AMCOM MK66 AMCOM MK66 Guidance ModuleGuidance Module

EECE – Course DifferentialsEECE – Course Differentials

Compute actual vs. intended courseCompute actual vs. intended course• Simulated “actual” courseSimulated “actual” course• Pre-plotted intended coursePre-plotted intended course• Real-time differential updateReal-time differential update

Plotted deviation in coursePlotted deviation in course

Deviation

Actual Course

Origi

nal (

inte

nded

cou

rse)

Vert

ical dis

tance

(ft

)

R/L deviation (Y)

Forward distance

Next WeekNext Week

Continuing research for interfacesContinuing research for interfaces Start on course corrections with Start on course corrections with

forces from canardsforces from canards Physics modeling with correctional Physics modeling with correctional

forcesforces

Searching for Servo MotorsSearching for Servo Motors

Brush Motors:Brush Motors:• Airgap diameter: 0.7”- 48”Airgap diameter: 0.7”- 48”• Peak Torque Range: 2.8 oz in to 6 k lb/ftPeak Torque Range: 2.8 oz in to 6 k lb/ft

Brushless Motors:Brushless Motors:• Airgap diameter: 0.4”- 48”Airgap diameter: 0.4”- 48”• Peak Torque Range: 1.5 oz in to 50 k lb/ftPeak Torque Range: 1.5 oz in to 50 k lb/ft

SL-MTI Brush(+less) DC MotorSL-MTI Brush(+less) DC Motor Brush Motors (for Brush Motors (for

specialized motors)specialized motors)• Have specs.Have specs.

Brushless Motors (for high Brushless Motors (for high performance)performance)• Used in missile fin Used in missile fin

actuation, and smart actuation, and smart bombbomb

• Have specs.Have specs.

Brushless DC Servo MotorsBrushless DC Servo Motors(Dahaher Motion)(Dahaher Motion)

Kollmorgen-Inland MotorKollmorgen-Inland Motor• Suited for special environments (high Suited for special environments (high

alt, exp)alt, exp)• Inside out configurationInside out configuration

Better heat dissipation, lower rotor Better heat dissipation, lower rotor inertia, faster responseinertia, faster response

• Interior permanent magnet designInterior permanent magnet design• Allows for high reliability and low inertiaAllows for high reliability and low inertia• Highest torque/inertia ratios, high speed Highest torque/inertia ratios, high speed

capability (20 k to 70 k rpm)capability (20 k to 70 k rpm)• Direct Drive Motors: (looking into)Direct Drive Motors: (looking into)

MTBF 50,000 hrsMTBF 50,000 hrs Reduce maintenanceReduce maintenance

Brushless DC Servo MotorsBrushless DC Servo Motors(Aspen Motion Technologies)(Aspen Motion Technologies)

Standard "Platform" frame sizes Size Standard "Platform" frame sizes Size 10 (1.0" OD)10 (1.0" OD)• Getting specs on size 10, have size Getting specs on size 10, have size

13 (1.3” OD)13 (1.3” OD) Power range fractional to 35 HP Power range fractional to 35 HP Motor speed range up to 100,000 Motor speed range up to 100,000

RPM RPM Motor Voltage range up to 350 Volts Motor Voltage range up to 350 Volts

DCDC Special Criteria: low noise, Special Criteria: low noise,

submersible, explosion proof. submersible, explosion proof. Options Brakes, encoders, gear Options Brakes, encoders, gear

boxes, custom shaft, custom boxes, custom shaft, custom winding, custom mountings. winding, custom mountings.

Magnet types: Ferrite, SmCo5, Magnet types: Ferrite, SmCo5, bonded Neo (NdFeB), sintered Neo. bonded Neo (NdFeB), sintered Neo.

Commutation Types: Six step, Sine Commutation Types: Six step, Sine wave, sensorlesswave, sensorless

Canard Actuation ForcesCanard Actuation Forces

Obtained appropriate aerodynamics Obtained appropriate aerodynamics text on Mondaytext on Monday

Determined lift forces produced by Determined lift forces produced by each canard at 5 deg angle of attackeach canard at 5 deg angle of attack

Preliminary calculations for moments Preliminary calculations for moments needed to actuateneeded to actuate

Continuing calculations on drag Continuing calculations on drag forces due to complexity of forces due to complexity of supersonic speedssupersonic speeds

Guidance ForcesGuidance Forces

““Guidance force is a lift produced by Guidance force is a lift produced by actuating canardactuating canard

Depends on the angle of attack and Mach Depends on the angle of attack and Mach number for supersonic speedsnumber for supersonic speeds

CCLL=4=4αα/(M/(M22-1)-1).5.5

L=.5L=.5ρρVV22AAppCCL L TorqueTorque M=1.1 L=35lbM=1.1 L=35lb 5.2 oz in5.2 oz in M=1.5 L=26.5lb 9.3 oz inM=1.5 L=26.5lb 9.3 oz in M=2 L=30lb 16.9 oz inM=2 L=30lb 16.9 oz in

Cont…Cont…

Visual of angle of Visual of angle of attackattack

Tasks for Next WeekTasks for Next Week

Determine the impulsive force due to Determine the impulsive force due to aerodynamic effectsaerodynamic effects

Determine drag forces on canardsDetermine drag forces on canards Calculate cross wind effectsCalculate cross wind effects Finalize actuation mechanismFinalize actuation mechanism Narrow down list of servo motors to Narrow down list of servo motors to

final candidate or twofinal candidate or two