Active Mass Damper - Two Floors (AMD
Contents
1. should result in a positive change in the cart position Likewise pushing the cart towards the left side of the track when facing it should result in a decreasing cart position Document Number 570 Revision 02 Page 8 AMD 2 User Manual 4 AMD 2 Model Parameters Table 5 below lists and characterizes the main parameters e g mechanical and electrical specifications convertion factors associated with the Active Mass Damper Two Floor AMD 2 plant Some of these parameters can be used for mathematical modelling of the AMD 2 system as well as to obtain the structure plus cart s Equations Of Motion EOM Symbol Description Value Unit Ha First Floor Height 0 502 m Hp Second 1 e Top Floor Height 1 035 m M Structure Total Mass With No Rack And No Cart 3 300 kg Ms First Floor Mass 1 160 kg Mp Second Floor Mass With Rack 1 380 kg M Rack Mass 0 700 kg M Cart Mass With Two Weights 0 650 kg My Cart Weight Mass 0 130 kg Ka First Floor Linear Stiffness Constant Relative To 500 N m The Ground Kp Second Floor Linear Stiffness Constant Relative 500 N m To The First Floor Te Cart Travel 1 e Stroke 0 19 m P Rack Pitch 1 664E 003 m tooth Vam Cart Motor Nominal Input Voltage 6 0 V fVmax Cart Motor Input Voltage Maximum Frequency 50 Hz Rin Cart Motor Armature Resistance 2 6 Q Les Cart Motor Armature Inductance 0 18 mH K Cart Motor Torque Constant 0 00767 N m A Mm Cart Motor Efficiency 100 Km Cart Back ElectroMot2. 1 3 17 40 3 1 59 60 6 2 39 66 4 2 61 69 2 2 72 84 3 3 32 82 3 3 24 99 13 1416 70 66 1 3 17 40 3 1 59 60 6 2 39 66 4 2 61 69 2 2 72 84 3 3 32 82 3 3 24 99 13 141 6 70 134 1 3 53 46 4 1 83 66 7 2 63 72 5 2 85 75 3 2 96 90 4 3 56 88 4 3 48 99 13 141 6 60 159 1 3 53 46 4 1 83 66 7 2 63 72 5 2 85 75 3 2 96 904 3 56 88 4 3 48 99 13 1416 60 246 1 3 53 46 4 1 83 66 7 2 63 72 5 2 85 75 3 2 96 90 4 3 56 88 4 3 48 99 13 141 6 60 415 1 3 88 1526 2 07 72 9 2 87 78 7 3 10 81 5 3 21 96 6 3 80 94 6 3 72 99 13 141 6 55 592 1 3 88 1526 2 07 72 9 2 87 787 3 10 815 3 21 96 6 3 80 94 6 3 72 99 13 1416 55 989 1 3 88 52 6 2 07 72 9 2 67 78 7 3 10 815 3 21 96 6 3 80 94 6 3 72 99 13 141 6 55 1526 1 3 88 52 6 2 07 72 9 2 87 78 7 3 10 81 5 3 21 96 6 3 80 94 6 3 72 99 13 1416 55 iU For gearhead length with motor 2338 add 8 7 mm 0 343 in to 2233 motor length column Note Reduction ratios have been rounded off Exact values are available upon request Subtract 3 9 mm 0 154 in trom L2 column to account for smaller mounting flange 2342 23 2338 2224 B15 MB ship 22 2230 mn PRA 2444 023 2842 966 2233 123 11 ag 3 i945 1 102 306 018 236 00 E oe 3x120 _ gis la mai 748 1 Sx VU 41 157 DEEP leg ei 10 Grientation vat respect 394 to motor terminals L1 8 16 3 L1 8 ai 630 23
3. 2 and 4 by component 9 This model is a high efficiency low inductance motor resulting in a much faster response than a conventional DC motor The complete specifica tion sheet of the motor is included in Appendix A CAUTION High Frequency signals applied to a motor will eventually damage the gearbox and or the motor brushes The most likely source for high frequency noise is derivative feedback If the derivative gain 1s too high a noisy voltage will be fed into the motor To protect your motor you should always band limit your signal especially derivative feedback to a value of S0Hz Document Number 570 Revision 02 Page 6 AMD 2 User Manual 3 2 5 Cart Planetary Gearbox Component 17 The AMD 2 cart DC motor is coupled to a Faulhaber Planetary Gearhead Series 23 1 as represented in Figures 2 and 4 by component 17 Its reduction ratio 1s 3 71 1 The complete specification sheet of the planetary gearbox is included in Appendix B 3 2 6 IP01 Based Cart Potentiometer If the AMD 2 cart is based on the IP01 cart described in Reference 1 its linear position is sensed by a 10 turn black potentiometer namely the Vishay Spectrol model 534 1 1 103 The cart potentiometer is connected to a 12 Volt DC power supply through two bias resis tors of 7 15 kQ each The total output range of the cart position potentiometer results to be 5V over its 10 complete turns 1 e 3600 degrees The main specifications of the IP01 based AMD
