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Update settings for ram air kite model and make some sections non-obligatory #77

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Merged
1-Bart-1 merged 6 commits into from
Apr 8, 2025
Merged

Update settings for ram air kite model and make some sections non-obligatory #77

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be6542e
Remove unused fields
1-Bart-1 Apr 1, 2025
60c9ebb
Update for ram air kite
1-Bart-1 Apr 2, 2025
6d94fec
Add wc to system
1-Bart-1 Apr 2, 2025
74a1d16
Add frac index
1-Bart-1 Apr 2, 2025
6969d15
Update comment
1-Bart-1 Apr 3, 2025
ced86c7
Correct values
1-Bart-1 Apr 3, 2025
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12 changes: 0 additions & 12 deletions data/settings.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -59,18 +59,6 @@ kps4:
smc: 0.0 # steering moment coefficient [-]
cmq: 0.0 # pitch rate dependant moment coefficient [-]
cord_length: 2.0 # average aerodynamic cord length of the kite [m]

kps4_3l:
radius: 2.0 # the radius of the circle shape on which the kite lines, viewed
# from the front [m]
bridle_center_distance: 4.0 # the distance from point the center bridle connection point of
# the middle line to the kite [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: 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]
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12 changes: 0 additions & 12 deletions data/settings2.yaml
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Expand Up @@ -59,18 +59,6 @@ kps4:
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 # the radius of the circle shape on which the kite lines, viewed
# from the front [m]
bridle_center_distance: 4.0 # the distance from point the center bridle connection point of
# the middle line to the kite [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: 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]
l_bridle: 33.4 # sum of the lengths of the bridle lines [m]
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77 changes: 14 additions & 63 deletions data/settings_3l.yaml → data/settings_ram.yaml
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Expand Up @@ -13,7 +13,6 @@ 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]
Expand All @@ -23,71 +22,23 @@ solver:
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
foil_file: "data/MH82.dat" # filename for the foil shape
polar_file: "data/polars.csv" # filename for the polars file
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, 0.2, 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
flap_height: 0.05 # height at the start of the flap [m]

kcu:
kcu_model: "KCU1" # name of the kite control unit model, KCU1 or KCU2
kcu_mass: 8.4 # mass of the kite control unit [kg]
kcu_diameter: 0.4 # diameter of the KCU for drag calculation [m]
cd_kcu: 0.3 # drag coefficient of the KCU [-]
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)
model: "data/ram_air_kite_body.obj" # 3D model of the kite
foil_file: "data/ram_air_kite_foil.dat" # filename for the foil shape
physical_model: "RamAirKite" # name of the kite model to use (KPS3, KPS4 or RamAirKite)
top_bridle_points: # top bridle points that are not on the kite body in CAD frame
- [0.290199, 0.784697, -2.61305]
- [0.392683, 0.785271, -2.61201]
- [0.498202, 0.786175, -2.62148]
- [0.535543, 0.786175, -2.62148]
crease_frac: 0.82 # distance along normalized foil chord for the trailing edge deformation crease
bridle_fracs: [0.088, 0.31, 0.58, 0.93] # distances along normalized foil chord for bridle attachment points
fixed_index: 1 # the bridle frac index around which the kite twists

tether:
d_tether: 1 # tether diameter [mm]
bridle_tether_diameter: 2 # [mm]
power_tether_diameter: 2 # [mm]
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]
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3 changes: 0 additions & 3 deletions data/system_3l.yaml
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6 changes: 6 additions & 0 deletions data/system_ram.yaml
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@@ -0,0 +1,6 @@
system:
sim_settings: "settings_ram.yaml" # simulator settings
wc_settings: "wc_settings.yaml" # settings of the winch controller
fpc_settings: "fpc_settings.yaml" # flight path controller settings
fpp_settings: "fpp_settings.yaml" # flight path planner settings

2 changes: 0 additions & 2 deletions docs/src/functions.md
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Expand Up @@ -28,11 +28,9 @@ get_unit
```@docs
demo_state
demo_state_4p
demo_state_4p_3lines
demo_syslog
demo_log
get_particles
get_particles_3l
```

# Loading, saving and converting log files
Expand Down
111 changes: 1 addition & 110 deletions src/KiteUtils.jl
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Expand Up @@ -48,7 +48,7 @@ import Base.length
import ReferenceFrameRotations as RFR
export demo_state, demo_syslog, demo_log, load_log, save_log, export_log, import_log # functions for logging
export log!, syslog, length, euler2rot, menu
export demo_state_4p, demo_state_4p_3lines, initial_kite_ref_frame # functions for four point and three line kite
export demo_state_4p, initial_kite_ref_frame # functions for four point and three line kite
export rot, rot3d, ground_dist, calc_elevation, azimuth_east, azimuth_north, asin2
export acos2, wrap2pi, quat2euler, quat2viewer # geometric functions
export fromEG2W, fromENU2EG,fromW2SE, fromKS2EX, fromEX2EG # reference frame transformations
Expand Down Expand Up @@ -229,35 +229,6 @@ function get_particles(height_k, height_b, width, m_k, pos_pod= [ 75., 0., 129.9
[zeros(3), pos0, pos_A, pos_kite, pos_C, pos_D] # 0, p7, p8, p9, p10, p11
end


