Modeling of Tethered Glider Apparent Velocity Dynamics Based on Apparent Attitude Tracking

摘要

In this paper, the modeling of the apparent velocity dynamics of a glider airborne wind energy system is considered. The conventional rigid body dynamics of the system are derived using Euler-Lagrange formulations. The resulting system is under-actuated and partially coupled; there is no direct control effect to the glider translational motion. Based on the apparent attitude rotational tracking trajectory, the glider apparent velocity dynamics are derived. The proposed dynamics introduce glider apparent attitudes as direct input to the glider translational motion. The resulting glider apparent velocity dynamics possess a cascade structure. Therefore, the proposed dynamics are more suitable for control systems design.