Shake Table II Manual

Specialty Plant: Shake Table II
Position Control and

Earthquake Analysis
Shake Table II
User Manual
Shake Table II User Manual
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Quanser Shake Table II User Manual
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Document Number 632 / Revision 3.10 / Page i

Table of Contents
1. INTRODUCTION.......................................................................................................................................... 1
2. PREREQUISITES......................................................................................................................................... 2
3. SYSTEM DESCRIPTION................................................................................................................................3
3.1. Component Nomenclature................................................................................................................ 3
3.2. Component Description.................................................................................................................... 5
3.2.1. Stage (Component #1)............................................................................................................................ 5
3.2.2. Bottom Plate (Component #2)................................................................................................................ 5
3.2.3. Brushless DC Motor (Component #3).................................................................................................... 5
3.2.4. Lead Screw (Component #4).................................................................................................................. 6
3.2.5. Encoder.................................................................................................................................................. 6
3.2.6. Linear Bearing Block (Component #8).................................................................................................. 6
3.2.7. Limit Switches (Components #10, 11, and 12)...................................................................................... 6
3.2.8. Accelerometer (Component #15)........................................................................................................... 6
3.3. Specifications....................................................................................................................................6
4. SYSTEM SETUP..........................................................................................................................................8
4.1. Software Requirements.....................................................................................................................8
4.1.1. Basic Configuration............................................................................................................................... 8
4.1.2. Advanced Configuration........................................................................................................................ 9
4.2. Hardware Setup.................................................................................................................................9

4.2.1. Cable Nomenclature............................................................................................................................... 9
4.2.2. Connecting the Q8 Extended Terminal Board...................................................................................... 11
4.2.3. Shake Table II Wiring Procedure......................................................................................................... 12
5. PERFORMING SHAKE TABLE II EXPERIMENTS WITH WINCON....................................................................15

5.1. Overview of Shake Table II CD..................................................................................................... 15
Document Number 632 / Revision 3.10 / Page ii

5.2. Standard ST II Experiments............................................................................................................17

5.2.1. Initializing UPM................................................................................................................................... 17
5.2.2. Calibrating Stage.................................................................................................................................. 18
5.2.3. Sine Wave............................................................................................................................................ 19
5.2.4. Sine Sweep........................................................................................................................................... 21
5.2.5. Sample Earthquake............................................................................................................................... 23
5.2.6. Working with Scopes........................................................................................................................... 24
5.2.7. Optional: Using the GUI...................................................................................................................... 28
5.3. ST II Test........................................................................................................................................ 28
6. CREATING CUSTOM ST II EXPERIMENTS................................................................................................. 29

6.1. Overview of WinCon and Building a WCL................................................................................... 29
6.2. Files Supplied................................................................................................................................. 31
6.3. Shake Table II WinCon Library......................................................................................................33
6.3.1. Shake Table II Subsystem.................................................................................................................... 34
6.3.2. Accelerometers Subsystem................................................................................................................... 36
6.3.3. Limit Switches Subsystem................................................................................................................... 38
6.3.4. Enable Mode Subsystem...................................................................................................................... 40
6.3.5. Calibration Mode Subsystem............................................................................................................... 40
6.3.6. PD Position Control Subsystem........................................................................................................... 41
6.3.7. Acceleration from Encoder Subsystem................................................................................................ 43
6.3.8. Scope Subsystems................................................................................................................................ 44
6.3.9. Stop after Duration Subsystem............................................................................................................. 45
6.4. Matlab Scripts................................................................................................................................. 45

6.4.1. Setup Script: setup.m........................................................................................................................... 46
6.4.2. Generating Composite Sine Wave: make_sine.m................................................................................. 53
6.4.3. Constructing Scaled Earthquake: make_quake.m................................................................................. 55
6.4.4. FFT Evaluation: fft_eval_pos.m and fft_eval_acc.m........................................................................... 62
6.5. Sine Wave: q_sine_zz.mdl..............................................................................................................65

6.5.1. Model Description................................................................................................................................ 65
6.5.2. Building and Running Sine Wave WinCon Controller......................................................................... 68
6.6. Sine Sweep: q_sweep_zz.mdl.........................................................................................................70
Document Number 632 / Revision 3.10 / Page iii


6.6.2. Building and Running Sine Sweep WinCon Controller....................................................................... 71
6.7. Predefined Data: q_data_zz.mdl..................................................................................................... 72

6.7.2. Building and Running Predefined Trajectory WinCon Controller....................................................... 76
6.7.3. Constructing a WinCon Project............................................................................................................ 78
7. REFERENCES........................................................................................................................................... 79
APPENDIX A. TROUBLESHOOTING GUIDE...................................................................................................... 80
APPENDIX B. Q8 EXTENDED TERMINAL BOARD SIGNALS.............................................................................. 81
Document Number 632 / Revision 3.10 / Page iv

Illustration Index
Figure 1: Shake Table II system................................................................................................................. 1
Figure 2: Overview of major system components......................................................................................2
Figure 3: Top view of Shake Table II components.................................................................................... 4
Figure 4: Front view of Shake Table II components..................................................................................4
Figure 5: "Motor" cable............................................................................................................................10
Figure 6: "To Device" cable..................................................................................................................... 10
Figure 7: "From MultiQ" cable................................................................................................................ 10
Figure 8: "Emergency Stop" cable........................................................................................................... 10
Figure 9: "From Analog Sensors" cable...................................................................................................11
Figure 10: Connections on the Q8 Extended Terminal Board................................................................. 13
Figure 11: Connections on UPM-180-25B.............................................................................................. 13
Figure 12: Connections of the Shake Table II device.............................................................................. 14
Figure 13: Shake Table II with the Quanser AMD-1 system................................................................... 16
Figure 14: Shake Table II with the AMD-2 system................................................................................. 16
Figure 15: Shake Table II with the Quanser 2xAMD-1 system............................................................... 16
Figure 16: Message prompted after running UPM boot WCP.................................................................18
Figure 17: Messaged prompted after running calibration WCP...............................................................19
Figure 18: Front panel of sine wave WCP............................................................................................... 20
Figure 19: The x (m) scope when running the q_sine_q8 controller....................................................... 21
Figure 20: Control panel for sine sweep project...................................................................................... 22
Figure 21: The a_tbl (g) scope after running the q_sweep_q8 controller................................................ 23
Figure 22: Acceleration measurements plotted in a_tbl (g) scope after running Northridge earthquake....
24
Figure 23: Open plot button in the WinCon Server window................................................................... 26
Figure 24: Selecting scopes to be opened................................................................................................ 27
Figure 25: Changing scope time buffer window...................................................................................... 27
Figure 26: GUI for browsing through ST II WinCon controllers.............................................................28
Figure 27: Building a WinCon Project from a Simulink Diagram.......................................................... 29
Figure 28: Simulink model used to track sine wave................................................................................ 31
Figure 29: Shake Table II WinCon library...............................................................................................34
Figure 30: Shake Table II - Q8 subsystem............................................................................................... 35
Figure 31: Software watchdog: stops WinCon when encoder reads over P_MAX variable................... 36
Figure 32: Accelerometer subsystem in WinCon Shake Table II Library............................................... 37
Figure 33: Subsystem used to remove initial bias and filter accelerometer signal.................................. 37
Figure 34: Limit switches subsystem in WinCon ST II Library.............................................................. 38
Figure 35: Demonstrating the digital debounce switch............................................................................39
Figure 36: Limit Switches wo/ Safety subsystem in WinCon ST II library............................................. 40
Figure 37: Proportional-derivative controller subsystem in ST II WinCon Library................................ 41
Figure 38: Block diagram of the control system used to position of ST II stage..................................... 42
Figure 39: Calculate acceleration from position measurement subsystem in ST II WinCon Library......43
Figure 40: Positions scopes subsystem in WinCon ST II Library............................................................44
Document Number 632 / Revision 3.10 / Page v

