Rigid wing sailboats: A state of the art survey

Silva, Manuel F.; Friebe, Anna; Malheiro, Benedita; Guedes, Pedro; Ferreira, Paulo; Waller, Matias

doi:10.1016/j.oceaneng.2019.106150

Cited by 38 publications

(21 citation statements)

References 55 publications

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“…Rigid wings with aerodynamic profiles can be used as alternative sails [6,7]. It should be noted that the problems of using sails of a rigid structure are given a lot of attention [8,9]. In automatic sailing installations, the most optimal solution is to use wings with symmetrical profiles [10,11].…”

Section: Methods Of Researchmentioning

confidence: 99%

Development of automatic control system of motion of an unmanned surface ships with a sailing installation

Nadtochii¹,

Nadtochiy²,

Bugrim³

2019

TAPR

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Об'єктом дослідження є безекіпажне надводне судно з вітрильною установкою. Однією з проблем при керуванні вітрильним судном за допомогою автоматичних систем є майже нескінченна кількість статичних та динамічних станів традиційних вітрил, які важко виявляти і які важко прогнозувати. Крім того, відомою є здатність традиційних вітрил до закручування та зачеплення, а всі операції з вітрилами виконуються через оперування бігучим та стоячим такелажем, тобто опосередковано. Якщо враховувати необхідність постійного розгортання та прибирання звичайних вітрил, то побудова системи автоматичного керування ними очевидно буде вкрай складним завданням. В роботі розглядається альтернатива традиційному вітрилу-жорстке вітрило-крило. Для безекіпажних надводних суден вітрило-крило пропонується виготовляти на основі симетричних аеродинамічних профілей. Таке вітрило-крило дозволить спростити таку процедуру, як прибирання вітрила, тобто забезпечення його бездії, а також спростити процедуру переходу вітрильного судна рухом правим або лівим галсами. В ході дослідження представлено відносно прості алгоритми керування, які можливі при використанні симетричних аеродинамічних профілей для жорстких вітрил. Такі вітрила дозволять відносно легко реалізувати режими руху безекіпажного судна галсами, а також режим без дії вітрила. Також показано необхідність побудови системи, яка поєднує функції керування кутом атаки крила-вітрила та керування курсом. При цьому система керування кутом атаки не залежить від системи керування курсом, а система керування курсом має враховувати режим вітрильної установки. Подолання же критичних точок переходу судна з одного галса на інший можливо при використанні додаткового рушійного пристрою. Керування вітрилом-крилом може бути здійснено за допомогою одного єдиного електроприводу, що повертає його відносно вітру на заданий кут атаки, чим забезпечує його рушійну силу. Ключові слова: безекіпажне надводне судно, керування курсом судна, керування кутом атаки вітрила, інтегрована система керування, автокермовий.

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Section: Methods Of Researchmentioning

confidence: 99%

Development of automatic control system of motion of an unmanned surface ships with a sailing installation

Nadtochii¹,

Nadtochiy²,

Bugrim³

2019

TAPR

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“…Versatile marine robots speed up ocean exploration in both surface and underwater environments. Among various marine robots, autonomous sailboats attract great attention due to the possible infinite endurance ( Silva et al, 2019 ). Up to now, limited to the available energy forms for mobile robots, most marine robots are propelled using electric motors or diesel engines, which are dependent on the onboard capacity of battery or fuel tank.…”

Section: Introductionmentioning

confidence: 99%

“…Among these papers, several autonomous sailboats were well introduced and had done great work in WRSC competitions ( Stelzer and Jafarmadar, 2011 ; Yu et al, 2018 ; Silva et al, 2019 ), including ASV Roboat, Avalon, FASt, IBoat, A-Tirma, Arrtoo, Vaimos, Aeolus. As shown in Table 1 , the comparisons of some typical WRSC autonomous sailboats with our SAILAMRS was made.…”

Section: Introductionmentioning

confidence: 99%

Generic and Flexible Unmanned Sailboat for Innovative Education and World Robotic Sailing Championship

