Kps4 3l

Project.toml

@@ -35,13 +35,13 @@ Timers = "0.1.5"
 julia = "1.10"
 
 [extras]
+HTTP = "cd3eb016-35fb-5094-929b-558a96fad6f3"
+JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 KiteModels = "b94af626-7959-4878-9336-2adc27959007"
 KitePodModels = "9de5dc81-f971-414a-927b-652b2f41c539"
 PackageCompiler = "9b87118b-4619-50d2-8e1e-99f35a4d4d9d"
 Plots = "91a5bcdd-55d7-5caf-9e0b-520d859cae80"
 PyPlot = "d330b81b-6aea-500a-939a-2ce795aea3ee"
-HTTP = "cd3eb016-35fb-5094-929b-558a96fad6f3"
-JSON3 = "0f8b85d8-7281-11e9-16c2-39a750bddbf1"
 StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 

data/3l_settings.yaml

@@ -0,0 +1,117 @@
+system:
+    log_file: "data/log_8700W_8ms" # filename without extension  [replay only]
+                                   #   use / as path delimiter, even on Windows 
+    time_lapse:   1.0              # relative replay speed
+    sim_time:   100.0              # simulation time             [sim only]
+    segments:       6              # number of tether segments
+    sample_freq:   3              # sample frequency in Hz
+    zoom:        0.03              # zoom factor for the system view
+    kite_scale:   3.0              # relative zoom factor for the 4 point kite
+    fixed_font: ""                 # name or filepath+filename of alternative fixed pitch font
+
+initial:
+    l_tether: 50.0        # initial tether length       [m]
+    elevation: 70.8        # initial elevation angle   [deg]
+    v_reel_out: 0.0        # initial reel out speed    [m/s]
+    depower:   25.0        # initial depower settings    [%]
+
+solver:
+    abs_tol: 0.006        # absolute tolerance of the DAE solver [m, m/s]
+    rel_tol: 0.01         # relative tolerance of the DAE solver [-]
+    solver: "DFBDF"        # DAE solver, IDA or DImplicitEuler, DFBDF
+    linear_solver: "GMRES" # can be GMRES or Dense or LapackDense (only for IDA)
+    max_order: 4           # maximal order, usually between 3 and 5
+    max_iter:  10000         # max number of iterations of the steady-state-solver
+
+steering:
+    c0:       0.0          # steering offset   -0.0032           [-]
+    c_s:      2.59         # steering coefficient one point model; 2.59 was 0.6; TODO: check if it must be divided by kite_area
+    c2_cor:   0.93         # correction factor one point model
+    k_ds:     1.5          # influence of the depower angle on the steering sensitivity
+    delta_st: 0.02         # steering increment (when pressing RIGHT)
+    max_steering: 16.83    # max. steering angle of the side planes for four point model [degrees]
+
+depower:
+    alpha_d_max:    31.0   # max depower angle                            [deg]
+    depower_offset: 23.6   # at rel_depower=0.236 the kite is fully powered [%]
+
+kite:
+    model: "data/kite.obj" # 3D model of the kite
+    physical_model: "KPS4_3L" # name of the kite model to use (KPS3 or KPS4)
+    version: 2             # version of the model to use
+    mass:  0.9             # kite mass [kg]
+    area: 10.18            # projected kite area         [m²]
+    rel_side_area: 30.6    # relative side area           [%]
+    height: 2.23           # height of the kite           [m]
+    alpha_cl:  [-180.0, -160.0, -90.0, -20.0, -10.0,  -5.0,  0.0, 20.0, 40.0, 90.0, 160.0, 180.0]
+    cl_list:   [   0.0,    0.5,   0.0,  0.08, 0.125,  0.15,  0.0,  1.0,  1.0,  0.0,  -0.5,   0.0]
+    alpha_cd:  [-180.0, -170.0, -140.0, -90.0, -20.0, 0.0, 20.0, 90.0, 140.0, 170.0, 180.0]
+    cd_list:   [   0.5,    0.5,    0.5,   1.0,   0.2, 0.1,  0.2,  1.0,   0.5,   0.5,   0.5]
+
+kps4: 
+    alpha_zero:   10.0      # should be 4..10                      [degrees]
+    alpha_ztip:   10.0      #                                      [degrees]
+    m_k:           0.2      # relative nose distance; increasing m_k increases C2 of the turn-rate law
+    rel_nose_mass: 0.47     # relative nose mass
+    rel_top_mass:  0.4      # mass of the top particle relative to the sum of top and side particles
+
+kps4_3l:
+    radius: 2.0
+    bridle_center_distance: 4.0
+    middle_length: 1.5
+    tip_length: 0.62
+    min_steering_line_distance: 1.0
+    width:         4.1     # width of the kite                          [m]
+    aero_surfaces: 3      # number of aerodynamic surfaces in 3 line model
+
+kcu:
+    kcu_mass: 8.4                # mass of the kite control unit   [kg]
+    power2steer_dist: 1.3        #                                 [m]
+    depower_drum_diameter: 0.069 #                                 [m]
+    tape_thickness: 0.0006       #                                 [m]
+    v_depower: 0.075             # max velocity of depowering in units per second (full range: 1 unit)
+    v_steering: 0.2              # max velocity of steering in units per second   (full range: 2 units)
+    depower_gain: 3.0            # 3.0 means: more than 33% error -> full speed
+    steering_gain: 3.0
+
+bridle:
+    l_bridle: 33.4         # sum of the lengths of the bridle lines [m]
+    h_bridle:  4.9         # height of bridle                       [m]
+    rel_compr_stiffness: 0.25 # relative compression stiffness of the kite springs
+    rel_damping: 6.0          # relative damping of the kite spring (relative to main tether)
+
+tether:
+    d_tether:  1           # tether diameter                 [mm]
+    cd_tether: 0.958       # drag coefficient of the tether
+    damping: 473.0         # unit damping coefficient        [Ns]
+    c_spring: 614600.0     # unit spring constant coefficient [N]
+    rho_tether:  724.0     # density of Dyneema           [kg/m³]
+    e_tether: 55000000000.0 # axial tensile modulus of Dyneema (M.B. Ruppert) [Pa]
+                           # SK75: 109 to 132 GPa according to datasheet
+
+winch:
+    max_force: 4000        # maximal (nominal) tether force; short overload allowed [N]
+    v_ro_max:  8.0         # maximal reel-out speed                      [m/s]
+    v_ro_min: -8.0         # minimal reel-out speed (=max reel-in speed) [m/s]
+
+environment:
+    v_wind: 15.51             # wind speed at reference height          [m/s]
+    v_wind_ref: [15.51, 0.0]  # wind speed vector at reference height   [m/s]
+    temp_ref: 15.0           # temperature at reference height         [°C]
+    height_gnd: 0.0          # height of groundstation above see level [m]
+    h_ref:  6.0              # reference height for the wind speed     [m]
+
+    rho_0:  1.225            # air density at zero height and 15 °C    [kg/m³]
+    alpha:  0.08163          # exponent of the wind profile law
+    z0:     0.0002           # surface roughness                       [m]
+    profile_law: 3           # 1=EXP, 2=LOG, 3=EXPLOG, 4=FAST_EXP, 5=FAST_LOG, 6=FAST_EXPLOG
+    # the following parameters are for calculating the turbulent wind field using the Mann model
+    use_turbulence: 0.0      # turbulence intensity relative to Cabau, NL
+    v_wind_gnds: [3.483, 5.324, 8.163] # wind speeds at ref height for calculating the turbulent wind field [m/s]
+    avg_height: 200.0        # average height during reel out          [m]
+    rel_turbs:   [0.342, 0.465, 0.583] # relative turbulence at the v_wind_gnds
+    i_ref: 0.14              # is the expected value of the turbulence intensity at 15 m/s.
+    v_ref: 42.9              # five times the average wind speed in m/s at hub height over the full year    [m/s]
+                             # Cabau: 8.5863 m/s * 5.0 = 42.9 m/s
+    height_step: 2.0         # use a grid with 2m resolution in z direction                                 [m]
+    grid_step:   2.0         # grid resolution in x and y direction                                         [m]               

