Shake Table II User Manual-Revision 3.10

8/10/2019 Shake Table II User Manual-Revision 3.10

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Shake Table II User Manual

How to contact Quanser:

+1 (905) 940-3575 Telephone

+1 (905) 940-3576 Facsimile

80 Esna Park ri!e" # 1-3$arkham" %&'ana a 3* *6

$ail

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mail.o/ in o2 anser com eneral in orma.ion

Quanser Shake Table II User Manual

$ T is a re is.ere .ra emarks o The $a.h,orks" :nc%.her ran s an .heir pro c.s are .ra emarks or re is.ere .ra emarks o .heir respec.i!e hol ers an sho l e no.e ass ch

; 007 < anser :ncll ri h.s reser!e This =ork ma> no. e .ransla.e or copie in =hole or in par. =i.ho . .he =ri..en permission o .hecop>ri h. hol er" e?cep. n er .he .erms o .he associa.e so .=are license a reemen. &o par. o .his man al ma> e

pho.ocopie or repro ce in an> ormThe se o eneral escrip.i!e names" .ra e names" .ra emarks" e.c in .his p lica.ion" e!en i .he ormer are no. especiall>i en.i ie " is no. .o e .aken as a si n .ha. s ch names as n ers.oo > .he Tra e $arks an $erchan ise $arks c." ma>accor in l> e se reel> > an>one

Prin.e in 'ana a

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Table o Contents

1. I NTRODUCTION .......................................................................................................................................... 1

2. P REREQUISITES ......................................................................................................................................... 2

3. S YSTEM DESCRIPTION ................................................................................................................................3

3 1 'omponen. &omencla. re 3

3 'omponen. escrip.ion 5

3 1 @.a e ('omponen. #1) 5

3 o..om Pla.e ('omponen. # ) 5

3 3 r shless ' $o.or ('omponen. #3) 5

3 4 ea @cre= ('omponen. #4) 6

3 5 Enco er 6

3 6 inear earin lock ('omponen. #8) 6

3 7 imi. @=i.ches ('omponen.s #10" 11" an 1 ) 6

3 8 ccelerome.er ('omponen. #15) 6

3 3 @peci ica.ions 6

4. S YSTEM SETUP ..........................................................................................................................................8

4 1 @o .=are *e iremen.s 8

4 1 1 asic 'on i ra.ion 8

4 1 !ance 'on i ra.ion 9

4 Aar =are @e. p 9

4 1 'a le &omencla. re 9

4 'onnec.in .he


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5 @.an ar @T :: E?perimen.s 16

5 1 :ni.ialiBin CP$ 17

5 'ali ra.in @.a e 18

5 3 @ine ,a!e 195 4 @ine @=eep 0

5 5 @ample Ear.h ake

5 6 ,orkin =i.h @copes 3

5 7 %p.ional/ Csin .he C: 7

5 3 @T :: Tes. 7

. C REATING C USTOM ST II E XPERIMENTS ................................................................................................. 28

6 1 %!er!ie= o ,in'on an il in a ,' 86 Files @ pplie 30

6 3 @hake Ta le :: ,in'on i rar> 3

6 3 1 @hake Ta le :: @ s>s.em 33

6 3 ccelerome.ers @ s>s.em 35

6 3 3 imi. @=i.ches @ s>s.em 37

6 3 4 Ena le $o e @ s>s.em 39

6 3 5 'ali ra.ion $o e @ s>s.em 39

6 3 6 P Posi.ion 'on.rol @ s>s.em 40

6 3 7 ccelera.ion rom Enco er @ s>s.em 4

6 3 8 @cope @ s>s.ems 43

6 3 9 @.op a .er ra.ion @ s>s.em 44

6 4 $a.la @crip.s 44

6 4 1 @e. p @crip./ se. p m 45

6 4 enera.in 'omposi.e @ine ,a!e/ makeDsine m 5

6 4 3 'ons.r c.in @cale Ear.h ake/ makeD ake m 54

6 4 4 FFT E!al a.ion/ .De!alDpos m an .De!alDacc m 61

6 5 @ine ,a!e/ DsineDBB m l 64

6 5 1 $o el escrip.ion 64

6 5 il in an * nnin @ine ,a!e ,in'on 'on.roller 67

6 6 @ine @=eep/ Ds=eepDBB m l 69

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6 6 1 $o el escrip.ion 69

6 6 il in an * nnin @ine @=eep ,in'on 'on.roller 70

6 7 Pre e ine a.a/ D a.aDBB m l 71

6 7 1 $o el escrip.ion 716 7 il in an * nnin Pre e ine Tra ec.or> ,in'on 'on.roller 75

6 7 3 'ons.r c.in a ,in'on Pro ec. 77

!. R EFERENCES ...........................................................................................................................................!8

APPENDIX A. T ROUBLESHOOTING G UIDE ...................................................................................................... !"

APPENDIX B. Q8 E XTENDED T ERMINAL BOARD S IGNALS .............................................................................. 8#

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Illustration Inde!Fi re 1/ @hake Ta le :: s>s.em 1Fi re / %!er!ie= o ma or s>s.em componen.sFi re 3/ Top !ie= o @hake Ta le :: componen.s 4Fi re 4/ Fron. !ie= o @hake Ta le :: componen.s 4Fi re 5/ $o.or ca le 10Fi re 6/ To e!ice ca le 10Fi re 7/ From $ l.i< ca le 10Fi re 8/ Emer enc> @.op ca le 10Fi re 9/ From nalo @ensors ca le 11Fi re 10/ 'onnec.ions on .he s.em in ,in'on @hake Ta le :: i rar> 36Fi re 30/ @ s>s.em se .o remo!e ini.ial ias an il.er accelerome.er si nal 36Fi re 31/ imi. s=i.ches s s>s.em in ,in'on @T :: i rar> 37Fi re 3 / emons.ra.in .he i i.al e o nce s=i.ch 38Fi re 33/ imi. @=i.ches =o @a e.> s s>s.em in ,in'on @T :: li rar> 39

Fi re 34/ Propor.ional- eri!a.i!e con.roller s s>s.em in @T :: ,in'on i rar> 40Fi re 35/ lock ia ram o .he con.rol s>s.em se .o posi.ion o @T :: s.a e 41Fi re 36/ 'alc la.e accelera.ion rom posi.ion meas remen. s s>s.em in @T :: ,in'on i rar> 4Fi re 37/ Posi.ions scopes s s>s.em in ,in'on @T :: i rar> 43Fi re 38/ ccelera.ion scopes in ,in'on @T :: i rar> 43Fi re 39/ @.op con.roller a .er ra.ion s s>s.em in ,in'on @T :: i rar> 44Fi re 40/ epen encies an !ario s $-File nc.ion calls 45

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Fi re 41/ For a 0 k loa " .his plo. ill s.ra.es .he ma?im m se.poin. ampli. e o!er a ran e ore encies 48Fi re 4 / 'omposi.e sine =a!e plo. enera.e > .he makeDsine m scrip. 54Fi re 43/ @.eps .o enera.in .he se.poin. .ra ec.or> rom a ra= ear.h ake ile 55

Fi re 44/ Plo. enera.e > Dscale p sho=in enera.e accelera.ion an scale posi.ion 57Fi re 45/ ro=sin or an ear.h ake on .he erkele> =e si.e 58Fi re 46/ @earchin or an ear.h ake on .he erkele> =e si.e 59Fi re 47/ ,e pa e sho=in a.a collec.e or Ho e .remor a. .he A:H s.a.ion 60Fi re 48/ @a!in ear.h ake accelera.ion recor 60Fi re 49/ *a= ear.h ake a.a ile A:H000 T sho=n =hen opene in $a.la E i.or 61Fi re 50/ o e plo. o esire an meas re s.a e posi.ion a .er r nnin D a.aD 8 =i.h a pre e inesine =a!e 63Fi re 51/ o e plo. o .he &or.hri e ear.h ake accelera.ion a.a 64Fi re 5 / The DsineD 8 @im link $o el se .o con.rol .he s.a e posi.ion accor in .o a ser-speci ie sine =a!e 65Fi re 53/ @hake Ta le :: - 'on.rol @>s.em - s.em 66Fi re 54/ @moo.h @ine @e.poin. s s>s.em in DsineD 8 @im link $o el 67Fi re 55/ 'ompilin mo el messa e 68Fi re 56/ ,in'on @er!er =in o= =hen loa e =i.h a con.roller an rea > .o r n 68Fi re 57/ The Ds=eepD 8 @im link mo el se or sine s=eep posi.ion con.rol on .he @T :: 69Fi re 58/ @ine @=eep @e.poin. s s>s.em in Ds=eepD 8 @im link $o el 70Fi re 59/ The D a.aD 8 @im link mo el se or pre e ine .ra ec.or> posi.ion con.rol on .he @T ::7Fi re 60/ From ,orkspace @e.poin. lock in D a.aDBB @im link ia ram 73Fi re 61/ @hake Ta le :: - 'on.rol @>s.em =i.h FF - s.em in D a.aD 8 @im link ia ram74Fi re 6 / lock ia ram o propor.ional- eri!a.i!e pl s ee - or=ar posi.ion @T :: con.rol s>s.em75Fi re 63/ esk.op !ie= a .er r nnin a sine =a!e =i.h .he D a.aD 8 con.roller 76

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Inde! o TablesTa le 1/ 'omponen. nomencla. re 3Ta le / imensions o .he .op s.a e 5Ta le 3/ imensions o .he o..om pla.e 5Ta le 4/ @hake Ta le :: speci ica.ions 7Ta le 5/ 'a le nomencla. re 11Ta le 6/ *i on ca le connec.ions e.=een < anser in loa mass 49Ta le 14/ E a.ions se .o in .he ma?im m se.poin. ampli. e 5Ta le 15/ @i nals in .he Ta le G connec.ion 80Ta le 16/ @i nals in Ta le I connec.ion 81

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"# Introduction

The < anser @hake Ta le :: sho=n in Fi re 1 is an ins.r c.ional shake .a le e!ice .ha. =as ori inall>e!elope or .he University Consortium on Instructional Shake Tables (C':@T) :. can e se .o.each s.r c. ral >namics" !i ra.ion isola.ion" ee ack con.rol" an !ario s o.her .opics ormechanical" aerospace" an ci!il en ineers

The .op s.a e o .he shake .a le is ri!en > a po=er l mo.or .ha. allo= i. .o achie!e an accelera.ion o5 =hen p .o 7 5 k o mass is mo n.e The s.a e ri es on .=o ro n -har ene me.al sha .s sin

linear earin s =hich allo=s or smoo.h linear mo.ions =i.h lo= pa.h e lec.ion ,hen s.ar.in romcen.er .he s.a e is capa le o mo!in 7 6 cm" or 3-inches" on each si e :. .here ore has a .o.al .ra!el o15 4 cm :n or er .o mo!e .he .op pla. orm a. a hi h accelera.ion" a ro s. all-scre= an mo.orassem l> is se The hi h-po=ere 400 ,a.. mo.or is a 3-phase r shless ' ac. a.or The mo.orcon.ains an em e e hi h-resol .ion enco er .ha. allo=s .he posi.ion o .he s.a e o e meas re =i.han e ec.i!e linear resol .ion is 3 10 m n analo accelerome.er is mo n.e on .he @hake Ta le ::

pla. orm in or er .o meas re .he accelera.ion o .he s.a e irec.l>

Figure 1: Shake Table II system.

