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Line 91: − + − − + − − + + − <span>m<span>0.3</span> m<span>0.7</span> </span>+ − + − [t]<span>0.3</span>+ − − − |align="right"| Motor − − |align="right"| Type+ − |align="right"| Diameter+ − + − |align="right"| Length+ − + − |align="right"| Total Weight+ − + − |align="right"| Prop. Weight+ − + − − |align="right"| Avg. Thrust+ − + − |align="right"| Max Thrust+ − + − |align="right"| Total Impulse+ − + − |align="right"| Burn Time+ − + − |align="right"| ISP+ − + − − <br /> − − − & − − [t]<span>0.7</span> [[File:M1230ThrustCurve.png|image]] − <span>m<span>0.3</span> m<span>0.7</span> </span> − [t]<span>0.3</span> − + − |align="right"| Apogee+ − + − |align="right"| Max Velocity+ − + − |align="right"| Max Acceleration+ − + − |align="right"| Ground Hit Velocity+ − |align="right"| Time To Apogee+ − − & − − [t]<span>0.7</span> Line 172:
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Line 288: − − == Budget == − − <span>lccc</span><br /> − Teensy 3.2 & 1 & $19.95 & $19.95<br /> − Adafruit 9DOF IMU & 1 & $19.95 & $19.95<br /> − Analog Feedback Micro Servos, plastic gears & 2 & $9.95 & $19.90<br /> − & & & $9.12<br /> − BNO055 Absolute Orientation Sensor & 1 & $34.95 & $34.95<br /> − & & & $4.34<br /> − Eggfinder GPS & 1 & $95.00 & $95.00<br /> − Adept Rocketry Transmitter & 1 & $116.00 & $116.00<br /> − Big Red Bee GPS & 1 & $259.00 & $259.00<br /> − Stratologger CF & 2 & $49.46 & $98.92<br /> − SSI Teensy CAN breakout & 1 & &<br /> − SSI Altimeter & 2 & &<br /> − <br /> − <br /> − Iris Ultra 60“ Parachute & 2 & $180.00 & $360.00<br /> − Archetype Cable Cutter & 1 & $50.00 & $50.00<br /> − Parachute protector & 2 & $11.00 & $22.00<br /> − Nylon shock cord & 10 & $0.30 & $3.00<br /> − Kevlar cord protetctor & 1 & $16.00 & $16.00<br /> − Charge wells & 20 & $0.50 & $10.00<br /> − Ematches & 20 & $0.75 & $15.00<br /> − <br /> − <br /> − PML 3.9” Intelli-Cone Nosecone & 1 & $30.99 & $30.99<br /> − 42“ Aft Airframe & 1 & $94.00 & $94.00<br /> − 30” Forward Airframe & 1 & $72.00 & $72.00<br /> − 8“ Coupler/AvBay & 4 & $20.00 & $80.00<br /> − Fiberglass (Payload Fins) & 1 & $35.00 & $35.00<br /> − Fiberglass (Big Fins) & 4 & $17.79 & $71.16<br /> − Bulkheads & 4 & &<br /> − Polycarbonate Sheet (Payload Fins) Prototype & 1 & $32.00 & $32.00<br /> − 48” Prototyping LOC Airframe & 1 & $27.00 & $27.00<br /> − <br /> − <br /> − Cesaroni Tech (CTI) M1230Motor & 1 & $278.96 & $278.96<br /> − CTI 75mm 4 Grain Motor Hardware Set & 1 & $278.96 & $278.96<br /> − Aerotech J425 (L2 Motor) & 1 & $63.00 & $63.00<br /> − Motor Adapter & 1 & $21.95 & $21.95<br /> − <br /> − <br /> − Quicklinks & & & $10.00<br /> − Rail guides & & & $15.00<br /> − <br /> − <br /> − Line 341:
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no edit summary
{{rocket-project
{{rocket-project
| header = Prometheus (ARES-4)
| header = Prometheus (ARES-4)
{{rocket-launch
{{rocket-launch
|number=1
|number=1
|launch class = L1
|launch class = L2
|launch date = February 6, 2016
|launch date = February 20, 2016
|launch site = LUNAR
|launch site = TCC
|next={{rocket-launch
|next={{rocket-launch
|number=2
|number=2
|launch class = L2
|launch class = L3
|launch date = Pending
|launch date = Pending
|launch site = Pending
|launch site = Pending
=== Members ===
=== Members ===
*Ian Gomez - Project Manager
*Christopher May - Project Advisor
*Rebecca Wong - Project Lead
*Callie VanWinkle
*Frits van Paasschen
*Joan Creus-Costa
*Davy Ragland
*Nick Kuntz
*Andrew Nguyen
== Launch Vehicle Summary ==
== Launch Vehicle Summary ==
The purpose of the launch vehicle is to reach an apogee of approximately and completely separate into two sections. The motor section will consist of one set of 4 stability fins and will fall to the ground using a reefing system. The payload section will deploy a reefing system and will contain actuating canards to stabilize the payload’s decent.<br />
The purpose of the launch vehicle is to reach an apogee of approximately 11,800 ft and completely separate into two sections. The motor section will consist of one set of 4 stability fins and will fall to the ground using a reefing system. The payload section will deploy a reefing system and will contain actuating canards to stabilize the payload's decent.
