<html lang="en"><head><meta charset="UTF-8"/><meta name="viewport" content="width=device-width, initial-scale=1.0"/><title>Home · WinchControllers.jl</title><meta name="title" content="Home · WinchControllers.jl"/><meta property="og:title" content="Home · WinchControllers.jl"/><meta property="twitter:title" content="Home · WinchControllers.jl"/><meta name="description" content="Documentation for WinchControllers.jl."/><meta property="og:description" content="Documentation for WinchControllers.jl."/><meta property="twitter:description" content="Documentation for WinchControllers.jl."/><meta property="og:url" content="https://OpenSourceAWE.github.io/WinchControllers.jl/"/><meta property="twitter:url" content="https://OpenSourceAWE.github.io/WinchControllers.jl/"/><link rel="canonical" href="https://OpenSourceAWE.github.io/WinchControllers.jl/"/><script data-outdated-warner src="assets/warner.js"></script><link 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class="docs-icon fa-brands"></span><span class="docs-label is-hidden-touch">GitHub</span></a><a class="docs-navbar-link" href="https://github.com/OpenSourceAWE/WinchControllers.jl/blob/main/docs/src/index.md#" title="Edit source on GitHub"><span class="docs-icon fa-solid"></span></a><a class="docs-settings-button docs-navbar-link fa-solid fa-gear" id="documenter-settings-button" href="#" title="Settings"></a><a class="docs-article-toggle-button fa-solid fa-chevron-up" id="documenter-article-toggle-button" href="javascript:;" title="Collapse all docstrings"></a></div></header><article class="content" id="documenter-page"><h1 id="WinchControllers"><a class="docs-heading-anchor" href="#WinchControllers">WinchControllers</a><a id="WinchControllers-1"></a><a class="docs-heading-anchor-permalink" href="#WinchControllers" title="Permalink"></a></h1><p>Documentation for the package <a href="https://github.com/aenarete/WinchControllers.jl">WinchControllers</a>.</p><p>This package is part of Julia Kite Power Tools, which consist of the following packages:</p><p><img src="kite_power_tools.png" alt="Julia Kite Power Tools"/></p><h2 id="Goals-of-this-package"><a class="docs-heading-anchor" href="#Goals-of-this-package">Goals of this package</a><a id="Goals-of-this-package-1"></a><a class="docs-heading-anchor-permalink" href="#Goals-of-this-package" title="Permalink"></a></h2><p>The goal of this package is to provide controllers for winches that consist of a motor/generator connected to a drum (with or without gearbox). On the drum is a tether that is connected to a load or a kite. Currently operation in air is assumed, but the package could also be extended for winches connected to under-water cables. While the main use case of the author are airborne wind energy systems, I am open to add features needed for other use cases.</p><p><strong>Implemented features:</strong></p><ul><li>lower force control (assure that there is always a minimal cable tension)</li><li>upper force control (keep the maximal force limited)</li><li>reel-out speed control proportional to the square root of the force (other relationships can easily be added)</li><li>control of asynchronous motors/ generators</li><li>speed control</li></ul><p><strong>Planned features</strong></p><ul><li>support of torque controlled winches</li><li>length control (position control)</li><li>integration of a quasi-steady tether model</li><li>auto-tuning of the controller</li></ul><h2 id="Installation"><a class="docs-heading-anchor" href="#Installation">Installation</a><a id="Installation-1"></a><a class="docs-heading-anchor-permalink" href="#Installation" title="Permalink"></a></h2><p>Install <a href="https://ufechner7.github.io/2024/08/09/installing-julia-with-juliaup.html">Julia 1.10</a> or later, if you haven't already. On Linux, make sure that Python3 and Matplotlib are installed:</p><pre><code class="nohighlight hljs">sudo apt install python3-matplotlib</code></pre><p>Before installing this software it is suggested to create a new project, for example like this:</p><pre><code class="language-bash hljs">mkdir test
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