From ba52aad393c8462838a305e36e6edf8b57d61211 Mon Sep 17 00:00:00 2001 From: "Documenter.jl" Date: Wed, 23 Oct 2024 11:25:47 +0000 Subject: [PATCH] build based on 41e36cd --- dev/.documenter-siteinfo.json | 2 +- dev/functions/index.html | 2 +- dev/index.html | 2 +- dev/objects.inv | Bin 568 -> 568 bytes dev/parameters/index.html | 2 +- dev/search_index.js | 2 +- dev/types/index.html | 2 +- 7 files changed, 6 insertions(+), 6 deletions(-) diff --git a/dev/.documenter-siteinfo.json b/dev/.documenter-siteinfo.json index 9912bfc..8dfaec0 100644 --- a/dev/.documenter-siteinfo.json +++ b/dev/.documenter-siteinfo.json @@ -1 +1 @@ -{"documenter":{"julia_version":"1.11.1","generation_timestamp":"2024-10-23T09:42:32","documenter_version":"1.7.0"}} \ No newline at end of file +{"documenter":{"julia_version":"1.11.1","generation_timestamp":"2024-10-23T11:25:43","documenter_version":"1.7.0"}} \ No newline at end of file diff --git a/dev/functions/index.html b/dev/functions/index.html index 5c6ad40..1bddf82 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 .

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 f4f139d..79264d1 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 f0593294bffccfd9c9471d87362b524685d2d132..08a37bfce2c4cc58ae676c0b1093371cf0fa4d13 100644 GIT binary patch delta 12 TcmdnNvV&!U2cy|W&-aV~9X14V delta 12 TcmdnNvV&!U2czjm&-aV~9WexP diff --git a/dev/parameters/index.html b/dev/parameters/index.html index b3562a3..bfdc7f5 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/search_index.js b/dev/search_index.js index b5b3c75..98e0bc6 100644 --- a/dev/search_index.js +++ b/dev/search_index.js @@ -1,3 +1,3 @@ var documenterSearchIndex = {"docs": -[{"location":"functions/","page":"Functions","title":"Functions","text":"CurrentModule = KitePodModels","category":"page"},{"location":"functions/#Initialization-and-update","page":"Functions","title":"Initialization and update","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"init_kcu!(kcu::KCU, set::KiteUtils.Settings)\non_timer(kcu::KCU, dt = 0.0)","category":"page"},{"location":"functions/#KitePodModels.init_kcu!-Tuple{KCU, Settings}","page":"Functions","title":"KitePodModels.init_kcu!","text":"init_kcu!(kcu::KCU, set::KiteUtils.Settings)\n\nInititalze 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. \n\n\n\n\n\n","category":"method"},{"location":"functions/#KitePodModels.on_timer","page":"Functions","title":"KitePodModels.on_timer","text":"on_timer(kcu::KCU, dt = 0.0)\n\nMust 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 .\n\n\n\n\n\n","category":"function"},{"location":"functions/#Input-and-Output","page":"Functions","title":"Input and Output","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"set_depower_steering(kcu::KCU, depower, steering)\nget_depower(kcu::KCU)\nget_steering(kcu::KCU)","category":"page"},{"location":"functions/#KitePodModels.set_depower_steering-Tuple{KCU, Any, Any}","page":"Functions","title":"KitePodModels.set_depower_steering","text":"set_depower_steering(kcu::KCU, depower, steering)\n\nSet 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 .\n\n\n\n\n\n","category":"method"},{"location":"functions/#KitePodModels.get_depower-Tuple{KCU}","page":"Functions","title":"KitePodModels.get_depower","text":"get_depower(kcu::KCU)\n\nRead the current depower value. Result will be between 0.0 and 1.0.\n\n\n\n\n\n","category":"method"},{"location":"functions/#KitePodModels.get_steering-Tuple{KCU}","page":"Functions","title":"KitePodModels.get_steering","text":"get_steering(kcu::KCU)\n\nRead the current steering value. Result will be between -1.0 and 1.0.\n\n\n\n\n\n","category":"method"},{"location":"functions/#Conversions","page":"Functions","title":"Conversions","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"calc_alpha_depower(kcu::KCU, rel_depower)","category":"page"},{"location":"functions/#KitePodModels.calc_alpha_depower-Tuple{KCU, Any}","page":"Functions","title":"KitePodModels.calc_alpha_depower","text":"calc_alpha_depower(kcu::KCU, rel_depower)\n\nCalculate the change of the angle between the kite and the last tether segment [rad] as function of the actual rel_depower value. \n\nReturns nothing in case of error.\n\n\n\n\n\n","category":"method"},{"location":"","page":"Home","title":"Home","text":"CurrentModule = KitePodModels","category":"page"},{"location":"#KitePodModels","page":"Home","title":"KitePodModels","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Documentation for KitePodModels.","category":"page"},{"location":"#Background","page":"Home","title":"Background","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"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.","category":"page"},{"location":"","page":"Home","title":"Home","text":"This software acts as controller: It has two inputs, the set values, and two outputs, the actual values.","category":"page"},{"location":"","page":"Home","title":"Home","text":"Two P controllers are used. ","category":"page"},{"location":"","page":"Home","title":"Home","text":"The geometric nonlinearity due to the change of the effectiv drum diameter of the drum with the depower tape is taken into account.","category":"page"},{"location":"#Installation","page":"Home","title":"Installation","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Download Julia 1.9 or later, if you haven't already. You can add KitePodModels from Julia's package manager, by typing ","category":"page"},{"location":"","page":"Home","title":"Home","text":"using Pkg\npkg\"add KitePodModels\"","category":"page"},{"location":"","page":"Home","title":"Home","text":"at the Julia