R. Schmehl
Please Note
60 records found
1
A robust reel-in controller using active depower control
Increasing Airborne Wind Energy Cycle Efficiency and Reliability
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In-flight experimental measurements of large-scale deformations on a leading-edge inflatable kite
Using stereoscopic photogrammetry and UWB modules
The profile geometry parameterisation forms the backbone of the automated CFD toolchain. It provides an advanced and robust design framework for LEI kite profiles. The geometry is defined by its main components: a circular leading edge (LE) tube and a canopy, which is subdivided into two splines. The front spline connects the LE tube seam (i.e., the LE tube–canopy stitching connection) to the maximum camber point, while the rear spline extends from this point to the trailing edge (TE). Both splines are modelled as cubic Bézier curves with four control points, where the first and last points define the connection boundaries, enabling smooth and flexible surface shaping. The seam angle on the LE tube is dynamically calculated to ensure a smooth transition for any given configuration. The positions of the control points are governed by the following non-dimensionalised profile parameters, defined relative to the chord: LE diameter t, maximum camber chordwise position η, camber height κ, reflex angle δ, camber tension λ, and LE curvature φ. For meshing purposes, a finite thickness is assigned to the canopy to separate the upper and lower flow regions. Additionally, a LE fillet is added to the underside of the canopy to facilitate mesh smoothing at the sharp corner connection with the LE tube.
Aerodynamic data is collected from steady Reynolds-averaged Navier–Stokes (RANS) simulations, employing the k-omega shear stress transport (SST) turbulence model. The simulations are performed with the open-source CFD software OpenFOAM, using structured meshes generated in Pointwise. An extensive mesh sensitivity analysis was conducted, focusing on the effects of canopy thickness, the LE fillet, and the resolution of the fully structured grid in both normal and tangential directions. Transition modelling was omitted based on the assumption that the boundary layer undergoes forced transition at the LE tube seams. This includes the LE tube-canopy connection on the upper side and the LE closing seam on the lower side, where numerical results indicated that the flow transitions due to seam-induced roughness. Since the region upstream of the seams is small, its impact is considered negligible, justifying the simplification.
Due to the large number of simulations required, computational resources from the high-performance computing (HPC) cluster of the Faculty of Aerospace Engineering at TU Delft were utilised. To define the parameter configurations for data collection, a trade-off was made between parameter resolution and computational cost. Parameters were sampled across the following ranges for three Reynolds numbers (Re = 1 x 10^6, 5 x 10^6, and 2 x 10^7): α from -22° to -10° (13 values), t from 0.03 to 0.12 (5 values), η from 0.08 to 0.4 (8 values), κ from 0.04 to 0.16 (7 values), δ from -8° to 0° (4 values), and λ from 0.1 to 0.4 (4 values). The LE curvature φ was held constant at 0.65.
The flow fields were analysed for the effects on the newly introduced parameters in the updated profile geometry model: δ, λ, and φ. Downward deflections of the profile TE due to negative δ resulted in reduced lift and increased drag performance, while enhancing longitudinal pitching moment stability. In contrast, variations in λ showed the opposite effect; increased camber tension resulted in higher lift and drag values but diminished longitudinal stability. The parameter φ, having minimal geometric influence, caused negligible changes in aerodynamic performance, only slightly altering the pressure distribution. Consequently, φ was fixed in the regression model. Among all tested algorithms, the extra trees (ET) model achieved the highest predictive accuracy, with R2 scores of 0.987 for Re = 1 x 10^6, 0.988 for 5 x 10^6, and 0.989 for 2 x 10^7.
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The profile geometry parameterisation forms the backbone of the automated CFD toolchain. It provides an advanced and robust design framework for LEI kite profiles. The geometry is defined by its main components: a circular leading edge (LE) tube and a canopy, which is subdivided into two splines. The front spline connects the LE tube seam (i.e., the LE tube–canopy stitching connection) to the maximum camber point, while the rear spline extends from this point to the trailing edge (TE). Both splines are modelled as cubic Bézier curves with four control points, where the first and last points define the connection boundaries, enabling smooth and flexible surface shaping. The seam angle on the LE tube is dynamically calculated to ensure a smooth transition for any given configuration. The positions of the control points are governed by the following non-dimensionalised profile parameters, defined relative to the chord: LE diameter t, maximum camber chordwise position η, camber height κ, reflex angle δ, camber tension λ, and LE curvature φ. For meshing purposes, a finite thickness is assigned to the canopy to separate the upper and lower flow regions. Additionally, a LE fillet is added to the underside of the canopy to facilitate mesh smoothing at the sharp corner connection with the LE tube.
