Load Control in Highly-Deforming

Aeroelastic Systems

Rafael Palacios
Department of Aeronautics

Seminar at Vibration UTC, MED

30 April 2014

http://www.imperial.ac.uk/aeroelastics
 Load Control and Aeroelastics: Research Topics

Dynamics & control Load control in Computational

of flexible aircraft large wind turbines methods for FSI
 Load Control - Overview

• Motivation: ever more efficient airframes → perpetual flight

• Approach: A framework for Simulation of High-Aspect Ratio Planes

o Aeroelasticity with large-displacements
o Coupling with flight dynamics

• Model reduction and control

• Examples:
o Dynamic stability of very flexible aircraft
o Gust alleviation strategies – wake encounter

o On-going work
 Quick Quiz

Q: What do this companies have in common?

A: They all announced a solar-powered aircraft project in April 2014
 The challenge of very high efficiency
Extreme efficiency: Solar-powered planes for “perpetual flight”

Solar Impulse 2

QinetiQ Zephyr 7
• Span: 22.5 m
• Weight: 53 kg
• Flight altitude: 60,000 ft
• Payload: 2.5 kg
• Power: Solar panels
Li-S batteries

see movie
 Large (and flexible) wings on transport aircraft

• Who is not interested in higher efficiency?

[source:USPTO] B787 (www.aviationweek.com

Boeing SUGAR Volt

NASA X-56A
 The challenge of very high efficiency
The Great Flight Diagram* Conventional aircraft

Solar-powered

Power management:
Weight

Birds

Wing loading *Noth (2006). Design of Solar Powered

Airplanes for Continuous Flight, PhD thesis, ETH
 Modelling of (very) flexible aircraft dynamics

• Some major modelling challenges:

1. Design for jig shape

2. Validity of linear methods even more restricted in flight envelope (e.g., gust loads)

3. Blurred boundaries between aeroelasticity, flight dynamics, and control

• Our objective:
“Apparent stiffness” by means of dynamic load control systems
Modelling of (very) flexible aircraft dynamics

FLUID
MECHANICS

Flow Control

Aeroelasticity Flight Mechanics

CONTROL

Vibration Navigation
suppression
STRUCTURAL RIGID-BODY
MECHANICS DYNAMICS

Flexible Body Dynamics

...and this is geometrically nonlinear

 Modelling of (very) flexible aircraft dynamics

von Flotow (1989): Daedalus

• Linear beams
• Unsteady thin aerofoil
• No controls

Drela (1999): ASWing

• Nonlinear beams
• Unsteady lifting line
• PID control

Patil (1999) & Cesnik (2002)

• Nonlinear composite beams
• Unsteady thin aerofoil
• LQG control
(Patil & Hodges, 2006)
Wang (2010)
• Nonlinear beams
• Unstedy Vortex Lattice
• No controls
 Overview

• Motivation: ever more efficient airframes → perpetual flight

• Approach: A framework for Simulation of High-Aspect Ratio Planes

o Aeroelasticity with large-displacements
o Coupling with flight dynamics

• Model reduction and control

• Examples:
o Dynamic stability of very flexible aircraft
o Gust alleviation strategies – wake encounter

o On-going work
Flexible Aircraft Dynamics Simulation (SHARP)
SHARP: Structural Dynamics
 SHARP.Cells: Homogenisation of periodic structures*

*Dizy et al. Homogenization of slender periodic composite structures, IJSS 50 (2013)
 Condensation of large FE models*

Stiffness model Lumped mass model

Solve 1-D
Modal basis
• “Tree” of master • Modal velocities and nonlinear
nodes (ASET) along internal forces
wings, fuselage, etc. •Guyan reduction • In modal coordinates
• Identify coefficients in
• Lumped masses •Nodal nonlinear modal EoM • Back to 3-D through
displacements/ Guyan transformation
rotations
Modal
3-D FEM
Intrinsic
( −ω M
2
j a )
+ K a φaj = 0 q = Ωq + L(q)q + Q

*Wang et al. A Method for Normal‐Mode‐Based Model Reduction in Nonlinear Structural Dynamics,  under review

 SHARP.Beams: Geometrically-nonlinear composite beams

Rigid-body DoF Structural DoF

⎧ va ⎫ ⎧ Ra ⎫
β =⎨ ⎬ η =⎨ ⎬
⎩ωa ⎭ Ψ
⎩ ⎭ at FE nodes
Nonlinear equations of motion
Linearized equations
⎧η ⎫
M (η ) ⎨  ⎬ + Qgyr (η ,η , β ) + Qstif (η ) = Qext (η ,η , β , ζ )
⎩β ⎭
⎧⎪ β ⎫⎪ ⎧β ⎫ ⎧0⎫
M (η0 ) ⎨ ⎬ + C gyr (η0 , β 0 ) ⎨ ⎬ + K stiff (η0 ) ⎨ ⎬ =Qext
⎪⎩η ⎪⎭ ⎩η ⎭ ⎩η ⎭
Propagation of body-
attached FoR
 SHARP.Beams: Geometrically-nonlinear composite beams

Free-flying flexible beam in vacuum (no gravity)*

(Simo et al, 1988)

*Hesse, Palacios. Consistent structural linearization in flexible‐body dynamics with large rigid‐body motion, Comp&Struct 110 (2012)

Flexible Vehicle Structural Dynamics
 Adding the unsteady aerodynamics

Structure to Aerodynamics Aerodynamics to structure

 Unsteady Vortex Lattice Method (UVLM)
• Vortex-ring discretization (Katz & Plotkin, 2001)
• Potential flow, thin wing → Low speed flight, attached flow
• 3-D, unsteady, free-wake, interference, large (but slow) displacements

Propagation step:

Output step*:

