8000 Linearize winch+tether model · Issue #13 · OpenSourceAWE/WinchControllers.jl · GitHub
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Linearize winch+tether model #13

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ufechner7 opened this issue May 24, 2025 · 4 comments
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Linearize winch+tether model #13

ufechner7 opened this issue May 24, 2025 · 4 comments

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@ufechner7
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ufechner7 commented May 24, 2025 •
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For designing a robust controller a linearized model would be an advantage.

  • linearize winch + simple kite
  • linearize winch + tether + simple kite
  • linearize winch + tether + advanced kite
@ufechner7
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Possibly also linearize?

Possible inputs for linearization:

  • wind speed
  • cross-wind kite speed
  • set torque

Possible output:

  • reel-out speed

See: https://www.perplexity.ai/search/i-have-a-nonlinear-numeric-mod-u4.TdW.MQdG099VtnSmPsQ

@ufechner7 ufechner7 mentioned this issue May 24, 2025
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@ufechner7
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Bart wrote: I think the inputs should be the set torque, wind speed, kite speed and optionally ground speed (for if the winches are on a moving platform).

@1-Bart-1
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An example on how to linearize using AutoFiniteDiff and customizable inputs:
https://github.com/Albatross-Kite-Transport/VortexStepMethod.jl/blob/81a402d16204ac9fab65383cdb101b576d96e189/src/solver.jl#L637C1-L751C4

@ufechner7
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Linearizing the simple winch and kite model is implemented, see example stability_ufc.jl.

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