Crosswind Kite Power by Miles L. Loyd Crosswind kite power (for large-scale wind
power production)
LOYD, M.L., California, Univ., Livermore Journal of Energy 1980
0146-0412 vol.4 no.3 (106-111)
Optimal Control of Towing Kites
Houska, B.; Diehl, M.
Decision and Control, 2006 45th IEEE Conference on
Volume , Issue , 13-15 Dec. 2006 Page(s):2693 - 2697
Digital Object Identifier 10.1109/CDC.2006.377210 Summary:In this paper we present a challenging
application of periodic optimal control. A kite that is towing a ship
into a given target direction should fly optimal loops. We show how to
find the maximum average tractive force by controlling the roll angle of
the towing kite taking into account that the wind is increasing with the
altitude over the sea. The optimal control problem for this highly
nonlinear and unstable system has periodicity constraints, free initial
values, and a free cycle duration. For its solution, we use MUSCOD-II,
an optimal control package based on the direct multiple shooting method.
Finally, we discuss the influence of an important design parameter, the
effective glide ratio of the kite
»
View citation and abstract
Mathematical Modeling of the Pumping Kite Wind Generator:
Optimization of the Power Output 17 pages,
PDF.
By Team Leader: Joachim Krenciszek TU Kaiserslautern, Germany
Saheed Ojo Akindeinde TU Kaiserslautern, Germany
Hans Braun TU Kaiserslautern, Germany
Clement Marcel University of Joseph Fourier, France
Eric Okyere Eindhoven University of Technology, The
Netherlands
Instructor: Dr. Ivan Argatov Tampere University of Technology, Finland
Harnessing High Altitude Wind Powerby Bryan W. Roberts, David H. Shepard, Life Senior Member, IEEE,
Ken Caldeira, M. Elizabeth Cannon, David G. Eccles, Member, IEEE,
Albert J. Grenier, and Jonathan F. Freidin
The article states that Albert J. Grenier had been executive vice
president of Sky WindPower.
There are substantial
biographies in the document.
Wind Power From Kites
April 27th, 2007
109 pages. by Michael R. Blouin Jr., Benjamin E.
Isabella, Joshua E. Rodden
Mathematical Modeling of the Pumping Kite Wind Generator: Optimization
of the Power Output Oct. 31, 2008
Joachim Krenciszek ____ Team
Leader. TU Kaiserslautern, Germany
Saheed Ojo Akindeinde ____ TU
Kaiserslautern, Germany
Hans Braun ____ TU Kaiserslautern,
Germany
Clement Marcel ____ University of
Joseph Fourier, France
Eric Okyere ____ Eindhoven
University of Technology, The Netherlands
Dr. Ivan Argatov ____ Instructor.
Tampere University of Technology, Finland
PRELIMINARY INVESTIGATION OF A PARAGLIDER: LANGLEY RESEARCH CENTER
TECHNICAL NOTE D-443. Francis M. Rogallo, J. G. Lowry, D. R Croom and R
T. Taylor. National Aeronautics and Space Administration, 1960.[Editor:
Notice that in 1960 "paraglider" included stiffened Rogallo wing
devices. In 1961, the stiffenened Rogallo wing made by the team under
Charles Richards at NASA produced the full wing portability and
collapsibility of aluminum tube frame, battened sails, Dacron sail and
format that provided (along with the similar Fleep wings) the template
for the first round of standard Rogallo-wing hang gliders; in 1961-2,
such devices were still called "paragliders" and "kite-like glider".
Later, as Barish sailwing and governable Jalber parafoils and hang
gliding had a renaissance of hang gliding activity, the fully limp hang
glider began to be named "paraglider" and the stiffenened hang gliders,
just "hang glider" even while all were hang gliders that had the pilot
hung from the kite-line in freeflight to tug the wing; the pilot would
push and pull the airframe of the kite's wing to control the freeflight
of the gliding kite system that was an activity called hang gliding (and
if the hang gliding was with a fully limp governable wing, then called
parakiting (if ground moored either fixed or mobile) and "paragliding"
when freeflight occurred. Either the kite system was fixed to an immobile
or mobile ground mooring or the kite system was moored to a hung
free-falling pilot.] [Such kites or paragliders can be involved in
electricity-generation systems regardless of the level of stiffness or
limpness of the kite; there will be niche applications for all levels of
stiffness. Notice that the coming nanotech materials will be allowing
full "solid" extremely low-density wings for working systems; there is
talk of a lighter-than-air "solid" enabling forming kytoons where
concern for gas replacement does not measure into the challenge.]
