Research On The Control Method Of Parawing Posture Of The Kite Generator

1. Put forward of the questionIn recent years, because of rapid economic development, renewable energy will be run out,it is time to exploit a new energy sources .wind power is an inexhaustible renewable energy, the wind is also a kind of clean energy, wind energy on the planet is more than the hydroenergy,the use of wind energy will greatly ease the energy crisis. Use of wind energy is changing the movement of the kinetic in the atmosphere energy into other forms of energy, the use of wind energy has a long history, its specific uses include: wind energy, sailing aids to navigation, the wind turbine to the water and so on. The wind on the ground is very unstable, sometimes heavy and sometimes small, the wind is also very easy to change, resulting in generating electricity instability on the ground; the wind in the sky is different from the wind on the ground, the wind in the sky is not only big speed, but also it was very uniform and stable, up to a certain height, the wind is very strong. The kite generator can achieve this level, resulting in generating a large number of electricity power ,the kite generator is the use of this characteristic of wind in the sky to design , in view of its small coverage area ,but it can generate tremendous energy ,its appearance will enhance wind turbine to a higher level, the wind generating capacity will be greatly improved.2. The overall of the kite generatorThe parawing structure of the kite generator is mainly made up of three major parts: sense organization, control organization, and the Executive organization(1)Sense organization: The sense organization of kite generator is made up of force sensor and angle sensors.(2)Control organization: The kite generator uses fuzzy control algorithm, and DC servo motor as drive device to real-time adjust the state of parawing .(3)Executive organization: The DC motor with reducer pulling the manipulation rope of parawing , can change the parawing posture.3. Difficulties of the study(1) The parawing posture is always changing ,and the kite generator is very complexly multi-input and multi-output non-linear system ,it is difficult to accurately detect the state of parawing , the track in which parawing move in the sky is also very complex, According to maximize the power ,designing a parawing optimal moving path is difficult, the parawing are flexible structure and it need for remote control, it will further increase the difficulty of control.(2) The overall function of kite generator to achieve has a certain degree of difficulty, the size of turntable,the number of parawing and the weight of parawing fringe device exist a mutual restraint relationship, it needs optimum design. The power supply of Parawing part, detecting parawing manipulation rope's difference, the parawing location's tracking and detection are also a big problem to consider.(3) The parawing are flexible structure, parawing posture is always changing. Measurement of parawing posture has a degree of error, and the parawing is suffered of a number of external disturbances, there are many uncertain factors, the establishment of parawing control model exists a certain degree of difficulty.4. Research of the paperThe overall structure of the kite generator was designed in the subject, including the ground device and sky-wing umbrella body, ground devices include: rotating Trojan Horse Wheel, the central controller, pc computers, ground receiving devices, ultrasonic radar and so on; in the sky parawing devices include: Airfoil umbrella, power supply devices, measuring devices, DC servo motors and deceleration devices, and radio transmitter devices. First according to the power capability, the size of turntable on the ground and the size of parawing were designed,because the parawing is high in the sky, this topic used wireless remote control, the parawing posture was measured by angle sensor and force sensors , the DC motor can adjust the manipulation rope's differences, the rope's differences was noted by encoder.There is a relatively ideal track in the sky,which make kites generate the largest power .By analysis and calculating the windward wind zone, the transitional zone and the dead wind zone, two optimized tracks were designed by the largest area of the parawing to wind and the largest force in tangent direction along the path, by comparison, the second track is more rational than the first one, so at last the second track was used. The ultrasonic radar on the ground can detect the actual location of the parawing, by comparing the parawing actual location and its ideal trajectory location, the central controller sends some orders to adjust the manipulation rope length's difference, in final making parawing reach ideal track.A scalable parawing model was designed , a simple fan as air source, in the dynamic characteristics test of Parawing model ,the rope vertical force and lateral force were tested in different speed. Establishing a parawing dynamic fuzzy models, fuzzy control rules were set down, through the fuzzy controller , fuzzy control system was simulated.