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09-10-2015, 11:48 AM | #1 (permalink) |
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Join Date: May 2006
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Kontronik ESC Mode 3 with external governor?
I understand that Kontronik ESCs don't support external governors (and recommend against them) but just wondering. Mode 3 is a standard externally controlled ESC mode (sometimes called plane mode). What would happen if you used this mode with a throttle control input from an external governor? Would the response time just be too slow for it to be practical?
Yep, I know the Kontronik governor is very good. I'm just wondering about options for a dual ESC heli like the Velos.
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09-10-2015, 12:14 PM | #2 (permalink) | |
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Quote:
You can just run the two esc's in governor mode and use two throttle curves in the radio if the motors don't match well enough.
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Richard Zappe Team Kontronik USA PeakAircraft |
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09-10-2015, 12:45 PM | #3 (permalink) | ||||
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09-10-2015, 02:09 PM | #4 (permalink) | |
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so honestly the external governor solution is worse. I have never seen an external governor setup done with mode 3 in a 3D style environment.
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Richard Zappe Team Kontronik USA PeakAircraft |
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09-10-2015, 02:56 PM | #5 (permalink) | ||
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In the case of two independent governors, if the RPM mismatch is greater than the size of control errors on the faster motor (e.g. amount of RPM decrease during maneuvers which triggers control loop corrections), then the slower motor might never see a mechanical load (decoupled by individual one-way bearings on the motors) and its power will remain very low as long as the faster motor is able to maintain its higher RPM. However, for the case of the external governor, let's call Motor 1 the controlled motor with the RPM sensor and Motor 2 the slave. If Motor 2 starts out a bit slower, then Motor 1 will initially take take most of the load, just as for the case of external governors. However, as the mechanical load to Motor 1 increases (or as the battery's voltage decreases), then the governor increases the throttle to both motors (throttle inputs tied together) to maintain the RPM on Motor 1. Motor 2, with a more rested battery, can now reach the target RPM and begin to offload Motor 1. In practice, once this happens, the power to both motors remains quite balanced for the rest of the flight, essentially buffered by the mechanical coupling through the jointly driven head. If the controlled Motor 1 starts out slower, then slave Motor 2 will immediately carry more of the load, off-loading Motor 1, with the same eventual balancing outcome. This approach is well proven by 100's of flights by Velos test pilots (including OnTheSnap from Helifreak). I honestly wasn't quite convinced either at first but I put together a simple control-theory model of the system and understood the differences in the two approaches. Unfortunately, the lack of external governor inputs on my Kosmiks now means that I have to very carefully balance the ESC/motor pairs. Not a huge issue. Quote:
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