Figure 41: Acceleration scopes in WinCon ST II Library........................................................................44

Figure 42: Stop controller after duration subsystem in WinCon ST II Library........................................45
Figure 43: Dependencies and various M-File function calls....................................................................46
Figure 44: For a 0 kg load, this plot illustrates the maximum setpoint amplitude over a range of
frequencies............................................................................................................................................... 49
Figure 45: Composite sine wave plot generated by the make_sine.m script............................................55
Figure 46: Steps to generating the setpoint trajectory from a raw earthquake file...................................56
Figure 47: Plot generated by q_scale.p showing generated acceleration and scaled position..................58
Figure 48: Browsing for an earthquake on the Berkeley website.............................................................59
Figure 49: Searching for an earthquake on the Berkeley website............................................................ 60
Figure 50: Web page showing data collected for Kobe tremor at the HIK station.................................. 61
Figure 51: Saving earthquake acceleration record................................................................................... 61
Figure 52: Raw earthquake data file HIK000.AT2 shown when opened in Matlab Editor..................... 62
Figure 53: Bode plot of desired and measured stage position after running q_data_q8 with a predefined
sine wave..................................................................................................................................................64
Figure 54: Bode plot of the Northridge earthquake acceleration data......................................................65
Figure 55: The q_sine_q8 Simulink Model used to control the stage position according to a user-
specified sine wave.................................................................................................................................. 66
Figure 56: Shake Table II - Control System - Q8 subsystem................................................................... 67
Figure 57: Smooth Sine Setpoint subsystem in q_sine_q8 Simulink Model........................................... 68
Figure 58: Compiling model message......................................................................................................69
Figure 59: WinCon Server window when loaded with a controller and ready to run..............................69
Figure 60: The q_sweep_q8 Simulink model used for sine sweep position control on the ST II............70
Figure 61: Sine Sweep Setpoint subsystem in q_sweep_q8 Simulink Model......................................... 71
Figure 62: The q_data_q8 Simulink model used for predefined trajectory position control on the ST II...
73
Figure 63: From Workspace Setpoint block in q_data_zz Simulink Diagram........................................ 74
Figure 64: Shake Table II - Control System with FF - Q8 subsystem in q_data_q8 Simulink Diagram.....
75
Figure 65: Block diagram of proportional-derivative plus feed-forward position ST II control system.....
76
Figure 66: Desktop view after running a sine wave with the q_data_q8 controller.................................77
Document Number 632 / Revision 3.10 / Page vi

Index of Tables
Table 1: Component nomenclature............................................................................................................ 3
Table 2: Dimensions of the top stage......................................................................................................... 5
Table 3: Dimensions of the bottom plate................................................................................................... 5
Table 4: Shake Table II specifications....................................................................................................... 7
Table 5: Cable nomenclature................................................................................................................... 11
Table 6: Ribbon cable connections between Quanser Q4/Q8 HIL board and Q8 Extended Terminal
Board........................................................................................................................................................ 12
Table 7: Shake Table II wiring summary................................................................................................. 15
Table 8: Description of main folder on the Shake Table II CD............................................................... 15
Table 9: Files supplied in the "wcp" folder of the Shake Table II CD.....................................................17
Table 10: Description of the predefined scopes in the ST II WinCon Projects....................................... 25
Table 11: Summary of file types.............................................................................................................. 30
Table 12: List of files provided in the "mdl" folder on the Shake Table II CD....................................... 33
Table 13: Sample controls gains calculated for a varying load mass.......................................................50
Table 14: Equations used to find the maximum setpoint amplitude........................................................53
Table 15: Signals in the Table X connection........................................................................................... 81
Table 16: Signals in Table Y connection................................................................................................. 82
Document Number 632 / Revision 3.10 / Page vii

1. Introduction
The Quanser Shake Table II shown in Figure 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 engineers.
The top stage of the shake table is driven by a powerful motor that allow it to achieve an acceleration of
2.5 g when up to 7.5 kg of mass is mounted. 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, on each side. It therefore has a total travel of
15.24 cm. In order to move the top platform at a high acceleration, a robust ball-screw and motor
assembly is used. The high-powered 400 Watt motor is a 3-phase brushless DC actuator. The motor
contains an embedded high-resolution encoder that allows the position of the stage of be measured with
an effective linear resolution is 3.10 m. An analog accelerometer is mounted on the Shake Table II
platform in order to measure the acceleration of the stage directly.
Figure 1: Shake Table II system.
The main devices used to run the shake table is depicted in Figure 2. The entire is comprised of a
Universal Power Module (UPM), a data-acquisition (DAC) card, a PC running the WinCon control
software, and the Shake Table II itself. Consider for example the signal transitions between the system
components when the user wishes the Shake Table II stage to track a sine wave and read the resulting
acceleration. Using WinCon on the PC, the user specifies the amplitude and frequency of the sine wave.
The sine wave is the user-specified desired or command position of the stage. The current needed to
move the stage at the desired sine wave position is calculated in WinCon and sent through the analog
output channel of the data-acquisition board to the UPM device. The power amplifier in the UPM
amplifies the current and drives the motor. The table moves back and forth at the position and
frequency of the commanded sine wave. The resulting displacement and acceleration of the stage are
Document Number 632 / Revision 3.10 / Page 1

