Add plate model and kps4 example (#201)

* Generalize accessor type

* Revert "Generalize accessor type"

This reverts commit 254f642.

* Eval for symbolic register

* Working kps4 example

* Fix orientation matrix

* Looks to work fine

* More general types, bench still passes

* Getting close to kitemodels example

* Use data interpolations

* Improved match by using cubic spline

* Update settings fields

* Keep one example

* Use simplified aero

* Don't enforce nonlin

* Add example and test

* Add forwarddiff

* Remove separate twist

* Update manifests

* Working lin example

* Simplified aero and improved twisting

* Align examples

* Fix rhs allocs

* Test allocs for all integrators

* Update manifests

* Add alloc testing to all integrators

* Update manifests

* Add missing docstrings

* Remove render

* Update packages

* Require vsm update

* Update default manifests

* Correct citations

* Reset integ by default

* Simplify init

* Larger dt for linear wing

* Update manifests

* Tighter tol

* Update default manifests

* Fix licenses

* Default no remake

* Better prn true false

* Fix conflicts

* Fix documentation

* Move to exported

* Same name for faster testing

* Fix yaml weighted ref test

* Update default manifests

* Larger dt for lin wing

* Widen tol

* Rm useless aero from transform test

Author: 1-Bart-1

Manifest-v1.11.toml.default

@@ -2,7 +2,7 @@
 
 julia_version = "1.11.9"
 manifest_format = "2.0"
-project_hash = "73e80d319ed3398dce6244244e8d9f4c900730cf"
+project_hash = "80ce663e119d994868ba53c3bad85d62444e1883"
 
 [[deps.ADTypes]]
 git-tree-sha1 = "bbc22a9a08a0ef6460041086d8a7b27940ed4ffd"
@@ -389,6 +389,32 @@ git-tree-sha1 = "abe83f3a2f1b857aac70ef8b269080af17764bbe"
 uuid = "9a962f9c-6df0-11e9-0e5d-c546b8b5ee8a"
 version = "1.16.0"
 
+[[deps.DataInterpolations]]
+deps = ["EnumX", "FindFirstFunctions", "ForwardDiff", "LinearAlgebra", "PrettyTables", "RecipesBase", "Reexport"]
+git-tree-sha1 = "4d50e83772222ce023efb7d30632198828ea56a6"
+uuid = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
+version = "8.10.0"
+
+    [deps.DataInterpolations.extensions]
+    DataInterpolationsChainRulesCoreExt = "ChainRulesCore"
+    DataInterpolationsMakieExt = "Makie"
+    DataInterpolationsMooncakeExt = ["Mooncake", "ChainRulesCore"]
+    DataInterpolationsOptimExt = "Optim"
+    DataInterpolationsRegularizationToolsExt = "RegularizationTools"
+    DataInterpolationsSparseConnectivityTracerExt = ["SparseConnectivityTracer", "FillArrays"]
+    DataInterpolationsSymbolicsExt = "Symbolics"
+
+    [deps.DataInterpolations.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    FillArrays = "1a297f60-69ca-5386-bcde-b61e274b549b"
+    Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
+    Mooncake = "da2b9cff-9c12-43a0-ae48-6db2b0edb7d6"
+    Optim = "429524aa-4258-5aef-a3af-852621145aeb"
+    RegularizationTools = "29dad682-9a27-4bc3-9c72-016788665182"
+    SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
+    Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
+    Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
+
 [[deps.DataStructures]]
 deps = ["OrderedCollections"]
 git-tree-sha1 = "e86f4a2805f7f19bec5129bc9150c38208e5dc23"
@@ -1540,6 +1566,18 @@ git-tree-sha1 = "8b770b60760d4451834fe79dd483e318eee709c4"
 uuid = "21216c6a-2e73-6563-6e65-726566657250"
 version = "1.5.2"
 
