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1. LED on the UPM not lit when running a WinCon project gt This indicates that the UPM amplifier is not ready to be enabled Go through the UPM initialization procedure detailed in Section 2 2 4 and the calibration procedure in Section 4 2 Q5 Why is the shake table not moving when running g_cal_x_ZZ wcp q_sine_x_ZZ wcp q_sweep_x_ZZ wcp q_north_x_ZZ wcp q_elcen_x_ZZ wcp q_hach_x_ZZ wcp or q_kobe_x_ZZ wcp WinCon projects gt Is the red power LED in the top left corner of the UPM lit If not turn the switch to the OFF position and ensure the AC cord is securely connected If after switching the UPM ON the LED is still not lit the fuse may be blown Replace the fuse and try re powering the UPM gt Is the red LED on the terminal board lit If NOT then the fuse may be blown there may be a lack of power being supplied to the terminal board or some other problem is associated with the board See the corresponding data acquisition card manual for details on handling this situation gt See Section 2 2 4 and go through the UPM 50 25 3PHI initialization procedure Once complete the red light power diode on the UPM should be ON The Left Home or Right LED could be ON as well depending on the location of the table during the boot up procedure gt Go through the calibration procedure detailed in Section 4 2 If the table does Revision 02 Page 30 Shake II User Manual not move towards the Home position and the OK LED on the UPM2. spectral analysis If their correlation is analyzed in the time domain there will be a time delay between the actual and desired accelerations 4 9 Compiling a New Earthquake This section describes how to create a new WinCon project to run new earthquake data on the shake table Follow the method below Step 1 Ensure the amplifier has been initialized as discussed in Section 2 2 4 Step 2 Ensure table is at HOME position before running any experiment Otherwise the experiment may stop prematurely because the table reached the left or right limit sensors See the procedure in Section 4 2 for calibration procedure Step 3 Enter the time tnew and acceleration anew of the actual earthquake in the Matlab workspace Step 4 As described in Section 4 7 scale the data to fit the shake table using Tc Xc Ac Te g_scale tnew anew xmax Ensure the return variables are exactly as specified Step 5 Open the Simulink model called q_earthquake_x_ZZ md1 This isa standard Simulink file that uses the arrays Tc Xc and Ac and the parameter Te to simulate the earthquake on the shake table The Simulink diagram therefore runs whatever earthquake is loaded in the Matlab workspace Step 6 Save q_earthquake_x_ZZ md1 as another Simulink file describing the earthquake For example q_earthquake_california_x_ZZ mdl Step 7 Run the Matlab script file q_gain m to set all the parameters required for the earthquake Simulink model This includes t
3. the serial cables between the UPM the DAQ and the shake table are described 3 1 Cable Nomenclature The cables used to connect DAC UPM and shake table are described below in Table 4 Description The Motor cable corresponds to the 3 phase motor power leads This cable is designed to connect from the Quanser s Universal Power Module model 50 25 3PHI i e the output of the power module after signal amplification to the brushless DC motor of the shake table Figure 6 Motor Cable The To Device cable is a DB15 cable that connects the shake table circuit board to the UPM It carries to the UPM the three limit sensors signals and the motor encoder signals It also supplies the DC power required by the different sensors Figure 7 To Device Cable Revision 02 Page 9 Shake II User Manual Figure 8 From MultiQ Cable F igure 9 Emergency Stop Cable i Figure 10 Encoder Cable Figure 11 From Analog Sensors Cable Table 4 Cable Nomenclature Description The From MultiQ cable connects the UPM to the data acquisition card terminal board It is compatible with Quanser s quick connect system It carries the motor encoder signals limit sensor signals calibrate signal and the S1 S2 S3 and S4 analog signals from the UPM From the DAC the cable carries the control signal to be amplified and sent to the motor as well as the cali
4. 18 x 18 in table platform The table slides on low friction linear ball bearings on two ground hardened shafts The specifications of Shake Table II are given in Table 1 Revision 02 Page 1 Shake II User Manual Parameter Table dimensions Maximum payload Operational bandwidth Peak velocity Ball screw efficiency Maximum force Peak acceleration Stroke Weight Encoder lead screw resolution Motor maximum torque 1 65 Ball nut dynamic loading capacity 12000 Ball nut life expectancy at full load 2 50 x 10 3 Linear bearing life expectancy 2 50 x 10 Linear bearing load carrying capability 290 Table 1 Shake l Table Specifications 2 2 Universal Power Module 50 25 3PHI 2 2 1 Description The Shake Table II system is supplied with its custom designed power amplifier namely the Universal Power Module model 50 25 3PHI shown in Figure 1 It consists of a 3 phase PWM brushless amplifier as well as associated electronics for safety operation It is a current mode amplifier meaning that an input voltage to the amplifier results in a controlled current through the motor The amplifier current gain K is given in Table 2 thus applying one Volt at the input will result in K Amperes Note that the maximum voltage that is applied to the motor however is limited by the BUS voltage Vous as specified in Table 2 Apart from powering the Shake Table II DC motor and as all other Quanser s power modules the UPM 50 25 3PHI al
5. 2 Page 14 Shake User Manual to be read one mounted on the shake table a second attached on first floor of the building and a third fastened onto the second floor of the structure The shake table floor 1 and floor 2 accelerometers would be connected to the UPM analog inputs S1 S2 and S3 Since these signals are carried by the Table X connection they can be interfaced in WinCon using the Analog Input block with channels 0 1 and 2 respectively As mentioned a second y axis shake table can be coupled with an x axis shake table In this configuration a second UPM is required for the y axis table and the signals between this UPM and Table Y on the DAC is listed in Table 8 gna O ertace Di ojite D A 4 Analog Output Channel 4 Drives the amplifier in the UPM A D 4 Analog Input Channel 4 Analog sensor i e accelerometer sensor connected to S7 on y axis UPM A D 5 Analog Input Channel 5 Analog sensor i e accelerometer sensor connected to S2 on y axis UPM A D 6 Analog Input Channel 6 Analog sensor i e accelerometer sensor connected to S3 on y axis UPM A D 7 Analog Input Channel 7 Analog sensor i e accelerometer sensor connected to 4 on y axis UPM Encoder 4 Encoder Input Channel 4 Measurement from encoder attached to the shake table motor DI 4 Digital Input Channel 4 Left limit detector signal DI 5 Digital Input Channel 5 Home limit detector signal
