Rocket and Spacecraft Propulsion Principles, Practice and New Developments (Third Edition)
Martin J. L. Turner
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Rocket and Spacecraft Propulsion Principles, Practice and New Developments (Third Edition)
Martin J. L. Turner
Rocket and Spacecraft Propulsion Principles, Practice and New Developments (Third Edition)
Published in association with
Praxis Publishing Chichester, UK
Professor Martin J. L. Turner, C.B.E., F.R.A.S. Department of Physics and Astronomy University of Leicester Leicester UK
SPRINGER–PRAXIS BOOKS IN ASTRONAUTICAL ENGINEERING SUBJECT ADVISORY EDITOR: John Mason, B.Sc., M.Sc., Ph.D.
ISBN 978-3-540-69202-7 Springer Berlin Heidelberg New York Springer is part of Springer-Science + Business Media (springer.com) Library of Congress Control Number: 2008933223 Apart from any fair dealing for the purposes of research or private study, or criticism or review, as permitted under the Copyright, Designs and Patents Act 1988, this publication may only be reproduced, stored or transmitted, in any form or by any means, with the prior permission in writing of the publishers, or in the case of reprographic reproduction in accordance with the terms of licences issued by the Copyright Licensing Agency. Enquiries concerning reproduction outside those terms should be sent to the publishers. # Praxis Publishing Ltd, Chichester, UK, 2009 First edition published 2001 Second edition published 2005 Printed in Germany The use of general descriptive names, registered names, trademarks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. Cover design: Jim Wilkie Project management: Originator Publishing Services, Gt Yarmouth, Norfolk, UK Printed on acid-free paper
Contents
Preface to the third edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xi
Preface to the second edition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xiii
Preface to the first edition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xv
Acknowledgements. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xvii
List of figures . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xix
List of tables . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xxiii
List of colour plates. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
xxv
1
History and principles of rocket propulsion . . . . . . 1.1 The development of the rocket. . . . . . . . . . 1.1.1 The Russian space programme . . . . 1.1.2 Other national programmes. . . . . . . 1.1.3 The United States space programme . 1.1.4 Commentary . . . . . . . . . . . . . . . . 1.2 Newton’s third law and the rocket equation . 1.2.1 Tsiolkovsky’s rocket equation . . . . . 1.3 Orbits and spaceflight. . . . . . . . . . . . . . . . 1.3.1 Orbits . . . . . . . . . . . . . . . . . . . . . 1.4 Multistage rockets . . . . . . . . . . . . . . . . . . 1.4.1 Optimising a multistage rocket . . . . 1.4.2 Optimising the rocket engines . . . . . 1.4.3 Strap-on boosters . . . . . . . . . . . . . 1.5 Access to space . . . . . . . . . . . . . . . . . . . .
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1 1 6 6 8 13 14 14 17 18 25 28 30 32 34
vi
Contents
2
The thermal rocket engine . . . . . . . . . . . . . . . . . . . . . . . . . . . 2.1 The basic configuration . . . . . . . . . . . . . . . . . . . . . . . . 2.2 The development of thrust and the effect of the atmosphere 2.2.1 Optimising the exhaust nozzle . . . . . . . . . . . . . . . 2.3 The thermodynamics of the rocket engine . . . . . . . . . . . . 2.3.1 Exhaust velocity . . . . . . . . . . . . . . . . . . . . . . . . 2.3.2 Mass flow rate . . . . . . . . . . . . . . . . . . . . . . . . . 2.4 The thermodynamic thrust equation . . . . . . . . . . . . . . . . 2.4.1 The thrust coefficient and the characteristic velocity. 2.5 Computing rocket engine performance . . . . . . . . . . . . . . . 2.5.1 Specific impulse . . . . . . . . . . . . . . . . . . . . . . . . 2.5.2 Example calculations . . . . . . . . . . . . . . . . . . . . . 2.6 Worked Example. . . . 2.7 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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Liquid propellant rocket engines . . . . . . . . . . . . . . . . . . . . . . . 3.1 The basic configuration of the liquid propellant engine . . . . 3.2 The combustion chamber and nozzle . . . . . . . . . . . . . . . . 3.2.1 Injection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.2 Ignition. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.2.3 Combustion instability . . . . . . . . . . . . . . . . . . . . 3.2.4 Thrust vector control . . . . . . . . . . . . . . . . . . . . . 3.3 Liquid propellant distribution systems . . . . . . . . . . . . . . . 3.3.1 Cavitation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.3.2 Pogo . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3.4 Cooling of liquid-fuelled rocket engines . . . . . . . . . . . . . . 3.5 Examples of rocket engine propellant flow . . . . . . . . . . . . 3.5.1 The Aestus engine on Ariane 5 . 3.5.2 The Ariane Viking engines . . . . . . . . . . . . . . . . . 3.5.3 The Ariane HM7 B engine . . . . . . . . . . . . . . . . . 3.5.4 The Vinci cryogenic upper-stage engine for Ariane 5 3.5.5 The Ariane 5 Vulcain cryogenic engine . . . . . . . . . 3.5.6 The Space Shuttle main engine . . . . . . . . . . . . . . 3.5.7 The RS 68 engine . . . . . . . . . . . . . . . . . . . . . . . 3.5.8 The RL 10 engine . . . . . . . . . . . . . . . . . . . . . . . 3.6 Combustion and the choice of propellants . . . . . . . . . . . . 3.6.1 Combustion temperature . . . . . . . . . . . . . . . . . . 3.6.2 Molecular weight . . . . . . . . . . . . . . . . . . . . . . . 3.6.3 Propellant physical properties . . . . . . . . . . . . . . . 3.7 The performance of liquid-fuelled rocket engines . . . . . . . . 3.7.1 Liquid oxygen–liquid hydrogen engines . . . . . . . . . 3.7.2 Liquid hydrocarbon–liquid oxygen engines . . . . . . . 3.7.3 Storable propellant engines . . . . . . . . . . . . . . . . .
