While wind energy has emerged as a popular source of renewable energy, the traditional wind turbine has an inherent limitation, namely that it only generates power in the presence of sufficiently high and consistent wind speeds. As a result, wind farms are typically built in areas with a high probability of the required wind speeds, which are geographically sparse. One way of overcoming this drawback is to tap into the energy available in winds at high altitudes which are not only consistent and of high magnitude, but also globally pervasive. An airborne wind energy device based upon the phenomenon of autorotation could potentially be used to exploit the abundance of wind of energy present at high altitudes. The work in this thesis first presents our study of a tethered-airfoil system as a candidate airborne wind energy (AWE) system. A mathematical model was used to show the feasibility of energy capture and the stability of the device in a wind field. Subsequently, the research identified the principle of autorotation to be better suited for high altitude energy harvesting. To this end, the thesis first presents a theoretical basis of the principle of autorotation, which is developed from existing models in literature. The model was adapted to predict aerodynamic conditions when used for harvesting energy. Encouraging simulation results prompted the main emphasis of this thesis, namely design of an experimental framework to corroborate the theory. Several experiments were devised to determine basic performance characteristics of an autogyro rotor and the data from each experiment is presented. A lab-scale experimental setup was developed as part of this thesis. The setup, consisting of a flapping-blade autogyro rotor and sensors, was used to acquire preliminary aerodynamic performance data. It is envisioned that refinements to this setup will ultimately provide a means of directly comparing analytical and experimental data. In this regard, we provide conclusions and make comments on improvements for future experiments.

Interest in high speed rotorcraft has directed attention toward the slowed-rotor, high advance ratio compound autogyro concept. The behavior of partially unloaded rotors, autorotating at high advance ratio is not well understood and numerous technical issues must be resolved before the vehicle can be realized. The necessity for a reduction in rotor speed with increasing flight speed results in high advance ratio operation. Further, rotor speed changes also affect the rotor dynamics and the associated hub moments generated by cyclic flapping. The result is rotor characteristics that vary widely depending on advance ratio. In the present work, rotor behavior is characterized in terms of issues relevant to the control system conceptual design and the rotor impact on the intrinsic vehicle flight dynamics characteristics. In this research, non-linear models, including the rotor speed degree of freedom, were created and analyzed with FLIGHTLABTM rotorcraft modeling software. Performance analysis for rotors trimmed to autorotate with zero average hub pitching and rolling moments indicates reduced rotor thrust is achieved primarily through rotor speed reduction at lower shaft incidence angle, and imposing hub moment trim constraints results in a thrust increment sign reversal with collective pitch angle above advance ratio . Swashplate control perturbations from trim indicate an increase in control sensitivities with advance ratio, and advance ratio dependent control cross coupling. Rotor speed response to swashplate control perturbations from trim results in non-linear behavior that is advance ratio dependent, and which stems from cyclic flapping behavior at high advance ratio. Rotor control strategies were developed including the use of variable shaft incidence to achieve rotor speed control with hub moment suppression achieved through cyclic control. Flight dynamics characteristics resulting from the coupling of the rotor and airframe were predicted in flight using a baseline airframe with conventional fixed-wing controls. Results predicted by linearization of the non-linear models were compared with system identification results using the non-linear simulation as surrogate flight test data. Low frequency rotor response is shown to couple with the vehicle motion for short period and roll mode response to airframe control inputs. The rotor speed mode is shown to couple with short period and long period vehicle modes as the rotor torque balance is sensitive to vehicle speed and attitude changes.

Wind turbines have been used for decades to harvest wind energy. They are suitable only to work on close to ground, and have several drawbacks that are related to the availability of the wind and the amount of extracted power compared with the cost of construction. On the other hand, there is an abundant wind power that is available at high altitudes. The wind jet streams at high elevations 8 - 12 kms are pervasive and persistent, and can potentially produce immense wind energy. Even at moderate elevations of 4 - 5 kms, wind power densities are much higher than on ground and more consistent. Consequently, in this thesis research, we investigate the topic of harvesting energy from high altitudes. First, we provide a comprehensive review of two existing theoretical methods that are proposed for airborne wind energy harvesting, the tethered airfoil, and the static autogyro. The latter approach has inherent advantages that warrant further investigation. Autorotation is a well-known phenomenon where a rotor sustains its angular velocity and maintains significant lift in the presence of strong aerodynamic forces and torques generated by interaction with a strong wind field. Autorotation has been researched in the context of free descent of helicopters but has not been considered for energy harvesting. Existing models have mainly focused on statics analysis. In this research, we propose a simple dynamic model of the Autogyro, with the goal of ultimately realizing an Autorotation Energy System (AES). The focus of our work is to provide a preliminary dynamic analysis of autorotation, which is largely absent in current literature, to explore the possibility of using autorotation for designing a multipurpose system that can simultaneously fly at high altitudes and generate energy from the wind. The proposed preliminary dynamic model is used to generate a simulation platform, which is used to explore the autogyros rudimentary maneuvers. Extensive simulation results are provided to evaluate the dynamic performance of AES. Energy harvesting analyses and results are also presented. It is expected that the results will guide the choice of actuations and control that will be necessary for generating combined autorotation and powered flights that would be net energy generating or energy efficient. The research will be relevant for both tethered and untethered AES and could also be incorporated into multi-rotor based UAVs such as quadrotors.

abstract: An airborne, tethered, multi-rotor wind turbine, effectively a rotorcraft kite, provides one platform for accessing the energy in high altitude winds. The craft is maintained at altitude by its rotors operating in autorotation, and its equilibrium attitude and dynamic performance are affected by the aerodynamic rotor forces, which in turn are affected by the orientation and motion of the craft. The aerodynamic performance of such rotors can vary significantly depending on orientation, influencing the efficiency of the system. This thesis analyzes the aerodynamic performance of an autorotating rotor through a range of angles of attack covering those experienced by a typical autogyro through that of a horizontal-axis wind turbine. To study the behavior of such rotors, an analytical model using the blade element theory coupled with momentum theory was developed. The model uses a rigid-rotor assumption and is nominally limited to cases of small induced inflow angle and constant induced velocity. The model allows for linear twist. In order to validate the model, several rotors -- off-the-shelf model-aircraft propellers -- were tested in a low speed wind tunnel. Custom built mounts allowed rotor angles of attack from 0 to 90 degrees in the test section, providing data for lift, drag, thrust, horizontal force, and angular velocity. Experimental results showed increasing thrust and angular velocity with rising pitch angles, whereas the in-plane horizontal force peaked and dropped after a certain value. The analytical results revealed a disagreement with the experimental trends, especially at high pitch angles. The discrepancy was attributed to the rotor operating in turbulent wake and vortex ring states at high pitch angles, where momentum theory has proven to be invalid. Also, aerodynamic design constants, which are not precisely known for the test propellers, have an underlying effect on the analytical model. The developments of the thesis suggest that a different analytical model may be needed for high rotor angles of attack. However, adding a term for resisting torque to the model gives analytical results that are similar to the experimental values. / Dissertation/Thesis / Masters Thesis Mechanical Engineering 2019