Discover a new mechatronic system:

Control ’

Advanced training system to illuminate control concepts

Control’X is a didactic linear axis designed froma real industrial «Pick and Place» multi-axissystem.

Control’X allows a highly dynamic positioning:

Settling time (5%) < 100 ms Max acceleration ≈ 5 g Resolution = 13 microns

Control'X: what is it ?

• 9 analog sensors• 5 digital sensors• 3 incremental encoders

An axis that doesn't hide anything

Control power

Servo amplifier

Signal conditioning card

110W DC motor +Incremental encoder +

tachogenerator

Reversible planetarygear train

Control panel

2 axis joystick +buttons

Power supply

Force sensor(to measure the intensity

of disturbance)

Infrared distance sensor

Limit switches

Carriage

Magnetostrictivesensor

Time domain tests : 14 measures

Wide range of inputs : impulse, step, ramp, trapeze, sinus, PWM...Axis under test to auto-trace frequency diagram (Bode, Nichols)

Interactive time domain identification

Control’Drive… much more than a control software

Study under Control’Drive… no «black box»

Wide range of controllers... For the simulation but also the control.Transparent and instantaneous encoding and implementation on target

Frequency domain analysisTime domain simulation Poles zeros map analysis

An exceptional software environmentfor a complete model-based design workflow

Motor position (°)

Car

riag

ep

osi

tio

n (

mm

)

Motor speed (RPM)

Car

riag

esp

eed

(m

m/s

)

Motor torque (N.m)

Exte

rnal

forc

e (N

)

All input-output relations in a few clicksControl'X … not only control

Complete characteristic curves of the motor Driving torque, resistant torque, intensity, mechanical power, efficiency, iso-power...

Superimposed : the trace of the resulting actual behavior of a time trial (open or closed loop)

Electrical power (W) and mechanical power (W) for a 10 V step response test in open loop

Study under Control’DriveControl'X… not only control

Axis study under LabVIEW…control on the fingertips

Hardware in the loop simulation example, sampling frequency up to 20 kHz

Custom library : drag and drop all sensor or control signal

Axis study under Matlab-Simulink«Hardware in the loop», «Software in the loop» in a few clics

From Control'X

(raw values from sensor)

From Control'X

(calibrated sensors)

ModelsTo Control'X

Correcteur Procédé

Capteur

+-

Setpoint (mm)Real position (mm)Simulated position (mm)

ControlEditing the blocks on the fly (model and controller)

Fully compatible with Matlab-SimulinkHardware in the loop with sampling frequency up to 20 kHz

Example of inverted pendulum with LQR controller

Modelling, validation

2

0x(t)

DC motor

w(t)1Belt-pulleys

0,1x

0,1y

z

2y

q

2x

2y

z0,1x

0,1y

q

G2

q

Implementation

The model (in red area) is replaced by the hardware (in blue area)

Specification

Control

Val

idat

ion

Simulation

The axis at the service of your imagination… Model-Based-Design in student's projects

Simulate and control in a few clicks…Fun projects to engage students in engineering

• Anti-ballant crane• Inverted pendulum• Tuned mass damper• Haptic controller

• Collaborative robot• Tensile-testing machine

…and much more

Exemple on a prestressed spring of the tensile-testing machine

The V Cycle to prepare students for the tomorrow challenges

The axis at the service of your imagination…A headacheless Model-Based Design

Stiffness of the spring : 0.608 N/mm

Déflection (mm)

For

ce(N

)

Vcc=42V

T2

T3 T4

u(t)

i(t)

Vcc=42V

A B

D1D2

D3 D4

M

T1

t6

0x(t) 5

a(t)4

3y

Bz

1

A

xC ext extF F .x

2

q(t),w(t)

y

Z1

Z2

Z0

(t)a

Energy

Computer

xc(t)

m(t)

u(t)

e2(t)

a(t),b(t)

e3(t)Control board

Servo amplifier

(t)q

e1(p)Xc(p)Controller+

-

M*(p)=X(p)

Adapter

M(p)

X(p)e3(p) U(p) W(p)

A(p), B(p)

1

p

q(p)e2(p)

Computer Control board

C FD

x(t)

J1

R

E

B channel

A channel

w(t)

a(t)

b(t)

t

a(t)

t

b(t)

t

Counterm(t)

01

23

45

67

89

10

0

1

1

0

Sens 1 Sens 2

Comprehensive accompanying documentationand lab projects

• Fully open architecture, no black boxes•Allows to compare the 3 gaps: specified, real and simulated

• Models that match !• Prepare future engineers working on industrial material

• Ready for student's project

Control’XWhat makes the difference ?

Training system perfectly tailored for project-based learning

Control ’ complete software toolchain

More info :

Advanced training system to illuminate control concepts

Control'Sim

Control'Drive

Project exemples