Exported Types

const SimFloat = Float64

This type is used for all real variables, used in the Simulation. Possible alternatives: Float32, Double64, Dual Other types than Float64 or Float32 do require support of Julia types by the solver.

const KVec3 = MVector{3, SimFloat}

Basic 3-dimensional vector, stack allocated, mutable.

const SVec3 = SVector{3, SimFloat}

Basic 3-dimensional vector, stack allocated, immutable.

ProfileLaw

Enumeration to describe the wind profile low that is used.

abstract type AbstractKiteModel

All kite models must inherit from this type. All methods that are defined on this type must work with all kite models. All exported methods must work on this type.

const AKM = AbstractKiteModel

Short alias for the AbstractKiteModel.

mutable struct KPS3{S, T, P} <: AbstractKiteModel

State of the kite power system. Parameters:

• S: Scalar type, e.g. SimFloat In the documentation mentioned as Any, but when used in this module it is always SimFloat and not Any.
• T: Vector type, e.g. MVector{3, SimFloat}
• P: number of points of the system, segments+1

Normally a user of this package will not have to access any of the members of this type directly, use the input and output functions instead.

• set::Settings

  Reference to the settings struct Default: se()

• kcu::KCU

  Reference to the KCU struct (Kite Control Unit, type from the module KitePodSimulor Default: KCU()

• iter::Int64

  Iteration Default: 0

• calc_cl::Any

  Function for calculation the lift coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacl, (se()).cllist)

• calc_cd::Any

  Function for calculation the drag coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacd, (se()).cdlist)

• v_wind::Any

  wind vector at the height of the kite Default: zeros(S, 3)

• v_wind_gnd::Any

  wind vector at reference height Default: zeros(S, 3)

• v_wind_tether::Any

  wind vector used for the calculation of the tether drag Default: zeros(S, 3)

• v_apparent::Any

  apparent wind vector at the kite Default: zeros(S, 3)

• v_app_perp::Any

  vector, perpendicular to vapparent; output of calcdrag Default: zeros(S, 3)

• drag_force::Any

  drag force of kite and bridle; output of calcaeroforces Default: zeros(S, 3)

• lift_force::Any

  lift force of the kite; output of calcaeroforces Default: zeros(S, 3)

• steering_force::Any

  steering force acting on the kite; output of calcaeroforces Default: zeros(S, 3)

• last_force::Any

  Default: zeros(S, 3)

• spring_force::Any

  spring force of the current tether segment, output of calc_res Default: zeros(S, 3)

• total_forces::Any

  Default: zeros(S, 3)

• force::Any

  sum of spring and drag forces acting on the current segment, output of calc_res Default: zeros(S, 3)

• unit_vector::Any

  unit vector in the direction of the current tether segment, output of calc_res Default: zeros(S, 3)

• av_vel::Any

  average velocity of the current tether segment, output of calc_res Default: zeros(S, 3)

• kite_y::Any

  y-vector of the kite fixed referense frame, output of calcaeroforces Default: zeros(S, 3)

• segment::Any

  vector representing one tether segment (p1-p2) Default: zeros(S, 3)

• last_tether_drag::Any

  vector of the drag force of the last calculated tether segment Default: zeros(S, 3)

• vec_z::Any

  Default: zeros(S, 3)

• res1::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  part one of the residual, difference between pos' and vel, non-flat, mainly for unit testing Default: zeros(SVector{P, KVec3})

• res2::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  part two of the residual, difference between vel' and acc, non-flat, mainly for unit testing Default: zeros(SVector{P, KVec3})

• pos::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  vector of the positions of the particles Default: zeros(SVector{P, KVec3})

• vel_kite::Any

  velocity vector of the kite Default: zeros(S, 3)

• seg_area::Any

  area of one tether segment Default: zero(S)

• bridle_area::Any

  Default: zero(S)

• c_spring::Any

  spring constant, depending on the length of the tether segment Default: zero(S)

• segment_length::Any

  unstressed segment length [m] Default: 0.0

• damping::Any

  damping factor, depending on the length of the tether segment Default: zero(S)

• last_v_app_norm_tether::Any

  Default: zero(S)

• param_cl::Any

  lift coefficient of the kite, depending on the angle of attack Default: 0.2

• param_cd::Any

  drag coefficient of the kite, depending on the angle of attack Default: 1.0

• v_app_norm::Any

  Default: zero(S)

• cor_steering::Any

  Default: zero(S)

• psi::Any

  azimuth angle in radian; inital value is zero Default: zero(S)

• beta::Any

  elevation angle in radian; initial value about 70 degrees Default: deg2rad((se()).elevation)

