Multi-mass dynamic model of a variable-length tether used in a high altitude wind energy system

Milutinović, Milan; Kranjčević, Nenad; Deur, Joško

doi:10.1016/j.enconman.2014.04.013

Cited by 27 publications

(8 citation statements)

References 9 publications

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“…The tether is modeled as a massless spring-damper in the tether extend direction if under tension (see, e.g., [25,30,31] for details on tether modeling approaches). The force magnitude of the tether spring-damper (index "sd") is given by F te;sd ς te Δr te ξ te Δv te (5) where ς te is the spring constant, ξ te is the damper constant, and Δr te is the elongation…”

Section: B Forcesmentioning

confidence: 99%

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Control of a Drag Power Kite over the Entire Wind Speed Range

Bauer

Petzold

Kennel

et al. 2019

Journal of Guidance, Control, and Dynamics

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A control scheme for drag power kites, also known as airborne wind turbines, for the entire wind speed range is proposed, including 1) a temperature controller allowing for temporary overloading of the powertrain; 2) a limitation controller ensuring that power, force, speed, and actuator constraints are satisfied; 3) a tangential flight speed controller; and 4) a tangential force control allocation, which inverts the nonlinearities of the plant and allocates the flight speed controller's tangential force demand to the available actuators. The drag power kite plant model is based on a point-mass model and a simple aerodynamics model with various drag contributions. Simulations are conducted with the parameters of the 20 kW Wing 7 developed by Makani Power, Inc. The proper working of the control scheme is indicated by the good match of the simulation results with independent simulation results and measurements published by Makani. A temporary overloading of the powertrain with about twice the nominal power can be concluded as a requirement; otherwise the mean power would be significantly lower. Because of the reduction of the lift and thus reduction of the centripetal force at high wind speeds, the inside-down figure eight can be concluded as the best pattern.

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Section: B Forcesmentioning

confidence: 99%

“…2 are a visualization of Eqs. (31), (35), (39), and (42), where the linear-dynamic subparts are written in the Laplace domain with complex frequency C L;te 0. The representation of Fig.…”

Section: A Temperature Controller 1 Controller Equationsmentioning

confidence: 99%

Control of a Drag Power Kite over the Entire Wind Speed Range

Bauer

Petzold

Kennel

et al. 2019

Journal of Guidance, Control, and Dynamics

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“…Tethers are widely used in various fields of engineering application such as tethered marine systems [1][2][3], airborne wind energy systems [4][5][6][7] and tethered satellites systems [8][9][10][11][12]. Considering a tether performing spatial motion, the motion of tether can be regarded as the integral of two different kinds of motion: small deformation and large rigid body motion.…”

Section: Introductionmentioning

confidence: 99%

“…While, the coupling of small deformation and large rigid body motion brings difficulties into problems where the tether performs large spatial motion. To model the rigid body motion of tether, some work [1,[3][4][5][6] applies multibody dynamics [15,16] and uses Euler angles to describe the orientation of reference frame. It is a typical way to use Euler angles in multibody dynamics, however, the coupling of trigonometric functions of the Euler angles makes the form of mass matrix very complex.…”

Section: Introductionmentioning

confidence: 99%

An Efficient Model of Tethers for Tethered Satellite Systems

2018

Adv. Astronaut. Sci. Technol.

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This paper concerns about modeling of tethered satellites systems (TSS). In this paper, tethers of TSS are modeled as chains of elastic rods connected by rigid joints. A group of spatial vectors are used to describe displacement, orientation and deformation of the rods, which can avoid the coupling of trigonometric functions of Euler angles. The coordinates of spatial vectors are chosen as the generalized coordinates of system. Equations of motion are derived and written in explicit form. A computationally efficient algorithm is developed to solve equations of motion. Computational complexity of the developed algorithm is reduced to O(n) (n denotes the number of rods). A numerical experiment is performed. Results about energy show energy conservation principle is obeyed. The same numerical experiment is also performed utilizing multibody software ADAMS. Validity of the presented algorithm is demonstrated by comparing numerical results of the two methods.

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“…Also, the costs, size, and durability of energy storage systems for a HAWP application were investigated in [76]. A solution for construction using a variable-length tether was elaborated in [77], describing the shape, forces and vibrations of the tether. A techno-economic analysis of HAWP in Northern Ireland determined a total viable optimal land area of 5109.6km 2 with 'an average wind power density of 1998 W/m 2 over a 20-year span, at a fixed altitude of 3000m' and calculated a preliminary budget cost of approximately £1.75 million for a 2MW pumping kite device [78].…”

Section: Renewable Energy Resources and Technologiesmentioning

confidence: 99%