# \[ANN\] New package WinchControllers

**URL:** https://discourse.julialang.org/t/ann-new-package-winchcontrollers/129507
**Category:** Package Announcements
**Tags:** package, control
**Created:** [May 31, 2025, 7:18pm UTC](https://discourse.julialang.org/t/ann-new-package-winchcontrollers/129507 "2025-05-31T19:18:56Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![ufechner7](https://sea2.discourse-cdn.com/julialang/user_avatar/discourse.julialang.org/ufechner7/32/51363_2.png) [@ufechner7](https://discourse.julialang.org/u/ufechner7)
#### Post date: [May 31, 2025, 7:18pm UTC](https://discourse.julialang.org/t/ann-new-package-winchcontrollers/129507/1 "2025-05-31T19:18:56Z")

</div>

Recently, we registered the package WinchControllers.jl, and the new release `0.5.3` is ready for practical use.

While it was developed for airborne wind energy systems, it should be useful everywhere where winches are needed, for example for

- elevators
- cranes
- launching sail planes
- deploying sub-sea cables
- teaching

 ![image](https://global.discourse-cdn.com/julialang/original/3X/9/7/9724291e5b0fe8bf01282bf4a459566145465492.jpeg)

## Implemented features:

- lower force control (assure that there is always a minimal cable tension)
- upper force control (keep the maximal force limited)
- reel-out speed control proportional to the square root of the force (other relationships can easily be added)
- control of asynchronous motors/ generators
- speed control
- configuration of winch model and controller using `.yaml` files
- auto-tuning of the controller using NOMAD.jl and some advanced [Performance Indicators](https://opensourceawe.github.io/WinchControllers.jl/dev/performance_indicators/)

## Planned features

- support of torque controlled winches using feed-forward control
- length control (position control)
- integration of a quasi-steady tether model
- stability analysis using a linearized system model

Installation is easy, some examples are provided, just follow the instructions in the [README.md](https://github.com/OpenSourceAWE/WinchControllers.jl)

You can run it on a Rasperry PI and connect a motor controller using CAN. Just to give an idea for a nice student project.