Merge branch 'main' into feat/omega

Author: 1-Bart-1

NEWS.md

@@ -2,7 +2,7 @@
 This project is based on version 1.0 of the Python project [Vortex-Step-Method](https://github.com/ocayon/Vortex-Step-Method)
 
 ## Noteworthy Differences
-- implemented in Julia, therefore about 20 times faster
+- implemented in Julia, therefore about 50 times faster
 - an importer for `.obj` wing geometry files was added (see: [#10](https://github.com/Albatross-Kite-Transport/VortexStepMethod.jl/issues/10))
 - automatic creation of polars using Xfoil.jl was added (see: [#43](https://github.com/Albatross-Kite-Transport/VortexStepMethod.jl/pull/43))
 - a ram-air kite example was added

Project.toml

@@ -1,7 +1,7 @@
 name = "VortexStepMethod"
 uuid = "ed3cd733-9f0f-46a9-93e0-89b8d4998dd9"
 authors = ["1-Bart-1 <[email protected]>"]
-version = "0.1.2"
+version = "1.0.0"
 
 [deps]
 Colors = "5ae59095-9a9b-59fe-a467-6f913c188581"
@@ -31,6 +31,7 @@ NonlinearSolve = "4"
 StaticArrays = "1"
 Statistics = "1"
 Timers = "0.1"
+julia = "1.10, 1.11"
 
 [extras]
 CSV = "336ed68f-0bac-5ca0-87d4-7b16caf5d00b"

README.md

@@ -71,11 +71,12 @@ To browse the code, it is suggested to use [VSCode](https://code.visualstudio.co
 Three kinds of input data is needed:
 
 - The wing geometry, defined by section:
-  - rec wing two section, two point + polars
-  - kite: model of polars included, n sections to define
+  - for the rectangualar wing two sections, two points in CAD reference frame + polars  
+    (three different options to provide them) per section
+  - kite wing: model of polars included, n sections to define
 
-- The airflow:
-  - v_app vector
+- The airflow and turn rate:
+  - `v_app` vector and `omega` (turn rate) vector in Kite Body (KB) reference frame
 
 - The configuration:
   - how many panels  
@@ -90,7 +91,7 @@ Apart from the wing geometry there is no input file yet, the input has to be def
 n_panels = 20          # Number of panels
 span = 20.0            # Wing span [m]
 chord = 1.0            # Chord length [m]
-v_a = 20.0            # Magnitude of inflow velocity [m/s]
+v_a = 20.0             # Magnitude of inflow velocity [m/s]
 density = 1.225        # Air density [kg/m³]
 alpha_deg = 30.0       # Angle of attack [degrees]
 alpha = deg2rad(alpha_deg)

docs/make.jl

@@ -20,6 +20,7 @@ makedocs(;
         "How it works" => "explanation.md",
         "Exported Functions" => "functions.md",
         "Exported Types" => "types.md",
+        "Reference Frames" => "reference_frames.md"
     ],
 )
 

docs/src/index.md

@@ -19,6 +19,10 @@ if you haven't already. On Linux, make sure that Python3, Matplotlib and LaTeX a
 sudo apt install python3-matplotlib
 sudo apt install texlive-full texlive-fonts-extra cm-super
 ```
+Furthermore, the package `TestEnv` must be installed globally:
+```
+julia -e 'using Pkg; Pkg.add("TestEnv")'
+```
 
 Before installing this software it is suggested to create a new project, for example like this:
 ```bash
@@ -68,11 +72,12 @@ To browse the code, it is suggested to use [VSCode](https://code.visualstudio.co
 Three kinds of input data is needed:
 
 - The wing geometry, defined by section:
-  - rec wing two section, two point + polars
-  - kite: model of polars included, n sections to define
+  - for the rectangualar wing two sections, two points in CAD reference frame + polars  
+    (three different options to provide them) per section
+  - kite wing: model of polars included, n sections to define
 
-- The airflow:
-  - v_app vector
+- The airflow and turn rate:
+  - `v_app` vector and `omega` (turn rate) vector in Kite Body (KB) reference frame
 
 - The configuration:
   - how many panels  
@@ -87,7 +92,7 @@ Apart from the wing geometry there is no input file yet, the input has to be def
 n_panels = 20          # Number of panels
 span = 20.0            # Wing span [m]
 chord = 1.0            # Chord length [m]
-v_a = 20.0            # Magnitude of inflow velocity [m/s]
+v_a = 20.0             # Magnitude of inflow velocity [m/s]
 density = 1.225        # Air density [kg/m³]
 alpha_deg = 30.0       # Angle of attack [degrees]
 alpha = deg2rad(alpha_deg)
@@ -99,11 +104,11 @@ wing = Wing(n_panels, spanwise_panel_distribution="linear")
 add_section!(wing, 
     [0.0, span/2, 0.0],    # Left tip LE 
     [chord, span/2, 0.0],  # Left tip TE
-    "inviscid")
+    :inviscid)
 add_section!(wing, 
     [0.0, -span/2, 0.0],   # Right tip LE
     [chord, -span/2, 0.0], # Right tip TE
-    "inviscid")
+    :inviscid)
 
 # Step 3: Initialize aerodynamics
 wa = BodyAerodynamics([wing])

docs/src/reference_frames.md

@@ -0,0 +1,35 @@
+## Reference Frames
+
+### Introduction
+Reference frames are needed for following purposes:
+- for creating a CAD model of the wing (or the wings)
+- for defining the apparent wind speed vector $v_a$
+- for calculating the lift and drag and side force coefficients
+- for calculating the resulting forces and moments
+
+### CAD reference frame (CAD)
+A geometric model is always created using the CAD reference frame.
+It can have any origin (with respect to the kite), but usually either the center of gravity of the body or the bridle point/ Kite Control Unit is used. 
+
+- Y defined spanwise, looking at the kite from the front (so seeing the LE first) the front left is positive.
+- X is defined chord wise, from LE to TE, positive.
+- Z is defined as positive upwards.
+
+### Kite Body reference frame (KB)
+This is a body-fixed reference frame.
+- Y defined spanwise, looking at the kite from the front (so seeing the LE first) the front left is positive.
+- X is defined chord wise, from LE to TE, positive.
+- Z is defined as the cross product of Y and X
+
+The origin of the kite reference frame can be defined by the user by calling the function `init_kb(origin::MVec3)` where the origin must be defined in the `CAD` reference frame.
+
+This reference frame is different from the kite reference frame **K** used in `KiteModels.jl` and `KiteUtils.jl`.
+
+## The turn rates
+The turn rates $\mathrm{omega} = [\mathrm{omega_x}, \mathrm{omega_y} ,\mathrm{omega_z}]$ are defined in the **KB** reference frame. The unit of the components is $\mathrm{rad}~\mathrm{s^{-1}}$.
+
+## Input and output
+- when running a simulation, the turnrate of the kite must be provided on each time step
+- the apparent wind speed vector `v_a` is defined in the **KB** reference frame
+- the resulting forces are defined in the **KB** reference frame
+- the **CL**, **CD**, **CS** and the resulting moments and moment coefficients are defined in the **KB** reference frame