Development and Testing of a Control System for the Automatic Flight of Tethered Parafoils
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Guidelines for Preparing Master's Theses
LIQUID FORCE KITE CONTROL SYSTEM DESIGN A Senior Project submitted to the Faculty of California Polytechnic State University, San Luis Obispo In Partial Fulfillment of the Requirements for the Degree of Bachelor of Science in Industrial and Mechanical Engineering by Brendan Kerr, Alden Simmer, Brodie Sutherland March 2017 ABSTRACT Liquid Force Kite Control System Design Brendan Kerr, Alden Simmer, Brodie Sutherland Kiteboarding is an ocean sport wherein the participant, also known as a kiter, uses a large inflatable bow shaped kite to plane across the ocean on a surfboard or wakeboard. The rider is connected to his or her kite via a control bar system. This control system allows the kiter to steer the kite and add or remove power from the kite, in order to change direction and increase or decrease speed. This senior project focused on creating a new control bar system to replace a control bar system manufactured by a kiteboarding company, Liquid Force. The current Liquid Force control bar has two main faults, extraneous components and a lack of ergonomic design. Our team aimed to eliminate unneeded components and create a more ergonomic bar. By eliminating components, the bar would also be more cost effective to produce by using less material and requiring less time to manufacture. We first conducted a literature review into the areas of kiteboarding control systems and handle ergonomics. Based on studies done on optimal grip diameters for reducing forearm stress we concluded that the diameter for the bar grip should be at least a centimeter less than the maximum grip of the user. -
Kitesurfing a - Z
Kitesurfing A - Z A Airfoil (aerofoil): a wing, kite, or sail used to generate lift or propulsion. Airtime: the amount of time spent in the air while jumping. AOA, Angle of Attack: also known as the angle of incidence (AOI) is the angle with which the kite flies in relation to the wind. Increasing AOA generally gives more lift. AOI, Angle of Incidence: angle which the kite takes compared to the wind direction Apparent wind, AW: The wind felt by the kite or rider as they pass through the air. For instance, if the true wind is blowing North at 10 knots and the kite is moving West at 10 knots, the apparent wind on the kite is NW at about 14 knots. The apparent wind direction shifts towards the direction of travel as speed increases. Aspect Ratio, AR: the ratio of a kites width to height (span to chord). Kites can range between a high aspect ratio of about 5.0 or a low aspect ratio of about 3.0. AR5: The legendary first 4 line inflatable kite manufactured by Naish. ARC: a foil kite manufactured by Peter Lynn B Back Loop: a kitesurfing trick where the kiter rotates backward (begins by turning their back toward the kite) while throwing his/her feet above the level of his/her head. Back Roll: same as a back loop but without getting their feet up high. Batten: a length of carbon or plastic which adds stiffness or shape to the kite or sail. Bear Away / Bear Off: change your direction of travel to a more downwind direction. -
Application of Phase Averaging Method for Mea- Suring Kite Performance: Onshore Results
Journal of Sailing Technology, Article 2018-05. © 2018, The Society of Naval Architects and Marine Engineers. APPLICATION OF PHASE AVERAGING METHOD FOR MEA- SURING KITE PERFORMANCE: ONSHORE RESULTS Morgan Behrel ENSTA Bretagne - IRDL UMR CNRS 6027, France Kostia Roncin ENSTA Bretagne - IRDL UMR CNRS 6027, France Jean-Baptiste Leroux ENSTA Bretagne - IRDL UMR CNRS 6027, France Frederic Montel Downloaded from http://onepetro.org/jst/article-pdf/3/01/1/2205361/sname-jst-2018-05.pdf by guest on 30 September 2021 ENSTA Bretagne - IRDL UMR CNRS 6027, France Romain Hascoet ENSTA Bretagne - IRDL UMR CNRS 6027, France Alain Neme ENSTA Bretagne - IRDL UMR CNRS 6027, France Christian Jochum ENSTA Bretagne - IRDL UMR CNRS 6027, France Yves Parlier beyond the sea, France Manuscript received January 26, 2018; accepted September 17, 2018. Abstract: This paper describes an experimental set-up aiming to control and measure per- formances of small leading edge inflatable tube kites, with surface area of less than 35 m². This set-up can be deployed either onshore or on a dedicated boat. This article focuses on the onshore results. A 3D load cell is used to obtain the position of the kite under a straight- line assumption. A wind profiler (SODAR) is deployed to determine the wind speed and direction at the kite position. A specific post-processing of the data is presented, including phase averaging. The guideline of this work is to estimate the variation of the aerodynamic lift coefficient and lift to drag ratio along figure-of-eight trajectories. Results, for a chosen particular case, show a decrease of lift coefficient of about 20% of the maximum value dur- ing turning maneuvers of the kite. -
Stephen E. Hobbs a Quantitative Study of Kite Performance in Natural Wind
