Merge pull request #97 from OpenSourceAWE/tether-moment

1-Bart-1 · web-flow · commit c7f72234f5e6 · 2025-08-26T16:15:39.000+02:00
Add tether_moment and tether_force fields to syssstate
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,11 @@
 # Changelog
 
+### KiteUtils v0.11.0 26-08-2025
+#### Changed
+- BREAKING: renamed c_spring to axial_stiffness and damping to axial_damping
+#### Added
+- the fields tether_induced_force and tether_induced_moment
+
 ### KiteUtils v0.10.16 14-08-2025
 #### Fixed
 - support subdirectories in data dir
diff --git a/Project.toml b/Project.toml
@@ -1,7 +1,7 @@
 name = "KiteUtils"
 uuid = "90980105-b163-44e5-ba9f-8b1c83bb0533"
 authors = ["Uwe Fechner <uwe.fechner.msc@gmail.com> and contributors"]
-version = "0.10.16"
+version = "0.11.0"
 
 [deps]
 Arrow = "69666777-d1a9-59fb-9406-91d4454c9d45"
diff --git a/data/Test_flight.arrow b/data/Test_flight.arrow
diff --git a/data/settings.yaml b/data/settings.yaml
@@ -69,8 +69,8 @@ kps4:
     cmq:           0.0      # pitch rate dependant moment coefficient     [-]
     cord_length:   2.0      # average aerodynamic cord length of the kite [m]
 kps5:
-    c_spring_kite: 614600.0 # unit spring constant coefficient of the kite springs [N]
-    damping_kite_springs:  473.0  # unit damping coefficient                      [Ns]
+    axial_stiffness_kite: 614600.0 # unit spring constant coefficient of the kite springs [N]
+    axial_damping_kite:  473.0  # unit damping coefficient                      [Ns]
     rel_mass_p2: 0.25       # rel mass of p2
     rel_mass_p3: 0.25       # rel mass of p3
     rel_mass_p4: 0.25       # rel mass of p4 and p5
@@ -98,8 +98,8 @@ kcu:
 tether:
     d_tether:  4           # 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]
+    axial_damping: 473.0         # unit damping coefficient        [Ns]
+    axial_stiffness: 614600.0     # unit spring constant coefficient [N]
     rho_tether:  724.0     # density of Dyneema           [kg/m³]
     e_tether: 5.5e10       # axial tensile modulus of Dyneema (M.B. Ruppert) [Pa]
                            # SK75: 109 to 132 GPa according to datasheet
diff --git a/data/settings2.yaml b/data/settings2.yaml
@@ -88,8 +88,8 @@ kcu:
 tether:
     d_tether:  4           # 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]
+    axial_damping: 473.0         # unit damping coefficient        [Ns]
+    axial_stiffness: 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
diff --git a/data/settings_ram.yaml b/data/settings_ram.yaml
@@ -52,7 +52,7 @@ tether:
     steering_tether_diameter: 1 # [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]
+    axial_stiffness: 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
diff --git a/src/_demo_syslog.jl b/src/_demo_syslog.jl
@@ -26,7 +26,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
     azimuth_vec = Vector{MyFloat}(undef, steps)
     l_tether_vec = Vector{MVector{4, MyFloat}}(undef, steps)
     v_reelout_vec = Vector{MVector{4, MyFloat}}(undef, steps)
-    force_vec = Vector{MVector{4, MyFloat}}(undef, steps)
+    winch_force_vec = Vector{MVector{4, MyFloat}}(undef, steps)
     depower_vec = Vector{MyFloat}(undef, steps)
     steering_vec = Vector{MyFloat}(undef, steps)
     kcu_steering_vec = Vector{MyFloat}(undef, steps)
@@ -48,6 +48,8 @@ function demo_syslog(P, name="Test flight"; duration=10)
     CD2_vec = Vector{MyFloat}(undef, steps)
     aero_force_b_vec = Vector{MVector{3, MyFloat}}(undef, steps)