The main e!ices se .o r n .he shake .a le is epic.e in Fi re The en.ire is comprise o aCni!ersal Po=er $o le (CP$)" a a.a-ac isi.ion ( ') car " a P' r nnin .he ,in'on con.rolso .=are" an .he @hake Ta le :: i.sel 'onsi er or e?ample .he si nal .ransi.ions e.=een .he s>s.em

componen.s =hen .he ser =ishes .he @hake Ta le :: s.a e .o .rack a sine =a!e an rea .he res l.inaccelera.ion Csin ,in'on on .he P'" .he ser speci ies .he ampli. e an re enc> o .he sine =a!eThe sine =a!e is .he ser-speci ie esire or comman posi.ion o .he s.a e The c rren. nee e .omo!e .he s.a e a. .he esire sine =a!e posi.ion is calc la.e in ,in'on an sen. .hro h .he analoo .p . channel o .he a.a-ac isi.ion oar .o .he CP$ e!ice The po=er ampli ier in .he CP$ampli ies .he c rren. an ri!es .he mo.or The .a le mo!es ack an or.h a. .he posi.ion anre enc> o .he comman e sine =a!e The res l.in isplacemen. an accelera.ion o .he s.a e are

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meas re > .he on- oar enco er sensor an .he accelerome.er sensor The enco er an accelerome.erare connec.e .o .he ' oar an .heir si nals can e ispla>e an processe r.her in ,in'onPlo..e a.a can e also e sa!e or la.er anal>sis

Figure 2: Overview o ma!or system com"onents.

@ec.ion 3 escri es .he !ario s e!ices composin .he @hake Ta le :: s>s.em an i!es somespeci ica.ions The =irin proce re or a .>pical se. p is e?plaine in @ec.ion 4 :n @ec.ion 5" .he

proce res .o r n .he asic e?perimen.s on .he shake .a le are escri e :. e?plains" or ins.ance" ho=ho= .o make .he .op s.a e o .he shake .a le .rack a sine =a!e @ec.ion 6 oes in.o more e.ail ane?plains ho= .o esi n c s.om shake .a le con.rollers For e?ample" .he ser ma> =ish .o ha!e .heshake .a le .rack a sa=.oo.h =a!e ins.ea o a sine =a!e This is no. alrea > s pplie an =o l ha!e.o e crea.e :n a i.ion" @ec.ion 6 isc sses ho= .o o=nloa recor e ear.h ake a.a rom .he:n.erne. an repla> .hem on .he shake .a le

$# Prerequisites

To s ccess ll> r n a @hake Ta le :: con.roller" .he prere isi.es are/



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Figure $: To" view o Shake Table II com"onents.

Figure %: Front view o Shake Table II com"onents.

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3.2. Component DescriptionThis sec.ion escri es some o .he componen.s lis.e in Ta le 1 a o!e

%#$#"# Sta)e *Co&(onent +",Ta le elo= lis.s an charac.eriBes .he o!erall imensions o .he 18-inch > 18-inch .op s.a e or

pla. orm o .he @hake Ta le :: s>s.em :. is la ele =i.h : #1 an sho=n in i res 3 an 4 sill s.ra.e " .he .op pla.e has man> scre= holes .ha. can e se .o as.en s.r c. res an o.her o ec.ss ch as .he < anser $ -1 an $ - s.r c. res (see *e erence J5K an J6K)

Description Value Unit

en .h 0 457 m

,i .h 0 457 m

Thickness 0 0097 m

Table 2: &imensions o the to" stage.

%#$#$# -otto& Plate *Co&(onent +$,The o..om s ppor. pla.e o .he @hake Ta le :: is pic. re in i res 3 an 4 > : # an i.simensions are i!en in Ta le 3 The me.al sha .s as =ell as .he all-scre= are all as.ene on.o .his

pla.e &o.ice .ha. .here are o r lar e scre= holes a. each corner as =ell as smaller scre= holes alon.he si es o .he pla.e These can e se .o as.en .he shake .a le on.o a ro n loor s ppor. .o pre!en..he shake .a le s>s.em rom mo!in " or a. leas. re ce .he amo n. o !i ra.ion l.ho h .his is no.

necessar>" i. is recommen e in or er .o >iel more precise res l.s =hen" or ins.ance" meas rinaccelera.ion

Description Value Unit

en .h 0 609 m

,i .h 0 457 m

Thickness 0 001 4 m

Table $: &imensions o the bottom "late.

%#$#%# -rushless 'C Motor *Co&(onent +%,The @hake Ta le :: incorpora.es a Hollmor en H$ 4 r shless 3-phase ' $o.or" as sho=n inFi re 3 > : #3 . The mo.or has a po=er o 400 ,a..s :. is connec.e .o a all-scre= .ha. an ri!es.he all n . assem l> as.ene .o .he o..om o .he shake .a le pla. orm The r shless comm .a.ion isens re .hro h .hree hall sensors =i.h a phasin o 1 0 e rees @ome o .he mo.or speci ica.ions areincl e in Ta le 4 $ore e.aile mo.or speci ica.ions are a!aila le in *e erence J4K

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%#$#.# /ead Screw *Co&(onent +.,The lea scre=" sho=n > : #4 in Fi re 4 " circ la.es .hro h a all n ." componen. #5 in Fi re 4" .ha. is a..ache .o .he o..om o .he shake .a le s.a e an is ro.a.e > .he mo.or The lea scre= has a

pi.ch o 0 50 inches Th s .he shake .a le s.a e mo!es 0 50 inches" or 1 4 cm" per sin le all-scre=re!ol .ion

%#$#0# Encoder The enco er is em e e insi e .he ' mo.or an is se .o meas re .he linear posi.ion o .he s.a e :.canno. e i en.i ie e?.ernall> The mo.or enco er has a resol .ion o 048 lines per re!ol .ion :na ra. re mo e .his i!es 819 co n.s per ll ro.a.ion mo.or sha . ro.a.ion The e ec.i!e resol .ion"

i e minim m linear posi.ion .ha. can e e.ec.e " o .he s.a e isplacemen. is 3 10 m

%#$#1# /inear -earin) -lock *Co&(onent +2,For smoo.h mo.ion" .he s.a e is i..e =i.h lo= ric.ion linear all earin locks" sho=n > : #8 ini res 4 an 5" .ha. li e on .=o ro n har ene sha .s" i en.i ie > componen. #7 in i res 3 an4

%#$#3# /i&it Switches *Co&(onents +"45 ""5 and "$,These 'e t " (ome " an )ight " pro?imi.> sensors are sho=n in Fi re 4 =i.h : # 10" 11" an 1 "respec.i!el> The 'e t or )ight limi. s=i.ch e. .ri ere =hen .he .op s.a e mo!es close .o .he le . orri h. mechanical ran e @imilarl>" .he (ome sensor is se. .o hi h =hen .he .op s.a e is a. .he mi -s.rokeor cen.er posi.ion These sensors are se > CP$-180- 5 .o eac.i!a.e .he po=er ampli ier or sa e.>as =ell as or cali ra.in .he s.a e .o i.s cen.er posi.ion

%#$#2# Accelero&eter *Co&(onent +"0,n accelerome.er is mo n.e n ernea.h .he .op s.a e o .he @hake Ta le :: .ha. meas res .heaccelera.ion in o.h .he * an y irec.ions :. is sho=n =i.h : #15 la el in Fi re 3 The analo sensoris cali ra.e s ch .ha. 1 Mol. e als 1 g " or 9 81 m s

CAUTION$ T%& '((&)&*+,&-&* *&' /0 ('0 & ,/ )&' /0 '0 )&' -+ 0& 6&(-& *& )- . P)&' && (' -/+0 7%&0 /0 -%&, ' -%& '*& &0&*')) & ' /0 /('-+* .

3.3. SpecificationsThe main speci ica.ions o .he @hake Ta le :: are i!en in Ta le 4 @ee *e erence J K or CP$-180-5 speci ica.ions an *e erence J4K or a comple.e lis.in o .he ' mo.or charac.eris.ics



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Parameter Matlab Notation

Parameter Description SIValue

Units IM Value Units

* m *m $o.or arma. re resis.ance 94 ohm

H . H. $o.or c rren.-.or e cons.an. 0 360 & m 3 l in

H m Hm $o.or ack-em cons.an. 0 034 M (ra s) 3 4 M k rpm

P P all-scre= pi.ch 0 01 7 m re! 0 5 in re!

$ p $p Preloa mass 7 74 k 17 1 l

$ lDma? $lDma? $a?im m .o.al loa mass 15 0 k 33 0 l

$ s $s $ass o @hake Ta le :: s>s.em 7 k 60 0 l

imension o .op s.a e 0 46 0 46

m 18 0 18 0

in

imension o o..om s.a e 0 61 0 46

m 4 0 18 0

in

Aei h. rom o..om .o .op s.a e 1 4 cm 4 875 in

? ma? PD$ G $a?im m s.roke posi.ion 76 mm 3 0 in

! ma? ME D$G

$a?im m linear !eloci.> o s.a e 664 9 mm s 6 18 in s

Fma? FD$ G $a?im m linear orce o s.a e 708 7 & 159 3 l

ama? ''D$

G

$a?im m linear accelera.ion o s.a e

or 0 k loa

4 5 m s

ma? D$ G $a?im m linear accelera.ion o s.a eor 0 k loa

50

H E&' HDE&' Enco er sensi.i!i.> ain 3 1006 Nm co n. 1 E-004

in con.

H '' HD '' ccelerome.er sensi.i!i.> ain -1 M

>namic loa capaci.> o all n . 1 000 & 697 6 l

i e e?pec.anc> o all n . a. llloa

6 35E+008

m 50E+010

in

i e e?pec.anc> o linear earin 6 35E+006

m 50E+008

in

oa carr>in capaci.> o linear earin s

131 5 k 90 l

Table %: Shake Table II s"eci ications.

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.# Syste& Setu(

To se. p .his e?perimen." .he ollo=in har =are an so .=are are re ire /P+7&* A,6)/9/&*$ < anser CP$ 180- 5 " as e.aile in *e erence J KD'-' A(: / /-/+0 B+'* $ < anser sis s ch as in in .he FFT o a si nal

.#"#"# -asic Con i)urations alrea > men.ione " .he basic se. p allo=s sers .o r n .he pre!io sl> ma e ,in'on con.rollers .ha.are s pplie =i.h .he @hake Ta le :: ' For e?ample" sers can loa .he +,sine.wc" ile =i.h ,in'on.o make .he .a le .rack a sine =a!e :n .his s>s.em con i ra.ion ho=e!er" .he nc.ionali.> o .he

e?is.in con.rollers canno. e mo i ie an ne= con.rollers canno. e crea.e Th s a ne= con.roller.ha. makes .he .a le .rack a sa=.oo.h =a!e comman co l no. e cons.r c.e

@o .=are componen.s or .he basic con i ra.ion/,in o=s 000 GP*TG,in'on

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@ee *e erence J10K or e.ails on .he compa.i le ,in o=s an *TG !ersions nee e .o r n ,in'on

.#"#$# Ad6anced Con i)uration:n .he a#vance# se. p" sers can r n .he pre!io sl> cons.r c.e ,in'on con.rollers :n a i.ion" sersain .he a ili.> .o mo i > e?is.in an crea.e ne= ,in'on con.rollers The $a.la @im link packa ealon =i.h Mis al @. io &ET is re ire or .his Aere is .he necessar> so .=are componen.s or .hea#vance# con i ra.ion/

,in o=s 000 GP*TG,in'on$a.la loa e =i.h .he ollo=in /

@im link *eal-.ime ,orkshop (*T,)

Mis al @. io &ET

@ee *e erence J10K or e.ails on .he compa.i le ,in o=s" *TG" $a.la @im link" an Mis al @. io&ET !ersions nee e .o r n ,in'on

.2. $ar%!are Setup

The i eren. ca les se .o connec. .he !ario s componen.s o .he shake .a le s>s.em is escri e [email protected] 4 1 @ec.ion 4 e?plains ho= .o connec. .he < anser s.em are lis.e in Ta le 5 :a i.ional s>s.em =ere or ere " s ch as .he $ -1 or $ - (see re erences J5K an J6K)" .hen o.herca les no. lis.e Ta le 5 =ill ha!e een s pplie

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Cable Description

The $o.or ca le correspon s .o .he 3-phase mo.or po=erlea s This ca le is esi ne .o connec. rom .he < anserOsCni!ersal Po=er $o le mo el 180- 5 (i e .he o .p . o .he

po=er mo le a .er si nal ampli ica.ion) .o .he r shless 'mo.or o .he shake .a le

Figure -: To &evice cable

The To e!ice ca le is a 15 ca le .ha. connec.s .he shake.a le circ i. oar .o .he CP$ :. carries .o .he CP$ .he .hreelimi. sensorsO si nals an .he mo.or enco er si nals :. also

s pplies .he ' po=er re ire > .he i eren. sensors

Figure /: From 0ulti cable.

