Download AMCOM MK 66 Missile System Vanderbilt University School of

AMCOM MK 66 Missile System
Vanderbilt University
School of Engineering
Fall 2004 Design Review
Computer/Electrical Engineers:
• Ashley Devoto
• Matt Galante
• Adrian Lauf
• Shannon Stonemetz
Mechanical Engineers:
• Jeffrey Kohlhoff
• Jason Newquist
• Filiz Genca
Project Overview
• Development of a precision guidance avionics
module for the Hydra 70 rocket missile.
– M261 MPSM warhead
– M261 19-round launch platform
– MK 66 rocket motor
• Module will have built in IMU and GPS guidance
systems
• Module will contain 4 canards actuated by servo
motors that will perform flight adjustments
• Manufacture a mechanical prototype
Customer Requirements
Integration:
Human Factors:
•MK 66 rocket motor
•M261 warhead and launcher
•Minimal modifications
•Non-classified, commercially available
components
•Usable with arctic clothing/mittens
•Minimal training
•Minimal maintenance
•Minimal loading time and effort
Physical:
Environment: (*)
•Storage:
•System Diameter < 2.794”
•System Length < 79.7” (ideal 71.1”)
•Weight < 34.4 lbs. per unit
–System Life: 10 yrs  25 yrs
–Temperature: - 65 F  165 F
–Humidity: 100% at 75 F
•Operation:
–Temperature: -50 F  150 F
–Humidity: 100% at 75 F
System Requirements
Performance:
•Comply with wall-in-space
accuracy, temperature, and
humidity rqmts.
•“Ready to fire”
•Fail safe
•Max. Velocity: Mach 1.48
•Max. Range: ~ 5 km down range
Guidance and Control:
Power/Casing:
Human Factors:
•Thermal Battery
•Umbilical
•No maintenance required
•Easy integration
•Ease of transport/storage figuring in
space allowances
•No additional training needed
•Withstand storage life
•1” ACME thread interface
•Aluminum casing for module
•GPS/IMU
•Data receiver in war head
•4 moveable canards
•Aerodynamic roll reduction
•Multidirectional antenna
Wall-In-Space Requirement
System Definition
Block Diagram: System Components
Project
System Engineering
RMS “Black Box”
Missile
Warhead
Avionics Module
Nose Cone
Umbilical
Fuse
Receiver
& Decoder
Launcher
GPS
Antenna
Mech.
Safety
Motor
Mech.
Interface
Charge
& Wiring
GPS
Processor
Battery
IMU
Canards
Servos
System Definition
Block Diagram: System Functions
Provides guidance aid for missile
Provide project breakdown
Provides missile with system data
Provides casing for system components
Provides casing for explosives
Provides electrical entry point
Provides
connection to
missile
Provides
signal
processing
Provides position data
Provides missile launch
Provides missile guidance
Provides propulsion
Transfers
data
Provides signal transfer
Performs calculations for
course corrections
Provides power
Changes trajectory
Provides power to canards
Provides acceleration and orientation data
Simulation Software
• Pro/Engineering
– Core Software ideal for modeling and
simulation
• Aerospace Block Set (MATLAB)
– Performs aerospace system design,
integration, and simulation: motion equations,
gain scheduling, and animation
• DATCOM
– Use of verification data only
Mission Timeline
Mission Timeline
Module Packaging
• Module dimensions of 15 in by 2.75 in
– Unit will contain:
•
•
•
•
•
•
•
Subassembly
Canards
Servomotors
Actuators
GPS, IMU
CPU
Wiring
• Efficient space and weight management is
crucial
Module Shell/Integration
-Shell will be 1/16” thick Aluminum
tube with two 7/32” thick Aluminum
ends welded on
-External threads on module end will
interface with internal threads on
motor
-Mechanical interface with warhead
must prevent twisting of wires from
antenna and fuse to module
-Solution: Spline type interface with
serial connector developed
-Adapter piece with internal threads
and external splines created to
connect with warhead threads
-Internal splines mate with adapter on
warhead
Servomotors