measured by the on-board encoder sensor and the accelerometer sensor. The encoder and accelerometer
are connected to the DAC board and their signals can be displayed and processed further in WinCon.
Plotted data can be also be saved for later analysis.
Figure 2: Overview of major system components.
Section 3 describes the various devices composing the Shake Table II system and gives some
specifications. The wiring procedure for a typical setup is explained in Section 4. In Section 5, the
procedures to run the basic experiments on the shake table are described. It explains, for instance, how
how to make the top stage of the shake table track a sine wave. Section 6 goes into more detail and
explains how to design custom shake table controllers. For example, the user may wish to have the
shake table track a sawtooth wave instead of a sine wave. This is not already supplied and would have
to be created. In addition, Section 6 discusses how to download recorded earthquake data from the
Internet and replay them on the shake table.
2. Prerequisites
To successfully run a Shake Table II controller, the prerequisites are:

i. To be familiar with your Shake Table II main components (e.g. actuator, sensors), your data
acquisition card (e.g. Q8), and your power amplifier (e.g. UPM), as described in this manual,
References [1], and [2], respectively.
ii. To be familiar with WinCon enough to open a WinCon Project and run it to control the position
of the shake table device. This is explained in this manual.
iii. For the advanced configuration (to be explained later), users need to be familiar in using
WinCon to control and monitor the plant in real-time and in designing their controller through
Simulink. Reference [3] provides full details of the WinCon software.
3. System Description
The main components that compose the Shake Table II device are identified in Section 3.1 and those
components are described in Section 3.2. See Section 3.3 for a listing of the Shake Table II
specifications.
3.1. Component Nomenclature

Table 1 provides a list of all the principal elements composing the Shake Table II system. The
components are identified on the Shake Table II system in figures 3 and 4 through the corresponding
identification (ID) numbers.
ID # Description ID # Description
1 Stage 9 Sensor Circuit Board
2 Base Plate 10 Left Limit Sensor
3 Brushless DC Motor 11 Home Position Sensor
4 Lead screw 12 Right Limit Sensor
5 Ball nut 13 Motor Leads Connector
Motor Encoder & Hall Sensors
6 Manual adjustment. 14
Connector
7 Hardened Steel Guide Rail 15 Accelerometer
8 Linear bearing block 16 Accelerometer Connector
Table 1: Component nomenclature.

Figure 3: Top view of Shake Table II components.
Figure 4: Front view of Shake Table II components.

3.2. Component Description

This section describes some of the components listed in Table 1 above.
3.2.1. Stage (Component #1)

Table 2 below lists and characterizes the overall dimensions of the 18-inch by 18-inch top stage or
platform of the Shake Table II system. It is labeled with ID #1 and shown in figures 3 and 4. As
illustrated, the top plate has many screw holes that can be used to fasten structures and other objects
such as the Quanser AMD-1 and AMD-2 structures (see Reference [5] and [6]).
Description Value Unit

Length 0.457 m
Width 0.457 m
Thickness 0.0097 m
Table 2: Dimensions of the top stage.
3.2.2. Bottom Plate (Component #2)

The bottom support plate of the Shake Table II is pictured in figures 3 and 4 by ID #2 and its
dimensions are given in Table 3. The metal shafts as well as the ball-screw are all fastened onto this
plate. Notice that there are four large screw holes at each corner as well as 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.
Description Value Unit

Length 0.609 m
Width 0.457 m
Thickness 0.00124 m
Table 3: Dimensions of the bottom plate.
3.2.3. Brushless DC Motor (Component #3)

The Shake Table II incorporates a Kollmorgen AKM24 brushless 3-phase DC Motor, as shown in
Figure 3 by ID #3. The motor has a power of 400 Watts. 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 4. More detailed motor specifications are available in Reference [4].

3.2.4. Lead Screw (Component #4)

The lead screw, shown by ID #4 in Figure 4, circulates through a ball nut, component #5 in Figure 4,
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.
3.2.5. 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 m.
3.2.6. Linear Bearing Block (Component #8)

For smooth motion, the stage is fitted with low friction linear ball bearing blocks, shown by ID #8 in
figures 4 and 5, that glide on two ground hardened shafts, identified by component #7 in figures 3 and
4.
3.2.7. Limit Switches (Components #10, 11, and 12)

These Left, Home, and Right, proximity sensors are shown in Figure 4 with ID # 10, 11, and 12,
respectively. The Left or Right limit switch 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 by UPM-180-25B to deactivate the power amplifier for safety
as well as for calibrating the stage to its center position.
3.2.8. Accelerometer (Component #15)

An accelerometer is mounted underneath the top stage of the Shake Table II that measures the
acceleration in both the x and y directions. It is shown with ID #15 label in Figure 3. The analog sensor
is calibrated such that 1 Volt equals 1 g, or 9.81 m/s2.
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.
3.3. Specifications
The main specifications of the Shake Table II are given in Table 4. See Reference [2] for UPM-180-
25B specifications and Reference [4] for a complete listing of the DC motor characteristics.

Parameter Matlab Parameter Description SI Units IM Value Units

Notation Value
Rm Rm Motor armature resistance. 2.94 ohm
Kt Kt Motor current-torque constant. 0.360 N.m/A 3.2 lb.in/
A
Km Km Motor back-emf constant. 0.2034 V/(rad/s) 23.4 V/krpm
Pb Pb Ball-screw pitch. 0.0127 m/rev 0.5 in/rev
Mp Mp Preload mass. 7.74 kg 17.1 lb
Ml_max Ml_max Maximum total load mass. 15.0 kg 33.0 lb
Ms Ms Mass of Shake Table II system. 27.2 kg 60.0 lb
Dimension of top stage. 0.46 m2 18.0 in2
0.46 18.0
Dimension of bottom stage. 0.61 m2 24.0 in2
0.46 18.0
Height from bottom to top stage. 12.4 cm 4.875 in
xmax P_MAX Maximum stroke position. 76.2 mm 3.0 in
vmax VEL_M Maximum linear velocity of stage. 664.9 mm/s 26.18 in/s
AX
Fmax F_MAX Maximum linear force of stage. 708.7 N 159.3 lb
amax ACC_M Maximum linear acceleration of stage 24.5 m/s2
AX for 0 kg load.
gmax G_MAX Maximum linear acceleration of stage 2.50 g
for 0 kg load.
KENC K_ENC Encoder sensitivity gain 3.1006 m/coun in/cou
t 1.22E-004 nt
KACC K_ACC Accelerometer sensitivity gain -1 g/V
Dynamic load capacity of ball nut. 12000 N 2697.6 lb
Life expectancy of ball nut at full 6.35E+0 m 2.50E+01 in
load. 08 0
Life expectancy of linear bearing. 6.35E+0 m 2.50E+00 in
06 8
Load carrying capacity of linear 131.5 kg 290 lb
bearings.
Table 4: Shake Table II specifications.

