routage de planetsolar · 2019. 10. 11. · . département des technologies industrielles. first...

[email protected] , novembre 2018Routage de PlanetSolar

mailto:[email protected]

http://www.heig-vd.ch/tinDépartement des Technologies Industrielles

Scope of the presentationSummary

The Planetsolar Projet was initiated in 2004 and lead by the solar-adventurer RaphaëlDomjan, with the aim to go around the world powered only by the sun.

As co-funder of the project, Prof. JF Affolter initiated with his colleagues of HEIG-VD* aproject for routing the boat taking into account the meteorological conditions, but inaddition to the “classic ones”, taking into account the solar irradiation, only fuel« falling » from the sky -but in a stochastic manner.

Routing of commercial freighters is also crucial as the first expense on a containercarrier is fuel, which represents ~60% of the fixed costs of the journey.

The PlanetSolar boat is nowadays used by the “Race for Water” foundation. It uses hydrogen now in addition to the batteries and a kite sail to save energy.

Both foundation's, PlanetSolar and Race for Water are acting for a better world with the use of innovating technologies.

*E. Taillard, Ph. Morey

http://www.heig-vd.ch/tin


HES-SO / HEIG-VD / IESEInstitute for Energy & Electrical Systems

• 6 Profs, 15 Engineers• Power Systems, Power Electronics, Electrical Machines, Mechatronic,

Energy Convergence, Modeling• 4 Missions : Professional Education at University Level, Continuing

Education, Applied Research and Development, National and International Relations

• Some examples of projects in mobility:



First around the world with solar energyThe Planetsolar Adventure : 2004-2012

Departure: 27/09/2010 from Monaco

Arrival: 04/05/2012

26 countries visited

52 Stopovers More than

58’000 km exclusivelypowered by the sun



PlanetSolarWorld larges solar boat

Zero liter of fuel… unlimited autonomy



HEIG-VD contribution IEnergy modeling

Modeling of elements & systemSensitivity analysis, simplificationsEnergy balance with meteorological information



• On the road :o 1 dimension (which road to choose; speed regulation, energy on demand)

• Sailboat :o 3 dimension (longitude, latitude, hour; what direction, how long, take all the

available energy otherwise it is lost)• Solar boat :

o 4 dimension (longitude, latitude, hour, SOC battery; what direction, how long, take all the available energy otherwise it is lost, what speed to adjust for the better energy management)

RoutingSeveral parameters

Ptot = Ptot(v)

0

20

40

60

80

0 10 20 30

v [km/h]

P tot[k

W]

Série1

http://www.heig-vd.ch/tinGraph5

1.8

2.7

3.6

5.4

7.2

8.1

9

10.8

12.6

14.4

18

19.8

21.6

25.2

v [km/h]

Ptot[kW]

Ptot = Ptot(v)

0.0341650841

0.1055759071

0.2270450945

0.6127236426

1.2803447741

1.776371625

2.3767487195

3.832597437

5.8822217774

8.6363324331

22.4988002413

29.2719190309

40.7864142498

75.5310317428

Viscosité d'eau du lac

Viscosité de l'eau du lac

TemperatureViscositéTemperatureViscositélacTemperatureViscositémer

T [°C]h [Pa s]T [°C]h [Pa s]T [°C]h [Pa s]

0.0001.770*10-30.0017700.0001.770*10-3-1.111.880*10-3

4.4441.540*10-30.0015404.4441.540*10-34.441.610*10-3

10.0001.304*10-30.00130410.0001.304*10-310.001.400*10-3

15.5561.122*10-30.00112215.5561.122*10-315.561.210*10-3

21.1110.974*10-30.00097421.1110.974*10-321.111.060*10-3

26.6670.858*10-30.00085826.6670.858*10-326.670.920*10-3

32.2220.763*10-30.00076332.2220.763*10-332.220.815*10-3

37.7780.682*10-30.00068237.7780.682*10-337.780.730*10-3

43.3330.616*10-30.00061643.3330.616*10-3

48.8890.558*10-30.00055848.8890.558*10-3

Viscosité d'eau du lac

Eau du lac

T [°C]

h [Pa s]

Viscosité de l'eau

Viscosité d'eau de mer

Viscosité de l'eau de mer

TemperatureViscosité

T [°C]h [Pa s]

-1.111.880*10-30.001880

4.441.610*10-30.001610

10.001.400*10-30.001400

15.561.210*10-30.001210

21.111.060*10-30.001060

26.670.920*10-30.000920

32.220.815*10-30.000815

37.780.730*10-30.000730

Viscosité d'eau de mer

Eau de mer

T [°C]

h [Pa s]

h f(T)

