Patent Application
20230184213
The invention relates to a power kite and a bridle system as well as a method for controlling a power kite and a bridle system. Furthermore, the invention relates to a wind engaging member for an airborne wind energy system. The invention also relates to a wind energy harvesting system.
A power kite is a kite designed to provide significant pull to a user. Power kites are often used, and are best known from kitesurfing, kite buggying, kite landboarding, kiteboating, snowkiting and other sport activities. A power kite is a kite of which a flight track can be controlled by steering the kite. The kite has a leading edge, which is the edge that leads the movement when the kite is flying its flight track. There are multiple types of power kite. The two most common types are the foil power kites, and the leading edge inflatable power kites. There are also other less common types of power kites including rigid-framed power kites and soft single skin power kites.
Foil kites have a double skin with a number of cells in between. It is the profile of these cells that gives the kite its shape in the air and enables it to generate lift. Each cells may be provided with an opening at the front, meaning air is forced in the cells during flight, giving the kite its stiffness and enabling it to hold its profile. Alternatively, cells may be closed, where a one-way valve locks the air inside the cells, giving some increased water relaunch capability.
Leading edge inflatable power kites have a single skin with a reinforcing structure formed by an inflated tubular leading edge and optionally one or more inflated struts. The leading edge and optionally the struts are inflated by the user with a pump prior to launching the kite. By inflating the leading edge and optionally the struts, the power kite is given its shape.
Power kites have, or are connected to, a bridle system for controlling the steering angle and for depowering the kite. The bridle system may additionally distribute forces acting on the power kite over its surface. A traditional bridle system used in kitesurfing is explained to clarify how the bridle system is manipulated to control the steering angle and the angle of attack of the power kite. A traditional bridle system has two power lines and two steering lines. The power lines centrally connect the front end of the kite to a harness of the kiter and transfers the majority of the pull of the kite to the harness. The distance between the kiter and the power line connection points at the power kite is fixed and predetermined by the length of the power lines. The steering lines connect the wingtips of the kite to a control bar. By tilting the control bar, the steering lines are pulled and released in a balanced manner, allowing to manipulate the steering angle of the kite. By pulling both steering lines to, and pushing both steering lines away from the harness, the angle of attack of the kite is manipulated. As a result of the shape of the kite, typically C-shape or bow-shape, wingtips are located behind the front end of the kite. By pulling both steering lines to, and pushing both steering lines away from the harness, the distance between the kiter and the steering line connection points at the power kite is adapted and changed compared to the power line distance, such that the kite is tilted. Using a traditional bridle system with a traditional power kite, both the steering angle and the angle of attack of the power kite is manipulated via the steering lines.
Power kites and bridle systems are also used in wind energy harvesting systems. In these systems, the general concept of the power kite remains similar to kitesurfing power kites. However the power kites in wind energy harvesting systems may be significantly larger compared to kitesurfing power kites. The forces transmitted over the lines may be significantly higher.
It is an object of the invention to improve the kite control of a power kite and bridle system.
To this end, the invention provides a power kite and a bridle system adapted to connect the power kite to a control box, the power kite having a leading edge and a trailing edge, the bridle system comprising multiple power lines and at least two steering lines, the steering lines being connected to zones including wingtips of the power kite such that a steering angle of the power kite is controllable by balancing the steering lines, wherein the multiple power lines comprise a back line connected to a back zone of the power kite including a central part of the trailing edge, such that an angle of attack of the power kite is controllable by pulling and releasing the back line.
The invention is based on the insight that controlling both the steering angle and the angle of attack of the power kite via the steering lines is suboptimal. Multiple tests have been conducted with different steering line connection points at the power kite. To enable precise steering control, the steering lines are preferably connected as far as possible from the center of the kite, being at the wingtips. When steering lines are balanced to control the steering angle of the kite, a torsion is applied to the kite shape. This torsion is most effective, from a kite control perspective, when it is applied to the kite as far as possible from the center of the kite.
