«Towards an energetic modeling of a helicopter using EMR and BG»

Transcription

1 EMR 2 Madrid June 202 Joint Summer School EMR 2 Energetic Macroscopic Representation «Towards an energetic modeling of a helicopter using EMR and BG» Phd. Zeineb CHIKHAOUI, Dr. François MALBURET, Dr. Julien Gomand, Prof. Pierre-Jean BARRE INSM, LSIS, Arts et Métiers Paritech, Aix-en Provence Zeineb.CHIKHAOUI@Ensam.eu, Francois.Malburet@ensam.eu, julien.gomand@ensam.eu, Pierre-Jean.BARRE@ENSAM.EU,

2 - Outline - EMR 2, Madrid, June Context, problematic and objectives 2. The studied system: the helicopter a complex multiphysics system 3. Complementary use of BG and EMR for control. 4. Conclusion and perspectives.

3 EMR 2 Madrid June 202 Joint Summer School EMR 2 Energetic Macroscopic Representation Part I: «Context, problematic and objectives»

4 - Complex mechanical system dynamics- EMR 2, Madrid, June Topic : Modeling and analysis of aircraft system dynamics For : - Dynamic control. - Design or modification of subsystems. - Facilitate innovation and integration of new technologies. Specific aspect : Flight control and handling qualities

5 - Problematic - Flight control and handling qualities EMR 2, Madrid, June Ex: The Pilot Induced Oscillations (PIOs) phenomenon Emergence of recursive and poorly understood problems Incorrect and anomalous interaction between the pilot and the structure dynamics

6 - Objective - EMR 2, Madrid, June 202 Proposition of a methodology and analysis tools in order to : - Facilitate the understanding of physical phenomena; - Anticipate recursive problems. 6 Global approach From a global vision to details of subsystems behaviors Level of resolution Details Flight control and handling qualities

7 EMR 2 Madrid June 202 Joint Summer School EMR 2 Energetic Macroscopic Representation Part II: «The studied system : a helicopter»

8 - The helicopter a complex multiphysics system - EMR 2, Madrid, June Aerodynamics Hydraulics Rotor Pilot Mechanics Automatics Fuselage Control channel Electrical engineering Data processing Electronics Landing gear Two state of the art topics: Modeling tools for complex multiphysics systems Existing modeling approaches in the helicopter scope

9 - Tools for complex multiphysics systems modeling - - Methodology, simple graphical description - Methodology for control - Matlab/Simulink librairy + EMR 2, Madrid, June COG EMR BG POG, PFD, Energetic Puzzle - Multi-level representation - Methods for modeling the 3D motion of multibody systems - Specific simulation softwares (eg: 20Sim) +

10 - Modeling approach of helicopter - Classical industrial heavy helicopters => Main Rotor + Tail Rotor EMR 2, Madrid, June Transmission Aerodynamics Rotors and balades Structure Control system Subsystem modeling approach Knowledge of each system separatly A global analysis approach is required

11 Modeling tools - Synthesis- Helicopter models EMR 2, Madrid, June Bond Graph - EMR Different modeling approaches for each Subsystem Global approach examples: Objectives: - Analysis; - Control; - Supervision; - Design Global and energetic approach for helicopter

12 - Energetic analysis of the system- EMR 2, Madrid, June 202 Simplified kinematics of a transmission linkage of a helicopter 2 Main rotor Power transmission Helicopter body Tail rotor Engine K K K 2

13 - Macroscopic representation of the system - Let s imagine a very global EMR EMR 2, Madrid, June 202 Helicopte body 3 Main rotor Tail rotor Engine K K K 2 Main Rotor C m C m AS Ω m Ω r F Ap V Ap T RR? V HR C r T RG V HG T G Helicopter body V H AS ES Ω r2 Tail Rotor T rg V H F F Ω m Ω m C m Equivalent inertia AS C r2 F Aa V Aa T rr V Hr? V HG

14 Coupling element «Towards an energetic modeling of a helicopter using EMR and BG» - Macroscopic representation of the system - Word Bond Graph EMR 2, Madrid, June Aerodynamics (MR) F Ap V Ap Main Rotor F Cp V Cp Aerodynamics (Body profile) Control channel C p Ω p Pilot V Rp T Rp Pivot link () T Gp V Gp V F F F Helicopter body F Fp V Fp C r Ω r Engine C m Ω m C m Ω m C m2 Ω m2 Shaft + reducteur MR Shaft + reducteur RA C r2 Ω r2 T Ga V Ga Pivot link (2) T ra V ra F Ca V Ca Tail Rotor F Aa V Aa Aerodynamics (TR)