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3
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37 37 39 43 44 46 48 53 54 58 59 60 62 65
67 67 68 69 70 73 78 81 83 84 85 86 87 88 90 91 92 93 96 96 98 99 100 101 103 104 104 106
Contents
4
Solid 4.1 4.2 4.3
4.4
4.5 4.6 4.7
4.8
5
propellant rocket motors . . . . . . . . . . . . . . . . . . Basic configuration . . . . . . . . . . . . . . . . . . . . . The properties and the design of solid motors. . . . Propellant composition . . . . . . . . . . . . . . . . . . . 4.3.1 Additives. . . . . . . . . . . . . . . . . . . . . . . 4.3.2 Toxic exhaust. . . . . . . . . . . . . . . . . . . . 4.3.3 Thrust stability . . . . . . . . . . . . . . . . . . . 4.3.4 Thrust profile and grain shape. . . . . . . . . Integrity of the combustion chamber . . . . . . . . . . 4.4.1 Thermal protection . . . . . . . . . . . . . . . . 4.4.2 Inter-section joints . . . . . . . . . . . . . . . . 4.4.3 Nozzle thermal protection. . . . . . . . . . . . Ignition . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Thrust vector control . . . . . . . . . . . . . . . . . . . . Two modern solid boosters . . . . . . . . . . . . . . . . 4.7.1 The Space Shuttle SRB . . . . . . . . . . . . . 4.7.2 The Ariane MPS . . . . . . . . . . . . . . . . . Hybrid rocket motors. . . . . . . . . . . . . . . . . . . . 4.8.1 Hybrid motor history . . . . . . . . . . . . . . 4.8.2 The basic configuration of a hybrid motor . 4.8.3 Propellants and ignition . . . . . . . . . . . . . 4.8.4 Combustion . . . . . . . . . . . . . . . . . . . . . 4.8.5 Grain cross-section . . . . . . . . . . . . . . . . 4.8.6 Propulsive efficiency . . . . . . . . . . . . . . . 4.8.7 Increasing the thrust . . . . . . . . . . . . . . .
Launch vehicle dynamics . . . . . . . . . . . . . . . . . . . . 5.1 More on the rocket equation . . . . . . . . . . . . . 5.1.1 Range in the absence of gravity . . . . . . 5.2 Vertical motion in the Earth’s gravitational field 5.2.1 Vehicle velocity . . . . . . . . . . . . . . . . 5.2.2 Range. . . . . . . . . . . . . . . . . . . . . . . 5.3 Inclined motion in a gravitational field . . . . . . 5.3.1 Constant pitch angle . . . . . . . . . . . . . 5.3.2 The flight path at constant pitch angle . 5.4 Motion in the atmosphere . . . . . . . . . . . . . . . 5.4.1 Aerodynamic forces . . . . . . . . . . . . . . 5.4.2 Dynamic pressure . . . . . . . . . . . . . . . 5.5 The gravity turn . . . . . . . . . . . . . . . . . . . . . 5.6 Basic launch dynamics . . . . . . . . . . . . . . . . . 5.6.1 Airless bodies . . . . . . . . . . . . . . . . . . 5.7 Typical Earth-launch trajectories . . . . . . . . . . 5.7.1 The vertical segment of the trajectory . . 5.7.2 The gravity turn or transition trajectory 5.7.3 Constant pitch or the vacuum trajectory
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vii
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109 109 111 112 114 115 115 116 118 119 120 122 122 123 123 123 125 126 127 128 128 130 131 132 133
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135 135 137 140 140 143 144 144 146 148 149 150 151 153 154 155 156 156 157
viii
Contents
5.8
6
7
5.7.4 Actual 5.8.1 5.8.2 5.8.3
Orbital injection . . . . . . launch vehicle trajectories The Mu-3-S-II launcher . Ariane 4 . . . . Pegasus . . . . . . . . . . . .
