@enum WinchControllerState

The three values that tell us which sub-controller is active.

• wcsLowerForceLimit = 0
• wcsSpeedControl = 1
• wcsUpperForceLimit = 2

mutable struct CalcVSetIn

Component for calculation v_set_in, using soft switching.

Fields

• wcs::WCSettings
• mixer2::Mixer_2CH: mixer component. Default: Mixer_2CH(wcs.dt, wcs.t_blend)
• input_a: Default: 0
• input_b: Default: 0

function CalcVSetIn(wcs::WCSettings)

Constructor for component for calculation v_set_in, using soft switching.

Parameters

• wcs:: WCSettings: settings struct with the winch controller settings

Returns

• a new struct of type CalcVSetIn

set_vset_pc(cvi::CalcVSetIn, v_set_pc, force)

Parameters:

• force: measured tether force [N]
• v_set_pc: only used during manual operation or park-at-length. If it is nothing, v_set_in is calculated as function of the force.

Returns:

• nothing

calc_output(cvi::CalcVSetIn)

Parameters

• cvi::CalcVSetIn: A struct of type CalcVSetIn

Returns

• v_set_in: Either v_set, or a value, proportional to the square root of the force.

on_timer(cvi::CalcVSetIn)

Update the mixer. Must be called once per time-step.

Parameters

• cvi::CalcVSetIn: Reference to the CalcVSetIn component

Returns

• nothing

mutable struct SpeedController

PI controller for the reel-out speed of the winch in speed control mode. While inactive, it tracks the value from the tracking input. Back-calculation is used as anti-windup method and for tracking. The constant for anti-windup is K_b, the constant for tracking K_t Implements the following block diagram:

Fields

• wcs::WCSettings

• integrator::Integrator: Default: Integrator(wcs.dt)

• limiter::RateLimiter: Default: RateLimiter(wcs.dt, wcs.max_acc)

• delay::UnitDelay: Default: UnitDelay()

• v_act::Float64: Default: 0

• v_set_in::Float64: Default: 0

• inactive::Bool: Default: true

• tracking::Float64: Default: 0

• v_err::Float64: Default: 0

• v_set_out::Float64: Default: 0

• sat_out::Float64: Default: 0

• res::StaticArraysCore.MVector{2, Float64}: Default: zeros(2)

SpeedController(wcs::WCSettings)

Constructor for a SpeedController, based on the winch controller settings.

Parameters

• wcs::WCSettings: the winch controller settings struct

Returns

• a struct of type SpeedController

set_inactive(sc::SpeedController, inactive::Bool)

De-activate the speed controller if the parameter inactive is true, otherwise activate it and reset the integrator and the limiter.

Parameters

• sc::SpeedController: the speed controller to de-activate or activate

Returns

• nothing

set_v_act(sc::SpeedController, v_act)

Set the actual reel-out speed of the speed controller sc to v_act.

Parameters

• sc::SpeedController: the speed controller
• v_act: the actual reel-out speed

Returns

• nothing

set_v_set(sc::SpeedController, v_set)

Set the set speed of the speed controller sc to v_set.

Parameters

• sc::SpeedController: the speed controller
• v_set: the set value of the reel-out speed

Returns

• nothing

set_v_set_in(sc::SpeedController, v_set_in)

Set the signal v_set_in of the speed controller to v_set_in.

Parameters

• sc::SpeedController: the speed controller
• v_set_in: the value to assign to the signal v_set_in

Returns

• nothing

set_tracking(sc::SpeedController, tracking)

Set the signal tracking of the speed controller to tracking.

Parameters

• sc::SpeedController: the speed controller
• tracking: the value to assign to the signal tracking

Returns

• nothing

get_v_set_out(sc::SpeedController)

Calculate the output value of the controller by using a non-linear solver.

Parameters

• sc::SpeedController Reference to the SpeedController component

Returns

• v_set_out: the synchronous speed, calculated by the controller

get_v_err(sc::SpeedController)

Compute and return the velocity error for the given SpeedController instance sc.

Arguments

• sc::SpeedController: The speed controller object for which the velocity error is to be calculated.

Returns

• The velocity error v_err [m/s]. If the controller is inactive, it returns NaN.

on_timer(sc::SpeedController)

Update the SpeedController. Must be called once per time-step.

Parameters

• sc::SpeedController Reference to the SpeedController component

Returns

• nothing

set_v_act(fc::AFC, v_act)

Set the signal v_act of the force controller to v_act.

Parameters

• sc::AFC: abstract force controller
• v_act: the value to assign to the signal v_act

Returns

• nothing

set_force(fc::AFC, force)

Set the signal force of the force controller to force.

