Modeling &Control of Launch Vehiclespdsc2014/MVD_talk.pdf · Digital Auto-Pilot (DAP) Launch...
Transcript of Modeling &Control of Launch Vehiclespdsc2014/MVD_talk.pdf · Digital Auto-Pilot (DAP) Launch...
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Perspectives In Dynamical Systems & Control
Modeling &Control of Launch Vehicles
Presented By:
M. V. Dhekane
Deputy Director
Control Guidance & Simulation Entity, VSSC
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Outline
ISRO Missions
ISRO Launch Vehicles
• Structure Configuration (PSLV / GSLV / RLV)
• Propulsion Configuration
• Aerodynamics
• Actuation Systems
• Navigation systems
• Trajectory Design – Guidance & Control
Digital Auto-Pilot (DAP)
• Inputs for design
• Design problem
• Design specification
• Design methodology
• Control Configuration
Launch Vehicle Modelling
Input Data
Assumptions
Rigid Body rotational dynamics
Slosh
Flexibility
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Outline
RLV-TD (HEX) Mission
Mission profile
Different phase during descent
RLV-TD dynamics
Non-linear Control
Design parameters
Implementation aspect
Control design & validation philosophy
Post flight analysis
Challenges in design
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ISRO Missions
Sun Synchronous Polar Orbit (SSPO)
Eastward Missions – GTO
- Elliptical Orbits(Moon Mission/Mars Mission)
Space Capsule Recovery
RLV – Technology Demonstrator
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ISRO Launch Vehicles
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Heat Shield
Satellite
PS4 stage
PS3 Stage
PS2 Stage
PS1 stage
Strapons
SITVC tank
Sensors
Inertial navigation system
Gyros(Attitude)
Accelerometers
Actuators
SITVC
(Secondary injection Thrust Vector Control)
Engine Gimbal Control
Flex Nozzle control
PSLV Configuration
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Specification
Overall length : 49.128 m
Lift off Mass : 401.8 t
GTO payload : 1600 kg
Definition
(4L40+S139)+L37.5+C12.5
GSLV-MK2 Configuration
Sensors : RESINS at EB ,
RGP at ½ M
Actuators: EGC(L40)
EGC(L37.5),
CSCE, OSS
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Interstage to connect
TDV with Booster
Booster to achieve required flight condition
HS9 Booster : 9T Propellant loading
Diameter : 1m
Base Shroud with Fins
To reduce aerodynamic instability
To provide control during ascent
phase
RLV-TD HEX-1 Vehicle Configuration
TDV
Experiment : 70 to 0
Mach No. : 6 to 0
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SLV-3: Core (S9) + 2nd stage solid + 3rd stage solid
ASLV: Core (S9) + 2 Strapons (S9) + Solid Upper Stage
PSLV: Core S139 (Solid) + 6 Strapons + PS2 (L37.5) + PS3 (Solid) +
PS4 (L2.5)
GSLV: Core S139 (Solid) + 4 L40 + Cryo (C12)
Mk3: Core S200 (Solid) + 2 L110 + Cryo (C25)
RLV: Core + TDV (No Propulsion)
Propulsion/Configuration
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Aerodynamics
Actuation Systems :Thrust Vector Control
SITVC (Secondary Injected Thrust Vector Control)
Engine Gimbal Control
Flex Nozzle Control
Vernier Engine Control
Reaction Control System (On-Off Control)
Aerodynamic Surfaces
SLV-3: Core with Fins
ASLV: Core with 2 Strapons in 1st stage
PSLV: Core alone & (Core + 6 Strapons)
GSLV: Core + 4 liquid Strapons
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Navigation System
RESINS: Redundant Strap-down Inertial Navigation System
RGP: Rate Gyro Package
LAP: Lateral Accelerometer Package
Trajectory Design – Guidance & Control
Guidance : Point Mass Trajectory
– Maximizing the payload
Atmospheric Phase Flight
– Dynamic Pressure Curve
– Structural Loads
– Heating Constraints
– Range Safety
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Attitude Dynamics
Launch Vehicle (Pitch/Yaw/Roll) – Rigid Body
Slosh
Flexibility
Engine dynamics (Actuator + Nozzle)
RLV-
Longitudinal Dynamics
Lateral/ Directional
Control:
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Digital Auto-Pilot (DAP)
Launch Vehicle Autopilot is an inner loop of the Navigation,
Guidance and Control (NGC) subsystem.
Controls the Attitude of the vehicle in Pitch, Yaw and Roll
channels from lift-off till end of flight.
It ensures the stabilisation of the attitude in the presence of
disturbing forces and moments caused by various sources.
Steers the vehicle along a desired trajectory, maintaining the
structural integrity.
