Iowa State University PDR Presentation

Transcription

1 Iowa State University PDR Presentation

2 Overview Project Overview Design Subscale Safety Project Plan Conclusion 2

3 Project Overview 3

4 Team Structure 4

5 Mission Overview Requirements: Reach an apogee of exactly 5,280 ft Safely recover rocket and land within 2,500 ft of the launch pad Fully reusable for another launch on the same day Perform 1 experiment onboard Visual recognition of ground targets 5

6 Design 6

7 Rocket Overview 7

8 Vehicle Requirements Launch vehicle will deliver payload to altitude of 5280 feet Preliminary simulations predict apogee of 5280 feet or higher The vehicle will be designed to be reusable and recoverable No major components will need replacing Recovery system ensures safe landing Total impulse of launch vehicle cannot exceed that of an L-class Total impulse of AeroTech L2200 below L-class limit Full-scale rocket model must be tested and recovered prior to FRR Test launch planned for February 17th All airbrakes should fail in the safest manner as possible Airbrakes on opposite sides are coupled Airbrakes will fail closed 8

9 Rocket Specifications Rocket Specifications: Length 117 in. Body Diameter 6 in. Weight - 48 lb Rocket Features: Carbon fiber air brakes Split fin design Dual-parachute recovery system Onboard flight data processing and recording 9

10 OpenRocket Diagram Nose Cone Parachute Bay 2 (120 Main) Avionics Bay Parachute Bay 1 (24 Drogue) Motor Mount Flight Computer Bay 10

11 Stability Center of gravity: 79.2 in (from nose cone) Center of pressure: 92.5 in (from nose cone) Stability margin:

12 Mass Statement Nose Cone: 4.92 lbs Main Section: lbs Motor Mount: lbs (with motor) Total estimated weight of pounds Section: Nosecone Parachute bay 1 Avionics bay Parachute bay 2 Flight computer bay Motor mount Motor Weight (lb):

13 Mission Performance Predictions Windsp eed (mph) Velocity off rod (ft/s) Apog Velocity at ee detach (ft) (ft/s) Optimum delay (s) Max Velocity (ft/s) Max Time to accel. apogee (ft/s^2) (s) Flight time (s) Ground hit velocity (ft/s)

14 Mission Performance Predictions (cont.) OpenRocket simulation for 10 mph wind 14

15 Materials 6 Bluetube airframe with couplers Five ½ birch plywood bulkheads Fiberglass nose cone and main fins Carbon fiber air brakes 3D printed exterior fins Aero-Epoxy 15

16 Nosecone 5.5:1 Von Karman Filament wound fiberglass Aluminum tip 33 long Von Karman vs. Ogive More aerodynamic at subsonic velocities Reduces drag 16

17 Hardware 75 mm Blue Tube motor tube Aeropack flanged retainer Load transfer through aft compression 5 ½ Centering ring assemblies 17

18 Main Fin Design Split fins 4 sets of fins (8 total) Material G10 fiberglass Light Durable Geometry optimization for fin flutter 45 different fin designs tested 18

19 Motor Thrust Curve AeroTech L2200 Total weight: pounds Average thrust: pounds Max thrust: pounds Total Impulse: lb *sec Burn Time: 2.3 seconds Thrust to Weight Ratio:

20 Experimental Overview 20

21 System Requirements NASA Derived Requirements # Name: Requirement Verification Team will design an onboard camera system to identify and differentiate 3 randomly placed targets. A Raspberry Pi system and Pi cameras will acquire, store, and assess in-flight images during the flight Data to be analyzed in real time to identify and differentiate three separate targets. Pi boards will use the input from the cameras to process and differentiate between the three targets on the ground Teams will not be required to land on any of the targets. We will be using a dual-deployment parachute recovery system without a targeted landing system. 21

22 System Requirements Experimental Team Derived Requirements # Name: Requirement Verification T1.1 Clear image to identify targets on the ground. The cameras will be hard mounted to the side of rocket for the greatest stability during ascension. T1.2 A full range image of the ground below the rocket. Five cameras are to be mounted to gain the greatest view of the targets on the ground. T1.3 Analysis of the image(s) from the Pi cameras. Programed Raspberry Pi boards will take in, store, and differentiate the pi camera data. 22

