A Study on Nonlinear Model Predictive Control for Helicopter/Engine with Variable Rotor Speed Based on Linear Kalman Filter
-
Yong Wang
and
Yuan Gao
Abstract
A novel control method combining nonlinear model predictive control (NMPC) with linear kalman filter (LKF) and adaptive notch filter (ANF) for an integrated helicopter/engine system with variable rotor speed is proposed to enhance the response ability of turboshaft engine. Firstly, based on the integrated helicopter/engine model with variable rotor speed, an ANF combined with frequency estimation is introduced. Then, in order to estimate the significant and unmeasurable performance parameters utilized in model predictive control, such as temperature before turbine, a nonlinear model predictive controller based on LKF is presented. The simulation verifications demonstrate that the fundamental frequency of torsional vibration changes from 1.30 Hz to 2.70 Hz when the rotor speed varies continuously by 50 %. In this case, compared with the notch filter, all torsional vibration amplitudes are damped below 0.1 % by ANF. Meanwhile, in comparison with the PID controller, the NMPC can reduce the overshoot and droop of the power turbine speed to less than 1 % with steady-state error no more than 0.5 % at the off-design point of NMPC based on adaptive torsional vibration suppression. The applications of LKF and similar transformation improve the control accuracy and robustness performance of the NMPC designed at a single operating point.
Funding statement: The work has been co-supported by the National Natural Science Foundation of China (Grant/Award Number: 51576096), Qing Lan, 333 Project and Research Funds for Central Universities (No. NF2018003).
Nomenclature
- Symbol
-
Explanation
- Np
-
Relative speed of power turbine [%]
- Npr
-
Reference speed of power turbine [%]
- Nc
-
Relative speed of compressor [%]
- Wfb
-
Fuel flow [kg/s]
- TE
-
Engine output torque [kN•m]
- TMR
-
Main rotor torque [kN•m]
- ΩMR
-
Main rotor speed [rad/s]
- θ pitch
-
Rotor collective pitch [°]
- vc
-
Forward speed [m/s]
- T 4*
-
Temperature before turbine [K]
- pcl1
-
Applied pressure to high-speed clutch [psi]
- pcl2
-
Applied pressure to low-speed clutch [psi]
References
1. Zhou JJ, Chen C, Cui MH. Development and military application of unmanned helicopters. Aeronaut Sci Technol. 2003;1:38–40.Search in Google Scholar
2. Yamauchi GK. NASA subsonic rotary wing project-multidisciplinary analysis and technology development: overview. GA:2009 Fundamental Aeronautics Program Annual Meeting, 9 Sep. −1 Oct, 2009.Search in Google Scholar
3. Daso EO. NASA overview: fundamental aeronautics program research activities on noise impacts. Noise impacts roadmap annual meeting. 2011:28.Search in Google Scholar
4. Johnson W, Yamauchi GK, Watts ME. NASA heavy lift rotorcraft systems investigation. SAE technical paper, 2005-01-3149.10.4271/2005-01-3149Search in Google Scholar
5. Ning J. Study on simulation and control of integrated helicopter/transmission/engine system with variable rotor speed. Nanjing: Nanjing University of Aeronautics and Astronautics, 2016.Search in Google Scholar
6. Peng M Parametric instability investigation and stability based design for transmission systems containing face-gear drives. PhD diss, University of Tennessee, 2012.Search in Google Scholar
7. Peng M, Desmidt H, Saribay ZB, Smith E. Parametric instability of face-gear drives with a spur pinion. American Helicopter Society 67th Annual Forum, Virginia Beach, VA, 2011.Search in Google Scholar
8. Johnson W. A history of rotorcraft comprehensive analyses. Phoenix: American Helicopter Society (AHS) 69th Annual Forum and Technology Display. 21-23 May 2013.Search in Google Scholar
9. Smith BJ, Zagranski RD. Next generation control system for helicopter engines. AHS International Annual Forum, 57th, Washington, DC, May 9-11, 2001, Proceedings(A 02-12351 01-05), Alexandria, VA, AHS International, 2001. 2001.Search in Google Scholar
10. Smith BJ, Zagranski RD. Closed loop bench testing of the next generation control system for helicopter engines. AHS international, 58th annual forum proceedings. 2002;1:1041–50.Search in Google Scholar
11. Wang J, Zhang H, Huang X, Lu B. Nonlinear model predictive control for the engine based on an integrated helicopter/turbo-shaft engine simulation platform. Acta Aeronautica Et Astronautica Sinica. 2012;33:402–11.Search in Google Scholar
12. Yao W, Sun J. Nonlinear model predictive control for turboshaft engine. Acta Aeronautica Et Astronautica Sinica. 2008;29:776–80.Search in Google Scholar
13. Hong C, Zhi L, Xiao X. Nonlinear model predictive control: the state and open problems. Control Decis. 2001;16:385–91.Search in Google Scholar
