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Stirling Dynamics
Modelling and
Simulation
Int roduct ion
• Specialist engineering and design services
• Mechatronic systems
• Serving aerospace, marine, energy and defence
• 26+ years trading history
• US and UK bases
• Focus on innovation and value
© 2014 Stirling Dynamics
3
B u s i n e s s Fo c u s
© 2014 Stirling Dynamics
Training &
Simulation
Active Hand
Controls
G-Seats
Pallet Solutions
Standard
Products
Custom Designs
Aerospace
Services
Modelling and
Simulation
Landing Gear
Systems
Structures &
Materials
Flight Sciences
Test Services
Submarine
Systems
Steering & Diving
Control Systems
Submarine
Autopilots
Hover Systems
Systems
Engineering
Trials Support
Energy Systems
Condition
Monitoring
System
Water Purification
Systems
Sub Sea Analysis
Office Locations
© 2013 Stirling Dynamics 4
Orlando
Seattle
Farnborough
Bristol
Yeovil
O f f i c e L o c a t i o n s
© 2014 Stirling Dynamics
U S a n d U K b a s e s
Major Customers
M a j o r C u s t o m e r s
© 2014 Stirling Dynamics
© 2008 Stirling Dynamics 6
M o d e l l i n g a n d S i m u l a t i o n C a p a b i l i t y
D y n a m i c s , C o n t r o l a n d Pe r f o r m a n c e
© 2014 Stirling Dynamics
Core Stirling capability:
• 20+ engineers (10 PhDs)
• Mathematical modelling of mechanical, hydraulic, pneumatic and
electrical systems
• Analysis of kinematics, dynamics, stability and control
Capability applied to:
• Fuel systems
• Landing gear systems
• Flight control systems
Modelling and analysis frequently lends itself to off-site packaging:
• Fully delegated service – all skills and tools available in-house
• All processes adhere to AS/EN9100, ISO 9001
A e r o s p a c e S e r v i c e s – E n g i n e e r i n g
M o d e l l i n g a n d S i m u l a t i o n C a p a b i l i t y
D y n a m i c s , C o n t r o l a n d Pe r f o r m a n c e
Robust approach to modelling and simulation:
• Requirements capture and decomposition
• Model specification
• Verification and validation planning
System performance analysis:
• Steady state and transient behaviour
• Time domain and frequency domain analysis
• Normal operation and failure mode analysis
© 2014 Stirling Dynamics
© 2008 Stirling Dynamics 8
M o d e l l i n g a n d S i m u l a t i o n C a p a b i l i t y
D y n a m i c s , C o n t r o l a n d P e r f o r m a n c e
© 2014 Stirling Dynamics
Industry standard tools:
• Matlab, Simulink
• SimScape,
SimMechanics,
SimHydraulics
• Real-Time Workshop
(e.g. for xPC, VxWorks,
RTLinux targets)
• EASY5, AMESim
• ADAMS
• LabView
© 2014 Stirling Dynamics
Software development:
• HTML
• JavaScript
• SQL
• Fortran
• C, C++
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© 2014 Stirling Dynamics
M e c h a n i c a l S y s t e m s
I n - F l i g h t R e f u e l l i n g H o s e S i m u l a t i o n
In-Fight Refuelling Hose Simulation:
• Dynamic hose response in flap vortex wake
• Modelling of hose mechanical properties
• Modelling of aerodynamic lift and drag
• Model validation against wind tunnel data
• De-risk new aircraft design
2
Out
1
In
B F
Revolute Joint
1/s
[alpha]
CS1
CS4
CS2
CS3
CG
Element Mass
v
Body Sensor
(local axis)
av
Body Sensor
(World axis)
Body Actuator
Measurements Torque
Bending Stiffness and Damping
Body x v elocity
Body y v elocity
Angle rel to Earth
Ux
Uy
alpha
Airstream Velocity Calculations
Ux
Uy
Fy
Fx
Aero Loading
Body axis x v elocity
Body axis y v elocity
Angle relativ e
to Earth
Fy
Fx
Body axis loads
10
© 2014 Stirling Dynamics
H y d r a u l i c S y s t e m s
F i g h t C o n t r o l s , L a n d i n g G e a r a n d Fu e l
S y s t e m s
Modelling analysis support:
• Airframe manufacturers (system integrators)
• Systems suppliers (e.g. landing gear, flight controls)
Electronic Control
Unit
LVDT
Power Drive
Electronics
Duplex Valve
Duplex Actuator
Position
Demand
Aircraft Hydraulic Supply 1
Aircraft Hydraulic Supply 2
LVDT
Valve
Coil Power Drive
Electronics
Electronic Control
Unit
Applied Load
• Flight Control Systems
• Landing Gear Systems
• Fuel Systems
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© 2014 Stirling Dynamics
H y d r a u l i c S y s t e m s
P r i m a r y F l i g h t C o n t r o l s
Basic Analysis:
• Preliminary design review
• Linear modelling
• Simplex representations
• Design concept evaluation
ramVelocity
2
ramPosition
1PSS
Unequal spool
P
Pr
xv
A
B
Supply
Pressure
-C-
f(x)=0PSS
PSS
PSS
Mechanical
Load
R
C
E
Ideal Hydraulic
Pressure Source
S
TP
Double -Acting
Hyraulic Actuator
A
B
P
V
R
C
Custom Hydraulic
Fluid
valvePosition
1
0 0.05 0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.450
0.2
0.4
0.6
0.8
1
1.2
1.4
