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

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spec. The next spec is the Gust Rejection spec (HldNmH1) which was used to ensure that the system had some level of capability to account for disturbances. On the next row are the Actuator RMS spec (RmsAcG1) and the Crossover Frequency spec (CrsLnG1). Both of these two specs serve to reduce the energy and computational requirements of the control system after the performance and stability specs have been met. Thus, these specs were designated as summed objective specs. They might have worked just as well as objective specs, but tying them together with the summed objective reduces the chances of the optimization routine getting stuck. All specs were connected to the lateral channel of the block diagram. Figure 57 - Evaluation of initial gains Using the original set of gains, the system was evaluated, resulting in Figure 57. All specs were in Level 1 except for the Bandwidth spec which, was Level 2. The optimization was started using the dp=0 stop condition. The problem ran for 41 iterations, stopping with the message: “The design parameters haven’t varied in the last 3 iterations.” The results of the optimization were as shown in Figure 58. 99
Figure 58 – Initial Optimized baseline The results showed that the problem was not properly constrained by the selected specs. After the optimization had pushed all specs into Level 1, it then started working on reducing the Actuator RMS and Crossover specs. This reduction was achieved by relaxing the damping ratio of the system, as can be seen in the time response of the Normalized Attitude Hold spec. The only spec which accounted for the damping to any extent, was the Normalized Attitude Hold spec, and it only ensured that the response was less than 10% of the original peak value after 10 seconds. As demonstrated in the figure, this limited constraint was not sufficient to ensure reasonable damping. The response still oscillated quite a bit, just clearing the corner at 10 seconds. Thus, a damping spec was added to the problem, and it was re-optimized. After 21 iterations, including a sensitivity analysis, the optimization could continue no further. The results are displayed below in Figure 59. 100
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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
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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 and 108: Figure 54 - Roll - Attitude Hold bl
Page 109: chosen for the template was that of
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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Developement Of A Batch Mode For Conduit And Its ... - Cal Poly

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