The forward airframe will be long and the aft airframe will be long, both with an inner diameter of and made of fiberglass. The total weight will be approximately loaded. We have selected to use the Intelli-Cone from Public Missiles and a CTI M1230 motor with main deployment at 800 ft.
The forward airframe will be 40 in long and the aft airframe will be 45 in long, both with an inner diameter of 4 in and made of fiberglass. The total weight will be approximately 25.5 lbs loaded. We have selected to use the Intelli-Cone from Public Missiles and a CTI L395 motor with main deployment at 800 ft.
== Payload Summary ==
== Payload Summary ==
The objective of the payload for Prometheus is to achieve roll control using actuated fins that implement a PID control law. The main controller for the control law will be a Raspberry Pi that interfaces with a Teensy (Arduino-based microcontroller) to actuate two servos. The success of our mission will be demonstrated through a comparison of video feed with and without a control law.
The objective of the payload for Prometheus is to achieve roll control using actuated fins that implement a PID control law. The main controller for the control law will be a Raspberry Pi B+ that interfaces with a Teensy 3.2 (Arduino-based microcontroller) to actuate a servo geared to two fins. The success of our mission will be demonstrated through a comparison of video feed with and without a control law.
= Vehicle Criteria =
= Vehicle Criteria =
'''Mission Statement''' <br/>
'''Mission Statement''' <br/>
The goal of Prometheus is to demonstrate full roll control of a payload as it descends using actuated fins and a PID controller.
The goal of Prometheus is to demonstrate full roll control of a payload as it descends using actuated fins and a PID controller.
[[File:Prometheus_Flight_Path.png | right |450px]]
'''Flight Events'''
* Motor ignition
* Motor burnout
* Airframe separation at apogee
* Reefed parachutes ejected
* PID fins begin actuating according to control law
* Main parachutes ejected at 800 ft
* Booster and payload sections are recovered separately
'''Success Criteria'''
'''Success Criteria'''
'''Constraints'''
'''Constraints'''
* Tripoli Central CA height ceiling of
* Tripoli Central CA height ceiling of 16,800 ft.
* Rocket construction to be made using a “minimum of metallic parts” excepting those necessary for airframe integrity
* Rocket construction to be made using a “minimum of metallic parts” excepting those necessary for airframe integrity
* Motor impulse not to exceed
* Motor impulse not to exceed 10,240 Ns
* Redundant avionics, wiring, and safe arm systems
* Redundant avionics, wiring, and safe arm systems
* Vertical descent speed of maximum upon landing
* Vertical descent speed of maximum upon landing
== Design ==
== Design ==
The rocket is comprised of two sections, the payload and the booster. The two sections completely separate with no shock cord running between them at apogee, allowing the payload to be tested independently with the PID controller while the booster is recovered as normal. The separation for Prometheus is unconventional in both its need for complete airframe separation and its use of cable cutters for a reefing system. The reefing allows us to implement a single tube dual deployment, which is necessary since the payload section must remain as one continuous piece.<br />
The rocket is comprised of two sections, the payload and the booster. The two sections completely separate with no shock cord running between them at apogee, allowing the payload to be tested independently with the PID controller while the booster is recovered as normal. The separation for Prometheus is unconventional in both its need for complete airframe separation and its use of cable cutters for a reefing system. The reefing allows us to implement a single tube dual deployment, which is necessary since the payload section must remain as one continuous piece in order to actuate the fins during decent. The addition of canards on the forward half of the rocket effectively push the CP forward such that we can attain a desired stability margin without the need for much additional weight. Our primary material of choice for our airframes and fins is fiberglass, due to its thermal and structural benefits.
The addition of canards on the forward half of the rocket effectively push the CP forward such that we can attain a desired stability margin without the need for much additional weight, allowing the rocket to reach superonic speeds. As such, our primary material of choice for our airframes and fins is fiberglass, due to its thermal and mechanical properties.
