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Master's Thesis MASTER'S THESIS Design, Analysis and Fabrication of a Rocket Simulator Prototype For Thrust Vectoring Stabilization Lekha Ananda Kumar Sumathy 2015 Master of Science (120 credits) Space Engineering - Space Master Luleå University of Technology Department of Computer Science, Electrical and Space Engineering MASTER THESIS Design, Analysis and Fabrication of a Rocket Simulator Prototype for Thrust Vectoring Stabilization SUBMITTED BY LEKHA ANANDA KUMAR SUMATHY Würzburg March 31st, 2015 Design, Analysis and Fabrication of a Rocket Simulator Prototype For Thrust Vectoring Stabilization Master of Science (120 credits) Space Engineering - Space Master Luleå University of Technology Department of Computer Science, Electrical and Space Engineering Design, Analysis and Fabrication of a Rocket Simulator Prototype For Thrust Vectoring Stabilization Master Thesis in Space Science and Technology written by Lekha Anandakumar Sumathy performed at University of Würzburg Faculty of Computer Science Informatik VIII Examiner External Examiner (LTU) Supervisor Prof. Dr.-Ing. Sergio Montenegro Prof. Dr. Johnny Ejemalm Dipl.-Ing. Thomas Walter Examiner I Prof. Dr.-Ing. Sergio Montenegro Professor and Chair Computer Science VIII: Aerospace Information Technology Julius-Maximilians-University Würzburg, Germany. E-mail: [email protected] Examiner II Prof. Dr. Johnny Ejemalm Senior Lecturer Department of Computer Science, Electrical and Space Engineering Luleå University of Technology, Sweden Email: [email protected] Supervisor Dipl.-Ing. Thomas Walter Research Assistant Computer Science VIII: Aerospace Information Technology Julius- Maximilians- University Würzburg, Germany. Email: [email protected] DECLARATION OF ORIGINAL WORK I hereby declare that I have developed and written the enclosed Master Thesis completely by myself, and have not used sources or means without declaration in the text. I also certify to the best of my knowledge that my Maser Thesis does not resemble anyone’s ideas, quotations, or any techniques. Any thoughts from others or literal quotations are clearly marked and are fully acknowledged in references. The Master Thesis was not used in the same or in a similar version to achieve an academic grading or is being published elsewhere. DATE: SIGNATURE PLACE: Dedicated To the Almighty. Abstract University of Würzburg, Informatics VIII aims in developing a rocket simulator test bed in aspect of implementing a control algorithm for thrust vectoring concept. This thesis explains the idea of developing a miniaturized rocket model which is equipped with an actuating nozzle. The main content discussed in this project involves in designing a rocket prototype for thrust vectoring mechanisms where the control algorithm about to be developed can be implemented and tested for. From the various thrust vectoring mechanisms available, selection of mechanically actuated system is finalized because of its benefits in use. Here mechanical actuation is done with the help of servo supported by a bearing. The next phase is about describing the type of nozzle suitable for the work and proceeding with determination of the required parameters for the selected nozzle. By reviewing the available literature background, Bell shaped Convergent-Divergent nozzle is considered to be relevant and reasonably preferred for the thrust vectoring mechanism. Theoretical calculations were made for the specific criterion in respect with all technical details necessary for designing the nozzle. CAD model of the nozzle is then finalized and designed in Catia V5 R18 CAD software. Analyzing and visualizing the fluid flow parameters of the nozzle is done with the help of Ansys 14.5 software. Here the compressed air is used as the fluid flow medium. Analysis is made to find the pressure, density variation along the axis of the nozzle. The obtained analytical results are then validated with the theoretically calculated results. Once verification is done the components are given for manufacturing. Designed thrust vectoring setup should weigh very less for it to be lifted by the force produced by the nozzle. So the components are manufactured in a light weight material called PVC. The manufactured components are then assembled and tested in the laboratory. i Acknowledgement With sincere love and utmost respect I would like to thank my parents for believing in me, helping me and successfully made me cross all the hurdles in pursuing my dreams. With immense gratitude I express my sincere thanks to Prof. Dr. Sergio Montenegro from JMUW for giving me this opportunity to work in this most challenging project were I could learn, experiment and excel in the subject. I extend my sincere thanks to Prof. Dr. Johnny Ejemalm for accepting my request to act as a remote examiner from Luleå Technical University. I owe my deepest gratitude to my supervisor Mr. Thomas Walter without whom this thesis would not have been possible and would remain as a dream. His constant guidance, and continuous support helped me in understanding things easier which turned out in successful completion of the project. I am very grateful to the people working in the mechanical workshop for accepting my request in manufacturing my project and giving it a life. Next I would like to thank my seniors Richard and Dinesh for assisting me in solving many small issues throughout this thesis. I convey my sincere thanks to my friends Saravanan, and Arunkumar for clarifying all my silly doubts and helped me in making this project into a reality. A special thanks to my lovable friend Sravani for being with me supporting me and encouraging me in all my tough times. I thank all my friends in Würzburg for making me feel safe and back home whenever I felt I am alone. And my heartfelt thanks to all my friends and relatives back in hometown for supporting me throughout my life. I want to express my sincere thanks to Mrs. Mahlakshmi for supporing me financially and making my dream come true. I also thank my fellow space master students for their support throughout this course. Very importantly, I want to thank Ms. Ursula Shahmary, Ms. Heidi Schließus, Ms. Anette Snällfot- Brändström, and Ms. Maria Winneback for their constant support and help in solving all the administrative problems in Germany and in Sweden. Finally I would like to thank Erasmus Consortium for selecting me to this master program. ii Table of Contents List of figures .............................................................................................................................. vi List of tables ............................................................................................................................. viii Nomenclatures ............................................................................................................................ ix 1. Introduction ...................................................................................................................... 1 2. Motivation and objective of the research ............................................................................. 3 3. State of the art ................................................................................................................... 4 4. Background ....................................................................................................................... 6 4.1. Concept of Thrust Vectoring ....................................................................................... 6 4.1.1. Gimbaled Nozzle ................................................................................................ 7 4.1.2. Flexible Laminated Bearing and Flexible Nozzle Joint .......................................... 8 4.1.3. Jet Vanes............................................................................................................. 9 4.1.4. Jetavators .......................................................................................................... 10 4.1.5. Jet Tabs ............................................................................................................ 10 4.1.6. Side Injection .................................................................................................... 11 4.2. Mach number ........................................................................................................... 11 4.3. Nozzle fundamentals ................................................................................................ 12 4.3.1. Over expansion ................................................................................................. 13 4.3.2. Under expansion ............................................................................................... 13 4.4. Types of Nozzles ...................................................................................................... 13 4.4.1. Convergent nozzle ............................................................................................. 13 4.4.2. Divergent nozzle ............................................................................................... 14 4.4.3. Convergent- Divergent Nozzle ........................................................................... 14 5. Design requirements for Thrust Vectoring Nozzle ............................................................. 16 iii 5.1. Determination of Nozzle Parameters ......................................................................... 16 5.1.1. Description of the procedure .............................................................................
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