4. System Setup
To setup this experiment, the following hardware and software are required:
Power Amplifier: Quanser UPM 180-25B, as detailed in Reference [2].
Data Acquisition Board: Quanser Q4 or Q8 board. See Reference [1] for details.
Shake Table II Plant: Quanser Shake Table II, as shown in Figure 1 above.
Real-Time Control Software: WinCon-RTX configuration detailed in Reference [3].
Follow these steps to setup the Shake Table II system:

1. Install the Quanser Q4/Q8 board in a PC as described in Reference [1]. Reference [1] also
provides a detailed description of the Q4/Q8 board.
CAUTION: In many cases a PC is shipped with the STII system that is already setup with
WinCon and either a Q4 or Q8 board. In that case, the Q4/Q8 board does not need to be
installed..
2. Install the WinCon control software on the PC and its associated programs as described in
Reference [10]. Also see Section 4.1 for a listing of the necessary software needed depending on
whether the basic or advanced configuration is to be setup.
CAUTION: In many cases a PC is shipped with the STII system that is already setup with
WinCon. In that case, WinCon does not need to be installed.
3. Connect the Quanser UPM-180-25B and the Shake Table II to the Q4/Q8 data-acquisition
system as explained in Section 4.2. The Quanser UPM-180-25B is the power amplifier used to
drive the shake table motor and is described in Reference [2]
4.1. Software Requirements

There are two system configurations: basic and advanced. The basic configuration only enables users
to run previously made WinCon controllers. It does not let users create or modify new ones as in the
advanced configuration. Further, the advanced configuration enables users to perform more advanced
analysis such as finding the FFT of a signal.
4.1.1. Basic Configuration

As already mentioned, the basic setup allows users to run the previously made WinCon controllers that
are supplied with the Shake Table II CD. For example, users can load the q_sine.wcp file with WinCon
to make the table track a sine wave. In this system configuration however, the functionality of the
existing controllers cannot be modified and new controllers cannot be created. Thus a new controller
that makes the table track a sawtooth wave command could not be constructed.
Software components for the basic configuration:

Windows 2000/XP
RTX
WinCon

See Reference [10] for details on the compatible Windows and RTX versions needed to run WinCon.
4.1.2. Advanced Configuration

In the advanced setup, users can run the previously constructed WinCon controllers. In addition, users
gain the ability to modify existing and create new WinCon controllers. The Matlab/Simulink package
along with Visual Studio .NET is required for this. Here is the necessary software components for the
advanced configuration:
Windows 2000/XP
RTX
WinCon
Matlab loaded with the following:
Simulink
Real-time Workshop (RTW)
Visual Studio .NET
See Reference [10] for details on the compatible Windows, RTX, Matlab/Simulink, and Visual Studio
.NET versions needed to run WinCon.
4.2. Hardware Setup
The different cables used to connect the various components of the shake table system is described in
Section 4.2.1. Section 4.2.2 explains how to connect the Quanser Q8 Extended Terminal Board to
either the Quanser Q4 or Q8 data acquisition card. In Section 4.2.3, the typical connections between the
Q4 or Q8 board, the UPM-180-25B device, and the Shake Table II are described.
4.2.1. Cable Nomenclature

The various connector cables that are provided with the Shake Table II system are listed in Table 5. If
additional system were ordered, such as the AMD-1 or AMD-2 (see references [5] and [6]), then other
cables not listed Table 5 will have been supplied.

Cable 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 180-25B (i.e. the output of the
power module after signal amplification) to the brushless DC
motor of the shake table.
Figure 5: "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 6: "To Device" cable

The "From MultiQ" 25-pin parallel 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 calibrate and enable digital signals.
Figure 7: "From MultiQ" cable.

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.
Figure 8: "Emergency Stop" cable.

Cable Description
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.
Figure 9: "From Analog Sensors" cable.
Table 5: Cable nomenclature.
4.2.2. Connecting the Q8 Extended Terminal Board

Before wiring the ST II system, the Q4 or Q8 data-acquisition card must first be installed and connected
to Q8 Extended Terminal Board. This terminal board is made specifically to interface with the Quanser
UPM-180-25B device and is different then the standard terminal boards used.
If not already done so, see Reference [1] for instructions on how to install the Q4 or Q8 hardware-in-
the-loop board in your PC. Then, follow these instructions to connect the Q4 or Q8 hardware-in-the-
loop board to the Q8 Extended Terminal Board:
1. Ensure that the PC is powered off and that you are grounded.
2. Connect the ribbon cable labeled J3 into the Cable 3 connector on the Extended Terminal
Board. Cable 3 is the shortest cable. In a tower PC, it will be the topmost cable where it comes
out of the PC.
CAUTION: The red line on the ribbon cable should be closest to the "Table X" and
"Table Y" parallel input connectors on the terminal board. The connectors have a tab
such that they only go in one way.
3. Table 6 summarizes the connections between the Q4 and Q8 HIL board and the Q8 Extended
Terminal Board. If using a Q8 control board, connect the J2 ribbon cable from the Q8 into the
Cable 2 connector on the Q8 Extended Terminal Board. Cable 2 is the second shortest cable. In
a tower unit, it is the middle cable where the ribbon cables exit the PC. If using a Q4 control
board, there is no J2 cable and the Cable 2 connector on the terminal board is left unused.
4. Connect the J1 ribbon cable to the Cable 1 connector on the Q8 Extended Terminal Board. This
is the longest ribbon cable.
5. With the terminal board sitting on top of the tower unit, the ribbon cables should not be twisted
and should all lie neatly on top of one another. The cables are slightly offset from one another
on the terminal board to match the offset of the connectors on the data acquisition card. The text
on the terminal board should face the front of the computer.
6. Use the ribbon cable clamp provided to secure the ribbon cables together. The clamp comes
with a peel-and-stick base so that you can mount the clamp to a clean surface, such as the top of
your PC. Put the cables in the clamp before mounting it. If you do not wish to mount the clamp,
then do not remove the peel-and-stick paper. Use of the clamp is unnecessary, but helps to keep
your Q8 data acquisition system neat and tidy.