Aerodynamic data is collected from steady Reynolds-averaged Navier–Stokes (RANS) simulations, employing the k-omega shear stress transport (SST) turbulence model. The simulations are performed with the open-source CFD software OpenFOAM, using structured meshes generated in Pointwise. An extensive mesh sensitivity analysis was conducted, focusing on the effects of canopy thickness, the LE fillet, and the resolution of the fully structured grid in both normal and tangential directions. Transition modelling was omitted based on the assumption that the boundary layer undergoes forced transition at the LE tube seams. This includes the LE tube-canopy connection on the upper side and the LE closing seam on the lower side, where numerical results indicated that the flow transitions due to seam-induced roughness. Since the region upstream of the seams is small, its impact is considered negligible, justifying the simplification.
Due to the large number of simulations required, computational resources from the high-performance computing (HPC) cluster of the Faculty of Aerospace Engineering at TU Delft were utilised. To define the parameter configurations for data collection, a trade-off was made between parameter resolution and computational cost. Parameters were sampled across the following ranges for three Reynolds numbers (Re = 1 x 10^6, 5 x 10^6, and 2 x 10^7): α from -22° to -10° (13 values), t from 0.03 to 0.12 (5 values), η from 0.08 to 0.4 (8 values), κ from 0.04 to 0.16 (7 values), δ from -8° to 0° (4 values), and λ from 0.1 to 0.4 (4 values). The LE curvature φ was held constant at 0.65.
The flow fields were analysed for the effects on the newly introduced parameters in the updated profile geometry model: δ, λ, and φ. Downward deflections of the profile TE due to negative δ resulted in reduced lift and increased drag performance, while enhancing longitudinal pitching moment stability. In contrast, variations in λ showed the opposite effect; increased camber tension resulted in higher lift and drag values but diminished longitudinal stability. The parameter φ, having minimal geometric influence, caused negligible changes in aerodynamic performance, only slightly altering the pressure distribution. Consequently, φ was fixed in the regression model. Among all tested algorithms, the extra trees (ET) model achieved the highest predictive accuracy, with R2 scores of 0.987 for Re = 1 x 10^6, 0.988 for 5 x 10^6, and 0.989 for 2 x 10^7.
The framework integrates established analytical and semi-empirical aeroacoustic models with aerodynamic data based on derived geometry and detailed flight information. It models all major noise sources from the airborne components, such as the Leading Edge Inflatable (LEI) kite, bridle lines, tether, and onboard ram-air turbine. The most significant contributions to the overall noise signature were found to be turbulent boundary layer trailing edge (TBL-TE) noise from airfoils, modeled using the Brooks–Pope–Marcolini (BPM) approach, vortex-shedding noise from cylindrical structures such as the tether and bridle lines, and tonal harmonics produced by the rotating turbine blades, captured through Hanson’s helicoidal surface theory.
To generate aerodynamic input, spanwise airfoil profiles were automatically extracted from 3D CAD models and analyzed through XFOIL. Real-time flight data was provided by an onboard sensor suite and processed through an Extended Kalman Filter (EKF), allowing dynamic simulation of flight conditions. Audio recordings were collected during test flights using GoPro cameras, enabling experimental validation of the acoustic predictions despite the absence of calibrated SPL measurements.
Validation showed strong agreement between predicted and measured spectra up to 5 kHz, particularly for turbine harmonics and general spectral shape. Deviations in the lower tonal harmonics were primarily attributed to acoustic shielding caused by the turbine’s duct structure. Additionally, the use of GoPro cameras introduced limitations due to their lack of calibration data and the presence of internal low-pass filtering above 5 kHz. Despite these constraints, the model successfully predicted tonal peaks, including the blade passing frequency and higher-order harmonics, aligning well with the experimental observations.
