NL2008549C2 - Ground control unit for autonomous operation of a kite power generation system. - Google Patents
Ground control unit for autonomous operation of a kite power generation system. Download PDFInfo
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- NL2008549C2 NL2008549C2 NL2008549A NL2008549A NL2008549C2 NL 2008549 C2 NL2008549 C2 NL 2008549C2 NL 2008549 A NL2008549 A NL 2008549A NL 2008549 A NL2008549 A NL 2008549A NL 2008549 C2 NL2008549 C2 NL 2008549C2
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- kite
- control unit
- cable
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
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Description
Ground control unit for autonomous operation of a kite power generation system Field of the invention
The present invention relates to a ground control unit for a kite power system, 5 comprising a generator, wherein a rotor part of the generator comprises a winch pulley for each of at least two main traction cables connectable to a kite.
Prior art
Such a system is known in prior art publications, such as International patent 10 publications WO 2007/122650 , WO 2007/135701, W02009/026939 and American patent publication US 2002/040948, US 7287481 and US 2011/0272527 W02007/122650 discloses an Aeolian system using power wing profiles for generating electrical energy. A wing profile in the form of a kite is controlled to perform a predetermined flight profile, and the force generated by the wind is 15 transferred via two ropes to a basic platform. The basic platform comprises two separate winches and a generator coupled to each winch, as well as a guiding module for neatly winding the rope on the winch.
W02007/135701 discloses an automatic control system for operation of a kite for harvesting wind energy. The flight trajectory of the kite is controlled using two driving 20 cables and controlling two winches on which the cables are wound. Control is implemented to optimize the amount of kinetic energy subtracted from the wind.
WO 2009/026939 discloses an aerodynamic wind propulsion device, particularly for watercraft. A guiding line is connected between the aerodynamic wing and a pole at the base platform and used to guide the aerodynamic wing during the starting and 25 landing maneuvers by transferring a tensile force.
US2002/040948 discloses an axial mode linear wind turbine. Multiple airfoil kites are attached in tandem to a pivotal control housing via two control lines and two support lines. Using the two control lines, the multiple airfoil kites are controlled to make a predetermined trajectory including a power stroke and a rewind section.
30 US 7287481 discloses a launch and retrieval arrangement for a kite in particular for driving watercraft. A plurality of reefing lines is used to reduce or increase the size of the aerodynamic profile element and to provide a tensile force between a mast on a watercraft and the aerodynamic profile element during starting and landing maneuvers.
2 US 2011/0272527 discloses a power generating kite system. The system includes an additional reefing cable and hydraulic telescoping pole that assists in launching and retrieving the kite. A yaw system is used to turn the kite system at an appropriate angle to increase energy production.
5
Summary of the invention
The present invention seeks to provide further improvements in kite power systems, e.g. in the aspect of automation of the ground control unit for autonomous operation, better efficiency and reliability of the entire system or parts thereof.
10 This is accomplished in a ground control unit as defined above, wherein the winch pulleys are positioned co-axial, and wherein the ground control unit further comprises a yaw actuator system for controlling a relative azimuth angle of the ground control unit with respect to the at least two main traction cables during operation.
According to this first aspect of the invention the traction cable force is directly 15 acting on the cable winch pulley without need for additional main load carrying guiding pulleys. The yaw actuator system allows to position the generator with cable winch pulleys at a defined angle towards traction cables and kite. This solution avoids the need for additional main load carrying guiding pulleys and reduce friction losses and wear from the traction cables. Furthermore this system is used to control the position of 20 the traction cables onto the cable winch pulley during reeling-in.
Further exemplary embodiments of the present invention are detailed in the dependent claims.
In a further embodiment, an additional cable guide mechanism with guiding rollers in axial direction of the cable winch pulley, actuation system and positioning 25 sensor can be used, which ensures more accurate and independent positioning for both of the traction cables on the cable winch pulleys of the generator during the reeling-in phase.
The ground control unit further comprises a cable twist control system for the electric power cable connection between rotating ground control unit and static ground, 30 wherein the rotational angle of the ground control unit can be freely adjusted over a wide angle of at least 360 degree. The power cable can be arranged in a ‘spiral shape’ to accomplish this effect.
3
In a further embodiment, the ground control unit comprises a slip ring assembly for the electrical connections between rotating ground control unit and static ground. This solution eliminates the risk of damaging electrical cables and would allow free-yawing of the ground control unit towards the traction cable(s) and kite. In this case the 5 additional traction cable guiding system must be used to control the position of the traction cable(s) relative to the horizontal axis of the related winch pulleys.