     aero_moment_b_vec = Vector{MVector{3, MyFloat}}(undef, steps)
+    tether_induced_force_vec = Vector{MVector{3, MyFloat}}(undef, steps)
+    tether_induced_moment_vec = Vector{MVector{3, MyFloat}}(undef, steps)
     twist_angles_vec = Vector{MVector{4, MyFloat}}(undef, steps)
     vel_kite_vec = Vector{MVector{3, MyFloat}}(undef, steps)
     acc_vec = Vector{MyFloat}(undef, steps)
@@ -91,7 +93,7 @@ function demo_syslog(P, name="Test flight"; duration=10)
         azimuth_vec[i+1] = state.azimuth
         l_tether_vec[i+1] = state.l_tether
         v_reelout_vec[i+1] = state.v_reelout
-        force_vec[i+1] = state.force
+        winch_force_vec[i+1] = state.winch_force
         depower_vec[i+1] = state.depower
         steering_vec[i+1] = state.steering
         kcu_steering_vec[i+1] = state.kcu_steering
@@ -113,6 +115,8 @@ function demo_syslog(P, name="Test flight"; duration=10)
         CD2_vec[i+1] = state.CD2
         aero_force_b_vec[i+1] = state.aero_force_b
         aero_moment_b_vec[i+1] = state.aero_moment_b
+        tether_induced_force_vec[i+1] = state.tether_induced_force
+        tether_induced_moment_vec[i+1] = state.tether_induced_moment
         twist_angles_vec[i+1] = state.twist_angles
         vel_kite_vec[i+1] = state.vel_kite
         acc_vec[i+1] = state.acc
@@ -144,13 +148,13 @@ function demo_syslog(P, name="Test flight"; duration=10)
     end
     StructArray{SysState{P}}((time_vec, t_sim_vec, sys_state_vec, cycle_vec, fig_8_vec, e_mech_vec, 
                               orient_vec, turn_rates_vec, elevation_vec, azimuth_vec, l_tether_vec, v_reelout_vec, 
-                              force_vec, depower_vec, steering_vec, kcu_steering_vec, set_steering_vec, heading_vec, 
+                              winch_force_vec, depower_vec, steering_vec, kcu_steering_vec, set_steering_vec, heading_vec, 
                               heading_rate_vec, course_vec, bearing_vec, attractor_vec, v_app_vec, v_wind_gnd_vec, 
                               v_wind_200m_vec, v_wind_kite_vec, AoA_vec, side_slip_vec, alpha3_vec, alpha4_vec, 
-                              CL2_vec, CD2_vec, aero_force_b_vec, aero_moment_b_vec, twist_angles_vec, vel_kite_vec, 
-                              acc_vec, X_vec, Y_vec, Z_vec, set_torque_vec, set_speed_vec, 
-                              set_force_vec, roll_vec, pitch_vec, yaw_vec, var_01_vec, var_02_vec, 
-                              var_03_vec, var_04_vec, var_05_vec, var_06_vec, var_07_vec, var_08_vec, 
-                              var_09_vec, var_10_vec, var_11_vec, var_12_vec, var_13_vec, var_14_vec, 
-                              var_15_vec, var_16_vec))
+                              CL2_vec, CD2_vec, aero_force_b_vec, aero_moment_b_vec, tether_induced_force_vec, tether_induced_moment_vec, 
+                              twist_angles_vec, vel_kite_vec, acc_vec, X_vec, Y_vec, Z_vec, 
+                              set_torque_vec, set_speed_vec, set_force_vec, roll_vec, pitch_vec, yaw_vec, 
+                              var_01_vec, var_02_vec, var_03_vec, var_04_vec, var_05_vec, var_06_vec, 
+                              var_07_vec, var_08_vec, var_09_vec, var_10_vec, var_11_vec, var_12_vec, 
+                              var_13_vec, var_14_vec, var_15_vec, var_16_vec))
 end
diff --git a/src/_load_log.jl b/src/_load_log.jl
@@ -45,16 +45,16 @@ function load_log(filename::String; path="")
     # example_metadata = KiteUtils.Arrow.getmetadata(table.var_01)