data/settings.yaml

@@ -59,16 +59,16 @@ kps4:
     rel_top_mass:  0.4      # mass of the top particle relative to the sum of top and side particles
 
 kps4_3l:
-    radius: 10.0                    # the radius of the circle shape on which the kite lines, viewed 
+    radius: 2.0                    # the radius of the circle shape on which the kite lines, viewed 
                                     #     from the front                                              [m]
-    bridle_center_distance: 2.0     # the distance from point the center bridle connection point of 
+    bridle_center_distance: 4.0     # the distance from point the center bridle connection point of 
                                     #     the middle line to the kite                                 [m]
-    middle_length:          2.0     # the cord length of the kite in the middle                       [m]
-    tip_length:             1.0     # the cord length of the kite at the tips                         [m]
-    min_steering_line_distance: 4.0 # the distance between the left and right steering bridle         [m]
+    middle_length:          1.5     # the cord length of the kite in the middle                       [m]
+    tip_length:             0.62     # the cord length of the kite at the tips                         [m]
+    min_steering_line_distance: 1.0 # the distance between the left and right steering bridle         [m]
                                     #     line connections on the kite that are closest to each other [m]
-    width_3l:               20.0    # width of the kite                                               [m]
-    aero_surfaces:          10      # the number of aerodynamic surfaces to use per mass point        [-]
+    width_3l:               4.1    # width of the kite                                               [m]
+    aero_surfaces:          3      # the number of aerodynamic surfaces to use per mass point        [-]
 
