Rocket Science 103:
Ballistic Equations of Motion
Newton's Laws as
Applied to
"Rocket Science"
... its not just a job ... its an
adventure
MAE 5930, Rocket Systems Design 1
RS 102: Summary
ln 1 Pmf t
htburn g 0 tburn I sp 1 burn
Pmf 2
Fthust
Vtburn g 0 I sp ln 1 Pmf g 0 tburn
M propellant
Pmf Vertically accelerating rocket
M final Neglected aerodynamic drag
g 0 I sp m propellamt
tburn
M g Fthrust
MAE 5930, Rocket Systems Design 2
How High will my Rocket go?
V
apogee
2
Emech M final g 0 hapogee M final g0
2
Vburnout
2
Emech
hapogee hburnout
M final g 0 2 g0
hapogee
1 ln 1 Pmf t
g 0 I sp ln 1 Pmf g0 tburn
2
burn
tburn I sp 1
2 Pmf 2
MAE 5930, Rocket Systems Design 3
Forces Acting on Rocket
•Lift – acts perpendicular to flight path (non-conservative)
•Drag – acts along flight path (non-conservative)
•Thrust – acts along longitudinal axis of rocket (non-conservative)
•Gravity – acts downward (conservative)
MAE 5930, Rocket Systems Design 4
Forces Acting on Rocket (2)
•Lift – acts perpendicular to flight path (non-conservative)
•Drag – acts along flight path (non-conservative)
Define
Lift Drag
CL , CD
1 1
V Aref
2
V 2 Aref
2 2
CL lift coefficient , C D drag coefficient
1
V 2 " dynamic pressure "(q )
2
Aref " reference area " typically maximum frontal area
" local air density " function of altitude
MAE 5930, Rocket Systems Design 5
Friction (Drag) Losses (2)
Edrag 1 Drag V t
Vdrag
2
dt
M 2 0
M
equivalent specific energy loss due to drag
drag
t
Drag V
Vdrag 2 dt
0
M
For constant CD, M
1 CD Aref V CD Aref
t 3 t
Vdrag 2 dt V 3
dt
0
2 M M 0
M
" Ballistic
“BallisticCoefficient "
Coefficient”
CD Aref
MAE 5930, Rocket Systems Design 6
Ballistic Coefficient
• When effects of lift are negligible aerodynamic effects
can be incorporated into a single parameter
…. Ballistic Coefficient ….
• b is a measure of a projectile's ability to coast. …
… M is the projectile's mass and … CDAref is the drag form factor.
• At any given velocity and air density, the deceleration of a
rocket from drag is inversely proportional to b
Low Ballistic
Coefficients
Dissipate
More Energy
Due to drag
7
MAE 5930, Rocket Systems Design
Real World Launch Analysis
Trajectory Design Optimization
Orbital designs a unique mission trajectory for
each Pegasus flight to maximize payload
performance while complying with the satellite
and launch vehicle constraints. Using the 3-Degree
of Freedom Program for Optimization of • 6-DOF simulations costs
Simulation Trajectories(POST), a desired orbit is
specified and a set of optimization parameters and A LOT! To run and are typically
constraints are designated. Appropriate data for mass Not used for Trajectory
properties, aerodynamics, and motor ballistics are input.
POST then selects values for the optimization parameters design!
that target the desired orbit with specified constraints
on key parameters such as angle of attack, dynamic
loading, payload thermal, and ground track. After • We are going to start with
POST has been used to determine the optimum A simple 2+-D code that works
launch trajectory, a Pegasus-specific six degree of
Freedom simulation program is used to verify Well for mission profile
Trajectory acceptability with realistic attitude development
dynamics, including separation analysis on all stages.