     syslog = StructArray{SysState{P}}((table.time, table.t_sim, table.sys_state, table.cycle, table.fig_8, 
                                        table.e_mech, table.orient, table.turn_rates, table.elevation, table.azimuth, 
-                                       table.l_tether, table.v_reelout, table.force, table.depower, table.steering, 
+                                       table.l_tether, table.v_reelout, table.winch_force, table.depower, table.steering, 
                                        table.kcu_steering, table.set_steering, table.heading, table.heading_rate, table.course, 
                                        table.bearing, table.attractor, table.v_app, table.v_wind_gnd, table.v_wind_200m, 
                                        table.v_wind_kite, table.AoA, table.side_slip, table.alpha3, table.alpha4, 
-                                       table.CL2, table.CD2, table.aero_force_b, table.aero_moment_b, table.twist_angles, 
-                                       table.vel_kite, table.acc, table.X, table.Y, table.Z, 
-                                       table.set_torque, table.set_speed, table.set_force, table.roll, table.pitch, 
-                                       table.yaw, table.var_01, table.var_02, table.var_03, table.var_04, 
-                                       table.var_05, table.var_06, table.var_07, table.var_08, table.var_09, 
-                                       table.var_10, table.var_11, table.var_12, table.var_13, table.var_14, 
-                                       table.var_15, table.var_16))
+                                       table.CL2, table.CD2, table.aero_force_b, table.aero_moment_b, table.tether_induced_force, 
+                                       table.tether_induced_moment, table.twist_angles, table.vel_kite, table.acc, table.X, 
+                                       table.Y, table.Z, table.set_torque, table.set_speed, table.set_force, 
+                                       table.roll, table.pitch, table.yaw, table.var_01, table.var_02, 
+                                       table.var_03, table.var_04, table.var_05, table.var_06, table.var_07, 
+                                       table.var_08, table.var_09, table.var_10, table.var_11, table.var_12, 
+                                       table.var_13, table.var_14, table.var_15, table.var_16))
     return SysLog{P}(basename(fullname[1:end-6]), colmeta, syslog)
 end
diff --git a/src/_log.jl b/src/_log.jl
@@ -28,7 +28,7 @@ function log!(logger::Logger, state::SysState)
     logger.azimuth_vec[i] = state.azimuth
     logger.l_tether_vec[i] .= state.l_tether
     logger.v_reelout_vec[i] .= state.v_reelout
-    logger.force_vec[i] .= state.force
+    logger.winch_force_vec[i] .= state.winch_force
     logger.depower_vec[i] = state.depower
     logger.steering_vec[i] = state.steering
     logger.kcu_steering_vec[i] = state.kcu_steering
@@ -50,6 +50,8 @@ function log!(logger::Logger, state::SysState)
     logger.CD2_vec[i] = state.CD2
     logger.aero_force_b_vec[i] .= state.aero_force_b
     logger.aero_moment_b_vec[i] .= state.aero_moment_b
+    logger.tether_induced_force_vec[i] .= state.tether_induced_force
+    logger.tether_induced_moment_vec[i] .= state.tether_induced_moment
     logger.twist_angles_vec[i] .= state.twist_angles
     logger.vel_kite_vec[i] .= state.vel_kite
     logger.acc_vec[i] = state.acc
diff --git a/src/_logger.jl b/src/_logger.jl
@@ -33,7 +33,7 @@ $(TYPEDFIELDS)