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Electric propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.1 The importance of exhaust velocity . . . . . . . . . . . . . . . 6.2 Revived interest in electric propulsion . . . . . . . . . . . . . 6.3 Principles of electric propulsion . . . . . . . . . . . . . . . . . 6.3.1 Electric vehicle performance . . . . . . . . . . . . . . 6.3.2 Vehicle velocity as a function of exhaust velocity 6.3.3 Vehicle velocity and structural/propellant mass . . 6.4 Electric thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.4.1 Electrothermal thrusters . . . . . . . . . . . . . . . . . 6.4.2 Arc-jet thrusters . . . . . . . . . . . . . . . . . . . . . . 6.5 Electromagnetic thrusters . . . . . . . . . . . . . . . . . . . . . 6.5.1 Ion propulsion . . . . . . . . . . . . . . . . . . . . . . . 6.5.2 The space charge limit . . . . . . . . . . . . . . . . . . 6.5.3 Electric field and potential . . . . . . . . . . . . . . . 6.5.4 Ion thrust . . . . . . . . . . . . . . . . . . . . . . . . . . 6.5.5 Propellant choice . . . . . . . . . . . . . . . . . . . . . 6.5.6 Deceleration grid . . . . . . . . . . . . . . . . . . . . . 6.5.7 Electrical efficiency . . . . . . . . . . . . . . . . . . . . 6.6 Plasma thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . 6.6.1 Hall effect thrusters . . . . . . . . . . . . . . . . . . . . 6.6.2 Radiofrequency thrusters . . . . . . . . . . . . . . . . 6.7 Low-power electric thrusters . . . . . . . . . . . . . . . . . . . 6.8 Electrical power generation . . . . . . . . . . . . . . . . . . . . 6.8.1 Solar cells . . . . . . . . . . . . . . . . . . . . . . . . . . 6.8.2 Solar generators . . . . . . . . . . . . . . . . . . . . . . 6.8.3 Radioactive thermal generators . . . . . . . . . . . . 6.8.4 Nuclear fission power generators . . . . . . . . . . . 6.9 Applications of electric propulsion . . . . . . . . . . . . . . . 6.9.1 Station keeping. . . . . . . . . . . . . . . . . . . . . . . 6.9.2 Low Earth orbit to geostationary orbit . . . . . . . 6.9.3 Nine-month one-way mission to Mars. . . . . . . . 6.9.4 Gravity loss and thrust . . . . . . . . . . . . . . . . . 6.10 Worked Example. . . . 6.11 Deep Space 1 and the NSTAR ion engine . . . . . . . . . . 6.12 SMART 1 and the PPS-1350 .
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Nuclear propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7.1 Power, thrust, and energy . . . . . . . . . . . . . . . . . . . . . . . . . . 7.2 Nuclear fission basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
157 159 159 162 163 165 165 167 167 168 169 170 171 172 175 177 178 180 182 183 184 186 186 189 191 197 199 200 200 201 202 204 206 209 210 211 211 213 215 217 219 220 221
Contents ix
7.3 7.4 7.5 7.6 7.7 7.8 7.9 7.10 7.11 7.12 7.13 7.14
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224 225 228 231 233 233 234 235 237 239 240 243 244 246 248 249 250 251 252 253 255 256 258 264 265 269
Advanced thermal rockets . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.1 Fundamental physical limitations . . . . . . . . . . . . . . . . . . . 8.1.1 Dynamical factors . . . . . . . . . . . . . . . . . . . . . . . . 8.2 Improving efficiency . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.2.1 Exhaust velocity . . . . . . . . . . . . . . . . . . . . . . . . . 8.3 Thermal rockets in atmosphere, and the single stage to orbit . 8.3.1 Velocity increment for single stage to orbit . . . . . . . 8.3.2 Optimising the exhaust velocity in atmosphere . . . . . 8.3.3 The rocket equation for variable exhaust velocity . . . 8.4 Practical approaches to SSTO . . . . . . . . . . . . . . . . . . . . . 8.4.1 High mass ratio . . . . . . . . . . . . . . . . . . . . . . . . . 8.5 Practical approaches and developments . . . . . . . . . . . . . . . 8.5.1 Engines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.6 Air-breathing engines . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.7 Vehicle design and mission concept . . . . . . . . . . . . . . . . . . 8.7.1 Optimising the ascent. . . . . . . . . . . . . . . . . . . . . . 8.7.2 Optimising the descent . . . . . . . . . . . . . . . . . . . . .
