From d7471ba4bbad4ffcd84c03c42b279946f34fed9d Mon Sep 17 00:00:00 2001 From: "Documenter.jl" Date: Sat, 16 Mar 2024 12:45:08 +0000 Subject: [PATCH] build based on d20e11d --- stable | 2 +- v0.5 | 2 +- v0.5.3/4-point-kite.png | Bin 0 -> 49518 bytes v0.5.3/advanced/index.html | 80 ++++++ v0.5.3/assets/documenter.js | 331 ++++++++++++++++++++++ v0.5.3/assets/logo.png | Bin 0 -> 63908 bytes v0.5.3/assets/search.js | 267 +++++++++++++++++ v0.5.3/assets/themes/documenter-dark.css | 7 + v0.5.3/assets/themes/documenter-light.css | 9 + v0.5.3/assets/themeswap.js | 66 +++++ v0.5.3/assets/warner.js | 49 ++++ v0.5.3/examples/index.html | 54 ++++ v0.5.3/examples_4p/index.html | 67 +++++ v0.5.3/functions/index.html | 26 ++ v0.5.3/index.html | 3 + v0.5.3/initial_state.png | Bin 0 -> 14496 bytes v0.5.3/initial_state_4p.png | Bin 0 -> 13905 bytes v0.5.3/kite.png | Bin 0 -> 13550 bytes v0.5.3/kite_power_tools.png | Bin 0 -> 44588 bytes v0.5.3/kps4.png | Bin 0 -> 36402 bytes v0.5.3/kps4_hires.png | Bin 0 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Edit on GitHub

Advanced usage

For advanced users it is suggested to install git, bash and vscode or vscodium in addition to Julia. vscode and vscodium both have a very good plugin for Julia support, see https://www.julia-vscode.org. For Windows users, you can find some installation instructions here: Julia on Windows .

Whe using vscode, I do NOT use the Julia terminal provided by vscode, but the normal bash terminal which is also available in vscode by selecting Terminal->New Terminal From this terminal I start Julia with julia --project or a different command as explained below. This makes it easier to understand what happens and is also faster when you need to restart.

For Ubuntu Linux I use the following ppa to install vscode and to keep it up-to-date: https://www.ubuntuupdates.org/ppa/vscode .

Creating a custom system image

To reduce the startup time it is suggested to use a custom system image that contains all the packages you use on a daily base in compiled form.

For end users, follow the instructions on KiteSimulators . Package developers can follow these instructions:

  1. Go to the website https://github.com/ufechner7/KiteModels.jl and click on the Fork button at the top right.
  2. clone the new repository which is owned by you with a command similar to this one: git clone https://github.com/aenarete/KiteModels.jl Your own git user name must appear in the URL, otherwise you will not be able to push your changes.

From a bash prompt you can create one using the following commands, assuming you created a folder "test" as explained on the Quickstart page:

cd KiteModels.jl
+julia --project
using Pkg
+Pkg.instantiate()
+Pkg.precompile()

If you enter shell mode by pressing ";" and type the command treeyou should see the following files:

shell> tree
+.
+├── bin
+│   ├── create_sys_image
+│   ├── create_sys_image2
+│   ├── run_julia
+│   └── run_julia2
+├── data
+│   ├── settings.yaml
+│   └── system.yaml
+├── docs
+│   ├── data
+│   ├── make.jl
+│   ├── Project.toml
+│   └── src
+│       ├── 4-point-kite.png
+│       ├── advanced.md
+│       ├── assets
+│       │   └── logo.png
+│       ├── examples_4p.md
+│       ├── examples.md
+│       ├── functions.md
+│       ├── index.md
+│       ├── initial_state_4p.png
+│       ├── initial_state.png
+│       ├── kite.png
+│       ├── kite_power_tools.png
+│       ├── kps4_hires.png
+│       ├── kps4.png
+│       ├── parameters.md
+│       ├── quickstart.md
+│       └── types.md
+├── examples
+│   ├── compare_kps3_kps4.jl
+│   ├── plot2d.jl
+│   ├── reel_out.jl
+│   ├── simulate_ii.jl
+│   └── simulate.jl
+├── LICENSE
+├── Manifest-1.7.toml.default
+├── Manifest-1.8.toml.default
+├── Manifest.toml
+├── Project.toml
+├── README.md
+├── src
+│   ├── init.jl
+│   ├── KiteModels.jl
+│   ├── KPS3.jl
+│   └── KPS4.jl
+└── test
+    ├── bench3.jl
+    ├── bench4.jl
+    ├── create_sys_image2.jl
+    ├── create_sys_image.jl
+    ├── plot2d.jl
+    ├── plot_initial_state.jl
+    ├── plot_kps3.jl
+    ├── plot_kps4.jl
+    ├── runtests.jl
+    ├── test_for_precompile.jl
+    ├── test_kps3.jl
+    ├── test_kps4.jl
+    ├── test_staticarrays.jl
+    ├── test_steady_state.jl
+    ├── test_sundials.jl
+    └── update_packages.jl
+
+9 directories, 55 files

Now leave Julia with the command exit() and then type:

cd bin
+./create_sys_image --update

This will take about 6 min on a i7-10510U CPU. You should now see a new file in the bin folder:

~/repos/test/bin$ ls -lah kps*
+-rwxrwxr-x 1 ufechner ufechner 344M apr 18 18:23 kps-image-1.7.so

You can launch julia such that it makes use of this system image with the commands:

cd ..
+./bin/run_julia

If you now run any of the examples the time-to-first-plot (TTFP) should be less than 25s:

julia> @time include("examples/simulate.jl")
+lift, drag  [N]: 597.61, 129.33
+Average number of callbacks per time step: 481.845
+ 23.901076 seconds (63.42 M allocations: 12.686 GiB, 5.67% gc time, 70.62% compilation time)
+
+julia>

A second run of this command needs about 5.5 s which means the startup time (load and compilation time of the package and the libraries) has been reduced to about 18.4s.

Without a system image the first time execution of the script "simulate.jl" on the same computer is about 71 seconds while the time for the second execution is the same (5.5s). So now about 47s of time are saved after each restart.

Outlook

The next steps:

  • reduce memory allocations
  • add export as FMI for co-simulation component
diff --git a/v0.5.3/assets/documenter.js b/v0.5.3/assets/documenter.js new file mode 100644 index 00000000..6adfbbbf --- /dev/null +++ b/v0.5.3/assets/documenter.js @@ -0,0 +1,331 @@ +// Generated by Documenter.jl +requirejs.config({ + paths: { + 'highlight-julia': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.5.1/languages/julia.min', + 'headroom': 'https://cdnjs.cloudflare.com/ajax/libs/headroom/0.12.0/headroom.min', + 'jqueryui': 'https://cdnjs.cloudflare.com/ajax/libs/jqueryui/1.12.1/jquery-ui.min', + 'katex-auto-render': 'https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.13.24/contrib/auto-render.min', + 'jquery': 'https://cdnjs.cloudflare.com/ajax/libs/jquery/3.6.0/jquery.min', + 'headroom-jquery': 'https://cdnjs.cloudflare.com/ajax/libs/headroom/0.12.0/jQuery.headroom.min', + 'katex': 'https://cdnjs.cloudflare.com/ajax/libs/KaTeX/0.13.24/katex.min', + 'highlight': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.5.1/highlight.min', + 'highlight-julia-repl': 'https://cdnjs.cloudflare.com/ajax/libs/highlight.js/11.5.1/languages/julia-repl.min', + }, + shim: { + "highlight-julia": { + "deps": [ + "highlight" + ] + }, + "katex-auto-render": { + "deps": [ + "katex" + ] + }, + "headroom-jquery": { + "deps": [ + "jquery", + "headroom" + ] + }, + "highlight-julia-repl": { + "deps": [ + "highlight" + ] + } +} +}); +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'katex', 'katex-auto-render'], function($, katex, renderMathInElement) { +$(document).ready(function() { + renderMathInElement( + document.body, + { + "delimiters": [ + { + "left": "$", + "right": "$", + "display": false + }, + { + "left": "$$", + "right": "$$", + "display": true + }, + { + "left": "\\[", + "right": "\\]", + "display": true + } + ] +} + + ); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'highlight', 'highlight-julia', 'highlight-julia-repl'], function($) { +$(document).ready(function() { + hljs.highlightAll(); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require([], function() { +function addCopyButtonCallbacks() { + for (const el of document.getElementsByTagName("pre")) { + const button = document.createElement("button"); + button.classList.add("copy-button", "fas", "fa-copy"); + el.appendChild(button); + + const success = function () { + button.classList.add("success", "fa-check"); + button.classList.remove("fa-copy"); + }; + + const failure = function () { + button.classList.add("error", "fa-times"); + button.classList.remove("fa-copy"); + }; + + button.addEventListener("click", function () { + copyToClipboard(el.innerText).then(success, failure); + + setTimeout(function () { + button.classList.add("fa-copy"); + button.classList.remove("success", "fa-check", "fa-times"); + }, 5000); + }); + } +} + +function copyToClipboard(text) { + // clipboard API is only available in secure contexts + if (window.navigator && window.navigator.clipboard) { + return window.navigator.clipboard.writeText(text); + } else { + return new Promise(function (resolve, reject) { + try { + const el = document.createElement("textarea"); + el.textContent = text; + el.style.position = "fixed"; + el.style.opacity = 0; + document.body.appendChild(el); + el.select(); + document.execCommand("copy"); + + resolve(); + } catch (err) { + reject(err); + } finally { + document.body.removeChild(el); + } + }); + } +} + +if (document.readyState === "loading") { + document.addEventListener("DOMContentLoaded", addCopyButtonCallbacks); +} else { + addCopyButtonCallbacks(); +} + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery', 'headroom', 'headroom-jquery'], function($, Headroom) { + +// Manages the top navigation bar (hides it when the user starts scrolling down on the +// mobile). +window.Headroom = Headroom; // work around buggy module loading? +$(document).ready(function() { + $('#documenter .docs-navbar').headroom({ + "tolerance": {"up": 10, "down": 10}, + }); +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Modal settings dialog +$(document).ready(function() { + var settings = $('#documenter-settings'); + $('#documenter-settings-button').click(function(){ + settings.toggleClass('is-active'); + }); + // Close the dialog if X is clicked + $('#documenter-settings button.delete').click(function(){ + settings.removeClass('is-active'); + }); + // Close dialog if ESC is pressed + $(document).keyup(function(e) { + if (e.keyCode == 27) settings.removeClass('is-active'); + }); +}); + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// Manages the showing and hiding of the sidebar. +$(document).ready(function() { + var sidebar = $("#documenter > .docs-sidebar"); + var sidebar_button = $("#documenter-sidebar-button") + sidebar_button.click(function(ev) { + ev.preventDefault(); + sidebar.toggleClass('visible'); + if (sidebar.hasClass('visible')) { + // Makes sure that the current menu item is visible in the sidebar. + $("#documenter .docs-menu a.is-active").focus(); + } + }); + $("#documenter > .docs-main").bind('click', function(ev) { + if ($(ev.target).is(sidebar_button)) { + return; + } + if (sidebar.hasClass('visible')) { + sidebar.removeClass('visible'); + } + }); +}) + +// Resizes the package name / sitename in the sidebar if it is too wide. +// Inspired by: https://github.com/davatron5000/FitText.js +$(document).ready(function() { + e = $("#documenter .docs-autofit"); + function resize() { + var L = parseInt(e.css('max-width'), 10); + var L0 = e.width(); + if(L0 > L) { + var h0 = parseInt(e.css('font-size'), 10); + e.css('font-size', L * h0 / L0); + // TODO: make sure it survives resizes? + } + } + // call once and then register events + resize(); + $(window).resize(resize); + $(window).on('orientationchange', resize); +}); + +// Scroll the navigation bar to the currently selected menu item +$(document).ready(function() { + var sidebar = $("#documenter .docs-menu").get(0); + var active = $("#documenter .docs-menu .is-active").get(0); + if(typeof active !== 'undefined') { + sidebar.scrollTop = active.offsetTop - sidebar.offsetTop - 15; + } +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +function set_theme(theme) { + var active = null; + var disabled = []; + for (var i = 0; i < document.styleSheets.length; i++) { + var ss = document.styleSheets[i]; + var themename = ss.ownerNode.getAttribute("data-theme-name"); + if(themename === null) continue; // ignore non-theme stylesheets + // Find the active theme + if(themename === theme) active = ss; + else disabled.push(ss); + } + if(active !== null) { + active.disabled = false; + if(active.ownerNode.getAttribute("data-theme-primary") === null) { + document.getElementsByTagName('html')[0].className = "theme--" + theme; + } else { + document.getElementsByTagName('html')[0].className = ""; + } + disabled.forEach(function(ss){ + ss.disabled = true; + }); + } + + // Store the theme in localStorage + if(typeof(window.localStorage) !== "undefined") { + window.localStorage.setItem("documenter-theme", theme); + } else { + console.error("Browser does not support window.localStorage"); + } +} + +// Theme picker setup +$(document).ready(function() { + // onchange callback + $('#documenter-themepicker').change(function themepick_callback(ev){ + var themename = $('#documenter-themepicker option:selected').attr('value'); + set_theme(themename); + }); + + // Make sure that the themepicker displays the correct theme when the theme is retrieved + // from localStorage + if(typeof(window.localStorage) !== "undefined") { + var theme = window.localStorage.getItem("documenter-theme"); + if(theme !== null) { + $('#documenter-themepicker option').each(function(i,e) { + e.selected = (e.value === theme); + }) + } else { + $('#documenter-themepicker option').each(function(i,e) { + e.selected = $("html").hasClass(`theme--${e.value}`); + }) + } + } +}) + +}) +//////////////////////////////////////////////////////////////////////////////// +require(['jquery'], function($) { + +// update the version selector with info from the siteinfo.js and ../versions.js files +$(document).ready(function() { + // If the version selector is disabled with DOCUMENTER_VERSION_SELECTOR_DISABLED in the + // siteinfo.js file, we just return immediately and not display the version selector. + if (typeof DOCUMENTER_VERSION_SELECTOR_DISABLED === 'boolean' && DOCUMENTER_VERSION_SELECTOR_DISABLED) { + return; + } + + var version_selector = $("#documenter .docs-version-selector"); + var version_selector_select = $("#documenter .docs-version-selector select"); + + version_selector_select.change(function(x) { + target_href = version_selector_select.children("option:selected").get(0).value; + window.location.href = target_href; + }); + + // add the current version to the selector based on siteinfo.js, but only if the selector is empty + if (typeof DOCUMENTER_CURRENT_VERSION !== 'undefined' && $('#version-selector > option').length == 0) { + var option = $(""); + version_selector_select.append(option); + } + + if (typeof DOC_VERSIONS !== 'undefined') { + var existing_versions = version_selector_select.children("option"); + var existing_versions_texts = existing_versions.map(function(i,x){return x.text}); + DOC_VERSIONS.forEach(function(each) { + var version_url = documenterBaseURL + "/../" + each; + var existing_id = $.inArray(each, existing_versions_texts); + // if not already in the version selector, add it as a new option, + // otherwise update the old option with the URL and enable it + if (existing_id == -1) { + var option = 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m = o.parser[o.strictMode ? "strict" : "loose"].exec(str), + uri = {}, + i = 14; + + while (i--) uri[o.key[i]] = m[i] || ""; + + uri[o.q.name] = {}; + uri[o.key[12]].replace(o.q.parser, function ($0, $1, $2) { + if ($1) uri[o.q.name][$1] = $2; + }); + + return uri; + }; + parseUri.options = { + strictMode: false, + key: ["source","protocol","authority","userInfo","user","password","host","port","relative","path","directory","file","query","anchor"], + q: { + name: "queryKey", + parser: /(?:^|&)([^&=]*)=?([^&]*)/g + }, + parser: { + strict: /^(?:([^:\/?#]+):)?(?:\/\/((?:(([^:@]*)(?::([^:@]*))?)?@)?([^:\/?#]*)(?::(\d*))?))?((((?:[^?#\/]*\/)*)([^?#]*))(?:\?([^#]*))?(?:#(.*))?)/, + loose: /^(?:(?![^:@]+:[^:@\/]*@)([^:\/?#.]+):)?(?:\/\/)?((?:(([^:@]*)(?::([^:@]*))?)?@)?([^:\/?#]*)(?::(\d*))?)(((\/(?:[^?#](?![^?#\/]*\.[^?#\/.]+(?:[?#]|$)))*\/?)?([^?#\/]*))(?:\?([^#]*))?(?:#(.*))?)/ + } + }; + + $("#search-form").submit(function(e) { + e.preventDefault() + }) + + // list below is the lunr 2.1.3 list minus the intersect with names(Base) + // (all, any, get, in, is, only, which) and (do, else, for, let, where, while, with) + // ideally we'd just filter the original list but it's not available as a variable + lunr.stopWordFilter = lunr.generateStopWordFilter([ + 'a', + 'able', + 'about', + 'across', + 'after', + 'almost', + 'also', + 'am', + 'among', + 'an', + 'and', + 'are', + 'as', + 'at', + 'be', + 'because', + 'been', + 'but', + 'by', + 'can', + 'cannot', + 'could', + 'dear', + 'did', + 'does', + 'either', + 'ever', + 'every', + 'from', + 'got', + 'had', + 'has', + 'have', + 'he', + 'her', + 'hers', + 'him', + 'his', + 'how', + 'however', + 'i', + 'if', + 'into', + 'it', + 'its', + 'just', + 'least', + 'like', + 'likely', + 'may', + 'me', + 'might', + 'most', + 'must', + 'my', + 'neither', + 'no', + 'nor', + 'not', + 'of', + 'off', + 'often', + 'on', + 'or', + 'other', + 'our', + 'own', + 'rather', + 'said', + 'say', + 'says', + 'she', + 'should', + 'since', + 'so', + 'some', + 'than', + 'that', + 'the', + 'their', + 'them', + 'then', + 'there', + 'these', + 'they', + 'this', + 'tis', + 'to', + 'too', + 'twas', + 'us', + 'wants', + 'was', + 'we', + 'were', + 'what', + 'when', + 'who', + 'whom', + 'why', + 'will', + 'would', + 'yet', + 'you', + 'your' + ]) + + // add . as a separator, because otherwise "title": "Documenter.Anchors.add!" + // would not find anything if searching for "add!", only for the entire qualification + lunr.tokenizer.separator = /[\s\-\.]+/ + + // custom trimmer that doesn't strip @ and !, which are used in julia macro and function names + lunr.trimmer = function (token) { + return token.update(function (s) { + return s.replace(/^[^a-zA-Z0-9@!]+/, '').replace(/[^a-zA-Z0-9@!]+$/, '') + }) + } + + lunr.Pipeline.registerFunction(lunr.stopWordFilter, 'juliaStopWordFilter') + lunr.Pipeline.registerFunction(lunr.trimmer, 'juliaTrimmer') + + var index = lunr(function () { + this.ref('location') + this.field('title',{boost: 100}) + this.field('text') + documenterSearchIndex['docs'].forEach(function(e) { + this.add(e) + }, this) + }) + var store = {} + + documenterSearchIndex['docs'].forEach(function(e) { + store[e.location] = {title: e.title, category: e.category, page: e.page} + }) + + $(function(){ + searchresults = $('#documenter-search-results'); + searchinfo = $('#documenter-search-info'); + searchbox = $('#documenter-search-query'); + searchform = $('.docs-search'); + sidebar = $('.docs-sidebar'); + function update_search(querystring) { + tokens = lunr.tokenizer(querystring) + results = index.query(function (q) { + tokens.forEach(function (t) { + q.term(t.toString(), { + fields: ["title"], + boost: 100, + usePipeline: true, + editDistance: 0, + wildcard: lunr.Query.wildcard.NONE + }) + q.term(t.toString(), { + fields: ["title"], + boost: 10, + usePipeline: true, + editDistance: 2, + wildcard: lunr.Query.wildcard.NONE + }) + q.term(t.toString(), { + fields: ["text"], + boost: 1, + usePipeline: true, + editDistance: 0, + wildcard: lunr.Query.wildcard.NONE + }) + }) + }) + searchinfo.text("Number of results: " + results.length) + searchresults.empty() + results.forEach(function(result) { + data = store[result.ref] + link = $(''+data.title+'') + link.attr('href', documenterBaseURL+'/'+result.ref) + if (data.category != "page"){ + cat = $('('+data.category+', '+data.page+')') + } else { + cat = $('('+data.category+')') + } + li = $('
  • ').append(link).append(" ").append(cat) + searchresults.append(li) + }) + } + + function update_search_box() { + querystring = searchbox.val() + update_search(querystring) + } + + searchbox.keyup(_.debounce(update_search_box, 250)) + searchbox.change(update_search_box) + + // Disable enter-key form submission for the searchbox on the search page + // and just re-run search rather than refresh the whole page. + searchform.keypress( + function(event){ + if (event.which == '13') { + if (sidebar.hasClass('visible')) { + sidebar.removeClass('visible'); + } + update_search_box(); + event.preventDefault(); + } + } + ); + + search_query_uri = parseUri(window.location).queryKey["q"] + if(search_query_uri !== undefined) { + search_query = decodeURIComponent(search_query_uri.replace(/\+/g, '%20')) + searchbox.val(search_query) + } + update_search_box(); + }) +}) + +}) diff --git a/v0.5.3/assets/themes/documenter-dark.css b/v0.5.3/assets/themes/documenter-dark.css new file mode 100644 index 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html.theme--documenter-dark .button.is-white.is-inverted{background-color:#0a0a0a;border-color:transparent;box-shadow:none;color:#fff}html.theme--documenter-dark .button.is-white.is-loading::after{border-color:transparent transparent #0a0a0a #0a0a0a !important}html.theme--documenter-dark .button.is-white.is-outlined{background-color:transparent;border-color:#fff;color:#fff}html.theme--documenter-dark .button.is-white.is-outlined:hover,html.theme--documenter-dark .button.is-white.is-outlined.is-hovered,html.theme--documenter-dark .button.is-white.is-outlined:focus,html.theme--documenter-dark .button.is-white.is-outlined.is-focused{background-color:#fff;border-color:#fff;color:#0a0a0a}html.theme--documenter-dark .button.is-white.is-outlined.is-loading::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-white.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-white.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-white.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-white.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #0a0a0a #0a0a0a !important}html.theme--documenter-dark .button.is-white.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-white.is-outlined{background-color:transparent;border-color:#fff;box-shadow:none;color:#fff}html.theme--documenter-dark .button.is-white.is-inverted.is-outlined{background-color:transparent;border-color:#0a0a0a;color:#0a0a0a}html.theme--documenter-dark .button.is-white.is-inverted.is-outlined:hover,html.theme--documenter-dark .button.is-white.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .button.is-white.is-inverted.is-outlined:focus,html.theme--documenter-dark 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.button.is-black.is-inverted.is-hovered{background-color:#f2f2f2}html.theme--documenter-dark .button.is-black.is-inverted[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-black.is-inverted{background-color:#fff;border-color:transparent;box-shadow:none;color:#0a0a0a}html.theme--documenter-dark .button.is-black.is-loading::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-black.is-outlined{background-color:transparent;border-color:#0a0a0a;color:#0a0a0a}html.theme--documenter-dark .button.is-black.is-outlined:hover,html.theme--documenter-dark .button.is-black.is-outlined.is-hovered,html.theme--documenter-dark .button.is-black.is-outlined:focus,html.theme--documenter-dark .button.is-black.is-outlined.is-focused{background-color:#0a0a0a;border-color:#0a0a0a;color:#fff}html.theme--documenter-dark .button.is-black.is-outlined.is-loading::after{border-color:transparent transparent #0a0a0a #0a0a0a !important}html.theme--documenter-dark .button.is-black.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-black.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-black.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-black.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-black.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-black.is-outlined{background-color:transparent;border-color:#0a0a0a;box-shadow:none;color:#0a0a0a}html.theme--documenter-dark .button.is-black.is-inverted.is-outlined{background-color:transparent;border-color:#fff;color:#fff}html.theme--documenter-dark .button.is-black.is-inverted.is-outlined:hover,html.theme--documenter-dark .button.is-black.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .button.is-black.is-inverted.is-outlined:focus,html.theme--documenter-dark .button.is-black.is-inverted.is-outlined.is-focused{background-color:#fff;color:#0a0a0a}html.theme--documenter-dark .button.is-black.is-inverted.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-black.is-inverted.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-black.is-inverted.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-black.is-inverted.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #0a0a0a #0a0a0a !important}html.theme--documenter-dark .button.is-black.is-inverted.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-black.is-inverted.is-outlined{background-color:transparent;border-color:#fff;box-shadow:none;color:#fff}html.theme--documenter-dark .button.is-light{background-color:#ecf0f1;border-color:transparent;color:#282f2f}html.theme--documenter-dark .button.is-light:hover,html.theme--documenter-dark .button.is-light.is-hovered{background-color:#e5eaec;border-color:transparent;color:#282f2f}html.theme--documenter-dark .button.is-light:focus,html.theme--documenter-dark .button.is-light.is-focused{border-color:transparent;color:#282f2f}html.theme--documenter-dark .button.is-light:focus:not(:active),html.theme--documenter-dark .button.is-light.is-focused:not(:active){box-shadow:0 0 0 0.125em rgba(236,240,241,0.25)}html.theme--documenter-dark .button.is-light:active,html.theme--documenter-dark .button.is-light.is-active{background-color:#dde4e6;border-color:transparent;color:#282f2f}html.theme--documenter-dark .button.is-light[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-light{background-color:#ecf0f1;border-color:transparent;box-shadow:none}html.theme--documenter-dark .button.is-light.is-inverted{background-color:#282f2f;color:#ecf0f1}html.theme--documenter-dark .button.is-light.is-inverted:hover,html.theme--documenter-dark .button.is-light.is-inverted.is-hovered{background-color:#1d2122}html.theme--documenter-dark .button.is-light.is-inverted[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-light.is-inverted{background-color:#282f2f;border-color:transparent;box-shadow:none;color:#ecf0f1}html.theme--documenter-dark .button.is-light.is-loading::after{border-color:transparent transparent #282f2f #282f2f !important}html.theme--documenter-dark .button.is-light.is-outlined{background-color:transparent;border-color:#ecf0f1;color:#ecf0f1}html.theme--documenter-dark .button.is-light.is-outlined:hover,html.theme--documenter-dark .button.is-light.is-outlined.is-hovered,html.theme--documenter-dark .button.is-light.is-outlined:focus,html.theme--documenter-dark .button.is-light.is-outlined.is-focused{background-color:#ecf0f1;border-color:#ecf0f1;color:#282f2f}html.theme--documenter-dark .button.is-light.is-outlined.is-loading::after{border-color:transparent transparent #ecf0f1 #ecf0f1 !important}html.theme--documenter-dark .button.is-light.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-light.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-light.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-light.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #282f2f #282f2f !important}html.theme--documenter-dark .button.is-light.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-light.is-outlined{background-color:transparent;border-color:#ecf0f1;box-shadow:none;color:#ecf0f1}html.theme--documenter-dark .button.is-light.is-inverted.is-outlined{background-color:transparent;border-color:#282f2f;color:#282f2f}html.theme--documenter-dark .button.is-light.is-inverted.is-outlined:hover,html.theme--documenter-dark .button.is-light.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .button.is-light.is-inverted.is-outlined:focus,html.theme--documenter-dark .button.is-light.is-inverted.is-outlined.is-focused{background-color:#282f2f;color:#ecf0f1}html.theme--documenter-dark .button.is-light.is-inverted.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-light.is-inverted.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-light.is-inverted.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-light.is-inverted.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #ecf0f1 #ecf0f1 !important}html.theme--documenter-dark .button.is-light.is-inverted.