Model Boat Mayhem
The Shipyard ( Dry Dock ): Builds & Questions => Steam => Topic started by: DBS88 on April 15, 2022, 07:35:47 pm
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About three years ago I was new to radio control, model boats and steam plants. I wanted to introduce my Grandchildren to steam so thought a steam boat would be an interesting way to do that. Thats how I came to purchase my first Steam Tug, it was fitted with a Cheddar boiler and cheddar automatic boiler control (ABC) system, and in my ignorance, assumed that was normal radio controlled steam boats. I joined a club and started to learn more about both model boats and steam plant. What I came to realise was that the system I had was about twenty years old, it was no longer made, and worse, there didn't appear to be any other similar systems available.
As many of you know, my steam journey is leading towards building a twin engined, steam powered, Black Swan Sloop. Well this installation of a steam plant and electronic controls is my first installation and will include all the items I want to be in my new build, so its a practice run and I will share with you the mistakes as well as the success as it comes together. After the beast part of three years research, I am now ready to experiment and learn by actually having a go at this. The opportunity has arisen from two purchases made last year, the first was a hull and the second was a team plant.
Last year I purchased an all metal hull and superstructure of at that time an unknown tug. It was a barn find, covered in dust, dirt and pigeon mess, I bought it because it was all metal, it was large and had the potential to have a steam plant installed in it. I have repaired and waterproofed the hull - the story of which can be read on another thread here on Mayhem, so thank you to everyone that helped get that job done. https://www.modelboatmayhem.co.uk/forum/index.php/topic,67980.0.html
So the job now is to install a steam plant and to install electronic controls for the engine, boiler, gas and water with a target of enabling the Tug to run for approximately one hour.
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Bonjour David,
Great project for a great boat :-))
I can't wait to see your progress especially because I have no experience with electronic stuff mixed with steam.
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Hi here is some further information about this project.
The Hull is constructed from small individual steel plates that have been soldered together, its a work of art that has been carried out by a very skilfull model engineer. It measures 54 inches long by 10 inches wide and requires an additional 11kg of weight to get it down to the waterline.
The baseline for the the electronic controls to be installed is the Cheddar ABC with the aim of achieving this or better. For anyone who has wondered what these systems do I will try to offer an explanation of what it does. It controls the flow of additional water into the boiler and the flow of gas to heat the boiler.
It controls the flow of additional water into the boiler to achieve longer run times. Water is supplied from either an engine driven or an electric pump. There are two loops where the pump can circulate water to. A) it draws water from the on board water tanks or from the lake and pumps the water round in a circle at a high flow and low pressure back to the water tank or lake, so if an engine driven pump is being used it is always pumping. B) the boiler filling loop.
On the boilers sight glass, is a sensor that detects the water level in the boiler, when the water level drops in the boiler the sensor controlled by electronics tells a valve to close the water loop A, which forces water to go round loop B where it then fills the boiler. When the sight glass sensor says the boiler has water, it waits a few seconds, so the boilers water level rises above the level of the sight glass sensor, the electronics then tells the water valve to open so that water then continues to flow round loop A and not into the boiler. It keeps doing this until the water level in the onboard water tanks drop to a low level, the sensor in the on board water tank then sends an alert to the electronics to say the water level is low.
The electronics also monitor the boiler pressure, for example 3 bar 45 psi, if the pressure is lower a servo controlled gas valve(similar to the water valve) is opened to heat the boiler, at 3 bar the valve moves to reduce the flame to a low setting, when the pressure drops the flame is increased until the desired boiler pressure is achieved again. It does this continuously.
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Whilst preparing to build my Black Swan Sloop I have been buying bits and pieces so when I was offered a Cheddar Proteus Boiler, Proteus Engine and Cheddar Automatic Boiler Control System I didn't think twice. It had only been test run and had never been installed in boat or anywhere else and it was from a friend at the boat club. Now I have had the set up for some time, my intention was to use the ABC system for my new build, but I have been reluctant to separate it from the the boiler and engine, so have continued to search for automatic boiler controls. The Proteus Engine is a 7/16 inch bore and stroke, twin cylinder, double acting slide valve engine, with a Maudsley Reversing gear mechanism. The engine has a reputation for being very powerful for its size. The photos show the steam plant as I received it, it had been sat around in a workshop for a few years, and then on a shelf in my basement for a while, I had never seen one run, so looked forward to setting it up on the bench to test run. So I decided to test the Proteus Engine and Boiler together with the Automatic Boiler Controls with a view to installing it in the Bustler Tug.
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Bonjour David,
I confirm, Proteus is quite powerful. Just a detail, I see a water pump on the left side of the machine, don't you plan to use it ?
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Raphael, yes, thank you, the Proteus setup includes an engine driven pump which I will use to supply additional water to the boiler to achieve longer run times. What I have found out out is that its vital with this pump to ensure its never run dry, to make sure that it is always pumping water, to prevent damaging the pump. The pump and controlling the flow of water to the boiler is a fundamental part of the electronic controls.
Electronic controls are not new, Malcolm Beak and Fraser Hislop led the way with this many years ago, publishing drawings so that home engineers could build their own controls. In fact both Malcolm and Fraser have been incredibly helpful and supportive, they are both talented engineers who have taken the time to share their knowledge, which is very much appreciated.
Cheddar introduced an Automatic Boiler Control System which works well most of the time, and there were some other manufacturers that made some partial controls, but as far as I know, no one did it as well as Cheddar. Then with the demise of Cheddar, the only controls that appear to have been available was an Automatic Gas Control Valve from Stuart's. Having started out by using these controls, they seem to make perfect sense to me, however I fully accept that it is possible to achieve a good level of control over water flow into the boiler and also with controlling the gas usage by using mechanical controls, such as bypass valves and gas attenuators, with your help I installed such as item on the Lady Sarah steam launch, details of which are on this forum.
With that in mind the idea is to share with you the installation a Cheddar Proteus Steam Plant together with automatic controls and to learn from the process.
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Very interesting, David! Please continue and share some pictures of the steam plant and control system installed in the boat.
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Hello David !
Always interesting to read your posts ! :-))
I have a question though:
- What is the point to have a water controller level if the pump is driven by the engine? As long as the engine runs, the pump supplies H20 whatever the level in the boiler , no ? Maybe that you are planning to install a controlled by pass valve to pump out of the boat when the boiler level is satisfying ? Generally Cheddar controller are controlling and independent pump .
Also, letting running the pump dry will not tramage anything as , in any case the sealing ring is not lubricated and the volume displaced does not cool down this ring. Instead, loosing prime is an issue to get it back with those small volumes.
I do not have enough back up with my plant , but I imagine that the pump displacement is rated to compensate the water that engine consumes.
Thanks for sharing ! Time to hide the Eastern eggs for the grand kids !
Regards.
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Before responding to the questions asked for completeness I would like to add further information to the previous post.
Malcolm Beak wrote at least two articles for Model Boats Magazine in the late 1980's, one was called "In Control" which described how to build a gas control valve and another was called "We Have Control" which described how to build an electronic water level control with a circuit board and all the components needed for you build one at home.
The next thing was to show you the Stuart Gas Control system which comprises of the electronics box, a pressure(temperature) sensor that in the photo is installed in the top of the boiler, a gas valve that has an adjustment for the pilot light and a servo controlled arm that opens the gas valve fully when the pressure in the boiler is lower than the set level, for example 45 psi, and then closes at the set level, 45 psi so the boiler is just running on the pilot light setting. This is installed in one of my steam boats and operates well.
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To answer the query about the engine driven pump being matched to the engine and delivering enough water in relation to the rpm, what I have found is that the pump is powerful and is capable of delivering more water than the engine is consuming at any rpm. This makes sense if you are using automatic controls for the water level, since the sensor will call for water at a predetermined level, the pump will then deliver the water to the boiler, which it must do at a rate faster than the water is being consumed or else the water level would fail to increase in the boiler, to a level above the sensor.
The Proteus pump is fitted with a bypass valve, so if the pump is set up to run without the automatic controls, the bypass is adjusted through trial and error so that some water continually flows into the boiler, with the excess water being returned to the inboard tanks or overboard into the lake. If the valve is fully closed all the water enters the boiler, if its wide open, no water enters the boiler.
Where the proteus pump is part of an automatic boiler control system, the pumps bypass valve is left wide open on maximum flow. The water either from the lake or the onboard water tanks continues to be pumped at all times, this is because this is a physical displacement pump and cannot slip water like a centrifugal pump does. The water either flows from the lake back to the lake or from the onboard tank back to the onboard tank until the boiler controls tell a servo controlled valve to close, preventing the water circulating in the by pass circuit. With the valve closed the pressure builds up to a level that overcomes the boilers internal pressure, for example 45 psi, then the water enters the boiler until the water level rises above the sensor and the valve is again opened to circulate water once more round the by pass circuit.
Here is photo of the proteus pumps bypass valve, the second photo shows the clack valve that allows water to enter the boiler and also the servo controlled valve that opens and closes to direct the water to the boiler or round a bypass circuit.
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I put the Proteus steam plant on my work bench and prepared it to run. I checked the inside of the fire flue and the burner, as you can see from the photos this boiler had barely been run. I set the gas jet to the correct spacing of 4.5mm in the burner tube and then turned on the electronics. The unit goes through a series of checks, and operates the servos so I knew it was all working. I slide the sight glass sensor up the sight glass to check that the valve operated in the no water condition which it did, so returned the sensor back to where there was water in the sight glass and the valve operated as it should. So I fired up the boiler, set the pilot light and waited for the pressure to build. On the ABC you are able to set the pressure at which you want the gas to be turned down to the pilot setting, I set this to the minimum, then when the gas valve closed at 15psi increased the setting gradually til 30 psi and then opened the steam valve and throttle to start the engine. The engine burst into life at an alarming number of revs and sounded glorious, I closed the throttle a little and marvelled at how responsive the engine was from just a few revs to really quite high revs in an instant. The engine was then left to run at moderate speed. The pump was pumping water round the bypass and all appeared to be fine. I waited for the water level to drop in the boiler so I could see the servo operate the water valve and for the water to rise in the boiler. However nothing happened, the water level dropped, below the sensor and the valve didn't operate. I moved the sensor up and down on the sight glass and still nothing happened. Disappointed, I turned off the boiler and let it cool down. I checked all the electric connections and with everything cold, turn on the ABC again, I moved the sensor up and down on the sight glass and it worked as it should opening and closing the water valve. Happy days, so I thought. I turned on the boiler for another test run and waited, with the boiler up to pressure I moved the sensor up and down the sight glass, nothing happened. It appeared the sight glass sensor was faulty and would not detect the water level once it got hot.
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Australia Post is pretty good Dave..........you should receive the paragraph key within a week or so {-)
Derek
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To avoid confusion, I need to be clear that this project was started sometime ago and these early updates are to catch up with the current position. Sometimes in life you work really hard and nothing seems to happen, then all of a sudden the wall breaks and everything comes together. Well thats what happened next, like buses several things all came at once, the first of which was a chance conversation with a fellow club member who was sailing his very clever submarine for the first time. As it happens he is skilled in electronics and he offered to have a look at the sight glass sensor, now I have nothing but admiration for those that understand the dark arts of electronics, as far as I can see it works by magic.
Here are some photos of the inside of the sensor.
What I have managed to work out from looking at it is that there is a light source and there is a receiver upon which the light falls. First the light passes through the sight glass, then it passes through a small slot in a metal plate, then the light falls onto the sensor. Now one of two things happens, I am not clever enough to know which one it is. From school we all know that when light passes through water it bends, so when there is water in the sight glass the light passes through the water and then through the metal slot to reach the sensor, when there's no water the light is not bent and fails to reach the sensor, or it might be the other way round. Any way to cut a long story short, a couple of weeks later I had a working sensor.
The next things happened in fairly quick succession, two adverts appeared on an auction site, the first was for a Cheddar ABC and the second was for a brand new set of boiler controls by a new company, then around the same time I was also offered another complete Cheddar Proteus Engine, Boiler and ABC plus a number of other items, all of which I will expand upon in further updates.