6. 50 25 3PHI UPM and the amplifier is only enabled after 0 7 seconds A 3 Signals used to Calibrate 50 25 3PHI UPM The UPM must be placed into calibration mode in order to auto center the table The UPM is in calibration mode when its Cal Enable and OK LEDs are lit In normal operation the amplifier is disabled when the Left or Right proximity sensors are triggered In this case the amplifier is disabled when the Home sensor is activated The enable and calibration signals needed to place the UPM in the calibration mode is explained next Revision 02 Page 33 Shake User Manual AMP Enable 0 5 y AMP Calibrate Digital Output Signals 0 5 1 1 L 1 1 0 0 5 1 1 5 2 2 5 3 Time s Figure 25 UPM Calibration Signals The q _cal_x_ZZ wcp WinCon project generates and sends the enable and calibration signals shown in Figure 25 to the UPM s AMP_CAL connected to Digital Output 8 and AMP_EN connected to Digital Output 9 control lines The enable and calibrate signals are both initialized at zero in WinCon The WinCon controller brings the UPM s AMP_CAL line to high and then brings it to OV after 1 1 seconds The AMP_EN is initially set to 1V and after 1 2 seconds is pulsed down to OV for 200 milliseconds After this initial sequence the amplifier in the UPM remains enabled as long as AMP_CAL sits at OV while AMP_EN stays at 1V The WinCon controller stops when the Home position has been re
7. CHANNEL 3 Table 5 Connecting various DACs and ETBs If the supplied data acquisition card is a Q8 DAC and the terminal board is also Q8 then the J1 J2 and J3 ribbon cables from the Q8 DAC should be connected to the inputs on the Q8 Extended Terminal Board labeled CABLE 1 CABLE 2 and CABLE 3 respectively For a Q4 DAC and a Q4 ETB connect the J1 cable from the DAC to the CABLE I input on the terminal board and the J3 cable to CABLE 3 on the terminal board The Q4 DAC is compatible with a Q8 Extended Terminal Board In this configuration the J1 and J3 cable from the Q4 DAC is connected to CABLE 1 and CABLE 3 on the Q8 ETB The CABLE 2 connection on the ETB would not be used in this setup Further the Q8 DAC can be interfaced with the Q4 Extended Terminal Board In this scenario the J1 and J3 cable is connected to the CABLE 1 and CABLE 3 on the Q4 ETB The J2 cable is not used and may be disconnected from the Q8 DAC Revision 02 Page 11 Shake II User Manual 3 3 Typical Connections The connections described in Table 6 correspond to the labels in Figures 12 13 and 14 apie e O apie Di elite 1 Table Xon From MultiQ 25 pin Input Receives the accelerometer DAC on UPM serial S1 encoder calibrate and limit detector signals from UPM Output Drives amplifier on UPM and sends the calibrate and enable signals to the PIC on the UPM 2 To Device C
8. DI 6 Digital Input Channel 6 Right limit detector signal DI 7 Digital Input Channel 7 Calibrate signal DO 4 Digital Output Channel 10 Sends calibrate signal to PIC on UPM DO 5 Digital Output Channel 11 Sends enable signal to PIC on UPM Table 8 Table Y Connection Signals 4 Running Experiments with WinCon WinCon is a software that runs Simulink models in realtime on a PC The actual WinCon controller is built from a Simulink diagram designed by a user Various Simulink models Revision 02 Page 15 Shake User Manual and their corresponding WinCon controllers are supplied Further MATLAB script files used to load parameters used by the Simulink diagrams are given as well as a q_scale d11 file used to simulate real earthquakes on the shake table Table 9 summarizes the various file extensions and describes the associated file File Description of File Extension mdl Simulink model of the controller m Matlab script file that sets gains and various other parameters in the Simulink diagram wel WinCon controller file generated from the Simulink model wep WinCon project file contains pre defined plots and a control panel Table 9 File Extensions Description 4 1 Supplied Simulink Models WinCon Projects and Software The shake table system is supplied with the files listed in Table 10 The ZZ suffix of some file names denotes the DAC card the file is compatible with and is ei
9. Quanser Specialty Experiment Series Shake Table II User Manual QuUANSER INNOVATE EDUCATE Shake Table Il User Manual Table of Contents Vis Mtr GUC OM o PEE 1 2 System Specifications and DeSCTiptiOn cecceeessecesseeceseeceeeeeceeneeceeeeeceeeeecseeeeceeeeeeaees 1 Delis SHAKES T ADL e ey sinreteno renina aena AEE EE Aaa TOA A a AIEEE Ea SE 1 2 2 Universal Power Module 50 25 3PHI s ssssssesssssessssesssseresseressesssseessseresseeesseeesseressee 2 25 Dat A cgus oN SY SLC exp elv srr lotrel acd Genel eS E lala a auto 7 ZA Control SOMW are n h a A ea Se ee ease Gees 8 3 Connect n Procedure 2545 05 OSGi he Ce Cale OL Rede oad 9 Selig Cable INGMenC lature sister set aise deed aa used Mee ee ald E E RRR 9 3 2 Connecting the Terminal BOatd silos cvsnsgdeaiee hedancs iad seonpaddstunaeazadglantiaytuadelacsascnenyedsiwers 11 33 Typical Connections eese i e ea eoa a aa uE AES 12 SA Signals in Table X Connection sisese noiet ienet ai rae ASS 15 4 Running Experiments with WinCon ssssssssessseesserssesrsserssseresseeesseeesseeesseessseesseessse 16 4 1 Supplied Simulink Models WinCon Projects and Software 17 42 alibratving Tableto Home Caves kates aennten i i E E E EE EO 19 4 3 Sending Sine Wave to Shake I AIG 6c cue ost ea dea aatepsucaeaaanta tug uaa nnd eames 20 4 4 Variables Available for Plunge 02 5 achdvcduaieaileewdeditea wes foaessesenb a uae Gea ea coms 21 4 5 Finding Freq
