KPS5 model

data/settings.yaml

@@ -68,18 +68,6 @@ kps4:
     smc:           0.0      # steering moment coefficient                 [-]
     cmq:           0.0      # pitch rate dependant moment coefficient     [-]
     cord_length:   2.0      # average aerodynamic cord length of the kite [m]
-
-kps4_3l:
-    radius: 2.0                    # the radius of the circle shape on which the kite lines, viewed 
-                                    #     from the front                                              [m]
-    bridle_center_distance: 4.0     # the distance from point the center bridle connection point of 
-                                    #     the middle line to the kite                                 [m]
-    middle_length:          1.5     # the cord length of the kite in the middle                       [m]
-    tip_length:             0.62     # the cord length of the kite at the tips                         [m]
-    min_steering_line_distance: 1.0 # the distance between the left and right steering bridle         [m]
-                                    #     line connections on the kite that are closest to each other [m]
-    width_3l:               4.1    # width of the kite                                               [m]
-    aero_surfaces:          3      # the number of aerodynamic surfaces to use per mass point        [-]
 
 bridle:
     d_line:    2.5            # bridle line diameter                                                 [mm]

data/settings_kps5.yaml

@@ -0,0 +1,142 @@
+system:
+    log_file: "data/log_8700W_8ms" # filename without extension  [replay only]
+                                   #   use / as path delimiter, even on Windows 
+    log_level:      2              # 0: no logging 
+    time_lapse:   1.0              # relative replay speed
+    sim_time:   5                  # simulation time             [sim only]
+    segments:       6              # number of tether segments
+    sample_freq:   20              # sample frequency in Hz
+    zoom:        0.03              # zoom factor for the system view
+    kite_scale:   3.0              # relative zoom factor for the 4 point kite
+    fixed_font: ""                 # name or filepath+filename of alternative fixed pitch font, e.g. Liberation Mono
+
+initial:
+    l_tether: 10       # initial tether length       [m]
+    elevation: 45        # initial elevation angle   [deg]
+    v_reel_out: 0.5        # initial reel out speed    [m/s]
+    depower:   25.0        # initial depower settings    [%]
+
+solver:
+    abs_tol: 0.0006        # absolute tolerance of the DAE solver [m, m/s]
+    rel_tol: 0.001         # relative tolerance of the DAE solver [-]
+    solver: "DFBDF"        # DAE solver, IDA or DFBDF or DImplicitEuler
+    linear_solver: "GMRES" # can be GMRES or LapackDense or Dense (only for IDA)
+    max_order: 4           # maximal order, usually between 3 and 5 (IDA and DFBDF)
+    max_iter:  200         # max number of iterations of the steady-state-solver
+
+steering:
+    c0:       0.0          # steering offset   -0.0032           [-]
+    c_s:      2.59         # steering coefficient one point model; 2.59 was 0.6; TODO: check if it must be divided by kite_area
+    c2_cor:   0.93         # correction factor one point model
+    k_ds:     1.5          # influence of the depower angle on the steering sensitivity
+    delta_st: 0.02         # steering increment (when pressing RIGHT)
+    max_steering: 16.834   # max. steering angle of the side planes for four point model [degrees]
+    cs_4p:  1.0            # correction factor for the steering coefficient of the four point model
+
+depower:
+    alpha_d_max:    31.0   # max depower angle                            [deg]
+    depower_offset: 23.6   # at rel_depower=0.236 the kite is fully powered [%]
+
+kite:
+    model: "data/kite.obj" # 3D model of the kite
+    physical_model: "KPS4" # name of the kite model to use (KPS3 or KPS4)
+    version: 1             # version of the model to use
+    mass:  6.2             # kite mass incl. sensor unit [kg]
+    area: 10.18            # projected kite area         [m²]
+    rel_side_area: 30.6    # relative side area           [%]
+    height_k: 2.23           # height of the kite           [m]
+    alpha_cl:  [-180.0, -160.0, -90.0, -20.0, -10.0,  -5.0,  0.0, 20.0, 40.0, 90.0, 160.0, 180.0]
+    cl_list:   [   0.0,    0.5,   0.0,  0.08, 0.125,  0.15,  0.2,  1.0,  1.0,  0.0,  -0.5,   0.0]
+    alpha_cd:  [-180.0, -170.0, -140.0, -90.0, -20.0, 0.0, 20.0, 90.0, 140.0, 170.0, 180.0]
+    cd_list:   [   0.5,    0.5,    0.5,   1.0,   0.2, 0.1,  0.2,  1.0,   0.5,   0.5,   0.5]
+
+kps4:
+    width:         5.77     # width of the kite                      [m]
+    alpha_zero:    4.0      # should be 4 .. 10                [degrees]
+    alpha_ztip:   10.0      #                                  [degrees]
+    m_k:           0.2      # relative nose distance; increasing m_k increases C2 of the turn-rate law
