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1 EADS Innovation Works Toulouse, FRANCE. 2 EADS ASTRIUM ST Les Mureaux, France. 3 Conservatoire National des Arts et Métiers Paris, France. [email protected]. [email protected]. [email protected]. - PowerPoint PPT Presentation
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IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Inverse method for pyrolysable and ablative materials with
optimal control formulation S.Alestra1, J.Collinet2, and F.Dubois3
[email protected] [email protected]
2EADS ASTRIUM STLes Mureaux, France
1EADS Innovation WorksToulouse, FRANCE
3Conservatoire National des Arts et Métiers
Paris, France
19/12/2006 p2
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umen
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erty
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Atmospheric re-entry missions Reentry Aerothermodynamics Team at EADS ASTRIUM-ST
Multiphysics : aerodynamics, aerothermodynamics, plasma
design and sizing of the Thermal Protection System (TPS) of the aerospace vehicles
the identification of heat fluxes is of great industrial interest
ARD
Industrial problem
Huygens probe(on Titan)
19/12/2006 p3
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Internal energy balance
Pyrolysis:Arrhenius equation
Surface energy balance
Surface Recession
xhm
tdTAhF
xT
xtTC gg
T
Tgp
01
TBn
v
c
v
eAt
1
ConductionAblation
PyrolysisRadiationConvection
)(
)()()(
2
144
0
xThhHm
hhHmTThh
wrvc
wrcgrwwr
hydrchemmechc sssms
)(0 t ),( txT
xm
tg
Decompositionand mass balance
General equations of direct probleminput data: heat flux output data: temperature
19/12/2006 p4
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doc
umen
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erty
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m. I
t sha
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icat
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third
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ties
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onte
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hall
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e di
sclo
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Evaluate the heat fluxes from temperature measurements
on thermal protection with ablation and pyrolysisInverse Heat problem is hard !! : see theory, diffusion aspect, ..
« Monopyro » 1D numerical tool, EADS ASTRIUM ST
The inverse method
(t), t in [O,T]p(t)= (t) ?
T in [0,T]
Pyrolysis gas
Material
Pyrolysed
PyrolysisZone
VirginM
aterial
Material Pyrolysable Ablative
Radiation Flux
Convection Flux
Heat Flux ofPyrolysis gas
Ablation heat flux
Radaition Flux
Blocking Flux
Radiation Flux
Convection Flux
FibresResinCoke
Pyrolytic Carbon
p(t)= (t) ?
19/12/2006 p5
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doc
umen
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prop
erty
of A
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m. I
t sha
ll no
t be
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mun
icat
ed to
third
par
ties
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out p
rior w
ritte
n ag
reem
ent.
Its c
onte
nt s
hall
not b
e di
sclo
sed.
Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Direct Problem
vector of temperature T and ablation s, functions of time t and position x.
=> system of coupled nonlinear time domain evolution differential equations:
The other variables described above are hidden in the formulation of FSystem is rewritten in reduced variables
etsx )(1
etsxttxsTxT
pWFdtdW
f ,,,00)0,()0,(
,
0
)(
),(tstxT
W
1,0 ,t
s
e
T1 T2 T3
(t)X (t)
p(t)= (t) Heat Flux
19/12/2006 p6
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umen
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Its c
onte
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e di
sclo
sed.
Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Direct Discrete scheme
Heat Flux N~=2000K number of one-dimensional grid points (~100), N number of time (N~=2000) iterations in the numerical scheme
The equation is written at time (n+1) :
Linearization at time n forward time discrete linearized Euler scheme, with initial condition vanishing: stability
Nnw
pwftww n
nn
00
,
0
11
Nnw
wwpwdfpwftww nnnn
nn
00
,,
0
11
nnK
nnn sTTTw ,,,, 21
19/12/2006 p7
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sed.
Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Cost Function
time domain unknown heat flux convection coefficient
Quadratic error or cost function j(p)
Measured temperatureComputed temperatureTo minimize this quantity, by optimization algorithm we need the derivatives of J(p), with respect to p.
The inverse method
N
n
nm
nm
Wiables
N tTpwpwJpJ1
2
var
1 )(),...,()(
Nppp ,...,1
nmnmT
19/12/2006 p8
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umen
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erty
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icat
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Its c
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e di
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Adjoint SystemAdjoint variable : dual multiplyer ofLagrangian L + calculus of variations
Cancel the variations of L with respect to Direct system, forward in time, initial vanishing condition Cancel the variations of L with respect to w Adjoint system, backward in time, final vanishing condition
The inverse method
1
0
11
2/1
1
2
varint
2/12/1
var
11
,,,
,...,,,...,,,...,,,
N
n
nnnnnn
nN
n
nnm
iablesadjo
N
wiables
N
pparameter
N
wwpwdfpwftwwtT
wwppLwpL
00
2,,
2/1
22/1122/112/12/1
nN
tTwwpwfdpwdft
N
nm
nm
nnnnnntnn
2/1n nw
19/12/2006 p9
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doc
umen
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prop
erty
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t be
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icat
ed to
third
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ties
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ritte
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reem
ent.