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Some of this background info is complicated and maybe unnecessary, but hopefully its helpful. I watched the advert on the auction website for the Cheddar ABC and prepared to bid for it and was fortunate enough to win. The set was not quite complete, the black shield that fits over the light sensor was missing, the shield keeps out the day light, I believe the sensor won't work with out being covered. Anyway I figured it would be easy enough to make something, but at least I now had another ABC and didn't have to split up the Proteus Steam Plant. Photo 1
The next advert was from a new company that had started to make electronic boiler controls, so I went ahead and purchased the Dénes Designs Automatic Boiler Control unit so that I could use the Cheddar ABC just purchased as spares and use the Dénes ABC for the Black Swan Sloop that I would be building as soon as the boiler that I had ordered arrived. The ABC duly arrived and I put it in the box with the other bits that I was collecting for the Black Swan Sloop. Photo 2
Now a thought occurred to me, that perhaps the new Dénes sight glass sensor could be used with the Cheddar ABC and solve any future worries about finding spares, so I had a look at the Dénes ABC sight glass sensor, and found it had four wires, the Cheddar ABC sight glass sensor only has three wires. So I emailed the company and asked if they made or could make a replacement sensor for the Cheddar Unit? The reason for asking was that I have more than one Cheddar ABC and having found that the sensor could fail I wanted to have a spares. A prompt reply was received that yes the sensor could be supplied, that it was different to the original, in that it had more clever electronics on it, it compensated for temperature and it had something called water debouncing on it. Debouncing helps prevent false alarms with the sensor, when no water is detected, the unit waits a period of time, it then checks to see whether or not water is present, if no water is detected it then operates the servo. The false alarms occur when the water moves up and down the sight glass due movement of the boat or from bubbling in the sight glass. These additions to the sight glass sensor were a step forward and so I agreed to purchase the new replacement sensors from Dénes Designs for the Cheddar ABC which arrived promptly. Photo 3.
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The next step was to remove the old sight glass sensor which due to the design of these sensors means that the sight glass has to be undone and slid up so the sensor can be slid off the bottom of the sight glass. The new sensor was then slid onto the sight glass and the sight glass slid back into position and the nuts tightened. Care is needed to ensure that the sight glass is not damaged or the sensor during the installation.
Next the boiler was 2/3rds filled with water, the engine lubricated and the displacement oiler filled. Also a bottle was filled with water to simulate the onboard tank, into which pipes were placed to take water to the pump and for the pump to return water to the bottle. Also the low level water sensor for the onboard water tanks was placed into the bottle. The gas supply and gas valve were connected and the boiler was then lit. Turning on the ABC it goes through a series of checks, and operates the water and gas valves, then the gas gas comes full on until the set pressure is reached. The link to the video shows the engine running and the sight glass sensor being tested by sliding it up and down the sight glass. https://youtu.be/iLoyLBfm9dg
The last photo shows the issue with bubbles forming in the sight glass, which with the old Cheddar sensor did lead to false alarms, with the addition of the debouncing in the new sensor this issue should be reduced if not eliminated. Cheddar tried to reduce the problem, on the Mk1 Proteus Boiler the sight glass was at the same end as the burner. On the Mk2 the sight glass is positioned at the other end of the boiler, this I believe was to eliminate the heat from the burner that may have caused the water to boil in the sight glass and also minimise the heat transfer to the sensor leading to premature failure of the sensors.
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Dear David,
Thank you for the nice words about the Denes Design ABC.
I got many feedbacks from him, and I could improve my products by David's help.
If you interested in any of my products please check my website and my videos.
http://www.denesdesign.co.uk (http://www.denesdesign.co.uk)
I will create some new videos, please visit the website regularly if you interested in.
I will place the products on the ebay soon.
Denes Design
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Hello David and Denes,
One very useful trick to remove bubbles from a water gauge is to insert a thin wire inside, which helps the bubbles raise and allowes a true water level reading.
Now I wonder if the new Denes sensor or the original Cheddar sensor work if a wire is present inside the glass tube?
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That is a good question.
If the wire is not thicker than 0.4 or 0.3 mm should work, but without a test I can't tell.
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Bonjour,
Oups, I use 0,5 - 1mm copper wires in my water levels : https://www.youtube.com/watch?v=RkK82YE44XI&t=2s
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Ok.
I will check it this evening.
I have to modify one of my "sight" glass tube.
I think I have a 1mm brass wire somewhere.
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A couple of people have asked about the sensor made by a fellow club member. I do not want you to think that the Cheddar sensor was repairable, it was not. To cut a long story short, the Cheddar sensor worked when cold, failed when hot, then worked when cold again. The parts had little in the way of identification marks, so it was not possible to source replacements. He spent a while researching and purchased new parts, a circuit board and various other components. There was difficulty with the metal shield with the slot in it, its positioning is critical, also a problem shielding the sensors from the daylight. Any way he suceeded, but its not a job for the faint hearted, he did say he enjoyed the challenge, in fact I saw him today and he is still talking to me, so I guess its true. Here are a couple of photos of what he achieved and how he tested it. The first shows the original Cheddar sensor alongside the replacement sensor that he made, the second photo shows the sensor being tested.
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Bonjour,
Impressive ! As usual, passionates realize miracles ok2
About copper, I think 1 mm is too much, I used it because I had it. One 5 mm wire should be a good compromise...
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Bonjour,
We also have good electronic steam passionates in France
My friends Francis and Pascal have produced a gas detection printed circuit that works independently and can be positioned in parallel with any manual gas cut-off system already installed elsewhere :-))
https://www.youtube.com/watch?v=sqO4eUZjJ-o&t=43s (https://www.youtube.com/watch?v=sqO4eUZjJ-o&t=43s)
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Dear Gents,
Yesterday evening I put a piece of 1mm wire into the sight glass.
I know it is a bit thick but this was the maximum thickness which you gave me.
The result: I can't prove that the sight glass sensor it working as it should.
It was working for half a minute after than it had some miss readings, and then working OK again.
I can't recommed to use a 1mm wire together with the Denes Design sikght glass sensor.
The issue: The sensor is using a IR light to detect the water in the sight glass if I put a piece of wire in it that is putting an extra shade on the sensor and reduce the resolution of the sensor.
Simple explanation: The sensor can't get enough light, like when you put your hand above your eyes to protect your eyes from the sunshine.
I know this is not that news what you expected, but I think the water debouncing can reduce this effect drastically.
Dave and Bunkerbarge[size=78%] [/size]has many many test with my sight glasses and they are pretty happy with the performance (I hope ok2 ).
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This is really interesting, I will check it later :)
Bonjour,
We also have good electronic steam passionates in France
My friends Francis and Pascal have produced a gas detection printed circuit that works independently and can be positioned in parallel with any manual gas cut-off system already installed elsewhere :-))
https://www.youtube.com/watch?v=sqO4eUZjJ-o&t=43s (https://www.youtube.com/watch?v=sqO4eUZjJ-o&t=43s)
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The renovation of the Tug is still ongoing and these posts have not yet caught up to the current position, which is as follows. The steam plant is installed along with the electronics. Before installation the steam plant was run on the bench numerous times to test various items and get the set up sorted. The complete model has also been run on the lake now half a dozen times in the last fortnight, the last two runs were endurance runs, to see how long it could run for without being returned to the bank. At this stage I won't spoil the story, but what I can confirm is that it has run without issue, and the reason for mentioning it at this point in the build log is to confirm that any bubbles in the sight glass have not caused a problem, it appears the debouncing technology works as no false alarms have been triggered. If the bubble didn't clear and the sensor continued to see no water, it would shut the gas down to a pilot light and a large high intensity LED would turn on to warn the user that the boat should be returned to the bank for further investigation. Here is a photo of the tug during this weeks endurance runs.
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Bonjour,
I think I will test Denes products and besides this, what a beautiful bow wave which proves the efficiency of this also beautiful boat :-))
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Nice one Dave :-))
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With regard to the sight glass sensors, there is something to remember - not all sight glasses are 5mm in dia. The boiler that I have ordered has an 8mm sight glass, another boiler I use has a 3/16 inch sight glass, so if you are going to use electronic boiler controls that use an optical sensor fitted to the sight glass, the correct size is important. Here is a photo of the sensor for the 3/16, the 5mm and the one for my new boiler with the 8mm sight glass. If its not the correct size either it will fall down the sight glass or else you won't get it on the sight glass. This is an example of the feedback that I have given to Dénes and also an example of how he has responded to supply sensors to meet the need.
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As mentioned in an earlier post, I had been offered a second complete Cheddar Proteus Boiler, Engine and ABC, so I agreed a price and waited for it to arrive in the post. Now my thinking was that my Black Swan Sloop needed two engines and this purchase would mean that I had a pair of Proteus engines that could be used for that project. When the parcel arrived I looked it over and put it back in the box whilst I continued with other projects and I didn't give it a thought til recently. I mention this now, because its this engine and boiler that are in the Bustler Tug, and the eagle eyed amongst you may later, have spotted that it is a different steam plant to the one we started testing.
I knew this steam plant had been used for only a few hours, less than 10 so was confident that it was all ok.
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When I got round to testing the steam plant I checked over the ABC, oiled the engine and filled the boiler and fired it up, the pressure was raised quickly and at 30 psi I opened the steam valve to let steam through to the engine. With the first Proteus engine I found it was best to get it moving at a low pressure, since at higher pressures it was hard to get started if it got a hydraulic lock, so warming it early and turning the flywheel by hand seemed to help. However with this engine I found it to be very stiff and difficult to turn which surprised me. The pressure rose and after 45 psi the engine started to turn over and began to run, but no where near as freely as the first engine. I assumed that it was tight and needed running in so put some more oil on the moving parts and left it to run for a few minutes.
I checked the engine over and turned the flywheel by hand, the flywheel felt warm to the touch, so I looked closer and found that the flywheel was rubbing on the eccentric strap for the water pump. I undid the flywheel and moved it further along the crankshaft, immediately the engine turned more freely. Another look revealed that the pumps eccentric was also pushed to far on to the crank, so this too was slacked off and moved so that it was is line with the pump. I also realised that the pipe for filling the boiler was connected to the wrong outlet on the by pass valve. So I took the pipe off and disassembled and checked the by pass valve before reassembling it all correctly. Now the previous owner had said that the engine needed 45 psi to get it going and also that they had never really got the water bypass working satisfactorily -
With these things put right I tested the steam plant again, it was like a different engine, it started easily, it revved freely, and the pump filled the boiler as it should, the sight glass sensor worked, so all was good.
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Very good that you could easily sort the issues with the steam plant. With second hand engines you can never know if previous owners handled and assembled them correctly, it is good to check them thoroughly before running.
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Thank you, I too am glad it was an easy fix. However, whilst I had run the steam plant on the bench to check it all operated, to make sure that the water valve and the gas valve opened and closed as they should and that water went into the boiler, and that the electronics worked as they should. What I had not done was let the steam plant run for a longer duration to see how well the water level was maintained in the boiler, if I had I would have picked up on another problem and would have saved myself several hours of frustration as I tried to get the flow of water into the boiler balanced.
The issue was with the servo controlled water valve, I struggled to get it adjusted correctly, either it would let too much water into the boiler - that is, it was not opened far enough so that when no water should be going into the boiler, it still did, or at the other extreme, not enough water would enter the boiler - the valve was not closing sufficiently to allow enough of the pumped water to enter the boiler. This then, as I was later to discover, was the main cause of the problem that the previous owner had mentioned. The water bypass and boiler filling system worked perfectly on the other Proteus steam plant and I had not experienced any issues with its set up, so the difficulties I would later experience during the installation of this steam plant left me puzzled and frustrated.
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Sounds like the bypass valve lever arm not moving enough? How did you solve this problem?
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Very tricky to adjust the flow rate with a by-pass valve. O0
Also the lightest friction somewhere on the engine takes a lot of the power off!
I've been through all this and I didn't success every time but I am quiet sure that your common sense will solve it all !
Very interesting and optimist to follow your progress toward the end. :-))
Cheers !
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In this case the bypass valve (controlled via servo by the Cheddar ABC system) does not need fine adjustment of the flow. It is either turned on or off by the system, according to the water level in the boiler. What I understood from David is that the bypass valve did not open and close properly, probably because the servo was not adjusted to move the lever enough.
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Hi,
I think here is the chance to advertise my GCU %) [size=78%] [/size]
It is not just ON and OFF on the gas control servo it has interim positions too, so the theory is that the unit is balancing the gas level according to the necessary boiler pressure (between pilot and totally open position), and it is able to keep the boiler pressure on the same level all the time.
I think this is better for the gas tank because it is not losing a large amount off gas quickly and the pressure doesn't drop down and it is not cooling down so much...
The main thing it is able to manage the gas burner better than all of those systems which are just switching ON and OFF.
So sorry for this postI just would like to highlight that there is a solution for some of the issues.
