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EMR’12
Madrid
June 2012
Joint Summer School EMR’12
“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
EMR’12, Madrid, June 2012 2
« Towards an energetic modeling of a helicopter using EMR and BG»
- Outline -
1. 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.
EMR’12
Madrid
June 2012
Joint Summer School EMR’12
“Energetic Macroscopic Representation”
Part I:
« Context, problematic and
objectives»
EMR’12, Madrid, June 2012 4
« Towards an energetic modeling of a helicopter using EMR and BG»
- Complex mechanical system dynamics-
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
EMR’12, Madrid, June 2012 5
« Towards an energetic modeling of a helicopter using EMR and BG»
- Problematic -
Incorrect and anomalous interaction between the pilot and the
structure dynamics
Emergence of recursive and poorly understood problems
Flight control and handling qualities
Ex: The Pilot Induced Oscillations (PIOs) phenomenon
EMR’12, Madrid, June 2012 6
« Towards an energetic modeling of a helicopter using EMR and BG»
- Objective -
From a global vision to details of subsystems
behaviors
Proposition of a methodology and analysis tools in order to :
- Facilitate the understanding of physical phenomena;
- Anticipate recursive problems.
Level of resolution
Details
Global
approach
Flight control and handling qualities
EMR’12
Madrid
June 2012
Joint Summer School EMR’12
“Energetic Macroscopic Representation”
Part II:
« The studied system : a helicopter»
EMR’12, Madrid, June 2012 8
« Towards an energetic modeling of a helicopter using EMR and BG»
Modeling tools for complex multiphysics systems
Existing modeling approaches in the helicopter scope
- The helicopter a complex multiphysics system -
Two state of the art topics:
Hydraulics
Electrical
engineering
Aerodynamics
Mechanics
Electronics
Automatics
Data
processing
Rotor Pilot
Control
channel Fuselage
Landing gear
EMR’12, Madrid, June 2012 9
« Towards an energetic modeling of a helicopter using EMR and BG»
BG
EMR
- Multi-level representation
- Methods for modeling the 3D motion of
multibody systems
- Specific simulation softwares (eg: 20Sim)
+
- Methodology, simple graphical
description
- Methodology for control
- Matlab/Simulink librairy
+
POG, PFD, Energetic Puzzle
COG
- Tools for complex multiphysics systems modeling -
1960 1990 2000 2015
EMR’12, Madrid, June 2012 10
« Towards an energetic modeling of a helicopter using EMR and BG»
- Modeling approach of helicopter -
Classical industrial heavy helicopters
=> Main Rotor + Tail Rotor
Rotors and balades
Control system
Transmission
Aerodynamics
Structure
A global analysis approach
is required
Subsystem modeling approach
Knowledge of each system
separatly
EMR’12, Madrid, June 2012 11
« Towards an energetic modeling of a helicopter using EMR and BG»
- Synthesis-
Modeling
tools Helicopter
models
- Bond Graph
- EMR
Different modeling approaches
for each Subsystem
Global approach examples:
Objectives:
- Analysis;
- Control;
- Supervision;
- Design
Global and energetic approach for helicopter
EMR’12, Madrid, June 2012 12
« Towards an energetic modeling of a helicopter using EMR and BG»
- Energetic analysis of the system-
Simplified kinematics of a transmission linkage of a helicopter
Tail rotor
K
K1
K2
Helicopter
body
Engine
Power
transmission
Main rotor
EMR’12, Madrid, June 2012 13
« Towards an energetic modeling of a helicopter using EMR and BG»
Let’s imagine a very global EMR…
- Macroscopic representation of the system -
Tail rotor
K
K1
K2
Helicopter
body
Engine
Main rotor
VAa
Cr1
?
