Modélisation, analyse et commande des grandes structures spatiales flexibles

Enhanced Tools for Modelling, Control Synthesis and Robust Validation of Large Space Flexible Structures

• Auteur / Autrice : Ricardo De oliveira valente moreno rodrigues
• Direction : Daniel Alazard, Francesco Sanfedino
• Type : Projet de thèse
• Discipline(s) : Automatique
• Date : Inscription en doctorat le 01/11/2021
• Etablissement(s) : Toulouse, ISAE
• Ecole(s) doctorale(s) : École doctorale Systèmes
• Partenaire(s) de recherche : Laboratoire : ISAE-ONERA ACDC - Analyse, Commande Dynamique et Conception des systèmes

Mots clés

Mots clés libres

Modélisation

Synthèse du contrôle

Validation Robuste

Espace

Structures Flexibles

Modelling

Control Synthesis

Robust Validation

Space

Flexible Structures

Résumé

Au cours des dix dernières années, le département Conception et Conduite des Véhicules Aéronautiques et Spatiales (DCAS) de l'Institut Supérieur de l'Aéronautique et de l'Espace (ISAE-SUPAERO, Toulouse, France) a développé des modèles de systèmes mécaniques sous forme LFT (Linear Fractional Transformation) minimal (en termes de occurrences de paramètres mécaniques) en étroite collaboration avec des divers partenaires (ESA, ONERA, Airbus DS, Thales Alenia Space). Le cadre développé est une approche multi-corps appelée Two-Input Two-Output Ports (TITOP) [10, 11, 12, 13, 14] qui est capable de connecter plusieurs sous-structures flexibles à travers des ports dynamiques en tenant compte des paramètres incertains et de toutes les configurations possibles (variation des propriétés mécaniques, variation des configurations géométriques comme l'angle de rotation du panneau solaire, variation de la vitesse de la roue de réaction, etc.) dans un modèle LFT unique. Ce modèle peut être ensuite directement utilisé pour faire la synthèse d'un contrôleur robuste et l'analyse robuste de la stabilité et des performances [4, 15, 16] en utilisant les routines Matlab disponibles dans la Robust Control Toolbox [17]. Tous les modèles dérivés dans l'approche TITOP ont été systématiquement implémentés dans la dernière version de la Satellite Dynamics Toolbox (SDT) [18, 19], qui permet à l'utilisateur de construire le modèle d'un véhicule spatial flexible. Cette boîte à outils permet d'assembler des structures complexes construites avec un logiciel FEM (ex: Patran/Nastran) dans un environnement Simulink en extrayant directement leurs informations dynamiques du modèle élément finis grâce à une interface dédiée avec ©Matlab [20, 14]. L'objectif de cette activité de recherche est d'enrichir les fonctionnalités de l'outil afin de le rendre générique pour une activité de co-conception structure/commande de bout en bout. Aujourd'hui, les industries spatiales s'appuient sur plusieurs logiciels pour piloter ce type d'activité. Ceci entraîne un manque de compréhension physique, un manque de maîtrise des tâches de modélisation et d'analyse/validation dans un même formalisme, une augmentation du temps de calcul due à plusieurs itérations et des échanges de données entre différents outils. A partir de l'abondante littérature ciblée sur ce sujet, l'activité doctorale consistera à combler les lacunes suivantes : * Développement et validation des modèles non-linéaires entièrement paramétriques dans le formalisme TITOP (aujourd'hui restreint dans la SDT au comportement linéaires des systèmes) en compte les grandes déformations et les termes non-linéaires dynamiques (accélérations centrifuges et de Coriolis) * Développement d'une fonction de linéarisation dédiée qui prend en compte toutes les incertitudes paramétriques/non paramétriques du modèle et fournit un système dynamique LFT incertain correct même en présence de forces/couples distribués comme la gravité * Développement d'algorithmes de réduction d'ordre système afin de fournir des modèles linéaires LFT pour la synthèse de contrôle et l'analyse linéaire pire/cas avec un nombre limité d'états Développement et validation du modèle TITOP de structure en treillis * Développement de l'algorithme pour la co-optimisation du contrôle/de la structure [21] qui répondent aux exigences de la mission Le travail de thèse a enfin une tâche expérimentale : * Le processus de conception/modélisation/contrôles/validation doit être validé sur un banc d'essai expérimental. La co-conception d'une structure flexible contrôlée activement par un ensemble d'actionneurs sera réalisée. Des techniques de contrôle robustes seront utilisées afin de synthétiser le contrôleur actif comme dans [16]. Bibliographie: [1] C. Dennehy and O. S. Alvarez-Salazar, “Spacecraft Micro-Vibration: A Survey of