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

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Figure 65 - Gain Schedule plots against velocity The results of the initial gain schedule plot left much to be desired. At first glance, it appears to be anything but ordered, however a few patterns were discovered that led to the cause of the poor results. From the sensitivity logs of the individual cases, it was learned that the attitude and rate feedback gains, dpp_RAHA and dpp_RAHAR were the most active design parameters. It was then curious why these two parameters wouldn’t have smooth gain schedules. However, the schedules from 0-50kts and 60- 90kts seem to follow either increasing or decreasing patterns. Between 50kts and 60kts, the design parameters of both cases change drastically. Since 60kts was one of the three identified points used in the interpolation, it was theorized that the linear interpolation 109
method was causing problems. Thus the interpolation was changed to use a cubic interpolation. While the interpolation method might have been a possible cause of the jump in values at 50-60kts, it could not explain the large inconsistencies at 100kts. In no case were the design parameters consistent with the trends leading up to that velocity. Thus, some other problem was responsible. It was noticed that the time response to disturbance input on the attitude hold spec was close to a first order decaying signal from velocities in the range of 50-80kts. At 90kts, a small amount of overshoot appeared, and at 100kts, the signal had a significant amount of overshoot, and an oscillating response. The minimum damping ratio of .35, enforced by the damping spec, was enough to constrain the system such that the cases did not wildly oscillate, however it did not produce consistent results. In the mid-range velocities, the system had a higher damping ratio than at lower and higher speeds, for a given set of gains. Thus, the mid-range cases did not have to work as hard to meet Level 1 ratings. The broken-loop crossover frequency of the system showed that the attitude hold spec was not stringent enough to constrain the problem. The remaining cases were checked, and it was discovered that the crossover varied from .4rad/s to 2rad/s. At this range, the system was not properly constrained equally over the range of cases. Thus, to even out the constraint requirements, the borders of the attitude hold spec were reduced even further from 5.5° to 5°. The spec was also modified such that the axes were to scale, so that the time response did not need to be scaled. The batch problem was run once again. However, it was noticed early in the optimization that some of the cases could not progress to a solution. Closer investigation 110
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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
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specific. The method fails when the
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2.3.3 Run Mode GUI Figure 27 - Run
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not make any improvements. As with
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specific run order is not required,
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Order Cases, and Mode buttons all b
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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 and 110: chosen for the template was that of
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: the Plot Multiple feature of the An
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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