Ωr1
Cr2
Ωr2
Main Rotor
AS
Tail Rotor
TRG
TrG
TG VH
VH
VHG
VHG
FF
Helicopter
body
Ωm
C’m Cm
Ω’m C’’m
Ω’m
ES
AS
? AS
Trr
VHr
VAp
FAp
TRR
VHR
FAa Equivalent inertia
EMR’12, Madrid, June 2012 14
« Towards an energetic modeling of a helicopter using EMR and BG»
Engine
Coupli
ng e
lem
ent
Shaft +
reducteur MR
Shaft +
reducteur RA
Ωm1
Cm
Ωm
Cm1
Ωm2
Cm2
Ωr1 Cr1
Ωr2
Cr2
Pivot link
(1)
Pivot link
(2)
Helicopter
body
Aerodynamics
(Body profile)
VF FF
TGa VGa
TRp VRp
TGp
VGp
Tra
Vra
Tail Rotor Aerodynamics
(TR)
VAa
FAa
Aerodynamics
(MR)
VAp
FAp Main
Rotor
VCa FCa
Control
channel Pilot
VCp
FCp Cp
Ωp
FFp
VFp
Word Bond Graph
- Macroscopic representation of the system -
EMR’12, Madrid, June 2012 15
« Towards an energetic modeling of a helicopter using EMR and BG»
Engine
Coupli
ng e
lem
ent
Shaft +
reducteur MR
Shaft +
reducteur RA
Ωm1
Cm
Ωm
Cm1
Ωm2
Cm2
Ωr1 Cr1
Ωr2
Cr2
Pivot link
(1)
Pivot link
(2)
Helicopter
body
Aerodynamics
(Body profile)
VF FF
TGa VGa
TRp VRp
TGp
VGp
Tra
Vra
Tail Rotor Aerodynamics
(TR)
VAa
FAa
Aerodynamics
(MR)
VAp
FAp Main
Rotor
…. ….
VCa FCa
Control
channel Pilot
VCp
FCp Cp
Ωp
FFp
VFp
Word Bond Graph
- Multi-representation and multi-level approach -
Multibongraphs
3D and multibody
systems Complementarity
between BG and EMR
Control of the helicopter flight control
subsystem
EMR’12
Madrid
June 2012
Joint Summer School EMR’12
“Energetic Macroscopic Representation”
Part III:
« Complementary use of BG and
EMR for control »
EMR’12, Madrid, June 2012 17
« Towards an energetic modeling of a helicopter using EMR and BG»
Studied system
Helicopter flight Control
Subsystem
stick
Damper
Stabilization actuator
Hydraulic assistance
Parallel electromechanical actuator
Princple
1. Structural analysis using BG => Obtaining of physical lumped parameters
2. Functional modeling EMR => Deduction of control structures
Three main steps
- Approach of modeling for control -
EMR’12, Madrid, June 2012 18
« Towards an energetic modeling of a helicopter using EMR and BG»
VDC1M1
L1
im1 ich1
iL1
uch1 UC1
Lf1
C1
VDC2M2
L2
im2 ich2
iL2
uch2 UC2
Lf2
C2
J1
J2
J3
J4
J7
J6J5
J8
J9
KStick
KActuator
J10
Frictions
Damper
Stick
DC powerFilterChopperInductorDCMShaft Gearbox
Parallel electromechanical actuator
Stick stiffness
Load Mass
Right-angle drive
Step 1: Stuctural analysis using BG
1TF 01GY11TF
1TF 01GY11TF
10
Se1
Se2
1
TF1TF1TF0Sf
1 1TF
I14: J10
I12:J7
I1: Lf1
I6:J2 I4:L2I2:Lf2
I7:J3 I5:J1 I3: L1
I11:J8
I10 :J5 I9:J5
I8:J4
I13:J9
C1: C1
C4:KStick
C3:KActuator
C2:C2
R1
R2
Se3
TF 1 Se4TF
Damper
Stick
Parallel electromechanical actuator