+[[deps.PrettyTables]]
+deps = ["Crayons", "LaTeXStrings", "Markdown", "PrecompileTools", "Printf", "REPL", "Reexport", "StringManipulation", "Tables"]
+git-tree-sha1 = "624de6279ab7d94fc9f672f0068107eb6619732c"
+uuid = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
+version = "3.3.2"
+
+    [deps.PrettyTables.extensions]
+    PrettyTablesTypstryExt = "Typstry"
+
+    [deps.PrettyTables.weakdeps]
+    Typstry = "f0ed7684-a786-439e-b1e3-3b82803b501e"
+
 [[deps.Primes]]
 deps = ["IntegerMathUtils"]
 git-tree-sha1 = "25cdd1d20cd005b52fc12cb6be3f75faaf59bb9b"
@@ -1959,6 +1997,12 @@ git-tree-sha1 = "b765e46ba27ecf6b44faf70df40c57aa3a547dcb"
 uuid = "69024149-9ee7-55f6-a4c4-859efe599b68"
 version = "0.3.7"
 
+[[deps.StringManipulation]]
+deps = ["PrecompileTools"]
+git-tree-sha1 = "d05693d339e37d6ab134c5ab53c29fce5ee5d7d5"
+uuid = "892a3eda-7b42-436c-8928-eab12a02cf0e"
+version = "0.4.4"
+
 [[deps.StringViews]]
 git-tree-sha1 = "f2dcb92855b31ad92fe8f079d4f75ac57c93e4b8"
 uuid = "354b36f9-a18e-4713-926e-db85100087ba"
@@ -2016,13 +2060,11 @@ deps = ["Accessors", "ArrayInterface", "RuntimeGeneratedFunctions", "StaticArray
 git-tree-sha1 = "64b15330b9e3c91a86bcac92f369c58e382981c6"
 uuid = "2efcf032-c050-4f8e-a9bb-153293bab1f5"
 version = "0.3.48"
+weakdeps = ["PrettyTables"]
 
     [deps.SymbolicIndexingInterface.extensions]
     SymbolicIndexingInterfacePrettyTablesExt = "PrettyTables"
 
-    [deps.SymbolicIndexingInterface.weakdeps]
-    PrettyTables = "08abe8d2-0d0c-5749-adfa-8a2ac140af0d"
-
 [[deps.SymbolicLimits]]
 deps = ["SymbolicUtils", "TermInterface"]
 git-tree-sha1 = "5085671d2cba1eb02136a3d6661c583e801984c1"
@@ -2049,9 +2091,9 @@ version = "4.30.0"
 
 [[deps.Symbolics]]
 deps = ["ADTypes", "AbstractPlutoDingetjes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "Moshi", "MultivariatePolynomials", "MutableArithmetics", "NaNMath", "PrecompileTools", "Preferences", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLPublic", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
-git-tree-sha1 = "cbc51a9d875c95d31b25b17468acd5386f69a534"
+git-tree-sha1 = "52482f662eb3be684c299416526d28306001d0b5"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-version = "7.24.0"
+version = "7.24.1"
 
     [deps.Symbolics.extensions]
     SymbolicsD3TreesExt = "D3Trees"

Manifest-v1.12.toml.default

@@ -2,7 +2,7 @@
 
 julia_version = "1.12.5"
 manifest_format = "2.0"
-project_hash = "7464b14434ed89dedaf8552681e672cecdaf5469"
+project_hash = "f89b9896c530ac9b2ec27d601e08d4cd75c71942"
 
 [[deps.ADTypes]]
 git-tree-sha1 = "bbc22a9a08a0ef6460041086d8a7b27940ed4ffd"
@@ -541,6 +541,32 @@ git-tree-sha1 = "5fab31e2e01e70ad66e3e24c968c264d1cf166d6"
 uuid = "a93c6f00-e57d-5684-b7b6-d8193f3e46c0"
 version = "1.8.2"
 
