sicver project: onboard fault-tolerant path planning and robust fault diagnosis for reentry vehicles
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ARA Days, 21-23 October 2008, Arcachon, France1
V. Morio, A. Falcoz, D. Henry, F. Cazaurang, A. Zolghadri
Automatic Control Group - IMS lab / Université de Bordeaux
Onboard Fault Tolerant Path Planning and Robust Fault Diagnosis
for Reentry Vehicles
SICVER Project
ARA Days, 21-23 October 2008, Arcachon, France2
Plan of talk
Motivations, context
Objectives
Global architecture
– Onboard fault tolerant path planning
– FDIR
Concluding remarks
ARA Days, 21-23 October 2008, Arcachon, France3
IMS-Bordeaux
Professors and
Associate Professors
109
Full Researchers 11
Laboratory technicians 55
Administrative
employees
14
Post-Doc 12
PhD students 128
TOTAL 329
ARA Days, 21-23 October 2008, Arcachon, France4
Research Organization
MCM
Department
COFI
Department
LAPS
Department
Mic
rosyste
ms
Mate
rials
Bio
-Ele
ctro
magnetic
s
Desig
n
Nanoele
ctro
nic
s
Relia
bility
Sig
nal
Auto
matic
Contro
l
Pro
ductio
n E
ngin
eerin
g
ARIA team
ARA Days, 21-23 October 2008, Arcachon, France5
ARIA Know-how and Competences : methodology
See : http://extranet.ims-bordeaux.fr/aria
Robust model-based FDIR techniques
– Design: LTI and LPV models
– Analysis, validation and assessment of diagnosis performances
– Decision for signal-based FDI
Robust G&C strategies for nonlinear systems
– NL control
– Path planning
– Fault tolerant control
ARA Days, 21-23 October 2008, Arcachon, France6
Overview of ARIA Know-how and Competences : Aerospace systems
European GARTEUR program : (AG16), FDI/FTC
Objective : Developpement of new FTC strategies for
flight control
Xrun
way
Zrun
way
Yrun
way
Final
approach
Fault
Airport
ARA Days, 21-23 October 2008, Arcachon, France7
Overview of ARIA Know-how and Competences : Aerospace systems
Airbus France : FDI of oscillatory faults in flight control system for
up-coming Airbus programs : A400M, A350, A3X
Le 29 novembre 2007 Page 3
© A
IRB
US
S.A
.S. A
ll ri
ghts
reserv
ed.
Confidential
and p
ropri
eta
ry d
ocum
ent.
Fligth Control Computer
Analogic Ouput
Analogic Input
Rod Sensor
Actuator
Fligth Control Laws
K
Control Surface Sensor
Hydraulic Servocontrol
ou
EHA
: OFC sources
COM
MON
Analogic Input
(Command)
Oscillatory Failure Case localization in a servoloop control
• Oscillatory Failure Case ( OFC ) detection in control surface
servoloop
4 Improvement of the method currently implemented onboard
on A380 for future programs (A400M, A350, A30X, ...)
– Decrease load effects on structure
– Lower detection threshold
– Lower detection time
– New actuators (EHA, EBHA)
Problem Setting
ARA Days, 21-23 October 2008, Arcachon, France8
– Leader of SIRASAS project (French)
– Two topics (FDIR) :
• Satellite systems
• Aeronautical systems
Overview of ARIA Know-how and Competences : Aerospace systems
ARA Days, 21-23 October 2008, Arcachon, France9
ARIA Know-how and Competences : Aerospace systems
– ADDSAFE project (FP7): – Advanced Fault Diagnosis for Safer Flight Guidance and Control– Starting time : January 2009
– For more information see : http://extranet.ims-bordeaux.fr/aria
ARA Days, 21-23 October 2008, Arcachon, France10
Context
SICVER falls within the scope of the
« Aerospace Valley » cluster : Aerospace and
Embedded Systems
http://www.aerospace-valley.com
ARA Days, 21-23 October 2008, Arcachon, France11
Motivations To answer the question : could new methods, recently developed
within the academic community, be used to improve the
performances of existing in-service schemes for next generation
RLV, while respecting the stringent operational constraints
(robustness, cpu time, …) ?
Observation : gap between
the methods being developed by the academic community,
and
those currently in use by the industrial end-users.
