university of california,...
TRANSCRIPT
NASA USLI Critical Design Review
Presentation
1
University of California, Davis
Overview
• Compliance Matrix
• Project Plan
• Design and Launch Configuration
• Recovery System and Prototype Flight
• Payload Design and Integration
• Moving Forward
• Compliance Matrix
• Closing
2
Compliance Matrix (1/2)
3
Item Slide Numbers
Launch vehicle dimensions 11
Key design features 12, 13
Final motor choice 14
Flight stability + static margin 15
Thrust-to-weight and rail exit velocity 16
Mass statement and margin 17
Parachute size, recovery harness type, size, length, and descent rates
19,21
Kinetic energy at key phases of mission and landing
19,21,25,28,29
Compliance Matrix (2/2)
Item Slide Numbers
Predicted drift in 5,10,15,20 MPH 21
Test plans and procedures 7,39
Scale model flight test 23-30
Tests of staged recovery system 19-22
Final payload design overview 31-35
Payload integration 36
Interfaces (internal and external) 36
Status of requirements verification 8
4
PROJECT PLAN
5
Budget and Funding – on track
• Total Expenses of Rocket: $1,277.21
• Rocket Expenses guaranteed
• Working to ensure travel expenses
6
Current Sponsorship Money
University of California Davis College of Engineering: $1,000
University of California Davis MAE Department: $1,000
University of California Davis Club Finance Council: $1,700
Total Operating Budget $3,700
Milestones – on track
7
10-22-12 Web Presence Established Completed
10-29-12 PDR Report Posted Completed
11-16-12 PDR Presentation Completed Completed
1-5-13 Prototype Launch Completed
1-14-13 CDR Report Posted Completed
1-31-13 CDR Presentation Complete In Progress
3-3-13 Payload Testing Complete On Track
3-9-13 Full Scale launch with payload On Track
3-18-13 FRR Posted On Track
4-3-13 FRR Presentation Complete On Track
4-17-13 LRR Conducted On Track
4-20-13 Launch Date On Track
5-6-13 PLAR Posted On Track
Requirements Verification
8
Requirement Status Stability Verified Altitude – 5280’ AGL Verified Altitude – Below 5600’ AGL Verified
Altitude reported by audible beeps Verified
Recoverable and Reusable (2 hrs) Designed
Impact Energy less than 75 lbf-ft Designed
Drift range less than 2500 ft (15 mph wind) Designed Altimeter turn off Verified
Velocity remain subsonic Verified Compatable with 8' 1.5" rail Verified
Launched by 12 VDC system Verified Ballast (< 10% Total Weight) Verified Maximum Expenditures < $5000 On Track
Educational Engagement
• Engaged 331 elementary and middle school students
• Conducted rocket launch demonstrations
• Led classroom rocket construction projects
• Led field trip/tour of U.C. Davis rocket team facilities
9
Launch Configuration Total Height 71.5”
Diameter 4”
Number of fins 4
Fin attachment Slotted body tube + Epoxy Fillets
Fin Span 14.43”
Total Launch Weight (with motor) 15.28 lbs
Rail Size 1” (Can be modified for larger)
10
Launch Dimensions
11
Key Design Features (1/2)
• Aerodynamics
– Modeled using RockSim software to ensure stability, drift radius, and target altitude
• Structures
– Airbrake system removed • High Cost
• High Risk
• Too much for first year team!
– G10 Fiberglass Fins • High impact resistance
12
Key Design Features (2/2)
• Structures cont.