• last_alpha::Any

  Default: 0.1

• alpha_depower::Any

  Default: 0.0

• t_0::Any

  relative start time of the current time interval Default: 0.0

• v_reel_out::Any

  reel out speed of the winch [m/s] Default: 0.0

• last_v_reel_out::Any

  reel out speed during the last time step Default: 0.0

• l_tether::Any

  unstretched tether length Default: 0.0

• rho::Any

  air density at the height of the kite Default: 0.0

• depower::Any

  Default: 0.0

• steering::Any

  Default: 0.0

• stiffness_factor::Any

  factor for the tether stiffness, used to find the steady state with a low stiffness first Default: 1.0

• log_href_over_z0::Any

  pre-calculated constant for the wind profile law calcuation Default: log((se()).h_ref / (se()).z0)

• initial_masses::StaticArrays.MVector{P, S} where {S, P}

  initial masses of the point masses Default: ones(P)

• masses::StaticArrays.MVector{P, S} where {S, P}

  current masses, depending on the total tether length Default: ones(P)

mutable struct KPS4{S, T, P, Q, SP} <: AbstractKiteModel

State of the kite power system, using a 4 point kite model. Parameters:

• S: Scalar type, e.g. SimFloat In the documentation mentioned as Any, but when used in this module it is always SimFloat and not Any.
• T: Vector type, e.g. MVector{3, SimFloat}
• P: number of points of the system, segments+1
• Q: number of springs in the system, P-1
• SP: struct type, describing a spring

Normally a user of this package will not have to access any of the members of this type directly, use the input and output functions instead.

• set::Settings

  Reference to the settings struct Default: se()

• kcu::KCU

  Reference to the KCU struct (Kite Control Unit, type from the module KitePodSimulor Default: KCU()

• iter::Int64

  Iteration Default: 0

• calc_cl::Any

  Function for calculation the lift coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacl, (se()).cllist)

• calc_cd::Any

  Function for calculation the drag coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacd, (se()).cdlist)

• v_wind::Any

  wind vector at the height of the kite Default: zeros(S, 3)

• v_wind_gnd::Any

  wind vector at reference height Default: zeros(S, 3)

• v_wind_tether::Any

  wind vector used for the calculation of the tether drag Default: zeros(S, 3)

• v_apparent::Any

  apparent wind vector at the kite Default: zeros(S, 3)

• drag_force::Any

  drag force of kite and bridle; output of calcaeroforces! Default: zeros(S, 3)

• lift_force::Any

  lift force of the kite; output of calcaeroforces! Default: zeros(S, 3)

• spring_force::Any

  spring force of the current tether segment, output of calcparticleforces! Default: zeros(S, 3)

• last_force::Any

  last winch force Default: zeros(S, 3)

• segment::Any

  Default: zeros(S, 3)

• res1::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  a copy of the residual one (pos,vel) for debugging and unit tests Default: zeros(SVector{P, KVec3})

• res2::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  a copy of the residual two (vel,acc) for debugging and unit tests Default: zeros(SVector{P, KVec3})

• pos::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  a copy of the actual positions as output for the user Default: zeros(SVector{P, KVec3})

• vel_kite::Any

  velocity vector of the kite Default: zeros(S, 3)

• segment_length::Any

  unstressed segment length [m] Default: 0.0

• param_cl::Any

  lift coefficient of the kite, depending on the angle of attack Default: 0.2

• param_cd::Any

  drag coefficient of the kite, depending on the angle of attack Default: 1.0

• psi::Any

  azimuth angle in radian; inital value is zero Default: zero(S)

• beta::Any

  elevation angle in radian; initial value about 70 degrees Default: deg2rad((se()).elevation)

• alpha_depower::Any

  Default: 0.0

• t_0::Any

  relative start time of the current time interval Default: 0.0

• v_reel_out::Any

  reel out speed of the winch Default: 0.0

• last_v_reel_out::Any

  reel out speed at the last time step Default: 0.0

• l_tether::Any

  Default: 0.0

• rho::Any

  air density Default: 0.0

• depower::Any

  Default: 0.0

• steering::Any

  Default: 0.0

• stiffness_factor::Any

  Default: 1.0

• log_href_over_z0::Any

  Default: log((se()).h_ref / (se()).z0)

• initial_masses::StaticArrays.MVector{P, S} where {S, P}

  initial masses of the point masses Default: ones(P)

• masses::StaticArrays.MVector{P, S} where {S, P}

  current masses, depending on the total tether length Default: zeros(P)

• springs::StaticArrays.MVector{Q, SP} where {Q, SP}

  Default: zeros(SP, Q)

• rel_vel::Any

  Default: zeros(S, 3)

• half_drag_force::Any

  Default: zeros(S, 3)

• forces::StaticArrays.SVector{P, StaticArrays.MVector{3, Float64}} where P

  Default: zeros(SVector{P, KVec3})

• x::Any

  Default: zeros(S, 3)

• y::Any

  Default: zeros(S, 3)

• z::Any

  Default: zeros(S, 3)