Actuation
– SL-MTI DC Servomotors


Designed for Missile Fin
Actuation, MIL Spec
Feedback Sensors
Specs
Weight: .45 lb for 4
servos
Size: .8 inch diameter,
1.4 inch length
Power: 5 Watts
Torque: 2 oz.-in.
Voltage: 5V
Canard Design
Two Geometries Under Consideration:
1. Rectangular Canards
- NACA 0014 Airfoil
National Advisory Committee on Aeronautics
- 3” x 1.25” x .2”
- 7.5 square inch surface area
2. Triangular Canards
- NACA 0020 Airfoil
- 3” x 1.25” x .2”
- 3.75 square inch surface area
Canard Deployment
1.
•
•
•
Rectangular Canard
Deployment
Deploys in direction of
travel
Impulsive Force of 47N
(10 lbs) acts on
centroid of each canard
107N (24 lbs) of force
required to
open each canard
Front
Canard Deployment
2.
•
•
•
•
Triangular Canard
Deployment
Canards fold
from body
Impulsive force of
18N (4 lbs) acts on
centroid of each canard
58N (13 lbs) of force
required to open each
canard
Space conservation
Processor Core
(previous implementation)
• Previous team specified a Motorolla
MC68HC11 microcontroller
– 8-bit 2.456MHz CPU with 256 bytes of
onboard RAM and integrated I/O control
• Why this doesn’t work:
– Course corrections require more precision
(floating point)
– Slow clock rate
Processor Core (new)
• Nios VHDL processor core (provided, to
be used on Altera Cyclone)
• Capabilities similar to Intel ARM
processors (used in routers, PDAs, etc.)
• 32-bit floating-point precision
• Code may be written in C with little
overhead
M68K – a quick interlude
• NOT a self-contained solution – requires
external memory and I/O control
• Not suited to military specifications and
heat dissipation requirements
• Ubiquitous, but Nios core has more
flexibility, more I/O support
Altera & Nios: complementary
components
• Altera flexibly
integrates VHDL
virtual processor
cores, I/O devices
• Nios VHDL core
provided with Cyclone
devel. kit
• Nios core will reduce
CPU development
time
Processor State Diagram
Voltage Regulator for Thermal
Batteries
• 24-48V power source from thermal battery
• LM78M05 3-Terminal Positive Voltage Regulator
–
–
–
–
–
–
–
Temperature Range – (-40) C  125 C
Min. Input Voltage – 7.20 V
Max. Input Voltage – 35 V
Output Current – 500 mA
Output Voltages – 5V, 12V, 15V
Internal thermal overload protection
Internal short circuit current-limiting
Rocket Management System
• Current system uses analog line for purposes of
charging a timing capacitor
• Proposed implementation of an RS-232 digital serial
interface (12V DB9)
• Standard 9600bps baud rate will more than likely suffice
• Data format based on target data:
– Current position and elevation
– Target position and elevation
– Current speed
• Guidance module returns “target acquired” signal
IMU
• Selected system:
Honeywell GunHard
MEMS IMU
• Serial I/O
• 5VDC power supply
• Provides linear and
angular acceleration
ΔV(x,y,z) ω(θ,φ,ψ)
• 9600bps data transfer
rate
GPS
• G12-HDMA receiver
– 4.25’’ tall x 2.3’’ wide
– Weight – 0.175 lb
– Power – 1.8 W receiver 0.3
W antenna
– Max Acceleration – 23 Gs
up to 30 Gs
• Initialization time – 45 sec
cold and 11 sec hot
• Time-To-First-Fix – 3 sec
• Reacquisition – 2 sec
• Operating Temperature (-30) C to 70C
ser.
RMS
GPS
3
3
RS232
Actuator Control
4 ADC
Cyclone
3
IMU
Feedback
n
8 par.
ser.
SDRAM
PC100