Configuration
To configure the parameters of the kite models, 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.
Parameters
The following parameters are used by this package:
system:
sample_freq: 20 # sample frequency in Hz
initial:
l_tether: 150.0 # initial tether length [m]
elevation: 70.7 # initial elevation angle [deg]
v_reel_out: 0.0 # 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 [-]
linear_solver: "GMRES" # can be GMRES or Dense
max_order: 4 # maximal order, usually between 3 and 5
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
c2_cor: 0.93 # correction factor one point model
k_ds: 1.5 # influence of the depower angle on the steering sensitivity
depower:
alpha_d_max: 31.0 # max depower angle [deg]
kite:
model: "data/kite.obj" # 3D model of the kite
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: 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 5 [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
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]
kcu:
kcu_mass: 8.4 # mass of the kite control unit [kg]
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]
environment:
v_wind: 9.51 # wind speed at reference height [m/s]
h_ref: 6.0 # reference height for the wind speed [m]
rho_0: 1.225 # air density at the ground or zero [kg/m³]
alpha: 0.08163 # exponent of the wind profile law
z0: 0.0002 # surface roughness [m]
profile_law: 6 # 1=EXP, 2=LOG, 3=EXPLOG, 4=FAST_EXP, 5=FAST_LOG, 6=FAST_EXPLOG