By simultaneously releasing or pulling the steering lines, a changed balance between the power lines and the steering lines changes the angle of attack. This angle of attack is most effective, from a kite control perspective, in the center of the kite. Since the power lines are typically connected to a center front end of the power kite, to enable precise angle of attack control, the steering lines are preferably connected closer to the center of the kite, being at a distance from the wingtips.
The above observations lead to a suboptimal control and a choice to be made. When steering lines are connected closer to the center of the kite, the control and effectiveness of the angle of attack is more optimal, but the steering becomes less accurate. When steering lines are connected closer to the wingtips of the kite, the control of the steering is more optimal, but the angle of attack becomes less effective.
The invention solves these issues by providing a back line as part of the power lines. By pulling and releasing the back line, the angle of attack of the power kite is controllable directly in the center of the kite. This allows a precise control of the angle of attack. Furthermore, changing the angle of attack directly at the center of the kite is highly effective. Also, steering lines may be connected as far as possible from the center, at the wingtips of the kite, to enable precise steering angle control. Summarizing, the angle of attack is controllable in an optimal and highly effective manner while also the steering angle is precisely controllable. In this context it is noted that particularly in gusty winds, it is advantageous to be able to control the angle of attack in a fast and precise manner in order to keep the overall pull of the power kite as constant as possible. This has an effect on the efficiency of the energy harvesting such that the overall efficiency of the wind energy harvesting system increases.
Preferably the multiple power lines comprise a front line connected to a front zone of the power kite including a central part of the leading edge, such that an angle of attack of the power kite is controllable by balancing the front and back lines.
This leads to an additional advantage, particularly in the context of wind energy systems. In wind energy systems, the steering angle and the angle of attack are controlled by motors. Traditionally, the forces acting on the two steering lines are balanced with respect to each other meaning that when a single steering motor is used to balance the steering lines, the steering motor should deliver power only to induce or correct a ‘change’ in the balance. The steering motor does not need to deliver any significant power to ‘keep’ the balance because forces cancel each other out. Traditionally, on the other hand, the forces acting on the two steering lines together are controlled by an angle of attack motor which pulls and releases the steering lines simultaneously. This angle of attack motor in a traditional setup needs to apply a constant significantly large force to ‘keep’ the angle of attack in a fixed position. Unlike the steering motor, the angle of attack motor should in a traditional setup constantly deliver a significant power to ‘keep’ and to ‘change’ the angle of attack.
When the multiple power lines comprise a back line and a front line, the forces on the front line at least partially counteract on the forces on the front line. The angle of attack is controllable by releasing the front line while pulling the back line and vise versa. Because the forces on the back line and on the front line are at least partially in balance, they at least partly cancel each other out at the angle of attack motor. As a direct result, the angle of attack motor should not deliver any significant power, or at least significantly less power, to ‘keep’ the balance and the angle of attack. This simplifies safety mechanisms and reduces the requirements of the angle of attack motor. Also, the energy required to operate the system is reduced such that the overall profit or gain of the energy harvesting system is improved. Summarizing, the kite control of a power kite and bridle system of the invention is improved.
Preferably, the multiple power lines further comprise at least one central power line connected to a central zone of the kite, the central zone being located between the front zone and the back zone. By providing a central power line, a fulcrum is created which improves the kite control. This fulcrum is realized because balancing the front and back lines will induce a rotation of the kite around the connection point of the central power line. In other words, the front and back lines act like a lever while the central power line forms the rotation point. A further advantage is that the central power line may bear a significant portion of the power that is generated by the power kite. This significant portion of the power is relieved from the front line, back line and steering lines. This significant portion of the power may bypass a control box and may be directly transferred to a winch system in an energy harvesting system. Because the power is relieved from the front line, back line and steering lines, the forces acting on the control box may be smaller and the control box may be simpler and cheaper. In an embodiment without front lines, and wherein only a back line is provided which is pulled and released to control the angle of attack, the central power line may be located in the front zone and the central zone of the kite. Such central power line may act at least partly as conventional power lines known in power kite bridle systems. Because the invention provides a back line that can be released and pulled, however, the central power line will form a rotation point or fulcrum for the angle of attack rotation of the kite.
