New settings max_acc, p_speed and i_speed (#73)

* update CHANGELOG.md

* Add max_acc to Settings

* add p_speed and i_speed

* fix #70

* update CHANGELOG.md

---------

Co-authored-by: Uwe Fechner <u.fechner-1@tudelft.nl>

Author: ufechner7

CHANGELOG.md

@@ -1,7 +1,9 @@
 # Changelog
-### Unreleased
+### KiteUtils v0.9.6 - 2024-12-19
 #### Added
 - function `KiteUtils.install_examples()`
+- add field `upwind_dir`, remove vector `v_wind_ref` from `Settings`and yaml files
+- add the fields `max_acc`, `p_speed` and `i_speed` to `Settings`and yaml files
 
 ### KiteUtils v0.9.5 - 2024-12-06
 #### Changed

data/settings.yaml

@@ -107,10 +107,13 @@ winch:
     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]
     drum_radius: 0.1615    # radius of the drum                              [m]
+    max_acc: 4.0           # maximal acceleration of the winch               [m/s²]
     gear_ratio: 6.2        # gear ratio of the winch                         [-]   
     inertia_total: 0.204   # total inertia, as seen from the motor/generator [kgm²]
     f_coulomb: 122.0       # coulomb friction                                [N]
     c_vf: 30.6             # coefficient for the viscous friction            [Ns/m]
+    p_speed: 1.0           # proportional gain of the winch speed controller [-]
+    i_speed: 0.1           # integral gain of the winch speed controller     [-]
 
 environment:
     v_wind: 9.51             # wind speed at reference height          [m/s]

data/settings2.yaml

@@ -105,10 +105,13 @@ winch:
     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]
     drum_radius: 0.1615    # radius of the drum                              [m]
+    max_acc: 4.0           # maximal acceleration of the winch               [m/s²]
     gear_ratio: 6.2        # gear ratio of the winch                         [-]   
     inertia_total: 0.204   # total inertia, as seen from the motor/generator [kgm²]
     f_coulomb: 122.0       # coulomb friction                                [N]
     c_vf: 30.6             # coefficient for the viscous friction            [Ns/m]
+    p_speed: 1.0           # proportional gain of the winch speed controller [-]
+    i_speed: 0.1           # integral gain of the winch speed controller     [-]
 
 environment:
     v_wind: 9.51             # wind speed at reference height          [m/s]

data/settings_3l.yaml

@@ -101,10 +101,13 @@ winch:
     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]
     drum_radius: 0.1615    # radius of the drum                              [m]
+    max_acc: 4.0           # maximal acceleration of the winch               [m/s²]
     gear_ratio: 6.2        # gear ratio of the winch                         [-]   
     inertia_total: 0.204   # total inertia, as seen from the motor/generator [kgm²]
     f_coulomb: 122.0       # coulomb friction                                [N]
     c_vf: 30.6             # coefficient for the viscous friction            [Ns/m]
+    p_speed: 1.0           # proportional gain of the winch speed controller [-]
+    i_speed: 0.1           # integral gain of the winch speed controller     [-]
 
 environment:
     v_wind: 15.51            # wind speed at reference height          [m/s]

src/settings.jl

@@ -213,6 +213,8 @@ $(TYPEDFIELDS)
     v_ro_max              = 8
     "minimal reel-out speed (=max reel-in speed) [m/s]"
     v_ro_min              = -8
+    "maximal acceleration                       [m/s²]"
+    max_acc               = 0
     "radius of the drum [m]"
     drum_radius = 0.1615
     "ratio of the gear box"
@@ -223,6 +225,10 @@ $(TYPEDFIELDS)
     f_coulomb = 122.0
     "coefficient for the viscous friction [Ns/m]"
     c_vf = 30.6
+    "proportional gain for the speed controller"
+    p_speed = 0
+    "integral gain for the speed controller"
+    i_speed = 0
 
     "wind speed at reference height          [m/s]"
     v_wind                = 0