Rocket Science

Steve R. Gunn
Image, Speech and Intelligent Systems Group
Department of Electronics and Computer Science
University of Southampton
August 29, 2001
Version 0.6
Nomenclature
a acceleration ms
2
A cross-sectional area m
2
c
m
centre of mass m
c
p
centre of pressure m
C
d
drag coecient
d main body diameter m
I impulse Ns
g gravitational acceleration ms
2
l rocket length m
m mass kg
m
c
motor casing mass kg
m
p
propellant mass kg
m
r
rocket mass kg
air density 1.2 kg m
3
r rocket radius m
t time s
t
a
apogee time s
t
b
burn time s
t
c
coast time s
t
d
descent time s
t
f
ight time s
T thrust N
v velocity ms
1
y altitude m
y
a
altitude at apogee m
y
b
altitude at end of burn m
1 Introduction
Assuming a vertical trajectory and no external wind forces the dynamical problem can be reduced to one
dimension. Applying Newtons second law the dynamics of the rocket satisfy
m
d
2
y
dt
2
= mg +T k
dy
dt

dy
dt

, (1)
2 Constant Mass and Thrust assumption 2
where
k =
1
2
C
d
A, (2)
is the density of air (1.2 kg m
3
), C
d
is the drag coecient (about 0.75 for a model rocket), m is the rocket
mass and A is the cross-sectional area of the rocket.
2 Constant Mass and Thrust assumption
The changing mass of the propellant is approximated by its mean value, and m has the form
m = m
r
+m
c
+
1
2
m
p
. (3)
The thrust of the motor, T, is assumed to be constant over the burn time, t
b
.
2.1 Burn Phase
In the burn phase Equation 1 may be rewritten as,
m
d
2
y
dt
2
= mg +T k
_
dy
dt
_
2
, for 0 t t
b
, (4)
and when T mg (i.e. the motor is powerful enough to lift the rocket), has general solution
y = C
1
+
m
k
log cosh
_
k
m
_
T mg
k
t C
2
_
. (5)
The boundary conditions of Equation 4 are
y

(0) = 0, y(0) = 0. (6)

The solution is
y =
m
k
log cosh
_
k
m
_
T mg
k
t
_
(7)
y

=
_
T mg
k
tanh
_
k
m
_
T mg
k
t
_
(8)
y

=
_
T
m
g
_
sech
2
_
k
m
_
T mg
k
t
_
(9)
or more simply
y = g
1

2
log cosh( t) (10)
y

= g

2
tanh ( t) (11)
y

= g

2

2
sech
2
( t) , (12)
2 Constant Mass and Thrust assumption 3
where
=
_
k (T mg)
m
(13)
=
_
k g
m
. (14)
2.2 Coast Phase
In the coast phase Equation 1 may be rewritten as,
m
d
2
y
dt
2
= mg k
_
dy
dt
_
2
, for t
b
t t
a
, (15)
and has general solution
y = C
1
+
m
k
log cos
_
C
2

k
m
_
mg
k
t
_
. (16)
The boundary conditions of Equation 15 are
y

(t
b
) = y

b
, y(t
b
) = y
b
, for t
b
t t
a
. (17)
The general solution is
y = C
1
+
m
k
log cos
_
C
2

k
m
_
mg
k
t
_
(18)
y

=
_
mg
k
tan
_
C
2

k
m
_
mg
k
t
_
(19)
y

= g sec
2
_
C
2

k
m
_
mg
k
t
_
. (20)
Solving for the boundary conditions,
y
b
= C
1
+
m
k
log cos
_
C
2