Problems, Experiences, Potential Solutions, and Some Lessons Learned,” NASA, Tech. Rep. NASA/TM-2018-220075, 2018. [2] European Cooperation for Space Standardization (ECSS), “Spacecraft mechanical loads analysis handbook,” European Space Agency (ESA), Tech. Rep. ECSS-E-HB-32-26A, 2013. [3] V.Preda,“RobustMicrovibrationControlandWorst-caseAnalysisforHighPointingStabilitySpaceMissions,”Ph.D. dissertation, Université de Bordeaux, 2017. [4] F. Sanfedino, “Experimental validation of a high accuracy pointing system,” Ph.D. dissertation, Institut Supérieur de l'Aéronautique et de l'Espace (ISAE-SUPAERO, Toulouse, France). Département conception et conduite des véhicules aéronautiques et spatiaux, 2019. [Online]. Available: http: //www.theses.fr/2019ESAE0009 [5] G. S. Nurre, J. P. Sharkey, and H. B. Waites, “Initial performance improvements due to design modifications for the Pointing Control System on the Hubble Space Telescope,” in Guidance and Control 1991, Jan. 1991, pp. 493–511. [6] C. L. Foster, M. L. Tinker, G. S. Nurre, and W. A. Till, “Solar-array-induced disturbance of the hubble space telescope pointing system,” Journal of Spacecraft and Rockets, vol. 32, no. 4, pp. 634–644, 1995. [7] K.-C. Liu, T. Kenney, P. Maghami, P. Mule, C. Blaurock, and W. B. Haile, “Jitter Test Program and On-Orbit Mitigation Strategies for Solar Dynamic Observatory,” in Proceedings of the 20th International Symposium on Space Flight Dynamics, Greenbelt, Maryland, United States., 2007. [8] P. Laurens, E. Decoux, and M. Janvier, “Soho microvibrations: analyses, tests and flight results,” in Proceedings of the 3rd ESA International Conference on Spacecraft Guidance, Navigation and Control Systems, vol. 381, 1996, p. 489. [9] K. Zhou, J. C. Doyle, and K. Glover, Robust and Optimal Control. Prentice Hall, 1996. [10] D. Alazard, J. A. Perez, T. Loquen, and C. Cumer, “Two-input two-output port model for mechanical,” in Scitech 2015 - 53rd AIAA Aerospace Sciences Meeting, 5 January 2015 - 9 January 2015, 2015. [11] J. A. Perez, D. Alazard, T. Loquen, C. Cumer, and C. Pittet, “Linear Dynamic Modeling of Spacecraft with Open-Chain Assembly of Flexible Bodies for ACS/Structure Co-design,” in Advances in Aerospace Guidance, Navigation and Control. Cham: Springer International Publishing, 2015, pp. 639–658. [Online]. Available: http://link.springer.com/10.1007/978-3-319-17518-8_37 [12] J. A. Perez, D. Alazard, T. Loquen, C. Pittet, and C. Cumer, “Flexible Multibody System Linear Modeling for Control Using Component Modes Synthesis and Double-Port Approach,” Journal of Dynamic Systems, Measurement, and Control, vol. 138, no. 12, p. 121004, 8 2016. [Online]. Available: http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?doi=10.1115/1.4034149 [13] J. Chebbi, V. Dubanchet, J. A. Perez Gonzalez, and D. Alazard, “Linear dynamics of flexible multibody systems,” Multibody System Dynamics, vol. 41, no. 1, pp. 75–100, 9 2017. [Online]. Available: http://link.springer.com/10.1007/s11044-016-9559-y [14] F. Sanfedino, D. Alazard, V. Pommier-Budinger, A. Falcoz, and F. Boquet, “Finite element based n-port model for preliminary design of multibody systems,” Journal of Sound and Vibration, vol. 415, pp. 128–146, 2018. [15] F. Sanfedino, V. Preda, V. Pommier-Budinger, D. Alazard, F. Boquet, and S. Bennani, “Robust active mir- ror control based on hybrid sensing for spacecraft line-of-sight stabilization,” IEEE Transactions on Control Systems Technology, 2020. [16] V. Preda, F. Sanfedino, S. Bennani, F. Boquet, and D. Alazard, “Robust and adaptable dynamic response reshaping of flexible structures,” Journal of Sound and Vibration, vol. 468, p. 115086, 2020. [17] G. Balas, R. Chiang, A. Packard, and M. Safonov, “Robust Control Toolbox User's Guide,” Matlab, Tech. Rep., 2016. [18] D. Alazard and F. Sanfedino, “Satellite dynamics toolbox for preliminary design phase,” in 43rd Annual AAS Guidance and Control Conference, 30 January 2020 - 5 February 2020 (Brechenridge, United States), 2020, pp. 1461–1472. [19] D. Alazard, “Satellite dynamics toolbox,” https://personnel.isae-supaero.fr/daniel-alazard/matlab-packages/ satellite-dynamics-toolbox.html, accessed: 2020-01-25. [20] H. Murali, D. Alazard, L. Massotti, F. Ankersen, and C. Toglia, “Mechanical-Attitude Controller Co-design of Large Flexible Space Structures,” in Advances in Aerospace Guidance, Navigation and Control. Springer, Cham, 2015. [21] A. Falcoz, M. Watt, M. Yu, A. Kron, P. P. Menon, D. Bates, F. Ankersen, and L. Massotti, “Integrated control and structure design framework for spacecraft applied to biomass satellite.” IFAC Proceedings Volumes, vol. 46, no. 19, pp. 13–18, 2013.