10. T Description Units t Array of time at equal sampling intervals in seconds S a Array of acceleration record that matches t array g xmax Maximum deviation of motion from the home position cm Tc Command time array Ss Xc Position command array cm Ac Acceleration array found by differentiating Xc twice cms Te Duration of run S The user supplies the earthquake s time and position data along with the maximum deviation of the shake table A Variable xmax should not exceed the limit of the shake table The function returns scaled time position acceleration and duration of the earthquake This returned array can then be used in a Simulink diagram to run the earthquake on the shake table For example the new earthquake data mew and anew is to be scaled down for use on the shake table The xmax variable is set to 3 cm to remain in the safety limits of the table The data is scaled using the following command in the Matlab prompt Tc Xc Ac Te q_scale tnew anew 3 0 Here is a sample output of the file Original sampling period 0 02000 Scaling acceleration record Revision 02 Page 26 Shake II User Manual Step 1 of 3 Step 2 of 3 Step 3 of 3 Optimization ratio when done 1 000000 Time 9 908512 Warning Subscript indices must be integer values kkk Done kkk x Displacement scaled from original movement of 27 46 cm to 3 00 cm x Time scaled from original duration of 29 98 seconds to 9 91 secon
11. ached and it sets the AMP_CAL and AMP_EN control lines back down to 0V before terminating effectively disabling the amplifier Revision 02 Page 34
12. adman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the DC motor power Step 15 WinCon stops automatically after the earthquake duration of the earthquake Step 16 Collect the plot data by selecting File on the scope menu and choosing Save As M File under the Save menu item as explained in Section 4 7 The plot of a sensor can be viewed by running the saved script in Matlab Revision 02 Page 29 Shake II User Manual 5 Troubleshooting Guide This section provides the user with a list of solutions to the questions that may occur when setting up the shake table Q1 Why are the Left and Right LEDs on the UPM flashing gt The UPM has not been initialized yet See Section 2 2 4 for the UPM 50 25 3PHI initialization procedure Q2 Why is the Left or Right LED lit after undergoing the UPM initialization procedure gt The table was above the Left or Right proximity sensors when the boot up procedure was ran See Section 4 2 to calibrate the table to the Home position Q3 Why is the OK LED on the UPM not lit when running a WinCon project gt The E Stop button is either pressed down or improperly connected to the UPM Stop the WinCon controller and turn off the UPM Then verify that the deadman switch and the UPM are properly connected and ensure the E stop button is in the released upright position Q4 Why is the Enable
13. ake table can be fed a sinusoidal signal of varying frequency and amplitude Although there is not much analysis that can be made on the results it is a good test to ensure the system is operating correctly Follow this method to run the project Step 1 Ensure the amplifier has been initialized as discussed in Section 2 2 4 Step 2 Ensure table is at HOME position before running any experiment Otherwise the experiment may stop prematurely because the table reached the left or right limit sensors See the procedure in Section 4 2 for calibration procedure Step 3 Load WinCon Step 4 Open the project file q_sine_x_ZZ wcp As shown in Figure 16 the control panel has two knobs that enable the user to vary the amplitude and frequency of the sine wave Control Panel q_sine_x_Q8 g loj xj File Control Tools Window e 7 m Waele 3 Sine Command Signal Amplitude and Frequency Control Knobs 25 0 E o o 40 Amplitude in Frequency Hz Figure 16 q_sine_x_ZZ Control Panel Step 5 Click on the START button in the WinCon Server window Step 6 The Enable and OK LEDs on the UPM should be lit Consult the troubleshooting guide if this is not the case Step 7 The scope displays the commanded position and the resulting position of the table measured using its encoder Figure 17 shows the scope when a sine wave with an amplitude of 0 5 in and a frequency of 5 Hz is given by setting the control pane
14. ake table system The Q4 DAC has the same channel and clock counter specifications but instead has four encoder inputs four analog inputs and four analog outputs The Table X connector carries analog output channel 0 encoder channel 0 and analog input channels 0 to 3 The Q4 Extended Terminal Card is compatible with the Q8 DAC The wiring procedure between the various DACs and the terminal boards is described in Section 3 2 2 4 Control Software The WinCon program supplied is a control software that runs Simulink diagrams in realtime The standard controllers included with the systems allows the user to command preset trajectories and historical earthquake data The following additional software is needed if the user wishes to change the standard controllers or create new ones Matlab Simulink Control Systems Toolbox Realtime Workshop and Visual C Computers with this software pre installed and tested can be supplied Revision 02 Page 8 Shake II User Manual 3 Connection Procedure The different cables used to connect the various components of the shake table system is described in Section 3 1 The connections between the different terminal boards and the data acquisition cards are explained in Section 3 2 In Section 3 3 typical connections between the DAC UPM and shake table are described for a shake table in the x axis configuration without any test structures mounted In Section 3 4 the various signals carried by
15. and Position in Table Command Position cm Desired Accel g lt workspace gt Desired Accel m sec2 lt workspace gt Current Command A Output Variables Table Position in lt encoder gt Table Position cm lt encoder gt Table Speed in s lt encoder gt Table Speed cm s lt encoder gt Ball Screw Position deg lt encoder gt Position Error in lt encoder gt RPOSsicaom iieieoie ei lt encoder gt Table Accel g lt accelerometer 0 gt Table Accel m sec2 lt accelerometer 0 gt Description Commanded position in inches Commanded position in centimeters Scaled acceleration from real earthquake data generated by q_scale and stored in Matlab workspace in units relative to the Earth s gravity Same as variable above except accelerations are stored in m s Current outputted to shake table from controller in amps Shake table position measured in inches using table encoder Same as above variable except units are in centimeters Shake table speed measured in inches per second using table encoder Same as above variable except units are in centimeters Angle of ball screw measured in inches using table encoder Control error in inches between reference position and actual position measured using the table encoder Same as above variable except units are in centimeters Acceleration of the shake table relative to Earth s gravity meas