As mentioned in the procedure, in the Q4 DAQ board setup there is no J2 ribbon cable. As a result, the
Cable 2 connector on Q8 Extended Terminal Board is not used.
Quanser HIL Board Connections to Q8 Extended Terminal Board

Q8 J1 -> CHANNEL 1
J2 -> CHANNEL 2
J3 -> CHANNEL 3
Q4 J1 -> CHANNEL 1
J3 -> CHANNEL 3
Table 6: Ribbon cable connections between Quanser Q4/Q8 HIL board and Q8 Extended Terminal Board.
See Reference [1] for instruction on how to install the necessary drivers for the Q4 or Q8 board. Once
the Q4/Q8 has been properly tested, you can proceed to Section 4.2.3 and wire the ST II system.
4.2.3. Shake Table II Wiring Procedure

The procedure in Section 4.2.3.1 explains in detail how to connect the Shake Table II system to run
experiments. Section 4.2.3.2 provides a brief summary of the required connections.
4.2.3.1. Detailed Wiring Procedure

This section describes in detail how to connect the Shake Table II, UPM-180-25B and Q8 Extended
Terminal Board together. The connections are illustrated in figures 10, 11, and 12 with a corresponding
identification number. Follow these steps to wire the ST II system:
1. Connect cable #1 from the "Table X" connector on the Quanser Q8 Extended Terminal Board,
shown in Figure 10, to the "From MultiQ" connector on the Quanser UPM-180-25B, as depicted
Figure 11. This connection is done using the parallel cable shown in Figure 7. See Appendix B
for a listing of all the signals that are passed through this cable.
2. Connect cable #2 from the "To Device" connector located on the UPM front panel, as shown in
Figure 11, to the ST II circuit board illustrated in Figure 12. This cable used in this connection is
the DB15 cable described in Table 5 and pictured in Figure 6. It carries all three proximity
sensor signals, the motor encoder signals, and the brushless motor hall sensor signals to the
UPM-180-25B unit. The motor encoder is used to calculate the linear position of the cart and is
denoted by the variable x.
3. Connect cable #3 into the side of the UPM, as presented in Figure 11. Cable #3 is the
"Emergency Stop" cable described in Table 5 and illustrated in Figure 8. The UPM is active if
and only if the remote E-Stop switch is depressed.
4. Connect cable #4 from the "Motor" connector located on the UPM front panel, as depicted in
Figure 11, to the "Motor" connector on the shake table, as shown Figure 12. The motor leads
connector is component #13 in Figure 3. This connection is done using the "Motor" cable
described in Table 5 and illustrated in Figure 5. It carries the required 3-phase power to the

brushless motor.
5. Connect cable #5 from the analog connector on the accelerometer mounted on the shake table ,
see Figure 12, to the S1 connector on the front panel of the UPM-180-25B. Ensure the UPM
is not powered when making this connection. It carries the acceleration measured by the
accelerometer.
6. Go through the ST II test procedure in Section 5.3.
Figure 10: Connections on the Q8 Extended Terminal Board. Figure 11: Connections on UPM-180-25B.

Figure 12: Connections of the Shake Table II device.
4.2.3.2. Wiring Summary

See Table 7 below for a summary of the Shake Table II connections.
Cable # Cable Type From To Function

1 25-pin "Table X" on the "From MultiQ" Drives the amplifier to move the
Parallel Cable Terminal Board on the blue stage and receives the accelerometer,
UPM-180-25B stage encoder, calibration, and limit
detector signals from UPM.
2 15-pin "To Device" on Circuit board on Receives the encoder and limit
Parallel Cable the blue UPM- the Shake Table detector signals from the shake table.
180-25B II
3 "Emergency E-Stop Switch UPM E-Stop Carries the emergency stop signal.
Stop" Cable Connector
4 4-pin Motor "Motor" Motor connector Connects the shake table motor leads
Cable Connector on the on the Shake to the amplifier on the UPM.

Cable # Cable Type From To Function

UPM-180-25B Table II
5 Analog Cable: "S1" Connector Accelerometer Carries the acceleration signal of the
6-pin-mini- on the on the on the Shake stage to the UPM.
DIN to 6-pin- UPM-180-25B Table II
mini-DIN
Table 7: Shake Table II wiring summary.
5. Performing Shake Table II Experiments with WinCon

Section 5.1 briefly describes the directory structure of the Shake Table II CD. All users, both those with
the basic and advanced system configurations, should go through the standard experiments listed in
Section 5.2 and the procedure in Section 5.3 to test the Shake Table II connections.
5.1. Overview of Shake Table II CD

The Shake Table II CD supplied with the system contains various files. There are three folders on the
shake table CD that correspond to three different system configurations and they are explained in Table
8.
Folder Name Description

STII Contains this manual as well as controllers to run the Shake Table II system by itself.
AMD Has manuals and controllers for using the Quanser Active Mass Damper by itself.
The active mass damper, i.e. The linear cart on top of the building, perturbs the
building and then dampens for the building oscillations. The one floor structure is
called AMD-1 and is described in Reference [5] and the two floor structure is called
the AMD-2 device and is presented in Reference [6].
STII+AMD Contains manuals and controllers to use the Quanser AMD-1, AMD-2, and 2xAMD-
1 systems when mounted on top of the Shake Table II system. See Reference [7], [8],
and [9] for more information on the STII+AMD-1, STII+AMD-2, and
STII+2xAMD-1 systems. In this configuration, the shake table provides the base
motions to perturb the building while the active mass does the vibration dampening.
Table 8: Description of main folder on the Shake Table II CD.

Figure 13: Shake Table II with the Figure 14: Shake Table II with the Figure 15: Shake Table II with the
Quanser AMD-1 system. Quanser AMD-2 system. Quanser 2xAMD-1 system.
The STII folder on the Shake Table II CD has the following directory structure:
\STII
......... \Manual
........................... \UPM Manual
........................... \Specifications
......... \Lab Files
........................... \q4
......... ........................... \wcp
......... ........................... \mdl
........................... \q8
......... ........................... \wcp
......... ........................... \mdl
The Manual folder contains documentation such as this Shake Table II User Manual, the Universal
Power Module User Manual, and the motor specification sheet. The Lab Files directory includes
previously compiled WinCon controllers that were built for the Q4 and Q8 boards, in the wcp folder, as
well as the source Simulink models that were used to create those WinCon controllers, in the mdl
folder. The wcp name stands for WinCon Project and the mdl folder name denotes Simulink Model.
Choose the lab files depending on the whether the Quanser Q4 or Q8 HIL board is connected to the ST
II.

