Kite Generation

Equations of motion Terms used T1 = tension in string 1 T2 = tension in string 2 T = tension in main string L = Lift of the front wing (1/2v2CLS) D = Drag of the front wing (1/2v2CDS) Le = Lift of the elevator (1/2v2CLeS)

Fig. 1. Diagram of kite showing all the distances

Fig. 2. Diagram of the strings

Steady State equations of motions are derived here. Consider the velocity of air to be constant and the kite to be at constant angle of attack. Considering the kinematics of the string Fig.2. L1Sin1 + L2Sin2 = L -(i). L1Cos1 = L2Cos2 L1 + L2 = C L2 = C L1 Replacing L2 in the above two equations L1Sin1 + (C-L1)Sin2 = L L1Cos1 (C-L1)Cos2 = 0 TCos = T1Cos1 + T2Cos2 -(iii). T1Sin1 + TSin = T2Sin2 -(iv). -(ii).

L1Sin 1 (C L1) Sin 2 L L1Cos 1 (C L1)Cos 2 0 TCos T 1Cos 1 T 2Cos 2 T 1Sin 1 TSin T 2Sin 2

Resolving forces perpendicular to the kite T1Sin(/2 1) + T2Sin(/2 2) = LCos + DSin -(v).

T1Sin( / 2 1) T 2Sin( / 2 2) LCos DSin

Resolving forces parallel to the kite T1Cos(/2 1) T2Cos(/2 2) Lsin + DCos = 0 -(vi).

T1Cos( / 2 1) T 2Cos( / 2 2) LSin DCos 0

Moment balance on the kite about CG T1sin(/2 1)*(xCG xL1) + T2Sin(/2 2)*(xCG xL2) + LCos*(xCG x1) + DSin*(xCG xL) + LeCos*(xCG x2) + M = 0 -(vii).

T1Sin( / 2 1) * ( xCG xL1) T 2Sin( / 2 2) * ( xCG xL2) LCos * ( xCG x1) DSin * ( xCG xL) LeCos * ( xCG x 2) M 0

Equation of motion for the tether Consider a very small part of the string inclined at an angle .

md2y /dt2 = dT/dL Sin mg

d 2 y dT Sin mg dL dt 2

md2x/dt2 = D + dT/dLCos

d 2x dT D Cos 2 dL dt

Fig.3. Diagram of string

L1Sin1 L2Sin 2 L L1Cos1 L2Cos 2

L1 L2 C L1 C L2

L1Sin 1 (C L1) Sin 2 L L1Cos 1 (C L1)Cos 2 0 TCos T 1Cos 1 T 2Cos 2 T 1Sin 1 TSin T 2Sin 2