Parameters

• sc::AFC: abstract force controller
• force: the value to assign to the signal force

Returns

• nothing

set_reset(fc::AFC, reset)

Set the signal reset of the force controller to reset and activate or de-activate the controller.

Parameters

• sc::AFC: abstract force controller
• reset: the value to assign to the signal reset

Returns

• nothing

set_f_set(fc::AFC, f_set)

Set the set force of the force controller to f_set.

Parameters

• sc::AFC: abstract force controller
• f_set: the value to assign to the signal f_set

Returns

• nothing

set_v_sw(fc::AFC, v_sw)

Parameters

• sc::AFC: abstract force controller
• v_sw: the value to assign to the signal v_sw

Returns

• nothing

set_tracking(fc::AFC, tracking)

Set the signal tracking of the force controller to tracking.

Parameters

• sc::AFC: abstract force controller
• tracking: the value to assign to the signal tracking

Returns

• nothing

get_v_set_out(fc::AFC)

Calculate the output value of the controller by using a non-linear solver.

Parameters

• fc::AFC: abstract force controller

Returns

• v_set_out: the synchronous speed, calculated by the controller

get_f_err(fc::AFC)

Get the error of the force controller.

Parameters

• fc::AFC: abstract force controller

Returns

• f_err: the error of the force controller

mutable struct LowerForceController <: AbstractForceController

PI controller for the lower force of the tether. While inactive, it tracks the value from the tracking input. Back-calculation is used as anti-windup method and for tracking. The constant for anti-windup is K_b, the constant for tracking K_t Implements the following block diagram:

Fields

• wcs::WCSettings

• integrator::Integrator: Default: Integrator(wcs.dt)

• int2::Integrator: Default: Integrator(wcs.dt)

• limiter::RateLimiter: Default: RateLimiter(wcs.dt, wcs.max_acc)

• delay::UnitDelay: Default: UnitDelay()

• reset::Bool: Default: false

• active::Bool: Default: false

• force::Float64: Default: 0

• f_set::Float64: Default: 0

• v_sw::Float64: Default: 0

• v_act::Float64: Default: 0

• tracking::Float64: Default: 0

• f_err::Float64: Default: 0

• last_err::Float64: Default: 0

• v_set_out::Float64: Default: 0

• sat_out::Float64: Default: 0

• res::StaticArraysCore.MVector{3, Float64}: Default: zeros(3)

LowerForceController(wcs::WCSettings)

Constructor for a LowerForceController, based on the winch controller settings.

Parameters

• wcs::WCSettings: the winch controller settings struct

Returns

• a struct of type LowerForceController

get_f_set_low(lfc::LowerForceController)

Returns the lower force setpoint for the given LowerForceController instance lfc.

Arguments

• lfc::LowerForceController: The lower force controller object from which to retrieve the setpoint.

Returns

• The lower force setpoint value associated with the controller.

on_timer(lfc::LowerForceController)

Callback function that is triggered on a timer event for a LowerForceController instance. This function handles periodic updates or control logic that needs to be executed at regular intervals for the lower force controller.

Arguments

• lfc::LowerForceController: The instance of LowerForceController for which the timer event is handled.

Returns

• nothing

mutable struct UpperForceController <: AbstractForceController

PID controller for the upper force of the tether. While inactive, it tracks the value from the tracking input. Back-calculation is used as anti-windup method and for tracking. The constant for anti-windup is K_b, the constant for tracking K_t Implements the following block diagram:

Fields

• wcs::WCSettings

• integrator::Integrator: Default: Integrator(wcs.dt)

• int2::Integrator: Default: Integrator(wcs.dt)

• limiter::RateLimiter: Default: RateLimiter(wcs.dt, wcs.max_acc)

• delay::UnitDelay: Default: UnitDelay()

• reset::Bool: Default: false

• active::Bool: Default: false

• f_set::Float64: Default: 0

• v_sw::Float64: Default: 0

• v_act::Float64: Default: 0

• force::Float64: Default: 0

• tracking::Float64: Default: 0

• f_err::Float64: Default: 0

• v_set_out::Float64: Default: 0

• sat_out::Float64: Default: 0

• res::StaticArraysCore.MVector{3, Float64}: Default: zeros(3)

Usage

Create an instance to control the upper force limit in a winch system.

UpperForceController(wcs::WCSettings)

Creates and returns an upper force controller using the provided WCSettings.

Arguments

• wcs::WCSettings: The settings structure containing configuration parameters for the winch controller.