Load Mass
Model of the studied subsystem
Structural BG model
- Approach of modeling for control -
EMR’12, Madrid, June 2012 19
« Towards an energetic modeling of a helicopter using EMR and BG»
1TF 01GY11TF
1TF 01GY11TF
10
Se1
Se2
1
TF1TF1TF0Sf
1 1TF
I14: J10
I12:J7
I1: Lf1
I6:J2 I4:L2I2:Lf2
I7:J3 I5:J1 I3: L1
I11:J8
I10 :J5 I9:J5
I8:J4
I13:J9
C1: C1
C4:KStick
C3:KActuator
C2:C2
R1
R2
Se3
TF 1 Se4TF
Damper
Stick
Parallel electromechanical actuator
Load Mass
Structural BG model
- Approach of modeling for control -
BG in natural causality
Step 2: From a structural model to a functional model
1TF 01GY
1TF
1TF 01GY
0
Se1
Se2
TF10Sf
TF 1
Se3
TF 1 Se4
I1: Lf1
I4:L2I2:Lf2
I3: L1 C1: C1
C2:C2
I5: JEquivalent 1
I6: JEquivalent 2
C4:KStick
C3:KActuator
Damper
Stick Parallel electromechanical actuator
Load Mass
EMR’12, Madrid, June 2012 20
« Towards an energetic modeling of a helicopter using EMR and BG»
- Approach of modeling for control -
BG in natural causality
1TF 01GY
1TF
1TF 01GY
0
Se1
Se2
TF10Sf
TF 1
Se3
TF 1 Se4
I1: Lf1
I4:L2I2:Lf2
I3: L1 C1: C1
C2:C2
I5: JEquivalent 1
I6: JEquivalent 2
C4:KStick
C3:KActuator
Damper
Stick Parallel electromechanical actuator
Load Mass
Step 3: BG-to-EMR Conversion
ES Sf
MS
TM
ΩM T’M
ΩM
F1
V1
V2
F1
Ω1
T1
ΩS1
CS
CS
ΩS2
T2
Ω2
T3 Ω3
T4
Ω4
TA
ΩA
C5
Ω6 V5
F5
MS
ES
iL1
VDC1 iL1
VC1
VC1
iCh1 Vm1 ΩM1 im1
VCh1 im1 TM1
iL2
VDC2 iL2
VC2
VC2
iCh2 Vm2 ΩM2 im2
VCh2 im2 TM2
V5
F6
Damper
Stick
Parallel electromechanical actuator
Load Mass EMR of the system
EMR’12, Madrid, June 2012 21
« Towards an energetic modeling of a helicopter using EMR and BG»
m1
m2
T2ref
T3mes
T1ref F1
ΩMref
CSref ΩS2ref
ΩMref
TMref
TM1ref
TM2ref
ES Sf
MS
TM
ΩM T’M
ΩM
F1
V1
V2
F1
Ω1
T1
ΩS1
CS
CS
ΩS2
T2
Ω2
T3 Ω3
T4
Ω4
TA
ΩA
C5
Ω6 V5
F5
MS
ES
iL1
VDC1 iL1
VC1
VC1
iCh1 Vm1 ΩM1 im1
VCh1 im1 TM1
iL2
VDC2 iL2
VC2
VC2
iCh2 Vm2 ΩM2 im2
VCh2 im2 TM2
V5
F6
Damper
Stick Parallel electromechanical actuator
Load Mass
- Control methodology of the system -
1- EMRof the system
2- Tunning path 3- Maximum control scheme
4- Simplification of control scheme 5- estimation of non measurable variable
EMR’12, Madrid, June 2012 22
« Towards an energetic modeling of a helicopter using EMR and BG»
-synthesis-
VDC1M1
L1
im1 ich1
iL1
uch1 UC1
Lf1
C1
VDC2M2
L2
im2 ich2
iL2
uch2 UC2
Lf2
C2
J1
J2
J3
J4
J7
J6J5
J8
J9
KStick
KActuator
J10
Frictions
Damper
Stick
DC powerFilterChopperInductorDCMShaft Gearbox
Parallel electromechanical actuator
Stick stiffness
Load Mass
Right-angle drive
1TF 01GY11TF
1TF 01GY11TF
10
Se1
Se2
1
TF1TF1TF0Sf
