update settings.yaml

data/settings.yaml

@@ -56,6 +56,9 @@ kps4:
     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
+    smc:           0.0      # steering moment coefficient                 [-]
+    cmq:           0.0      # pitch rate dependant moment coefficient     [-]
+    cord_length:   2.0      # average aerodynamic cord length of the kite [m]
 
 kps4_3l:
     radius: 2.0                    # the radius of the circle shape on which the kite lines, viewed 
@@ -77,10 +80,13 @@ bridle:
     rel_damping: 6.0          # relative damping of the kite spring (relative to main tether)         [-]
 
 kcu:
-    kcu_mass: 8.4                # mass of the kite control unit   [kg]
-    power2steer_dist: 1.3        #                                 [m]
-    depower_drum_diameter: 0.069 #                                 [m]
-    tape_thickness: 0.0006       #                                 [m]
+    kcu_model: "KCU1"            # name of the kite control unit model, KCU1 or KCU2
+    kcu_mass: 8.4                # mass of the kite control unit                       [kg]
+    kcu_diameter: 0.4            # diameter of the KCU for drag calculation            [m]
+    cd_kcu: 0.3                  # drag coefficient of the KCU                         [-]  
+    power2steer_dist: 1.3        #                                                     [m]
+    depower_drum_diameter: 0.069 #                                                     [m]
+    tape_thickness: 0.0006       #                                                     [m]
     v_depower: 0.075             # max velocity of depowering in units per second (full range: 1 unit)
     v_steering: 0.2              # max velocity of steering in units per second   (full range: 2 units)
     depower_gain: 3.0            # 3.0 means: more than 33% error -> full speed
@@ -101,14 +107,17 @@ winch:
     v_ro_max:  8.0         # maximal reel-out speed                          [m/s]
     v_ro_min: -8.0         # minimal reel-out speed (=max reel-in speed)     [m/s]
     drum_radius: 0.1615    # radius of the drum                              [m]
+    max_acc: 4.0           # maximal acceleration of the winch               [m/s²]
     gear_ratio: 6.2        # gear ratio of the winch                         [-]   
     inertia_total: 0.204   # total inertia, as seen from the motor/generator [kgm²]
     f_coulomb: 122.0       # coulomb friction                                [N]
     c_vf: 30.6             # coefficient for the viscous friction            [Ns/m]
+    p_speed: 1.0           # proportional gain of the winch speed controller [-]
+    i_speed: 0.1           # integral gain of the winch speed controller     [-]
 
 environment:
     v_wind: 9.51             # wind speed at reference height          [m/s]
-    v_wind_ref: [9.51, 0.0]  # wind speed vector at reference height   [m/s]
+    upwind_dir: -90.0        # upwind direction                        [deg]
     temp_ref: 15.0           # temperature at reference height         [°C]
     height_gnd: 0.0          # height of groundstation above see level [m]
     h_ref:  6.0              # reference height for the wind speed     [m]