Parachute design paper

NOTE: the successful research, development, testing and

You can take your comments by RED FONT evaluation of a parachute recovery system (PRS) for
small (UAV research aircraft) systems (payload) to
behind the required paragraph (text).
safe emergency landing. The work will mainly involve
NOMENCLATURE: designing the parachute recovery system (PRS). The
project can be capable of using in deferent payload of
W … The weight of the parachute and UGV = m × g similar to this weight (scale). The designed parachute
m … The mass of the parachute and UGV recovery system (PRS) for this paper were to deliver a
payload for weight 1 kg gently drop.
g … The gravitational acceleration = 9.81 𝑚⁄𝑠 2 at sea
level KEYWORDS:
Parachute recovery system (PRS), Parachute design,
D … The aerodynamic drag force UAVs emergency landing.
Cd … The drag coefficient of the parachute – assumed
= 0.75 for a round canopy INTRODUCTION:
The motion of parachute in air (atmosphere) divided
ρ … The air density = 1.225 𝑘𝑔⁄𝑚3 at sea level to three stages so, we use the three newton’s law
equations of motion represented as follow:
Vo … The initial velocity
⃑⃑⃑
𝑉𝑓 = ⃑⃑⃑
𝑉𝑜 + 𝑎 × 𝑡
V … The final velocity for any stage
1
V2 … The descent velocity of the parachute and UGV 𝑋 = ⃑⃑⃑
𝑉𝑜 × t + × 𝑎 × 𝑡 2
(constant velocity) 2
2 2
A … The area of parachute ⃑⃑⃑
𝑉𝑓 = ⃑⃑⃑
𝑉𝑜 + 2 × 𝑎 × 𝑋

dp … The diameter of parachute MATHEMATICAL MODEL:

F … The force The first stage (Free Fall of the parachute and
payload):
a … The acceleration The parachute is falling through the air (atmosphere)
(Free fall) are dependent on one external force only.
H … The height of the drop mechanism This forces are the gravitational force (weight),
expressed as the weight of the parachute and the
ABSTRACT: payload. And the second force is the aerodynamic
In this paper, we discuss the parachute design because drag force. The weight equation defined as:
the parachute is very important theory to drive any
weight to the ground from various altitudes. The
⃑⃑⃑ = m × g⃑
W
focusing in military air forces to drive the drones and
payloads to the ground. Use to land the rocket
components in a safe manner. Mainly with parachutes, The newton’s law equations of motion:
also booster rockets (i.e. SPACEX). Allow reusability ⃑⃑⃑
𝑉𝑜 = 0 (𝑧𝑒𝑟𝑜)
of rocket systems. The UAVs play an important role
in the military operations missions in the recent years 𝑎 = g⃑ = [9.81]𝑖̂ m/𝑠 2
and it does have great advantages for autonomous
flight capability provided from the coast and rise ⃑⃑⃑
𝑉1 = 𝑎 × 𝑡1
safety for human lives. So, there are many potential
1
applications for UAVs in civilian environment like ⃑⃑⃑⃑
𝑋1 = × 𝑎 × 𝑡12
photography, agriculture, planning and many other 2
fields. The damaged UAVs researches stated that, the 2
⃑⃑⃑
𝑉1 = 2 × 𝑎 × ⃑⃑⃑⃑
𝑋1
structural and systematical damages may be high cost.
In order to solve these problems, this paper focuses on
The second stage (Deceleration of the parachute 1
⃑⃑ = cd ×
D ⃑ 2 × Ap
×ρ×𝑉
and payload): 2
In this stage the parachute moves by two external
So, the drag force will increase due to the increasing
acting forces. The first is the gravitational force,
in the velocity until the drag force is equal to the
represented by the weight of the parachute and the
weight. Then, the net external forces acting on the
payload, and the second is the drag force. The net
parachute and the payload is equal to zero. Then, the
external force is equal to the vector summation of the
acceleration becomes zero. Then, the parachute falls at
weight and the drag force and its vector resultant to the
a constant velocity as described by the newton’s first
center of the earth.
law of motion defined as:
⃑⃑⃑ − 𝐷
∑𝐹 = 𝑊 ⃑
The value of the gravitational acceleration (g) is ⃑ −𝑊
∑𝐹 = 𝐷 ⃑⃑⃑ = 0 (𝑧𝑒𝑟𝑜)
constant value 9.81 m/𝑠 2 from sea level to the
geopotential altitude and decreases with the square of D=W
the distance from the center of the earth after the
𝑎 = 0 (𝑧𝑒𝑟𝑜)
geopotential altitude so, we assume g = 9.81 m/𝑠 2
constant value. If the parachute falls in atmosphere the ⃑⃑⃑
𝑉2 = (𝑐𝑜𝑛𝑠𝑡. )
air is acting on the parachute by the drag force defined
as a force parallel to the free-stream velocity can be This velocity is called the terminal velocity ( ⃑⃑⃑
𝑉2 ). It’s
calculated by this equation: calculated by this relation:
1
⃑D
⃑ = cd × ⃑ 2 × Ap
×ρ×𝑉 2×𝑊
2 𝑉2 = √
cd × ρ × A p
The motion of the parachute can be represented by
newton’s second law of motion defined as: The area of parachute can be calculated by this
relations:
∑𝐹 = 𝑚 ×𝑎
2×W
Ap =
We can solve this relation to calculate the acceleration ρ × Cd × 𝑉2 2
of the parachute with the net external forces acting on
the parachute and the mass of parachute and the 8×W
𝑑𝑝 = √
payload as follow: π × ρ × Cd × 𝑉2 2