In the last ten years, the department Conception et Conduite des Véhicules Aéronautiques et Spatiaux (DCAS) of the Institut Superieur de l'Aéronautique et de l'Espace (ISAE-SUPAERO, Toulouse, France) has been working on the development of minimal (in terms of mechanical parameter occurrences) LFT models under several contracts (ESA, ONERA, Airbus DS, Thales Alenia Space). The developed framework is a multi-body approach called Two-Input Two-Output Ports (TITOP) [10, 11, 12, 13, 14], which is able to connect several flexible sub-structures through some dynamical ports by keeping the uncertain nature of the plant and condensing all the possible configurations (variation of the mechanical properties, variation of mechanical configurations like a solar array's rotation angle, variation of the speed of a reaction wheel, etc.) in an unique LFT model. This model is then ready for robust control synthesis, robust stability and performance assessment [4, 15, 16] by using the available ©Matlab routines of the Robust Control Toolbox [17]. All the models derived using the TITOP approach have been systematically implemented in the last release of the Satellite Dynamics Toolbox (SDT) [18, 19], which allows the user to easily build the model of a flexible spacecraft with several appendages by assembling elemental ©Simulink customised blocks. Due to this toolbox, even complex structures built with FEM software (like ©Patran/Nastran) can be assembled in a ©Simulink environment, by directly extracting their dynamical information from FEM dynamical analysis, thanks to a dedicated interface with ©Matlab [20, 14]. The goal of this research activity is to enhance the features of the tool in order to make it generic for an end-to-end structure/control co-design activity. Nowadays, the Space industries rely on several software programs in order to conduct this kind of activity. This results in lack of physical understanding, lack of mastering the modelling part and the analysis/verification tasks in the same formalism, an increase of computational time due to several iterations and also data exchanges among different tools. From the abundant literature targeted on these topics, the PhD activity will consist in filling the following gaps: * Development and validation of the corresponding fully parametric non-linear models in TITOP formalism of the existing SDT linear models by taking into account large deformations and dynamical non-linear terms (centrifugal and Coriolis accelerations) * Development of a customised linearisation function that takes into account all parametric/non-parametric uncertainties of the model and provides a correct uncertain LFT dynamical system even in presence of distributed forces/torques such as gravity * Development of system order reduction algorithms in order to provide LFT linear models for control synthesis and linear worst-case analysis with a limited number of states * Development of the algorithm of the multi-objective control/structure optimisation process [21] which meets the mission requirements The PhD work has finally an experimental task: * The process described before has to be validated on an experimental test bench. The co-design of a flexible structure actively controlled by a set of actuators will be performed. Robust control techniques will be used in order to synthesise the active controller as in [16]. References: [1] C. Dennehy and O. S. Alvarez-Salazar, “Spacecraft Micro-Vibration: A Survey of Problems, Experiences, Potential Solutions, and Some Lessons Learned,” NASA, Tech. Rep. NASA/TM-2018-220075, 2018. [2] European Cooperation for Space Standardization (ECSS), “Spacecraft mechanical loads analysis handbook,” European Space Agency (ESA), Tech. Rep. ECSS-E-HB-32-26A, 2013. [3] V.Preda,“RobustMicrovibrationControlandWorst-caseAnalysisforHighPointingStabilitySpaceMissions,”Ph.D. dissertation, Université de Bordeaux, 2017. [4] F. Sanfedino, “Experimental validation of a high accuracy pointing system,” Ph.D. dissertation, Institut Supérieur de l'Aéronautique et de l'Espace (ISAE-SUPAERO, Toulouse, France). Département conception et conduite des véhicules aéronautiques et spatiaux, 2019. [Online]. Available: http: //www.theses.fr/2019ESAE0009 [5] G. S. Nurre, J. P. Sharkey, and H. B. Waites, “Initial performance improvements due to design modifications for the Pointing Control System on the Hubble Space Telescope,” in Guidance and Control 1991, Jan. 1991, pp. 493–511. [6] C. L. Foster, M. L. Tinker, G. S. Nurre, and W. A. Till, “Solar-array-induced disturbance of the hubble space telescope pointing system,” Journal of Spacecraft and Rockets, vol. 32, no. 4, pp. 634–644, 1995. [7] K.