Im building a yaw control system for one of the universitys VAWT turbines. Basically im 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 dont have a clue how to create this algorithm. I have developed an equation for wind shear force against the tower, but i dont 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 dont 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 dont no how to relate or apply this. help:?