Quanser Shake Table II User manual

Solutions for teaching and research. Made in Canada.
USER MANUAL
Shake Table II
Set Up and Configuration
CAPTIVATE. MOTIVATE. GRADUATE.

© 2017 Quanser Inc., All rights reserved.
Quanser Inc.
119 Spy Court
Markham, Ontario
L3R 5H6
Canada
[e-mail]
Phone: [phone]
Fax: [phone]
Printed in Markham, Ontario.
For more information on the solutions Quanser Inc. offers, please visit the web site at:
http://www.quanser.com
This document and the software described in it are provided subject to a license agreement. Neither the software nor this document may be
used or copied except as specified under the terms of that license agreement. All rights are reserved and no part may be reproduced, stored in
a retrieval system or transmitted in any form or by any means, electronic, mechanical, photocopying, recording, or otherwise, without the prior
written permission of Quanser Inc.
STII User Manual 2

CONTENTS
1 Presentation 4
2 Components 6
2.1 Nomenclature 6
2.2 Description 6
3 Specifications 9
4 System Setup 10
4.1 Cable Nomenclature 10
4.2 Connections 11
4.3 Mounting the Shake Table II 13
5 Maintenance 16
6 X-Y Shake Table II Configuration 17
6.1 Mounting the Shake Tables 17
6.2 Cable Connections 19
7 Troubleshooting 21
8 Technical Support 22
STII User Manual v 3.1

1 PRESENTATION
The Quanser Shake Table II (STII) shown in Figure 1.1 is an instructional shake table device that was originally
developed for the University Consortium on Instructional Shake Tables (UCIST). It can be used to teach structural
dynamics, vibration isolation, feedback control, and various other topics for mechanical, aerospace, and civil engi-
neers.
The shake table is rated to drive a 7.5 kg load at 2.5 g. The stage rides on two ground-hardened metal shafts
using linear bearings which allows for smooth linear motions with low path deflection. When starting from center the
stage is capable of moving ±7.62 cm, or ±3-inches (i.e., total travel of 15.24 cm). The 400 Watt 3-phase brushless
DC actuator is connected to a robust ball-screw assembly. The motor has an embedded high-resolution encoder
used to measure stage position with a resolution of 3.10 µm. An analog accelerometer is mounted to measure the
acceleration of the stage directly.
Figure 1.1: Quanser Shake Table II
The main devices used to run the shake table is depicted in Figure 1.2. The entire system is comprised of:
1. Quanser Shake Table II
2. Power amplifier: Quanser AMPAQ-PWM
3. Data acquisition (DAQ) device: Quanser Q2-USB, Q8-USB, or QPIDe.
4. PC running QUARCrsoftware (optional: LabVIEW™ -based STII Control Software)
The interaction between the different system components is shown in Figure 1.2. Using QUARCror the optional
LabVIEW™ -based Control Software on the PC/laptop, the user specifies a command signal to the shake table (e.g.,
sine wave, earthquake). The current needed to move the stage to the desired position is calculated in QUARCr
and sent through the analog output channel of the DAQ device to the power amplifier. The amplifier applies the
current and drives the motor on the Shake Table II. The table tracking the commanded signal and the resulting
displacement and acceleration of the stage are measured by the on-board encoder and the accelerometer sensors.
The encoder and accelerometer are connected to the DAQ and their signals can be displayed and processed further
in QUARCror the optional LabVIEW™ -based Control Software. Plotted data can be also be saved for later analysis.
Caution: This equipment is designed to be used for educational and research purposes and is not
intended for use by the general public. The user is responsible to ensure that the equipment
will be used by technically qualified personnel only.
Caution: The Shake Table II is very loud when in operation. Please use ear protection when working in close
proximity to the shake table, or isolate the shake table in a sound proof enclosure where available.
STII User Manual 4

Figure 1.2: Interaction between main Shake Table II components
STII User Manual v 3.1