4. in Figures 3 and 5 above Then connect the cable s other end to the UPM socket labelled S3 which is contained inside the UPM From Analog Sensors front panel These connections are illustrated by cable 5 in Figures 14 and 15 above 4 Connect the From Analog Sensors Second Floor Acceleration Cable Cable 6 The From Analog Sensors cable is the 6 pin mini DIN to 6 pin mini DIN cable described in Table 6 and shown in Figure 10 First connect one end of the cable to the Second Floor Accelerometer Connector which is located at the back of the AMD 2 s second floor as shown by component 26 in Figure 3 above Then connect the cable s other end to the UPM socket labelled S4 which is contained inside the UPM From Analog Sensors front panel These connections are illustrated by cable 6 in Figures 12 and 15 above 5 Connect the To Analog To Digital Cable Cable 3 The To Analog To Digital cable is the 5 pin DIN to 4xRCA cable described in Table 6 and shown in Figure 11 First connect the cable 5 pin DIN connector to the UPM socket labelled To A D as illustrated by cable 3 in Figure 15 above The other end of the cable is split into four RCA connectors each one labelled with a single digit ranging from one to four This numbering corresponds to the four possible analog sensor signals passing through the UPM namely SI S2 S3 and S4 In order for the analog Document Number 570 Revision 02 Page 15 AMD 2 User Man
5. 1 Front View Document Number 570 Revision 02 Page 19 AMD 2 User Manual Appendix C IP01 Based Cart Potentiometer Specification Sheet 7 8 22mm Precision Wirewound Potentiometer FEATURES Special Resistance Tolerances to 1 Rear Shaft Extensions and Support Bearing Non Turn Lug Insulating Plastic Shaft Special Independent Linearity to 0 75 Dual Gang Configuration and Concentric Shafts High Torque and Center Tap Special Markings and Front Shaft Extensions Servo Unit available and Slipping Clutch ELECTRICAL SPECIFICATIONS PARAMETER Resistance Range Standard Values Capability Range Standard Tol 0 25 Eos 0 25 Noise ENR OE 00D ENR Rotation Electrical 8 Mechanical o e oro Power Rating 700 towts 0wate S watts Absolute Minimum Resistance Not to exceed linearity x total resistance or 19 whichever is greater RESISTANCE VALUES Unit Manufacturer s name and model number e A identification resistance value and tolerance linearity SOR 100R 200R 500R 1K 2K 5K 10K 20K specification date code and terminal 534 100R 200R 500R 1K 2K 5K MOKP20K 50K 100K identification 535 _50R 100R 200R 500R 1K 2K 5K 10K 20K 50K ORDERING INFORMATION The Models 533 3 turn 534 10 turn and 535 5 turn can be ordered by stating 534 1 2 XXX MODEL MOUNTING NUMBER OF SECTIONS RESISTANCE EIA CODE SECTION N 1 Bushing co
6. 2 cart potentiometer are included in Appendix C Refer to Table 5 on page 10 for the resulting potentiometer sensitivity Pushing manually the AMD 2 cart towards the right side of the track when facing it should result in a posi tive change in the cart position potentiometer voltage Likewise pushing the cart towards the left side of the track when facing it should result in a decreasing cart position potenti ometer voltage 3 2 7 IP02 Based Cart Encoder Component 10 If the AMD 2 cart is based on the IP02 cart described in Reference 1 its linear position is measured with one optical encoder which is represented in Figure 4 by component 10 The encoder model used in the AMD 2 cart is a US Digital S1 single ended optical shaft en coder It offers a high resolution of 4096 counts per revolution 1 e 1024 lines per revolu tion with two channels in quadrature The complete specification sheet of the S1 optical shaft encoder is included in Appendix D The internal wiring diagram of the cart encoder is depicted in Figure 6 The standard 5 pin DIN connector shown in Figure 6 is also pictured as component 16 in Figure 2 Document Number 570 Revision 02 Page 7 AMD 2 User Manual ELP CON ENCODER ELP SCRTTRDINZ5 7190 ELP_ENC USI E P 1024 Figure 6 Cart Encoder Wiring Refer to Table 5 on page 10 for the resulting encoder resolution Pushing manually the AMD 2 cart towards the right side of the track when facing it
