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Merged
1-Bart-1 merged 5 commits into from
Aug 26, 2025
Merged

Add tether_moment and tether_force fields to syssstate #97

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e50f534
Add teether force and moment fields
1-Bart-1 Aug 26, 2025
0a7d57a
Tests pass
1-Bart-1 Aug 26, 2025
8dbc7e9
Backwards compatible name change
1-Bart-1 Aug 26, 2025
3490b9d
Backwards compatible name change
1-Bart-1 Aug 26, 2025
ce80bec
Address requested changes
1-Bart-1 Aug 26, 2025
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6 changes: 6 additions & 0 deletions CHANGELOG.md
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@@ -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
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2 changes: 1 addition & 1 deletion Project.toml
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@@ -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"
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Binary file modified data/Test_flight.arrow
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8 changes: 4 additions & 4 deletions data/settings.yaml
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Expand Up @@ -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
Expand Down Expand Up @@ -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
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4 changes: 2 additions & 2 deletions data/settings2.yaml
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Expand Up @@ -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
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2 changes: 1 addition & 1 deletion data/settings_ram.yaml
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Expand Up @@ -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
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22 changes: 13 additions & 9 deletions src/_demo_syslog.jl
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Expand Up @@ -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)
Expand All @@ -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)
Expand Down Expand Up @@ -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
Expand All @@ -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
Expand Down Expand Up @@ -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
16 changes: 8 additions & 8 deletions src/_load_log.jl
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Expand Up @@ -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
4 changes: 3 additions & 1 deletion src/_log.jl
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Expand Up @@ -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
Expand All @@ -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
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4 changes: 3 additions & 1 deletion src/_logger.jl
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Expand Up @@ -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)
Expand All @@ -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)
Expand Down
4 changes: 3 additions & 1 deletion src/_save_log.jl
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Expand Up @@ -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)
Expand All @@ -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)
Expand Down
4 changes: 3 additions & 1 deletion src/_show.jl
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Expand Up @@ -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)
Expand All @@ -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)
Expand Down
16 changes: 8 additions & 8 deletions src/_syslog.jl
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Expand Up @@ -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
8 changes: 6 additions & 2 deletions src/_sysstate.jl
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Expand Up @@ -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]"
Expand Down Expand Up @@ -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]"
Expand Down
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