AMCOM MK66AMCOM MK66

Mid-semester reportMid-semester report

Project OverviewProject Overview Development of a precision guidance avionics Development of a precision guidance avionics

module for the Hydra 70 rocket missile.module for the Hydra 70 rocket missile.• M261 MPSM warheadM261 MPSM warhead• M261 19-round launch platformM261 19-round launch platform• MK 66 rocket motorMK 66 rocket motor

Module will have built in IMU and GPS Module will have built in IMU and GPS guidance systemsguidance systems

Module will contain 4 canards actuated by Module will contain 4 canards actuated by servo motors that will perform flight servo motors that will perform flight adjustmentsadjustments

Manufacture a mechanical prototypeManufacture a mechanical prototype

Customer RequirementsCustomer RequirementsIntegration:Integration:MK 66 rocket motorMK 66 rocket motorM261 warhead and launcherM261 warhead and launcherMinimal modificationsMinimal modificationsNon-classified, commercially Non-classified, commercially available componentsavailable components

Human Factors:Human Factors:Usable with arctic Usable with arctic clothing/mittensclothing/mittensMinimal trainingMinimal trainingMinimal maintenanceMinimal maintenanceMinimal loading time and effortMinimal loading time and effort

Physical:Physical:System Diameter < 2.794”System Diameter < 2.794”System Length < 79.7” (ideal System Length < 79.7” (ideal 71.1”)71.1”)Weight < 34.4 lbs. per unitWeight < 34.4 lbs. per unit

Environment:Environment: (*) (*)Storage:Storage:

•System Life: 10 yrs System Life: 10 yrs 25 yrs 25 yrs•Temperature: - 65 F Temperature: - 65 F 165 F 165 F•Humidity: 100% at 75 FHumidity: 100% at 75 F

Operation:Operation:•Temperature: -50 F Temperature: -50 F 150 F 150 F•Humidity: 100% at 75 FHumidity: 100% at 75 F

System RequirementsSystem RequirementsPerformance:Performance:Comply with wall-in-space Comply with wall-in-space accuracy, temperature, and accuracy, temperature, and humidity rqmts.humidity rqmts.““Ready to fire”Ready to fire”Fail safeFail safeMax. Velocity: Mach 1.48Max. Velocity: Mach 1.48Max. Range: ~ 5 km down Max. Range: ~ 5 km down rangerange

Guidance and Control:Guidance and Control:GPS/IMUGPS/IMUData receiver in war headData receiver in war head4 moveable canards4 moveable canardsAerodynamic roll reductionAerodynamic roll reductionMultidirectional antennaMultidirectional antenna

Power/Casing:Power/Casing:Thermal BatteryThermal BatteryUmbilicalUmbilical

1” ACME thread interface1” ACME thread interfaceAluminum casing for moduleAluminum casing for module

Human Factors:Human Factors:No maintenance requiredNo maintenance requiredEasy integrationEasy integrationEase of transport/storage Ease of transport/storage figuring in space allowancesfiguring in space allowancesNo additional training neededNo additional training neededWithstand storage lifeWithstand storage life

Computation: What’s doneComputation: What’s done Program structure skeleton completeProgram structure skeleton complete

• Exception handling via subroutine returnsException handling via subroutine returns• Multi-level structure of function callsMulti-level structure of function calls• Static variable allocationStatic variable allocation• Direct-mapped I/O ports (232)Direct-mapped I/O ports (232)

Initial course plotting development Initial course plotting development completecomplete• Defined array of directional structuresDefined array of directional structures

Axis of travel defines index on arrayAxis of travel defines index on array Course deviation computationCourse deviation computation

• Function returns difference between intended Function returns difference between intended course and actual coursecourse and actual course

Computation (2)Computation (2)

Nios CPU core compiled (7.82MB)Nios CPU core compiled (7.82MB)• 43%-56% utilization of logic elements on 43%-56% utilization of logic elements on