7. 38 0 a 3 Output power P3 max 3 39 3 29 331 3 18 3 50 Ww 4 Efficiency T max 70 by bb by B7 Yo 5 No loads No 12 7 200 7 400 7 800 7 400 7 600 rpm 6 No load current with shaft o 0 12 in lo 50 0 100 0 060 0 050 0 050 0 025 A 7 Stall torque Mi 2 55 2 41 2 29 2 32 2 49 oz in 8 Friction torque Mig 0 082 0 095 0 099 0 095 0 102 oz in 9 Speed constant Kr 1 650 855 678 428 330 rpm 10 Back EMF constant ke 0 606 1 170 1 470 2 340 3 030 mWirpm 11 Torque constant kena 0 818 1 586 1 997 3 158 4 107 oz int 12 Current constant ki 1 222 0 630 0 501 0 317 0 244 A oz in 13 Slope of n M curve ANTANI 2 824 3 071 3 406 3 190 3 052 rpmfoz in 14 Rotor inductance L 100 380 630 1 400 2 600 pH 15 Mechanical time constant Tm 20 17 17 17 17 ms 16 Rotor inertia J 6 797 107 5 240 107 4 815 10 5 098 107 5 381 107 oz in sec 17 Angular acceleration CI max 38 46 48 46 47 radi 18 Thermal resistance Ri 1 Riha CAN 19 Thermal time constant Twit Tw 5 20 Operating temperature range motor 22 to 185 C F rotor max permissible SC F Note Special operating temperature models for 21 Shaft bearings ball bearings ball bearings preloaded 22 Shaft load max optional optional with shaft diameter 0 1181 0 1181 in radial at 3 000 rpm 0 12 in from bearing 72 72 Oz axial at 3 000 rpm 7 2 7 2 DE axial at standstill 72 72 oz 23 Shaft play radial 0 0006 0 0006 in axial lt 0 0079 0 in 24 Housing material 25 Weight o
8. 99 5003 24 3 8 32 thread im 2499 0005 50 81 025 x 025 square pins 025 x 025 square pins Mates with CON C5 Mates with CON C5 100 li Mechanical Notes ball bearing Mechanical Notes sleeve bushing Materials amp Mounting Acceleration 10 000 rad sec Acceleration 10 000 rad sec Shaft Brass or stainless Vibration 20 g 5 to 2KHz Vibration 20 g 5 to 2KHz Bushing Brass Shaft Speed 10 000 RPM max continuous Shaft Speed 100 RPM max continuous Connector Gold plated Acceleration 50K rad sec Shaft Rotation Continuous amp reversible Hole Diameter 0 375 in 0 005 0 10K rad sec S2 series Shaft Torque 0 5 0 2 in oz Panel Thickness 0 125 in max Shaft Torque 0 05 in oz max 0 3 in oz max NT option Panel Nut Max Torque 20 in lbs Shaft Loading 1 Ib max Shaft Loading 2 Ibs max dynamic Bearing Life 40 P Life in millions of revs 20 Ibs max static P radial load in pounds Weight 0 7 oz Weight 0 7 oz Shaft Runout 0 0015 T I R max Shaft Runout 0 0015 T I R max Document Number 570 Revision 02 Page 21
9. From Digital To Analog Cable 4 pin DIN This cable connects the output of to the power module after amplifi 6 pin DIN cation to the desired actuator e g cart motor One end of this cable contains a resistor that sets the amplification gain e g 1 3 5 Figure 8 To Load Cable Of Gain 1 Document Number 570 Revision 02 e Page 11 AMD 2 User Manual Designation 5 pin stereo DIN to 5 pin stereo DIN Figure 9 Encoder Cable 6 pin mini DIN to 6 pin mini DIN Figure 10 From Analog Sensors Cable Figure 11 To Analog To Digital Cable Table 6 Cable Nomenclature Description This cable carries the encoder signals between the encoder con nector and the data acquisition board to the encoder counter Namely these signals are 5VDC power supply ground channel A and channel B This cable carries analog signals from one or two plant sensors e g floor accelerometer cart potentiometer to the UPM where the signals can be either monitored and or used by an analog controller The cable also carries a 12VDC line from the UPM in order to power a sensor and or signal conditioning cir cuitry This cable carries the analog sig nals previously taken from the plant sensors e g floor acceler ometer cart potentiometer un changed from the UPM to the Digital To Analog input chan nels on the data acquisition ter minal board The connectors are also fully compatible wi