HIPFiSH Columbia-Pacific's
Alternative Monthly (Aug.-Sept./2007) [ ]
article sought
Joep Breuer and Wubbo Ockels
Delft University of Technology, Delft, The Netherlands
Rolf H. Luchsinger
Empa, Dübendorf, Switzerland
Worldwatch Institute,“Renewables 2005: Global
Status Report” prepared
for the Renewable Energy Policy Network, Washington DC,
2005. http://www.REN21.net
“Smart control system exploiting the
characteristics of generic kites
or airfoils to convert energy”, European patent ] 02840646, inventor:
M. Ippolito, December 2004
“Sistema e procedimento di controllo automatico
del volo di profili
alari di potenza”, Patent n. TO2006A000372, inventors: M. Milanese,
M. Ippolito, May 2006
M. Diehl, “Real-Time Optimization for Large Scale Nonlinear
Processes”, PhD thesis, University of Heidelberg, Germany, 2001
B. Houska and M. Diehl, “Optimal Control for
Power Generating
Kites”, in 9th European Control Conference, Kos, Greece, 2007.
B. Houska and M. Diehl, “Optimal Control of
Towing Kites”, in 45th
IEEE Conference on Decision and Control, San Diego (CA), USA,
2006
T. Parisini and R. Zoppoli, “A receding-horizon
regulator for nonlinear
systems and a neural approximation”. Automatica 31(10), 1443–1451,
1995.
M. Canale and M. Milanese, “FMPC: a fast
implementation of model
predictive control”, in 16th IFAC World Congress, Prague, Czech
Republic, July 2005.
M.Canale, L. Fagiano, M. Milanese, “Fast
implementation of nonlinear
model predictive controllers”. Technical Report CaFM-1-2006.
Dipartimento
di Automatica e Informatica, Politecnico di Torino, 2006.
M. Milanese and C. Novara, “Set membership
identification of nonlinear
systems”, Automatica, vol. 40, pp. 957–975, 2004.
M. Milanese, C. Novara and L. Pivano,
“Structured Experimental
Modelling of Complex Nonlinear Systems”, 42nd IEEE Conference
on Decision and Control, Maui, Hawaii, 2003.
KiteGen report ]3, Dip. Automatica e
Informatica, Politecnico di
Torino, Italy, October 2006
National Renewable
Energy Laboratory
This agency is the U.S. Department of Energy’s main laboratory for
renewable energy and energy efficiency research and development.
Renewable
Energy Policy Project
REPP's goal is to accelerate the use of renewable energy by providing
credible information, insightful policy analysis, and innovative
strategies.
Trends ...article Notice the comment by a reader where he says
that kite sailing might slow things and thus cause the cost of interest
on the ship and goods to be higher ...removing the benefit of the
kite sails.
Harvey, I. (2001). Artificial Evolution: a Continuing SAGA, In
Evolutionary Robotics:
From Intelligent Robots to Artificial Life, T. Gomi (ed.) Springer-Verlag.
Furey, A.D.J. and Harvey, I. (2007). Evolution of Neural Networks
for Active Control of Tethered Airfoils. Proc. 9th European Conference
on Artificial Life, pages 746-756.
Furey, A.D.J. and Harvey, I. (2008). Robust adaptive control for
kite wind energy using evolutionary robotics. Proc. Biological
Approaches for Engineering, (in Press).
Canale M., Fagiano L., Ippolito M., Milanese M. (2006). Control of
tethered airfoils for a new class of wind energy generator. Proc. 45th
IEEE Conference on Decision and Control, 4020-2046.
Lansdorp B. and Ockels W.J. (2005). Comparison of concepts for
high-altitude wind energy generation with ground based generator. Proc.
2nd China IREETEC, 409-417.
Houska B. (2007). Robustness and stability optimisation of open-loop
controlled power generating kites. PhD Thesis, University of Heidelberg.
I. Argatov, P. Rautakorpi, R. Silvennoinen,
Estimation of the mechanical energy output of the kite wind generator,
Submitted to Renewable Energy.
