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

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TABLE OF CONTENTS TABLE OF CONTENTS ............................................................................................................................VI LIST OF TABLES ....................................................................................................................................VIII LIST OF FIGURES .....................................................................................................................................IX NOMENCLATURE.....................................................................................................................................XI 1 OVERVIEW OF CONDUIT............................................................................................................... 1 1.1 THE STRUCTURE OF CONDUIT......................................................................................................... 5 1.1.1 Fundamental Structure ............................................................................................................ 5 1.1.2 Block Diagram (Setup Mode) .................................................................................................. 6 1.1.3 Design Parameters (Setup Mode)............................................................................................ 7 1.1.4 Specs (Setup Mode).................................................................................................................. 8 1.1.5 HQ Window (Setup Mode)..................................................................................................... 13 1.1.6 Init File (Setup Mode)............................................................................................................ 14 1.1.7 HQ Window (Run Mode) ....................................................................................................... 15 1.1.8 Pcomb (Run Mode) ................................................................................................................ 16 1.1.9 Design Parameters Window (Run Mode) .............................................................................. 17 1.2 METHOD OF OPTIMIZATION.............................................................................................................. 18 1.3 SENSITIVITY TOOLS.......................................................................................................................... 23 1.3.1 Insensitive Parameters........................................................................................................... 24 1.3.2 Correlated Parameters .......................................................................................................... 27 2 DEVELOPMENT OF BATCH MODE ........................................................................................... 29 2.1 INTRODUCTION................................................................................................................................. 29 2.2 SETUP MODE.................................................................................................................................... 29 2.2.1 Creating the Batch Problem .................................................................................................. 30 2.2.2 Modifying the Cases............................................................................................................... 30 2.2.3 Saving the Cases .................................................................................................................... 31 2.2.4 Batch Mode GUI Fundamentals ............................................................................................ 33 2.2.5 Setup Mode GUI .................................................................................................................... 40 2.2.6 Constructing A Batch Problem .............................................................................................. 46 2.3 RUN MODE....................................................................................................................................... 47 2.3.1 Run Methods .......................................................................................................................... 47 2.3.2 Running A Case...................................................................................................................... 48 2.3.3 Run Mode GUI....................................................................................................................... 50 2.3.4 Running A Batch Problem ..................................................................................................... 55 2.4 ANALYSIS MODE.............................................................................................................................. 57 2.4.1 Fundamentals of Analysis Mode............................................................................................ 57 2.4.2 Analysis Mode GUI................................................................................................................ 61 2.5 SENSITIVITY AUTOMATION .............................................................................................................. 71 2.5.1 Typical Use of Sensitivity Tools............................................................................................. 71 2.5.2 Sensitivity Automation Development ..................................................................................... 77 2.5.3 Sensitivity Log........................................................................................................................ 86 3 EVALUATION OF THE SH-2G USING BATCH MODE............................................................ 89 3.1 DESCRIPTION OF THE SH-2G............................................................................................................ 90 3.1.1 SH-2G Control System........................................................................................................... 91 3.1.2 Required Modifications to the Block Diagram ...................................................................... 96 vi
3.2 BASELINE OPTIMIZATION................................................................................................................. 97 3.3 GAIN SCHEDULING OF THE SH-2G................................................................................................. 103 3.3.1 Setup of Problem.................................................................................................................. 103 3.3.2 Running of the Gain Schedule Batch Problem .................................................................... 106 3.3.3 Gain Schedule Results.......................................................................................................... 107 3.4 ROBUSTNESS EVALUATION OF THE SH-2G.................................................................................... 113 3.4.1 Parameters to Vary.............................................................................................................. 113 3.4.2 Modification of the Original Model..................................................................................... 115 3.4.3 Creation of the Robustness Cases........................................................................................ 116 3.4.4 Running the Robustness Check Cases.................................................................................. 117 3.4.5 Results of the Robustness Check.......................................................................................... 118 3.4.6 Conclusions of the Robustness Plot Capability ................................................................... 122 4 FUTURE WORK ............................................................................................................................. 123 4.1 SETUP MODE.................................................................................................................................. 123 4.2 RUN MODE..................................................................................................................................... 123 4.3 ANALYSIS MODE............................................................................................................................ 123 4.4 SENSITIVITY AUTOMATION ............................................................................................................ 124 5 LESSONS LEARNED ..................................................................................................................... 125 6 CONCLUSIONS............................................................................................................................... 127 BIBLIOGRAPHY...................................................................................................................................... 128 APPENDIX................................................................................................................................................. 130 vii
Page 1 and 2: THE DEVELOPMENT OF A BATCH MODE FOR
Page 3 and 4: APPROVAL PAGE TITLE: The Developmen
Page 5: ACKNOWLEDGEMENTS I would like to th
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
Page 55 and 56: the casual observer is that since t
Page 57 and 58:
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
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the user may choose to freeze addit
Page 85 and 86:
In the case above, if there were an
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parameter 8 would not resolve the c
Page 89 and 90:
The logic of the table above is sim
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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
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method are exceeded, the result wou
Page 99 and 100:
this capability to the automated ru
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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
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only the four lateral gains were ac
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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
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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
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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
Page 139 and 140:
BIBLIOGRAPHY 1. Frost, Chad R. “D
Page 141:
APPENDIX 130
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