+[[deps.DataInterpolations]]
+deps = ["EnumX", "FindFirstFunctions", "ForwardDiff", "LinearAlgebra", "PrettyTables", "RecipesBase", "Reexport"]
+git-tree-sha1 = "4d50e83772222ce023efb7d30632198828ea56a6"
+uuid = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
+version = "8.10.0"
+
+    [deps.DataInterpolations.extensions]
+    DataInterpolationsChainRulesCoreExt = "ChainRulesCore"
+    DataInterpolationsMakieExt = "Makie"
+    DataInterpolationsMooncakeExt = ["Mooncake", "ChainRulesCore"]
+    DataInterpolationsOptimExt = "Optim"
+    DataInterpolationsRegularizationToolsExt = "RegularizationTools"
+    DataInterpolationsSparseConnectivityTracerExt = ["SparseConnectivityTracer", "FillArrays"]
+    DataInterpolationsSymbolicsExt = "Symbolics"
+
+    [deps.DataInterpolations.weakdeps]
+    ChainRulesCore = "d360d2e6-b24c-11e9-a2a3-2a2ae2dbcce4"
+    FillArrays = "1a297f60-69ca-5386-bcde-b61e274b549b"
+    Makie = "ee78f7c6-11fb-53f2-987a-cfe4a2b5a57a"
+    Mooncake = "da2b9cff-9c12-43a0-ae48-6db2b0edb7d6"
+    Optim = "429524aa-4258-5aef-a3af-852621145aeb"
+    RegularizationTools = "29dad682-9a27-4bc3-9c72-016788665182"
+    SparseConnectivityTracer = "9f842d2f-2579-4b1d-911e-f412cf18a3f5"
+    Symbolics = "0c5d862f-8b57-4792-8d23-62f2024744c7"
+    Zygote = "e88e6eb3-aa80-5325-afca-941959d7151f"
+
 [[deps.DataStructures]]
 deps = ["OrderedCollections"]
 git-tree-sha1 = "e86f4a2805f7f19bec5129bc9150c38208e5dc23"
@@ -587,6 +613,18 @@ git-tree-sha1 = "a55766a9c8f66cf19ffcdbdb1444e249bb4ace33"
 uuid = "85a47980-9c8c-11e8-2b9f-f7ca1fa99fb4"
 version = "0.4.6"
 
+[[deps.Dierckx]]
+deps = ["Dierckx_jll"]
+git-tree-sha1 = "7da4b14cc4c3443a1afc64abee17f4fcb45ad837"
+uuid = "39dd38d3-220a-591b-8e3c-4c3a8c710a94"
+version = "0.5.4"
+
+[[deps.Dierckx_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"]
+git-tree-sha1 = "3251f44b3cac6fec4cec8db45d3ab0bfed51c4d8"
+uuid = "cd4c43a9-7502-52ba-aa6d-59fb2a88580b"
+version = "0.2.0+0"
+
 [[deps.DiffEqBase]]
 deps = ["ArrayInterface", "BracketingNonlinearSolve", "ConcreteStructs", "DocStringExtensions", "FastBroadcast", "FastClosures", "FastPower", "FunctionWrappers", "FunctionWrappersWrappers", "LinearAlgebra", "Logging", "Markdown", "MuladdMacro", "PrecompileTools", "Printf", "RecursiveArrayTools", "Reexport", "SciMLBase", "SciMLLogging", "SciMLOperators", "SciMLStructures", "Setfield", "Static", "StaticArraysCore", "SymbolicIndexingInterface", "TruncatedStacktraces"]
 git-tree-sha1 = "9d333db14895e8c7d4857ed228eb1e72d3b302ec"
@@ -1302,9 +1340,9 @@ weakdeps = ["ForwardDiff", "Unitful"]
 
 [[deps.IntervalArithmetic]]
 deps = ["CRlibm", "CoreMath", "MacroTools", "OpenBLASConsistentFPCSR_jll", "Printf", "Random", "RoundingEmulator"]
-git-tree-sha1 = "3e6273749a2df3a5c9067657510ad01ba5039a92"
+git-tree-sha1 = "921d7e91687e15a2c7c269c226960491fc041832"
 uuid = "d1acc4aa-44c8-5952-acd4-ba5d80a2a253"
-version = "1.0.8"
+version = "1.0.9"
 
