A lagrangian flight simulator for airborne wind energy systems

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dc.contributor.author Sánchez Arriaga, Gonzalo
dc.contributor.author Pastor Rodríguez, Alejandro
dc.contributor.author Sanjurjo Rivo, Manuel
dc.contributor.author Schmehl, Roland
dc.date.accessioned 2019-06-27T10:04:15Z
dc.date.available 2021-05-31T23:00:04Z
dc.date.issued 2019-05
dc.identifier.bibliographicCitation Applied Mathematical Modelling, vol. 69, pp. 665-684.
dc.identifier.issn 0307-904X
dc.identifier.uri http://hdl.handle.net/10016/28528
dc.description.abstract A parallelized flight simulator for the dynamic analysis of airborne wind energy (AWE) systems for ground- and fly-generation configurations is presented. The mechanical system comprises a kite or fixed-wing drone equipped with rotors and linked to the ground by a flexible tether. The time-dependent control vector of the simulator mimics real AWE systems and it includes the length of the main tether, the geometry of the bridle, the torque of the motor controllers of the rotors, and the deflections of ailerons, rudder and elevator. The use of a lagrangian formulation with a minimal coordinate approach and discretizing the main tether as a chain of inelastic straight rods linked by ideal (dissipative-less) rotational joints, yielded a non-stiff set of ordinary differential equations free of algebraic constraints. Several verification tests, including a reel-in maneuver that admits an analytical solution, are presented. The efficiency of the parallelization with the number of tether segments, and trade-off analysis of the lagrangian and hamiltonian formulations are also considered. The versatility of the simulator is highlighted by analyzing two maneuvers that are relevant for AWE scenarios. First, the simulator is used to compute periodic figure-of-eight trajectories with an open-loop control law that varies the geometry of the kite's bridle, as frequently done in ground-generation AWE systems. Second, an unstable equilibrium state of a tethered drone equipped with two rotors for energy harvesting is stabilized by implementing a closed-loop control strategy for the deflection of the control aerodynamic surfaces.
dc.description.sponsorship This work was supported by the Ministerio de Economía, Industria y Competitividad of Spain and the European Regional Development Fund under the project ENE2015-69937-R (MINECO/FEDER, UE). GSA work is supported by the Ministerio de Economía, Industria y Competitividad of Spain under the Grant RYC-2014-15357. RS was partially supported by the EU projects AWESCO (H2020-ITN-642682) and REACH (H2020-FTIPilot-691173).
dc.format.extent 19
dc.language.iso eng
dc.publisher Elsevier
dc.rights © 2019 Elsevier Inc. All rights reserved.
dc.rights Atribución-NoComercial-SinDerivadas 3.0 España
dc.rights.uri http://creativecommons.org/licenses/by-nc-nd/3.0/es/
dc.subject.other Kite modeling
dc.subject.other Kite control
dc.subject.other Lagrangian systems
dc.subject.other Dynamics
dc.subject.other Stability
dc.title A lagrangian flight simulator for airborne wind energy systems
dc.type article
dc.description.status Publicado
dc.subject.eciencia Aeronáutica
dc.identifier.doi https://doi.org/10.1016/j.apm.2018.12.016
dc.rights.accessRights openAccess
dc.relation.projectID Gobierno de España. RYC-2014-15357
dc.relation.projectID Gobierno de España. ENE2015-69937-R
dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/642682/AWESCO
dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/691173/REACH
dc.type.version submittedVersion
dc.identifier.publicationfirstpage 665
dc.identifier.publicationlastpage 684
dc.identifier.publicationtitle Applied Mathematical Modelling
dc.identifier.publicationvolume 69
dc.identifier.uxxi AR/0000023413
dc.contributor.funder European Commission
dc.contributor.funder Ministerio de Economía y Competitividad (España)
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