Jeroen Stuyts Wouter Vandermeulen

Jeroen Stuyts

Wouter Vandermeulen

Introduction

Powering the plane

Electrical system design

Testing the drives

Trajectory reoptimization

Conclusion

28/01/2015Jeroen Stuyts 2

Introduction

Powering the plane


Testing the drives


Conclusion



Wind energy through◦ Flying object

◦ High altitude

◦ Cheap construction

Makani Power SkySails

Introduction


Introduction

Designing, selecting, purchasing and testing◦ Power electronics for the winch motor

◦ Power electronics for the carousel motor

◦ A petrol powered generator


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), 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


Introduction

Drive = motor + motor controller / convertor

Winch motor◦ Controls the tether

◦ Generates power

Carousel motor◦ Rotates the carousel

◦ Required for launching


Introduction

Carousel motor

Winch motor


Introduction

Introduction

Powering the plane


Testing the drives


Conclusion



Power for onboard electronics

Power for servos

AC connection◦ Power connection

◦ PLC (power line communication)

Onboard battery◦ Back-up

◦ Tether cut possible

Powering the plane


Powering the plane

Introduction

Powering the plane


Testing the drives


Conclusion


𝑇𝑛𝑜𝑚 = 80 Nm

𝑛𝑛𝑜𝑚 = 1000 𝑟𝑝𝑚

𝑃𝑛𝑜𝑚 = 8 𝑘𝑊

Fast response time

Lightweight

Holding torque

Encoder


→Permanent magnet synchronous machine


𝑇𝑛𝑜𝑚 = 400 𝑁𝑚

𝑛𝑛𝑜𝑚 = 100 𝑟𝑝𝑚

𝑃𝑛𝑜𝑚 = 4 𝑘𝑊

Simple

Robust

Encoder


→Induction machine


Weather proofing

Grid connection

Sliprings



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





Mechanical safety◦ Don’t be near!

Operational safety◦ Intentional procedure

◦ Emergency switches

Electrical safety◦ RCDs

◦ MCDs

1A – DIFF1

∆300mA

3A - Main

Switch

L1 L2 L3 N

1C – MCB1

32A

2A – MCB2

2A

2B – DIFF2

∆30mA

2C – MCB3

10A

2D – MCB4

2A

3G – PLC

Switch

4B - Power

Supply 1

4C - Power

Supply 2

3M - Voltage

3R

Beagleboxes

3K – Danger

3J – Arm

Motors

2E –

Relay3

1E

Relay2

1D –

Relay1

PLC – DOa7

PLC – DOa6

3H – Motor

Drive

3I - Plane

3M – Tether

3B

3D & 3O

3E5 & 3F5

Sockets

On Back

3E & 3F

3B

4D & 4E &

4F & FG

3 Phase

400V Grid



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



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

Introduction

Powering the plane


Testing the drives


Conclusion



Testing the drives

Introduction

Powering the plane


Testing the drives


Conclusion


Adding drive efficiency

Adding motor constraints

Comparing results:

Before After

Optimized trajectoryfor mechanical energy


Optimized trajectoryfor electrical energy


Smooth curve required

Power loss calculation

Least squares solution for measurements

𝑃𝑒𝑙𝑒𝑐 = 𝑎0 𝑎1 𝑎2 𝑎3 ⋅

1𝜔𝑚𝑒𝑐ℎ2

T𝑚𝑒𝑐ℎ2

𝜔mech ⋅ T𝑚𝑒𝑐ℎ




At high wind speed (10m/s) without constraints → trend

1 𝑘𝑊𝑐𝑜𝑛𝑠𝑢𝑚𝑒𝑑 → 2 𝑘𝑊𝑔𝑒𝑛𝑒𝑟𝑎𝑡𝑒𝑑


Optimizing with drive efficiency◦ Enables higher electrical output power

◦ Enables a wider operating range

Consider drive dimensioning



Introduction

Powering the plane


Testing the drives


Conclusion


Electrical system design◦ Dimensioning

◦ Selecting drives

◦ Electrical architecture

◦ Safety

Operation◦ Prioritize control

◦ Safety


Conclusion

Jeroen Stuyts Wouter Vandermeulen

Documents

Transcript of Jeroen Stuyts Wouter Vandermeulen