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However, since burn time is not very long, less than 3s, I do not expect this to be an important issue, but I cannot prove it beforehand.Īnd yes, maths an additional very beautiful part of the project. I take note of the suggestion for spin stabilization in order to reduce the actuation, this should be considered in case of failure due to an excessive spin rotational speed. At least this items should not be a problem. Control loop frequencies of 100Hz (or even higher) are not a problem for common electronics. Dead zone has not been considered but it is an error much smaller than the set point minus actual position error, which is considered. The simulation that I have performed before any detail design includes control loop frequency, a real model of the servo that includes max speed, max torque and inertia of the motor. However, I am trying to reduce as much as possible failure probability.
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This method was proved to be very suitable, cheap, easy to set up, there are not any sensor cables affecting the measures (compared for example to using an accelerometer), and does not rely on human ability (compared to using a manual timer). There is also a low frequency mode which I do not clearly identify but should not affect the measurements. Nevertheless, I consider the results to be accurate enough for my purpose. However, the dimensions for the computation and the position of the CoG have a certain degree of uncertainty due to the poor tools I used to measure them. I tested to configurations, with a length of 1.15m and 0.80 m, both gave the exact same inertia with a negligible error. I can provide further details if anyone is interested. I draw a black dot in a piece of masking tape and the video was processed afterwards with MATLAB in order to obtain the change of position over time. In order to measure the period of the oscillation, after considering different alternatives, I choose to record the tip of the rocket with my mobile phone. Today I set up a test bench in order to measure the rocket inertia, using the bifilar method, which basically consists on hanging the rocket with two chords, both at the same known distance of the center of gravity, and measure the period of the rotatory oscillation.
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For this purpose, I have to update the simulation parameters of the system with the latest values, and rerun the calibration process. One important remaining task is tuning the PID.
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Fiberglass body tubes and ogive (COMPLETED)Īt the moment, all the hardware is ready, only some software adjustments are necessary.Programming the control PCB (ALMOST COMPLETED).Feasibility study by means of simulation (COMPLETED).Inertial mesurement unit GY-91 with BMP280 and MU9050.Flight data storage in flash memory Winbond W25Q64.Reading servos actual position by means of two external MCP3201 12bit ADC's via SPI.6.5V for servos by means of an external DC-DC buck.Set point, zero angular velocity in rocket transverse axes (behaviour equivalent to fins).Finite Element validated gimbal structure design.Fiberglass body tube with wood reinforcements.Simple parachute deployment with commercial electronics.Remote emergency deployment of parachute.Complete system simulation in MATLAB for PID tunning.