Transcript AMCOM MK66
AMCOM MK66 Final Presentation Filiz Genca Ashley Devoto Jeff Kohlhoff Matt Galante Jason Newquist Adrian Lauf Shannon Stonemetz 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 Software Block Diagram Parallel Control Roll Compensation Course Plot/ Correction Data Handler IMU Data Processing SW GPS Data Processing SW Serial I/O Control Routines Servo Lines, Deploy Line RS-232 Devices: (IMU, GPS, RMS) RMS Control Software GPS Interfacing Outputs raw data (real-time data) • Binary format • Transmission Protocol 8 bits 1 stop bit No parity bit Output Interval • Can be set to any time between .05 and 999 seconds IMU Specifications Honeywell HG1930 Gun-Hard MEMS IMU • RS422 interface Must be converted to 232 • Synchronous or Asynchronous • Output Linear Acceleration Angular acceleration Correction sequence Differential Calculations Correction determined: -5°, +5°, -5°, +5° Translation to servo codes -1 1 -1 1 1 B 4 A Back C 2 D 3 Reference frame applied 0 -A 1 -B 0 -C 1 -D 1 +A 0 +B 1 +C 0 +D Servo mapping and line addressing Power Conversion Control Logic Servo Feedback Module Shell and Interfaces •Aluminum Construction •15 inches long •Acme Stub Nose Threads 6 pitch •.5 in deep interference fit into shell •Secured with press fit pull out pins Frame Subassembly •.25 in aluminum construction •Struts to mount IMU, GPS, CPU, Thermal Battery •.5 in x .5in Mounting bar for canard assembly Canard •Aluminum construction •Machined from single piece •NACA 0012 Airfoil Shape •Positive stop machined into canard •Hole to receive negative stop Canard Deployment •Helical torsion spring for deployment •Positive stop machined into mechanism •Spring loaded negative stop Canard Actuation •Anti backlash gears •Gears mount to tab on assembly •Assembly rotates about nubbin •Nubbin connected to frame mounting bar w/snap ring Final Demonstration “GPS, IMU, RMS” Two notebook PCs • One will act as Alterabased processing board • Second will act as GPS, IMU, RMS, providing simulated data More flexible Nios Devel. Kit has no readily-useable parallel port Servo IEEE 1284 (Parallel) RS232 “FPGA Processor board”