In a further embodiment, the ground control unit comprises means to ensure visibility and identification of the kite power system for air traffic by using a radio transponder, identification lighting and/or other identification or position reporting 10 systems, such as FLARM.
In a second aspect, the present invention relates to a ground control unit as defined above, wherein a system for autonomous launch and retrieval of the kite is provided. In an embodiment it comprises a telescopic arm carrying a kite support frame with guiding opening for the traction cables and wherein the shape of this guiding 15 opening, in combination with a movement of the frame at certain distance from the ground control unit, is used to guide and stabilize the bridle lines and kite during launch and retrieve operation.
In an embodiment, the launch and retrieve system can be directed towards traction cables and kite by rotating the system around the generator horizontal axis.
20 In a further embodiment, the retrieve operation of the kite is performed by a combination of moving out the launch and retrieve support frame towards the incoming kite and reeling-in the traction cables to such extend that the bridle cables of the kite are pulled through the support opening in the frame and capture/fold both kite bridle line(s) and kite airfoil material tightly to the support frame.
25 In a further embodiment, a locking mechanism is mounted to the support frame.
This solution can clamp the kite bridle line(s) and kite airfoil material to the support frame even when the pulling force from the traction cable is released when moving in the telescopic arm towards park position at ground control unit level.
In a further embodiment, the launch operation of the kite is performed by a 30 combination of moving out the launch and retrieve support frame, unlocking the locking mechanism and reeling-out the traction cables including the bridle cables of the kite thus slowly releasing and unfolding kite bridle line(s) and kite airfoil material through the support opening(s) in the support frame.
4
In a further embodiment, the ground control unit is equipped with an air fan. This solution can support the launch operation of the kite by blowing air in the direction of the kite and filling the kite airfoil through the ram air filling inlets. This helps unfolding the kite airfoil and support the release of the kite from the support frame into the air 5 until the wind takes over.
In a third aspect, the present invention relates to a ground control unit as defined above, wherein the direct drive generator construction is using laminations in the stator and/or rotor, not only for electromagnetic flux reasons but also use the laminations as torque transferring housing. In a further embodiment, these laminations are extended 10 with cooling fins
Short description of the drawings
The present invention will be discussed in more detail below, using a number of exemplary embodiments, with reference to the attached drawings, in which 15 Fig. 1 shows a cross sectional view of a ground control unit according to a first embodiment of the present invention,
Fig. 2 shows a side view of a ground control unit according to a further embodiment of the present invention,
Fig. 3 shows a simplified top view of the ground control unit of Fig. 1 or Fig. 2, 20 Fig. 4a shows an embodiment of an electric power cable connection by using a spiral cable layout,
Fig. 4b shows a similar embodiment of Fig. 4b at its maximum twist position,
Figs. 5a-5d shows the retrieve operation of the kite using an embodiment of the ground control unit, 25 Figs. 6a-6d shows the launch operation of the kite using an embodiment of the ground control unit,
Fig. 7a shows an embodiment of a calculation method for wind direction and kite position, and
Fig. 7b shows an embodiment of a calculation method for altitude of the kite.
Detailed description of exemplary embodiments
The present invention embodiments are part or parts of a wind power generation system using a kite 5 to harvest wind energy. The kite 5 is controlled to fly a certain 30 5 pattern, and the force and speed of cables connected to the kite 5 is transformed into electrical energy. In this invention embodiments, the kite 5 used is an airfoil type of kite, which is filled with air in operation and connected with a plurality of bridle cables 6 to give the kite an airfoil shape.
5 In general, the ground control unit 1 as shown in the embodiment of Fig. 1 can be described as comprising the following components: a generator 15, wherein a rotor part 15a, 15b of the generator 15 comprises a winch pulley 12, 13 for each of at least two main traction cables 10, 11 connectable to a kite 5, the winch pulleys 12, 13 being positioned co-axial, and wherein the ground control unit 10 1 further comprises a yaw actuator system 18 for controlling a relative azimuth angle 18e of the ground control unit 1 with respect to the at least two main traction cables 10, 11 during operation.