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271 271 271 274 274 277 278 280 282 283 283 286 286 294 297 298 298
7.15 7.16 7.17 7.18 7.19 7.20 7.21 7.22 7.23
8
A sustainable chain reaction . . . . . . . . . . . . Calculating the criticality . . . . . . . . . . . . . . The reactor dimensions and neutron leakage. . Control . . . . . . . . . . . . . . . . . . . . . . . . . . Reflection . . . . . . . . . . . . . . . . . . . . . . . . Prompt and delayed neutrons . . . . . . . . . . . Thermal stability . . . . . . . . . . . . . . . . . . . . The principle of nuclear thermal propulsion . . The fuel elements . . . . . . . . . . . . . . . . . . . Exhaust velocity of a nuclear thermal rocket. . Increasing the operating temperature . . . . . . . The nuclear thermal rocket engine . . . . . . . . 7.14.1 Radiation and its management . . . . . 7.14.2 Propellant flow and cooling . . . . . . . 7.14.3 The control drums . . . . . . . . . . . . . 7.14.4 Start-up and shut-down . . . . . . . . . . 7.14.5 The nozzle and thrust generation . . . . Potential applications of nuclear engines . . . . Operational issues with the nuclear engine . . . Interplanetary transfer manoeuvres . . . . . . . . Faster interplanetary journeys . . . . . . . . . . . Hydrogen storage . . . . . . . . . . . . . . . . . . . Development status of nuclear thermal engines Alternative reactor types . . . . . . . . . . . . . . . Safety issues . . . . . . . . . . . . . . . . . . . . . . . Nuclear propelled missions . . . . . . . . . . . . .
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8.8
9
SSTO concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8.8.1 The use of aerodynamic lift for ascent . . . . . . . . . . . .
299 300
Human space flight and planetary exploration . . . . . . . . . . . . . . . . . 9.1 Launch systems for human space flight . . . . . . . . . . . . . . . . . 9.1.1 Establishing the reliability of components . . . . . . . . . . 9.1.2 The test programme . . . . . . . . . . . . . . . . . . . . . . . . 9.2 Crewed launchers and re-entry vehicles . . . . . . . . . . . . . . . . . 9.3 Project Constellation, the new NASA human space flight programme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9.3.1 The Orion spacecraft . . . . . . . . . . . . . . . . . . . . . . . . 9.3.2 The Ares I launcher . . . . . . . . . . . . . . . . . . . . . . . . 9.3.3 The Ares V launcher . . . . . . . . . . . . . . . . . . . . . . . . 9.4 Soft landing and planetary exploration . . . . . . . . . . . . . . . . . 9.4.1 The challenge of deep throttling. . . . . . . . . . . . . . . . . 9.4.2 Deep throttling with cryogenic propellants . . . . . . . . . .
303 303 305 306 310 334 336 339 342 343 346 348
APPENDICES A
Orbital motion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
351
B
Launcher survey . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
357
C
Ariane 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
373
D
Glossary of symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
379
Further reading. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
383
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
385
Preface to the third edition
In this edition, I have tried to take into account the full implications of the radical changes to the NASA programme, which were just beginning when the second edition was published. The new human exploration programme is now well established and new rocket vehicles are being designed for it. There are only a few more flights of the Space Shuttle before its retirement, and the plan to send humans back to the Moon is well under way. Of course this is not the only major new development: the entry of China into manned spaceflight has added to the new focus on the need to carry cosmonauts, astronauts and taikonauts to their destinations, and bring them back safely. For this reason I have added a new chapter on human spaceflight and planetary exploration. To accompany this I have expanded other chapters to include combustion instability and throttling, hybrid rocket motors, and air-breathing engines. The rest of the book has been revised and updated, and errors corrected. The change of emphasis in NASA from satellites and Earth orbit operations to lunar and planetary exploration is likely to have a major effect on new developments in space; history tells us that other agencies are likely to follow suit. While commercial uses of space will continue to expand, with a strong emphasis on global monitoring and security as well as communications, the cutting edge of research in space is more likely to be in planetary science and human exploration than in the traditional disciplines of space astronomy and space science. I hope the changes in this edition will reflect this, and that the third edition will prove a useful handbook on the basics of space propulsion for students and professionals. Martin J. L. Turner Leicester University, June 2008
Preface to the second edition
In the period since the publication of the first edition, rocket propulsion and launcher systems have experienced a number of major changes. The destruction of the Space Shuttle Columbia, on re-entry, and the tragic loss of seven astronauts, focused attention on NASA, its management systems, and on the shuttle programme itself. This led to a major re-direction of the NASA programme and to the plan to retire the Space Shuttle by 2010. At the same time, President Bush announced what was effectively an instruction to NASA to re-direct its programme towards a return of human explorers to the Moon, and to develop plans for a human Mars expedition. This has significant implications for propulsion, and, in particular, nuclear electric and nuclear thermal propulsion seem very likely to play a part in these deep space missions. The first example is likely to be the Jupiter Icy Moons Orbiter, to be powered by a nuclear electric thruster system. I have thought it wise therefore to include a new chapter on nuclear thermal propulsion. This is based on the work done in the 1960s by both NASA and the Russian space agencies to develop and test nuclear rocket engines, with updates based on the latest thinking on this subject. There are also major revisions to the chapters on electric propulsion and chemical rocket engines. The rest of the book has been revised and updated throughout, and a new appendix on Ariane 5 has been provided. The planned update to the Space Shuttle sections has been abandoned, given its uncertain future. Since its publication, this book has modestly fulfilled the hope I had for it, that it would prove useful to those requiring the basics of space propulsion, either as students or as space professionals. As a replacement the the now out of print first edition, I venture to hope that this second edition will prove equally useful. Martin J. L. Turner Leicester University, June 2004
