diff --git a/dev/.documenter-siteinfo.json b/dev/.documenter-siteinfo.json index 8dfaec0..a2aff13 100644 --- a/dev/.documenter-siteinfo.json +++ b/dev/.documenter-siteinfo.json @@ -1 +1 @@ -{"documenter":{"julia_version":"1.11.1","generation_timestamp":"2024-10-23T11:25:43","documenter_version":"1.7.0"}} \ No newline at end of file +{"documenter":{"julia_version":"1.11.1","generation_timestamp":"2024-11-09T12:01:55","documenter_version":"1.7.0"}} \ No newline at end of file diff --git a/dev/functions/index.html b/dev/functions/index.html index 1bddf82..d14aad0 100644 --- a/dev/functions/index.html +++ b/dev/functions/index.html @@ -1,2 +1,2 @@ -Functions · KitePodModels.jl

Initialization and update

KitePodModels.init_kcu! — Method
init_kcu!(kcu::KCU, set::KiteUtils.Settings)

Inititalze the model of the kite control unit (KCU). The actual and the set values of depower are initialized to set.depower_offset * 0.01, the actual and the set values of steering to zero.

source
KitePodModels.on_timer — Function
on_timer(kcu::KCU, dt = 0.0)

Must be called at each clock tick. Parameter: Δt in seconds Updates the current values of steering and depower depending on the set values and the last value. If dt == 0.0, then it will be set to 1.0 / kcu.set.sample_freq .

source

Input and Output

KitePodModels.set_depower_steering — Method
set_depower_steering(kcu::KCU, depower, steering)

Set the values of depower and steering. The value for depower must be between 0.0 and 1.0, the value for steering between -1.0 and +1.0 . The steering value is multiplied by the constant kcu.set.cs_4p.

source

Conversions

KitePodModels.calc_alpha_depower — Method
calc_alpha_depower(kcu::KCU, rel_depower)

Calculate the change of the angle between the kite and the last tether segment [rad] as function of the actual rel_depower value.

Returns nothing in case of error.

source
+Functions · KitePodModels.jl

Initialization and update

KitePodModels.init_kcu! — Method
init_kcu!(kcu::KCU, set::KiteUtils.Settings)

Inititalze the model of the kite control unit (KCU). The actual and the set values of depower are initialized to set.depower_offset * 0.01, the actual and the set values of steering to zero.

source
KitePodModels.on_timer — Function
on_timer(kcu::KCU, dt = 0.0)

Must be called at each clock tick. Parameter: Δt in seconds Updates the current values of steering and depower depending on the set values and the last value. If dt == 0.0, then it will be set to 1.0 / kcu.set.sample_freq .

source

Input and Output

KitePodModels.set_depower_steering — Method
set_depower_steering(kcu::KCU, depower, steering)

Set the values of depower and steering. The value for depower must be between 0.0 and 1.0, the value for steering between -1.0 and +1.0 . The steering value is multiplied by the constant kcu.set.cs_4p.

source

Conversions

KitePodModels.calc_alpha_depower — Method
calc_alpha_depower(kcu::KCU, rel_depower)

Calculate the change of the angle between the kite and the last tether segment [rad] as function of the actual rel_depower value.

Returns nothing in case of error.

source
diff --git a/dev/index.html b/dev/index.html index 79264d1..a32c289 100644 --- a/dev/index.html +++ b/dev/index.html @@ -1,3 +1,3 @@ Home · KitePodModels.jl

KitePodModels

Documentation for KitePodModels.

Background

A kite pod or kite control unit consists of one or two electric miniatur winches, that pull on two or three lines (attached to the kite) and allow to steer the kite and to change the angle of attack and thus the lift.

This software acts as controller: It has two inputs, the set values, and two outputs, the actual values.

Two P controllers are used.

The geometric nonlinearity due to the change of the effectiv drum diameter of the drum with the depower tape is taken into account.

Installation

Download Julia 1.9 or later, if you haven't already. You can add KitePodModels from Julia's package manager, by typing 

using Pkg
-pkg"add KitePodModels"

at the Julia prompt.

If you are using Windows, it is suggested to install git and bash, too. This is explained for example here: Julia on Windows .

Testing

You can run the unit test suite with the following command:

pkg"test KitePodModels"

Provides

  • functions to initialize the simulator, to update the set values and to read the actual values
  • a function on_timer() that needs to be called once per time step
  • a function to convert the actual depower value into change of angle of attack

Step response

Step Response

Click on Functions on the left to see the exported functions.

Author: Uwe Fechner (uwe.fechner.msc@gmail.com)

+pkg"add KitePodModels"

at the Julia prompt.

If you are using Windows, it is suggested to install git and bash, too. This is explained for example here: Julia on Windows .

Testing

You can run the unit test suite with the following command:

pkg"test KitePodModels"

Provides

Step response

Step Response

Click on Functions on the left to see the exported functions.

Author: Uwe Fechner (uwe.fechner.msc@gmail.com)

diff --git a/dev/objects.inv b/dev/objects.inv index 08a37bf..32dc562 100644 Binary files a/dev/objects.inv and b/dev/objects.inv differ diff --git a/dev/parameters/index.html b/dev/parameters/index.html index bfdc7f5..5ae671b 100644 --- a/dev/parameters/index.html +++ b/dev/parameters/index.html @@ -9,4 +9,4 @@ steering_gain: 3.0 depower: - depower_offset: 23.6 # at rel_depower=0.236 the kite is fully powered [%] + depower_offset: 23.6 # at rel_depower=0.236 the kite is fully powered [%] diff --git a/dev/types/index.html b/dev/types/index.html index 6d28965..2493984 100644 --- a/dev/types/index.html +++ b/dev/types/index.html @@ -1,2 +1,2 @@ -Types · KitePodModels.jl

Exported Types

Struct KCU

KitePodModels.KCU — Type
mutable struct KCU

Stuct that is storing the settings and the state of the kite control unit.

source

This struct stores the state of the KCU model. Only in unit tests it is allowed to access the members directly, otherwise use the input and output functions.

+Types · KitePodModels.jl

Exported Types

Struct KCU

KitePodModels.KCU — Type
mutable struct KCU

Stuct that is storing the settings and the state of the kite control unit.

source

This struct stores the state of the KCU model. Only in unit tests it is allowed to access the members directly, otherwise use the input and output functions.