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Re the bypass valve, you are right, it was an issue of mechanical advantage. Because the steam plant had been previously installed in a boat and had run for around 45 mins, I thought the valve was ok so couldn't initially understand what the problem was. I spent most of a morning setting up the valve and had got it just about right, I made a final adjustment then went to test it again, only to find that the servo had died. I was less than happy, so replaced the servo and in doing so realised that the servo arm was shorter than the valve arm, so the valve was not moving a full 90 degrees - a real rookie error that I should have spotted.
Here are photos of the original set up and then the new servo and longer servo arm. As soon as the replacement was installed, the set up was easy and it it all worked properly first time. So it was definitely the length of the servo arm that was the issue.
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Work has been ongoing with this project since before Christmas, its involved a lot of trials and testing, its been a great learning experience and its been the reason for not making progress with my Torpedo Boat Destroyer HMS Daring. All the elements of this project came together and picked up real speed in March, so I am trying to catch you up to date and provide you with as much history and information as possible on the way.
So it may be help the conversation to have a look forward at some of the areas that will be covered over the coming days, they include, in no particular order:
- temperature/pressure sensors
- preparing the inside of the hull for the steam plant
- installing the steam plant
- testing the Dénes Automatic Boiler Controls
- testing a Gas Control Unit
- testing an engine control unit
- testing electric pumps
- Installing onboard water tanks
- Why this project was undertaken
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Since we have been discussing the water supply to the boiler, now might be a good time to look at pumps. Some of what follows is a bit of a jump ahead in time, its not strictly in chronological order.
The bench testing of the steam plant has shown that the proteus engine driven pump delivers more than enough water to meet the steam needs of the engine, which is great news. However, I am also keen to find out more about electric pumps as an option, whilst I may use the proteus for the Black Swan, the engine I favour does not have a pump, so whilst I was testing the Dénes Automatic Boiler Controls on the Proteus I took the opportunity to try one of its additional features. When the sight glass sensor detects a low water situation, the Dénes ABC has the option to be set up so that it powers an electric pump, and when the new water level is achieved to turn off the pump, so its not running all the time, not only does it do this, it has a soft start and finish so that the pump starts slowly and then builds up speed and when the level is achieved it gently slows down again, a nice touch. Here is a link to a video of the ABC running an electric pump. [size=78%]https://youtube.com/shorts/BcM0kFfbG6o (https://youtube.com/shorts/BcM0kFfbG6o)[/size]
In the box of bits I have collected for the Black Swan project I had two of the Chinese electric pumps ready for the project, the bore is 6mm and the stroke 5mm giving 0.14 cubic cm of water per stroke. My first surprise was how slowly the pump turned with the 5v output from the ABC, 30 rpm, which gives 1/4 litre of water per hour. My second surprise was when I tested the second pump, it turned at 60 rpm?, which gives 1/2 litre of water per hour, better but not enough to keep up with demand.
So if you buy one these pumps you need to know which you are getting, mine are not marked so I had no way of telling what rpm they did. The above capacities may well be enough for your set up, but what I learned was that you do need to know how much steam/water your engine boiler combination uses so that you size the pump correctly.Research revealed that I could buy one of the motors that drives the pump complete with the reduction gearbox for about £5, so I selected one that gave me 280 rpm to produce 2.3 litres per hour, which would keep up with and exceed my predicted demand.[size=78%] Here is a link to a video of the replacement electric motor at 280 rpm https://youtube.com/shorts/ce9wC4rbnn8?feature=share
I also came across a very neat unit from Regner, now my German is not good and I had not found the translate button on my computer, but despite this managed to order one which duly arrived. Its bore is 10mm with a 5 mm stroke to give 1/2 a litre per hour, which would extend running times but not keep up with the engines demands, so no good with this engine and boiler combination when used with automatic boiler controls. Here is a link to a video of the Regner pump unit running.[/size][size=78%]https://youtube.com/shorts/9I71eFq4TOw (https://youtube.com/shorts/9I71eFq4TOw)[/size]
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Dave......I found this in the string from your video....it confirms the issue or challenge we all experience with conventional R/C servos & float of the function.......there may be an alternate drive function in the American Robotics WEB site
https://youtu.be/rHNmjyRUXGw (https://youtu.be/rHNmjyRUXGw)
Derek
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Very interesting report on the electrically driven pumps. I wonder if the servo used by the Regner pump could also be made to run faster?
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Derek, thank you, I am not great with the rc stuff, so didn't really understand, I would not wish to miss a learning opportunity so please could you re word your reply in another way so that I might understand it properly, thank you.
Re the Regner pump, firstly there are two versions of this pump, one with servo electronics and one without, I purchased the one with servo electronics. With regard to speeding it up, what I have found during conversation with a fellow Mayhem member is that, the servo electronics allow you to regulate the speed of the pump, so at max speed this pump is rated to deliver 570ml of water per hour or just over 1/2 a litre. The servo electronics allow you to set the speed of the pump anywhere from 0 rpm to max rpm, so it does not appear that you can increase the speed but you can slow it down or regulate it. Here is a link to a video showing the transmitter being used to control the pumps speed. [size=78%]https://youtu.be/y2OMzYdCMPI (https://youtu.be/y2OMzYdCMPI)[/size]
With the electric pumps, its possible to increase their speed by increasing the voltage, mine were running from the 5v output from the Dénes Automatic Boiler Control unit. Supplying an increased voltage from another source would increase the pumps speed, I believe these pump units will take upto 12v, so more than doubling the outputs previously mentioned. That does bring with it a world of pain with different voltages for different items of equipment, which whilst possible, it is something I would like to avoid if possible.
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I also came across a very neat unit from Regner, now my German is not good and I had not found the translate button on my computer, but despite this managed to order one which duly arrived. Its bore is 10mm with a 5 mm stroke to give 1/2 a litre per hour, which would extend running times but not keep up with the engines demands, so no good with this engine and boiler combination when used with automatic boiler controls. Here is a link to a video of the Regner pump unit running.[size=78%]https://youtube.com/shorts/9I71eFq4TOw (https://youtube.com/shorts/9I71eFq4TOw)[/size]
If you go to Google Translate and paste in the URL of the German website it will produce an english translation of the whole page. Its also fully working so any links and forms on the page will still work. The translation is generally OK but technical german is difficult to translate and may not translate well or at all.
Jim
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Dave....getting back to this video, irrespective of Brand I have used, each servo appears to exhibit a mushy or rubbery band at the set point which when a physical force is applied to the servo or more the driven effort, you can hear the feedback trying to return or establish that set point
The other consideration could be an adjustable Turnbuckle in the rod between the servo & the mating part, so to use the turnbuckle micro-adjustment over the main adjustment at either end of the adjustment rod
One of our Members 'Bernhard' for Denmark, had used and demonstrated both the Regner & the Microcosm boiler feed pumps, although without the extent of comment which you are providing [thankyou]
Like you, I also had 2 of the Microcosm P? pumps, the first speed reducer was like a VW engine & totally unacceptable. Jin offered to replace it FOC, but the postage return to China was absolutely prohibitive. I replaced both speed reducer [edit - motors] with an off the shelf Australian 22mm OD unit, however the tandem setup as below was a disaster with the speed of closure of the check valves as such, the water was just going around in circles
You appear to have the newer P5 pump with encapsulated o-rings under the banjo fittings......I have the earlier version with white Nylon seals, which were useless >>:-( so have replaced with RED fiber sealing washers...the newer P5 pumps also appear to have gone away from ball & seat check valve to a minature brass poppet + even smaller section o-ring.........I am not sure of the longevity of the minuscule section o-ring hammering shut a few hundred times per minute?...where I suspect the pressure [even 2 or 3 Bar] will be sufficient to cause eventual metal to metal contact however without security of sealing :embarrassed:
I have since ordered larger speed reducer 25mm OD & this has higher low speed [130 RPM] torque. The extended output shaft will be for the pump + a second function + the outboard bearing :o
Looking forward to your further posts on this matter :-))
Derek
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Hi Derek, why do you need two pumps on your steam plant?
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Evening Calan.......it was a trial concept only, however like a lot of my thoughts, didn't quite function because of the inability of the opposite check valve within the pump bodies to seal the small volume of pressurised water from the opposite pump, quickly enough & hence pressure decay, before the discharge line check valve :embarrassed: <*<
As an alternate to the dual electric system, I mounted the second P? pump as a direct vertical eccetric drive off the 4mm crankshaft of the Saito Y2DR.......the problem with this was lubrication and steam oil gathered at the pump plunger shaft & began ingestion to the water system [edit - and the check valves failed to reseat - the pump body axis must be in the vertical plane]
Derek
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For some time the Dénes ABC sat in my Black Swan box of bits, untested. While the first Proteus steam plant was on the bench, after having replaced its faulty Cheddar sight glass sensor, I let Dénes know that the new sensor worked fine and he asked how I was getting on with the ABC, so sheepishly, I had to confess that I had not yet tried it. His query spurred me into action and I removed the Cheddar ABC and wired up the Dénes ABC. Here is a link to a video of the Dénes ABC going through its start up sequence. What you will see is me connecting a battery, and 11.2v Lipo battery which is fine because the unit has protections from over voltage built into it, it actually operates at 5v and has a low voltage protection/safe mode as well. Next it checks the water in the header tank, if none, nothing happens, once that is satisfied, it checks the water level in the boiler, once that is satisfied, the start sequence continues with a test of both the water and the gas servos, it then is ready with the gas servo open. https://youtu.be/WR7lD9Q3R50 (https://youtu.be/WR7lD9Q3R50)
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Dave....
Hope we are not getting too far off track, but here is a video %) of Bernhards Regner boiler feed pump from 2011 ...it needs 27 seconds to open but then confirms the squealed cat sound >>:-( when pumping under pressure
http://www.youtube.com/watch?v=ueqAWDNTO5k (http://www.youtube.com/watch?v=ueqAWDNTO5k)
Derek
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Derek, thank you, that is a lovely steam launch Bernard has created, its always helpful to see these models working since it furthers our discussions and helps our understanding. The Cheddar Puffin has the same bore and stroke as the Cheddar Proteus at 7/16 inch bore and 7/16 inch stroke, both are double acting, so consume similar amounts of steam, with the slide valve Proteus likely to be the more efficient of the two. What we see from the video is the Regner pump tanking its water from the paddling pool and we see the pump operating at what appears to be its max rpm, which is all good. The system works and extends the run time of the boiler for what is a fairly steam hungry engine. This confirms for us our early conclusion that the Regner pump is a good pump, but its capacity is not able to meet the demands of the boiler and engine combination, so while it extends the run time, the water level in the boiler will continue to fall.
This is important, since when using the automatic boiler controls, we need a pump that will meet and exceed the boiler and engines demands, so that the water level rises in the boiler while the engine is running. If the water level is falling we need to know. My First Steam Tug has the Proteus Boiler supplying steam to two Cheddar Puffins and has the Cheddar ABC which all works fine. However I will confess to potentially serious event with it. The model had just passed its annual steam test, it was running fine, I always check that the pumps are pumping water. Anyway the model was running round the lake on a frosty morning looking fabulous, then it slowed down, so I tried to return it to the bank, but failed. I watched it drift slowly, then became alarmed as dark smoke appeared from the funnel. Now the experienced steamers amongst you have guessed that the boiler had run dry and now the mahogany cladding to the boiler was becoming hot. In this situation the Cheddar ABC turns the gas down to a pilot light, so there was not a full flame burning on an empty boiler. Here is a photo of the steam plant in the tug and a link to a video of the steam plant working [size=78%]https://youtu.be/gRxDjKCv790 (https://youtu.be/gRxDjKCv790)[/size]
I mention this because while testing the Dénes ABC I relayed this event to Dénes, he listened and and agreed it would be a good idea to modify his ABC units. The modification means in the event that the sight glass sensor detects a low water situation it opens the water valve to let water into the boiler or it turns on the electric pump as it did before, but now the monitors the situation, and if the water water level does not return above the sight glass within a certain time the system goes into alarm, shutting down to pilot light and illuminating the high intensity red warning LED so that the operator knows to return the model to the bank in good time to investigate the cause of the alarm. This then is an improvement over the Cheddar ABC.