CRANFIELD INSTITUTE OF TECHNOLOGY STEPHEN E. HOBBS A QUANTITATIVE STUDY OF KITE PERFORMANCE IN NATURAL WIND WITH APPLICATION TO KITE ANEMOMETRY Ecological Physics Research Group PhD THESIS CRANFIELD INSTITUTE OF TECHNOLOGY ECOLOGICAL PHYSICS RESEARCH GROUP PhD THESIS Academic Year 1985-86 STEPHEN E. HOBBS A Quantitative Study of Kite Performance in Natural Wind with application to Kite Anemometry Supervisor: Professor G.W. Schaefer April 1986 (Digital version: August 2005) This thesis is submitted in ful¯llment of the requirements for the degree of Doctor of Philosophy °c Cran¯eld University 2005. All rights reserved. No part of this publication may be reproduced without the written permission of the copyright owner. i Abstract Although kites have been around for hundreds of years and put to many uses, there has so far been no systematic study of their performance. This research attempts to ¯ll this need, and considers particularly the performance of kite anemometers. An instrumented kite tether was designed and built to study kite performance. It measures line tension, inclination and azimuth at the ground, :sampling each variable at 5 or 10 Hz. The results are transmitted as a digital code and stored by microcomputer. Accurate anemometers are used simultaneously to measure the wind local to the kite, and the results are stored parallel with the tether data. As a necessary background to the experiments and analysis, existing kite information is collated, and simple models of the kite system are presented, along with a more detailed study of the kiteline and its influence on the kite system. A representative selection of single line kites has been flown from the tether in a variety of wind conditions. -
Project # DJO-0209 Development of a Wind Monitoring System and Grain
Project # DJO-0209 Development of a Wind Monitoring System and Grain Grinder for WPI’s Kite Power System An Interactive Qualifying Project Report submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science by __________________________ Deepa Krishnaswamy ___________________________ Joseph Phaneuf __________________________ Travis Perullo May 7 th , 2009 _________________________ Professor David Olinger, Advisor Abstract The goal of this project was two-fold: 1) to develop a wind monitoring system to be used during field testing of the WPI kite power system, and 2) to develop a grain grinder accessory for the same system for use in a developing nation such as Namibia. Kite power is emerging as an economically sound alternative energy source as the kites used can operate at higher altitudes than wind turbines. At higher altitudes, wind speed is higher, and hence, a greater amount of power is available. The WPI kite power system operates via a large wind boarding kite, which pulls the end of a long rocking arm. This in turn spins a generator which produces electricity. The developed wind monitoring system consists of a carbon fiber pyramid shaped frame mounted to the underside of a weather balloon with a wind measuring anemometer hung from the frame. Steps taken in the design process include deciding on a deployment system (i.e. how to place the anemometer at the desired altitude), conceptualizing and building a stable frame to mount the anemometer to, constructing a rotating platform and hinge assembly to keep the anemometer vertical and facing normal to the wind, developing MATLAB code to accept the signal transmitted from the anemometer wirelessly, and building the wireless transmitter for the anemometer. -
Catalyst N36 Oct 200
Catalyst Journal of the Amateur Yacht Research Society Number 36 October 2009 How to supply information for publication in Catalyst: The Best way to send us information:- an electronic (ascii) text tile (*.txt created in Notepad, or Word, with no formatting at all, we format in Catalyst styles). Images (logically named please!) picture files (*.jpg, gif, or *.tif). If you are sending line drawings, then please send them in the format in which they were created, or if scanned as *.tif (never as JPEGs because it blurs all the lines) Any scanned image should be scanned at a resolution of at least 300 ppi at the final size and assume most pictures in Catalyst are 100 by 150mm (6 by 4 inches). A digital photograph should be the file that was created by the camera. A file from a mobile phone camera may be useful. Leave them in colour, and save them as example clear_and_complete_title.jpg with just a bit of compression. If you are sending a CD, then you can be more generous with the file sizes (less compression), than if emailing, and you can then use *.tif LZW- compressed or uncompressed format. For complex mathematical expressions send us hardcopy or scan of text with any mathematical characters handwritten (we can typeset them), but add copious notes in a different colour to make sure that we understand. WE can also process MS Equation and its derivatives. Include notes or instructions (or anything else you want us to note) in the text file, preferably in angle brackets such as <new heading>, or <greek rho>, or <refers to image_of_jib_set_badly.jpg>. -
