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Model-Based Robust Transient Control of Reusable Liquid-Propellant Rocket Engines Sergio Perez Roca

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Model-Based Robust Transient Control of Reusable Liquid-Propellant Rocket Engines Sergio Perez Roca Model-based robust transient control of reusable liquid-propellant rocket engines Sergio Perez Roca To cite this version: Sergio Perez Roca. Model-based robust transient control of reusable liquid-propellant rocket engines. Systems and Control [cs.SY]. Université Paris-Saclay, 2020. English. NNT : 2020UPASS017. tel- 02888841 HAL Id: tel-02888841 https://tel.archives-ouvertes.fr/tel-02888841 Submitted on 3 Jul 2020 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Model-based Robust Transient Control of Reusable Liquid-Propellant Rocket Engines Thèse de doctorat de l’Université Paris-Saclay École doctorale n◦ 580, Sciences et technologies de l’information et de la communication (STIC) Spécialité de doctorat : Automatique Unité de recherche : Université Paris-Saclay, ONERA, Traitement de l’information et systèmes, 91123, Palaiseau, France. Référent : Faculté des Sciences d’Orsay Thèse présentée et soutenue à Palaiseau, France, le 27/01/2020, par Sergio PÉREZ ROCA Composition du jury: Cristina STOICA MANIU Présidente Professeure, CentraleSupélec (L2S) Michael OSCHWALD Rapporteur & Examinateur Professeur, DLR (Institut für Raumfahrtantriebe) Sami OTHMAN Rapporteur & Examinateur Maître de conférences, HDR, Université Lyon 1 (LAGEPP) Jean-Pierre CORRIOU Examinateur Professeur Emérite, Université de Lorraine (ENSIC) Mircea LAZAR Examinateur Professeur associé, Dr., TU Eindhoven Hélène PIET-LAHANIER Directrice de thèse Directrice de Recherche, ONERA (DTIS) Nicolas LANGLOIS Co-directeur de thèse Professeur, ESIGELEC (IRSEEM) Julien MARZAT Co-encadrant & Examinateur Ingénieur de Recherche, HDR, ONERA (DTIS) François FARAGO Invité, Co-encadrant Ingénieur, Dr., CNES (DLA) Marco GALEOTTA Invité, Co-encadrant Ingénieur, CNES (DLA) Serge LE GONIDEC Invité, Co-encadrant Ingénieur, ArianeGroup SAS NNT: 2020UPASS017 Thèse de doctorat de Thèse Funders: Supervisors: A Marina, a mi padre, a ma mare i a Melanie, ./ "Perquè hi haurà un dia que no podrem més, i llavors ho podrem tot", Vicent Andrés Estellés. ./ "I got soul, but I’m not a soldier", from All These Things That I’ve Done by The Killers. Remerciements/Acknowledgements Cette thèse n’aurait pu aboutir sans la collaboration et le soutien de plusieurs personnes de différents établissements et environnements. Je voudrais tout d’abord remercier mes rapporteurs, Sami Othman et Michael Oschwald pour les constructifs rapports qu’ils ont écrit. Ich bedanke mich bei Prof. Oschwald für die qualifizierten Kommentare und ich freue mich, dass er meiner Doktorarbeit Relevanz beimisst. Je remercie aussi mes examinateurs, les Professeurs Cristina Stoica Maniu et Jean-Pierre Corriou de leurs intéressantes questions, and especially Mircea Lazar, who has made a great effort to carefully read my dissertation and to provide very constructive feedback, thereby helping to increase the quality of the final text. Parmi ma "nombreuse" équipe d’encadrants, je remercie d’abord Elisa Cliquet Moreno, qui avait commencé à encadrer cette thèse avant son aventure japonaise; Serge Le Gonidec d’avoir lancé cette thèse; Nicolas Langlois de ses conseils et de m’avoir donné la possibilité d’aller à l’ESIGELEC- IRSEEM Rouen, où j’ai pu avoir des discussions multiculturelles et motivantes avec des doctorants et ingénieurs du même domaine; François Farago de sa gentillesse et sa prédisposition à m’écouter et m’aider quand j’en avais besoin; Hélène Piet-Lahanier de ses conseils scientifiques, de sa bonne humeur et de son aide avec les soucis administratifs qui ont apparu; Marco Galeotta de son aide immense pendant la phase de modélisation moteur, où j’ai pu profiter de sa grande expérience et savoir-faire, à part de sa bonne humeur et gentillesse (Grazie mille!); et Julien Marzat, qui a suivi mes pas de plus près, m’a proportionné des outils et m’a aidé et rassuré dans les prises de décisions. Des personnes qui, n’étant pas encadrantes, ont aidé avec de petits gestes à faire des différents établissements liés à la thèse des endroits plus humains, sont Florence Marie (ONERA, probablement l’assistante la plus efficace et sympa du monde), Claire Quillien (ONERA), Bruno de la cafétéria (ONERA), Anne-Marie Cerrato (CNES), Alex Le Page (CNES), Bruno Vieille (CNES), Thérèse Toro (UPSud), Corinne Le Hong (ONERA), Virginie Wiels (ONERA), Gilles Duc (Supélec, pour sa gentillesse et son énorme travail en tête du pôle Automatique de l’école doctorale), Gérard Ordonneau (ONERA), Valérie Haemmerle et les autres ingénieurs de l’unité NGPA de l’ONERA-DTIS (et nos afterworks marrants), dont j’ai des remerciements spéciaux pour mon dernier co-bureau Prince Edorh, et