δ Fst = ρ∞ Γ ( U × δ l )
∂Γ k
Funst ,k = ρ ∞
∂t
(
ˆ ×δ l
c U )
see movie
*Simpson et al. Induced Drag Calculations in the Unsteady Vortex Lattice Method, AIAA Journal 61 (2013)
 Monolithic Coupling (linear problem)
• Discrete-time state-space formulation*
• Linearization around given configuration (usually trim)
• Frozen geometry assumption → Prescribed wake

*Murua et al. Applications of the unsteady vortex‐lattice method in aircraft aeroelasticity and flight dynamics JPAS 55 (2012)

Flexible aircraft dynamics (linear/nonlinear)
Flexible aircraft dynamics (linear/nonlinear)
 Stability of very light HALE UAV*

HALE model characteristics (Patil, 2001)

Aspect ratio 16
Elastic axis (from le) 50 %
Center of gravity (from le) 50 %
Mass per unit length 0.75 kg/m
Torsional rigidity 1σ×104 N·m2
Bending rigidity 2σ×104 N·m2

σ: stiffness parameter

• Flexible main wing

• Rigid fuselage and T-tail
• Total mass: 75.4kg
• 20km altitude
Trim at V∞=30m/s

*Hesse et al. (2014) Consistent Structural Linearization in Flexible Aircraft Dynamics with Large Rigid‐Body Motion, AIAA Journal
 Stability analysis of full aircraft
TRIM AIRCRAFT DISCRETE-TIME EIGENVALUE
(Nonlinear) LINEARIZE SYSTEM MATRIX ANALYSIS

Phugoid Short period Spiral

Rigid -0.011±0.27i -4.53±1.67i -0.064
V∞=30m/s
Flexible -0.0044±0.30i -2.18±1.57i -0.088 σ =2
 Dynamic stability vs. stiffness

Dynamic stability directly from physical degrees of freedom

Closing the loop
Closing the loop
Dynamic aeroelasticity of manoeuvring aircraft
uA
Linear
ΔΓ n +1 = AΔΓ n + BS ΦΔuΦn + BAu An
subsystem Δy An = ΦT C ΔΓ n
yA
uΦ AERODYNAMICS

FLEXIBLE-BODY
DYNAMICS

⎧ q ⎫ ⎧ q ⎫ ⎧q ⎫
ΦT M (η0 ) Φ ⎨  ⎬ + ΦT C (η0 , β ) Φ ⎨ ⎬ + ΦT K (η0 , β ) Φ ⎨ ⎬ = ΦT Qext ( q, q , β , ζ )
⎩β ⎭ ⎩β ⎭ ⎩0 ⎭
 Dynamic aeroelasticity of manoeuvring aircraft*

• Small number of inputs and outputs (structural modes + rigid body)

• Model reduction through balanced truncation
o Balance aerodynamic states using controllability/observability Gramians
o Truncate least controllable and observable states

uA
ΔΓ n +1 = AΔΓ n + BS ΦΔuΦn + BAu An
Δy An = ΦT C ΔΓ n
uΦ yA
Γ = T ΓB
AERO-
AERODYNAMICS
DYNAMICS
ΓΓ B
ΔΓ nB+1 = T −1 AT ΔΓ nB + T −1 BS ΦΔuΦn + T −1 BAu An
Δy An = ΦT CT ΔΓ nB

*Hesse et al. Reduced‐Order Aeroelastic Models for the Dynamics of Maneuvering Flexible Aircraft,  AIAA Journal (2014)
 Load Alleviation for a HALE UAV

Composite Nonlinear Dynamic

beam Trim Stability

Hinf Linear Linear

Synthesis ROM Plant
Load
Alleviation
Load Loads Loads
Simulation ROM Plant
 Wake Vortex Encounters (WVE)

• Generating wake modelled following Kier (2011)

• Wake vortices modelled as vortex filaments from

bG= 50 m, WG=2800 kg, VG= 8 m/s

• Biot-Savart Law and exponential decay around

viscous core radius

Kier, T, 2011. An integrated loads analysis model including unsteady aerodynamic effects for position and attitude dependent gust fields. IFASD 2011.
Are wake encounters important?
 Open-Loop results*

*Hesse and Palacios. Dynamic Load Alleviation in Wake Vortex Encounters, under review
 Hybrid control for load alleviation
• Linear ROM for control synthesis (50 states)

• H∞ controller

• Robustness vs. performance (actuator constraints

not in the model)

bending strains S

aileron P flap P flap S aileron S

elevator P elevator S

Control surface inputs to root bending strain

 Hybrid control for load alleviation

• Load envelopes for open and close loop responses

Left wing Right wing

Effective approach for load alleviation → “less structure” → less weight

 Towards Predictive Control

• “1-cos” gust on cantilever wing

• Control via trailing edge flap
• MPC vs. LQR with same weights
see movie

Root bending Root torsion

Flap deflection

time
time
*Simpson et al. (2014). Predictive Control for Alleviation of Gust Loads on Very Flexible Aircraft. AIAA SciTech, Washington, DC
 Applications to wind energy*

• NREL 5-MW test case in storm (gusty wind and waves)

• Flaps actuated to reduce blade loads

see movie see movie

*Ng et al. (2014) Efficient Aeroservoelastic Modeling for the Control of Trailing‐Edge Flaps on Wind Turbines,  UKACC
 Conclusions

• Physics-based state-space realizations of 3-D aeroelasticity with

potential-flow unsteady aerodynamics

• Coupling of rigid-body, structural, unsteady aerodynamics, and

control system. Monolithic approach.

• integration of load alleviation strategies in Flight Control System

• Demonstration on Wake Encounter Loads

• On-going work:
o Coupling with RANS (no longer monolithic!)
o MPC implementation for simultaneous flight & load control