CanSat 2016 Post Flight Review

Transcription

1 CanSat 2016 Post Flight Review 3822 UAH Space Hardware Club Team Skydive Presenter: Lloyd Walker 1

2 Presentation Outline 1. Introduction 2. System Overview 3. Concept of Operations & Sequence of Events 4. Flight Data Analysis 5. Failure Analysis 6. Conclusion Presenter: Lloyd Walker 2

3 Team Organization Team Lead Lloyd Walker Graduate Student Faculty Advisor Dr. Wessling CanSat Mentor Caitlin Marsh Electrical Lead Jarod Matlock Sophomore Mechanical Lead Will Barton Junior Software Lead Nate Roth Junior Eliza Dellert Sophomore Lloyd Walker Melissa Anderson Lloyd Walker Nate Roth Will Barton Melissa Anderson Eliza Dellert Presenter: Lloyd Walker 3

4 Systems Overview Jarod Matlock and Will Barton Presenter: Jarod Matlock 4

5 Mission Summary Simulate a planetary atmospheric sampling mission using a glider Provide position, velocity, temperature, pressure, GPS, and altitude readings Descend from 400 meters in a preset circular pattern with a diameter no larger than 1000 meters Bonus Objective 1: Move Camera The camera shall be commanded to point at any angle from starboard to nadir to port direction and take an image in the requested direction Presenter: Jarod Matlock 5

6 Cansat Overview Container Total height 300 mm Diameter 122 mm 204 grams Science Vehicle Total length 290 mm Wingspan 600 cm (unfolded) Weight 290 grams Cansat was made up of subassembly listed as: 1. Fuselage Subassembly 2. Tail-fin Subassembly 3. Electronics and mounting subassembly Each subassembly was assembled separately to ensure simple assembly of final product Presenter: Jarod Matlock 6

7 Budget-Hardware Subsystem Component Cost - Actual Sensors MS5803 (2) $34.96 Sensors M10382 Antenova $19.24 Sensors Camera #16V3 $48.98 Sensors Lens Module Extension Cable $4.99 Sensors Thermistor $0.26 CDH ATXMEGA128A3-AU $10.92 CDH XBEE Pro $39.00 CDH 900MHz Duck Antenna $7.95 Descent Control Ripstop Nylon $3.00 Descent Control Kevlar Chord $8.99 Mechanical ABS/Composites $40 - Estimate Mechanical Polycarbonate $15 - Estimate Mechanical Rapid Prototyping $75 - Estimate Mechanical Screws $12.98 Presenter: Jarod Matlock 7

8 Budget - Continued Subsystem Component Cost - Actual GCS XBEE Pro 900 $39.00 GCS Laird Technologies PC906N Yagi Antenna $38.95 EPS Buzzer $0.55 EPS Mosfets $1.68 EPS PCB $33.00 EPS Capacitors $3.17 EPS Resistors $0.82 EPS LEDs $1.04 EPS Connectors/Headers $1.95 EPS Regulators $3.57 Total $ Presenter: Jarod Matlock 8

9 Components Summary Battery (3V Surefire) Power source Xbee Pro 900 Transmit telemetry data MS5803 Sensors Measure both pressure and temperature Voltage Regulator Regulate voltage from power source to system NTCLE100E3473JB0 Thermistor Record outside air temperature 808 #16 Car Keys Micro Camera Take pictures during flight GPS Transmits telemetry Switch Remove before flight accessible through hole ATXMEGAA12A3 MCU AT45DB641E Nonvolatile memory Antenova M10382 GPS FXP A Antenna XBP9B-DMST-002 Transmits telemetry to ground station Presenter: Will Barton 9

10 Physical Layout Key Design Features The Container s sidewalls were made of fiberglass this provided a strong simple structure that could be manufactured accurately to the dimensions of 290mm x 120 mm The top of the container consisted of two machined polycarbonate bulkheads these were designed by team members The container hinged by using a brass hinge and a small spring to guarantee deployment of the science vehicle upon cut-down The Container had no electronics associated with it The parachute was purchased because a cheap and professional product fit our needs Presenter: Will Barton 10