     [deps.IntervalArithmetic.extensions]
     IntervalArithmeticArblibExt = "Arblib"
@@ -1433,6 +1471,18 @@ git-tree-sha1 = "4260cfc991b8885bf747801fb60dd4503250e478"
 uuid = "5ab0869b-81aa-558d-bb23-cbf5423bbe9b"
 version = "0.6.11"
 
+[[deps.KiteModels]]
+deps = ["AtmosphericModels", "Dierckx", "DiffEqBase", "DiscretePIDs", "DocStringExtensions", "Interpolations", "KitePodModels", "KiteUtils", "LinearAlgebra", "LinearSolve", "Logging", "NLSolversBase", "NLsolve", "NonlinearSolve", "OrdinaryDiffEqBDF", "OrdinaryDiffEqCore", "OrdinaryDiffEqNonlinearSolve", "Parameters", "Pkg", "PrecompileTools", "REPL", "Reexport", "Rotations", "StaticArrays", "Statistics", "Sundials", "Suppressor", "WinchModels"]
+git-tree-sha1 = "f85d3db792d967ccab5105e51f9e45a668af3802"
+uuid = "b94af626-7959-4878-9336-2adc27959007"
+version = "0.11.13"
+
+[[deps.KitePodModels]]
+deps = ["DocStringExtensions", "KiteUtils", "Reexport"]
+git-tree-sha1 = "57f6f71a75d2d26f199a64c03a03796139c540f4"
+uuid = "9de5dc81-f971-414a-927b-652b2f41c539"
+version = "0.4.0"
+
 [[deps.KiteUtils]]
 deps = ["Arrow", "CSV", "DocStringExtensions", "LinearAlgebra", "OrderedCollections", "Parameters", "Parsers", "Pkg", "PrecompileTools", "RecursiveArrayTools", "ReferenceFrameRotations", "Rotations", "StaticArrays", "StructArrays", "StructTypes", "YAML"]
 git-tree-sha1 = "edd32b16440b162db774dc42604f7faa921541e6"
@@ -2068,6 +2118,12 @@ git-tree-sha1 = "b6aa4566bb7ae78498a5e68943863fa8b5231b59"
 uuid = "e7412a2a-1a6e-54c0-be00-318e2571c051"
 version = "1.3.6+0"
 
+[[deps.OpenBLAS32_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "libblastrampoline_jll"]
+git-tree-sha1 = "565175ce692c065e50ad32efbb61ba69b1586593"
+uuid = "656ef2d0-ae68-5445-9ca0-591084a874a2"
+version = "0.3.33+1"
+
 [[deps.OpenBLASConsistentFPCSR_jll]]
 deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl"]
 git-tree-sha1 = "3287ec88df50429a934ebc6cf14606215e27b987"
@@ -2969,19 +3025,37 @@ version = "1.11.0"
 deps = ["Libdl", "LinearAlgebra", "Serialization", "SparseArrays"]
 uuid = "4607b0f0-06f3-5cda-b6b1-a6196a1729e9"
 
+[[deps.SuiteSparse32_jll]]
+deps = ["Artifacts", "JLLWrappers", "Libdl", "libblastrampoline_jll"]
+git-tree-sha1 = "1d43a4874b879f381b8a3a978f0ebe837cfd0922"
+uuid = "ca45d3f4-326b-53b0-9957-23b75aacb3f2"
+version = "7.12.1+0"
+
 [[deps.SuiteSparse_jll]]
 deps = ["Artifacts", "Libdl", "libblastrampoline_jll"]
 uuid = "bea87d4a-7f5b-5778-9afe-8cc45184846c"
 version = "7.8.3+2"
 
