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Design of a Kite Launch and Retrieval System for a Pumping High Altitiude Wind Power Generator

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Design of a Kite Launch and Retrieval System for a Pumping High Altitiude Wind Power Generator Design of a Kite Launch and Retrieval System DesignRetrieval of a Kite Launch and Design of a Kite Launch and Retrieval System For a Pumping High Altitiude Wind Power Generator Stefan Haug Institute of Aircraft Design, University of Stuttgart (GER) Institute of Applied Sustainable Systems, Engineering and Technology, Delft University of Technology (NL) Coaches : Dr.-Ing. R. Schmehl & R. van der Vlugt, MSc. Professor : Prof. R. Voit-Nitschmann Type of report : Diploma Thesis Date : 30 October 2012 S. Haug S. Diploma Thesis Design of a Kite Launch and Retrieval System for a Pumping High Altitude Wind Power Generator Diploma Thesis For the Degree of "Diplom- Ingenieur Luft- und Raumfahrttechnik" (Dipl.-Ing. aer) at the University of Stuttgart Stefan Haug October 26, 2012 Institute of Aircraft Design Faculty of Aerospace and Geodesy University of Stuttgart & Institute of Applied Sustainable Science Engineering and Technology Delft University of Technology Declaration in Lieu of Oath Hiermit erkläre ich, Stefan Haug, gegenüber dem Institut für Flugzeugbau der Universität Stuttgart und dem Institute of Applied Sustainable Systems, Engineering and Technology der Technischen Universität Delft, dass ich die vorliegende Diplomarbeit selbstständig und aus- schließlich unter Zuhilfenahme der im Literaturverzeichnis genannten Quellen angefertigt habe. Die Arbeit wurde in gleicher oder ähnlicher Form an keiner anderen Hochschule oder Universität vorgelegt. I, Stefan Haug, declare on oath towards the Institute of Aircraft Design of the University of Stuttgart and the Institute of Sustainable Systems, Engineering and Technology of the Delft University of Technology, that I completed this diploma thesis on my own and that information which has been directly or indirectly taken from other sources has been noted as such. Neither this, nor a similar work, has been published or presented to another Academy or Uni- versity. Stefan Haug Delft, October 26, 2012 Let’s go fly a kite Up to the highest height! Let’s go fly a kite and send it soaring Up through the atmosphere Up where the air is clear Oh, let’s go fly a kite! "Let’s go fly a kite" - Refrain, Mary Poppins "Man muss nur wollen und daran glauben, dann gelingt es." Ferdinand Graf von Zeppelin Zusammenfassung Motivation Seit wenigen Jahren ist Flugwindenergie eines der herausfordernsten Themen im Bereich der Windenergie. Besonders attraktiv ist hierbei, dass durch geringen Materialaufwand geringe En- ergiepreise Umweltbeeinflussungen erreicht werden können. Kites sind auf Grund ihrer guten Flugeigenschaften und ihrem hohen Fläche-Masse-Verhältnis für die Erzeugung von Hochwinden- ergie besonders geeignet, jedoch ist bisher noch keine gute und günstige, automatische Start- und Landevorrichtung entwickelt worden. Problemstellung Diese Diplomarbeit untersucht die Komponenten welche den Start- und Landevorgang eines Leading Edge Inflatable (LEI) Kites beeinflussen und konzipiert eine Start- und Landevorrichtung für einen 100 m2 LEI Kite. Vorgehensweise Diese Diplomarbeit startet sprichwörtlich auf einem leeren Blatt Papier. Obwohl bereits Kennt- nisse über Start- und Landevorrichtungen vorhanden sind soll diese Arbeit unvoreingenommen angegangen werden. Daher werden zuerst Anforderungen an die Start- und Landevorrichtung gesammelt um später verschiedene Systeme auf ihre Tauglichkeit hin zu untersuchen. Es stellt sich heraus, dass unbemannte Flugobjekt am besten zu den Anforderungen passen, jedoch sind diese Systeme bei starkem Wind unbrauchbar. Daher wird ein Mast aus Aluminium-Traversen als Prototyp entworfen. Mit Hilfe des Prototyps soll das Verhalten von Kites bei einem Start aus der kopfüber hängenden Position getestet werden. Da die Resultate vielversprechend sind wird dieser Vorgang mathematisch untersucht. Um das endgültige Design zu entwerfen wird der momentane Kite auf 100 m2 skaliert. Mit den daraus gewonnenen Längen und Kräften wird das entsprechende System entworfen. Der Schwerpunkt hierbei liegt auf • einer Mastkonstruktion • einem Fundament für On- bzw. für Offshore-Anwendungen • einer Funktion, die den kite während Warteperioden schützt und kontrolliert Außerdem werden die groben Anforderungen an weitere wichtige Teile wie zum Beispiel Lager und Motoren gestellt. Zuletzt wird ein Preis abgeschätzt, welcher auf aktuellen Rohmaterial- Preisen beruht. Ergebnis Es wird in Feldtests gezeigt, dass ein Start aus der kopfüber hängenden Position bei einer 1 Windgeschwindigkeit von 4ms − möglich ist. Stärkerer Wind wirkt sich vorteilhaft für den Start aus. II Die Untersuchung des endgültigen Konzepts zeigt, dass das System in Bezug auf extreme 1 Temperaturen und Langlebigkeit resistent ist. Es hält selbst 50-Jahres-Böen stand. Die CO 2- Emissionen (durch z.B. produktion des Rohmaterials, Transport, etc.) pro kWh des Systems 1 können unter guten Bedingungen bis auf 11 gCO 2(kW h )− gesenkt werden. 