10. Linear Motion Servo Plant AMD 2 QUANSER IALNOVAT EE eet Cea E Active Mass Damper Two Floors AMD 2 User Manual AMD 2 User Manual Table of Contents 1 Active Mass Damper Two Floor Structure AMD 2 Presentation l 1 1 AMD 2 System Descriptio x lt sasnessaedasansnnsassincnsiansisleetaasavnyauatannehasiontiansiaaokenneesyaeant l LZ AMD C ONTO a 0 2 rn 2 Ronin arto 2 Oe RIVED SVG Teta CSC ED CIO fila ieri ZIA 3 3 1 Component Nomen latte sasine EEEN EN ANE 3 Se OO DES P O aae E E eer tats decent 5 3 2 1 Flexible Structure Components 18 And F19 en enerrreeee 5 3 2 2 Cart Rack Components 2 3 and FS enes e ennen errrereereee 5 3 2 3 Floor Accelerometers Components 23 And 25 u u d sseveeeeeeereererere ennen errereee 6 3 2 4 Cart DC Motor Component 70 sisonemeienmmmtssmeimmcumimemmnmtamdmes 6 3 2 5 Cart Planetary Gearbox Component 71 7 emsiomamssitsmesnttsmetamesnmsnms 7 3 2 6 IPO1 Based Cart Potentiormnieteti inni 7 3 2 7 IP02 Based Cart Encoder Component 10 i 7 k AMD Model Paranoia antoniana reina 9 5 Wiring Procedure For The AMD 2 System i 11 St Cable Nomene hair iii ai 11 dz HR 13 5 3 Typical Connections For The AMD 2 System iii 14 5 3 1 Wiring Of The Cart DC Motor Power Line i 14 5 3 2 Wiring Of The Feedback Signa
11. e end of the cable to the IPO1 based cart s S1 amp S2 Connector as shown in Reference 1 Then connect the cable s other end Document Number 570 Revision 02 Page 14 AMD 2 User Manual to the UPM socket labelled S1 amp S2 which is contained inside the UPM From Analog Sensors front panel This connection to the UPM is illustrated by cable 4 in Figure 15 above 2 Connect the Encoder Position Cable Cable 7 In case of an IP02 based cart the position encoder has to be connected The Encoder cable is the 5 pin stereo DIN to 5 pin stereo DIN cable described in Table 6 and shown in Figure 9 First connect one end of the cable to the IP02 based cart s Encoder Connector which is shown as component 16 in Figure 2 Then connect the cable s other end to the Encoder Input 0 on your data acquisition card terminal board These two connections are illustrated by cable 7 in Figures 12 and 13 above CAUTION Any encoder should be directly connected to the Quanser terminal board or equivalent using a standard 5 pin DIN cable DO NOT connect the encoder cable to the UPM 3 Connect the From Analog Sensors First Floor Acceleration Cable Cable 5 The From Analog Sensors cable is the 6 pin mini DIN to 6 pin mini DIN cable described in Table 6 and shown in Figure 10 First connect one end of the cable to the First Floor Accelerometer Connector which is located at the back of the AMD 2 s first floor as shown by component 24
12. ive Force EMF Constant 0 00767 V s rad Ja Cart Rotor Moment of Inertia 3 90E 007 kg m Document Number 570 Revision 02 Page 9 AMD 2 User Manual Description Equivalent Viscous Damping Coefficient as seen 3 0 at the Motor Pinion Cart Planetary Gearbox Gear Ratio 3 71 Cart Planetary Gearbox Efficiency 100 Cart Motor Pinion Radius 6 35E 003 Cart Motor Pinion Number of Teeth 24 Cart Position Pinion Radius 1 48E 002 Cart Position Pinion Number of Teeth 56 Cart Encoder Resolution if IP02 Based 2 275E 005 m count Cart Potentiometer Sensitivity 1f IP01 Based 0 0931 m V Floor Accelerometer Sensitivity 9 81 m s V Table 5 AMD 2 System Paremeters Document Number 570 Revision 02 Page 10 AMD 2 User Manual 5 Wiring Procedure For The AMD 2 System This section describes the standard wiring procedure for the Active Mass Damper Two Floor AMD 2 plant The following hardware accompanying the AMD 2 is assumed DM Power Amplifier Quanser UPM 1503 UPM 2405 or equivalent m Data Acquisition Card Quanser Q8 MultiQ PCI MultiQ 3 or one of the National Instruments E Series cards or equivalent 5 1 Cable Nomenclature Table 6 below provides a description of the standard cables used in the wiring of the AMD 2 Cable Designation Description This cable connects an analog output of the data acquisition terminal board to the power module for proper power ampli fication Figure 7