MAE 5930, Rocket Systems Design 8
Perifocal Coordinate System
Sub-orbital Image
Sub-Orbital Launch: Spherical Earth Sub-Orbital Launch: Flat Earth
~ Symmetric
trajectory
Vr
V
MAE 5930, Rocket Systems Design 9
Perifocal Coordinate System
Maps spherical
earth onto flat earth
ir local vertical
i local horizontal( along flight path )
i local horizontal( perpendicular to flight path )
MAE 5930, Rocket Systems Design 10
Newtonian Dynamics
• Must resort to Newton’s laws to describe
these orbits
MAE 5930, Rocket Systems Design 11
Velocity Vector
MAE 5930, Rocket Systems Design 12
Acceleration Vector
MAE 5930, Rocket Systems Design 13
Acceleration Vector (cont’d)
14
MAE 5930, Rocket Systems Design
Newton’s Second Law
15
MAE 5930, Rocket Systems Design
Newton’s Second Law
MAE 5930, Rocket Systems Design 16
Gravitational (conservative) Forces
• Assume spherical earth .. Always acts in ir direction
MAE 5930, Rocket Systems Design 17
Gravitational Forces (2)
G M earth mrocket _
Fgrav 2
i r G M earth earth 3.9860044 10 5
km3
r sec3
Fgrav _ _
Agrav 2 i r g i r
mrocket r
3.9860044 105 km3
sec3
g0 2
1000 m 9.8067 m
6375.4km km sec2
Sea Level Acceleration of gravity at 21 deg. latitude
MAE 5930, Rocket Systems Design 18
Vehicle Mass
Initial mass of vehicle
19
MAE 5930, Rocket Systems Design
Non-Conservative Forces
Fr Flift cos( ) Fdrag sin( ) Fthrust sin( )
m m
F Flift sin( ) Fdrag cos( ) Fthrust cos( )
m
m
Vr
tan
1
V
MAE 5930, Rocket Systems Design 20
Aerodynamic Forces
Aref … reference
Area … planform
Or diameter based
“Dynamic Pressure”
_ 1
Flift C L Aref q C L Aref V 2
2
_ 1
Fdrag C D Aref q C D Aref V 2
2
21
MAE 5930, Rocket Systems Design
Collected Equations
V 2
Flift cos( ) Fdrag sin( ) Fthrust sin( )
V
•
2
r
r m r
• V V Flift sin( ) Fdrag cos( ) Fthrust cos( )
V r V
r m tan 1 r
V
• Vr
r
• V
r
• Fthrust
m
g I
0 sp
•
X f X, Fthrust ,
22
MAE 5930, Rocket Systems Design
Ballistic versus Non -Ballistic Trajectories
• Non-ballistic trajectories sustain
significantly non -zero angles of attack
… lift is a factor in resulting trajectory
… so is induced drag
• Ballistic rocket trims trajectory at
… lift is a negligible factor
23
MAE 5930, Rocket Systems Design
Non-Ballistic “Gravity Turn”
Yup this is real! Made to minimize
Gravity losses
MAE 5930, Rocket Systems Design 24
More “Gravity Turn”
Space Shuttle
Launch (STS
115
– Atlantis) as
seen
from ISS
“definitely
Not ballistic”
25
MAE 5930, Rocket Systems Design
Example of Ballistic Trajectory
~ Symmetric
trajectory
• Ballistic Trajectories
Offer minimum drag profiles
( No induced drag)
MAE 5930, Rocket Systems Design 26
Collected Equations, Ballistic Trajectory
V 2
F V
2
V
•
2 thrust
sin( )
r r r m 2 Vr
•
tan
1
V V V F V 2
r thrust cos( )
V
r m 2
m
=
• Vr CD Aref
r
• V
r
•
F •
m
thrust X f X, Fthrust
g0 I sp 0
MAE 5930, Rocket Systems Design 27
Numerical Analysis of the
2-D Launch Equations of Motion
MAE 5930, Rocket Systems Design 28
Integrated Equations of Motion
• t
X f X, Fthrust , X(t) X(t 0 ) f X, Fthrust , dt
t0
approximate over fixed interval T
t 0 t
X(t 0 t) X(t 0 ) f X, F
t0
thrust , dt
MAE 5930, Rocket Systems Design 29
Numerical Approximation of
the Integral
MAE 5930, Rocket Systems Design 30
Numerical Approximation of
the Integral(cont’d)
t 0 t
X(t 0 t) X(t 0 ) f X, F
t0
thrust , dt
“Trapezoidal rule”
x(t) x(t+ t)
MAE 5930, Rocket Systems Design 31
Numerical Approximation of
the Integral(cont’d)
“Trapezoidal rule” fk f X k , Fthrust k , k
fk 1 f X k 1 , Fthrust k1 , k 1
~
^ ~^
f k 1 f X k 1 , Fthrust k1 , k 1
MAE 5930, Rocket Systems Design 32
Numerical Approximation of
the Integral(cont’d)
“trapezoidal rule”
MAE 5930, Rocket Systems Design 33
Predictor/Corrector Algorithm
t, X , F
^
,
k thrust k k
“trapezoidal rule”
~
X k X k t f X k , Fthrust k , k
^ ^ ^
^ ^ t
X ,F
^ ~^
f X ,F
X k 1 Xk f , k 1 ,
k 1
2 k thrust k k
thrust k 1
MAE 5930, Rocket Systems Design 34
Higher Order Integrators
•Simple Second Order predictor/corrector works well for
Small-to-moderate step sizes … but at larger step sizes can
be come unstable
• Good to have a higher order integration
scheme in our bag of tools
• 4th Order Runge-Kutta method is one most commonly used
• we’ll only use the second order integrators for this simulation
MAE 5930, Rocket Systems Design 35
Summary Slides on E.O.M.
