Flight Readiness Review Presentation Vanderbilt Aerospace Design Lab Vanderbilt Aerospace Design Lab: FRR 3/6/2017
Meeting Agenda Mission Overview Vehicle Design & Verification Payload Design & Verification Launch Results Ground Based Testing Project Plan Conclusion Vanderbilt Aerospace Design Lab: FRR 2 3/6/2017
Mission Overview Vehicle Objectives Reach desired apogee with ● minimal overshoot Recover flight vehicle ● Payload Objectives Perform roll induction via cold ● gas thruster actuation Achieve 4 π radians of rotation ○ Halt all rolling motion for remainder ○ of flight Develop roll control system ● algorithms Utilize ground-based testing ○ Vanderbilt Aerospace Design Lab: FRR 3 3/6/2017
CDR Questions What will be done to increase thrust? Tank pressure increased to combat inherent regulator droop ● Purchased higher flow regulator to further combat droop ● Late parachute time for subscale vehicle Full scale design offers improved avionics bay and parachute storage ● Drogue deployment time at 1 second post apogee, 2 second backup ● Solenoid Factor of Safety Detailed description of solenoid needs and waiver request can be seen in ● FRR appendix Vanderbilt Aerospace Design Lab: FRR 4 3/6/2017
Meeting Agenda Mission Overview Vehicle Design & Verification Payload Design & Verification Launch Results Ground Based Testing Project Plan Conclusion Vanderbilt Aerospace Design Lab: FRR 5 3/6/2017
Vehicle Overview Launch Vehicle Full Scale Value at Current Weight By Section Properties CDR Value Mass 30.3 lb 34.0 lb Length 94.75” 99” Center of Gravity 50.4” 52.2” Center of Pressure 62.3” 65.6” Static Stability 2.29 2.43 Margin at Exit Vanderbilt Aerospace Design Lab: FRR 6 3/6/2017
Vehicle Sections Vanderbilt Aerospace Design Lab: FRR 7 3/6/2017
Kinetic Energy and Stability Information Component Weight (lb) Landing Energy (ft-lb) Nosecone/Payload 14.75 (14.0 dry) 49.6 Avionics 7.00 24.8 Tail 12.25 (9.16 dry) 32.5 CP CG 65.6” from nose 52.2” from nose Static Stability Margin = 2.43 (launch pad) Vanderbilt Aerospace Design Lab: FRR 8 3/6/2017
Motor Selection Loki L1400 Requirements Burn Time: 2.0 s ● Short burn time ● Total Impulse: 2842.9 N-s ● Reasonable acceleration ● Weight: 2.540 kg ● Reach target altitude ● Max Thrust: 1906.4 N ● Avg. Thrust: 1421.4 N ● Vanderbilt Aerospace Design Lab: FRR 9 3/6/2017
Avionics Section Vanderbilt Aerospace Design Lab: FRR 10 3/6/2017
Recovery System Redundancy Ensure Proper Testing of Equipment Altimeter Testing ● Deployment Testing ● Check Conditions of the Parachutes ● Vanderbilt Aerospace Design Lab: FRR 11 Check Quality of Shock Cords ● 3/6/2017
Recovery System Parachute Drogue Main Diameter 18” 96” Shape Elliptical Toroidal Cd 1.5 2.2 Source Fruity Chutes Fruity Chutes Deployment Altitude Apogee +1s 750 ft Avionics Bay Descent Speed 74 fps 15.1 fps Shock Cord Length 15’, 25’ (40’) 18’, 25’, (43’) Shock Cord Material Kevlar Kevlar Kinetic Energy of Heaviest 500 lbf-ft 60 lbf-ft Section 4F Black Powder Charge 1.5 grams 4.50 grams Mass Big Red Bee Radio Transmitter Backup Charge Mass 2.0 grams 5.00 grams Fire Retardant Blanket Nomex Nomex Vanderbilt Aerospace Design Lab: FRR 12 3/6/2017
Vehicle Performance Predictions Vanderbilt Aerospace Design Lab: FRR 13 3/6/2017
Flight Simulations - Vehicle Flight Analysis Vanderbilt Aerospace Design Lab: FRR 14 3/6/2017
Flight Simulations - Wind Speed Effects Vanderbilt Aerospace Design Lab: FRR 15 3/6/2017
Meeting Agenda Mission Overview Vehicle Design & Verification Payload Design & Verification Launch Results Ground Based Testing Project Plan Conclusion Vanderbilt Aerospace Design Lab: FRR 16 3/6/2017
Payload Systems Overview Sensing - Inertial Measurement Unit (IMU) to monitor acceleration, angular velocity, and orientation Control - Custom software operating on BeagleBone Black computer to control thruster actuation Actuation - Thrusters fed by pressurized air tank to induce roll and counter roll Cold Gas Thruster System Payload Electronics & Control Systems Vanderbilt Aerospace Design Lab: FRR 17 3/6/2017
Thruster System Vanderbilt Aerospace Design Lab: FRR 18 3/6/2017
Cold Gas Thrusters Problem Statement A thrust system will be used to ● induce and reverse in-flight rotations after MECO and prior to apogee Solenoid and Thruster Nozzle Vanderbilt Aerospace Design Lab: FRR 19 3/6/2017
