\documentclass[a4paper,12pt,oneside]{book} \usepackage[english]{babel} \usepackage[latin1]{inputenc} %\usepackage[T1]{fontenc} % invisible hyperlinks: \usepackage{hyperref} \hypersetup{ pdftitle={OpenRocket technical documentation}, pdfauthor={Sampo Niskanen}, pdfsubject={Technical documentation of the OpenRocket simulation software}, pdfkeywords={OpenRocket, model rocket, rocketry, simulation, technical documentation}, pdfpagemode=UseNone, colorlinks, linkcolor=black, filecolor=black, urlcolor=black, citecolor=black, breaklinks=true } \usepackage{breakurl} \usepackage{epsfig} \usepackage{commath} \usepackage{ar} \usepackage{amsmath} \usepackage{amssymb} \usepackage{textcomp} \usepackage{rotating} \usepackage{setspace} \usepackage{array} \setlength{\parindent}{0mm} \setlength{\parskip}{\baselineskip} \newcommand{\ie}{{\it i.e.}\ } \newcommand{\eg}{{\it e.g.}\ } \newcommand{\half}{\ensuremath{^1\!/\!_2}} \newcommand{\quarter}{\ensuremath{^1\!/\!_4}} \newcommand{\CNa}{\ensuremath{{C_{N_\alpha}}}} \newcommand{\CNap}{\ensuremath{{C_{N_{\alpha'}}}}} \newcommand{\Cma}{\ensuremath{C_{m_\alpha}}} \newcommand{\Aref}{\ensuremath{A_{\rm ref}}} \newcommand{\Afin}{\ensuremath{A_{\rm fin}}} \newcommand{\Abase}{\ensuremath{A_{\rm base}}} \newcommand{\um}{\textmu m} \newcommand{\vect}[1]{\boldsymbol{#1}} \newcommand{\vi}{\mathbf{i}} \newcommand{\vj}{\mathbf{j}} \newcommand{\vk}{\mathbf{k}} % A space suitable delimiting numbers as 100\s000 for '100 000' \newcommand{\s}{\nolinebreak\hspace{0.5mm}\nolinebreak} \newlength{\numwidth} \settowidth{\numwidth}{0} \newcommand{\num}{\hspace{\numwidth}} \newcommand{\code}[1]{{\tt #1}} %\setlength{\oddsidemargin}{0in} %\setlength{\evensidemargin}{0in} %\setlength{\textwidth}{6.25in} %\setlength{\topmargin}{-10mm} %\setlength{\textheight}{9.5in} \begin{document} \pagenumbering{roman} %%%%%%%% Title page \thispagestyle{empty} \mbox{} \vfill \begin{center} {\LARGE\bf OpenRocket technical documentation} {\large For OpenRocket version 1.0.0} \vspace{-3mm} 2010-04-06 \vspace{10mm} {\Large Sampo Niskanen} \vspace{80mm} Based on the Master's thesis \cite{thesis} \vspace{-1mm} \mbox{\hspace{-6pt} \large\it Development of an Open Source model rocket simulation software} \end{center} \vfill \clearpage \thispagestyle{empty} \mbox{} \vfill \begin{center} {\Large\bf Thesis or technical documentation?} \end{center} The OpenRocket simulation software was originally developed as the Master's thesis project of Sampo Niskanen, including its written part {\it ``Development of an Open Source model rocket simulation software''} \cite{thesis}. The thesis is used as the basis of this technical documentation, which is updated to account for later development in the software. This document often still refers to itself as a thesis, as no systematic updating of this fact has yet been performed. While the original thesis is available online under a Creative Commons no-derivatives license, this document is available under a freer share-alike license. \vspace{10mm} \begin{center} {\Large\bf Version history} \end{center} \begin{center} \begin{tabular}{lp{120mm}} 2010-04-06 & Initial revision. Updates the roll angle effect on three- and four-fin configurations in Section~\ref{update-roll-angle}. (OpenRocket software 1.0.0) \end{tabular} \end{center} \vfill %%%%% Quotation \clearpage \thispagestyle{empty} \mbox{} \vfill {\it ``No. Coal mining may be your life, but it's not mine. I'm never going down there again. I wanna go into space.''} \vspace{5mm} \hspace{10mm}\parbox{130mm}{ Amateur rocketeer Homer Hickam, Jr. in the movie October Sky (1999), based on a true story.\\ Hickam later became an engineer at NASA, working in spacecraft design and crew training.