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While I was looking through photos and video of the Proteus Steam Plant I realised it would be helpful to share this video of the first Proteus Steam plant with the Cheddar ABC with the Dénes replacement sight glass sensor. Its about 3 1/2 minutes but it shows the engine running at a higher speed with the gas valve opening to full and then shutting down to pilot as it maintains the pressure at around about 60psi. It also shows the servo controlled water valve opening and closing to keep the boiler topped up with water. The pump is running continuously either to fill the boiler or to pump water in a loop to and from the glass jar. This is an early video where I am experimenting and you will notice that the original Cheddar ABC sensor is still in place, but not connected. This test confirmed it was the Cheddar sensor not working rather than an issue with the electronics. https://youtu.be/cDypu_L4PGM (https://youtu.be/cDypu_L4PGM)
You will hear the engines revs increase when the water valve sends water round the by pass and also hear the boiler going on and off and see the lights flashing on the ABC unit. The engine is running at about half speed and you will hear the rpm vary as the pressure goes up and down in response to the gas valve operation and the land put on the engine by the water pump over the boiler pressure which is at 4 bar 60psi to fill the boiler. This shows how the electronic controls can be used to keep the engine and boiler performing at a high level.
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Very informative videos, thanks!
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As per the book ! :-))
You are proving that electronic can be a good help when used properly. :-)
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Thank you for your messages and encouragement. Its time to look at the pressure/temperature sensor. This sensor fits in the top of the boiler, usually in the steam dome, sometimes they are placed in the top of the sight glass fitting, but they can be in any of the convenient bushes in the boiler. Whilst the sensor is called a pressure sensor, it actually measures the temperature, for example at 6 bar or 90 psi the water temperature will be approx 160C. So the sensor tells the black box of electronics the temperature and it then black box knows what the pressure is.
Now I am not an electrician or versed in the dark arts of electronics, but I do own a multimeter. What has come to light during testing is that the original Cheddar Sensor has a resistance value of 120. The Stuart sensor for the gas controls mentioned earlier also has a resistance value of 120. Their wires are black and white. The Cheddar replacement sensors available to purchase online have a different resistance value of 540, its wires are orange.
The difference in resistance affects the the way the Control unit read the pressure when used with the old Cheddar and with the Stuart sensor. The maximum pressures were lower, in the region of 30psi. When used with the replacement Cheddar sensor the normal range of pressure adjustment was achieved. I believe the Dénes ABC will now work with either of these sensors and that Dénes now supplies his own sensors to ensure the sensor works with the ABC, one of which can be seen installed in the steam dome of the Proteus boiler.
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Dear Gents,
As Dave mentioned above the Pressure sensor is measuring temperature originally.
The steam inside the boiler is called super heat steam, which means that the steam temperature is above the boiling point (normally 100 degC), but because the size of the boiler hasn't change the boiling point will be higher and higher as the temperature is raising.
If you interested in a bit deeper please read pages like:
https://en.wikipedia.org/wiki/Gas_laws (https://en.wikipedia.org/wiki/Gas_laws)
I would highlight the Combined gas law.
Satureted steam pressure by temperature (this is how I set the pressure according to the temperature):
https://www.tlv.com/global/TI/calculator/steam-table-pressure.html (https://www.tlv.com/global/TI/calculator/steam-table-pressure.html)
Here is my short video about the sensor:
https://www.youtube.com/watch?v=PPN9Z0fumv8&ab_channel=DesignDenes (https://www.youtube.com/watch?v=PPN9Z0fumv8&ab_channel=DesignDenes)
The problem of the different pressure/temperature sensor is the difference in their curve. In the case of Denes Design pressure sensor I use an NTC (Negative Temperature Coefficient).
(https://www.modelboatmayhem.co.uk/forum/data:image/png;base64,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)
As you can see it is not linear, it is exponential, to decoding the measure value I had to use the extended Steinhart-Hart equation, which I wrote into the firmware.
The problem is that each NTC sensor families has their own parameters, if these parameters are close to each other the counted values will be really close to each other and the tempreture/pressure sensors are compatible with each other, in any other case not.
Please check that you are using the right pressure sensor, for the right unit.
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So sorry I missed the curve
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Having spoken about the pressure/temperature sensor we may as well have a look the gas valves that they are controlling via the electronics.
- The first gas valve is a simple servo controlled valve that the servo moves from a pilot setting to full on, then when the desired pressure is reached the servo returns the valve back to the pilot setting. Simple but a bit fiddly to set up the pilot setting.
- Another valve is the Cheddar/Stuart gas valve, this one came with the Proteus Steam Plant. It has the addition of a screw adjustment for the pilot light, the servo then opens the valve up from pilot to full and back again when the desired pressure is reached. The advantage of this valve is the ease of setting the pilot light, and then later adjusting it up or down a bit, so in winter when the gas is not working so well you might increase the pilot setting a bit to be confident that it is strong enough to remain lit as the gas pressure drops. It is still available to purchase from Stuarts.
- Regner also make a very neat servo controlled valve which I have not yet tried but it will be going into the Bustler Tug soon so we can find out together how it performs.
Next there are options for controlling the valves, we have spoken about the Cheddar ABC and have started talking about the Dénes ABC, both of which will control the above gas valves, moving them from pilot to full on when the pressure in the boiler drops and shutting them down to the pilot when the desired pressure is reached.
There is also an option from Stuart that will control the above gas valves, moving them from pilot to full on when the pressure in the boiler drops and shutting them down to the pilot when the desired pressure is reached.
Then there is an option from Dénes that really is a bit of a game changer. Its has some clever and useful additions. The first is the use of a dial that moves the servo that allows a very quick and simple set up of the pilot light and then later adjustment if needed. The next is that rather than turning the gas on to full and or pilot, it cleverly monitors the boilers pressure, and, as the desired pressure is approached, it starts to turn the flame down in increments until the desired pressure is reached. It then monitors and maintains the boiler pressure by opening the valve just a small amount, again in increments, it continuously does this. The result is that when running the engine rpm will remain rock steady, also and more important, because its using gas in small amounts rather than full on, it will help reduce the gas cooling that occurs when gas is drawn quickly from the tank. This unit behaves in the same way as mechanical attenuator, but without the issues attenuators suffer from with the membranes, springs and variations in gas pressure.
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Here are a couple of videos that I took during late December of the Dénes Gas Control Unit. It was during an earlier test that the issue with the pressure sensors came to light. The sensor being used in the boiler, for the videos is the one with 540 resistance that is available on line
The first shows the setting of the pilot light, then the start up and finally the burner on full gas.
https://youtu.be/ACWF3svmx_8 (https://youtu.be/ACWF3svmx_8)
The second shows the GCU controlling the gas supply to the fast running proteus engine that is pumping water into the boiler as required and round the bypass when its not. What you will notice as the unit constantly monitors the boiler pressure, the gas servo moves in small incremental movements as it keeps the boiler pressure really steady at 60psi, you can tell its doing this because the engine rpm hardly waivers. If you compare this to the Cheddar ABC control of the boiler pressure in an earlier video, which was good, you will notice the control achieved with this unit is even better.
https://youtu.be/_R2GHkaP1vM (https://youtu.be/_R2GHkaP1vM)
In the video you notice that there are two pressure sensors in the boiler steam dome, the one on the top is the replacement, you will see its orange wires in the GCU. The other sensor was the original Cheddar which only allowed the GCU to reach 30psi.
When the blue gas indicator light is flashing its maintaining the boiler pressure.
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I'm curious about the Regner servo gas valve. Does it do the same as the Cheddar unit?
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KNO3 re the Regner gas valve, I initially purchased it because I wanted the ability, via radio control, to cut the gas supply off totally from the lakeside, this unit will do that. The ability to have a kill switch function for the gas is something I am keen on, I have seen experienced steamers have their boilers running dry and black smoke rising from a steam model is something no one wants to see. I have seen steam boats get caught in the weed and overhanging branches and I have seen steam boats when the flame has gone out but gas is still on. No one wants or expects these things to happen but they do.
The ability to kill the gas from the Bankside is something that I have experimented with and have installed in two of my boats. Here is a photo of the set up that is installed in HMS Daring my Torpedo Boat Destroyer. If you follow the gas line from the gas tank it goes to a 90 degree on/off rc controlled gas valve, this is purely an on/off via channel 5 on the rc transmitters two position switch, it provides the kill function. The gas then goes to a mechanical attenuator to control the gas turning the supply down to a pilot flame when the desired boiler pressure is reached, the gas then goes to the burner.
My plans are to experiment further with some different the gas installations in this Bustler Tug, one will use the simple gas valve, another will use the Regner, but they will all be controlled by the electronic boiler controls. For the Regner valve, there are a number of suggested ways of using the valve, here are the instructions, with a note of caution they have been translated using a translator as suggested by a fellow Mayhemer, thank you, so may not be entirely accurate.
REGNER Operating options: - Without RC operation - With RC operation and emergency flame - With RC operation and emergency stop The normal gas tap must continue to be used, since the RC tap should only be used for regulation, the final gas shut-off always with the gas tap 50811 ! Without RC: Servo is at zero. The flame is adjusted with the handwheel, as usual. With RC/emergency flame: Servo is at zero, handwheel is set to emergency flame. Then control via the servo. With RC/emergency stop: servo is opened to fire. handwheel to zero. The flame goes out when the servo is closed. (Addition: The trim is set a little higher so that the flame does not accidentally crackle during operation. The flame catches on zero setting plus trim)
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Over the festive season I spent some time experimenting with the first Proteus steam plant and installed the Dénes Automatic Boiler Controller to see how it worked. The sight glass sensor with the Dénes ABC has four wires rather than the three wires with the Cheddar Replacement sensor and it needs either the pressure sensor available on line with a resistance of 540, or the Dénes pressure sensor. Rather than me trying to explain what the ABC does here is a link to a video where Dénes explains how it works. https://youtu.be/C69xPz-z6Lk
That will leave me free to share with you how I have found it to be both on the workbench and on the water in the Bustler Tug
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Thanks for the explanation!
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The next is that rather than turning the gas on to full and or pilot, it cleverly monitors the boilers pressure, and, as the desired pressure is approached, it starts to turn the flame down in increments until the desired pressure is reached. It then monitors and maintains the boiler pressure by opening the valve just a small amount, again in increments, it continuously does this. The result is that when running the engine rpm will remain rock steady, also and more important, because its using gas in small amounts rather than full on, it will help reduce the gas cooling that occurs when gas is drawn quickly from the tank. This unit behaves in the same way as mechanical attenuator, but without the issues attenuators suffer from with the membranes, springs and variations in gas pressure.
Interesting that you say a mechanical attenuator works in that manner. I am using a Bix attenuator in my steam powered gramophone (Puffin engine and Proteus horizontal boiler) as the main speed control system. The Bix gas valve alternates between a pilot and full flow, and although it works reasonably well there is room for improvement (I'm expecting more of it than it is designed for I appreciate).
Do I understand correctly that a Cheddar mechanical gas attenuator has a variable gas flow setting Vs operating as per the Bix version? I feel one of these may improve my speed control if so. I want to avoid having electronics in the gramophone.
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Steamyjim, I have looked at your videos, its a very interesting project in which you have achieved a lovely item. I think you will be able to control and achieve a constant engine speed far better with something like a flyable regulator. Installing one will add to the mechanical beauty of what you have already created, it works by directly regulating the amount of steam to the engine and hence its rpm.
The attenuator is not directly controlling the amount of steam, its reacting to the boilers pressure, it has a tolerance, so the boiler pressure will always vary by a few psi, and therefore so will the amount of steam produced, hence the rpm fluctuating. Your engine has a maximum operating pressure of about 3bar.
The attenuators are not on off devices, and they all work in the same way. As the steam pressure rises, the steam pushes on a diaphram, the pressure the steam has to overcome is controlled by a spring on the other side of the diaphram, so 3 bar, because its pushing against a spring and moving a diaphram, the movement is gradual. As a result it gradually reduces the flow of gas down to the pilot light setting at in our case 3 bar. As the boiler pressure drops the spring allows the diaphram to move and more gas flows to increase the boilers pressure again.
The springs get tired or set in position, the diaphrams split and perish. Here is one of mine that I have had issues with.
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DBS88 - thankyou for the reply. I appreciate I'm attempting to control the speed in a slightly backwards manner (in so much as it isn't based in feedback from the engine) but it is simple and works 'well enough' shall we say. In always looking for improvements and have the original gramophone friction governor that I'm planning to add back in to the mechanism at some point, however from my experiments so far it's not actually helped the control at all, I need to have another tinker. The issue with small steam engine governors is they require a lot of finesse in their manufacturing to get anything like sensible performance. The chaps building large scale miniature traction engines have issues enough with governors at 1/3 full size let alone in the size I'd need to put in here. I do think it an avenue worth investigating however.
