APOD: Falcon 9 First Stage Landing (2015 Dec 28)

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Expand view Topic review: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by neufer » Sat Apr 09, 2016 1:00 pm

.

Click to play embedded YouTube video.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by alter-ego » Wed Jan 06, 2016 4:12 am

Why thank you, Nit! I do occasionally get into these things :D
I was thinking of responding to the Earthset from the LRO APOD but then I said, nah, Nit will get it.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Nitpicker » Tue Jan 05, 2016 10:25 pm

Nice work (once again), alter-ego.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by alter-ego » Tue Jan 05, 2016 7:52 am

Chris Peterson wrote:...To make this cost effective, the system needs to land on the least possible amount of fuel. I imagine that the landing profile is designed with that in mind.
In this SpaceX update article, it's stated that a landing at 2g's is 5.5x more fuel efficient than landing at 1.1g's. Knowing the 1st stage length = 70 meters, I fairly accurately determined the decent profile by analyzing the video in 1-sec increments. The plot shows a simple (de)acceleration profile at 0.9g, or a nominal thrust of ~1.9g which is consistent with the article's higher-g, more efficient algorithm and the previously mentioned engine specs. In the video, the rocket is descending at ~65m/s when the rocket base first becomes visible (at 2 sec), and the simple acceleration model closely predicts zero velocity at 7.5 seconds elapsed time and -2.7m altitude. Given the simplistic analysis, I think the fit surprisingly good (for this discussion anyway) supporting the Newtonian model and successful higher-g controlled descent.
 
Falcon 9.1 Descent Profile_2.JPG

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Tue Jan 05, 2016 12:44 am

suicidejunkie wrote:I think it is quite fair to say the *option* to hover is quite desirable, since it allows you to correct for quite a lot of undesirable situations. (Low velocity at any altitude becomes survivable) Needing to use it, however would not be good, but that's how safety margin works and at least it doesn't cost you mass when not used. Things diverge a bit from a simple Newtonian dynamics problem when you have air and wind and many other variables you can't control, after all.
The dynamics may not all be strictly Newtonian, but they are simple.

I don't see landing system like this being used for humans anytime soon, so it's just a question of recovering a booster. That will probably be configured with a near-zero safety margin, given the cost of carrying all that landing fuel up in the first place (assuming this system proves economical at all compared with what we do right now, which I think is still quite uncertain).

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by geckzilla » Mon Jan 04, 2016 11:43 pm

I don't think hovering is an option at all given the mass problem. I get what you mean by it being desirable, though. Then again, if the rocket fails it'll probably fail with or without a few seconds of hovering. Computers don't need moments in time to correct things like humans do.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by suicidejunkie » Mon Jan 04, 2016 10:10 pm

I think it is quite fair to say the *option* to hover is quite desirable, since it allows you to correct for quite a lot of undesirable situations. (Low velocity at any altitude becomes survivable) Needing to use it, however would not be good, but that's how safety margin works and at least it doesn't cost you mass when not used. Things diverge a bit from a simple Newtonian dynamics problem when you have air and wind and many other variables you can't control, after all.

Expanding the range of current speeds and altitudes from which you can safely land to me says "easier". "Robust landing profiles" is a good term to replace "easy" with, for when you're not anthropomorphizing the rocket systems. :D

... landing involves controlling the thrust such that gravity is almost, but not quite compensated for."
^ That's the bit I really worried about. Almost compensating for gravity means not accelerating much, but that is not all that relevant; you're not fighting gravity so much as you're fighting your own momentum over these small time scales. It is the velocity which is very important; you need to fall (0 thrust to be efficient) and then stop precisely (max thrust = quickest to be efficient, but also dangerous!)
Which leads back to the suicide burn stops as seen in the video.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Mon Jan 04, 2016 7:42 pm

suicidejunkie wrote:If the engine were able to throttle down to get anywhere near "just counteract gravity", then the landing would be MUCH easier, since the rocket could hover until it got things right (or ran out of fuel).
We were, of course, discussing the nature of landing rockets in general. That said, I doubt hovering would ever be a desirable option, nor that it would actually make things any easier. To make this cost effective, the system needs to land on the least possible amount of fuel. I imagine that the landing profile is designed with that in mind. And all profiles should be equally easy (but not necessarily equally robust) given that it's just an elementary Newtonian dynamics problem and basic control theory. As long as the rocket actually does what it's commanded to do by the computer (which is an engineering problem), the actual landing profile is pretty arbitrary.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by neufer » Mon Jan 04, 2016 7:34 pm

suicidejunkie wrote:
If the engine were able to throttle down to get anywhere near "just counteract gravity", then the landing would be MUCH easier, since the rocket could hover until it got things right (or ran out of fuel).
Neal Armstrong had to do some hovering over the moon until he found a nice place to land (or run out of fuel).

