Iowa State University CDR Presentation

Transcription

1 Iowa State University CDR Presentation

2 Overview Project Overview Design Subscale Safety Project Plan Conclusion 2

3 Project Overview 3

4 Team Structure 4

5 5

6 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 6

7 Design 7

8 Rocket Overview 8

9 NASA Vehicle Requirements Launch vehicle will reach altitude of 5280 feet (airbrake if needed) The vehicle is be designed to be reusable and recoverable, landing safely Total impulse of AeroTech L2200 below L-class limit as required Full-scale rocket model will be tested and recovered February 17th (before FRR) 9

10 Derived Vehicle Requirements Airbrakes are coded not to actuate before burnout Opposite airbrakes are coupled to activate and fail together Airbrakes programmed not to open after apogee Springs secure airbrakes closed in event of failure Launch rail mount positioned between fins and camera ducts 10

11 Rocket Specifications Rocket Specifications: Length 117 in. Body Diameter 6 in. Weight lb Rocket Features: Carbon fiber air brakes Split fin design Dual-parachute recovery system Onboard flight data processing and recording Camera bay 11

12 OpenRocket Diagram Nose Cone Parachute Bay 1 (120 Main) Avionics Bay Parachute Bay 2 (24 Drogue) Motor Mount Flight Computer Bay 12

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

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

15 Mission Performance Predictions Windspeed (mph) Velocity off rod (ft/s) Apogee (ft) Velocity at detach (ft/s) Max Velocity (ft/s) Max accel. (ft/s^2)

16 Mission Performance Predictions (cont.) OpenRocket simulation for 20 mph wind 16

17 Nosecone 5.5:1 Von Karman Filament wound fiberglass Aluminum pointed tip 33 long Aspect ratio 5:1 Von Karman vs. Ogive Superior over ogive at subsonic velocities HAACK series value 0 superior (1), good (2), fair (3), inferior (4) 17

18 Hardware 34 inch Blue Tube motor tube Aeropack flanged retainer Load transfer through aft compression 6 ½ Centering ring assemblies 18

19 Main Fin Design Split fins 4 sets of fins (8 total) G10 fiberglass - light and durable Geometry optimization for fin flutter 45 different fin designs tested Flutter Safety Margin is 27.0% 19

20 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:

21 Experimental Overview 21

22 Changes Since PDR Change Old Version New Version Improved Shape of Box Shape Camera Duct & Mounting Circular Shape Mounting Placement Below Static Port Holes Above Static Port Holes Rationale 1) 2) Reduction of cost and drag Improved Airflow Ensure correct baric pressure for the altimeter to read max altitude 22

23 Target Detection System Raspberry Pi 3 Model B Battery Camera Module CPU Quad Cortex 1.2 GHz Frame Rate 90 frames per second Dimensions 25mm, 20mm, 9mm GPU 400MHz VideoCore IV Frame Resolution 640x480 Power Output 3.7 V, 2 A Storage 32 GB microsd card Video Type H.264 Capacity 2500 mah 23

24 Target Detection System Software 24

25 Current Progress 25

26 Electronics Bay 12 inch coupler bay located between parachute bays Contains hardware Raspberry Pis and batteries Horizontally stacked circular plates Passageways for camera and battery wiring Five cameras mounted on rocket exterior 26

27 Camera Mounting Full ground tracking field of view below rocket desired 5 downward facing cameras Mounting angle of 24.4 degrees 5 Cameras vs. 6 Cameras 27

28 Camera Ducts Mounting Point for Pi Camera s Reduce drag from mounting the cameras directly Contain and protect cameras during launch and landing 4x 10.7 cm 25 mm mm 4x/cover 28

29 Launch Rail Assurance Proper dimensions in assembly Clearance between rail and camera duct Minimum distance = ~⅓ in Reducing size of ducts near rocket body affects airflow transition 29

30 Apogee Control 30

31 Changes Since PDR Change Old Version New Version Rationale Barometer BMP180 MS5611 Better accuracy and easier to work with 31

32 Flight Computer Bay Parts housed: Construction: Flight computer and sensors Air brake servo governed by flight computer Servo winch Pulleys U-bolt with wing nuts Finnish birch plywood 13.5 inches long 32

33 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 33

34 Electronic Choices Barometer and Accelerometer GPS Modules Adafruit Transceiver Flight Computer U-blox NEO M8N Transmitter and Receiver MS5611 and MPU6050 (both on one board) Arduino Due Battery 2S LiPo 34

