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Dynamic Modeling and Analysis of a Quadrotor-Cable Airborne Wind Energy System

Motaman, Amir Mahdi | 2021

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 54768 (45)
  4. University: Sharif University of Technology
  5. Department: Aerospace Engineering
  6. Advisor(s): Saghafi, Fariborz
  7. Abstract:
  8. In this research, the dynamic model of a quadrotor-cable airborne wind energy system is presented. These systems have received a lot of attention in recent years and many examples of them have been designed and built. In addition to comprehensive system modeling, cables and quadrotor in the quasi-stable autorotation phase are modeled separately. These models can be used in other fields in addition to wind energy systems. One of the applications of this thick cable model is in the marine industry.In this research, Newton-Euler method has been used for modeling. The cable model is considered and developed as rigid elements with joints with rotary springs and dampers. The quadrotor model is considered in the autorotation and quasi-stable phase and is not able to model extreme environmental changes. In the cable model, in addition to spring and damper forces and weight force, aerodynamic force is also considered.The validity of the proposed model is compared with previous research, if possible. Otherwise, it has been validated with simple scenarios in which the behavior of the system can be predicted. The effect of rotor design variables such as the number of blades and its radius on the forces and power output by the rotor has been studied. Also, the behavior of the system, including the output power of quadrotor and the curvature of the cable and the path of each cable element and quadrotor in different environmental conditions such as changes in size and direction of wind speed and quadrotor status are recorded. In addition, the effect of the control input of the system, which is the angle of the rotor blade, on the stable and quasi-stable behavior of the system has been investigated
  9. Keywords:
  10. Dynamic Modeling ; Quadrotor ; Airborne Wind ; Wind Energy ; Flexible Cable ; Autorotation ; Airborne Wind Energy System

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