The From $ l.i< 5-pin parallel ca le connec.s .he CP$ .o.he a.a ac isi.ion car .erminal oar :. is compa.i le =i.h< anserOs ick-connec. s>s.em :. carries .he mo.or enco ersi nals" limi. sensor si nals" cali ra.e si nal" an .he @1" @ "@3" an @4 analo si nals rom .he CP$ From .he '" .heca le carries .he con.rol si nal (.o e ampli ie an sen. .o .hemo.or) as =ell as .he cali ra.e an ena le i i.al si nals

Figure : 3mergency Sto" cable.

The Emer enc> @.op ca le has a 6-pin-mini- :& connec.or.ha. connec.s .o .he si e o .he CP$ The CP$ is ena le=hen .he sa e.> p sh ..on s=i.ch is no. presse


Figure 4: 0otor cable.


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Cable Description

Figure 5: From 6nalog Sensors cable.

The From nalo @ensors ca le is a 6-pin-mini- :&-.o-6- pin-mini- :& ca le .ha. can e se .o connec. an> po.en.ial plan. sensor .o .he CP$ s ch as accelerome.ers :. can pro!i ea ( 1 M ' ias .o analo sensors an carr> .heir !ol.a e si nals.o .he ' .erminal oar !ia .he CP$

Table 4: Cable nomenclature.

.#$#$# Connectin) the Q2 E!tended Ter&inal -oarde ore =irin .he @T :: s>s.em" .he on .op o one ano.her The ca les are sli h.l> o se. rom one ano.her

on .he .erminal oar .o ma.ch .he o se. o .he connec.ors on .he a.a ac isi.ion car The .e?.on .he .erminal oar sho l ace .he ron. o .he comp .er6 Cse .he ri on ca le clamp pro!i e .o sec re .he ri on ca les .o e.her The clamp comes

=i.h a peel-an -s.ick ase so .ha. >o can mo n. .he clamp .o a clean s r ace" s ch as .he .op o>o r P' P . .he ca les in .he clamp e ore mo n.in i. : >o o no. =ish .o mo n. .he clamp".hen o no. remo!e .he peel-an -s.ick paper Cse o .he clamp is nnecessar>" . helps .o keep>o r s.em nea. an .i >



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s men.ione in .he proce re" in .he 2 ri on ca le s a res l." .heC' )& 2 connec.or on o can procee .o @ec.ion 4 3 an =ire .he @T :: s>s.em

.#$#%# Shake Table II 8irin) ProcedureThe proce re in @ec.ion 4 3 1 e?plains in e.ail ho= .o connec. .he @hake Ta le :: s>s.em .o r ne?perimen.s @ec.ion 4 3 pro!i es a rie s mmar> o .he re ire connec.ions

.2.3.1. Detaile% &irin' Proce%ure

This sec.ion escri es in e.ail ho= .o connec. .he @hake Ta le ::" CP$-180- 5 an s.em/

1 C+00&(- (' )& @1 rom .he Ta le G connec.or on .he < anser


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Figure 12: Connections o the Shake Table II #evice.

.2.3.2. &irin' Summary

@eeTa le 7 elo= or a s mmar> o .he @hake Ta le :: connec.ions

Cable # Cable " pe $rom "o $unction

1 5-pinParallel 'a le

Ta le G on .heTerminal oar

From $ l.is.em con.ains !ario s iles There are .hree ol ers on .heshake .a le ' .ha. correspon .o .hree i eren. s>s.em con i ra.ions an .he> are e?plaine in Ta le8

$older Name Description@T:: 'on.ains .his man al as =ell as con.rollers .o r n .he @hake Ta le :: s>s.em > i.sel

$ Aas man als an con.rollers or sin .he < anser c.i!e $ass amper > i.selThe ac.i!e mass amper" i e The linear car. on .op o .he il in " per. r s .he

il in an .hen ampens or .he il in oscilla.ions The one loor s.r c. re iscalle $ -1 an is escri e in *e erence J5K an .he .=o loor s.r c. re is calle.he $ - e!ice an is presen.e in *e erence J6K

@T::+ $ 'on.ains man als an con.rollers .o se .he < anser $ -1 an $ - s>s.ems=hen mo n.e on .op o .he @hake Ta le :: s>s.em @ee *e erence J7Kan J8K ormore in orma.ion on .he @T::+ $ -1 an @T::+ $ - s>s.ems :n .his

con i ra.ion" .he shake .a le pro!i es .he ase mo.ions .o per. r .he il in =hile.he ac.i!e mass oes .he !i ra.ion ampenin

Table : &escri"tion o main ol#er on the Shake Table II C&.

The STII ol er on .he Shake Table II C& has .he ollo=in irec.or> s.r c. re/STII

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0anual


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$ile Name Description Section Number

D akeDko eDBB =cp Ho e ear.h ake 5 5

D akeDnor.hri eDBB =cp &or.hri e ear.h ake 5 5

s.ar.De?p m %pens a raphical ser in.er ace .ha. can e se .o open .he !ario s ,in'onPro ec.s M'-)' / 0&& & -+ * 0 -%/

5 7

Table 5: Files su""lie# in the wc" ol#er o the Shake Table II C&.

:n a i.ion" see @ec.ion 5 6 or more in orma.ion on sin scopes :. lis.s a escrip.ion o all .hescopes a!aila le or !ie=in " e?plains ho= .o open ne= scopes" an ho= .o a s. .he .ime a?is o a

plo.

0#$#"# Initiali9in) UPM,hen .he l e CP$-180- 5 is irs. po=ere " .he 'e t an )ight E s loca.e on i.s ron. panelsho l e linkin To s.op .he linkin an ini.ialiBe .he CP$-180- 5 e!ice" r n .he+,boot,u"m,==.wc" pro ec. as ins.r c.e in .he *e erence J K in @ec.ion 3 5 1 The s.eps ares mmariBe here/

1 Ens re .ha. .he Sa ety Overri#e s=i.ch" loca.e on .he CP$ ron. panel" is %FF'onnec. .he 3mergency Sto" ca le .o .he connec.or on .he si e panel o .he CP$

3 *o.a.e .he kno in .he co n.er-clock=ise irec.ion n.il i. is release in .he pri h. posi.ionThe ampli ier canno. ri!e .he mo.or =hen .he re kno is p she in

4 .er po=er p" .he 'e t an )ight E s on .he CP$ ron. panel sho l e linkin : .heli h.s are &%T lashin cons l. *e erence J K

5 oa .he ,in'on @er!er so .=are (.>picall> place n er < anser U ,in'on in .he ,in o=s@T *T men )

6 %pen .he +,boot,u"m,==.wc" ,in'on pro ec. .ha. is s pplie The ==s i? eno.es .he .>pe oa.a-ac isi.ion car ein se For e?ample" i ==is +%.hen .he ile is mean. .o e se =i.h.he < anser " i == is + .hen .he ile is .o e se =i.h .he< anser s.em

7 * n .he ini.ialiBa.ion con.roller > clickin on .he reen @T *T ..on in .he ,in'on @er!er=in o=

8 The 'e t an )ight E s sho l s.op lashin an .he =in o= sho=n in Fi re 13 sho l e promp.e : .he E s are no lon er linkin " .hen .he CP$ ampli ier is rea > .o e se or.he !ario s @T :: e?perimen.s

Figure 1$: 0essage "rom"te# a ter running U 0 boot >C .

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0#$#$# Calibratin) Sta)ee ore r nnin an> o .he e?perimen.s .he s.a e o .he @hake Ta le :: sho l e in .he mi -s.roke

posi.ion This posi.ion is calle .he (ome posi.ion eca se .he Aome limi. sensor is .ri ere =hen .hes.a e is cen.ere

Follo= .his proce re .o cali ra.e .he s.a e .o .he (ome posi.ion/1 Ens re .he CP$180- 5 has een ini.ialiBe as ins.r c.e in @ec.ion 5 1

oa .he ,in'on @er!er so .=are ( s all> n er < anser U ,in'on in .he ,in o=s @T *Tmen )

3 :n .he ,in'on @er!er =in o=" click on File U %pen an selec. .he ,in'on Pro ec. ile+,cal,==.wc"

4 'lick on .he reen ST6)T ..on in .he >inCon Server =in o=

ATTENTION$ PRESS DOWN +0 -%& RED BUTTON +9 -%& E mo!e .o=ar s .he cen.er : no limi. s=i.ch =as ini.iall> .ri ere " .hen.he s.a e =ill e ins .o mo!e .o=ar s e . limi. sensor %nce .he e . limi. sensor is hi." .hes.a e re!erses i.s irec.ion an e ins mo!in .o=ar s .he mi -s.roke posi.ion The s.a e s.opsmo!in =hen .he (ome limi. s=i.ch is .ri ere (.he (ome E on .he CP$ =ill o %&),hen comple.e" .he messa e sho=n in Fi re 14 is ispla>e

Figure 1%: 0essage# "rom"te# a ter runningcalibration >C .

6 l.erna.i!el>" .he kn rle kno a. .he en o .he .a le can e se .o man all> re. rn .he .a le .oi.s home posi.ion The (ome E on .he CP$ =ill e li. =hen .his posi.ion is reache

7 : .he .a le is no. mo!in cons l. .he .ro leshoo.in i e a. .he en o .his man al

,hen .he CP$ is place in .he cali ra.ion mo e" i e .he Cal " O? " an 3nable E s are li." .heampli ier remains ena le =hen .he 'e t or )ight pro?imi.> sensor are .ri ere . is isa le =hen.he (ome limi. sensor is ac.i!a.e &ormall> an or all .he o.her e?perimen.s" .he ampli ier is isa le=hen .he 'e t or )ight sensor is .ri ere

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ATTENTION$ E0 *& -' )& / '- H%M 6+ /-/+0 &9+*& * 00/0 -%/ & 6&*/,&0-%.her=ise .he e?perimen. ma> s.op prema. rel> eca se .he .a le reache .he le . or ri h. limi.sensors : .he (ome E on .he ron. panel o .he l e CP$-180- 5 is 0+- li." .hen o.hro h .he cali ra.ion proce re in @ec.ion 5

3 oa .he ,in'on @er!er so .=are ( s all> n er < anser U ,in'on in .he ,in o=s @T *Tmen )

4 :n .he ,in'on @er!er =in o=" click on File U %pen an selec. .he ,in'on Pro ec. ile+,swee",==.wc" The pro ec. con.ains .he con.rol panel sho=n in Fi re 17 an .he scope aD. l( ) pic. re in Fi re 18 =i.h a.a ,i.h .he !er.ical sli er in .he con.rol panel" .he ser canchan e .he ampli. e o .he sine s=eep si nal e.=een 0 an 3 cm The a,tbl @gAscope ispla>s.he accelera.ion meas re > .he .a le accelerome.er in ra!i.a.ional ni.s" g

Figure 1/: Control "anel or sine swee" "ro!ect.

