REPORT

Project for the bi-directional shaking table system in Laboratory IKI, Kassel University

PhD Student: Phan Trung Vien Supervisor: Prof. Dr.-Ing Uwe E. Dorka

Kassel - 12/2010

1. OBJECTIVES The objectives of this project are to study the bi-directional shaking table system and to characterize its performance capability. Specially, the target of the project is to make a characteristic diagram for limitation of displacement, velocity and acceleration of the shaking table. The diagram will be used as a reference document for using the shaking table. 2. DESCRIPTION OF THE DIRECTIONAL SHAKING TABLE 2.1. Structural and physical parameters BIThe analog displacement signals coming from two displacement transducers are digitally measured by A/D convertors. Then, the measured displacements are compared with the command signals and the displacement control algorithm in ADwin (PID control or/and adaptive control) will compute control signals and then send them to the D/A convertors. The control signals are directly applied on the servo valves for control of the hydraulic cylinders. In addition, other functions such turning on and turning off the hydraulic power are controlled through digital outputs of ADwin. Moreover, since the ADwin allows up to ten processes to run in parallel, ADwin is used not only for displacement control of the table but also for performing tests such hybrid testing, real-time substructure testing and distributed testing. These advanced abilities allow the bidirectional shaking table in University of Kassel to perform on site test as well as to joint geographically distributed testing.

- Dimensions of the table: 1.80 x 1.80m; - Type of the table: steel structure; - Mass of the table: approximately 900 kg; - Bearing systems: 4 bearings for each direction; - Kind of bearing: Rexroth R1651 523 10, Size 55 (file Ball_Rail_R310EN_2202.pdf); - Hydraulic cylinders: SLZ250-400GL, Fn = 250kN, stroke = +/- 200mm; - Servovalve: Star 550, flow max 75 l/min at 70 bar; - Pressure supplier: p=280 bar. 2.2. Control system The shaking table is digitally controlled by a real-time control system ADwin (www.adwin.de). The major functions of ADwin in control of the shaking table are shortly described in following:

3. METHODOLOGY TO CHARACTERIZE PERFOMANCE CAPABILITY OF THE SHAKING TABLE The performance capability of the shaking table is limited by the following factors: - The limitation of stroke of the cylinder: The stroke of cylinder is +/- 200 mm, however, the shaking table can only move up to only +/140mm in each direction because of the geographical limitation of the movement of cylinder on the reaction system. - The limitation of response of the hydraulic system: The maximum displacement, velocity and acceleration of the table are dependent with the frequency and they are limited because of dynamic response of the hydraulic cylinders. These limitations (values of displacements, velocities and accelerators) can be known by testing the performance of the shaking table at several frequencies. Since the cylinders in two directions are in the same, it is needed to test the table in only one direction. - The capacity limitation of bearing system: The shaking table must be used in certain range of load of specimen and controlled in certain range of dynamic response in order to be safe for the working condition of the bearing system. These limitations are based on the data of the bearings. Based on three kinds of limitations above, the performance diagrams of displacement, velocity and acceleration depending on the frequencies are defined, combined and presented in a logarithm graph at the end of the report. 4. CALCULATION, TEST AND DATA PROCESSING 4.1. Case of static loading In this case, results are calculated based on parameters of cylinders and bearings. - Maximum displacement of the table in each direction: Dmax_static = +/- 140 mm. - The limitation of the loading capability of the table: Mmax_static = 8008kg (calculate base on parameters of bearing Rexroth R1651 523 10, Size 55, file Ball_Rail_R310EN_2202.pdf).
2

4.2.