Preferably the kite is a single skin kite with a reinforcing structure. More preferably, the reinforcing structure comprises an inflatable leading edge and optionally at least one inflatable strut extending between the leading edge and the trailing edge. The inflatable strut may be reinforced with rigid elements such as composite rods. Single skin kites are cheaper and therefore more suitable to be used in an energy harvesting system compared to other power kites. A single skin kite is easy to produce and may be folded into compact package to store and transport. Before launching the power kite, a reinforcing structure is brought in place to give the kite its operational shape. Inflatable tubes provided in the leading edge and optionally in one or more struts have proven to be reliable, durable and easy to use. They give a single skin power kite good flying characteristics and allow a predictable control using the bridle system such that a flight track may be predetermined and realized by controlling the steering angle and angle of attack of the power kite. Additional advantages of inflatable reinforcing structures are: easy to pack, stability in asymmetric load conditions, particularly relevant during launch and landing and gusts, and more resistant to rough landings.
Preferably, the bridle system comprises a connection between the steering lines and the back line such that a pulling and releasing of the back line induces a simultaneous pulling and releasing of the steering lines. Further preferably, the connection is embodied via a pulley. As an alternative, a lever could be used instead of or in combination with a pulley. Providing a connection between the steering lines and the back line allows to pull and release the steering lines simultaneously with the back line. In such configuration, no additional control mechanisms should be provided at the steering lines to match the length of the steering lines with the set angle of attack. As described above, in a traditional bridle system, to control the angle of attack, a balance is obtained between the power lines and the steering lines by pulling and releasing the both steering lines simultaneously while keeping the power lines fixed. In the invention, the angle of attack is controlled by balancing the back line and the front line. The angle of attack controlled in this manner engages mainly in a center part of the kite, and it is advantageous to also align or control the wingtips in a similar manner. Flying efficiency and kite control is improved when the angle of attack is controlled over the complete kite including the center, via the back line and front line, as well as the wingtips, via the pulling and releasing of the steering lines. The connection between the back line and the steering lines, optionally via pulleys, ensures such combined control of the angle of attack in the center and the wingtips. This can be realized by only acting on the back line, such that any further mechanisms such as motors to pull and release the steering lines simultaneously may be omitted.
Preferably, at least one of the multiple power lines comprise multiple branches connected at different locations to the power kite for transversely dividing forces induced by the bridle system to the power kite. By providing multiple connection points at the power kite where the bridle system is connected, the average force on a single connection point may be significantly reduced. This simplifies the production and increases the durability of the power kite and bridle system. Furthermore, because forces are divided over the surface area of the power kite, the reinforcing structure of the power kite may be simplified.
The invention further relates to a wind engaging member for an airborne wind energy system, the wind engaging member comprising a control box connected to a power kite and a bridle system according to the invention. The control box is used in an airborne wind energy system to control the kite. Controlling the kite means flying the kite in a predetermined flight track and thereby aiming to maximize or optimize the power generated by the power kite. This power is further controlled by controlling the angle of attack of the kite. The angle of attack is adjusted to compensate for wind gusts. Furthermore, the angle of attack is controlled to improve or facilitate the steering maneuvers.
Preferably, the control box comprises at least one steering motor for pulling and releasing the steering lines to control the steering angle of the power kite, and comprises at least one angle of attack motor for pulling and releasing the front and back lines to control the angle of attack of the power kite. In such control box, steering angle and the angle of attack may be independently controlled. The angle of attack motor may be provided with a brake to reduce energy consumption when not being actuated.