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Guidance
Law
Control Law
Plant
Dynamics
Attitude Sensing
+ +
Pos/Velocity Sensing
Target
Attitude
Commands Actuator
Commands
Navigation Guidance and Control Loop
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• Model of the System to be controlled
Plant : Rigid body, Flexibility, Slosh Dynamics
Actuators : SITVC, EGS, FNC, RCS
Sensors : RGP,RESINS, LAP
• Disturbances
Thrust misalignment, CG offset, Differential Thrust, Winds
• Tracking Commands
Generated by Guidance Law
• Specifications
Inputs for the Design
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Design Problem
Behavior of the output in presence of the disturbance may
not be satisfactory
Controller has to ensure satisfactory response of the system
rejecting the disturbance
System will be modeled by using differential equations
The controller will process the input signal to achieve
satisfactory output.
System
Input (d)
Disturbance (d)
Controller
Output (q) qc
command
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Design Specifications
• Primary Specification-
Tracing Error < 1 Degree
• Robustness Specifications
Rigid body
Aero margin > 6 dB
Phase margin > 30 Degree
Gain margin > 6 dB
Bending modes
Phase Margin > 40 Deg. : Phase Stabilisation
Attend. margin > 6 dB : Gain Stabilisation
Slosh modes
Phase margin > 30 Degree
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Design Methodology
• Classical Design Technique
Tracking Error Specification -
Bandwidth / Damping
Gain Design- PID
• Frequency Domain Design
Roll off, Notch, Lag-Lead filter
• Analysis using – Root Locus, Bode plot, Nyquist plot
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Control Configuration
• Control Power Plant
Physical Location / Alignment
Control Force / Moment
Dynamics
• Sensors Placement
Dynamics
• Baffles
Placement
Characteristics
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i). Mathematical model of vehicle dynamics
ii). Design to meet specifications
iii). On-board implementation of Autopilot
Algorithm
iv). Validation
Design and development of Autopilot
consists following important elements.
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Block description of system
Performance objective
Control hardware
Truth model
Design model
Design Iterations
Simulation
Validation
OK?
OK?
relax
improve
No
Yes
No
Yes
Clearance for flight Control design process
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LAUNCH VEHICLE MODELLING
PLANT MODEL
RIGID BODY DYNAMICS
CONTROL
POWER
PLANT
SENSOR
DYNAMICS
LIQUID SLOSH
STRUCTURES
PROPULSION
AERO DYNAMICS
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Input Data:
Plant Model :Mass, Length, Diameter, CG, MI of vehicle
Control Power Plant :Actuator model (transfer function),
Nozzle mass, length, Inertia
Sensor Dynamics :Attitude & body rate transfer functions
Liquid Slosh :Pendulum Mass, Length, Distance of
pendulum hinge point from CG, Un-
damped natural frequency, Damping ratio
Structures :Bending mode Frequency, Generalized
mass, Mode shape, Mode slope,
Damping ratio
Launch Vehicle Modelling
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Input Data:
Propulsion :Thrust
Aerodynamic :Aerodynamic (Lateral/Side) force coefficients,
Center of Pressure
Trajectory :Altitude, Mach Number, Inertial velocity
Atmosphere :Density
Dispersion level :Specified Uncertainty bounds
(example: Aero coefficients ±3%,
Bending mode frequency ±10% etc.)
Launch Vehicle Modelling
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Assumptions: Time Slice Approach:
Time varying mass and inertia properties are frozen over a short period of time (Short Period Dynamics)
Small Angle Approximation: Deviations from Reference trajectories are small so that trigonometric non-linearity, and higher order term’s contributions are neglected.
Decoupling of Attitude Dynamics: Due to axis symmetry of launch vehicles, Pitch/Yaw/Roll motions are assumed to be decoupled. NOTE: There is significant amount of coupling in Yaw/Roll motion for aircraft.
Linear Time Invariant : Non-linearity of actuator/sensors (Dead-zone, slew rate etc.) are neglected at design phase.
(All above assumptions lead to LTI systems properties.)