16. brate and enable digital signals The Emergency Stop cable has a 6 pin mini DIN connector that connects to the side of the UPM The UPM is enabled when the safety pushbutton switch is not pressed The Encoder cable is a 5 pin stereo DIN to 5 pin stereo DIN cable It can directly connect an encoder to the data acquisition card terminal board This cable carries the encoder signals and encoder DC power supply Note that the signals from the built in encoder on the motor of the shake table is carried by the To Device cable The From Analog Sensors cable is a 6 pin mini DIN to 6 pin mini DIN cable that can be used to connect any potential plant sensor to the UPM such as accelerometers It can provide a 12VDC bias to analog sensors and carry their voltage signals to the DAC terminal board via the UPM Revision 02 Page 10 Shake II User Manual 3 2 Connecting the Terminal Board This section assumes the data acquisition card is properly installed as discussed in the Q8 Manual Table 5 summarizes the connections between the Q4 and Q8 data acquisition cards DACs and the Q4 and Q8 extended terminal boards ETBs Data Acquisition Card Extended Terminal Connections Board Q8 Q8 J1 gt CHANNEL 1 J2 gt CHANNEL 2 J3 gt CHANNEL 3 Q4 Q4 J1 gt CHANNEL 1 J3 gt CHANNEL 3 Q8 Q4 J1 gt CHANNEL 1 J2 gt Not used J3 gt CHANNEL 3 Q4 Q8 Ji gt CHANNEL 1 Not used gt CHANNEL 2 J3 gt
17. ds xxx Record size is 1550 samples x Use of this Software is under license from Quanser Consulting Inc x Any results derived from this use should be duly acknowledged by the statement x Acceleration and position scaling performed using software licensed from Quanser Consulting Inc After scaling the earthquake data q_scale generates the plot shown in Figure 22 The upper graph compares the real and scaled earthquake accelerations and the bottom graph depicts the position reference given to the shake table Note that the accelerations overlap when plotted on the same time scale because both the amplitude and the time is attenuated 5 nn mn Accel real vs table crn sec2 A f No gt na co D No Time Scaled Pas in cm o 0 2 4 6 8 10 12 Time Figure 22 Real vs Table Acceleration and Position Commanded to Shake Table Revision 02 Page 27 A Shake User Manual The arrays Tc Xc Ac and Te returned by the q_scale function can be used in a Simulink diagram to simulate earthquakes on the shake table The actual acceleration measured from the shake table accelerometer should match the scaled accelerations from the q_scale function when the shake table s reference position is the Xc generated by the g_scale function However the measured accelerations from the table should be compared with the desired acceleration from the q_scale function in the frequency domain i e
18. ering The calibration procedure is explained further in Section 4 3 After power up the amplifier is enabled only if a sequence of pulses originating from the DAC board through Digital Output 8 and 9 is applied to the micro controller Refer to the following UPM Starting Procedure and Initialization Section for more details Keep the Safety Override switch in the OFF position Turning it on enables the UPM independently of any safety circuitry It is intended only if the safety circuitry fails and you still want to perform some experiments With Safety Override ON nothing protects the table from damage 2 2 2Specifications Table 2 lists and characterizes the main specifications associated with the UPM 50 25 3PHI system Some of these parameters can be used for mathematical modeling of the system Revision 02 Page 4 Shake II User Manual Symbol Parameter VEUT Ka PWM Amplifier Current Gain Vins PWM Amplifier Bus Voltage Per Phase Lmax PWM Amplifier Maximum Continuous Line DC Current Ta_peak PWM Amplifier Peak Line DC Current Vac DC Output Voltage Supply Tac_max DC Output Maximum Current Supply Vin UPM AC Input Voltage Table 2 Universal Power Module Specifications 2 2 3UPM Deadman Switch The UPM amplifier can only be enabled if a deadman switch as shown in Figure 3 is properly connected Further the amplifier can only drive the DC motor when the switch is NOT pressed down The knob in the E stop switch ca
19. he a and r low pass filter parameters the a high pass filter parameter and the control gains K Ka and Ky It is suggested the default filter parameters and control gains set by q_gain m be used Step 8 Click on WinCon in the Simulink diagram menu and select Build As the code is being generated the Matlab window outputs a series of messages This process may be lengthy on first usage due to the amount of files that need to be generated for real time execution Step 9 The code is finished being built when the WinCon Server window appears Revision 02 Page 28 Shake II User Manual Step 10 Open the plots to be viewed in real time by clicking on Open Plot in the WinCon Server Window and selecting the appropriate corresponding variables See Section 4 5 for instructions on how to select variables for plotting Step 11 Adjust the time scale of the plot s to view the entire earthquake response by selecting Update on the scope and choosing Time Buffer Set the buffer to a few seconds more than the duration of the earthquake T value in Matlab workspace Step 12 The current plot real time controller and data loaded in the workspace can all be saved as a WinCon project for future use similar to the standard earthquakes supplied Go to File in the WinCon Server window and select Save As to save this package as a wcp file Step 13 Click START on the WinCon Server window Step 14 PRESS DOWN on the RED BUTTON of the de