It appears that the Bix (Forest Classics) attenuator is a 'binary' system as such in that it cycles between a full flow and a pre-set pilot state (much like the old Cheddar EGV) - I'm basing this on the notes on the Bix instructions and the sound from the burner (there is a step change in the burner 'roar' not a gradual increase/decrease). From what you are saying it appears that this is not the norm for attenuators and I reckon that it is worth experimenting with fitting an old Cheddar unit before I get too involved in further, more in depth modifications.
A link to the Bix unit:
https://www.forest-classics.co.uk/ceramic-burners/gas-essentials-and-jets/automatic-boiler-pressure-regulator-bix-029
I'm not aiming for total perfection with the speed - when I was developing it I was aiming that it would play one record reasonably well. As it has ended up you can leave it running for several hours with only occasional tweaks to the water feed bypass or engine speed so I consider that a success. There is always room for improvement however!
I don't want to distract from your thread so happy if you'd rather PM me in response to this.
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Having decided to put the Proteus Steam Plant into the Bustler Class Tug, I needed to prepare the hull, full details of the work to the exterior of the hull are here on Mayhem https://www.modelboatmayhem.co.uk/forum/index.php/topic,67980.0.html (https://www.modelboatmayhem.co.uk/forum/index.php/topic,67980.0.html)
Here a couple of photos, I had strip the hull below the water line back to virtually bare metal and used an angle grinder to cut out rusty sections of the steel plating. The hull below the water line was repaired and sealed using thin fibre glass matting and epoxy resin. The outcome is added strength, it no longer leaks and best of all the craftsmanship that went into creating this hull with so many individually cut and shaped steel plates that have been soldered together to form the hull, is still visible for all to see. The third photo is of the epoxy resin finish on the hull below the waterline. The aim was for a sympathetic restoration, I wanted to keep as much of the original paint as possible so only cleaned the paintwork above the water line.
The next step was to prepare the inside of the hull which looked a mess and was full of rubbish, cobwebs another undesirables. First I reduced the height of the wooden blocks that were glued to the inside of the hull, I then added further wooden blocks to create level bearers to support a removable floor that could be put into the hull for the steam plant. The idea was to be able to remove the whole steam plant easily for maintenance.
The wooden bearers also created a space low down in the hull for ballast weights. I used some 0.45Kg lead ingots bought online.
With the floor ready, the interior of the hull was cleaned with methylated spirits and prepared for painting with a self priming all purpose cream paint that I had available. It didn't go on as well as I had hoped and it required three coats it cover the red, the result is not perfect, but it is lighter and brighter.
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This was an extremly huge job....
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With the Proteus engine, two servos are needed to control it, one for the throttle and the second to allow the selection of forward and reverse. Before I could install the steam plant I needed to sort out how I was going to install the servos. The Proteus engine uses the Maudsley mechanism for reversing, photo of the mechanism is below.
There are a variety of other reversing mechanisms on the different steam engines, there is the Stephenson linkage used on Reeves and Stuart engines and the Hackworth used on the Graham Industries TVR1 engines, and there are others too. The point here is that for radio control two channels are required, which needs to be thought through.
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Dave
.......with Stephenson or Maudsley, one consideration is an ACTion electronics P96 controller on the Fwd/Rev servo....... with this, you can set the servo speed together with independent positioning of each endpoint....this then leaves just two [2] servo R/C controls [steering & engine speed] for stick control
https://manualzz.com/doc/25659279/p96-webpage.cdr---action-electronics (https://manualzz.com/doc/25659279/p96-webpage.cdr---action-electronics)
This engine direction reversal [servo + P96] could be controlled by one [1] toggle switch.......so the engine is always in one direction or the other
I appreciate you mention thorough thought, and I suppose the are many ways to consider a failsafe ...' cannot command reverse if engine is not stationary' scenario.....however with your proposed installation being a Tug Boat......... I am not sure any high speed >>:-( reversing would be required
Derek
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Derek, thank you I will have a closer look at the Action P96. You are right that it would be useful to combine the throttle and gear selection onto one of the transmitter joysticks, also, your last sentence re fail safe and not engaging reverse if the engine is not stationary was at the centre of long discussions over the winter. I am keen on combining the channels since with the stick in the central position, you move the stick forward, forward is selected and the throttle is opened. Move the stick back the throttle closes, move the stick back further move though the centre position towards reverse, reverse is selected and the throttle opens.
Two discussions from over the winter about combining the channels in this way and automating the process are worth airing here.
First - The theory of changing from forward to reverse is - close throttle, pause, engine stationary, select reverse, open throttle. Now in practice with a model steam boat in the middle of the lake, is this what really happens? or is the change made - close throttle make change from forward to reverse at low rpm and then open the throttle?
Second - with the direction selected (it does not matter if its forwards or reverse) so lets say its forwards, moving the stick forwards increases the rpm, pulling it back towards the centre reduces the rpm, once the stick is in the centre, no steam so no rpm. So with the transmitter stick in the central position, the discussion was around should the gear mechanism also be moved to neutral/central position or stay with the direction selected, in our case forwards?
Here is a photo of a Saito T2DR, it has the Stephensons linkage and you will see the operating lever for selecting forwards or reverse, it worth noting that it has only a small angle of movement to effect the change, certainly a lot less than 90 degrees.
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Combining throttle and reverse on a single radio stick if perfectly possible and there are two ways to achieve it. You either use one of the more advanced radios which are programmable (the have lots of other options and you can set servo travel, combine them etc), or, if your radio is not programmable, use a separate device in the boat, which combines the two channels, like Derek recommended.
However, I would rather use two channels manually for controlling throttle and reversing. It feels more like driving a real boat and gives you the important advantage of being able to use the whole stick travel distance (end to end position) to sensitively control throttle (not just half the travel, center to end).
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Here are some videos which show the operation of the various reversing mechanisms,
- The Saito T2DR with the Stephenson Reversing Linkage, https://youtube.com/shorts/tLaM3-Wr_A8?feature=share (https://youtube.com/shorts/tLaM3-Wr_A8?feature=share)
- The Graham Industries TVR1ABB with he Hackworth reversing mechanism https://youtu.be/w5-hT0efT4k (https://youtu.be/w5-hT0efT4k)
- The Proteus with the Maudsley Reversing mechanism https://youtube.com/shorts/S6uXrJmN7rM?feature=share (https://youtube.com/shorts/S6uXrJmN7rM?feature=share)
These engines are two cylinder double acting engines so are deemed as self starting. I have limited experience with their reversing mechanisms and my personal experience, again limited, both on the bench and on the lake is that care is needed when changing from forwards to reverse and back again - the changes were not always successful. The outcome was on occasion a stopped engine - far from ideal. This was most times cured by moving the direction selection back and forth between forwards and reverse, never the less, a worrying few moments with a stationary boat on the water.
The problem of the stopped engine appeared to happen more frequently when
A) the throttle was closed, the engine let stop, the direction change made, then the throttle opened again.
B) the gear linkage was moved over to the middle/neutral position each time the throttle was closed.
This could be down to the engines I was using, the TVR1A is new (not run in), so was the Saito T2DR, the Reeves Marcher is run in but maybe its not set up as well as it could be?
The problem did not happen when
A) the change in direction was made at low rpm
B) With the direction selected (forwards or reverse), lets say forwards, the throttle is closed and the direction change is not moved, so when in forwards it stays in forwards. So most times with forwards selected and you you close the throttle, the next operation will be to open the throttle to continue going forwards. The change to reverse happening when the transmitter stick moves through the central position to reverse, then the linkage moves, no pausing in neutral.
The problem occurred most frequently with the Stephenson Linkage, the Hackworth and Maudsley were more reliable, again this may be issues with my engines, what are your experiences?
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Bonjour Dave,
I am the lucky owner of a lot of different machines, including yours and lives the same experience with the slide valves one, from 2 to 20+ cm3.
I like stopping , reversing and accelerating gently again and I would not say I miss every time but quite more than from time to time.
As my reverse is on a 0 - 1 acting servo, if I miss the reverse, I keep the steam open and double reverse again, it is OK then at 99 %.
Please take in account that my working pressure is always around 2 bar / 30 PSI, even much less during my tests, that means a wet steam which condensates quickly (but I like its lubricating ability).
Example : https://www.youtube.com/watch?v=C4OlL3aZ2a4 (https://www.youtube.com/watch?v=C4OlL3aZ2a4)
Other point to be taken account, None of my machines are able to operate exactly the same in both directions !
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It can be difficiult to compare apples with apples
Just looking at 5" Gauge scale steam locomotive engines, we have the weight of the engine [100-150 kg] on the track, so when the steam regulator is opened [gradually], the valving [Stephenson, Hackworth etc] will admit steam at boiler pressure to the cylinders to provide work.....so the difference here essentially is the load upon the engine/system which allows a relatively smooth acceleration [if not spinning the wheels]
The simple steam valves employed on model boat steam engines in most cases is little better than a 'stop type plug valve with on/off' performance, but with little progressive volume of steam to the engine to apply the required effort/inertia to rotate the paddle shaft & propeller
Having a little knowledge of full sized steam and fluid systems valving as used in the Steel Industry, in 2005, I purchased a radio control model steam regulator from ACS Engineering Scotland [Sandy Campbell] - a properly designed balanced, spring loaded, self regulating, disk valve construction component ....it is literally a 3/4" cube of bronze+bronze with stainless trim - [at the time of purchase probably twice the cost of el'cheapo alternate valving which had no credential of design and regulating capacity]
The valve performs exactly as described when supplied with 2 Bar lubricated steam ....[worth every penny an more O0 ]
I will describe the engine detail later........
The Saito T2DR [12x12] test you show is absolutely typical of this Brand in Videos on the Net, where the engine will tick over relatively smoothly between directions and at low speed, which also suggests a lower pressure applied to the engine. This also suggests it is OK to swap engine drive directions in the model at speed. I am not suggesting for one moment that the Saito product has poor manufacturing tolerances to enable smooth operation [from unused, or not requiring a run-in period
The Graham Industries TVR1ABB in your video clearly required a higher air pressure & hence higher speed to achieve a direction reversal
The only engine I have is also a Saito, but the Y2DR horizontal twin [1960 design vintage and 12x20], also near mirrors the unloaded reversing functionality at low speed you show. This engine also has some 1.8kg of mass to rotate [engine flywheels +1/4" diameter brass paddle shaft + 160 diameter brass paddle wheels]
The Y2DR & drive with the paddles in water with 2 Bar boiler pressure available, will slowly commence engine rotation of the wheels slowly without any real jerkiness - an ACTion electronics P96 controller is installed to both engine reversal of direction lever and the ASC steam regulator.....both shown in the second image
[I apologise no videos to support this]
My conclusion to this issue of non start from Zero speed, or jerkiness is the inherent distribution of the steam within the engine, irrespective of differing design valving, and often compounded by the choice of ineffective design external steam regulating valving and an unloaded function at commencement of work
Comparison testing of steam engines on air is if by necessity is a good yardstick, however the same engines may display differing actions, timing or speeds when tested on steam
To compound a conflicting to my thoughts, I am happy to say it's OK to throw an electric motor drive from full ahead to full astern in one movement [without considering a cessation of rotation in the middle], however have certain fear and reservation in ordering the same command for my steam engine
[The only reference for this are comments & advice offered by an elderly Steam Engineer, was that repeated at speed reversals [marine steam engine] resulted in expansion-deformation of an eccentric link outer band, to the degree that correct valve timing is lost - the steam still expanding, with so much potential and kinetic energy that must be absorbed, so by design was preferable for a bronze band to deform [go egg shape] than a crankshaft journal shear ]
Derek
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Hello, the problem you have observed, with the engines not restarting after steam shut off and reversing gear moved to reverse, can also be due to the valves lifting slightly from the port faces during this population. The fact that moving the reversing gear with steam on a few times cures the problem, supports the idea that by movement the valves get reseated by the steam pressure.
I have observed this problem too in some steam engines.
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I should add that this problem (not starting after reversing the gear while the steam is off) appears in some engines but not all. It really depends on the type of reversing gear and how much the valves can lift from the port faces in the steam chest.
Here you can see my Cheddar Gemini engine which reliably restarts after shutting down air and moving reversing the gear: https://www.youtube.com/watch?v=BQ3ZeM2keZs (https://www.youtube.com/watch?v=BQ3ZeM2keZs)
And here my Graham TVR1A on steam, being reversed while running (perhaps not the best way to reverse because it strains the gear more): https://www.youtube.com/watch?v=Gv05K6qeTkk
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There is also the question if reversing while the engine runs is advisable, that is, if it won't damage any engine components. This is not easy to answer because it depends a lot on how the engine is built and how sturdy certain parts are. When you reverse the engine while running, you force the mechanism to move against steam pressure and against its own inertia of the moving parts.