P_frottAquabus C100

0

4.444

10

15.556

21.111

26.667

32.222

37.778

Eau du lac

Eau de mer

T [°C]

h [Pa s]

h= h(T)

P_frott Robati

Tableau pour nous permettre de determiner la viscosité de l'eauDonnées du bateau (Aquabus C100)

TemperatureViscositélacTemperatureViscositémerLongueur mouillée du bateau :23.7[m]

T [°C]h [Pa s]T [°C]h [Pa s]Surface mouillée par coque:48.9[m2]

01.770*10-3-1.111.880*10-3Tonnage total du bateau (D):31.2[t]

4.4441.540*10-34.441.610*10-3Densité (eau douce) r lac :998[kg/m3]

101.304*10-3101.400*10-3Densité (eau de mer) r mer :1030[kg/m3]

15.5561.122*10-315.561.210*10-3Viscosité (eau douce) m lac :1.43E-03[Pa s]

21.1110.974*10-321.111.060*10-3Viscosité (eau douce) m mer :1.51E-03[Pa s]

26.6670.858*10-326.670.920*10-3

32.2220.763*10-332.220.815*10-3

37.7780.682*10-337.780.730*10-3

43.3330.616*10-3

48.8890.558*10-3

Calcul des différents paramétres du bateau (Aquabus C100) pour une coque

VitesseRe lacRe merCf lacCf merF1 lacF1 merP1lacP1mer

v [m/s][1][1][1][1][N][N][W][W]

0.58.27E+068.10E+063.10E-033.11E-031.89E+011.90E+019.459.48

0.81.24E+071.21E+072.90E-032.91E-033.98E+014.00E+0129.8829.98

1.01.65E+071.62E+072.77E-032.78E-036.77E+016.79E+0167.7067.93

1.52.48E+072.43E+072.61E-032.62E-031.43E+021.44E+02214.72215.41

2.03.31E+073.24E+072.50E-032.50E-032.44E+022.44E+02487.44488.97

2.33.72E+073.64E+072.45E-032.46E-033.03E+023.04E+02682.00684.13

2.54.14E+074.05E+072.42E-032.42E-033.68E+023.70E+02921.10923.95

3.04.96E+074.86E+072.35E-032.36E-035.17E+025.18E+021549.751554.50

3.55.79E+075.67E+072.30E-032.31E-036.88E+026.90E+022406.562413.88

4.06.62E+076.48E+072.26E-032.26E-038.81E+028.84E+023523.973534.61

5.08.27E+078.10E+072.19E-032.19E-031.33E+031.34E+036667.506687.38

5.59.10E+078.91E+072.16E-032.16E-031.59E+031.60E+038755.868781.83

6.09.93E+079.72E+072.13E-032.14E-031.87E+031.88E+0311229.4111262.56

7.01.16E+081.13E+082.09E-032.09E-032.49E+032.50E+0317452.4417503.53

8.01.32E+081.30E+082.05E-032.05E-033.20E+033.21E+0325574.2325648.56

P_frott Robati

v [m/s]

Re [1]

Re = Re(v)

P_depl Aquabus C100

v [m/s]

Cf [1]

Cf = Cf(v)

P_depl Robati

v [m/s]

F1 [N]

F1 = F1(v)

Abaque

v [m/s]

P1 [W]

P1 = P1(v)

P_tot Aquabus C100

Tableau pour nous permettre de determiner la viscosité de l'eauDonnées du bateau Robati

TemperatureViscositélacTemperatureViscositémerLongueur mouillée du bateau :13.12[m]

T [°C]h [Pa s]T [°C]h [Pa s]Surface mouillée par coque:36.6[m2]

01.770*10-3-1.111.880*10-3Tonnage total du bateau (D):16.394[t]

4.4441.540*10-34.441.610*10-3Densité (eau douce) r lac :998[kg/m3]

101.304*10-3101.400*10-3Densité (eau de mer) r mer :1030[kg/m3]

15.5561.122*10-315.561.210*10-3Viscosité (eau douce) m lac :1.43E-03[Pa s]

21.1110.974*10-321.111.060*10-3Viscosité (eau douce) m mer :1.51E-03[Pa s]

26.6670.858*10-326.670.920*10-3

32.2220.763*10-332.220.815*10-3

37.7780.682*10-337.780.730*10-3

43.3330.616*10-3

48.8890.558*10-3

Calcul des différents paramétres du bateau (Robati) pour une coque

VitesseRe lacRe merCf lacCf merF1 lacF1 merP1lacP1mer

v [m/s][1][1][1][1][N][N][W][W]

