532 lines
16 KiB
TeX
532 lines
16 KiB
TeX
\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 fianc<6E>e 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. Available at
|
||
\url{http://openrocket.sourceforge.net/documentation.html}.
|
||
|
||
\bibitem{stine} Stine, H., Stine, B., {\it Handbook of Model
|
||
Rocketry}, 7th edition, Wiley, 2004.
|
||
|
||
\bibitem{barrowman-rd} Barrowman, J., Barrowman, J., The
|
||
theoretical prediction of the center of pressure, {\it National
|
||
Association of Rocketry Annual Meet 8}, 1966. Available at
|
||
\url{http://www.apogeerockets.com/Education/downloads/barrowman_report.pdf},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{barrowman-thesis} Barrowman, J., {\it The practical
|
||
calculation of the aerodynamic characteristics of slender finned
|
||
vehicles}, M.Sc. thesis, The Catholic University of America, 1967.
|
||
|
||
\bibitem{rocksim} van Milligan, T., RockSim Model Rocket Design and
|
||
Simulation Software, \url{http://www.apogeerockets.com/RockSim.asp},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{oss-principles} Coar, K., The Open Source Definition
|
||
(Annotated), \url{http://www.opensource.org/docs/definition.php},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{openrocket} Niskanen, S., The OpenRocket web-site,
|
||
\url{http://openrocket.sourceforge.net/}, retrieved 25.5.2009.
|
||
|
||
\bibitem{nar-safety-code} Anon., Model Rocket Safety Code,
|
||
\url{http://www.nar.org/NARmrsc.html}, retrieved 14.5.2009.
|
||
|
||
\bibitem{all-certified-motors} Anon., Combined CAR/NAR/TRA Certified
|
||
Rocket Motors List,
|
||
\url{http://www.nar.org/SandT/pdf/CombinedList.pdf}, retrieved 14.5.2009.
|
||
|
||
\bibitem{thrust-curve-database} Coker, J., ThrustCurve Hobby Rocket
|
||
Motor Data, \url{http://www.thrustcurve.org/}, retrieved 14.5.2009.
|
||
|
||
\bibitem{D12-curve} Kane, J., Estes D12,
|
||
\url{http://www.nar.org/SandT/pdf/Estes/D12.pdf}, retrieved 14.5.2009.
|
||
|
||
\bibitem{haisunaata-launch} Puhakka, A., Haisun<75><6E>t<EFBFBD>---suomalainen
|
||
hybridirakettiprojekti (in Finnish),
|
||
\url{http://haisunaata.avaruuteen.fi/}, retrieved 14.5.2009.
|
||
|
||
\bibitem{galejs} Galejs, R., Wind instability---What Barrowman left
|
||
out,
|
||
\url{http://projetosulfos.if.sc.usp.br/artigos/sentinel39-galejs.pdf},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{advanced-model-rocketry} Mandell, G., Caporaso, G., Bengen,
|
||
W., {\it Topics in Advanced Model Rocketry}, MIT Press, 1973.
|
||
|
||
\bibitem{hoerner} Hoerner, S., {\it Fluid-dynamic drag}, published by
|
||
the author, 1965.
|
||
% FLUID-DYNAMIC DRAG
|
||
% Practical Information on AERODYNAMICDRAG and HYDRODYNAMIC RESISTANCE
|
||
% Sighard F. Hoerner (Dr.-Ing.)
|
||
% Published by the Author 1958
|
||
%
|
||
% Chap II - Skin-friction drag
|
||
% laminaarinen, turbulentti, ym.
|
||
% Chap III - Pressure drag
|
||
% forebudy pressure drag for different shapes
|
||
% Base drag C_DB = 0.029/sqrt(C_fB) forebody-drag coefficient C_fB
|
||
% Chap V - Drag of surface imperfections
|
||
% Drag due to surface roughtness
|
||
% Critical roughness
|
||
% Page 5-8, Drag of Individual Protuberances
|
||
% neliskanttinen pala, pituus < korkeus -> CD=1.20
|
||
% pituus > 2*kork -> CD=0.74
|
||
% suhteutettu etupinta-alaan
|
||
% From ref. Tillmann, Rpt KW Inst. G<>ttingen, Dec 1944
|
||
% Chap VII - Drag due to lift
|
||
% Chap VIII - Interference drag
|
||
% Pairs of bodies
|
||
% Chap X - Hydrodynamic drag
|
||
% sivu 10-3, siivekkeiden profiilimuotoja!!!
