Tethered vehicle control and tracking system

摘要

A kite system includes a kite and a ground station. The ground station includes a sensor that can be utilized to determine an angular position and velocity of the kite relative to the ground station. A controller utilizes a fuzzy logic control system to autonomously fly the kite. The system may include a ground station having powered winding units that generate power as the lines to the kite are unreeled. The control system may be configured to fly the kite in a crosswind trajectory to increase line tension for power generation. The sensors for determining the position of the kite are preferably ground-based.

主权项

1. An autonomously controlled kite system comprising:
at least one kite that turns based on control. inputs; at least one line connected to the at least one kite; a base including a line control. mechanism connected to the at least one line, wherein the line control mechanism selectively takes in and lets out the at least one line; a sensor configured to determine at least one of a position and a velocity of the at least one kite relative to the base; and a fuzzy logic control system that categorizes the at least one of the position and the velocity of the at least one kite into at least two sets, wherein a degree of membership of the position and/or velocity is given a numerical value signifying membership ranging from no membership to full membership, the control system utilizing one or more rules to generate control inputs that selectively turn the kite to avoid the ground, wherein the controller causes the kite to fly in a series of crosswind trajectories and lets out the at least one line while the kite is flying in a crosswind trajectory, and wherein the line control mechanism includes a generator that generates power as the at least one line is let out.