+[[deps.Sundials]]
+deps = ["Accessors", "ArrayInterface", "CEnum", "DataStructures", "DiffEqBase", "Libdl", "LinearAlgebra", "LinearSolve", "Logging", "NonlinearSolveBase", "PrecompileTools", "Reexport", "SciMLBase", "SciMLLogging", "SparseArrays", "Sundials_jll", "SymbolicIndexingInterface"]
+git-tree-sha1 = "b2bdc0fe9e7987ae15c9b9507dc26ea048ece9f3"
+uuid = "c3572dad-4567-51f8-b174-8c6c989267f4"
+version = "5.3.0"
+
+[[deps.Sundials_jll]]
+deps = ["Artifacts", "CompilerSupportLibraries_jll", "JLLWrappers", "Libdl", "OpenBLAS32_jll", "SuiteSparse32_jll"]
+git-tree-sha1 = "a872f379c836e9cb5734485ca0681b192a59b98b"
+uuid = "fb77eaff-e24c-56d4-86b1-d163f2edb164"
+version = "7.5.0+0"
+
 [[deps.Suppressor]]
 deps = ["Logging"]
 git-tree-sha1 = "6dbb5b635c5437c68c28c2ac9e39b87138f37c0a"
 uuid = "fd094767-a336-5f1f-9728-57cf17d0bbfb"
 version = "0.2.8"
 
 [[deps.SymbolicAWEModels]]
-deps = ["AtmosphericModels", "CodecZlib", "ControlSystemsBase", "Dates", "DocStringExtensions", "ForwardDiff", "KiteUtils", "LaTeXStrings", "LinearAlgebra", "Logging", "ModelingToolkit", "NonlinearSolve", "NonlinearSolveQuasiNewton", "OrdinaryDiffEqBDF", "OrdinaryDiffEqCore", "OrdinaryDiffEqNonlinearSolve", "Parameters", "Pkg", "PrecompileTools", "Printf", "RecipesBase", "SHA", "Serialization", "StaticArrays", "Statistics", "SteadyStateDiffEq", "Suppressor", "SymbolicIndexingInterface", "SymbolicUtils", "Symbolics", "TOML", "Tar", "Timers", "UnPack", "VortexStepMethod", "YAML"]
+deps = ["AtmosphericModels", "CodecZlib", "ControlSystemsBase", "DataInterpolations", "Dates", "DocStringExtensions", "ForwardDiff", "KiteUtils", "LaTeXStrings", "LinearAlgebra", "Logging", "ModelingToolkit", "NonlinearSolve", "NonlinearSolveQuasiNewton", "OrdinaryDiffEqBDF", "OrdinaryDiffEqCore", "OrdinaryDiffEqNonlinearSolve", "Parameters", "Pkg", "PrecompileTools", "Printf", "RecipesBase", "SHA", "Serialization", "StaticArrays", "Statistics", "SteadyStateDiffEq", "Suppressor", "SymbolicIndexingInterface", "SymbolicUtils", "Symbolics", "TOML", "Tar", "Timers", "UnPack", "VortexStepMethod", "YAML"]
 path = "."
 uuid = "9c9a347c-5289-41db-a9b9-25ccc76c3360"
 version = "0.8.3"
@@ -3026,9 +3100,9 @@ version = "4.30.0"
 
 [[deps.Symbolics]]
 deps = ["ADTypes", "AbstractPlutoDingetjes", "ArrayInterface", "Bijections", "CommonWorldInvalidations", "ConstructionBase", "DataStructures", "DiffRules", "DocStringExtensions", "DomainSets", "DynamicPolynomials", "Libdl", "LinearAlgebra", "LogExpFunctions", "MacroTools", "Markdown", "Moshi", "MultivariatePolynomials", "MutableArithmetics", "NaNMath", "PrecompileTools", "Preferences", "Primes", "RecipesBase", "Reexport", "RuntimeGeneratedFunctions", "SciMLPublic", "Setfield", "SparseArrays", "SpecialFunctions", "StaticArraysCore", "SymbolicIndexingInterface", "SymbolicLimits", "SymbolicUtils", "TermInterface"]
-git-tree-sha1 = "cbc51a9d875c95d31b25b17468acd5386f69a534"
+git-tree-sha1 = "52482f662eb3be684c299416526d28306001d0b5"
 uuid = "0c5d862f-8b57-4792-8d23-62f2024744c7"
-version = "7.24.0"
+version = "7.24.1"
 