23 Changes Since Proposal Removed Gimbal Concept Reduced mass and complexity Added Mission Assurance through increased Field of View Change Old Version New Version Rationale Camera Mounting Gimbal System Hard Mount Reduction of mass and costs Number of Cameras Two cameras Five cameras Greater field of view with chosen method of mount 23

24 Target Detection System -Computational Hardware Raspberry Pi 3 Model B CPU Quad Cortex 1.2 GHz GPU 400MHz VideoCore IV RAM 1 GB SDRAM Storage Micro-SD Wireless n / Bluetooth 4.0 Video Output HDMI / Composite 24

25 Target Detection System - Camera Hardware Raspberry Pi Camera Module V2 Resolution 8 megapixel native resolution high quality Sony IMX219 image sensor Cameras are capable of 3280 x 2464 pixel static images Quality Capture video at 1080p30, 720p60 and 640x480p90 resolutions Software is supported within the latest version of Raspbian Ope System 1.12 µm X 1.12 µm pixel with OmniBSI technology for high perfo (high sensitivity) Optical size of 1/4" 25

26 Target Detection System - Power Supply Hardware UPS HAT module board & Battery Cascading design to save mounting space Retains GPIO pins for additional expansion board possibilities 2.8 x 2 x grams Li-Ion Battery 2500 mah 3.7 V 2 Amps 26

27 Target Detection System Software The Raspberry Pi receives image stored on a microsd card by the Pi camera Image is converted from RGB to HSV Copies HSV channel in grey channel and processes 27

28 Electronics Bay 12 inch coupler bay located between parachute bays Contains hardware Raspberry Pi s and Batteries Horizontally stacked circular plates Passageways for camera and battery wiring Five cameras mounted on rocket exterior 28

29 Camera Mounting Full ground tracking field of view below rocket desired Minimum of 5 downward facing cameras Mounting angle of 24.4 degrees 5 Cameras vs. 6 Cameras 29

30 Camera Ducts Mounting Point for Pi Camera s Reduce drag from mounting the cameras directly Contain and protect cameras during launch and landing mm 11 cm 25 mm 30

31 Moving Forward Testing and Verification: Ensure Program works Stationary testing on platform Scaled down targets to simulate altitude view Each test will last for estimated launch duration Next Steps: Look into reducing required number of Raspberry Pi s Continue development of software Test software in a simulated environment Iterate and continue to improve software 31

32 Apogee Control 32

33 Changes Since Proposal Change Old Version New Version Rationale Battery number and type 1 9V battery 2 LiPo batteries redundancy and longer lasting Flight computer Arduino Pro Mini Arduino Duo used Analytic Hierarchy Process to choose between board options and Arduino came out on top, the Due has higher clock speed than the Pro Mini 33

34 Simulated Air Brake Deployment 34

35 Flight Computer Bay Parts housed: Flight computer and sensors Airbrake servo governed by flight computer Servo winch Pulleys Construction: U-bolt with wing nuts Finnish birch plywood 13.5 inches long 35

36 Air Brake Functions Air brakes actuated by a servo controlled by the flight computer Flight computer continuously performs apogee calculations If the expected apogee is greater than 5,280 ft, the airbrakes will be actuated This process is repeated until apogee is reached 36

37 Flight Computer Comparison Results Arduino Due Raspberry Pi BeagleBone Black -All Consistency Indices are below the.1 standard 37

38 Sensor Choices Barometers BMP180 (I2C) GPS Modules U-blox Neo M8N (UART) Accelerometer MPU6050 (3 axis) (I2C) 38

39 Control Flow Flow diagram of flight computer code 39

40 Target Computer Setup Purpose Run Simulations for the airbrakes Program Simulink Real time Host computer to target computer connection Ethernet cable Target computer to target monitor VGA cable 40

41 Results Conditions for rocket run through simulation: Max altitude Simulation: 4921 ft Actual apogee: 4916 ft Max velocity Simulation: 564 fps 41

