Yaw Control Dynamics for VAWT Turbines

[CloDawg]

Im building a yaw control system for one of the universitys VAWT turbines.

Basically I am struggling to get an equation described below:

there should be an algorithm such that the system should try to yaw the turbine as fast as possible, but without causing too high forces on any key structure, i.e. need to determine a max yaw speed as a function of rotor rpm, based on allowable loads (moments etc.) on support components.

I don't have a clue how to create this algorithm. I have developed an equation for wind shear force against the tower, but i don't know how to relate it to rpm since this is the wind speed and has nothing to do with the yaw rate??. Where will the weak points be.

The gyroscopic precession affects the turbine while its yawing. But i don't no where or how to develop an equation (my dynamics course didn't cover it)

through research the only available equation is this:

M=mgL=ω×JΩ

(http://books.google.com/books?id=ro...gyroscope about an axis perpendicular&f=false) P164

I don't no how to relate or apply this. help:?

 

[CloDawg]

M=mgL=ω×JΩ

where JΩ is angular momentum.

This is the equation i get when modeling a wind turbine as a suspended spinning bicycle wheel. This means that a moment will act on the turbine, tilting the nacelle either up or down.

But what about the resisting torque when one attempts to yaw the turbine by applying a ω through a yaw motor. This equation doesn't help me right, since I am applying a ω and the JΩ stays the same. so there should be a torque generated somehow resisting the yaw?