11 Physical Layout Key Design Features The fuselage was made of 4 layers of fiberglass this was to create a strong and light structure The custom designed PCB was housed inside this fuselage to provide shelter from the elements as well as an aerodynamic profile The pitot tubes were designed by using bendable drinking straws which fit perfectly over the circular ms5803 pressure sensor Our camera was controlled by using a servo motor Presenter: Will Barton 11

12 Concept of Operations and Sequence of Events Eliza Dellert Presenter: Eliza Dellert 12

13 Planned Operations and Sequence of Events Pre-Launch Arrive at launch site Prepare CanSat for turn in CanSat crew Set up ground station GS crew Fit check CanSat crew Weight check CanSat crew Install rocket onto launch pad CanSat crew Load CanSat into rocket CanSat crew Assemble CanSat CanSat crew Verify ground station communication GS team Perform antenna check GS team Presenter: Eliza Dellert 13

14 Planned Operations and Sequence of Events Launch and Descent Presenter: Eliza Dellert 14

15 Planned Operations and Sequence of Events Post-Launch Execute launch procedures Mission Control Officer Perform all required flight operations Ground station clear out GS crew Recover payload Recovery crew Turn in telemetry GS crew Presenter: Eliza Dellert 15

16 Comparison of Planned and Actual ConOps Pre-Launch While integrating the science vehicle into the rocket, the power connection came loose We were given 9 minutes to fix this issue and get the rocket onto the rail. Launch Members of recovery stayed at ground station until landing to get the last coordinates instead of already being in the field Post-Launch Servo commands were sent multiple times to try to insure there were images being taken at different angles Presenter: Eliza Dellert 16

17 Comparison of Planned and Actual Sequence of Events Pre-Launch Arrived at field ~7:45am Prepped CanSat from arrival and noon Turned in Cansat at noon Launch Due to CATO the rocket was destroyed, canister was ejected, and field was caught on fire. We were given a re-flight. When the science vehicle deployed it did not glide in the desired pattern Post-Launch Data was collected during our final flight stage for a small increment of time This allowed for a more accurate representation of our location when landed. Presenter: Eliza Dellert 17

18 Release Logic The release mechanism that was used to deploy the science vehicle from the container was a nichrome hot wire. It was set to trigger at 400m from ground level. Ground level was determined by taking several steady readings of the initial altitude and subtracting those from the altitude so that ground would be 0. When triggered the GPIO pin meets the gate threshold voltage for the MOSFET that powers the wire for 10 seconds When this happened the monofilament that was strung through the nichrome and around the container was burned to allow for release Presenter: Eliza Dellert 18

19 Flight Data Analysis Nate Roth Presenter: Nate Roth 19

20 Descent and Separation 1.) Apogee was recognized within 40m of true apogee. 2.) Separation from canister happened at 413 m. A mere 3 m from the target of 416 m! 3.) The flight logic concluded a landed state at 268 m. This happened due to many erratic increases in altitude during descent Average Pre-Separation Descent Rate: 7.86 m/s Average Post Separation Descent Rate: m/s Apogee detect (594 m) Separation from canister (413 m) Erroneous ground detect due to flight characteristic assumptions (268 m) Presenter: Nate Roth 20

21 Payload Telemetry Telemetry was sent with ASCII in the below format: <TEAM ID> 1 <MISSION TIME> 2 <PACKET COUNT> 3 <ALT SENSOR> 4 <PRESSURE> 5 <SPEED> 6 <TEMP> 7 <VOLTAGE> 8 <GPS LATITUDE> 9 <GPS LONGITUDE> 10 <GPS ALTITUDE> 11 <GPS SAT NUM> 12 <GPS SPEED> 13 <COMMAND TIME> 14 <COMMAND COUNT>\ 15 <FLIGHT STATE> 16 Presenter: Nate Roth 21

