From 3cade6890580b2d1167385aecc8f57ee979b1580 Mon Sep 17 00:00:00 2001 From: Uwe Fechner Date: Tue, 18 Jun 2024 18:24:18 +0200 Subject: [PATCH] add test case high wind speed --- data/fpp_settings_hydra20_920.yaml | 20 ++++++ data/hydra20_920.yml | 6 ++ data/settings_hydra20_920.yaml | 111 +++++++++++++++++++++++++++++ 3 files changed, 137 insertions(+) create mode 100644 data/fpp_settings_hydra20_920.yaml create mode 100644 data/hydra20_920.yml create mode 100644 data/settings_hydra20_920.yaml diff --git a/data/fpp_settings_hydra20_920.yaml b/data/fpp_settings_hydra20_920.yaml new file mode 100644 index 00000000..73655340 --- /dev/null +++ b/data/fpp_settings_hydra20_920.yaml @@ -0,0 +1,20 @@ +fpp_settings: + log_level: 2 # log level, 0=quiet + min_depower: 27.5 # in percent + max_depower: 60 + parking_depower: 27.5 + min_length: 300 # meter + max_length: 600.0 + max_height: 600.0 + beta_set: 26.0 # average elevation angle during reel-out in degrees + w_fig: 36.0 # width of figure of eight in degrees + psi_dot_max: 3.0 # max turn rate in deg/s + r_min: 3.0 # minimal turn radius in degrees + r_max: 4.5 # max turn radius in degrees + heading_offset_low: 22.0 # degrees, before finishing the right and left turns + heading_offset_int: 32.0 # dito, for the turn around the intermediate point + heading_offset_high: 54.0 # dito, for elevation angles > 47.5 degrees + heading_offset_up: 60.0 # degrees, before finishing the up-turn + heading_upper_turn: 335 # degrees + k_factor: 1.8 # a factor > 1 reduces the width of the intermediate phase + corr_vec: [7.5, 1.0, -0.25, -0.4, -0.55, -1.7, -4.85] diff --git a/data/hydra20_920.yml b/data/hydra20_920.yml new file mode 100644 index 00000000..eb2af487 --- /dev/null +++ b/data/hydra20_920.yml @@ -0,0 +1,6 @@ +system: + sim_settings: "settings_hydra20_920.yaml" # model and simulator settings + wc_settings: "wc_settings_8000.yaml" # winch controller settings + fpc_settings: "fpc_settings_hydra20.yaml" # flight path controller settings + fpp_settings: "fpp_settings_hydra20_920.yaml" # flight path planner settings + \ No newline at end of file diff --git a/data/settings_hydra20_920.yaml b/data/settings_hydra20_920.yaml new file mode 100644 index 00000000..8b2ea8c7 --- /dev/null +++ b/data/settings_hydra20_920.yaml @@ -0,0 +1,111 @@ +system: + log_file: "data/log_8700W_8ms" # filename without extension [replay only] + # use / as path delimiter, even on Windows + log_level: 0 + time_lapse: 12 # relative replay speed + sim_time: 1000.0 # simulation time [sim only] + segments: 6 # number of tether segments + sample_freq: 20 # sample frequency in Hz + zoom: 0.03 # zoom factor for the system view + kite_scale: 4.95 # relative zoom factor for the 4 point kite + fixed_font: "Liberation Mono" # name or filepath+filename of alternative fixed pitch font + +initial: + l_tether: 330.0 # initial tether length [m] + elevation: 62.0 # initial elevation angle [deg] + v_reel_out: 0.0 # initial reel out speed [m/s] + depower: 25.0 # initial depower settings [%] + +solver: + abs_tol: 0.0003 # absolute tolerance of the DAE solver [m, m/s] + rel_tol: 0.0005 # relative tolerance of the DAE solver [-] + solver: "DFBDF" # DAE solver, IDA or DFBDF or DImplicitEuler + linear_solver: "GMRES" # can be GMRES or Dense or LapackDense (only for IDA) + max_order: 4 # maximal order, usually between 3 and 5 (for IDA and DFBDF) + 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; 