[WORK IN PROGRESS]

V3Kite.jl

Julia package for simulation and validation of the TU Delft V3 ram-air kite.

Overview

V3Kite.jl provides calibration functions, model setup utilities, CSV replay capabilities, and simulation functions built on top of SymbolicAWEModels.jl for the TU Delft V3 kite.

Installation

Inside the REPL:

using Pkg
Pkg.add(url="https://github.com/OpenSourceAWE/V3Kite.jl")

Quick Start

using V3Kite
using GLMakie  # Optional, for visualization

# Create a simulation configuration
config = V3SimConfig(
    sim_time = 60.0,      # seconds
    fps = 60,             # frames per second
    v_wind = 10.0,        # wind speed [m/s]
    up = 40.0,            # depower percentage [0-100]
    us = 0.0,             # steering percentage [-100, 100]
    wing_type = REFINE,   # or QUATERNION
)

# Run simulation
sam, syslog, tape_data = run_v3_simulation(config)

# Visualize (requires GLMakie)
fig = plot(sam.sys_struct, syslog)
display(fig)

Calibration System

V3Kite uses a base + delta calibration pattern:

Official KCU Measurements (Base Values)

Parameter	Base Value	Description
V3_STEERING_L0_BASE	1.6 m	Neutral steering tape length
V3_DEPOWER_L0_BASE	0.2 m	Neutral depower tape length
V3_STEERING_GAIN	1.4 m	Max differential at 100% steering
V3_DEPOWER_GAIN	5.0 m	Depower range for 0-100%

Tape Reductions

Tape reductions (shortening of steering/depower tapes) are applied through V3GeomAdjustConfig, not through global constants. Use set_steering!/set_depower! with a config to apply reductions.

Conversion Functions

# Using base values (no reduction)
L_left, L_right = steering_percentage_to_lengths(50.0)
L_depower = depower_percentage_to_length(40.0)

# With custom l0_base (e.g. after reduction)
L_left, L_right = steering_percentage_to_lengths(50.0; l0_base=1.4)

# Inverse conversions
pct = steering_length_to_percentage(L_left, L_right)
pct = depower_length_to_percentage(L_depower)

Configuration

V3SimConfig

V3SimConfig(
    # Geometry files (relative to data directory)
    struc_yaml_path = "struc_geometry_depower0.0_tip0.4_te0.95.yaml",
    aero_yaml_path = "aero_geometry_depower0.0_tip0.4_te0.95.yaml",
    vsm_settings_path = "vsm_settings_reduced_for_coupling.yaml",

    # Simulation parameters
    sim_time = 60.0,           # Duration [s]
    fps = 60,                  # Logging frequency

    # Wind parameters
    v_wind = 10.0,             # Wind speed [m/s]
    upwind_dir = -90.0,        # Wind direction [deg]

    # Control parameters
    up = 40.0,                 # Depower [0-100%]
    us = 0.0,                  # Steering [-100, 100%]
    tether_length = 250.0,     # [m]

    # Model options
    wing_type = REFINE,        # REFINE or QUATERNION
    n_panels = 36,             # VSM panel count
    brake = true,              # Winch brake engaged
)

Data Directory

V3Kite includes bundled V3 kite geometry and configuration files. Access with:

data_path = v3_data_path()

Examples

Run the included example:

julia --project=examples examples/v3kite.jl

Visualization Extension

When GLMakie is loaded, additional visualization functions become available:

using V3Kite
using GLMakie

# Plot wing points in body frame
fig = plot_body_frame_local(sys_struct; dir=:front)

Testing

julia --project=. -e 'using Pkg; Pkg.test()'

Related Packages

• SymbolicAWEModels.jl - Symbolic kite modeling
• VortexStepMethod.jl - Aerodynamic calculations
• KiteUtils.jl - Shared utilities

License

MPL-2.0