Preface to the first edition
Rockets and launch vehicles are the keys to space exploration, space science and space commerce. Normally, the user of a launcher is several steps removed from the launcher itself; he may not even be present during spacecraft–launcher integration, and is usually far away at the moment of launch. Yet the few minutes of the launch can either fulfil the dreams and aspirations that have driven the mission for many years, or it can destroy them. As a space scientist I have worked on some half dozen missions in different space agencies; but it was not until I was present for the launch of Ginga, on a Japanese Mu-3-S rocket, that I actually came close to the vehicle and met the designers and engineers responsible for it. The Ginga launch was perfect, and I had agreeable discussions with the designer of the Mu rocket. I realised that I knew little about this most important component of a space mission; I had little idea of the engineering of rocket engines, and little knowledge of launch vehicle dynamics. In seeking to rectify this lamentable ignorance I found very few books on rockets which were accessible to non-specialists and yet were not trivial. Most of the work on rocket design was undertaken in the 1950s and 1960s, and many of the engineering books were published during that period. Moreover, since engineers care about numerical accuracy and precise detail (they have to) many of the books are extremely difficult for the nonspecialist. It seemed, therefore, that there might be a place for a book dealing with the subject in a non-trivial way, but simplifying the mass of detail found in books intended for professional rocket engineers. I have never met a ‘rocket scientist’. This book, then, is the result. I have tried to examine rockets and rocket engines from the points of view of a non-specialist. As a physicist I am inclined to look for the physical principles and for accessible explanations of how the rocket works. This necessarily requires some mathematics, but I have included as many graphs of functions as possible, to enable those who would prefer it, to eschew the formulae, and yet gain some feeling for the dependence of a rocket’s performance on its design. Whether or not I have succeeded, the reader will judge. To illustrate the principles I have used examples of real engines and launch vehicles, although the inclusion or
xvi Preface to the first edition
exclusion of a particular engine or vehicle has been governed by convenience for explanation, rather than the excellence or currency of the item itself. Appendix B includes a table of present-day launch vehicles, although this is not exhaustive, and new vehicles are constantly appearing. My early research for this book indicated that the development of modern rockets took place mostly during the middle years of the last century, and that we were in the mature phase. The Space Shuttle had been around for 20 years, and was itself the epitome of rocket design; this is still true, but the closing years of the twentieth century have seen a renaissance in rocketry. While engines designed in the 1960s are still in use, new engines are now becoming available, and new vehicles are appearing in significant numbers. This seems to be driven by the rapidly growing commercial demand for launches, but is also the result of the opening up of Russian space technology to the world. I have tried to reflect this new spirit in the last two chapters, dealing with electric propulsion—now a reality—and the single stage to orbit, which is sure to be realised very soon. However, it is difficult to predict beyond the next few years where rocket design will lead us. The SSTO should reduce space access costs, and make space tourism possible, at least to Earth orbit. Commercial use of space will continue to grow, to support mobile communication and the Internet. These demands should result in further rocket development and cheaper access to space. Progress in my own field of space science is limited, not by ideas, but by the cost of scientific space missions. As a space scientist I hope that cheaper launchers will mean that launches of spacecraft for scientific purposes will become less rare. As a human being I hope that new developments in rocket engines and vehicles will result in further human exploration of space: return to the Moon, and a manned mission to Mars. This preface was originally written during the commissioning of the XMM– Newton X-ray Observatory, which successfully launched on Ariane 504 in December 1999. The Ariane 5 is the latest generation of heavy launcher, and the perfection of its launch, which I watched, is a tribute to the rocket engineers who built it. But launching is still a risky business, however carefully the rocket is designed and assembled. There is always that thousand to one chance that something will go wrong; and as space users we have to accept that chance. Martin J. L. Turner Leicester University, March 2000
Acknowledgements
I have received help in the preparation of this book from many people, including my colleagues in the Department of Physics and Astronomy at Leicester University and at the Space Research Centre, Leicester, and members of the XMM team. I am particularly grateful to the rocket engineers of ISAS, Lavotchkin Institute, Estec, and Arianespace, who were patient with my questions; the undergraduates who attended and recalled (more or less satisfactorily) lectures on rocket engines and launcher dynamics; and, of course, my editor for the first edition, Bob Marriott, and to Neil Shuttlewood for subsequent editions. While the contents of this book owe much to these people, any errors are my own. I am grateful to the following for permission to reproduce copyright material and technical information: Socie´te´ National d’Etude et Construction de Moteurs d’Aviation (SNECMA), for permission to reproduce the propellant flow diagrams of Ariane engines (Plates 1, 2, 3, and 5); Boeing–Rocketdyne and the University of Florida, for permission to reproduce the SSME flow diagram (Plate 4) and the aerospike engine (Figure 7.11); NASA/JPL/California Institute of Technology, for permission to reproduce the picture of the Deep Space 1 ion engine (Figure 6.16); NASA, for permission to reproduce Plate 22 and cover, Plate 24 and cover, Plate 33 and cover; Sinodefence.com, for permission to reproduce Plate 28 and cover; and Mark Wade and Encyclopaedia Astronautica, for permission to use tabular material which appears in Chapters 2 and 3 and Appendix B. Figure 6.15 is based on work by P.E. Sandorf in Orbital and Ballistic Flight (MIT Department of Aeronautics and Astronautics, 1960), cited in Hill and Peterson (see Further reading). Other copyright material is acknowledged in the text.