5.2. Standard ST II Experiments

There are five standard controllers for the Shake Table II: initializing the UPM, calibrating the stage to
the home position, running a sine wave, running a sine sweep, and running an earthquake. These
standard experiments are contained in the wcp folder of the Shake Table II CD. The WinCon Project
file name for each experiment is listed in Table 9 below. It also includes a description of the experiment
(what WinCon Project does when ran) and the section number where the procedure to run the WinCon
Project is given. Only the basic configuration is required to run these experiments (Matlab is not
needed).
File Name Description Section Number

q_boot_upm_zz.wcp Initializes the UPM-180-25B to make the 5.2.1
amplifier ready-to-be-enabled. This has
to be done prior to performing any of the
ST II experiments.
q_cal_zz.wcp Returns the stage to the home position. 5.2.2
The stage should be at the home position
before running any of the experiments.
q_sine_zz.wcp Position of the stage tracks a sine wave 5.2.5
with an amplitude and frequency set by
the user.
q_sweep_zz.wcp Sends a sine sweep to the shake table for 5.2.4
generating the frequency response.
q_quake_kobe_zz.wcp Kobe earthquake. 5.2.5
q_quake_northridge_zz.wcp Northridge earthquake. 5.2.5
start_exp.m Opens a graphical user interface that can 5.2.7
be used to open the various WinCon
Projects. Matlab is needed to run this.
Table 9: Files supplied in the "wcp" folder of the Shake Table II CD.
In addition, see Section 5.2.6 for more information on using scopes. It lists a description of all the
scopes available for viewing, explains how to open new scopes, and how to adjust the time axis of a
plot.
5.2.1. Initializing UPM

When the blue UPM-180-25B is first powered, the Left and Right LEDs located on its front panel
should be blinking. To stop the blinking and initialize the UPM-180-25B device, run the
q_boot_upm_zz.wcp project as instructed in the Reference [2] in Section 3.5.1. The steps are
summarized here:
1. Ensure that the Safety Override switch, located on the UPM front panel, is OFF.

2. Connect the Emergency Stop cable to the connector on the side panel of the UPM.
3. Rotate the knob in the counter-clockwise direction until it is released in the upright position.
The amplifier cannot drive the motor when the red knob is pushed in.
4. After power up, the Left and Right LEDs on the UPM front panel should be blinking. If the
lights are NOT flashing consult Reference [2].
5. Load the WinCon Server software (typically placed under Quanser | WinCon in the Windows
START menu).
6. Open the q_boot_upm_zz.wcp WinCon project that is supplied. The zz suffix denotes the type of
data-acquisition card being used. For example, if zz is q4 then the file is meant to be used with
the Quanser Q4 control board. Alternatively, if zz is q8 then the file is to be used with the
Quanser Q8 data-acquisition system.
7. Run the initialization controller by clicking on the green START button in the WinCon Server
window.
8. The Left and Right LEDs should stop flashing and the window shown in Figure 16 should be
prompted. If the LEDs are no longer blinking, then the UPM amplifier is ready to be used for
the various ST II experiments.
Figure 16: Message prompted after running UPM boot WCP.
5.2.2. Calibrating Stage

Before running any of the experiments the stage of the Shake Table II should be in the mid-stroke
position. This position is called the Home position because the Home limit sensor is triggered when the
stage is centered.
Follow this procedure to calibrate the stage to the Home position:

1. Ensure the UPM180-25B has been initialized as instructed in Section 5.2.1.
2. Load the WinCon Server software (usually under Quanser | WinCon in the Windows START
menu).
3. In the WinCon Server window, click on File | Open and select the WinCon Project file
q_cal_zz.wcp.
4. Click on the green START button in the WinCon Server window.
ATTENTION: PRESS DOWN on the RED BUTTON of the E-Stop switch in case of
emergency. If something goes wrong during an experiment, pressing the red button of the E-
Stop switch disables the amplifier and shuts off the DC motor power.
5. On the front panel of the UPM, the LEDs Cal, OK, and Enable LEDs should all be lit and the
stage should begin moving. If the Left or Right limit sensor was already triggered, then the stage
begins to immediately move towards the center. If no limit switch was initially triggered, then
the stage will begins to move towards Left limit sensor. Once the Left limit sensor is hit, the

stage reverses its direction and begins moving towards the mid-stroke position. The stage stops
moving when the Home limit switch is triggered (the Home LED on the UPM will go ON).
When complete, the message shown in Figure 17 is displayed.
Figure 17: Messaged prompted after running

calibration WCP.
6. 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.
7. If the table is not moving consult the troubleshooting guide at the end of this manual.
When the UPM is placed in the calibration mode, i.e. 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. Normally and for all the other experiments, the amplifier is disabled
when the Left or Right sensor is triggered.
CAUTION: If the stage remains motionless when running the q_cal_zz controller (when not at
home position) try running the q_boot_upm project again. Thus stop the q_cal_zz controller, go
through the procedure in Section 5.2.1, and then run q_cal_zz again as explained above.
5.2.3. Sine Wave

In this experiment, the position of the Shake Table II stage tracks a user-specified sine wave signal. The
user can specify the amplitude and frequency of the sine wave.
Follow these steps to run the sine wave project:

1. Make sure the amplifier has been initialized as discussed in Section 5.2.1.
2. CAUTION: Ensure table is at HOME position before running this experiment! Otherwise
the experiment may stop prematurely because the table reached the left or right limit sensors. If
the Home LED on the front panel of the blue UPM-180-25B is not lit, then go through the
calibration procedure in Section 5.2.2.
menu).
q_sine_zz.wcp. The project contains the control panel shown in Figure 18 and the x (m) scope,
depicted in Figure 19 with results. The control panel has a vertical slider to change the
amplitude of the sine wave position command and a knob to control the frequency of the signal.

Figure 18: Front panel of sine wave WCP.
5. Click on the green START button in the WinCon Server window. The x (m) scope should begin
plotting data and the START button in the WinCon Server window should now be a red STOP
button. Since the amplitude in the control panel is set to 0, the table is not commanded any
position and therefore should not be moving.
6. The Enable and OK LEDs on the UPM should be lit. Consult the troubleshooting guide if this
is not the case.
7. Move the vertical slider in the Control Panel to 0.02 meters. The stage should begin tracking a
sine wave of 20 cm at a frequency of 0.5 Hz. The x (m) scope displays the desired or
commanded position set by the user and the resulting measured position. Figure 19 illustrates
the results when the sine wave frequency is changed from 0.5 Hz to 1.0 Hz at around the 2
second mark. As shown, both the desired and measured responses are almost identical
(however, there is always a small discrepancy due to the sampling delay).