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-light.is-inverted.is-outlined{background-color:transparent;border-color:#282f2f;box-shadow:none;color:#282f2f}html.theme--documenter-dark .button.is-dark,html.theme--documenter-dark .content kbd.button{background-color:#282f2f;border-color:transparent;color:#ecf0f1}html.theme--documenter-dark .button.is-dark:hover,html.theme--documenter-dark .content kbd.button:hover,html.theme--documenter-dark .button.is-dark.is-hovered,html.theme--documenter-dark .content kbd.button.is-hovered{background-color:#232829;border-color:transparent;color:#ecf0f1}html.theme--documenter-dark .button.is-dark:focus,html.theme--documenter-dark .content kbd.button:focus,html.theme--documenter-dark .button.is-dark.is-focused,html.theme--documenter-dark .content kbd.button.is-focused{border-color:transparent;color:#ecf0f1}html.theme--documenter-dark .button.is-dark:focus:not(:active),html.theme--documenter-dark .content kbd.button:focus:not(:active),html.theme--documenter-dark .button.is-dark.is-focused:not(:active),html.theme--documenter-dark .content kbd.button.is-focused:not(:active){box-shadow:0 0 0 0.125em rgba(40,47,47,0.25)}html.theme--documenter-dark .button.is-dark:active,html.theme--documenter-dark .content kbd.button:active,html.theme--documenter-dark .button.is-dark.is-active,html.theme--documenter-dark .content kbd.button.is-active{background-color:#1d2122;border-color:transparent;color:#ecf0f1}html.theme--documenter-dark .button.is-dark[disabled],html.theme--documenter-dark .content kbd.button[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-dark,fieldset[disabled] html.theme--documenter-dark .content kbd.button{background-color:#282f2f;border-color:transparent;box-shadow:none}html.theme--documenter-dark .button.is-dark.is-inverted,html.theme--documenter-dark .content kbd.button.is-inverted{background-color:#ecf0f1;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-inverted:hover,html.theme--documenter-dark .content kbd.button.is-inverted:hover,html.theme--documenter-dark .button.is-dark.is-inverted.is-hovered,html.theme--documenter-dark .content kbd.button.is-inverted.is-hovered{background-color:#dde4e6}html.theme--documenter-dark .button.is-dark.is-inverted[disabled],html.theme--documenter-dark .content kbd.button.is-inverted[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-dark.is-inverted,fieldset[disabled] html.theme--documenter-dark .content kbd.button.is-inverted{background-color:#ecf0f1;border-color:transparent;box-shadow:none;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-loading::after,html.theme--documenter-dark .content kbd.button.is-loading::after{border-color:transparent transparent #ecf0f1 #ecf0f1 !important}html.theme--documenter-dark .button.is-dark.is-outlined,html.theme--documenter-dark .content kbd.button.is-outlined{background-color:transparent;border-color:#282f2f;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-outlined:hover,html.theme--documenter-dark .content kbd.button.is-outlined:hover,html.theme--documenter-dark .button.is-dark.is-outlined.is-hovered,html.theme--documenter-dark .content kbd.button.is-outlined.is-hovered,html.theme--documenter-dark .button.is-dark.is-outlined:focus,html.theme--documenter-dark .content kbd.button.is-outlined:focus,html.theme--documenter-dark .button.is-dark.is-outlined.is-focused,html.theme--documenter-dark .content kbd.button.is-outlined.is-focused{background-color:#282f2f;border-color:#282f2f;color:#ecf0f1}html.theme--documenter-dark .button.is-dark.is-outlined.is-loading::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading::after{border-color:transparent transparent #282f2f #282f2f !important}html.theme--documenter-dark .button.is-dark.is-outlined.is-loading:hover::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading:focus::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-dark.is-outlined.is-loading.is-focused::after,html.theme--documenter-dark .content kbd.button.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #ecf0f1 #ecf0f1 !important}html.theme--documenter-dark .button.is-dark.is-outlined[disabled],html.theme--documenter-dark .content kbd.button.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-dark.is-outlined,fieldset[disabled] html.theme--documenter-dark .content kbd.button.is-outlined{background-color:transparent;border-color:#282f2f;box-shadow:none;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined{background-color:transparent;border-color:#ecf0f1;color:#ecf0f1}html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined:hover,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined:hover,html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined:focus,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined:focus,html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined.is-focused,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined.is-focused{background-color:#ecf0f1;color:#282f2f}html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined.is-loading:hover::after,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined.is-loading:focus::after,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined.is-loading.is-focused::after,html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #282f2f #282f2f !important}html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined[disabled],html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-dark.is-inverted.is-outlined,fieldset[disabled] html.theme--documenter-dark .content kbd.button.is-inverted.is-outlined{background-color:transparent;border-color:#ecf0f1;box-shadow:none;color:#ecf0f1}html.theme--documenter-dark .button.is-primary,html.theme--documenter-dark .docstring>section>a.button.docs-sourcelink{background-color:#375a7f;border-color:transparent;color:#fff}html.theme--documenter-dark .button.is-primary:hover,html.theme--documenter-dark .docstring>section>a.button.docs-sourcelink:hover,html.theme--documenter-dark .button.is-primary.is-hovered,html.theme--documenter-dark .docstring>section>a.button.is-hovered.docs-sourcelink{background-color:#335476;border-color:transparent;color:#fff}html.theme--documenter-dark .button.is-primary:focus,html.theme--documenter-dark .docstring>section>a.button.docs-sourcelink:focus,html.theme--documenter-dark .button.is-primary.is-focused,html.theme--documenter-dark .docstring>section>a.button.is-focused.docs-sourcelink{border-color:transparent;color:#fff}html.theme--documenter-dark 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.button.is-danger.is-inverted{background-color:#fff;border-color:transparent;box-shadow:none;color:#9e1b0d}html.theme--documenter-dark .button.is-danger.is-loading::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-danger.is-outlined{background-color:transparent;border-color:#9e1b0d;color:#9e1b0d}html.theme--documenter-dark .button.is-danger.is-outlined:hover,html.theme--documenter-dark .button.is-danger.is-outlined.is-hovered,html.theme--documenter-dark .button.is-danger.is-outlined:focus,html.theme--documenter-dark .button.is-danger.is-outlined.is-focused{background-color:#9e1b0d;border-color:#9e1b0d;color:#fff}html.theme--documenter-dark .button.is-danger.is-outlined.is-loading::after{border-color:transparent transparent #9e1b0d #9e1b0d !important}html.theme--documenter-dark .button.is-danger.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-danger.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-danger.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-danger.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #fff #fff !important}html.theme--documenter-dark .button.is-danger.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-danger.is-outlined{background-color:transparent;border-color:#9e1b0d;box-shadow:none;color:#9e1b0d}html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined{background-color:transparent;border-color:#fff;color:#fff}html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined:hover,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-hovered,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined:focus,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-focused{background-color:#fff;color:#9e1b0d}html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading:hover::after,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading.is-hovered::after,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading:focus::after,html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined.is-loading.is-focused::after{border-color:transparent transparent #9e1b0d #9e1b0d !important}html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined[disabled],fieldset[disabled] html.theme--documenter-dark .button.is-danger.is-inverted.is-outlined{background-color:transparent;border-color:#fff;box-shadow:none;color:#fff}html.theme--documenter-dark .button.is-small,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button{border-radius:3px;font-size:.85em}html.theme--documenter-dark .button.is-normal{font-size:15px}html.theme--documenter-dark .button.is-medium{font-size:1.25rem}html.theme--documenter-dark .button.is-large{font-size:1.5rem}html.theme--documenter-dark .button[disabled],fieldset[disabled] html.theme--documenter-dark .button{background-color:#8c9b9d;border-color:#dbdee0;box-shadow:none;opacity:.5}html.theme--documenter-dark .button.is-fullwidth{display:flex;width:100%}html.theme--documenter-dark .button.is-loading{color:transparent !important;pointer-events:none}html.theme--documenter-dark .button.is-loading::after{position:absolute;left:calc(50% - (1em / 2));top:calc(50% - (1em / 2));position:absolute !important}html.theme--documenter-dark .button.is-static{background-color:#282f2f;border-color:#5e6d6f;color:#dbdee0;box-shadow:none;pointer-events:none}html.theme--documenter-dark .button.is-rounded,html.theme--documenter-dark #documenter .docs-sidebar form.docs-search>input.button{border-radius:290486px;padding-left:1em;padding-right:1em}html.theme--documenter-dark .buttons{align-items:center;display:flex;flex-wrap:wrap;justify-content:flex-start}html.theme--documenter-dark .buttons .button{margin-bottom:0.5rem}html.theme--documenter-dark .buttons .button:not(:last-child):not(.is-fullwidth){margin-right:0.5rem}html.theme--documenter-dark .buttons:last-child{margin-bottom:-0.5rem}html.theme--documenter-dark .buttons:not(:last-child){margin-bottom:1rem}html.theme--documenter-dark .buttons.are-small .button:not(.is-normal):not(.is-medium):not(.is-large){border-radius:3px;font-size:.85em}html.theme--documenter-dark .buttons.are-medium .button:not(.is-small):not(.is-normal):not(.is-large){font-size:1.25rem}html.theme--documenter-dark .buttons.are-large .button:not(.is-small):not(.is-normal):not(.is-medium){font-size:1.5rem}html.theme--documenter-dark .buttons.has-addons .button:not(:first-child){border-bottom-left-radius:0;border-top-left-radius:0}html.theme--documenter-dark .buttons.has-addons .button:not(:last-child){border-bottom-right-radius:0;border-top-right-radius:0;margin-right:-1px}html.theme--documenter-dark .buttons.has-addons .button:last-child{margin-right:0}html.theme--documenter-dark .buttons.has-addons .button:hover,html.theme--documenter-dark .buttons.has-addons .button.is-hovered{z-index:2}html.theme--documenter-dark .buttons.has-addons .button:focus,html.theme--documenter-dark .buttons.has-addons .button.is-focused,html.theme--documenter-dark .buttons.has-addons .button:active,html.theme--documenter-dark .buttons.has-addons .button.is-active,html.theme--documenter-dark .buttons.has-addons .button.is-selected{z-index:3}html.theme--documenter-dark .buttons.has-addons .button:focus:hover,html.theme--documenter-dark .buttons.has-addons .button.is-focused:hover,html.theme--documenter-dark .buttons.has-addons .button:active:hover,html.theme--documenter-dark .buttons.has-addons .button.is-active:hover,html.theme--documenter-dark .buttons.has-addons .button.is-selected:hover{z-index:4}html.theme--documenter-dark .buttons.has-addons .button.is-expanded{flex-grow:1;flex-shrink:1}html.theme--documenter-dark .buttons.is-centered{justify-content:center}html.theme--documenter-dark .buttons.is-centered:not(.has-addons) .button:not(.is-fullwidth){margin-left:0.25rem;margin-right:0.25rem}html.theme--documenter-dark .buttons.is-right{justify-content:flex-end}html.theme--documenter-dark .buttons.is-right:not(.has-addons) .button:not(.is-fullwidth){margin-left:0.25rem;margin-right:0.25rem}html.theme--documenter-dark .container{flex-grow:1;margin:0 auto;position:relative;width:auto}@media screen and (min-width: 1056px){html.theme--documenter-dark .container{max-width:992px}html.theme--documenter-dark .container.is-fluid{margin-left:32px;margin-right:32px;max-width:none}}@media screen and (max-width: 1215px){html.theme--documenter-dark .container.is-widescreen{max-width:1152px}}@media screen and (max-width: 1407px){html.theme--documenter-dark .container.is-fullhd{max-width:1344px}}@media screen and (min-width: 1216px){html.theme--documenter-dark .container{max-width:1152px}}@media screen and (min-width: 1408px){html.theme--documenter-dark .container{max-width:1344px}}html.theme--documenter-dark .content li+li{margin-top:0.25em}html.theme--documenter-dark .content p:not(:last-child),html.theme--documenter-dark .content dl:not(:last-child),html.theme--documenter-dark .content ol:not(:last-child),html.theme--documenter-dark .content ul:not(:last-child),html.theme--documenter-dark .content blockquote:not(:last-child),html.theme--documenter-dark .content pre:not(:last-child),html.theme--documenter-dark .content table:not(:last-child){margin-bottom:1em}html.theme--documenter-dark .content h1,html.theme--documenter-dark .content h2,html.theme--documenter-dark .content h3,html.theme--documenter-dark .content h4,html.theme--documenter-dark .content h5,html.theme--documenter-dark .content h6{color:#f2f2f2;font-weight:600;line-height:1.125}html.theme--documenter-dark .content h1{font-size:2em;margin-bottom:0.5em}html.theme--documenter-dark .content h1:not(:first-child){margin-top:1em}html.theme--documenter-dark .content h2{font-size:1.75em;margin-bottom:0.5714em}html.theme--documenter-dark .content h2:not(:first-child){margin-top:1.1428em}html.theme--documenter-dark .content h3{font-size:1.5em;margin-bottom:0.6666em}html.theme--documenter-dark .content h3:not(:first-child){margin-top:1.3333em}html.theme--documenter-dark .content h4{font-size:1.25em;margin-bottom:0.8em}html.theme--documenter-dark .content h5{font-size:1.125em;margin-bottom:0.8888em}html.theme--documenter-dark .content h6{font-size:1em;margin-bottom:1em}html.theme--documenter-dark .content blockquote{background-color:#282f2f;border-left:5px solid #5e6d6f;padding:1.25em 1.5em}html.theme--documenter-dark .content ol{list-style-position:outside;margin-left:2em;margin-top:1em}html.theme--documenter-dark .content ol:not([type]){list-style-type:decimal}html.theme--documenter-dark .content ol.is-lower-alpha:not([type]){list-style-type:lower-alpha}html.theme--documenter-dark .content ol.is-lower-roman:not([type]){list-style-type:lower-roman}html.theme--documenter-dark .content ol.is-upper-alpha:not([type]){list-style-type:upper-alpha}html.theme--documenter-dark .content ol.is-upper-roman:not([type]){list-style-type:upper-roman}html.theme--documenter-dark .content ul{list-style:disc outside;margin-left:2em;margin-top:1em}html.theme--documenter-dark .content ul ul{list-style-type:circle;margin-top:0.5em}html.theme--documenter-dark .content ul ul ul{list-style-type:square}html.theme--documenter-dark .content dd{margin-left:2em}html.theme--documenter-dark .content figure{margin-left:2em;margin-right:2em;text-align:center}html.theme--documenter-dark .content figure:not(:first-child){margin-top:2em}html.theme--documenter-dark .content figure:not(:last-child){margin-bottom:2em}html.theme--documenter-dark .content figure img{display:inline-block}html.theme--documenter-dark .content figure figcaption{font-style:italic}html.theme--documenter-dark .content pre{-webkit-overflow-scrolling:touch;overflow-x:auto;padding:0;white-space:pre;word-wrap:normal}html.theme--documenter-dark .content sup,html.theme--documenter-dark .content sub{font-size:75%}html.theme--documenter-dark .content table{width:100%}html.theme--documenter-dark .content table td,html.theme--documenter-dark .content table th{border:1px solid #5e6d6f;border-width:0 0 1px;padding:0.5em 0.75em;vertical-align:top}html.theme--documenter-dark .content table th{color:#f2f2f2}html.theme--documenter-dark .content table th:not([align]){text-align:left}html.theme--documenter-dark .content table thead td,html.theme--documenter-dark .content table thead th{border-width:0 0 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.image.is-square,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-square,html.theme--documenter-dark .image.is-1by1,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-1by1{padding-top:100%}html.theme--documenter-dark .image.is-5by4,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-5by4{padding-top:80%}html.theme--documenter-dark .image.is-4by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-4by3{padding-top:75%}html.theme--documenter-dark .image.is-3by2,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by2{padding-top:66.6666%}html.theme--documenter-dark .image.is-5by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-5by3{padding-top:60%}html.theme--documenter-dark .image.is-16by9,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-16by9{padding-top:56.25%}html.theme--documenter-dark .image.is-2by1,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-2by1{padding-top:50%}html.theme--documenter-dark .image.is-3by1,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by1{padding-top:33.3333%}html.theme--documenter-dark .image.is-4by5,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-4by5{padding-top:125%}html.theme--documenter-dark .image.is-3by4,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by4{padding-top:133.3333%}html.theme--documenter-dark .image.is-2by3,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-2by3{padding-top:150%}html.theme--documenter-dark .image.is-3by5,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-3by5{padding-top:166.6666%}html.theme--documenter-dark .image.is-9by16,html.theme--documenter-dark #documenter .docs-sidebar .docs-logo>img.is-9by16{padding-top:177.7777%}html.theme--documenter-dark .image.is-1by2,html.theme--documenter-dark #documenter 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Gets put into the tag.. +function set_theme_from_local_storage() { + // Intialize the theme to null, which means default + var theme = null; + // If the browser supports the localstorage and is not disabled then try to get the + // documenter theme + if(window.localStorage != null) { + // Get the user-picked theme from localStorage. May be `null`, which means the default + // theme. + theme = window.localStorage.getItem("documenter-theme"); + } + // Check if the browser supports user color preference + var darkPreference = false; + // Check if the users preference is for dark color scheme + if(window.matchMedia('(prefers-color-scheme: dark)').matches === true) { + darkPreference = true; + } + // Initialize a few variables for the loop: + // + // - active: will contain the index of the theme that should be active. Note that there + // is no guarantee that localStorage contains sane values. If `active` stays `null` + // we either could not find the theme or it is the default (primary) theme anyway. + // Either way, we then need to stick to the primary theme. + // + // - disabled: style sheets that should be disabled (i.e. all the theme style sheets + // that are not the currently active theme) + var active = null; var disabled = []; var darkTheme = null; + for (var i = 0; i < document.styleSheets.length; i++) { + var ss = document.styleSheets[i]; + // The tag of each style sheet is expected to have a data-theme-name attribute + // which must contain the name of the theme. The names in localStorage much match this. + var themename = ss.ownerNode.getAttribute("data-theme-name"); + // attribute not set => non-theme stylesheet => ignore + if(themename === null) continue; + // To distinguish the default (primary) theme, it needs to have the data-theme-primary + // attribute set. + var isprimary = (ss.ownerNode.getAttribute("data-theme-primary") !== null); + // Check if the theme is primary dark theme + var isDarkTheme = (ss.ownerNode.getAttribute("data-theme-primary-dark") !== null); + // If ss is for dark theme then set the value of darkTheme to the name of the theme + if(isDarkTheme) darkTheme = themename; + // If we find a matching theme (and it's not the default), we'll set active to non-null + if(themename === theme) active = i; + // Store the style sheets of inactive themes so that we could disable them + if(themename !== theme) disabled.push(ss); + } + if(active !== null) { + // If we did find an active theme, we'll (1) add the theme--$(theme) class to + document.getElementsByTagName('html')[0].className = "theme--" + theme; + // and (2) disable all the other theme stylesheets + disabled.forEach(function(ss){ + ss.disabled = true; + }); + } + else if(darkTheme !== null && darkPreference === true) { + // If we did find an active theme, we'll (1) add the theme--$(theme) class to + document.getElementsByTagName('html')[0].className = "theme--" + darkTheme; + // and (2) disable all the other theme stylesheets + disabled.forEach(function(ss){ + if (ss.ownerNode.getAttribute("data-theme-name") !== darkTheme) { + ss.disabled = true; + } + }); + } +} +set_theme_from_local_storage(); diff --git a/v0.5.3/assets/warner.js b/v0.5.3/assets/warner.js new file mode 100644 index 00000000..5531c885 --- /dev/null +++ b/v0.5.3/assets/warner.js @@ -0,0 +1,49 @@ +function maybeAddWarning () { + // DOCUMENTER_NEWEST is defined in versions.js, DOCUMENTER_CURRENT_VERSION and DOCUMENTER_STABLE + // in siteinfo.js. + // If either of these are undefined something went horribly wrong, so we abort. + if ( + window.DOCUMENTER_NEWEST === undefined || + window.DOCUMENTER_CURRENT_VERSION === undefined || + window.DOCUMENTER_STABLE === undefined + ) { + return + }; + + // Current version is not a version number, so we can't tell if it's the newest version. Abort. + if (!/v(\d+\.)*\d+/.test(window.DOCUMENTER_CURRENT_VERSION)) { + return + }; + + // Current version is newest version, so no need to add a warning. + if (window.DOCUMENTER_NEWEST === window.DOCUMENTER_CURRENT_VERSION) { + return + }; + + // Add a noindex meta tag (unless one exists) so that search engines don't index this version of the docs. + if (document.body.querySelector('meta[name="robots"]') === null) { + const meta = document.createElement('meta'); + meta.name = 'robots'; + meta.content = 'noindex'; + + document.getElementsByTagName('head')[0].appendChild(meta); + }; + + const div = document.createElement('div'); + div.classList.add('outdated-warning-overlay'); + const closer = document.createElement('button'); + closer.classList.add('outdated-warning-closer', 'delete'); + closer.addEventListener('click', function () { + document.body.removeChild(div); + }); + const href = window.documenterBaseURL + '/../' + window.DOCUMENTER_STABLE; + div.innerHTML = 'This documentation is not for the latest stable release, but for either the development version or an older release.
    Click here to go to the documentation for the latest stable release.'; + div.appendChild(closer); + document.body.appendChild(div); +}; + +if (document.readyState === 'loading') { + document.addEventListener('DOMContentLoaded', maybeAddWarning); +} else { + maybeAddWarning(); +}; diff --git a/v0.5.3/examples/index.html b/v0.5.3/examples/index.html new file mode 100644 index 00000000..a23aa8d0 --- /dev/null +++ b/v0.5.3/examples/index.html @@ -0,0 +1,54 @@ + +Examples_1p · KiteModels.jl
    Edit on GitHub