k
m
_
mg
k
t
b
_
(21)
y

b
=
_
mg
k
tan
_
C
2

k
m
_
mg
k
t
b
_
, (22)
gives
C
2
=
_
g k
m
t
b
+ tan
1
_
y

k
mg
_
(23)
C
1
= y
b
+
m
k
log

1 +
k y
2
b
mg
, (24)
and hence the solution is
y = y
b
+
m
k
log
_
_

1 +
k y
2
b
mg
cos
_

_
g k
m
(t t
b
) + tan
1
_
y

k
mg
__
_
_
(25)
y

=
_
mg
k
tan
_

_
g k
m
(t t
b
) + tan
1
_
y

k
mg
__
(26)
y

= g sec
2
_

_
g k
m
(t t
b
) + tan
1
_
y

k
mg
__
. (27)
2 Constant Mass and Thrust assumption 4
Simplifying,
y = g
1

2
log
_
cos ((t t
b
)) cosh( t
b
) +

sin((t t
b
)) sinh( t
b
)
_
(28)
y

= g

2
tanh ( t
b
)

tan((t t
b
))
_
1 +

tan((t t
b
)) tanh( t
b
)
_ (29)
y

= g

2

2
_

2
+ tanh
2
( t
b
)
_
sec
2
((t t
b
))
_
1 +

tan((t t
b
)) tanh ( t
b
)
_
2
. (30)
At apogee y

(t
a
) = 0, hence
0 = tanh ( t
b
) tan( (t
a
t
b
)) (31)
t
a
= t
b
+
1

tan
1
_

tanh ( t
b
)
_
, (32)
and the coast time is given by
t
c
= t
a
t
b
(33)
=
1

tan
1
_

tanh ( t
b
)
_
. (34)
The altitude at apogee is
y
a
= y
b
+
m
k
log
_
_

1 +
k y
2
b
mg
_
_
(35)
y
a
= y
b
+
m
k
log
_
_

_
1 +
k
mg
T mg
k
tanh
2
_
k
m
_
T mg
k
t
b
_
_
_
(36)
y
a
=
m
k
log cosh
_
k
m
_
T mg
k
t
_
+
m
k
log
_
_

_
1 +
k
mg
T mg
k
tanh
2
_
k
m
_
T mg
k
t
b
_
_
_
(37)
y
a
= g
1
2
2
log
_
1 +
T
mg
sinh
2
( t
b
)
_
(38)
2.3 Descent Phase (Freefall)
In the descent phase Equation 1 may be rewritten as,
m
d
2
y
dt
2
= mg +k
_
dy
dt
_
2
, for t
a
t t
f
, (39)
and has general solution
y = C
1

m
k
log cosh
_
C
2

_
k g
m
t
_
. (40)
The boundary conditions of Equation 39 are
y

(t
a
) = 0, y(t
a
) = y
a
. (41)
2 Constant Mass and Thrust assumption 5
The solution is
y = y
a

m
k
log cosh
_
_
k g
m
(t
a
t)
_
(42)
y

=
_
mg
k
tanh
_
_
k g
m
(t
a
t)
_
(43)
y

= g sech
2
_
_
k g
m
(t
a
t)
_
, (44)
or more simply
y = y
a
g
1

2
log cosh((t
a
t)) (45)
y

= g
1

tanh ((t
a
t)) (46)
y

= g sech
2
((t
a
t)) . (47)
The ight time, t
f
, is given by
0 = y
a
g
1

2
log cosh((t
a
t
f
)) (48)
t
f
= t
a
+
1

cosh
1
_
exp
_
y
a

2
g
__
, (49)
where we choose the principal range of cosh
1
(x) such that cosh
1
(x) 0, and the descent time is given by
t
d
= t
f
t
a
(50)
=
1

