Methods and systems for managing power generation and temperature control of an aerial vehicle operating in crosswind-flight mode

• US 9,429,141 B2
• Filed: 02/12/2015
• Issued: 08/30/2016
• Est. Priority Date: 12/27/2013
• Status: Expired due to Fees

• Current Assignee: Makani Technologies LLC (Alphabet Inc.)
• Original Assignee: Google Inc. (Alphabet Inc.)
• Inventors: Vander Lind, Damon, Jensen, Kenneth
• Primary Examiner(s): Patel, Tulsidas C
• Assistant Examiner(s): MIKAILOFF, STEFAN
• Application Number:
  US14/620,191
• Publication Number:
  US 20150184637A1
• Time in Patent Office: 565 Days
• US Class Current: 1/1
• CPC Class Codes: B64U 10/60 Tethered aircraft
• CPC Class Codes: B64U 2101/10 for generating power to be supplied to a remote station, e.g. UAVs with solar panels
• CPC Class Codes: F03D 1/02 having a plurality of rotors
• CPC Class Codes: F03D 7/0204 for orientation in relation to wind direction
• CPC Class Codes: F03D 7/028 controlling wind motor output power
• CPC Class Codes: F03D 7/042 by means of an electrical or electronic controller
• CPC Class Codes: F03D 9/25 the apparatus being an electrical generator F03D9/22 takes precedence
• CPC Class Codes: F03D 9/32 on moving objects, e.g. vehicles
• CPC Class Codes: F05B 2240/921 kept aloft due to aerodynamic effects
• CPC Class Codes: Y02E 10/72 Wind turbines with rotation axis in wind direction
• CPC Class Codes: Y02E 10/728 Onshore wind turbines

Abstract

Methods and systems described herein relate to power generation control for an aerial vehicle of an air wind turbine (AWT). More specifically, the methods described herein relate to balancing power generation or preventing a component of the aerial vehicle from overheating using rotor speed control. An example method may include operating an aerial vehicle in a crosswind-flight mode to generate power. The aerial vehicle may include a rotor configured to help generate the power. While the aerial vehicle is in the crosswind-flight mode the method may include comparing a power output level of the aerial vehicle to a power threshold and, based on the comparison, adjusting operation of the rotor in a manner that generates an optimal amount of power or minimizes overheating of the aerial vehicle.

Claims

1. A method comprising:

operating an aerial vehicle of an air wind turbine (AWT) in a crosswind-flight mode to generate power, wherein the aerial vehicle is coupled to a ground station through a tether, and wherein the aerial vehicle includes a first rotor coupled to a first generator and a second rotor coupled to a second generator for power generation when the aerial vehicle operates in the crosswind-flight mode; and

while the aerial vehicle is in the crosswind-flight mode;

determining, based on sensor data, an amount of power generated by the aerial vehicle;

comparing the amount of power generated by the aerial vehicle to a threshold power;

if the comparison indicates that the amount of power generated by the aerial vehicle is less than the threshold power, then determining that the aerial vehicle is in a first power generation state, and operating one or more power-generation components of the aerial vehicle according to a first control scheme, wherein the first control scheme includes setting both a drag coefficient of the first rotor and a drag coefficient of the second rotor to about one half of a drag coefficient of the aerial vehicle; and

if the comparison indicates that the amount of power generated by the aerial vehicle is greater than or equal to the threshold power, then determining that the aerial vehicle is in a second power generation state, and operating the one or more power-generation components of the aerial vehicle according to a second control scheme, wherein the second control scheme includes setting a first advance ratio of the first rotor and setting a second advance ratio of the second rotor that is different than the first advance ratio.

2. The method of claim 1, wherein the first and the second control schemes are selected from a plurality of control schemes comprising at least the first and the second control schemes.

3. The method of claim 1, wherein the first control scheme prioritizes optimization of power generation, and wherein the second control scheme prioritizes control of heat generation associated with power generation.