Fig. 1 shows a cross-sectional view of an embodiment of an (autonomous) ground control unit 1 for use in a power generating kite system. Two main traction 15 cables 10, 11 are connected to a kite 5 at a first end (see Fig. 2) and connected to respective cable winch pulleys 12, 13 at a second end. The kite 5 is connected to the traction cables 10, 11 through a plurality of cables 6 called ‘bridle lines’ (in Fig. 2 and other, only two outermost bridle lines 6 are indicated for simplicity).
Cable winch pulleys 12, 13 are part of a rotor part 15a, 15b of a direct drive 20 generator. The rotor part 15a, 15b is rotationally connected to a stator part 15c, 15d of the direct drive generator 15 by means of a bearing 15e. Cable winch pulley 12 is rigidly connected to or a part of the rotor part 15a and cable winch pulley 13 is rotationally connected to the cable winch pulley 12 by means of a further bearing 14 and a pulley actuator system 16. In the embodiment shown the actuator system 16 25 comprises a hydraulic or electric actuator 16c, a pinion 16b and a gear 16a that is rigidly connected to a wall of the cable winch 13. This allows for relative rotation of the cable winch pulley 13 with respect to the other cable winch pulley 12.
The ground control unit 1 is designed to rotate around a vertical axis with respect to the ground by means of a yaw bearing 17, which is rigidly connected to the ground 30 at an inner side 17b of the ground control unit 1. An outer side 17a is rigidly connected to stator 15d through support legs 15f.
A yaw actuator system 18 is designed to rotate the ground control unit 1 around the vertical axis towards a desired azimuth angle with respect to the traction cables 10, 6 11. The yaw actuator system 18 e.g. comprises a yaw actuator 18c, a yaw actuator gear 18b and a rack and pinion transmission 18a for mutual movement of the outer side 17a and inner side 17b.
The ground control unit 1 is electrically connected to the ground (e g. to a power 5 conversion system or power electronics 24 external to the ground control unit 1, see description of Fig. 2 below) by means of a cable twist control system 20 or a slip ring assembly 21. In one embodiment, the cable twist control system 20 or slip ring assembly 21 enables to rotate the ground control unit 1 in an azimuth range of more than 360°. In one embodiment the cable twist control system 20 comprises an electrical 10 power cable with segments 20a-20d, of which one is a flexible part 20c allowing for rotational flexibility (e.g. >360°) up to a predefined maximum angle around the vertical axis, by having part of the electrical power cable twist, curl or coil. In another embodiment, the slip ring assembly 21 allows for electrical connection of the generator 15 to the external power conversion system 24, and for complete rotational freedom 15 around the vertical axis, thus avoiding possible damage to electric cables. This is explained in more detail with reference to Fig. 4a and 4b below.
A rotor slip ring assembly 19 shown in the embodiment of Fig. 1 ensures electrical connectivity between the rotating parts 15a-15d of the generator 15, e.g. for excitation of a rotor coil 15b and/or for control of the pulley actuator system 16.
20 The actual steering of the kite 5 is accomplished by individually changing the lengths of the traction cables 10, 11 using the pulley actuation system 16, which is configured to rotate the cable winch pulley 13 relative to the cable winch pulley 12.
In one embodiment, the orderly spooling of the traction cables 10, 11 onto the cable winch pulleys 12,13 is accomplished by actively controlling the azimuth angle 25 between the ground control unit 1 and the traction cables 10,11.
Axial movement of the traction cables 10, 11 relative to an outside surface of the cable winch pulleys 12, 13 is accomplished by an optional cable guiding system 23 in a further embodiment, wherein the optional cable guiding system 23 can be used to increase spooling accuracy.
30 In the embodiment of Fig. 1 elements of the optional cable guide mechanism 23 for each traction cable are shown. The elements comprise a guiding roller 23a for the main traction cable 10, 11, a guiding shaft with spindle 23b, a shaft support 23 c, a spindle gear 23d, an actuator gear 23e and actuator motor 23f. When activated the 7 actuator motor 23f rotates the spindle gear 23d resulting in a linear displacement of the spindle shaft 23b, thereby moving the guiding rollers 23a towards a desired position relative to the respective cable winch pulley 12, 13.
In a further embodiment, the unspooling of the traction cables 10, 11 from the 5 cable winch pulleys 12, 13 is controlled using the yaw actuator system 18 in such a manner that the traction cables 10, 11 can run freely so as to minimize friction losses whilst generating electric power. In an alternative embodiment, the optional cable guide mechanism 23 is used to position the main traction cables 10, 11 with respect to the winch pulleys such that the yaw actuator system 18 can be operated in a free mode of 10 operation. The ground control unit is then turned towards the kite during operation by the pulling force on the main traction cables 10, 11 without active use of the yaw actuator system 18.