Yang

Liu

et al. 2021

Front. Robot. AI

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Over the past two decades, scholars developed various unmanned sailboat platforms, but most of them have specialized designs and controllers. Whereas these robotic sailboats have good performance with open-source designs, it is actually hard for interested researchers or fans to follow and make their own sailboats with these open-source designs. Thus, in this paper, a generic and flexible unmanned sailboat platform with easy access to the hardware and software architectures is designed and tested. The commonly used 1-m class RC racing sailboat was employed to install Pixhawk V2.4.8, Arduino Mega 2,560, GPS module M8N, custom-designed wind direction sensor, and wireless 433 Mhz telegram. The widely used open-source hardware modules were selected to keep reliable and low-cost hardware setup to emphasize the generality and feasibility of the unmanned sailboat platform. In software architecture, the Pixhawk V2.4.8 provided reliable states’ feedback. The Arduino Mega 2,560 received estimated states from Pixhawk V2.4.8 and the wind vane sensor, and then controlled servo actuators of rudder and sail using simplified algorithms. Due to the complexity of introducing robot operating system and its packages, we designed a generic but real-time software architecture just using Arduino Mega 2,560. A suitable line-of-sight guidance strategy and PID-based controllers were used to let the autonomous sailboat sail at user-defined waypoints. Field tests validated the sailing performance in facing WRSC challenges. Results of fleet race, station keeping, and area scanning proved that our design and algorithms could control the 1-m class RC sailboat with acceptable accuracy. The proposed design and algorithms contributed to developing educational, low-cost, micro class autonomous sailboats with accessible, generic, and flexible hardware and software. Besides, our sailboat platform also facilitates readers to develop similar sailboats with more focus on their missions.

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“…A possibility for granting energy autonomy to land and marine vehicles is to make use of wind to propel the vehicle [4] and, eventually, to power its on-board systems [5][6][7]. To propel these vehicles, traditional fabric sails (the most common approach), rigid wing sails, and mechanical devices, such as Flettner rotors or vertical and horizontal axis turbines, or even more uncommon options, such as different sail concepts or towing kites [8], can be adopted.…”

Section: Introductionmentioning

confidence: 99%

“…Sailing has been practiced all around the world for thousands of years and virtually all boats, apart from those in recent sailing history, used conventional fabric sails [4]. Although flexible fabric sails have a number of useful properties, especially when controlled by a human sailor, they also present a number of limitations and / or drawbacks which can be overcome by alternative sail types, in particular rigid wing sails [8]. Among the advantages of using rigid wing sails for autonomous systems are the fact that its control is easier to automate and their increased reliability [8].…”

Section: Introductionmentioning

confidence: 99%

Design, Modeling, and Simulation of a Wing Sail Land Yacht

2021

Self Cite

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Autonomous land yachts can play a major role in the context of environmental monitoring, namely, in open, flat, windy regions, such as iced planes or sandy shorelines. This work addresses the design, modeling, and simulation of a land yacht probe equipped with a rigid free-rotating wing sail and tail flap. The wing was designed with a symmetrical airfoil and dimensions to provide the necessary thrust to displace the vehicle. Specifically, it proposes a novel design and simulation method for free rotating wing sail autonomous land yachts. The simulation relies on the Gazebo simulator together with the Robotic Operating System (ROS) middleware. It uses a modified Gazebo aerodynamics plugin to generate the lift and drag forces and the yawing moment, two newly created plugins, one to act as a wind sensor and the other to set the wing flap angular position, and the 3D model of the land yacht created with Fusion 360. The wing sail aligns automatically to the wind direction and can be set to any given angle of attack, stabilizing after a few seconds. Finally, the obtained polar diagram characterizes the expected sailing performance of the land yacht. The described method can be adopted to evaluate different wing sail configurations, as well as control techniques, for autonomous land yachts.

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Rigid wing sailboats: A state of the art survey

Cited by 38 publications

References 55 publications

Development of automatic control system of motion of an unmanned surface ships with a sailing installation

Development of automatic control system of motion of an unmanned surface ships with a sailing installation

Generic and Flexible Unmanned Sailboat for Innovative Education and World Robotic Sailing Championship

Design, Modeling, and Simulation of a Wing Sail Land Yacht

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