diff --git a/DRC_Fortran/#Archive/CONSTSteps_MPS.wnd b/DRC_Fortran/#Archive/CONSTSteps_MPS.wnd deleted file mode 100644 index 8a8e670a5..000000000 --- a/DRC_Fortran/#Archive/CONSTSteps_MPS.wnd +++ /dev/null @@ -1,46 +0,0 @@ -!Wind file for Trivial turbine. -!Time Wind Wind Vert. Horiz. Vert. LinV Gust -! Speed Dir Speed Shear Shear Shear Speed -0.00 7.0 0.00 0.00 0.00 0.00 0.00 0.00 -0.10 7.0 0.00 0.00 0.00 0.00 0.00 0.00 -100.00 7.0 0.00 0.00 0.00 0.00 0.00 0.00 -100.10 8.0 0.00 0.00 0.00 0.00 0.00 0.00 -200.00 8.0 0.00 0.00 0.00 0.00 0.00 0.00 -200.10 9.0 0.00 0.00 0.00 0.00 0.00 0.00 -300.00 9.0 0.00 0.00 0.00 0.00 0.00 0.00 -300.10 10.0 0.00 0.00 0.00 0.00 0.00 0.00 -400.00 10.0 0.00 0.00 0.00 0.00 0.00 0.00 -400.10 11.0 0.00 0.00 0.00 0.00 0.00 0.00 -500.00 11.0 00.0 0.00 0.00 0.00 0.00 0.00 -500.10 10.00 0.00 0.00 0.00 0.00 0.00 0.00 -600.00 10.00 0.00 0.00 0.00 0.00 0.00 0.00 -600.10 11.00 0.00 0.00 0.00 0.00 0.00 0.00 -700.00 11.00 0.00 0.00 0.00 0.00 0.00 0.00 -700.10 12.00 0.00 0.00 0.00 0.00 0.00 0.00 -800.00 12.00 0.00 0.00 0.00 0.00 0.00 0.00 -800.10 13.00 0.00 0.00 0.00 0.00 0.00 0.00 -900.00 13.00 0.00 0.00 0.00 0.00 0.00 0.00 -900.10 14.00 0.00 0.00 0.00 0.00 0.00 0.00 -1000.00 14.00 0.00 0.00 0.00 0.00 0.00 0.00 -1000.10 15.00 0.00 0.00 0.00 0.00 0.00 0.00 -1100.00 15.00 0.00 0.00 0.00 0.00 0.00 0.00 -1100.10 16.00 0.00 0.00 0.00 0.00 0.00 0.00 -1200.00 16.00 0.00 0.00 0.00 0.00 0.00 0.00 -1200.10 17.00 0.00 0.00 0.00 0.00 0.00 0.00 -1300.00 17.00 0.00 0.00 0.00 0.00 0.00 0.00 -1300.10 18.00 0.00 0.00 0.00 0.00 0.00 0.00 -1400.00 18.00 0.00 0.00 0.00 0.00 0.00 0.00 -1400.10 19.00 0.00 0.00 0.00 0.00 0.00 0.00 -1500.00 19.00 0.00 0.00 0.00 0.00 0.00 0.00 -1500.10 20.00 0.00 0.00 0.00 0.00 0.00 0.00 -1600.00 20.00 0.00 0.00 0.00 0.00 0.00 0.00 -1600.10 21.00 0.00 0.00 0.00 0.00 0.00 0.00 -1700.00 21.00 0.00 0.00 0.00 0.00 0.00 0.00 -1700.10 22.00 0.00 0.00 0.00 0.00 0.00 0.00 -1800.00 22.00 0.00 0.00 0.00 0.00 0.00 0.00 -1800.10 23.00 0.00 0.00 0.00 0.00 0.00 0.00 -1900.00 23.00 0.00 0.00 0.00 0.00 0.00 0.00 -1900.10 24.00 0.00 0.00 0.00 0.00 0.00 0.00 -2000.00 24.00 0.00 0.00 0.00 0.00 0.00 0.00 -2000.10 25.00 0.00 0.00 0.00 0.00 0.00 0.00 -2100.00 25.00 0.00 0.00 0.00 0.00 0.00 0.00 diff --git a/DRC_Fortran/#Archive/Debug/CompileRunAndDebug.cmd b/DRC_Fortran/#Archive/Debug/CompileRunAndDebug.cmd deleted file mode 100644 index be4b20b16..000000000 --- a/DRC_Fortran/#Archive/Debug/CompileRunAndDebug.cmd +++ /dev/null @@ -1,53 +0,0 @@ -:: Compiling and Testing Discon.f90 - -echo off - -:: Set this to the absolute path of FAST. In that -:: case also make sure the correct drive is selected -set "FASTdir=C:\FAST" - -:: Set these to the absolute path of your archive directory. Does not necessarily have -:: to be the current directory -set "ArchiveDir=C:\FASTArchive" - -:: Go to the drive where FAST is located -C: - -Remove old .dll file -DEL %FASTdir%\CertTest\5MW_Baseline\ServoData\DISCON_gwin32.dll - -:: Compile new .dll file -cd %FASTdir%\Compiling -mingw32-make.exe - -:: Run Test18 -echo off -cd ..