5 'lick on .he reen ST6)T ..on in .he >inCon Server =in o= .o s.ar. .he con.roller

ATTENTION$ PRESS DOWN +0 -%& RED BUTTON +9 -%& E


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Figure 1 : The a,tbl @gA sco"e a ter running the +,swee",+ controller.6 'lick on .he re STO ..on in .he >inCon Server =in o= .o s.op r nnin .he sine s=eep

con.roller7 @h . o .he CP$-180- 5 po=er

0#$#0# Sa&(le Earthquake

*ecor e ear.h ake a.a .ha. =as collec.e =hen ac. al ear.h ake occ rre can e scale o=n anran on .he shake .a le T=o s.an ar his.orical ear.h akes ha!e een s pplie or .he ser/ Ho e an &or.hri e

Follo= .his proce re .o r n a sample ear.h ake/1 Ens re .he ampli ier has een ini.ialiBe as isc sse in @ec.ion 5 1

ATTENTION$ E0 *& -' )& / '- H%M 6+ /-/+0 &9+*& * 00/0 -%/ & 6&*/,&0-%.her=ise .he e?perimen. ma> s.op prema. rel> eca se .he .a le reache .he le . or ri h. limi.sensors : .he (ome E on .he ron. panel o .he l e CP$-180- 5 is 0+- li." .hen o.hro h .he cali ra.ion proce re in @ec.ion 5

3 oa .he ,in'on @er!er so .=are ( s all> n er < anser U ,in'on in .he ,in o=s @T *Tmen )

4 :n .he ,in'on @er!er =in o=" click on File U %pen an selec. ei.her .he +,kobe,==.wc" or+,northri#ge,==.wc" ,in'on Pro ec. iles .o r n .he Ho e or &or.hri e ear.h akes on .he.a le The pro ec.s incl e .he a,tbl @gAscope" epic.e in Fi re 19 a .er r nnin .hee?perimen." .ha. ispla>s .he esire accelera.ion" =hich is .he ac. al recor e accelera.ion o.he .remor" in reen an .he accelera.ion meas re > .he .a le accelerome.er in re o.haccelera.ions are i!en in ra!i.a.ional ni.s" g " an sho l e similar



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5 'lick on .he reen ST6)T ..on in .he >inCon Server =in o=

PRESS DOWN +0 -%& RED BUTTON +9 -%& E


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Matlab Name Variable Name

Description

? (m) ? ispla>s .=o plo.s/(1) reen plo. is .he esire s.a e posi.ion in me.ers( ) re plo. is .he meas re s.a e posi.ion in me.ers

? (in) ? @ame as a o!e e?cep. posi.ion sho=n in inches

M (m s) ! ? $eas re s.a e !eloci.> in me.ers per secon calc la.e rom posi.ionmeas remen.

M (in s) ! ? @ame as a o!e e?cep. in inches per secon

?D o. ( ) a ?"enc ccelera.ion o s.a e calc la.e rom .he posi.ion meas remen. i!en inra!i.a.ional ni.s" g

?D o. (m sV ) a ?"enc @ame as a o!e e?cep. accelera.ion sho=n in me.ers per secon s are "m s

:m ( ) : m :np . mo.or c rren. in amperes

aD. l ( ) a ispla>s .=o plo.s/(1) reen plo. is .he s.a e accelera.ion meas re > .he

accelerome.er ( ) re plo. is .he esire accelera.ion se (se. .o 0 =hen sin

+,sine,== or +,swee",== con.rollers)

aD. l (m sV ) a @ame as a o!e e?cep. accelera.ion sho=n in me.ers per secon s are "m s

aD 1 ( ) a 1 ccelera.ion o .he s.a e meas re > accelerome.er #1 in ra!i.a.ional

ni.s" g :. is eno.e a, 1 eca se" .>picall>" i. is se =i.h .heaccelerome.er mo n.e on .he irs. loor o .he < anser $ -1 or$ - s.r c. re (see *e erence J5K an J6K or more in orma.ion)

aD 1 (m sV ) a 1 @ame as a o!e e?cep. accelera.ion sho=n in me.ers per secon s are "m s

aD ( ) a ccelera.ion o .he s.a e meas re > accelerome.er # in ra!i.a.ionalni.s" g :. is eno.e a, 2 eca se" .>picall>" i. is se =i.h .heaccelerome.er mo n.e on .he secon loor o a < anser $ -s.r c. re (see *e erence J6K or more in orma.ion)

aD (m s ) a @ame as a o!e e?cep. accelera.ion sho=n in me.ers per secon s are "

m sTable 19: &escri"tion o the "re#e ine# sco"es in the ST II >inCon ro!ects.

s escri e in Ta le 10 " .he * @mA" * @inA" a,tbl @gA" an a,tbl @m7s2Ascopes ispla> .=o !aria les oa.a $os. o .he .ime" .he esire an meas re posi.ions in .he * scopes closel> ma.ch one ano.heran " as a res l." .he reen ( esire ) an re (meas re ) plo. .races =ill e almos. irec.l> on .op o each

Document Number 632 / Revision 3.1 / !a"e 2#


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o.her

The esire accelera.ion is onl> se in con.rollers =i.h a pre!io sl> e ine .ra ec.or>" s ch as .he+,kobe,== or +,northri#ge,== con.rollers ,hen r nnin .hose e?perimen.s" .he reen esire

accelera.ion .race an .he re meas re accelera.ion .races in .he a,tbl @gA" an a,tbl @m7s2Ascopes =illclosel> ma.ch Ao=e!er" =hen r nnin .he +,sine,== or +,swee",== con.rollers .he reen esireaccelera.ion scope is se. .o 0 eca se .here is no esire accelera.ion e ine (onl> .he re meas resi nal =ill e sho=n)

(.2.-.2. )penin' %%itional Scopes

,hen openin a ,in'on Pro ec. s ch as +,sine,==.wc" " onl> .he * @mAscope is loa e : .he ser=ishes .o !ie=" or ins.ance" .he accelera.ion meas re > .he s.a e accelerome.er in g ni.s" .hen .hea,tbl @gAscopes has .o e opene

Follo= .hese s.eps .o open one o .he scopes e ine in Ta le 10

1 oa one o .he s pplie ,in'on pro ec.s (e?cep. D oo.D pm or DcalDBB) as escri e > .hea o!e proce res'lick on .he O"en "lot ..on in .he ,in'on @er!er =in o=" as sho=n in Fi re 0 elo=

Figure 29: O"en "lot button in the >inCon Server win#ow.

3 @elec. .he !aria les .o !ie= For e?ample as ill s.ra.e in Fi re 1 " .o !ie= .he !eloci.> anaccelera.ion o .he s.a e place a check mark on .he v @mAan a,tbl @gAi.ems



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Figure 21: Selecting sco"es to be o"ene#.

4 'lick on .he O? ..on .o loa .he scope(s)

(.2.-.3. Chan'in' Time Scale of a Scope

> e a l." scopes ha!e a .ime-scale o 5 0 secon s The horiBon.al .ime-scale" or er siBe" o a scopecan e chan e in or er .o !ie= a.a o!er a lar er span o .ime or .o RBoom pS on a response >ecreasin .he .ime-scale

Follo= .his proce re .o chan e .he .ime er o an opene scope/1 @elec. .he U"#ate U 8u er... i.em in .he scope men ar .o loa .he Select 8u er Si=e =in o=

sho=n in Fi re

Figure 22: Changing sco"e time bu erwin#ow.

En.er a ne= .ime er For e?ample" i 10 secon s is en.ere ins.ea o 5 .hen .he scope =illispla> 10 secon s o a.a ins.ea o 5 secon s

3 'lick on .he O? ..on .o appl> .he chan es



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0#$#3# (tional: Usin) the ;UIFor sers =i.h .he 6#vance# packa e" or a. leas. .hose .ha. ha!e $a.la " .he raphical ser-in.er acesho=n in Fi re 3 can e se .o ro=se .hro h .he !ario s s pplie ,in'on Pro ec.s

Figure 2$: UI or browsing through ST II >inCon controllers.

Follo= .his proce re .o open .he C:/1 oa $a.la

Thro h .he Current &irectory =in o=" o .o .he STII o .he s.an ar se?perimen.s

Follo= .hese s.eps .o .es. .he @hake Ta le ::/1 Meri > .ha. .he s>s.em has een se. p as ins.r c.e in @ec.ion 4

T rn .he l e CP$ po=er %& The e . an *i h. E s sho l e linkin To s.op .he linkin an ini.ialiBe .he CP$-180- 5 e!ice" r n .he +,boot,u"m,== pro ec. as ins.r c.e in.he @ec.ion 5 1 : .he 'e t an )ight E s s.op linkin .he CP$ has een ini.ialiBe This

also implies .ha. ,in'on has een properl> ins.alle an .ha. .he CP$ an an .he ser cancon.in e .o .he ne?. s.ep

4 * n .he +,sine,== con.roller e?plaine in @ec.ion 5 3 : .he .a le .racks .he comman e sine=a!e .hen .he s>s.em has een properl> ins.alle an is nc.ionin properl>

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1# Creatin) Custo& ST II E!(eri&ents

:n @ec.ion 6 1 " a shor. in.ro c.ion .o ,in'on is i!en an .he asic proce re .o il a ,in'on'on.roller rom a @im link mo el is escri e n o!er!ie= o .he iles se .o cons.r c. ,in'oncon.rollers .ha. are s pplie =i.h .he Shake Table II ' is i!en in @ec.ion 6 @ec.ion 6 3 escri es.he locks insi e .he >inCon Shake Table II 'ibrary .ha. are se .o cons.r c. .he !ario s @im linkia ram s pplie :n @ec.ion 6 4" .he $a.la scrip.s .ha. se. p .he parame.ers in .he @im link ia ramsan so on are escri e The DsineDBB" Ds=eepDBB" an D a.aDBB @im link mo els are e?plainean .he proce re .o il an r n a ,in'on 'on.roller rom .hese iles is all i!en in sec.ions 6 5" 6 6" an 6 7

CAUTION$ B&9+*& '--&,6-/0 -+ /) '0 * 0 + * +70 ( -+, (+0-*+))&* ,';& *& -%& STII %' &&0 -& -& ' /(-'-& /0 S&(-/+0 5.3.

-.1. )*er*ie! of &inCon an% /uil%in'a &C0,in'on is a so .=are esi ne > < anser .ha. can r n @im link mo els in real-.ime on a P' semons.ra.e in Fi re 4 " rom a ser- esi ne @im link ia ram ,in'on enera.es real-.ime co ean crea.es a correspon in ,in'on 'on.roller ile The ,in'on 'on.roller is a ile =i.h e?.ensionW =cl .ha. can e opene an ran sin .he ,in'on 'lien. or ,in'on @er!er so .=are

Figure 2%: 8uil#ing a >inCon ro!ect rom a Simulink &iagram.

.er loa in a ,in'on con.roller in ,in'on @er!er" !ario s ispla> sinks s ch as scopes an i i.alme.ers can e opene an crea.e .o ispla> a.a 'on.rol panels can also e crea.e .o chan e .he!al es o .he locks in .he @im link mo el F r.her" .hese sinks an con.rol panels can e sa!e n era ,in'on Pro ec." =hich is a ile =i.h .he e?.ension >C ,hen .he ,in'on Pro ec. is loa e " an>

pre!io sl> e ine ispla>s an panels are opene Fi re 4 sho=s .he ,in'on Pro ec. or DsineD 8:. has a con.rol panel .ha. con.rols .he ampli. e an re enc> o .he sine =a!e an a scope .ha. sho=s.he esire an meas re posi.ion o .he @hake Ta le :: s.a e



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$a.la scrip. iles" or $- iles" are se .o loa parame.ers se > .he @im link ia rams $a.la preparse pse oco e iles" or P-co e" can e enera.e rom $a.la scrip.s These iles can e r nas.er .han an or inar> $-File . canno. e e i.e Ta le 5 s mmariBes .he !ario s ile e?.ensions an

escri es .he associa.e ile

$ile !tension $ile " pe Description

m l @im link ia ram @im link mo el o .he con.roller

m $a.la scrip. Cse .o se. ains an !ario s o.her parame.ers in .he@im link ia ram

p $a.la preparse pse oco e

This is enera.e rom an m- ile :. r ns as.er .hen a $a.lascrip. . canno. e e i.e

=cl ,in'on 'on.roller enera.e rom .he @im link mo el an e?ec .e > a

,in'on 'lien. so .=are=cp ,in'on Pro ec. 'on.ains pre e ine plo.s an con.rol panels

Table 11: Summary o ile ty"es.