Figures
1.1 1.2 1.3 1.4 1.5 1.6 1.7 1.8 1.9 1.10 1.11 2.1 2.2 2.3 2.4 2.5 2.6 2.7 2.8 2.9 2.10 2.11 2.12 2.13 3.1 3.2 3.3
Konstantin Eduardovich Tsiolkovsky . . . . . . . . . . . . . . . . . . . . . . . . . . . . Herman Oberth. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Robert Goddard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The J-2 engine used for the upper stages of Saturn V . . . . . . . . . . . . . . . . . The launch of the Space Shuttle Atlantis . . . . . . . . . . . . . . . . . . . . . . . . . . Tsiolkovsky’s rocket equation. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Spacecraft movement. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Orbit shapes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Injection velocity and altitude. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Multistaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Launch vehicle with boosters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A liquid-fuelled rocket engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A solid-fuelled rocket motor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Forces in the combustion chamber and exhaust nozzle . . . . . . . . . . . . . . . . Gas flow through the nozzle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Static force due to atmospheric pressure . . . . . . . . . . . . . . . . . . . . . . . . . . P–V diagram for a heat engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gas velocity as a function of the pressure ratio . . . . . . . . . . . . . . . . . . . . . Mass flow in the nozzle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Variation of flow density through the nozzle . . . . . . . . . . . . . . . . . . . . . . . Area, velocity and flow density relative to the throat values as a function of the pressure ratio . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Expansion ratio as a function of the pressure ratio for changing . . . . . . . . Thrust coefficient plotted against expansion ratio for different atmospheric pressures. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Characteristic velocity as a function of the combustion temperature and molecular weight . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Schematic of a liquid-propellant engine . . . . . . . . . . . . . . . . . . . . . . . . . . . Injection and combustion. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Types of injector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 4 5 11 12 15 19 20 23 27 33 38 38 40 41 42 45 48 49 50 52 55 57 58 68 69 71
xx 3.4 3.5 3.6 3.7 3.8 3.9 3.10 3.11 3.12 3.13 3.14 3.15 3.16 4.1 4.2 4.3 4.4 4.5 4.6 5.1 5.2 5.3 5.4 5.5 5.6 5.7 5.8 5.9 5.10 5.11 5.12 5.13 6.1 6.2 6.3 6.4 6.5 6.6 6.7 6.8 6.9 6.10 6.11 6.12 6.13 6.14
Figures The impinging jet injector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . High-frequency instability modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Injector baffle patterns . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The complex baffle used to tame high-frequency instability on the Saturn F-1 engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The SSME injector (central unit) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Aestus engine on Ariane 5 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The pump-fed variant Aestus engine firing. . . . . . . . . . . . . . . . . . . . . . . . . The Vinci cryogenic upper-stage engine . . . . . . . . . . . . . . . . . . . . . . . . . . . The Vulcain 2 under test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The SSME on a test stand . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The RS 68 engine firing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . An early photograph the RL 10 engine . . . . . . . . . . . . . . . . . . . . . . . . . . . The variation of exhaust velocity, temperature and molecular weight for different propellant combinations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Schematic of a solid-fuelled rocket motor . . . . . . . . . . . . . . . . . . . . . . . . . Cross-sections of grains . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Thermal protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Ariane MPS solid booster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Schematic of a hybrid rocket motor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Evaporation and combustion in a hybrid rocket motor. . . . . . . . . . . . . . . . Velocity function as a function of mass ratio . . . . . . . . . . . . . . . . . . . . . . . Range as a function of mass ratio. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gravity loss: velocity gain and thrust-to-weight ratio . . . . . . . . . . . . . . . . . Thrust and pitch angle. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Gravity loss: velocity gain and pitch angle . . . . . . . . . . . . . . . . . . . . . . . . . Flight path angle as a function of time and pitch angle . . . . . . . . . . . . . . . The aerodynamic forces acting on a rocket . . . . . . . . . . . . . . . . . . . . . . . . Dynamic pressure, velocity and altitude as functions of mass ratio . . . . . . . Flight path angles and velocity as functions of time for a gravity turn . . . . . Velocity, acceleration and altitude as functions of time . . . . . . . . . . . . . . . . Dynamic pressure and pitch angle as functions of time . . . . . . . . . . . . . . . . Ariane 4 dynamic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Pegasus dynamic parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Vehicle velocity and payload fraction as a function of exhaust velocity . . . . Vehicle velocity as a function of exhaust velocity and burn time . . . . . . . . . Vehicle velocity as a function of payload/propellant mass and exhaust velocity Vehicle velocity as a function of power supply efficiency and exhaust velocity Schematic of an electrothermal thruster. . . . . . . . . . . . . . . . . . . . . . . . . . . Schematic of an arc-jet thruster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A schematic diagram of the NSTAR ion thruster. . . . . . . . . . . . . . . . . . . . The NSTAR engine mounted on Deep Space 1 for testing . . . . . . . . . . . . . Electric field and potential in space charge limit . . . . . . . . . . . . . . . . . . . . . Thrust per unit area as a function of quiescent field for an ion thruster . . . . Exhaust velocity and ion species for an ion thruster . . . . . . . . . . . . . . . . . . Thrust-to-power ratio for various ions as a function of exhaust velocity. . . . Two ion engines that were used on the ESA Artemis spacecraft to raise the perigee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Principle of the plasma thruster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
72 77 78 79 80 87 89 91 93 95 97 98 101 110 117 120 126 127 131 137 139 142 144 147 148 149 150 153 160 160 162 164 166 170 171 172 173 176 179 180 183 184 185 188 188 189
Figures xxi 6.15 6.16 6.17 6.18 6.19 6.20 6.21 6.22 6.23 6.24 6.25 6.26 6.27 6.28 7.1 7.2 7.3 7.4 7.5 7.6 7.7 7.8 7.9 7.10 7.11 7.12 7.13 7.14 7.15 7.16 8.1 8.2 8.3 8.4 8.5 8.6 8.7 8.8 8.9
Principle of the Hall effect thruster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Schematic of the Hall thruster . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Russian SP-100 Hall effect thruster . . . . . . . . . . . . . . . . . . . . . . . . . . A Russian D-100 TAL Hall thruster with a metallic anode layer . . . . . . . . . The concept of the VASIMIR radiofrequency plasma thruster . . . . . . . . . . A complete RTG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A single section of a RTG heat generator . . . . . . . . . . . . . . . . . . . . . . . . . A Stirling cycle mechanical electricity generator . . . . . . . . . . . . . . . . . . . . . An early United States designed nuclear fission power generator . . . . . . . . . An early design for a spacecraft with nuclear electric generation . . . . . . . . . The JIMO mission concept, powered by a fission reactor electrical system driving ion thrusters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The propellant efficiency as a function of the ratio of the vehicle velocity to the exhaust velocity. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Velocity increment loss factor as a function of thrust-to-weight ratio for electric propulsion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The PPS 1350 Hall thruster mounted on SMART-1 . . . . . . . . . . . . . . . . . . Actual test of a nuclear rocket engine at Jackass Flats in Nevada, as part of the NASA NERVA programme. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Schematic graph of the cross-section for neutron interactions in natural uranium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The fission chain . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The NRX-NERVA nuclear rocket engine at the test stand . . . . . . . . . . . . . The principle of nuclear thermal propulsion. . . . . . . . . . . . . . . . . . . . . . . . Fuel element assembly from the KIWI reactor core . . . . . . . . . . . . . . . . . . The KIWA A-Prime reactor on its test stand . . . . . . . . . . . . . . . . . . . . . . . Cutaway drawing of a NERVA nuclear rocket engine . . . . . . . . . . . . . . . . Close-up of the propellant delivery part of the NERVA engine showing how the two turbo-pumps deliver propellant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The hot bleed cycle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Earth–Mars minimum energy transfer orbit . . . . . . . . . . . . . . . . . . . . A short flight to Mars . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The transit time to Mars as a function of initial Delta-V and orbit eccentricity The KIWI reactor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The NERVA family of engines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The scheme for approval of the use of radioactive thermal generators on spacecraft for launch in the United States . . . . . . . . . . . . . . . . . . . . . . . . . Separation of two masses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Propulsion efficiency as a function of mass ratio . . . . . . . . . . . . . . . . . . . . Thrust coefficient in vacuo as a function of pressure ratio . . . . . . . . . . . . . . Velocity increment and mass ratio necessary to reach orbit, as a function of burn time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Instantaneous thrust coefficient as a function of pressure through the atmosphere for fixed and variable ratios . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Normalised vehicle velocity as a function of mass ratio for fixed and variable expansion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Flow separation in a nozzle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Principle of the plug nozzle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Plug nozzle exhaust streams for varying atmospheric pressure . . . . . . . . . . .