Its c
onte
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hall
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e di
sclo
sed.
Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Gradient computation
With this particular choice of , the gradient of the cost function is simply obtained by :
Variations L function of p discrete gradients
apply an iterative inverse procedure minimizing J(p) to estimate the unknown parameter optimal function
The inverse method
pL
pJJ
1
0
12/1 ,N
n
nnnnn wwwpdfw
pf
pJ
19/12/2006 p10
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doc
umen
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icat
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ties
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Its c
onte
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e di
sclo
sed.
Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Gradient computationThe inverse method
0
,*
Tft
ttpTWf
t obs
dtppWf
pL
pj t
,
Adjoint State
Final Condition
Gradients
00
),(
tW
pWftWDirect State
Initial condition
time
time
W = (T,s)
df / dp =
complex, non linear
df / dW = complex, non linear, tables
Measurements
19/12/2006 p11
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umen
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e di
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
OptimizationThe inverse method
2
2
dpjd
j(p*)
p*j (p)
j(p*)
p*j (p)
)( pj
Direct problemT(p)
Optimization p+ p
1) Steepest Descent to explore2) Quasi Newton to finish convergence
(T(p)-)**2
p0,
P optimal
)( pj
dpdj
Gradient
2
2
dpjd
Approximation ofHessian
Direct + Adjoint systemCan be computed by Automatic Differentiation tool
19/12/2006 p12
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umen
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icat
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e di
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Automatic Differentiation TAPENADE, INRIA Sophia Antipolis, France
The inverse method
Program (Fortran) : sequence of elementary arithmetic operations
Derivatives can be computed automatically
If the code is modified, it is more easy to compute new adjoints and new gradients
Input• function f• cost function J(p)
Output functions f’gradient dJ/dp
AD Tool
19/12/2006 p13
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umen
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Automatic Differentiation
),,,,,,,(1 ptwwwwfww knj
kni
nj
ni
ni
ni
ni
kni
knj
k jkn
i
knj
kni
nj
ni
kjn
ini w
Jw
ptwwwwf
),,,,,,,(1
N
n
nm
nm
Wiables
N tTpwpwJJ1
2
var
1 )(),...,(
The inverse method
Direct problem instruction
Cost Function
Adjoint system instructions : differentiation in reverse mode, with push, pop
Gradient computed by reverse mode
1
0
12/1 ,N
n
nnnnn wwwpdfw
pf
pJ
time
time
19/12/2006 p14
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doc
umen
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icat
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Its c
onte
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e di
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Virgin material, low heat flux)Pseudo measurements very well rebuilt (RMS<1K)Automatic Differentiation (AD) sucessful
Some applications
Heat Flux without AD Heat Flux with AD
Gradient
Quasi Newton
Cost Function
19/12/2006 p15
This
doc
umen
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the
prop
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mun
icat
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third
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reem
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Its c
onte
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e di
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Carbon/Resin with ablation, pyrolysis & pseudo measurements Results OK with pyrolysis and ablation (without and with AD) Results OK with 2% noise on pseudo measurement Tichonov regularization to stabilize the solution
Some applications
Convection (noise without regularization)
Convection (noise with regularization)
Cost Function
GradientQuasi Newton
19/12/2006 p16
This
doc
umen
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reem
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Its c
onte
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e di
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
ARD1998 on Ariane Flight 503First use of the inverse method for « in-flight »
rebuilding during ARD post-flight analysis (1999)Last improvements of the method OK
Some applications
19/12/2006 p17
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umen
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Plasma Torch Facility
Material to be tested
Nozzle
Ablation compensation
Fluxmeters
Measurements:• Laser (ablation)
• Pyrometer (surface temperature)
TC1
TC2
TC3
TC4
TC5
TC6
TC7
TC8
19/12/2006 p18
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Plasma torch: First results ONLY ONE SENSOR USED
Influence of sensor used Ablation restitution
Influence of sensor used Temperature at thermocouple
19/12/2006 p19
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Missing sensors Temperature at Thermocouple
Missing sensors convection coefficient restitution
Influence of sensor used Heat Flux restitution
Influence of sensor used Temperature at surface
ONLY ONE SENSOR USED
SEVERAL SENSORS USED AT THE SAME TIME
19/12/2006 p20
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Astrium Space Transportation
IFAC Control of Distributed Parameter Systems , July 20-24, 2009, Toulouse
Conclusion & perspectivesConclusion:
Inverse method sucessfully implemented First tests of Automatic Differentiation promising Validation OK for pseudo-measurements (with or without noise) Good results obtained on hard cases
Perspectives: Theoretical aspects (observability, identificability) to be analyzed Improve robustness of the method (initial guess,uncertainties on
noise, regularization) test on industrial re-entry problems Improve automatic differentiation version for hard cases