Examples for using the one point kite model

Create a test project

mkdir test
cd test
julia --project="."

With the last command we told julia to create a new project in the current directory.

Then we add the three required packages to our new project. By pressing the key "]" we enter the package manager mode where we can add or delete packages.

]
add KiteUtils
add KitePodModels
add KiteModels
st
<BACKSPACE>

The command "st" was not really required, but it is useful to display which versions of the packages we have in our project. Another important package manager command is the command "up", which updates all packages to the latest compatible versions.

Then, copy the default configuration files and examples to your new project:

using KiteModels
copy_settings()
copy_examples()

The first command copies the files settings.yaml and system.yaml to the folder data. They can be customized later. The second command creates an examples folder with some examples.

Plotting the initial state

First an instance of the model of the kite control unit (KCU) is created which is needed by the Kite Power System model KPS3. Then we create a kps instance, passing the kcu model as parameter. We need to declare these variables as const to achieve a decent performance.

using KiteModels
const kcu = KCU(se())
const kps = KPS3(kcu)

Then we call the function findsteadystate which uses a non-linear solver to find the solution for a given elevation angle, reel-out speed and wind speed.

find_steady_state!(kps, prn=true)

To plot the result in 2D we extract the vectors of the x and z coordinates of the tether particles with a for loop:

x = Float64[] 
z = Float64[]
for i in 1:length(kps.pos)
     push!(x, kps.pos[i][1])
     push!(z, kps.pos[i][3])
end

And finally we plot the postion of the particles in the x-z plane. When you type using Plots you will be ask if you want to install the Plots package. Just press \<ENTER\> and it gets installed.

using Plots
plot(x,z, xlabel="x [m]", ylabel="z [m]", legend=false)
plot!(x, z, seriestype = :scatter)

Inital State

Initial State

Print other model outputs

Print the vector of the positions of the particles:

julia> kps.pos
7-element StaticArrays.SVector{7, StaticArrays.MVector{3, Float64}} with indices SOneTo(7):
 [0.0, 0.0, 0.0]
 [26.95751778658999, 0.0, 59.59749511924355]
 [51.97088814144287, 0.0, 120.03746888266994]
 [75.01423773175357, 0.0, 181.25637381120865]
 [96.06809940556136, 0.0, 243.18841293054678]
 [115.11959241520753, 0.0, 305.7661763854397]
 [132.79571663189674, 0.0, 368.74701279158705]

Print the unstretched and stretched tether length and the height of the kite:

julia> unstretched_length(kps)
392.0

julia> tether_length(kps)
392.4751313610764

julia> calc_height(kps)
368.74701279158705

Print the force at the winch (groundstation, in Newton) and at each tether segment:

julia> winch_force(kps)
728.5569144505084

julia> spring_forces(kps)
6-element Vector{Float64}:
 728.4835079763607
 734.9505623866943
 741.505320143339
 748.1408238767988
 754.8499002675924
 761.6993164647175

The force increases when going upwards because the kite not only experiances the winch force, but in addition the weight of the tether.

Print the lift and drag forces of the kite (in Newton) and the lift over drag ratio:

julia> lift, drag = lift_drag(kps)
(888.5715658243445, 188.25229350390242)

julia> lift_over_drag(kps)
4.720110173881757

Print the wind speed vector at the kite:

julia> v_wind_kite(kps)
3-element StaticArrays.MVector{3, Float64} with indices SOneTo(3):
  13.308227860928211
  0.0
  0.0