The Falcon 9 knows exactly where it is & where it wants to land at all times so that hovering shouldn't be necessary.

Hover, v. i. [OE. hoveren, and hoven, prob. orig., to abide, linger, and
  • fr. AS. hof house; cf. OFries. hovia to receive into one's house. See Hovel.]

    • Macbeth Act 1, Scene 1

    Witches: Fair is foul, and foul is fair:
    • Hover through the fog and filthy air.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by suicidejunkie » Mon Jan 04, 2016 7:14 pm

If the engine were able to throttle down to get anywhere near "just counteract gravity", then the landing would be MUCH easier, since the rocket could hover until it got things right (or ran out of fuel).

Instead what happens is the rocket comes screaming down at a high speed, and the engines light up with a lot of thrust, but timed perfectly so that it slows to a dead halt just a tiny distance above the ground. The engines are then shut down so it doesn't start moving upwards again. (AKA suicide burn)
If you start thrusting a fraction of a second too late, you come to a stop embedded 10m into the ground. If you start thrusting a fraction of a second too early, you come to a stop 10m up, and then crash from there.

IIRC, the engine on that booster can be throttled between about 70%-100% thrust, which is close to 2g acceleration on the bottom end, but reduces the timing requirements from absolutely perfect to "very small margin for error, but doable". Also, you can't just shut the engine off and then start it up quickly to fake lower throttle; that's a good way to destroy your engine.
Apparently the longer term goal for future designs is to get a minimum throttle of 40% which would allow hovering, but throttle control is definitely on the hard end of rocket science ;).

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Thu Dec 31, 2015 6:49 pm

JohnD wrote:Chris will correct me, neufer, but I don't think that the landing Falcon would have taken off again if the rocket had kept on firing.
It's thrust , and the acceleration it caused counteracted the acceleration due to gravity, but not quite.
The result was a system that behaved like a much lighter vehicle, that came down slowly.
Once it contacted Earth, the reaction of a solid surface provided a further acceleration that precisely counteracted gravity.
Continued rocket thrust (of the same amount) would have made gravity and the Earth's reaction less, but not enough to counteract gravity completely and launch the vehicle again.
John
You're right. I'm right. Art's right. We're all just telling part of the story.

My original comment is correct, that landing involves controlling the thrust such that gravity is almost, but not quite compensated for. But that's just the global view of the entire landing sequence. What Art's getting at is the fact that any time you have a force, you have an acceleration. If you have a constant velocity, there is no net force.

Landing involves managing a specific velocity profile. Over the entire landing, the integrated force applied by the rocket is less than the integrated force of gravity, which is why you go down. Instantaneously, the thrust force may be greater or less than the force of gravity- if you're increasing your downward velocity, it will be less; if you're decreasing your downward velocity, it will be more (you'll be accelerating upward, even though your velocity is still downward). If you're maintaining a constant downward velocity, you might think that your two forces would be equal, but actually, you would have slightly less thust because if you have a non-zero velocity, you also have an upward directed drag force. And when you get very close to the ground, things probably get very complicated because now you don't have a purely Newtonian action/reaction system, but who-knows-what nonlinear ground effects.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by BMAONE23 » Thu Dec 31, 2015 6:22 pm

Would that be Elmer Thud?
Be Vewwy qwiet, we're hunting wetwo wockets
Click to play embedded YouTube video.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by neufer » Thu Dec 31, 2015 3:25 pm

JohnD wrote:
I don't think that the landing Falcon would have taken off again if the rocket had kept on firing.
It's thrust , and the acceleration it caused counteracted the acceleration due to gravity, but not quite.
The result was a system that behaved like a much lighter vehicle, that came down slowly.
Assuming a constant thrust (with little change in total mass) the rocket is either:
  • 1) accelerating up (i.e., decelerating down)
    2) hovering or
    3) accelerating down (i.e., decelerating up).
If the thrust more than counteracts the acceleration due to gravity (as I suggest)
then the rocket is 1) accelerating up (i.e., decelerating down) and the rocket lands softly.