prompt.","category":"page"},{"location":"","page":"Home","title":"Home","text":"If you are using Windows, it is suggested to install git and bash, too. This is explained for example here: Julia on Windows .","category":"page"},{"location":"#Testing","page":"Home","title":"Testing","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"You can run the unit test suite with the following command:","category":"page"},{"location":"","page":"Home","title":"Home","text":"pkg\"test KitePodModels\"","category":"page"},{"location":"#Provides","page":"Home","title":"Provides","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"functions to initialize the simulator, to update the set values and to read the actual values\na function on_timer() that needs to be called once per time step\na function to convert the actual depower value into change of angle of attack","category":"page"},{"location":"#Step-response","page":"Home","title":"Step response","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"(Image: Step Response)","category":"page"},{"location":"","page":"Home","title":"Home","text":"Click on Functions on the left to see the exported functions.","category":"page"},{"location":"#Related","page":"Home","title":"Related","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"The meta package KiteSimulators which contains all packages from Julia Kite Power Tools.\nthe package KiteUtils\nthe packages KiteModels and WinchModels and AtmosphericModels\nthe packages KiteControllers andKiteViewers","category":"page"},{"location":"","page":"Home","title":"Home","text":"Author: Uwe Fechner (uwe.fechner.msc@gmail.com)","category":"page"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"CurrentModule = KitePodModels","category":"page"},{"location":"parameters/#Configuration","page":"Parameters","title":"Configuration","text":"","category":"section"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"To configure the parameters of the KitePodSimulator, edit the file data/settings.yaml , or create a copy under a different name and change the name of the active configuration in the file data/system.yaml .","category":"page"},{"location":"parameters/#Parameters","page":"Parameters","title":"Parameters","text":"","category":"section"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"The following parameters are used by this package:","category":"page"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"kcu:\n power2steer_dist: 1.3 # [m]\n depower_drum_diameter: 0.069 # [m]\n tape_thickness: 0.0006 # [m]\n v_depower: 0.075 # max velocity of depowering in units per second (full range: 1 unit)\n v_steering: 0.2 # max velocity of steering in units per second (full range: 2 units)\n depower_gain: 3.0 # 3.0 means: more than 33% error -> full speed\n steering_gain: 3.0\n\ndepower:\n depower_offset: 23.6 # at rel_depower=0.236 the kite is fully powered [%]","category":"page"},{"location":"types/#Exported-Types","page":"Types","title":"Exported Types","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"CurrentModule = KitePodModels","category":"page"},{"location":"types/#Struct-KCU","page":"Types","title":"Struct KCU","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"KCU","category":"page"},{"location":"types/#KitePodModels.KCU","page":"Types","title":"KitePodModels.KCU","text":"mutable struct KCU\n\nStuct that is storing the settings and the state of the kite control unit. \n\n\n\n\n\n","category":"type"},{"location":"types/","page":"Types","title":"Types","text":"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.","category":"page"}] +[{"location":"functions/","page":"Functions","title":"Functions","text":"CurrentModule = KitePodModels","category":"page"},{"location":"functions/#Initialization-and-update","page":"Functions","title":"Initialization and update","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"init_kcu!(kcu::KCU, set::KiteUtils.Settings)\non_timer(kcu::KCU, dt = 0.0)","category":"page"},{"location":"functions/#KitePodModels.init_kcu!-Tuple{KCU, Settings}","page":"Functions","title":"KitePodModels.init_kcu!","text":"init_kcu!(kcu::KCU, set::KiteUtils.Settings)\n\nInititalze 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. \n\n\n\n\n\n","category":"method"},{"location":"functions/#KitePodModels.on_timer","page":"Functions","title":"KitePodModels.on_timer","text":"on_timer(kcu::KCU, dt = 0.0)\n\nMust 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 .\n\n\n\n\n\n","category":"function"},{"location":"functions/#Input-and-Output","page":"Functions","title":"Input and Output","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"set_depower_steering(kcu::KCU, depower, steering)\nget_depower(kcu::KCU)\nget_steering(kcu::KCU)","category":"page"},{"location":"functions/#KitePodModels.set_depower_steering-Tuple{KCU, Any, Any}","page":"Functions","title":"KitePodModels.set_depower_steering","text":"set_depower_steering(kcu::KCU, depower, steering)\n\nSet 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.\n\n\n\n\n\n","category":"method"},{"location":"functions/#KitePodModels.get_depower-Tuple{KCU}","page":"Functions","title":"KitePodModels.get_depower","text":"get_depower(kcu::KCU)\n\nRead the current depower value. Result will be between 0.0 and 1.0.\n\n\n\n\n\n","category":"method"},{"location":"functions/#KitePodModels.get_steering-Tuple{KCU}","page":"Functions","title":"KitePodModels.get_steering","text":"get_steering(kcu::KCU)\n\nRead the current steering value. Result will be between -1.0 and 1.0.