    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 find_steady_state 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 position of the particles in the x-z plane. When you type using Plots you will be asked 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 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)
+150.0
+
+julia> tether_length(kps)
+150.1461801769623
+
+julia> calc_height(kps)
+142.78102261557189

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

    julia> winch_force(kps)
+592.5649922210812
+
+julia> spring_forces(kps)
+6-element Vector{Float64}:
+ 592.5534481632459
+ 595.0953689567787
+ 597.6497034999358
+ 600.215921248686
+ 602.793488771366
+ 605.3855398009119

    The force increases when going upwards because the kite not only experiences 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)
+(730.5877517655691, 157.36420900755007)
+
+julia> lift_over_drag(kps)
+4.64265512706588

    Print the wind speed vector at the kite:

    julia> v_wind_kite(kps)
+3-element StaticArrays.MVector{3, Float64} with indices SOneTo(3):
+ 12.54966091924401
+  0.0
+  0.0

    Example of reeling out the tether

    include("examples/reel_out_1p.jl")

    Reel out 1p model

    In this example, we first keep the tether length constant and at 15 s start to reel out the winch with an acceleration of 0.1 m/s². At a set speed below 2.2 m/s the brake of the winch is active, therefore the "jump" in the v_reelout at the beginning of the reel-out phase.

    It is not a real jump, but a high acceleration compared to the acceleration afterward.

    diff --git a/v0.5.3/examples_4p/index.html b/v0.5.3/examples_4p/index.html new file mode 100644 index 00000000..5954e917 --- /dev/null +++ b/v0.5.3/examples_4p/index.html @@ -0,0 +1,67 @@ + +Examples_4p · KiteModels.jl
    Edit on GitHub

    Examples for using the four 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 = KPS4(kcu)

    Then we call the function find_steady_state 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)

    Finding the steady state of the 4-point model is difficult and it only works when we artificially reduce the stiffness by a factor of 0.035. In the function init_sim! this factor is slowly increased to 1.0.

    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 position of the particles in the x-z plane. When you type using Plots you will be asked 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)

    Initial State

    Initial State

    Print the vector of the positions of the particles:

    julia> kps.pos
+11-element StaticArrays.SVector{11, StaticArrays.MVector{3, Float64}} with indices SOneTo(11):
+ [0.0, 0.0, 0.0]
+ [9.179237622840555, 0.0, 23.842235605018427]
+ [18.04995989861643, 0.0, 47.800963572571995]
+ [26.562156210544767, 0.0, 71.88939923189402]
+ [34.68610302268368, 0.0, 96.11152960655927]
+ [42.39897331360162, 0.0, 120.4676716318371]
+ [49.681585065247006, 0.0, 144.95590371155842]
+ [50.19560621291923, 0.0, 150.01396766608025]
+ [51.447158096922415, 0.0, 152.22064860101747]
+ [51.269841233250816, 2.823293379900761, 149.7849943282592]
+ [51.269841233250816, -2.823293379900761, 149.7849943282592]
+

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

    julia> unstretched_length(kps)
+150.0
+
+julia> tether_length(kps)
+153.28916318946136
+
+julia> calc_height(kps)
+152.22064860101747

    Because of the the stiffness_factor of 0.035 we have a longer tether-length then when using the 1 point kite model.

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

    julia> winch_force(kps)
+471.70242280223385
+
+julia> spring_forces(kps)
+15-element Vector{Float64}:
+ 471.6945339755092
+ 471.690450982437
+ 471.6880774303635
+ 471.68627774821994
+ 471.68477542957345
+ 471.68345917403485
+  95.87508612176553
+ -58.70207142208335
+ -50.06490404375146
+ 226.23422847228494
+ 215.8389386786939
+ 215.8389386786939
+ 226.23422847228494
+ -58.70207142208335
+  99.72953663093385

    Some of the forces are negative which means the segments are getting compressed. This is acceptable for the kite itself (not for 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)
+(382.18880762331327, 117.58827293691883)
+
+julia> lift_over_drag(kps)
+3.250228939312184

    Print the wind speed vector at the kite:

    julia> v_wind_kite(kps)
+3-element StaticArrays.MVector{3, Float64} with indices SOneTo(3):
+ 12.542508333667467
+  0.0
+  0.0

    Example of reeling out the tether

    include("examples/reel_out_4p.jl")

    Reel out 4p model

    In this example, we first keep the tether length constant and at 15 s start to reel out the winch with an acceleration of 0.1 m/s². At a set speed below 2.2 m/s the brake of the winch is active, therefore the "jump" in the v_reelout at the beginning of the reel-out phase.

    It is not a real jump, but a high acceleration compared to the acceleration afterward.

    diff --git a/v0.5.3/functions/index.html b/v0.5.3/functions/index.html new file mode 100644 index 00000000..76e2e4d8 --- /dev/null +++ b/v0.5.3/functions/index.html @@ -0,0 +1,26 @@ + +Functions · KiteModels.jl
    Edit on GitHub

    Introduction

    Most of the functions work on a KPS3 or KPS4 object. For this, the variable s is used. Such a variable can be created with the lines:

    using KiteSimulators
+const s = KPS3(KCU(se()))

    Or, if you want to use the 4 point kite model:

    using KiteSimulators
+const s = KPS4(KCU(se()))

    Functions with an "!" as last character of the function name modify one of more of their parameters, in this context mostly the variable s.

    Input functions

    KiteModels.set_v_reel_out! — Function
    set_v_reel_out!(s::AKM, v_reel_out, t_0, period_time = 1.0 / s.set.sample_freq)

    Setter for the reel-out speed. Must be called on every timestep (before each simulation). It also updates the tether length, therefore it must be called even if v_reel_out has not changed.

    • t_0 the start time of the next timestep relative to the start of the simulation [s]
    source
    KiteModels.set_depower_steering! — Function
    set_depower_steering!(s::AKM, depower, steering)

    Setter for the depower and steering model inputs.

    Parameters:

    • depower: Relative depower, must be between 0 .. 1.0
    • steering: Relative steering, must be between -1.0 .. 1.0.

    This function sets the variables s.depower, s.steering and s.alpha_depower.

    It takes the depower offset c0 and the dependency of the steering sensitivity from the depower settings into account.

    source
    KiteModels.set_v_wind_ground! — Function
    set_v_wind_ground!(s::AKM, height, v_wind_gnd=s.set.v_wind, wind_dir=0.0)

    Set the vector of the wind-velocity at the height of the kite. As parameter the height, the ground wind speed [m/s] and the wind direction [radians] are needed. Must be called every at each timestep.

    source

    Output functions

    KiteModels.pos_kite — Function
    pos_kite(s::KPS4)

    Return the position of the kite (top particle).

    source
    pos_kite(s::KPS3)

    Return the position of the kite (top particle).

    source
    KiteModels.calc_height — Function
    calc_height(s::KPS4)

    Determine the height of the topmost kite particle above ground.

    source
    calc_height(s::KPS3)

    Determine the height of the kite particle above ground.

    source
    KiteUtils.calc_course — Function
    calc_course(s::AKM)

    Determine the course angle of the kite in radian. Undefined if the velocity of the kite is near zero.

    source
    KiteModels.winch_force — Function
    winch_force(s::KPS4)

    Return the absolute value of the force at the winch as calculated during the last timestep.

    source
    winch_force(s::KPS3)

    Return the absolute value of the force at the winch as calculated during the last timestep.

    source
    KiteModels.lift_drag — Function
    lift_drag(s::AKM)

    Return a tuple of the scalar lift and drag forces.

    Example: 

    lift, drag = lift_drag(s)
    source
    KiteModels.kite_ref_frame — Function
    kite_ref_frame(s::KPS4)

    Returns a tuple of the x, y, and z vectors of the kite reference frame.

    source
    kite_ref_frame(s::KPS3)

    Returns a tuple of the x, y, and z vectors of the kite reference frame.

    source
    KiteModels.orient_euler — Function
    orient_euler(s::AKM)

    Calculate and return the orientation of the kite in euler angles (roll, pitch, yaw) as SVector.

    source
    KiteUtils.SysState — Type
    SysState(s::AKM, zoom=1.0)

    Constructor for creating a SysState object from a kite model (KPS3 or KPS4). The SysState object can be used either for logging or for displaying the system state in a viewer. Optionally the position arrays can be zoomed according to the requirements of the viewer.

    source

    High level simulation interface

    KiteModels.init_sim! — Function
    init_sim!(s; t_end=1.0, stiffness_factor=0.035, prn=false)

    Initialises the integrator of the model.

    Parameters:

    • s: an instance of an abstract kite model
    • t_end: end time of the simulation; normally not needed
    • stiffness_factor: factor applied to the tether stiffness during initialisation
    • prn: if set to true, print the detailed solver results

    Returns: An instance of a DAE integrator.

    source
    KiteModels.next_step! — Function
    next_step!(s::AKM, integrator; v_ro = 0.0, v_wind_gnd=s.set.v_wind, wind_dir=0.0, dt=1/s.set.sample_freq)

    Calculates the next simulation step.

    Parameters:

    • s: an instance of an abstract kite model
    • integrator: an integrator instance as returned by the function init_sim!
    • v_ro: set value of reel out speed in m/s
    • v_wind_gnd: wind speed at reference height in m/s
    • wind_dir: wind direction in radians
    • dt: time step in seconds

    Only the first two parameters are required.

    Returns: The end time of the time step in seconds.

    source

    Low level simulation interface

    KiteModels.find_steady_state! — Function
    find_steady_state!(s::KPS4; prn=false, delta = 0.0, stiffness_factor=0.035)

    Find an initial equilibrium, based on the inital parameters l_tether, elevation and v_reel_out.

    source
    find_steady_state!(s::KPS3, prn=false, delta = 0.0, stiffness_factor=0.035)

    Find an initial equilibrium, based on the inital parameters l_tether, elevation and v_reel_out.

    source
    KiteModels.residual! — Function
    residual!(res, yd, y::MVector{S, SimFloat}, s::KPS4, time) where S
+
+N-point tether model, four points for the kite on top:
+Inputs:
+State vector y   = pos1,  pos2, ... , posn,  vel1,  vel2, . .., veln,  length, v_reel_out
+Derivative   yd  = posd1, posd2, ..., posdn, veld1, veld2, ..., veldn, lengthd, v_reel_outd
+Output:
+Residual     res = res1, res2 = vel1-posd1,  ..., veld1-acc1, ..., 
+
+Additional parameters:
+s: Struct with work variables, type KPS4
+S: The dimension of the state vector

    The number of the point masses of the model N = S/6, the state of each point is represented by two 3 element vectors.

    source
    residual!(res, yd, y::MVector{S, SimFloat}, s::KPS3, time) where S
+
+N-point tether model, one point kite at the top:
+Inputs:
+State vector y   = pos1, pos2, ..., posn, vel1, vel2, ..., veln
+Derivative   yd  = vel1, vel2, ..., veln, acc1, acc2, ..., accn
+Output:
+Residual     res = res1, res2 = pos1,  ..., vel1, ...
+
+Additional parameters:
+s: Struct with work variables, type KPS3
+S: The dimension of the state vector

    The number of the point masses of the model N = S/6, the state of each point is represented by two 3 element vectors.

    source

    Helper functions

    KiteModels.copy_bin — Function
    copy_bin()

    Copy the scripts createsysimage and run_julia to the folder "bin" (it will be created if it doesn't exist).

    source
    KiteModels.calc_drag — Function
    calc_drag(s::KPS3, v_segment, unit_vector, rho, last_tether_drag, v_app_perp)

    Calculate the drag of one tether segment, result stored in parameter last_tether_drag. Return the norm of the apparent wind velocity.

    source
    KiteModels.calc_set_cl_cd! — Function
    calc_set_cl_cd!(s::KPS3, vec_c, v_app)

    Calculate the lift over drag ratio as a function of the direction vector of the last tether segment, the current depower setting and the apparent wind speed. Set the calculated CL and CD values in the struct s.

    source
    KiteModels.calc_aero_forces! — Function
    calc_aero_forces!(s::KPS4, pos, vel, rho, alpha_depower, rel_steering)

    Calculates the aerodynamic forces acting on the kite particles.

