Jeroen Stuyts Wouter Vandermeulen

Transcription

1 Jeroen Stuyts Wouter Vandermeulen

2 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 2

3 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 3

4 Introduction Wind energy through Flying object High altitude Cheap construction Makani Power SkySails 4

5 Introduction 5

6 Introduction 6

7 Introduction 7

8 Introduction Designing, selecting, purchasing and testing Power electronics for the winch motor Power electronics for the carousel motor A petrol powered generator 8

9 Introduction Designing, selecting, purchasing and testing Carousel drive Winch drive Plane power electronics Overall electrical system Stuyts, J., Horn, G., Vandermeulen, W., Driesen, J., & Diehl, M. (2015). Effect of the Electrical Energy Conversion on Optimal Cycles for Pumping Airborne Wind Energy. IEEE Transactions on Sustainable Energy, 5 (1), doi: /tste Stuyts, J., Geebelen, K., Vandermeulen, W., Driesen, J., & Diehl, M. (2015). Electrical Energy Conversion System for an Experimental Pumping Airborne Wind Energy Setup. IEEE Transactions on Energy Conversion. under review 9

10 Introduction Drive = motor + motor controller / convertor Winch motor Controls the tether Generates power Carousel motor Rotates the carousel Required for launching 10

11 Introduction Carousel motor Winch motor 11

12 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 12

13 Powering the plane Power for onboard electronics Power for servos AC connection Power connection PLC (power line communication) Onboard battery Back-up Tether cut possible 13

14 Powering the plane 14

15 Powering the plane 15

16 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 16

17 Electrical system design T nom = 80 Nm n nom = 1000 rpm P nom = 8 kw Fast response time Lightweight Holding torque Encoder Permanent magnet synchronous machine 17

18 Electrical system design T nom = 400 Nm n nom = 100 rpm P nom = 4 kw Simple Robust Encoder Induction machine 18

19 Electrical system design Weather proofing Grid connection Sliprings 19

20 Electrical system design 20

21 Electrical system design Drive ProfiNet Wired Switches Analog PLC Analog Receiver UHF FM Wireless Remote UDP Human Inputs Main Control Software UDP BeagleBone Human Inputs Human Inputs Sensor Data 21

22 Electrical system design Mechanical safety Don t be near! Operational safety Intentional procedure Emergency switches Electrical safety RCDs MCDs 22

23 Electrical system design 3A - Main 1A DIFF1 3 Phase Switch 300mA 400V Grid 1C MCB1 32A 1E Relay2 3B 3I - Plane 3M Tether PLC DOa6 2A MCB2 2A 2C MCB3 10A 2B DIFF2 30mA 2E Relay3 3R Beagleboxes 3D & 3O 3E & 3F Sockets On Back 3E5 & 3F5 PLC DOa7 3J Arm 1D Motors Relay1 3K Danger 2D MCB4 2A 4B - Power Supply 1 3H Motor Drive 3B 3M - Voltage L1 L2 L3 N 3G PLC Switch 4C - Power Supply 2 4D & 4E & 4F & FG 23

24 Cable Duct Cable Duct 1 Cable Duct Cable Duct Cable Duct Cable Duct Cable Duct Electrical system design Cable Duct 1 Cable Duct Cable Duct 1 Cable Duct Cable Duct 1A 1B 1C 1D 1E Resistor Active Interface Module Control Unit Active Line Module Motor Module 1 Motor Module 2 Braking Module First Aid Kit 2A 2B 2C 2D 2E 3A 3B 3C 3D 3E 3F 3G 3H 3I 3J 3R 3K 3L 3M 3N 3O 3P3Q Main Computer EC - Outgoing 4A 4B 4C 4D 4E 4F 4G 6A 6B 6C 6D 6E 6F 6G Back-up 6H 6I 6J 6K Cable Duct 7A 7B 7C 7D 7E 7F 7G 7H 7I 7J 5A 5B Basic Line Filter 24

25 Electrical system design 25

26 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 26

27 Testing the drives 27

28 Testing the drives 28

29 Testing the drives 29

30 Testing the drives 30

31 Testing the drives 31

32 Testing the drives 32

33 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 33

34 Trajectory reoptimization Adding drive efficiency Adding motor constraints Comparing results: Before Optimized trajectory for mechanical energy After Optimized trajectory for electrical energy 34

35 Trajectory reoptimization Smooth curve required Power loss calculation Least squares solution for measurements P elec = a 0 a 1 a 2 a ω mech 2 T mech ω mech T mech 35

36 Trajectory reoptimization 36

37 Trajectory reoptimization 37

38 Trajectory reoptimization 38

39 Trajectory reoptimization 39

40 Trajectory reoptimization At high wind speed (10m/s) without constraints trend 1 kw consumed 2 kw generated 40

41 Trajectory reoptimization Optimizing with drive efficiency Enables higher electrical output power Enables a wider operating range Consider drive dimensioning 41

42 Introduction Powering the plane Electrical system design Testing the drives Trajectory reoptimization Conclusion 42

43 Conclusion Electrical system design Dimensioning Selecting drives Electrical architecture Safety Operation Prioritize control Safety 43

44 44