15 Coupling element «Towards an energetic modeling of a helicopter using EMR and BG» - Multi-representation and multi-level approach - Word Bond Graph EMR 2, Madrid, June Aerodynamics (MR) F Ap V Ap Main Rotor F Cp V Cp Aerodynamics (Body profile) Control channel C p Ω p Pilot V Rp T Rp Pivot link () T Gp V Gp V F F F Helicopter body F Fp V Fp.. C r Ω r Engine C m Ω m C m Ω m C m2 Ω m2 3D and multibody systems Multibongraphs Shaft + reducteur MR Shaft + reducteur RA C r2 Ω r2 T Ga V Ga Pivot link (2) T ra V ra F Ca V Ca Tail Rotor F Aa V Aa Complementarity between BG and EMR Aerodynamics (TR) Control of the helicopter flight control subsystem

16 EMR 2 Madrid June 202 Joint Summer School EMR 2 Energetic Macroscopic Representation Part III: «Complementary use of BG and EMR for control»

17 - Approach of modeling for control - Princple EMR 2, Madrid, June Structural analysis using BG => Obtaining of physical lumped parameters 2. Functional modeling EMR => Deduction of control structures Hydraulic assistance Studied system Helicopter flight Control Subsystem Stabilization actuator Damper stick Parallel electromechanical actuator Three main steps

18 - Approach of modeling for control - Step : Stuctural analysis using BG EMR 2, Madrid, June Stick Damper Load Mass J0 Model of the studied subsystem J9 J7 Parallel electromechanical actuator KStick Stick stiffness Frictions J8 Gearbox Shaft DCM Inductor L Chopper Filter il Lf DC power Right-angle drive J M uch C UC VDC J3 J6 im ich J5 L2 il2 Lf2 KActuator J4 J2 M 2 uch2 C2 UC2 VDC2 im2 ich2 Structural BG model I 3 :J 9 Damper S e3 Load Mass I 4 : J 0 C 4 :K Stick Stick I 2 :J 7 S e4 Parallel electromechanical actuator I 7 :J 3 I 5 :J I 3 : L C : C I : Lf Sf 0 GY 0 S e R 2 I :J 8 0 R GY 0 S e2 I 0 :J 5 C 3 :K Actuator I 9 :J 5 I 8: J 4 I 6 :J 2 I 4 :L 2 C 2 :C 2 I 2 :L f2

19 - Approach of modeling for control - Step 2: From a structural model to a functional model BG in natural causality Damper Load Mass EMR 2, Madrid, June S e3 I 6 : J Equivalent 2 Stick Parallel electromechanical actuator S e4 I 3 : L C : C I: Lf C 4 :K Stick I 5 : J Equivalent GY 0 S e Sf 0 0 GY 0 S e2 C 3 :K Actuator I 4 :L 2 C 2 :C 2 I 2 :L f2 Structural BG model I 3 :J 9 Damper S e3 Load Mass I 4 : J 0 C 4 :K Stick Stick I 2 :J 7 S e4 Parallel electromechanical actuator I 7 :J 3 I 5 :J I 3 : L C : C I : Lf Sf 0 GY 0 S e R 2 I :J 8 0 R GY 0 S e2 I 0 :J 5 C 3 :K Actuator I 9 :J 5 I 8: J 4 I 6 :J 2 I 4 :L 2 C 2 :C 2 I 2 :L f2

20 BG EMR in natural of the causality system - Approach of modeling for control - Step 3: BG-to-EMR Conversion MS Damper Stick Stick T A Ω A T 4 C 4 :KΩ Stick4 Damper C 5 S e3 F 5 Ω 6 V 5 Load Mass Load Mass V 5 I 6 : J Equivalent 2 F 6 S e4 I 3 : L C : C I: Lf I 5 : J Equivalent MS GY 0 EMR 2, Madrid, June 202 Parallel electromechanical actuator Parallel electromechanical actuator S e 20 Sf Ω S C S C S Ω S2 T 2 TSf 3 Ω0 3 Ω 2 Ω T V 2 0 F C 3 :K Actuator F V T M Ω M GY Ω M T M Ω M V m 0 i m I 4 T i :L 2 M m V C 2 :C 2 I Ch 2 :L f2 Ω M2 V m2 i m2 S e2 i Ch V C i Ch2 V C i L V C2 i L ES V DC i L2 ES T M2 i m2 V Ch2 V C2 i L2 V DC2

21 - Control methodology of the system - EMR 2, Madrid, June MS Damper T A Ω A C 5 F 5 V 5 Ω 6 V 5 Load Mass F 6 MS - EMRof the system 2- Tunning path 3- Maximum control scheme Stick T 4 Ω 4 Parallel electromechanical actuator Sf Ω S C S C S Ω S2 T 2 T 3 Ω 3 Ω 2 Ω T V 2 F F V T M Ω M Ω M T M Ω M T M Ω M2 V m i m i V Ch m m V m2 i m2 i Ch V C i Ch2 V C i L V C2 i L ES V DC i L2 ES T M2 i m2 V Ch2 m2 V C2 i L2 V DC2 T 3mes T 2ref Ω T ref F Mref T Mref T M2ref C Sref Ω S2ref Ω Mref T Mref 4- Simplification of control scheme 5- estimation of non measurable variable