cosh
1
_
exp
_
y
a

2
g
__
. (51)
Substituting,
t
d
=
1

cosh
1

1 +
T
mg
sinh
2
( t
b
) (52)
Terminal velocity is given by
y

t
=
g

. (53)
3 Variable Mass and Thrust 6
3 Variable Mass and Thrust
m
d
2
y
dt
2
= mg +T k
_
dy
dt
_
2
(54)
Consider m to have the form
m = m
r
+m
p
t
b
t
t
b
(55)
General solution for velocity and acceleration can be recovered in the form of Bessel functions, but the altitude
cannot be written down explicitly due to the integral of the velocity being intractable.
4 Stability 7
4 Stability
The stability of a rocket is governed by the centre of mass, c
m
, and the centre of pressure, c
p
. Dening the
origin as the nose tip of the rocket, the rocket is stable if c
p
> c
m
, (i.e. the centre of pressure is behind the
centre of mass). To calculate c
m
and c
p
we consider the axially symmetric part of the rocket, Figure 1, and the
ns separately.
Figure 1: Rocket Cross section
Figure 2 illustrates the case for a stable rocket, where the lift force is denoted by a purple arrow and the drag
force by a red arrow. These forces act about the centre of pressure. It can be seen that the three examples are
stable since the lift forces act to restore the rocket to vertical ight, if it is perturbed. Consequently determining
stability requires the calculation of c
m
and c
p
.
Figure 2: Rocket Stability
4.1 Centre of Mass
The centre of mass for an axially symmetric rocket is given by
c
m
=
_
2
0
_
l
0
_
R(x)
0
x(r, x, ) r dr dxd
_
2
0
_
l
0
_
R(x)
0
(r, x, ) r dr dxd
(56)
=
_
l
0
_
R(x)
0
x(r, x) r dr dx
_
l
0
_
R(x)
0
(r, x) r dr dx
(57)
where R(x) is the radius of the rocket, and is the rocket density.
Example 4.1 (Shell).
(r, x) =
0
(r R(x)) (58)
4 Stability 8
c
m
=
_
l
0
_
R(x)
0
x
0
(r R(x)) r dr dx
_
l
0
_
R(x)
0

0
(r R(x)) r dr dx
(59)
=
_
l
0
xR(x) dx
_
l
0
R(x) dx
(60)
Alternatively, it may be more convenient to calculate the centre of mass of the rocket components separately
to nd c
m
,
c
m
=
c
m
n
m
n
+c
m
b
m
b
+c
m
f
m
f
+c
m
m
m
m
+c
m
i
m
i
m
n
+m
b
+m
f
+m
m
+m
i
(61)
where here we choose to separate the rocket into its nose, body, ns, motor and internals (recovery system
and/or payload). However, once a rocket has been built it is trivial to nd the c
m
by nding its balance point.
N.B. typically the c
m
will decrease slightly during ight due to the combustion of the propellant.
4.2 Centre of Pressure
Following the work of Barrowman (?):
For an axially symmetric body of revolution, the subsonic steady state aerodynamic running normal load is
given by
n(x) = v

x
[S(x) W(x)] (62)
A rigid body has downwash given by
W(x) = v (63)
Thus
n(x) = v
2

S(x)
x
(64)
The normal force coecient, C
N
is dened by
C
N
(x) =
n(x)
1
2
v
2
A
(65)
=
2
A
S(x)
x
(66)
=
8
d
2
S(x)
x
(67)
By the denition of the normal force curve slope
C
N

(x) =
C
N

=0
(68)
=
8
d
2
S(x)
x
(69)
In order to obtain the total C
N

we integrate over x,
C
N

=
_
l
0
C
N

(x) dx (70)
=
8
d
2
(S(l) S(0)) (71)
By denition the pitching moment of the local normal aerodynamic force about the nose tip (x = 0) is
M(x) = xn(x) (72)
= x v
2

S(x)
x
(73)
4 Stability 9
By denition the aerodynamic pitching moment coecient is
C
m
(x) =
M(x)
1
2
v
2
Ad
(74)
=
2 x
Ad
S(x)
x
(75)
=
8 x
d
3
S(x)
x
(76)
By the denition of the moment coecient curve slope
C
m

(x) =
C
m

=0
(77)
=
8 x
d
3
S(x)
x
(78)
In order to obtain the total C
m

we integrate over x,
C
m

=
_
l
0
C
m

(x) dx (79)
=
8
d
3
_
l
0
x
S(x)
x
dx (80)
=
8
d
3
_
[xS(x)]
l
0

_
l
0
S(x) dx
_
(81)
=
8
d
3
_
l S(l)
_
l
0
S(x) dx
_
(82)
=
8
d
3
{l S(l) V } (83)
The centre of pressure, c
p
, is dened as,
c
p
= d
C
m