Returns

• An instance of the upper force controller configured according to the provided settings.

get_f_set_upper(ufc::UpperForceController)

Returns the setpoint force for the given UpperForceController instance ufc.

Arguments

• ufc::UpperForceController: The upper force controller object from which to retrieve the force setpoint.

Returns

• The setpoint force of the upper force controller [N].

on_timer(ufc::UpperForceController)

Callback function that is triggered on a timer event for an UpperForceController instance. This function is used to perform periodic updates and checks related to the controller's operation.

Arguments

• ufc::UpperForceController: The upper force controller instance on which the timer event is triggered.

Returns

• nothing

mutable struct WinchController

Basic winch controller. Works in one of the three modes wcsLowerForceLimit, wcsSpeedControl and wcsUpperForceLimit.

Fields

• wcs::WCSettings

• time::Float64: Default: 0

• v_set_pc::Union{Nothing, Float64}: Default: nothing

• v_set_in::Float64: Default: 0.0

• v_set_out::Float64: Default: 0.0

• v_set_ufc::Float64: Default: 0.0

• v_set_lfc::Float64: Default: 0.0

• v_set::Float64: Default: 0.0

• v_act::Float64: Default: 0.0

• force::Float64: Default: 0.0

• calc::CalcVSetIn: Default: CalcVSetIn(wcs)

• mix3::Mixer_3CH: Default: Mixer3CH(wcs.dt, wcs.tblend)

• sc::SpeedController: Default: SpeedController(wcs)

• lfc::LowerForceController: Default: LowerForceController(wcs)

• ufc::UpperForceController: Default: UpperForceController(wcs)

WinchController(wcs::WCSettings)

Constructor for a WinchController, based on the winch controller settings.

Parameters

• wcs::WCSettings: the winch controller settings struct

Returns

• a struct of type WinchController

calc_v_set(wc::WinchController, v_act, force, f_low; v_set_pc=nothing)

Calculate the set velocity (v_set) for the winch.

Arguments

• wc::WinchController: The winch controller instance.
• v_act: The actual velocity of the winch.
• force: The measured or estimated force on the winch.
• f_low: The lower force threshold.
• v_set_pc: (optional) Precomputed or externally provided set velocity. Defaults to nothing.

Returns

• The calculated set velocity for the winch.

Notes

• The function logic depend on the relationship between the actual force and the lower force threshold.
• If v_set_pc is provided, it overrides the computed set velocity.

get_set_force(wc::WinchController)

Returns the set force value of the WinchController instance wc.

Arguments

• wc::WinchController: The winch controller object for which the set force is to be retrieved.

Returns

• The set force value, or nothing if the state is not wcsLowerForceLimit or wcsUpperForceLimit.

get_state(wc::WinchController) -> @enum WinchControllerState

Returns the current state of the given WinchController instance wc. The returned value typically represents the operational state or status of the winch controller, such as position, speed, or error status.

Arguments

• wc::WinchController: The winch controller object whose state is to be retrieved.

Returns

• @enum WinchControllerState

get_status(wc::WinchController)

Retrieve the current status of the given WinchController instance for logging and debugging purposes.

Arguments

• wc::WinchController: The winch controller object whose status is to be retrieved.

Returns

• The current status of the winch controller, an array containing:
  • reset: Boolean indicating if the controller is in reset state.
  • active: Boolean indicating if the controller is active.
  • force: The current set force value or zero if not set.
  • f_set: The set force value.
  • v_set_out: The output velocity set by the speed controller.
  • v_set_ufc: The output velocity set by the upper force controller.
  • v_set_lfc: The output velocity set by the lower force controller.

get_v_err(wc::WinchController)

Compute and return the velocity error for the given WinchController instance sc.

Arguments

• wc::WinchController: The winch controller object for which the velocity error is to be calculated.

Returns

• The velocity error v_err [m/s]. If the speed controller is inactive, it returns NaN.

on_timer(wc::WinchController)

Callback function that is triggered periodically by a timer event. This function is responsible for handling time-based updates or actions for the given WinchController instance wc.

Arguments

• wc::WinchController: The winch controller instance to be updated.

Returns

• Nothing. This function is called for its side effects.

mutable struct WCSettings

Settings of the WinchController. See also: Winchcontroller Settings.