Additionally, the framework investigates the influence of the propagation effects, such as atmospheric absorption and geometric spreading, and integrates them to produce realistic observer-based predictions. Despite using non-professional audio hardware, the predictions captured key features including harmonic roll-off and broadband trends, affirming the framework's validity for early-stage design and evaluation.
This work demonstrates that low-order, physics-based models paired with aerodynamic inputs and synchronized flight data can yield meaningful acoustic predictions for AWES. The framework offers modularity, computational efficiency, and adaptability for future upgrades, such as the use of calibrated microphones or high-fidelity CFD data. It serves as a foundation for future extensions in auralization, psychoacoustic testing, and component-level noise reduction strategies.
Ultimately, the thesis bridges theoretical modeling with field-based validation, supporting the responsible integration of AWES technologies into noise-sensitive environments. ...
The framework integrates established analytical and semi-empirical aeroacoustic models with aerodynamic data based on derived geometry and detailed flight information. It models all major noise sources from the airborne components, such as the Leading Edge Inflatable (LEI) kite, bridle lines, tether, and onboard ram-air turbine. The most significant contributions to the overall noise signature were found to be turbulent boundary layer trailing edge (TBL-TE) noise from airfoils, modeled using the Brooks–Pope–Marcolini (BPM) approach, vortex-shedding noise from cylindrical structures such as the tether and bridle lines, and tonal harmonics produced by the rotating turbine blades, captured through Hanson’s helicoidal surface theory.
To generate aerodynamic input, spanwise airfoil profiles were automatically extracted from 3D CAD models and analyzed through XFOIL. Real-time flight data was provided by an onboard sensor suite and processed through an Extended Kalman Filter (EKF), allowing dynamic simulation of flight conditions. Audio recordings were collected during test flights using GoPro cameras, enabling experimental validation of the acoustic predictions despite the absence of calibrated SPL measurements.
Validation showed strong agreement between predicted and measured spectra up to 5 kHz, particularly for turbine harmonics and general spectral shape. Deviations in the lower tonal harmonics were primarily attributed to acoustic shielding caused by the turbine’s duct structure. Additionally, the use of GoPro cameras introduced limitations due to their lack of calibration data and the presence of internal low-pass filtering above 5 kHz. Despite these constraints, the model successfully predicted tonal peaks, including the blade passing frequency and higher-order harmonics, aligning well with the experimental observations.
Additionally, the framework investigates the influence of the propagation effects, such as atmospheric absorption and geometric spreading, and integrates them to produce realistic observer-based predictions. Despite using non-professional audio hardware, the predictions captured key features including harmonic roll-off and broadband trends, affirming the framework's validity for early-stage design and evaluation.
This work demonstrates that low-order, physics-based models paired with aerodynamic inputs and synchronized flight data can yield meaningful acoustic predictions for AWES. The framework offers modularity, computational efficiency, and adaptability for future upgrades, such as the use of calibrated microphones or high-fidelity CFD data. It serves as a foundation for future extensions in auralization, psychoacoustic testing, and component-level noise reduction strategies.
Ultimately, the thesis bridges theoretical modeling with field-based validation, supporting the responsible integration of AWES technologies into noise-sensitive environments.
Aerodynamic analysis of a 2D rigid LEI airfoil
An experimental and numerical study
The MDAO tool is a framework that integrates models, including wind resources, power production, energy production and costs. As part of this research, new models were developed to enable the framework’s functionality. This study focused on the fixed-wing ground-generation (GG) concept of AWE. Still, the proposed methodology can be applied to any AWE concept depending on the availability of individual models tailored to the particular concept. In most markets, performance is measured using a metric known as the levelised cost of energy (LCoE). This metric relates the system's total costs to the energy it can produce over its lifetime. This metric is used here as the objective for system design, evaluating trade-offs and scaling analysis.