– West Systems Epoxy with Colloidal Silica
• Propulsion
– Aerotech K513FJ-M motor • RockSim Calculations
• Prototype Test
• Launch Operations
– Detailed set-up and prelaunch checklist
– Test launches
13
Motor Selection • Aerotech K513FJ-M
• Verified by RockSim + Test Launch
14
Alt
itu
de
(ft
)
Time (s)
5103’
Flight Stability – Static Margin
• Static Margin > 1 Caliber with motor
loaded
– Conservative Measurement
• Payload CG
15
Thrust vs. Weight
16
Average Thrust (Aerotech K513FJ-M) 125.18 lbf Total Launch Weight 15.28 lbf Thrust to Weight Ratio 8.19 Maximum allowable mass (5:1) 25.04 lbf Mass Margin 9.76 lbf Allowable Percent Increase 63.88 % Rail Exit Velocity 35.00 ft/s
Mass Statement
17
Nose Cone 0.94 lbs
Forward Body Tube 1.25 lbs
Main Parachute + Hardware 1.63 lbs
Recovery Bay 1.60 lbs
Forward Airframe Total Weight 5.42 lbs
Drogue Parachute + Hardware 1.21 lbs
Aft Body Tube 3.06 lbs
Fins (4) 1.00 lbs
Motor 3.66 lbs
Payload Bay 0.66 lbs
Payload Hardware 0.28 lbs
Aft Airframe Total Weight 9.87 lbs
Total Launch Weight 15.28 lbs
Mass Margin (lbs) 9.76 lbf
Mass Margin (%) 63.88 %
RECOVERY
DESIGN/TEST LAUNCH
RESULTS
Recovery System (1/4) • Parachutes
• Main: 72’’ • Rated at 20 ft/s descent rate for a 28 lbf load
• Drogue: 18’’ • From flight test: 59 ft/s for full scale load
• Recovery Harness • 3 sections of 2 ft long ½’’ Kevlar harness • 1 section of 15 ft long and 1 section of 12 ft long 11/16’’ climbing grade, 3,000 lb, nylon • ¼’’ zinc-plated steel u-bolts • 9/32’’ zinc-plated 1,000 lb steel quick link connectors
Recovery System (2/4)
Main Altimeter: The Raven 3
by Featherweight Altimeters
Back-up Altimeter: The
StratoLogger by PerfectFlite
Sounce: Featherweight Altimeters
Source: PerfectFlite
• 4 programmable outputs
• Stores flight data
• Power supply: One 3.7 V
150 mAh lithium polymer
battery
• Launch pad stay time:
2 hours
• 2 programmable outputs
• Stores flight data
• Power supply: One 9 V
alkaline battery
• Launch pad stay time:
Multiple days
Recovery System (3/4)
• Flight Test of Recovery System
• StratoLogger back-up altimeter unavailable for flight test
• Raven 3
• 4 outputs tested (1 drogue, 1 drogue back-up, 1 main, 1
main back-up)
• Accelerometer apogee detection and main chute
deployment programmed at 832 ft.
• Simulated flight test
• Successfully fired drogue and main chute ejection and
back-up ejection charges during full scale flight test
• Another flight test with Raven 3 and StratoLogger in final
configuration scheduled for March 2013
• Predicted Drift from Launch Pad (From Simulations)
• 5 mph wind: 506 ft
• 10 mph wind: 1005 ft
• 15 mph wind: 1480 ft
• 20 mph wind: 1910 ft
Recovery System (4/4)
• Ejection Charge Ground Test
• Drogue deployment test with 1.25 grams of black powder failed
• Drogue deployment test with 2 grams of black powder successful
• Main deployment test with 2 grams of black powder successful
2nd Drogue Deployment Test with 2
Grams of Black Powder
Main Deployment Test with 2 Grams
of Black Powder
Full Scale Model Flight Test (1/8)
• Full scale flight test of prototype rocket on 01/05/13:
Up! Up! And Away!
Full Scale Model Flight Test (2/8) • Thrust Stage
• Motor generated an average 10.5 Gs of acceleration
• Burnout occurs at 3.0 s
• 2.73 s in simulation
Axi
al A
cce
lera
tio
n (
Gs)
Time (s)
Drogue Chute
Ejection Charges
Main Chute
Ejection Charges
Landing
Thrust Stage:
10.5 G Avg.
Acceleration
Full Scale Model Flight Test (3/8) • Burnout Stage
• mBO = 12.51 lbm = 0.3888 slugs
• vBO = 622 ft/s
• KEBO = ½ mBO vBO2 = ½ (0.3888 slugs)(622 ft/s)2 = 75,210 ft-lbf
Ve
loci
ty (
ft/s
)
Time (s)
622 ft/s at Burnout
Full Scale Model Flight Test (4/8) • Ascent Stage
• According to barometer: • Apogee reached at 17.2s
• 17.89 s in simulation •Ascent stage lasted: 17.2 s – 3.0 s = 14.2 s
Pre
ssu
re (
Atm
)
Time (s)
1 Atm
Apogee Reached at 17.2 s
Full Scale Model Flight Test (5/8) • Apogee
• Apogee at 17.2 s • 17.89 in simulation
• According to accelerometer: apogee at 5122 ft • According to barometer: apogee at 4425 ft
• Apogee at 5104 ft in simulation
Apogee at 4425 ft 855 ft below 1 mile
Apogee at 5122 ft
158 ft below 1
mile
Full Scale Model Flight Test (6/8) • Drogue Descent
• Descends for: 3594 ft
• Apogee to main chute ejection charges: 60.80 s
• 59.87 s in simulation
• Drogue descent rate: 59 ft/s
• 72 ft/s in simulation
• Drogue descent KE: 676.7 ft-lbf
Time (s)
Drogue charges fire
Time: 17.20 s
Altitude: 4425 ft
Main charges fire, no descent rate change Time: 78.0 s Altitude: 831 ft
Landing Time: 92.0 s Altitude: 60 ft
Alt
itu
de
(ft
AG
L), A
xial
A
cce
lera
tio
n (
G’s
)
Full Scale Model Flight Test (7/8) • Main Chute Deployment
• Charges fire at 831 ft and 78.0 s into flight • Nosecone separates but main chute does not deploy
• Components descend for: 831 ft – 60 ft = 771 ft (Rocket landed on a hill) • From main chute ejection charge to landing: 92.0 s – 78.0 s = 14 s
• 58 s in simulation with main chute deployed • Descent rate after main chute ejection charge: 771 ft / 14 s = 55 ft/s
• 13.5 ft/s in simulation with main chute deployed
• Landing • Time: 92.0 s • Altitude: 60 ft AGL (on a hill) • Velocity: 55 ft/s • Mass: 0.3888 slugs • KElanding = ½ mBO v2
landing = ½ (0.3888 slugs)(55 ft/s)2 = 588 ft-lbf • 35.43 ft-lbf in simulation with main chute deployed
Full Scale Model Flight Test (8/8)
Failure Modes:
• Main chute failed to deploy due to
poor placement of ejection charge
gasses
• Altimeter bay bulkhead seal broke
during ejection charge ground test:
Corrective Action:
• Place ejection charges in between
altimeter bay bulkhead and
parachute instead of between
nosecone bulkhead and parachute
• Seal up openings between u-bolt
and bulkhead with epoxy so that no
ejection charge gasses can enter
and pressurize the seal.