C
N

(84)
=
l S(l) V
S(l) S(0)
(85)
5 Nose Shape 10
5 Nose Shape
Following the work of ?? we consider the optimal form for the nose shape. Newton reasoned that the air resis-
tance was caused by particles of air hitting the moving object and used the conservation of momentum. In the
following we consider only convex noses which avoids complications due to multiple impacts from air molecules.
(However, there are non-convex local optima that have a single impact form ()). Using the conservation of
momentum,
mv = m
a
v (1 + cos(2 )) (86)
= Av t v (1 + cos(2 )) (87)
= 2 Av
2
cos
2
() t (88)
Hence,
F
d
= m
dv
dt
= 2 Av
2
cos
2
() (89)
Now consider a curved surface such that the area dA is varying over the surface,
F
d
=
__
2 v
2
cos
2
() dA (90)
= 2 v
2
__
cos
2
() dA (91)
= 2 v
2
__
cos
3
() dS (92)
From Equation 1 and Equation 2 we note that,
C
d
=
4
A
__
cos
2
() dA (93)
=
4
A
__
cos
3
() dS (94)
Noting that
cos() =
1
_
1 +
_
z
x
_
2
+
_
z
y
_
2
(95)
then
C
d
=
4
A
__
1
1 +
_
z
x
_
2
+
_
z
y
_
2
dxdy (96)
We dene the nose aspect ratio parameter =
h
R
, where h is the nose height from tip to base and R is the nose
radius at the base.
5 Nose Shape 11
5.1 Radial Nose Cones
Now consider a radially symmetric nose cone of prole z(r), then
C
d
=
4
A
_
2
0
_
R
0
r
1 +
_
z
r
_
2
dr d (97)
=
8
A
_
R
0
r
1 +
_
z
r
_
2
dr (98)
=
8
R
2
_
R
0
r
1 +
_
z
r
_
2
dr (99)
Example 5.1 (Conical Nose). Consider a conical nose z(r) =
h
R
r, then
C
d
=
4
1 +
2
(100)
In lim
h0
we obtain the solution for a at nose, C
d
= 4 and in lim
h
we obtain the solution for an innitely
pointed nose, C
d
= 0.
Example 5.2 (Parabolic Nose). Consider a parabolic nose z(r) =
h
R
2
r
2
, then
C
d
=
log
_
1 + 4
2
_

2
(101)
Example 5.3 (Ogive Nose). Consider an ogive nose (z +h)
2
+
_
r +
h
2
2 R

R
2
_
2
=
_
h
2
2 R
+
R
2
_
2
, then
C
d
=
8
3
1 + 2
2
(1 +
2
)
2
(102)
Example 5.4 (Hemispherical Nose). Consider an hemispherical nose
_
z+R
R
_
2
+
_
r
R
_
2
= 1, then
C
d
= 2 (103)
Example 5.5 (Elliptical Nose). Consider an elliptical nose
_
z+h
h
_
2
+
_
r
R
_
2
= 1 where h > R, then
C
d
= 4
1 + (2 log 1)
2
(1
2
)
2
(104)
Example 5.6 (Conical Frustrum Nose). Consider an conical frustrum nose z(r) =
_
0 0 r R
h(rR)
(1)R
R < r R
,
then
C
d
= 4
( 1)
2
+
2

