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

integrator in the lateral controller, the long-term response of these normalized signals
behave similarly, regardless of the input signal. Thus, when normalized, a signal having
a maximum angular response of 20°, corresponding to a system with a crossover of
.001 rad/s (essentially open loop), has a similar time response to a signal with a
maximum angular response of 2° and a crossover of 1rad/s. Therefore, the spec
configuration had to be modified to better constrain the crossover of the system.
The spec was modified so that it used the actual response of the system. In doing
so, the spec ensures adequate damping of the system, and thus, a finite crossover. The
values of the Level 1 envelope had a direct effect on the crossover of the system, the
degree of which varied between the different flight conditions. To determine the limits of
the envelope, the angular position and rate feedback gains were adjusted to produce a
spectrum of responses for various crossover frequencies, at hover, 60kts, and 100kts. An
input signal of sufficient magnitude was used such that saturation did not occur. It was
found that to ensure a crossover in the range of .8rad/s < ω C < 3rad/s, the envelope had to
limit the disturbance to within approximately 5.5°. The spec was modified to remove the
normalization of the signal. Instead, the response was scaled so that a value of 5.5°
corresponded to the 1° Level 1 boundaries from 0-10 seconds. Once again, the Batch
Problem was created and run. After viewing the results, it was found that these
boundaries had to be reduced to 5° since the crossover frequencies of the optimized cases
were much lower than those of the aforementioned test cases. The spec was modified
once again, this time changing the actual boundaries of the spec. (since this new value
was found to give reasonable results in all cases) The resulting spec is shown in the
optimized baseline results of Figure 60.
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