The +,sine,+ .m#l ile is .he @im link mo el sho=n in Fi re 5 :. is esi ne .o in.erac. =i.h .he@hake Ta le :: s>s.em sin inp . an o .p . locks rom .he ,in'on Tool o? The s.a e o .he shake.a le .racks .he sine =a!e comman e .hro h .he mo el This is one sin a con.rol s>s.em .ha.o .p .s a c rren. .o .he shake .a le mo.or s ch .ha. .he posi.ion o .he s.a e .racks .he esire sine=a!e posi.ion se. in .he @im link ia ram The proce re .o crea.e .he +,sine,+ ,in'on 'on.rolleris/

1 * n .he setu".m $a.la scrip. .o loa .he !ario s parame.ers in .he $a.la =orkspace .ha. arese in .he @im link mo els ill s.ra.e in Fi re 5 " .he real-.ime co e an .he correspon in ,in'on 'on.roller is il. > clickin on .he ,in'on men in .he @im link ia ram an selec.in .he 8uil# i.em

Document Number 632 / Revision 3.1 / !a"e 2'


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Figure 24: Simulink mo#el use# to track sine wave.

3 .er .he co e is inishe enera.in " .he ,in'on @er!er =in o= loa s an .he ser can clickon a reen ST6)T ..on .o r n .he i i.al con.roller

This is asicall> ho= a con.roller is implemen.e on .he shake .a le an i!es an o!er!ie= on .he.opics co!ere la.er The proce re .o il in a ,in'on 'on.roller =ill e e ine in rea.er e.ailla.er

-.2. iles Supplie% s s mmariBe in Ta le 11" .here are !ario s .>pes o iles in!ol!e =i.h r nnin a i i.al con.roller .ocon.rol har =are The iles s pplie in .he m#l ol er on .he Shake Table II ' are lis.e in Ta le 1

elo= :. also incl es a shor. escrip.ion o .he p rpose o each ile &o.e .ha. .hese iles can onl> ese > sers =i.h .he a#vance# @T :: s>s.em con i ra.ion



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$ile Name " pe Description

D oo.D pmDBB @im link $o el :ni.ialiBes .he CP$-180- 5

DcalDBB @im link $o el 'ali ra.es s.a e .o home cen.er posi.ion

DsineDBB @im link $o el $an al sine =a!e .rackin

Ds=eepDBB @im link $o el @ine s=eep .rackin

D a.aDBB @im link $o el Pre e ine a.a .rackin

calcDcon!ersionDcons.an.s

$a.la $-File oa s se l con!ersions ac.ors

comp .eDcon.rolD ains $a.la $-File 'alc la.es con.rol ains ase on speci ica.ions i!en

cons.r c.D akeD.ra ec.or >

$a.la $-File 'ons.r c.s a .ime- ase arra> rom a ma.ri? o a.a an.he samplin .ime

cons.r c.DsineD.ra ec.or> $a.la $-File 'ons.r c.s a composi.e sine =a!e .ime- ase arra> i!en.he re enc>" ampli. e" ra.ion" an samplin .ime

eri! $a.la $-File Takes o le eri!a.i!e o inp . sin .he leas. s ares.echni e

ispla>Dres l.s m $a.la $-File ispla>s enco er resol .ion" !ario s loa massin orma.ion" an limi.s o .he shake .a le

enco erDcali ra.ion m $a.la $-File 'alc la.es enco er sensi.i!i.> ain

.De!alDacc $a.la $-File 'rea.es FFT plo. o .he esire an meas re .a leaccelera.ions

.De!alDpos $a.la $-File 'rea.es FFT plo. o .he esire an meas re .a le posi.ions

ini.Dear.h akeD a.a $a.la $-File *e- orma.s ra= ear.h ake a.a ile

loa Daccelera.ions $a.la $-File 'omp .es ma?im m accelera.ion o .he loa i!en .heampli. e an re enc> o a sine =a!e

lp Dc .o D re $a.la $-File % .p .s .he c .o re enc> an ampin ra.io se or!ario s lo=-pass il.ers

makeD ake $a.la $-File Packa es ra= ear.h ake ile in.o orma. sa le .o r non shake .a le sin +,#ata,+

makeDsine $a.la $-File 'ons.r c.s compo n sine =a!es .ha. are sa le in+,#ata,*y,+

po=erDspec.r m $a.la $-File 'omp .es .he po=er spec.r m o a si nal

se.poin.Dlimi. $a.la $-File 'alc la.es .he ma?im m ampli. e an re enc> posi.ion comman .ha. can e han le > .he @hake



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Figure 2-: Shake Table II >inCon library.

The reen s s>s.ems on .he le .-han si e o .he li rar> in.er ace =i.h .he ac. al shake .a le har =aresin ei.her .he < anser s.em on .he ar ri h. is se .o s.op a ,in'on con.roller This sec.ion escri eseach s s>s.em in .he @hake Ta le :: ,in'on i rar>

1#%#"# Shake Table II Subsyste&The Shake Table II E an Shake Table II E % locks in.er ace =i.h .he @T :: mo.or an enco ersin .he .he 5 0 CP$ c rren. limi. Thesa. ra.e c rren. is .hen i!i e > .he ampli ier ain" 5 M" .o con!er. .he si nal in.o a !ol.a e( eca se .he channel o .he ' oar o .p .s !ol.a e) an so .he comman e c rren." u @6A"



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e als .he c rren. ri!in .he mo.or This !ol.a e is passe .hro h ano.her sa. ra.ion lock =i.h .hes.em o .p . !aria le Im @6A

The Enco er :np . lock pic. re in Fi re 7 elo= o .p .s .he n m er o co n.s meas re > .heshake .a le enco er" isc sse in @ec.ion 3 5 " =hich correspon s .o .he an lar posi.ion o .he all-scre= The linear posi.ion o .he s.a e is calc la.e > m l.ipl>in .he n m er o co n.s .imes .heenco er sensi.i!i.> ain" HDE&'

Figure 2/: Shake Table II ; subsystem.

The Table osition >atch#og lock sho=n in Fi re 8 s.ops .he ,in'on con.roller rom r nnin=hen .he s.a e posi.ion meas re e als or e?cee s .he PD$ G !aria le This e ec.i!el> s.ops .heampli ier rom ri!in .he mo.or > e a l." PD$ G is se. .o 7 6 cm" or 3 0 inches



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Figure 2 : So tware watch#og: sto"s >inCon when enco#er rea#s over ,06D variable.

1#%#$# Accelero&eters Subsyste&s e?plaine in @ec.ion 3 8 " an accelerome.er is mo n.e n ernea.h .he .op s.a e o .he @hake Ta le:: an i. is capa le o meas rin .he accelera.ion in o.h .he * an y irec.ions The 6ccelerometers

lock con.aine in .he ,in'on @T :: i rar> an se in .he +,sine,== " +,swee",== " an +,#ata,==@im link ia rams is sho=n in Fi re 9 The nalo :np . lock o .p .s .hree si nals/ .heaccelera.ion rom ccelerome.er #0 (alrea > mo n.e on .a le)" .he accelera.ion ccelerome.er #1(ma> or ma> no. e mo n.e )" an .he accelera.ion ccelerome.er # (ma> or ma> no. e mo n.e ) sill s.ra.e in Fi re 9" .he accelerome.er si nals are e .o 6CC 9: 8ias an# Filter 6CC 1: 8ias an#

Filter an 6CC 2: 8ias an# Filter locks



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Figure 25: 6ccelerometer subsystem in >inCon Shake Table II 'ibrary.

The insi e o .he 6CC 9: 8ias an# Filter lock is sho=n in Fi re 30 The 8ias )emoval lockremo!es an> ini.ial non-Bero meas remen. in .he meas re accelera.ion .o ens re .he rea in s are Bero

e ore e innin .he e?perimen. :n or er .o remo!e some noise in .he analo accelera.ion si nal" .heres l.in iase si nal is passe .hro h a secon -or er il.er The parame.ers or .hese il.ers are se. in.he setu".m scrip. Finall>" in or er or .he accelerome.er .o e s>nchroniBe =i.h .he enco ers" i e i!e

posi.i!e meas remen.s on posi.i!e enco er co n.s" .he 6cceleration Calibration @g7GA ain is se. .o .heHD '' parame.er The accelerome.er cali ra.ion ain" HD ''" is se. in .he setu".m ile

Figure $9: Subsystem use# to remove initial bias an# ilter accelerometer signal.



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.he las. 1 millisecon o inp . si nal a.a

Figure $2: &emonstrating the #igital #ebounce switch.

lso incl e in .he >inCon ST II 'ibrary is .he 'imit Switches wo7 Sa ety lock" sho=n in Fi re 33 ".ha. is se =hen .he cali ra.in .he s.a e o .he shake .a le ,hen cali ra.in " .he 'e t an )ightsensors are se .o posi.ion .o .he s.a e .o .he mi -s.roke posi.ion an " as a res l." i. is no. esire .oeac.i!a.e .he ampli ier =hen .hese si nals are .ri ere The 'imit Switches wo7 Sa ety s s>s.em is

i en.ical .o .he 'imit Switches lock e?cep. .here are no Sto" with 3rror locks .ha. s.op r nnin,in'on =hen .he 'e t or )ight si nals e. ac.i!a.e



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Figure $$: 'imit Switches wo7 Sa ety subsystem in >inCon ST II library.

1#%#.# Enable Mode Subsyste&,hen sin .he


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1#%#1# P' Position Control Subsyste&The & osition Control s s>s.em sho=n in Fi re 34 implemen.s .he propor.ional- eri!a.i!eee ack loop epic.e in Fi re 35 :. calc la.es .he mo.or inp . c rren. nee e .o mo!e .he s.a e .o.he esire posi.ion

Figure $%: ro"ortional;#erivative controller subsystem in ST II >inCon 'ibrary.

s ill s.ra.e n er .he Shake Table II lant hea in in Fi re 35 " .he .rans er nc.ion .ha. escri es.he .ransi.ion e.=een .he c rren. applie .o .he mo.or" : m" an .he posi.ion" *" is

=( )G s( ) I

m s

? s+

"J1K

=here s is .he aplace opera.or" : m(s) is .he aplace .rans orm o .he mo.or c rren." G(s) is .he aplacerepresen.a.ion o .he s.a e posi.ion" an H is .he open-loop ain The open-loop mo el parame.er isescri e

= ?

0 t : b

? t J K

=here" as speci ie in Ta le 4 " $ . is .he .o.al mass ein mo!e > .he mo.or" P is .he all-scre= pi.ch" an H . is .he mo.or c rren.-.or e speci ica.ions To con.rol .he posi.ion o .he s.a e a propor.ional- eri!a.i!e" or P " con.rol scheme is se The P con.roller is ill s.ra.e in Fi re 35 ancan e escri e > .he .rans er nc.ion e a.ion

=( ) I m

s k "

( )( )G s ( ) D #

s k # ( ) s ( )G s s b

s# ( ) D

# s J3K

Document Number 632 / Revision 3.1 / !a"e #


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=here G (s) is .he aplace o .he esire mo.or posi.ion (i e .he se.poin.)" k p is .he propor.ional ain" k is .he eri!a.i!e ain" an s is .he !eloci.> se.-poin. =ei h. @ s.i. .in .he P con.roller i!en inE a.ion J3K in.o .he open-loop mo el" E a.ion J1K" an sol!in or G(s) G (s) res l.s in .he close -loop .rans er nc.ion o .he s>s.em

=( )G s( ) D # s

+k " k # s b s# + + ? s

+ k " k # sJ4K

The close -loop .rans er nc.ion escri es ho= .he s.a e posi.ion respon s .o a i!en posi.ioncomman

Figure $4: 8lock #iagram o the control system use# to "osition o ST II stage.