Figure 19: The x (m) scope when running the q_sine_q8 controller.
8. When finished set the Amplitude (m) control knob to 0 m, in order to bring the stage back to
Home position.
9. Click on the red STOP button in the WinCon Server window to stop running the sine wave
controller.
10. Shut off the UPM-180-25B power.
5.2.4. Sine Sweep

The sine sweep, also known as a chirp signal, is a sine wave with a fixed amplitude that increases in
frequency as time progresses. In this experiment, the stage of the Shake Table II tracks a given sine
sweep that increases from 1 Hz to 15 Hz in 30 seconds. By default the sine amplitude is 0.2 cm but this
can be varied though the control panel. Typically the sine sweep is used to find the frequency response
of a structure that is mounted on the table stage (need the advanced package for this).
Follow this procedure to run the sine sweep controller:

1. Ensure the amplifier has been initialized as discussed in Section 5.2.1.
2. ATTENTION: Ensure table is at HOME position before running this experiment!
Otherwise the experiment may stop prematurely because the table reached the left or right limit
sensors. If the Home LED on the front panel of the blue UPM-180-25B is not lit, then go
through the calibration procedure in Section 5.2.2.
menu).

q_sweep_zz.wcp. The project contains the control panel shown in Figure 20 and the scope a_tbl
(g) pictured in Figure 21 with data. With the vertical slider in the control panel, the user can
change the amplitude of the sine sweep signal between 0 and 3 cm. The a_tbl (g) scope displays
the acceleration measured by the table accelerometer in gravitational units, g.
Figure 20: Control panel for sine sweep

project.
5. Click on the green START button in the WinCon Server window to start the controller.
At first, the stage moves back and forth slowly as it tracks the sine wave and the a_tbl (g) scope
begins plotting acceleration data. The stage will begin oscillating faster and faster as the
frequency of the position command increases over time. The sine sweep lasts 30 seconds and is
automatically restarted once the duration is reached. See Figure 21 for a typical acceleration
measurement after running the sine sweep on the shake table.

Figure 21: The a_tbl (g) scope after running the q_sweep_q8 controller.
6. Click on the red STOP button in the WinCon Server window to stop running the sine sweep
controller.
7. Shut off the UPM-180-25B power.
5.2.5. Sample Earthquake

Recorded earthquake data that was collected when actual earthquake occurred can be scaled down and
ran on the shake table. Two standard historical earthquakes have been supplied for the user: Kobe and
Northridge.
Follow this procedure to run a sample earthquake:

1. Ensure the amplifier has been initialized as discussed in Section 5.2.1.
2. ATTENTION: Ensure table is at HOME position before running this experiment!
Otherwise the experiment may stop prematurely because the table reached the left or right limit
sensors. If the Home LED on the front panel of the blue UPM-180-25B is not lit, then go
through the calibration procedure in Section 5.2.2.
menu).
4. In the WinCon Server window, click on File | Open and select either the q_kobe_zz.wcp or
q_northridge_zz.wcp WinCon Project files to run the Kobe or Northridge earthquakes on the
table. The projects include the a_tbl (g) scope, depicted in Figure 22 after running the
experiment, that displays the desired acceleration, which is the actual recorded acceleration of
the tremor, in green and the acceleration measured by the table accelerometer in red. Both
accelerations are given in gravitational units, g, and should be similar.

5. Click on the green START button in the WinCon Server window.

PRESS DOWN on the RED BUTTON of the E-Stop switch in case of emergency. If
something goes wrong during an experiment, pressing the red button of the E-Stop switch
disables the amplifier and shuts off the DC motor power.
The stage should begin moving back and forth and the accelerations in the a_tbl (g) scope
should start plotting. The end result is shown in Figure 22.
Figure 22: Acceleration measurements plotted in a_tbl (g) scope after running
Northridge earthquake.
6. WinCon stops automatically when the earthquake duration has been reached.
7. Shut off the UPM-180-25B power
5.2.6. Working with Scopes

Section 5.2.6.1 describes all the scopes available for viewing and Section 5.2.6.2 explains how to open
a new scope (that was perhaps not already opened when loading the WinCon Project). The procedure to
decrease or increase the time scale of a scope is described in Section 5.2.6.3.
5.2.6.1. Scope Descriptions

With the exception of the q_boot_upm_zz, all the supplied ST II controllers include the scopes listed in
Table 10.

Matlab Name Variable Description

Name
x (m) x Displays two plots:
(1) green plot is the desired stage position in meters
(2) red plot is the measured stage position in meters
x (in) x Same as above except position shown in inches.
V (m/s) vx Measured stage velocity in meters per second calculated from position
measurement.
V (in/s) vx Same as above except in inches per second.
x_ddot (g) ax,enc Acceleration of stage calculated from the position measurement given in
gravitational units, g.
x_ddot (m/s^2) ax,enc Same as above except acceleration shown in meters per second squared,
m/s2.
Im (A) Im Input motor current in amperes.
a_tbl (g) ag Displays two plots:
(1) green plot is the stage acceleration measured by the
accelerometer
(2) red plot is the desired acceleration used (set to 0 when using
q_sine_zz or q_sweep_zz controllers).
a_tbl (m/s^2) ag Same as above except acceleration shown in meters per second squared,
m/s2.
a_f1 (g) af1 Acceleration of the stage measured by accelerometer #1 in gravitational
units, g. It is denoted a_f1 because, typically, it is used with the
accelerometer mounted on the first floor of the Quanser AMD-1 or
AMD-2 structure (see Reference [5] and [6] for more information).
a_f1 (m/s^2) af1 Same as above except acceleration shown in meters per second squared,
m/s2.
a_f2 (g) af2 Acceleration of the stage measured by accelerometer #2 in gravitational
units, g. It is denoted a_f2 because, typically, it is used with the
accelerometer mounted on the second floor of a Quanser AMD-2
structure (see Reference [6] for more information).
a_f2 (m/s2) af2 Same as above except acceleration shown in meters per second squared,
m/s2.
Table 10: Description of the predefined scopes in the ST II WinCon Projects.
As described in Table 10, the x (m), x (in), a_tbl (g), and a_tbl (m/s2) scopes display two variables of
data. Most of the time, the desired and measured positions in the x scopes closely match one another
and, as a result, the green (desired) and red (measured) plot traces will be almost directly on top of each

other.
The desired acceleration is only used in controllers with a previously defined trajectory, such as the
q_kobe_zz or q_northridge_zz controllers. When running those experiments, the green desired
acceleration trace and the red measured acceleration traces in the a_tbl (g), and a_tbl (m/s2) scopes will
closely match. However, when running the q_sine_zz or q_sweep_zz controllers the green desired
acceleration scope is set to 0 because there is no desired acceleration defined (only the red measured
signal will be shown).
5.2.6.2. Opening Additional Scopes

