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

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3.4 Robustness Evaluation of the SH-2G The second feature of Analysis Mode to be demonstrated is the capability of Batch Mode to evaluate the robustness of a system. In doing so, it will be demonstrated that Batch Mode has the ability to set up multiple cases for evaluation. Using these evaluated cases, it will also be shown how thumbprint plots are created, from which the user can ensure the performance of the system to the extent of the known error of the model. 3.4.1 Parameters to Vary In the creation of a robustness plot, a large number of cases are created to be plot simultaneously. The stability margins are varied to their known accuracy in each case to observe the effects of the parameter changing on the level ratings of the specs. Thus, the creation of the individual cases started with the identified CIFER data used to build the models. This information can be found in the Appendix. This table lists the stability margins, their values, their Cramer Rao percentages, and their insensitivities; all of which were calculated in the model identification. Parameters for the state space matrices F and G, the system and input matrices, were available along with the time delays. Finally, the rotor flap time constant (τ F ) was defined, which is used in the calculation of the control derivatives. Thus, knowing these values and their accuracies (given by the Cramer Rao Percent), the model could be varied to test for system robustness. The second consideration in the variation of the stability margins was determining the combination of parameters to be varied for the individual cases. The parameters to vary were split into four categories: control derivatives, time delays, rotor flap time 113
constant, and the remaining stability derivatives. Of these categories, the control derivatives and time delays were the most critical. Since the rotor flap time constant was used in the calculation of the control derivatives, it was also considered important. Thus, these critical parameters were varied by adding and subtracting their 3σ deviations. All combinations of deviation were created as per the logic of Table 3, resulting in 20 cases. Table 3 - Variations of derivatives Case Parameter Sign (Parameter) Sign ( F ) 12 LFRS + + 13 LFRS + - 14 LFRS - + 15 LFRS - - 16 LFRC + + 17 LFRC + - 18 LFRC - + 19 LFRC - - 20 MFRS + + 21 MFRS + - 22 MFRS - + 23 MFRS - - 24 MFRC + + 25 MFRC + - 26 MFRC - + 27 MFRC - - Case Parameter Sign (Parameter) 28 RF (Time Delay) + 29 RF (Time Delay) - 30 L0 (Time Delay) + 31 L0 (Time Delay) - 114
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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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uttons, a zoom out feature, and ove
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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 and 120: the Plot Multiple feature of the An
Page 121 and 122: method was causing problems. Thus t
Page 123: Figure 67 - Corrected gain schedule
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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