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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.

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amcom mk 66 missile system vanderbilt university school of engineering fall 2004 design review

AMCOM MK 66 Missile SystemVanderbilt UniversitySchool of EngineeringFall 2004 Design Review

Computer/Electrical Engineers:

Ashley Devoto

Matt Galante

Adrian Lauf

Shannon Stonemetz

  • Mechanical Engineers:
  • Jeffrey Kohlhoff
  • Jason Newquist
  • Filiz Genca
project overview
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
system definition block diagram system components
System DefinitionBlock Diagram: System Components

Project

SystemEngineering

RMS “BlackBox”

Missile

Launcher

Warhead

Avionics Module

Motor

NoseCone

Fuse

Mech.

Interface

Umbilical

Receiver

& Decoder

GPS

Antenna

Mech.

Safety

Charge

& Wiring

GPS

Processor

Battery

IMU

Canards

Servos

system definition block diagram system functions
System DefinitionBlock Diagram: System Functions

Provides guidance aid for missile

Provide project breakdown

Provides missile with system data

Provides casing for system components

Provides missile launch

Provides casing for explosives

Provides missile guidance

Provides propulsion

Provides electrical entry point

Transfers

data

Provides

connection to

missile

Provides

signal

processing

Provides signal transfer

Provides position data

Performs calculations for

course corrections

Provides power

Changes trajectory

Provides power to canards

Provides acceleration and orientation data

simulation software
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
module packaging
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
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
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
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
  • Triangular Canards
  • - NACA 0020 Airfoil
  • - 3” x 1.25” x .2”
  • - 3.75 square inch surface area
canard deployment
Canard Deployment
  • 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 deployment16
Canard Deployment
  • 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
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
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
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 & 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
voltage regulator for thermal batteries
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
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
slide24
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
slide25
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
slide26

ser.

GPS

RMS

3

3

RS232

Actuator Control

Cyclone

ser.

4

ADC

3

IMU

Feedback

n

8 par.

SDRAM

PC100

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