+    rel_nose_mass: 0.47     # relative nose mass
+    rel_top_mass:  0.4      # mass of the top particle relative to the sum of top and side particles
+    smc:           0.0      # steering moment coefficient                 [-]
+    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]
+    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
+
+bridle:
+    d_line:    2.5            # bridle line diameter                                                 [mm]
+    l_bridle: 33.4            # sum of the lengths of the bridle lines                                [m]
+    h_bridle:  4.9            # height of bridle                                                      [m]
+    rel_compr_stiffness: 0.25 # relative compression stiffness of the kite springs                    [-]
+    rel_damping: 6.0          # relative damping of the kite spring (relative to main tether)         [-]
+
+kcu:
+    kcu_model: "KCU1"            # name of the kite control unit model, KCU1 or KCU2
+    kcu_mass: 8.4                # mass of the kite control unit                       [kg]
+    kcu_diameter: 0.4            # diameter of the KCU for drag calculation            [m]
+    cd_kcu: 0.47  #nonzero, changed form 0.0 tp 0.47                  # drag coefficient of the KCU                         [-]  
+    power2steer_dist: 1.3        #                                                     [m]
+    depower_drum_diameter: 0.069 #                                                     [m]
+    tape_thickness: 0.0006       #                                                     [m]
+    v_depower: 0.075             # max velocity of depowering in units per second (full range: 1 unit)
+    v_steering: 0.2              # max velocity of steering in units per second   (full range: 2 units)
+    depower_gain: 3.0            # 3.0 means: more than 33% error -> full speed
+    steering_gain: 3.0
+
+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]
+    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
+
+winch:
+    winch_model: "AsyncMachine" # or TorqueControlledMachine
+    max_force: 4000        # maximal (nominal) tether force; short overload allowed [N]
+    v_ro_max:  8.0         # maximal reel-out speed                          [m/s]
+    v_ro_min: -8.0         # minimal reel-out speed (=max reel-in speed)     [m/s]
+    drum_radius: 0.1615    # radius of the drum                              [m]
+    max_acc: 4.0           # maximal acceleration of the winch               [m/s²]
+    gear_ratio: 6.2        # gear ratio of the winch                         [-]   
+    inertia_total: 0.204   # total inertia, as seen from the motor/generator [kgm²]
+    f_coulomb: 122.0       # coulomb friction                                [N]
+    c_vf: 30.6             # coefficient for the viscous friction            [Ns/m]
+    p_speed: 10000.0       # proportional gain of the winch speed controller [-]
+    i_speed:  2500.0       # integral gain of the winch speed controller     [-]
+
+environment:
+    v_wind: 9.5            # wind speed at reference height          [m/s]
+    upwind_dir: -180        # upwind direction  (0 is form North, clockwise positive)  [deg]
+    temp_ref: 15.0           # temperature at reference height         [°C]
+    height_gnd: 0.0          # height of groundstation above see level [m]
+    h_ref:  6.0              # reference height for the wind speed     [m]
+
+    rho_0:  1.225            # air density at zero height and 15 °C    [kg/m³]
+    alpha:  0.08163          # exponent of the wind profile law
+    z0:     0.0002           # surface roughness                       [m]
+    profile_law: 3           # 1=EXP, 2=LOG, 3=EXPLOG, 4=FAST_EXP, 5=FAST_LOG, 6=FAST_EXPLOG
+    # the following parameters are for calculating the turbulent wind field using the Mann model
+    use_turbulence: 0.0      # turbulence intensity relative to Cabauw, NL
+    v_wind_gnds: [3.483, 5.324, 8.163] # wind speeds at ref height for calculating the turbulent wind field [m/s]
+    avg_height: 200.0        # average height during reel out          [m]
+    rel_turbs:   [0.342, 0.465, 0.583] # relative turbulence at the v_wind_gnds
+    i_ref: 0.14              # is the expected value of the turbulence intensity at 15 m/s.
+    v_ref: 42.9              # five times the average wind speed in m/s at hub height over the full year    [m/s]
+                             # Cabauw: 8.5863 m/s * 5.0 = 42.9 m/s
+    height_step: 2.0         # use a grid with 2m resolution in z direction                                 [m]
+    grid_step:   2.0         # grid resolution in x and y direction                                         [m] 
+
+
+
+
+    # needed:   
+    # springcomstamt_bridle
+    # springcomstamt_tether
+    # rel_damping_kite:

data/system_kps5.yaml

@@ -0,0 +1,3 @@
+system:
+    sim_settings: "settings_kps5.yaml"  # simulator settings
+