The P con.roller implemen.e in .he & osition Controller lock" sho=n in Fi re 34 " is s.r c. reas ollo=s

J5K

=here H is .he con.rol ain" G is .he se.poin. s.a.e" an G is .he meas re s.a.e The con.rol ain !ec.oris e ine

" J6K

an .he se.poin. s.a.e

J7K

incl es .he esire s.a e posi.ion ? " alon =i.h .he esire s.a e !eloci.> ! The esire posi.ion an!eloci.> are enera.e !ia @im link locks as e?plaine la.er in sec.ions 6 5 " 6 6 " an 6 7 The s.a.e o

Document Number 632 / Revision 3.1 / !a"e #1


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53/91


"

J10K

=here is .he ampin ra.io o .he il.er an is .he c .o re enc> o .he il.er These il.er parame.ers are se. in .he l" ,cuto , re+ $a.la $-File The ?"enc(s) !aria le is .he aplace .rans ormo .he res l.in accelera.ion The accelera.ion calc la.ion is ini.iall> in m s ." as sho=n in Fi re 36" is con!er.e .o ra!i.a.ional ni.s" g " sin .he HD$@ parame.er

1#%#2# Sco(e Subsyste&sThe Sco"es: ositions s s>s.em con.ains scopes ase on .he s.a e posi.ion in me.ric an imperialni.s For e?ample" .he * @inA plo. ispla>s .he esire an meas remen. posi.ion o .he @hake Ta le ::s.a e in inches The Sco"es: 6ccelerations locks has scopes .ha. ispla>s .he accelera.ion a.a rom p

.o .hree accelerome.ers @ee Ta le 10 or a escrip.ion o all .hese scopes

Figure $/: ositions sco"es subsystem in >inCon ST II 'ibrary.

Figure $ : 6cceleration sco"es in >inCon ST II 'ibrary.



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Figure %9: &e"en#encies an# various 0;File unction calls.

The make,sine.m an make,+uake.m scrip.s enera.e .ra ec.ories .ha. can are se =i.h .he +,#ata,==@im link mo el s escri e in @ec.ion 6 4 " .he make,sines.m scrip. is se .o enera.e a compo nsine =a!e @ec.ion 6 4 3 escri es ho= .o se .he make,+uake.m $-File .o repla> an ear.h ake on .heshake .a le This scrip. nee s a ra= ear.h ake a.a ile an calls se!eral $a.la scrip.s" lis.e inFi re 40 " .o cons.r c. a .ra ec.or> The t,eval,"os.m scrip. enera.es a o e plo. .ha. compares .heesire posi.ion o .he shake .a le an .he res l.in meas re posi.ion o .he shake .a le a .er r nninan e?perimen. @imilarl>" .he t,eval,acc.m ile plo.s .he o e o .he esire an meas reaccelera.ion a.a o.h o .hese iles nee ac. al meas re a.a s.ore in an $ T ile @ee @ec.ion6 4 4 or e.ails on ho= .o se .hese scrip.s

1#.#"# Setu( Scri(t: setu(#&The $a.la scrip. setu".m has .o e r n e ore il in an> o .he s pplie @im link mo els :. se.s .he

parame.ers or .he sensors" ampli iers" an con.rollers

Follo= .hese s.eps or ins.r c.ions on ho= .o r n an con i re .he setu".m scrip./1 oa $a.la

Thro h .he Current &irectory =in o=" o .o .he STII


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me.ric ni.s" .he l e CP$-180- 5 is se " an .he ma?im m !ol.a e o .he .he res l.s in ei.her imperial or me.ricni.s

% ************************************************************************

% USER INPUT% ************************************************************************% Enter revision of Sha e Ta!"e II: RE#$ RE#& RE#' or RE#(.STII)RE# +RE#(+ , % +RE#$+ +RE#&+ +RE#'+ or +RE#(+% See resu"ts in I-PERI or -ETRI0.conversion +-ETRI0+ , % +I-PERI + or +-ETRI0+,% Enter t1pe of UP- !ein2 use3.UP-)T4PE +UP-)$567&89+ ,% -a imum vo"ta2e 3e"ivera!"e !1 ;(/;5 #- ?)@ 0 $6,

Te*t 1: The US3) IB UT section in the setu".m scri"t.

CAUTION$ M+ - +9 -%& & &--/0 %+ ) 0+- & (%'0 & . This scrip. has een con i re

or .he @T :: s>s.em .ha. =as shippe an .here ore mos. .he parame.ers" =i.h .he e?cep.ion o.he con!ersion !aria le" sho l no. e !arie :n par.ic lar" o no. chan e .he @T::D*EM

parame.er nless >o kno= or s re =hich re!ision >o r @hake Ta le :: s>s.em is

5 The '%&T*% P * $ETE*@ sec.ion le.s sers speci > .he na. ral re enc> an ampinra.io o .he posi.ion con.roller @ee @ec.ion 6 4 1 1 or more in orma.ion on .he con.rol ainesi n

% ************************************************************************% 0ANTRA P R -ETERS% ************************************************************************% @esire3 natura" frequenc1 of c"ose37"oop s1stem =f6 $8,% @esire3 3ampin2 ratio of c"ose37"oop s1stemBeta 6.C8,

Te*t 2: The COBT)O' 6)603T3)S section in the setu".m scri"t.

CAUTION$ D+ 0+- (%'0 & -%& & =') & 0)& + ;0+7 7%'- + '*& +/0 For ins.ance"increasin .he na. ral re enc> .oo m ch can res l. in !i ra.ions .ha. ma> harm .he shake .a lee!ice

6 :n .he E %C&'E TA*E@A% sec.ion" sers can chan e .he .hreshol o .he i i.ale o nce s>s.em an n m er o samples se .o .ake .he mean o .he inp . si nal @ee @ec.ion6 3 3 or more in orma.ion on .he e o nce @-F nc.ion se in 'imit Switches s s>s.em



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% **********************************************************************% @E9AUN0E T !ar>in .he @,EEPD$ G parame.ers sho=n in Te?. 4 > e a l. .heampli. e o .he s=eep is limi.e .o 4 mm

% ************************************************************************% - ? SDEEP -P ITU@E% ************************************************************************% -a imum amp"itu3e of sine sweep =m>SDEEP)- ? (e7',Te*t %: The 06D S>33 60 'ITU&3 section in the setu".m scri"t.

CAUTION$ U0)& -%& &0 9*&: &0( +9 -%& /0& 7&&6 / )+7&*& 9*+, -%& 15 H &9' )-+ 0+- /0(*&' & -%& SWEEP MAX ='*/' )&.

8 * n .he $a.la $-File > clickin on e U * n in .he E i.or men ar or clickin on .he )un icon in .he E i.or .ool ar

9 s sho=n in Te?. 5 " .he scrip. promp.s .he ser or .he mass o .he loa .ha. is a e .o .he .ops.a e En.er .he mass o .he pa>loa in kilo rams or po n s ( epen in on ho= .he scrip. is

con i re ) : no.hin is a e " .>pe 0 or simpl> press .he E&TE* ke> Te?. 5 sho=s .he.>pical o .p . o .he scrip. a .er i. is ran

Enter an1 a33itiona" "oa3 on the top sta2e of the ta!"e = 2>: 6 EN0A@ER 0 I9R TIAN )EN0 $.88e766F m/counts

A @ -ass of top sta2e an3 !earin2 parts C.C( 2 oa3 a33e3 6 2 Tota" "oa3 C.C( 2 NATE: Sha e Ta!"e II specifie3 for movin2 $8 2 at &.8 2 I-ITS Position "imit of ta!"e G/7 CF.& mm -a ve"ocit1 3e"ivera!"e !1 motor FF(.H mm/s -a force 3e"ivera!"e !1 motor C65.FF$ N -a "oa3 acce"eration &.8 2 @o 1ou want to view the setpoint "imitations p"ot =1/JnK> 1

Te*t 4: Out"ut in 0atlab Comman# >in#ow a ter running setu".m scri"t.

Document Number 632 / Revision 3.1 / !a"e #%


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The enco er cali ra.ion ain" HDE&'" =hich is se .o calc la.e .he linear posi.ion o .he s.a erom .he meas re enco er co n.s is ispla>e &e?. .he preloa " a e loa " an .o.al amo n.o mass .ha. is ein mo!e > .he mo.or is s mmariBe Finall>" .he ma?im m s.roke"!eloci.>" orce" an accelera.ion is ispla>e

10 The scrip. also i!es .he ser .he op.ion .o plo. .he se.poin. limi.a.ions plo. sho=n in Fi re 41En.er O>O .o !ie= .he plo. To skip .he plo." ei.her press .he E&TE* ke> or en.er OnO

Figure %1: For a 9 kg loa# this "lot illustrates the ma*imum set"oint am"litu#e over a range o re+uencies.

For a ran e o re encies" .he .op plo. in Fi re 41 sho=s .he ma?im m sine =a!e ampli. e.ha. can e comman e .o .he .a le or .he s.a e .o .rack This plo. .akes .he posi.ion" !eloci.>"an accelera.ion limi.s o .he @hake Ta le :: s>s.em in.o acco n. The ash- o. l e line is .hemechanical posi.ion limi. o s.a e" .he re line is .he limi. e .o !eloci.>" .he reen line is .he

limi. e .o accelera.ion" an .he lack line is .he com ine limi. o= re enc> comman s in1 0-1 5 AB ran e are limi.e e .o .he .a le .ra!el ,hen in .he 1 5-6 0 AB ran e" .heampli. e is cons.raine > .he !eloci.> limi.a.ions o .he .a le For hi her re encies" .hecomman is cons.raine > .he impose accelera.ion limi.a.ion o .he @hake Ta le :: ll sinecomman s .o .he .a le sho l all n er .he lack line For ins.ance" =hen .rackin a sine =a!e=i.h a re enc> o 8 AB .he ser sho l no. comman an ampli. e .ha. e?cee s 8 4 mm The

o..om plo. sho=s .he accelera.ion o .he loa =hen .he s.a e is .rackin a sine =a!e a. !ar>in

Document Number 632 / Revision 3.1 / !a"e #&


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re encies =i.h an ampli. e speci ie > .he com ine limi. For e?ample" =hen r nnin asine =a!e a. 4 AB =i.h an ampli. e 5 7 mm" .he loa =o l reach accelera.ions o 1 68 @[email protected] 6 4 1 or e.ails on enera.in .his plo.

-. .1.1. Control ain Desi'n: compute4control4'ains.m

The con.rol ains are calc la.e in .he $-File calle com"ute,control,gains.m This nc.ion is calle > setu".m .o esi n .he propor.ional con.rol ain" k p" an .he eri!a.i!e con.rol ain" k " ase on .he@T :: mo el parame.ers" .he loa mass" an .he con.rol speci ica.ions Ta le 13 lis.s some samplecon.rol ains enera.e > .he scrip. or !ario s a e loa mass" $ l The ma?im m loa .ha. can ea e .o .he s.a e .o achie!e .he ra.e @T :: accelera.ion o 5 is 7 6 k

M l &'() M t &'() * + &H,) ' p &V-m) ' d &V.s-m)

0 0 7 74 15 0 0 75 4 5 4 38 6

5 10 4 15 0 0 75 3 08 8 51 15 0 1 74 15 0 0 75 399 63 5

7 6 15 0 15 0 0 75 4700 4 74 8

Table 1$: Sam"le controls gains calculate# or a varying loa# mass.