|
||
% Chap XIII - Drag of airplane components and accessories
|
||
% Drag of external loads
|
||
% Parachutes
|
||
% Chap XV-XVII - subsonic, transsonic, supersonic
|
||
|
||
\bibitem{barrowman-elliptical-fins} Barrowman, J., Elliptical Fin
|
||
C.P. Equations, {\it Model Rocketry} (Nov 1970). Available at
|
||
\url{http://www.argoshpr.ch/articles/pdf/EllipticalCP.jpg},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{appl-comp-aero-fins} Mason, W., Applied Computational
|
||
Aerodynamics,
|
||
\url{http://www.aoe.vt.edu/~mason/Mason_f/CAtxtTop.html},
|
||
{\bf pp. A-27--A-28}, retrieved 14.5.2009.
|
||
|
||
\bibitem{fleeman} Fleeman, E., {\it Tactical missile design}, 2nd
|
||
edition, p.~33, AIAA, 2006.
|
||
|
||
\bibitem{diederich} Diederich, F., {\it A plan-form parameter for
|
||
correlating certain aerodynamic characteristics of swept ings},
|
||
NACA-TN-2335, 1951.
|
||
|
||
\bibitem{barrowman-fin} Barrowman, J., {\it FIN A computer program for
|
||
calculating the aerodynamic characteristics of fins at supersonic
|
||
speeds}, {\it NASA-TM X-55523}, 1966.
|
||
|
||
\bibitem{pettis} Pettis, W., {\it Aerodynamic Characteristics of
|
||
Multiple Fins of Rectangular Planform on a Body of Revolution at
|
||
Mach Numbers of 1.48 to 2.22}, RD-TM-67-5, US Army Missile
|
||
Command, 1967.
|
||
|
||
\bibitem{experimental-transonic} Ferris, J., {\it Static stability
|
||
investigation of a single- stage sounding rocket at Mach numbers
|
||
from 0.60 to 1.20}, NASA-TN-D-4013, 1967.
|
||
|
||
\bibitem{triform-fin-data} Monta, W., {\it Aerodynamic
|
||
characteristics at mach numbers from 1.60 to 2.16 of a blunt-nose
|
||
missile model having a triangular cross section and fixed triform
|
||
fins}, NASA-TM-X-2340, 1971.
|
||
|
||
\bibitem{MIL-HDBK} Anon., {\it Design of aerodynamically stabilized
|
||
free rockets}, MIL-HDBK-762, US Army Missile Command, 1990.
|
||
|
||
\bibitem{handbook-supersonic-aerodynamics} Anon., {\it Handbook of
|
||
supersonic aerodynamics, Section 8, Bodies of revolution},
|
||
NAVWEPS REPORT 1488, 1961.
|
||
|
||
\bibitem{second-order-shock-expansion-method} Syverston, C., Dennis,
|
||
D., {\it A second-order shock-expansion method applicable to bodies
|
||
of revolution near zero lift}, NACA-TR-1328, 1957.
|
||
|
||
\bibitem{international-standard-atmosphere} Anon., {\it Standard
|
||
Atmosphere}, ISO~2533:1975, International Organization for
|
||
Standardization, 1975.
|
||
|
||
\bibitem{US-standard-atmosphere} Anon., {\it U.S. Standard Atmosphere
|
||
1976}, NASA-TM-X-74335; NOAA-S/T-76-1562, 1976.
|
||
|
||
\bibitem{wiki-ISA-layers} Anon., International Standard Atmosphere,
|
||
\url{http://en.wikipedia.org/wiki/International_Standard_Atmosphere},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{wind-energy-handbook} Burton, T., Sharpe, D., Jenkins, N.,
|
||
Bossanyi, E., {\it Wind Energy Handbook}, Wiley, 2001.