pour Ioannis Sarras, qui s’est toujours intéressé à comment j’avançais et m’a fait plein de suggestions (même si enfin je n’ai pas pu toutes les appliquer). On arrive à la partie la plus personnelle. Cette thèse a entraîné une montagne russe émotionnelle. Des questions sans réponse, des chemins barrés... En plus du grand challenge intellectuel qu’elle signifie, elle a entraîné aussi un grand challenge psychologique. Je me suis senti isolé, hybride (ni vii d’ici ni de là-bas), parfois démotivé, mais j’ai réussi à trouver la motivation, grâce en partie à ma passion pour les moteurs fusée et les systèmes fluides, mais surtout grâce à toutes les personnes avec lesquelles j’ai partagé ces trois ans. Je remercie à tout le groupe de stagiaires et doctorants du DTIS, qui ont été ma famille en région parisienne en partageant beaucoup de soirées bars et jeux : Rodolphe Dubois, Vincent Chabridon, Iréna Robinson, Romain Rincé, Ric(c)ardo Bonalli, Jean-Lynce Gnanago, Denis de Oliveira, Julius Ibenthal, Antonello Venturino, Guillaume Hardouin, Baptiste Levasseur, Marcela Carvalho, Arnaud Denjoy, Antonella Florio, Thomas Perrin, Étienne Bertin (et ses blagues surréalistes), Nathan↔Michel (je vous assure que je l’ai vu), Camille Palmier (et sa force de cohésion du groupe), Enzo Iglésis (et ses faiblesses au baby-foot), Ali Hebbal (et notre passion commune pour Rafa Nadal), Julien Pelamatti (et son humeur incisive) y Esteban Restrepo Ochoa (amigo de navette y más chimba ;)). Notre bande de rock, faussement appelée "Les stagiaires d’Émilien", m’a beaucoup amusé et m’a fait découvrir des habilités cachées. J’ai des remerciements particuliers pour deux déjà Docteurs qui m’ont poussé à finir cette thèse. Lorsque je pensais que cette thèse pouvait avec moi, là il y avait mon ancienne co-bureau Camille Sarotte (ou Sarette), pour m’encourager et me rassurer tout le temps. Un grand merci à elle pour son aide mathématique au tableau et de tous genres (même pour déplacer un lave-linge). Et là on arrive à Émilien Flayac. Quoi dire de ce personnage ? Mis à part son humeur presque offensive et ses douteuses connaissances d’espagnol, il m’a illuminé avec sa sagesse mathématique. En passant à mon bureau beaucoup de matins, il s’est petit à petit intéressé à ma thèse et a su poser les bonnes questions, ce qui lui a permis de me proposer des pistes de travail très pertinentes. On a même été co-auteurs d’un papier de conférence. Je lui dois beaucoup. En fait, le fonctionnement de la recherche devrait plus ressembler à ce que ce monsieur fait : échanger avec les autres de façon désintéressée et juste pour l’intérêt de la science. Finalmente, quiero agradecer a los míos por el apoyo continuo durante estos tres años: a mis amigos Toni, Joaquín, Marcos, Luis, Álvaro, Edu, Loles, los Pablos, Juan, Juanpa, Jérôme, Louis, a les meues amigues Núria i Mayrén, bei der Familie Lipp, a mi familia Pérez i a la meua família Roca. A mi padre Chema le agradezco su cariño y sus muestras de ánimo continuas (como "¡eres un crack!"). Y por último doy las gracias a las tres mujeres de mi vida y de mi corazón. A la meua ger- maneta Marina, por animarme siempre e incluso acompañarme a conferencias en otros continentes. Herzlichen Dank an Melanie, die trotz des Abstandes immer da war, wenn ich Aufmunterung und Beratung gebraucht habe. Jetzt beginnt eine neue Phase unserer Leben. Y a mi madre Carmen, porque es probablemente la mayor culpable de que haya llegado hasta aquí, habiendo puesto un foco enorme en mi educación. Gràcies Mare, por todo lo que me has dado y sigues dando. Palaiseau, janvier 2020. Résumé substantiel en français La tendance actuelle vers un accès plus abordable à l’espace se matérialise généralement par des lanceurs et moteurs réutilisables. Du point de vue de la commande, ces moteurs fusée à propergol liquide (MFPL) réutilisables impliquent des spécifications de robustesse plus exigeantes que ceux à usage unique, principalement en raison de leurs capacités de redémarrage multiple et de modulation de poussée. Classiquement, le système de commande gère les opérations des MFPL autour d’un ensemble fini de points prédéfinis. Cette approche réduit leur domaine de modulation à un intervalle restreint dans lequel ils sont conçus pour être sûrs dans des conditions nominales. De plus, les phases transitoires, qui ont un impact important sur la durée de vie du moteur, ne sont pas exécutées de manière robuste. Dans l’état de l’art de la commande des MFPL, la commande en boucle fermée a été réalisée autour de leurs états d’équilibre. Concrètement, des approches robustes face aux incertitudes et à certains scénarios défectueux sont présentes dans la littérature. La mitigation de l’endommagement de certains composants a également été considérée. Concernant les phases transitoires, seules des approches en boucle ouverte non robustes ont été développées.
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