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

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ABSTRACT The Development of a Batch Mode for CONDUIT and its Application to a Rotorcraft Flight Control System Ryan P. Dibley A Batch Mode capability was developed for CONDUIT, providing for the capability to quickly create, optimize, and analyze multiple CONDUIT problems. The Sensitivity Tools of CONDUIT were automated and incorporated into Batch Mode, such that multiple number of CONDUIT problems could be fully optimized without user intervention. In order to demonstrate the capabilities of Batch Mode, the lateral channel of the partial authority SH-2G control system was analyzed in Batch Mode. A group of cases, ranging in velocity from hover to 100kts, were optimized to produce a gain schedule of the four active gains. A second group of cases were created, based on the hover flight condition, in which the stability derivatives, identified using CIFER, were varied to their known accuracies. The results of this second group were then plotted simultaneously on the HQ Window, to demonstrate the ability for Batch Mode to check for system robustness. iv
ACKNOWLEDGEMENTS I would like to thank Dr. Mark Tischler for his guidance and assistance throughout the course of my thesis. I would also like to thank my co-workers, Chad Frost, Kenny Cheung, Doug Hiranaka, and Jason Colbourne, for without their suggestions, help, and knowledge of CONDUIT, this project would not have been possible. Finally, I would like to thank Dr. Daniel J. Biezad for both providing me with the basis of my knowledge of control engineering, and for giving me the opportunity and drive to continue my education. v
Page 1 and 2: THE DEVELOPMENT OF A BATCH MODE FOR
Page 3: APPROVAL PAGE TITLE: The Developmen
Page 7 and 8: 3.2 BASELINE OPTIMIZATION..........
Page 9 and 10: LIST OF FIGURES FIGURE 1 - COOPER-H
Page 11 and 12: Acronyms NOMENCLATURE ASE - Automat
Page 13 and 14: This rating system was used in conj
Page 15 and 16: Figure 2 - CONDUIT specs As in the
Page 17 and 18: eing ideal for the computations nec
Page 19 and 20: They are typically used as gains, h
Page 21 and 22: stability of the system, checking p
Page 23 and 24: • Time Line - The time response i
Page 25 and 26: 1.1.6 Init File (Setup Mode) One la
Page 27 and 28: 1.1.8 Pcomb (Run Mode) Figure 10 -
Page 29 and 30: 1.2 Method of Optimization A CONDUI
Page 31 and 32: Thus, different step sizes would be
Page 33 and 34: attempt to push the objective specs
Page 35 and 36: the Sensitivity Tools, which are us
Page 37 and 38: The Sensitivity Tools looks at the
Page 39 and 40: to have very high Cramer Rao percen
Page 41 and 42: means to create, modify, and save t
Page 43 and 44: eing opened by a regular session of
Page 45 and 46: in Figure 19. The Batch Mode GUI is
Page 47 and 48: window, within each Mode, the Displ
Page 49 and 50: The File menu contains the commands
Page 51 and 52: Setup, Run, and Analysis, so are th
Page 53 and 54: 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
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same way as in Run Mode. Two window
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Figure 35 - Multiple case plot The
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Figure 37 - Add/Edit/Remove Plot GU
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Figure 38 - New Gain Schedule plot
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Figure 39 - Multiple page concept 7
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the user may choose to freeze addit
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In the case above, if there were an
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parameter 8 would not resolve the c
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The logic of the table above is sim
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process would repeat until all Cram
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opponent. The computer would then r
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Figure 45 - Example Cramer Rao plot
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method are exceeded, the result wou
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this capability to the automated ru
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not exorbitantly large, and thus th
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connected through mechanical linkag
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Figure 52 - Control System block Th
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Figure 54 - Roll - Attitude Hold bl
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chosen for the template was that of
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Figure 58 - Initial Optimized basel
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integrator in the lateral controlle
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only the four lateral gains were ac
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GUI, ten more cases were added usin
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the Plot Multiple feature of the An
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method was causing problems. Thus t
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Figure 67 - Corrected gain schedule
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constant, and the remaining stabili
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simpler parameters, it provided gre
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was then started by pressing the Ru
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of the critical parameters, however
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simply because the system is not a
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The HQ Window, as developed already
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not, then the specs most critical t
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BIBLIOGRAPHY 1. Frost, Chad R. “D
Page 141:
APPENDIX 130
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