PAYLOAD DESIGN
31
Design: Electronics • ArduPilot 2.0 with MediaTek GP
• Embedded MPU-6000 Gyroscope and Accelerometer
• Embedded MS5611 Barometric Pressure Sensor
• Includes MediaTek MT3329 GPS Daughter Board
• TSL250R Light to Voltage Sensor
• AM2302 Temperature and Humidity Sensor
• 3DR Radio Transmitter and Antenna
• 3DR USB Receiver and Antenna
• Ground Station computer
32
ArduPilot
Analog Inputs
+ADCs
External Analog Sensors
TSL250R
Light-to-
Voltage
AM2302
Temperature
and Humidity
Sensor
Integrated Sensors on ArduPilot
3DR Radio
Transmitter +
Antenna
3DR Radio USB
Receiver +
Computer
Design: Flow Chart
9V
1200mAh
Lithium
Battery
+5v
GND
MPU-6000 3-axis
gyro and
accelerometer
33
MediaTek
MT3329 GPS on
Daughterboard
5V
Regulator
MS5611
Barometric
Pressure Sensor
Design: Measurements
34
Acceleration MPU-6000 3 Axis Gyro and Accelerometer
Flight path MediaTek MT3329 10 Hz GPS
Solar Irradiance TSL250R Light to Voltage Sensor
Barometric Pressure MS5611 Barometric Pressure Sensor
Temperature AM2302 Temperature and Humidity Sensor
Humidity AM2302 Temperature and Humidity Sensor
Angular Rotation MPU-6000 3 Axis Gyro and Accelerometer
Payload Integration • Location:
– Above the motor casing and below the drogue parachute
• Assembly:
– Forward bulkhead attached to drogue parachute chute quick link.
– The bay walls held in place with three screws, using weld nuts inside the bay, screws outside of the body tube for easy integration/removal
• Static Ports
– Drilled through rocket body tube and payload bay
– Allowing ambient pressure readings
• Sunlight
– Drilled hole for the allowance of sunlight on the TSL250R
35
Interfaces Connecting Components Interface Nosecone Main Parachute U-bolt & Tether
Forward Body Tube Nylon Shear Pins
Recovery Bay Main Parachute U-bolt & Tether
Drogue Parachute U-bolt & Tether
Forward Body Tube Rivets
Aft Body Tube Nylon Shear Pins
Payload Bay Drogue Parachute U-bolt & Tether
Aft Body Tube Screws and Weld Nuts
Motor Mount Aft Body Tube Centering Rings
Boat Tail Motor Retainer Epoxy
Fins Aft Body Tube Epoxy + Colloidal Silica
Motor Mount Epoxy
Launch Rail (Ground) Launch Rail buttons Buttons Slide Into Rail
Computer (Ground) 3DR Transmitter 3DR Receiver
36
Moving Forward
• Final assembly and testing of launch vehicle • Full scale launch scheduled for March 2013
• Both main and back-up altimeter will be tested in their final launch configuration
• Payload • Complete assembly and integration • Complete firmware development • Complete ground station software development
Compliance Matrix (1/2)
38
Item Slide Numbers
Launch vehicle dimensions 11
Key design features 12, 13
Final motor choice 14
Flight stability + static margin 15
Thrust-to-weight and rail exit velocity 16
Mass statement and margin 17
Parachute size, recovery harness type, size, length, and descent rates
19,21
Kinetic energy at key phases of mission and landing
19,21,25,28,29
Compliance Matrix (2/2)
Item Slide Numbers
Predicted drift in 5,10,15,20 MPH 21
Test plans and procedures 7,39
Scale model flight test 23-30
Tests of staged recovery system 19-22
Final payload design overview 31-35
Payload integration 36
Interfaces (internal and external) 36
Status of requirements verification 8
39
Thank You!!!
40