«towards an energetic modeling of a helicopter …...emr’12, madrid, june 2012 4 « towards an...

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

[email protected], [email protected],

[email protected], [email protected],

mailto:[email protected]






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



Part I:

« Context, problematic and

objectives»



- 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



- 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



- 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



Part II:

« The studied system : a helicopter»



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



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



- 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



- 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



- 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



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



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 -



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



Part III:

« Complementary use of BG and

EMR for control »



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 -



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


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


Load Mass

Model of the studied subsystem

Structural BG model




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


Load Mass

Structural BG model


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




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


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


Load Mass EMR of the system



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


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



-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


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


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



« Conclusion and perspectives »



- 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



« BIOGRAPHIES AND REFERENCES »



- Authors -

Phd. Zeineb CHIKHAOUI

INSM, LSIS, Arts et Métiers Paritech, Aix-en Provence

Dr. François MALBURET

Dr. Julien GOMAND

Prof. Pierre-Jean BARRE



- 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.

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