Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning

Argo

Yes that's the sensor.

Input shaper ZVD(D) paper:
https://www.researchgate.net/publication/316556412_INPUT_SHAPING_CONTROL_TO_REDUCE_RESIDUAL_VIBRATION_OF_A_FLEXIBLE_BEAM

EI2 input shaper:
http://citeseerx.ist.psu.edu/viewdoc/download?doi=10.1.1.465.1337&rep=rep1&type=pdf

Most simple explanation: It basically cancels out ringing frequencies.

@dc42
Defining a minimum and maximum acceleration range might be good approach for input shaping.
With Klipper's (automatic) calibration measurement you can set a "max smoothing target" as too much acceleration may lead to losing fine details. It then recommends to stay below a specific acceleration, depending on the used shaper the value differs.
What Klipper does not offer though is to set a specific acceleration range. Meaning, if printing small details, the acceleration slows down as needed, so the shaper works properly.

Speaking of pressure advance. Is some sort of pressure advance smoothing planned?

Dougal1957

I have just order two of these https://shop.pimoroni.com/products/adafruit-lis3dh-triple-axis-accelerometer-2g-4g-8g-16g in anticipation.

Doug

dc42

Here are some other relevant UK listings:

https://www.hobbytronics.co.uk//index.php?route=product/search&search=lis3dh
https://thepihut.com/products/adafruit-lis3dh-triple-axis-accelerometer-2g-4g-8g-16g

Accelerometer support (but not input shaping) will be available in release 3.3beta3.

MikeS

@dc42 thanks for the updates! Will wait for 3.4 and accelerometer receive to test that!

printernoodle

So exciting....this is a wonderful addition to the ecosystem.
Thank you!

GeneRisi

@dc42 My accelerometer is in the mail. When will 3.3 beta 3 be released?

dc42

@generisi said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

@dc42 My accelerometer is in the mail. When will 3.3 beta 3 be released?

As soon as I have a fix for the issue of spurious VIN undervoltage reports on Duet 3 Mini with attached SBC. If your accelerometer arrives before then, there is a preview available at https://www.dropbox.com/sh/b65da04w1gl94nf/AACLpPslfDiWDlJN5KDdPydAa?dl=0.

CNCModeller

@dc42

I assume this works for a Cartesian style machine.

I'd mainly be looking to address the "springyness" in my polar bed due to the large drive belt and bed inertia. At the moment I keep the acceleration and max rotation speed fairly low, but I'm updating the bed drive to closed loop so I can push it harder.

Is this something that'll help, and if so will I be able to use the accelerometer on the rotating bed to identify the relevant frequencies?

Just looking to understand how it'll integrate with the polar printer.

I'm guessing that once I've converted my Wanhao D4S to my recently purchased Duet3 mini card this'll all be directly relevant.

Just one final thought, if I have several different mass tool heads will I be able to assign different frequencies for each of them?

Really interesting stuff folks!

All the best
Barry M

dc42

@cncmodeller said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

@dc42

I assume this works for a Cartesian style machine.

If you mean the input shaping, then yes, although so far I have only tested motion on a CoreXY machine, and not tested extrusion. The accelerometer support should work with any kinematics.

Is this something that'll help, and if so will I be able to use the accelerometer on the rotating bed to identify the relevant frequencies?

Possibly, depending on the nature of the drive between the motor and the bed.

I'm guessing that once I've converted my Wanhao D4S to my recently purchased Duet3 mini card this'll all be directly relevant.

Duet 3 Mini is a good choice, because it has enough spare RAM and flash memory to take further than we can take the Duet 2 WiFi/Ethernet.

Just one final thought, if I have several different mass tool heads will I be able to assign different frequencies for each of them?

Yes, by including M593 commands in your tool change files.

CNCModeller

@dc42 said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

@cncmodeller said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

Possibly, depending on the nature of the drive between the motor and the bed.

Hi @dc42

The polar bed drive arrangement can be seen in the linked video.

https://youtu.be/I-7yMkPdsTQ?t=121

I'm now back to direct drive without a gearbox and A much bigger stepper.

The bed pulley is a custom laser cut 720 tooth gt2 profile with a 1100 tooth (ish) belt to the 20 tooth pulley on the stepper motor.

Pulley construction:
https://youtu.be/KNGRAxSSkAQ

GeneRisi

@dc42 Thank you!

zapta

@printernoodle said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

So exciting....this is a wonderful addition to the ecosystem.

Looks like it gained good momentum.

Nuramori

@dc42 any chance that a future version of the toolboard could/would have the accelerometer baked into it, or an expansion header to work with say the adafruit board?

o_lampe

@nuramori
Good thought! That would also help to find different resonances on different toolheads (regarding weight)

zapta

Here is a demonstration of input shaping:

https://www.youtube.com/watch?v=ePQ7LjKKB68

This one is wide band and supports pendulums of different frequencies:

https://youtu.be/MfLavweSiRo?t=18

Looks like magic to me, especially the fact that it's done in an open loop.

GeneRisi

@dc42 Do you have an STL file that you are using to mount the accelerometer on your toolchanger? If not, I'll make one and post it.

CNCModeller

@zapta said in Input Shapers: 2HUMP_EI & 3HUMP_EI + Auto Tuning:

Here is a demonstration of input shaping:

https://www.youtube.com/watch?v=ePQ7LjKKB68

This one is wide band and supports pendulums of different frequencies:

https://youtu.be/MfLavweSiRo?t=18

Looks like magic to me, especially the fact that it's done in an open loop.

That's amazing...

@zapta I'm with you on that one... absolutely black magic!!!

Argo

The Accelerometer saves so much time and filament finding the best frequency even for the basic DAA shaper.

M593 off

And with DAA:

Can't wait for the "real" shapers

CNCModeller

My accelerometer has just arrived... Something else to tinker with when time permits.

As my printer bed moves with the part on it, I was thinking that for large parts the natural frequency will change. This begs the question could there be a way to change the parameter during a print based on the amount of filament extruded?

Just thinking out loud for now.

GeneRisi

@dc42 I have my accelerometer set up on my tool changer. I mounted it like this:

Are any of the input shapers in the version you put into the dropbox?

Thanks!