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Might just have finally killed it; i re-used the k-motor integral when replacing it with a spring by simply changing the constraint number over. The X and Y axes had been inverted however to take account of the relative motor direction. That was fine when it was measuring the motor, but when i chang...

Didn't work - sim attached but it's bare-bones and not worth more time. The gain condition thus isn't simply sinking counter-torques to CF force, at least, not in this way. I suspect that interaction between translational and rotational components is critical - ie. weight moves left so wheel is disp...

Here's a preview of what i have in mind: https://i.ibb.co/TvnYMp1/Basic-Jig.gif ..so that's a wheel currently being turned by a motor to generate CF force, thus dragging the two masses outwards. You gotta squint to see it, but they're spooling off of a tiny central reel (small radius = high gearing ...

For this test i simply left the rotor 'priming motor' running, at its constant 1 rad/s set speed, whilst logging its torque * angle: https://i.ibb.co/HFmthF2/More-Win.gif dKE = 51.66266262 - 5.69647122 = 45.9661914 kiking spring Ta = -19.47433519 wheel spring Ta = 24.96669587 rotor motor Ta = 1.3063...

Currently, the CF-PE is constrained by the radius of the free rotor the weight's attached to. Suppose instead that the CF-PE is delegated to a pair of balanced radially-sliding weights; as these are pulled outwards under CF force, they tug on a cord.. the cord spools off of a small-radius reel, spin...

Realising that the wheel spring preload was supposed to be in radians rather than degrees, i switched it down to slightly less-aggressive values, and then swapped out the k-motor for another rotary spring: https://i.ibb.co/xHQzftt/Win.gif ..achieving similar efficiency to the semi-motorised CoP: dKE...

Damn - i honestly thought i'd nixed it. I was seriously in the 'relief' stage where you're just glad it's all over. Ah well, i needed the rest.. So i've just done that last experiment; here, the central motor is only used for priming the initial velocity, disabling after the first frame, and replace...

Just re-checked the CF version by replacing the k-motor with a rigid joint, and found unity at both a quarter-cycle and full cycle. So in the CF version at least, the gain is dependent upon the satellite motor. Unlike the sprung version. The quarter-cycle result was this: delta KE = 3.73210068 motog...

@Fletch - had a look, but accounting for dissipation is sketchy when it's constantly in flux; both disc and ring can bounce and skip somewhat, the latter apparently moreso, dissipating GPE to collisions rather than conversion to rotKE. Even when dissipation rates are constant, such as applying a dam...

Well i'll spare everyone the pointless anims, but replacing the central motor with a pre-loaded spring kills the effect, scoring perfect unity. However, unlocking the 'world' mass from the background and measuring the torques being applied to it, the negative torque curve being plotted by the motoge...

Just a suggestion to check against when you have the inclination .. a spring in WM is a "perfect spring" afaik i.e. it is not realistic in some regards in that it has perfect elasticity with no dissipative energy losses to heat, sound, friction, or deformation of the structure like a real...

Wow. dKE - mTa = EPE mTa = dKE - EPE I no longer need to take integrals, in principle! How did i get here? With suck-it-and-see optimisations, i found that increasing the spin-up acceleration only reduced the CoP from the 1.6 value obtained at 1 m/s² spin-up. So.. yep. I switched off the weight moto...

OK slight shift of focus, to take better account of the fact that we're dealing with an N3 exploit. Instead of spinning the weight up and down, only spin-up (or input work per se) is of interest. The orbiting motor is now simply controlled for 'acceleration', taking the top-left labelled input value...

180° from Q1 thru Q2: dKE = 63.2649736 kTa = 20.93737292 mTa = -0.199605256 EPE = 43.74877813 CFPE = 0.99997623 net in = 20.93737292 + 43.74877813 = 64.68615105 net out = 63.2649736 + 0.199605256 + 0.99997623 = 64.464555086 diff = -0.221595964 CoP = 0.997 2nd 180° from Q3 thru Q4: dKE = -22.55994869...

Q3: https://i.ibb.co/qC6J5Zy/STQ3.gif iKE = 70.32853897 fKE = 74.69601958 dKE = 4.36748061 kTa = 10.6925193 mTa = -8.885201398 EPE = -21.14255176 CFPE = -0.499913798 net in = 10.6925193 + 0.499913798 = 11.192433098 net out = 4.36748061 + 8.885201398 + 21.14255176 = 34.395233768 diff = 23.20280067 Co...