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Use of MathWorks tools for Prognosis and Health Management Technology within ASTRAEA
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Agenda
• ASTRAEA overview• Fuel Model Example• Demonstration• Next Steps• Lessons Learnt• Conclusions• Further Information
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• Objective
– to enable the opening up of the UK and European airspace to the routine use of UAVs, without the need for special / restrictive conditions of operation.
• Phase 1:
– 3 year programme 2006-2008
– £32M programme, Funded 50% industry 50% government (TSB,NWDA,WAG,SE,SWRDA,SEEDA). BAE Systems is approx 30%.
What is ASTRAEA
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ASTRAEA Partners
� Industry
� Agent Oriented Software� BAE Systems� EADS � Flight Refuelling� QinetiQ� Rolls-Royce� Thales
� BERR / TSB
� Regions
� Welsh Assembly Govt� Scottish Enterprise� SEEDA� SWRDA� NWDA
� CAA
� Universities
� Cranfield� Lancaster� Leicester� Loughborough� Sheffield� West of England
60 Subcontract SMEs and Universities
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(T) (R) (E)
(E4)
(T7)
ASTRAEA Organisation
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T7 aims to provide technology and systems so that UAVscan
• monitor their own state,
• perform real-time prognosis of their immediate and future capabilities,
• make decisions on how best to assist the optimal mission performance.
T7: Prognostics & Health Management
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Under E4 sub-theme the BAE SYSTEMS-Air System will demonstrate ASTRAEA Technologies using the following:
Synthetic EnvironmentSystem Integration LaboratoryFlying Demonstration
2.9m3.3m
1.7m
PFPF
Elec PB
Desk
Air Supply 80 -85 psi PowerPowerPower
2 32 3
LB LBLBLB
SCADA
16.4m
Fuel RigFuel Rig
E4: UAV Demonstration
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Model Inputs Model Creation Model Usage
Fuel Model Design Process
MATLAB Model
Interface
Wrapper
+TestingFacilities
Schematic Bond Graph
Fuel Tank Analysis
Catia Model
Component Data
Post Processing
Data Processing
Fue l Trans fer/Shut Off V alves
LH Wing Tank(O uter Midd le & Inner Cham bers )
LH Auxi l ia ryTank
Cooler
Low Leve l Swi tch
RH Auxi lia ry Tank
Auxi lia ryFue l Pum p
Chec kValv e
LH Eng ine
Trans fer Pump & check va lv e
Dr ain
Dr ain
Low Lev elSw itc h
Fi lte r
Tem pera tureSens or
Leve l Probe
Lev el Probe
Fi lle r
Chec kVa lv e
Press ureR el ie f Valv e
Vents
RH Wing Tank(Inner Middle & O uter Chambers)
Fue l Supply
R H Eng ine
Fi l te r Fuel Return
Fi rewal l
Is olation Va lve
Low Press ure Engine Pum p
Pres sureRel ief Va lve
Leve l ProbeFil lerChec kVa lv e
Vent
H igh Leve lSwi tch
Flow Di rection va lves
PTPTPress ur e Trans mi tter PTPTF TFTFlow M eter
Fuel Control System
Actuator and Pump Controls
Sensor Signals
Geometric Data
Functional Data
Component Data
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Geometric Data
• Tanks are simple fuel solids (no pipe work or components subtracted)
• Centre tanks are single cell tanks
• Wing tanks are three cell tanks
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Functional Data
Fuel Transfer/Shut Off Valves
LH Wing Tank(Outer Middle & Inner Chambers)
LH AuxiliaryTank
Cooler
Low Level Switch
RH Auxiliary Tank
Auxil iaryFuel Pump
CheckValve
LH Engine
Transfer Pump & check valve
Drain
Drain
Low LevelSwitch
Filter
TemperatureSensor
Level Probe
Level Probe
Filler
CheckValve
PressureRelief Valve
Vents
RH Wing Tank(Inner Middle & Outer Chambers)
Fuel Supply
RH Engine
Filter Fuel Return
FirewallIsolation Valve
Low Pressure Engine Pump
PressureRelief Valve
Level ProbeFiller
CheckValve
Vent
High LevelSwitch
Flow Direction valves
PTPTPressure Transmitter PTPTFTFTFlow Meter
Fuel Control System
Actuator and Pump Controls
Sensor Signals
A Fuel Schematic is translated into a bond graph schematic with associated text file detailing the components which is then compiled into a model using MATLAB
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Model Creation
• The input data is processed by MATLAB in order to create a set of system equations followed by creation of the Simulink model and s-function generation.
• Once compiled the s-function can be run within Simulink using the configuration parameters below:
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Fuel Rig
Fuel Transfer/Shut Off Valves
LH Wing Tank(Outer Middle & Inner Chambers)
LH Auxi liaryTank
Cooler
Low Level Switch
RH Auxi liary Tank
AuxiliaryFuel Pump
CheckValve
LH Engine
Transfer Pump & check valve
Drain
Drain
Low LevelSwitch
Filter
TemperatureSensor
Level Probe
Level Probe
Filler
CheckVal ve
PressureRelief Valve
Vents
RH Wing Tank(Inner Midd le & Outer Chambers)
Fuel Supply
RH Engine
Filter Fuel Return
FirewallIsolation Valve
Low Pressure Engine Pump
PressureRelief Valve
Level ProbeFiller
CheckValve
Vent
High LevelSwitch
Flow Direction valves
PTPTPressure Transmitter PTPTFTFTFlow Meter
Fuel Control System
Actuator and Pump Controls
Sensor Signals
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Fuel Rig
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Fuel Rig
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Fuel Rig
Thrust
Euler Angles
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Controlling the Models
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Fault Injection & Monitoring Outputs
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Fault Injection
Full Scale Output = rated demand(removing fuel from the left auxiliary fuel tank)?
Full Scale Output = rated demand(removing fuel from the left auxiliary fuel tank)?
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Fault Injection
Constant = percentage demand(removing fuel from the auxiliary fuel tank at twice the normal rate)?
Constant = percentage demand(removing fuel from the auxiliary fuel tank at twice the normal rate)?
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Demonstration
Two mini-demonstrations:-
1. Integrated UAV Bravo – A MATLAB / Simulink flight dynamics model, built using the Real-Time Workshop (RTW), exporting behaviour to X-Plane (single computer).
2. Networked Fuel Model – A MATLAB / Simulink fuel model interacting with fault injection, mission authorisations and visualisation (two computers).
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Next Steps
• Construct a large granularity, simplified, electrical system model
• Testing to confirming behaviours for a limited set of scenario based test cases.
• Apply noise models to the fuel prognostics.
• Compare models behaviour to that of the Fuel Systems Rig.
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Lessons learnt
• The integration of multiple models from multiple partners remains a challenge within a complex project due to:
– differences in modelling approaches (physics or scenario based),
– configuration management
– MathWorks release compatibility.
• There remain some unresolved (model initialisation) issues encountered when attempting to integrate this sub-model (s-function) with the whole vehicle system within the Real-Time Workshop.
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Conclusions
• The Prognostics and Health Management project requires the robust modelling of system failures at a component level in order to validate diagnostic or prognostic methods.
• This methodology, applied to a Fuel Systems model, has demonstrated
– computationally fast, embeddable model for use within a larger Simulink vehicle system model
– the benefit of the available code generation tools for rapid prototyping
• Producing a model that encompasses multiple features, whilst accommodating a variety of modelling approaches suggests that it is convenient to use a selection of custom tools.
• The MathWorks Simulink tool provides an excellent environment within which to rapidly prototype and test system models.
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Further Information
• http://www.projectastraea.co.uk/