20. ier has been initialized as discussed in Section 2 2 4 Step 2 Ensure table is at HOME position before running any experiment Otherwise the experiment may stop prematurely because the table reached the left or right limit sensors See the procedure in Section 4 2 for calibration procedure Step 3 Load WinCon Step 4 Open the earthquake project file For example open q_north_x_ZZ wcp to run the Northridge earthquake The earthquakes corresponding project file names are Northridge q_north_x_ZZ wcep El Centro q_elcen_x_ZZ wcp Hachimoto q_hach_x_ZZ wcp Kobe q_kobe_x_ZZ wcep Step 5 Click on the START button in the WinCon Server window Step 6 PRESS DOWN on the RED BUTTON of the deadman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the DC motor power Step 7 WinCon stops automatically after the earthquake data has run through The duration of the session depends on the earthquake project selected The data read from the sensors can be saved in Matlab for analysis as discussed in Section 4 7 Revision 02 Page 25 Shake II User Manual 4 8 Scaling a Real Earthquake New earthquake data can also be ran on the shake table However it must first be scaled down to fit the table The actual earthquake data can be scaled using the function Tc Xc Ac Te q_scale t a xmax where VEHE
21. ircuit board 15 pin Receives the encoder and limit on UPM on shake table serial detector signals from the shake table 3 Motor on _ Motor on shake 4 pin Connects the shake table s motor UPM table leads to the amplifier on the UPM 4 S1 on UPM Accelerometer 6 pin Connects the accelerometer attached on shake table mini DIN to the shake table to the analog to 6 pin _ sensor input on the UPM mini DIN Table 6 Typical Shake Table Connections Figure 12 Q8 Extended Terminal Board Revision 02 Page 12 Shake II User Manual a Team Figure 14 Sh oes i ake Table Connections Revision 02 Page 13 Shake User Manual 3 4 Signals in Table X Connection As depicted in Figure 12 the Q8 Extended Terminal Board does not have separate analog input channels and does not have the Encoder 0 and Encoder 4 connectors The A D channels 0 1 2 and 3 and encoder channel 0 are integrated in the Table X connection and similarly the A D channels 4 5 6 and 7 and encoder channel 4 are integrated in the Table Y connection The limit detector signals Left Home and Right and the calibrate and enable signals from the PIC in the UPM are also carried in the Table X connection when in the x axis table configuration Table 7 specifies the various signals carried between the UPM and Table X connection The Table X connector on the Q4 Extended Ter
22. is OFF then the E stop button may be pressed down Stop the WinCon controller shut off the UPM and make sure the E stop button is in the upright position i e wind the knob clockwise indicated by the arrows and confirm that it is properly connected to the UPM Try again to calibrate the shake table as described in Section 4 2 gt If the table still does not move to the Home position then double check all the connections especially the connections from the UPM to the shake table and retry the calibration Revision 02 Page 31 Shake II User Manual Appendix A A 1 Signals used to Initialize 50 25 3PHI UPM The g_boot_upm_ZZ WinCon controller generates and sends the enable and calibration signals shown in Figure 23 to the UPM s AMP_EN and AMP_CAL control lines respectively The enable and calibrate signals are both initialized at OV in WinCon The WinCon controller then brings the UPM s AMP_CAL line high connected to Digital Output 8 and sends a low pulse for 200 milliseconds It also pulls the AMP_EN line connected to Digital Output 9 to low WinCon automatically stops the real time code after 0 5 seconds This should stop the flashing and make the amplifier ready to be enabled You can now exit WinCon without saving the project 1 5 T T T T T T T T T Digital Output Signals 05 AMP Enable 0 5 fi fi 1 1 fi 1 L 1 fi 0 005 Of 015 02 02 03 O35 04 O45 05 Time s Figure 23 UPM Initial
23. ization Signals A 2 Signals used to Enable 50 25 3PHI UPM The UPM amplifier is enabled by any WinCon controller that sends a signal to the motor The UPM is in the enable state when the Enable and OK LEDs are lit and the signals required to place it in this mode is shown in Figure 24 Revision 02 Page 32 Shake User Manual AMP Enable 4 O 5 AMP Calibrate Digital Output Signals 0 5 1 1 1 1 f fi 1 fi fi 0 0 1 02 03 04 05 06 07 08 09 1 Time s Figure 24 UPM Amplifier Enable Signals The q _sine_x_ZZ WinCon controller generates and sends the enable and calibration signals shown in Figure 25 to the UPM s AMP_CAL connected to Digital Output 8 and AMP_EN connected to Digital Output 9 control lines This is in addition to sending a user controlled sine wave The enable and calibrate signals are both initialized to OV in WinCon The WinCon controller keeps the UPM s AMP_CAL line to OV for the duration of the session The AMP_EN is initially set to 1V and after 0 5 seconds is pulsed down to OV for 200 milliseconds The UPM amplifier remains enabled as long as AMP_CAL sits at OV while AMP_EN stays at 1V The PIC in the UPM disables the amplifier when the WinCon controller is terminated because it brings AMP_CAL and AMP_EN to OV on exit or if the Left or Right proximity sensors are activated Note that this series of signals is required to run any real time experiments using the
24. l supplied WinCon laboratory controller The amplifier is disabled when the WinCon controller terminates The digital signals required to initialize the UPM and the signals used to enable the amplifier are described in Appendix A Revision 02 Page 6 Shake II User Manual 2 3 Data Acquisition System The system supplied may consists of either a Q4 or Q8 data acquisition card along with either a Q4 or Q8 extended terminal board card Figure 5 depicts a Q8 Extended Terminal Card attached to a Q8 Data Acquisition Card DAC inside the computer The DAC is equipped with eight analog input channels eight analog output channels and eight encoder channels The analog outputs channels 0 and 4 all the analog input channels and the encoder channels 0 and 4 are integrated in the Table X and Table Y connectors on the terminal board The signals carried by the Table X and Table Y cables are listed in Section 3 4 The Q8 DAQ specifications are given in Table 3 Figure 5 Q8 Extended Terminal Board Revision 02 Page 7 Shake User Manual Parameter Analog Input Channels Number Range Resolution Analog Output Channels Number 8 Range 10 V Resolution 12 bit Encoder Channels Number 8 Maximum Count 32 bii Counters 2x 32 b1i1 Digital I O 32 Table 3 Q8 DAC Specifications As mentioned before there is a Q4 Data Acquisition Card and a Q4 Extended Terminal Card that may have been supplied with the sh