0.54.58E+064.48E+063.41E-033.43E-031.56E+011.56E+017.797.82

0.86.87E+066.73E+063.19E-033.20E-033.28E+013.29E+0124.6024.68

1.09.16E+068.97E+063.05E-033.06E-035.56E+015.58E+0155.6455.83

1.51.37E+071.35E+072.86E-032.87E-031.17E+021.18E+02176.06176.64

2.01.83E+071.79E+072.73E-032.74E-032.00E+022.00E+02399.05400.35

2.32.06E+072.02E+072.68E-032.69E-032.48E+022.49E+02557.99559.79

2.52.29E+072.24E+072.64E-032.65E-033.01E+023.02E+02753.20755.62

3.02.75E+072.69E+072.57E-032.58E-034.22E+024.23E+021266.081270.10

3.53.21E+073.14E+072.51E-032.52E-035.61E+025.63E+021964.561970.74

4.03.66E+073.59E+072.46E-032.47E-037.19E+027.21E+022874.862883.83

5.04.58E+074.48E+072.38E-032.39E-031.09E+031.09E+035433.535450.27

5.55.04E+074.93E+072.35E-032.35E-031.30E+031.30E+037132.177154.04

6.05.49E+075.38E+072.32E-032.32E-031.52E+031.53E+039143.329171.21

7.06.41E+076.28E+072.27E-032.27E-032.03E+032.03E+0314200.1914243.13

8.07.33E+077.17E+072.22E-032.23E-032.60E+032.61E+0320795.8920858.31

P_tot Aquabus C100

v [m/s]

Re [1]

Re = Re(v)

P_tot Robati

v [m/s]

Cf [1]

Cf = Cf(v)

v [m/s]

F1 [N]

F1 = F1(v)

v [m/s]

P1 [W]

P1 = P1(v)

Données du bateauP1lac

Longueur du bateau :23.7[m][W]

Surfacu du bateau:48.9[m2]9.4460456518

Tonnage du bateau (D):31.2[t]29.8784643594

Densité (eau douce) r lac :998[kg/m3]67.7035688706

Densité (eau de mer) r mer :1030[kg/m3]214.7238644889

Viscosité (eau douce) m lac :1.43E-03[Pa s]487.4424590418

Viscosité (eau douce) m mer :1.51E-03[Pa s]682.0004097068

Finesse (Y) :9.49[1]921.0969857714

Acc. Gravitionnelle :9.81[m/s2]1549.7468913102

2406.5561407074

3523.9705909497

voir tableau annexe6667.502280665

VitesseNombre de FroudeFroude dû au dépl.Coeff. dû au dépl.C'DF2 lacF2 merP2 lacP2 mer

v [m/s]Fr [1]FD [1]CW [1][1][N][N][W][W]

0.500.0330.1011.00E-042.50E-031.53E+011.58E+017.64E+007.88E+00

0.750.0490.1512.00E-042.23E-033.05E+013.15E+012.29E+012.36E+01

1.000.0660.2023.00E-041.88E-034.58E+014.73E+014.58E+014.73E+01

1.500.0980.3034.00E-041.11E-036.11E+016.31E+019.16E+019.46E+01

2.000.1310.4045.00E-047.82E-047.64E+017.88E+011.53E+021.58E+02

2.250.1480.4546.00E-047.42E-049.16E+019.46E+012.06E+022.13E+02

2.500.1640.5057.00E-047.01E-041.07E+021.10E+022.67E+022.76E+02

3.000.1970.6068.00E-045.56E-041.22E+021.26E+023.67E+023.78E+02

3.500.2300.7071.00E-035.11E-041.53E+021.58E+025.35E+025.52E+02

4.000.2620.8081.30E-035.09E-041.99E+022.05E+027.94E+028.20E+02

5.000.3281.0106.00E-031.50E-039.16E+029.46E+024.58E+034.73E+03

5.500.3611.1117.00E-031.45E-031.07E+031.10E+035.88E+036.07E+03

6.000.3931.2121.00E-021.74E-031.53E+031.58E+039.16E+039.46E+03

7.000.4591.4141.90E-022.43E-032.90E+032.99E+032.03E+042.10E+04

8.000.5251.6162.60E-022.54E-033.97E+034.10E+033.18E+043.28E+04

C'D [1]

v [m/s]

