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公开(公告)号：US20200208608A1
公开(公告)日：2020-07-02
申请号：US16233767
申请日：2018-12-27
Applicant: X Development LLC
Inventor： Fort Felker , Charles Joseph Nordstrom , Joel Fraser Atwater
Abstract: An example method includes: determining a period of natural oscillation of a floating ground station in an airborne wind turbine with an aerial vehicle coupled to the ground station via a tether, and wherein each natural-oscillation period comprises forward and backward displacement of the floating ground station with respect to the aerial vehicle; and operating the aerial vehicle to fly in a substantially circular path with a looping period that matches the natural-oscillation period of the floating ground station, and a looping phase that aligns with the oscillation phase of the floating ground station such that movement of the aerial vehicle on a downstroke portion the circular path corresponds to forward displacement of the floating ground station, and movement of the aerial vehicle on an upstroke portion the circular path corresponds to reverse displacement of the floating ground station.
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公开(公告)号：US20200208607A1
公开(公告)日：2020-07-02
申请号：US16233763
申请日：2018-12-27
Applicant: X Development LLC
Inventor： Fort Felker , Charles Joseph Nordstrom , Joel Fraser Atwater
Abstract: An example method includes: determining wave data corresponding to a floating ground station of an airborne wind turbine, wherein an aerial vehicle is coupled to the floating ground station via a tether; determining, based on the wave data, an oscillation profile of the floating ground station; and operating the aerial vehicle to fly in a closed path with: (a) a looping period that matches the period of wave-influenced oscillation of the floating ground station, and (b) a looping phase that aligns with the oscillation phase of the floating ground station such that movement of the aerial vehicle on a downstroke portion of the closed path corresponds to forward displacement of the floating ground station, and movement of the aerial vehicle on an upstroke portion the closed path corresponds to reverse displacement of the floating ground station.
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公开(公告)号：US20180292843A1
公开(公告)日：2018-10-11
申请号：US15482766
申请日：2017-04-09
Applicant: X Development LLC
Inventor： Charles Joseph Nordstrom , Ruth Heffernan Marsh
CPC classification number: G05D1/0875 , B63B1/048 , B63B21/50 , B63B2001/044 , B63B2035/446 , B63H2009/0692 , B63J99/00 , B64C39/024 , Y02E10/70 , Y02E10/723 , Y02E10/727 , Y02T70/12
Abstract: The present disclosure relates to systems and methods for rotating a floating platform. An example method includes determining a desired position of a floating platform in a yaw axis. The floating platform is fixed by an anchor leg to an underwater attachment point. The method includes receiving, from a position sensor, information indicative of an actual position of the floating platform in the yaw axis. The method also includes rotating the floating platform in a desired direction about the yaw axis based on the desired position and the actual position. Optionally, the floating platform may include a yaw member and an environmental sensor. In such scenarios, the method may include receiving information about a prevailing wind direction or water current direction. The method may include causing the actuator to adjust the yaw member based on at least one of: the prevailing wind condition or the prevailing water current direction.
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