Single degree-of-freedom system dynamics using teleoperation

Objective: Observe transient and forced vibrations in a simple system.

Background: The single degree-of-freedom (SDOF) system consists of a mass-spring
system (one story building) which is driven by an instructional shake table. The shake
table provides an acceleration input to the structural system. An integrated circuit DC
accelerometer is placed on the moving surface of the shake table, and another
accelerometer is attached to the building mass. Signals are acquired and transmitted to the
client using a PC-based data acquisition system.
This experiment is to be conducted remotely using an internet tool designed based on
Network for Earthquake Engineering Simulation (NEES) cyberinfrastructure technology.
The student has the ability to use teleoperation to run this experiment remotely using the
instructional shake table and to use the webcam to view the experiment in real time. A
Graphical User Interface (GUI) is used at the client side to select the frequency and
amplitude of the input motion to the shake table. The resulting absolute acceleration of
the table is measured with one of the accelerometers this should be viewed as the input
to the one story building model. Data from the two accelerometers (one on the table and
one on the building floor) are streamed from the server to the client at a remote computer
(your computer) using the Ring Buffered Network Bus (RBNB). Data and video are
available for viewing and storing at the client side (your computer) through the use of the
real-time data viewer (RDV).
Reading: Review textbook sections on SDOF system response to harmonic excitation,
and the instructions below. To perform this experiment, you will need to have an internet
connection. READ THE INSTRUCTIONS BEFORE COMING TO LAB.
Procedure:
a) Follow the instructions provided in the Appendix of this experiment to open the RDV
client with the control panel from your PC.
b) Using the video provided in the RDV client, sketch the experimental apparatus, test
specimen and location of the sensors. Plan on including a clean version of this
schematic diagram in your report.
c) You are provided with the measured values of the mass and stiffness of this test
structure as well as the calibration information for the sensors. The mass of floor of
the structure (including the accelerometer and mounting plate) is 563g and the
stiffness of one column is 93.5 N/m. Also, sensor readings are given in gravities
(1g=9.8 m/sec^2). The saturation level (maximum reading) for the two
accelerometers is +/-10g. Note that in some cases there may be an offset in the
accelerometer that you will need to remove in your data.
d) Observe and record transient responses: Set the Ground Motion Parameters in the
client GUI to a frequency of 2.5 Hz and amplitude of 0.001 m (1mm). Run the
excitation. Observe the responses and record data from the initial few seconds of
response. After the lab: Describe qualitatively the transient response at the

beginning of the excitation in your report. Note: you should begin each test with the
structure at rest.
e) Record forced responses of the SDOF dynamic system: Next you will run a series of
harmonic input motions and measured the amplitude and phase to obtain frequency
response functions (FRF). To do this, select 12-15 values of the frequency that you
will use to obtain the FRF. At each frequency, set the Ground Motion Parameters in
the client GUI to the correct frequency, and record the acceleration of the shake table
and the floor of the building for each harmonic input.
f) After the lab: Use this data to compute and plot the magnitude and phase of the FRF.
Due to some sources of noise in the system, standard deviation of the steady state data
should be considered as the amplitude of the responses. If you do not have enough
points for the FRF, take additional data at more frequencies. Note: Please limit the
input motions to small values (less than 0.0015 m) and input frequencies in the
range of [0.5-4.5] Hz to avoid damaging this expensive equipment.
g) Disconnect the connection so that the next user will be able to connect.
Theory: After the lab formulate a mathematical model of the vibrating system. Consider
a simple spring-mass-damper system. Base the parameters of your model in terms of
physical properties that you were given (but leave your equation in simple symbolic
form). Using Matlab, develop the FRF plot (magnitude and phase) from the data you
observed in the experiment. Use this plot to compare your mathematical model in Matlab
to the experimental observations. Also, estimate the viscous damping in the system using
the half-power bandwidth method described in your textbook. Now, add the effects of the
estimate for the viscous damping to your model. How did it change? Obtain a formula for
the amplitude of oscillation as a function of frequency in your model. Show the
experimentally obtained FRF plot and the two mathematical models on the same plot.
Report: The lab report should be a full report using the instructions provided in class.
Organize your report into sections (e.g. Introduction, Procedures, Results, Discussion,
Summary, References). Write concisely and clearly.
Include the following: (1) A schematic diagram and description of the apparatus. (2) A
plot of the transient response recorded during the experiment (3) Estimates of natural
frequency and damping ratio from the experimental data (4) Free-body diagrams, and
equations for your mathematical models. (5) Representative plots of the forced response
of the dynamic system for a few select harmonic motions (6) Plots of the FRF from
theory (with and without damping) and experiment. (7) Assumptions and possible
explanations for differences between theory and observation.

Appendix: Teleoperation of the Shake Table

1.)
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Call your TA in the lab (935-4436) to be sure that the experiment is set up
and ready to go.
Open the Teleoperation Control Panel available at the link:
http://mase.wustl.edu/wusceel/UCIST/MASE431/lab2_page.htm
Right click on CLICK HERE TO LAUNCH EXPERIMENT and
choose save target as to save on a desired location as RDV.jnlp. A
window containing Figure 1 (shown below) will open, indicating
everything is working properly.
Adjust frequency and amplitude sliders to the desired value
(REMEMBER THE LIMIT FOR THE INPUT MOTIONS AND
FREQUENCY VALUES DEFINED AT STEP e UNDER
PROCEDURE).
Press the START button. View the experiment as the table starts up.
If you can not view the video and vibration data simultaneously, try
manually change the Time Scale from the drop down menu to a larger
number.
The red data corresponds to accelerometer placed on the shake table.
The blue data correspond to the accelerometer placed at the top of the
building.
To export the data as a file, follow the following path through the menus:
File - Export - Export data Channels.
A window Export data to Disk will appear. Choose the desired time
and select the desired channels (click on the two last boxes at the left side
on data channels).
Select the location to send the obtained data by using the Browse
button and click on Export
A data.dat file will be created at the location that you choose
containing the data for the experiment.
After a short time the START button will be re-enabled automatically
and no new data will be collected from the experiment. At this time adjust
your frequency and amplitude values and hit START again to run the
next sinusoidal excitation.
Repeat from step 4 to step 12 as many times you need to perform your
experiment.

NOTE: If any problems occur during the experiment, please call your TA in the
Earthquake Lab at the phone number: 935-4436
Please do not exceed your time window.

Purpose
RDV Path
View table accelerometer
WashUNEES4_sine_q4_testScops:Accelerations
response
NEES a_tbl (g)0.
View first floor accelerometer WashUNEES4_sine_q4_testScops:Accelerations
response
NEES a_f1(g)0.
View shake table via webWashUCameraVideo.jpg (Important: Press Real
camera
Time on the control tab)
Figure 1. View of the RDV window in operation