It is probably fine to assume that in model engines (at low pressure) the risk of damaging the reversing gear this way isn't great. But this depends also on the type of engine. Some reversing gears are more robust, others have quite delicate parts. For example, the Maudslay gear of Cheddar engines seems very robust, but Stephenson gear has delicate parts. Graham's Hackworth gear also has some rather thin aluminium parts.
In my opinion, the best approach is stop steam and reverse, if the engine restarts reliably. If it doesn't, lower the rpm before reversing, do not reverse at full speed, especially in engines with delicate parts.
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Thank you for your contributions to the fwds/rev discussion, to summarise our shared experiences
- best practice is to stop the engine, change direction, start the engine
- following the change of direction, the engine may not always restart.
- Its possible to programme a transmitter to make the change by combining channels and using one stick
- Electronic mixers are available to combine the engine direction change and throttle into one transmitter channel.
Following Dereks suggestion, I have had a look at the Action Electronics and their P105 would appear to be a useful way of combining the engine direction change and throttle. I have not used one and they are currently out of stock, but I would happily try one out if anyone has one that they are not using.
I have used the Dénes Design ECU (Engine Control Unit). At the time my Proteus Steam plant was not set up with servos so that I could change the engines direction and control the throttle so I set up the ECU on another steam tug with a Reeves Marcher engine and Stephensons link reversing linkage. The Dénes ECU was easy to set up. The ECU had been programmed so that when the transmitter stick was returned to the centre position (throttle closed) the engine direction change moved to a central/neutral position. This suits some engines, however it really did suit the Reeves Marcher with the Stephensons reversing linkage. The engine would not reliably restart with the linkage moved to the central position, here is a link to a video showing the issue with this engine [size=78%]https://youtu.be/wocHmwuAvCA (https://youtu.be/wocHmwuAvCA)[/size]
I spoke to Dénes about this and he responded by producing a 2nd version of the ECU that did not move the reversing mechanism back to the central position when the throttle was closed, it only made the change when the transmitter stick went past the central position to the new direction. Here is a link to a video of the 2nd version of the ECU [/size][size=78%]https://youtube.com/shorts/CYS56VDcWmk (https://youtube.com/shorts/CYS56VDcWmk)[/size]
As you can see, with the 2nd version of the ECU the changes of direction with the Stephenson linkage are now made easily and reliably, I have also tested it out on the lake without any problems. The ECU is now available in both versions from Dénes. I have since tried the 2nd version of the ECU out on the Proteus with the Maudsley reversing mechanism and the changes were also reliable.
To conclude, combining the engine direction and throttle with electronics (clever transmitter or electronic mixer) in this way also means that the engine cannot be put into reverse at high speeds so addresses some of the earlier thoughts expressed. Using the ECU was very intuitive, just push the transmitter stick forwards and the boat goes forwards, bring the stick back past the central position the throttle closes, the direction change is made, the throttle opens and the boat goes backwards.
(https://youtube.com/shorts/CYS56VDcWmk)
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That's a nice system by Denes, very good to see it in action.
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Have you seen my videos about the ECU?
At the beginning the servos were twitching many times, but thank you for Dave's and Richard's feedback I was able to reduce the number of the twitching.
Plus there are some extra features:
- You are able to set the Forward/Reverse servo maximum by the two potmeters. The forward position may be different than the Reverse.
- Middle set button (if you press it for 5 seconds you don't have to search for the neutral position on the transmitter)
- It is able to remember the middle set position after power cycle, so you don't have to play with the neutral position just at the first time ( if you change the transmitter setup you have to set the neutral position again)
- If there is an issue between the transmitter and the receiver it is able to identify the problem and set both servos to neutral position. Other words if you loose the control on your boat after a couple of seconds the ECU stop the boat. If the connection setup again the control set up again. For example: your transmitters battery become flat until you change the batteries your model stop, after you change the batteries to a good one and switch on again everything goes back to normal.
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Hello !
You said it all ! :-)
Just to share my point of view concerning the reverse problem that we all have with the Stephensons gears .
The problem with Stephensons is the rattling that occurs after a while. Even with stiff connections and no play on the sliding sleeve, it comes a time (rapidly) where the slide , eccentrics and sliding sleeve get loose and the neutral is tricky to set.
It works fine for a short time after a good engine timing but everything goes "Tchic-tchic" then.
This is at least what I noticed on my engines, what ever the manufacturer. Saïto, Jmc and even some Stuart being the perfects examples.
Only with home made engines with thick linkages and a thick (slide-bow )?) and running at low RPM <400 , with a good oiling ,the reverse works good for long time.
That is why I favor the Maudslay which is the most reliable and that can be timed properly with the engine running . But it does not have the "charm" of the Stephensons ! %)
A spécial Thank to DS88 for all those studies and informations that he shares with us and help us to understand. :-))
Have a good day !
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Thank you for sharing your experiences with reversing mechanisms and twin cylinder engines not always being self starting, we are all wiser now.
So why did I put the second proteus steam plant the Tug in and why now?
During the experimentation with the engine direction changing, both with and without the Engine Control Unit a number of conversations were had with different people in January and February. One of these conversations inspired me and it set the wheels in motion to get the Boat finished. It transpired that in just over a month, a friends Model Boat Club would be holding a challenge event (Mid April), most laps in one hour and still be running. The bit that inspired me was that the event had not been done by a steam powered boat. So I now had a target date and about five weeks in which to repair and refurbish the hull (at this point in time it had not been started) and get the steam installation done. So that was the reason and the motivation for why this project got under way now.
The reason for selecting and installing the second proteus steam plant was it already had a servo installed for the engine direction selection and amongst all the bits that came with the steam plant were some nice water tanks, piping, and an oil separator, so at the time, I thought it would save me time! Heres a photo of the servo for changing the engine direction with the Maudsley mechanism.
So with the target date set in the calendar, I ordered the additional parts I needed and set about my first installation of a steam plant complete with the electronic controls. The event rules, for safety reasons, did allow steam boats to return to the bank to stop and take on additional water and oil and to empty the oil separators, they were not allowed to take on extra gas though. As I said at the beginning, I want to build a steam boat that will run for an hour and this was an opportunity to put into practice all the recent months research that we have been discussing and to be my practice project, with the lessons learned being transferred to the new build Black Swan Sloop. So my aim for the Bustler Tug became to run in the event and to run for the whole hour without returning to the bank.
This then threw up a few challenges, what were the limiting factors?
- How much oil would be needed in the displacement oiler to run for an hour?
- How large did the oil separator need to be so that it did not need to be emptied?
- How much gas would it take to run for an hour?
- How much water would I need to run for an hour?
- Where would I get the water from, the lake or an onboard tank?
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An interesting challenge :o .....'most distance covered & still be steaming after 60 minutes, but no additional gas >>:-( ' ....leads to some assumptions and quite a bit of due diligence in extensive pre-race tests with an engine at operating temperature, with a final speed test set for an arbitrary 15 minute duration
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1. A higher speed boat will cover a greater distance than a slower vessel, however what type of higher speed vessel could complete the time requirement considering the greater water capacity and gas capacity requirement to maintain the higher speed for the required time?
Or does a high speed boat only need to achieve say 2 laps lead, then slow down to the speed of the balance of the Fleet?...and simply maintain this lead, so maintaining water & gas?
2. Displacement lubricator capacity?....[adjustable type?].....the answer is that a minimum amount of lubricating steam oil is required for cylinder lubrication....it is easy to use too much, but not so easy to check & determine successive tests with a reduced oriface valve setting & reduced flow.
However, from there, it is easy to confirm the volume of steam oil consumed, by determining the volume [weight] of oil required to replenish the lubricator body after the 15 minute test and understand if the lubricator body is of sufficient size for the 60 minute run. The position/location of the displacement lubricator relative to the boiler will also alter the viscosity of the 460 Grade steam oil, so another requirement of operating temperature tests
A displacement lubricator with an internal blowdown valve [as shown] will allow for quicker removal of condensate and refill with pre-warmed steam oil, naturally both boiler and engine isolation valves are required
3. Oil seperator volume?.........so after the displacement lubricator setting is achieved, the volume of waste oily condensate can be collected and weighed after the final 15 minute test..........this will the determine the total volume required to contain the waste for the 60 minute run . A temporary plastic overflow container could be considered and so tubed up to catch cooled oil as opposed to providing a larger capacilty separator body
4. Gas requirement……easily confirmed with a set of kitchen digital scales……weigh the full tank [record tank temperature] at the commencement and end of the 15 minute final test, then understand if the tank holds sufficient gas for the 60 minute run……[gas tank temperature {variations} during the 60 minute could also influence the requirement]
Without seeing the Rule Book, and whilst you note that gas refilling is not permitted, are dual or multiple gas tanks allowed? %)
5. Boiler water requirement…..again easliy confirmed with a hand pump installed into the boiler feed line…..accurately mark the water level on the boiler gauge glass, bring the boiler & engine to operating temperature, pump up the water consumed to the set mark, with the refilled gas tank complete the 15 minute test, then determine the water required [by tank volume change] to return to the set point and then calculate the total requirement for the 60 minute run
This the will at least confirm minimum makeup water pump displacement to suit the crusing speed conditions for the 60 minute duration
I have not considered boiler makeup water source requirement, however similar considerations & tests of engine driven or electric driven pump displacement/reliability and volumes location
Do you have that crystal water that Jerry C steams in?.... or that brackish liquid called water of the Thames?……. this itself would determine the source of makeup water
One further area of consideration or concern would be the external lubrication of engine journals & linkages etc, together with the stern tube lubrication for 60 minutes
[sorry to be getting back to the 5” Gauge ……but on Public running days, & my time on the station, I see these drivers manually oiling the engine external linkages & journals every 15 to 20 minutes at the station when the outgoing passenger’s alight and a new group board]
Are your Tx & Rx batteries OK for 60 minutes?
Are you OK to sit/stand in one spot for the same 60 minutes?
Do you have an impartial Lap Counter prepared to sit/stand for 60 minutes? :((
Derek
Have you an imvent?
Derek
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Hello!
First of all:
- Is it a speed race for one hour or a challenge to sail for one hour without refilling ?
Moving the boat slowly forward for one hour claims a lot less steam & gas than speeding full blast with an heavy tug !
Also, you should be able to save a lot of steam and gas with your electronic controller.
I hope that I answer to some of your questions below. :-)
Not sure that I am right though ! %)
An interesting post that answer almost your questions without any calculation:
https://www.modelboatmayhem.co.uk/forum/index.php?topic=65437.50 (https://www.modelboatmayhem.co.uk/forum/index.php?topic=65437.50)
Concerning the gas needs, first , you need to know the size of your jet.
N°5 = 55 g/h = +/- 100 cc + 25% safety factor = 125 cc + 25% available gas voulume on top = 160 cc tank >>>> I would suggest a 3’’x 4’’ tank to have a good top.
N°8 = 95 g/h Double the size.
You cannot install liquid phase on the Cheddar burner but you’ll make it without.
Concerning the oiler , I agree with Derek ! You just need to reduce the frictions to give more engine efficiency. For example, a standard Stuart adjustable oiler last 40 min with a small opening.
The lubrication is not related to the engine size but to the time needed . I wouldn’t worry too much about external lubrication for 1 h sailing. the worst that can happen is losing a bit power due to the lack of lubricant. But , doubtfull on a Proteus or others.
If you are confident in your water supply with the pump, I would suggest that you take the water from the lake (if clean and netral Ph) through a good and large screen to avoid plugging. If the boiler swallows some shrimps, the engine will chew it ! So the challenge will be to be over before that you empty the lake !
Normally ! ;-))
I would not even consider to warm it up if it needs a complicated installation.The energy needed to rise the temp from 10°C to 120°C is neglictable compared to what it needs to vaporize it ( >7 time more)
Steam consumption:-The Proteus is given for 4,1 cc ;
Now it all depends on the RPM you need to move your boat =
- Wide open = +/- 800 RPM
- small opening to last longer = 250 RPM
Below is a simulation with 800 rpm for 70 min and a 60 mm propeller.
(The weight of the boat and its speed is not taken into consideration)
De-oiler :
- What comes out of the boiler comes in the de-oiler , … theorically! So it will be the boiler consumption less the evaporation escaping through the steam outlet .
Depending on the shape of the de-oiler (cyclonic) , you may be left with a very small amount of condensate at the bottom and the injected oil at the top. I would not worry too much about it as when the engine is hot, there is very little condensate and most of the steam comes out.
That a quick answer but it should be close to fit your requirements !
