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Entry, Descent, and Landing Systems Short Course Subject:CPAS Parachute Testing, Model Development, & Verification Author:Leah M. Romero JETS/Aerodyne, LLC. sponsored by International Planetary Probe Workshop 10 June 15-16, 2013 San Jose, California. Agenda. CPAS Overview - PowerPoint PPT Presentation
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Entry, Descent, and Landing Systems Short Course Subject: CPAS Parachute Testing, Model Development, & VerificationAuthor: Leah M. Romero
JETS/Aerodyne, LLC
sponsored by International Planetary Probe Workshop 10
June 15-16, 2013 San Jose, California
International Planetary Probe Workshop 10 Short Course 2013
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Agenda
• CPAS Overview• Airdrop Testing• Parachute Test Analysis• Development of a Parachute Model• System Verification & Validation• Future of CPAS
June 15-16, 2013
International Planetary Probe Workshop 10 Short Course 2013
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CPAS OVERVIEW
International Planetary Probe Workshop 10 Short Course 2013
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CPAS Overview• Capsule Parachute Assembly System (CPAS) is the
human rated parachute system for the Orion vehicle used during re-entry– Similar to Apollo parachute design– Human rating requires additional system redundancy
June 15-16, 2013
• A Government Furnished Equipment (GFE) project responsible for:– Design– Development testing– Performance modeling– Fabrication– Qualification– Delivery
International Planetary Probe Workshop 10 Short Course 2013
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MainPilots
Mains
1st Stage
2nd Stage
Full Open
Mortar Deployed
Pilot Deployed
Mortar Deployed
Forward Bay
Cover Pilots
Blunt End Forward Launch Abort
System Jettison
CPAS Concept of Operations
June 15-16, 2013
Drogues
Pilots
Mains
1st Stage 2nd StageFull Open
Full Open
1st Stage
2nd Stage
Mortar Deployed
Mortar Deployed
Pilot Deployed
Mortar Deployed
FBCPs
Nominal Mission and High Altitude Abort
Deployment Sequence
Low Altitude and Pad Abort Sequence (direct to mains)
International Planetary Probe Workshop 10 Short Course 2013
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CPAS Requirements• The CPAS Project Technical Requirement Specification
(PTRS) levies requirements on the system
• To verify the design and validate the requirements– Some system aspects are modeled– Some rely on demonstration
• 155 requirements total with 104 completely or partially verified by analysis
• Verification and Validation Document (V&VD) – Contains success criteria for verification of each requirement– Identifies the method and pass/fail criteria
June 15-16, 2013
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CPAS Analysis Focus• CPAS analysis team responsible for verification and validation of 23
requirements– Functional and performance
• Meet all other requirements when in deployment envelope• Meet all other requirements with specified vehicle mass
– Rate of Descent (ROD)• Crew and vehicle structure safety
– Parachute Loads – single riser and cluster loads• Individual parachute failure• Vehicle structural failure
– Rotation Torque and Flyout Angle Limit• Main risers induce rotation• Orient vehicle edge into water for landing
• Develop models anchored to flight tests• Conduct Monte Carlo analyses to examine possible failure
conditions and compare results to requirements– Parachute canopy or riser failure– Failure to deploy– Parachute flagging or skipped stage
June 15-16, 2013
International Planetary Probe Workshop 10 Short Course 2013
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AIRDROP TESTING
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CPAS Parachutes• Forward Bay Cover Parachutes (FBCPs) (~7 ft)
– Pulls off Forward Bay Cover (FBC) from vehicle.• Drogue Parachutes (~23 ft)
– Stabilizes the vehicle for Main deployment.• Pilot Parachutes (~10 ft)
– Pulls out the Main chutes.• Main Parachutes (~116 ft)
– Slow the vehicle to landing.
• Test Support Parachutes– Extraction Chutes (~28 ft)
• Pulls the vehicle out of the aircraft. Used for testing only.– Programmer Parachutes
• Used to create the proper test conditions for the Drogue, Pilot, or Main chutes. Used for testing only.
