NASA CONTRA CTOR REPORT kCb;AR COPY: RFTURN TO AFWL (WLIL-2) KIRTLAND AFB, N MEX DYNAMIC STABILITY - OF SPACE VEHICLES Volume XII - Re-Entry Vehiclk- Landing Ability and Control by B. J. Kmhtu Prepared by GENERAL DYNAMICS CORPORATION San Diego, Calif. for George C. Marshall Space Flight Center NATIONAL AERONAUTICSAND SPACE ADMINISTRATION l WASHINGTON, D. C. l MAY 1968 NASA CR-946 TECH LIBRARY KAFB, NM DYNAMIC STABILITY OF SPACE VEHICLES Volume XII - Re-Entry Vehicle Landing Ability and Control By B. J. Kuchta . Distribution of this report is provided in the interest of information exchange. Responsibility for the contents resides in the author or organization that prepared it. Prepared under Contract No. NAS 8-11486 by GENERAL DYNAMICS CORPORATION San Diego, Calif. for George C. Marshall Space Flight Center ’ NATIONAL AERONAUTICS AND SPACE ADMINISTRATION ___-.i.. i- For sale by the Clearinghouse for Federal Scientific and Technical Information Springfield, Virginia 22151 - CFSTI price $3.00 - FOREWORD This report is one of a series in the field of structural dynamics prepared under contract NAS 8-11486. The series of reports is intended to illustrate methods used to determine parameters required for the design and analysis of flight control systems of space vehicles. Below is a complete list of the reports of the series. Volume I Lateral Vibration Modes Volume II Determination of Longitudinal Vibration Modes Volume III Torsional Vibration Modes Volume IV Full Scale Testing for Flight Control Parameters Volume V Impedence Testing for Flight Control Parameters Volume VI Full Scale Dynamic Testing for Mode Determination Volume VII The Dynamics of Liquids in Fixed and Moving Containers Volume VIII Atmospheric Disturbances that Affect Flight Control Analysis Volume M The Effect of Liftoff Dynamics on Launch Vehicle Stability and Control Volume X Exit Stability Volume XI Entry Disturbance and Control Volume XII Re-entry Vehicle Landing Ability and Control Volume XIII Aerodynamic Model Tests for Control Parameters Determination Volume XIV Testing for Booster Propellant Sloshing Parameters Volume XV Shell Dynamics with Special Applications to Control Problems The work was conducted under the direction of Clyde D. Baker and George F. McDonough, Aero Astro Dynamics Laboratory, George C. Marshall Space Flight Center. The General Dynamics Convair Program was conducted under the direction of David R. Lukens. iii TABLE OF CONTENTS Section Page 1 INTRODUCTION . 1 2 STATEOFTHEART . 3 3 CRITERIA . 5 4 RECOMMENDEDPRACTICES . l . l . l . l l l 7 4.1 Low L/D Spacecraft l l . 7 4.1.1 Nonmaneuverable Landing Systems . 7 4.1.2 Maneuverable Landing Systems. l 11 4.1.2.1 Primary Descent System . l 12 4.1.2.2 Landing Rocket System . 16 4.1.2.3 Impact Attenuation System . l 19 4.1.2.4 Overturn Prevention System . l 21 4.1.2.5 Landing Visibility. l 25 4.2 Horizontal Landing Spacecraft s . ......... 27 4.2.1 Fixed Geometry. ......... 29 4.2.1.1 Wing Effects . ......... 29 4.2.1.2 Fin Toe-In Effects ......... 39 4.2.1.3 Body Aft-End . ......... 30 4.2.1.4 Fin Sweep . ......... 30 4.2.1.5 Landing Criteria . ......... 32 4.2.1.6 Landing Analysis . ......... 34 4.2.2 Variable Geometry. ......... 42 4.2.2.1 Switch-Blade . ......... 43 4.2.2.2 Foldout. ......... 43 4.2.2.3 Single Pivot. - . ......... 43 4.3 Powered Landing Spacecraft . 46 4.3.1 Propulsive Lift . 46 4.3.2 Powered Rotors- l . l . l l . l . 50 5 REFERENCES. 55 A PARACHUTE EQUATIONS OF MOTION AND STABILITY EQUATJ.ONS . 57 v TABLE OF CONTENTS (Continued) Appendix Page A.1 Assumptions. ................. 57 A.2 Equations of Motion ............... 57 A. 2.1 Basic Derivation ............. 57 A.2.2 Nondimensional Equations ......... 59 A.3 Solutions of Equations of Motion ........... 62 A.3.1 Small Disturbance Analysis . l - . l l - . 62 A.3.2 Large Disturbance ............. 68 vi LIST OF ILLUSTRATIONS Figure Page Recovery Technique for Apollo. l l . l l . 9 Design Drogue Parachute System . l . s l . 9 Drogue-Parachute Attachments Used in Deployment Tests . 9 Diagram for Discussion of Spacecraft Rotation Tests . 9 Modified Drogue Attachment Configurations . l . - 10 Apollo Recovery Envelope . 11 Horizontal Velocity and Descent Rate Variation with Parachute Size (Nominal Sea-Level Conditions - Spacecraft Weight = 8,500 lb) . 15 8 Cloverleaf Parachute Design Performance . 16 9 Effect of Braking Rocket Thrust-to-Weight Ratio on Impact Velocity . 19 10 Landing Stability Envelope for a Rigid Ballistic Spacecraft . 23 11 Landing Stability Envelope for a Rigid Ballistic Spacecraft, Preferred Landing Orientation . 24 12 Landing Stability of Ballistic Spacecraft with Outriggers . 26 13 Ballistic Spacecraft Landing Visibility Requirements . 