Tethered Vehicle Control and Tracking System
AssigneeU.S.A. as represented by the Administrator of the National Aeronautics and Space Administration
InventorsDAVID D. NORTH, MARK J. AULL
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Abstract
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.
Claims12
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 a position of the at least one kite relative to the base;
- a fuzzy logic control system that categorizes at least one of a position and a velocity of the at least one kite into at least two sets wherein the 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.
A method of autonomously controlling a kite, the method comprising:
- providing at least one steerable kite;
- connecting the kite to a base utilizing at least one line;
- utilizing a camera on the ground to generate images of the at least one kite;
- utilizing the images to determine at least one numerical input value relating to at least one of a position and a velocity of the at least one kite;
- determining allowable flight positions for the at least one kite;
- utilizing the one numerical input value in a feedback control to produce control outputs that cause the at least one kite to turn and remain within the allowable flight positions.
Dependencies are inferred from the claim text.