A. Bolonkin, Utilization of Wind Energy at
High Altitude, AIAA Paper 2004-5705, Aug. 2004. P. 1{13)
P. Williams, Optimal wind power extraction
with a tethered kite, AIAA guidance, navi-gation and control conference
and exhibit. Keystone, Colorado, 21-24 (2006).
M. Canale, L. Fagiano, M. Ippolito, M.
Milanese, Control of tethered airfoils for a new class of wind energy
generator, 45th IEEE Conference on Decision and Control 2006, San Diego,
USA, 2005. P. 4020{4026).
M. Diehl, 1st International Workshop on
Modelling and Optimization of Power Generat-ing Kites, KITE-OPT 07.
Power Point Presentation, Optimization in Engineering Center (OPTEC),
2007.
D. D. Lang, Using kites to generate
electricity: plodding, low tech approach wins, Drachen Foundation J.
Issue 16 (2004) 14{15).
B. Houska, M. Diehl Optimal control of
towing kites. In: Proceedings of the 45th IEEE Conference on Decision &
Control, San Diego, USA, 13{15 December 2006.
B. Lansdorp, P. Williams, The Laddermill|
Innovative Wind Energy from High Altitudes in Holland and Australia,
GLOBAL WINDPOWER 06 Conference, Adelaide, Australia, 2006. P. 1{14).
M. L. Loyd, Crosswind kite power, J. Energy,
4, (1980) 106{111).
B. W. Roberts, D. H. Shepard, K. Caldeira,
M. E. Cannon, D. G. Eccles, A. J. Grenier, J. F. Freidin,
Harnessing High Altitude Wind Power, IEEE Transaction on Energy Conversion, 2007,
22, No. 1. P. 136{144).
H. G. Carpenter, Tethered Aircraft System
for Gathering Energy from Wind, US Patent No. US 6,254,034, Jul. 2001.
FilmLARGE FILE: (394 MB,
approximately 52 minutes,
Italian) of the
presentation (Italian) of the KiteGen project, held in Naples on
15th May 2008, during "Solar Days 2008" (organized by the Province of
Naples)
STEVENSON, J.C. Traction Kite Testing and Aerodynamics, 2003, PhD
thesis, University of Canterbury.
STEVENSON. J.C., ALEXANDER, K.V. and LYNN, P. Kite performance testing
by flying in a circle. Aeronaut J, 2005, 109, (1096), pp 269-276.
ALEXANDER K.V. and STEVENSON J. A test rig for kite performance
measurement, 2001, Proceedings of Institution of Mech Engineers,
215,Part B, pp 595-598.
GEOLA, J.S., SOMU, N., ABEDINZADEH, R. and VIJAKUMAR, R. Wind
loading effects on a catenary, J Wind Engineering and Industrial
Aerodynamics, 1985, 21, pp 235-249.
HOERNER, S.F. Fluid Dynamic Drag, 1965, USA.
ALEXANDER, K.V. and STEVENSON. J.C. Kite Equilibrium and bridle length,
Aeronaut J, 2001, 105, (1051), pp 535-541.
1 Carpenter,
H.G., “Tethered Aircraft Having Remotely Controlled Angle of Attack,” US
Patent
5,931,416.
2 Carpenter,
H.G., “Tethered Aircraft System for Gathering Energy From Wind,” US Patent
6,254,034.
3 Roberts, B.W.,
and Shepard, D.H., “Unmanned Rotorcraft to Generate Electricity using Upper
Atmospheric Winds,”
Australian International Aerospace Congress,
Brisbane, July 2003.
4 Manalis,
M.S., “Airborne Windmills: Energy Source for Communication Aerostats,” AIAA
Lighter Than Air Technology Conference, AIAA Paper 75-923, July 1975.
5 Manalis,
M.S., “Airborne Windmills and Communication Aerostats,”
Journal of Aircraft,
Vol. 13, No. 7, 1976, pp.543-544.
6 Riegler, G.,
and Riedler, W., “Tethered Wind Systems for the Generation of Electricity,”
Journal of Solar
Energy Engineering,
Vol. 106, 1984, pp.177-181.
7 Riegler, G.,
Riedler, W., and Horvath, E., “Transformation of Wind Energy by a
High-Altitude Power Plant,”
Journal of Energy,
Vol. 7, No. 1, 1983, pp.92-94.