22 Payload Telemetry Cont ,2001,100,10,94964,234,2705,5696,3158.2,9916.4,498.9,8, ,0,0,0 3822,2021,101,62,94957,231,2705,5685,3158.2,9916.4,498.9,8, ,0,0,0 3822,2041,102,37,94952,252,2705,5696,3158.2,9916.4,498.8,8, ,0,0,0 3822,2061,103,1012,94838,361,2705,5660,3158.2,9916.4,498.8,8, ,0,0,0 3822,2080,104,4769,94252,371,2704,5677,3158.2,9916.4,498.7,7,2.8563,0,0,1 3822,2100,105,19377,92608,545,2704,5688,3158.3,9916.4,498.1,6,7.6643,0,0,1 3822,2121,106,31205,91294,602,2704,5696,3158.3,9916.4,497.6,6,10.027,0,0,1 3822,2141,107,40354,90288,630,2704,5688,3158.3,9916.4,497.6,4,11.407,0,0,1 3822,2161,108,47817,89474,597,2704,5691,3158.3,9916.4,496.9,3,12.12,0,0,1 3822,2181,109,53252,88885,573,2704,5674,3158.3,9916.4,496.8,3,10.529,0,0,1 3822,2202,110,57953,88378,535,2703,5691,3158.3,9916.4,496.8,0,10.529,0,0,1 3822,2222,111,61435,88004,477,2703,5688,3158.3,9916.4,495.5,4,10.159,0,0,1 Presenter: Nate Roth 22

23 Bonus Objective Data Due to the early detection of a landed state, the ability to command the servo and camera was temporarily interrupted. By the time this command functionality was reestablished the Science Vehicle had completed it s descent and was resting on the ground. Orientation commands were sent from our real time plotting GUI to actuate the servo to all three positions and take a photo in each orientation. Presenter: Nate Roth 23

24 Image Camera failed to take picture Command was sent Presenter: Nate Roth 24

25 Failure Ananlysis Lloyd Walker Presenter: Lloyd Walker 25

26 Failure Analysis Failure Too quick of descent Root Causes Wing warping due to heating caused the epoxy to soften Pitching Moment due to static margin issues or tail size Corrective Actions Earlier testing would illuminate the wing warping issues Different epoxies could be mitigate softening Aerodynamic analysis could have estimated the pitching moment Mechanical estimation of center of gravity and aerodynamic center -Landed payload Presenter: Lloyd Walker 26

27 Failure Analysis Failure Power connections causing launch delay Root causes Battery to board connector was secured using superglue before turn in. Malfunctioned during payload integration forcing to disassemble container Selected connector was large and PCB design issue caused a pin to short to ground Corrective Actions Cut connector and soldered directly to input pins In future use smaller connectors Make sure PCB design is correct -Molex connector Presenter: Lloyd Walker 27

28 Failure Analysis Failure Transition into landed flight state Root Cause Transition logic assumed that flight would be level or constant descent Landed flight would trigger when altitude after a pressure increase interval Corrective Actions Address all possible flight profiles to use for flight state algorithm Presenter: Lloyd Walker 28

29 Lessons Learned Lloyd Walker Presenter: Lloyd Walker 29

30 What Worked Science Vehicle deployed from container The mechanical system was nearly uninjured even after two launches due to motor failure Servo controlled camera was fully functional Telemetry transmission and flight data was transmitted successfully GPS data was very accurate after landing Presenter: Lloyd Walker 30

31 What Didn t Work Thermistor was reading values too consistent The fiberglass wings warped slightly in the canister causing an unstable flight Battery molex connector failed before launch Fixed by soldering battery pack directly to PCB Presenter: Lloyd Walker 31

32 Conclusions The telemetry was successfully sent and received The ground station plotted everything in real time The mechanical system was very sturdy and survived a motor failure and a second launch with minimal damage Test early and test often. Future projects will also stress the importance of finishing early In the future more communication between system designers to optimize integration of subsystems Presenter: Lloyd Walker 32

33 Acknowledgements CanSat Competition American Astronautical Society Jim Kirkpatrick, Ivan Galysh and the rest of the volunteers Dr. Mahalingam Dean of College of Engineering Dr. Wessling Club Advisor Steve Collins Machine Shop Boss Alabama Space Grant Consortium Tripoli Rocket Association Cesaroni Technology Incorporated Presenter: Lloyd Walker 33