     azimuth_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     l_tether_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
     v_reelout_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
-    force_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
+    winch_force_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
     depower_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     steering_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     kcu_steering_vec::Vector{MyFloat} = zeros(MyFloat, Q)
@@ -55,6 +55,8 @@ $(TYPEDFIELDS)
     CD2_vec::Vector{MyFloat} = zeros(MyFloat, Q)
     aero_force_b_vec::Vector{MVector{3, MyFloat}} = [zero(MVector{3, MyFloat}) for _ in 1:Q]
     aero_moment_b_vec::Vector{MVector{3, MyFloat}} = [zero(MVector{3, MyFloat}) for _ in 1:Q]
+    tether_induced_force_vec::Vector{MVector{3, MyFloat}} = [zero(MVector{3, MyFloat}) for _ in 1:Q]
+    tether_induced_moment_vec::Vector{MVector{3, MyFloat}} = [zero(MVector{3, MyFloat}) for _ in 1:Q]
     twist_angles_vec::Vector{MVector{4, MyFloat}} = [zero(MVector{4, MyFloat}) for _ in 1:Q]
     vel_kite_vec::Vector{MVector{3, MyFloat}} = [zero(MVector{3, MyFloat}) for _ in 1:Q]
     acc_vec::Vector{MyFloat} = zeros(MyFloat, Q)
diff --git a/src/_save_log.jl b/src/_save_log.jl
@@ -61,7 +61,7 @@ function save_log(logger::Logger, name="sim_log", compress=true;
     resize!(logger.azimuth_vec, nl)
     resize!(logger.l_tether_vec, nl)
     resize!(logger.v_reelout_vec, nl)
-    resize!(logger.force_vec, nl)
+    resize!(logger.winch_force_vec, nl)
     resize!(logger.depower_vec, nl)
     resize!(logger.steering_vec, nl)
     resize!(logger.kcu_steering_vec, nl)
@@ -83,6 +83,8 @@ function save_log(logger::Logger, name="sim_log", compress=true;
     resize!(logger.CD2_vec, nl)
     resize!(logger.aero_force_b_vec, nl)
     resize!(logger.aero_moment_b_vec, nl)
+    resize!(logger.tether_induced_force_vec, nl)
+    resize!(logger.tether_induced_moment_vec, nl)
     resize!(logger.twist_angles_vec, nl)
     resize!(logger.vel_kite_vec, nl)
     resize!(logger.acc_vec, nl)
diff --git a/src/_show.jl b/src/_show.jl
@@ -18,7 +18,7 @@ function Base.show(io::IO, st::SysState)
     println(io, "azimuth [rad]:     ", st.azimuth)
     println(io, "l_tether [m]:      ", st.l_tether)
     println(io, "v_reelout [m/s]:   ", st.v_reelout)
-    println(io, "force [N]:         ", st.force)
+    println(io, "winch_force [N]:   ", st.winch_force)
     println(io, "depower [0..1]:    ", st.depower)
     println(io, "steering [-1..1]:  ", st.steering)
     println(io, "kcu_steering [-1..1]:", st.kcu_steering)
@@ -40,6 +40,8 @@ function Base.show(io::IO, st::SysState)
     println(io, "CD2 [-]:           ", st.CD2)
     println(io, "aero_force_b [N]:  ", st.aero_force_b)
     println(io, "aero_moment_b [Nm]:", st.aero_moment_b)
+    println(io, "tether_induced_force [N]:", st.tether_induced_force)
+    println(io, "tether_induced_moment [Nm]:", st.tether_induced_moment)
     println(io, "twist_angles [rad]:", st.twist_angles)
     println(io, "vel_kite [m/s]:    ", st.vel_kite)
     println(io, "acc [m/s²]:        ", st.acc)
diff --git a/src/_syslog.jl b/src/_syslog.jl
@@ -9,15 +9,15 @@ function syslog(logger::Logger)
     l = logger
     StructArray{SysState{l.points}}((l.time_vec, l.t_sim_vec, l.sys_state_vec, l.cycle_vec, l.fig_8_vec, 
                                      l.e_mech_vec, l.orient_vec, l.turn_rates_vec, l.elevation_vec, l.azimuth_vec, 