If the thrust can't quite counteract the acceleration due to gravity (as you suggest)
then the rocket is 3) accelerating down (i.e., decelerating up) and the rocket lands with a thud.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by JohnD » Thu Dec 31, 2015 3:02 pm

Chris will correct me, neufer, but I don't think that the landing Falcon would have taken off again if the rocket had kept on firing.
It's thrust , and the acceleration it caused counteracted the acceleration due to gravity, but not quite.
The result was a system that behaved like a much lighter vehicle, that came down slowly.
Once it contacted Earth, the reaction of a solid surface provided a further acceleration that precisely counteracted gravity.
Continued rocket thrust (of the same amount) would have made gravity and the Earth's reaction less, but not enough to counteract gravity completely and launch the vehicle again.
John

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by DavidLeodis » Tue Dec 29, 2015 9:54 pm

Thanks Chris and neufer for your help. :)

Having read more of the many links I've now found this "Moving back at supersonic speeds that sent a sonic boom across Florida’s Space Coast, the first stage engines ignited to slow the booster down as it neared Landing Complex-1".

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by neufer » Tue Dec 29, 2015 8:36 pm

Chris Peterson wrote:
DavidLeodis wrote:
I'm not very good at understanding the physics of launchings/landings so please don't accuse me of being stupid as I don't understand why the engines are apparently being fired for a landing, as surely that would result in lifting! I'm sure it's not but it does look as if the video could be being shown in reverse! :? :rocketship:
A controlled landing requires providing just enough thrust to
almost- but not quite- offset gravity, allowing the rocket to settle gently to the ground.
I almost made the same mistake as Chris... but I caught myself (this time):

A controlled landing requires providing just enough thrust to almost- but not quite-
offset gravity (and then some), allowing the rocket to settle gently to the ground.

The engines are firing so as to slightly exceed gravity in order to transition from:
  • 1) a downward moving rocket at the top
    2) to a stationary rocket at the bottom
    3) with gases exiting the rocket.
Note: If the rocket hadn't been shut down it simply would have taken off.
  • ------------------------------------------------------
    This video could also be shown in reverse:
    ------------------------------------------------------
The engines are firing so as to slightly exceed gravity in order to transition from:
  • 1) a stationary rocket at the bottom
    2) to an upward moving rocket at the top
    3) with gases entering the rocket.
This corresponds exactly to a (slow motion) rocket launch except for the gases.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Tue Dec 29, 2015 8:23 pm

DavidLeodis wrote:I'm not very good at understanding the physics of launchings/landings so please don't accuse me of being stupid as I don't understand why the engines are apparently being fired for a landing, as surely that would result in lifting! I'm sure it's not but it does look as if the video could be being shown in reverse! :? :rocketship:
"Lift" doesn't necessarily mean "rising". It just means a force that operates opposite that of gravity. With no engines, the rocket would fall very fast into the ground and be destroyed. With too much thrust, it would rise. A controlled landing requires providing just enough thrust to almost- but not quite- offset gravity, allowing the rocket to settle gently to the ground.

Airplanes do the same thing, always generating lift with their wings, but controlling it such that the plane rises, stays level, or descends.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by DavidLeodis » Tue Dec 29, 2015 8:10 pm

I'm not very good at understanding the physics of launchings/landings so please don't accuse me of being stupid as I don't understand why the engines are apparently being fired for a landing, as surely that would result in lifting! I'm sure it's not but it does look as if the video could be being shown in reverse! :? :rocketship:

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Mon Dec 28, 2015 9:26 pm

FLPhotoCatcher wrote:Here is my idea (if Blue Origin or SpaceX would send me a 1% royalty, I would be happy).
Eliminate the landing legs, and land it on a computer-controlled movable metal grate. The computer would move the grate to balance the rocket like a person balances a vertical pole. Then computer-controlled arms would move-in near the top of the rocket and grab on to it to secure it.
I built a pencil balancer like that about 30 years ago...

