Merge branch 'detailed_kite_model'

Author: PatrickRoel

data/2plate_kite/struc_geometry_level_2.yaml

@@ -0,0 +1,145 @@
+##############################
+## General ###################
+##############################
+bridle_point_node: [0, 0, 0]  # [x,y,z] — ground/fixed node
+
+## Mass
+pulley_mass: 0.1   # [kg]
+kcu_mass: 8.4      # [kg]
+
+# properties kite
+pressure: 0.3      #[bar]
+canopy_stiffness: 5000
+
+## Material properties
+dyneema:
+  density: 724.0            # [kg/m³]
+  youngs_modulus: !!float 5.5e10    # [Pa] = 55 GPa
+  damping_per_stiffness: 0.0 # [/s] → c = damping_per_stiffness * k
+
+fixed_point_indices: [0]  # node indices fixed in space (0-based indexing)
+
+###########################
+## Wing ###################
+###########################
+
+
+wing_particles:
+  # Node positions defining the pyramid structure
+  headers: [id, x, y, z]
+  data:
+    # Right chord (y = +4.08, z = 8.9)
+    - [1, 0.0,  4.08, 8.9]   # LE_right
+    - [2, 2.0,  4.08, 8.9]   # TE_right
+    # midpoints between strut1 and 2
+    - [3, 0.0,  2.72, 9.95]   # LE_right
+    - [4, 2.0,  2.72, 9.95]   # TE_right
+    - [5, 0.0,  1.36, 11]   # LE_right
+    - [6, 2.0,  1.36, 11]   # LE_right
+    # Center/apex chord (y = 0.0, z = 12.05)
+    - [7, 0.0,  0.0,  12.05]  # LE_center (apex)
+    - [8, 2.0,  0.0,  12.05]  # TE_center (apex)
+    #midpoints between strut2 and 3
+    - [9, 0.0,  -1.36, 11]   # LE_right
+    - [10, 2.0,  -1.36, 11]   # LE_right
+    - [11, 0.0,  -2.72, 9.95]   # LE_right
+    - [12, 2.0,  -2.72, 9.95]   # TE_right
+    # Left chord (y = -4.08, z = 8.9)
+    - [13, 0.0, -4.08, 8.9]   # LE_left
+    - [14, 2.0, -4.08, 8.9]   # TE_left
+
+strut_tubes:
+  headers: [name, ci, cj, strut_diam_le, strut_diam_te, le_diameter, node_indices]
+  data:
+  - - strut_1
+    - 1
+    - 2
+    - 0.12
+    - 0.10
+    - 0.15
+    - [1,15,18,2]
+  - - strut_2
+    - 7
+    - 8
+    - 0.12
+    - 0.10
+    - 0.17
+    - [7,16,19,8]
+  - - strut_3
+    - 13
+    - 14
+    - 0.12
+    - 0.10
+    - 0.15
+    - [13,17,20,14]
+
+
+leading_edge_tubes:
+  headers: [name, ci, cj, diameter]
+  data:
+  - [le_right_1,  1, 3, 0.15]
+  - [le_right_2,  3, 5, 0.16]
+  - [le_right_3,  5, 7, 0.17]
+  - [le_left_1,   7, 9, 0.17]
+  - [le_left_2,   9, 11, 0.16]
+  - [le_left_3,   11, 13, 0.15]
+
+
+#############################
+## Bridle ###################
+#############################
+
+bridle_particles:
+  # Additional bridle attachment points (if any)
+  # id, x [m], y [m], z [m]
+  headers: [id, x, y, z]
+  data: 
+  #corresponding to kite attachment points
+  - [15, 0.5,  4.08, 8.9]   # 1/4c
+  - [16, 0.5,  0.0,  12.05]  # 1/4c
+  - [17, 0.5, -4.08, 8.9]   # 1/4c
+  - [18, 1.25,  4.08, 8.9]   # 1/4c
+  - [19, 1.25,  0.0,  12.05]  # 1/4c
+  - [20, 1.25, -4.08, 8.9]   # 1/4c
+
+  #corresponding to bridal nodes
+  - [21, 0, 3.66327495147671, 7.99096741866242]
+  - [22, 0, -3.66327495147671, 7.99096741866242]  
+bridle_connections:
+ # Bridle lines connecting structure to ground
+ # name, ci, cj, [ck] (ck optional for pulleys)
+ headers: [name, ci, cj]
+ data:
+ # Lines from ground (node 0) to wing tips and apex
+ - [bridle_right_le, 0, 21]   # Ground to right LE pulley
+ - [bridle_right_te, 0, 2]   # Ground to right TE
+ - [bridle_center_le, 0, 7]  # Ground to center LE (apex)
+ - [Power Tape, 0, 8]  # Ground to center TE (apex)
+ - [bridle_left_le, 0, 22]    # Ground to left LE pulley
+ - [bridle_left_te, 0, 14]    # Ground to left TE
+ # pulleys
+ - [pulley_right_le, 1, 21, 15]   # Ground to right LE
+ - [pulley_left_le, 13, 22, 17]   # Ground to right LE
+
+
+bridle_lines:
+ headers: [name, rest_length, diameter, material, linktype]
+ data:
+ # Lines to right panel 
+ - [bridle_right_le, 8.7906, 0.0025, dyneema, "noncompressive"]
+ - [bridle_right_te, 9.798, 0.0025, dyneema, "noncompressive"]
+
+ # Lines to center/apex
+ # Length ≈ sqrt(0² + 0² + 12.05²) = 12.05 m
+ - [bridle_center_le, 12.05, 0.0025, dyneema, "noncompressive"]
+ - [Power Tape, 12.05, 0.0025, dyneema, "noncompressive"]
+
+ # Lines to left panel
+ - [bridle_left_le, 8.7906, 0.0025, dyneema, "noncompressive"]
+ - [bridle_left_te, 9.798, 0.0025, dyneema, "noncompressive"]
+
+ #lines from pulleys
+ - [pulley_right_le, 2.118, 0.0025, dyneema, "pulley"]
+ - [pulley_left_le, 2.118, 0.0025, dyneema, "pulley"]
+
+

data/TUDELFT_V3_KITE/config.yaml

@@ -56,7 +56,7 @@ structural_kite_fem:
   relax_init: !!float 0.1
   relax_update: !!float 0.95
   k_update: !!int 1
-  I_stiffness: !!int 25 #V3 kite: 25
+  I_stiffness: !!int 15 #V3 kite: 25
   print_info: !!bool false
 
 ## aero2struc
@@ -72,7 +72,7 @@ aero_structural_solver:
   tol: !!float 10
 
 ## Physical constants
-grav_constant: !!seq [0, 0, 9.81]
+grav_constant: !!seq [0, 0, -9.81]
 rho: !!float 1.225 # air density in kg/m^3
 mu: !!float 1.789e-05 # dynamic viscosity in kg/(m*s)