spinning blocks on steering hinges provides torque to balance the motorcycle, and the 2-anglometer angle tracker is synchronized with one of the 2 hinges. Another hinge is used to tilt the motorcycle The generated to
張貼留言
閱讀完整內容

Besiege Notes on Automation Block Stabilization #1 --- PID Controller

ORC-43 Buan Hover Car, implemented with tracker-based PD controllers. Link This series of articles document how my approximated automation-block PID controller works and how I implement them on self-stabilizing machines. Trackers and Steering Hinge Syncing To see the sensor beams in simulation, The Colliderscope mod  Must be installed. Other mods from Dagirefaa are also recommended for advanced building. The stabilization systems I developed is based on trackers and steering hinge/block synchronization. Either a single-sensor version with RTC steering hinge, or a 2-sensor non RTC version will do the job. The same idea can be applied to absolute angle tracking with anglometer blocks. And again, in my notes I assume the readers have a certain understanding in Besiege building to replicate these just by a glance. Tracking the relative height to the ground with 1-sensor or 2-sensor tracker To make the tracking useful, I need to utilize the angle of the steering hi
張貼留言
閱讀完整內容

Besiege Notes on Block and Brace Connections

  Here I'll talk about 3 things about connections: Top Triggers of Blocks To see how they will connect or not, the SCDW mod  must be installed. The second triggers on top of some blocks annoyed me for a long time. Lately I discovered when will they connect. A top trigger only connects when it is isolated from bottom triggers. A top trigger doesn't connect when it is overlapping with a bottom  trigger. Note that overlapped top triggers still connect. Brace's End Node The End node is the all sticking node while the start node connects to only one block. End node connects everything within it. This characteristic helps cutting block count and making stronger connection. an end node connects everything within its trigger the 2 braces bracing on the right is equivalent to that 6-brace one on the left hold the airframe together with end nodes, like spot welding If the node isn't connected, it sticks the first block it touches
張貼留言
閱讀完整內容

Besiege Notes on Propeller Engines

Kuroko (thesencoredstudio) from Steam  requested a talk about propeller engines. There are a few things you can do to get the most potential out of propeller engines. I suppose the reader knows some advanced stuffs like Besiege plane building experiences and flatangle propeller blocks, also basic aeronautics . The Angle of Attack (AoA) The 90° flatangle is ideal if the plane is going to fly supersonic, but I recently build only 1:1 scale WWII fighter planes with top speed below 200 m/s. 75° to 80° AoA is what I usually use. The Radius I follow the specifications when I build replicas. If its an original aircraft, it is of course the bigger the better. The Number of Propeller Blocks In Besiege, the propeller blades are made of propeller blocks, the vertical and horizontal stabilizers are also made of propeller blocks. It'd be an un-flyable plane when the stabilizing effect of the propeller is stronger than the tail's. Remember to add propeller blocks to the tail
張貼留言
閱讀完整內容

Besiege Landing Gear Notes

Kuroko (thesencoredstudio) from Steam asked me about landing gears. Three Rules of Rigidity Basically when I build landing gears I follow the Three Rules of Rigidity . 1. Less Blocks Every block has a connection, the less blocks the less bendy connections. 2. High Scale Make the blocks in the landing gear as big as possible, because flimsy blocks are bendier. 3. High Mass Attach the landing gear to high mass blocks, e.g. scaling blocks or ballasts which can set mass value. My Conventional Setup Usually I simply use a suspension and the wheel to make each gear. If the landing gear is retractable I just put a steering hinge there. Fixed landing gear Fixed tail gear grabber or suspension both work Retractable landing gear Retractable nose gear Examples of Different Setups When there's a different configuration, I have to create a new setup. Main Gears of Su-34 Fullback This is the main landing gear of my Su-34 Fullba
張貼留言
閱讀完整內容

Besiege --- Mirage 2000 Notes #3

The Dassault Mirage 2000-5 replica is uploaded to the Steam Workshop here . About the payload induced CoM shift, my solution is to add negative power water cannons (nives) inside the missiles' rockets. They are bound to the same key as the plane's engine. The thrust of the nives negates the pitch down effect. And when a missile is launched the heated nives gives extra boost. These special missiles work perfectly. The only drawback is the one extra block. #
張貼留言
閱讀完整內容