Automatic Circular Take–off and Landing of Self-Propelled Kites. Fernandes, G. M., Vinha, S., Fernandes, M. C. R. M., & Fontes, F. A. C. C. In Book of Abstracts of the International Airborne Wind Energy Conference 2024, Madrid, Spain, April, 2024.
Automatic Circular Take–off and Landing of Self-Propelled Kites [link]Paper  abstract   bibtex   1 download  
Within Airborne Wind Energy Systems (AWES), the abil- ity to perform controlled, reliable, and safe Automatic Take-off and Landing (ATOL) maneuvers stands as a cru- cial requirement for autonomous operation. We address one of the least researched ATOL techniques – the Circu- lar Take–off and Landing (CTOL) – which, from our view- point, shows interesting and promising features. We consider a self–propelled fixed–wing kite connected to the ground–station via a flexible and constantly taut tether, where the take-off and landing is performed with a circular motion approximately in an horizontal plane, with constant tether length. The Take-off phase is divided in three sub–phases: 1) Acceleration, where the kite gains speed until it reaches a specific reference airspeed, 2) Ro- tation, in which it tilts upwards until it attains a specific reference pitch angle, 3) Climbing, where its speed and pitch angle are controlled until it achieves a threshold al- titude. That is defined taking into account the maximum possible elevation angle that the tethered plane can sus- tain for the current tether length. After that, it loiters in a level flight. The Landing procedure follows analogous sub–phases in reversed order: Approach, where the kite performs a descent glide until it reaches a a predefined altitude related to its wingspan; Landing, in which it tilts upwards in a flare maneuver and touches down. We propose a hierarchical control architecture, which, at its higher–level layer, has a discrete–event system, in- corporating a path–planner and a supervisory controller that oversees and sets references to the lower–level mod- ules responsible for executing each phase of the process [1]. The control of the kite parameters in each of these sub-modules, such as speed or altitude, is ensured by a variety of controllers, ranging from simple PID controllers addressing a single variable loop during short duration sub–phases, to multivariable optimization–based con- trollers during longer and steadier sub–phases. A small–scale self–propelled prototype was assembled, demonstrating the adequacy of the developed con- trollers as well as the overall viability of the concept.
@inproceedings{fernandes_automatic_2024,
	address = {Madrid, Spain},
	title = {Automatic {Circular} {Take}–off and {Landing} of {Self}-{Propelled} {Kites}},
	url = {https://repository.tudelft.nl/record/uuid:0b677288-8d49-4155-a8c1-8463d3de6b7c},
	abstract = {Within Airborne Wind Energy Systems (AWES), the abil-
ity to perform controlled, reliable, and safe Automatic
Take-off and Landing (ATOL) maneuvers stands as a cru-
cial requirement for autonomous operation. We address
one of the least researched ATOL techniques – the Circu-
lar Take–off and Landing (CTOL) – which, from our view-
point, shows interesting and promising features.
We consider a self–propelled fixed–wing kite connected
to the ground–station via a flexible and constantly taut
tether, where the take-off and landing is performed with
a circular motion approximately in an horizontal plane,
with constant tether length. The Take-off phase is divided
in three sub–phases: 1) Acceleration, where the kite gains
speed until it reaches a specific reference airspeed, 2) Ro-
tation, in which it tilts upwards until it attains a specific
reference pitch angle, 3) Climbing, where its speed and
pitch angle are controlled until it achieves a threshold al-
titude. That is defined taking into account the maximum
possible elevation angle that the tethered plane can sus-
tain for the current tether length. After that, it loiters in
a level flight. The Landing procedure follows analogous
sub–phases in reversed order: Approach, where the kite
performs a descent glide until it reaches a a predefined
altitude related to its wingspan; Landing, in which it tilts
upwards in a flare maneuver and touches down.
We propose a hierarchical control architecture, which,
at its higher–level layer, has a discrete–event system, in-
corporating a path–planner and a supervisory controller
that oversees and sets references to the lower–level mod-
ules responsible for executing each phase of the process
[1]. The control of the kite parameters in each of these
sub-modules, such as speed or altitude, is ensured by a
variety of controllers, ranging from simple PID controllers
addressing a single variable loop during short duration
sub–phases, to multivariable optimization–based con-
trollers during longer and steadier sub–phases.
A small–scale self–propelled prototype was assembled,
demonstrating the adequacy of the developed con-
trollers as well as the overall viability of the concept.},
	language = {en},
	urldate = {2024-04-28},
	booktitle = {Book of {Abstracts} of the {International} {Airborne} {Wind} {Energy} {Conference} 2024},
	author = {Fernandes, Gabriel M. and Vinha, Sérgio and Fernandes, Manuel C. R. M. and Fontes, Fernando A. C. C.},
	month = apr,
	year = {2024},
}
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