13. lS iaia 14 SAMP 16 O Sei UP the AMD PAN ee ia 17 FODH DO DOL scene E pace aera duem team EE emeses 17 Appendix A Cart DC Motor Specification Sheet i 18 Appendix B Cart Planetary Gearhead Specification Sheet i 19 Appendix C IP01 Based Cart Potentiometer Specification Sheet ene 20 Appendix D IP02 Based Cart Encoder Specification Sheet nere errrreee 21 Document Number 570 Revision 02 Page AMD 2 User Manual 1 Active Mass Damper Two Floor Structure AMD 2 Presentation 1 1 AMD 2 System Description The typical Active Mass Damper Two Floor structure AMD 2 plant is depicted in Figure 1 The AMD 2 plant is a bench scale model to emulate a building controlled by an Active Mass Damper AMD The plant consists of a two story building like structure on top of which a linear cart i e active mass is driven by a rack and pinion mechanism The first and second floors are each instru mented with an accelerometer measuring the accelerations of the middle and top floors respectively relative to ground The structure frame is made of steel and is flexi ble along its facade Such a scaled structure has been de signed to study critical aspects of structural control imple mentations The top a k a roof of the structure accommodates a rack and a shaft designed to work with an IP01 o
14. lel Additionally the flexible system can also be excited using the Quanser Shake Table II as described in Reference 2 Of course those different combinations allow for Multi Input Multi Ouput MIMO experiments 1 2 AMD 2 Control Challenge The AMD 2 plant forms an autonomous servo system The challenge in designing a control system that dampens out the vibrations in the two story building like structure is that the deflections of both first and second floors or horizontal displacement are NOT measured Instead the structure s feedback sensors are two accelerometers mounted on the AMD 2 s middle and top floors The only other sensor that is available 1s to measure the linear cart position The only input to the AMD 2 system is the cart motor voltage In order to dampen out the vibrations in the AMD 2 flexible structure the system is supplied with a state feedback controller based on a full order observer The closed loop control scheme drives the active mass i e linear cart by taking into account the actual cart position and both floor acceleration feedback signals Of course you may design any other controller you wish The complete mathematical modelling and system parameters are provided to streamline the implementation of the control theory of your choice 2 References 1 ZPOI and IP02 User Manual 2 Shake Table II Experiment Manual Document Number 570 Revision 02 Page 2 AMD 2 User Manual 3 AMD 2 System Desc
15. nsult factory 2 Servo Document Number 570 Revision 02 Page 20 AMD 2 User Manual Appendix D IP02 Based Cart Encoder Specification Sheet Optical Shaft Encoders Description Features The S1 and S2 series optical shaft encoders are non contacting rotary to digital converters Useful gt Small size for position feedback or manual interface the encoders convert real time shaft angle speed and gt Low cost direction into TTL compatible quadrature outputs with or without index The encoders utilize an gt 2 channel quadrature TTL square wave outputs unbreakable mylar disk metal shaft and bushing LED light source and monolithic electronics They gt 3rd channel index option may operate from a single 5VDC supply Tracks from 0 to 100 000 cycles sec Ball bearing option tracks to 10 000 RPM The S1 and S2 encoders are available with ball bearings for motion control applications or torque 40 to 100 C operating temperature loaded to feel like a potentiometer for front panel manual interface Single 5V supply US Digital warrants its products against defects and Electrical Specifications workmanship for two years See complete warranty B leads A for clockwise shaft rotation A leads B for counter clockwise shaft rotation viewed from for detalls the shaft bushing side of the encoder For complete details see our HEDS data sheet Mechanical Specifications I 3 8 32 Star VVasher 0000 1 18 thread sf D 24
