Logo
ScienceStack
Table of Contents
Fetching ...
Sign In

Automatic Circular Take-off and Landing of Tethered Motorized Aircraft

Sérgio Vinha, Gabriel M. Fernandes, Huu Thien Nguyen, Manuel C. R. M. Fernandes, Fernando A. C. C. Fontes

Abstract

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose center and radius are defined by the anchorage point and the tether length, respectively. We propose a hierarchical control architecture for ATOL and discuss the controllers designed for each control layer and for each of the flight phases. Simulation results are reported, showing the viability of the approach, but also showing the limitations on the maximum altitude attainable with a fixed-tether length. The tethered aircraft and the proposed ATOL control architecture are to be used in an Airborne Wind Energy System.

Automatic Circular Take-off and Landing of Tethered Motorized Aircraft

Abstract

We consider a motorized aircraft tethered to a central anchorage point in a configuration similar to a control line model airplane. For this system, we address the problem of automatic take-off and landing (ATOL) with a circular path, whose center and radius are defined by the anchorage point and the tether length, respectively. We propose a hierarchical control architecture for ATOL and discuss the controllers designed for each control layer and for each of the flight phases. Simulation results are reported, showing the viability of the approach, but also showing the limitations on the maximum altitude attainable with a fixed-tether length. The tethered aircraft and the proposed ATOL control architecture are to be used in an Airborne Wind Energy System.
Paper Structure (11 sections, 10 equations, 9 figures, 4 tables)

This paper contains 11 sections, 10 equations, 9 figures, 4 tables.

Table of Contents

  1. Introduction
  2. Tethered Aircraft Model
  3. Control Architecture
  4. Supervisory Control
  5. Altitude and Airspeed Controllers
  6. PID Controllers
  7. Linear-Quadratic Regulator
  8. Simulation Results
  9. Small-scale Prototype and Simulation Parameters
  10. Results
  11. Discussion and Conclusion

Figures (9)

  • Figure 1: Spherical and Body coordinate systems.
  • Figure 2: Airplane longitudinal model for circular tethered flight.
  • Figure 3: Circular trajectory during take-off (in blue).
  • Figure 4: Overall Control Strategy of an AWE system.
  • Figure 5: The Take-off, Loiter, Approach, and Landing phases with its sub-phases.
  • ...and 4 more figures