"""
Calculate the initial positions of the particles representing
a 4-point 3 line kite.
"""
function get_particles_3l(width, radius, middle_length, tip_length, bridle_center_distance, pos_kite = [ 75., 0., 129.90381057], vec_c=[-15., 0., -25.98076211], v_app=[10.4855, 0, -3.08324])
# inclination angle of the kite; beta = atan(-pos_kite[2], pos_kite[1]) ???
beta = pi/2.0
e_z = normalize(vec_c) # vec_c is the direction of the last two particles
e_y = normalize(cross(v_app, e_z))
e_x = normalize(cross(e_y, e_z))

α_0 = pi/2 - width/2/radius
α_C = α_0 + width*(-2*tip_length + sqrt(2*middle_length^2 + 2*tip_length^2)) /
(4*(middle_length - tip_length)) / radius
α_D = π - α_C

E = pos_kite
E_c = pos_kite + e_z * (-bridle_center_distance + radius) # E at center of circle on which the kite shape lies
C = E_c + e_y*cos(α_C)*radius - e_z*sin(α_C)*radius
D = E_c + e_y*cos(α_D)*radius - e_z*sin(α_D)*radius

kite_length_C = tip_length + (middle_length-tip_length) * (α_C - α_0) / (π/2 - α_0)
P_c = (C+D)./2
A = P_c - e_x*(kite_length_C*(3/4 - 1/4))

E, C, D, A, α_C, kite_length_C # important to have the order E = 1, C = 2, D = 3, A = 4
end

"""
demo_state_4p(P, height=6.0, time=0.0; azimuth_north=-pi/2)

Expand Down Expand Up @@ -316,86 +287,6 @@ function demo_state_4p(P, height=6.0, time=0.0; azimuth_north=-pi/2)
ss
end

"""
demo_state_4p_3lines(P, height=6.0, time=0.0)

Create a demo state, using the 4 point kite model with a given height and time.
P is the number of middle tether particles.

Returns a SysState instance.
"""
function demo_state_4p_3lines(P, height=6.0, time=0.0)
P_ = P*3+3 # P_ is total number of particles in the system (kite + 3 tethers)
ss = SysState{P_}()
num_A = P_
num_D = P_-1
num_C = P_-2
num_E = P_-3
pos = zeros(SVector{P_, MVector{3, Float64}})

# ground points
[pos[i] .= [0.0, 0.0, 0.0] for i in 1:3]

# middle tether
sin_el, cos_el = sin(deg2rad(se().elevation)), cos(deg2rad(se().elevation))
for (i, j) in enumerate(range(6, step=3, length=se().segments))
radius = i * (se().l_tether/se().segments)
pos[j] .= [cos_el*radius, 0.0, sin_el*radius]
end

# kite points
vec_c = pos[num_E-3] - pos[num_E]
E, C, D, A, _, _ = get_particles_3l(se().width, se().radius, se().middle_length, se().tip_length, se().bridle_center_distance, pos[num_E], vec_c)
pos[num_A] .= A
pos[num_C] .= C
pos[num_D] .= [pos[num_C][1], -pos[num_C][2], pos[num_C][3]]

# build tether connection points
e_z = normalize(vec_c)
distance_c_l = 0.5 # distance between c and left steering line
pos[num_E-2] .= pos[num_C] + e_z .* (distance_c_l)
pos[num_E-1] .= pos[num_E-2] .* [1.0, -1.0, 1.0]

# build left and right tether points
for (i, j) in enumerate(range(4, step=3, length=se().segments-1))
pos[j] .= pos[num_E-2] ./ se().segments .* i
pos[j+1] .= [pos[j][1], -pos[j][2], pos[j][3]]
end