MAE 5930, Rocket Systems Design 36
Collected Equations, Ballistic Trajectory
V 2
F V
2
V
•
2 thrust
sin( )
r r r m 2 Vr
•
tan
1
V V V F V 2
r thrust cos( )
V
r m 2
This what we are going to program m
=
• Vr CD Aref
r
• V
r
•
F •
m
thrust X f X, Fthrust
g0 I sp 0
MAE 5930, Rocket Systems Design 37
Predictor/Corrector Algorithm
t, X , F
^
,
k thrust k k
“trapezoidal rule”
~
X k t f X k , Fthrust k , k
^ ^ ^
X k 1
^ ^t
X ,F
^ ~^
f X ,F
X k 1 Xk f , k 1 ,
k 1
2 k thrust k k
thrust k 1
MAE 5930, Rocket Systems Design 38
Fixed Earth Approximation
• Ignore effects of rotation
• Vinertial=Vground
• ginertial=gground
• Accurate for Short Duration
lower altitude flights
MAE 5930, Rocket Systems Design 39
Ground Launch: Down Range Calculation
• Integrated trajectory gives
r,
• Inertial Downrange
d
rd
r
Recursive Formula
40
MAE 5930, Rocket Systems Design
Velocity Off of the Rail
Vrail m Arail Fthrust Fgrav Ffric Fdrag
15 m/sec
m
Fdrag
Fthrust C D Aref
careful! with units
g 2
Re h
Ffric • Vrail 2 Fthrust
V rail
2 sin( ) C cos( )
rail
2 e
rail f
R h m
• Fthrust
m
g0 I sp
rail 85
41
MAE 5930, Rocket Systems Design
Vrail
15 m/sec
Velocity
Off of the Rail… Initial Conditions
Fthrust
Fdrag for simulation
Vrail sin rail
Vr
V V cos rail
Ffric
Rearth + hlaunch +lrail sin rail
r
lrail cos rail
Rearth + hlaunch +lrail sin rail
m initial
conditions
mrail
rail
85
42
MAE 5930, Rocket Systems Design
Rail Simulation Block Diagram
Initial
Conditions Parameters and
Constants
MAE 5930, Rocket Systems Design 43
Ballistic Simulation Initial Conditions
Vrail sin rail
Vr
V V cos rail
Rearth + hlaunch +lrail sin rail
r
lrail cos rail
Rearth + hlaunch +lrail sin rail
m initial
conditions
mrail Final
conditions
MAE 5930, Rocket Systems Design 44
Ballistic Simulation Block Diagram
Initial
Conditions Parameters and
Constants
MAE 5930, Rocket Systems Design
45
Design Friday: 2009 “Pike” Ballistic Simulation
… Build functional block diagram of the simulation, Identify key elements
and computational blocks
Rail Launch .. Single degree of freedom model for rail dynamics, rail launch angle
assumed to be constant, assume constant thrust, deplete mass during burn
Initial conditions:… Use rail exit conditions for calculating initial conditions for
Ballistic simulation
Motor Burn phase … Assume constant thrust, constant drag coefficient,
ballistic equations of motion, deplete mass during burn
Coast phase … zero thrust (following depletion of propellant mass), constant mass,
Constant drag coefficient, ballistic equations of motion
Use trapezoidal rule for integration, Use 1976 US standard atmosphere to calculate
Density, pressure, temperature, etc .. As function of vehicle altitude
46
MAE 5930, Rocket Systems Design
Design Friday: 2009 “Pike” Ballistic Simulation (2)
Assume :
m(t )
(t )
CD 0 Aref
47
MAE 5930, Rocket Systems Design
Design Friday: 2009 “Pike” Ballistic Simulation (3)
Check simulation results for CD0=0 (b >> 1)
.. Using analytical expressions for Vtburn, htburn , hapogee
… Plot Achieved apogee (with drag active) as a function of initial
launch rail angle for nominal motor impulse
… Plot achieved apogee as function motor impulse for
I = {1000, …. 5000 Nt-sec) at 85 deg launch angle
I mpulse Fthrust tburn
48
MAE 5930, Rocket Systems Design
Questions??
49
MAE 5930, Rocket Systems Design