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by FLPhotoCatcher » Mon Dec 28, 2015 9:01 pm

Here is my idea (if Blue Origin or SpaceX would send me a 1% royalty, I would be happy).
Eliminate the landing legs, and land it on a computer-controlled movable metal grate. The computer would move the grate to balance the rocket like a person balances a vertical pole. Then computer-controlled arms would move-in near the top of the rocket and grab on to it to secure it.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Mon Dec 28, 2015 8:47 pm

BMAONE23 wrote:
heehaw wrote:Here's my published letter to TIME magazine, 1981 May 11, page 5: "I am an astronomer, and I was filled with the glee of a child when I saw the space shuttle return safely. We have entered a new age! Future flights are estimated to cost $30 million each---that is, 15 cents from each of us. A bargain to build a strong American presence in space!" Thirty-four years later, here we are! Someone tell me where we will be 34 years from today.
Running feasibility studies for the practical application of capturing an asteroid, relocating it into a geostationary but low orbit (600K) and building a tether to it from the ground for a space elevator. Perhaps already having made several disastrous attempts at nudging various small asteroids causing unanticipated side effects in the gravitational status quo of our local neighborhood
We don't even have the physical capability to do this now. Some serious advances in material science will have to occur first.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Mon Dec 28, 2015 8:45 pm

BMAONE23 wrote:
Chris Peterson wrote:
Ron-Astro Pharmacist wrote:Maybe I've been reading too much sci-fi but other than rocket launch options always seemed like a good alternative. Are we even close to such technology?
Probably not (except for the space plane approach, which is currently feasible). Most of these methods require extremely high initial investments, and that's not going to happen until space is much more commercialized than it currently is.
Probably a better option would be to build a similar Mag Lev/Mag Repulsion drive underground for a straight stretch of about 6 miles then angle the bore up inside of a mountain (like Kilimanjaro 19,000' or Mt Kenya 17,000') on the equator to exit at the top where the atmosphere is already thinner. The launch tube could be depressurized prior to launch to equate to the ambient pressure at the top of the mountain.
Now you just need to find an extra trillion or so dollars for the project...

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by BMAONE23 » Mon Dec 28, 2015 8:31 pm

heehaw wrote:Here's my published letter to TIME magazine, 1981 May 11, page 5: "I am an astronomer, and I was filled with the glee of a child when I saw the space shuttle return safely. We have entered a new age! Future flights are estimated to cost $30 million each---that is, 15 cents from each of us. A bargain to build a strong American presence in space!" Thirty-four years later, here we are! Someone tell me where we will be 34 years from today.
Running feasibility studies for the practical application of capturing an asteroid, relocating it into a geostationary but low orbit (600K) and building a tether to it from the ground for a space elevator. Perhaps already having made several disastrous attempts at nudging various small asteroids causing unanticipated side effects in the gravitational status quo of our local neighborhood

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by BMAONE23 » Mon Dec 28, 2015 8:23 pm

Chris Peterson wrote:
Ron-Astro Pharmacist wrote:Maybe I've been reading too much sci-fi but other than rocket launch options always seemed like a good alternative. Are we even close to such technology?
Probably not (except for the space plane approach, which is currently feasible). Most of these methods require extremely high initial investments, and that's not going to happen until space is much more commercialized than it currently is.
Probably a better option would be to build a similar Mag Lev/Mag Repulsion drive underground for a straight stretch of about 6 miles then angle the bore up inside of a mountain (like Kilimanjaro 19,000' or Mt Kenya 17,000') on the equator to exit at the top where the atmosphere is already thinner. The launch tube could be depressurized prior to launch to equate to the ambient pressure at the top of the mountain.

Re: APOD: Falcon 9 First Stage Landing (2015 Dec 28)

by Chris Peterson » Mon Dec 28, 2015 8:19 pm

heehaw wrote:Here's my published letter to TIME magazine, 1981 May 11, page 5: "I am an astronomer, and I was filled with the glee of a child when I saw the space shuttle return safely. We have entered a new age! Future flights are estimated to cost $30 million each---that is, 15 cents from each of us. A bargain to build a strong American presence in space!" Thirty-four years later, here we are! Someone tell me where we will be 34 years from today.
The space shuttle was not something arrived at because of real need, but rather, a political toy.

I expect that in 34 years we'll still be throwing away money because of poor political decisions that have nothing to do with our actual capabilities or requirements.

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