     [deps.Symbolics.extensions]
     SymbolicsD3TreesExt = "D3Trees"
@@ -3245,6 +3319,12 @@ git-tree-sha1 = "aa1ca3c47f119fbdae8770c29820e5e6119b83f2"
 uuid = "e3aaa7dc-3e4b-44e0-be63-ffb868ccd7c1"
 version = "0.1.3"
 
+[[deps.WinchModels]]
+deps = ["DiscretePIDs", "KiteUtils", "Parameters"]
+git-tree-sha1 = "f069217475c08e9dffc2a26457556efcc8e236f3"
+uuid = "7dcfa46b-7979-4771-bbf4-0aee0da42e1f"
+version = "0.3.9"
+
 [[deps.WoodburyMatrices]]
 deps = ["LinearAlgebra", "SparseArrays"]
 git-tree-sha1 = "248a7031b3da79a127f14e5dc5f417e26f9f6db7"

Project.toml

@@ -10,6 +10,7 @@ projects = ["docs", "examples", "scripts", "test"]
 AtmosphericModels = "c59cac55-771d-4f45-b14d-1c681463a295"
 CodecZlib = "944b1d66-785c-5afd-91f1-9de20f533193"
 ControlSystemsBase = "aaaaaaaa-a6ca-5380-bf3e-84a91bcd477e"
+DataInterpolations = "82cc6244-b520-54b8-b5a6-8a565e85f1d0"
 Dates = "ade2ca70-3891-5945-98fb-dc099432e06a"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
@@ -55,6 +56,7 @@ SymbolicAWEModelsMakieExt = ["GeometryBasics", "Makie"]
 AtmosphericModels = "0.3.2"
 CodecZlib = "0.7.8"
 ControlSystemsBase = "1.18.1"
+DataInterpolations = "8.10.0"
 Dates = "1"
 DocStringExtensions = "0.9.4"
 ForwardDiff = "1, 2"

data/base/settings.yaml

@@ -14,7 +14,7 @@ solver:
     solver: "FBDF"
     abs_tol: 0.01          # absolute tolerance of the DAE solver [m, m/s]
     rel_tol: 0.01          # relative tolerance of the DAE solver [-]
-    relaxation: 0.6        # relaxation factor of inner linear Newton solver, needed for quasi-steady solver
+    relaxation: 0.4        # relaxation factor of inner linear Newton solver, needed for quasi-steady solver
 
 kite:
     model: ""     # 3D model of the kite
@@ -29,6 +29,9 @@ kite:
     bridle_fracs: [0.088, 0.31, 0.58, 0.93] # distances along normalized foil chord for bridle attachment points
     mass: 0.9                               # kite mass [kg]
     quasi_static: false                     # whether to use quasi static kite points or not
+    rel_mass_p2: 0.25
+    rel_mass_p3: 0.25
+    rel_mass_p4: 0.25
 
 tether:
     # Bosch et al. 2014 used k = AE/L = 4.52E3 N/m for the bridles of the V3
@@ -37,8 +40,8 @@ tether:
     power_tether_diameter: 2 # [mm]
     steering_tether_diameter: 1 # [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]
+    axial_damping: 473.0         # unit damping coefficient        [Ns]
+    axial_stiffness: 614600.0     # unit spring constant coefficient [N]
     rho_tether:  724.0     # density of Dyneema           [kg/m³]
     e_tether: 55000000000.0 # axial tensile modulus of Dyneema (M.B. Ruppert) [Pa]
                            # SK75: 109 to 132 GPa according to datasheet