a Challenge for Lift-Based, Rigid Wing AWE Systems
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1 Eric Nguyen Van, Lorenzo Fagiano, Stephan Schnez ABB Corporate Research December 8 th, 2015 Take-Off and Landing a Challenge for Lift-Based, Rigid Wing AWE Systems
2 Outline ABB s Interest in AWE assessment of potentially disruptive wind power technology Our Choice of an AWE Concept rigid-wing aircraft with ground-based electric generation Why Investigation of Launch & Landing? open challenge for the development of a complete AWE system Launch & Landing Demonstrator status quo of semi-autonomous launch (incl. videos) outlook semi-autonomous landing 10 December 2015 Slide 2
3 ABB s Interest in AWE ABB is one of the big suppliers of electrical components for wind power and technology leader in connecting wind farms to the grid (new.abb.com/windpower). CRC monitors and assesses new and potentially disruptive technologies. Our AWE activity is a technology scouting activity to diligently assess the potential of AWE: o «back-of-the-envelope» estimates o numerical simulations o (small) experimental setup to investigate key challenges (e.g. launch & landing) Desirable: Good understanding o whether AWE can live up to ist promise, o where ABB could contribute in the value chain. It is a small CRC-activity with 0.6 MY of permanent employees. 10 December 2015 Slide 3
4 disadvantages advantages Our Choice of an AWE Concept Rigid-Wing Aircraft with Ground-Based Generation Rigid-Wing Aircraft (vs. soft kite) superior aerodynamic performance shorter & more efficient reel-in phase decades of experience from the development of conventional aircrafts better controllability higher mass launch & landing (probably) higher capex Ground-Based Electric Generation (vs. on-board generation) lighter (both aircraft and tether) (probably) lower capex more potential for ABB with current product portfolio (probably) more reliable less uniform power production («yoyo») launch & landing However, ABB is technology-open our assessment may change anytime. 10 December 2015 Slide 4
5 Why Investigation of Launch & Landing (L&L)? several companies demonstrated autonomous flight (full power cycle) (electric) power generation grid connection still to demonstrate autonomous launch & landing full system operation: reliable operation for long time incl. launches & landings (weeks to months) determination of capacity factors etc. for benchmarking with conventional wind/other sources of electric power 10 December 2015 Slide 5
6 Launching Methods Rotational Take-Off (e.g. EnerKite) Kite Launch (e.g. SkySails) 10 December 2015 Slide 6 Vertical Take-Off with Rotors (e.g. Makani/Google X, TwingTec) Winch Acceleration to Take-Off Speed plus On-Board Propeller for Climb Flight (e.g. Ampyx Power)
7 Performance Criteria for Launch & Landing Qualitatively: 1. L&L capability should not have a significant influence on the overall AWE system design (in particular the aircraft). 2. Power production capability should define system design and costs. 3. L&L capability should be «scale-invariant» or scale sub-linearly with system size. 4. capable of L&L under most wind conditions (incl. no wind) 5. L&L capability should only require a small footprint. Based on our qualitative and quantitative criteria, we selected a linear launch method with little on-board propellers. see: Fagiano & Schnez, On the Take-Off of Airborne Wind Energy Systems Based on Rigid Wings, submitted (2015), arxiv: December 2015 Slide 7
8 Launch & Landing System 5 m rail glider: wingspan 1.84 m 10 December 2015 Slide 8
9 Launch & Landing System 1. frame 2. rails 3. slide drum 4. winch drum 5. slide motor 6. winch motor 7. RTM 8. HMI 9. box with batteries, drives etc. 10. slide 11. glider 12. trailer 13. feet for frame 10 December 2015 Slide 9
10 Launch & Landing System 10 December 2015 Slide 10
11 Launching Winch Acceleration Plus On-Board Propellers two phases: 1. accelerate plane to take-off speed with winch on slide & rail P acceleration P gen ~ 10 11% 2. propulsion during climb with on-board propellers at constant speed P propellers P gen ~ 3 4% (two propellers) some additional on-board and on-ground components climb flight covers rather big area on-board propellers can fulfill additional functionalites length of rail independent of system size winch for acceleration available anyway orientation with wind direction possible see: Fagiano & Schnez, On the Take-Off of Airborne Wind Energy Systems Based on Rigid Wings, submitted (2015), arxiv: December 2015 Slide 11