Design of a One Kilowatt Scale Kite Power System a Major Qualifying Project Report Submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE
Project #: DJO - 0308 Design of a One Kilowatt Scale Kite Power System A Major Qualifying Project Report Submitted to the Faculty of the WORCESTER POLYTECHNIC INSTITUTE in partial fulfillment of the requirements for the Degree of Bachelor of Science In Aerospace Engineering SUBMITTED BY: __________________________ __________________________ Ryan Buckley Max Hurgin [email protected] [email protected] __________________________ __________________________ Chris Colschen Erik Lovejoy [email protected] [email protected] __________________________ __________________________ Nick Simone Michael DeCuir [email protected] [email protected] rd Date: April 23 , 2008 __________________________________ Professor David Olinger, Project Advisor 1 Abstract The goal of this project was to design and build a one-kilowatt scale system for generating power using a kite. Kite power has the potential to be more economical than using wind turbines because kites can fly higher than turbines can operate. At higher altitudes, wind speeds and available power are increased. In the developed system, a large windboarding kite pulls the end of a long rocking arm which turns a generator and creates electricity. This motion is repeated using a mechanism that changes the angle of attack of the kite during each cycle, thus varying its lift force and allowing a rocking motion of the arm. The end of the arm turns a shaft with a flywheel attached and spins a mounted generator, whose output then gets stored in batteries for later use. A Matlab simulation was used to predict a power output for the system of approximately one kilowatt. All sub-components of the system (power conversion mechanism, angle of attack mechanism, and kite control mechanism) have been lab tested. -
Coversheet for Thesis in Sussex Research Online
A University of Sussex DPhil thesis Available online via Sussex Research Online: http://sro.sussex.ac.uk/ This thesis is protected by copyright which belongs to the author. This thesis cannot be reproduced or quoted extensively from without first obtaining permission in writing from the Author The content must not be changed in any way or sold commercially in any format or medium without the formal permission of the Author When referring to this work, full bibliographic details including the author, title, awarding institution and date of the thesis must be given Please visit Sussex Research Online for more information and further details Evolutionary Robotics in High Altitude Wind Energy Applications Allister David John Furey January 2011 Centre for Computational Neuroscience and Robotics Department for Informatics University of Sussex Falmer BN1 9QG A thesis submitted for the degree of Doctor of Philosophy of the University of Sussex UNIVERSITY OF SUSSEX Evolutionary Robotics in High Altitude Wind Energy Applications Allister Furey Summary Recent years have seen the development of wind energy conversion systems that can exploit the superior wind resource that exists at altitudes above current wind turbine technology. One class of these systems incorporates a flying wing tethered to the ground which drives a winch at ground level. The wings often resemble sports kites, being composed of a combination of fabric and stiffening elements. Such wings are subject to load dependent deformation which makes them particularly difficult to model and control. Here we apply the techniques of evolutionary robotics i.e. evolution of neural network controllers using genetic algorithms, to the task of controlling a steerable kite. -
Trajectory Tracking Control of Kites with System Delay
Trajectory tracking control of kites with system delay J. H. Baayen∗ December 27, 2012 Abstract A previously published algorithm for trajectory tracking control of tethered wings, i.e. kites, is updated in light of recent experimental evi- dence. The algorithm is, furthermore, analyzed in the framework of delay differential equations. It is shown how the presence of system delay influ- ences the stability of the control system, and a methodology is derived for gain selection using the Lambert W function. The validity of the method- ology is demonstrated with simulation results. The analysis sheds light on previously poorly understood stability problems. 1 Introduction During the past two decades researchers have taken an increasing interest in the industrial applications of tethered wings, i.e., kites. Two well-known applica- tions include the towing of ships [14] and wind- to electrical power conversion [13,3]. An integral part of both technologies is autonomous kite flight along a prescribed trajectory, relative to the earth surface attachment point. Various control principles have been proposed, see, e.g, [8,5,2,7, 16, 11]. This pa- per discusses the influence of system delays on trajectory tracking performance. The issue of system delays has been raised before in [8], where a wireless link is part of the control loop, and in [5], where actuator delay is identified. Up to now, however, no rigorous analysis of the effect of delay on system performance has been carried out. A small kite such as the one shown in Figure1 is highly sensitive to control inputs, and hence to system delay. -