Case of No Added Mass (NAM)

4.2.1. Limitation of displacement Dmax_NAM For each test, the control program generates control signal with a constant frequency and linearly increasing amplitude over the time. The limit working displacement Dmax_NAM is reached when response of the shaking table begins to be asynchronous with the control signal. In the case that the table is working in over the limitation, the graph of response in time domain become saw tooth line. The results of Dmax_NAM in different frequencies are shown in the following table:
frequencies(Hz) 0.1 0.2 0.5 1 2 5 10 20 30, 40, 48 Dmax_NAM (mm) 127.28 114.56 76.4 37.4 19.2 7.51 2.55 0.41 can not be determined

4.2.2. Limitation of accelerator Amax_NAM Amax_NAM values are determined from measured accelerators of the shaking table. First, we determine the moments that the shaking table begins working abnormally by reading data were received from the acceleration sensors and displacement sensors. After that, LABVIEW software was used to filter the measured acceleration and then to determine the amplitude values of the filtered signals at these moments. The results of Amax_NAM with different frequencies are shown in the following table:
frequencies(Hz) 0.1 0.2 0.5 1 2 5 10 20 30, 40, 48 Amax_NAM(mm/s2) 50.25 180.91 645 1570 2900 6600 8800 5900 can not be determined

4.2.3. Limitation of velocity Vmax_NAM The Vmax_NAM values are determined from measured displacements by using differentiation or from measured acceleration by using integration: Differentiation: From measured displacements, the velocity of the table at the moment ti was calculated by formula: Vi = (Di-Di-1) / (ti-ti-1); - Integration: From measured accelerations, the velocity of the table at the moment ti was calculated by formula: Vi = Vi-1 + ((Ai+Ai-1) / 2)*(ti-ti-1). Because the computed velocity has large noise (when it is computed from displacement by differentiation) or large drift from the mean value (when it is computed from acceleration by integration), LABVIEW software was used to filter the error calculated velocities. Finally, base on the filtered velocities, the results of Vmax_NAM in different frequencies are shown in following table.
frequencies (Hz) 0.1 0.2 0.5 1 2 5 10 20 30,40.48 Vmax_NAM (mm/s) 79.97 143.96 200 210 220 210 140 50 can not be determined

4.3.2. Test results The method processed in this case is the same method in part 4.2 (apply for no added mass). The results of the tests in two cases M1 and M2 with different frequencies are shown in two following tables: - Results of the tests in case added mass M1
frequencies (Hz) 0.1 0.2 0.5 1 2 5 10 >=20 Dmax_M1 (mm) 125.94 111.88 69.7 30.5 13.7 Vmax_M1 (mm/s) 79.13 140.59 180 160 141 Amax_M1 (mm/s2) 49.72 176.67 540 1000 1800

2.6 90 2550 0.62 44 2100 Can not be determined

- Results of the tests in case added mass M2

frequencies (Hz) 0.1 0.2 0.5 1 2 5 10 >=20 Dmax_M2 (mm) 124.68 109.36 63.4 26.7 11.3 2.1 0.44 Vmax_M2 (mm/s) 78.34 137.43 175 152 125 Amax_M2 (mm/s2) 49.22 172.70 480 780 1300

75 1800 33 1600 can not be determined

4.4 Final results These results (include results of NAM tests) were used to make three character diagrams for limitation of displacement, velocity and acceleration of the shaking table. Each diagram contains three curves for No Added Mass, added mass 1 Ton (approximate 80% capacity with Amax = 4.4g) and added mass 2 Ton (approximate 80% capacity with Amax = 2g). After combining the data and using SI units, the final graph of the performance capability of the shaking table is shown in the following diagram.

4.3. Case of with added mass M 4.3.1. List of test In this case, the limitations of the displacement, velocity and acceleration depend on both static parameters and dynamic forces (gravity load and inertia forces). After modelling the shaking table with a typical mass M of specimen, we choose two cases: Amax = 4.4g, M1 = 1 Ton and Amax = 2g, M2=2 Ton (approximately 80% capacity of each case) to test in this report. In each case of mass (M1 = 1 Ton and M2 = 2 Ton), the shaking table was tested in difference frequencies (0.5, 1, 2, 5, 10, 20, 30, 40 and 48Hz).
3

PERFORMANCE DIAGRAM OF THE SHAKING TABLE

---------------o0o-------------