Developement Of A Batch Mode For Conduit And Its ... - Cal Poly

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CONDUIT Attitude Latch Removed Blocks Figure 55 - Removed Simulink blocks The second modification was the removal of components from the altitude and heading hold blocks. These blocks were originally set up so that the block diagram would automatically turn heading and altitude holds on and off in the same way as on the actual aircraft. When flying the actual helicopter with the holds on, if the pilot moves the collective or rudder pedals, the altitude or heading holds will be turned off, respectively. Removing the inputs will turn the holds back on. This attention to detail was unnecessary for the intended use, and thus, most of it was removed. All that remains of these blocks are the means to turn the holds on and off. 3.2 Baseline Optimization Using the block diagram detailed in the previous section, a baseline CONDUIT case was created as a template for all <strong>Batch</strong> <strong>Mode</strong> cases to follow. Three identified flight models were available from CIFER, hover, 60kts and 100kts. The flight condition 97
chosen for the template was that of the hover case, primarily because it has been used in several previous analyses and is known to be well behaved. The Init file developed by Chad Frost for his work with the SH-2F was used. With this Init file, the airspeed is defined, and the state space matrices of the three identified models are interpolated for the current velocity. Thus, models can be created for any velocity up to 100kts. The Init file was set for 0kts. The design parameters used for the template case were those developed by Kaman in the actual flight testing of the SH-2G. All design parameters except for the four lateral gains were frozen from the start of the optimization. The specs were carefully chosen so that they applied to this class of aircraft. The list of specs is as follows: Figure 56 - Initial spec selection Starting with the upper left corner, the Eigenvalues (EigLcG1) and Stability Margins (StbMgG1) specs were chosen to ensure stability of the aircraft. Thus, they were set as hard constraints. The next spec, the Bandwidth spec (BnRoF2) was taken from the set of ADS-33D specs, and is set as a soft constraint, since it is a performance 98
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THE DEVELOPMENT OF A BATCH MODE FOR
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APPROVAL PAGE TITLE: The Developmen
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ACKNOWLEDGEMENTS I would like to th
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3.2 BASELINE OPTIMIZATION..........
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LIST OF FIGURES FIGURE 1 - COOPER-H
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Acronyms NOMENCLATURE ASE - Automat
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This rating system was used in conj
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Figure 2 - CONDUIT specs As in the
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eing ideal for the computations nec
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They are typically used as gains, h
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stability of the system, checking p
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• Time Line - The time response i
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1.1.6 Init File (Setup Mode) One la
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1.1.8 Pcomb (Run Mode) Figure 10 -
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1.2 Method of Optimization A CONDUI
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Thus, different step sizes would be
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attempt to push the objective specs
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the Sensitivity Tools, which are us
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The Sensitivity Tools looks at the
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to have very high Cramer Rao percen
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means to create, modify, and save t
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eing opened by a regular session of
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in Figure 19. The Batch Mode GUI is
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window, within each Mode, the Displ
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The File menu contains the commands
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Setup, Run, and Analysis, so are th
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Figure 24 - General setup window
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the casual observer is that since t
Page 57 and 58: Once the new column is added, the u
Page 59 and 60: specific. The method fails when the
Page 61 and 62: 2.3.3 Run Mode GUI Figure 27 - Run
Page 63 and 64: not make any improvements. As with
Page 65 and 66: specific run order is not required,
Page 67 and 68: Order Cases, and Mode buttons all b
Page 69 and 70: uttons, a zoom out feature, and ove
Page 71 and 72: Plot 1 Page 1 Plot 2 Display Area P
Page 73 and 74: same way as in Run Mode. Two window
Page 75 and 76: Figure 35 - Multiple case plot The
Page 77 and 78: Figure 37 - Add/Edit/Remove Plot GU
Page 79 and 80: Figure 38 - New Gain Schedule plot
Page 81 and 82: Figure 39 - Multiple page concept 7
Page 83 and 84: the user may choose to freeze addit
Page 85 and 86: In the case above, if there were an
Page 87 and 88: parameter 8 would not resolve the c
Page 89 and 90: The logic of the table above is sim
Page 91 and 92: process would repeat until all Cram
Page 93 and 94: opponent. The computer would then r
Page 95 and 96: Figure 45 - Example Cramer Rao plot
Page 97 and 98: method are exceeded, the result wou
Page 99 and 100: this capability to the automated ru
Page 101 and 102: not exorbitantly large, and thus th
Page 103 and 104: connected through mechanical linkag
Page 105 and 106: Figure 52 - Control System block Th
Page 107: Figure 54 - Roll - Attitude Hold bl
Page 111 and 112: Figure 58 - Initial Optimized basel
Page 113 and 114: integrator in the lateral controlle
Page 115 and 116: only the four lateral gains were ac
Page 117 and 118: GUI, ten more cases were added usin
Page 119 and 120: the Plot Multiple feature of the An
Page 121 and 122: method was causing problems. Thus t
Page 123 and 124: Figure 67 - Corrected gain schedule
Page 125 and 126: constant, and the remaining stabili
Page 127 and 128: simpler parameters, it provided gre
Page 129 and 130: was then started by pressing the Ru
Page 131 and 132: of the critical parameters, however
Page 133 and 134: simply because the system is not a
Page 135 and 136: The HQ Window, as developed already
Page 137 and 138: not, then the specs most critical t
Page 139 and 140: BIBLIOGRAPHY 1. Frost, Chad R. “D
Page 141: APPENDIX 130
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