Fields

• dt::Float64: timestep of the winch controller

• test::Bool: set to true for running the unit tests Default: false

• fac::Float64: factor for I and P of lower force controller Default: 0.25

• max_iter::Int64: max iterations limit for the PID solvers Default: 100

• iter::Int64: actual max iterations of the PID solvers Default: 0

• t_startup::Float64: startup time for soft start Default: 0.25

• t_blend::Float64: blending time of the mixers in seconds Default: 0.25

• v_sat_error::Float64: limitation of the reel-out speed error, used by the input saturation block of the speed controller Default: 1.0

• v_sat::Float64: limitation of the reel-out speed , used by the output saturation block of the speed controller Default: 8.0

• v_ri_max::Float64: maximal reel-in speed [m/s] Default: 8.0

• p_speed::Float64: P value of the speed controller Default: 0.125

• i_speed::Float64: I value of the speed controller Default: 4.0

• kb_speed::Float64: back calculation constant for the anti-windup loop of the speed controller Default: 4.0

• kt_speed::Float64: tracking constant of the speed controller Default: 5.0

• vf_max::Float64: reel-out velocity where the set force should reach it's maximum Default: 2.75

• pf_low::Float64: P constant of the lower force controller Default: 0.000144

• if_low::Float64: I constant of the lower force controller Default: 0.0075 * 1.5

• df_low::Float64: D constant of lower force controller Default: 2.0e-5 * 1.7

• nf_low::Float64: filter constant n of upper force controller Default: 7.0

• kbf_low::Float64: back calculation constant for the anti-windup loop of the lower force controller Default: 1.0

• ktf_low::Float64: tracking constant of the lower force controller Default: 8.0

• f_low::Float64: lower force limit [N] Default: 350

• f_reelin::Float64: set force for reel-in phase [N] Default: 700

• f_high::Float64: upper force limit [N] Default: 3800

• pf_high::Float64: P constant of upper force controller Default: 0.000144 * 1.6

• if_high::Float64: I constant of upper force controller Default: 0.0075 * 1.6

• df_high::Float64: D constant of upper force controller Default: 2.0e-5 * 1.7

• nf_high::Float64: filter constant n of upper force controller Default: 15.0

• kbf_high::Float64: back calculation constant for the anti-windup loop of the upper force controller Default: 1.0

• ktf_high::Float64: tracking constant of the upper force controller Default: 10.0

• winch_iter::Float64: interations of the winch model Default: 10

• max_acc::Float64: maximal acceleration of the winch (derivative of the set value of the reel-out speed) Default: 8.0

• damage_factor::Float64: damage at max acceleration Default: 0.2

• jerk_factor::Float64: jerk factor for damage calculation Default: 0.9

• kv::Float64: proportional factor of the square root law, see function calc_vro Default: 0.06

calc_vro(wcs::WCSettings, force)

Calculate the optimal reel-out speed for a given force.

Parameters

• wcs::WCSettings: the settings struct
• force: the tether force at the winch

Returns

• the optimal reel-out speed

mutable struct WCLogger{Q}

Struct with the WinchController log vectors. Q is the number of samples that can be logged.

Fields

• index::Int64: Index of the next log entry Default: 1

• time::Vector{Float64}: Vector of time stamps [s] Default: zeros(Float64, Q)

• v_wind::Vector{Float64}: wind speed [m/s] Default: zeros(Float64, Q)

• max_force::Float64: Maximal winch force [N] Default: 0.0

• max_acc::Float64: Maximal acceleration [m/s^2] Default: 0.0

• damage_factor::Float64: damage at maximum acceleration Default: 0.0

• jerk_factor::Float64: jerk factor for damage calculation Default: 0.0

• v_set_in::Vector{Float64}: set value of the reel-out speed, input of the speed controller [m/s] Default: zeros(Float64, Q)

• v_ro::Vector{Float64}: reel-out speed [m/s] Default: zeros(Float64, Q)

• v_set::Vector{Float64}: set reel-out speed, output of the speed controller [m/s] Default: zeros(Float64, Q)

• v_set_out::Vector{Float64}: set reel-out speed of the winch [m/s] Default: zeros(Float64, Q)

• force::Vector{Float64}: force [N] Default: zeros(Float64, Q)

• f_err::Vector{Float64}: force error [N] Default: zeros(Float64, Q)

• acc::Vector{Float64}: acceleration [m/s^2] Default: zeros(Float64, Q)

• acc_set::Vector{Float64}: set acceleration [m/s^2] Default: zeros(Float64, Q)

• jerk::Vector{Float64}: jerk [m/s^3] Default: zeros(Float64, Q)

• v_err::Vector{Float64}: reel-out speed error [m/s] Default: zeros(Float64, Q)

• reset::Vector{Int64}: reset flag Default: zeros(Int64, Q)

• active::Vector{Int64}: active flag Default: zeros(Int64, Q)

• f_set::Vector{Float64}: set force [N] Default: zeros(Float64, Q)

• state::Vector{Int64}: state of the controller Default: zeros(Int64, Q)

• p_dyn::Vector{Float64}: dynamic, mechanical power [W] Default: zeros(Float64, Q)

WCLogger(duration, dt, max_force=0.0)

Create and initialize a logger for the winch controller system.