22 J9 «Towards an energetic modeling of a helicopter using EMR and BG» Stick -synthesis- Load Mass EMR 2, Madrid, June Damper J0 J7 J8 Parallel electromechanical actuator KStick Stick stiffness Frictions GearboxShaft DCM Inductor L Chopper Filter DC power il Lf Right-angle drive J3 J M uch C UC VDC J6 KActuator J5 L2 im il2 ich Lf2 J4 J2 M 2 uch2 C2 UC2 VDC2 im2 ich2 Damper Load Mass I 3:J 9 Damper S e3 Load Mass I 4: J 0 S e3 I6: JEquivalent 2 Se 3 TA ΩA C5 Ω6 F5 V5 V5 F6 Se 4 C 4:K Stick Stick I 2:J 7 S e4 Parallel electromechanical actuator I3: L C: C I: Lf Stick T4 Ω4 Parallel electromechanical actuator I 7:J 3 I 5:J I 3: L C : C I : Lf T3 Ω3 Sf 0 R 2 I :J 8 0 GY 0 S e Sf C 4:K Stick 0 0 I5: JEquivalent GY 0 S e Sf ΩS CS CS ΩS2 K Stick T2 Ω2 Ω T V2 F F V T M ΩM ΩM TM ΩM TM Vm im im VCh ich VC VC il il Se VDC R I 0 :J 5 C 3:K Actuator I 9:J 5 GY 0 S e2 C3:KActuator GY 0 S e2 ΩM2 TM2 Vm2 im2 im2 VCh2 ich2 VC2 V C2 il2 il2 Se 2 VDC2 I 8:J 4 I 6:J 2 I 4:L 2 C 2:C 2 I 2:L f2 I 4:L 2 C2:C2 I 2:L f2 Structural BG model BG in natural causality EMR of the system Control structure of the system BG metamodel Model transformation EMR metamodel Master training

23 EMR 2 Madrid June 202 Joint Summer School EMR 2 Energetic Macroscopic Representation «Conclusion and perspectives»

24 - Conclusion and perspectives- EMR 2, Madrid, June Global vision Interactions Pilot-structure Multibongraph Details Modeling, representation and control of a flight control subsystem (EMR +BG)

25 EMR 2 Madrid June 202 Joint Summer School EMR 2 Energetic Macroscopic Representation «BIOGRAPHIES AND REFERENCES»

26 - Authors - EMR 2, Madrid, June Phd. Zeineb CHIKHAOUI INSM, LSIS, Arts et Métiers Paritech, Aix-en Provence Dr. François MALBURET Dr. Julien GOMAND Prof. Pierre-Jean BARRE

27 - References - EMR 2, Madrid, June 202 [Bouscayrol 00] A. Bouscayrol, B. Davat, B. de Fornel, B. François, J. P. Hautier, F. Meibody-Tabar, M. Pietrzak-David, Multimachine Multiconverter System: Application for Electromechanical Drives, European Physics Journal - Applied Physics, vol. 0, no. 2, May 2000, pp Borutzky 2009] W. Borutzky, Bond Graph Modelling and Simulation of Multidisciplinary Systems An Introduction, Simulation Modelling, Practice and Theory, Volume 7, Issue, January 2009, Pages 3-2, ISSN X, 0.06/j.simpat [Lhomme 08] W. Lhomme, R. Zanasi, G.-H. Geitner, A. Bouscayrol, Different Graphical Descriptions of Clutch Modelling for Traction Systems, ElectrIMACS 08, Quebec (Canada), May 2008 [Hautier 04] J. P. Hautier, P. J. Barre, "The causal ordering graph A tool for modeling and control law synthesis", Studies in Informatics and Control Journal, December 2004, Vol. 3, no. 4, pp [Barre00] P. J. Barre, A. Bouscayrol, P. Delarue, E. Dumetz, F. Giraud, J. P. Hautier, X. Kestelyn, B. Lemaire-S , E. S , Inversion-Based Control of Electromechanical Systems Using Causal Graphical Descriptions, IEEE-IECON 06, Paris, Nov [Martin 20] M. Martin, J. Gomand, F. Malburet, P.J. Barre, Modelling and Control of an Effort Feedback Actuator in Helicopter Flight Control Using Energetic Macroscopic Representation, IMAACA 20, 5th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, Rome, Italy, Sept. 2-4, 20.