Altera Cyclone FPGAAltera Cyclone FPGA Nios development kit interfacingNios development kit interfacing

• Protocols for loading Nios core onto Protocols for loading Nios core onto FPGAFPGA

• Protocols for compiling flight software Protocols for compiling flight software source code and subsequent upload and source code and subsequent upload and executionexecution

Computation (3)Computation (3)

Decision reached on method of Decision reached on method of course correctionscourse corrections• Method A: Compute required correction Method A: Compute required correction

from differential, applyfrom differential, apply• Method B: Correct incrementally until Method B: Correct incrementally until

correct path is reachedcorrect path is reached Method B requires least amount of Method B requires least amount of

computational power and may be computational power and may be critically dampedcritically damped

GPS InterfacingGPS Interfacing

Outputs raw data (real-time data)Outputs raw data (real-time data)• Binary formatBinary format• Transmission ProtocolTransmission Protocol

8 bits8 bits 1 stop bit1 stop bit No parity bitNo parity bit

Output IntervalOutput Interval• Can be set to any time between .05 and Can be set to any time between .05 and

999 seconds999 seconds

GPS Timing InformationGPS Timing Information

Default SettingsDefault Settings

PPSPPS

PeriodPeriod 1 second1 second

OffsetOffset 0.0000 0.0000 millisecondsmilliseconds

SynchronizationSynchronization GPS time GPS time synchronized synchronized to the rising to the rising edge of the edge of the pulsepulse

GPS Timing DiagramGPS Timing Diagram(for default settings)(for default settings)

Relationship of GPS Time to PBN Relationship of GPS Time to PBN Output PulseOutput Pulse

To do (embedded)To do (embedded)

Compile finalized flight software, Compile finalized flight software, upload to FPGAupload to FPGA

Complete incremental course Complete incremental course correction subroutinecorrection subroutine

Complete parallel/serial I/O port Complete parallel/serial I/O port mappingsmappings

Asynchronous interfacingAsynchronous interfacing Line driversLine drivers

Outer Shell ConstructionOuter Shell ConstructionConfigurationConfiguration

Tolerance-fit interfaces for both ends of avionics module:

• Ease of construction

• Press-fit shear pins

around circumference

• 15in length

• Components to be

made of Alloy 6061

Outer Shell ConstructionOuter Shell ConstructionConfigurationConfiguration

Male threaded interface:

• 2.410in OD

• 6 threads/in pitch

• .5in tolerance-fit shank

• 1.5in threaded end

• 7/32in wall thickness

• Shoulder machined for positive stop

Outer Shell Construction Outer Shell Construction ConfigurationConfiguration

Female threaded interface:

• 2.625 OD

• 7/32in wall thickness

• ID machined to match size/pitch of war head

• .5in tolerance-fit shank

• Shoulder machined for positive stop

Outer Shell ConstructionOuter Shell ConstructionConfigurationConfiguration

Press-fit Flat-vent Pull-out PinsPress-fit Flat-vent Pull-out Pins

                                                              

• Internally threaded for ease of removal

• Allows module to be assembled/disassembled multiple times

• Reusable

6 Pin Connector6 Pin Connector(Ocean State Electronics)(Ocean State Electronics)

Multi-Pin Mobile Multi-Pin Mobile Connectors:Connectors:• Used in applications that Used in applications that

require high reliabilityrequire high reliability• Economical multi-pin Economical multi-pin

connections, for rugged connections, for rugged mobile use mobile use

• Positive screw-on retaining Positive screw-on retaining ringring

• Built in strain reliefBuilt in strain relief• Reliable contact designReliable contact design• Keyway matings combine to Keyway matings combine to

guarantee permanent guarantee permanent contact under extremes of contact under extremes of shock and vibration. shock and vibration.