Arguments

• duration::Number: The total duration for which logging should occur. [s]
• dt::Number: The time step interval between log entries. [s]

Returns

A logger object configured to record data at the specified interval for the given duration.

log(logger::WCLogger; v_wind=0.0, v_ro=0.0, v_set=0.0, v_set_in=0.0, v_set_out=0.0, force=0.0, f_err=0.0, 
    acc=0.0, acc_set=0.0, jerk=0.0, p_dyn=0.0)

Logs the current state of the winch controller.

Arguments

• logger::WCLogger: The logger instance used to record the data.
• v_wind: (Optional) The wind speed. Defaults to 0.0.
• v_ro: (Optional) The measured reel-out velocity. Defaults to 0.0.
• v_set: (Optional) The input of the speed controller. Defaults to 0.0.
• v_set_in: (Optional) The input of the speed controller. Defaults to 0.0.
• v_set_out: (Optional) The setpoint output velocity. Defaults to 0.0.
• force: (Optional) The measured force. Defaults to 0.0.
• f_err: (Optional) The force error. Defaults to 0.0.
• acc: (Optional) The measured acceleration. Defaults to 0.0.
• jerk: (Optional) The jerk value. Defaults to 0.0.
• acc_set: (Optional) The setpoint acceleration. Defaults to 0.0.
• p_dyn: (Optional) The dynamic mechanical power. Defaults to 0.0.

Description

This function records the provided parameters to the logger for analysis of the winch controller's performance.

f_err(logger::WCLogger)

Calculate the normalized maximal force error of a log.

Arguments

• logger::WCLogger: The logger instance used to log error messages.

Returns

The normalized maximal force error with respect to the maximum force of the winch.

v_err(logger::WCLogger)

Calculate the normalized root mean square (RMS) of the reel-out speed error.

Arguments

• logger::WCLogger: The logger object used to record the error message.

Returns

The normalized RMS of the reel-out speed error with respect to the mean of the set values of the reel-out speed.

gamma(logger::WCLogger)

Compute the combined performance indicator $\gamma$ for the test case used to create the provided logs, stored in the logger. See: Combined performance.

Arguments

• logger::WCLogger: The logger object that shall be used to calculate gamma.

Returns

• The gamma value associated with the log of the used test case.

mutable struct Winch

Component, that calculates the acceleration of the tether based on the tether force and the set speed (= synchronous speed). Asynchronous motor model and drum inertia are taken into account. Used for testing of the winch controller.

Fields

• wcs::WCSettings

• set::KiteUtils.Settings

• wm::WinchModels.AsyncMachine: Default: AsyncMachine(set)

• inertia::Float64: Default: set.inertiatotal * set.gearratio ^ 2

• last_omega::Float64: Default: 0.0

• v_set::Float64: Default: 0

• force::Float64: Default: 0

• acc::Float64: Default: 0

• jerk::Float64: Default: 0

• speed::Float64: Default: 0

• p_dyn::Float64: Default: 0

function Winch(wcs::WCSettings, set::Settings)

Constructor for a Winch struct, using the winch-controller settings and the general settings as parameters.

Parameters

• wcs::WCSettings: settings of the winch controller
• set::Settings: general settings

Returns

• a struct of type Winch

function set_v_set(w::Winch, v_set)

Set the reel-out speed of the winch.

Parameters

• w::Winch: struct of type Winch
• v_set: new set value of the reel-out speed [m/s]

Returns

• nothing

function set_force(w::Winch, force)

Set the tether force at the winch.

Parameters

• w::Winch: struct of type Winch
• force: new set value of the tether force [N]

Returns

• nothing

function get_speed(w::Winch)

Read the tether speed of the winch.

Parameters

• w::Winch: struct of type Winch

Returns

• the reel-out speed of the winch in m/s

function get_acc(w::Winch)

Determine the current acceleration of the winch.

Parameters

• w::Winch: struct of type Winch

Returns

• acceleration of the winch in m/s²

on_timer(w::Winch)

Update the winch. Must be called once per time-step. calculates and updates the winch acceleration w.acc using a loop.

Parameters

• w::Winch: Reference to the Winch component

Returns

• nothing