analysis of rocket flights section 4, team 4 student 1, student 2, student 3, student 4
TRANSCRIPT
Analysis of Rocket Flights
Section 4, Team 4
Student 1, Student 2, Student 3, Student 4
Temperature Predictions
Decrease in temperature upon ascent
Rise in temperature upon descent
Further increase after landing
Thermistor 3 (middle of rocket body, on surface)
Thermistor 2(on fin)
Altimeters
Expect decrease in pressure with increase in altitude, and vice versa
Used barometric equation to find altitude
Calibrated sensors in lab using vacuum chamber
))325.101
)((1(104544.1)( 1902.05 kPaP
fth −××=
Altimeter vs. Models for Flight
Flight Modeling (2-D)
CG
CPmg
D
T
y
z
rWind
T
CG
CPmg
rWind
D
y
z
θ
Euler’s Integration
Method for numerical integrationIterative
For given a(t) and initial conditions for x and v:
v(t+Δt)=v(t)+a(t)*t
x(t+Δt)=x(t)+v(t)*t
IMU Analysis: Mudd IIIC (Large) Rocket
Rotation from local to global axes
Euler integration of rotation matrix
az
ax
ay
Ay
Az
Ax
y
az
ayax
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
−−
−=
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
Z
Y
X
XY
XZ
YZ
Z
Y
X
a
a
a
A
A
A
1
1
1
φφ
φφ
φφ
,cos1sin
)()( 22 ⎟
⎠
⎞⎜⎝
⎛ −++=+ BBItRttR
σσ
σσδ
,
0
0
0
tB
XY
XZ
YZ
δωω
ωωωω
⎥⎥⎥
⎦
⎤
⎢⎢⎢
⎣
⎡
−−
−=
222ZYXt ωωωδσ ++=
Processing Algorithm (Matlab)
Raw RDAS Data
(counts)
Local Acceleration
(m/s2)
Calibrations
Global Acceleration
(m/s2)
Global Velocity (m/s) and Position
(m)
Local Rotation Rate (radians/sec)
Rotation Matrix (radians/sec)
Calibrations
Euler integration
Euler integration Local Rotation Angle
(degrees)
Filtered Global Acceleration
(m/s2)
Acceleration Filtering (optional)
Principle Axis Rotation: Plot vs. Video
1-D Model Comparison (launch 2)
day 1 2nd
launch (13-20 mph
winds)
IMU data R-DAS pressure altimeter
% difference
from altimeter
Student model
% difference
from model
Rocksim model
% difference
from model
Apogee height
160.3390 meters
154.53 m +3.759% 147.3-182.3 m
(lies within range)
165.3 m -3.001%
Apogee time
6.38 sec 4.645-6.145 sec
+3.824% 5.763-6.293 sec
+1.382% 5.888 sec +8.356%
Max z vel
54.35 m/s N/A N/A 52.46-58.88 m/s
(lies within range)
57.24 m/s -5.049%
Max z accel
206.4 m/s2 N/A N/A 180.8-198.4 m/s2
+4.032% 202.5 m/s2 +1.926%
Acceleration Filtering (Before)
Acceleration Filtering (After)
Acceleration Filtering (Descent Plot)
E80 teams
wind
z
Bad Data
Mudd IIIA IMU rocket Failure to
eject parachute
Flat spin crash after apogee
WHY?
http://www.tribuneindia.com/2002/20020715/world.htm
Principle Axis Rotation Plot vs. Video, Round 2
Acceleration Data…
Very pronounced 0.2149 Hz oscillations
Possible causes: camera interference, camera overpowering
Band-stop filter might be able to retrieve data
Vibration Analysis
Tap tests on hollow tube are inaccurate
Mass spring damper system
Theoretical Analysis
Spring-Mass-Damper Model
Rocket can be modeled as a single degree of freedom spring-mass-damper system.
Effective mass, m
Spring constant, k
Damping Half-Power Bandwidth
kgMM rocketeff 813.035
17==
mNx
Fk /38536==
1.≤ς
221
2
ςςωω−
=Δ r
Predicted Resonance Frequency
Hzm
kfr 65.34
2
1==
π
ς
Analysis
No control variables!Treat Sensor 10 as input.
