update settings.yaml

aenarete · Jul 24, 2024 · 6bd7d70 · 6bd7d70
1 parent 9ea7a00
commit 6bd7d70
Showing 1 changed file with 6 additions and 4 deletions.
diff --git a/data/settings.yaml b/data/settings.yaml
@@ -98,11 +98,13 @@ tether:
 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]
-    gear_ratio: 6.2        # gear ratio of the winch
+    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]
+    gear_ratio: 6.2        # gear ratio of the winch                         [-]   
     inertia_motor: 0.082   # 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]
 
 environment:
     v_wind: 9.51             # wind speed at reference height          [m/s]