The .o.al mass ein mo!e > .he mo.or is eno.e > .he $ . !aria le There are .=o esi n con.rol parame.ers .ha. are se .o enera.e .he con.rol ains/ .he na. ral re enc>" 0" an .he ampin ra.io" enerall> speakin " .he na. ral re enc> e.ermines .he spee o .he response an .he ampin ra.ioe.ermines .he shape o .he response (i e .he o!ershoo.) :n or er .o sa.is > .hese speci ica.ions" o.hcon.rols ains increases as .he loa mass is a men.e The con.rol esi n is e?plaine ne?. .o i!e

some ack ro n on ho= .hese ains are enera.e

The close -loop .rans er nc.ion .ha. escri es .he response o .he s.a e i!en a esire posi.ion =ase!elope earlier an i!en in E a.ion J4K in @ec.ion 6 3 6 :. is a secon -or er s>s.em an =hen .hese.-poin. !eloci.> parame.er s Y 0" i. can e mappe .o .he eneral secon -or er .rans er nc.ion

=( )A s0

+

+ + s+ + 0 s 0+ J11K

=here 0 is .he na. ral re enc> an is .he ampin ra.io &o.e .ha. 0 is .he na. ral re enc> inra ians per secon =hile 0 is .he na. ral re enc> in Aer.B The rela.ion e.=een .he .=o is

=0 + 0 J1 K

The enomina.or o .he @hake Ta le :: close -loop .rans er nc.ion in E a.ion J4K can e mappe .o.he enomina.or o .rans er nc.ion J11K" =hich is kno=n as .he charac.eris.ic e a.ion" > se..in .hecon.rols ains .o

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=k " 0+ ? J13K

an =k

# + 0 ? J14K

The ains lis.e in Ta le 13 are enera.e > setu".m sin .he propor.ional ain rela.ionship J13K an.he eri!a.i!e ain orm la e ine in J14K

-. .1.2. Computin' the a,imum Setpoint: setpoint4limit.m

The setu".m scrip. i!es .he op.ion .o enera.e .he ma*imum set"oint plo. ,hen .he s.a e o .he @hakeTa le :: is .rackin a sine =a!e" .he ma?im m ampli. e an re enc> o .he =a!e orm m s. ekno=n > .akin in.o acco n. .he @hake Ta le :: limi.s" .he ma*imum set"oint plo. ill s.ra.es .hema?im m ampli. e o .he sine =a!e posi.ion comman =hen i. is ein r n a. a cer.ain re enc>

'onsi er .he sine =a!e posi.ion se.poin.J15K

=here is .he esire ampli. e" is .he re enc>" an t is .he con.in o s .ime The !eloci.> o .hecomman posi.ion is

J16K

an .he correspon in accelera.ion is

J17K

The ma?im m sine =a!e ampli. e .ha. .he @T :: s.a e can .rack i!en a cer.ain re enc> epen s .heollo=in cons.rain.s/ .he ma?im m s.roke o .he .a le" .he ma?im m s.a e !eloci.>" an .he ma?im maccelera.ion ,hen s.ar.in a. .he cen.er or home posi.ion" .he s.a e is mechanicall> limi.e .o mo!inX3-inches There ore .he ma?im m posi.ion o .he .a le is

" J18K

as e ine in Ta le 4

The !eloci.> an accelera.ion limi.s o .he .a le are comp .e in .he $a.la $-File calle stii,limits.mi!en .he ack-em parame.er o .he @T :: mo.or" H m" an .he ma?im m o .p . !ol.a e o .he CP$-180- 5 " M$ GDCP$" .he ma?im m an lar ra.e o .he @hake Ta le :: mo.or e als

J19K

The linear !eloci.> o .he s.a e is .here ore

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"J 0K

=here P is .he all-scre= pi.ch The ma?im m orce .ha. can e eli!ere > .he ac. a.or is

J 1K

=here :$ GDCP$ is .he ma?im m peak c rren. o .he po=er ampli ier an H . is .he c rren.-.or econs.an. o .he @T :: mo.or The ma?im m loa accelera.ion epen s on .he loa mass" $ ." an .hera.e accelera.ion o .he .a le" D :$D* TE Y 5 :. is e?presse

J K

E!al a.in e a.ions J 0K an J K sin .he @T :: parame.ers in Ta le 4 an .he CP$-180- 5speci ica.ions i!en in *e erence J K" .he ma?im m !eloci.> an accelera.ion are

J 3K

an

J 4K

Ta le 14 lis.s .he e a.ions .o calc la.e .he ma?im m se.poin. ampli. e e .o .he posi.ion limi.ma?"p" e .o .he ma?im m !eloci.> ma?"! " an e .o .he accelera.ion cons.rain. ma?"a

Limit Ma!imum Sine /a0e 1mplitude

Posi.ion

Meloci.>

ccelera.ion

'om ine

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Table 1%: 3+uations use# to in# the ma*imum set"oint am"litu#e.

,i.h .he e a.ions i!en in Ta le 14 " .he .op plo. sho=n in Fi re 41 can e enera.e The o..om plo. ispla>s .he accelera.ion o .he loa =hen .he s.a e is .rackin a sine =a!e a. !ario s re encies

a. .he ampli. e speci ie > .he com ine limi. :. is calc la.e in .he $a.la scrip. calleloa#,accelerations.m =i.h .he e a.ion

J 5K

1#.#$# ;eneratin) Co&(osite Sine 8a6e: &ake=sine#&The $a.la scrip. ile calle make,sine.m enera.es a compo n sine =a!e orm .ha. can e se =i.h.he +,#ata,== @im link mo el i!en a se. o sine =a!e ampli. es" or e?ample Y J 1" " 3K ana correspon in se. o re encies" Y J 1" " 3K" .he scrip. enera.es a .ime- ase arra> =i.h .he sine

=a!e posi.ion

" J 6K

.he !eloci.>

" J 7K

an .he accelera.ion

J 8K

Follo= .hese s.eps .o se .he scrip./1 oa $a.laThro h .he Current &irectory =in o=" o .o .he STII


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% ************************************************************************% INPUT% ************************************************************************% sine wave amp"itu3e for each e citation =mm>3 J&.8 & 6.8K,% a es sine wave e citation frequencies =f3 J$ ( $6K,% time 3uration =s>tf ',% samp"in2 perio3 =s/samp"e>3t 3efau"t)samp"e)time,

Te*t -: HIB UT section in the make,sine.m scri"t.

5 The $ HE @:&E , ME sec.ion o .he make,sines.m scrip. is sho=n in Te?. 7 Theconstruct,sine,wave,tra!ectory ile crea.es .he posi.ion" !eloci.>" an accelera.ion .ime- asearra> eca se .he CP$-180- 5 ampli ier is no. ena le or .he irs. 0 7 secon s" .he irs.

secon o .he compo n sine =a!e is al=a>s pa e =i.h Beros The .o.al ra.ion o .he=a!e orm is .here ore . +1 secon s

% ************************************************************************% - E SINE D #E% ************************************************************************% construct sine wave traLector1Jt 3)mm v3)mm a3)mmK construct)sine)traLector1=f3 3 tf 3t>,% @esire3 position =m>3 3)mm / $666,% @esire3 ve"ocit1 =m/s>v3 v3)mm / $666,% @esire3 acce"eration =2>a3 a3)mm / $666 / H.5$,

Te*t /: 06?3 SIB3 >6G3 section in make,sine.m scri"t.


WARNING / E0 *& -%& : '-' ., ) S/, )/0; M+ &) / +6&0 &9+*& * 00/0 -%&ma'e2sine.m (*/6-. The samplin .ime se. in D a.aDBB m l" #e ault,sam"le,time " is loa ein.o .he $a.la =orkspace =hen .he @im link ia ram is open %.her=ise a missin !aria leerror messa e =ill e promp.e

7 .er enera.in .he sine =a!e" .he make,sine.m scrip. enera.es a plo. The plo. pic. re inFi re 4 =as enera.e =hen sin .he an !ec.ors speci ie in Te?. 6



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Figure %2: Com"osite sine wave "lot generate# by the make,sine.m scri"t.

1#.#%# Constructin) Scaled Earthquake: &ake=quake#&The make,+uake.m scrip. il s a .ra ec.or> .ha. can e se in .he +,#ata,*y,+ @im link ia raman ran on .he shake .a le The res l.in .ra ec.or> crea.e is .he se.poin. or comman posi.ion .ha. is.o e .racke > .he s.a e in or er .o achie!e .he same accelera.ions as .he recor e ear.h ake @ec.ion6 4 3 1 escri es ho= .o r n .he makeD ake m scrip. in or er .o o .his

s lis.e in Ta le 1 " .he &or.hri e" @I 090 T " an Ho e" A:H090 T " ra= ear.h akeaccelera.ion iles are alrea > s pplie =i.h .he @hake Ta le :: ' i.ional ear.h ake a.a iles can

e o=nloa e rom .he :n.erne. rom loca.ions s ch as .he erkele> =e si.e" as e?plaine in @ec.ion6 4 3

-. .3.1. "unnin' the Script

Follo= .hese s.eps .o r n .he makeD ake m ile/1 oa $a.la

Thro h .he Current &irectory =in o=" o .o .he STII


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3 %pen .he make,+uake.m ile4 The :&PCT sec.ion o .he make,+uake scrip. is sho=n in Te?. 8 elo= En.er .he name o

ear.h ake ile .ha. is .o e repla>e on .he shake .a le s sho=n in Te?. 8 " .he ile is se. .oRA:H000 T S =hich is .he Ho e ear.h ake The *,ma* parame.er e.ermines .he ma?im m

posi.ion o .he scale se.poin. .ra ec.or>% ************************************************************************% INPUT% ************************************************************************% name of 3ata source fi"e e . +. NATE: Set !e"ow C.F& cm stro e "imit.)ma '.6,

Te*t : HIB UT section in the make,sine.m scri"t.

CAUTION$ D+ 0+- &- !2ma! *&'-&* -+ =') & *&'-&* -%&0 -%& ,' /, , -*+;& +9 -%&-' )& K&&6 -%& ='*/' )& 0 &* !.# (,.

5 The $ HE J3t acc)3ataK init)earthqua e)3ata=input)fi"ename>,% construct traLector1Jt aK construct)qua e)traLector1=acc)3ata 3t>,%% 0ompute 3esire3 position of STII to achieve actua" qua e acce"erations.% t Setpoint time arr1a =s>.% 3)cm Position setpoint arra1 =cm>% a3 @esire3 acce"eration arra1 =2>% tf @uration of the sca"e3 earthqua e traLector1 =s>Jt 3)cm a3 tfK q)sca"e=t a )ma >,% 0onvert 3esire3 sca"e3 position =m>3 3)cm / $66,

Te*t 5: 06?3 U6?3 section in make,sine.m scri"t.

The init,earth+uake,#ata.m nc.ion e?.rac.s .he samplin .ime in orma.ion o .he recor eear.h ake" #t " an compiles .he accelera.ion a.a rom .he T ile" =hich is .he o r col mnorma." in.o an arra> calle acc,#ata The construct,+uake,tra!ectory.m scrip. crea.es a.ra ec.or> con.ainin .he recor e ear.h ake accelera.ion a.a" J t "aK

Figure %$: Ste"s to generating the set"oint tra!ectory rom a raw earth+uake ile.

Then" +,scale." oes .hro h a scalin al ori.hm an o .p .s .he .ime o .he .ra ec.or> t " .he

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scale posi.ion se.poin. in cen.ime.ers *#,cm " .he esire accelera.ion a# " an .he ra.ion o.he .remor t


The o .p . ispla>e in .he $a.la 'omman ,in o= sho l e similar .o Te?. 10 elo= TheHo e ear.h ake ha a ma?im m isplacemen. o 3 09 cm an .his =as scale o=n .o 3 0 cm(as se. > *,ma* ) :n or er .o achie!e .he same accelera.ion as Ho e" .he .ime o .he enera.e.ra ec.or> is compresse rom 77 98 .o 76 8 secon s

*** Usa2e : JTc ?c c TeK q)sca"e=t a ma >t : arra1 of time at equa" samp"in2 interva"s in secon3sa : arra1 of acce"eration recor3 in 2 to match tma : ma imum amp"itu3e of motion that 1ou want in cmNote that this shou"3 not e cee3 the "imits of the ta!"e MMTc : 0omman3 time arra1

?c : Position comman3 arra1 that shou"3 !e comman3e3 to the ta!"e in cmc : cce"eration arra1 in 2 that is the resu"t of 3ifferentiatin2 ?ctwiceTe : @uration of the run

Ari2ina" time step: 6.6&666 Step $ of ': et 3isp"acements Step & of ': Sca"e recor3s Ratio of ta!"e 3isp"acement to 2roun3 3isp"acement: 6.HC66F(

Step ' of ': Sca"in2 time Time step after sca"in2 6.6$HFH5*** @one ****** @isp"acement sca"e3 from ori2ina" movement of '.6H cm to '.66 cm*** Time sca"e3 from ori2ina" 3uration of CC.H5 secon3s to CF.5& secon3s*** Recor3 siBe is 'H86 samp"es

Te*t 19: Out"ut o make,+uake.m scri"t in 0atlab Comman# >in#ow.

