AMCOM MK 66 Missile System Vanderbilt University School of Engineering Fall 2004 Design Review

1. 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

2. 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

3. Customer Requirements

4. System Requirements

5. Wall-In-Space Requirement

6. 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

7. 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

8. 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

9. Mission Timeline

10. Mission Timeline

11. 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

12. 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

13. 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

14. 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

15. 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

16. 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

17. 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

18. 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

19. 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

20. 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

21. Processor State Diagram

22. 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

23. 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

24. 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

25. 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

26. ser. GPS RMS 3 3 RS232 Actuator Control Cyclone ser. 4 ADC 3 IMU Feedback n 8 par. SDRAM PC100