In yet another embodiment, when a maximum yaw angle around the vertical axis is exceeded, the yaw actuator system 18 controls the yaw angle back into a defined 15 working range to avoid damage of the main traction cables 10, 11.
Fig. 2 shows a side-view of a further embodiment of the ground control unit 1 including a system for launching and retrieving the kite 5. The launch and retrieve system is connected to the cable winch pulleys 12, 13 and in a further embodiment is able to rotate over an elevation angle. This allows to control the position of the launch 20 and retrieve system with respect to the main traction cables 10, 11. In one specific embodiment, an elevation control unit is provided to align the launch and retrieve system in the direction of the traction cables 10,11, e.g. by rotating the support frame 28 relative to the stator 15d. over an elevation angle.
In an actual implementation embodiment, the launch and retrieve system 25 comprises a telescopic arm 27 carrying a kite support frame 28 provided with a guide aperture 29 for each of the main traction cables 10, 11. A hydraulic or electric actuator 26 is configured to change the length of the telescopic arm 27, between an extended position and a retracted position. The telescopic arm 27 is connected on one side to e.g. the outer side 17a of the ground control unit 1.
30 Each of the main traction cables 10, 11 (including bridle lines 6 of the kite 5) is guided through the kite support frame 28. The shape of the kite support frame 28 and guide apertures 29 in combination with telescopic movement of the support frame 28 is used to guide and stabilize the bridle lines 6 and kite 5 during launch and retrieve 8 operation. This is explained in more detail with reference to the drawings of Fig. 5a-5d and Figs. 6a-6d below. It is noted, that this configuration of the ground control unit could also be used in other kite power generation systems independent from the presence of a yaw actuator system.
5 In a further embodiment, a radio transponder 32 is positioned on the ground control unit 1 to ensure visibility and to provide identification of the power generating kite system to air traffic in the vicinity of the kite power system. Alternative visibility and/or warning systems may be used in addition to or in combination with the radio transponder 32, such as anti-collision lighting or a FLARM system.
10 The direct drive generator 15 is connected to power electronics 24 in order to deliver the electrical power to a utility grid. Furthermore, control electronics 25 are present to control the various actuator and sensor systems in the ground control unit 1. In one embodiment, shown in Fig. 2, an electrical cabinet for the power electronics 24 and a cabinet for the control electronics 25 are provided as separate elements, 15 positioned external (at a distance) from the ground control unit 1. In alternative embodiments, the control electronics 25 and/or power electronics 24 are integrated in the ground control unit 1 itself.
Fig. 3 shows a top view of an embodiment of the ground control unit 1 with the main positioning system characteristics for the spooling of the traction cables 10, 11 20 onto the cable winch pulleys 12, 13. As mentioned earlier, the cable winch pulleys 12, 13 are connected to the rotor 15a, 15b of the generator 15, which can rotate around a vertical axis with respect to the ground by means of the yaw bearing 17. The yaw actuator system 18 controls a relative azimuth angle 18e between a fixed position 18d on the ground (indicated as dash-dot line in Fig. 3) and an angular position of the 25 ground control unit 1 (indicated by the dash-dot line as axis of the stator part 15d).
The yaw actuator system 18 is furthermore configured to actively control the azimuth angles 18f, 18g between the rotational axis of the cable winch pulleys 12, 13 and the traction cables 10, 11. Angles 18f, 18g are kept at a certain value smaller than 90 degrees in order to spool the traction cables 10,11 in a right-to-left fashion as seen 30 from this top view. Conversely, the traction cables 10,11 spool in a left-to-right fashion when angles 18f, 18g are greater than 90 degrees. The position of the traction cables 10,11 relative to the cable winch pulleys 12, 13 is measured by the position sensors 9 23g, which monitor the proper spooling of the traction cables 10,11 in order to minimize cable wear and friction losses.
Fig. 4a shows an embodiment of an electric power cable 20 with segments 20a-20c inside the ground control unit 1 at one end and connected to the power electronics 5 24 via a ground cable 20d at another end. Part of the cable is indicated as a cable arm 20b, and a further part of the cable is indicated as cable spiral 20c. This exemplary embodiment allows for a rotational flexibility around the vertical axis without damaging the power cable 20a, even for azimuth angle movements of the ground control unit 1 over more than 360°. At a starting angle 18e close to zero, the cable 10 spiral 20c is tightly wound against an outer radius measured from the centre point of rotation. When the yaw actuator system 18 is activated, the ground control unit 1 turns with a twist angle 18e. At the same time the cable arm 20b causes the power cable 20a to spiral inwards to form the cable spiral 20c.