Preferably, the control box comprises a steering shaft comprising a coil for the steering lines and which is connected to the bridle system in such a manner that rotation of the steering shaft in one direction induces a releasing of one of the steering lines and a simultaneous pulling of the other of the steering lines, such that a balancing of the steering lines is obtained, the steering shaft being driven by the steering motor. A coil is provided and one of the steering lines is winded in a clockwise direction on the coil while the other of the steering lines is winded in a counter-clockwise direction on the coil. The direct result is that rotation of the coil will simultaneously induce a releasing of one steering line and a pulling of the other steering line. In his manner, balancing of the steering lines can be easily realized. Furthermore, the average forces acting on one steering line are the same as the average forces acting on the other steering line such that the coil is, on average, free of torsion. This allows to use a more simple motor to control the steering motor. Alternative or in combination with a coil, a toothed belt, a chain, a chainlink or a lever could be used.
Preferably, the control box comprises an angle of attack shaft comprising a coil for the front and back lines and which is connected to the bridle system in such a manner that rotation of the angle of attack shaft in one direction induces a releasing of the front line and a simultaneous pulling of the back line, such that a balancing of the front and back lines is obtained, the angle of attack shaft being driven by the angle of attack motor. A coil is provided and one of the back and front lines is winded in a clockwise direction on the coil while the other of the back and front lines is winded in a counter-clockwise direction on the coil. The direct result is that rotation of the coil will simultaneously induce a releasing of one of the back and front lines and a pulling of the other of the back and front lines. In his manner, balancing of the back and front lines can be easily realized. Furthermore, forces acting on the front line at least partially compensate forces acting on the back line such that the coil is, on average, less exposed to torsion. This allows to use a more simple motor to control the angle of attack. In this context, it is noted that the coil for the back line may have a different diameter then the coil for the front line. In this manner, the ratio between pulling and releasing of front line and back line can be chosen. The ratio may be chosen to balance the forces acting on the motor, or to balance the movement of the kite or both.
The invention further relates to a wind energy harvesting system comprising a ground station with a winch system, the system further comprising a wind engaging member of the invention. Using a winch system, the power kite may be used in a cyclic process to generate energy. This cyclic process comprises two step. A first step is to pull the winch outward using the power of the power kite. In this step, the power kite is flown in a flight track aiming to maximize or optimize the pull generated by the kite. A generator is connected to the winch to generate energy in the first step. A second step is to pull the winch inward using a motor connected to the winch. In this step, the power kite is flown to minimize the pull generated by the kite. In both steps, it is preferably to have optimal kite control, meaning to be able to precisely control the steering angle and the angle of attack. This has proven to be more optimal and precise using the power kite and bridle system of the invention.
The invention further relates to a method for controlling a power kite, the power kite having a leading edge and a trailing edge, the power kite being connected via a bridle system comprising multiple power lines and at least two steering lines, the steering lines being connected to zones including wingtips of the power kite, wherein the multiple power lines comprise a front line connected to a front zone of the power kite including a central part of the leading edge and comprise a back line connected to a back zone of the power kite comprising a central part of the trailing edge, the method comprising:
In a traditional power kite and bridle system, the angle of attack is controlled by pulling in and releasing the steering lines simultaneously. This has, as already discussed above, some drawbacks particularly when power generated by the power kite increases. The controlling of the angle of attack of the power kite by balancing the front and back lines has proven to increase the kite control. Furthermore, the effect of the controlling the angle of attack is more direct thereby increasing the preciseness of the controlling of the power kite.
Preferably, the step of controlling an angle of attack of the power kite further comprises simultaneously pulling and releasing of the steering lines while pulling and releasing the back line. By simultaneously pulling and releasing the steering lines while pulling and releasing the back line, the angle of attack is applied to the power kite over its complete width. The front line and back line apply the angle of attack directly to a center part of the power kite. The steering lines apply the angle of attack to side parts of the power kite.
The invention will now be described in more details with respect to the drawings illustrating some preferred embodiments of the invention. In the drawings:
In the drawings a same reference number has been allocated to a same or analogous element.
In a wind energy harvesting system, a control box is provided at a predetermined distance from the kite. This control box is primarily provided for controlling the steering angle of the kite by manipulating the steering lines. The combination of the kite and control box is typically referred to as a wind engaging member. This wind engaging member is connected to a ground station typically via a winch system. In such connection, the power lines of the kite may be directly connected to the winch system or may be connected via the control box.