8 Fletcher,
C.A.J., and Roberts, B.W., “Electricity Generation from Jet-Stream Winds,”
Journal of Energy,
Vol.
3, 1979, pp.241-249.
9 Fletcher,
C.A.J., “On the Rotary Wing Concept for Jet Stream Electricity Generation,”
Journal of Energy,
Vol.
7, No. 1, 1983, pp.90-92.
10 Rye, D.C.,
“Longitudinal Stability of a Hovering, Tethered Rotorcraft,”
Journal of Guidance,
Control, and
Dynamics,
Vol. 8, No. 6, 1985, pp.743-752.
11 Fry, C.M.,
and Hise, H.W., “Wind Driven, High Altitude Power Apparatus,” US Patent
4,084,102, April 1978.
12 Kling, A.,
“Wind Driven Power Plant,” US Patent 4,073,516, Feb. 1978.
29 Williams,
P., Lansdorp, B., and Ockels, W., “Flexible Tethered Kite with Moveable
Attachment Points, Part I:
Dynamics and Control,” AIAA Atmospheric Flight Mechanics
Conference, Aug. 2007.
30 Williams,
P., Lansdorp, B., and Ockels, W., “Flexible Tethered Kite with Moveable
Attachment Points, Part II: State and Wind Estimation,” AIAA Atmospheric
Flight Mechanics Conference, Aug. 2007.
31 Julier, S.J.,
Uhlmann, J.K., and Durrant-Whyte, H., “A New Approach for Filtering Nonlinear
Systems,” in
Proceedings of the American Control Conference,
1995, pp. 1628–1632.
32 Canuto, C.,
Hussaini, M.Y., Quarteroni, A., and Zang, T.,
Spectral Methods in Fluid
Dynamics, Springer-
Verlag, New York, 1988.
33 Elnagar, J.,
Kazemi, M.A., and Razzaghi, M., “The Pseudospectral Legendre Method for
Discretizing Optimal
Control Problems,”
IEEE Transactions on
Automatic Control, Vol. 40,
No. 10, 1995, pp.1793-1796.
34 Gong, Q.,
Ross, I.M., Kang, W., and Fahroo, F., “Convergence of Pseudospectral Methods
for Constrained
Nonlinear Optimal Control Problems,”
Intelligent Systems and
Control, Series on
Modelling, Identification and
Control, Acta Press, Calgary, Canada, 2004.
35 Gong, Q.,
Ross, I.M., Kang, W., and Fahroo, F., “Dual Convergence of the Legendre
Pseudospectral Method
for Solving Nonlinear Constrained Optimal Control Problems,”
Proceedings of the
Intelligent Systems and Control
Conference,
Nov. 2005, Paper 497-110.
36 Ross, I.M.,
and Fahroo, F., “Legendre Pseudospectral Approximations of Optimal Control
Problems,” Lecture
Notes in Control and Information Sciences,
Vol. 295, Springer-Verlag, New York, pp.327-342.
37 Williams,
P., “User’s Guide to DIRECT Version 2.00,” Technical Report TP-07.03.01,
Melbourne, Australia.
38 Gill, P.E., Murray, W.,
and Saunders, M.A., “SNOPT: An SQP Algorithm
1. Loyd, M.L., 1980, “Crosswind Kite Power”, Journal of Energy, vol. 4, No.
3, pp 106-
111.
2. Laddermill Patent Ned. 1004508. Nov. 1996
3. Meijaard J.P., Ockels W.J., Schwab A.L. Modelling of the Dynamic Behaviour
of a
Laddermill, A Novel Concept to Exploit Wind Energy // Proceedings of the Third
International Symposium on Cable Dynamics, 1999, pp. 229-234
4. Delhaes G.M.J., Meijers P., Meijaard J.P., Ockels W.J., van Woerkom P.T.L.M.
OMill:
Study of the behaviour of a Laddermill. Report LTM-1220. Delft, Netherlands:
TU
Delft, 1999
5. Delhaes G.M.J., Meijers P., Meijaard J.P., Ockels W.J., van Woerkom P.T.L.M.
OMill:
Manual for the program OMILL3. Delft, Netherlands: TU Delft, 1999
6. Ockels W.J. Knowledge status December 1998 and baseline Laddermill test
model
functional requirements. Technical note TN-O-mill 99/01, ESA: ESTEC, 1999
7. Ockels W.J. Laddermill, a novel concept to exploit the energy in the
airspace //
Aircraft Design, 2001, No. 4, pp. 81-97
8. Ockels W. J., Gool H. J. van , Laddermill, a novel concept to exploit the
engergy in
the airspace, European Wind Energy Conference, Nice, 1-5 March, 1999
9. Ockels W.J., Lansdorp B., Breukels J.; The Laddermill Development,
Proceedings of
the European Wind Energy Conference 2004, London-UK.
