{ "cells": [ { "cell_type": "markdown", "id": "3445c46b", "metadata": {}, "source": [ "# Section 07 - Guidance Scheme" ] }, { "cell_type": "code", "execution_count": 2, "id": "19b9e491", "metadata": {}, "outputs": [], "source": [ "from AMAT.planet import Planet\n", "from AMAT.vehicle import Vehicle" ] }, { "cell_type": "code", "execution_count": 3, "id": "91b11dcf", "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt" ] }, { "cell_type": "code", "execution_count": 3, "id": "0545f3ff", "metadata": {}, "outputs": [], "source": [ "planet = Planet('URANUS')\n", "planet.loadAtmosphereModel('../../../atmdata/Uranus/uranus-gram-avg.dat', 0 , 1 ,2, 3, heightInKmFlag=True)\n", "planet.h_skip = 1000.0E3\n", "planet.h_low = 120e3\n", "planet.h_trap = 100e3" ] }, { "cell_type": "code", "execution_count": 4, "id": "59962e31", "metadata": {}, "outputs": [], "source": [ "vehicle=Vehicle('Titania', 3200.0, 146 , 0.24, np.pi*4.5**2.0, 0.0, 1.125, planet)\n", "vehicle.setInitialState(1000.0,-15.22,75.55,29.2877,88.687,-11.8 ,0.0,0.0)\n", "vehicle.setSolverParams(1E-6)" ] }, { "cell_type": "code", "execution_count": 15, "id": "df64bc34", "metadata": {}, "outputs": [ { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "vehicle.propogateEntry2(200, 0.1, 0)\n", "\n", "# Values for -13.64 deg, these are the linear fit\n", "# y = ax + b parameters used to compute Ghdot and Gq (see refs.)\n", "a = -0.155\n", "b = 56000\n", "\n", "x_arr = np.linspace(260.0E3,350.0E3,101)\n", "y_arr = a*x_arr + b\n", "\n", "fig = plt.figure()\n", "fig.set_size_inches([4.25,3.25])\n", "plt.rc('font',family='Times New Roman')\n", "params = {'mathtext.default': 'regular' }\n", "plt.rcParams.update(params)\n", "\n", "plt.plot(vehicle.h_kmc*1E3,vehicle.dyn_pres_atm*1.01325E5,'r-',linewidth=3.0)\n", "\n", "plt.xlim(100.0E3, 700.0E3)\n", "#plt.ylim(0.0,12500.0)\n", "\n", "plt.plot(x_arr,y_arr,color='k',linewidth=2.0,linestyle='dashed')\n", "plt.xlabel(\"Altitude, m\", fontsize=10)\n", "plt.ylabel(\"Dynamic pressure, Pa \",fontsize=10)\n", "\n", "plt.xticks(np.array([200.0E3 ,300E3, 400.00E3, 500e3, 600.0E3]),fontsize=10)\n", "\n", "ax=plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "ax.tick_params(axis='x',labelsize=10)\n", "ax.tick_params(axis='y',labelsize=10)\n", "ax.tick_params(direction='in')\n", "\n", "ax.xaxis.set_tick_params(direction='in', which='both')\n", "ax.yaxis.set_tick_params(direction='in', which='both')\n", "ax.xaxis.set_tick_params(width=1, length=8)\n", "ax.yaxis.set_tick_params(width=1, length=8)\n", "ax.xaxis.set_tick_params(width=1, length=6, which='minor')\n", "ax.yaxis.set_tick_params(width=1, length=6, which='minor')\n", "ax.xaxis.grid(which='major', color='k', linestyle='dotted', linewidth=0.5)\n", "ax.xaxis.grid(which='minor', color='k', linestyle='dotted', linewidth=0.0)\n", "ax.yaxis.grid(which='major', color='k', linestyle='dotted', linewidth=0.5)\n", "ax.yaxis.grid(which='minor', color='k', linestyle='dotted', linewidth=0.0)\n", "\n", "ax.annotate(r'$\\bar{q} = -0.155h + 56000$',\n", " xy=(348586, 9103.4) ,\n", " xytext=(431181, 9103.4),\n", " arrowprops=dict(arrowstyle=\"<-\"), va=\"center\", ha=\"left\", fontsize=9)\n", "\n", "for axis in ['top', 'bottom', 'left', 'right']:\n", " ax.spines[axis].set_linewidth(2)\n", " \n", "plt.savefig('../../../data/acta-astronautica/uranus-orbiter-probe/dyn-pres-profile.png', dpi= 300,bbox_inches='tight')\n", "plt.savefig('../../../data/acta-astronautica/uranus-orbiter-probe/dyn-pres-profile.pdf', dpi=300,bbox_inches='tight')\n", "plt.savefig('../../../data/acta-astronautica/uranus-orbiter-probe/dyn-pres-profile.eps', dpi=300,bbox_inches='tight')\n", "\n", "\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 