• Can sometimes be an identical chute as the Drogues, but the use is different.
June 15-16, 2013
Extraction Chute
Programmer Chute
Main Chute
Drogue Chute
FBCP
Pilot Chute
International Planetary Probe Workshop 10 Short Course 2013
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Engineering Development Unit (EDU) Test Vehicles
• Mid-Air Delivery System (MDS) & Cradle Platform Separation System (CPSS)– Allows the PCDTV and PTV to be deployed from an aircraft cargo bay
• Parachute Compartment Drop Test Vehicle (PCDTV)– Tests the full CPAS system utilizing an aerodynamically stable vehicle– Dart shape based on the Solid Rocket Booster and Ares booster parachute test program
• Allows for achievement of high dynamic pressure• Parachute Test Vehicle (PTV)
– Tests the full CPAS system with representative flight like wake environment– Unable to achieve nominal entry environment with current test techniques
June 15-16, 2013
International Planetary Probe Workshop 10 Short Course 2013
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Extraction from a C-130 at 25,000 ft MSL
Separation
One reefed Gen II Drogue as Programmer Deploy
Drogues Deploy
Pilot Deploy
Main 1st StageMains 2nd Stage
MainsFull
Open
PCDTV/MDS Test Sequence
International Planetary Probe Workshop 10 Short Course 2013
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Extraction from C-17 at 25,000 ft with two 28 ft Extraction Parachutes
Smart Separation after Ramp Clear
Two full-open Gen II Drogues as Programmers deployed
Programmer cut One Drogue
deployed
Smart Drogue Release using SDR
3 Pilots lift 3 Mains with
nominal reefing
PTV Touchdown
Programmers Inflated
Drogue Inflated
PTV/CPSS Test Sequence
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Video
• For more videos, search for NASACPAS user on YouTube
June 15-16, 2013
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PARACHUTE TEST ANALYSIS
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Parachute Analysis: Preflight
• No single end-to-end simulation available therefore multiple simulations used to model different phases
• Define test objectives: number and configuration of programmers
June 15-16, 2013
• Assesses risk of test through Monte Carlos: loads, altitude, range safety, etc.
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Parachute Analysis: Post-flight
• Reduce and plot test data against prediction• Photogrammetric analysis used to
characterize parachute behavior
June 15-16, 2013
0 50 100 1500
10
20
30
40
50
60
70
80
90
Sep
arat
ion
Pro
gram
mer
s R
elea
se
Dro
gue
S/N
6 D
isre
ef to
Ful
l
Dro
gue
Rel
ease
Mai
n st
eady
-sta
te
PTV
Tou
chdo
wn
Time (s - RC)
Qba
r (ps
f)
Aircraft Tray SPAN-SESPAN-SE Raw IMUBest Estimate Trajectory (GPS/IMU)DSS Preflight (12/11/2012)
Circular Sector
Ring 4Sail 1
rRing
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DEVELOPMENT OF A PARACHUTE MODEL
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Parachute Modeling• Parachute parameters
– Drag area: CDS– Fill constant: n– Opening profile shape
exponent: expopen
– Overinflation factor: Ck
– Ramp down time: tk
June 15-16, 2013
Dra
g A
rea,
CDS
Time, t
expopen = 1expopen < 1expopen > 1
expopen = 0.5
expopen = 1.5
0
10
20
30
40
50
60
70
80
90
100
0.0 0.1 0.2 0.3
Drag
Are
a (s
q ft
)
Time (sec)(CDS)i-1
(CDS)itfp
tf
tk
(CDS)peak
Time, t
Dra
g Ar
ea, C
DS
ti
International Planetary Probe Workshop 10 Short Course 2013
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Model Development• Determine appropriate parachute parameter through
test data reconstructions– Run simulations varying parachute parameters until test
data is matched– Can be subjective
• Do this for each test, parachute type, and stage
June 15-16, 2013
CDT-3-4 CDT-3-5 CDT-3-6
Drogue A Drogue B Drogue A Drogue B Drogue A Drogue BClean Reefed Drag Area per canopy, (CDS)R (ft2) 128 128 146 158 133 134