4. The method of claim 1, wherein the AWT is operating below a rated power of the AWT, and wherein setting the first advance ratio for the first rotor comprises setting a fixed advance ratio for the first rotor that does not equal or exceed an advance ratio resulting in rotor stall.

5. The method of claim 1, wherein the first rotor is subject to a first airspeed and the second rotor is subject to a second airspeed that is greater than the first airspeed, and wherein the second advance ratio is less than the first advance ratio

such that power generated by the second generator is substantially equivalent to power generated by the first generator.

6. The method of claim 1, wherein the second control scheme is selected, and wherein operating the one or more power-generation components of the aerial vehicle according to the second control scheme further comprises:

determining a maximum current that may safely pass through the first generator and the second generator;

for the first rotor coupled to the first generator and the second rotor coupled to the second generator, determining a maximum rotor torque that corresponds to the maximum current; and

setting a torque limit of the first rotor and the second rotor to the maximum rotor torque.

7. The method of claim 6, wherein the first generator operates as a first motor supplying torque to the first rotor, and wherein the second generator operates as a second motor supplying torque to the second rotor.

8. The method of claim 5, wherein the threshold power corresponds to a point on a power-generation curve where an incremental increase in power generation per unit of wind speed drops due to an effect of heating in the power-generation components.

9. An airborne wind turbine (AWT) system comprising:

an aerial vehicle configured to operate in a crosswind-flight mode to generate power, wherein the aerial vehicle is coupled to a ground station through a tether, and wherein the aerial vehicle includes a first rotor coupled to a first generator and a second rotor coupled to a second generator for power generation when the aerial vehicle operates in the crosswind-flight mode; and

a control system configured to;

(i) while the aerial vehicle is in the crosswind-flight mode, receive sensor data to determine an amount of power generated by the aerial vehicle;

(ii) compare the amount of power generated by the aerial vehicle to a threshold power;

(iii) if the comparison indicates that the amount of power generated by the aerial vehicle is less than the threshold power, then determine that the aerial vehicle is in a first power generation state, and operate one or more power-generation components of the aerial vehicle according to a first control scheme, wherein the first control scheme includes setting both a drag coefficient of the first rotor and a drag coefficient of the second rotor to about one half of a drag coefficient of the aerial vehicle; and

(iv) if the comparison indicates that the amount of power generated by the aerial vehicle is greater than or equal to the threshold power, then determine that the aerial vehicle is in a second power generation state, and operate the one or more power-generation components of the aerial vehicle according to a second control scheme, wherein the second control scheme includes setting a first advance ratio of the first rotor and setting a second advance ratio of the second rotor that is different than the first advance ratio.

10. The system of claim 9, wherein the first control scheme prioritizes optimization of power generation, and wherein the second control scheme prioritizes control of heat generation associated with power generation.

11. The system of claim 9, wherein setting the first advance ratio for first rotor comprises setting a fixed advance ratio for the first rotor that does not equal or exceed an advance ratio resulting in rotor stall.

12. The system of claim 9, wherein the first rotor is subject to a first airspeed and the second rotor is subject to a second airspeed that is greater than the first airspeed, and wherein the second advance ratio is less than the first advance ratio

such that power generated by the second generator is substantially equivalent to power generated by the first generator.

13. The system of claim 9, wherein the second control scheme is selected, and wherein, to operate the one or more power-generation components of the aerial vehicle according to the second control scheme, the control system is further configured to:

determine a maximum current that may safely pass through the first generator and the second generator;

for the first rotor coupled to the first generator and the second rotor coupled to the second generator, determine a maximum rotor torque that corresponds to the maximum current; and

set a torque limit of the first rotor and the second rotor to the maximum rotor torque.

14. The system of claim 13, wherein the first generator operates as a first motor supplying torque to the first rotor, and wherein the second generator operates as a second motor supplying torque to the second rotor.

15. The system of claim 9, wherein the threshold power corresponds to a point on a power-generation curve where an incremental increase in power generation per unit of wind speed drops due to an effect of heating in the power-generation components.