AMCOM MK66AMCOM MK66

Final PresentationFinal PresentationFiliz GencaFiliz Genca Ashley Devoto Ashley DevotoJeff KohlhoffJeff Kohlhoff Matt Galante Matt GalanteJason NewquistJason Newquist Adrian Lauf Adrian Lauf

Shannon StonemetzShannon Stonemetz

Project OverviewProject Overview Development of a precision guidance Development of a precision guidance

avionics module for the Hydra 70 rocket avionics module for the Hydra 70 rocket missile.missile.• M261 MPSM warheadM261 MPSM warhead• M261 19-round launch platformM261 19-round launch platform• MK 66 rocket motorMK 66 rocket motor

Module will have built in IMU and GPS Module will have built in IMU and GPS guidance systemsguidance systems

Module will contain 4 canards actuated by Module will contain 4 canards actuated by servo motors that will perform flight servo motors that will perform flight adjustmentsadjustments

Manufacture a mechanical prototypeManufacture a mechanical prototype

Software Block DiagramSoftware Block Diagram

Data Handler

IMU DataProcessing SW

GPS DataProcessing SW

RMS ControlSoftware

Serial I/OControl Routines

ParallelControl

Servo Lines,Deploy Line

Course Plot/Correction

RS-232 Devices:(IMU, GPS, RMS)

RollCompensation

GPS InterfacingGPS Interfacing

Outputs raw data (real-time data)Outputs raw data (real-time data)• Binary formatBinary format• Transmission ProtocolTransmission Protocol

8 bits8 bits 1 stop bit1 stop bit No parity bitNo parity bit

Output IntervalOutput Interval• Can be set to any time between .05 and Can be set to any time between .05 and

999 seconds999 seconds

IMU SpecificationsIMU Specifications

Honeywell HG1930 Honeywell HG1930 Gun-Hard MEMS Gun-Hard MEMS IMUIMU• RS422 interfaceRS422 interface

Must be converted Must be converted to 232to 232

• Synchronous or Synchronous or AsynchronousAsynchronous

• OutputOutput Linear AccelerationLinear Acceleration Angular accelerationAngular acceleration

Correction sequenceCorrection sequence

Correction determined:-5°, +5°, -5°, +5°

Differential Calculations

Back

1

2

3

4 A

B

C

D

Reference frame applied

-1 1 -1 1 Translationto servo codes

0

1

0

1

1

0

1

0

-A

-B

-C

-D

+A

+B

+C

+D

Servo mappingand line addressing

Servo

ControlLogic

PowerConversion

Feedback

Module Shell and InterfacesModule 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 SubassemblyFrame Subassembly

•.25 in aluminum construction

•Struts to mount IMU, GPS, CPU, Thermal Battery

•.5 in x .5in Mounting bar for canard assembly

CanardCanard

•Aluminum construction

•Machined from single piece

•NACA 0012 Airfoil Shape

•Positive stop machined into canard

•Hole to receive negative stop

Canard DeploymentCanard Deployment

•Helical torsion spring for deployment

•Positive stop machined into mechanism

•Spring loaded negative stop

Canard ActuationCanard Actuation

•Anti backlash gears

•Gears mount to tab on assembly

•Assembly rotates about nubbin

•Nubbin connected to frame mounting bar w/snap ring

Final DemonstrationFinal Demonstration

Two notebook PCsTwo notebook PCs• One will act as Altera-One will act as Altera-

based processing boardbased processing board• Second will act as GPS, Second will act as GPS,

IMU, RMS, providing IMU, RMS, providing simulated datasimulated data

More flexibleMore flexible Nios Devel. Kit has no Nios Devel. Kit has no

readily-useable readily-useable parallel portparallel port

RS232

ServoIEEE 1284 (Parallel)

“FPGA Processorboard”

“GPS, IMU, RMS”