Discussions

I designed a 13kg (maximum take-off weight) hexa copter using pixhawk, the configuration of this copter is as follows:

1. T-motor U7 V2 kv420 motors
2. 1855 propellers
3. 25mm carbon fiber tube
4. 2mm carbon fiber board
5. 3D printed anti-vibration platform with dampeners rotated 45°
6. 6S 16000mah battery
7. Pxihawk with AC V3.3

At first, I built this copter without any extra pillars between the top board and the bottom board except the connectors on the tube,and the pixhawk suffered heavy vibration with gigantic glitches, the average vibration level of AccZ can reach -20m/(s^2) to -7m/(s^2), the glitch can reach -29m/(s^2) to +3m/(s^2). The copter can hardly be controlled even in stabilize mode.

Then, I added extra pillars between the top board and the bottom board, the average vibration level of AccZ can reach -7m/(s^2) to -14m/(s^2) which is acceptable by APM, but the glitch can still reach -39m/(s^2) to -5m/(s^2). The copter can be smoothly controlled in stabilize mode.

I wonder:

1. how glitch in my frame above occured?
2. how can I eliminate the glitch?
3. which part of my copter can be improved and how can I improve it?

Thanks in advance! The log attached below.

xiazibin

before pillar installed.BIN

after pillar installed.BIN