I hope so … :—I
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Thank you for such comprehensive and helpful replies. Re the endurance event, at first glance it seems easy, but as you have realised, the more you think about it, the more there is to it. I am loving Dereks tactics of racing into the lead, then slowing down to keep pace with the following pack. The winner of the event is the boat that has completed the most laps and is still moving, so its about going as fast as you can without running out of power (steam, batteries, etc).
Thank you for the link to a previous Mayhem thread, you are right there is a lot of relevant information there.
Testing on the bench shows that a large portion of the steam oil is lost from the displacement lubricator at the start of running, so once the engine is hot, its worth shutting the steam off, topping up the displacement oiler and then running.
The same thing happens with the oil seperator, so again once the engine is running and hot, empty it, then it seems fine.
The engine has been running at 4 bar but is rated at 6bar, the boiler has a steam drying loop that drops into the fire box and back out to the engine. The gas jet fitted is a No 8 and having weighed a gas tank before and after a bench test run, 100g/hr is what it is using. I agree the controls will help with minimising the gas consumption.
Re Oiling the moving parts I will look into fitting a tank with small pipes that drip oil on the relevant moving parts - old school style, since its not easy to reach the engine with a syringe to oil it. Any advice or experiences with this method would be most welcome.
The prop fitted is the largest I could fit without modifying the hull, its from PropShop, its 80mm by 1.5 pitch 4 Bladed Prop, it is a thing of beauty. The hulls waterline is 125 cm long, its breadth is 25cm and its depth is 13cm
Re the water supply, what I have learned from the bench testing and previous experience with my first tug, is that the water is used in the boiler until the water level drops to sight gauge sensor level, it then never gets lower. So if this is set at 2/3 and the boiler capacity is 0.6 litres, then only 0.2 litres maximum of water is used from the boiler, as soon as that has been used, the rest of the time the water used by the boiler is coming from the external supply (tank or lake). So to get the best run times when using on board water tanks, the sensor needs to be a bit lower in the boiler. The Boiler controls then take over to fill the boiler until the water level goes above the sensor, then for a further 15 seconds, the controls keep cycling in this way to maintain a more or less constant level of water in the boiler.
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Hello !
N°8 jet = 100 g/h as per the book. So you know the tank that you need. :-)
I like steam about 4 b ! That's hot & efficient ! :-))
As you are interested to understand what you are doing , it would be great to be able to measure the RPM of your propeller @ 800 RPM.
But also at different engine's speed and with different types to make a spread sheet ...
This is the kind of information that I miss to complete our calculation sheet. Your clever partner could easily think of a device to install in the boat and give the informations !
I know that someone did something on that , with the RPM information sent to the RC . But I cann't find it anymore to contact him .
Always instructive to follow your post ! Thanks Dave!
Note ; If you definitely want a permanent lubrication on the external moving parts , the crankshaft being the most important, you can consider using a wick lubrication. That last long !
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Hi KBIO,
Sorry for the OFF topic, but...
The measurement of the RPM is not as big issue, but how can I send the information back to the RC.
I'm really interested in this.
I try to find descriptions or books about but I couldn't find any useable.
Just it can be a direction of the development of my products...
As you are interested to understand what you are doing , it would be great to be able to measure the RPM of your propeller @ 800 RPM.
But also at different engine's speed and with different types to make a spread sheet ...
This is the kind of information that I miss to complete our calculation sheet. Your clever partner could easily think of a device to install in the boat and give the informations !
I know that someone did something on that , with the RPM information sent to the RC . But I cann't find it anymore to contact him .
Note ; If you definitely want a permanent lubrication on the external moving parts , the crankshaft being the most important, you can consider using a wick lubrication. That last long !
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Hello Daynesh !
I cannot find anymore the topic describing this item. Don't even know if it has been to its term ! :embarrassed:
Since, though, things have changed and the best and most reliable for an affordable price I have found , is the following:
Radio Graupner MZ12 PRO 2,4 GH 185 €
Receiver Graupner GR12-L Hott. 46 €
Optical probe for RPM 18 €
Magnetic probe for RPM 19 €
Temp sensor 200 °C HoTT 19 €
It does not replace your Electronic control but both can be considered !
Thanks for sharing
Regards. ok2
Note: when everybody will be able to tell the RPM and boiler pressure, we shall have a big improvement in knowing what we do .... and what we need !
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As you are interested to understand what you are doing , it would be great to be able to measure the RPM of your propeller @ 800 RPM.
Would not the RPM of the propeller be the same as the measured RPM, say of the flywheel?? [Assuming a direct drive system]
Measurement of the flywheel's RPM should be easily accomplished with any modern telemetry-equipped transmitter/receiver combined with either optical or magnetic sensors (similar to KBIO's example).
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Fascinating discussion, it really would be interesting to have live data, so I will watch with interest as telemetry is developed for use in model boats.
Towards the end of March, the work on the hull was complete and the prop installed. The Endurance event was now about three weeks away, time was running out, so I made some quick decisions about the steam plant installation in the Bustler Tug.
I went with onboard water tanks - I already had some.
I positioned the steam plant in the hull and decided to have the steam plant with the boilers flue running straight up and out of the models funnel. I did consider moving the steam plant further forward which would have meant bending the boilers flue - which as it happens may have been better.
With the position of the steam plant decided, I measured the space between the bulkhead and the engine and tried to install the water tanks I had - no they were not going to fit, so back to the drawing board. I found some fuel tanks made by Dubro. I selected two 16 ounce tanks, 1/2 litre tanks to provide an additonal 1 litre of water for the boiler. I went with two tanks, position lengthways, since they are not baffled, to minimise the effect of water rushing from one side of the boat to the other, so I ordered them and some silicone fuel line to connect them and waited 48hrs for them to arrive. The soft silicone was fine to use on the suction side of the pump and on the bypass circuit, since there is hardly pressure in them. The water line from the pump to the boiler must be in hard pipe so that it does not expand and reduce the pumps efficiency in terms of delivering water into the boiler. The photos show my first plumbing arrangement for the tanks.
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Helloo!
Would not the RPM of the propeller be the same as the measured RPM, say of the flywheel??[/size][size=78%]quote][/size]
[/size]
[/size]Exactly ! The flywheel has to be painted in black and a small piece of reflecting silver paper sticked on the edge.
[/size]Right now my measurements are made by hand with the steam plant and the propeller that I intend to use . All this is a water tank. But it is static and the RPM must different when the boat is sailing. :-)
https://youtu.be/zNQK1VZ0flA (https://youtu.be/zNQK1VZ0flA)
Have a good and sunny day !
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Bonjour Yves,
Quite interesting video indeed.
I don't understand how you can loose 2 bar in less than 10 cm of pipe, it doesn't make sense.
Why a pressure measure in the steam flow be different of a static one ? That is the question and it is not elementary...
I would also suggest that the measurement is distorted by the fact that the steam valve is not fully open.
About the piston measure, I think it drops naturally because by definition, the piston descends, the volume increases when the steam arrives and the manometer has no time to operate correctly.
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Hello !
This is the diffrence between steam and compressed air.
The detent of the steam starts when coming out of the boiler. The pressure drops but the temperature is the same. The line is too short to cool down the steam flowing toward the engine.
So we have a steam which is over heated compared to saturated steam. This is (if I am not wrong) what is called "detent adiabatic « . detent without work production at this stage.
The litterature and L.SUYKENS (Compilation des cahiers- I suggest that you read it) calculations give average 30% pressure drop between the boiler and the engine inlet . The video shows 50% loss because my engine is too big for the boiler capacities.
i certainly do have the needle valve not totaly opened and I am « laminating » a bit. It explains also part of the pressure drop.
Steam is magic but trying to understand it drives me nut. There is more qualified peoplethan I able to explain all this clearly.
Have a good day.
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I really do look forward to trying out the next developments with telemetry, although from my early trials with a camera on board the boat transmitting real time video back to the bank to be able to see the boiler pressure and water level, the equipment involved takes up a lot of room. Here is a video link showing the images from onboard. https://youtu.be/A0W8UeumhRs
With the water tanks installed, filling them is easy, its done through either one of the two vent pipes that terminate high up at deck level. Also installed in one tank is a water level probe connected to the automatic boiler controls, this turns on the high intensity red alert LED to warn the user when the tank is near empty and it turns the gas down to the pilot light setting, this gives the user time to return the model to the bank before the water level in the boiler drops too low.
The first test run of the boat and the steam plant on the lake took place just 7 days before the endurance event. The water in the water tanks was being drawn by the pump from both tanks and I wrongly assumed that the this would happen evenly from each tank. The first test run of the boat showed that this was not the case. To resolve this I ordered some fittings and more pipe so that I could install a balance pipe, low down in the tanks, to enable the level to remain the same in each tank. Once they arrived, the water tanks had to be removed. Fitting the balance pipe was easy, the plastic of the tank was drilled out tapping size for M6, the holes were tapped M6 and the M6 threaded fittings fittings were screwed directly into the thin plastic, they sealed perfectly water tight.
The first test run also revealed the ballasting was not right, a bit too much weight in the bow, it also revealed that the boat was not performing as I had hoped, the engine was not revving as it had on the bench, it seemed to lack power. When I got home and re ran the boiler and engine I realised I had made another rookie error, I had only opened the steam valve on the boiler about half a turn. I usually open it about 1/2 a turn at about 2 bar, to let some steam through to start warming the engine and get it turning over slowly, in my excitement to run the boat I had clean forgotten to open the steam valve further, so had inadvertantly starved the engine of the steam it needed.
A lot had been learned from the first run, and a lot needed to be done before the second test run, which would be 4 days before the Endurance event.
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Nice !
I Cann't wait to hear the end of the story ! with the big trophy going along ! :-))
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To get the Bustler Tug ready for the next run, I removed the water tanks and removed the steam plant. This allowed me to reposition two of the 450g lead ballast blocks from the front and shift them towards the rear. Next I was able to carry out the work to the water tanks to fit the balance pipe described above. I then reinstalled the steam plant and ran it again on the bench, all appeared to be OK, so I charged the batteries, oiled everything and got ready for the second trial run.
On the Wednesday before the Endurance Event, I took the Boat to the lake and prepared it carefully, fired the boiler and waited for the pressure to build. As I warmed the engine I noticed that for some reason the throttle was not closing properly so the engine was always turning, I messed about for a few minutes trying unsuccsfully to resolve the issue, then decided to run the boat. Here are the photos from this the second test run and a link to a video of the Bustler Tug running on the lake https://youtu.be/jM7NhrXsch4 (https://youtu.be/jM7NhrXsch4) As you can see the performance was much better.
After a while during the test run, the high intensity warning LED form the automatic boiler controls was illuminated telling me there was an issue and that the model should be returned to the bank for further investigation. The problem was that the under running conditions the boiler had not been filled sufficiently with water, the warning LED was correctly telling me that the boiler had insufficient water in it and that after a period of time rechecking and allowing the pump to run on to make up this situation, the water level was still to low, so the system was now showing the full alert. Frustrated and disappointed I packed up the model and returned home, pleased with the performance, but disappointed that I had not got the bypass valve set up correct, which meant insufficient water entered the boiler.
Time was running out now, I had three days left, I was doubting whether I could get the Bustler ready in time.
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Also installed in one tank is a water level probe connected to the automatic boiler controls
Can you describe the construction of the water level probe you have installed?? Any pictures of it prior to installation??
The instructions for the ABC unit Denes designed make mention of the water probe but the actual design is not elaborated upon. Any information you could provide would be appreciated.
Thank you (everyone) for this most informative topic thread!
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Hi DocMartin,
Unfortunately I do not know where to purchase any water probes, but if you see my videos on www.denesdesign.co.uk you can see that I use two pieces of bare copper/brass wires, I just have to clean them regularly, stainless steel may be better.
If you don't want to use the feeder tank sensor option you just have to connect the Cold tank input to one of the GNDs.
I hope somebody can help you from here.
If I can help you just send a personal message. :-)
Denes
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As requested, here are some photos of the water level sensor used in the onboard water tanks, this one is the sensor that came with the original Cheddar ABC. It appears to be a piece of copper pipe with one wire soldered to it and another insulated wire passing through it, the end of the second wire is bare. I assume that when water is present there is a flow of electric current and when no water is present, no current flows - as I said previously the electrics are a dark art form to me, hopefully someone with a better understanding will be able to offer a better explanation. Any way from the photos it looks easy enough to make one.
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Thank you very much! That was exactly what I was looking for.
Cheers!!