Fig. 4b shows the situation of the electrical power cable 20a, when a maximum 15 twist angle is attained when cable spiral 20c is tightly wound around the centre point of rotation. The yaw actuator system 18 is configured to control the ground control unit 1 yaw angle back to a working range in order to avoid damaging the power cable 20a.
Figs. 5a-5d show exemplary embodiments of various steps for a fully automated retrieval of the kite 5 towards the ground control unit 1 using the launch and retrieval 20 system as described with reference to Fig. 2. In general wordings, the ground control unit 1 is arranged to control the winch pulleys 12, 13 and the launch and retrieve system 26-29 synchronously for launch or retrieval of the kite 5. The retrieve operation of the kite 5 is performed by a combination of moving out the launch and retrieve support frame 28 towards the incoming kite 5 and reeling-in the traction cables 10, 11 25 to such extend that the bridle cables 6 of the kite 5 are pulled through the guide aperture 29 in the kite support frame 28 and capture/fold both kite bridle lines 6 and kite airfoil material 5 tightly to the kite support frame 28.
Fig. 5a shows the configuration of the ground control unit 1 with the telescopic arm 27 fully extended, as a first step of retrieving the kite 5. In this embodiment the 30 cable winch pulleys 12, 13 are controlled to spool the traction cables 10, 11 onto the cable winch pulleys 12,13 up to a point where the traction cable guide 7 arrives at the opening 29 of the support frame 28.
10
Fig. 5b shows the configuration in a further step, where bridle lines 6 are being pulled through the support opening 29 by the traction cables 10,11. The support opening 29 is configured (e.g. with smooth edges) to fold the bridle lines 6 together. Similarly, the kite airfoil material is also folded together due to the compression of the 5 bridle lines 6 by the support opening 29.
Fig. 5c shows the configuration in the following step, wherein the bridle lines 6 are fully folded together by the support opening 29, and pulling the folded kite airfoil material against the support frame 28. In this embodiment a locking or clamping mechanism 30 is used to clamp the collected bridle lines 6 to the support frame 28. The 10 locking mechanism 30 keeps the kite airfoil material pulled against the support frame 28 when the telescopic arm 27 is being retracted and the traction cables 10, 11 loose tension.
Fig. 5d shows the configuration of a fully retracted telescopic arm 27 back in a parking position, carrying the support frame 28 with the folded bridle lines 6 and a 15 deflated kite 5. The captured bridle lines 6 and kite airfoil material 5 can now be stored at ground level. The kite 5 and its components are now retracted in an orderly fashion, which allows easy and controllable subsequent launch of the kite 5.
Figs. 6a-6d show configurations associated with various steps for a fully automated launch of the kite 5. In general wordings, the launch operation of the kite 5 20 is performed by a combination of moving out the launch and retrieve support frame 28, unlocking the clamping mechanism 30 and reeling-out the traction cables 10, 11 including the bridle cables 6 of the kite 5 thus slowly releasing and unfolding the kite bridle line(s) 6 and kite airfoil material 5 through the guide apertures 29 in the support frame 28.
25 Fig. 6a shows a configuration following the fully retracted configuration of Fig.
5d. The telescopic arm 27 extends the support frame 28 from the parking position to a launch position. In this position the locking mechanism 30 of the support frame 28 is released.
Fig. 6b shows the configuration where the (airfoil) kite 5 is inflated by slowly 30 unspooling the traction cables 10, 11 combined with ambient wind. It is noted that the support frame 28 has sufficient open surface to let through the wind, yet is also sufficiently strong to act as support for the non-inflated kite 5.
11
Additionally or alternatively, forced air from an air flow generator such as an (electric) fan 31 may be used to fill the kite 5 through its air inlets in the leading edge. The fan 31 blows air in the direction of the kite 5 thus filling the kite airfoil through the ram air filling inlets, and thus supports unfolding of the kite 5 and support the release of 5 the kite 5 from the support frame 28 into the air until the wind takes over. The electric fan 31 may be positioned close to or integrated with the ground control unit 1.