1 1TF
I14: J10
I12:J7
I1: Lf1
I6:J2 I4:L2I2:Lf2
I7:J3 I5:J1 I3: L1
I11:J8
I10 :J5 I9:J5
I8:J4
I13:J9
C1: C1
C4:KStick
C3:KActuator
C2:C2
R1
R2
Se3
TF 1 Se4TF
Damper
Stick
Parallel electromechanical actuator
Load Mass
1TF 01GY
1TF
1TF 01GY
0
Se1
Se2
TF10Sf
TF 1
Se3
TF 1 Se4
I1: Lf1
I4:L2I2:Lf2
I3: L1 C1: C1
C2:C2
I5: JEquivalent 1
I6: JEquivalent 2
C4:KStick
C3:KActuator
Se1Sf
Se3
TM
ΩMT’M
ΩM
F1
V1
V2
F1
Ω1
T1
ΩS1
CS
CS
ΩS2
T2
Ω2
T3 Ω3
T4
Ω4
TA
ΩA
C5
Ω6 V5
F5
KStick
Se4
Se2
iL1
VDC1iL1
VC1
VC1
iCh1Vm1ΩM1
im1
VCh1im1TM1
iL2
VDC2iL2
VC2
VC2
iCh2Vm2ΩM2im2
VCh2im2TM2
V5
F6
Damper
StickParallel electromechanical actuator
Load Mass
Structural BG model BG in natural causality EMR of the system Control structure of
the system
Model transformation BG metamodel
EMR metamodel
Master training
EMR’12
Madrid
June 2012
Joint Summer School EMR’12
“Energetic Macroscopic Representation”
« Conclusion and perspectives »
EMR’12, Madrid, June 2012 24
« Towards an energetic modeling of a helicopter using EMR and BG»
- Conclusion and perspectives-
Global vision
Interactions
Pilot-structure
Multibongraph
Modeling, representation and
control of a flight control
subsystem (EMR +BG)
Details
EMR’12
Madrid
June 2012
Joint Summer School EMR’12
“Energetic Macroscopic Representation”
« BIOGRAPHIES AND REFERENCES »
EMR’12, Madrid, June 2012 26
« Towards an energetic modeling of a helicopter using EMR and BG»
- Authors -
Phd. Zeineb CHIKHAOUI
INSM, LSIS, Arts et Métiers Paritech, Aix-en Provence
Dr. François MALBURET
Dr. Julien GOMAND
Prof. Pierre-Jean BARRE
EMR’12, Madrid, June 2012 27
« Towards an energetic modeling of a helicopter using EMR and BG»
- References -
[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. 10, no. 2, May 2000, pp. 131-147.
Borutzky 2009] W. Borutzky, “Bond Graph Modelling and Simulation of Multidisciplinary Systems – An Introduction, Simulation Modelling”, Practice and Theory, Volume 17, Issue 1, January 2009, Pages 3-21, ISSN 1569-190X, 10.1016/j.simpat.2007.08.008.
[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. 13, no. 4, pp. 265-283.
[Barre00] P. J. Barre, A. Bouscayrol, P. Delarue, E. Dumetz, F. Giraud, J. P. Hautier, X. Kestelyn, B. Lemaire-Semail, E. Semail, “Inversion-Based Control of Electromechanical Systems Using Causal Graphical Descriptions”, IEEE-IECON’06, Paris, Nov. 2000.
[Martin 2011] 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 2011, 5th International Conference on Integrated Modeling and Analysis in Applied Control and Automation, Rome, Italy, Sept. 12-14, 2011.