    Parameters:

    • pos: vector of the particle positions
    • vel: vector of the particle velocities
    • rho: air density [kg/m^3]
    • rel_depower: value between 0.0 and 1.0
    • alpha_depower: depower angle [degrees]
    • rel_steering: value between -1.0 and +1.0

    Updates the vector s.forces of the first parameter.

    source
    KiteModels.calc_particle_forces! — Function
    calc_particle_forces!(s::KPS4, pos1, pos2, vel1, vel2, spring, segments, d_tether, rho, i)

    Calculate the drag force of the tether segment, defined by the parameters pos1, pos2, vel1 and vel2 and distribute it equally on the two particles, that are attached to the segment. The result is stored in the array s.forces.

    source
    KiteModels.inner_loop! — Function
    inner_loop!(s::KPS4, pos, vel, v_wind_gnd, segments, d_tether)

    Calculate the forces, acting on all particles.

    Output:

    • s.forces
    • s.v_wind_tether
    source
    KiteModels.loop! — Function
    loop!(s::KPS4, pos, vel, posd, veld)

    Calculate the vectors s.res1 and calculate s.res2 using loops that iterate over all tether segments.

    source
    diff --git a/v0.5.3/index.html b/v0.5.3/index.html new file mode 100644 index 00000000..1e9a3d10 --- /dev/null +++ b/v0.5.3/index.html @@ -0,0 +1,3 @@ + +Home · KiteModels.jl
    Edit on GitHub

    KiteModels

    Documentation for the package KiteModels.

    The model has the following subcomponents, implement in separate packages:

    This package is part of Julia Kite Power Tools, which consist of the following packages:

    Julia Kite Power Tools

    What to install

    If you want to run simulations and see the results in 3D, please install the meta package KiteSimulators which contains all other packages. If you are not interested in 3D visualization or control you can just install this package. When you have installed the package KiteSimulators, use the command using KiteSimulators instead of using KiteModels when this is mentioned in the documentation.

    Installation

    Download Julia 1.9 or later, if you haven't already. You can add KiteModels from Julia's package manager, by typing 

    using Pkg
+pkg"add KiteModels"

    at the Julia prompt. You can run the unit tests with the command:

    pkg"test KiteModels"

    If you are using Windows, it is suggested to install git and bash, too. This is explained for example here: Julia on Windows .

    Provides

    The type AbstractKiteModel with the implementation KPS3 and KPS4, representing the one point and four point kite model, together with the high level simulation interface consisting of the functions init_sim! and next_step!. Other kite models can be added inside or outside of this package by implementing the non-generic methods required for an AbstractKiteModel.

    Additional functions to provide inputs and outputs of the model on each time step. In particular the constructor SysState can be called once per time step to create a SysState struct for logging or for displaying the state in a viewer. Per time step the residual! function is called as many times as needed to find the solution at the end of the time step. The formulas are based on basic physics and aerodynamics and can be quite simple because a differential algebraic notation is used.

    Four point kite power system model

    Further reading

    These models are described in detail in Dynamic Model of a Pumping Kite Power System.

    See also

    Author: Uwe Fechner (uwe.fechner.msc@gmail.com)

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    Edit on GitHub

    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
    diff --git a/v0.5.3/quickstart/index.html b/v0.5.3/quickstart/index.html new file mode 100644 index 00000000..a0899998 --- /dev/null +++ b/v0.5.3/quickstart/index.html @@ -0,0 +1,32 @@ + +Quickstart · KiteModels.jl
    Edit on GitHub

    Quickstart

    Installation of Julia

    For a quick test of this program, it is NOT needed to install VSCode, git or bash. Just installing Julia is sufficient, and that can be done in a few minutes. On Linux, just execute the command:

    bash -ci "$(curl -fsSL https://raw.githubusercontent.com/abelsiqueira/jill/master/jill.sh)"

    On Windows, you can get Julia from the Windows store, or you download and install it from https://julialang.org/downloads/ . For Mac there are also different versions available on this download site. You do NOT need administrator permissions to install Julia, but make sure to check the option "add to path" when installing.

    Create a test project

    Launch a command prompt and create a folder with the name "test":

    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
+add Plots
+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.

    Your folder structure should now look like this:

    shell> tree
+.
+├── data
+│   ├── settings.yaml
+│   └── system.yaml
+├── examples
+│   ├── compare_kps3_kps4.jl
+│   ├── plot2d.jl
+│   └── simulate.jl
+├── Manifest.toml
+└── Project.toml
+
+2 directories, 7 files

    You can access the operating system command line by typing the character ";", you then get a "shell" prompt and can enter operating system commands. To leave shell mode, type \<BACKSLASH\>. On windows you need to type tree /f instead of tree to see the files.

    Executing the first example

    From the Julia prompt you can use the command "include" to execute a script:

    include("examples/simulate.jl")

    On Windows you need to type "\\" instead of "/":

    include("examples\\simulate.jl")

    You will see the 4-point kite fly for 30s. If you want to change the settings of the simulation, open the file simulate.jlin your favorite text editor, modify the settings at the beginning of the file and execute the include command again. You can use the <TAB> key for autocompletion, for example$include("ex<TAB>$completes to$include("examples\$` which can save a lot of typing. If you type <TAB> again you get a list of files to choose from.

    Try out changing the following default settings:

    dt = 0.05
+STEPS = 600
+PLOT = true
+FRONT_VIEW = false
+ZOOM = true
+PRINT = false
+STATISTIC = false

    Now you can quit Julia with the command exit(). If you want to launch Julia again, be sure to be in the correct folder and then type julia --project. Without the parameter --project it will not load your project settings.

    The first run of the script will be slow because Julia must compile the code. The second and any further run is very fast, but only as long as you do not leave your Julia session.

    Comparing the one-point and the four-point kite model

    Start Julia in the project folder you created before:

    cd test
+julia --project

    and then execute the command

    using KiteModels
+include("examples/compare_kps3_kps4.jl")

    Use the command include("examples\\compare_kps3_kps4.jl") on Windows.

    The last view of the animation should look like this:

    Initial State

    You can save what you see with the command savefig("kite.png").

    Exercise

    Modify the variable ALPHA_ZERO in line 11 of the script until the lift force of the 1 point model and the 4 point model match.

    Questions?

    If you have any questions, please ask in the Julia Discourse forum in the section modelling and simulation , or in in the section First steps . The Julia community is very friendly and responsive.