Fig. 6c shows the configuration with a fully unfolded/inflated airborne kite 5, wherein the unfolded bridle lines 6 and the traction cable guide 7 have passed through the support opening 29 of the support frame 28.
10 Fig. 6d then shows the configuration where the telescopic arm 27 is once again retracted entirely and holds the support frame 28 in the parking position. The power generating kite system is now fully operational for harvesting wind energy.
ft is noted that the yaw actuator system 18 is also useable during the launch and retrieve phases, for keeping the ground control unit 1 aligned with the ambient wind 15 direction, to allow a controlled and efficient launch or retrieval of the kite 5.
Fig. 7a shows an embodiment of a processing unit 25 forming or being part of the control electronics 25 of the ground control unit 1. In this embodiment, the control electronics 25 are arranged to determine an (average) wind direction using the yaw angle 18e and the traction force in the main traction cables 10, 11 (from a force sensor 20 24). The yaw angle 18e can be measured using an angular sensor (not shown) or may be derived from the yaw actuator system 18. The resulting control signal representing the wind direction can then be used as a control signal, e g. to control the kite trajectory 5 using the actuator system 16 to control relative position of the cable winch pulleys 12, 13. In a specific embodiment, the ground control unit 1 comprises a processing unit 25 25 connected to a force sensor 34 measuring the force exerted on the ground control unit 1 by the main traction cables 10, 11, and an azimuth position sensor for measuring the relative azimuth angle (18e). The wind direction information is then determined by analyzing the traction cable force information in relation to yaw angle to eliminate the need for a separate wind direction sensor.
30 Fig. 7b shows a further embodiment of a processing unit 25 forming or being part of the control electronics 25 of the ground control unit 1. In this embodiment, altitude information of the kite 5 is determined with a calculation model, using as inputs the free length L of the traction cables 10,11, the elevation angle of the traction cables 10, 12 11 (both determined by a combined sensor 33), and the traction force in the main traction cables 10, 11. The free length L and elevation angle are measured by a combined angle and cable length sensor 33 and the traction cable force is measured by the force sensor 34. In a specific embodiment, the processing unit 25 is connected to a 5 cable length sensor 33, a traction cable elevation angle sensor 33, and to a force sensor 34 measuring the force exerted on the ground control unit 1 by the main traction cables for determining the altitude of the kite. This embodiment, in combination with the embodiment shown in Fig. 7a could avoid the use of a GPS sensor and need for a remote data link to the kite 5 as is used in prior art kite power systems.
10 The embodiments described with reference to Figs. 7a and 7b can of course be combined or augmented with further sensors or control algorithms.
In general, the present invention can be seen as embodied in features relating to the yaw actuator system 18 as part of the entire kite power system, or as embodied in features relating to the launch and retrieve system as part of the entire kite power 15 system. These embodiments are described in general terms as follows: embodiment 1. Ground control unit for a kite power system, comprising a generator (15), wherein a rotor part (15a, 15b) of the generator (15) comprises a winch pulley (12, 13) for each of at least two main traction cables (10, 11) connectable to a kite (5), the winch pulleys (12, 13) being positioned co-axial, 20 and wherein the ground control unit (1) further comprises a yaw actuator system (18) for controlling a relative azimuth angle (18e) of the ground control unit (1) with respect to the at least two main traction cables (10, 11) during operation, embodiment 2. Ground control unit according to embodiment 1, wherein the generator (15) of the ground control unit (1) is connectable to a power conversion 25 system (24) external to the ground control unit (1), and the ground control unit (1) is rotatable in an azimuth range of more than 360°.
embodiment 3. Ground control unit according to embodiment 2, comprising an electrical power cable with a twisted (curled, coiled) part, connected to the generator (15).
30 embodiment 4. Ground control unit according to embodiment 2, comprising a slip ring assembly (21) for electrical connection to the generator (15). embodiment 5. Ground control unit according to any one of embodiment s 1-4, wherein the ground control unit (1) further comprises a cable guide mechanism (23) for 13 axially positioning the at least two main traction cables (10, 11) with respect to the associated winch pulley (12, 13).
embodiment 6. Ground control unit according to embodiment 5, wherein the ground control unit (1) is arranged to control the cable guide mechanism (23) to position the 5 main traction cables (10, 11) with respect to the winch pulleys (12, 13), and to control the yaw actuator system (18) in a free mode of operation, embodiment 7. Ground control unit according to any one of embodiments 1-6, wherein the generator (15) comprises a rotor part (15a, 15b) and a stator part (15c, 15d), and an electrical connection to the rotor part (15a, 15b) is provided by a rotor slip 10 ring assembly (19).
