Discover a new mechatronic system: Control · •3 incremental encoders An axis that doesn't hide...
Transcript of Discover a new mechatronic system: Control · •3 incremental encoders An axis that doesn't hide...
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Discover a new mechatronic system:
Control ’
Advanced training system to illuminate control concepts
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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 ?
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• 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
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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
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Study under Control’Drive… no «black box»
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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
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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
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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
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Axis study under LabVIEW…control on the fingertips
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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
+-
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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
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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
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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
)
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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
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• 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
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Control ’ complete software toolchain
More info :
Advanced training system to illuminate control concepts
Control'Sim
Control'Drive
Project exemples