} \vfill %%%%%%%% \tableofcontents %\listoffigures % %\listoftables \newpage \section*{List of symbols and abbreviations} {\bf Symbols} \nopagebreak \begin{tabular}{p{20mm}p{105mm}} $A$ & Area \\ \Afin & Area of one fin \\ $A_{\rm plan}$& Planform area \\ \Aref & Reference area \\ $A_{\rm wet}$ & Wetted area \\ $\AR$ & Aspect ratio of a fin, $2s^2/\Afin$ \\ $c$ & Speed of sound \\ $\bar c$ & Mean aerodynamic chord length of a fin \\ $c(y)$ & Chord length of a fin at spanwise position $y$ \\ $C_A$ & Axial drag force coefficient \\ $C_D$ & Drag force coefficient \\ $C_f$ & Skin friction drag coefficient \\ $C_l$ & Roll moment coefficient \\ $C_{ld}$ & Roll damping moment coefficient \\ $C_{lf}$ & Roll forcing moment coefficient \\ $C_m$ & Pitch moment coefficient \\ \Cma & Pitch moment coefficient derivative, $\frac{\partial C_m}{\partial \alpha}$ \\ $C_N$ & Normal force coefficient \\ \CNa & Normal force coefficient derivative, $\frac{\partial C_N}{\partial \alpha}$ \\ $d$ & Reference length, the rocket diameter \\ $D$ & Drag force \\ $f_B$ & Rocket fineness ratio, $L/d$ \\ $L$ & The rocket length \\ $m$ & Pitch moment \\ $M$ & Mach number \\ $N$ & Normal force; Number of fins \\ $p$ & Air pressure \\ $r(x)$ & Body or component radius at position $x$ \\ $R$ & Reynolds number \\ $s$ & Spanwise length of one fin \\ $T$ & Air temperature \\ $V$ & Volume \\ $v_0$ & Free-stream velocity \\ $x$, $X$ & Position along the rocket centerline \\ $y$ & Spanwise position \\ \end{tabular} \begin{tabular}{p{20mm}p{105mm}} $\alpha$ & Angle of attack \\ $\beta$ & $\sqrt{|M^2-1|}$ \\ $\gamma$ & Specific heat ratio, for air $\gamma=1.4$ \\ $\Gamma_c$ & Fin midchord sweep angle \\ $\delta$ & Fin cant angle \\ $\eta$ & Airflow inclination angle over a fin \\ $\theta$ & Roll angle \\ $\Lambda$ & Dihedral angle between a fin and the direction of airflow \\ $\nu$ & Kinematic viscosity of air \\ $\xi$ & Distance from rotation axis \\ $\rho$ & Density of air \\ $\omega$ & Angular velocity \\ \end{tabular} \vspace{10mm} {\bf Abbreviations} \nopagebreak \begin{tabular}{p{20mm}p{105mm}} CFD & Computational fluid dynamics \\ CG & Center of gravity \\ CP & Center of pressure \\ LE & Leading edge \\ MAC & Mean aerodynamic chord \\ RK4 & Runge-Kutta 4 integration method \\ UI & User interface \\ \end{tabular} \pagebreak \pagenumbering{arabic} \setcounter{page}{1} \include{chapter-introduction} \include{chapter-basics-of-model-rockets} \include{chapter-aerodynamic-properties} \include{chapter-flight-simulation} \include{chapter-software} \include{chapter-experimental} \include{chapter-conclusion} \clearpage \vspace*{1cm} \section*{Acknowledgments} I would like to express my deepest gratitude to M.Sc.~Timo Sailaranta for his invaluable advice and consultation on the aerodynamic simulation of rockets. Without his input the creation of this thesis would have been exceedingly laborious. I would also like to thank Prof.~Rolf Stenberg for supervising the writing of this thesis, and Juhani Talvela for proofreading and commenting early versions of this text. I am also deeply grateful for my parents Jouni and Riitta, my entire family, friends and teachers, who have always encouraged me onwards in my life and studies. Above all I would like to thank my brother, Antti~J. Niskanen, for being an inspiration throughout my life and also for building the magnetometer logger used in the experimental flights; and my fiancée Merli Lahtinen, for her patience and loving understanding for my passion towards rocketry. \begin{thebibliography}{99} \bibitem{thesis} Niskanen, S., {\it Development of an Open Source model rocket simulation software}, M.Sc. thesis, Helsinki University of Technology, 2009. 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