∑𝐹 The impact energy is represented to the kinetic

𝑎=
𝑚 energy defined as:
Then, the acceleration of the parachute becomes: 1
𝐾. 𝐸.𝑖𝑚𝑝𝑎𝑐𝑡 = × 𝑚 × 𝑉2 2
⃑⃑⃑ − 𝐷
𝑊 ⃑ 2
𝑎=
𝑚 Optimal drop time:
The newton’s law equation of motion represented by:
𝑉 = √𝑉𝑥 2 + 𝑉𝑦 2
⃑⃑⃑
𝑉2 = ⃑⃑⃑
𝑉1 + 𝑎 × 𝑡2
𝑉𝑦 𝐻
1 tan 𝜃 = =
⃑⃑⃑⃑
𝑋2 = ⃑⃑⃑
𝑉1 × 𝑡2 + × 𝑎 × 𝑡2 2 𝑉𝑥 𝑋
2
2 2 To use the parachute system in dropping the drone
⃑⃑⃑
𝑉2 = ⃑⃑⃑
𝑉1 + 2 × 𝑎 × ⃑⃑⃑⃑
𝑋2 from the UAVs, we should pot the algorithm of
The third stage (Constant descending rate of the projectile equations to calculate the optimal trop
time.
parachute and payload):
According to the drag force change with respect to the For example, Before the UAVs drops the parachute
square of the descending rate as follow: and the payload, the autopilot starts to calculate the
distance and the optimal drop time between the The second stage (Deceleration of the parachute
UAVs and the dropping point by this algorithm of and payload):
projectile equations. The separation is triggered by a In y-direction:
dropping mechanism. This calculation is considered 1
𝐻2 = 𝑉1 × 𝑡2 + × 𝑎 × 𝑡2 2
as same important parameters (UAV’s speed, wind 2
speed, altitude, drag force and the time response of
Assume: 𝐻2 = 2.5 [m] , 𝑡2 = 0.5 [𝑠𝑒𝑐. ]
autopilot system) represented by this equations:
1 2 × (𝐻2 − 𝑉1 × 𝑡2 ) 2 × (2.45 − 7.672 × 1)
𝑋 = 𝑉𝑈𝐴𝑉 × 𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 − × 𝑎𝑥 × 𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 2 𝑎= =
2 𝑡2 2 (1)2
cd 𝑥 × ρ × 𝑉𝑥 2 × 𝐴𝑝𝑟𝑜𝑗𝑒𝑐𝑡𝑒𝑑 = −10.6881 [m/𝑠 2 ]
𝑎𝑥 =
2×𝑚
Calculate (𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 ) from eqn. : 𝑉2 = √𝑉1 2 + 2 × 𝑎 × 𝐻2
Optimal drop time is the time wich take the order to = √(7.672) 2 + 2 × (−10.6881) × 2.5
drop the parachute and the payload to drive to the = 2.32797 [m/𝑠]
ground required dropping point.
1 The acting forces are
𝐻 = 𝑉1 𝑦 × 𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 + × 𝑎𝑦 × 𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 2
2 ⃑⃑⃑ − 𝐷
∑𝐹 = 𝑊 ⃑

𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 𝑚 = 1 [𝑘𝑔] , 𝑊 = 1 × 9.81 = 9.81 [𝑁]

1 ⃑⃑⃑ − 𝐷
⃑
− ( 𝑉1 𝑦 ) ± √( 𝑉1 𝑦 )2 − 4 × ( × 𝑎𝑦 )( −𝐻 ) ∑𝐹 𝑊
2 𝑎= =
= 𝑚 𝑚
1
2 × ( × 𝑎𝑦 )
2
𝐷 = 𝑊 − 𝑚 × 𝑎 = 9.81 − 1 × (−10.4441)
𝑡𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 ≃ 0.4 𝑠𝑒𝑐. ( exprimentall ) = 20.498 [𝑁]

