Control of Dual-Airfoil Airborne Wind Energy Systems Based on Nonlinear MPC and MHE

28 Pages·2014·0.97 MB·English

Control of Dual-Airfoil Airborne Wind Energy
Systems Based on Nonlinear MPC and MHE
M. Zanon, G. Horn, S. Gros, M. Diehl
ESAT–KatholiekeUniversiteitLeuven
Outline
2/17
1 Offline Trajectory Optimization
2 Optimization Based Estimation and Control
Offline Trajectory Optimization
3/17
1 Offline Trajectory Optimization
2 Optimization Based Estimation and Control
Offline Trajectory Optimization
4/17
Use a Relaxation Strategy
Proposedin[Grosetal. 2013]
u Equ. (8) X Equ. (6)
1,2,3
Aero R R
Aero
W Moments ω
W Forces X
Equ. (5)
FA λ ∫ λrr E
r, r, r
TA ∫ ω ω ∫ R R X ∫ X X ∫ X X
Equ. (1)
Equ. (3)
W Wind z
Rotational Model Translational
Equ. (7)
dynamics dynamics
Offline Trajectory Optimization
4/17
Use a Relaxation Strategy
Proposedin[Grosetal. 2013]
U X
1,2,3
Aero R R
Aero X
W Moments ω
W Forces
T
A F
A
λ
E
∫ λrr
F
T
r, r, r
∫ ω ω ∫ R R ∫ X X ∫ X X
X
X
W Wind z
Model
Rotational Translational
dynamics dynamics
Offline Trajectory Optimization
4/17
Use a Relaxation Strategy
Proposedin[Grosetal. 2013]
U X
1,2,3
Aero R R
W Moments ω Aero X
W Forces
T
A F
A
γ γ
λ E
TF 1-γ ∫ ω ω ∫ R R FF 1-γ F ∫ λrr
T
r, r, r
X X
∫ X ∫ X
X
X
W Wind z
Model
Rotational Translational
dynamics dynamics
Optimization Based Estimation and Control
5/17
1 Offline Trajectory Optimization
2 Optimization Based Estimation and Control
2 Implicit A-stable integrators
Stable also at reduced accuracy
3 Real-Time Iteration (RTI) scheme [Diehletal.2002]
Single Newton step
Initial value embedding
Preparation and Feedback phase
Generalized Gauss-Newton method [Bocketal.1984]
4 C code generation
Export efficient tailored algorithms
Avoid all unnecessary computations
Only static memory allocation
Optimization Based Estimation and Control
6/17
Algorithms
1 Direct Multiple Shooting discretization [Bocketal.1984]
Good for unstable systems
3 Real-Time Iteration (RTI) scheme [Diehletal.2002]
Single Newton step
Initial value embedding
Preparation and Feedback phase
Generalized Gauss-Newton method [Bocketal.1984]
4 C code generation
Export efficient tailored algorithms
Avoid all unnecessary computations
Only static memory allocation
Optimization Based Estimation and Control
6/17
Algorithms
1 Direct Multiple Shooting discretization [Bocketal.1984]
Good for unstable systems
2 Implicit A-stable integrators
Stable also at reduced accuracy
4 C code generation
Export efficient tailored algorithms
Avoid all unnecessary computations
Only static memory allocation
Optimization Based Estimation and Control
6/17
Algorithms
1 Direct Multiple Shooting discretization [Bocketal.1984]
Good for unstable systems
2 Implicit A-stable integrators
Stable also at reduced accuracy
3 Real-Time Iteration (RTI) scheme [Diehletal.2002]
Single Newton step
Initial value embedding
Preparation and Feedback phase
Generalized Gauss-Newton method [Bocketal.1984]