2
( 1)
2
+
2
(105)
The optimal [0, 1] that minimises C
d
is given by,

opt
= 1 +
1
2
_

2
+ 4
_
(106)
C
d
opt
= 2
_
2 +
2

2
+ 4
_
(107)
To nd the shape with the minimum drag, we can use calculus of variations. The minimiser with respect to
5 Nose Shape 12
y(x) satises the Euler Lagrange equation,
2
dz
dr
+
_
dz
dr
_
3
+r
d
2
z
dr
2
3 r
d
2
z
dr
2
_
dz
dr
_
2
_
1 +
_
dz
dr
_
2
_
3
= 0 (108)
d
dr
_
_
_
2 r
dz
dr
_
1 +
_
dz
dr
_
2
_
2
_
_
_ = 0 (109)
2 r
dz
dr
_
1 +
_
dz
dr
_
2
_
2
= C
1
(110)
Letting u =
dz
dr
,
2 r u
(1 +u
2
)
2
= C
1
(111)
r =
1
2 C
1
_
1 +u
2
_
2
u
(112)
=
1
2 C
1
_
u
3
+ 2u +
1
u
_
(113)
Using the chain rule
dz
du
= u
dr
du
dz
du
=
1
2 C
1
u
d
du
_
u
3
+ 2u +
1
u
_
(114)
z =
1
2 C
1
_
u
_
3u
2
+ 2
1
u
2
_
du (115)
z =
1
2 C
1
_
3u
3
+ 2u
1
u
du (116)
z =
1
2 C
1
_
3
4
u
4
+u
2
log |u|
_
+C
2
(117)
Hence the parametric equations with the gradient as the parameter are,
r =
1
2 C
1
_
u
3
+ 2u +
1
u
_
(118)
z =
1
2 C
1
_
3
4
u
4
+u
2
log |u|
_
+C
2
(119)
Applying boundary constraints u(R
T
) = 1, z(R
T
) = 0
C
1
=
2
R
T
(120)
C
2
=
R
T
4
7
4
(121)
r =
R
T
4
_
u
3
+ 2u +
1
u
_
(122)
z =
R
T
4
_
3
4
u
4
+u
2

7
4
log |u|
_
(123)
= R
T
_
3
16
_
u
2
1
_ _
u
2
+
7
3
_

1
4
log |u|
_
(124)
5 Nose Shape 13
The tip radius, R
T
, can be found by rst solving for the gradient at the base, u
R
,

R
h
=
_
1 +u
2
R
_
2
3
4
u
R
(u
2
R
1)
_
u
2
R
+
7
3
_
u
R
log |u
R
|
(125)
3 u
5
R
+ 4 u
4
R
+ 4 u
3
R
+ 8 u
2
R
7 u
R
+ 4 4 u
R
log |u
R
| = 0 (126)
(127)
and then
R
T
= 4 R
u
R
(1 +u
2
R
)
2
(128)
6 Useful Links 14
6 Useful Links
Variable Force and Mass: Rocket Lifto
Petes Rockets
Estes Rockets
NASA Tutorial
Stability Analysis
Aerodynamic Links
Altimeter
A Estes Astrocam 15
A Estes Astrocam
Length: 18.38 (46.7 cm)
Diameter: 1.34 (34.0 mm)
Weight: 2.7 oz (76 g)
Recovery: 12 (30 cm) parachute
Fins: Plastic molded
Maximum Altitude: 500 ft (152 m)
Recommended Engines: C6-7
0 2 4 6 8 10 12 14 16
0
50
100
150
200
250
Astrocam Altitude
s
m
B4 Motor
B6 Motor
C6 Motor
(a) Altitude
0 2 4 6 8 10 12 14 16
50
0
50
100
Astrocam Velocity
s
m
s

1
B4 Motor
B6 Motor
C6 Motor
(b) Velocity
0 2 4 6 8 10 12 14 16
60
40
20
0
20
40
60
80
Astrocam Acceleration
s
m
s

2
B4 Motor
B6 Motor
C6 Motor
(c) Acceleration
Figure 3: Astrocam Kinematics
B Estes Bandit 16
B Estes Bandit
Length: 16.6 (42.2 cm)
Diameter: 1.0 (25.4 mm)
Weight: 1.6oz (45 g)
Recovery: 12 (30 cm) parachute
Fins: T3 plastic molded
Maximum Altitude: 1000 ft (305 m)
Recommended Engines: A8-3(First Flight), B4-4, B6-4, B6-6, C6-5, C6-7
0 2 4 6 8 10 12 14 16 18 20
0
50
100
150
200
250
300
350
400
Bandit Altitude
s
m
A8 Motor
B4 Motor
B6 Motor
C6 Motor
(a) Altitude
0 2 4 6 8 10 12 14 16 18 20
60
40
20
0
20
40
60
80
100
120
140
Bandit Velocity
s
m
s