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The MDAO tool is a framework that integrates models, including wind resources, power production, energy production and costs. As part of this research, new models were developed to enable the framework’s functionality. This study focused on the fixed-wing ground-generation (GG) concept of AWE. Still, the proposed methodology can be applied to any AWE concept depending on the availability of individual models tailored to the particular concept. In most markets, performance is measured using a metric known as the levelised cost of energy (LCoE). This metric relates the system's total costs to the energy it can produce over its lifetime. This metric is used here as the objective for system design, evaluating trade-offs and scaling analysis.
Community Acceptance of Airborne Wind Energy
Is the Sky the Limit?
This dissertation is among the first research to systematically investigate the social dimensions of AWE, focusing on community acceptance – residents’ approval of local energy projects – and its influencing factors. The research is based on surveys conducted with residents near AWE test sites in Europe and a laboratory listening experiment to assess reactions to AWE-related sound emissions. The findings demonstrate that community acceptance of AWE projects relates to a combination of technical characteristics, subjective perceptions, and the fairness and transparency of project implementation. In line with the applied Integrated Acceptance Model (IAM), stronger perceived impacts – such as sound emissions, landscape impacts, and aviation lights – were associated with lower levels of acceptance. At the same time, fair and transparent project implementation was linked to higher acceptance. Noise annoyance emerged as a critical factor, shaped by both psychoacoustic properties (i.e., sharpness, tonality, and loudness) and individual characteristics (i.e., noise sensitivity, familiarity with AWE, and age).
While most of the results align with research on wind turbine acceptance, some key differences emerge. Unlike for wind turbines, the remaining three IAM factors – perceived local economic benefits, expected community support for the project, and general attitudes toward the energy transition – did not significantly predict acceptance in the case of AWE. This may be due to the fact that the technology is still undergoing development and is not yet commercially available or contributing to renewable energy targets. As a result, economic and social considerations that are typically relevant for commercial energy projects may not yet be salient for communities living near AWE test sites.
The findings highlight the need to incorporate social science insights into AWE development from the outset. By investing in interdisciplinary research, developing targeted mitigation strategies, engaging with local communities meaningfully, and establishing robust regulatory frameworks, the AWE sector can avoid common pitfalls faced by established renewable energy technologies. The early stage of AWE presents an opportunity to learn from these experiences and take proactive steps to ensure that the technology is developed and deployed in a way that is both technically and socially viable. By anticipating and addressing potential social challenges early on, the sector can help ensure that AWE gains public trust and contributes to a just energy transition.
In addition to Dr. Roland Schmehl and Dr. Gerdien de Vries, this doctoral dissertation greatly benefited from the guidance of Dr. Reint Jan Renes (Amsterdam University of Applied Sciences). ...
This dissertation is among the first research to systematically investigate the social dimensions of AWE, focusing on community acceptance – residents’ approval of local energy projects – and its influencing factors. The research is based on surveys conducted with residents near AWE test sites in Europe and a laboratory listening experiment to assess reactions to AWE-related sound emissions. The findings demonstrate that community acceptance of AWE projects relates to a combination of technical characteristics, subjective perceptions, and the fairness and transparency of project implementation. In line with the applied Integrated Acceptance Model (IAM), stronger perceived impacts – such as sound emissions, landscape impacts, and aviation lights – were associated with lower levels of acceptance. At the same time, fair and transparent project implementation was linked to higher acceptance. Noise annoyance emerged as a critical factor, shaped by both psychoacoustic properties (i.e., sharpness, tonality, and loudness) and individual characteristics (i.e., noise sensitivity, familiarity with AWE, and age).
While most of the results align with research on wind turbine acceptance, some key differences emerge. Unlike for wind turbines, the remaining three IAM factors – perceived local economic benefits, expected community support for the project, and general attitudes toward the energy transition – did not significantly predict acceptance in the case of AWE. This may be due to the fact that the technology is still undergoing development and is not yet commercially available or contributing to renewable energy targets. As a result, economic and social considerations that are typically relevant for commercial energy projects may not yet be salient for communities living near AWE test sites.
The findings highlight the need to incorporate social science insights into AWE development from the outset. By investing in interdisciplinary research, developing targeted mitigation strategies, engaging with local communities meaningfully, and establishing robust regulatory frameworks, the AWE sector can avoid common pitfalls faced by established renewable energy technologies. The early stage of AWE presents an opportunity to learn from these experiences and take proactive steps to ensure that the technology is developed and deployed in a way that is both technically and socially viable. By anticipating and addressing potential social challenges early on, the sector can help ensure that AWE gains public trust and contributes to a just energy transition.