25. l knobs as shown in Figure 16 Revision 02 Page 19 Shake II User Manual Background Colour Text Colour Text Font Figure 17 Shake Table Commanded and Measured Sine Position in Step 8 PRESS DOWN on the RED BUTTON of the deadman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the DC motor power Step 9 Click on the STOP button in the WinCon Server window to terminate sine wave controller 4 4 Variables Available for Plotting In Figure 17 two variables were observed on the plot Table Command Position in and Table Position in lt encoder gt The variable label includes a name describing the data its units and the corresponding sensor indicated in the lt gt brackets For example the Table Position in lt encoder gt is the position of the shake table in inches attained using an encoder The lt gt is not included for input variables such as the reference position signal Table Command Position in Table 11 lists all the input and output variables available for plotting in the q_sine_x_ZZ wcp q_sweep_x_ZZ wcp g_north_x_ZZ wcecp q_elcen_x_ZZ wcp q_hach_x_ZZ wcp and q_kobe_x_ZZ wcp projects Note that some variables are given in both imperial and metric units Revision 02 Page 20 Shake User Manual VETAE Je Input Variables Table Comm
26. minal Board carries the same signals as the Q8 ETB Table X connection i e Q4 ETB has no Table Y connector Signal WinCon Interface Description D A 0 Analog Output Channel 0 Drives the amplifier in the UPM A D 0 Analog Input Channel 0 Analog sensor i e accelerometer sensor connected to SZ on x axis UPM A D 1 Analog Input Channel 1 Analog sensor i e accelerometer sensor connected to 2 on x axis UPM A D 2 Analog Input Channel 2 Analog sensor i e accelerometer sensor connected to 3 on x axis UPM A D 3 Analog Input Channel 3 Analog sensor i e accelerometer sensor connected to 4 on x axis UPM Encoder 0 Encoder Input Channel 4 Measurement from encoder attached to the shake table motor DI 0 Digital Input Channel 0 Left limit detector signal DI 1 Digital Input Channel 1 Home limit detector signal DI 2 Digital Input Channel 2 Right limit detector signal DI 3 Digital Input Channel 3 Calibrate signal DO 0 Digital Output Channel 8 Sends calibrate signal to PIC on UPM DO 1 Digital Output Channel 9 Sends enable signal to PIC on UPM Table 7 Table X Connection Signals The analog input channels 1 2 and 3 are not required if the shake table is used only in the x axis configuration with no test structures attached However consider the shake table setup with a two story building In this configuration there are three accelerometers Revision 0
27. n be placed in the upright position by rotating the knob clockwise as indicated by the arrows on the knob until it is released upwards Again in this mode the amplifier can supply voltage to the motor given that the UPM is initialized and the amplifier is enabled Figure 3 Deadman Switch PRESS DOWN on the RED BUTTON of the deadman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the DC motor power Revision 02 Page 5 Shake User Manual 2 2 4UPM Starting Procedure and Initialization Before being able to run an experiment the UPM 50 25 3PHI must be started in the following sequence 1 Ensure that the Safety Override switch located on the UPM front panel is OFF 2 Ensure that the Emergency Stop shown in Table 3 is properly connected into the side of the UPM as previously described Pull up on the red knob until released in the upright position Ensure that the UPM is plugged into the AC outlet and turn on the main power switch at the back of the unit The red LED on the top left corner should be lit After power up the UPM system is still not ready as there is no guarantee that it is connected to a computer The Left and Right LEDs on the UPM front panel should flash If the lights are NOT flashing disconnect the Terminal Board To UPM cable turn off the power on the UPM and then t
28. ng its resulting acceleration The sine wave is generated by the PC using WinCon and is sent through the DAC to the UPM The signal is then amplified by the power amplifier in the UPM and a voltage is applied to the motor connected to the shake table The table moves back and forth at the position and frequency of the commanded sine wave The acceleration of the table is read from the accelerometer sensor attached to the table The accelerometer is connected to the DAC through the UPM and the acceleration is read using WinCon on the computer The data can be viewed in real time and saved for later analysis The next section describes the various components of the system and lists their specifications In Section 3 the typical wiring setup of the shake table is described when using a single x axis table and when using two shake tables to actuate xy motions The software programs supplied with the shake table are then explained in Section 4 2 System Specifications and Description The specifications and components of the shake table the UPM and the DAC will be explained in section 2 1 2 2 and 2 3 respectively The computer and the software used to control the shake table are described in Section 2 4 The last section explains the safety features integrated in the UPM device 2 1 Shake Table The shake table consists of a 1 Hp brushless servo motor driving a 2 in lead screw The lead screw circulates through a ball nut that is attached to the
29. ple as depicted in Figure 19 to view the acceleration of the shake table measured from the accelerometer in g units select the variable Table Accel g lt accelerometer 0 gt Revision 02 Page 22 Shake II User Manual Open a display Displays defined in the model Gi Table Speed c A E Table Speed ir E Shaker Cancel E Ball Screw Pos E Table Accel g lt encoc E Table Accel m sec2 lt E Table Accel m sec2 lt E Table Command Positic E Table Command Positic Table Position cm lt er El Table Position in lt enc gt Figure 19 Variables Available for Plotting Step 3 Additional variables can be viewed on the same plot by selecting the File menu on the scope clicking on Variables and choosing the variables to be added The Select variables to display window is similar to Figure 19 and can also be accessed by clicking right on the plot area Step 4 The time scale of a plot can be adjusted by selecting Update on the scope and choosing Time Buffer as shown in Figure 20 H J j _earthquake O8 Table Accel imi gt lt Background Colour Text Colour Text Font q Seconds IV Set Time to Length of Buffer Cancel Figure 20 Changing Time Buffer Size on Scope Revision 02 Page 23 Shake User Manual 4 5 Finding Frequency Response of a Structure Floor The frequency response of a structure s floor can be found by applying a sine sweep from 1 Hz