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      diff --git a/v0.5.3/search_index.js b/v0.5.3/search_index.js new file mode 100644 index 00000000..f9bfbf1e --- /dev/null +++ b/v0.5.3/search_index.js @@ -0,0 +1,3 @@ +var documenterSearchIndex = {"docs": +[{"location":"functions/","page":"Functions","title":"Functions","text":"CurrentModule = KiteModels","category":"page"},{"location":"functions/#Introduction","page":"Functions","title":"Introduction","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"Most of the functions work on a KPS3 or KPS4 object. For this, the variable s is used. Such a variable can be created with the lines:","category":"page"},{"location":"functions/","page":"Functions","title":"Functions","text":"using KiteSimulators\nconst s = KPS3(KCU(se()))","category":"page"},{"location":"functions/","page":"Functions","title":"Functions","text":"Or, if you want to use the 4 point kite model:","category":"page"},{"location":"functions/","page":"Functions","title":"Functions","text":"using KiteSimulators\nconst s = KPS4(KCU(se()))","category":"page"},{"location":"functions/","page":"Functions","title":"Functions","text":"Functions with an \"!\" as last character of the function name modify one of more of their parameters, in this context mostly the variable s.","category":"page"},{"location":"functions/#Input-functions","page":"Functions","title":"Input functions","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"set_v_reel_out!\nset_depower_steering!\nset_v_wind_ground!","category":"page"},{"location":"functions/#KiteModels.set_v_reel_out!","page":"Functions","title":"KiteModels.set_v_reel_out!","text":"set_v_reel_out!(s::AKM, v_reel_out, t_0, period_time = 1.0 / s.set.sample_freq)\n\nSetter for the reel-out speed. Must be called on every timestep (before each simulation). It also updates the tether length, therefore it must be called even if v_reel_out has not changed.\n\nt_0 the start time of the next timestep relative to the start of the simulation [s]\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.set_depower_steering!","page":"Functions","title":"KiteModels.set_depower_steering!","text":"set_depower_steering!(s::AKM, depower, steering)\n\nSetter for the depower and steering model inputs. \n\nParameters:\n\ndepower: Relative depower, must be between 0 .. 1.0\nsteering: Relative steering, must be between -1.0 .. 1.0. \n\nThis function sets the variables s.depower, s.steering and s.alpha_depower. \n\nIt takes the depower offset c0 and the dependency of the steering sensitivity from the depower settings into account.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.set_v_wind_ground!","page":"Functions","title":"KiteModels.set_v_wind_ground!","text":"set_v_wind_ground!(s::AKM, height, v_wind_gnd=s.set.v_wind, wind_dir=0.0)\n\nSet the vector of the wind-velocity at the height of the kite. As parameter the height, the ground wind speed [m/s] and the wind direction [radians] are needed. Must be called every at each timestep.\n\n\n\n\n\n","category":"function"},{"location":"functions/#Output-functions","page":"Functions","title":"Output functions","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"unstretched_length\ntether_length\npos_kite\ncalc_height\ncalc_elevation\ncalc_azimuth\ncalc_heading\ncalc_course\nwinch_force\nspring_forces\nlift_drag\nlift_over_drag\nv_wind_kite\nkite_ref_frame\norient_euler\nSysState","category":"page"},{"location":"functions/#KiteModels.unstretched_length","page":"Functions","title":"KiteModels.unstretched_length","text":"unstretched_length(s::AKM)\n\nGetter for the unstretched tether reel-out lenght (at zero force).\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.tether_length","page":"Functions","title":"KiteModels.tether_length","text":"tether_length(s::AKM)\n\nCalculate and return the real, stretched tether lenght.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.pos_kite","page":"Functions","title":"KiteModels.pos_kite","text":"pos_kite(s::KPS4)\n\nReturn the position of the kite (top particle).\n\n\n\n\n\npos_kite(s::KPS3)\n\nReturn the position of the kite (top particle).\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.calc_height","page":"Functions","title":"KiteModels.calc_height","text":"calc_height(s::KPS4)\n\nDetermine the height of the topmost kite particle above ground.\n\n\n\n\n\ncalc_height(s::KPS3)\n\nDetermine the height of the kite particle above ground.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteUtils.calc_elevation","page":"Functions","title":"KiteUtils.calc_elevation","text":"calc_elevation(s::AKM)\n\nDetermine the elevation angle of the kite in radian.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteUtils.calc_azimuth","page":"Functions","title":"KiteUtils.calc_azimuth","text":"calc_azimuth(s::AKM)\n\nDetermine the azimuth angle of the kite in radian.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteUtils.calc_heading","page":"Functions","title":"KiteUtils.calc_heading","text":"calc_heading(s::AKM)\n\nDetermine the heading angle of the kite in radian.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteUtils.calc_course","page":"Functions","title":"KiteUtils.calc_course","text":"calc_course(s::AKM)\n\nDetermine the course angle of the kite in radian. Undefined if the velocity of the kite is near zero.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.winch_force","page":"Functions","title":"KiteModels.winch_force","text":"winch_force(s::KPS4)\n\nReturn the absolute value of the force at the winch as calculated during the last timestep. \n\n\n\n\n\nwinch_force(s::KPS3)\n\nReturn the absolute value of the force at the winch as calculated during the last timestep. \n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.spring_forces","page":"Functions","title":"KiteModels.spring_forces","text":"spring_forces(s::AKM)\n\nReturn an array of the scalar spring forces of all tether segements.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.lift_drag","page":"Functions","title":"KiteModels.lift_drag","text":"lift_drag(s::AKM)\n\nReturn a tuple of the scalar lift and drag forces. \n\nExample: \n\nlift, drag = lift_drag(s)\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.lift_over_drag","page":"Functions","title":"KiteModels.lift_over_drag","text":"lift_over_drag(s::AKM)\n\nReturn the lift-over-drag ratio.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.v_wind_kite","page":"Functions","title":"KiteModels.v_wind_kite","text":"v_wind_kite(s::AKM)\n\nReturn the vector of the wind speed at the height of the kite.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.kite_ref_frame","page":"Functions","title":"KiteModels.kite_ref_frame","text":"kite_ref_frame(s::KPS4)\n\nReturns a tuple of the x, y, and z vectors of the kite reference frame.\n\n\n\n\n\nkite_ref_frame(s::KPS3)\n\nReturns a tuple of the x, y, and z vectors of the kite reference frame.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.orient_euler","page":"Functions","title":"KiteModels.orient_euler","text":"orient_euler(s::AKM)\n\nCalculate and return the orientation of the kite in euler angles (roll, pitch, yaw) as SVector. \n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteUtils.SysState","page":"Functions","title":"KiteUtils.SysState","text":"SysState(s::AKM, zoom=1.0)\n\nConstructor for creating a SysState object from a kite model (KPS3 or KPS4). The SysState object can be used either for logging or for displaying the system state in a viewer. Optionally the position arrays can be zoomed according to the requirements of the viewer.\n\n\n\n\n\n","category":"type"},{"location":"functions/#High-level-simulation-interface","page":"Functions","title":"High level simulation interface","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"init_sim!\nnext_step!","category":"page"},{"location":"functions/#KiteModels.init_sim!","page":"Functions","title":"KiteModels.init_sim!","text":"init_sim!(s; t_end=1.0, stiffness_factor=0.035, prn=false)\n\nInitialises the integrator of the model.\n\nParameters:\n\ns: an instance of an abstract kite model\nt_end: end time of the simulation; normally not needed\nstiffness_factor: factor applied to the tether stiffness during initialisation\nprn: if set to true, print the detailed solver results\n\nReturns: An instance of a DAE integrator.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.next_step!","page":"Functions","title":"KiteModels.next_step!","text":"next_step!(s::AKM, integrator; v_ro = 0.0, v_wind_gnd=s.set.v_wind, wind_dir=0.0, dt=1/s.set.sample_freq)\n\nCalculates the next simulation step.\n\nParameters:\n\ns: an instance of an abstract kite model\nintegrator: an integrator instance as returned by the function init_sim!\nv_ro: set value of reel out speed in m/s\nv_wind_gnd: wind speed at reference height in m/s\nwind_dir: wind direction in radians\ndt: time step in seconds\n\nOnly the first two parameters are required.\n\nReturns: The end time of the time step in seconds.\n\n\n\n\n\n","category":"function"},{"location":"functions/#Low-level-simulation-interface","page":"Functions","title":"Low level simulation interface","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"clear!\nfind_steady_state!\nresidual!","category":"page"},{"location":"functions/#KiteModels.clear!","page":"Functions","title":"KiteModels.clear!","text":"clear!(s::KPS4)\n\nInitialize the kite power model.\n\n\n\n\n\nclear!(s::KPS3)\n\nInitialize the kite power model.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.find_steady_state!","page":"Functions","title":"KiteModels.find_steady_state!","text":"find_steady_state!(s::KPS4; prn=false, delta = 0.0, stiffness_factor=0.035)\n\nFind an initial equilibrium, based on the inital parameters l_tether, elevation and v_reel_out.\n\n\n\n\n\nfind_steady_state!(s::KPS3, prn=false, delta = 0.0, stiffness_factor=0.035)\n\nFind an initial equilibrium, based on the inital parameters l_tether, elevation and v_reel_out.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.residual!","page":"Functions","title":"KiteModels.residual!","text":"residual!(res, yd, y::MVector{S, SimFloat}, s::KPS4, time) where S\n\nN-point tether model, four points for the kite on top:\nInputs:\nState vector y = pos1, pos2, ... , posn, vel1, vel2, . .., veln, length, v_reel_out\nDerivative yd = posd1, posd2, ..., posdn, veld1, veld2, ..., veldn, lengthd, v_reel_outd\nOutput:\nResidual res = res1, res2 = vel1-posd1, ..., veld1-acc1, ..., \n\nAdditional parameters:\ns: Struct with work variables, type KPS4\nS: The dimension of the state vector\n\nThe number of the point masses of the model N = S/6, the state of each point is represented by two 3 element vectors.\n\n\n\n\n\nresidual!(res, yd, y::MVector{S, SimFloat}, s::KPS3, time) where S\n\nN-point tether model, one point kite at the top:\nInputs:\nState vector y = pos1, pos2, ..., posn, vel1, vel2, ..., veln\nDerivative yd = vel1, vel2, ..., veln, acc1, acc2, ..., accn\nOutput:\nResidual res = res1, res2 = pos1, ..., vel1, ...\n\nAdditional parameters:\ns: Struct with work variables, type KPS3\nS: The dimension of the state vector\n\nThe number of the point masses of the model N = S/6, the state of each point is represented by two 3 element vectors.\n\n\n\n\n\n","category":"function"},{"location":"functions/#Helper-functions","page":"Functions","title":"Helper functions","text":"","category":"section"},{"location":"functions/","page":"Functions","title":"Functions","text":"copy_examples\ncopy_bin\ncalc_drag\ncalc_set_cl_cd!\ncalc_aero_forces!\ncalc_particle_forces!\ninner_loop!\nloop!","category":"page"},{"location":"functions/#KiteModels.copy_examples","page":"Functions","title":"KiteModels.copy_examples","text":"copy_examples()\n\nCopy the example scripts to the folder \"examples\" (it will be created if it doesn't exist).\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.copy_bin","page":"Functions","title":"KiteModels.copy_bin","text":"copy_bin()\n\nCopy the scripts createsysimage and run_julia to the folder \"bin\" (it will be created if it doesn't exist).\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.calc_drag","page":"Functions","title":"KiteModels.calc_drag","text":"calc_drag(s::KPS3, v_segment, unit_vector, rho, last_tether_drag, v_app_perp)\n\nCalculate the drag of one tether segment, result stored in parameter last_tether_drag. Return the norm of the apparent wind velocity.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.calc_set_cl_cd!","page":"Functions","title":"KiteModels.calc_set_cl_cd!","text":"calc_set_cl_cd!(s::KPS3, vec_c, v_app)\n\nCalculate the lift over drag ratio as a function of the direction vector of the last tether segment, the current depower setting and the apparent wind speed. Set the calculated CL and CD values in the struct s. \n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.calc_aero_forces!","page":"Functions","title":"KiteModels.calc_aero_forces!","text":"calc_aero_forces!(s::KPS4, pos, vel, rho, alpha_depower, rel_steering)\n\nCalculates the aerodynamic forces acting on the kite particles.\n\nParameters:\n\npos: vector of the particle positions\nvel: vector of the particle velocities\nrho: air density [kg/m^3]\nrel_depower: value between 0.0 and 1.0\nalpha_depower: depower angle [degrees]\nrel_steering: value between -1.0 and +1.0\n\nUpdates the vector s.forces of the first parameter.\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.calc_particle_forces!","page":"Functions","title":"KiteModels.calc_particle_forces!","text":"calc_particle_forces!(s::KPS4, pos1, pos2, vel1, vel2, spring, segments, d_tether, rho, i)\n\nCalculate the drag force of the tether segment, defined by the parameters pos1, pos2, vel1 and vel2 and distribute it equally on the two particles, that are attached to the segment. The result is stored in the array s.forces. \n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.inner_loop!","page":"Functions","title":"KiteModels.inner_loop!","text":"inner_loop!(s::KPS4, pos, vel, v_wind_gnd, segments, d_tether)\n\nCalculate the forces, acting on all particles.\n\nOutput:\n\ns.forces\ns.v_wind_tether\n\n\n\n\n\n","category":"function"},{"location":"functions/#KiteModels.loop!","page":"Functions","title":"KiteModels.loop!","text":"loop!(s::KPS4, pos, vel, posd, veld)\n\nCalculate the vectors s.res1 and calculate s.res2 using loops that iterate over all tether segments. \n\n\n\n\n\n","category":"function"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"CurrentModule = KiteModels","category":"page"},{"location":"quickstart/#Quickstart","page":"Quickstart","title":"Quickstart","text":"","category":"section"},{"location":"quickstart/#Installation-of-Julia","page":"Quickstart","title":"Installation of Julia","text":"","category":"section"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"For a quick test of this program, it is NOT needed to install VSCode, git or bash. Just installing Julia is sufficient, and that can be done in a few minutes. On Linux, just execute the command:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"bash -ci \"$(curl -fsSL https://raw.githubusercontent.com/abelsiqueira/jill/master/jill.sh)\"","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"On Windows, you can get Julia from the Windows store, or you download and install it from https://julialang.org/downloads/ . For Mac there are also different versions available on this download site. You do NOT need administrator permissions to install Julia, but make sure to check the option \"add to path\" when installing.","category":"page"},{"location":"quickstart/#Create-a-test-project","page":"Quickstart","title":"Create a test project","text":"","category":"section"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Launch a command prompt and create a folder with the name \"test\":","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"mkdir test\ncd test\njulia --project=\".\"","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"With the last command, we told Julia to create a new project in the current directory.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"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.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"]\nadd KiteUtils\nadd KitePodModels\nadd KiteModels\nadd Plots\nst\n","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"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.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Then, copy the default configuration files and examples to your new project:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"using KiteModels\ncopy_settings()\ncopy_examples()","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"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.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Your folder structure should now look like this:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"shell> tree\n.\n├── data\n│   ├── settings.yaml\n│   └── system.yaml\n├── examples\n│   ├── compare_kps3_kps4.jl\n│   ├── plot2d.jl\n│   └── simulate.jl\n├── Manifest.toml\n└── Project.toml\n\n2 directories, 7 files","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"You can access the operating system command line by typing the character \";\", you then get a \"shell\" prompt and can enter operating system commands. To leave shell mode, type \\. On windows you need to type tree /f instead of tree to see the files.","category":"page"},{"location":"quickstart/#Executing-the-first-example","page":"Quickstart","title":"Executing the first example","text":"","category":"section"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"From the Julia prompt you can use the command \"include\" to execute a script:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"include(\"examples/simulate.jl\")","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"On Windows you need to type \"\\\\\" instead of \"/\":","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"include(\"examples\\\\simulate.jl\")","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"You will see the 4-point kite fly for 30s. If you want to change the settings of the simulation, open the file simulate.jlin your favorite text editor, modify the settings at the beginning of the file and execute the include command again. You can use the key for autocompletion, for exampleinclude(exTABcompletes toinclude(examples` which can save a lot of typing. If you type again you get a list of files to choose from.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Try out changing the following default settings:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"dt = 0.05\nSTEPS = 600\nPLOT = true\nFRONT_VIEW = false\nZOOM = true\nPRINT = false\nSTATISTIC = false","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Now you can quit Julia with the command exit(). If you want to launch Julia again, be sure to be in the correct folder and then type julia --project. Without the parameter --project it will not load your project settings.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"The first run of the script will be slow because Julia must compile the code. The second and any further run is very fast, but only as long as you do not leave your Julia session.","category":"page"},{"location":"quickstart/#Comparing-the-one-point-and-the-four-point-kite-model","page":"Quickstart","title":"Comparing the one-point and the four-point kite model","text":"","category":"section"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Start Julia in the project folder you created before:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"cd test\njulia --project","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"and then execute the command","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"using KiteModels\ninclude(\"examples/compare_kps3_kps4.jl\")","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Use the command include(\"examples\\\\compare_kps3_kps4.jl\") on Windows.","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"The last view of the animation should look like this:","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"(Image: Initial State)","category":"page"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"You can save what you see with the command savefig(\"kite.png\").","category":"page"},{"location":"quickstart/#Exercise","page":"Quickstart","title":"Exercise","text":"","category":"section"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"Modify the variable ALPHA_ZERO in line 11 of the script until the lift force of the 1 point model and the 4 point model match.","category":"page"},{"location":"quickstart/#Questions?","page":"Quickstart","title":"Questions?","text":"","category":"section"},{"location":"quickstart/","page":"Quickstart","title":"Quickstart","text":"If you have any questions, please ask in the Julia Discourse forum in the section modelling and simulation , or in in the section First steps . The Julia community is very friendly and responsive.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"CurrentModule = KiteModels","category":"page"},{"location":"examples/#Examples-for-using-the-one-point-kite-model","page":"Examples_1p","title":"Examples for using the one point kite model","text":"","category":"section"},{"location":"examples/#Create-a-test-project","page":"Examples_1p","title":"Create a test project","text":"","category":"section"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"mkdir test\ncd test\njulia --project=\".\"","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"With the last command, we told Julia to create a new project in the current directory.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"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.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"]\nadd KiteUtils\nadd KitePodModels\nadd KiteModels\nst\n","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"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.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Then, copy the default configuration files and examples to your new project:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"using KiteModels\ncopy_settings()\ncopy_examples()","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"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.","category":"page"},{"location":"examples/#Plotting-the-initial-state","page":"Examples_1p","title":"Plotting the initial state","text":"","category":"section"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"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.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"using KiteModels\nconst kcu = KCU(se())\nconst kps = KPS3(kcu)","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Then we call the function find_steady_state which uses a non-linear solver to find the solution for a given elevation angle, reel-out speed and wind speed. ","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"find_steady_state!(kps, prn=true)","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"To plot the result in 2D we extract the vectors of the x and z coordinates of the tether particles with a for loop:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"x = Float64[] \nz = Float64[]\nfor i in 1:length(kps.pos)\n push!(x, kps.pos[i][1])\n push!(z, kps.pos[i][3])\nend","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"And finally, we plot the position of the particles in the x-z plane. When you type using Plots you will be asked if you want to install the Plots package. Just press \\ and it gets installed.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"using Plots\nplot(x,z, xlabel=\"x [m]\", ylabel=\"z [m]\", legend=false)\nplot!(x, z, seriestype = :scatter)","category":"page"},{"location":"examples/#Inital-State","page":"Examples_1p","title":"Inital State","text":"","category":"section"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"(Image: Initial State)","category":"page"},{"location":"examples/#Print-other-model-outputs","page":"Examples_1p","title":"Print other model outputs","text":"","category":"section"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Print the vector of the positions of the particles:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"julia> kps.pos\n7-element StaticArrays.SVector{7, StaticArrays.MVector{3, Float64}} with indices SOneTo(7):\n [0.0, 0.0, 0.0]\n [26.95751778658999, 0.0, 59.59749511924355]\n [51.97088814144287, 0.0, 120.03746888266994]\n [75.01423773175357, 0.0, 181.25637381120865]\n [96.06809940556136, 0.0, 243.18841293054678]\n [115.11959241520753, 0.0, 305.7661763854397]\n [132.79571663189674, 0.0, 368.74701279158705]\n","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Print the unstretched and stretched tether length and the height of the kite:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"julia> unstretched_length(kps)\n150.0\n\njulia> tether_length(kps)\n150.1461801769623\n\njulia> calc_height(kps)\n142.78102261557189","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Print the force at the winch (groundstation, in Newton) and at each tether segment:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"julia> winch_force(kps)\n592.5649922210812\n\njulia> spring_forces(kps)\n6-element Vector{Float64}:\n 592.5534481632459\n 595.0953689567787\n 597.6497034999358\n 600.215921248686\n 602.793488771366\n 605.3855398009119","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"The force increases when going upwards because the kite not only experiences the winch force but in addition the weight of the tether.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Print the lift and drag forces of the kite (in Newton) and the lift-over-drag ratio:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"julia> lift, drag = lift_drag(kps)\n(730.5877517655691, 157.36420900755007)\n\njulia> lift_over_drag(kps)\n4.64265512706588","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"Print the wind speed vector at the kite:","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"julia> v_wind_kite(kps)\n3-element StaticArrays.MVector{3, Float64} with indices SOneTo(3):\n 12.54966091924401\n 0.0\n 0.0","category":"page"},{"location":"examples/#Example-of-reeling-out-the-tether","page":"Examples_1p","title":"Example of reeling out the tether","text":"","category":"section"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"include(\"examples/reel_out_1p.jl\")","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"(Image: Reel out 1p model)","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"In this example, we first keep the tether length constant and at 15 s start to reel out the winch with an acceleration of 0.1 m/s². At a set speed below 2.2 m/s the brake of the winch is active, therefore the \"jump\" in the v_reelout at the beginning of the reel-out phase.","category":"page"},{"location":"examples/","page":"Examples_1p","title":"Examples_1p","text":"It is not a real jump, but a high acceleration compared to the acceleration afterward.","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"CurrentModule = KiteModels","category":"page"},{"location":"advanced/#Advanced-usage","page":"Advanced usage","title":"Advanced usage","text":"","category":"section"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"For advanced users it is suggested to install git, bash and vscode or vscodium in addition to Julia. vscode and vscodium both have a very good plugin for Julia support, see https://www.julia-vscode.org. For Windows users, you can find some installation instructions here: Julia on Windows .","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"Whe using vscode, I do NOT use the Julia terminal provided by vscode, but the normal bash terminal which is also available in vscode by selecting Terminal->New Terminal From this terminal I start Julia with julia --project or a different command as explained below. This makes it easier to understand what happens and is also faster when you need to restart.","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"For Ubuntu Linux I use the following ppa to install vscode and to keep it up-to-date: https://www.ubuntuupdates.org/ppa/vscode .","category":"page"},{"location":"advanced/#Creating-a-custom-system-image","page":"Advanced usage","title":"Creating a custom system image","text":"","category":"section"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"To reduce the startup time it is suggested to use a custom system image that contains all the packages you use on a daily base in compiled form.","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"For end users, follow the instructions on KiteSimulators . Package developers can follow these instructions:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"Go to the website https://github.com/ufechner7/KiteModels.jl and click on the Fork button at the top right.\nclone the new repository which is owned by you with a command similar to this one: git clone https://github.com/aenarete/KiteModels.jl Your own git user name must appear in the URL, otherwise you will not be able to push your changes.","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"From a bash prompt you can create one using the following commands, assuming you created a folder \"test\" as explained on the Quickstart page:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"cd KiteModels.jl\njulia --project","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"using Pkg\nPkg.instantiate()\nPkg.precompile()","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"If you enter shell mode by pressing \";\" and type the command treeyou should see the following files:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"shell> tree\n.