1
A8 Motor
B4 Motor
B6 Motor
C6 Motor
(b) Velocity
0 2 4 6 8 10 12 14 16 18 20
150
100
50
0
50
100
150
200
Bandit Acceleration
s
m
s

2
A8 Motor
B4 Motor
B6 Motor
C6 Motor
(c) Acceleration
Figure 4: Bandit Kinematics
C Estes Banshee 17
C Estes Banshee
Length: 16.6 (42.2 cm)
Diameter: 1.0 (25.4 mm)
Weight: 1.6oz (45 g)
Recovery: 12 (30 cm) parachute
Fins: T3 plastic molded
Maximum Altitude: 1100 ft (335 m)
Recommended Engines: A8-3(First Flight), B4-4, B6-4, B6-6, C6-5, C6-7
0 2 4 6 8 10 12 14 16 18 20
0
50
100
150
200
250
300
350
400
Banshee Altitude
s
m
A8 Motor
B4 Motor
B6 Motor
C6 Motor
(a) Altitude
0 2 4 6 8 10 12 14 16 18 20
60
40
20
0
20
40
60
80
100
120
140
Banshee Velocity
s
m
s

1
A8 Motor
B4 Motor
B6 Motor
C6 Motor
(b) Velocity
0 2 4 6 8 10 12 14 16 18 20
150
100
50
0
50
100
150
200
Banshee Acceleration
s
m
s

2
A8 Motor
B4 Motor
B6 Motor
C6 Motor
(c) Acceleration
Figure 5: Banshee Kinematics
D Estes Echostar 18
D Estes Echostar
Length: 29 (73.7 cm)
Diameter: 1.33 (33.8 mm)
Weight: 3.6 oz (102.1 g)
Recovery: 18 (46 cm) parachute
Fins: Die cut balsa
Maximum Altitude: 3074 ft (937 m)
Recommended Engines: Single Stage Flights: B4-4, B6-4 (First Flight), C6-5
Single Stage Flights with Payload: B4-2 (First Flight), C6-3
Two Stage Flights: C6-0 + B6-6 (First Flight), C6-0 + C6-7
0 5 10 15 20 25
0
50
100
150
200
250
300
350
400
450
Echostar Altitude
s
m
B4 Motor
B6 Motor
C6 Motor
C6+C6 Motor
(a) Altitude
0 5 10 15 20 25
60
40
20
0
20
40
60
80
100
120
Echostar Velocity
s
m
s