Launch Vehicle Modeling
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Rigid Body Rotational Dynamics
2
Assumptions:
& sin( ) =
( )
( )
sin( )
where,
,
C C
C C
C CC
C
I L l T l
I L l T l
T l L
s
s s
l
I I
q d
q q d
q d d
q
d
θ : Attitude lC : Control moment arm
δ : Control variable I : Moment of inertia
α : Angle of attack lα : Aerodynamic moment arm
L α : (QSCN α) Q : Dynamic Pressure, S – Reference area
CN α : Aerodynamic Normal Force Coefficient, TC : Controlling Thrust
q
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Rigid Body : Close loop system
2
2 22
a
a a as s
2
C
s
)1 RsK
d qpK
Cq
Actuator Transfer fn Launch Vehicle
Transfer fn
Block Diagram: Close loop system (Rigid Body Only)
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Root locus analysis
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No. of open loop poles in RHP : P = 1
# counter-clockwise encirclement : N =1
Nyquist Plot @Ign. + T sec
Z = P – N = 0
(STABLE)
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Gain Design Method-1:
)
) )
2
2 2 2
2 2 2
p R
Characteristic equation:
Reference equation :
Known variables :
Unknown variab
1 1 02
2 0
, , , ,
les :
de
,
gree o
K , K , a, b
a CP R
a a a
n n n
a a C n n
K K ss s s
s s s as b
P R
4
K & K
f ch. polynomial :
Rigid Body gain :
, b information of rest poles locat s : iona
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Slosh
Lateral oscillations of liquids in tank is slosh
Modelled by replacing liquid mass with rigid
mass and a harmonic oscillator such as spring or
pendulum
Pendulum parameters are function of tank shape
and liquid level
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Modeling Liquid Slosh
Ref: NASA SP-106
The Force & Moments produced by sloshing of the liquid fuel is
analyzed by an equivalent Mass and Pendulum Or an equivalent
Spring Mass Analogy.
Ref: Elements of Control Theory by A. L. Greensite
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Slosh Dynamics
2 2
0
th
th
th
th
( 2 ) ( ) ( )
: of i pendulum
: distance of i pendulum hinge point from body cg
: damping of i Pendulum
: Undamped natural Frequenc
where
y i
,
of P
pi pi pi pi i pi pi
pi
pi
pi
pi
L s s w U L
L Length
q q
0
endulum
: Pendulum angle
: Lateral acceleration
: Forward inertial velocity
: attitude rate
i
w
U
q
NOTE: Complex Pole-zero pair is introduced in Rigid body dynamics by each
Slosh mode.
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Root Locus (Rigid Body + Slosh)
Rigid Body poles: Two poles at origin [K/s2]
Actuator : Second order system [w2/s2+2*z*w*s+w2]
Slosh : 6 slosh mode (complex pole zeros pair per slosh mode)
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Nyquist plot at maximum slosh sensitivity instant :
- Rigid Body with Slosh , Actuator, Sensor & delay
- Slosh margin 5.5 degree & 8.9 degree
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Lag-lead compensator
(phase margin improvement)
Lag-Lead Compensator Bode plot
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Modeling Flexibility Dynamics
Ref: Elements of Control Theory by A. L. Greensite
( ) ( )( ) ( )i i
i
u q t Bending Mode displacement:
( )
(
t
t)
h
h
:Generalized Mode Shape of i Bending mode
:Generalized Co-ordinate of i
(
Bending mode
)
( )
i
iq t
Where,
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Flexibility Dynamics
1. Generalized mode shape is a function of vehicle length and mass
distribution etc. Since mass of vehicle is rapidly decreasing, Mode
shape is changing w.r.t. time. (Predicted with uncertainty bounds)
2. Generalized Co-ordinate dynamics is represented by second order
differential equation.
2 ( ) ( ) ( ) 2 ( )
( )( = 1, 2, 3...2 [ ] ) , i i i i c
i
Ts s q
Mi d
3. Flexibility deflection is picked-up by attitude sensor & Flexible-
deflection rate is picked-up by rate sensor. ( )
( )
( )( )where,
( )
( )
i
R RG
i
i
R PG
i
ii
q i
q i
q q
q q
4. Complex Pole-zero pair is introduced in Rigid body dynamics by
each Generalized Co-ordinate.
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Bending Mode Stabilization
Gain Stabilization:
Attenuate control loop gain at desired frequency, to ensure
stability regardless of control loop phase uncertainty.
(Second/Higher BM are usually Gain stabilized)
Phase Stabilization:
Provide proper phase characteristics at desired frequency to
obtain a close loop damping, that is greater than the passive
damping.
(First/Second BM are usually Gain stabilized)
Gain-Phase Stabilization:
A Rigid body/Flexible mode is said to be gain-phase stabilize if
it is close loop stable with finite gain and phase margin.