14. Brunell BJ, Bitmead RR, Connolly AJ. Nonlinear model predictive control of an aircraft gas turbine engine. Decision and control 2002, Proceedings of the, IEEE conference on. IEEE, 2002;4:4649–51.Search in Google Scholar
15. Brunell BJ, Viassolo DE, Prasanth R. Model adaptation and nonlinear model predictive control of an aircraft engine. ASME Turbo Expo 2004: Power for Land, Sea, and Air. American Society of Mechanical Engineers, 2004:673–82.10.1115/GT2004-53780Search in Google Scholar
16. Saluru D, Yedavalli R. Fault tolerant model predictive control of a turbofan engine using C-MAPSS40k. ASME 2012, dynamic systems and control conference joint with the Jsme 2012, Motion and Vibration Conference. 2012:349–58.10.1115/DSCC2012-MOVIC2012-8730Search in Google Scholar
17. Di Cairano S, Yanakiev D, Bemporad A, Kolmanovsky IV, Hrovat D. Model predictive idle speed control: design, analysis, and experimental evaluation. IEEE Trans Control Syst Technol. 2012;20: 84-97.10.1109/TCST.2011.2112361Search in Google Scholar
18. Magni L, Nijmeijer H, der van Schaft AJ. A receding horizon approach to the nonlinear H∞ control problem. Automatica. 2001;37:429–35.10.1016/S0005-1098(00)00166-7Search in Google Scholar
19. Lewicki DG, DeSmidt HA, Smith EC, Bauman SW. Two-speed gearbox dynamic simulation predictions and test validation. Phoenix:AHS Forum 66,2010.Search in Google Scholar
20. Mane VS, Agashe AA. An adaptive notch filter for noise reduction and signal decomposition. Int J Comput Sci Issues. 2011;8:5.Search in Google Scholar
21. Zhang P. Aeroengine fault diagnostics based on kalman filter. Nanjing: Nanjing University of Aeronautics and Astronautics, 2009.Search in Google Scholar
© 2019 Walter de Gruyter GmbH, Berlin/Boston
Articles in the same Issue
- Frontmatter
- Editorial
- Study on Global Aerodynamic Shape Optimization of Transonic Compressor Blade
- Original Research Articles
- The Migration of Corner Separation Flow in Multi-Channel Compressor Cascades at High Attack Angle
- Water Film Formation and Performance Effect on Compressor Stage in Water Injection Process
- A Novel Reliability Analysis Method for Turbine Discs with the Mixture of Fuzzy and Probability-Box Variables
- Numerical Study of Unsteady Pulsed Suction through Endwall Bleed Holes in a Highly Loaded Compressor Cascade
- A Study on Torsional Vibration Suppression Method for an Integrated Helicopter / Engine System
- Numerical Simulation of Supersonic Jet Control by Tabs with Slanted Perforation
- Effect of Gurney Flaps on the Aerodynamic Characteristics of NACA 0010 Cascades
- A Study on Nonlinear Model Predictive Control for Helicopter/Engine with Variable Rotor Speed Based on Linear Kalman Filter
- Performance Characteristic Modeling for 2D Compressor Cascades
- Numerical Investigation on Metrological Fidelity of a Shielded Thermocouple Probe and the Effects of Geometrical Parameters
- Experimental Study of Kerosene Ignition and Flame Stabilization in a Supersonic Combustor
- Metaheuristics Optimized Machine Learning Modelling of Environmental Exergo-Emissions for an Aero-Engine
- Nonlinear Model Predictive Control Strategy for Limit Management of Aero-Engines
- Numerical Investigation on the Cold Flow Field of a Typical Cavity-based Scramjet Combustor with Double Ramp Entry
Articles in the same Issue
- Frontmatter
- Editorial
- Study on Global Aerodynamic Shape Optimization of Transonic Compressor Blade
- Original Research Articles
- The Migration of Corner Separation Flow in Multi-Channel Compressor Cascades at High Attack Angle
- Water Film Formation and Performance Effect on Compressor Stage in Water Injection Process
- A Novel Reliability Analysis Method for Turbine Discs with the Mixture of Fuzzy and Probability-Box Variables
- Numerical Study of Unsteady Pulsed Suction through Endwall Bleed Holes in a Highly Loaded Compressor Cascade
- A Study on Torsional Vibration Suppression Method for an Integrated Helicopter / Engine System
- Numerical Simulation of Supersonic Jet Control by Tabs with Slanted Perforation
- Effect of Gurney Flaps on the Aerodynamic Characteristics of NACA 0010 Cascades
- A Study on Nonlinear Model Predictive Control for Helicopter/Engine with Variable Rotor Speed Based on Linear Kalman Filter
- Performance Characteristic Modeling for 2D Compressor Cascades
- Numerical Investigation on Metrological Fidelity of a Shielded Thermocouple Probe and the Effects of Geometrical Parameters
- Experimental Study of Kerosene Ignition and Flame Stabilization in a Supersonic Combustor
- Metaheuristics Optimized Machine Learning Modelling of Environmental Exergo-Emissions for an Aero-Engine
- Nonlinear Model Predictive Control Strategy for Limit Management of Aero-Engines
- Numerical Investigation on the Cold Flow Field of a Typical Cavity-based Scramjet Combustor with Double Ramp Entry