1
B4 Motor
B6 Motor
C6 Motor
C6+C6 Motor
(b) Velocity
0 5 10 15 20 25
60
40
20
0
20
40
60
Echostar Acceleration
s
m
s

2
B4 Motor
B6 Motor
C6 Motor
C6+C6 Motor
(c) Acceleration
Figure 6: Echostar Kinematics
E Estes Engines 19
E Estes Engines
Length: 1.73 (4.4 cm)
Diameter: 0.5 (12.7 mm)
No. Type Stage I (Ns) t
d
(s) m
l
(g) T
max
(N) t
b
(s) m
e
(g) m
p
(g)
1503
1
2
A3-2T Single 1.25 2 56.6 7.8 0.36 5.6 1.75
1507 A3-4T Single 2.50 4 56.6 7.8 0.86 7.6 3.50
1511 A10-3T Single 2.50 3 141.5 13.3 0.26 7.9 3.78
1504
1
2
A3-4T Upper 1.25 4 28.3 7.8 0.36 6.0 1.75
1510 A10-0T Booster 2.50 0 141.5 13.3 0.26 6.7 3.70
Table 2: Estes Blackpowder Mini Motors
Length: 2.76 (7.0 cm)
Diameter: 0.69 (17.5 mm)
No. Type Stage I (Ns) t
d
(s) m
l
(g) T
max
(N) t
b
(s) m
e
(g) m
p
(g)
1593
1
2
A6-2 Single 1.25 2 70.8 12.8 0.20 15.0 1.56
1598 A8-3 Single 2.50 3 113.2 13.3 0.32 16.2 3.12
1601 B4-2 Single 5.00 2 113.2 13.3 1.20 19.8 8.33
1602 B4-4 Single 5.00 4 99.1 13.3 1.20 21.0 8.33
1605 B6-2 Single 5.00 2 127.4 13.3 0.83 19.3 6.24
1606 B6-4 Single 5.00 4 113.2 13.3 0.83 20.1 6.24
1620 B8-5 Single 5.00 5 141.5 22.2 0.60 19.3 6.24
1617 C5-3 Single 10.00 3 226.4 22.2 2.10 25.5 12.70
1613 C6-3 Single 10.00 3 113.3 13.3 1.70 24.9 12.48
1614 C6-5 Single 10.00 5 113.2 13.3 1.70 25.8 12.48
1599 A8-5 Upper 2.50 5 56.6 13.3 0.32 17.6 3.12
1604 B4-6 Upper 5.00 6 42.5 13.3 1.20 22.1 8.33
1607 B6-6 Upper 5.00 6 56.6 13.3 0.83 22.1 6.24
1615 C6-7 Upper 10.00 7 70.8 13.3 1.70 26.9 12.48
1608 B6-0 Booster 5.00 0 113.2 13.3 0.80 16.4 6.24
1616 C6-0 Booster 10.00 0 113.3 13.3 1.68 22.7 12.48
Table 3: Estes Blackpowder Motors
Length: 2.76 (7.0 cm)
Diameter: 0.94 (24.0 mm)
No. Type Stage I (Ns) t
d
(s) m
l
(g) T
max
(N) t
b
(s) m
e
(g) m
p
(g)
1666 D12-3 Single 20.00 3 396.2 28.5 1.70 42.2 24.93
1667 D12-5 Single 20.00 5 283.0 28.5 1.70 43.1 24.93
1668 D12-7 Upper 20.00 7 226.4 28.5 1.70 44.0 24.93
1665 D12-0 Booster 20.00 0 396.2 28.5 1.70 40.9 24.93
1669 D11-P Plugged 20.00 0 453.1 27.6 1.82 44.0 24.93
Table 4: Estes Blackpowder size D Motors
F MATLAB Code 20
F MATLAB Code
function [a, v, y, t] = rocket(m,d,motor,Cd)
%ROCKET
%
% Usage: [a, v, y, t] = rocket(m,d,motor,Cd)
%
% Parameters: m - Rocket Mass
% d - Rocket Diameter
% motor - Motor Type (e.g. C6)
% Cd - Drag Coefficient (default 0.75)
%
% Author: Steve Gunn (srg@ecs.soton.ac.uk)
if (nargin <3 | nargin>4) % check correct number of arguments
help rocket
else
if (nargin<4) Cd = 0.75;, end
% Motor Database
mtype = [ A A A A B B B C C D D E];
mTave = [ 3 6 8 10 4 6 8 5 6 6 12 25];
mtb = [0.36 0.20 0.32 0.26 1.20 0.83 0.60 2.10 1.70 3.40 1.70 1.70];
mmc = [];
mmp = [];
index = intersect(find(str2num(motor(2:length(motor)))==mTave),find(motor(1)==mtype));
% Constants
