Study Of Dynamics And Control On High Altitude Wind Power Generating Towing Parafoil

This paper has briefly studied the high altitude wind power generating towingparafoil system. The study mainly includes: motion trajectory, dynamics and optimalcontrol of the high altitude wind power generating towing parafoil.Five models were brought forward, i.e. planar motion trajectory model, spatialmotion trajectory model, two different planar dynamic models and spatial dynamicmodel. Under three states, which is that the length of the rope was fixed value, uniformelongation and uniformly accelerated elongation, analyzed the motion trajectory and thesize of traction force impulse of the model. The more, under cross wind conditions,analyzed the stability of the spatial models. Summarized that:1) the motion trajectoryand the size of Traction force impulse obviously affected by r the length, r theelongation velocity, r the elongation acceleration of the rope; the pitching angleand the roll angle of the parafoil.2) The roll angle also has the greatest impact onthe stability of the towing parafoil system.The optimal control model of the high altitude wind power towing parafoil, whichbased on the spatial motion trajectory model, has been established. After the analysis,the optimal control objective function and its boundary conditions were defined. Thisoptimal control problem was solved by DIRCOL software toolkit, which based on thedirect collocation method, and the results were analyzed. The optimal control is atypical open loop control. As the optimal control model of the towing parafoil isunstable, when disturbed, the model can’t get the right results under the boundaryconditions.By controlling on the roll angle of the parafoil, the spatial trajectory model motionachieved stable in cross wind conditions. By using the ACADO software toolkit,realized the robust optimization of the optimal control model, improved the model’sstability and when disturbed, the model can get the right results under the boundaryconditions.The study accomplished in this paper could provide references to analysis andresearch on the dynamics, optimal control and relative problems of the high altitudewind power generating towing parafoil system.