SHAKING TABLE. SHAKING TABLE Rev. 03/02/10
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1 SHAKING TABLE SHAKING TABLE Rev. 03/02/10
2 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 2
3 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 3
4 1. GENERAL 4
5 1. GENERAL 5
6 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 6
7 2. PERFORMANCE Payload: Weight, dimensions System Performance: Displacement, Velocity, Acceleration Degrees of Freedom 7
8 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 8
9 3. SYSTEM SIZING 3.1 HYDRAULIC Needed Dynamic Force Piston Area ACTUATOR Needed Maximum Velocity Flow Demand SERVO VALVE OK? Pressure Drop Available Dynamic Force HPS-Pmax 9
10 3. SYSTEM SIZING 3.2 TABLE Designed using sophisticated FEA analysis Maximized bending and torsional stiffness to weight ratio Aluminum or steel Grid of threaded inserts on upper surface Natural Frequency: 1 st vibration mode well over the desired operating frequency 10
11 3. SYSTEM SIZING 3.3 ACTUATOR PERFORMANCE 11
12 3. SYSTEM SIZING 3.4 VIBRATION ISOLATION Fn= 1 2p k M Transmitted before isolation Transmitted after isolation 12
13 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 13
14 4. CONTROL SYSTEM 4.1 ARIES Control Architecture 4.2 INNER LOOP CONTROL (CLI) 4.3 OUTER LOOP CONTROL (CLE) 4.4 Control Compensation Strategies 14
15 4. CONTROL SYSTEM 4.1 ARIES Control Architecture Control Module distributed by auxiliary systems OUTER LOOP (DOFcontrol, Real Time Response compensation) Acceler. control Connection Panel / conditioning ANALOG(0-10V) LVDT cylinders MIMO Outer Control Loop (OCL) Acceler. control ANALOG Drive Signal Peripherals Servo valve Command Differential Pressure LVDT 3rd stage valve LVDT Cylinders Digital Inner Control Loop (ICL) General Control PC INNER LOOP (VALVE DRIVE, Force balance) Ethernet Bus Analog Signal 15
16 4. CONTROL SYSTEM 4.2 INNER LOOP CONTROL (CLI) 5 6 Accel. Servo valve Command Differential Pressure LVDT 3rd stage valve LVDT cylinders Ethernet Bus Analog Signal LVDT Drive Signal Digital Inner Loop Control (CLI) Main Tasks by cylinder: Cylinders Individual Movement Control Signals conditioning ΔP Stabilization Force balance compensation Dither Generation PIDFloop with LVDT3rd. stage if necessary Command Signal generation to the servo Characteristics: Complete digital Control loop and software programmable. Dedicated Real TIME controllers Ethernet communication with Desktop PC control. 16
17 4. CONTROL SYSTEM 4.3 OUTER LOOP CONTROL (CLE) Acceler. control Ethernet Bus Analog signal Acceler. control LVDT cylinders Drive Signal CLI MIMO Outer Loop Control CLE Peripherals Main Tasks: MIMO (rectangular) Multivariable Control Control in degrees of freedom Geometrical Compensations System response based compensation Updates the system s Impedance Matrix in each loop Spectral Analyzer 17
18 4. CONTROL SYSTEM 4.4 Control Compensation Strategies Multi Variable Control (Displacement, pseudo-velocity, acceleration): To improve system response measurement depending on frequency Cross coupling Compensations (System Impedance Matrix) To take into account the influence on 1 DOF over non direct affected cylinders Force Balance (Through individual Delta P measurement) To take care about internal table tensions caused by hyperstatic conditions of the system. Feed Forward advanced close loop algorithm To improved frequency response and system stability Overturning Moments Compensationthrough system impedance matrix 18
19 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 19
20 5. CONCLUSIÓN ARIES tailors engineering solutions ARIES has broad experience in advanced test systems, as well as software development and hardware integration for control applications The systems are designed to be easy to expand by adding devices as needed ARIES can design and supply any required vibration test system 20
21 HACER CLIC PARA INTRODUCIR EL TÍTULO 1. GENERAL 2. PERFORMANCE 3. SYSTEM SIZING 4. CONTROL SYSTEM 5. CONCLUSION 6. CONTACT 21
22 6. CONTACT For more information: Alvaro Alonso Ruiz International Business Development Test Systems Division MAIN OFFICE ENGINEERING CENTRE Pº Castellana, MADRID Tel.: Fax: Avda. Vía Láctea S.FERNANDO DE HENARES (MADRID) Tel.: Fax: aalonso@aries.com.es 22
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Features Motors supported: - Panasonic A and S series - Brushless 60/120 commutated - Brush-commutated (DC) motors Up to 20A peak, 12A continuous output current 12 to 90VDC power supply Separate motor
Ordering Part Numbers: SAE J1939 version Controller: AX022400
TECHNICAL DATASHEET #TDAX022400 2 Universal Inputs, Dual Valve Controller 2 Universal Inputs 2-3A Outputs CAN (SAE J1939) Programmable with Electronic Assistant P/N: AX022400 Features: 2 universal signal
Developments in vibrator control
Geophysical Prospecting, 2010, 58, 33 40 doi: 10.1111/j.1365-2478.2009.00848.x Developments in vibrator control D. Boucard and G. Ollivrin Sercel France, PO Box 439, 44474 Carquefou Cedex, France Received