As described above, using the wind energy harvesting system, electric energy may be generated. The power kite 1 may be used in a cyclic process with two step. A first step is to unroll the winch 19 using the power of the power kite 1. In this step, the power kite 1 is controlled by the control box 3 to maximize or optimize the pull generated by the power kite. Cable 17 absorbs the power generated by the power kite 1 and, as a result, is unrolled from the winch 19. This induces in a powered rotation of the winch 19 which may be at least partially countered by an electric generator 20. In other words, the power kite 1 generates a force which induces a rotational force at the winch 19. This rotational force of the winch 19 is used to generate electric power using the generator 20.
A second step is to roll the cable 17 onto the winch using a motor connected to the winch. The motor may be the generator 20, which is powered to rotate the winch. The principle of using an electric motor as motor and as generator is a known concept and therefore not further described. The motor may alternatively be separately provided in the ground station 18 for this purpose (not shown). In this second step, the power kite 1 is controlled by the control box 3 to minimize the power generated.
The power kite 1 shown in the figures is a single skin power kite with a reinforcing structure formed by an inflatable leading edge and multiple inflated struts. The inflated struts are preferably reinforced with rigid elements such as glass fiber rods. It is noted that this is a preferred embodiment and that other types of power kites may be used. A power kite is a kite of which a flight track can be controlled by steering the kite. By controlling the flight track, the speed of the power kite 1 as well as the position of the power kite 1 with respect to the wind direction may be adjusted which allows to control the power generated by the power kite 1. The power generated by the power kite 1 may be measured by measuring the force applied to the cable 17, which force may be expressed in Newton.
The power kite 1 has a leading edge 8, which is the edge that leads the movement when the kite is flying its flight track. In other words, when flying the power kite 1, the leading edge 8 is formed by the foremost edge of the power kite 1, which is the part which first meets the oncoming air. In other words, the leading edge 8 forms the front end of power kite 1. Opposite the leading edge 8, the power kite 1 comprises a trailing edge 9. The trailing edge 9 forms the back end of the power kite 1. The power kite 1, including the leading edge 8 and trailing edge 9, is preferably symmetrical with respect to a symmetry plane. The power kite 1 shows two wingtips 10 at both ends of the symmetry plane. The wingtips 10 are defined as the parts of the power kite 1 which lay most remote from the symmetry plane. Optionally, the power kite 1 is asymmetrical, which could be advantageous for example when the preferred flight track is asymmetrical. The power kite is preferably formed as a single skin kite which skin defines the dimensions of the kite. To bring this skin into its desired three-dimensional form or shape, reinforcement elements are used. The reinforcement elements preferably comprise a leading edge and one or multiple struts.
Multiple reinforcing structures, in the shown example formed as struts, are provided between the leading edge 8 and the trailing edge. In the figures, struts are indicated with reference number 11. The leading edge 8 also comprises a reinforcing structure, in the shown example an inflatable leading edge. The primary function of the reinforcing structure is to keep the power kite’s shape within predetermined boundaries when the power kite 1 is in use. The reinforcing structure allows a certain flexibility or change in shape, which is preferred to cope with wind gusts as well as to allow steering of the power kite 1. The power kite 1 is typically largely symmetrical. This means that the shape of the wing forming the power kite is mirrored with respect to a central plane. It is noted that is sensors or connections or maintenance related elements are provided at the kite, these elements should not necessarily be arranged symmetrical. Particularly the shape of the kite, determining the way the wind interacts with the kite, is symmetrical. It is noted that by acting on the steering lines, the kite will, due to its flexibility, adopt an asymmetrical shape inducing a turning of the kite in the air. In neutral state of the kite, when no significant external forces are acting on the kite, the kite is symmetrical.
The reinforcement elements are preferably inflatable elements. By inflating the inflatable elements, they are made rigid. The rigidity is sufficient in the context of the kite to keep the kite in its shape while flying the kite. The rigidity is also sufficient to allow a certain deformation when manipulating the steering lines so that the kite can be steered in the air.