16. r IP02 type of linear cart which thus constitutes the controllable mass at the top of the structure The cart is free to move along in the same direction as the structure Specifically it is a precisely machined solid aluminum cart which 1s driven by a high quality DC motor equipped with a planetary gearbox The cart slides along a stainless steel shaft using linear bearings When the motor turns the torque created at the output shaft is translated through the rack and pinion mechanism to a linear force i e control force which results in the cart s motion The cart position is directly measured using either a potentiometer for the IPO1 based cart or an encoder for the IP02 based cart whose shaft meshes with the track via an additional Figure 1 AMD 2 System pinion Moreover two masses are available for attachment to the cart so that it has more inertia to absorb the structure s vibrations These two weights can be used or removed for assessing the robustness of the controller and the effects of Document Number 570 Revision 02 Page 1 AMD 2 User Manual variations in parameters For more details regarding the IPO1 and IP02 linear servo plants and their applications please review Reference 1 Different building linear cart configurations can be constructed depending for instance on the location of the cart in the structure Also several Quanser s single story AMD buildings can be connected either in series or in paral
17. re Components 18 And 19 The Active Mass Damper Two Floor AMD 2 structure is made of two identical single story modules connected on top of each other i e in series Each single story structural module consists of two vertical steel beams Each steel column has a section of 1 75 by 108 1 millimeters and a mass of 0 240 kilograms Each single story frame external dimensions are shown in Table 2 below Description Flexible Module Height Flexible Module Length Flexible Module Depth Table 2 Single Story Module Dimensions The resulting overall dimensions for the AMD 2 structure are shown in Table 3 below Description AMD 2 Structure Height AMD 2 Structure Length AMD 2 Structure Depth Table 3 AMD 2 Overall Dimensions 3 2 2 Cart Rack Components 2 3 and 5 Table 4 below characterizes the overall dimensions of the cart rack used in the Active Mass Damper Two Floor AMD 2 system Description Overall Cart Rack Length Overall Cart Rack Height Overall Cart Rack Depth Table 4 AMD 2 Cart Rack Overall Dimensions Document Number 570 Revision 02 Page 5 AMD 2 User Manual 3 2 3 Floor Accelerometers Components 23 And 25 Fach floor of the building like structure 1s equipped with a capacitive DC accelerometer with full scale range of 5 g It consists of a single chip accelerometer with signal condi tioning The AMD 2 accelerometers are calibrated in house to generate 1 Volt per 9 81 m
18. ription 3 1 Component Nomenclature As a quick nomenclature Table 1 below provides a list of all the principal elements composing the Active Mass Damper Two Floor system AMD 2 Every element is located and identified through a unique identification ID number on the AMD 2 plant represented in Figures 2 3 4 and 5 below Description Description AMD Cart 2 Stainless Steel Shaft Track 4 Linear Bearing Rack End Plate 6 Rack Set Screw 7 64 Cart Load Weight Cart Load Weight Set Screw 3 32 Cart DC Motor Cart Encoder Cart Motor Pinion Cart Position Pinion Cart Motor Pinion Shaft Cart Position Pinion Shaft Cart Motor Connector Cart Encoder Connector Cart Planetary Gearbox First Floor Flexible Structure Second Floor Flexible Structure Ground Floor First Floor Second Floor First Floor Accelerometer First Floor Accelerometer Connector Second Floor Accelerometer Second Floor Accelerometer Connector Accelerometer Offset Potentiometer Accelerometer Gain Potentiometer Table 1 AMD 2 Component Nomenclature Document Number 570 Revision 02 Page 3 AMD 2 User Manual Bo Tn Figure 2 AMD 2 Cart Front View sani DD Gain Offset Quanser Consulting L q i F N i D e i de sie di Figure 5 AMD 2 Accelerometer Bottom View Figure 3 AMD 2 Structure Front View Document Number 5 0 Revision 02 Page 4 AMD 2 User Manual 3 2 Component Description 3 2 1 Flexible Structu
