{ "cells": [ { "cell_type": "markdown", "id": "77d407ec", "metadata": {}, "source": [ "# Section 3.6 - Mars SmallSat Aerocapture - Guidance Scheme" ] }, { "cell_type": "code", "execution_count": 1, "id": "21d94030", "metadata": {}, "outputs": [], "source": [ "from AMAT.planet import Planet\n", "from AMAT.vehicle import Vehicle" ] }, { "cell_type": "code", "execution_count": 2, "id": "52cdc706", "metadata": {}, "outputs": [], "source": [ "planet = Planet('MARS')\n", "planet.loadAtmosphereModel('../../../atmdata/Mars/mars-gram-avg.dat', 0 , 1 ,2, 3)\n", "planet.h_skip = 120.0E3\n", "\n", "# Set up a vehicle object\n", "vehicle1=Vehicle('MarsSmallSat1', 37, 20, 0.0, 1.767, 0.0, 0.35, planet)\n", "vehicle1.setInitialState(120.0,88.15,-0.65,5.3581,8.5458,-5.00,0.0,0.0)\n", "vehicle1.setSolverParams(1E-6)\n", "vehicle1.setDragModulationVehicleParams(20, 7.5)" ] }, { "cell_type": "markdown", "id": "88481b7c", "metadata": {}, "source": [ "Find the corridor bounds to select a target nominal EFPA for a nominal Mars atmosphere, with inertial correction." ] }, { "cell_type": "code", "execution_count": 3, "id": "933bec22", "metadata": {}, "outputs": [ { "name": "stdout", "output_type": "stream", "text": [ "Target apoapis: 2000 km\n", "----------------\n", "-9.868216123049933 1.0\n", "-8.781097070641408 1.0\n", "----------------\n" ] } ], "source": [ "underShootLimit, exitflag_us = vehicle1.findUnderShootLimitD2(2400.0, 0.1, -20.0,-5.0, 1E-10, 2000.0)\n", "overShootLimit , exitflag_os = vehicle1.findOverShootLimitD2(2400.0, 0.1, -20.0,-5.0, 1E-10, 2000.0)\n", "\n", "print(\"Target apoapis: 2000 km\")\n", "print(\"----------------\")\n", "print(underShootLimit, exitflag_us)\n", "print(overShootLimit, exitflag_os)\n", "print(\"----------------\")" ] }, { "cell_type": "markdown", "id": "99510509", "metadata": {}, "source": [ "Propagate an entry tarjectory at mid-corridor" ] }, { "cell_type": "code", "execution_count": 4, "id": "aaf13046", "metadata": {}, "outputs": [], "source": [ "# Set planet.h_low to 10 km, if vehicle dips below this level\n", "# trajctory is terminated.\n", "planet.h_low=10.0E3\n", "\n", "# Set target orbit = 2000 km x 2000 km, tolerance = 20 km\n", "# target apo intentionally set to slightly higher value to account for bias in guidance\n", "vehicle1.setTargetOrbitParams(200.0, 2500.0, 20.0)\n", "\n", "# Set entry phase parameters\n", "# v_switch_kms = 2.0, lowAlt_km = 20.0, \n", "# numPoints_lowAlt = 101, hdot_threshold = -200.0 m/s.\n", "# These are somewhat arbitary based on experience.\n", "vehicle1.setDragEntryPhaseParams(2.0, 20.0, 101, -200.0)\n", "\n", "# Set beta_1 and beta_ratio\n", "vehicle1.setDragModulationVehicleParams(20, 7.5)\n", "\n", "# Set vehicle initial state\n", "vehicle1.setInitialState(120.0,88.15,-0.65,5.3581,8.5458,-9.0,0.0,0.0)\n", "# Propogate a single vehicle trajectory\n", "vehicle1.propogateGuidedEntryD2(0.5,1.0,0.1,2400.0)" ] }, { "cell_type": "code", "execution_count": 19, "id": "1eabdb60", "metadata": {}, "outputs": [], "source": [ "import numpy as np\n", "import matplotlib.pyplot as plt" ] }, { "cell_type": "code", "execution_count": 49, "id": "d0b439d1", "metadata": {}, "outputs": [ { "name": "stderr", "output_type": "stream", "text": [ "The PostScript backend does not support transparency; partially transparent artists will be rendered opaque.\n" ] }, { "data": { "image/png": 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\n", "text/plain": [ "