Cold Gas Thruster System Rocket Integration All payload components housed within removable forward section ● Allows ease of assembly and 360 degree on-pad access ○ Forward section bolted to vehicle for removability and security ● Nose cone bulkheads and foam supports air tank during flight ● Thruster couples aligned with exhaust ports for roll actuation ● Vanderbilt Aerospace Design Lab: FRR 20 3/6/2017
Cold Gas Thruster System Rocket Integration Vanderbilt Aerospace Design Lab: FRR 21 3/6/2017
Cold Gas Thruster System Rocket Integration Vanderbilt Aerospace Design Lab: FRR 22 3/6/2017
Thruster Testing Vanderbilt Aerospace Design Lab: FRR 23 3/6/2017
Nozzle Thrust Test Stand Arrangement Load Cell Solenoid and Nozzle Air Tank U-bolt Support Data Acquisition Board Vanderbilt Aerospace Design Lab: FFR 24 3/6/2017
Higher Pressure Thrust Results Problem - 2000 psi gave low roll performance in initial subscale launch ● Regulator delivery pressure drops with increased flow rate ○ Leads to lower mass flow → Lower thrust obtained ○ Proposed Solution - Increase tank pressure to combat regulator droop ● Use N 2 in addition to compressed air due to high pressure supply tank availability ○ Vanderbilt Aerospace Design Lab: FFR 25 3/6/2017
Higher Pressure Thrust Results Result: Increase of 1.5 N ● Tank Pressure (psi) Thrust (N) 2000 ~ 6.5 N 3000 ~ 7.5 N 4000 ~ 8.0 N Vanderbilt Aerospace Design Lab: FFR 26 3/6/2017
New Regulator Purchase Problem - 4000 psi only achieved 1.5 N increase ● Regulator droop still a major factor ○ Regulator orifice limiting mass flow ○ Proposed Solution - Purchase higher flow regulator ● Orifice comparison shown below ○ CP Regulator Orifice Ninja Regulator Orifice Vanderbilt Aerospace Design Lab: FFR 27 3/6/2017
New Regulator Thrust Results Result: Increase of 4 N (5.5 N total) ● Pressure Regulator Thrust (N) 3000 Ninja ~ 7.5 N 4000 Ninja ~ 8.0 N 4000 Custom Products ~ 12.0 N Vanderbilt Aerospace Design Lab: FFR 28 3/6/2017
Payload Electronics & Control Systems Vanderbilt Aerospace Design Lab: FRR 29 3/6/2017
Payload and Control System Electronics BeagleBone Black with PCB Shield VectorNav VN-100 IMU Miniature Computer 3-axis Accelerometer (± 16g) ● ● Many Inputs/Outputs 3-axis Gyroscope (± 2000 °/s) ● ● Internal/External Data Capabilities 3-axis Magnetometer (± 2.5 Gauss) ● ● WiFi Adapter Quaternion-based singularity-avoiding ● ● Custom PCB Shield output with Kalman filtering ● ROSMOD System modeling environment ● in C++ Visualization for system ● component interactions Used for all software integrated ● systems Vanderbilt Aerospace Design Lab: FRR 30 3/6/2017
Payload Electronics Schematic Power Management Solenoid Triggering Data Collection and Processing Vanderbilt Aerospace Design Lab: FRR 31 3/6/2017
Payload Electronics Layout and Assembly IMU ● Circuit board designed for greater in-flight reliability ○ Eliminated unnecessary potential failure points ○ Improved design of screw switch ● Payload assembly features lighter sled and batteries Vanderbilt Aerospace Design Lab: FRR 32 3/6/2017
Software Overview Vanderbilt Aerospace Design Lab: FRR 33 3/6/2017
High Level Controller State Machine Vanderbilt Aerospace Design Lab: FRR 34 3/6/2017
Control System Overview Position-Based Control Oscillation about rotation ● setpoint No steady-state error ● Returns to setpoint after ● disturbances Omega-Based Control Maintain zero angular ● velocity after setpoint is reached Allows for steady-state error ● Opposes disturbances ● Vanderbilt Aerospace Design Lab: FRR 35 3/6/2017
Payload Performance Predictions Vanderbilt Aerospace Design Lab: FRR 36 3/6/2017
Payload Simulations - Vehicle Roll Analysis Simulation Pulsing Conditions Continuous thrust to roll 720° ● Alternating thrust to hold 720° position ● Thrusters turn off as apogee is approached ● Vanderbilt Aerospace Design Lab: FRR 37 3/6/2017
Meeting Agenda Mission Overview Vehicle Design & Verification Payload Design & Verification Launch Results Ground Based Testing Project Plan Conclusion Vanderbilt Aerospace Design Lab: FRR 38 3/6/2017
Full Scale Launch Vanderbilt Aerospace Design Lab: FRR 39 3/6/2017
Full Scale Launch Summary February 19, 2017: Manchester, TN Successful drogue deployment ● Successful main deployment ● Verification of control system ● Obtained valuable data on ● natural roll Vanderbilt Aerospace Design Lab: FRR 40 3/6/2017
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