== Systems Overview ==
== Systems Overview ==
The unloaded mass of the system is 17.1 lbs and 27.8 lbs loaded, using a CTI M1230 motor. Both the forward and aft airframes contain an avionics bay with dual altimeters that will control the separation and reefing charges, exectued by redundant cable cutters. The forward airframe will additionally contain the avionics necessary for the PID controller including a Raspberry Pi B+, a Teensy 3.2, 9-DOF Absolute Orientation Sensors from Adafruit, a Big Red Bee GPS Radio, servos to control the fins, and several cameras. The aft airframe will contain an additional GPS radio using a different frequency to ensure recovery of the booster section.<br />
The unloaded mass of the system is 12.9 lbs and 25.5 lbs loaded, using a Cesaroni Pro75 L395. The center of gravity is at 52.19”, and the center of pressure is at 61.45”, giving us a stability of 2.55 cal. Both the forward and aft airframes contain an avionics bay with dual altimeters that will control the separation and reefing charges, executed by redundant cable cutters. The forward airframe will additionally contain the avionics necessary for the PID controller including a Raspberry Pi B+, a Teensy 3.2, redundant 9-DOF Absolute Orientation Sensors from Adafruit, a Big Red Bee GPS Radio, servos to control the fins, and several cameras. The aft airframe will contain an additional GPS radio using a different frequency to ensure recovery of the booster section.
== Propulsion ==
== Propulsion ==
The rocket will be powered by a M1230 from Cesaroni, which was chosen for several reasons. First, we determined that any M motor would be more powerful than necessary for the given weight and desired apogee <math>\sim</math> , however, the additon of sand weights would allow us to reach this altitude while staying subsonic. Second, this is a 75mm M motor which will allow us sufficient room on the exterior of a 98-75mm motor adapter to fill with sand.
The unloaded mass of the system is 12.9 lbs and 25.5 lbs loaded, using a Cesaroni Pro75 L395. The center of gravity is at 52.19”, and the center of pressure is at 61.45”, giving us a stability of 2.55 cal. Both the forward and aft airframes contain an avionics bay with dual altimeters that will control the separation and reefing charges, executed by redundant cable cutters. The forward airframe will additionally contain the avionics necessary for the PID controller including a Raspberry Pi B+, a Teensy 3.2, redundant 9-DOF Absolute Orientation Sensors from Adafruit, a Big Red Bee GPS Radio, servos to control the fins, and several cameras. The aft airframe will contain an additional GPS radio using a different frequency to ensure recovery of the booster section.
=== Motor Performance ===
=== Motor Performance ===
[[File:CTI_L395.png | right |550px]]
{| class="wikitable"
|Motor
| Pro75 4937L395-P
{|
| M1230
|-
|-
| Type
| Reloadable
| Reloadable
|-
|-
| Diameter
|
| 2.95 in (75 mm)
|-
|-
| Length
|
| 29.8 in
|-
|-
| Total Weight
|
| 5706 g
|-
|-
| Prop. Weight
|
| 3423 g
|-
|-
| Avg. Thrust
|
| 393.7 N
|-
|-
| Max Thrust
|
| 587.5 N
|-
|-
| Total Impulse
|
|936.8 Ns
|-
|-
| Burn Time
|
|12.54 s
|-
|-
| ISP
|
|147.08 s
|}
|}
=== Flight Characteristics ===
=== Flight Characteristics ===
{|
{| class="wikitable"
| Apogee
| 10790 ft
| 11,889 ft
|-
|-
| Max Velocity
| 1154 ft/s (Mach 1.04)
| 825 ft/s
|-
|-
| Max Acceleration
| 374 ft/<math>\exp{s}{2}</math>
| 131ft/s<sup>2</sup>
|-
|-
| Ground Hit Velocity
| 12.6 ft/s
| 12.6 ft/s
|-
|-
| Time To Apogee
| 23.7 s
| 23.7 s
|}
|}
== Structures ==
== Structures ==
=== Nosecone ===
=== Nosecone ===
The nosecone of choice is the 3.9" Intelli-Cone from Public Missiles. The reason for this choice is that this nosecone is designed to hold an avionics bay inside of it and to be permanently fixed to an airframe, which is precisely the set up we will be utilizing since our payload section will not separate between the nosecone and airframe. This allows us the advantage of using the space inside the nosecone to hold avionics and save space inside the airframe for the fins, motors, and other necessary hardware. We will coat the nose cone in high heat primer (often used for car engines) and high heat paint, rated to withstand up to .<br />
The nosecone of choice is the 3.9" Intelli-Cone from Public Missiles. The reason for this choice is that this nosecone is designed to hold an avionics bay inside of it and to be permanently fixed to an airframe, which is precisely the set up we will be utilizing since our payload section will not separate between the nosecone and airframe. This allows us the advantage of using the space inside the nosecone to hold avionics and save space inside the airframe for the fins, motors, and other necessary hardware. We will coat the nose cone in high heat primer (often used for car engines) and high heat paint, rated to withstand up to .