30. s the left or right limit reverse directions and then move towards the mid stroke position The table should stop moving when it is approximately in the center at which point the Home LED on the UPM will go ON and the message prompt shown in Figure 15 is displayed Wincon Server Figure 15 Message prompt after running q_cal_x_ZZ PRESS DOWN on the RED BUTTON of the deadman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the DC motor power Alternatively the knurled knob at the end of the table can be used to manually return the table to its home position The Home LED on the UPM will be lit when this position is reached If the table is not moving consult the troubleshooting guide at the end of this reference manual Note that when the UPM is placed in the calibration mode that is when the Cal OK and Enable LEDs are lit the amplifier remains enabled when the Left or Right proximity sensor are triggered but is disabled when the Home limit sensor is activated In contrast the amplifier is disabled if the Left or Right sensor is triggered when the UPM is in the enabled state The UPM is in the enabled state when the OK and Enable LEDs are lit and the UPM is placed in this state when running earthquakes and other laboratory files Revision 02 Page 18 Shake User Manual 4 3 Sending Sine Wave to Shake Table The sh
31. se specified sine wave to the shake table Sends a sine sweep to the shake table for generating the frequency response See Section 4 4 Runs Northridge Earthquake Runs El Centro Earthquake Runs Hachimoto Earthquake Runs Kobe Earthquake Matlab Script Files Other q_scale dll Calculates feedback gains used by the shake table Historical data of the Northridge earthquake Historical data of the El Centro earthquake Historical data of the Hachimoto earthquake Historical data of the Kobe earthquake File that scales down actual earthquake data to fit the shake table Table 10 Supplied Matlab Simulink and WinCon Files Revision 02 Page 17 Shake User Manual 4 2 Calibrating Table to Home The table should initially begin at the center or Home position before running any experiment The table can be calibrated to the Home position using WinCon and the limit sensors installed on the shake table Follow these steps to calibrate the table Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Ensure the UPM 50 25 PHI has been initialized as instructed in Section 2 2 4 Load WinCon Open the project file q_cal_x_ZZ wcp Click on the START button in the WinCon Server window The UPM LEDs Cal OK and Enable LEDs should all be lit as the table slowly moves from its left or right position to the mid stroke position Depending on its starting position the table may initially move toward
32. so contains an independent power supply which is used to power instrumentation and or signal condition of external analog sensors such as Revision 02 Page 2 Shake II User Manual accelerometers strain gages potentiometers or also proximity sensors Specifically it is a 1 Ampere 12 Volt regulated DC power supply The UPM connectors are also fully compatible with our quick connect system enabling you to switch from one experiment to another quickly and efficiently Figure I Front Panel of UPM Furthermore the UPM system is equipped with an embedded PIC micro controller circuit It performs several safety functions that ensures the Shake Table II system does not get damaged These safety functions include 1 Processing of the limit sensor signals End of travel limit sensors either Left or Right disable the amplifier when in the OK and Enable mode The only way to reset the amplifier is then to trigger the Home proximity sensor by manually moving the table back to its mid stroke position The limit sensors attached to the shake table are shown in Figure 2 when the table cover is removed Revision 02 Page 3 Shake II User Manual Figure 2 Limit Sensors 2 Conversely when the UPM is in calibration mode the amplifier is instead disabled when the table reaches the Home sensor In this mode the amplifier remains enabled when the Left or Right sensors are triggered since it uses those for auto cent
33. ssion The data read from the sensors can be saved in Matlab for analysis For example the supplied script freql_15 m uses FFT commands and the frequency response measured for floor structures to calculate the transfer function Revision 02 Page 24 A A Shake User Manual 4 6 Performing Analysis on Collected Data The data shown in a scope can be saved as a Matlab script file and used for analysis later The scope is saved by choosing Save As M File under the Save item in the File menu of the scope The plot can be viewed by running the script in Matlab The script also loads the time and data values of the plot called plot_time and plot_data into the workspace This can be used for analysis or generating other plots When running the system in real time the data in the scope is constantly being updated The scope can be frozen by clicking on Update and selecting Freeze Plot This halts the updating and makes it easier for the correct data to be captured The scope can be unfrozen by selecting Real Time under the Update menu on the scope 4 7 Running a Standard Earthquake Actual earthquake data can be scaled and ran on the shake table There are four standard historical earthquakes that are already scaled for the user to test on the shake table They are the Northridge El Centro Hachimoto and Kobe earthquakes Follow the procedure below to simulate one of these earthquakes on the shake table Step 1 Ensure the amplif
