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Bond Graph for Modelling, Analysis, Control Design, Fault Diagnosis

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Bond Graph for Modelling, Analysis, Control Design, Fault Diagnosis Bond Graph for Modelling, Analysis, Control Design, Fault Diagnosis Geneviève Dauphin-Tanguy Christophe Sueur Laboratoire d’Automatique et d’Informatique Industrielle de Lille Bond Graph Research Group Laboratoire d’Automatique et d’Informatique Industrielle de Lille Ecole Centrale de Lille • 6 academics (2 Profs, 2 associate profs, 2 assistant profs) • 10 PhD students Application areas : power systems (electrical machines, photovoltaic systems, fuel cells), thermofluid process, car industry Studies performed in collaboration with Peugeot -Citroën • Mechatronic design of an automatic gear box • Clutch management and drive comfort • Mechatronic design of an active hydraulic suspension • Thermal comfort regulation in a car interior • Modelling and simulation of a fuel cell system • Analysis of structural properties of bond graph models • Robustness of control laws for systems with parametric uncertainties • ….. Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 3 Why a bond graph approach ? • Multidisciplinary systems à need for a communication language between people from different physical domains • Need for models with physical insight (virtual testing facility) • Unified modelling methodology for knowledge storage in model libraries • Integrated (« mechatronic ») design of controlled systems Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 4 Mechatronic design Objectives Identification Simplification Analysis Modelling Control Actuators Validation Sensors Simulation Maintaining Faulty mode Diagnosis Fault Detection and Isolation Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 5 1 - Mechatronic design of an automatic gear box computer engine torque automatic vehicle converter gear box Differential, Transmission shaft Wheels, Vehicle mass, Complete driveline air resistance, road friction Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 6 1 - Mechatronic design of an automatic gear box Problem statement • Design control laws for the driving of an automatic gear box by a computer with the following objectives: – Complete satisfaction of the customer corresponding to a variation of the engine torque as continue as possible (no jerk in acceleration during a shift) – Respect of technological constraints (actuator response duration, minimization of the energy dissipated in the clutchs) When to shift ? How to shift ? Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 7 1 - Mechatronic design of an automatic gear box Automatic gear box : physical scheme Arrangement of 2 epicyclic gear trains which allows 3 ratios plus one reverse w Planet wPlanet wring carrier w -w Different ratios : one element blocked R PC = m or 2 elements maintained at the same speed wP -wPC Clutches between 2 rotating elements Brakes between one element and the housing block Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 8 1 - Mechatronic design of an automatic gear box Bond graph model of the automatic gear box brake 1 :housing :housing Free wheel :PC2 brake 2 clutch 2 :P1 :m2 :Jinp :1-m2 :input :1-m1 :m1 :load :R1 :PC1_R2 :friction Clutch1 Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 9 1 - Mechatronic design of an automatic gear box Bond graph model of a clutch or a brake :friction_coeff :pressure torque pressure slip Coulomb friction depending on the pressure applied on the clutch disks, defining the « limited torque » If clutch torque < limited torque à clutch closed, all the torque transmitted If clutch torque = limited torque à clutch opened, slipping velocity Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 10 1 - Mechatronic design of an automatic gear box Decision block Contains the schift schedule (diagram throttle position vs vehicle speed) which permits to know « when to shift » Different programs: economical, sport, snow When a shift is decided, the different pressures in the clutches are controlled pressure « How to shift » : - action on only 2 clutches or 2 brakes at the same time, - control of the pressure to have a smooth shift time and no jerk in acceleration Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 11 1 - Mechatronic design of an automatic gear box Bond graph model of the vehicle left_shaft left_wheel vehicle : AGB :Jshaft_l :Cshaft_l :Jwheel_l :Cwheel_l output torque :Mveh :rwh_1 :diff :slope :Idiff :rwh_2 :air_friction :Jshaft_r :Cshaft_r :Jwheel_r :Cwheel_r right_wheel differential right_shaft Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 12 2- Clutch management and drive comfort • Ojectives: – Reduce the well-known fore and aft oscillation of a vehicle occuring when a sudden torque variation takes place in the transmission (throttle step sollicitation) – Satisfy comfort and driving pleasure • Means: – Define an hydraulic-electronic-mechanical actuator transforming the numerical output into pressure on the plates of the clutch – Design control laws for this electrohydraulic servovalve Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 13 3 - Thermal comfort regulation in a car interior Usual climate control • Try to reach and maintain the passenger compartment temperature to a specified target temperature. à The regulator acts on the mixing flap to increase or decrease the blown air temperature. Usually, a proportional strategy is used to control the mixing flap T T a,target e b,target Mixing Tb + Prop. CAB - Flap Ta Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 14 3 - Thermal comfort regulation in a car interior Usual climate control ! Usually the air temperature in the compartment does not reach the target temperature. 