1Die Windgeschwindigkeit einder 50-jahres-Böe entspricht der höchsten Windgeschwindigkeit (auf 10m Höhe), welche in den letzten 50 jahren gemessen wurde "Everybody knows that some things are simply impossible until somebody, who doesn’t know that, makes them possible." Albert Einstein Summary Motivation Airborne Wind Energy (AWE) is currently one of the most challanging topics in wind energy. Due to the little amount of material it is possible to reach low energy costs and a low environmental impact. Kites are perfect wings to gain AWE due to its good flight quality and a high surface to mass ratio. However, a good and cheap launch and retrieval system for automated kite usage has not been designed, yet. Problem Statement This thesis aims to analyze the properties which influence the launch and retrieval of a Lead- ing Edge Inflatable (LEI) Kite and to design a complete launch and retrieval system for the automated launch and retrieval of a 100 m2 LEI Kite. Approach This thesis starts from close to the scratch. It develops requirement for a launch and retrieval system to later check the quality of different possible systems. It finds out that systems like balloons or UAVs fit the best to the requirements, however, they are not reliable enough in strong wind. Hence an aluminum truss mast is build as prototype to investigate the behavior of the kites during an upside down launch. As the results are auspicious the launch is mathematically analyzed. To create a final design the current kite is scaled up to 100 m2. By using the upscaled forces and dimensions it designs • a mast construction • a foundation for on- or offshore applications • a function to store, protect and control the kite during idle time Furthermore it gives a first impression on the dimensions of bearings and engines which are necessary for the system. By scaling up known data and using current price of steel and concrete a price for the system is estimated. Results It is proven by field tests that the upside down launch is possible with a wind speed of approxi- 1 mately 4ms − and that higher wind speed is profitable for the launch. Analysis showed that the final design is safe in case of extreme temperature, long durability and high wind up to the 50 years gust. Furthermore the CO 2 emission per kWh of the final 1 design can be decreased down to 11 gCO 2(kW h )− kW h in good conditions. Contents 1 Introduction 2 1.1 Problem Statement . 2 1.2 Thesis Goal . 3 1.3 Approach . 3 2 Literature Study 4 2.1 High Altitude Wind . 4 2.2 Airborne Wind Energy Concepts . 5 2.2.1 Flygen . 6 2.2.2 Groundgen . 8 2.3 Overview on the TUD Kite System . 13 2.3.1 Terminology . 13 2.3.2 Components . 14 3 Decision-Making Process 18 3.1 Requirements . 18 3.1.1 List of Requirements . 18 3.1.2 Quality Guidelines . 19 3.1.3 Analytic Hierarchy Process (AHP) Results . 20 3.2 Morphological Charts . 21 4 Non-static Systems 26 4.1 Wind & Aerodynamics . 26 4.1.1 Wind Force . 26 4.1.2 Wind Speed . 27 4.2 Balloons . 29 4.2.1 Gas Balloons . 29 4.2.2 Hot Air Balloons . 30 4.2.3 Controllability . 30 4.3 Magnus Kites . 30 4.4 Unmanned Aerial Vehicle (UAV) . 34 4.4.1 Mass . 35 4.4.2 Endurance . 35 4.4.3 Aerodynamic . 35 4.5 Inflatable Mast . 35 4.5.1 Structure . 36 4.5.2 Mass . 37 4.5.3 Maintenance . 37 4.6 Summary on Lightweight Systems . 38 CONTENTS VI 5 The Prototype 40 5.0.1 Design Criteria . 40 5.1 The Layout . 41 5.1.1 Calculations . 42 5.1.2 Mast . 44 5.1.3 Suspensions Lines . 45 5.1.4 Anchors . 47 5.1.5 Mast Top . 47 5.2 Finite Element Calculations . 49 5.2.1 The Truss . 49 5.2.2 The Mast Top . 49 5.2.3 The Whole System . 50 5.3 The Working Principle . 51 5.4 Field Tests - Evaluation and Modification . 52 5.4.1 Prototype Installation . 52 5.4.2 Change of the Wind Direction . 55 5.4.3 Tension of the Suspension Lines . 55 5.4.4 Entanglement . 55 5.4.5 Launching Wind Speed . 58 6 LEI-Kite Model for upside down launch 61 6.1 Reference Frames . 61 6.2 Transformations . 62 6.2.1 Transformation from geodetic to body fixed . 62 6.2.2 Transformation from small earth to body fixed . 62 6.2.3 Transformation from geodetic to small earth . 63 6.3 Point of Mass Kite Model . 63 6.4 Small Earth Analogy . 64 6.5 The Launch . 65 7 Final Solution 69 7.1 Differences Between Prototype and Final Version . 69 7.1.1 Avoiding Problems of the Prototype . 69 7.1.2 New Skills . 70 7.2 Scaling . 70 7.2.1 Scaling of Kites . 70 7.2.2 The Kite . 72 7.3 Static Mechanics . 72 7.3.1 Main Mast . 73 7.3.2 Gibbet ..
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