 bridle:
     d_line:    2.5            # bridle line diameter                                                 [mm]

examples/basic_4p_3l.jl

@@ -0,0 +1,6 @@
+using KiteViewers, KiteUtils
+viewer=Viewer3D(true);
+segments=6
+state=demo_state_4p(segments+1)
+update_system(viewer, state, kite_scale=0.25)
+nothing

examples/depower_simple_3line.jl

@@ -0,0 +1,116 @@
+using Pkg, Timers
+tic()
+if ! ("KitePodModels" ∈ keys(Pkg.project().dependencies))
+    using TestEnv; TestEnv.activate()
+end
+
+using KiteViewers, KiteModels, KitePodModels, Rotations
+
+kcu::KCU = KCU(se())
+kps4_3l::KPS4_3L = KPS4_3L(kcu)
+
+# the following values can be changed to match your interest
+dt::Float64 = 0.3
+TIME = 50
+TIME_LAPSE_RATIO = 1
+STEPS = Int64(round(TIME/dt))
+STATISTIC = true
+SHOW_KITE = true
+PLOT_PERFORMANCE = false
+# USE 3L SETTINGS!
+update_settings()
+# end of user parameter section #
+
+if ! @isdefined time_vec_gc; const time_vec_gc = zeros(STEPS); end
+if ! @isdefined time_vec_sim; const time_vec_sim = zeros(STEPS); end
+if ! @isdefined time_vec_tot; const time_vec_tot = zeros(div(STEPS, TIME_LAPSE_RATIO)); end
+viewer::Viewer3D = Viewer3D(SHOW_KITE)
+
+function simulate(integrator, steps)
+    start = integrator.p.iter
+    start_time_ns = time_ns()
+    j=0; k=0
+    KiteViewers.clear_viewer(viewer)
+    GC.gc()
+    max_time = 0
+    set_speeds = [0.0, 0.0, 0.0]
+    sys_state = SysState(kps4_3l)
+    for i in 1:steps
+        if i == 1
+            set_speeds = [0.0, 0.5, 0.5]
+        elseif i == 10
+            set_speeds = [0.0, -0.3, 0.0]
+        elseif i == 15
+            set_speeds = [0.0, 0.0, 0.0]
+        end
+        t_sim = @elapsed KiteModels.next_step!(kps4_3l, integrator; set_values=set_speeds, torque_control=false, dt=dt)
+        t_gc = 0.0
+        t_show = 0.0
+        # println(SysState(kps4_3l))
+        if mod(i, TIME_LAPSE_RATIO) == 0 || i == steps
+            update_sys_state!(sys_state, kps4_3l)
+            t_show = @elapsed update_system(viewer, sys_state; scale = 0.08, kite_scale=5.0)
+            println("i ", i)
+            println(viewer.points)
+            end_time_ns = time_ns()
+            wait_until(start_time_ns + dt*1e9, always_sleep=true)
+            mtime = 0
+            if i > 10/dt 
+                # if we missed the deadline by more than 2 ms
+                mtime = time_ns() - start_time_ns
+                if mtime > dt*1e9 + 2e6
+                    print(".")
+                    j += 1
+                end
+                k +=1
+            else
+                t_show = 0.0
+            end
+            if mtime > max_time
+                max_time = mtime
+            end
+            time_tot = end_time_ns - start_time_ns
+            start_time_ns = time_ns()
+            time_vec_tot[div(i, TIME_LAPSE_RATIO)] = time_tot/1e9/dt*1000*dt
+        end
+
+        time_vec_gc[i]=t_gc/dt*100.0
+        time_vec_sim[i]=t_sim/dt*100.0
+        # if viewer.stop break end
+    end
+    misses=j/k * 100
+    println("\nMissed the deadline for $(round(misses, digits=2)) %. Max time: $(round((max_time*1e-6), digits=1)) ms")
+    (integrator.p.iter - start) / steps
+end
+
+function play()
+    integrator = KiteModels.init_sim!(kps4_3l, stiffness_factor=0.3, prn=STATISTIC)
+    simulate(integrator, STEPS)
+end
+
+on(viewer.btn_PLAY.clicks) do c
+    if viewer.stop
+        @async begin
+            play()
+            stop(viewer)
+        end
+    end
+end
+on(viewer.btn_STOP.clicks) do c
+   stop(viewer)
+end
+
+toc()
+play()
+stop(viewer)
+if PLOT_PERFORMANCE
+    include("plot.jl")
+    if false
+        plotx(range(dt,TIME,step=dt), time_vec_gc, time_vec_sim, time_vec_sim.+time_vec_gc;
+              labels=["GC time","sim_time","total_time"],
+              fig="depower_simple_timing")
+    else
+        plot1(range(3*TIME_LAPSE_RATIO*dt,TIME,step=dt*TIME_LAPSE_RATIO), time_vec_tot[3:end],
+              ylabel="time per frame [ms]")
+    end
+end