2.59 was 0.6; TODO: check if it must be divided by kite_area + c2_cor: 0.93 # correction factor one point model + k_ds: 1.5 # influence of the depower angle on the steering sensitivity + delta_st: 0.02 # steering increment (when pressing RIGHT) + max_steering: 16.83 # max. steering angle of the side planes for four point model [degrees] + +depower: + alpha_d_max: 31.0 # max depower angle [deg] + depower_offset: 23.6 # at rel_depower=0.236 the kite is fully powered [%] + +kite: + model: "data/kite.obj" # 3D model of the kite + physical_model: "KPS4" # name of the kite model to use (KPS3 or KPS4) + version: 1 # version of the model to use + mass: 10.58 # kite mass incl. sensor unit [kg] + area: 20.36 # projected kite area [m²] + rel_side_area: 30.6 # relative side area [%] + height: 3.15 # 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, 0.565, 0.0,0.0904, 0.15125, 0.167,0.226,1.13, 1.13, 0.0, -0.565, 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: [ 0.465, 0.465, 0.465, 0.93, 0.186,0.93,0.186, 0.93, 0.465, 0.465, 0.465] + +kps4: + width: 8.16 # width of the kite [m] + alpha_zero: 9.2 # 4 to 8.8 [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] + rel_compr_stiffness: 0.5 # relative compression stiffness of the kite springs + rel_damping: 6.0 # relative damping of the kite spring (relative to main tether) + +kcu: + kcu_mass: 11.0 # mass of the kite control unit [kg] + power2steer_dist: 1.838 # [m] + depower_drum_diameter: 0.069 # [m] + tape_thickness: 0.0006 # [m] + v_depower: 0.075 # max velocity of depowering in units per second (full range: 1 unit) + v_steering: 0.2 # max velocity of steering in units per second (full range: 2 units) + depower_gain: 3.0 # 3.0 means: more than 33% error -> full speed + steering_gain: 3.0 + +tether: + d_tether: 6 # 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] + e_tether: 55000000000.0 # axial tensile modulus of Dyneema (M.B. Ruppert) [Pa] + # SK75: 109 to 132 GPa according to data sheet + +winch: + max_force: 8000 # 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] + +environment: + v_wind: 8.00 # wind speed at reference height [m/s] + v_wind_ref: [8.00, 0.0] # wind speed vector at reference height [m/s] + temp_ref: 15.0 # temperature at reference height [°C] + height_gnd: 0.0 # height of groundstation above see level [m] + h_ref: 10.0 # reference height for the wind speed [m] + + rho_0: 1.225 # air density at zero height and 15 °C [kg/m³] + alpha: 0.234 # exponent of the wind profile law # 0.234 + z0: 0.0002 # surface roughness [m] + profile_law: 1 # 1=EXP, 2=LOG, 3=EXPLOG, 4=FAST_EXP, 5=FAST_LOG, 6=FAST_EXPLOG + # the following parameters are for calculating the turbulent wind field using the Mann model + use_turbulence: 0.0 # turbulence intensity relative to Cabauw, NL + v_wind_gnds: [3.483, 5.324, 8.163] # wind speeds at ref height for calculating the turbulent wind field [m/s] + avg_height: 200.0 # average height during reel out [m] + rel_turbs: [0.342, 0.465, 0.583] # relative turbulence at the v_wind_gnds + i_ref: 0.14 # is the expected value of the turbulence intensity at 15 m/s. + v_ref: 42.9 # five times the average wind speed in m/s at hub height over the full year [m/s] + # Cabauw: 8.5863 m/s * 5.0 = 42.9 m/s + height_step: 2.0 # use a grid with 2m resolution in z direction [m] + grid_step: 2.0 # grid resolution in x and y direction [m] \ No newline at end of file