\CertTest -echo on -FAST_Win32.exe Test18.fst - -echo off -:: Make new directory with correct timestamp - -Get the timestamp -for /f "tokens=2 delims==" %%a in ('wmic OS Get localdatetime /value') do set "dt=%%a" -set "YYYY=%dt:~0,4%" & set "MM=%dt:~4,2%" & set "DD=%dt:~6,2%" -set "HH=%dt:~8,2%" & set "Min=%dt:~10,2%" -set "stamp=%YYYY%_%MM%_%DD%_%HH%%Min%" - -:: Put together the directory name and create it -set "dbFolder=%ArchiveDir%\%stamp%" -mkdir %dbFolder% - -:: Copy debug files to this directory -copy Test18.sum %dbFolder%\Test18.sum -copy Test18.AD.sum %dbFolder%\Test18.AD.sum -copy Test18.ED.sum %dbFolder%\Test18.ED.sum -copy Test18.out %dbFolder%\Test18.out -copy Test18.SrvD.dbg %dbFolder%\Test18.SrvD.dbg -copy Test18.SrvD.dbg2 %dbFolder%\Test18.SrvD.dbg2 - - -:: Echo the debug directory so matlab can potentially pick it up -echo %dbFolder% -pause \ No newline at end of file diff --git a/DRC_Fortran/#Archive/Debug/CompileRunAndPause.cmd b/DRC_Fortran/#Archive/Debug/CompileRunAndPause.cmd deleted file mode 100644 index d1b40fe53..000000000 --- a/DRC_Fortran/#Archive/Debug/CompileRunAndPause.cmd +++ /dev/null @@ -1,22 +0,0 @@ -:: Compiling DISCON dll and run Test 18 -:: Pauses afterwards so command window output can be read - -:: Change these to the absolute path of FAST. In that -:: case also make sure the correct drive is selected -set "FASTdir=C:\FAST" - -:: Go to the correct drive -C: - -:: Remove old .dll file -DEL %FASTdir%\CertTest\5MW_Baseline\ServoData\DISCON_gwin32.dll - -:: Compile new .dll file -cd %FASTdir%\Compiling -mingw32-make.exe - -:: Run Test18 -cd ..\CertTest -FAST_Win32.exe Test18.fst - -pause diff --git a/DRC_Fortran/#Archive/Debug/PlotDebugData.m b/DRC_Fortran/#Archive/Debug/PlotDebugData.m deleted file mode 100644 index 8f53b925b..000000000 --- a/DRC_Fortran/#Archive/Debug/PlotDebugData.m +++ /dev/null @@ -1,170 +0,0 @@ -%% PlotDebugData -% Imports and plots data from dbg and dbg2 files - -%% Cleaning -close all -clearvars -clc - -%% Settings -% set timeStamp (format: YYYY_MM_DD_TTTT or 2017_01_01_1200) to the test -% directory you want to import and plot -timeStamp = '2017_08_17_1448'; -% Run the CompileRunAndDebug.cmd file from this matlab script -runCmdFromHere = false; - -%% Loading -totalTime = tic; -if(runCmdFromHere) % Run CompileRunAndDebug.cmd and get the correct folder - - [~,output] = dos('CompileRunAndDebug.cmd', '-echo'); - i = strfind(output,'C:'); - i = i(end); - debugFolder = [output(i:end-1) '\']; - clearvars output TimeStamp - -else % otherwise get the debugfolder with the manual timestamp - - debugFolder = [timeStamp '\']; - clearvars d order - -end - -% Import data from Test18.out and put in the debug structure -dbRaw = dlmread([debugFolder 'Test18.SrvD.dbg'],'\t',8,0); -[~,vars] = size(dbRaw); - -fid = fopen([debugFolder 'Test18.SrvD.dbg']); -header = textscan(fid,'%s','delimiter','\t'); -fclose(fid); - -header = strtrim(header{1,1}(1:vars)); -for i = 1:vars - db.(header{i}) = dbRaw(:,i); -end - -% Import avrSWAP debug file - avrSWAP = dlmread([debugFolder 'Test18.SrvD.dbg2'],'\t',8,0); - avrTime = avrSWAP(:,1); - avrSWAP = avrSWAP(:,2:end); - - -%% Plotting -figure -title('GenSpeed') -hold on -plot(db.Time,db.GenSpeed) -plot(db.Time,db.GenSpeedF) -legend('GenSpeed','GenSpeedF') -ylabel('Speed [rpm]') - -figure -title('GenTorque') -hold on -plot(avrTime,avrSWAP(:,47)) - -% figure -% title('Pitch') -% hold on -% subplot(2,1,1), plot(Time,PitCom1) -% legend('PitCom1') -% subplot(2,1,2), plot(Time,PitRate1) -% legend('PitRate1') -% -figure -title('Pitch') -hold on -plot(db.Time,db.PitCom1) -% plot(Time,PitRate1) -plot(db.Time,db.BlPitch1) -plot(db.Time,db.PitComT1) -% plot(Time,PitComT) -% plot(Time,GenTrq) -legend('PitCom1','BlPitch1','PitComT') - -figure -title('rootMOOP') -hold on -plot(db.Time,db.rootMOOP1) -% plot(Time,rootMOOPF1) -% plot(Time,rootMOOP2) -% % plot(Time,rootMOOPF2) -% plot(Time,rootMOOP3) -% plot(Time,rootMOOPF3) -legend('rootMOOP1') - -figure -title('PitComIPC') -hold on -plot(db.Time,db.PitComF1) -% plot(Time,PitComIPCF2) -% plot(Time,PitComIPCF3) -legend('PitComIPCF1') -% -figure -title('WindVelocity') -hold on -plot(db.Time,db.HorWindV) -legend('HorWindV') - -% figure -% title('PitComT') -% hold on -% plot(Time,PitComT1) -% plot(Time,PitComT2) -% plot(Time,PitComT3) -% legend('PitComT1','PitComT2','PitComT3') -% -% figure -% title('PitRate') -% hold on -% plot(Time,PitRate1) -% plot(Time,PitRate2) -% plot(Time,PitRate3) -% legend('PitRate1','PiRate2','PitRate3') -% -% figure -% title('PitCom') -% hold on -% plot(Time,PitCom1) -% plot(Time,PitCom2) -% plot(Time,PitCom3) -% legend('PitCom1','PitCom2','PitCom3') -% -% figure -% title('Measured yaw error') -% hold on -% plot(db.Time,db.MErr) -% plot(db.Time,db.ErrLPFFast) -% plot(db.Time,db.ErrLPFSlow) -% plot(db.Time,rad2deg(avrSWAP(:,37))) -% legend('MErr','ErrLPFFast','ErrLPFSlow','Turibine yaw') -% -% figure -% title('Integral of fast yaw error') -% hold on -% grid on -% plot(db.Time,db.ErrLPFFast) -% plot(db.Time,db.Y_AccErr) -% legend('ErrLPFFast','AccErr') - -% figure -% title('Yaw Rate') -% hold on -% grid on -% plot(db.Time,avrSWAP(:,48)) -% legend('Yaw Rate') - -% figure -% title('YawTorque') -% hold on -% grid on -% plot(avrTime,avrSWAP(:,41)) -% legend('YawTorque') -% -% figure -% title('Yaw end time') -% hold on -% plot(db.Time,db.Y_YawEndT) -% plot(db.Time,db.Time) -% legend('YawEndT','Time') diff --git a/DRC_Fortran/#Archive/Debug/saveFigs.m b/DRC_Fortran/#Archive/Debug/saveFigs.m deleted file mode 100644 index a814e9a77..000000000 --- a/DRC_Fortran/#Archive/Debug/saveFigs.m +++ /dev/null @@ -1,10 +0,0 @@ -%% saveFigs -% Saves all current figures. Can only be used after plotData is excecuted. -% Same code as in plotData, used so it can easily be executed from the -% command window. - figArray=findall(0,'type','figure'); - for i = 1:length(figArray) - figure(figArray(i).Number) - saveas(figArray(i),[debugFolder 'fig' get(get(gca,'title'),'string') '.fig']); - end - disp(['Saved all figures to ' debugFolder(1:end-1)]); \ No newline at end of file diff --git a/DRC_Fortran/#Archive/README.docx b/DRC_Fortran/#Archive/README.docx deleted file mode 100644 index 942da60a5..000000000 Binary files a/DRC_Fortran/#Archive/README.docx and /dev/null differ diff --git a/DRC_Fortran/.gitignore b/DRC_Fortran/.gitignore deleted file mode 100644 index 2df7a2737..000000000 --- a/DRC_Fortran/.gitignore +++ /dev/null @@ -1,18 +0,0 @@ -# Gitignore -~$README.docx -ControllerSchematic.pptx - -# Compiled code, unnecessary for git -Source/Obj_win32 -Source/Obj_lin64 -*.mod -Source/x64/ -Source/Release/ - -# Archive -Scripts/CompileDISCONHereCopyRun\.cmd -\.vs/ - -# Temp Files -*~ -.DS_Store diff --git a/DRC_Fortran/DISCON/DISCON_glin64.so b/DRC_Fortran/DISCON/DISCON_glin64.so deleted file mode 100755 index 38f6ca49c..000000000 Binary files a/DRC_Fortran/DISCON/DISCON_glin64.so and /dev/null differ diff --git a/DRC_Fortran/LICENSE b/DRC_Fortran/LICENSE deleted file mode 100644 index e4f0c76b3..000000000 --- a/DRC_Fortran/LICENSE +++ /dev/null @@ -1,21 +0,0 @@ -MIT License - -Copyright (c) 2018 Delft Center for Systems & Control, Data-Driven Control (TU Delft) - -Permission is hereby granted, free of charge, to any person obtaining a copy -of this software and associated documentation files (the "Software"), to deal -in the Software without restriction, including without limitation the rights -to use, copy, modify, merge, publish, distribute, sublicense, and/or sell -copies of the Software, and to permit persons to whom the Software is -furnished to do so, subject to the following conditions: - -The above copyright notice and this permission notice shall be included in all -copies