When opening a WinCon Project such as q_sine_zz.wcp, only the x (m) scope is loaded. If the user
wishes to view, for instance, the acceleration measured by the stage accelerometer in g units, then the
a_tbl (g) scopes has to be opened.
Follow these steps to open one of the scopes defined in Table 10

1. Load one of the supplied WinCon projects (except q_boot_upm or q_cal_zz) as described by the
above procedures.
2. Click on the Open plot button in the WinCon Server window, as shown in Figure 23 below.
Figure 23: Open plot button in the WinCon Server window.
3. Select the variables to view. For example as illustrated in Figure 24, to view the velocity and
acceleration of the stage place a check mark on the v (m) and a_tbl (g) items.

Figure 24: Selecting scopes to be opened.
4. Click on the OK button to load the scope(s).
5.2.6.3. Changing Time Scale of a Scope

By default, scopes have a time-scale of 5.0 seconds. The horizontal time-scale, or buffer size, of a scope
can be changed in order to view data over a larger span of time or to zoom up on a response by
decreasing the time-scale.
Follow this procedure to change the time buffer of an opened scope:

1. Select the Update | Buffer... item in the scope menu bar to load the Select Buffer Size window
shown in Figure 25.
Figure 25: Changing scope time buffer

window.
2. Enter a new time buffer. For example, if 10 seconds is entered instead of 5 then the scope will
display 10 seconds of data instead of 5 seconds.
3. Click on the OK button to apply the changes.

5.2.7. Optional: Using the GUI

For users with the Advanced package, or at least those that have Matlab , the graphical user-interface
shown in Figure 26 can be used to browse through the various supplied WinCon Projects.
Figure 26: GUI for browsing through ST II WinCon controllers.
Follow this procedure to open the GUI:

1. Load Matlab
2. Through the Current Directory window, go to the STII\Lab Files\zz\wcp folder (where zz is q4
or q8) on your PC (which was copied from the ST II CD).
3. Run the start_exp.m Matlab script. The GUI shown in Figure 26 should load.
4. Click on a button to load the corresponding WinCon Project. For example, click on the Sine
Wave button to load the sine controller that is explained in Section 5.2.3.
5. Click on the EXIT button to close the GUI.
5.3. ST II Test
This section goes through a procedure to test the Shake Table II hardware after it has been setup as
dictated in Section 4. This method should be undergone before performing any of the standards
experiments
Follow these steps to test the Shake Table II:

1. Verify that the system has been setup as instructed in Section 4.
2. Turn the blue UPM power ON. The Left and Right LEDs should be blinking. To stop the
blinking and initialize the UPM-180-25B device, run the q_boot_upm_zz project as instructed in
the Section 5.2.1. If the Left and Right LEDs stop blinking the UPM has been initialized. This
also implies that WinCon has been properly installed and that the UPM and Q4/Q8 connection
has been made properly. Move on to the next step if this test passed.
3. Run the q_cal_zz controller as detailed in Section 5.2.2 to center the stage. If this test works
then the Shake Table II and UPM connections have been made properly and the user can
continue to the next step.
4. Run the q_sine_zz controller explained in Section 5.2.3. If the table tracks the commanded sine
wave then the system has been properly installed and is functioning properly.

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Specialty Plant: Shake Table II

Position Control and

How to contact Quanser:

+1 (905) 940-3575 Telephone

+1 (905) 940-3576 Facsimile

80 Esna Park Drive, # 1-3

mailto://[email protected] General information

Quanser Shake Table II User Manual

MATLAB is a registered trademarks of The MathWorks, Inc.

2007 Quanser Inc.

Document Number 632 / Revision 3.10 / Page i

4.2. Hardware Setup.................................................................................................................................9

5. PERFORMING SHAKE TABLE II EXPERIMENTS WITH WINCON....................................................................15

Document Number 632 / Revision 3.10 / Page ii

5.2. Standard ST II Experiments............................................................................................................17

6. CREATING CUSTOM ST II EXPERIMENTS................................................................................................. 29

6.4. Matlab Scripts................................................................................................................................. 45

6.5. Sine Wave: q_sine_zz.mdl..............................................................................................................65

6.6. Sine Sweep: q_sweep_zz.mdl.........................................................................................................70

Document Number 632 / Revision 3.10 / Page iii

6.6.1. Model Description................................................................................................................................ 70

6.7. Predefined Data: q_data_zz.mdl..................................................................................................... 72

APPENDIX A. TROUBLESHOOTING GUIDE...................................................................................................... 80

APPENDIX B. Q8 EXTENDED TERMINAL BOARD SIGNALS.............................................................................. 81

Document Number 632 / Revision 3.10 / Page iv

Document Number 632 / Revision 3.10 / Page v

Figure 41: Acceleration scopes in WinCon ST II Library........................................................................44

Document Number 632 / Revision 3.10 / Page vi

Document Number 632 / Revision 3.10 / Page vii

Figure 1: Shake Table II system.

Document Number 632 / Revision 3.10 / Page 1

Figure 2: Overview of major system components.

Document Number 632 / Revision 3.10 / Page 2

3.1. Component Nomenclature

Document Number 632 / Revision 3.10 / Page 3

Figure 3: Top view of Shake Table II components.

Figure 4: Front view of Shake Table II components.

Document Number 632 / Revision 3.10 / Page 4

3.2. Component Description

3.2.1. Stage (Component #1)

Description Value Unit

3.2.2. Bottom Plate (Component #2)

Description Value Unit

3.2.3. Brushless DC Motor (Component #3)

Document Number 632 / Revision 3.10 / Page 5

3.2.4. Lead Screw (Component #4)

3.2.6. Linear Bearing Block (Component #8)

3.2.7. Limit Switches (Components #10, 11, and 12)

3.2.8. Accelerometer (Component #15)

Document Number 632 / Revision 3.10 / Page 6

Parameter Matlab Parameter Description SI Units IM Value Units

Document Number 632 / Revision 3.10 / Page 7

Follow these steps to setup the Shake Table II system:

4.1. Software Requirements

4.1.1. Basic Configuration

Software components for the basic configuration:

Document Number 632 / Revision 3.10 / Page 8

4.1.2. Advanced Configuration

4.2. Hardware Setup

4.2.1. Cable Nomenclature