35 Control Flow Flow diagram of flight computer code 35

36 Servo Motor Hitec HS-7980TH ServoFunction() Stall torque: 500 oz/in at 6.0 V (411 oz/in at 5.0 V) No load speed: 0.21 sec/60⁰at 6.0 V (0.175 sec/60⁰ at 5.0 V) Max range:120⁰ Variable drag through software Each call increments cage by 10⁰ Testing Incrementing motor through Arduino code (both directions) Replicating drag with weight Supplied voltage 36

37 Simulink Computer Setup Purpose Host Computer Program Simulink Desktop Real-Time Host computer to Arduino Verify airbrakes code USB serial Arduino to Computer USB serial 37

38 Pre-Validation Before Full Scale Read and parse input/output data Simulink Arduino Model variable area Air brake geometry 38

39 Results Conditions for rocket run through simulation: Max altitude Simulation: 4921 ft Actual apogee: 4916 ft 39

40 Recovery 40

41 Changes Since PDR Change Reason Drogue parachute diameter reduced to 18 from 24 elliptical 24 parachute allowed too much drift, smaller drogue will increase speed of descent during first recovery stage, less drift 41

42 Recovery Systems 18 Drogue parachute opens at apogee (Parachute bay 1) 120 Main parachute opens at 800 feet (Parachute bay 2) With a 24 pilot parachute Black powder ejection charges Rocket separates at apogee to deploy parachute Parachutes secures to rocket through u-bolts Parachute bay 1 Parachute bay 2 42

43 Parachute Configurations Configuration 1 (Drogue): Descent rate: ft/s Parachute: 18 elliptical Shock cord: 33 ft nylon Configuration 1 - Drogue Rocket Weight (on descent) lb. Parachute Size 18 in. Descent Rate ft/s Configuration 2 - Main and Drogue Configuration 2 (Main): Descent rate: ft/s Parachute: 24 elliptical (Pilot) and 120 toroidal (Main) Shock cord: 27 ft nylon Parachute Size 120 in and 24 in. Descent Rate ft/s Forward Section Avionics Section Motor Mount Section Weight lb lb lb. Impact Energy 18.8 ft-lb ft-lb ft-lb 43

44 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 44

45 Drift calculation Wind Speed (mph) Drogue Drift (feet) Main Drift (feet) Total Drift (feet) At 19.5 mph crosswind the rocket will begin to leave the acceptable drift range of 2,500 feet 45

46 Ejection Charge Masses & Shear Forces 46

47 Safety 47

48 Safety Briana Staheli Team Safety Officer Cassandra Gearhart Second Safety Officer Sarah Kreutner Technical Communications 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 Edit and proofread documentation 48

49 Risk Severity 49

50 Risk Probability 50

51 Risk Assessment Matrix 51

52 Risk Assessment Lab and Machine Rocket Avionics Experimental Environmental 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 Compliance with Laws Iowa State Rocketry Laws Minnesota State Rocketry Laws NAR and TRA requirements Required NAR supervisor will be Gary Stroick 54

55 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 Full scale delivered and handled by Team Mentor Gary Stroick Properly secured and stowed away during all transit 55

56 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. 56

57 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 57

58 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 before and after launch Supervision Safety officers present during all build and launch events 58

59 Subscale 59

60 Subscale testing Launched subscale test on November 11th Pearson Farms in Mitchellville, Iowa 60

61 Subscale testing Subscale was ⅓ size Altimeter tested in ride-along mode 61

62 Subscale Test Results Launched three times Launches averaged 1,330 ft All systems worked as expected No damage sustained during flight Subscale flight number Apogee Height (Feet) Top Velocity (Feet/second) Flight ft ft/sec Flight ft ft/sec Flight ft ft/sec 62

63 Subscale Flight results 63

64 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) 64

65 Full-scale Testing 65

66 Full scale Testing Launching first field test of full scale on February 17th in North Branch Minnesota Launch supervised by Gary Stroick Motor supplied by Gary All systems used in the competition to be flown during test 66

67 Launch Vehicle Testing Objectives Exercise launch checklists and procedures Ensure chosen motor reaches target altitude Test altimeter data recording Test airbrake functions and ability to slow rocket Test all recovery system functions Ejection charge firing, section separation, parachute deployment Verify rocket has sufficiently soft landing 67

68 Full scale-altimeter Testing Two redundant altimeters and power supplies Each altimeter from different manufacturers Each altimeter connected to separate black powder charges 68

69 Project Plan 69

70 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/

71 Budget Rocket Costs $4,300 Avionics Costs $500 Experimental Costs $600 Travel $4,000 Total $9,400 71

72 CySLI Website m2i.aere.iastate.edu/cysli/ Maintained with all current team information, Student Launch Initiative documentation, and M:2:I documentation by Technical Communication Lead, Sarah 72

73 Questions? 73