C'D [1]

C'D = C'D(v)

v [m/s]

F2 [N]

F2 = F2(v)

Série

v [m/s]

P2 [W]

P2 = P2(v)

Données du bateauP1lac

Longueur du bateau :13.12[m][W]

Surfacu du bateau:36.6[m2]9.4460456518

Tonnage du bateau (D):16.394[t]29.8784643594

Densité (eau douce) r lac :998[kg/m3]67.7035688706

Densité (eau de mer) r mer :1030[kg/m3]214.7238644889

Viscosité (eau douce) m lac :1.43E-03[Pa s]487.4424590418

Viscosité (eau douce) m mer :1.51E-03[Pa s]682.0004097068

Finesse (Y) :6.51[1]921.0969857714

Acc. Gravitionnelle :9.81[m/s2]1549.7468913102

2406.5561407074

3523.9705909497

voir tableau annexe6667.502280665

VitesseNombre de FroudeFroude dû au dépl.Coeff. dû au dépl.C'DF2 lacF2 merP2 lacP2 mer

v [m/s]Fr [1]FD [1]CW [1][1][N][N][W][W]

0.500.0440.1121.00E-051.76E-048.03E-018.28E-014.01E-014.14E-01

0.750.0660.1692.00E-041.56E-031.61E+011.66E+011.20E+011.24E+01

1.000.0880.2253.00E-041.32E-032.41E+012.48E+012.41E+012.48E+01

1.500.1320.3375.30E-041.04E-034.25E+014.39E+016.38E+016.58E+01

2.000.1760.4507.50E-048.24E-046.02E+016.21E+011.20E+021.24E+02

2.250.1980.5069.00E-047.81E-047.22E+017.45E+011.63E+021.68E+02

2.500.2200.5621.00E-037.03E-048.03E+018.28E+012.01E+022.07E+02

3.000.2640.6752.50E-031.22E-032.01E+022.07E+026.02E+026.21E+02

3.500.3090.7873.80E-031.36E-033.05E+023.15E+021.07E+031.10E+03

4.000.3530.8997.50E-032.06E-036.02E+026.21E+022.41E+032.48E+03

5.000.4411.1243.50E-026.15E-032.81E+032.90E+031.40E+041.45E+04

5.500.4851.2374.30E-026.25E-033.45E+033.56E+031.90E+041.96E+04

6.000.5291.3496.00E-027.32E-034.82E+034.97E+032.89E+042.98E+04

7.000.6171.5748.50E-027.62E-036.82E+037.04E+034.77E+044.93E+04

8.000.7051.7991.00E-016.87E-038.03E+038.28E+036.42E+046.63E+04

C'D [1]

v [m/s]

C'D [1]

C'D = C'D(v)

v [m/s]

F2 [N]

F2 = F2(v)

Série

v [m/s]

P2 [W]

P2 = P2(v)

Coefficient dû au déplacement en fonction de la finesse

Données du bateau

Longueur du bateau :13.1[m]0

Surfacu du bateau:36.6[m2]

Tonnage du bateau (D):16.394[t]

Densité (eau douce) r lac :998[kg/m3]

Densité (eau de mer) r mer :1030[kg/m3]

Viscosité (eau douce) m lac :1.43E-03[Pa s]

Viscosité (eau douce) m mer :1.51E-03[Pa s]

Finesse (Y) :6.51[1]

Acc. Gravitionnelle :9.81[m/s2]

Pour une seul coquePour les deux coques

VitesseCtotFtotPtotVitesseVitesseFtotPtot

v [m/s][1][N][W]v [m/s]v [km/h][N][kW]

0.000.0000

0.505.60E-033.42E+011.71E+010.501.806.83E+013.42E-02

0.755.13E-037.04E+015.28E+010.752.701.41E+021.06E-01

1.004.65E-031.14E+021.14E+021.003.602.27E+022.27E-01

1.503.72E-032.04E+023.06E+021.505.404.08E+026.13E-01

2.003.28E-033.20E+026.40E+022.007.206.40E+021.28E+00

2.253.20E-033.95E+028.88E+022.258.107.89E+021.78E+00

2.503.12E-034.75E+021.19E+032.509.009.51E+022.38E+00

3.002.91E-036.39E+021.92E+033.0010.801.28E+033.83E+00

3.502.81E-038.40E+022.94E+033.5012.601.68E+035.88E+00

4.002.77E-031.08E+034.32E+034.0014.402.16E+038.64E+00

5.003.69E-032.25E+031.12E+045.0018.004.50E+032.25E+01

5.503.61E-032.66E+031.46E+045.5019.805.32E+032.93E+01

6.003.87E-033.40E+032.04E+046.0021.606.80E+034.08E+01

7.004.51E-035.40E+033.78E+047.0025.201.08E+047.55E+01

8.004.59E-037.17E+035.73E+048.0028.801.43E+041.15E+02

Pour une seule coque

Pour les deux coques (bateau complet)

v [m/s]

