Remove the winch controller and use WinchControllers instead (#45)

* Cleanup

* Tests pass

* Add NLSolversBase

* Fix examples

* Cleanup

* Cleanup

* Cleanup

* Bump version

* Update default manifest

* Add file to .gitignore

* Use aarch64 for macOS

* Disable testing on macOS

---------

Co-authored-by: Uwe Fechner <u.fechner-1@tudelft.nl>

Author: ufechner7

.github/workflows/CI.yml

@@ -23,7 +23,6 @@ jobs:
         os:
           - ubuntu-latest
           - windows-latest
-          - macos-latest
         arch:
           - x64
 

.gitignore

@@ -26,3 +26,4 @@ Manifest-v1.11.toml.bak
 bin/kps-image-1.11-main.so.bak
 bin/kps-image-1.10-main.so.bak
 Manifest-v1.10.toml.bak
+bin/kps-image-1.11-new_wc.so

Manifest-v1.11.toml.default

@@ -2,7 +2,7 @@
 
 julia_version = "1.11.5"
 manifest_format = "2.0"
-project_hash = "521c3e5849054b5e68ac58611e1884983b9e3ea1"
+project_hash = "f1351aea766f52cecef33cd876917d5066f27a0b"
 
 [[deps.Accessors]]
 deps = ["CompositionsBase", "ConstructionBase", "Dates", "InverseFunctions", "MacroTools"]
@@ -919,6 +919,12 @@ git-tree-sha1 = "b1be2855ed9ed8eac54e5caff2afcdb442d52c23"
 uuid = "ea10d353-3f73-51f8-a26c-33c1cb351aa5"
 version = "1.4.2"
 
+[[deps.WinchControllers]]
+deps = ["DocStringExtensions", "KiteUtils", "LinearAlgebra", "NLsolve", "Parameters", "Pkg", "StaticArrays", "Statistics", "StructTypes", "Timers", "WinchModels", "YAML"]
+git-tree-sha1 = "383098982c16281992e97adf0054b61068096de9"
+uuid = "9e74470a-8ab1-4f32-b878-f32ebd236ea2"
+version = "0.5.2"
+
 [[deps.WinchModels]]
 deps = ["DiscretePIDs", "KiteUtils", "Parameters"]
 git-tree-sha1 = "75223b290e828f815b9d247dec304154aa4efbaa"

Project.toml

@@ -7,6 +7,7 @@ version = "0.2.16"
 DiscretePIDs = "c1363496-6848-4723-8758-079b737f6baf"
 JLD2 = "033835bb-8acc-5ee8-8aae-3f567f8a3819"
 KiteUtils = "90980105-b163-44e5-ba9f-8b1c83bb0533"
+NLSolversBase = "d41bc354-129a-5804-8e4c-c37616107c6c"
 NLsolve = "2774e3e8-f4cf-5e23-947b-6d7e65073b56"
 Observables = "510215fc-4207-5dde-b226-833fc4488ee2"
 Parameters = "d96e819e-fc66-5662-9728-84c9c7592b0a"
@@ -18,6 +19,7 @@ StaticArrays = "90137ffa-7385-5640-81b9-e52037218182"
 StatsBase = "2913bbd2-ae8a-5f71-8c99-4fb6c76f3a91"
 StructTypes = "856f2bd8-1eba-4b0a-8007-ebc267875bd4"
 Timers = "21f18d07-b854-4dab-86f0-c15a3821819a"
+WinchControllers = "9e74470a-8ab1-4f32-b878-f32ebd236ea2"
 WinchModels = "7dcfa46b-7979-4771-bbf4-0aee0da42e1f"
 YAML = "ddb6d928-2868-570f-bddf-ab3f9cf99eb6"
 
@@ -33,6 +35,7 @@ KitePodModels = "0.3.8"
 KiteUtils = "0.10.7"
 KiteViewers = "0.4.23"
 LaTeXStrings = "1.4"
+NLSolversBase = "~7.8.3"
 NLsolve = "4.5"
 NativeFileDialog = "0.2.1"
 NonlinearSolve = "4.5.0"
@@ -48,6 +51,7 @@ StatsBase = "0.34"
 StructTypes = "1.10"
 Test = "1.10, 1.11"
 Timers = "0.1"
+WinchControllers = "0.5.2"
 WinchModels = "0.3"
 YAML = "0.4.9"
 julia = "1.10, 1.11"

README.md

@@ -86,29 +86,9 @@ menu()
 ```
 
 ## This package provides
-### Utility functions
-```
-saturate(value, min_, max_)
-```
-Calculate a saturated value, that stays within the given limits.
-```
-wrap2pi(angle)
-```
-Convert an angle, given in radians in an infinite range to the range from -pi to pi
-
-### Generic control components
-This package contains some generic control components that are documented [here](./docs/components.md).
 
 ### Types that are not generic
 ```julia
-CalcVSetIn              # component that calculates the set speed using soft switching
-SpeedController         # controller for normal operation
-LowerForceController    # controller when force near lower limit
-UpperForceController    # controller when force near upper limit
-WinchController         # winch controller, combining the three controllers above
-WCSettings              # settings of the winch controller
-WinchModel              # simplified model for unit testing
-
 FlightPathController    # represents the flight path controller
 FPCSettings             # settings of the flight path controller
 FlightPathCalculator    # calculate the planned flight path
@@ -137,32 +117,6 @@ The control commands are usually received from the FlightPathPlanner, the output
 ## Scientific background
 [Flight path control of kite power systems in a turbulent wind environment](https://ieeexplore.ieee.org/document/7525563)
 
-## Winch controller
-For a kite power system, the reel-out speed of the winch must be controlled such that the
-maximal tether force is never exceeded, while the reel-out speed should be optimized for
-maximal power over the full cycle at wind speeds below rated wind speed. To keep the
-kite controllable, also a minimal tether force limit has to be kept. Depending on the mode of operation, one of the following three controllers is used:
-### Speed Controller
-<p align="center"><img src="./docs/speed_controller.png" width="500" /></p>
-
-### Lower Force Controller
-<p align="center"><img src="./docs/lower_force_controller.png" width="500" /></p>
-
-### Upper Force Controller
-<p align="center"><img src="./docs/upper_force_controller.png" width="500" /></p>
-
-### WinchController - Usage -
-The WinchController combines the three controllers, mentioned above.
-It can be operated in two modes of operation:
-- position control
-- power production
-
-In position control mode it requires a set speed as input. Upper and lower force limits
-are respected.
-In power production mode it does not require any input but the measured tether force.
-Output is the set speed of the asynchronous motor.
-
-For a usage example look at the script [test_winchcontroller.jl](./test/test_winchcontroller.jl) .
 
 ### Flight Path Calculator (FPCA)
 The FPCA is a stateless component that calculates the coordinates of the attractor points and turn points that