12 Launching Procedure automation of ground station: power winch and slide winch control of glider: 1. human-piloted initially 2. then: automation planned (depending on time and necessity) potentiometer from line-tensioning system is only input for controller of the power winch two control phases: 1. acceleration sequence, glider on slide 2. climb sequence, slide slows down/at standstill 10 December 2015 Slide 12
13 Videos of Launches 10 December 2015 Slide 13
14 Videos of Launches 10 December 2015 Slide 14
15 Videos of Launches 10 December 2015 Slide 15
16 Videos of Launches 10 December 2015 Slide 16
17 Videos of Launches 10 December 2015 Slide 17
18 Videos of Launches 10 December 2015 Slide 18
19 Videos of Launches 10 December 2015 Slide 19
20 Oscillating Line-Tensioning System 10 December 2015 Slide 20
21 Line-Tensioning System 10 December 2015 Slide 21
22 Challenges for the Launch difficult control task: o inertia of the winch drum big compared to the inertia to the glider o winch motor was designed for launch; winch drum would be capable of handling power cycles & heavier gliders o line tension: «almost» sagging line to exert no/only very little force on glider during climb avoid line entangling some force required to have input for feedback bad design! solutions: o increase spring deflection o decrease friction (as few pulleys as possible etc.) o re-design drum, if necessary 10 December 2015 Slide 22
23 Outlook: Landing Procedure «conventional» landing with tether o small approach angle o small force on tether guiding the glider o accelerate slide so that relative speed is zero o touch-down on slide and braking of slide discussion of alternative landing schemes o deep-stall landing? o others 10 December 2015 Slide 23
24 Outlook: Landing Precision specific weight 3.8 kg/m 2 specific weight 8 kg/m 2 wind speed 4 m/s wind speed 6 m/s 10 December 2015 Slide 24 see: Fagiano, Nguyen Van & Schnez, Linear Take-Off and Landing of a Rigid Aircraft for Airborne Wind Energy, submitted (2015)
25 Summary ABB s interest in AWE: o potentially disruptive wind power technology o Where can ABB contribute in the value chain? our favorite concept: rigid wing with ground-based power conversion autonomous L&L as one of the main remaining challenges winch acceleration to take-off speed and on-board propellers for propulsion during climb landing by touch-down on slide and subsequent slow down 10 December 2015 Slide 25
26
27 L&L Criteria Rotational launch looks attractive; however there is a minimum value for R which is rather big, small velocities at ground level are required, and there is the probleme with varying relative wind speed if there is some wind. The linear launch is the most attractive one. 10 December 2015 Slide 27
28 Launch & Landing System Line Arrangement 2mm Dyneema line to glider (about 400 kg breaking load) Load cell can be installed here (has been excluded in the first design) 3mm Dyneema line to move slide (about 950 kg breaking load) 10 December 2015 Slide 28
29 Launch & Landing System Simulated Behavior 10 December 2015 Slide 29
30 Glider and Flight Communication/Control Criteria YoYo Glider Wing Span (m) 1.84 Weight (g) 900 Motorization 180 W Body Volume + Material foam Body stiffness + Position of Stabilizer down Position of motor front Flaps yes 10 December 2015 Slide 30
31 Glider and Flight Communication/Control Real-time machine Joystick+ Transmitter Mavlink (rs232) 3DR radio Receiver PPM 3DR radio IMU rs232 Autopilot Mavlink (rs232) pixhawk autopilot includes: PWM inertial measurement unit (IMU) GPS Actuators Pitot tube 10 December 2015 Slide 31
THE term Airborne Wind Energy (AWE) refers to a series
IEEE/ASME TRANSACTIONS ON MECHATRONICS, VOL. XX, NO. XX, MONTH YEAR 1 A Small-Scale Prototype to Study the Take-Off of Tethered Rigid Aircrafts for Airborne Wind Energy Lorenzo Fagiano, Member, IEEE, Eric
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