or substantial portions of the Software. - -THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR -IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, -FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE -AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER -LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, -OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE -SOFTWARE. diff --git a/DRC_Fortran/Parameter_files/DTU10MW/DISCON.IN b/DRC_Fortran/Parameter_files/DTU10MW/DISCON.IN deleted file mode 100644 index f0bd25bfc..000000000 --- a/DRC_Fortran/Parameter_files/DTU10MW/DISCON.IN +++ /dev/null @@ -1,91 +0,0 @@ -! !!!!! OUTDATED !!!!! Turbine: DTU fixed bottom wind turbine -! NJA - Might want to make a more formal header for this - -!------- DEBUG ------------------------------------------------------------ -0 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file - -!------- CONTROLLER FLAGS ------------------------------------------------- -2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals) -0 ! F_NotchType - Notch on the measured generator speed {0: disable, 1: enable} -0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} -1 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power} -1 ! PC_ControlMode - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} -0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} -1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} - -!------- FILTERS ---------------------------------------------------------- -2.5132741 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [Hz] -0.7 ! F_LPFDamping - Damping coefficient [used only when F_FilterType = 2] -0 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0 0 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.1 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [Hz]. - -!------- BLADE PITCH CONTROL ---------------------------------------------- -13 ! PC_GS_n - Amount of gain-scheduling table entries -0 0.0349 0.0698 0.1047 0.1396 0.1745 0.2094 0.2443 0.2793 0.3142 0.3491 0.384 0.4189 ! PC_GS_angles - Gain-schedule table: pitch angles --0.0105 -0.0104 -0.0102 -0.0099 -0.0095 -0.0091 -0.0086 -0.0081 -0.0076 -0.0071 -0.0066 -0.0061 -0.0056 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains --0.0028 -0.0028 -0.0027 -0.0027 -0.0026 -0.0024 -0.0023 -0.0022 -0.002 -0.0019 -0.0018 -0.0016 -0.0015 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains -0 0 0 0 0 0 0 0 0 0 0 0 0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0 0 0 0 0 0 0 0 0 0 0 0 0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) -1.5707 ! PC_MaxPit - Maximum physical pitch limit, [rad]. --0.087266 ! PC_MinPit - Minimum physical pitch limit, [rad]. -0.17453 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. --0.17453 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. -50.26548 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s]. -0.0 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] -0.034906 ! PC_Switch - Angle above lowest minimum pitch angle for switch [rad] -0 ! Z_EnableSine - Enable/disable sine pitch excitation, used to validate for dynamic induction control, will be removed later [-] -0.0349066 ! Z_PitchAmplitude - Amplitude of sine pitch excitation [rad] -0 ! Z_PitchFrequency - Frequency of sine pitch excitation [rad/s] - -!------- INDIVIDUAL PITCH CONTROL ----------------------------------------- -0.087266 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -8E-10 0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions [-] -0.436332313 0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. -2.5 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] - -!