Over-inflation Factor, Ck 1.2 1.3 1.2 1.3 1.3 1.4Fill Constant, n 3.4 6.9 5.4 4.9 7.5 5.2
Opening profile shape exponent, expopen 0.90 2.1 2.1 2.2 2.8 1.9Ramp down time, tk (s) 0.69 0.13 0.03 0.06 0.14 0.11
International Planetary Probe Workshop 10 Short Course 2013
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Model Development• Generate dispersions for each parachute type and stage• Dispersion bounding: caps or polygon
June 15-16, 2013
0 1 2 3 4 5 6 7 8 9 100
0.5
1
1.5
2
2.5
3
3.5
4
-1
+1
-2
+2-3+3
Canopy Fill Constant, n
Freq
uenc
y
Test DataBest Fit of Test DataMedian: 2.35Mean: 2.79Bounds: 0.90063 6.7474
Bounds(formerly uniform
dispersions)
TMIN(1-EF) TMAX1+EF)
Test Datalogn: 0.9209 0.44781Bounds: 0.90063 6.7474Median: 2.41
Test Datalogn: 0.14547 0.21556Bounds: 0.76275 1.8689Median: 1.17
0 2 4 6 8 100
0.5
1
1.5
2
2.5
3
EDU Main Stage 3 n
EDU
Mai
n St
age
3 ex
pope
n
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Model Development
• Redraw dispersions until inside polygon
• Deliver parachute model: 200K dispersions via 21 text files
June 15-16, 2013
Points within boundary are retained; outside points (green) are re-
drawn until acceptable (circled red)
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SYSTEM VERIFICATION & VALIDATION
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System V&V Introduction• CPAS must meet its requirements to ensure the system
functions as intended, individually and with other Orion systems
• V&V plan is a “list of activities that establishes the compliance” with the requirements
• Analysis team requirements are verified via analysis• Instructions provided through NASA Standard 7009
“Standard for Models and Simulations”– Model must be credible
• Determine through Model Credibility Scoring Guidelines• Completed for each model and simulation
– Current primary simulation: Decelerator System Simulation (DSS)– Future primary simulation: Flight Analysis & Simulation Tool (FAST)
June 15-16, 2013
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Level Verification Validation Input Pedigree
Results Uncertainty
Results Robustness Use History M&S
ManagementPeople
Qualifications
4Numerical error small for all important features.
Results agree with real-world data.
Input data agree with real-world data.
Non-deterministic & numerical analysis.
Sensitivity known for most parameters; key sensitivities identified.
De facto standard.
Continual process improvement.
Extensive experience in and use of recommended practices for this particular M&S.
3 Formal numerical error estimation.
Results agree with experiemental data for problems of interest.
Input data agree with experiemental data for problems of interest.
Non-Deterministic analysis.
Sensitivity known for many parameters.
Previous predictions were later validated by mission data.
Predictable process.
Advanced degree or extensive M&S experience, and recommended practice knowledge.
2 Unit and regression testing of key features.
Results agree with experiemental data or other M&S on unit problems.
Input data traceable to formal documenation.
Deterministic analysis or expert opinion.
Sensitivity known for a few parameters.
Used before for critical decisions. Established process.
Formal M&S training and experience, and recommended practice training.
1 Conceptual and mathematical models verified.
Conceptual and mathematical models agree with simple referents.
Input data traceable to informal documenation.
Qualitative estimaes.
Qualitative estimates. Passes simple
tests. Managed process. Engineering or science degree.
0 Insufficient evidence.
Insufficient evidence.
Insufficient evidence.
Insufficient evidence.
Insufficient evidence.
Insufficient evidence.
Insufficient evidence.
Insufficient evidence.
