Design and Navigation Control of an Advanced Level CANSAT. Mansur ÇELEBİ Aeronautics and Space Technologies Institute Turkish Air Force Academy

Transcription

1 Design and Navigation Control of an Advanced Level CANSAT Mansur ÇELEBİ Aeronautics and Space Technologies Institute Turkish Air Force Academy 1

2 Introduction Content Advanced Level CanSat Design Airframe Design Electronic System Design Navigation Control Algorithm Dynamic Modeling and Simulation Firmware Development Fabrication Testing Risk Analysis Systems Engineering Process Results, Conclusion and Lessons Learned

3 Introduction Launching Landing with parachute 3

4 4 Introduction

5 Introduction The mission is to launch and land the CanSat to a predefined target point. CanSat will be sending the telemetry data which consists of accelerations, angular velocities, GPS data, pressure and temperature as well as the actuators status. For flight and ground segments control; Microcontroller, pressure and temperature sensors, 3-axis accelerometer, 3-axis gyro, camera, GPS, IR distance measuring sensor, RF communication module and three actuators were used 5

6 ADVANCED LEVEL CANSAT DESIGN Launching Flight Segment Ground Segment Parachute Separation Rover to Target 6

7 Aluminum can is used as a fuselage. Airframe Design All onboard sensors, electronics, batteries and parachute release mechanism are placed inside the can. The geometrical charactereistiscs of the CanSat are presented in the Table. 7 Component/assembly Length [mm] Main landing gear diameter 70 Rear landing gear diameter 35 Horizontal tail span 00 Horizontal tail chord 100 Vertical tail chord 100 Vertical tail span 100 Overall length of the CanSat 400

8 Airframe Design z Parachute, Motor driven propeller, landing gears, elevator and rudder are attached to the can. y 8 x

9 Elevator and Rudder Elevator and rudder are made of plastic sheet reinforced by flexible thin steel strips. Main landing gears are also made of plastic sheet, flexible thin steel strips and patch tape sandwich. Airframe Design 9

10 Electronic System Design Elevator Servo Accelerometer Rudder Servo Gyroscope Parachute Releasing Mechanism Servo Wireless Communication Module Temperature Pressure GPS IR sensor 10

11 11 Electronic System Design

12 Navigation Control Algorithm Two control algorithms have been developed; For stabilization of the CanSat during flight segment, For its orientation toward the target during the ground segment. The algorithm of flight control operates as follows: The CanSat is stabilized by controlling roll and pitch angles and this is realized by actuating both the rudder and elevator with/without the motor driven propeller. 1

13 Navigation Control Algorithm For the orientation of the CanSat is implemented by calculating the angle between the position vector and velocity vector. 13

14 The calculations of the radius of the circle around the target allows us to determine the distance between the target and the CanSat, and given by: Position vector = Velocity vector = The inner product and outer product gives: For : For:, y x R (0) ) (, (0) ) ( 1 y t y a x t x a t t y t y b t t x t x b 1) ( ) (, 1) ( ) ( cos b b a a b a b a, sin b b a a b a b a Navigation Control Algorithm 14

15 Navigation Control Algorithm Get Geyro data Start tracking program Θ (roll) Ψ (pitch) R()<R(1) No Rudder max + propeller Get gyro data Calculation Cosβi, sinβi, R Yes No Sinβi>0 S.l =stability limitte s.l-<θ < s.l+ s.l-<ψ < s.l+ No Rudder angle = default Elevator angle = default Βi=-asin(cosβ) Yes Βi=acos(cosβ) No H<= h limi Yes βi<-30 No Βi>30 Parachute éjecte Temporisation Calculation Cosβi, sinβi, R Yes Rudder to left Yes Rudder to right Βi=-asin(cosβ) No Sinβi>0 Yes Βi=acos(cosβ) Continu in this direction βi<-30 No Βi>30 Prop. Power increase Yes V<Vlim Yes Yes No Rudder to left Rudder to right R Rlim No 15 Continu in this direction Control in air Stop Yes Control on ground

16 Simulation results of the trajectory of the CanSat during decent Dynamic Modeling and Simulation 16

17 Firmware Development Main Navigation algorithms Classes myaccelero mygyro mygps Motor Control algorithms CanSat release Parachute release Accessing Xbee (Communication Module) Libraries mbed servo SCP1000 TIG300 17

18 Firmware Development Development of Ground Station Software 18 Developed Using MatLab

19 19 Fabrication

20 Fabrication Parachute Separation Mechanism Parachute Hanging Plate Locked 0 Unlocked

21 Fabrication Parachute Separation Mechanism Parachute Wires Servo Parachute Wires IR Sensor CanSat Servo Parachute Wires IR Sensor Servo IR Sensor CanSat mm 1

22 Packaging Fabrication

23 3 Testing

24 Testing Parachute Tests: to decide parachute diameter, stabilization hole diameter and robe length for stable descend and proper descend rate. Rover Tests: to decide proper angular velocity for turning in order avoid falling over Separation Mechanism Tests: to ensure sustainable and reliable separation. Balloon Tests: to test whole process 4

25 Risk Analysis 1) Loading Phase: I. No smooth fitting inside the rocket. ) Launch Phase: I. Break in the hardware, II. Motor s sudden start in the rocket due to vibration, III. No start for the recording 5

26 Risk Analysis 3) Cansat Deployment Phase: I. No opening of the parachute II. Motor s sudden start before parachute stability III. No recording 4) Navigation Phase: I. Navigation control algorithm bugs, II. No connection to satellites for GPS, III. No connection with ground stations, IV. Improper control of the control surfaces and motor 6

27 Risk Analysis 5) Landing Phase: I. Parachute not release before touch down, II. No landing on landing gears, 6) Rower Back Phase: I. Non control of control surfaces and motor, II. Bad GPS communications, III. During rovering fold down of cansat due to obstacles, IV. Bugs in the navigation algorithm. 7

28 Systems Engineering Process The major task and milestones: Preliminary Design Review (PDR), Engineering Model (EM), Quality Assurance (QA), Critical Design Review (CDR), Flight Model, and the launch date. EM QA FM 8

29 CONCLUSION AND LESSONS LEARNED The first basic CanSat was launched to 350m altitude in Wakayama, Japan. Strong wind caused unsuccessful recovery and this warrant to perform simple aerodynamics calculation to ensure minimum drift. Telemetry sensor data and GPS should implemented Put your name and address on your CanSat Due to earthquake that hit Japan on March the advanced level CanSat launch was cancelled. 9

30 CONCLUSION AND LESSONS LEARNED The key factors during the development process of a CanSat project. Project Management System Engineering Team Work Communication Reliability 30

31 Thank You QUESTIONS? 31