embodiment 8. Ground control unit according to any one of embodiments 1-7, wherein the ground control unit (1) comprises a processing unit (25) connected to a force sensor (34) measuring the force exerted on the ground control unit (1) by the main traction cables (10, 11), and an azimuth position sensor for measuring the relative 15 azimuth angle (18e).
embodiment 9. Ground control unit according to any one of embodiments 1-8, wherein the ground control unit (1) comprises a processing unit (25) connected to a cable length sensor, a traction cable elevation angle sensor (33), and to a force sensor (34) measuring the force exerted on the ground control unit (1) by the main traction 20 cables (10, 11) for determining the altitude of the kite.
embodiment 10. Ground control unit according to any one of embodiments 1-9, the ground control unit (1) further comprising a launch and retrieve system connected to the generator (15).
embodiment 11. Ground control unit according to embodiment 10, wherein the launch 25 and retrieve system is rotatable over an elevation angle.
embodiment 12. Ground control unit according to embodiment 10 or 11, wherein the launch and retrieve system comprises a telescopic arm (27) carrying a kite support frame (28) provided with a guide aperture (29) for each of the main traction cables (10, 11).
30 embodiment 13. Ground control unit according to embodiment 12, wherein the kite support frame (28) is moveable by the telescopic arm (27) in an extended position or in a retracted position.
14 embodiment 14. Ground control unit according to any one of embodiments 9-13, wherein the ground control unit (1) is arranged to control the winch pulleys (12, 13) and the telescopic arm (27) synchronously for launch or retrieval of the kite (5). embodiment 15. Ground control unit according to any one of embodiments 9-14, 5 wherein the launch and retrieval system comprise a clamping mechanism (30) for capturing kite bridle line(s) (6) and kite airfoil material (5) to the support frame (28). embodiment 16. Ground control unit according to any one of embodiments 9-15, wherein the launch and retrieval system comprises an air flow generator (31).
The present invention embodiments have been described above with reference to 10 a number of exemplary embodiments as shown in the drawings. Modifications and alternative implementations of some parts or elements are possible, and are included in the scope of protection as defined in the appended claims.
Claims (16)
Priority Applications (5)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2008549A NL2008549C2 (en) | 2012-03-27 | 2012-03-27 | Ground control unit for autonomous operation of a kite power generation system. |
| EP13717877.8A EP2831410A2 (en) | 2012-03-27 | 2013-03-27 | Kite power system |
| CN201380023874.2A CN104411965A (en) | 2012-03-27 | 2013-03-27 | Kite power system |
| US14/388,402 US20150048621A1 (en) | 2012-03-27 | 2013-03-27 | Kite power system |
| PCT/NL2013/050225 WO2013147600A2 (en) | 2012-03-27 | 2013-03-27 | Kite power system |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2008549A NL2008549C2 (en) | 2012-03-27 | 2012-03-27 | Ground control unit for autonomous operation of a kite power generation system. |
| NL2008549 | 2012-03-27 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| NL2008549C2 true NL2008549C2 (en) | 2013-09-30 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2008549A NL2008549C2 (en) | 2012-03-27 | 2012-03-27 | Ground control unit for autonomous operation of a kite power generation system. |
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| NL (1) | NL2008549C2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015198141A1 (en) * | 2014-06-27 | 2015-12-30 | Enerkite Gmbh | System for starting and landing a flight-capable wing construction |
-
2012
- 2012-03-27 NL NL2008549A patent/NL2008549C2/en not_active IP Right Cessation
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2015198141A1 (en) * | 2014-06-27 | 2015-12-30 | Enerkite Gmbh | System for starting and landing a flight-capable wing construction |
| CN106715895A (en) * | 2014-06-27 | 2017-05-24 | 艾能开拓有限责任公司 | System for launching and landing of a flying wing configuration |
| US10443565B2 (en) | 2014-06-27 | 2019-10-15 | Enerkite Gmbh | System for starting and landing a flight-capable wing construction |
| CN106715895B (en) * | 2014-06-27 | 2019-10-22 | 艾能开拓有限责任公司 | System for launching and landing of a flying wing configuration |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| MM | Lapsed because of non-payment of the annual fee |
Effective date: 20170401 |