Canard DevelopmentCanard Development

Current Accomplishments:Current Accomplishments:• Canard DimensionsCanard Dimensions• Deployment MethodDeployment Method• Moment RequirementsMoment Requirements• Lift Forces through max angle of attack Lift Forces through max angle of attack

((=5=5oo))• Drag ForcesDrag Forces• Deployment ForcesDeployment Forces

Canard DimensionsCanard Dimensions

NACA 0012 NACA 0012 Symmetric airfoil Symmetric airfoil CSCS

1.25 in chord 1.25 in chord lengthlength

3 in span3 in span .15 in max. .15 in max.

thicknessthickness

Mission Velocity ProfileMission Velocity Profile

Velocity vs. Time

0

50

100

150

200

250

300

350

400

450

500

0 2 4 6 8 10 12 14 16 18 20 22

Time (s)

Vel

ocity

m/s

SUPERSONIC

SUBSONIC

TRANSONICMACH 1 340m/s

MACH .9 306m/s

Deployment MethodDeployment Method

Canards deploy Canards deploy towards missile towards missile rearrear

““Suicide” type Suicide” type deployment deployment requires little requires little initializationinitialization

Inertial and Inertial and aerodynamic aerodynamic forces open canardforces open canard

Deployment MethodDeployment Method

Moment RequirementsMoment Requirements

M=.5M=.5VV22ScCScCmm

For Small For Small , , experiment shows experiment shows CCmm=0 at .25*chord=0 at .25*chord

Place canard link at Place canard link at c/4c/4

M=0 when M=0 when actuatingactuating

Lift ForcesLift Forces

Roll Reduction Maneuver – 25 lbs of Roll Reduction Maneuver – 25 lbs of lift per canard at 5 degree anglelift per canard at 5 degree angle

11stst Course Correction - 0 to 25 lbs lift Course Correction - 0 to 25 lbs lift 22ndnd Course Correction - 0 to 27 lbs lift Course Correction - 0 to 27 lbs lift 33rdrd Course Correction - 0 to 16 lbs lift Course Correction - 0 to 16 lbs lift

Lift Force PlotsLift Force Plots

Lift Force vs Angle of Attack

0.00

5.00

10.00

15.00

20.00

25.00

30.00

0 2 4 6

Alpha (deg)

Lif

t F

orc

e (l

bs) Roll Reduction

and 1st correction

2nd CourseCorrection

3rd CourseCorrection

Deployment ForcesDeployment Forces

Impulsive force on each canard at full Impulsive force on each canard at full deployment = 28 lbsdeployment = 28 lbs

Due to 79g acceleration and drag at Due to 79g acceleration and drag at supersonic speedssupersonic speeds

Brushless DC ServomotorsBrushless DC Servomotors

SL-MTI BL-08-1SL-MTI BL-08-1 Used in missile fin Used in missile fin

actuation, and smart actuation, and smart bombbomb

Interior permanent Interior permanent magnet designmagnet design

Rated for 50,000 hrsRated for 50,000 hrs Optional feedback sensorsOptional feedback sensors Peak Torque: 5.65 oz-inPeak Torque: 5.65 oz-in Peak Current: 4.71APeak Current: 4.71A Power Output: 12.51WPower Output: 12.51W Mechanical Response: 4 Mechanical Response: 4

mSmS Max. Power Output: Max. Power Output:

12.51W12.51W

To DoTo Do

Finish sourcing outer shell materialsFinish sourcing outer shell materials Submit BOM (Bill of Materials)Submit BOM (Bill of Materials) Finalize canard deployment gear setFinalize canard deployment gear set Begin constructionBegin construction

ReferencesReferences

AMCOMAMCOM

- Christina Davis- Christina Davis

- George Arkoosh- George Arkoosh

- Mark Etheridge- Mark Etheridge http://www.slmti.comhttp://www.slmti.com http://www.oselectronics.comhttp://www.oselectronics.com http://products.thalesnavigation.comhttp://products.thalesnavigation.com