|
||
|
||
\bibitem{pink-filter} Kasdin, J., Discrete Simulation of Colored
|
||
Noise and Stochastic Processes and $1/f^\alpha$ Power Law Noise
|
||
Generation, {\it Proceedings of the IEEE}, {\bf 83}, No.~5 (1995),
|
||
p. 822.
|
||
|
||
\bibitem{wiki-euler-angles} Anon., Euler angles,
|
||
\url{http://en.wikipedia.org/wiki/Euler_angles}, retrieved 14.5.2009.
|
||
|
||
\bibitem{wiki-euler-rotation-theorem} Anon., Euler's rotation theorem,
|
||
\url{http://en.wikipedia.org/wiki/Euler's_rotation_theorem},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{wiki-quaternion-rotations} Anon., Quaternions and spatial
|
||
rotation,
|
||
\url{http://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{wiki-moments-of-inertia} Anon., List of moments of inertia,
|
||
\url{http://en.wikipedia.org/wiki/List_of_moments_of_inertia},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{pollux-wind-tunnel} Niskanen, S., Polluxin tuulitunneli (in
|
||
Finnish), \url{http://pollux.tky.fi/tuulitunneli.html}, retrieved 14.5.2009.
|
||
|
||
\bibitem{gnu-gpl} Anon., GNU General Public License, Version 3,
|
||
\url{http://www.gnu.org/copyleft/gpl.html}, retrieved 14.5.2009.
|
||
|
||
\bibitem{java-packages} Anon., Java Language Specification, Chaper 7,
|
||
Packages,
|
||
\url{http://java.sun.com/docs/books/jls/third_edition/html/packages.html#7.7},
|
||
retrieved 14.5.2009.
|
||
|
||
\bibitem{GZIP} Deutsch, P., {\it GZIP file format specification
|
||
version 4.3}, RFC~1952, \url{http://www.ietf.org/rfc/rfc1952.txt},
|
||
1996. Retrieved on 14.5.2009.
|
||
|
||
\bibitem{perfectflite} Anon., Affordable instrumentation for (sm)all
|
||
rockets, \url{http://www.perfectflite.com/}, retrieved 14.5.2009.
|
||
|
||
\bibitem{weco-feuerwerk} Anon., WECO Feuerwerk,
|
||
\url{http://www.weco-feuerwerk.de/}, retrieved 14.5.2009.
|
||
|
||
\bibitem{estes} Anon., Estesrockets.com,
|
||
\url{http://www.estesrockets.com/}, retrieved 14.5.2009.
|
||
|
||
\bibitem{sf-thrustcurves} Anon., Schubdiagramme SF,
|
||
\url{http://www.raketenmodellbautechnik.de/produkte/Motoren/SF-Motoren.pdf},
|
||
14.5.2009.
|
||
|
||
\bibitem{experimental-supersonic} Babb, C., Fuller, D., {\it Static
|
||
stability investigation of a sounding-rocket vehicle at Mach numbers
|
||
from 1.50 to 4.63}, NASA-TN-D-4014, 1967.
|
||
|
||
\bibitem{nosecone-cd-data} Stoney, W., {\it Collection of Zero-Lift
|
||
Drag Data on Bodies of Revolution from Free-Flight Investigations},
|
||
NASA-TR-R-100, 1961.
|
||
|
||
\bibitem{streamer-optimization} Kidwell, C., Streamer Duration
|
||
Optimization: Material and Length-to-Width Ratio, {\it National
|
||
Association of Rocketry Annual Meet 43}, 2001. Available at
|
||
\url{http://www.narhams.org/library/rnd/StreamerDuration.pdf},
|
||
retrieved 14.5.2009.
|
||
|
||
\end{thebibliography}
|
||
|
||
|
||
|
||
|
||
\appendix
|
||
|
||
\include{chapter-appendices}
|
||
|
||
|
||
|
||
|
||
\end{document}
|