Michael F. Howland — Page 2

arXiv2017

Optimal control of a single leg hopper by Liouvillian system reduction

The benefits of legged locomotion shown in nature overcome challenges such as obstacles or terrain smoothness typically encountered with wheeled vehicles. This paper evaluates the benefits of using optimal control on a single leg hopper during the entire hopping motion. Basic control without considering physical constraints is implemented through hand-tuned PD controllers following the Raibert control framework. The differential flatness of the first-order equations of motion and the Liouvillian property for the second-order equations for the hopper system are proved, enabling flat outputs for control. A two-point boundary value problem (BVP) is then used to minimize jerk in the flat system to gain implicit smoothness in the output controls. This smoothness ensures that the planned trajectories are feasible, allowing for given waypoints to be reached.

eess.SY↗

arXiv2016

Wake Structure of Wind Turbines in Yaw under Uniform Inflow Conditions

Reducing wake losses in wind farms by deflecting the wakes through turbine yawing has been shown to be a feasible wind farm controls approach. Nonetheless, the effectiveness of yawing depends not only on the degree of wake deflection but also on the resulting shape of the wake. In this work, the deflection and morphology of wakes behind a wind turbine operating in yawed conditions are studied using wind tunnel experiments of a wind turbine modeled as a porous disk in a uniform inflow. First, by measuring velocity distributions at various downstream positions and comparing with prior studies, we confirm that the non-rotating wind turbine model in yaw generates realistic wake deflections. Second, we characterize the wake shape and make first observations of what is termed a curled wake, displaying significant spanwise asymmetry. The wake curling observed in the experiments is also reproduced qualitatively in large eddy simulations using both actuator disk and actuator line models. When a wind turbine is yawed for the benefit of downstream turbines, the asymmetric shape of the wake must be taken into account since it affects how much of it intersects the downstream turbines.

physics.flu-dyn↗