𝑡𝑜𝑝𝑡𝑖𝑚𝑎𝑙 = 𝑡𝑑𝑟𝑜𝑝𝑝𝑖𝑛𝑔 + 𝑡𝑟𝑒𝑠𝑝𝑜𝑛𝑠𝑒 The third stage (Constant descending rate of the
parachute and payload):
The acting force in y-direction:
CASE STUDY:
Analytical calculation:
⃑ −𝑊
∑𝐹 = 𝐷 ⃑⃑⃑ = 0 (𝑧𝑒𝑟𝑜)
For example, the designed parachute to deliver a
weight 1 kg to the ground gently drop: 𝑎 = 0 (𝑧𝑒𝑟𝑜)

The first stage (Free Fall of the parachute and D = W = 9.81 [𝑁]
payload):
⃑W
⃑⃑ = m × g⃑ Assume : cd = 1 (𝑑𝑒𝑝𝑒𝑛𝑑𝑠 𝑜𝑛 𝑡ℎ𝑒 𝑐ℎ𝑢𝑡𝑒 𝑚𝑎𝑡𝑒𝑟𝑖𝑎𝑙)

ρ = 1.225 [𝑘𝑔⁄𝑚3 ]
In y-direction
𝑉2 = 2.32797 [m/𝑠] = (𝑐𝑜𝑛𝑠𝑡. )
𝑚 = 1 [𝑘𝑔] , 𝑊 = 1 × 9.81 = 9.81 [𝑁]
1
At, 𝑉𝑜 = 0 (𝑧𝑒𝑟𝑜) , 𝑎 = g = 9.81 [m/𝑠 2 ] D = cd × × ρ × 𝑉2 2 × A = W
2
Assume, 2×𝑊 2 × 9.81
Ap = 2 =
𝐻1 = 3 [m] cd × ρ × 𝑉2 1 × 1.225 × (2.32797) 2
= 2.95534 [𝑚]
Then,
Then, the final calculated area of parachute is equal
𝑉1 = √2 × 9.81 × 3 = 7.672 [m/𝑠] to:
𝑉1 7.672 𝐴𝑝 = 2.95534 [𝑚]
𝑡1 = = = 0.782 [𝑠𝑒𝑐. ]
𝑎 9.81
Then, the final calculated diameter of parachute is Heinrich Parachute Systems Short Course,
equal to: 15-19 May 2006.
7- D.J. Cockrel1, THE AERODYNAMICS OF
8×W PARACHUTES, July 1987, ISBN 92-835-
𝑑𝑝 = √ 0422-4.
π × ρ × Cd × 𝑉2 2
8- Knacke, T. W. (1992). Parachute Recovery
8 × 9.81 Systems: Design Manual. Santa Barbara:
=√ Para Publishing.
π × 1.225 × 1 × (2.32797)2
9- Fluid structure interactions on a Cross
= 1.9398 ≅≃ 2 [𝑚]
Parachute. Computer Methods in Applied
The impact energy is equal to: Mechanics and Engineering, 673-687.
Knacke, T. W. (1992).
1 1 10- D. Poynter, “The Parachute Manual, Vols. I
𝐾. 𝐸.𝑖𝑚𝑝𝑎𝑐𝑡 = × 𝑚 × 𝑉2 2 = × 1 × (2.32797)2
2 2 & II,” Para-Publishing, P.O. Box 4232, Santa
= 2.7097 [𝐽] Barbara, CA 91340-4232.
Practical calculation: 11- The Porosity, Translucency and
Deformability of Nylon Parachute Fabrics,
A. Baker, Royal Aircraft Establishment
Farnborough, Hants, England.
STANDARD DIMENSION: 12- Cartwright, K. (2008). Feasibility of
Canopy: Parachute Recovery Systems for Small
MATERIAL: UAVs.
Nylon fabric. 13- L.R. JAMISON. "A method for calculating
parachute opening forces for general
ACKNOWLEDGMENT: deployment conditions." Journal of
This paper study the designed parachute and dynamic Spacecraft and Rockets, Vol. 4, No. 4 (1967),
and static stability of parachute carried out at the pp. 498-502. doi: 10.2514/3.28894.
AUVSI-SUAS Competition in the dropping task that 14- http://www.eagletreesystems.com/Plane/pla
the Military Technical College was joined in it. ne.html
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