Modeling and control of a kite on a variable length flexible inelastic tether
Modeling and control of a kite on a variable length flexible inelastic tether
复制标题
可变长度柔性非弹性系绳上风筝的建模和控制
DOI：
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发表时间：
2007
期刊：
影响因子：
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通讯作者：
W. Ockels
中科院分区：
文献类型：
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作者：
P. Williams;B. Lansdorp;W. Ockels
本文研究了系绳风筝系统的建模问题。这样的系统有可能通过在高海拔地区利用风驱动地面发电机来发电。为了测试为系统开发的控制器的有效性，有必要使用各种复杂的模型。本文将系绳模型化为由非弹性杆连接的点质量的集合。提出了一种有效确定拉力约束力的简单方法。文中还介绍了在模型中展开和收回电缆的步骤。这需要在模型中增加和减少元素。推导出了一个简单的反馈控制器来操纵风筝在横风方向上，并将系绳张力保持在所需的水平。系绳长度被控制以保持风筝所需的高度。数值结果验证了控制器的有效性和系绳模型的有效性。
This paper deals with the modeling of a tethered kite system. Such systems have the potential to generate power by driving a ground generator from winds at high altitude. To test the validity of controllers developed for the system, it is necessary to employ models of various sophistication. In this paper, the tether is modeled as a collection of point masses connected by inelastic rods. A simple procedure for efficiently determining the tension constraint forces is developed. The procedure used for deploying and retrieving the cable in the model is also presented. This entails the addition and subtraction of elements in the model. A simple feedback controller is derived to maneuver the kite in the cross-wind direction and for maintaining the tether tension at the desired level. The tether length is controlled to maintain the desired altitude of the kite. Numerical results demonstrate the effectiveness of the controller and efficiency of the tether model.