=== Fins ===
=== Fins ===
We currently estimate the fins to be 4“ x 4” squares constructed out of fiberglass. As we develop a more realistic model for our system for our control law, we will be able to more accurately determine how large of an area our fins will need to cover to exert the necessary torque to resist rotation.
We currently estimate the fins to be 4” x 4” x 3/32” squares constructed out of fiberglass. As we develop a more realistic model for our system for our control law after we receive orientation data from a test flight, we will be able to more accurately determine how large of an area our fins will need to cover to exert the necessary torque to resist rotation. The fins will be connected on a worm gear mechanism, in order to prevent movement on accent, consequently protecting the fins from any kind of unintentional actuation.
For our stability fins on our aft airframe, we will be using off-the-shelf fins from Giant Leap Rocketry with the root chord of 8.5“, tip chord of 4”, and height of 8.5".
For our stability fins on our aft airframe, we will be using off-the-shelf fins with the root chord of 8.5”, tip chord of 4”, and height of 8.5”, and a Coefficient of drag of 0.14.
=== Airframes ===
=== Airframes ===
== Avionics ==
== Avionics ==
The payload and the booster sections will each contain two altimeters for redundancy (four altimeters total). Each altimeter will be wired up to the ejection charges mounted on the respective avionics bays as well as to a cable cutter for our reefing system. Since both the payload and booster section will be reefed, there will be redundant cable cutters for both parachutes as well (four cable cutters total). The reefing system will be discussed in detail in '''2.7 Recovery'''.
The payload and the booster sections will each contain two altimeters for redundancy (four altimeters total). Each altimeter will be wired up to the ejection charges mounted on the respective avionics bays as well as to a cable cutter for our reefing system. Since both the payload and booster section will be reefed, there will be redundant cable cutters for both parachutes as well (four cable cutters total). The reefing system will be discussed in detail in [[#Recovery|Recovery]].
=== APRS Transmission ===
=== APRS Transmission ===
== Avionics ==
== Avionics ==
The main controller for our payload will be a Teensy 3.2 from PJRC. This micro controller not only is compatible with Arduino code and the Arduino IDE, but contains a host of additional features including an ARM processor, 2 I<math>^{2}</math>C channels, and capabilities to connect to a CAN bus.
The main controller for our payload will be a Teensy 3.2 from PJRC. This micro controller not only is compatible with Arduino code and the Arduino IDE, but contains a host of additional features including an ARM processor, 2 I<sup>2</sup>C channels, and capabilities to connect to a CAN bus.
=== Sensor Fusion ===
=== Sensor Fusion ===
See https://www.overleaf.com/3972499sxgwkz. Kalman filtering and sensor fusion (see figure [fig:fusion]) will be used to get accurate and fault-tolerant values for orientation, position and velocity.
See [https://www.overleaf.com/3972499sxgwkz this document for our research].
Kalman filtering and sensor fusion will be used to get accurate and fault-tolerant values for orientation, position and velocity.
<!--
[fig:fusion]
[fig:fusion]
(orientation) at (0.5,-2.5) <span>'''Orientation'''</span>; (velocity) at (2.5,-1.25) <span>'''Velocity'''</span>; (angvel) at (0,-1.25) <span>'''Angular velocity'''</span>; (position) at (3.5,-2.5) <span>'''Position'''</span>;
(orientation) at (0.5,-2.5) <span>'''Orientation'''</span>; (velocity) at (2.5,-1.25) <span>'''Velocity'''</span>; (angvel) at (0,-1.25) <span>'''Angular velocity'''</span>; (position) at (3.5,-2.5) <span>'''Position'''</span>;
(tmp) at (1.5,-1); (mag)–(tmp); (acc)–(tmp); (tmp)–(orientation); (gyro)–(angvel); (angvel)–(orientation); (acc)–(velocity); (gps)–(velocity); (velocity)–(position); (gps)–(position); (baro)–(position);
(tmp) at (1.5,-1); (mag)–(tmp); (acc)–(tmp); (tmp)–(orientation); (gyro)–(angvel); (angvel)–(orientation); (acc)–(velocity); (gps)–(velocity); (velocity)–(position); (gps)–(position); (baro)–(position); -->
= Manufacturing & Assembly =
= Manufacturing & Assembly =
| April 2, 2016
| April 2, 2016
|}
|}
= Conclusion =
= Conclusion =
[[Category: Daedalus]]
[[Category:Rockets]]
[[Category: Rockets]]
[[Category: Documentation]]