11, "id": "7341181f", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "9.81182795698925" ] }, "execution_count": 11, "metadata": {}, "output_type": "execute_result" } ], "source": [ "0.05**2*146/(0.24*0.155)" ] }, { "cell_type": "code", "execution_count": 12, "id": "2b53bebf", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "91.25000000000001" ] }, "execution_count": 12, "metadata": {}, "output_type": "execute_result" } ], "source": [ "2*1.5*0.05*146/0.24" ] }, { "cell_type": "markdown", "id": "a4185538", "metadata": {}, "source": [ "## Example Guided Trajectory" ] }, { "cell_type": "code", "execution_count": 26, "id": "faede24b", "metadata": {}, "outputs": [], "source": [ "planet = Planet('URANUS')\n", "planet.loadAtmosphereModel('../../../atmdata/Uranus/uranus-gram-avg.dat', 0 , 1 ,2, 3, heightInKmFlag=True)\n", "planet.h_skip = 1000.0E3\n", "planet.h_low = 120e3\n", "planet.h_trap = 100e3" ] }, { "cell_type": "code", "execution_count": 129, "id": "367ce093", "metadata": {}, "outputs": [], "source": [ "ATM_height, ATM_density_low, ATM_density_avg, ATM_density_high, ATM_density_pert = planet.loadMonteCarloDensityFile2('../../../atmdata/Uranus/uranus-gram-mean-density-variations.txt', 0, 1, 2, 3, 4, heightInKmFlag=True)\n", "density_int_low = planet.loadAtmosphereModel5(ATM_height, ATM_density_low, ATM_density_avg, ATM_density_high, ATM_density_pert, -3.0, 2201, 1)\n", "density_int_avg = planet.loadAtmosphereModel5(ATM_height, ATM_density_low, ATM_density_avg, ATM_density_high, ATM_density_pert, 0.0, 2201, 1)\n", "density_int_hig = planet.loadAtmosphereModel5(ATM_height, ATM_density_low, ATM_density_avg, ATM_density_high, ATM_density_pert, +3.0, 2201, 1)" ] }, { "cell_type": "code", "execution_count": 130, "id": "98ea2654", "metadata": {}, "outputs": [], "source": [ "planet.density_int = density_int_avg" ] }, { "cell_type": "code", "execution_count": 131, "id": "0c18a44f", "metadata": {}, "outputs": [], "source": [ "vehicle=Vehicle('Titania', 3200.0, 146 , 0.24, np.pi*4.5**2.0, 0.0, 1.125, planet)\n", "vehicle.setInitialState(1000.0,-15.22,75.55,29.2877,88.687,-11.180,0.0,0.0)\n", "vehicle.setSolverParams(1E-6)\n", "# Set the guidance parameters described in the paper.\n", "# See the function description for parameter details.\n", "\n", "# Set max roll rate constraint to 30 deg/s\n", "vehicle.setMaxRollRate(30.0)\n", "\n", "# Set Ghdot = 83\n", "# Set Gq = 9.0\n", "# Set v_switch_kms = 16.0 :: this parameter is not really used, and should just be set to low value\n", "# Set low_Alt_km = 120\n", "# Set numPoints_lowAlt = 101\n", "# Set hdot_threshold = -500 m/s\n", "vehicle.setEquilibriumGlideParams(83.0, 9.0, 16.0, 120.0, 101, -500.0)\n", "\n", "# Set target orbit parameters\n", "# periapsis = 4000.0 km\n", "# apoapsis = 550,000 km :: set slightly above target (500e3) to account for bias in targeting algorithm\n", "# apoapsis tolerance = 10 km\n", "vehicle.setTargetOrbitParams(4000.0, 550.0E3, 10.0E3)" ] }, { "cell_type": "code", "execution_count": 132, "id": "632e10f0", "metadata": {}, "outputs": [], "source": [ "vehicle.propogateGuidedEntry2(0.5, 0.1, 2400.0)" ] }, { "cell_type": "code", "execution_count": 179, "id": "0f8ab9f3", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" }, { "data": { "image/png": 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\n", 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" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "# plot overshoot and undershoot trajectories\n", "fig = plt.figure()\n", "fig = plt.figure()\n", "fig.set_size_inches([11.8,6.85])\n", "plt.rc('font',family='Times New Roman')\n", "params = {'mathtext.default': 'regular' }\n", "plt.rcParams.update(params)\n", "\n", "\n", "plt.subplot(2, 2, 1)\n", "plt.plot(vehicle.t_min_full , vehicle.h_km_full, linestyle='solid' , color='xkcd:blue',linewidth=2.0)\n", "plt.scatter(vehicle.t_switch, vehicle.h_switch, marker=\"o\", s=30, color='xkcd:bright red', zorder=100)\n", "plt.scatter(vehicle.t_step_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]], \n", " vehicle.h_step_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100)\n", "plt.xlabel('Time, min',fontsize=14)\n", "plt.ylabel(\"Altitude, km\",fontsize=14)\n", "ax = plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "plt.tick_params(direction='in')\n", "plt.tick_params(axis='x',labelsize=14)\n", "plt.tick_params(axis='y',labelsize=14)\n", "\n", "plt.subplot(2, 2, 2)\n", "plt.plot(vehicle.t_step_array[1:] , vehicle.hdot_array[1:], linestyle='solid' , color='xkcd:blue',linewidth=2.0)\n", "plt.scatter(vehicle.t_switch, vehicle.hdot_array[np.where(vehicle.t_step_array>vehicle.t_switch)[0][0]], marker=\"o\", s=30, color='xkcd:bright red', zorder=100)\n", "plt.scatter(vehicle.t_step_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]], \n", " vehicle.hdot_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100)\n", "plt.xlabel('Time, min',fontsize=14)\n", "plt.ylabel('Altitude rate'+', m/s',fontsize=14)\n", "plt.axhline(y=-500, color='k', linestyle='dashed', linewidth=1.5)\n", "ax = plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "plt.tick_params(direction='in')\n", "plt.tick_params(axis='x',labelsize=14)\n", "plt.tick_params(axis='y',labelsize=14)\n", "\n", "plt.subplot(2, 2, 3)\n", "plt.plot(vehicle.t_step_array , vehicle.delta_deg_array, linestyle='solid' , color='xkcd:blue',linewidth=2.0)\n", "plt.scatter(vehicle.t_step_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]], \n", " vehicle.delta_deg_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100)\n", "plt.scatter(vehicle.t_switch, 180, marker=\"o\", s=30, color='xkcd:bright red', zorder=100)\n", "plt.xlabel('Time, min',fontsize=14)\n", "plt.ylabel('Commanded bank angle, deg.',fontsize=14)\n", "ax = plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "plt.tick_params(direction='in')\n", "plt.tick_params(axis='x',labelsize=14)\n", "plt.tick_params(axis='y',labelsize=14)\n", "\n", "plt.subplot(2, 2, 4)\n", "plt.plot(vehicle.t_min_full , vehicle.v_kms_full, linestyle='solid' , color='xkcd:blue',linewidth=2.0)\n", "plt.scatter(vehicle.t_step_array[np.where(vehicle.hdot_array[1:]>-500)[0][0]], 27.25, marker=\"D\", s=30, color='xkcd:green', zorder=100)\n", "plt.scatter(vehicle.t_switch, vehicle.v_kms_eg[-1], marker=\"o\", s=30, color='xkcd:bright red', zorder=100)\n", "plt.xlabel('Time, min',fontsize=14)\n", "plt.ylabel(\"Planet-relative speed, km/s\",fontsize=14)\n", "ax = plt.gca()\n", "ax.tick_params(direction='in')\n", "ax.yaxis.set_ticks_position('both')\n", "ax.xaxis.set_ticks_position('both')\n", "plt.tick_params(direction='in')\n", "plt.tick_params(axis='x',labelsize=14)\n", "plt.tick_params(axis='y',labelsize=14)\n", "\n", "plt.savefig('../../../data/acta-astronautica/uranus-orbiter-probe/guidance-schematic.png', dpi= 300,bbox_inches='tight')\n", "plt.savefig('../../../data/acta-astronautica/uranus-orbiter-probe/guidance-schematic.pdf', dpi=300,bbox_inches='tight')\n", "plt.savefig('../../../data/acta-astronautica/uranus-orbiter-probe/guidance-schematic.eps', dpi=300,bbox_inches='tight')\n", "\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": null, "id": "2b9044ee", "metadata": {}, "outputs": [], "source": [] } ], "metadata": { "kernelspec": { "display_name": "Python 3 (ipykernel)", "language": "python", "name": "python3" }, "language_info": { "codemirror_mode": { "name": "ipython", "version": 3 }, "file_extension": ".py", "mimetype": "text/x-python", "name": "python", "nbconvert_exporter": "python", "pygments_lexer": "ipython3", "version": "3.8.10" } }, "nbformat": 4, "nbformat_minor": 5 }