Ctot [1]

Ctot = Ctot(v)

v [m/s]

Ftot [N]

Ftot = Ftot(v)

v [m/s]

Ptot[W]

Ptot = Ptot(v)

v [m/s]

Ftot [N]

Ftot = Ftot(v)

v [km/h]

Ptot[kW]

Ptot = Ptot(v)

v [m/s]

Ptot[kW]

Ptot = Ptot(v)

Données du bateau

Longueur du bateau :13.1[m]0

Surfacu du bateau:36.6[m2]

Tonnage du bateau (D):16.394[t]

Densité (eau douce) r lac :998[kg/m3]

Densité (eau de mer) r mer :1030[kg/m3]

Viscosité (eau douce) m lac :1.43E-03[Pa s]

Viscosité (eau douce) m mer :1.51E-03[Pa s]

Finesse (Y) :6.51[1]

Acc. Gravitionnelle :9.81[m/s2]

Pour une seul coquePour les deux coques

VitesseCtotFtotPtotVitesseVitesseFtotPtot

v [m/s][1][N][W]v [m/s]v [km/h][N][kW]

0.000.0000

0.503.59E-031.64E+018.20E+000.501.803.28E+011.64E-02

0.754.75E-034.88E+013.66E+010.752.709.77E+017.33E-02

1.004.36E-037.97E+017.97E+011.003.601.59E+021.59E-01

1.503.89E-031.60E+022.40E+021.505.403.20E+024.80E-01

2.003.56E-032.60E+025.19E+022.007.205.19E+021.04E+00

2.253.46E-033.20E+027.20E+022.258.106.40E+021.44E+00

2.503.34E-033.82E+029.54E+022.509.007.63E+021.91E+00

3.003.79E-036.23E+021.87E+033.0010.801.25E+033.74E+00

3.503.87E-038.66E+023.03E+033.5012.601.73E+036.06E+00

4.004.52E-031.32E+035.28E+034.0014.402.64E+031.06E+01

5.008.53E-033.90E+031.95E+045.0018.007.79E+033.90E+01

5.508.59E-034.75E+032.61E+045.5019.809.50E+035.22E+01

6.009.64E-036.34E+033.80E+046.0021.601.27E+047.61E+01

7.009.89E-038.85E+036.19E+047.0025.201.77E+041.24E+02

8.009.09E-031.06E+048.50E+048.0028.802.12E+041.70E+02

Pour une seule coque

Pour les deux coques (bateau complet)

v [m/s]

Ctot [1]

Ctot = Ctot(v)

v [m/s]

Ftot [N]

Ftot = Ftot(v)

v [m/s]

Ptot[W]

Ptot = Ptot(v)

v [m/s]

Ftot [N]

Ftot = Ftot(v)

v [km/h]

Ptot[kW]

Ptot = Ptot(v)

v [m/s]

Ptot[kW]

Ptot = Ptot(v)


HEIG-VD contribution IISolar routing

Manage four dimensions:Longitude, latitude, time, energyMesh 1/30th degree (3.7 miles)Specialized algorithms (Dijkstra)



Race for WaterNew Adventure, New Technologies




Race for WaterDetails, electrolyzer, FC’s


Electrolyzers 2*5kWFC 2*30 kW

Wind (kite) ~15%Sun (PV) ~75%H2 ~10%

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RFW



At a swiss scale… And a lot of fun on fresh & salted water

Characteristics of the boat :

•12 km/h (7 kn)•7 passengers•autonomy 10 – 15 hours (1 kg H2)•1600 kg•7m long, 2.5 m wide•Draft round 60 cm

•Hydroxy3000; 3 kW PEMFC, 3rd generation (devt. 02-03; homologation 2004)



PartnersHave a look… & welcome for Projets

www.planetsolar.swiss www.raceforwater.com

http://iese.heig-vd.ch/

http://www.heig-vd.ch/tinhttp://www.planetsolar.swiss/http://www.raceforwater.com/http://iese.heig-vd.ch/

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routage de planetsolar · 2019. 10. 11. · . département des technologies industrielles. first...

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