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Airborne Wind Energy: Trajectory Tracking Controller Design of a Tethered Aircraft
Date
2021-05-26
Author
Önen, Anıl Sami
Tekinalp, Ozan
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Airborne wind energy has been intensely studied by the researchers, especially in the last decade(Ahrens, Diehl and Schmehl, 2014). It stems from the crosswind flight concept that was originallyintroduced by Loyd (1980). The improvements in the micro-computer and sensor technology, helpeddesigners use complex control algorithms and paved the path to the development of airborne windenergy concept as an alternative to the conventional wind turbines. This new concept isadvantageous when compared to the classical wind turbines since it can be used in higher altitudesthat have a bigger wind energy potential. Moreover, due to not needing a concrete construction it isan applicable concept in offshore as well. Although there are different types and various designphilosophies behind, using a flying object that is connected to the ground by a tether in this evolvingtechnology is common.In this study, a winged airplane is used as an energy supplier. The mathematical model of theairplane is constructed that is composed of aerodynamic, environmental, gravitational sections andnonlinear equations of motion. (Önen, 2015) The mathematical model uses the aerodynamic controlsurfaces such as ailerons, elevator and rudder. In constructing the aerodynamic model, variation ofthe nondimensional force and moment coefficients according to varying angles of attack, sideslipangle and control surface deflections are analyzed and obtained using an analysis software. Themaximum power that can be generated according to varying wind speed conditions is calculated. Thecontrol problem of the crosswind flight is addressed in the paper which is fundamental to the controlarchitecture of airborne wind energy systems. There are two main approaches in controlling airbornesystems. First approach is based on online optimization of the power output of the system,employing nonlinear model predictive control (NMPC) (Ilzhöfer, Houska and Diehl, 2007; Houska andDiehl, 2010; Canale, Fagiano and Milanese, 2007; Canale, Fagiano and Milanese, 2008). In the secondmethod a trajectory tracking control methodology is preferred that separates the optimal trajectoryestimation and control problem from each other. The second methodology is used in this paper andthe trajectory tracking problem is formed as shown in Figure 1. The trajectory tracking controller isproducing the angle commands by using the difference between the actual position of the aircraftand the desired trajectory and is mainly based on geometrical considerations. (Jehle, 2012, p.28) Thequaternion based nonlinear attitude controller is designed, producing steering commands by usingthe difference between the angle command that is produced by the tracking controller and the actualattitude of the aircraft. By expressing the current attitude and the desired attitude with quaternions,the attitude control is realized by using the so called “to-go” quaternions. (Ariyibi and Tekinalp, p.6)The optimal trajectory estimation that is necessary to produce the maximum amount of power is notaddressed in this study and left as a future work. The response of the controller is tested in asimulation environment by using a pre-defined trajectory.
URI
https://www.wesc2021.org/fileadmin/wesc2021/themes/10/BoA_-_Theme_10.pdf
https://hdl.handle.net/11511/100395
Conference Name
Wind Energy Science Conference
Collections
Department of Aerospace Engineering, Conference / Seminar
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A. S. Önen and O. Tekinalp, “Airborne Wind Energy: Trajectory Tracking Controller Design of a Tethered Aircraft,” Hannover, Almanya, 2021, vol. 10, Accessed: 00, 2022. [Online]. Available: https://www.wesc2021.org/fileadmin/wesc2021/themes/10/BoA_-_Theme_10.pdf.