Translational Dynamics of Bridled Kites: A Reduced-Order Model in the Course Reference Frame

Abstract. The design and control of airborne wind energy systems requires fast, validated reduced-order models. Because aerodynamic identification of soft, bridled kites is challenging, models that minimise the number of parameters to be identified can be particularly valuable. This paper presents a reduced-order model for the translational dynamics of bridled kites, consisting of a wing supported by multiple bridle lines. The kite is modelled as a point mass in a spherical reference frame aligned with the instantaneous tangential flight direction, referred to as the course reference frame. The angle of attack follows geometrically from a constant angle between the wing chord and the bridle line system, under the assumption that the wing instantaneously aligns with the pull direction, i.e., the rotational dynamics are neglected. The formulation retains gravitational and inertial terms introduced by the curvilinear reference frame and applies a quasi-steady condition of zero path-aligned acceleration, modelling the motion as a sequence of quasi-steady (trimmed) states that relate the trim speed and angle of attack. Model validation is based on public flight datasets from two different soft-wing kites and on dynamic simulations that cover higher wing loadings. Results show that for low wing loadings typical of soft kites, the quasi-steady approximation reproduces the dynamic trajectories with less than 1 % deviation in mean reel-out power. For higher loadings and hard-wing kites, inertia introduces substantial phase lag and amplitude damping, causing power deviations of up to 14 %. Overall, the proposed model provides a computationally efficient framework for analysing the translational dynamics of bridled kites. The formulation is well-suited to trajectory optimisation, parametric studies, and control design in airborne wind energy systems.