AS5590 Dynamic Soaring

Ranjith M., AE, [email protected]

IIT Madras

Jan-July 2021

Lecture: Dynamic Soaring Analysis: Part 2

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 1/ 18

When we consider wind relative frame, which is
non-inertial, we include a pseudo force of magnitude
mu̇w directed along negative iˆI .
The velocity of the aircraft in the wind relative
frame along iˆI is (ẋ − uw ).
The work done by this force is hence given by (1).

PwR = −mu̇w (ẋ − uw ) (1)

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 2/ 18

The rate of change of kinetic energy in wind relative
frame is given by (2).
dER
= −mu̇w (ẋ − uw ) − DV (2)
dt
In terms of the components of velocity in inertial
coordinates, the kinetic energy in inertial and wind
relative frame can be written respectively as (3) and
(4).
1
EI = m ẋ 2 + ẏ 2 + ż 2


(3)
2
1  2 2 2

ER = m (ẋ − uw ) + ẏ + ż (4)
2

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 3/ 18

The rate of change of energy can hence be written
down as (5) and (6).
dEI
= m (ẋ ẍ + ẏ ÿ + ż z̈) (5)
dt
dER
= m [(ẋ − uw ) (ẍ − u̇w ) + ẏ ÿ + ż z̈] (6)
dt
Recall:
dEI
= mẍuw − DV (7)
dt

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 4/ 18

Comparing the expressions (5) and (7), (6), and
(2), we see that, the work done by drag is

− DV = m [ẍ (ẋ − uw ) + ẏ ÿ + ż z̈] (8)

That is, no matter which frame we use for analysis

the above relation will and has to hold.
Fundamental relation between work done and
increase in energy irrespective of the frame in which
analysis is done.
The quantity (−DV ), let us call it as drag power, is
the power required to fly by overcoming drag and is
derived from the wind.

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 5/ 18

 Pw − DV = m [ẍ ẋ + ẏ ÿ + ż z̈] (9)
At any given instant, the power extracted from the
wind may appear to be dependent on the frame of
reference. The difference between this power and
the drag power will manifest as kinetic energy in
that particular frame. This value will hence be
different for each frame.
However, the integrated value over one cycle, that is
the energy extracted from the wind has to be the
same and will be the net drag power required over a
Rtf
complete cycle ( DVdt).
0

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 6/ 18

Assumption:
Time interval of integration does not involve both
climb and descent components, so that h is a
one-to-one function of t
Unique value of t for each h:
Not a limitation: if it involves ascend and
descend→split the integral into two phases and
proceed).
The integral now explicitly has wind shear term.
The trajectory considered is from time t1 to t2 and
corresponds to h1 and h2 in terms of height.

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 7/ 18

 Zt2
∆EwI
= ẍuw dt
m
t1
Zt2
duw
= [uw ẋ]hh21 − ẋdt
dt
t1
Zh2
duw
= [uw ẋ]hh21 − ẋdh (10)
dh
h1

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 8/ 18

We could also use (1) in conjunction with the above
equations to get,
Zt2
∆EwI duw
= [uw ẋ]hh21 − ẋdt
m dt
t1
Zt2 Zt2
duw duw
= [uw ẋ]hh21 − (ẋ − uw ) dt − uw dt
dt dt
t1 t1
2 h2
 
uw ∆EwR
= uw ẋ − + (11)
2 h1 m

where ∆EwR is the energy extracted from wind

when seen from wind relative frame.
Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 9/ 18
One interpretation of (10):
the total energy extracted from wind has two
components: one that depends on wind speed
alone and another on wind shear
The first one vanishes over a cycle
The second component alone is seen in a wind
relative frame analysis.
It is important to note that its only the wind
shear term that contributes to energy
extraction over a complete cycle (periodic),
which is the case with albatross flight.

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 10/ 18

For a uniform, steady wind,the change in kinetic
energy computed with earth fixed frame is
uw (ẋ(h2 ) − ẋ(h1 ))
and the change in kinetic energy in wind relative
frame (here both frames are inertial) is zero.

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 11/ 18

Suppose wind is exerting a force F on the
aircraft in x direction
then the work done by wind for time interval t1
Rt2
to t2 is Fxw where xw = uw
t1
Suppose wind is exerting a force F on the
aircraft in x direction, then the work done by
Rt2
wind for time interval t1 to t2 is Fxw
t1
xw = uw ∆t is the distance wind has moved
while exerting force F on the aircraft in x
direction corresponding to time interval of
t2 − t1 .
h1 , h2 are heights corresponding to t1 , t2
respectively.
Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 12/ 18
Hence energy extracted from wind (per unit mass)
for uniform wind case is given by (12).

Zt2
∆EwI
= Fuw ∆t
m
t1
Zt2
= uw F ∆t
t1
= uw (ẋ(h2 ) − ẋ(h1 )) (12)

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 13/ 18

The rate of energy in two frames as given by (5) and (6)
suggests that work done by wind is different at different
heights when we view the system in fixed and wind
relative frame.
the equations suggest that in wind relative frame, the
work done by wind (or energy extracted from wind)
seems to be high at places where the wind shears are
high, typically lower altitudes and in earth fixed frame,
energy extracted is higher at higher altitudes where wind
speeds are high.

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 14/ 18

Consider the trajectory between two points (A, B)
located at the same height, hr , (can be coincident)
One in climb (time instant tc ) and the other descent
phase(time instant td ), where t denotes time.
The uw2 term in (11) will vanish because
h(tc ) = h(td ) = hr .
Moreover, for this case, gravity (which we have set
aside) also do not have any net effect. The
equation can then be written as,
∆EwI ∆EwR
= [uw ẋ]ttdc + (13)
m m

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 15/ 18

The term representing the difference between
energy rate in inertial and relative frame, that
is, T 1 = [uw ẋ]ttdc becomes
T 1 = [uw (hr )ẋ(td ) − uw (hr )ẋ(tc )].
This is the work done for changing momentum
of the aircraft from mẋ(td ) to mẋ(tc ) if the
wind velocity uw (hr ) is a constant
Even though there is wind shear, T 1 gives the
work done to move the aircraft from one point
to the same point for a constant wind that
exists at that particular height. That is, this
component would be the same as the work
done for the aircraft to move in horizontal
plane at height hr .
Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 16/ 18
The increase or decrease in speed will represent the
work done by wind. Effectively, what we have done
is to split the work done into two components:
1 the work that would take the aircraft from A to
B in a horizontal plane located at height hr and
2 work done to move the aircraft vertically and
back to the same plane with ẋ(t) as the
horizontal velocity time history. Note that the
term dudtw implicitly contains rate of climb ḣ. So
this work done depends on both ẋ(t) and ḣ(t).

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 17/ 18

The component of work uw ẋ is a function of only
end points and path taken does not matter.
Consequently, this work component required to take
aircraft from point A to B is same in magnitude but
of opposite sign for moving from B to A.
For example, if points A and B are close to the
maximum height of trajectory, then the higher
amount of work extracted from wind in trajectory A
to B will be used up in the flight from B to A.
Above analysis shows that the wind gradient term is
what enables extraction of energy from wind during
dynamic soaring.

Ranjith M., AE, [email protected] AS5590 Dynamic Soaring 18/ 18