M&S Development M&S Operations Supporting Evidence
Model Credibility Score for DSS (January 2011)
International Planetary Probe Workshop 10 Short Course 2013
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CPAS V&V Cycle
1) Design the parachute subsystem2) Test the design through flight and ground tests3) Development and Qualification test data is gathered4) Document the test data and advancements in parachute physics knowledge5) Verify the parachute subsystem meets flight performance requirements
a) If No, update the document for requirement clarificationb) If No, update the design so that it can meet the requirement
6) Validate flight performance requirements at the integrated Crew Module level7) Conduct integrated flight tests8) Run-for-the-record simulations
June 15-16, 2013
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FUTURE OF CPAS
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Future of CPAS• Development Testing
– EDU (plan as of May 20, 2013)• 2013 (remaining): 2 tests – 1 PTV,
1 PCDTV• 2014: 4 PTV tests• 2015: 2 PTV tests
– EFT-1 in fall 2014• Qualification Tests
June 15-16, 2013
Lockheed Martin’s MPCV• Simulation & model development• Transition to end-to-end simulation in an independent parachute model• Refinement of statistically derived dispersions• Determine and document Model Credibility of simulation used for run-for-
the-record V&V
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CPAS Analysis TeamPat GalvinJohnny BlaschakKristin BledsoeJohn DavidsonMegan EnglertUsbaldo FraireFernando GalavizEric RayJoe Varela
Koki MachinEntire CPAS team
SPECIAL THANKS
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For More Information…• 2009 AIAA ADS Conference
– Overview of the Crew Exploration Vehicle Parachute Assembly System (CPAS) Generation I Drogue and Pilot Development Test Results, R. Olmstead
– Overview of the Crew Exploration Vehicle Parachute Assembly System (CPAS) Generation I Main and Cluster Development Test Results, K. Bledsoe
• 2011 AIAA ADS Conference – Proposed Framework for Determining Added Mass of Orion Drogue Parachutes, U. Fraire– Summary of CPAS Gen II Testing Analysis Results, A. Morris– Load Asymmetry Observed During Orion Main Parachute Inflation, A. Morris– Challenges of CPAS Flight Testing, E. Ray– Verification and Validation of Requirements on the CEV Parachute Assembly System Using Design of Experiments, P.
Schulte– Development of Monte Carlo Capability for Orion Parachute Simulations, J. Moore– Photogrammetric Analysis of CPAS Main Parachutes, E. Ray– A Hybrid Parachute Simulation Environment for the Orion Parachute Development Project, J. Moore– Measurement of CPAS Main Parachute Rate of Descent, E. Ray– Development of the Sasquatch Drop Test Footprint Tool, K. Bledsoe– Development of a Smart Release Algorithm for Mid-Air Separation of Parachute Test Articles, J. Moore– Simulating New Drop Test Vehicles and Test Techniques for the Orion CEV Parachute Assembly System, A. Morris– Verification and Validation of Flight Performance Requirements for Human Crewed Spacecraft Parachute Recovery
Systems, A. Morris
June 15-16, 2013
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For Even More Information…• 2013 AIAA ADS Conference
– Extraction and Separation Modeling of Orion Test Vehicles with ADAMS Simulation, U. Fraire– An Airborne Parachute Compartment Test Bed for the Orion Parachute Test Program, J. Moore– Application of a Smart Parachute Release Algorithm to the CPAS Test Architecture, K. Bledsoe– Application of Statistically Derived CPAS Parachute Parameters, L. Romero– A Boilerplate Capsule Test Technique for the Orion Parachute Test Program, J. Moore– Testing Small CPAS Parachutes Using HIVAS, E. Ray– Improved CPAS Photogrammetric Capabilities for Engineering Development Unit (EDU) Testing, E. Ray– Reefing Line Tension in CPAS Main Parachute Clusters, E. Ray– Skipped Stage Modeling and Testing of the Capsule Parachute Assembly System, J. Varela– Reconstruction of Orion EDU Parachute Inflation Loads, E. Ray
June 15-16, 2013
International Planetary Probe Workshop 10 Short Course 2013
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QUESTIONS?
International Planetary Probe Workshop 10 Short Course 2013
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