7 The +,scale." nc.ion scrip. also enera.es a plo." =hich is pic. re in Fi re 44 or .he Ho eear.h ake" .ha. ispla>s .he esire accelera.ion an recor e ear.h ake accelera.ion in .he.op plo. (in ra!i.a.ional ni.s) an .he scale posi.ion se.poin. in .he o..om plo. (incen.ime.ers) &o.ice .ha. .he esire accelera.ion a# " =hich is comp .e rom .he scale

posi.ion se.poin. *#,cm is .he same as .he ac. al recor e accelera.ion o .he ear.h ake" a sa res l." .he .=o plo.s are la>ere on .op o each o.her



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Figure %%: lot generate# by +,scale." showing generate# acceleration an# scale# "osition.

%nce .he se.poin. is enera.e " .he D a.aDBB @im link $o el can e se .o repla> .he ear.h ake on.he @hake Ta le :: @ee @ec.ion 6 7 or .he proce re .o r n .he .remor on .he .a le The ne?. sec.ionse?plain ho= .o o=nloa a i.ional ear.h ake a.a an enera.e o e plo.s

-. .3.2. Do!nloa%in' an +arth#uake

There are a !arie.> o reso rces on .he :n.erne. =here real ear.h ake a.a can e o=nloa e T=oe?ample so rces are .he Paci ic Ear.h ake En ineerin *esearch 'en.er (PEE*) @.ron $o.iona.a ase =e si.e a. h..p/ peer erkele> e smca. ro=se h.ml rom .he Cni!ersi.> o 'ali ornia an

.he amon.- oher.> Ear.h % ser!a.or> o 'ol m ia Cni!ersi.> a.h..p/ === l eo col m ia e nceer s.ron mo h.ml

%n .he PEE* =e si.e" each ear.h ake has !ario s meas remen. s.a.ions an each s.a.ion con.ainsrecor e isplacemen." !eloci.>" an accelera.ion a.a o .he .remor a. i eren. irec.ions Follo= .he

proce re elo= .o o=nloa a isplacemen. recor o .he Ho e ear.h ake rom .he PEE* a.a ase > browsing /

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1 %pen a ro=ser an en.er .he a ress/ h..p/ peer erkele> e smca. ro=se h.mls sho=n in Fi re 45 " look .hro h .he !ario s ear.h ake recor s an in .he Ho eear.h ake a.a .ha. =as recor e a. s.a.ion A:H 'lick on .he A:H000 hea in &o.e .ha. .hereare .hree irec.ions recor e or .he Ho e ear.h ake a. .his A:H s.a.ion/ A:H000" A:H090" an

A:H-CP For .he @hake Ta le ::" onl> .he planar hea in s are o in.eres./ A:H 000 an A:H 090"an no. .he p o=n isplacemen. o A:H-CP

Figure %4: 8rowsing or an earth+uake on the 8erkeley website.

3 @elec. .he )& op.ion in .he plo. =in o=" as sho=n in Fi re 45 " .o ispla> .he rela.i!eisplacemen. or .he i!en hea in

4 *i h.-click on .he ear.h ake recor an selec. &ownloa#... rom .he rop- o=n men5 The accelera.ion" !eloci.>" an isplacemen. recor e a.a is a!aila le .o e o=nloa e

'hoose .he 6cceleration Time (istory .o e o=nloa e6 %nce .he ear.h ake recor is o=nloa e i. =ill e loa e in.o .he ro=ser : sin :n.erne.

E?plorer i. is loa e as an @':: ile @a!e .he ile as a T .e?. ile in .he STII


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l.erna.i!el>" an ear.h ake can e searche# .hro h .he PEE* =e si.e (as oppose .o browsing )Aere is .he proce re .o in .he Ho e ear.h ake isplacemen. a.a recor e a. .he A:H s.a.ion/

1 %pen an :n.erne. ro=ser an en.er .he ollo=in a ress .o search or an ear.h ake/h..p/ peer erkele> e smca. search h.ml

s sho=n in Fi re 46" selec. ?obe 155479171- 29:%- n er .he 3arth+uake rop- o=n menan click on .he Search ..on

Figure %-: Searching or an earth+uake on the 8erkeley website.

3 The uery )esults pa e is ispla>e an i. lis.s all .he s.a.ions .ha. recor e .he Ho eear.h ake 'lick on )ecor# I& P1040 .o !ie= .he res l.s rom .he A:H s.a.ion The 19%9:

3arth+uake an# Station &etails =e pa e sho=n in Fi re 47 loa s

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Figure %/: >eb "age showing #ata collecte# or ?obe tremor at the (I? station.

4 s epic.e in Fi re 48 " ri h.-click on .he 6T( link n er .he H% E A:H000 recor .oo=nloa .he isplacemen. a.a or .he Ho e ear.h ake in .he 000 irec.ion

Figure % : Saving earth+uake acceleration recor#.

5 %nce .he ear.h ake recor is o=nloa e " sa!e .he T .e?. ile in .he STII


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,he.her .hro h ro=sin or searchin " .he A:H000 T ile sho l no= e o=nloa e ,henopene in $a.la E i.or" .he A:H000 T ile appears as sho=n in Fi re 49

Figure %5: )aw earth+uake #ata ile (I?999.6T2 shown when o"ene# in 0atlab 3#itor.

1#.#.# >>T E6aluation: t=e6al=(os#& and t=e6al=acc#&The $a.la scrip. t,eval,"os.m calc la.es .he Fas. Fo rier Trans orm an enera.es a o e plo. o .heesire an meas re posi.ion a.a @imilarl>" .he t,eval,acc.m scrip. enera.es .he o e plo. or .heesire an meas re accelera.ion a.a

Follo= .hese s.eps o .ain a o e plo. o .he posi.ion an accelera.ion a.a a .er .he .a le has .racke a pre e ine .ra ec.or>/

1 o .hro h .he proce re in @ec.ion 6 7 .o r n ei.her a compo n sine =a!e or an ear.h ake$ake s re .ha. o.h .he * @mAan a,tbl @gAscopes are open an .he .ime er is lon eno h.o cap. re .he en.ire si nal

%nce .he e?perimen. has een ran" sa!e .he collec.e posi.ion a.a rom .he * @mAscope in.o .he$ T ile #ata,*.mat an .he accelera.ion a.a rom .he a,tbl @gAscope in.o #ata,a.mat a.arom a scope can e sa!e in.o an $ T ile > choosin on .he File USave USave 6s 06T;

File... i.em n er .he scope men ar (see 3 %pen .he t,eval,"os.m scrip. in $a.la E i.or The R:&PCTS sec.ion o .he scrip. is pic. re

in Te?. 11 @e. .he !aria le name .o .he $ T ile =here .he posi.ion a.a is oin .o e sa!e "



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in .his case #ata,*.mat lso" a s. .he minim m re enc>" ,min " an ma?im m re enc>" ,ma* " !aria les .o o .ain a o e plo. =i.h .he esire re enc> ran e

% ************************************************************************% INPUT

% ************************************************************************% Save co""ecte3 positions in the fo""owin2 fi"e.fname +3ata) .mat+ ,% min/ma frequencies for p"ottin2 =f)min .$,f)ma &6,

Te*t 11: IB UT section in t,eval,*.m scri"t.

4 s sho=n in .he R % T S in Te?. 1 " .he a.a is loa e in.o .he $a.la =orkspace sin.he $a.la loa# comman The "ower,s"ectrum.m $a.la $-File nc.ion comp .es .he po=erspec.r m o a si nal The po=er spec.r m o a si nal is .he a sol .e !al e o .he si nal FFT"e or .he re enc> .he po=er spec.r m o g@tAis eno.e J @ AJ

% ************************************************************************% A @ @ T% ************************************************************************% oa3 3esire3 an3 measure3 position into -at"a! wor space."oa3=fname>,% 3esire3 position =m>,)3es q)3ata)q5)Scopes))Positions) ))m))6),% resu"tin2 measure3 ta!"e position =m>)meas q)3ata)q5)Scopes))Positions) ))m))$),%% ************************************************************************% OOT% ************************************************************************% Samp"in2 frequenc1 =f)s $ / 3efau"t)samp"e)time,% 0a"cu"ate power spectrum of 3esire3 positionJfp P 3K power)spectrum= )3es f)s f)min f)ma >,% 0a"cu"ate power spectrum of measure3 positionJfp P mK power)spectrum= )meas f)s f)min f)ma >,

Te*t 12: 'O6& &6T6 an# FFT section in t,eval,"os scri"t.

5 * n .he scrip. .o enera.e a o e plo. o .he esire an collec.e posi.ion a.a The plo. sho=nin Fi re 50 =as enera.e =i.h a pre e ine sine =a!e =hen make,sine =as con i re =i.hre enc> !ec.or # Y J1" 4" 10K s ill s.ra.e " .he spikes o .he po=er spec.r m occ r a. .hesere encies The ashe l e .ra ec.or> is .he esire or comman e posi.ion enera.e > .hemake,sine or make,+uake scrip.s" an .he soli re .ra ec.or> is .he posi.ion meas re > .heenco er



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Figure 49: 8o#e "lot o #esire# an# measure# stage "osition a ter running +,#ata,+ with a "re#e ine# sine wave.

6 To o .ain a o e plo. o .he accelera.ion a.a" con i re .he t,eval,acc.m scrip. as =i.he?plaine e?plaine earlier in @.ep 3 or t,eval,*.m ile $ake s re .he ile name is se. .o#ata,a.mat or e?ample an .ha. .he re enc> ran e is se. as esire

7 * n .he t,eval,acc.m scrip. The o e plo. sho=n in Fi re 51 =as enera.e a .er r nnin .he &or.hri e ear.h ake The esire accelera.ion o .he ear.h ake" =hich is .he ash l e .race"is .he recor e accelera.ion o .he ac. al &or.hri e .remor (i e .he accelera.ion rom .heear.h ake a.a ile) s ill s.ra.e " .he accelera.ions meas re on .he @hake Ta le ::accelerome.er ma.ches .he recor e a.a i.e =ell or re encies n er 10 AB



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Figure 41: 8o#e "lot o the Borthri#ge earth+uake acceleration #ata.

-.(. Sine &a*e: #4sine455.m%l The DsineDBB m l @im link ia ram is se =i.h ,in'on .o make .he s.a e o .he @hake Ta le ::.rack a sine =a!e The ,in'on Pro ec. .ha. is se in @ec.ion 5 3 =as" or e?ample" cons.r c.esin .his ile @ec.ion 6 5 1 escri es .he i eren. componen.s o .he @im link ia ram an @ec.ion6 5 e?plains ho= .o il an r n a ,in'on 'on.roller rom .he ile

1#0#"# Model 'escri(tionThe +,sine,+ @im link ia ram is epic.e in Fi re 5 elo= The 6ccelerometers E " 3nableU 0;1 9;248 ; " 'imit Switches E Sco"es: ositions " an Sco"es: 6ccelerations locks arelinke .o .he ,in'on @hake Ta le :: li rar> an are e?plaine in sec.ions 6 3 " 6 3 3 " 6 3 4 " an 6 3 8 "respec.i!el>



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Figure 42: The +,sine,+ Simulink 0o#el use# to control the stage "osition accor#ing to a user;s"eci ie# sine wave..

-.(.1.1. Shake Table II 6 Control System Subsystem

The Shake Table II E Control System E lock is common .o all .he s pplie @im link mo els or .he< anser mo.or inp . c rren.nee e .o mo!e .he @T :: s.a e .o .he esire posi.ion This c rren. is e .o .he @hake Ta le :: Z


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Shake Table II User Manual-Revision 3.10