CIFER®-MATLAB Interfaces: Development and ... - Cal Poly

Table of Figures
Figure 1.1: The Role of System Id .................................................................................................. 1
Figure 1.2: Frequency Sweep Example (UAV Flight Data)............................................................ 3
Figure 1.3: Doublet Example (UAV Flight Data) ........................................................................... 5
Figure 1.4: Example CIFER ® Screen .............................................................................................. 6
Figure 1.5: Mass-Spring-Damper (Left), XV-15 (Right) ................................................................ 9
Figure 1.6: NASA Sikorsky UH-60 RASCAL (Left), Shadow 200 TUAV (Right) ....................... 9
Figure 2.1: Example Coherence Plot............................................................................................. 11
Figure 2.2: Example FRESPID Screen ......................................................................................... 13
Figure 2.3: Example RMS Prompts............................................................................................... 16
Figure 3.1: Name-value Pairs and Structures ................................................................................ 23
Figure 3.2: Percent Error Comparisons ......................................................................................... 25
Figure 3.3: Comparison of Navigation Menus .............................................................................. 30
Figure 4.1: XVLATSWP Validation Examples ............................................................................ 34
Figure 4.2: SISO Mass-Spring-Damper System............................................................................ 35
Figure 4.3: Mass-Spring-Damper Simulink Block Diagram......................................................... 35
Figure 4.4: Mass-Spring-Damper System Input and Output......................................................... 36
Figure 4.5: Matlab to CIFER ® Comparison .................................................................................. 36
Figure 4.6: CIFER ® to ‘bode’ Comparison ................................................................................... 36
Figure 4.7: Feedback Block Diagram............................................................................................ 38
Figure 4.8: Error Channel Verification ......................................................................................... 38
Figure 4.9: Broken Loop Roll Gain/Phase Margin Results........................................................... 39
Figure 4.10: Roll Bandwidth for Lateral Stick Input to Roll Angle Response.............................. 40
Figure 4.11: Stick and Actuator Input Autospectra....................................................................... 41
Figure 4.12: Cutoff Frequency Compared to Bandwidth Frequency ............................................ 42
Figure 4.13: Shadow 200 TUAV................................................................................................... 42
Figure 4.14: Roll Angle to Rate Comparison................................................................................ 45
Figure 4.15: Pitch Angle to Rate Comparison............................................................................... 45
Figure 4.16: Longitudinal Velocity Perturbations......................................................................... 46
Figure 4.17: Lateral Velocity Perturbations .................................................................................. 46
Figure 4.18: Vertical Velocity Perturbations................................................................................. 46
Figure 4.19: Lateral Velocity Perturbations, Flight Data .............................................................. 48
Figure 4.20: Vertical Velocity Perturbations, Flight Data............................................................. 49
viii