Thesis Fechner 2016
Delft University of Technology A Methodology for the Design of Kite-Power Control Systems Fechner, Uwe DOI 10.4233/uuid:85efaf4c-9dce-4111-bc91-7171b9da4b77 Publication date 2016 Document Version Final published version Citation (APA) Fechner, U. (2016). A Methodology for the Design of Kite-Power Control Systems. https://doi.org/10.4233/uuid:85efaf4c-9dce-4111-bc91-7171b9da4b77 Important note To cite this publication, please use the final published version (if applicable). Please check the document version above. Copyright Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons. Takedown policy Please contact us and provide details if you believe this document breaches copyrights. We will remove access to the work immediately and investigate your claim. This work is downloaded from Delft University of Technology. For technical reasons the number of authors shown on this cover page is limited to a maximum of 10. A Methodology for the Design of Kite-Power Control Systems Proefschrift ter verkrijging van de graad van doctor aan de Technische Universiteit Delft, op gezag van de Rector Magnificus prof. ir. K.Ch.A.M. Luyben; voorzitter van het College voor Promoties, in het openbaar te verdedigen op woensdag 23 november 2016 om 10:00 uur door Uwe FECHNER Master of Science in Elektro- und Informationstechnik FernUniversität in Hagen, Duitsland geboren te Berlijn, Duitsland ii This dissertation has been approved by the promotor Prof. -
Identification of Kite Aerodynamic Characteristics Using the Estimation Before Modeling Technique
Delft University of Technology Identification of kite aerodynamic characteristics using the estimation before modeling technique Borobia-Moreno, R.; Ramiro-Rebollo, D.; Schmehl, R.; Sánchez-Arriaga, G. DOI 10.1002/we.2591 Publication date 2021 Document Version Final published version Published in Wind Energy Citation (APA) Borobia-Moreno, R., Ramiro-Rebollo, D., Schmehl, R., & Sánchez-Arriaga, G. (2021). Identification of kite aerodynamic characteristics using the estimation before modeling technique. Wind Energy, 24(6), 596-608. https://doi.org/10.1002/we.2591 Important note To cite this publication, please use the final published version (if applicable). Please check the document version above. Copyright Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons. Takedown policy Please contact us and provide details if you believe this document breaches copyrights. We will remove access to the work immediately and investigate your claim. This work is downloaded from Delft University of Technology. For technical reasons the number of authors shown on this cover page is limited to a maximum of 10. Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public. Received: 8 March 2020 Revised: 30 September 2020 Accepted: 21 October 2020 DOI: 10.1002/we.2591 RESEARCH ARTICLE Identification of kite aerodynamic characteristics using the estimation before modeling technique R. -
Application of Phase Averaging Method for Measuring Kites
Application of phase averaging method for measuring kites performance: onshore results Morgan Behrel, Kostia Roncin, Jean-Baptiste Leroux, Frédéric Montel, Romain Hascoët, Alain Nême, Christian Jochum, Yves Parlier To cite this version: Morgan Behrel, Kostia Roncin, Jean-Baptiste Leroux, Frédéric Montel, Romain Hascoët, et al.. Appli- cation of phase averaging method for measuring kites performance: onshore results. Journal of Sailing Technology, The Society of Naval Architects and Marine Engineers, 2018, pp.2018-05. hal-01889988 HAL Id: hal-01889988 https://hal-ensta-bretagne.archives-ouvertes.fr/hal-01889988 Submitted on 8 Oct 2018 HAL is a multi-disciplinary open access L’archive ouverte pluridisciplinaire HAL, est archive for the deposit and dissemination of sci- destinée au dépôt et à la diffusion de documents entific research documents, whether they are pub- scientifiques de niveau recherche, publiés ou non, lished or not. The documents may come from émanant des établissements d’enseignement et de teaching and research institutions in France or recherche français ou étrangers, des laboratoires abroad, or from public or private research centers. publics ou privés. Journal of Sailing Technology, Article 2018-05. © 2018, The Society of Naval Architects and Marine Engineers. APPLICATION OF PHASE AVERAGING METHOD FOR MEA- SURING KITE PERFORMANCE: ONSHORE RESULTS Morgan Behrel ENSTA Bretagne - IRDL UMR CNRS 6027, France Kostia Roncin ENSTA Bretagne - IRDL UMR CNRS 6027, France Jean-Baptiste Leroux ENSTA Bretagne - IRDL UMR CNRS 6027, France Frederic Montel ENSTA Bretagne - IRDL UMR CNRS 6027, France Romain Hascoet ENSTA Bretagne - IRDL UMR CNRS 6027, France Alain Neme ENSTA Bretagne - IRDL UMR CNRS 6027, France Christian Jochum ENSTA Bretagne - IRDL UMR CNRS 6027, France Yves Parlier beyond the sea, France Manuscript received January 26, 2018; accepted September 17, 2018.