25 25 Tcons 20 24 15 23 10 22 (°C) (°C) Thab 5 Thab 21 0 20 Tcons -5 19 Text = -10°C Text = 25°C -10 18 0 500 1000 1500 0 500 1000 1500 temps(s) temps(s) heating cooling) Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 15 3 - Thermal comfort regulation in a car interior Comfort strategy • comfort : much more than only thermal comfort. Our five senses, our cerebral state, our thermal state have an influence on our comfort estimating. • thermal sensations rather than thermal comfort - a very subjective notion. • in PSA Peugeot-Citroën, quantitative scale to evaluate a thermal sensation : an integer between 1 (very cold) and 9 (very hot) sensation. Objectives: define a regulation strategy for a climate controller for car interior, taking into account the car passenger's thermal sensations. Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 16 3 - Thermal comfort regulation in a car interior Block representation of the model climatic driving conditions conditions ACTUATORS recycling flap air temperature physiological thermal mixing flap thermal walls temperature model feelings blower tension car air speed compressor on/off interior spreading air flaps model clothes activity interior materials geometry properties e REGULATOR SENSORS Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 17 3 - Thermal comfort regulation in a car interior Physiological model à human body divided into seven parts called segments: the head, the trunk, the left arm, the right arm, the hands, the legs and the feet. à head and hands segments are bare. center bare segment center dressed segment muscle muscle fat skin fat air skin clothes Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 18 3 - Thermal comfort regulation in a car interior Physiological model respiration BLOOD convection convection MEDIUM AIR AMBIENT AIR evaporation convection convection Sun OR radiation conduction conduction conduction CENTER MUSCLE FAT SKIN walls radiation Activity convection shivers METABOLISM Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 19 3 - Thermal comfort regulation in a car interior Physiological model the To blood R Bc 1 C:C(m) C: Cblood Td (c) 0 Td (m) 1 to the fat For each T(m) Sf segment Bc(c) 0 Bc(s) Qb (m) (m) :Qa R Bc Sf (f) Tblood (m) Sf :Qsh (m) Bc Blood layer Muscle layer Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 20 3 - Thermal comfort regulation in a car interior Physiological mathematical model • x state vector (order = 57) : temperature, water mass, sudation production and water partial pressure of the layers. • u input vector (size = 14) : air temperature and air speed of the ambient air close to the 7 segments. • d disturbance vector (size = 35) : ambient air humidity, sun and wall radiation on clothes and skin layers. • y output vector (size = 7) : thermal feelings of the 7 segments. ìx& = f (x,u,d) í îy = g(x,u,d) Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 21 3 - Thermal comfort regulation in a car interior Linearized physiological mathematical model • A nominal functioning point defined as a comfortable situation for the human (air temperature=299K, air speed=0.5m/s and humidity=50%). • Two linear models containing saturations, because heat transfers are different whether the body is warm or cold. ìx& = (bA + bA )x + B ×u + E × d + F ï c w íy = C × x + D × u ï îm < K × x < M – b = 1 if the body is cold, and 0 if not. – F vector that results from constant thresholds due to saturations. – K matrix selecting the x components concerning the saturations. Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 22 3 - Thermal comfort regulation in a car interior Physiological model : simplifications comparison of linear and non-linear comparison of order 57 and order 9 linear models 34.6 4.8 order 9 model 34.4 4.75 34.2 non linear model tru 34 nk 4.7 ski order 57 model 33.8 linear model n te 33.6 mp trunk sensation air temperature=22°C 4.65 er atu33.4 air humidity=50% 33.2 4.6 air speed=0.1m/s 33 32.8 4.55 0 1000 2000 3000 4000 5000 6000 7000 8000 0 1000 2000 3000 4000 5000 6000 7000 8000 time (s ) time(s) Trunk skin temperature Trunk sensations Rosario - 22/11/02 LAIL - Ecole Centrale de Lille 23 3 - Thermal comfort regulation in a car interior Proposed comfort strategy Control strategy based on the thermal feelings : • Determine the air temperature close to the head driver to ensure him a comfortable thermal feeling (level 5 in PSA scale) • Take into account the wall temperatures and the air flows in the compartment.
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