------- VS TORQUE CONTROL ------------------------------------------------ -0.944 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [-] -212900 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] -150000.0 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. -250000.0 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.0 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -20.94395 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path [rad/s] -104.1 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2 -1.0E+07 ! VS_RtPwr - Wind turbine rated power [W] -211642 ! VS_RtTq - Rated torque, [Nm]. XXX 198943.6 XXX -42.411 ! VS_RefSpd - Rated generator speed [rad/s] -1 ! VS_n - Number of controller gains --27338.24 ! VS_KP - Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm] --6134.68 ! VS_KI - Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm] - -!------- Setpoint Smoother ------------------------------------------------ -30 ! SS_VSGainBias - Variable speed torque controller gain bias, [(rad/s)/rad]. ! These are values from the NREL5MW (though may still be okay) -0.0001 ! SS_PCGainBias - Collective pitch controller gain bias, [(rad/s)/Nm]. - -!------- WIND SPEED ESTIMATOR --------------------------------------------- -89.166 ! WE_BladeRadius - Blade length [m] -4 ! WE_CP_n - Amount of parameters in the Cp array -14.571319658214513 42.809556250371465 2.456512501523107 0.003127994078720 ! WE_CP - Parameters that define the parameterized CP(lambda) function XXX Needs to be updated, these are values of the NREL5MW XXX -20 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] -50 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -2.0E+08 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2] -1.225 ! WE_RhoAir - Air density [kg m^-3] - -!------- YAW CONTROL ------------------------------------------------------ -1.745329252 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] -0.17453 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] -1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) --0.064 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp --0.0008 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.6283185 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -1.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad] -1.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz] -0.016667 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz] -0.0034906 ! Y_Rate - Yaw rate [rad/s] - -!------- TOWER FORE-AFT DAMPING ------------------------------------------- --1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] -0.1 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] -0.087266 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] diff --git a/DRC_Fortran/Parameter_files/NREL5MW/Cp_Ct_Cq.txt b/DRC_Fortran/Parameter_files/NREL5MW/Cp_Ct_Cq.txt deleted file mode 100644 index 250134617..000000000 --- a/DRC_Fortran/Parameter_files/NREL5MW/Cp_Ct_Cq.txt +++ /dev/null @@ -1,137 +0,0 @@ -# Pitch angle vector - x axis (matrix columns) (deg) --2.00 -1.90 -1.80 -1.70 -1.60 -1.50 -1.40 -1.30 -1.20 -1.10 -1.00 -0.90 -0.80 -0.70 -0.60 -0.50 -0.40 -0.30 -0.20 -0.10 0.00 0.10 0.20 0.30 0.40 0.50 0.60 0.70 0.80 0.90 1.00 1.10 1.20 1.30 1.40 1.50 1.60 1.70 1.80 1.90 2.00 2.10 2.20 2.30 2.40 2.50 2.60 2.70 2.80 2.90 3.00 3.10 3.20 3.30 3.40 3.50 3.60 3.70 3.80 3.90 4.00 4.10 4.20 4.30 4.40 4.50 4.60 4.70 4.80 4.90 5.00 5.10 5.20 5.30 5.40 5.50 5.60 5.70 5.80 5.90 6.00 6.10 6.20 6.30 6.40 6.50 6.60 6.70 6.80 6.90 7.00 7.10 7.20 7.30 7.40 7.50 7.60 7.70 