10. Lansdorp B., Ockels W.J., Remmes B.; Design and testing of a remotely
controlled
surfkite for the Laddermill, World Wind Energy Conference 2005, Melbourne,
Australia.
11. Lansdorp B., Ockels W.J. Design of a 100 MW Laddermill // Electronic
Proceedings
of 7th World Congress on Recovery, Recycling and Re-integration, 2005
12. Williams P., Sgarioto D., Trivailo P. Motion Planning for an Aerial-Towed
Cable
System // AIAA Guidance, Navigation and Control Conference, 2005, AIAA 2005-
6267
13. B. Lansdorp, W.J. Ockels; Comparison of concepts for high-altitude wind
energy
generation with ground based generator, 2nd China International Renewable
Energy
Equipment & Technology Exhibition & Conference Proceedings (pp 409-417),
Beijing,
China 2005.
14. B. Lansdorp, W.J. Ockels; Design of a 100 MW Laddermill for wind energy
generation
from 5 km altitude, 7th World Congress on Recovery Recycling and Reintegration
2005, Beijing China.
15. J. Breukels, W.J. Ockels; Tethered Wing Design for the Laddermill Project,
Proceedings World Wind Energy Conference 2005, Melbourne, Australia.
16. LansdorpB., Ockels W.J., Design of a 2kW Laddemill groundstation,
Conference on
Wind Power Asia, Beijing 2006
17. Mulder J.A., van Staveren W.H.J.J., van der Vaart J.C., de Weerdt E.
Flight dynamics
lecture notes. Delft: TU Delft, 2006 10. Sedov L.I. A course in continuum
mechanics.
Vols. 1-4. Groningen: Wolters-Noordhoff, 1971–1972
18. Breukels, J. Kitelab, internal report April 2006
References
2. Ockels W.J. Knowledge status December 1998 and baseline Laddermill test
model functional
requirements. Technical note TN-O-mill 99/01, ESA: ESTEC, 1999
3. Ockels W.J. Laddermill, a novel concept to exploit the energy in the
airspace // Aircraft Design,
2001, No. 4, pp. 81-97
4. Lansdorp B., Ockels W.J. Design of a 100 MW Laddermill // Electronic
Proceedings of 7th
World Congress on Recovery, Recycling and Re-integration, 2005
5. Williams P., Sgarioto D., Trivailo P. Motion Planning for an Aerial-Towed
Cable System //
AIAA Guidance, Navigation and Control Conference, 2005, AIAA 2005-6267
6. Delhaes G.M.J., Meijers P., Meijaard J.P., Ockels W.J., van Woerkom P.T.L.M.
O-Mill: Manual
for the program OMILL3. Delft, Netherlands: TU Delft, 1999
7. Delhaes G.M.J., Meijers P., Meijaard J.P., Ockels W.J., van Woerkom P.T.L.M.
O-Mill: Study
of the behaviour of a Laddermill. Report LTM-1220. Delft, Netherlands: TU
Delft, 1999
8. Meijaard J.P., Ockels W.J., Schwab A.L. Modelling of the Dynamic Behaviour
of a Laddermill,
A Novel Concept to Exploit Wind Energy // Proceedings of the Third
International Symposium
on Cable Dynamics, 1999, pp. 229-234
9. Mulder J.A., van Staveren W.H.J.J., van der Vaart J.C., de Weerdt E. Flight
dynamics lecture
notes. Delft: TU Delft, 2006
10. Sedov L.I. A course in continuum mechanics. Vols. 1-4. Groningen:
Wolters-Noordhoff, 1971–
1972
Control of power kites for naval propulsion
by Fagiano, L. Milanese, M. Razza, V. Gerlero, I. Dipt. di Autom. e Inf.,
Politec. di Torino, Torino, Italy.