rho = 1.2; % Air Density
g = 9.81; % Gravitational Accleration
ts = 0.01; % Time Step
% Formulas
A = pi*d*d/4; % Rocket Cross-sectional Area
k = 0.5*rho*Cd*A; % Drag Constant
T = mTave(index); % Average Thrust
tb = mtb(index); % Burn Time
theta = sqrt(k*(T-m*g))/m;
phi = sqrt(k*g/m);
% Burn Phase
t1 = 0:ts:tb;
yb = g*(1/phi^2)*log(cosh(theta*t1));
vb = g*(theta/phi^2)*tanh(theta*t1);
ab = g*(theta/phi)^2*sech(theta*t1).^2;
% Coast Phase
tc = (1/phi)*atan((theta/phi)*tanh(theta*tb));
ta = tb+tc;
t2 = tb:ts:ta;
yc = g*(1/phi^2)*log(cos(phi*(t2-tb))*cosh(theta*tb) + (theta/phi)*sin(phi*(t2-tb))*sinh(theta*tb));
vc = g*(theta/phi^2)*(tanh(theta*tb) - (phi/theta)*tan(phi*(t2-tb)))./ ...
(1 + (theta/phi)*tan(phi*(t2-tb))*tanh(theta*tb));
ac = -g*(theta/phi)^2*((phi/theta)^2 + tanh(theta*tb)^2)*sec(phi*(t2-tb)).^2./ ...
(1 + (theta/phi)*tan(phi*(t2-tb))*tanh(theta*tb)).^2;
ya = m/(2*k)*log(1 + T/(m*g)*sinh(theta*tb).^2);
% Descent Phase
td = (1/phi)*acosh(exp(k*ya/m)); % Note Matlab returns positive x for x = acosh(y)
tr = ta+td;
t3 = ta:ts:tr;
yd = ya - g*(1/phi^2)*log(cosh(phi*(ta-t3)));
vd = g*(1/phi)*tanh(phi*(ta-t3));
ad = -g*sech(phi*(ta-t3)).^2;
% Augment Intervals
t = [t1 t2 t3];
y = [yb yc yd];
v = [vb vc vd];
a = [ab ac ad];
end
Listing 1: Rocket Kinematics MATLAB Code
F MATLAB Code 21
function plotkinematics(name,mass,diameter,motors,Cd)
%PLOTKINEMATICS
%
% Usage: plotkinematics(name,mass,diameter,motors,Cd)
%
% Parameters: name - Rocket Name
% mass - Rocket Mass
% diameter - Rocket Diameter
% motors - List of Motor Types (e.g. {A8,C6})
% Cd - Drag Coefficient (default 0.75)
%
% Author: Steve Gunn (srg@ecs.soton.ac.uk)
if (nargin <4 | nargin>5) % check correct number of arguments
help plotkinematics
else
if (nargin<5) Cd = 0.75;, end
lw = 2;
c = [k r g m b y c];
yf = figure;, hold on
vf = figure;, hold on
af = figure;, hold on
for i=1:length(motors)
[a v y t] = rocket(mass,diameter,char(motors(i)),Cd);
figure(yf), plot(t,y,c(mod(i,length(c))+1),LineWidth,lw)
figure(vf), plot(t,v,c(mod(i,length(c))+1),LineWidth,lw)
figure(af), plot(t,a,c(mod(i,length(c))+1),LineWidth,lw)
end
figure(yf)
eval(legendstring(motors))
title([name Altitude])
xlabel(s), ylabel(m)
eval([print -depsc2 -f name y.eps])
figure(vf)
eval(legendstring(motors))
title([name Velocity])
xlabel(s), ylabel(ms^{-1})
eval([print -depsc2 -f name v.eps])
figure(af)
eval(legendstring(motors))
title([name Acceleration])
xlabel(s), ylabel(ms^{-2})
eval([print -depsc2 -f name a.eps])
end
function s = legendstring(motors)
s = legend(;
sep = ;
for i=1:length(motors)
switch(char(motors(i)))
case D6
s = [s sep C6+C6 Motor];
otherwise
s = [s sep char(motors(i)) Motor];
end
sep = ,;
end
s = [s )];
end
Listing 2: Plot Kinematics MATLAB Code