Predictive Control of Autonomous Kites in Tow Test Experiments
Predictive Control of Autonomous Kites in Tow Test Experiments
复制标题
牵引试验中自主风筝的预测控制
DOI：
10.1109/lcsys.2017.2708984
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发表时间：
2017
影响因子：
3
通讯作者：
Roy S. Smith
中科院分区：
文献类型：
--
作者：
Tony A. Wood;H. Hesse;Roy S. Smith
在这封信中，我们提出了一个基于模型的控制方法，自主飞行的风筝风力发电。预测模型被认为是补偿延迟的风筝动态。我们应用模型预测控制（MPC），引导风筝遵循8字轨迹的目标，在两级控制级联的外环。内环控制器的跟踪能力取决于操作条件，并通过频域鲁棒性分析进行评估。我们考虑到内部跟踪控制器的限制，将其编码为外部MPC中的优化约束。该方法在风筝系统上进行了两次测试实验。
In this letter, we present a model-based control approach for autonomous flight of kites for wind power generation. Predictive models are considered to compensate for delay in the kite dynamics. We apply model predictive control (MPC), with the objective of guiding the kite to follow a figure-of-eight trajectory, in the outer loop of a two level control cascade. The tracking capabilities of the inner-loop controller depend on the operating conditions and are assessed via a frequency domain robustness analysis. We take the limitations of the inner tracking controller into account by encoding them as optimization constraints in the outer MPC. The method is validated on a kite system in tow test experiments.