28 14 Effect of Wing Section . * 30 15 Effect of Fin Toe-In . - 31 16 EffectofBodyAftEnd . - 31 17 Effect of Fin Sweep . * 31 18 Landing Phases . 32 19 Landing Profile and Polar . - 33 20 Approach Comparison for a Typical Vehicle . 36 21 Performance Variation with Approach Angle and Maximum L/D. - 37 22 Landing Performance Criteria. 37 23 Approach Characteristics as Determined by Wind Loading and Touch&~ Velocity - - . * - l a a a a s . l a s . - 38 24 Gust-Induced Angle Changes . l . l l l l . * 39 vii LIST OF ILLUSTRATIONS (Continued) Figure Page 25 Demonstrated Ceiling Requirements for Unpowered Landings . l . 41 26 Fineness Ratio 6 Elliptic Lifting Body Configuration Hafig Variable Position, Switch-Blade Wings ............... 44 27 Low-Fineness Ratio Lifting Body Configuration Having Foldout, Variable-Geometry Wings ................ 44 28 High-Fineness Ratio Trapezoidal Lifting Body Configuration Having Two-Position, Single Pivot Skewed Wing ........... 45 29 Influence of Body on CQ ................ 45 B 30 Propulsive Lift Vehicles ................. 47 31 PuME Vel&Ae. .................. .47 32 Typical System Requirements ............... 48 33 Total Control Moment as Function of Command ......... 49 34 PLAME Parachute System ................ 50 35 Rotor Landing System for One-Man Capsule, View 1 ....... 51 36 Rotor Landing System for One-Man Capsule, View 2 ....... 51 37 Rotor Landing System Operating Sequence ........... 53 38 Landing Maneuvers with Rotor Landing System ......... 53 A-l Coordinate Systems .................. 58 A-2 Angle of Attack and Centroidal Lengths ............ 60 A-3 Statically Stable Glide. ................. 60 A-4 Typical Force Coefficient Curves for a Parachute ........ 63 A-5 Nondimensional Apparent Inertia .............. 69 A-6 Experimental Curves for CN@ and CT, per Radian . l l l . * 69 A-7 Effects of Glide Angle on Stability. ............. 70 A-8 Effects of Froude Number on Stability ............ 70 A-9 Effects of Slenderness Ratio on Stability ........... 71 A-10 Computer Simulation for 1" , 10” and 20” Disturbances. ...... 72 A-11 Response to 1” and 40” Lateral Disturbance .......... 73 viii LISTOFTABLES Table Page 1 Summary of the Characteristics of Maneuvering Descent Systems . 14 2 Propulsive Braking Systems . 17 3 Landing Attenuation Systems Comparison . 20 ix - l/INTRODUCTION A stable spacecraft configuration is required to guarantee satisfactory and safe landing on return to earth. Landing techniques range from ballistic descent trajectories with parachute recovery systems, to high lift-over-drag ratio (L/D) variable geometry vehicles or to vertical-descent, powered landing spacecraft. All the current operational spacecraft utilize the low L/D trajectories with a para- chute recovery system. This system provides a safe and reliable recovery with mini- mum stress and proficiency demands on the crew. However, as the present day touchdown area is over water, deployment of a large recovery force is required. Current practice is to provide a stable configuration so that none of the crew’s attention is required for stability or control on landing. This policy will not be con- tinued on future programs because it is planned to incorporate maneuvering capability under pilot control. For these spacecraft the pilot should be furnished a stable vehicle, hands off, so that his attention will not be required to maintain stability during landing. There will be a significant area of tradeoff when the landing configuration require- ments versus re-entry requirements are considered. This monograph will consider the control and stability aspects of spacecraft just prior to and during touchdown. It will not attempt to cover vehicle configuration selection because vehicle configuration depends on total system and mission tradeoffs. The criteria and recommended practices sections of this monograph are divided into three categories. The first discusses the landing of a low L/D spacecraft. The second discusses horizontal landing spacecraft, and the third touches on vertical descent, powered landing spacecraft. 1 2/STATE OF THE ART The advent of spacecraft having maneuvering capability and the demonstration of the feasibility of control by the crew during re-entry flight and landing makes return to a preselected land recovery site a desirable goal, Development of a satisfactory land recovery system which is compatible with requirements for re-entry, however, is still considered a primary problem area. The present state of the art does not allow parachute descent with touchdown on land. It is probable that the majority of future efforts will not be directed toward land touch- down of a parachute capsule but rather toward the development of a spacecraft having a horizontal landing capability. This does not, however, preclude all consideration of maneuverable