7.80 7.90 8.00 8.10 8.20 8.30 8.40 8.50 8.60 8.70 8.80 8.90 9.00 9.10 9.20 9.30 9.40 9.50 9.60 9.70 9.80 9.90 10.00 10.10 10.20 10.30 10.40 10.50 10.60 10.70 10.80 10.90 11.00 11.10 11.20 11.30 11.40 11.50 11.60 11.70 11.80 11.90 12.00 12.10 12.20 12.30 12.40 12.50 12.60 12.70 12.80 12.90 13.00 13.10 13.20 13.30 13.40 13.50 13.60 13.70 13.80 13.90 14.00 14.10 14.20 14.30 14.40 14.50 14.60 14.70 14.80 14.90 15.00 15.10 15.20 15.30 15.40 15.50 15.60 15.70 15.80 15.90 16.00 16.10 16.20 16.30 16.40 16.50 16.60 16.70 16.80 16.90 17.00 17.10 17.20 17.30 17.40 17.50 17.60 17.70 17.80 17.90 18.00 18.10 18.20 18.30 18.40 18.50 18.60 18.70 18.80 18.90 19.00 19.10 19.20 19.30 19.40 19.50 19.60 19.70 19.80 19.90 20.00 20.10 20.20 20.30 20.40 20.50 20.60 20.70 20.80 20.90 21.00 21.10 21.20 21.30 21.40 21.50 21.60 21.70 21.80 21.90 22.00 22.10 22.20 22.30 22.40 22.50 22.60 22.70 22.80 22.90 23.00 23.10 23.20 23.30 23.40 23.50 23.60 23.70 23.80 23.90 24.00 24.10 24.20 24.30 24.40 24.50 24.60 24.70 24.80 24.90 25.00 25.10 25.20 25.30 25.40 25.50 25.60 25.70 25.80 25.90 26.00 26.10 26.20 26.30 26.40 26.50 26.60 26.70 26.80 26.90 27.00 27.10 27.20 27.30 27.40 27.50 27.60 27.70 27.80 27.90 28.00 28.10 28.20 28.30 28.40 28.50 28.60 28.70 28.80 28.90 29.00 29.10 29.20 29.30 29.40 29.50 29.60 29.70 29.80 29.90 -# TSR vector - y axis (matrix rows) (-) -3.00 3.20 3.40 3.60 3.80 4.00 4.20 4.40 4.60 4.80 5.00 5.20 5.40 5.60 5.80 6.00 6.20 6.40 6.60 6.80 7.00 7.20 7.40 7.60 7.80 8.00 8.20 8.40 8.60 8.80 9.00 9.20 9.40 9.60 9.80 10.00 10.20 10.40 10.60 10.80 -# Wind speed vector - z axis (m/s) -3.00 - -# Power coefficient - -0.08085 0.08188 0.08291 0.08393 0.08496 0.08598 0.08699 0.08801 0.08902 0.09003 0.09103 0.09203 0.09303 0.09403 0.09502 0.09601 0.09699 0.09797 0.09895 0.09993 0.10089 0.10186 0.10282 0.10378 0.10473 0.10568 0.10663 0.10757 0.10850 0.10943 0.11036 0.11128 0.11219 0.11310 0.11401 0.11491 0.11580 0.11669 0.11757 0.11845 0.11932 0.12018 0.12104 0.12189 0.12274 0.12357 0.12441 0.12523 0.12605 0.12686 0.12766 0.12845 0.12924 0.13002 0.13079 0.13155 0.13231 0.13305 0.13379 0.13452 0.13524 0.13595 0.13665 0.13734 0.13802 0.13869 0.13935 0.14000 0.14064 0.14127 0.14189 0.14250 0.14309 0.14368 0.14425 0.14482 0.14537 0.14591 0.14644 0.14695 0.14746 0.14795 0.14843 0.14890 0.14935 0.14979 0.15022 0.15064 0.15105 0.15144 0.15182 0.15218 0.15254 0.15288 0.15321 0.15352 0.15382 0.15411 0.15439 0.15465 0.15490 0.15513 0.15536 0.15557 0.15577 0.15595 0.15612 0.15628 0.15643 0.15656 0.15668 0.15679 0.15688 0.15696 0.15703 0.15709 0.15713 0.15717 0.15719 0.15719 0.15719 0.15717 0.15714 0.15710 0.15704 0.15697 0.15690 0.15680 0.15670 0.15659 0.15646 0.15632 0.15617 0.15600 0.15583 0.15564 0.15544 0.15523 0.15501 0.15478 0.15453 0.15428 0.15401 0.15373 0.15343 0.15313 0.15281 0.15249 0.15215 0.15180 0.15144 0.15106 0.15068 0.15028 0.14987 0.14945 0.14902 0.14857 0.14811 0.14765 0.14717 0.14667 0.14617 0.14565 0.14513 0.14459 0.14404 0.14347 0.14290 0.14231 0.14171 0.14110 0.14048 0.13985 0.13920 0.13855 0.13788 0.13720 0.13651 0.13580 0.13509 0.13436 0.13362 0.13288 0.13212 0.13134 0.13056 0.12977 0.12896 0.12815 0.12732 0.12648 0.12563 0.12478 0.12391 0.12303 0.12214 0.12124 0.12032 0.11940 0.11847 0.11753 0.11658 0.11562 0.11465 0.11367 0.11268 0.11168 0.11067 0.10965 0.10862 0.10758 0.10654 0.10548 0.10442 0.10335 0.10226 0.10117 0.10007 0.09897 0.09785 0.09673 0.09559 0.09445 0.09330 0.09215 0.09098 0.08981 0.08863 0.08744 0.08624 0.08504 0.08383 0.08261 0.08138 0.08015 0.07891 0.07766 0.07641 0.07514 0.07388 0.07260 0.07132 0.07003 0.06874 0.06743 0.06613 