\n├── bin\n│   ├── create_sys_image\n│   ├── create_sys_image2\n│   ├── run_julia\n│   └── run_julia2\n├── data\n│   ├── settings.yaml\n│   └── system.yaml\n├── docs\n│   ├── data\n│   ├── make.jl\n│   ├── Project.toml\n│   └── src\n│   ├── 4-point-kite.png\n│   ├── advanced.md\n│   ├── assets\n│   │   └── logo.png\n│   ├── examples_4p.md\n│   ├── examples.md\n│   ├── functions.md\n│   ├── index.md\n│   ├── initial_state_4p.png\n│   ├── initial_state.png\n│   ├── kite.png\n│   ├── kite_power_tools.png\n│   ├── kps4_hires.png\n│   ├── kps4.png\n│   ├── parameters.md\n│   ├── quickstart.md\n│   └── types.md\n├── examples\n│   ├── compare_kps3_kps4.jl\n│   ├── plot2d.jl\n│   ├── reel_out.jl\n│   ├── simulate_ii.jl\n│   └── simulate.jl\n├── LICENSE\n├── Manifest-1.7.toml.default\n├── Manifest-1.8.toml.default\n├── Manifest.toml\n├── Project.toml\n├── README.md\n├── src\n│   ├── init.jl\n│   ├── KiteModels.jl\n│   ├── KPS3.jl\n│   └── KPS4.jl\n└── test\n ├── bench3.jl\n ├── bench4.jl\n ├── create_sys_image2.jl\n ├── create_sys_image.jl\n ├── plot2d.jl\n ├── plot_initial_state.jl\n ├── plot_kps3.jl\n ├── plot_kps4.jl\n ├── runtests.jl\n ├── test_for_precompile.jl\n ├── test_kps3.jl\n ├── test_kps4.jl\n ├── test_staticarrays.jl\n ├── test_steady_state.jl\n ├── test_sundials.jl\n └── update_packages.jl\n\n9 directories, 55 files","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"Now leave Julia with the command exit() and then type:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"cd bin\n./create_sys_image --update","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"This will take about 6 min on a i7-10510U CPU. You should now see a new file in the bin folder:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"~/repos/test/bin$ ls -lah kps*\n-rwxrwxr-x 1 ufechner ufechner 344M apr 18 18:23 kps-image-1.7.so","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"You can launch julia such that it makes use of this system image with the commands:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"cd ..\n./bin/run_julia","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"If you now run any of the examples the time-to-first-plot (TTFP) should be less than 25s:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"julia> @time include(\"examples/simulate.jl\")\nlift, drag [N]: 597.61, 129.33\nAverage number of callbacks per time step: 481.845\n 23.901076 seconds (63.42 M allocations: 12.686 GiB, 5.67% gc time, 70.62% compilation time)\n\njulia> ","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"A second run of this command needs about 5.5 s which means the startup time (load and compilation time of the package and the libraries) has been reduced to about 18.4s.","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"Without a system image the first time execution of the script \"simulate.jl\" on the same computer is about 71 seconds while the time for the second execution is the same (5.5s). So now about 47s of time are saved after each restart.","category":"page"},{"location":"advanced/#Outlook","page":"Advanced usage","title":"Outlook","text":"","category":"section"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"The next steps:","category":"page"},{"location":"advanced/","page":"Advanced usage","title":"Advanced usage","text":"reduce memory allocations\nadd export as FMI for co-simulation component","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"CurrentModule = KiteModels","category":"page"},{"location":"examples_4p/#Examples-for-using-the-four-point-kite-model","page":"Examples_4p","title":"Examples for using the four point kite model","text":"","category":"section"},{"location":"examples_4p/#Create-a-test-project","page":"Examples_4p","title":"Create a test project","text":"","category":"section"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"mkdir test\ncd test\njulia --project=\".\"","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"With the last command, we told Julia to create a new project in the current directory.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"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.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"]\nadd KiteUtils\nadd KitePodModels\nadd KiteModels\nst\n","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"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.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Then, copy the default configuration files and examples to your new project:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"using KiteModels\ncopy_settings()\ncopy_examples()","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"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.","category":"page"},{"location":"examples_4p/#Plotting-the-initial-state","page":"Examples_4p","title":"Plotting the initial state","text":"","category":"section"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"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.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"using KiteModels\nconst kcu = KCU(se())\nconst kps = KPS4(kcu)","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Then we call the function find_steady_state which uses a non-linear solver to find the solution for a given elevation angle, reel-out speed and wind speed. ","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"find_steady_state!(kps, prn=true)","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Finding the steady state of the 4-point model is difficult and it only works when we artificially reduce the stiffness by a factor of 0.035. In the function init_sim! this factor is slowly increased to 1.0.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"To plot the result in 2D we extract the vectors of the x and z coordinates of the tether particles with a for loop:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"x = Float64[] \nz = Float64[]\nfor i in 1:length(kps.pos)\n push!(x, kps.pos[i][1])\n push!(z, kps.pos[i][3])\nend","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"And finally, we plot the position of the particles in the x-z plane. When you type using Plots you will be asked if you want to install the Plots package. Just press \\ and it gets installed.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"using Plots\nplot(x,z, xlabel=\"x [m]\", ylabel=\"z [m]\", legend=false)\nplot!(x, z, seriestype = :scatter)","category":"page"},{"location":"examples_4p/#Initial-State","page":"Examples_4p","title":"Initial State","text":"","category":"section"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"(Image: Initial State)","category":"page"},{"location":"examples_4p/#Print-other-model-outputs","page":"Examples_4p","title":"Print other model outputs","text":"","category":"section"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Print the vector of the positions of the particles:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"julia> kps.pos\n11-element StaticArrays.SVector{11, StaticArrays.MVector{3, Float64}} with indices SOneTo(11):\n [0.0, 0.0, 0.0]\n [9.179237622840555, 0.0, 23.842235605018427]\n [18.04995989861643, 0.0, 47.800963572571995]\n [26.562156210544767, 0.0, 71.88939923189402]\n [34.68610302268368, 0.0, 96.11152960655927]\n [42.39897331360162, 0.0, 120.4676716318371]\n [49.681585065247006, 0.0, 144.95590371155842]\n [50.19560621291923, 0.0, 150.01396766608025]\n [51.447158096922415, 0.0, 152.22064860101747]\n [51.269841233250816, 2.823293379900761, 149.7849943282592]\n [51.269841233250816, -2.823293379900761, 149.7849943282592]\n","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Print the unstretched and stretched tether length and the height of the kite:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"julia> unstretched_length(kps)\n150.0\n\njulia> tether_length(kps)\n153.28916318946136\n\njulia> calc_height(kps)\n152.22064860101747","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Because of the the stiffness_factor of 0.035 we have a longer tether-length then when using the 1 point kite model. ","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Print the force at the winch (groundstation, in Newton) and at each tether segment:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"julia> winch_force(kps)\n471.70242280223385\n\njulia> spring_forces(kps)\n15-element Vector{Float64}:\n 471.6945339755092\n 471.690450982437\n 471.6880774303635\n 471.68627774821994\n 471.68477542957345\n 471.68345917403485\n 95.87508612176553\n -58.70207142208335\n -50.06490404375146\n 226.23422847228494\n 215.8389386786939\n 215.8389386786939\n 226.23422847228494\n -58.70207142208335\n 99.72953663093385","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Some of the forces are negative which means the segments are getting compressed. This is acceptable for the kite itself (not for the tether).","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Print the lift and drag forces of the kite (in Newton) and the lift-over-drag ratio:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"julia> lift, drag = lift_drag(kps)\n(382.18880762331327, 117.58827293691883)\n\njulia> lift_over_drag(kps)\n3.250228939312184","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"Print the wind speed vector at the kite:","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"julia> v_wind_kite(kps)\n3-element StaticArrays.MVector{3, Float64} with indices SOneTo(3):\n 12.542508333667467\n 0.0\n 0.0","category":"page"},{"location":"examples_4p/#Example-of-reeling-out-the-tether","page":"Examples_4p","title":"Example of reeling out the tether","text":"","category":"section"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"include(\"examples/reel_out_4p.jl\")","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"(Image: Reel out 4p model)","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"In this example, we first keep the tether length constant and at 15 s start to reel out the winch with an acceleration of 0.1 m/s². At a set speed below 2.2 m/s the brake of the winch is active, therefore the \"jump\" in the v_reelout at the beginning of the reel-out phase.","category":"page"},{"location":"examples_4p/","page":"Examples_4p","title":"Examples_4p","text":"It is not a real jump, but a high acceleration compared to the acceleration afterward.","category":"page"},{"location":"","page":"Home","title":"Home","text":"CurrentModule = KiteModels","category":"page"},{"location":"#KiteModels","page":"Home","title":"KiteModels","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Documentation for the package KiteModels.","category":"page"},{"location":"","page":"Home","title":"Home","text":"The model has the following subcomponents, implement in separate packages:","category":"page"},{"location":"","page":"Home","title":"Home","text":"AtmosphericModel from AtmosphericModels\nWinchModel from WinchModels \nKitePodModel from KitePodModels","category":"page"},{"location":"","page":"Home","title":"Home","text":"This package is part of Julia Kite Power Tools, which consist of the following packages:","category":"page"},{"location":"","page":"Home","title":"Home","text":"(Image: Julia Kite Power Tools)","category":"page"},{"location":"#What-to-install","page":"Home","title":"What to install","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"If you want to run simulations and see the results in 3D, please install the meta package KiteSimulators which contains all other packages. If you are not interested in 3D visualization or control you can just install this package. When you have installed the package KiteSimulators, use the command using KiteSimulators instead of using KiteModels when this is mentioned in the documentation.","category":"page"},{"location":"#Installation","page":"Home","title":"Installation","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Download Julia 1.9 or later, if you haven't already. You can add KiteModels from Julia's package manager, by typing ","category":"page"},{"location":"","page":"Home","title":"Home","text":"using Pkg\npkg\"add KiteModels\"","category":"page"},{"location":"","page":"Home","title":"Home","text":"at the Julia prompt. You can run the unit tests with the command:","category":"page"},{"location":"","page":"Home","title":"Home","text":"pkg\"test KiteModels\"","category":"page"},{"location":"","page":"Home","title":"Home","text":"If you are using Windows, it is suggested to install git and bash, too. This is explained for example here: Julia on Windows .","category":"page"},{"location":"#Provides","page":"Home","title":"Provides","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"The type AbstractKiteModel with the implementation KPS3 and KPS4, representing the one point and four point kite model, together with the high level simulation interface consisting of the functions init_sim! and next_step!. Other kite models can be added inside or outside of this package by implementing the non-generic methods required for an AbstractKiteModel.","category":"page"},{"location":"","page":"Home","title":"Home","text":"Additional functions to provide inputs and outputs of the model on each time step. In particular the constructor SysState can be called once per time step to create a SysState struct for logging or for displaying the state in a viewer. Per time step the residual! function is called as many times as needed to find the solution at the end of the time step. The formulas are based on basic physics and aerodynamics and can be quite simple because a differential algebraic notation is used.","category":"page"},{"location":"","page":"Home","title":"Home","text":"(Image: Four point kite power system model)","category":"page"},{"location":"#Further-reading","page":"Home","title":"Further reading","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"These models are described in detail in Dynamic Model of a Pumping Kite Power System.","category":"page"},{"location":"#See-also","page":"Home","title":"See also","text":"","category":"section"},{"location":"","page":"Home","title":"Home","text":"Research Fechner for the scientic background of this code\nThe application KiteViewer\nthe package KiteUtils\nthe packages WinchModels and KitePodModels and AtmosphericModels\nthe packages KiteControllers and KiteViewers","category":"page"},{"location":"","page":"Home","title":"Home","text":"Author: Uwe Fechner (uwe.fechner.msc@gmail.com)","category":"page"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"CurrentModule = KiteModels","category":"page"},{"location":"parameters/#Configuration","page":"Parameters","title":"Configuration","text":"","category":"section"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"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.","category":"page"},{"location":"parameters/#Parameters","page":"Parameters","title":"Parameters","text":"","category":"section"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"The following parameters are used by this package:","category":"page"},{"location":"parameters/","page":"Parameters","title":"Parameters","text":"system:\n sample_freq: 20 # sample frequency in Hz\n\ninitial:\n l_tether: 150.0 # initial tether length [m]\n elevation: 70.7 # initial elevation angle [deg]\n v_reel_out: 0.0 # initial reel out speed [m/s]\n depower: 25.0 # initial depower settings [%]\n\nsolver:\n abs_tol: 0.0006 # absolute tolerance of the DAE solver [m, m/s]\n rel_tol: 0.001 # relative tolerance of the DAE solver [-]\n linear_solver: \"GMRES\" # can be GMRES or Dense\n max_order: 4 # maximal order, usually between 3 and 5\n max_iter: 200 # max number of iterations of the steady-state-solver\n\nsteering:\n c0: 0.0 # steering offset -0.0032 [-]\n c_s: 2.59 # steering coefficient one point model\n c2_cor: 0.93 # correction factor one point model\n k_ds: 1.5 # influence of the depower angle on the steering sensitivity\n\ndepower:\n alpha_d_max: 31.0 # max depower angle [deg]\n \nkite:\n model: \"data/kite.obj\" # 3D model of the kite\n mass: 6.2 # kite mass incl. sensor unit [kg]\n area: 10.18 # projected kite area [m²]\n rel_side_area: 30.6 # relative side area [%]\n height: 2.23 # height of the kite [m]\n 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]\n 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]\n alpha_cd: [-180.0, -170.0, -140.0, -90.0, -20.0, 0.0, 20.0, 90.0, 140.0, 170.0, 180.0]\n cd_list: [ 0.5, 0.5, 0.5, 1.0, 0.2, 0.1, 0.2, 1.0, 0.5, 0.5, 0.5]\n \nkps4:\n width: 5.77 # width of the kite [m]\n alpha_zero: 4.0 # should be 5 [degrees]\n alpha_ztip: 10.0 # [degrees]\n m_k: 0.2 # relative nose distance; increasing m_k increases C2 of the turn-rate law\n rel_nose_mass: 0.47 # relative nose mass\n rel_top_mass: 0.4 # mass of the top particle relative to the sum of top and side particles\n\nbridle:\n d_line: 2.5 # bridle line diameter [mm]\n l_bridle: 33.4 # sum of the lengths of the bridle lines [m]\n h_bridle: 4.9 # height of bridle [m]\n\nkcu:\n kcu_mass: 8.4 # mass of the kite control unit [kg]\n\ntether:\n d_tether: 4 # tether diameter [mm]\n cd_tether: 0.958 # drag coefficient of the tether\n damping: 473.0 # unit damping coefficient [Ns]\n c_spring: 614600.0 # unit spring constant coefficient [N]\n rho_tether: 724.0 # density of Dyneema [kg/m³]\n\nenvironment:\n v_wind: 9.51 # wind speed at reference height [m/s]\n h_ref: 6.0 # reference height for the wind speed [m]\n\n rho_0: 1.225 # air density at the ground or zero [kg/m³]\n alpha: 0.08163 # exponent of the wind profile law\n z0: 0.0002 # surface roughness [m]\n profile_law: 6 # 1=EXP, 2=LOG, 3=EXPLOG, 4=FAST_EXP, 5=FAST_LOG, 6=FAST_EXPLOG","category":"page"},{"location":"types/#Exported-Types","page":"Types","title":"Exported Types","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"CurrentModule = KiteModels","category":"page"},{"location":"types/#Basic-types","page":"Types","title":"Basic types","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"SimFloat\nKVec3\nSVec3\nAbstractKiteModel\nAKM","category":"page"},{"location":"types/#KiteModels.SimFloat","page":"Types","title":"KiteModels.SimFloat","text":"const SimFloat = Float64\n\nThis 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. \n\n\n\n\n\n","category":"type"},{"location":"types/#KiteModels.KVec3","page":"Types","title":"KiteModels.KVec3","text":"const KVec3 = MVector{3, SimFloat}\n\nBasic 3-dimensional vector, stack allocated, mutable.\n\n\n\n\n\n","category":"type"},{"location":"types/#KiteModels.SVec3","page":"Types","title":"KiteModels.SVec3","text":"const SVec3 = SVector{3, SimFloat}\n\nBasic 3-dimensional vector, stack allocated, immutable.\n\n\n\n\n\n","category":"type"},{"location":"types/#KiteModels.AbstractKiteModel","page":"Types","title":"KiteModels.AbstractKiteModel","text":"abstract type AbstractKiteModel\n\nAll 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. \n\n\n\n\n\n","category":"type"},{"location":"types/#KiteModels.AKM","page":"Types","title":"KiteModels.AKM","text":"const AKM = AbstractKiteModel\n\nShort alias for the AbstractKiteModel. \n\n\n\n\n\n","category":"type"},{"location":"types/#Struct-KPS3-and-KPS4","page":"Types","title":"Struct KPS3 and KPS4","text":"","category":"section"},{"location":"types/","page":"Types","title":"Types","text":"KPS3\nKPS4","category":"page"},{"location":"types/#KiteModels.KPS3","page":"Types","title":"KiteModels.KPS3","text":"mutable struct KPS3{S, T, P} <: AbstractKiteModel\n\nState of the kite power system. Parameters:\n\nS: Scalar type, e.g. SimFloat In the documentation mentioned as Any, but when used in this module it is always SimFloat and not Any.\nT: Vector type, e.g. MVector{3, SimFloat}\nP: number of points of the system, segments+1\n\nNormally 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.\n\nset::Settings: Reference to the settings struct Default: se()\nkcu::KCU: Reference to the KCU model (Kite Control Unit as implemented in the package KitePodModels Default: KCU()\nam::AtmosphericModel: Reference to the atmospheric model as implemented in the package AtmosphericModels Default: AtmosphericModel()\nwm::AbstractWinchModel: Reference to winch model as implemented in the package WinchModels Default: AsyncMachine()\niter::Int64: Iterations, number of calls to the function residual! Default: 0\ncalc_cl::Any: Function for calculation the lift coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacl, (se()).cllist)\ncalc_cd::Any: Function for calculation the drag coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacd, (se()).cdlist)\nv_wind::Any: wind vector at the height of the kite Default: zeros(S, 3)\nv_wind_gnd::Any: wind vector at reference height Default: zeros(S, 3)\nv_wind_tether::Any: wind vector used for the calculation of the tether drag Default: zeros(S, 3)\nv_apparent::Any: apparent wind vector at the kite Default: zeros(S, 3)\nv_app_perp::Any: vector, perpendicular to vapparent; output of calcdrag Default: zeros(S, 3)\ndrag_force::Any: drag force of kite and bridle; output of calcaeroforces Default: zeros(S, 3)\nlift_force::Any: lift force of the kite; output of calcaeroforces Default: zeros(S, 3)\nsteering_force::Any: steering force acting on the kite; output of calcaeroforces Default: zeros(S, 3)\nlast_force::Any: Default: zeros(S, 3)\nspring_force::Any: spring force of the current tether segment, output of calc_res Default: zeros(S, 3)\ntotal_forces::Any: Default: zeros(S, 3)\nforce::Any: sum of spring and drag forces acting on the current segment, output of calc_res Default: zeros(S, 3)\nunit_vector::Any: unit vector in the direction of the current tether segment, output of calc_res Default: zeros(S, 3)\nav_vel::Any: average velocity of the current tether segment, output of calc_res Default: zeros(S, 3)\nkite_y::Any: y-vector of the kite fixed referense frame, output of calcaeroforces Default: zeros(S, 3)\nsegment::Any: vector representing one tether segment (p1-p2) Default: zeros(S, 3)\nlast_tether_drag::Any: vector of the drag force of the last calculated tether segment Default: zeros(S, 3)\nvec_z::Any: z vector of the kite reference frame Default: zeros(S, 3)\nres1::StaticArraysCore.SVector{P, StaticArraysCore.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})\nres2::StaticArraysCore.SVector{P, StaticArraysCore.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})\npos::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: vector of the positions of the particles Default: zeros(SVector{P, KVec3})\nvel_kite::Any: velocity vector of the kite Default: zeros(S, 3)\nseg_area::Any: area of one tether segment [m²] Default: zero(S)\nbridle_area::Any: total actual bridle area [m²] Default: zero(S)\nc_spring::Any: spring constant, depending on the length of the tether segment Default: zero(S)\nsegment_length::Any: unstressed segment length [m] Default: 0.0\ndamping::Any: damping factor, depending on the length of the tether segment Default: zero(S)\nlast_v_app_norm_tether::Any: last norm of the apparent wind speed at a tether segment [m/s] Default: zero(S)\nparam_cl::Any: lift coefficient of the kite, depending on the angle of attack Default: 0.2\nparam_cd::Any: drag coefficient of the kite, depending on the angle of attack Default: 1.0\ncor_steering::Any: correction term for the steering, in paper named i_(s,c), Eq. 30 Default: zero(S)\npsi::Any: azimuth angle in radian; inital value is zero Default: zero(S)\nbeta::Any: elevation angle in radian; initial value about 70 degrees Default: deg2rad((se()).elevation)\nalpha_depower::Any: depower angle [deg] Default: 0.0\nt_0::Any: relative start time of the current time interval Default: 0.0\nv_reel_out::Any: reel out speed of the winch [m/s] Default: 0.0\nlast_v_reel_out::Any: reel out speed during the last time step Default: 0.0\nl_tether::Any: unstretched tether length Default: 0.0\nrho::Any: air density at the height of the kite Default: 0.0\ndepower::Any: actual relative depower setting, must be between 0 .. 1.0 Default: 0.0\nsteering::Any: actual relative steering setting, must be between -1.0 .. 1.0 Default: 0.0\nstiffness_factor::Any: factor for the tether stiffness, used to find the steady state with a low stiffness first Default: 1.0\nlog_href_over_z0::Any: pre-calculated constant for the wind profile law calcuation Default: log((se()).h_ref / (se()).z0)\ninitial_masses::StaticArraysCore.MVector{P, S} where {S, P}: initial masses of the point masses Default: ones(P)\nmasses::StaticArraysCore.MVector{P, S} where {S, P}: current masses, depending on the total tether length Default: ones(P)\nforces::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: vector of the forces, acting on the particles Default: zeros(SVector{P, KVec3})\nsync_speed::Any: synchronous speed of the motor/ generator Default: 0.0\n\n\n\n\n\n","category":"type"},{"location":"types/#KiteModels.KPS4","page":"Types","title":"KiteModels.KPS4","text":"mutable struct KPS4{S, T, P, Q, SP} <: AbstractKiteModel\n\nState of the kite power system, using a 4 point kite model. Parameters:\n\nS: Scalar type, e.g. SimFloat In the documentation mentioned as Any, but when used in this module it is always SimFloat and not Any.\nT: Vector type, e.g. MVector{3, SimFloat}\nP: number of points of the system, segments+1\nQ: number of springs in the system, P-1\nSP: struct type, describing a spring\n\nNormally 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.\n\nset::Settings: Reference to the settings struct Default: se()\nkcu::KCU: Reference to the KCU model (Kite Control Unit as implemented in the package KitePodModels Default: KCU()\nam::AtmosphericModel: Reference to the atmospheric model as implemented in the package AtmosphericModels Default: AtmosphericModel()\nwm::AbstractWinchModel: Reference to winch model as implemented in the package WinchModels Default: AsyncMachine()\niter::Int64: Iterations, number of calls to the function residual! Default: 0\ncalc_cl::Any: Function for calculation the lift coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacl, (se()).cllist)\ncalc_cd::Any: Function for calculation the drag coefficent, using a spline based on the provided value pairs. Default: Spline1D((se()).alphacd, (se()).cdlist)\nv_wind::Any: wind vector at the height of the kite Default: zeros(S, 3)\nv_wind_gnd::Any: wind vector at reference height Default: zeros(S, 3)\nv_wind_tether::Any: wind vector used for the calculation of the tether drag Default: zeros(S, 3)\nv_apparent::Any: apparent wind vector at the kite Default: zeros(S, 3)\ndrag_force::Any: drag force of kite and bridle; output of calcaeroforces! Default: zeros(S, 3)\nlift_force::Any: lift force of the kite; output of calcaeroforces! Default: zeros(S, 3)\nspring_force::Any: spring force of the current tether segment, output of calcparticleforces! Default: zeros(S, 3)\nlast_force::Any: last winch force Default: zeros(S, 3)\nres1::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: a copy of the residual one (pos,vel) for debugging and unit tests Default: zeros(SVector{P, KVec3})\nres2::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: a copy of the residual two (vel,acc) for debugging and unit tests Default: zeros(SVector{P, KVec3})\npos::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: a copy of the actual positions as output for the user Default: zeros(SVector{P, KVec3})\nvel_kite::Any: velocity vector of the kite Default: zeros(S, 3)\nsegment_length::Any: unstressed segment length [m] Default: 0.0\nparam_cl::Any: lift coefficient of the kite, depending on the angle of attack Default: 0.2\nparam_cd::Any: drag coefficient of the kite, depending on the angle of attack Default: 1.0\npsi::Any: azimuth angle in radian; inital value is zero Default: zero(S)\nalpha_depower::Any: depower angle [deg] Default: 0.0\nt_0::Any: relative start time of the current time interval Default: 0.0\nv_reel_out::Any: reel out speed of the winch Default: 0.0\nlast_v_reel_out::Any: reel out speed at the last time step Default: 0.0\nl_tether::Any: unstretched tether length Default: 0.0\nrho::Any: air density at the height of the kite Default: 0.0\ndepower::Any: actual relative depower setting, must be between 0 .. 1.0 Default: 0.0\nsteering::Any: actual relative steering setting, must be between -1.0 .. 1.0 Default: 0.0\nstiffness_factor::Any: multiplier for the stiffniss of tether and bridle Default: 1.0\ninitial_masses::StaticArraysCore.MVector{P, S} where {S, P}: initial masses of the point masses Default: ones(P)\nmasses::StaticArraysCore.MVector{P, S} where {S, P}: current masses, depending on the total tether length Default: zeros(P)\nsprings::StaticArraysCore.MVector: vector of the springs, defined as struct Default: zeros(SP, Q)\nforces::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: vector of the forces, acting on the particles Default: zeros(SVector{P, KVec3})\nsync_speed::Any: synchronous speed of the motor/ generator Default: 0.0\nx::Any: x vector of kite reference frame Default: zeros(S, 3)\ny::Any: y vector of kite reference frame Default: zeros(S, 3)\nz::Any: z vector of kite reference frame Default: zeros(S, 3)\n\n\n\n\n\n","category":"type"},{"location":"types/","page":"Types","title":"Types","text":"These structs store the state of the one point model and four point model. Only in unit tests it is allowed to access the members directly, otherwise use the input and output functions.","category":"page"}] +} diff --git a/v0.5.3/siteinfo.js b/v0.5.3/siteinfo.js new file mode 100644 index 00000000..7e0a68b5 --- /dev/null +++ b/v0.5.3/siteinfo.js @@ -0,0 +1 @@ +var DOCUMENTER_CURRENT_VERSION = "v0.5.3"; diff --git a/v0.5.3/types/index.html b/v0.5.3/types/index.html new file mode 100644 index 00000000..d7378e83 --- /dev/null +++ b/v0.5.3/types/index.html @@ -0,0 +1,2 @@ + +Types · KiteModels.jl
      Edit on GitHub