\n\n\n\n\n\n","category":"method"},{"location":"functions/#Conversions","page":"Functions","title":"Conversions","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"calc_alpha_depower(kcu::KCU, rel_depower)","category":"page"},{"location":"functions/#KitePodModels.calc_alpha_depower-Tuple{KCU, Any}","page":"Functions","title":"KitePodModels.calc_alpha_depower","text":"calc_alpha_depower(kcu::KCU, rel_depower)\n\nCalculate the change of the angle between the kite and the last tether segment [rad] as function of the actual rel_depower value. \n\nReturns nothing in case of error.\n\n\n\n\n\n","category":"method"},{"location":"","page":"Home","title":"Home","text":"CurrentModule = KitePodModels","category":"page"},{"location":"#KitePodModels","page":"Home","title":"KitePodModels","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Documentation for KitePodModels.","category":"page"},{"location":"#Background","page":"Home","title":"Background","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"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.","category":"page"},{"location":"","page":"Home","title":"Home","text":"This software acts as controller: It has two inputs, the set values, and two outputs, the actual values.","category":"page"},{"location":"","page":"Home","title":"Home","text":"Two P controllers are used. ","category":"page"},{"location":"","page":"Home","title":"Home","text":"The geometric nonlinearity due to the change of the effectiv drum diameter of the drum with the depower tape is taken into account.","category":"page"},{"location":"#Installation","page":"Home","title":"Installation","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Download Julia 1.9 or later, if you haven't already. You can add KitePodModels from Julia's package manager, by typing ","category":"page"},{"location":"","page":"Home","title":"Home","text":"using Pkg\npkg\"add KitePodModels\"","category":"page"},{"location":"","page":"Home","title":"Home","text":"at the Julia prompt.","category":"page"},{"location":"","page":"Home","title":"Home","text":"If you are using Windows, it is suggested to install git and bash, too. This is explained for example here: Julia on Windows .","category":"page"},{"location":"#Testing","page":"Home","title":"Testing","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"You can run the unit test suite with the following command:","category":"page"},{"location":"","page":"Home","title":"Home","text":"pkg\"test KitePodModels\"","category":"page"},{"location":"#Provides","page":"Home","title":"Provides","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"functions to initialize the simulator, to update the set values and to read the actual values\na function on_timer() that needs to be called once per time step\na function to convert the actual depower value into change of angle of attack","category":"page"},{"location":"#Step-response","page":"Home","title":"Step response","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"(Image: Step Response)","category":"page"},{"location":"","page":"Home","title":"Home","text":"Click on Functions on the left to see the exported functions.","category":"page"},{"location":"#Related","page":"Home","title":"Related","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"The meta package KiteSimulators which contains all packages from Julia Kite Power Tools.\nthe package KiteUtils\nthe packages KiteModels and WinchModels and AtmosphericModels\nthe packages KiteControllers andKiteViewers","category":"page"},{"location":"","page":"Home","title":"Home","text":"Author: Uwe Fechner (uwe.fechner.msc@gmail.com)","category":"page"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"CurrentModule = KitePodModels","category":"page"},{"location":"parameters/#Configuration","page":"Parameters","title":"Configuration","text":"","category":"section"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"To configure the parameters of the KitePodSimulator, edit the file data/settings.yaml , or create a copy under a different name and change the name of the active configuration in the file data/system.yaml .","category":"page"},{"location":"parameters/#Parameters","page":"Parameters","title":"Parameters","text":"","category":"section"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"The following parameters are used by this package:","category":"page"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"kcu:\n power2steer_dist: 1.3 # [m]\n depower_drum_diameter: 0.069 # [m]\n tape_thickness: 0.0006 # [m]\n v_depower: 0.075 # max velocity of depowering in units per second (full range: 1 unit)\n v_steering: 0.2 # max velocity of steering in units per second (full range: 2 units)\n depower_gain: 3.0 # 3.0 means: more than 33% error -> full speed\n steering_gain: 3.0\n\ndepower:\n depower_offset: 23.6 # at rel_depower=0.236 the kite is fully powered [%]","category":"page"},{"location":"types/#Exported-Types","page":"Types","title":"Exported Types","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"CurrentModule = KitePodModels","category":"page"},{"location":"types/#Struct-KCU","page":"Types","title":"Struct KCU","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"KCU","category":"page"},{"location":"types/#KitePodModels.KCU","page":"Types","title":"KitePodModels.KCU","text":"mutable struct KCU\n\nStuct that is storing the settings and the state of the kite control unit. \n\n\n\n\n\n","category":"type"},{"location":"types/","page":"Types","title":"Types","text":"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.","category":"page"}] } diff --git a/dev/types/index.html b/dev/types/index.html index 2c7a4a3..6d28965 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.