42 Recovery 42

43 Recovery Systems 24 Drogue parachute opens at apogee 120 Main parachute opens at 800 feet Black powder ejection charges Rocket separates to deploy parachute Parachutes secures to rocket through u-bolts 43

44 Parachute Bays Shock cords - kevlar and nylon Attached to u-bolt assemblies Anti-zippering ball on shock cords Parachute bay 1 Drogue parachute - 24 Between avionics bay and motor mount Parachute bay 2 Main parachute Between avionics bay and nose cone 44

45 Parachute Configurations Configuration 1 (Drogue): Descent rate: 106 ft/s Parachute: 24 elliptical Shock cord: 33 ft nylon Configuration 2 (Main): Descent rate: 15 ft/s Parachute: 24 elliptical and 120 elliptical Shock cord: 27 ft nylon Configuration 1 - Drogue Rocket Weight (on descent) 44.4 lb. Parachute Size 24 in. Descent Rate ft/s Configuration 2 - Main and Drogue Parachute Size 120 in and 24 in. Descent Rate ft/s Forward Section Avionics Section Motor Mount Section Weight 4.91 lb lb lb. Impact Energy ft-lb ft-lb ft-lb 45

46 Avionics Bay Coupler also houses the Electronics Bay Copper tape lined Altimeters AIM USB Perfectflite Stratologger Recovery system comprised of redundant altimeters, power supplies, and ejection charges Ejection charge masses will be calculated by CDR 46

47 Drift calculation Regardless of wind speed, rocket will remain within launch field maximum radius 47

48 Safety 48

49 Safety Team Members Team Safety Officer - Nick Holaday Second Safety Officer - Briana Staheli Technical Communication - Sarah Kreutner Team Responsibilities Maintain record of trainings and briefings for all CySLI team members Prepare Risk Assessment Tables Prepare Build and Launch Procedures Oversee all safety concerns and legal compliances 49

50 Risk Severity 50

51 Risk Probability 51

52 Risk Assessment Matrix 52

53 Facilities and Safety Policies Policies Use of Facilities Iowa State Safety Policies Team supervision during build Facilities Make 2 Innovate Student Lab Boyd Engineering Lab M:2:I Conference Room Howe Hall Computer Lab 53

54 CySLI Website Maintained with all current team information, Student Launch Initiative documentation, and M:2:I documentation by Technical Communication Lead, Sarah 54

55 Risk Assessment Lab and machine Hazards that could occur due to the laboratory equipment and machinery Rocket Hazards that could be caused to or by the rocket Avionics Hazards that could occur due to the avionics system of the rocket Experimental Hazards that could occur due to the experimental factor of the rocket Environmental Hazards that could occur due to the environment around the rocket 55

56 Compliance with Laws Iowa State Rocketry Laws Minnesota State Rocketry Laws NAR and TRA requirements Required NAR supervisor will be Gary Stroick 56

57 Handling of Rocket Motors Purchase and Storage Online Vendor- Off We Go Rocketry Due to ISU safety policy, purchased and handled by Team Advisor Gary Stroick M:2:i Director Matt Nelson will handle in between delivery and launch Shipped with HAZMAT safety precautions Handling and Transportation Fullscale delivered and handled by Gary Stroick Project Lead Becca will handle subscale motor Properly secured and stowed away during all transit 57

58 Range Safety Regulations Certification Materials Motors Ignition Systems Misfires Launch Safety 7. Launcher 8. Flight Safety 9. Launch Site 10. Launch Location 11. Recovery System 12. Recovery Safety 58

59 Documentation Identifying hazards Each subteam provided a list of possible hazards Comply with NAR, and NFPA 1122 model rocket safety codes Procedure Approval sheets Signatures needed from all members of build and launch team Ensures knowledge of safety requirements during build and launch Log sheets Log flight info and data during check before launch Supervision Safety officers present during all build and launch events 59