0.06481 0.06349 0.06217 0.06083 0.05950 0.05815 0.05680 0.05545 0.05409 0.05272 0.05135 0.04998 0.04859 0.04721 0.04582 0.04443 0.04303 0.04162 0.04022 0.03881 0.03739 0.03598 0.03456 0.03313 0.03171 0.03028 0.02885 0.02741 0.02598 0.02454 0.02310 0.02166 0.02021 0.01877 0.01733 0.01588 0.01443 0.01299 0.01154 0.01010 0.00865 0.00720 0.00576 0.00432 0.00287 0.00143 -0.00001 -0.00144 -0.00288 -0.00431 -0.00574 -0.00717 -0.00859 -0.01002 -0.01143 -0.01285 -0.01426 -0.01567 -0.01708 -0.01848 -0.01988 -0.02128 -0.02267 -0.02406 -0.02544 -0.02683 -0.02820 -0.02958 -0.03095 -0.03232 -0.03368 -0.03505 -0.03641 -0.09976 0.10092 0.10207 0.10322 0.10436 0.10550 0.10663 0.10776 0.10889 0.11001 0.11113 0.11224 0.11335 0.11445 0.11554 0.11663 0.11772 0.11880 0.11988 0.12094 0.12201 0.12307 0.12412 0.12516 0.12620 0.12723 0.12826 0.12928 0.13029 0.13130 0.13230 0.13329 0.13427 0.13525 0.13622 0.13718 0.13813 0.13907 0.14001 0.14094 0.14185 0.14276 0.14366 0.14455 0.14544 0.14631 0.14717 0.14802 0.14886 0.14969 0.15051 0.15132 0.15212 0.15290 0.15368 0.15444 0.15519 0.15593 0.15665 0.15736 0.15806 0.15875 0.15942 0.16008 0.16073 0.16136 0.16198 0.16259 0.16318 0.16376 0.16432 0.16487 0.16540 0.16592 0.16642 0.16691 0.16739 0.16785 0.16829 0.16872 0.16913 0.16953 0.16992 0.17028 0.17064 0.17098 0.17130 0.17161 0.17190 0.17217 0.17244 0.17268 0.17291 0.17313 0.17333 0.17352 0.17369 0.17385 0.17399 0.17412 0.17423 0.17433 0.17441 0.17448 0.17453 0.17457 0.17460 0.17461 0.17461 0.17459 0.17456 0.17452 0.17446 0.17438 0.17430 0.17420 0.17408 0.17395 0.17381 0.17365 0.17348 0.17330 0.17310 0.17289 0.17267 0.17243 0.17218 0.17191 0.17163 0.17134 0.17103 0.17071 0.17038 0.17003 0.16967 0.16929 0.16890 0.16850 0.16808 0.16765 0.16721 0.16675 0.16627 0.16579 0.16529 0.16477 0.16424 0.16370 0.16314 0.16257 0.16199 0.16139 0.16078 0.16015 0.15951 0.15885 0.15818 0.15750 0.15680 0.15609 0.15537 0.15463 0.15388 0.15311 0.15233 0.15154 0.15073 0.14991 0.14908 0.14823 0.14737 0.14650 0.14561 0.14471 0.14380 0.14288 0.14194 0.14099 0.14003 0.13905 0.13807 0.13707 0.13606 0.13503 0.13400 0.13295 0.13189 0.13083 0.12974 0.12865 0.12755 0.12644 0.12531 0.12418 0.12303 0.12187 0.12071 0.11953 0.11834 0.11715 0.11594 0.11472 0.11350 0.11226 0.11101 0.10976 0.10850 0.10722 0.10594 0.10465 0.10335 0.10204 0.10072 0.09939 0.09806 0.09672 0.09536 0.09400 0.09264 0.09126 0.08988 0.08848 0.08708 0.08568 0.08426 0.08284 0.08141 0.07997 0.07853 0.07708 0.07562 0.07415 0.07268 0.07120 0.06971 0.06822 0.06672 0.06521 0.06370 0.06218 0.06066 0.05913 0.05759 0.05605 0.05450 0.05294 0.05139 0.04982 0.04825 0.04668 0.04510 0.04352 0.04193 0.04034 0.03874 0.03714 0.03554 0.03393 0.03232 0.03071 0.02910 0.02748 0.02586 0.02424 0.02261 0.02098 0.01936 0.01773 0.01610 0.01447 0.01284 0.01121 0.00957 0.00794 0.00631 0.00468 0.00305 0.00142 -0.00020 -0.00183 -0.00345 -0.00507 -0.00669 -0.00830 -0.00992 -0.01153 -0.01313 -0.01473 -0.01633 -0.01793 -0.01952 -0.02111 -0.02269 -0.02427 -0.02584 -0.02741 -0.02898 -0.03054 -0.03209 -0.03365 -0.03519 -0.03674 -0.03828 -0.03981 -0.04135 -0.04287 -0.04440 -0.04592 -0.04744 -0.04895 -0.05046 -0.05197 -0.05347 -0.05497 -0.05647 -0.05797 -0.05947 -0.06096 -0.06245 -0.06394 -0.12027 0.12155 0.12282 0.12408 0.12534 0.12660 0.12784 0.12908 0.13032 0.13154 0.13277 0.13398 0.13519 0.13639 0.13758 0.13877 0.13995 0.14112 0.14228 0.14344 0.14459 0.14572 0.14686 0.14798 0.14909 0.15020 0.15129 0.15238 0.15346 0.15452 0.15558 0.15663 0.15766 0.15869 0.15970 0.16071 0.16170 0.16268 0.16364 0.16460 0.16554 0.16647 0.16739 0.16829 0.16918 0.17005 0.17092 0.17176 