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Advisors: García Herrero, JesúsFischer, Boris academic advisor

Contributor: Fraunhofer Institut für Windenergie und Energiesystemtechnik

Department-Institute: Universidad Carlos III de Madrid. Departamento de Informática

Degree: Ingeniería Industrial

Issued date: 2013

Defense date: 2013-07-29

Keywords: Helicópteros , Quadrotor , Parques eólicos , Turbomaquinaria , Velocidad del viento

Rights: Atribución-NoComercial-SinDerivadas 3.0 España

Abstract:This project attempts to prove the viability of using an unmanned 4-motors rotorcraft, commonly known as quadrotor, as a measurement instrument of wind profiles within large offshore wind farms. The novelty lies in the fact that the vehicle does not include anThis project attempts to prove the viability of using an unmanned 4-motors rotorcraft, commonly known as quadrotor, as a measurement instrument of wind profiles within large offshore wind farms. The novelty lies in the fact that the vehicle does not include any dedicated sensors for wind characterization, but acts itself as a sensor. This is done by applying an algorithm that relates tilt angle of the vehicle to the local wind speed and direction, sparing the use of external measurement devices such as anemometers, multi-hole probes or any other conventional measurement instrument. Unitary costs and complexity can be consequently significantly reduced. An algorithm for computing wind speed and direction is derived from the dynamic pressure equation, while wind direction is derived from simple trigonometry. As a first approach, wind speed is estimated by solely using the angles computed by the flight controller, dismissing dynamic effects. As a second approach, dynamic linear equations describing the behavior of the quadrotor are used to estimate wind speed, dynamic effects included. In the third approach, wind speed estimation is addressed by using a Lineal Kalman Filter LKF, where dynamic effects are also taken into account. Results coming from each approach are compared to measurement data obtained from an anemometer mounted on a met mast.+-





Autor: Moyano Cano, Javier

Fuente: http://e-archivo.uc3m.es


Introducción



Universidad Carlos III de Madrid Repositorio institucional e-Archivo http:--e-archivo.uc3m.es Trabajos académicos Proyectos Fin de Carrera 2013 Quadrotor UAV for wind profile characterization Moyano Cano, Javier http:--hdl.handle.net-10016-18105 Descargado de e-Archivo, repositorio institucional de la Universidad Carlos III de Madrid Quadrotor UAV for wind profile characterization Moyano Cano, Javier Tutor: García Herrero, Jesús Academic advisor: Fischer, Boris University: Universidad Carlos III de Madrid Campus de Leganés Avda.
de la Universidad,30 28911 Leganés, Spain Host organization: Fraunhofer IWES Institut für Windenergie und Energiesystemtechnik Königstor 59, 34119 Kassel, Germany This project analyzes the idea of wind profile characterization by relating attitude of a quadrotor to local wind profile. Dedicado a mi familia y amigos 1 Index.
2 Table index.
4 Figure index……………………………………………….…………….……….
6 Summary.………………………………………….…………….….….….
8 Chapter 1 - Introduction and objectives………………………………………….
10 1.1.
Introduction.………………………………………………………….…….10 1.2.
Objectives.…………………………………………………….….…….….
12 Chapter 2 – Background………….……………………………….………….
14 2.1.
Previous projects……………………………………………….………….
14 2.2.
Sensors for atmospheric wind speed measurement…………….………….
16 2.3.
Quadrotor attitude estimation as a measurement system.………………….
17 2.4.Spatial and temporal sca...





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