60 NASA Safety Regulations All CySLI team members have agreed to follow the specific NASA SL Handbook regarding Launch Safety. This was agreed to in the Safety Agreement Form and re-discussed during all briefings Range safety inspections of each rocket before it is flown. Each team shall comply with the determination of the safety inspection or may be removed from the program The Range Safety Officer has the final say on all rocket safety issues. Therefore, the Range Safety Officer has the right to deny the launch of any rocket for safety reasons Any team that does not comply with the safety requirements will not be allowed to launch their rocket. 60

61 Subscale 61

62 Subscale testing Launching subscale test on November 11th Pearson Farms in Mitchellville, Iowa 62

63 Subscale testing Subscale will be ⅓ size 63

64 Subscale Testing Testing aerodynamic properties of the airframe Replicate placement of CG and CP Testing altimeter (Stratologger CF) Ride-along mode 64

65 Verification Plan Verification Checklist to ensure proper assembly and preparation Subscale construction Parts are securely epoxied together Loading the motor Packing the parachute Correct packing Untangled shroud lines Secured to airframe 65

66 Subscale Launch Safety Safety Briefings Subscale Build Build/Launch Procedure Sheets Subscale Procedure for Launch Prep Black Powder Charges Recovery Charge and Coupler Installation Motor Installation Safety Tests (Shake Test) 66

67 Project Plan 67

68 Schedule Competition Timeline Description PDR Q & A Website and PDR Due CDR Q & A CDR Due FRR Q & A FRR Due Launch Week PLAR Due Completion Date 10/12/ /3/ /6/2017 1/12/2018 2/7/2018 3/5/2018 4/4/2018-4/7/2018 4/27/

69 Budget Equipment Costs $5,800 Material Costs $1,150 Travel $4,000 Total $10,950 69

70 Questions? 70

71 Backup Slides 71

72 Rocket Design Backup Slides 72

73 Nose Cone Von Karman vs. Ogive Most Aerodynamic at subsonic velocities HAACK series nose cone C value = 0 High aspect ratio 5.5:1 73

74 Motor Mount Construction Centering rings epoxied to inner tube Then, epoxied to inside of airframe Fins are epoxied in place using fin mounting jig 26 inches long Motor retainer Prevents motor movement during flight 74

75 Fins Flutter velocity of fore fin is 898 ft/s Flutter velocity of aft fin is 1153 ft/s Safety margin of 27.0% Waterjetted from G10-Fiberglass Through-the-wall fin mounting Fins aligned with fin mounting jig 75

76 Secondary Fins Reduces drag caused by exterior pulleys Aesthetic cover Help guide cables to airbrake surfaces 76

77 Recovery Hardware 120 Main 24 Drogue ⅜ U bolts ⅜ Quick links / ¼ quick links ½ nylon shock cord Kevlar shock cord protector Kevlar chute protectors Anti-zipper ball Slider release ring Deployment bag 77

78 Drag -V=sqrt((8*m*g)/(pi*rho*C*D^2) Main parachute V = sqrt((8* *9.8)/(pi*1.22*2.2*3.048^2)) = m/s Drogue parachute V = sqrt((8* *9.8)/(pi*1.22*1.55* ^2)) = m/s 78

79 Apogee Control Backup Slides 79

80 Why the M8N? 80

81 Flight Computer -Used the Analytic Hierarchy Process to help with flight computer decision Arduino Due Raspberry Pi 3 BeagleBone Black Processing Speed Code Portability Community Sensor Use Ease

82 Simulink Mother block Main block with sub-blocks Rocket Motor Block Dynamic Block Drag Block 82

83 Motor Thrust Block Integrates Thrust Profile to obtain: Burned Impulse Fraction of Impulse Burned Motor Mass 83

84 Dynamics Block Uses mass, thrust, and drag to obtain: Acceleration Velocity Altitude 84

85 Drag Block Uses velocity and altitude to find: Drag with respect to change in altitude Equation: 85

86 Safety Backup Slides 86

87 Forms, Briefings, and Trainings Forms Safety Compliance Form Briefings Introductory Safety Briefing Build Briefing Subscale Launch Briefing Trainings Personal Protective Fire Prevention General Shop Safety 87