Create FRFs of other sensors to see relative peaks
Sensor 10
FRF plots
Removed DC offsetfdomain.m used to generate Fourier
CoefficientsRelative AmplitudesFirst set of data is not trustworthySecond set of data has more coherent
peaksUsed 1st second of data, short motor burn
time
0 20 40 60 80 1000
2
4
6
8
10FRF of Sensor 7
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4
5FRF of Sensor 6
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4
5FRF of Sensor 1
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4
5FRF of Sensor 15
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
2
4
6
8
10FRF of Sensor 12
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
2
4
6
8
10Input (sensor 10)
Frequency
Magnitude (Gain)
1st Set of Data Results
Peak around 60 or 70 HzOther peaks are inconsistentSensor 15 seems to be malfunctioningLocally, 3 sensors show local peaks
between 60-80No video
0 20 40 60 80 1000
0.2
0.4
0.6
0.8
1FRF of Sensor 1
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4
5FRF of Sensor 3
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4FRF of Sensor 6
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3FRF of Sensor 8
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
0.2
0.4
0.6
0.8
1FRF of Sensor 13
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4Input (sensor 10)
Frequency
Magnitude (Gain)
2nd Set of Data Results
Consistent peaks at 64 HzPossible peaks around 30 Hz, but not
consistentSensors 1, 3, and 8 are 13 show peak
frequenciesSensor 13 farther away from the input
source
Noises
Only 64 Hz showed in every FRFOthers are jumbled by the noiseRunning averages smoothes out the data
too much. Too little data during the 1st second of input Ineffective way of removing noise
0 20 40 60 80 1000
1
2
3
4Input (sensor 10)
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
0.2
0.4
0.6
0.8
1FRF of Sensor 1
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4
5FRF of Sensor 3
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3
4FRF of Sensor 6
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
1
2
3FRF of Sensor 8
Frequency
Magnitude (Gain)
0 20 40 60 80 1000
0.2
0.4
0.6
0.8
1FRF of Sensor 13
Frequency
Magnitude (Gain)
Mode ShapesAbsolute magnitude of Fourier Coefficients
vs Relative Sensor DistancesSensor 10 was normalized as “0” point.
5 10 15 20 25 30 35-2
-1.5
-1
-0.5
0
0.5
1
Location
Absolute Magnitude
Fundamental Modal Shape - 64 Hz
Results from FRF
Not enough frequencies to test all 3 mode shapes
Does not deal well with noise, especially with highly aliased data
Problems with FFT
Using just FFT coefficients to calculate Frequency Response Functions assumes a clean periodic signal.
The rocket data is neither. A better estimator is Power Spectral Density (PSD).
Power Spectral Density
2)(
1lim)( ωωφ j
Tj TXX Χ=
)()(1
lim)( * ωωωφ jjT
j TTXY ΥΧ=
)()(
)(lim
)(
)( ωωω
ωφωφ
jHjj
jj
T
T
XX
XY =ΧΥ
=
Auto power spectral density
Cross power spectral density
Frequency Response Function0 10 20 30 40 50 60 70 80 90 100
-10
-5
0
5
10
15
20
25
30
Frequency (Hz)
Power/frequency (dB/Hz)
PSD of Sensor 4
PSD and Noise
dttntvtxT
P Txy )]()([)(*1
lim +⋅= ∫∞
∞−
xnxvxy φφφ +=
H(jωx(t) v(t) y(t)
n(t)
Assume n(t) is unrelated to v(t)
0
)()(
)()(1 ω
ωφωφ
ω jHjj
jHxx
xy ≅=
Hamming Window
Time Domain Frequency Domain
Averaging Overlap
Overlapping windowed segments by 50% minimizes attenuation of time domain signal near the end of segment
Frequency Response Function
Waterfall Analysis
freq (Hz)
time (.1 sec)
mag
nitu
de (
dB)
FRF of Sensor 5 over time
Conclusions
Thermistor behavior depends on locationEuler Integration Method not sufficient to
model whole flight pathSpring-Mass-Damper model can simplify
system to find theoretical resonance FFT method of finding FRF is not
consistent due to large noise componentPSD method gives much sharper peaks in
FRF
Interesting Precautions...
Check battery…sensors are sensitive!
Wait until last moment to turn on R-DAS and video camera…otherwise, ejection charge could go off early!
Don’t try to catch rocket…it may have a chute, but it’s still falling fast!
Extra: Altimeter Plots
Extra: Altimeter Plots
Extra: Why We Didn’t Do 2-D Model Comparison
Extra: Why We Didn’t Do 2-D Model Comparison
Acknowledgements
The professors and proctors who helped to make this beta-test a success.
All of our classmates for their infinite support and advice during this semester
Student A for a discussion on the causes of small rocket IMU corruption
Student B for his help with setting up the Single Degree of Freedom model
References
E80 The Next Generation Spring 2008, http://www.eng.hmc.edu/New E80/index.html.
R. Wang, http://fourier.eng.hmc.edu/e80/inertialnavigation/ Q. Yang, http://www.eng.hmc.edu/NewE80/PDFs/Lecture_PressureSensor
Thermistors.ppt H. Buchholdt, Structural Dynamics for Engineers (Telford, 1997), pp. 17-22. The Hanning Window, http://www.dliengineering.com/vibman/thehanning
window.htm