jeroen stuyts wouter vandermeulen
TRANSCRIPT
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Jeroen Stuyts
Wouter Vandermeulen
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
28/01/2015Jeroen Stuyts 2
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
28/01/2015Jeroen Stuyts 3
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Wind energy throughโฆ Flying object
โฆ High altitude
โฆ Cheap construction
Makani Power SkySails
Introduction
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Introduction
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Introduction
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Introduction
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Designing, selecting, purchasing and testingโฆ Power electronics for the winch motor
โฆ Power electronics for the carousel motor
โฆ A petrol powered generator
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Introduction
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Designing, selecting, purchasing and testingโฆ Carousel drive
โฆ Winch drive
โฆ Plane power electronics
โฆ 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), 2-11. doi:10.1109/TSTE.2014.2349071
Stuyts, J., Geebelen, K., Vandermeulen, W., Driesen, J., & Diehl, M. (2015). Electrical Energy Conversion System for an Experimental Pumping Airborne Wind Energy Set-up. IEEE Transactions on Energy Conversion. under review
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Introduction
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Drive = motor + motor controller / convertor
Winch motorโฆ Controls the tether
โฆ Generates power
Carousel motorโฆ Rotates the carousel
โฆ Required for launching
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Introduction
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Carousel motor
Winch motor
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Introduction
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
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Power for onboard electronics
Power for servos
AC connectionโฆ Power connection
โฆ PLC (power line communication)
Onboard batteryโฆ Back-up
โฆ Tether cut possible
Powering the plane
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Powering the plane
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Powering the plane
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
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๐๐๐๐ = 80 Nm
๐๐๐๐ = 1000 ๐๐๐
๐๐๐๐ = 8 ๐๐
Fast response time
Lightweight
Holding torque
Encoder
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โPermanent magnet synchronous machine
Electrical system design
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๐๐๐๐ = 400 ๐๐
๐๐๐๐ = 100 ๐๐๐
๐๐๐๐ = 4 ๐๐
Simple
Robust
Encoder
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โInduction machine
Electrical system design
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Weather proofing
Grid connection
Sliprings
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Electrical system design
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Electrical system design
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Drive
PLCWired
SwitchesReceiver
Wireless Remote
Main Control Software
Human Inputs
Pro
fiN
et
UD
P
Analog UHF FM
BeagleBoneHuman Inputs Human Inputs
Sensor Data
UDP
Analog
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Electrical system design
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Electrical system design
Mechanical safetyโฆ Donโt be near!
Operational safetyโฆ Intentional procedure
โฆ Emergency switches
Electrical safetyโฆ RCDs
โฆ MCDs
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1A โ DIFF1
โ300mA
3A - Main
Switch
L1 L2 L3 N
1C โ MCB1
32A
2A โ MCB2
2A
2B โ DIFF2
โ30mA
2C โ MCB3
10A
2D โ MCB4
2A
3G โ PLC
Switch
4B - Power
Supply 1
4C - Power
Supply 2
3M - Voltage
3R
Beagleboxes
3K โ Danger
3J โ Arm
Motors
2E โ
Relay3
1E
Relay2
1D โ
Relay1
PLC โ DOa7
PLC โ DOa6
3H โ Motor
Drive
3I - Plane
3M โ Tether
3B
3D & 3O
3E5 & 3F5
Sockets
On Back
3E & 3F
3B
4D & 4E &
4F & FG
3 Phase
400V Grid
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Electrical system design
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1
1A 1B 1C 1D 1E
2A 2B 2C 2D 2E
3A 3B 3C 3D 3E 3F 3G 3H 3I 3J 3R 3K 3L 3M 3N 3O 3P3Q
4B 4C 4D 4E 4F 4G
5B5A
EC - Outgoing
Cable Duct
Cable Duct
Cable Duct
Cable Duct
Cable Duct
Cab
le D
uct
4A
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Electrical system design
1
Cable Duct
Cable Duct
Ba
ck-u
pC
ab
le D
uct
6A 6B 6C 6D 6E 6F 6G
Basic Line Filter
ResistorActive
Interface
Module
Control
Unit
Active
Line
Module
Motor
Module
1
6H 6I 6J 6K
Motor
Module
2
Braking
Module
1
Cab
le D
uct
Cable Duct
Cable Duct
Cable Duct7A 7B 7C 7D 7E 7F 7G 7H 7I 7J
Main Computer
First Aid Kit
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Electrical system design
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
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Testing the drives
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Testing the drives
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Testing the drives
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Testing the drives
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Testing the drives
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Testing the drives
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
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Adding drive efficiency
Adding motor constraints
Comparing results:
Before After
Optimized trajectoryfor mechanical energy
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Optimized trajectoryfor electrical energy
Trajectory reoptimization
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Smooth curve required
Power loss calculation
Least squares solution for measurements
๐๐๐๐๐ = ๐0 ๐1 ๐2 ๐3 โ
1๐๐๐๐โ2
T๐๐๐โ2
๐mech โ T๐๐๐โ
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Trajectory reoptimization
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Trajectory reoptimization
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Trajectory reoptimization
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Trajectory reoptimization
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Trajectory reoptimization
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At high wind speed (10m/s) without constraints โ trend
1 ๐๐๐๐๐๐ ๐ข๐๐๐ โ 2 ๐๐๐๐๐๐๐๐๐ก๐๐
Trajectory reoptimization
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Optimizing with drive efficiencyโฆ Enables higher electrical output power
โฆ Enables a wider operating range
Consider drive dimensioning
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Trajectory reoptimization
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Introduction
Powering the plane
Electrical system design
Testing the drives
Trajectory reoptimization
Conclusion
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Electrical system designโฆ Dimensioning
โฆ Selecting drives
โฆ Electrical architecture
โฆ Safety
Operationโฆ Prioritize control
โฆ Safety
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Conclusion
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