SICVER >>> an attempt to answer the above question …
ARA Days, 21-23 October 2008, Arcachon, France12
Objective
Innovative technical solutions for increasing
spacecraft autonomy >>> decreasing the ground
level intervention load.
model-based Fault Detection, Identification
and Recovery (FDIR) challenges for G&C,
Fault tolerant path planning, onboard
trajectory reshaping.
ARA Days, 21-23 October 2008, Arcachon, France13
Work breakdown
• PhD 1: Onboard replanning of
optimal TAEM and autolanding
trajectories in order to overcome
any faulty scenario (V. Morio)
• PhD 2: Robust Fault Detection
and Isolation and Identification
with a high level of sensitivity wrt
faults (A. Falcoz)
• Starting time : October 2006
• End : September 2009
ARA Days, 21-23 October 2008, Arcachon, France14
Common goal
The two topics are not independent :
To access the remaining capabilities of the
vehicle
Under faulty conditions : how to recover
timely the vehicle control and guidance
capability to avoid out-of-tolerance
conditions.
ARA Days, 21-23 October 2008, Arcachon, France15
Considered Atmospheric Re-entry Mission
Orbiter
ground track
TEP
NEP
Hypersonic phase
Zrunway
TAEM phase
Autolanding
phase
Injection point
ARA Days, 21-23 October 2008, Arcachon, France16
TAEM and autolanding phases
HAC3
HAC1
TEP
HAC4
Preliminary
dissipation S-turn
Xrunway
Zrunway
Yrunway
HAC acquisition
S-turn
HAC2
NEP
ARA Days, 21-23 October 2008, Arcachon, France17
Available models at IMS
Estimated main features
L/D (for M < 2) between 2 and 3
mass 2000 kg
length 5.9 m
Sref 8.97 m2
ARES-H
HL-20
Shuttle Orbiter
Estimated main features
Max L/D (for M < 2) 3.2
mass 10,400 kg
length 8.32 m
Sref 26.61 m2
Estimated main features
Max L/D (for M < 2) 4
mass 75,000 kg
length 37.24 m
Sref 249.9 m2
ARA Days, 21-23 October 2008, Arcachon, France18
Available models at IMS
ARA Days, 21-23 October 2008, Arcachon, France19
Shuttle, on going …
19/61
ARA Days, 21-23 October 2008, Arcachon, France20
General setup
Supervision
layer
GNC module
Navigation
unit
Nominal
controls
Attitude
controller
Actuators
Allocation
Flight control
Unit
Vehicle
NL model
Path
planning
Guidance
controller
Nominal
Guidance
Guidance Unit
ARA Days, 21-23 October 2008, Arcachon, France21
Results : Path planning and trajectory
reshaping
Flatness of the guidance model >>> Original Optimal Control
problem is transformed into a “geometric” and “integration-free”
setup
Convex approximation of nonlinear nonconvex constraints >>>
superquadric shapes
Genetic algorithms to find a global solution
ARA Days, 21-23 October 2008, Arcachon, France22
Results: path planning and trajectory
reshaping
ARA Days, 21-23 October 2008, Arcachon, France23
Results: Path plannig and trajectory
reshaping
ARA Days, 21-23 October 2008, Arcachon, France24
TAEM Guidance
ARA Days, 21-23 October 2008, Arcachon, France25
Results : Fault diagnosis
Take into account the coupling between the in-plane and out-of-
plane vehicle motions, as well as the effects that the faults could
have on the GNC performances
Robust FDI filters based on Hinfinity/H- theory
Formalized validation process and test (allows for easy re-tuning)
Complete cycle of design/validation
ARA Days, 21-23 October 2008, Arcachon, France26
Residual generation
Desision
making
Faulty
actuator
Fault identification
FDIR
dispersions
Navigation
TG Guidance loop Attitude control
Dynamics
ARA Days, 21-23 October 2008, Arcachon, France27
Results: FDI, HL20 vehicle
Attitude control loop model
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Results: FDI (flap fault)
modelling errors
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FDI, flap fault
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Concluding remarks
Important methodological results, over 15 publications
Need for a common high-fidelity and modular RLV
benchmark for design, tuning and validation
specify a set of predefined scenarios to be tested
Techniques/algorithms need to be more systematically
structured at GNC functional level, up to global System &
Operation level
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