X = zeros(P_)
Y = zeros(P_)
Z = zeros(P_)
for (i, p) in enumerate(pos)
# println("pos ", pos)
X[i] = p[1]
Y[i] = p[2]
Z[i] = p[3]
end
# println("X ", X)
pos_centre = 0.5 * (C + D)
delta = E - pos_centre
z = normalize(delta)
y = normalize(C - D)
x = y × z
pos_before = pos[num_E] + z

rotation = rot(pos[num_E], pos_before, -x)
q = QuatRotation(rotation)
orient = MVector{4, Float32}(Rotations.params(q))
elevation = calc_elevation([X[end], 0.0, Z[end]])
ss.v_wind_gnd .= [10.4855, 0, -3.08324]
ss.v_wind_200m .= [10.4855, 0, -3.08324]
ss.v_wind_kite .= [10.4855, 0, -3.08324]
ss.t_sim = 0.014
ss.time = time
ss.orient = orient
ss.elevation = elevation
ss.X .= X
ss.Y .= Y
ss.Z .= Z
ss
end

include("_demo_syslog.jl")

"""
Expand Down
59 changes: 31 additions & 28 deletions src/settings.jl
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Expand Up @@ -101,10 +101,6 @@
"file name of the 3D model of the kite for the viewer"
model::String = "data/kite.obj"
"filename with or without extension for the foil shape [in dat format]"
foil_file::String = ""
"filename with or without extension for the polars [in csv format]"
polar_file::String = "data/polars.csv"
"name of the kite model to use (KPS3 or KPS4)"
physical_model::String = ""
"version of the model to use"
version::Int64 = 1
Expand Down Expand Up @@ -139,23 +135,26 @@
"average aerodynamic cord length of the kite [m]"
cord_length = 0

# model KPS4_3L
"the radius of the circle shape on which the kite lines, viewed from the front [m]"
radius::Float64 = 10.0
"the distance from point the center bridle connection point of the middle line to the kite [m]"
bridle_center_distance::Float64 = 2.0
"the cord length of the kite in the middle [m]"
middle_length::Float64 = 2.0
"the cord length of the kite at the tips [m]"
tip_length::Float64 = 1.0
"the distance between the left and right steering bridle line connections on the kite that are closest to eachother [m]"
min_steering_line_distance::Float64 = 4.0
"the number of aerodynamic surfaces to use per mass point [-]"
aero_surfaces::Int64 = 10
"height at the start of the flap [m]"
flap_height::Float64 = 0.05
"the width of the 3 line kite laid flat"
width_3l = 20
# Ram air kite specific parameters
"filename of the foil shape [in dat format]"
foil_file::String = "data/ram_air_kite_foil.dat"
"top bridle points that are not on the kite body in CAD frame"
top_bridle_points::Vector{Vector{Float64}} = [[0.290199, 0.784697, -2.61305],
[0.392683, 0.785271, -2.61201],
[0.498202, 0.786175, -2.62148],
[0.535543, 0.786175, -2.62148]]
"bridle tether diameter [mm]"
bridle_tether_diameter = 2.0
"power tether diameter [mm]"
power_tether_diameter = 2.0
"steering tether diameter [mm]"
steering_tether_diameter= 1.0
"distance along normalized foil chord for the trailing edge deformation crease"
crease_frac = 0.82
"distances along normalized foil chord for bridle attachment points"
bridle_fracs::Vector{Float64} = [0.088, 0.31, 0.58, 0.93]
"the bridle frac index around which the kite twists"
fixed_index::Int = 1

"bridle line diameter [mm]"
d_line = 0
Expand Down Expand Up @@ -338,7 +337,7 @@
if ! isdir(DATA_PATH[1])
mkdir(DATA_PATH[1])
end
files = ["settings.yaml", "system.yaml", "settings_3l.yaml", "system_3l.yaml", "kite.obj"]
files = ["settings.yaml", "system.yaml", "settings_ram.yaml", "system_ram.yaml", "kite.obj"]
append!(files, extra_files)
copy_files("data", files)
set_data_path(joinpath(pwd(), "data"))
Expand Down Expand Up @@ -403,16 +402,20 @@
dict = YAML.load_file(joinpath(DATA_PATH[1], SETTINGS.sim_settings))
SE_DICT[1] = dict
# update the SETTINGS struct from the dictionary
update_settings(dict, ["system", "initial", "solver", "steering", "depower", "kite", "kps4", "bridle",
"kcu", "tether", "winch", "environment"])
oblig_sections = ["system", "initial", "solver", "kite", "tether", "winch", "environment"]
update_settings(dict, oblig_sections)
try
update_settings(dict, ["kps4_3l"])
catch
println("Warning! Key kps4_3l not found in $(joinpath(DATA_PATH[1], basename(project))) .")
update_settings(dict, ["steering", "depower", "kps4", "bridle", "kcu"])
catch e
if !(e isa KeyError)
rethrow(e)

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end
end
tmp = split(dict["system"]["log_file"], "/")
SETTINGS.log_file = joinpath(tmp[1], tmp[2])
SETTINGS.height_k = dict["kite"]["height"]
if haskey(dict["kite"], "height")
SETTINGS.height_k = dict["kite"]["height"]
end
end
return SETTINGS
end
Expand Down
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