The bridle system 2 connects the power kite to the control box 3 and, directly or indirectly, to the cable 17. The bridle system comprises multiple lines, some of which may be branched, to divide forces resulting from flying the power kite 1 over the surface area of the power kite 1. Each line end or branch end of the bridle system is connected to the power kite at a kite connection point. Such connection may be releasable or may be fixed. Providing more kite connection points and corresponding lines or branches allows to weaken the reinforcing structure because forces are divided more densely, however it also increases the complexity as well as the drag of the power kite 1. Providing less kite connection points and corresponding lines or branches reduces costs and drag of the power kite 1, but also increases the reinforcing structure requirements. An optimum is sought by the skilled person based on the size of the power kite 1.
In
In
In a further embodiment, a front line 7 is provided and connected to the angle of attack motor 13 along with the back line, which is also connected to the angle of attack motor 13. The front line is winded in an opposite direction to the coil attached to the angle of attack motor 13, compared to the back line 7. In this manner, torques may at least partially cancel each other out. This embodiment is described hereunder with reference to
In the embodiment of
The back line may be embodied by multiple back lines which run to different sections of the trailing edge. Multiple corresponding angle of attack motors may be provided wherein each motor is connected to one of the multiple back lines to enable a sectional angle of attack control. An angle of attack of each section of the kite may be individually controlled. This might be advantageous to further increase the precision of the kite control.
In front of the central zone 5, a front zone 6 is illustrated. The front zone 6 includes a central part of the leading edge 8. The front line is connected in the front zone 6. Preferably the front line is branched such that the front line is connected to the power kite 1 at different kite connection points which are dispersed over the front zone 6.
Behind the central zone 5, a back zone 7 is illustrated. The back zone 7 is illustrated not to include the trailing edge 9 of the power kite 1. In an alternative embodiment, the back zone includes the trailing edge 9. The back line is connected in the back zone 7. Preferably the back line is branched such that the back line is connected to the power kite 1 at different kite connection points which are dispersed over the back zone 7.
At the two sides of the power kite 1, two steering zones 4A and 4B are illustrated. These steering zones 4A and 4B include the wingtips 10 of the power kite 1. The steering lines are connected to the power kite 1 at one or more kite connection points located in the steering zones 4A and 4B.
The central zone 5 is located between the front zone 6 and the back zone 7, separating the front zone 6 from the back zone 7. The central zone 5, front zone 6 and back zone 7 are located between the two steering zones 4A and 4B. In the figure, the central, front and back zones 5, 6 and 7 have substantially the same width. This is just an embodiment and the width of the zones may be different. The skilled person will understand that the zones 4, 5 and 6 as shown in the figures are merely imaginary areas limiting or including at least a collection of one or more kite connection points to which the respective lines of the bridle system 2 are connected. Therefore, for example, the back zone 7 may always be drawn to include the trailing edge 9 of the power kite 1. This does not imply that the kite connection points are located at the trailing edge 9. The same reasoning applies for the wingtips and the steering zones 4A and 4B. Furthermore, in line with the explanation above, the central zone 5, front zone 6 and back zone 7 may be sectioned in the span width direction of the kite to enable individual control for multiple sections.
Based on
The first distance 21 between the front kite connection point and the central connection point 23 should not be the same as the second distance 22 between the central connection point 23 and the back kite connection point. A ratio between the first distance 21 and the second distance 22 may be compensated by providing one or more pulleys in the bridle system 2. Alternatively, the ratio may be compensated by providing the multiple coils with different diameters. In
The skilled person will appreciate on the basis of the above description that the invention can be embodied in different ways and on the basis of different principles. The invention is not limited here to the above described embodiments. The above described embodiments and the figures are purely illustrative and serve only to increase understanding of the invention. The invention is not therefore limited to the embodiments described herein, but is defined in the claims.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2025700 | May 2020 | NL | national |
| Filing Document | Filing Date | Country | Kind |
|---|---|---|---|
| PCT/EP2021/064401 | 5/28/2021 | WO |