19. s i e 1 V g as characterized by the accelerometer sensitivity shown in Table 5 on page 10 The accelerometer has the capability to measure both AC dynamic accelerations e g vibra tions and DC static accelerations e g gravity The arrow represented on the accelerome ter and depicted in Figure 5 shows the positive direction of the AC acceleration sensor measurement on its axis of sensitivity To best measure the AMD 2 floor vibration both ac celerometers are mounted such their sensitive axes are longitudinal to the structure Quickly pushing each floor of the AMD 2 plant towards the right when facing the structure should result in an initial positive acceleration voltage Although both AMD 2 accelerometers have already been calibrated at the factory the signal conditioning circuit properties may vary depending on the external conditions e g humid ity temperature Therefore you may want to adjust each accelerometer s Offset potenti ometer shown as component 27 in Figure 5 such that it reads approximately zero Volts with zero acceleration 1 e sensor resting flat or horizontal Likewise each accelerometer s Gain potentiometer shown as component 28 in Figure 5 can be adjusted to read minus one Volts when the sensor is resting vertically on its right side with the arrow pointing downwards 3 2 4 Cart DC Motor Component 9 The AMD 2 cart incorporates a Faulhaber Coreless DC Motor 23385006 as represented in Figures
20. th our quick connect system enabling you to switch from one experiment to another quickly and efficiently Document Number 570 Revision 02 Page 12 AMD 2 User Manual 5 2 Hardware Requirements Figures 12 13 14 and 15 below show respectively the top of the AMD 2 the Q8 Terminal Board the bottom of the AMD 2 system and the Universal Power Module e g UPM1503 all connected with the necessary cabling to interface to and use the AMD 2 plant iiiiliiliiliiliiiiiili i 3 1 Digital 170 0 15 VA IE sulting dnc e l Board Er CA Jr JSE 1 4 ul XI Encoders 7 fc FL Figure 13 Q8 Terminal Board Connections INNOVATE EDUCATE j UPM 1503 D VAC ONLY odule UPM1503 SS E A 4 3 Figure 15 Universal Povver M Figure 14 AMD 2 Bottom Connections Document Number 570 Revision 02 e Page 13 AMD 2 User Manual Together with the power supply for the amplifier all Quanser power modules are equipped with a 1 ampere 12 volt regulated DC power supply for signal conditioning of external analog sensors 5 3 Typical Connections For The AMD 2 System 5 3 1 Wiring Of The Cart DC Motor Power Line The power line wiring of the AMD 2 cart DC motor consists of two connections as described below 1 Connect the From Digital To Analog Cable Cable 1 The From Digital To Analog cable is the 5 pin DIN to RCA cable described in Table 6 and shown in Figure 7 Connect the RCA end of
21. this cable to the Analog Output 0 i e DAC 0 of your data acquisition card terminal board and its 5 pin DIN connector to the socket labelled From D A on the Quanser Universal Power Module UPM These two connections are illustrated by cable 1 in Figures 13 and 15 above 2 Connect the To Load Cable Of Gain 1 Cable 2 The To Load cable of gain 1 1s the 4 pin DIN to 6 pin DIN cable described in Table 6 and shown in Figure 8 First connect the cable 4 pin DIN connector to the AMD 2 cart Motor Connector which is shown as component 15 in Figure 2 Then connect the cable 6 pin DIN connector to the UPM socket labelled To Load These two connections are illustrated by cable 2 in Figures 12 and 15 above 5 3 2 Wiring Of The Feedback Signals The AMD 2 system provides three feedback signals First the linear cart position signal is produced using either a potentiometer if the cart is based on the IP01 or an encoder if the cart is based on the IP02 Second and last the acceleration signals of the structure first and second floors are provided by using an accelerometer on each floor To connect these feedback sensors follow the steps described below 1 Connect the From Analog Sensors Position Cable Cable 4 In case of an IPO1 based cart the position potentiometer has to be connected The From Analog Sensors cable is the 6 pin mini DIN to 6 pin mini DIN cable described in Table 6 and shown in Figure 10 First connect on