In addition to Dr. Roland Schmehl and Dr. Gerdien de Vries, this doctoral dissertation greatly benefited from the guidance of Dr. Reint Jan Renes (Amsterdam University of Applied Sciences).
Dynamic Simulation Techniques for Airborne Wind Energy Systems
Evaluating the role of kite inertia in a soft-wing system operated in pumping cycles
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Value maximization of grid-connected Hybrid Power Systems using ground-gen Airborne Wind Energy
A techno-economic analysis of energy arbitrage utilizing power smoothing storage capacity
The battery power smoothing system resulted in significantly lower system cost overall and consequently an increase in profitability (IRR of 12.37%) compared to the more expensive UC power smoothing configuration (IRR of 10.20%). The HPS configuration with batteries used for power smoothing combined with arbitrage showed a marginal increase in economic performance with an IRR of 12.43%. This showed a potential value increase of the system when using excess capacity arbitrage but not at a significant rate.
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The battery power smoothing system resulted in significantly lower system cost overall and consequently an increase in profitability (IRR of 12.37%) compared to the more expensive UC power smoothing configuration (IRR of 10.20%). The HPS configuration with batteries used for power smoothing combined with arbitrage showed a marginal increase in economic performance with an IRR of 12.43%. This showed a potential value increase of the system when using excess capacity arbitrage but not at a significant rate.
The rigid model was made of carbon fiber reinforced polymer and mounted on a custom support structure that allowed adjustments to the kite’s angle of attack and sideslip. Aerodynamic forces and moments were measured at different wind speeds and orientations, with and without zigzag tape to study its effects on low Reynolds number flow.
The results were compared to existing CFD simulations, including Reynolds-Averaged Navier-Stokes (RANS) and vortex step methods. The experimental data aligned well with these simulations at low Reynolds numbers, validating the setup. However, some discrepancies highlighted areas for improvement, such as reducing interference from the support structure and better matching Reynolds numbers between simulations and experiments. ...
The rigid model was made of carbon fiber reinforced polymer and mounted on a custom support structure that allowed adjustments to the kite’s angle of attack and sideslip. Aerodynamic forces and moments were measured at different wind speeds and orientations, with and without zigzag tape to study its effects on low Reynolds number flow.
The results were compared to existing CFD simulations, including Reynolds-Averaged Navier-Stokes (RANS) and vortex step methods. The experimental data aligned well with these simulations at low Reynolds numbers, validating the setup. However, some discrepancies highlighted areas for improvement, such as reducing interference from the support structure and better matching Reynolds numbers between simulations and experiments.
The present work aims to bring AWE closer to commercial success through two main contributions. As a first contribution, well-established practices of reliability engineering are used to measure and then systematically improve the safety and reliability of AWES systems. Experience from other safety-critical domains such as aviation, space, automotive, and medical are used to achieve this objective. A fault tree analysis (FTA) and failure mode and effects analysis (FMEA) are applied to an existing demonstrator system. A common practice in the safety-critical domain is automatically monitoring the system's health and taking action in case of faults. In this regard, a systematic fault detection isolation and recovery (FDIR) model is proposed for AWES. This architecture is generally applicable and flexible and can be applied to different AWE systems.
After reaching the required reliability and safety levels, formalization by the certification authorities is required. As a second contribution, the current regulatory framework is reviewed, the relevant authorities identified and a roadmap for aviation certification is presented. The ``Specific Operations Risk Assessment'' (SORA) by the Joint Authorities for Rulemaking on Unmanned Systems (JARUS) is a comprehensive and well-structured framework. Therefore, following the SORA is considered the best way forward to get the flying permit for AWES, claiming the ``specific'' category from the European Union Aviation Safety Agency (EASA) regulation. This permit is applicable for commercial operations in Europe. Other civil aviation authorities may also recognize the EASA's flying permit. In this respect, the SORA is applied to a hypothetical commercial operation scenario, and requirements for the flying permit are discussed. ...
