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Valve-matrix for controlling custom/self-made simulators

 
 
 

Via this 4D control interface in the Force-Profiler, it is possible to control every pneumatic/hydraulic simulator, which can be controlled through a 8-bit hardware-interface (e.g. Velleman K8055). Analog simulators could be controlled with the aid of resistors at the 8 Bit interface.

To make it easy as possible for you to implement the software in your concept, there are different hardware-interfaces supported, as well as direct support for the serial- and parrallel-port. With this interface you can define the valveblock behaviour.

The possability to custom assign each valve respectivly every axis, lets you realise every simulator concept you want to build.

Each axis has up to 3 speeds (softmotion pneumatic).

You can assign movement profiles for every direction with the Force-Profiler.

 

 

 

 

Custom/self-made Simulators

This matrix serves primarily as a solution for the numerous custom/selfmade simulators which were built following the RnR design. By using professional air-cylinders and valves or hydraulic system instead of the messy RnR equipment, the movement precision can be improved a lot. If you are not comfortable with my software or parts of my code, you could code a derivation. There are some exapmles in the programming section.

Using the matrix postulates some basic knowledge about valve-controlling and logic sequences. That means, you should know what happens, when you open or close a valve.If you have checked out your valve-setup out, you can venture your first trial.

 

Prearrangement

To trigger the axis, you have to install a joystick, and calibrate it in the Force-Sender. After this is done, Force-Sender transmitts the values into the Force-Profiler main dialog window. In this window (picture below) you have to assign the joystick axis with the UP,Down,Left,Right Buttons. If you move your joystick now, the corresponding matrix function will be activated and you can check your settings.

 

Picture description
 

1. Here you can toggle between RnR or interface-matrix operation mode.

2. There are example setups to introduce you into the matrix.

3.Here you can select the direction (axis).

4. You can select up to 3 speeds for each direction.

5. Please read the article soft-pneumatik to understand the pulsed mode. For every direction (axis) can be setted a puls-mode. With the radio-buttons above the tab selector the number of pulses can be defined. These pulses are repeated until the simulator has reached the right position. Every puls takes 25ms. If a longer puls-time is needed, you can insert the relaykombination 2-times, to realise a 50ms puls. The max of 10 pulses corresponds 250ms Pulsdistance.
 
  
 

6. Here you can assign all 8 Ports 10 times. These will be executed by specific actions. For example, when you want to open a valve on Port 3 to open for a Simulator movement (left or right), you have to define it here.Be aware: Ports are numbered often from 0 till 7, and here in the valve-matrix from bit 1 till bit 8

7. Here is defined, if a valve is set to open (setzen) or closed (löschen)

8. Here is the number of actions assigned. Thereby the radio-button has to be set on the last entered port-bit.

It is useful to document your settings in the documentatin field underneath, to keep the overview.

 

 

General programming procedure

At first you should assign the movement to the right side (3) with fast velocity (4). To do this, you have to set (setzten) or delete (gelöscht) the  port-bits in the corresponding tab-window. Then the number of actions has to be set. This velocity normally has not a puls-mode. 

Important: At all times, and in every puls-sequence, the valves have to be closed contrariwise. To do that, another port-bit action has to be assigned. There are maximal 10 actions. Anyway, more are not needed with 8-output interfaces.


For example: Here is a cut out of a 2 valve per axis simulator, which has one valve for move right side activated, and the contrariwise valve is closed. A total of 2 actions:



In contrast, the Rock'n'Ride uses 4 valves, whereas the contrariwise valves have to be closesd as well.



Following, the same matrix have to be set in all combinations to normal and low speed (4) as well. Now you have a test-matrix that should move your simulator (calibrated potentiometers presumed).

To test the setting you can move the joystick into the already programmed axis.

If you have valves with lower pressure ( like with a second or third compressor with lower pressures), you can assign the same port-bits to 'normal' and 'slow'.

Move the joystick slowly to test the settings.

Puls(speed)-Control

With the puls-control the valve-relays can be opened and closes shortly (25ms). By doing this, you can define 3 differernt speeds (Puls 1-3). Puls 4 is reserved to stop-bits, to slow down or stop the actuator movement.

Example for one movement direction (with 2 valves on this axis):


In this configuration are 2 valves per axis used. Every puls takes 25ms. In this example the valve opens every 50ms and closes every 50ms. I a longer puls duration is wanted, a cycle has to be repeated. Every puls cycle will be repeated by the software, until the Simulator is on the desired positon. The maximum puls speed is could be seen in the documentation of your valves.

Be aware: You have to delete (löschen) at every Puls the contrariwise valve. If you do not, the air can not enter in the cylinder.

 

Calibration Toolbox

With aid of this dialog box the actuator movements can be calibrated. This toolbox can be found in the valve-(interface-)matrix. (verwirrend, entweder valve oder matrix)

 
 
 Explanation of the slider funktions:

1. Here you can set a deadzone for the X and Y Values to compensate any disquietingly behaviour of the simulator. The numbers on the right show the actually measured values of the axis pots. This tremor can be caused by the AD converter behind the pots. The values can be pulled out of a of a supported interface or of a joystick. (hyperlink defekt)


2. If a simulator is in movement, it can not stop immediately. Therefore the simulator brakes before he reached the desired position to compensate the dullness of the pneumatic system (valve circuit time etc.) Here you can define how much earlier the system begins to brake your simulator (depends on the weight of the simulator and the used hardware). This setting has to be made for all three speeds(langsam, normal, schnell). Higher speeds require higher values.

Then save your settings (Übernehmen)
Last Updated ( Sunday, 29 April 2007 )
 
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