      Exported Types

      Basic types

      KiteModels.SimFloat — Type
      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.

      source
      KiteModels.KVec3 — Type

      const KVec3 = MVector{3, SimFloat}

      Basic 3-dimensional vector, stack allocated, mutable.

      source
      KiteModels.SVec3 — Type

      const SVec3 = SVector{3, SimFloat}

      Basic 3-dimensional vector, stack allocated, immutable.

      source
      KiteModels.AbstractKiteModel — Type
      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.

      source

      Struct KPS3 and KPS4

      KiteModels.KPS3 — Type
      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 model (Kite Control Unit as implemented in the package KitePodModels Default: KCU()

      • am::AtmosphericModel: Reference to the atmospheric model as implemented in the package AtmosphericModels Default: AtmosphericModel()

      • wm::AbstractWinchModel: Reference to winch model as implemented in the package WinchModels Default: AsyncMachine()

      • iter::Int64: Iterations, number of calls to the function residual! 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: z vector of the kite reference frame Default: zeros(S, 3)

      • res1::StaticArraysCore.SVector{P, StaticArraysCore.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::StaticArraysCore.SVector{P, StaticArraysCore.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::StaticArraysCore.SVector{P, StaticArraysCore.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 [m²] Default: zero(S)

      • bridle_area::Any: total actual bridle area [m²] 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: last norm of the apparent wind speed at a tether segment [m/s] 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

      • cor_steering::Any: correction term for the steering, in paper named i_(s,c), Eq. 30 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)

      • alpha_depower::Any: depower angle [deg] 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: actual relative depower setting, must be between 0 .. 1.0 Default: 0.0

      • steering::Any: actual relative steering setting, must be between -1.0 .. 1.0 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::StaticArraysCore.MVector{P, S} where {S, P}: initial masses of the point masses Default: ones(P)

      • masses::StaticArraysCore.MVector{P, S} where {S, P}: current masses, depending on the total tether length Default: ones(P)

      • forces::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: vector of the forces, acting on the particles Default: zeros(SVector{P, KVec3})

      • sync_speed::Any: synchronous speed of the motor/ generator Default: 0.0

      source
      KiteModels.KPS4 — Type
      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 model (Kite Control Unit as implemented in the package KitePodModels Default: KCU()

      • am::AtmosphericModel: Reference to the atmospheric model as implemented in the package AtmosphericModels Default: AtmosphericModel()

      • wm::AbstractWinchModel: Reference to winch model as implemented in the package WinchModels Default: AsyncMachine()

      • iter::Int64: Iterations, number of calls to the function residual! 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)

      • res1::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: a copy of the residual one (pos,vel) for debugging and unit tests Default: zeros(SVector{P, KVec3})

      • res2::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: a copy of the residual two (vel,acc) for debugging and unit tests Default: zeros(SVector{P, KVec3})

      • pos::StaticArraysCore.SVector{P, StaticArraysCore.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)

      • alpha_depower::Any: depower angle [deg] 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: unstretched tether length Default: 0.0

      • rho::Any: air density at the height of the kite Default: 0.0

      • depower::Any: actual relative depower setting, must be between 0 .. 1.0 Default: 0.0

      • steering::Any: actual relative steering setting, must be between -1.0 .. 1.0 Default: 0.0

      • stiffness_factor::Any: multiplier for the stiffniss of tether and bridle Default: 1.0

      • initial_masses::StaticArraysCore.MVector{P, S} where {S, P}: initial masses of the point masses Default: ones(P)

      • masses::StaticArraysCore.MVector{P, S} where {S, P}: current masses, depending on the total tether length Default: zeros(P)

      • springs::StaticArraysCore.MVector: vector of the springs, defined as struct Default: zeros(SP, Q)

      • forces::StaticArraysCore.SVector{P, StaticArraysCore.MVector{3, Float64}} where P: vector of the forces, acting on the particles Default: zeros(SVector{P, KVec3})

      • sync_speed::Any: synchronous speed of the motor/ generator Default: 0.0

      • x::Any: x vector of kite reference frame Default: zeros(S, 3)

      • y::Any: y vector of kite reference frame Default: zeros(S, 3)

      • z::Any: z vector of kite reference frame Default: zeros(S, 3)

      source

      These structs store the state of the one point model and four point model. Only in unit tests it is allowed to access the members directly, otherwise use the input and output functions.

      diff --git a/versions.js b/versions.js index dbdaa8a4..1b6aead2 100644 --- a/versions.js +++ b/versions.js @@ -7,5 +7,5 @@ var DOC_VERSIONS = [ "v0.1", "dev", ]; -var DOCUMENTER_NEWEST = "v0.5.2"; +var DOCUMENTER_NEWEST = "v0.5.3"; var DOCUMENTER_STABLE = "stable";