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Rigid Body + Flexibility
Rigid Body poles : Two poles at origin [K/(s2 - a)]
Actuator : Second order system [w2/s2+2*z*w*s+w2]
Slosh : 3 bending mode (complex pole zeros pair per bending mode)
Uncompensated Bode plot Uncompensated Nyquist plot
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Lag Compensator in Rate path
Lag-lead & Roll off filter in forward path
BM1, BM2 are Phase stabilized
BM3 Gain stabilized
Compensated Nyquist Plot
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HEX-1 MISSION PROFILE
1. Ascent Phase
2. Combined Coast Phase
HS9 Separation
3. Separated Coast Phase
4. Start of Descent Phase
5. Entry Phase
Hypersonic Regime
7. Splashdown in sea
6. Simulation of Landing
maneuvers (Terminal
phase)
Launch from FLP
Launch Azimuth : 90º
h ~ 32 km
M ~ 6
h ~ 70 km
M ~ 5.5
h ~ 48 km
M ~ 5.2
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0 100 200 300 400 500 600 700 8000
1
2
3
4
5
6Trajectory Data
M
0 100 200 300 400 500 600 700 8000
2
4
6
8x 10
4
H(m
)
Time(sec)
Rudder On
< 240,
Q > 2kPaElevon OnRCS On
Coast + Descent
Ascent
Phase 1 Phase 2 Phase 3
Nz-Ny-
--
Different Phases of RLV during TDV alone Flight
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0 100 200 300 400 500 600 700 800-20
0
20
40Trajectory Data
Alp
ha
(de
g)
0 100 200 300 400 500 600 700 8000
20
40
60
Q(k
Pa
)
Time(sec)
Phase 3 Phase 2
Phase 1
Critical Regions of Flight during TDV alone Phase
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Aerodynamic instability and Control requirement
16, 0.33 sdT 0.75, 1.52 sdT
W
V
FN
Reusable Launch Vehicle
W
V
FN
FA
PSLV
Higher the aerodynamic instability
faster is the divergence:
requires quicker Control
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Rigid body and Actuator Bandwidth requirements for
various launch vehicles
Vehicle μα Time to
double
Rigid body
BW (c)
Actuator
BW (6c)
PSLV 0.75 1.52 2.96 rad/s
(0.47 hz)
2.8 hz (6.5 hz)
GSLV 0.7 1.57 1.92 rad/s
(0.31 hz)
1.86 hz (4 hz)
MK III 3.6 0.694 3.18 rad/s
(0.51 hz)
3.06 (4 hz)
RLV 30.8 stable 11.1 rad/s
(1.76 hz)
10.56 hz (6.5hz)
TSTO
Orbiter
5.2 0.5775 4.56 rad/s
(0.7247 hz)
4.34 hz (> 4 hz)
Shuttle 3.4 0.7142 3.68 rad/s
(0.5869 hz)
3.52 hz (6.5 hz)
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e
em
o
eL
eD
m
o
mo
o
o
o
Lo
o
Lo
o
D
o
o
Do
Iyy
QscC
mV
QsCm
QsC
q
v
Iyy
QscC
IyyV
QscC
V
g
mV
QsCmg
VmV
QsC
gm
QsCg
mV
QsC
q
v
d
q
q
d
d
d
00100
002
sin1
sin2
cos0cos2
0
0
2
RLV-TD Pitch Dynamics
) 0)2)(2( 2222 pppsss sssss
Longitudinal Dynamics characteristic equations
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RLV-TD Yaw-Roll Dynamics
• State space model:
• States: p (roll rate), r (yaw rate), (side-slip angle) and (bank angle)
• Outputs: ´(bank rate), ´(side-slip rate), (side-slip angle) and (bank
angle)
• Inputs: Differential deflection of elevons (de) and symmetric deflection of
rudders (dr)
Output equations
State equations
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-74.5
139.8 15
8.9
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Yaw Roll Dynamics coupling
Control Design option-1
Control Design option-2
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0
5
10
15
20
1
2
3
4
5
6
0
5
10
15
20
Q (kPa)
Phase 2 Alpha channel rigid body Ka
Mach
Ka
Forward Path Gain
2-Dimensional Gain scheduling
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• Integrator limit
• Rate Control Limit
• Dead-zone
Non-Linear Control
Block Diagram : ON-OFF Control with Dead-zone
d qpK
Cq
KRs
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• Control Law- Error computation
• Gain Schedule
• Filters
• Integrator
• Nonlinear control Logics
Design parameters
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• Finite Word length Machine
• Memory and Execution Time
• Fixed point representation
• Accuracy and Scaling
• Overflow problems
• Transportation and computational
delays
Implementation Aspects
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Nominal
Plant (Vehicle + disturbances)
Non-failure Cases Failure Cases
Off
Nominal(3)
Stress(3 - 6) Over Stressed
unrealistic Cases
Act. failure Propulsion fail
Control Design & Validation
Philosophy
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• Simulated Input Profile (SIP)
• OBC In Loop Simulation (OILS)
• Hardware In Loop Simulation (HLS)
• Actuator In Loop Simulation (ALS)
• Flight Test
• Post flight analysis – Disturbance calculation-
model matching
• Model Update / Design Update
Validation
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Post Flight Analysis
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Post Flight Analysis
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Post Flight Analysis
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• Complexity of the model
• Robust Design Requirement
• Fault tolerance
• SISO to MIMO
• Unified Design Approach
• Design Automation
• Code Automation
Challenges in Design
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• Acknowledgement
I would like to acknowledge my colleagues from
Control Design division, CGDG, VSSC for their
support in preparation of this course material.
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Thank You