Tacho Lycos CDR Presentation...Raspberry Pi • SpringRC high-torque continuous rotation servo •...
Transcript of Tacho Lycos CDR Presentation...Raspberry Pi • SpringRC high-torque continuous rotation servo •...
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Tacho Lycos CDR Presentation
January 13, 2017
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Overview • Final Vehicle Design
• Final Dimensions • Recovery Plan
• Final Payload Design • Final Dimensions • Target Differentiation System • Upright Landing System
• Test Plans and Compliance • Subscale Launch Review
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Final Vehicle Dimensions • Length: 122.0 in • Inner Diameter: 6.0 in • Outer Diameter: 6.2 in
• Loaded Weight: 49.6 lb • Coupler length: 12.0 in
• Overlap length: 6.0 in
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Vehicle Construction Sections
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• Construction Sections: • Nosecone • Upper airframe (UAF) • Avionics bay (AV) • Payload bay • Fin can
• Flight Sections: • Nosecone • Middle airframe (MAF) • Fin can
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Vehicle – Nosecone and UAF Nosecone • 5.5:1 Von Karman nosecone • Fiberglass body with metal tip • Exposed length: 33.0 in • Shoulder length: 5.0 in Upper Airframe (UAF) • Length: 12.0 in
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Vehicle – AV • Length: 19.0 in • Two threaded rods used to
secure avionics equipment • 3D printed avionics sled
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Vehicle –Payload Bay • Length: 23.0 in • Payload length: 23.5 in
• 0.5 in overlap with fin can • Payload rail length: 17.0 in
• 0.5 in 80-20 T-slot rails
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Vehicle – Fin Can • Length: 35.5 in • 4 trapezoidal fins
• 12.0 in root chord • 5.0 in tip chord • 7.0 in tabs
• Houses L2200G • 2 centering rings
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Vehicle Stability Pre-burn: CG: 77.0 in aft of nosecone tip CP: 89.3 in aft of nosecone tip Post-burn: CG: 73.0 in aft of nosecone tip CP: 89.5 in aft of nosecone tip
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Stability: 2.0 Caliber
Stability: 2.7 Caliber
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Motor Selection • Motor: L2200G • Apogee: 5,300 ft • Rail exit velocity: 65.0 ft/s
• 8.0 ft at 88.0° • Thrust-to-Weight Ratio: 14.0
• Max thrust, max weight
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Vehicle Recovery System
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StratoLogger CF 9V Power Supply
Drogue Chute Charge
Main Chute Charge
Redundant StratoLogger CF
Redundant Drogue Chute
Charge
Redundant Main Chute
Charge
9V Power Supply
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Recovery – Apogee Event • StratoLogger CF fires charge at apogee • Redundant StratoLogger CF fires charge 1.0s after apogee to
guarantee MAF and fin can separation • Deploys 2.0ft diameter drogue parachute • Deploys payload
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Recovery – Final Event • StratoLogger CF altimeter fires charge at 700 ft AGL • Redundant StratoLogger CF altimeter fires charge 1.0s later
to guarantee nosecone and MAF separation • Deploys 14.0ft diameter main parachute
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Recovery – Vehicle KE • Drogue parachute will slow
rocket to ~81.0 ft/s • Main parachute will slow
rocket to ~9.9 ft/s • Landing weight: 39.2 lb • Landing velocity: 9.9 ft/s • Touchdown: 59.6 ft-lb • Max Vehicle KE: 74.8 ft-lb
• Failed payload deployment
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Recovery – Payload KE • Main parachute at 700.0 ft
• Jolly Logic retention device • Slows payload to ~12.1 ft/s • Landing weight: 4.8 lb • Impact Energy: 10.89 ft-lb • Allows for 45-60 s for target
identification operation
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Payload Dimensions • Length: 23.5 in • Outer Diameter: 4.0 in • Weight: 4.7 lb
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Payload Subsystems Target Differentiation System (TDS) • Software schematic • Hardware components Upright Landing System (ULS) • Hardware • Deployment progression
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Payload Deployment • Deploys from launch vehicle
at apogee event • Payload pulled out of MAF
using shockcord • Advanced Retention Release
Device (ARRD) separates payload from fin can
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(Courtesy of Aerocon Systems)
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Payload Electronics
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TDS – Software • Current code uses a range of
RGB values to identify surface targets • Written in Python using
OpenCV library • Investigating use of Hue
Saturation Value (HSV) colorspace
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TDS – Hardware • Raspberry Pi 3 Model B • Raspberry Pi Camera
Module v2 • 8.0 megapixel camera
• Voltage regulator • BMP180 altimeter • BNO055 absolute
orientation sensor • 7.4V LiPo battery
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ULS - Hardware • Secondary function of
Raspberry Pi • SpringRC high-torque
continuous rotation servo • Retracts cables to extend legs
• Dedicated 6.0V NiMH battery pack • 4 semi-circular legs
• Stowed flush with payload body until landing
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Test Plans and Compliance Launch Vehicle Testing: • Altimeter pressure calibration • GPS transmission and accuracy • Stage separation and deployment Payload Testing: • ULS uprighting and deployment tests • TDS object recognition tests
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Questions?