22. tion feedback signal if necessary to the UPM First floor accelerometer feedback signal to the UPM Second floor accelerometer feedback signal to the UPM IP02 based cart position feedback signal if necessary to the data acquisition card Document Number 570 Revision 02 Page 16 AMD 2 User Manual Cable From To Signal 3 Power Supply Outlet UPM Power UPM Power Supply Socket Table 7 AMD 2 Wiring Summary 6 Setting Up the AMD 2 Plant For safety and proper operation the AMD 2 base plate a k a ground floor should be rigidly clamped or screwed down to a table or workbench As an example a C clamp is depicted in Figure 14 above as represented by component 9 7 Obtaining Support Note that a support contract may be required to obtain technical support To obtain support from Quanser go to http www quanser com and click on the Tech Support link Fill in the form with all requested software version and hardware information and a descrip tion of the problem encountered Submit the form Be sure to include your email address and a telephone number where you can be reached A qualified technical support person will contact you Document Number 570 Revision 02 e Page 17 AMD 2 User Manual Appendix A Cart DC Motor Specification Sheet Series 2338 S 2338 5 4 5 5 009 5 0125 018 5 024 5 1 Nominal voltage Un 4 5 9 12 18 24 Volt 2 Terminal resistance R 12 1 4 E T 10 0 73 5
23. ual signals to be used in software you should then connect all four RCA connectors to the first four analog input channels of your data acquisition card terminal board Specifically connect S1 to Analog Input 0 S2 to Analog Input 1 S3 to Analog Input 2 and S4 to Analog Input 3 as illustrated by cable 3 in Figure 13 above In other words the AMD 2 cart position is either sensed using A D 0 through the UPM analog channel S1 if the cart has a potentiometer 1 e based on the IP01 or using Encoder Channel 0 if the cart has an encoder i e based on the IP02 The flexible structure top floor s acceleration is measured using A D 3 through the UPM analog channel S4 5 3 3 AMD 2 Wiring Summary Table 7 below sums up the electrical connections necessary to run the AMD 2 system Cable From To Signal l 2 DAC 0 UPM To Load UPM To A D AMD 2 Cart S1 amp S2 Connector AMD 2 First Floor Accelerometer Connector AMD 2 Second Floor Accelerometer Connector AMD 2 Cart Encoder Connector UPM From D A AMD 2 Motor Connector Terminal Board S1 to ADC 0 S3 to ADC 2 S4 to ADC 3 UPM SI amp S2 UPM S3 UPM S4 Terminal Board Encoder Channel 0 Control signal to the UPM Power leads to the cart DC motor IP01 based cart potentiometer if present and both accelerometer signals to the data acquisition terminal board through the UPM IPO1 based cart posi
24. z 26 Direction of rotation Recommended values 27 Speed upto Me max 6 000 6 000 6 000 rpm 28 Torque up to e max 0 566 0 566 0 566 oz in 29 Current up to thermal limits le max 0 510 0 330 0 260 A AX M 4 157 DEEP es TA Document Number 570 Revision 02 Page 18 AMD 2 User Manual Appendix B Cart Planetary Gearhead Specification Sheet Housing material metal Geartrain material all steel Recommended max input speed for continuous operation 4 000 rpm Backlash at no load lt 1 Bearings on output shaft preloaded ball bearings Shaft load max radial 10 mm 0 394 in from mounting face 612 oz axial Ss 540 oz Shaft press fit force max 540 oz Shaft play on bearing output radial 0 0006 in axial 0 0039 in Operating temperature range 30 to 100 C 22 ta 212 F Specifications length with motor output torque reduction ratio weight length continuous intermittent direction efficiency nominal without without 2224 U 2230 U 2233 U 2444 5 2342 5 operation operation of rotation motor motor 2842 S reversible L2 Li L1 L1 1 L1 L1 M max M max OZ mm in mm fin mm fin mm oo in mm in mm in oz in oz in So 3 71 1 2 12 23 8 0 937 44 1 1 74 53 8 2 12 56 6 2 23 r x 28 32 56 65 88 Quiz ciao 271418 2831698 2 75 een 88 14 1 2 47 134 1 1 34 54 4 2 14 60 2 2 37 63 0 2 48 78 1 3 07 76 1 3 00 42 48 84 97 80 43
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