The present work aims to bring AWE closer to commercial success through two main contributions. As a first contribution, well-established practices of reliability engineering are used to measure and then systematically improve the safety and reliability of AWES systems. Experience from other safety-critical domains such as aviation, space, automotive, and medical are used to achieve this objective. A fault tree analysis (FTA) and failure mode and effects analysis (FMEA) are applied to an existing demonstrator system. A common practice in the safety-critical domain is automatically monitoring the system's health and taking action in case of faults. In this regard, a systematic fault detection isolation and recovery (FDIR) model is proposed for AWES. This architecture is generally applicable and flexible and can be applied to different AWE systems.
After reaching the required reliability and safety levels, formalization by the certification authorities is required. As a second contribution, the current regulatory framework is reviewed, the relevant authorities identified and a roadmap for aviation certification is presented. The ``Specific Operations Risk Assessment'' (SORA) by the Joint Authorities for Rulemaking on Unmanned Systems (JARUS) is a comprehensive and well-structured framework. Therefore, following the SORA is considered the best way forward to get the flying permit for AWES, claiming the ``specific'' category from the European Union Aviation Safety Agency (EASA) regulation. This permit is applicable for commercial operations in Europe. Other civil aviation authorities may also recognize the EASA's flying permit. In this respect, the SORA is applied to a hypothetical commercial operation scenario, and requirements for the flying permit are discussed.
Power to the airborne wind energy performance model
Estimating long-term energy production with an emphasis on pumping flexible-kite systems
Kite tether force control
Reducing power fluctuations for utility-scale airborne wind energy systems
An innovative idea does not translate automatically to financial gain. With new technologies, such as AWEs it is crucial to assess the potential market for a product and the associated economic performance. Four market segments exist for energy generation: on-shore on-grid, on-shore off-grid, off-shore on-grid and off-shore off-grid. AWE performs best in on-shore offgrid applications due to its high mobility, higher capacity factor compared to wind and relatively lower land usage. AWE soft kites are currently targeting 100 kW to 500 kW range, which is currently dominated by medium-power diesel generators. ...
An innovative idea does not translate automatically to financial gain. With new technologies, such as AWEs it is crucial to assess the potential market for a product and the associated economic performance. Four market segments exist for energy generation: on-shore on-grid, on-shore off-grid, off-shore on-grid and off-shore off-grid. AWE performs best in on-shore offgrid applications due to its high mobility, higher capacity factor compared to wind and relatively lower land usage. AWE soft kites are currently targeting 100 kW to 500 kW range, which is currently dominated by medium-power diesel generators.
The analysis of the fixed-wing kite revealed prominent peaks around 1500 Hz and 2000 Hz in the noise spectra, with the higher frequency peak observed at higher kite velocities. Analytical predictions indicated laminar boundary layer vortex shedding and tether vortex shedding as the main noise sources. The study also investigated the directivity of the turbulent boundary layer trailing edge noise, which revealed dipoles that exhibited slight deformations at higher frequencies.
For the LEI kite, noise analysis identified peaks in the sound pressure level around 300-400 Hz and 1000-2000 Hz. Analytical predictions highlighted turbulent boundary layer trailing edge noise and vortex shedding from the tether and bridle lines as the dominant noise sources.
By considering the implications of these findings, the noise impact of airborne wind energy systems can be minimized, fostering their sustainable deployment and acceptance. ...
The analysis of the fixed-wing kite revealed prominent peaks around 1500 Hz and 2000 Hz in the noise spectra, with the higher frequency peak observed at higher kite velocities. Analytical predictions indicated laminar boundary layer vortex shedding and tether vortex shedding as the main noise sources. The study also investigated the directivity of the turbulent boundary layer trailing edge noise, which revealed dipoles that exhibited slight deformations at higher frequencies.
For the LEI kite, noise analysis identified peaks in the sound pressure level around 300-400 Hz and 1000-2000 Hz. Analytical predictions highlighted turbulent boundary layer trailing edge noise and vortex shedding from the tether and bridle lines as the dominant noise sources.
By considering the implications of these findings, the noise impact of airborne wind energy systems can be minimized, fostering their sustainable deployment and acceptance.