AMCOM MK 66 Missile SystemVanderbilt University

School 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

• 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

Customer RequirementsIntegration:•MK 66 rocket motor

•M261 warhead and launcher

•Minimal modifications

•Non-classified, commercially available components

Human Factors:•Usable with arctic clothing/mittens

•Minimal training

•Minimal maintenance

•Minimal loading time and effort

Physical:•System Diameter < 2.794”

•System Length < 79.7” (ideal 71.1”)

•Weight < 34.4 lbs. per unit

Environment: (*)•Storage:

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

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

System RequirementsPerformance:•Comply with wall-in-space accuracy, temperature, and humidity rqmts.•“Ready to fire”•Fail safe•Max. Velocity: Mach 1.48•Max. Range: ~ 5 km down range

Guidance and Control:•GPS/IMU

•Data receiver in war head

•4 moveable canards

•Aerodynamic roll reduction

•Multidirectional antenna

Power/Casing:•Thermal Battery

•Umbilical

•1” ACME thread interface

•Aluminum casing for module

Human Factors:•No maintenance required

•Easy integration

•Ease of transport/storage figuring in space allowances

•No additional training needed

•Withstand storage life

Wall-In-Space Requirement

System DefinitionBlock Diagram: System Components

Project

System Engineering

Missile

Nose Cone Fuse

Avionics Module MotorWarhead

RMS “Black Box”

Mech.Interface

Umbilical Receiver & Decoder

GPS Antenna

Launcher

Mech.Safety

Charge& Wiring

GPS Processor IMU CanardsBattery Servos

System DefinitionBlock Diagram: System Functions

Provides guidance aid for missile

Provide project breakdown

Provides casing for system components

Provides electrical entry point

Provides missile guidance Provides propulsionProvides casing for explosives

Provides missile with system data

Transfersdata

Provides connection to

missile

Provides signal processing

Provides signal transfer

Provides missile launch

Provides position data Performs calculations for course corrections

Provides acceleration and orientation data

Changes trajectoryProvides power

Provides power to canards

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

Mission Timeline

Mission Timeline

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-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

ServomotorsActuation

– SL-MTI DC Servomotors Designed for Missile Fin

Actuation, MIL Spec Feedback Sensors

SpecsWeight: .45 lb for 4 servosSize: .8 inch diameter, 1.4 inch lengthPower: 5 WattsTorque: 2 oz.-in.Voltage: 5V

Canard DesignTwo Geometries Under Consideration:

1. Rectangular Canards

- NACA 0014 AirfoilNational Advisory Committee on Aeronautics

2. Triangular Canards

- NACA 0020 Airfoil

- 3” x 1.25” x .2”

- 3.75 square inch surface area

- 3” x 1.25” x .2”

- 7.5 square inch surface area

Canard Deployment

1. 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 Deployment2. 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)

• 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)

• 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

• 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 flexibly integrates VHDL virtual processor cores, I/O devices

• Nios VHDL core provided with Cyclone devel. kit

• Nios core will reduce CPU development time

Processor State Diagram

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

• 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

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

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

Cyclone

IMU

3

GPS3RMS

3

RS232

SDRAM

ser.

ser.

Actuator Control

8 par.

Feedbackn

PC100

ADC4