" ] }, "metadata": {}, "output_type": "display_data" } ], "source": [ "plt.figure(figsize=(8, 3))\n", "plt.rc('font',family='Times New Roman')\n", "params = {'mathtext.default': 'regular' }\n", "plt.rcParams.update(params)\n", "\n", "plt.subplot(1, 2, 1)\n", "plt.plot(vehicle1.t_step_array[1:], vehicle1.hdot_array[1:], 'm-', linewidth=2.0)\n", "\n", "plt.scatter(vehicle1.t_step_array[np.where(vehicle1.hdot_array[1:]>-200)[0][0]],\n", " vehicle1.hdot_array[np.where(vehicle1.hdot_array[1:]>-200)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100, label='Density estimation cut-off')\n", "plt.scatter(vehicle1.t_switch, vehicle1.hdot_array[np.where(vehicle1.t_step_array>vehicle1.t_switch)[0][0]], marker=\"o\", s=30, color='xkcd:bright red', zorder=100, label='Jettison event')\n", "plt.ylabel('Altitude rate, m/s',fontsize=12)\n", "plt.xlabel('Time, min',fontsize=12)\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=12)\n", "ax.tick_params(axis='y',labelsize=12)\n", "plt.grid(linestyle='dotted', linewidth=0.5)\n", "plt.legend(loc='lower right', fontsize=10)\n", "\n", "plt.subplot(1, 2, 2)\n", "plt.plot(vehicle1.t_min_full, vehicle1.h_km_full, 'b-', linewidth=2.0)\n", "\n", "plt.scatter(vehicle1.t_step_array[np.where(vehicle1.hdot_array[1:]>-200)[0][0]],\n", " vehicle1.h_step_array[np.where(vehicle1.hdot_array[1:]>-200)[0][0]],marker=\"D\", s=30, color='xkcd:green', zorder=100, label='Density estimation cut-off')\n", "plt.scatter(vehicle1.t_switch, vehicle1.h_switch, marker=\"o\", s=30, color='xkcd:bright red', zorder=100, label='Jettison event')\n", "\n", "plt.xlabel('Time, min',fontsize=12)\n", "plt.ylabel('Altitude, km',fontsize=12)\n", "plt.legend(loc='upper center', fontsize=10)\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=12)\n", "ax.tick_params(axis='y',labelsize=12)\n", "plt.grid(linestyle='dotted', linewidth=0.5)\n", "\n", "\n", "\n", "\n", "\n", "\n", "plt.savefig('../../../data/mdpi-aerospace/smallsat-mission-concepts/mars/mars-smallsat-guidance-schematic.png', dpi= 300,bbox_inches='tight')\n", "plt.savefig('../../../data/mdpi-aerospace/smallsat-mission-concepts/mars/mars-smallsat-guidance-schematic.pdf', dpi=300,bbox_inches='tight')\n", "plt.savefig('../../../data/mdpi-aerospace/smallsat-mission-concepts/mars/mars-smallsat-guidance-schematic.eps', dpi=300,bbox_inches='tight')\n", "\n", "\n", "plt.show()" ] }, { "cell_type": "code", "execution_count": 50, "id": "f4171a3f", "metadata": {}, "outputs": [ { "data": { "text/plain": [ "3.141666666666658" ] }, "execution_count": 50, "metadata": {}, "output_type": "execute_result" } ], "source": [ "vehicle1.t_switch" ] } ], "metadata": { "kernelspec": { "display_name": "Python 3", "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": "3.9.16" } }, "nbformat": 4, "nbformat_minor": 5 }