-C. Liu, T. Kenney, P. Maghami, P. Mule, C. Blaurock, and W. B. Haile, “Jitter Test Program and On-Orbit Mitigation Strategies for Solar Dynamic Observatory,” in Proceedings of the 20th International Symposium on Space Flight Dynamics, Greenbelt, Maryland, United States., 2007. [8] P. Laurens, E. Decoux, and M. Janvier, “Soho microvibrations: analyses, tests and flight results,” in Proceedings of the 3rd ESA International Conference on Spacecraft Guidance, Navigation and Control Systems, vol. 381, 1996, p. 489. [9] K. Zhou, J. C. Doyle, and K. Glover, Robust and Optimal Control. Prentice Hall, 1996. [10] D. Alazard, J. A. Perez, T. Loquen, and C. Cumer, “Two-input two-output port model for mechanical,” in Scitech 2015 - 53rd AIAA Aerospace Sciences Meeting, 5 January 2015 - 9 January 2015, 2015. [11] J. A. Perez, D. Alazard, T. Loquen, C. Cumer, and C. Pittet, “Linear Dynamic Modeling of Spacecraft with Open-Chain Assembly of Flexible Bodies for ACS/Structure Co-design,” in Advances in Aerospace Guidance, Navigation and Control. Cham: Springer International Publishing, 2015, pp. 639–658. [Online]. Available: http://link.springer.com/10.1007/978-3-319-17518-8_37 [12] J. A. Perez, D. Alazard, T. Loquen, C. Pittet, and C. Cumer, “Flexible Multibody System Linear Modeling for Control Using Component Modes Synthesis and Double-Port Approach,” Journal of Dynamic Systems, Measurement, and Control, vol. 138, no. 12, p. 121004, 8 2016. [Online]. Available: http://dynamicsystems.asmedigitalcollection.asme.org/article.aspx?doi=10.1115/1.4034149 [13] J. Chebbi, V. Dubanchet, J. A. Perez Gonzalez, and D. Alazard, “Linear dynamics of flexible multibody systems,” Multibody System Dynamics, vol. 41, no. 1, pp. 75–100, 9 2017. [Online]. Available: http://link.springer.com/10.1007/s11044-016-9559-y [14] F. Sanfedino, D. Alazard, V. Pommier-Budinger, A. Falcoz, and F. Boquet, “Finite element based n-port model for preliminary design of multibody systems,” Journal of Sound and Vibration, vol. 415, pp. 128–146, 2018. [15] F. Sanfedino, V. Preda, V. Pommier-Budinger, D. Alazard, F. Boquet, and S. Bennani, “Robust active mir- ror control based on hybrid sensing for spacecraft line-of-sight stabilization,” IEEE Transactions on Control Systems Technology, 2020. [16] V. Preda, F. Sanfedino, S. Bennani, F. Boquet, and D. Alazard, “Robust and adaptable dynamic response reshaping of flexible structures,” Journal of Sound and Vibration, vol. 468, p. 115086, 2020. [17] G. Balas, R. Chiang, A. Packard, and M. Safonov, “Robust Control Toolbox User's Guide,” Matlab, Tech. Rep., 2016. [18] D. Alazard and F. Sanfedino, “Satellite dynamics toolbox for preliminary design phase,” in 43rd Annual AAS Guidance and Control Conference, 30 January 2020 - 5 February 2020 (Brechenridge, United States), 2020, pp. 1461–1472. [19] D. Alazard, “Satellite dynamics toolbox,” https://personnel.isae-supaero.fr/daniel-alazard/matlab-packages/ satellite-dynamics-toolbox.html, accessed: 2020-01-25. [20] H. Murali, D. Alazard, L. Massotti, F. Ankersen, and C. Toglia, “Mechanical-Attitude Controller Co-design of Large Flexible Space Structures,” in Advances in Aerospace Guidance, Navigation and Control. Springer, Cham, 2015. [21] A. Falcoz, M. Watt, M. Yu, A. Kron, P. P. Menon, D. Bates, F. Ankersen, and L. Massotti, “Integrated control and structure design framework for spacecraft applied to biomass satellite.” IFAC Proceedings Volumes, vol. 46, no. 19, pp. 13–18, 2013.