2 COMPONENTS
The Shake Table II components are identified in Section 2. Some of the those components are then described in
Section 2.2.
Caution: Be careful of the moving parts that form the Shake Table II mechanical system.
2.1 Nomenclature
The components listed in Table 2.1 are labeled in Figure 2.1.
ID Component ID Component
1 Stage 9 Sensor circuit board
2 Base plate 10 Right limit sensor
3 DC motor 11 Home position sensor
4 Lead screw 12 Left limit sensor
5 Ball nut 13 Motor leads connector
6 Manual adjustment knob 14 Motor encoder and hall sensors connector (i.e. potentiometer)
7 Linear guide 15 Accelerometer
8 Linear bearing block 16 Accelerometer connectors
Table 2.1: Components
2.2 Description
2.2.1 Stage
The top stage on the Shake Table II is shown as ID #1 in Figure 2.1. It is 18 ×18 inch2, or 45.7 ×45.7 cm2, and 9.7
mm thick. The stage has many screw holes that can be used to mount structures and other objects, e.g., Quanser
Active Mass Damper.
2.2.2 Bottom Plate
The bottom support plate, shown in by ID #2 in Figure 2.1, is 24 ×18 inch2, or 60.9 ×45.7 cm2, and 1.24 mm
thick. The steel linear guides and ball-screw are installed onto this plate. There bottom plate has 4 large screw
holes at each corner and smaller screw holes along the sides of the plate. These can be used to fasten the shake
table onto a ground floor support to prevent the shake table system from moving, or at least reduce the amount of
vibration. Although this is not necessary, it is recommended in order to yield more precise results when, for instance,
measuring acceleration.
2.2.3 DC Motor
The Shake Table II incorporates a Kollmorgen AKM24 brushless 3-phase DC Motor, shown by ID #3 in Figure 2.1.
The motor has a power of 400 W. It is connected to a ball-screw that and drives the ball nut assembly fastened to the
bottom of the shake table platform. The brushless commutation is ensured through three hall sensors with a phasing
of 120 degrees. Some of the motor specifications are included in Table 3.1. More detailed motor specifications are
available in the motor specification sheet [2] under AKM24F.
STII User Manual 6

Caution: Input 15 A peak, 3.75 A continuous.
2.2.4 Lead Screw
The lead screw, shown by ID #4 in Figure 2.1, circulates through a ball nut, component #5 in Figure 2.1, that is
attached to the bottom of the shake table stage and is rotated by the motor. The lead screw has a pitch of 0.50
inches. Thus the shake table stage moves 0.50 inches, or 1.24 cm, per single ball-screw revolution.
Caution: Exposed moving parts.
2.2.5 Encoder
The encoder is embedded inside the DC motor and is used to measure the linear position of the stage. It cannot be
identified externally. The motor encoder has a resolution of 2048 lines per revolution. In quadrature mode this gives
8192 counts per full rotation motor shaft rotation. The effective resolution, i.e., minimum linear position that can be
detected, of the stage displacement is 3.10 µm.
2.2.6 Linear Bearing Block
For smooth motion, the stage is fitted with low friction linear ball bearing blocks, shown by ID #8 in Figure 2.1, that
glide on two ground hardened shafts, identified by component #7 in Figure 2.1.
2.2.7 Limit Switches
These Right,Home, and Left, proximity sensors are shown in Figure 2.1 with ID #10, 11, and 12, respectively.
The Left or Right limit switches get triggered when the top stage moves close to the left or right mechanical range.
Similarly, the Home sensor is set to high when the top stage is at the mid-stroke or center position. These sensors
are used to deactivate the power amplifier for safety as well as for calibrating the stage to its center position.
2.2.8 Accelerometer
A dual-axis ADXL325 accelerometer is mounted underneath the stage of the Shake Table II to measure the acceler-
ation of the stage in both the xand ydirections. It is shown with ID #15 label in Figure 2.1. The sensor has a range
of ±10 g and its noise, in the operating range of the shake table, is approximately ±5.0 mV, i.e., ±5.0 mg. The
analog sensor is calibrated such that 1 V equals 1 g, or 9.81 m/s2. See the ADXL325 accelerometer specification
sheet [1] for more details.
Caution: The accelerometer readings can be misleading and lead to unexpected results. Please use caution
when using them as they are generally used as indicators.
STII User Manual v 3.1