192 193 194 195 198 202 203 204 206 207 208 209 212 216 222 223 227 232 236 238 239 246 247 248 255 256 257 259 263 268 272 273 276 280 281 282 287 289 289
xxii 8.10 8.11 8.12 9.1 9.2 9.3 9.4 9.5 9.6 9.7 9.8 9.9 9.10 9.11 9.12 9.13 9.14 9.15 9.16 9.17
Figures Principle of the aerospike nozzle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The linear aerospike engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Ramjet operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The Apollo Command Module inside the vacuum chamber . . . . . . . . . . . . Blunt body re-entry (artist’s impression of the Orion capsule) . . . . . . . . . . . The Vostok launcher that carried Yuri Gagarin . . . . . . . . . . . . . . . . . . . . . A base-view drawing of the Vostok launcher . . . . . . . . . . . . . . . . . . . . . . . The Vostok upper stage and the crew capsule . . . . . . . . . . . . . . . . . . . . . . The Vostok capsule after landing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The headlamp-shaped Soyuz capsule after landing . . . . . . . . . . . . . . . . . . . The Mercury capsule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Mercury, atop the Atlas launcher, being prepared for true orbital flight . . . . Gemini equipment arrangement showing the Orbital Service Module, the retrorockets, and the crew capsule . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Saturn V upper stage and payload for Apollo lunar missions . . . . . . . . . . . Close-up view drawing of the Launch Escape System and the Command and Service Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Orion Command Module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Breakout drawing of the Orion spacecraft and Launch Escape System as the payload of the Ares I launcher . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Artist’s impression of an Ares I launch with crew onboard . . . . . . . . . . . . . Artist’s impression of an Ares V launch with the LSAM and EDS as payload Schematic cross-section of the pintle injector from the Apollo Lunar Module throttled engine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
291 291 296 308 309 311 312 314 315 317 319 320 321 324 326 338 338 340 343 347
Tables
1.1 3.1 3.2 3.3 4.1 6.1 7.1 7.2 7.3
The Saturn V rocket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Combustion temperature and exhaust velocity for different propellants . . . . Liquid oxygen engines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Storable propellant engines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Two modern solid boosters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Development status and heritage of some Hall effect thrusters. . . . . . . . . . . Melting/sublimation points of some common constituents of nuclear rocket cores . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . Complete nuclear thermal rocket engine schemes based on the NERVA programme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . The tests carried out for the NERVA programme up to 1972 . . . . . . . . . . .
31 99 105 107 124 196 236 242 260
Colour plates
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27
The Ariane 5 Aestus engine The Ariane Viking engine The Ariane HM7 B engine The Space Shuttle main engine The Ariane 5 Vulcain cryogenic engine The launch of Apollo 16 on the Saturn V rocket Test-firing of H1 engine, an early version of the F1 Test-firing the Space Shuttle main engine Testing the thrust vector control system on a Space Shuttle main engine while firing Titan IV launcher The NSTAR ion engine mounted on Deep Space 1 prepared for testing in a vacuum The NSTAR ion engine firing in a vacuum tank Artist’s impression of Deep Space 1 The PPS 1350 Hall effect engine used for SMART 1, under test Artist’s impression of the SMART 1 spacecraft on its way to the Moon Experimental ion propulsion system under test The NERVA nuclear thermal rocket engine A NERVA programme engine on the test stand A possible Mars expedition vehicle powered by three nuclear thermal rocket engines An exploded view of the Ariane 5 launcher The Soyuz spacecraft in orbit A recent Soyuz manned launch Cutaway drawing of the Mercury spacecraft The Apollo Command Module at KSC The Apollo Command Module after re-entry and recovery The Apollo Command and Service Module in orbit round the Moon The Lunar Module undergoing pre de-orbit inspection from the CSM
xxvi 28 29 30 31 32 33 34
Colour plates The Shenzhou crew capsule after landing the first Chinese astronaut The Shenzhou spacecraft Project Constellation: NASA’s return to the Moon Project Constellation: the Orion spacecraft and the LSAM in orbit round the Moon Project Constellation: exploring the lunar surface The J-2X rocket engine, used to burn liquid hydrogen and liquid oxygen on both Ares I and Ares V The Common Extendable Cryogenic Engine, developed to provide deep throttling capability with liquid hydrogen and liquid oxygen
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