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So Dave.....it appears you have most issues or contingencies covered with respect to the hardware and the electrical software for the 60 minute x distance covered steam trial event
I must admit Denis from Denes has covered and added further electronic software to provide a monumental improvement in the range of equipment over and above that of the earlier Cheader ABC. Denis is also cleary offering the critical support and input to the user comments back to him. From that, I am there will be a sub-set of fellow steam modellers who will welcome the complications of this control equipments.....[for me in the future.....boiler water level control is the only area where I may consider the need or benifit]
I also note the comment from Denis, in his preference of an electric drive boiler water make-up pump, with the associated thoughts supporting this
One question, does the onboard make-up water [as pure bottled product] require an additive to ensure the purity of the water does not inhibit electrical conductivity? <:( and which does not cause any issue as a water contaminate that is intend to boil?
Having said this, and without any negativity, I am not sure you will have sufficient time to establish a set fault free installation tests in just 3 days with the confidence to push the envelope......however the results will speak for themselves
So having such a depth of on-line on-board electronic control, I am unsure in the value of reporting engine speed remotely back to some sort of interface with the driver
Another important matter is understanding the capability of the opposition vessels and their equipments and strategy for their attempts for the 60 minute event........is their vessel/s speeds known?.........do the opposition Captains read MBM, so have a good understanding of your race/event Plan? :-X etc
Looking forward to progress and the event
Derek
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When it comes to steam plants for powering model boats, I have noticed two main approaches:
(1) some like it as simple as possible, (2) others enjoy the complications of additional machinery, electronics etc.
While the first approach makes it easier to achieve a reliable system, this is in no way guaranteed. After all, much depends on the skill and experience of the builder(s). Of course, certain functions (like achieving longer running times, automatic control for performance and safety) require more complex mechanisms.
But we all know that a complex steam plant can be a fascinating thing to watch running, and I think this is also a factor which drives us in this direction.
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Malcolm had a build for a simple boiler level control he made for the 24 hour event
It works well as long as you remember not to put a water tube near the probe %)
Sorry the reply is short
kind regards
Malcolm Beak’s Articles – (https://stalbansmes.com/malcolm-beaks-articles/)
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There are a few loose ends to tie up, the first is the oil separator. As time had been short I tried the oil separator that came with the steam plant, it is a nice looking red oil drum. All I had to do was to rework the exhaust pipe so the pipe entered the oil separator with the separator in position next tot he engine. I hoped it would be large enough and from running on the bench, I found that if I emptied it after the initial start up, not too much water was collected in it.
Regarding the make up water, there has been a lot said about water in other posts, and it is important. I do not use the de ionised water, I do use water taken from my de humidifier, so thats water taken out of the air which I believe to be soft so no issues with scaling or furring up the boiler. I am lucky, the lakes I sail at are clean, so could also use the lake water. What this project is showing me is that I will take water from the lake for the Black Swan Build, if for no other reasons, the loss of over a kilo of water and the space taken up by the tanks.
Earlier in the discussion we spoke about the bypass valve. Well with two days to go before e the challenge and with the steam plant once again out of the boat and on the bench, I set about trying to set the bypass valve up. I really could not understand why it was being so difficult, I had set two others up really easily. Any way I fiddled about with it all morning til I got it as good as possible. After lunch I decided to do a long test run of the steam plant on the bench. I filled everything up and oiled everything, then fired up the boiler, its roar was missing, it seemed to be taking longer to heat the boiler, then it was struggling to make enough steam. I stopped the test and checked everything and found dirt in the gas jet, so had to clear that.
With the boiler working again as it should the test proceeded, all was going well, then I noticed that the servo for the water bypass had not moved, I slid the sight glass sensor up to where there was definitely no water in the sight glass and waited, still nothing happened. I then reset the boiler controls and still the servo didn't move. After spending all morning setting up the servo it had now died, it could have been worse, it could have happened during the challenge. It was whilst I was changing the servo that I spotted that the servo arm was shorter than the by pass valve arm so it was not moving the bypass a full 90 degrees - which was why the valve had been so tricky to set. With a new servo installed with a longer servo arm, the set up took next to no time, the bypass definitely closed ensuring all the water entered the boiler, and when open, it was open wide enough to ensure no water entered the boiler.
I have spoken about the warning LEDs, Blue for the gas and Red for the warnings about water levels, these need to be positioned so that they can be seen whilst the model is operating. I fixed them to the towing bollards just aft of the cabin. I also installed a battery level indicator for the receiver and positioned that discretely. Another issue with an all metal hull and decking is the position of the receiver, 2.4 radios do not work through metal, so the receivers antennae had to be outside of the hull.
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Are those LEDs easy to see with the tugboat out on the water?
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Re the LED's, yes they are visible out on the water, I guess from a distance in bright light, maybe not, but then again a slow drive by nearer the bank every now and again to check them would be wise and is what most steamers will do anyway.
With time running short and the Tug not having done an extended run on the lake I called my friend to discuss the Endurance event. As it turned out his preparations were not sufficiently advanced for him to run his steam boat in the event, so, since I was to be a guest there to support him and so two two steam boats would be running, I decided that I would not make the eight hour round journey to attend. My Tug was insufficiently tested and it didn't seem right to have a guest attend and possibly become the first to complete the Clubs Endurance Challenge with a steam boat. Sorry that this story hasn't got the fairy tale ending that you might have hoped for, but I hope that the challenge can be attempted next year with at least two steam boats on the water.
Instead, on the Sunday of the event I took the Bustler Tug back to my local lake and ran it there. This was only the third time it had been on the water so I did bring it back to the bank several times to visually check the levels and pressure. Like all models, you have to learn how they behave and grow in confidence with them. The tug ran well, it maintained an impressive turn of speed for the duration of the run, the boiler pressure stayed at 4 Bar and the the boiler level was successfully maintained for the whole of the run by the electronic controls. Tug was out on the water for 45 minutes, in total, running at the sort of speeds you can see from the photos, I was very pleased. I had run out of time and the lake was getting busy so I packed up for the day. Would the Tug have completed the hour event and still be running? I still needed to find out.
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On the following Wednesday, having gained confidence in the way the Bustler Tug behaved, I ran it again. This time all the usual checks and preparations were done, the sight glass sensor was set about 2/3 full, with the water in the boiler just above this level. I set the stop watch and off went the model for a long run. The tug ran consistently and constantly with out stopping this time. The aim of the run was to run at speed and find out how long it could run for. The red warning LED came on at close to 50 minutes, so the Tug was returned to the Bank, for investigation, the LED was indicating that the water level in the onboard tanks was low and that the water level in the boiler was now below the sensor, so the boiler was just below 2/3 full. I didn't get a video of this run but here is a link to a video of the 2nd test run. https://youtu.be/jM7NhrXsch4
Lessons learned form the run, the oil separator capacity was fine, the displacement oiler still had a small amount of oil in it, the run had used 1 lire of water from the on board water tanks. I believe using more of the 600cc boiler capacity would allow the model to run for an hour, if I filled the boiler a bit more, lowered the sight glass sensor to 1/3 boiler and ran with a bit less enthusiasm on the throttle!
We are upto date now. One topic we have not discussed is the gas supply. For the purpose of the challenge I had installed a disposable 300gram canister. That is not what I want for the finished project and would welcome your thoughts on installing the gas. It would be good to ensure the gas tank does not suffer from cooling, that the gas can be isolated remotely from the bankside and the gas be controlled in the same way as the Dénes gas control unit achieves. To trial, I do have a Regner Gas tank that has a pipe through it for warming the tank with the hot condensate, and have the Regner Gas control valve that can be used to remotely cut the gas completely - if anyone has experience of using these gas fittings or similar gas installations, I would welcome your advice on installing them and any lessons learned.
I am happy to try more than one arrangement, because the whole purpose of this project was not to win an endurance challenge, it is to learn and to put the lessons learned into the new build Black Swan Sloop. The installation of the gas supply is a critical component to ensuring the boiler can perform at its best, if you don't get enough the heat into the boiler, you can't get enough steam out, so I really do want to get this as good as possible and welcome your experiences.
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Life been busy so have not done anymore to the steam plant installation other than think a bit more about the installing the Regner Gas Tank. The tank has a pipe that runs through it so that the tank can be warmed. I wish to avoid making the tank too hot so need some way of controlling the heat input to the tank - Do you think this will work? Is there another way?
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Bonjour,
The position of the valve on the gas tank is not the best to my opinion because liquid gas goes to the burner when the tank is full.
My option : https://www.youtube.com/watch?v=A4smWk7YK8I
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I appreciate that Regner must have conducted trials with preheating gas, possibly for low ambient temperature conditions
Having said this we must remember the exhaust steam we are talking about is within the system of say 110 degrees C to 100 degrees C, and the latter still in a gaseous state
Piping this exhaust steam through the gas tank will transfer or give up the exhaust steam heat to the cooler liquid/gas Propane, and further reduce the temperature of the exhaust stream to condensate
The danger here is producing a greater % level of liquid, to steam exhausted via the de-oiler to the boiler chimney, or the need for a larger de-oiler capacity
As KBIO mentions on an alternate French WEBsite, monitoring the temperatures & provide this information to control the regulation of steam % to the gas tank could be considered, however does this Regner gas tank provide sufficient volume of gas for the 60-minute event [you did not confirm if multiple gas tanks could be used] or compared to the 320gm of the disposable gas container you show?
Derek
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I currently just have the condensate tank touching the end of the gas tank and heat transfer ensures after a run the gas tank is hand warm which to my mind seems about right. Also as there is no hard plumbing connection to the gas tank its easy to remove for filling. Its noticeable from cold when the condensate tank warms up and the gas pressure rises the size of the burn is very obvious as you can hear the burn note change.
I also fill my tanks through the exit pipe as this wastes very little gas as opposed to a "Ronson" valve connection.
I also have a gas shut off valve (Clevedon steam) in one model with a ceramic burner so I can shut the gas off if I run out of water or catch floating debris. The other one which is a blowlamp burner I use a water jet to shoot water onto the burner which just puts it out. Not so good as the actual valve but it also works!
Cheers
Geoff
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Thank you all for the feedback. I agree that the valve is not in a great place at the moment so may move it to the top of the tank and possibly connect a pressure gauge where the valve is currently positioned. Also agree that more condensate will be produced so will need to monitor that to see if it becomes a problem with the de oilers capacity. The size of the Regner gas tank is 300ml, we know the gas jet is using roughly 100grams of gas per hour, so filling the gas tank 2/3 full should give enough gas for an hours run. I also agree that placing the gas tank where it touches the de-oiler works, however in this set up there is not the room to do that, so need to find an alternate way of warming the gas tank.
I have been doing some research and have found some cheap temperature probes so may use one of those just to monitor the tank temperature, the aim is for the tank to be warm and not to hot to the touch.
Have also found out a bit more about the integral de-icing pipe that is installed in the Regner Gas Tank and have included a diagram that shows my understanding of how the deicing pipe is intended to be used. The first diagram is how I first thought the steam flow would be set up, the second diagram is how I now believe Regner intend the steam flow to the de-icing pipe to be set up. Please let me know if I have misunderstood the set up
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Hello, your drawing is correct, the second one shows how Regner intended the heating pipe to be used. It is explained in one of their catalogues, I can send it to you if needed.
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KNO3, re confirmation the second drawing is how Regner intend the de-icing pipe to be set up, thank you, and yes please, it would be informative to see the information in Regner Catalogue - from the website and the leaflet that came with the tank it was not clear to me how the set up the tank.
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I believe the volume is a theoretical calculation only
It does not take into account of the physical limitation, being the inlet valve venting at the end of the fluid/gas during the filling process
Derek
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"Time was running out now, I had three days left, I was doubting whether I could get the Bustler ready in time:......
....'for the steam endurance event'
Hullo Dave........there were 4 1/2 thousand views & #115 messages to this thread.......did I miss out on the Endurance event results?
Derek
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Derek thank you for the info re the gas tank. Life has been busy for the last couple of months so no new work has been done to the Bustler although I have been sailing with it a few times and it is all working as it should. To answer your question about the Endurance Challenge the event did go ahead. I was to be a guest and there to support a friend who had built a steam boat. The event had not been completed by a steam boat before. Neither my boat nor my friends was ready in time for the event so neither of us ran. My boat had only run twice so I did not make the eight hour round trip so i will try to take part next year. The Bustler tug will run for the hour as long as it’s not at full throttle and I use most of the boilers water in addition to the on board water tanks. The next steps now are to work on the gas supply and trial some further developments of the Automatic Boiler Controller which is really exciting- will keep you posted