Wind turbines form a significant part of the world’s renewable energy sources. Wind farms are built across all terrains and altitudes. One of the main factors that affect the working and productivity of such large-scale wind farms are the cracks formed in the blades and the dust accumulation due to the environmental phenomena, thereby decreasing the wind power generation capacity. In most south Asian countries, the current method employed for repairing and cleaning the blades involves bringing down the blades using cranes and then restoring them. This method is both cumbersome and involves a very high cost of execution. This paper discusses the working of a model with different highly application-specific and configurable modules that improve the existing solutions. The said developments will be elucidated in the upcoming sections. 

An Abstract Model for Onshore Wind turbine Blade Maintenance

Wind turbines form a significant part of the world’s renewable energy sources. Wind farms are built across all terrains and altitudes. One of the main factors that affect the working and productivity of such large-scale wind farms are the cracks formed in the blades and the dust accumulation due to the environmental phenomena, thereby decreasing the wind power generation capacity. In most south Asian countries, the current method employed for repairing and cleaning the blades involves bringing down the blades using cranes and then restoring them. This method is both cumbersome and involves a very high cost of execution. This paper discusses the working of a model with different highly application-specific and configurable modules that improve the existing solutions. The said developments will be elucidated in the upcoming sections.

This paper proposes a Control Lyapunov Function-based Quadratic Program (CLF-QP) approach for controlling a cable-driven parallel robot. We consider the cable-driven boat motion simulator to verify that the CLF-QP approach controls platform motions following the desired trajectories and optimizes cable tensions in the desired boundaries. A simulation model with a moving platform and 8 cables was used for testing CLF-QP controller. 6 degrees of freedom (DOF) periodic and mathematical ship model motion were applied to the simulation. The results show that the normalized root mean square errors(NRMSE) of motion tracking were less than 7%, and cable tensions were bounded in the range set by a user without constraint violations in optimization processes. 

A Control Lyapunov Function-Based Quadratic Program for the Cable-Driven Boat Motion Simulator

This paper proposes a Control Lyapunov Function-based Quadratic Program (CLF-QP) approach for controlling a cable-driven parallel robot. We consider the cable-driven boat motion simulator to verify that the CLF-QP approach controls platform motions following the desired trajectories and optimizes cable tensions in the desired boundaries. A simulation model with a moving platform and 8 cables was used for testing CLF-QP controller. 6 degrees of freedom (DOF) periodic and mathematical ship model motion were applied to the simulation. The results show that the normalized root mean square errors(NRMSE) of motion tracking were less than 7%, and cable tensions were bounded in the range set by a user without constraint violations in optimization processes.

The 6 degrees of freedom cable-driven boat motion simulator has eight cables and a moving platform in replicating the boat motion. The platform is connected to cables and is moved by adjusting the length of the cables. The simulator has more cables than its degrees of freedom is defined as an underdetermined system, which means the tension solution is not unique and can be optimized while controlling the platform to the desired position. Leveraging the equilibrium condition and the dynamic equation of tensegrity systems, linearized equations of motion of the moving platform were derived. A Linear Matrix Inequality (LMI)-based controller design and a convex optimization validated to stabilizing the system and optimizing cable tensions. A simulation model is suggested to verify optimized cable tension solutions and the feasibility of the LMI based controller.

https://dl.acm.org/doi/pdf/10.1145/3475851.3475854

Thomas R. Bewley

Papers

Tension optimization of the 6-DOF cable-driven boat motion simulator