34. ther Q4 Q8 MQ3 or MQPCT The WinCon Project files were generated using the Simulink model of the same file name File Name Description Simulink Model q_boot_upm_ZZ mdl Initializes the UPM q_cal_x_2Z mdl Calibrates the table to return to the home position q_sine_x_ZZ md1 Sends a sinusoidal with a specified amplitude and frequency to the shake table q_sweep_x_2Z2Z md1 Sends a sine sweep to the shake table for generating the frequency response q_earthquake_x_2ZZ mdl_ General file that runs scaled historical earthquake data on the shake table q_elcen_x_22Z md1 Exact copy of q_earthquake_x_ZZ md1 butit is associated with the q_elcen_x_ZZ wcp WinCon project Revision 02 Page 16 Shake II User Manual File Name gq_hach_x_2ZZ mdl q_kobe_x_ZZ md1 gq_north_x_Z2Z mdl Description Exact copy of q_earthquake_x_ZZ mdl1_ but it is associated with the q_hach_x_ZZ wcp WinCon project Exact copy of q_earthquake_x_ZZ mdl1 but it is associated with the q_kobe_x_ZZ wcp WinCon project Exact copy of q_earthquake_x_ZZ mdl1 but it is associated with the q_north_x_ZZ wcp WinCon project WinCon Project File g_boot_upm_ZZ wcp gq_cal_x_4Z4Z wcp q_sine_x_ZZ wcp q_sweep_xX_2ZZ wcp gq_north_x_ZZ wcp g_elcen_x_ZZ wcp g_hach_x_ZZ wcp q_kobe_x_ZZ wcp Run before performing any experiments to initialize the shake table See Section 4 2 Return table to the zero position See Section 4 3 Sends a u
35. to 15 Hz in 30 s with a 0 2 cm amplitude to the table and measuring the resulting accelerations Follow the procedure below to find the frequency response Step 1 A Step 2 Step 3 Step 4 Step 5 A Step 6 Step 7 Ensure the amplifier has been initialized as discussed in Section 2 2 4 Ensure table is at HOME position before running any experiment Otherwise the experiment may stop prematurely because the table reached the left or right limit sensors See the procedure in Section 4 2 for calibration procedure Load WinCon Open the project file q_sweep_x_zZzZ wcp As shown in Figure 21 the control panel has a knob that allows the user to change how much the amplitude increments during the sweep Control Panel File Control Tools Window Ve Gaile FF Ju eI JH S AW a mE tt ge le a Chirp Steps Control Knob 5 Chirp Steps cm Figure 21 Sine Sweep Control Panel Click on the START button in the WinCon Server window By default the project opens with a scope showing the response of the table accelerometer PRESS DOWN on the RED BUTTON of the deadman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the DC motor power WinCon will restart the sine sweep after it is complete in 30 seconds Click on the STOP button in the WinCon Server window to end the WinCon se
36. uency Response of a Structure FIOOT cccceeeeseeceeeeneeeeeeseaeeeeeneeeeeees 25 4 6 Performing Analysis on Collected Data eeeceecescecceesecceeenaeecceseeeeeeenaeeeeeaeeeeees 26 4 7 Running a Standard Earthquake cis sssisssessacssedcaseesaae sscsavecedcvvsceaessnedeedeviatseseageases 26 4 8 Scaling a Real Barth quake sccscsisiessseiaesanziacssuscatasoteath sasdesanedenss caqesbansaeavebieenaaseaaenngeae ee 2 1 4 9 Compiling a New arthqua Re soe seas 26cacdessecaees danced soaccds tenes cyonsesgoeeassneemes dea 29 5 Tro blesh otins WIE oroni ais corneas A AE a ease Ea 31 SPUD aTa iD Da EE E E E E E ET N 33 A 1 Signals used to Initialize 50 25 3PHI UPM eee ccccceeeeceeenececeseeeeeeeeaeeceeeneeeeees 33 A 2 Signals used to Enable 50 25 3PHI UPM cccesscccsssecccesesseeeceseecceseeseaecesteceesenes 33 A 3 Signals used to Calibrate 50 25 3PHI UPM ee ceeccceceesececesneceennaeceseaeeceseeeeeeeeeeees 34 Shake II User Manual 1 Introduction Shake Table II is an instructional shake table developed for the University Consortium on Instructional Shake Tables UCIST The system is comprised of a shake table a universal power module UPM a data acquisition card DAC along with its external terminal board and a PC running control software The PC sends and receives signals through the data acquisition card using WinCon Consider the signal transitions when sending a sine wave to the shake table and readi
37. ured using accelerometer Same as above variable except units are in m s Revision 02 Page 21 Shake User Manual VEEL Description Table Accel g lt encoder gt Acceleration of the shake table relative to Earth s gravity measured using encoder double derivative Table Accel m see2 Same as above variable except units are in lt encoder gt my oe Floor 1 Accel g Acceleration of structure s first floor relative lt accelerometer 1 gt to Earth s gravity measured using accelerometer fastened to that floor Floor 1 Accel m see2 Same as above variable except units are in lt accelerometer 1 gt m s Floor 2 Accel g Acceleration of structure s second floor lt accelerometer 2 gt relative to Earth s gravity measured using accelerometer fastened to that floor Ploor 2 Accel m see2 Same as above variable except units are in lt accelerometer 2 gt wS Table 11 Variables Available for Plotting Follow the procedure below to open plot a new variable add variables to an existing plot and adjust the time scale of the scope Step 1 Open the list of available variables to be plotted by clicking on the Open Plot button in the WinCon Server window shown in Figure 18 a q_sine_x_Q8 WinCon Server Fie Client Model Plot Window View Help an 2 Figure 18 WinCon Server Window Step 2 Open the plots to be viewed in real time by selecting the appropriate corresponding variables For exam
38. urn it back on again The two LEDs should flash If so re connect the Terminal Board To UPM cable and proceed to Step 5 Load WinCon Server Open the g_boot_upm_ZZ wcp WinCon project where ZZ corresponds to the type of data acquisition card being used either Q4 or Q8 Start WinCon by clicking on the green START button on the WinCon Server Window The Left and Right LEDs should stop flashing and the window shown in Figure 4 should be prompted This implies the UPM amplifier is ready to be enabled Wincon Server End of initialization Right and Left LEDs on UPM should not be flashing Figure 4 Message prompt after running q_boot_upm_ZZ Another and not recommended way to stop the flashing of the LEDs is to push the Reset button located on the UPM front panel This bypasses the need for the previously described UPM initialization procedure However this is not the recommended way of operation as it overrides the UPM safety watchdog put in place to detect whether the UPM system is properly connected to your computer 10 PRESS DOWN on the RED BUTTON of the deadman switch in case of emergency If something goes wrong during an experiment pressing the red button of the deadman switch disables the amplifier and shuts off the the DC motor power Note that this initialization procedure does not enable the amplifier and therefore the motor cannot be driven yet The amplifier is only enabled when running an actua
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