-                                     l.l_tether_vec, l.v_reelout_vec, l.force_vec, l.depower_vec, l.steering_vec, 
+                                     l.l_tether_vec, l.v_reelout_vec, l.winch_force_vec, l.depower_vec, l.steering_vec, 
                                      l.kcu_steering_vec, l.set_steering_vec, l.heading_vec, l.heading_rate_vec, l.course_vec, 
                                      l.bearing_vec, l.attractor_vec, l.v_app_vec, l.v_wind_gnd_vec, l.v_wind_200m_vec, 
                                      l.v_wind_kite_vec, l.AoA_vec, l.side_slip_vec, l.alpha3_vec, l.alpha4_vec, 
-                                     l.CL2_vec, l.CD2_vec, l.aero_force_b_vec, l.aero_moment_b_vec, l.twist_angles_vec, 
-                                     l.vel_kite_vec, l.acc_vec, l.X_vec, l.Y_vec, l.Z_vec, 
-                                     l.set_torque_vec, l.set_speed_vec, l.set_force_vec, l.roll_vec, l.pitch_vec, 
-                                     l.yaw_vec, l.var_01_vec, l.var_02_vec, l.var_03_vec, l.var_04_vec, 
-                                     l.var_05_vec, l.var_06_vec, l.var_07_vec, l.var_08_vec, l.var_09_vec, 
-                                     l.var_10_vec, l.var_11_vec, l.var_12_vec, l.var_13_vec, l.var_14_vec, 
-                                     l.var_15_vec, l.var_16_vec))
+                                     l.CL2_vec, l.CD2_vec, l.aero_force_b_vec, l.aero_moment_b_vec, l.tether_induced_force_vec, 
+                                     l.tether_induced_moment_vec, l.twist_angles_vec, l.vel_kite_vec, l.acc_vec, l.X_vec, 
+                                     l.Y_vec, l.Z_vec, l.set_torque_vec, l.set_speed_vec, l.set_force_vec, 
+                                     l.roll_vec, l.pitch_vec, l.yaw_vec, l.var_01_vec, l.var_02_vec, 
+                                     l.var_03_vec, l.var_04_vec, l.var_05_vec, l.var_06_vec, l.var_07_vec, 
+                                     l.var_08_vec, l.var_09_vec, l.var_10_vec, l.var_11_vec, l.var_12_vec, 
+                                     l.var_13_vec, l.var_14_vec, l.var_15_vec, l.var_16_vec))
 end
diff --git a/src/_sysstate.jl b/src/_sysstate.jl
@@ -38,8 +38,8 @@ Base.@kwdef mutable struct SysState{P}
     l_tether::MVector{4, MyFloat} = [0.0, 0.0, 0.0, 0.0]
     "reelout speed, tether 1 to 4 [m/s]"
     v_reelout::MVector{4, MyFloat} = [0.0, 0.0, 0.0, 0.0]
-    "tether force, tether 1 to 4 [N]"
-    force::MVector{4, MyFloat} = [0.0, 0.0, 0.0, 0.0]
+    "tether force at the winch, tether 1 to 4 [N]"
+    winch_force::MVector{4, MyFloat} = [0.0, 0.0, 0.0, 0.0]
     "depower settings [0..1]"
     depower::MyFloat = 0
     "actual steering [-1..1]"
@@ -82,6 +82,10 @@ Base.@kwdef mutable struct SysState{P}
     aero_force_b::MVector{3, MyFloat} = [0.0, 0.0, 0.0]
     "aerodynamic moment in KB reference frame [Nm]"
     aero_moment_b::MVector{3, MyFloat} = [0.0, 0.0, 0.0]
+    "net tether force vector acting on kite [N]"
+    tether_induced_force::MVector{3, MyFloat} = [0.0, 0.0, 0.0]
+    "net tether moment acting on kite [Nm]"
+    tether_induced_moment::MVector{3, MyFloat} = [0.0, 0.0, 0.0]
     "twist angles for the 4 segment groups [rad]"
     twist_angles::MVector{4, MyFloat} = [0.0, 0.0, 0.0, 0.0]
     "velocity vector of the kite [m/s]"
diff --git a/src/load_log.jl b/src/load_log.jl
diff --git a/src/logger.jl b/src/logger.jl
diff --git a/src/settings.jl b/src/settings.jl
diff --git a/src/sysstate.yaml b/src/sysstate.yaml