Step Response
Time (sec)
Am
plit
ude
-80
-60
-40
-20
0
20
Magnitu
de (
dB
)
100
101
-720
-540
-360
-180
0
Phase (
deg)
Bode Diagram
Gm = 11.8 dB (at 6.4 Hz) , Pm = 66.6 deg (at 1.69 Hz)
Frequency (Hz)
Detailed Analysis:
• Critical design review
• Fluid friction, non-linear flow, temperature dependency
• Multiplex design
• Failure mode performance
• Non-linear frequency response
• Control system design
• Comprehensive performance evaluation against
requirements
12
© 2014 Stirling Dynamics
H y d r a u l i c S y s t e m s
L a n d i n g G e a r S y s t e m – S i m u l i n k /
S i m H y d r a u l i c s
Dynamic representations of:
• Servo-valve
• By-pass valve
• Accumulator piston
• Hydro-mech model of steering system
• Required to establish baseline aircraft level
performance
• Steer, tow and free-to castor modes
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-5
0
5
10
15
20
25
NLG
Time [s]
Th
eta
[d
eg
]
thetaTT
thetaST
Command
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 2
-10
0
10
20
30
40
Time [s]
W [d
eg
/s]
wTT
wST
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© 2014 Stirling Dynamics
H y d r a u l i c S y s t e m s
L a n d i n g G e a r E x t e n d S e q u e n c i n g A n a l y s i s –
E A S Y 5
Analysis accounting for:
• Temp range -50 to +90 C
• Laminar/turbulent flow
• Dissolved air and cavitation
• In-service problem
• Modification for improved sequencing of
ext/ret actuator and uplocks
• Modelling and analysis to support sizing of
new sequencing canisters
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© 2014 Stirling Dynamics
C o - S i m u l a t i o n o f H y d r o - M e c h a n i c a l S y s t e m s
L a n d i n g G e a r E x t e n d a n d R e t r a c t – A D A M S a n d
A M E S i m
Co-simulation of mechanics and hydraulics
• ADAMS – flexible multi-body kinematics
• AMESim – detailed hydraulic performance
Modelling of full extend/retract system
• Landing gear, doors, ramps guides, hydraulics
• Flexible landing gear and doors
• Aerodynamics, joint frictions, contacts
Performance analysis of integrated system
• Performance under “normal” operation
• Failure mode performance (free-fall, missing tyre, missing wheel,
uplock failure, pitch trimmer failure and combinations)
• Loads analysis
• Support to certification
© 2014 Stirling Dynamics
A i r c r a f t Fu e l S y s t e m s
D i s p e n s e P u m p P r e s s u r e C o n t r o l Pe r f o r m a n c e
Requirement for closed loop pressure control:
• Development and validation of dispense pump
Requirements:
• Pump hydrodynamic model
• Controller functional and analogue
electronic design
• Validation of existing and revised pump
controller design
0 10 20 30 40 50 600
5
10
15
20
25
30
35
40
45
50
T/hr
Eta
(%
)
Hydraulic Efficiency Vs Flow
2200rpm
4400rpm
6600rpm
8800rpm
• Key interface between customer design team and
manufacturer
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A i r c r a f t Fu e l S y s t e m s -
A c c u m u l a t i o n a n d Tr a n s p o r t a t i o n o f Wa t e r i n
Fu e l
Development of an analysis tool for modelling the accumulation and transportation of water
within an aircraft fuel system:
mw ma
wallwm _
Pull, SHull,, Vull, Tull
downm *
* Positive flow directions
Pup, SHup
flowup SHm ,
SAE International
Wright Brothers medal winner
• Model accounting for; condensation, suspension,
dissolution and transportation
• Analysis tool for evaluating water management
requirements for different flight missions and the
impact of inerting systems on water management
© 2014 Stirling Dynamics
© 2014 Stirling Dynamics
M e c h a n i c a l a n d H y d r a u l i c S y s t e m s
S u m m a r y
Mechanical and hydraulic simulation
capability:
• Simulation models developed
alongside the design
• Comprehensive assessment of
system performance – normal
and failure modes
• Models fully documented and
tested
Mechanical and hydraulic simulation
support applied to:
• Airbus fuel system closed loop pressure control
• Airbus fuel systems R&T water management
modelling
• Airbus landing gear extend/retract and steering
systems
• FRL in-flight refuelling hose dynamics
• BAE Systems active pilot controls
• Bombardier landing gear systems
• Claverham primary flight control actuator (fixed
and rotary wing)
• APPH primary flight control actuator (rotary
wing)
Head Office UK
Stirling Dynamics Limited
26 Regent Street
Clifton
Bristol BS8 4HG
United Kingdom
Tel +44 (0)117 915 2500
Head Office US
Stirling Dynamics Inc.
4030 Lake Washington Blvd NE #205
Kirkland, WA 98033-7870
USA
Tel +1 (425) 827 7476
w w w . s t i r l i n g - d y n a m i c s . c o m
© 2014 Stirling Dynamics