(a) Top View
(b) Top Corner View
Figure 2.1: Shake Table II Components
STII User Manual 8

3 SPECIFICATIONS
Table 3.1 lists and characterizes the main parameters associated with the Shake Table II.
Symbol Description Value
RmMotor armature resistance 2.94 Ω
LmMotor armature inductance 6.16 mH
ktMotor current-torque constant 0.36 N-m/A
kmMotor back-emf constant 0.224 V/(rad/s)
PbBall screw pitch 0.0127 m/rev [0.5in/rev]
Ml,max Maximum total load mass 15.0kg [33.0lb]
MsMass of Shake Table II system 27.2kg [60.0lb]
Dimension of top stage. 0.46 ×0.46 m2
[18 ×18 in2]
Dimension of bottom stage. 0.61 ×0.46 m2
[24 ×18 in2]
Height from bottom to top stage 12.4cm [4.875 in]
xmax Maximum stroke position from midway point. 76.2mm [3.0in]
vmax Maximum velocity of stage. 664.9mm/s
[26.18 in/s]
Fmax Maximum force of stage. 708.7N [159.3lb]
amax Maximum acceleration of stage for 0kg load. 24.5m/s2
gmax Maximum rated acceleration of stage for 0kg load. 2.50 g
K_ENC Encoder sensitivity gain 3.1006 µm/count
1.22 ×10−4in/count
K_ACC Accelerometer sensitivity gain −1g/V
Dynamic load capacity of ball nut. 12000 N [2697.6lb]
Life expectancy of ball nut at full load. 6.35 ×108m
[2.50 ×1010 in]
Life expectancy of linear bearing. 6.35 ×106m
[2.5×108in]
Load carrying capacity of linear bearings. 131.5kg [290 lb]
Table 3.1: Specifications
STII User Manual v 3.1

4 SYSTEM SETUP
The following is a listing of the hardware components used in this experiment:
1. Power Amplifier: Quanser AMPAQ-PWM.
2. Data Acquisition Device: Quanser Q2-USB, Q8-USB, or QPIDe.
3. Shake table plant: Quanser Shake Table II.
See the corresponding documentation for more information on these components. The cables supplied with the
Shake Table II are described in Section Section 4.1 and the procedure to connect the above components is given
in Section 4.2.
Caution: If the equipment is used in a manner not specified by the manufacturer, the protection pro-
vided by the equipment may be impaired.
4.1 Cable Nomenclature
The cables used to connect the Shake Table II, AMPAQ-PWM, and DAQ are shown in 4.1. Depending on your
configuration, not all these cables are necessary.
Cable
No.
Cable Type Description
1
RCA Cable
2xRCA to 2xRCA RCA-to-RCA cables connect the AMPAQ-PWM
Amplifier Command,Current Sense,S1,S2,S3,
and S4 connectors to a DAQ.
2
Shake Table II Motor Cable
4-pin-Amphenol
to 4-socket-
Amphenol
The 3-phase motor cable connects the output of
the AMPAQ-PWM amplifier to the motor on the
Shake Table II system.
3
E-Stop and Calibration Switch
E-Stop and Cali-
bration Switch
The E-Stop and Calibration switch must be con-
nected to the AMPAQ-PWM for proper operation.
The E-Stop switch locks in the disabled position
when pressed and the Calibration switch must be
pressed during the calibration of the table. To re-
lease the E-Stop, twist the red button clockwise.
STII User Manual 10