0.17260 0.17341 0.17422 0.17500 0.17577 0.17653 0.17727 0.17799 0.17870 0.17939 0.18007 0.18072 0.18136 0.18199 0.18259 0.18318 0.18375 0.18431 0.18484 0.18536 0.18587 0.18635 0.18681 0.18726 0.18769 0.18811 0.18850 0.18888 0.18924 0.18958 0.18991 0.19022 0.19051 0.19078 0.19103 0.19127 0.19149 0.19170 0.19189 0.19206 0.19221 0.19235 0.19247 0.19257 0.19266 0.19273 0.19278 0.19282 0.19284 0.19285 0.19284 0.19281 0.19277 0.19271 0.19263 0.19254 0.19244 0.19231 0.19217 0.19202 0.19185 0.19166 0.19146 0.19124 0.19101 0.19076 0.19049 0.19021 0.18992 0.18960 0.18927 0.18893 0.18857 0.18819 0.18780 0.18739 0.18696 0.18652 0.18606 0.18558 0.18509 0.18458 0.18406 0.18352 0.18296 0.18238 0.18179 0.18119 0.18056 0.17992 0.17926 0.17859 0.17790 0.17719 0.17647 0.17573 0.17497 0.17420 0.17341 0.17260 0.17178 0.17095 0.17009 0.16922 0.16834 0.16744 0.16652 0.16559 0.16464 0.16368 0.16270 0.16171 0.16070 0.15968 0.15864 0.15759 0.15652 0.15544 0.15435 0.15324 0.15212 0.15098 0.14983 0.14867 0.14749 0.14630 0.14510 0.14389 0.14266 0.14142 0.14017 0.13891 0.13763 0.13635 0.13505 0.13374 0.13241 0.13108 0.12974 0.12838 0.12702 0.12564 0.12425 0.12286 0.12145 0.12003 0.11860 0.11717 0.11572 0.11426 0.11280 0.11132 0.10984 0.10834 0.10684 0.10533 0.10381 0.10228 0.10074 0.09919 0.09764 0.09607 0.09450 0.09292 0.09133 0.08973 0.08813 0.08651 0.08489 0.08327 0.08163 0.07999 0.07834 0.07668 0.07501 0.07334 0.07166 0.06997 0.06828 0.06658 0.06487 0.06316 0.06144 0.05971 0.05798 0.05624 0.05450 0.05274 0.05099 0.04923 0.04746 0.04569 0.04391 0.04213 0.04035 0.03856 0.03676 0.03496 0.03316 0.03136 0.02955 0.02774 0.02592 0.02410 0.02229 0.02046 0.01864 0.01682 0.01499 0.01317 0.01134 0.00951 0.00768 0.00586 0.00403 0.00220 0.00038 -0.00145 -0.00327 -0.00509 -0.00691 -0.00873 -0.01054 -0.01235 -0.01416 -0.01596 -0.01776 -0.01956 -0.02135 -0.02314 -0.02492 -0.02670 -0.02847 -0.03024 -0.03200 -0.03376 -0.03551 -0.03726 -0.03900 -0.04073 -0.04247 -0.04419 -0.04591 -0.04763 -0.04934 -0.05104 -0.05274 -0.05444 -0.05613 -0.05782 -0.05950 -0.06118 -0.06286 -0.06454 -0.06621 -0.06787 -0.06954 -0.07120 -0.07286 -0.07452 -0.07618 -0.07784 -0.07949 -0.08115 -0.08280 -0.08446 -0.08611 -0.08777 -0.08943 -0.09109 -0.09275 -0.09441 -0.14224 0.14363 0.14502 0.14640 0.14777 0.14913 0.15049 0.15183 0.15317 0.15450 0.15582 0.15714 0.15844 0.15973 0.16102 0.16229 0.16356 0.16481 0.16605 0.16728 0.16851 0.16972 0.17091 0.17210 0.17327 0.17443 0.17558 0.17671 0.17783 0.17894 0.18003 0.18111 0.18217 0.18322 0.18425 0.18526 0.18626 0.18725 0.18821 0.18916 0.19009 0.19100 0.19190 0.19278 0.19363 0.19447 0.19529 0.19610 0.19688 0.19764 0.19838 0.19911 0.19981 0.20049 0.20116 0.20180 0.20242 0.20302 0.20360 0.20417 0.20471 0.20523 0.20573 0.20621 0.20667 0.20711 0.20753 0.20793 0.20831 0.20867 0.20901 0.20933 0.20963 0.20991 0.21017 0.21041 0.21064 0.21084 0.21103 0.21119 0.21134 0.21147 0.21158 0.21167 0.21174 0.21180 0.21183 0.21185 0.21185 0.21183 0.21179 0.21174 0.21166 0.21157 0.21146 0.21133 0.21118 0.21102 0.21084 0.21063 0.21041 0.21017 0.20992 0.20964 0.20935 0.20903 0.20870 0.20835 0.20798 0.20760 0.20719 0.20676 0.20632 0.20585 0.20537 0.20487 0.20435 0.20381 0.20325 0.20267 0.20207 0.20145 0.20081 0.20015 0.19948 0.19878 0.19806 0.19733 0.19657 0.19580 0.19501 0.19419 0.19336 0.19251 0.19164 0.19075 0.18985 0.18892 0.18798 0.18702 0.18603 0.18504 0.18402 0.18299 0.18193 0.18087 0.17978 0.17868 0.17755 0.17642 0.17526 0.17409 0.17291 0.17170 0.17049 0.16925 0.16800 0.16674 0.16546 0.16416 0.16285 0.16153 0.16019 0.15884 0.15747 0.15609 0.15470 0.15329 0.15187 0.15044 0.14899 0.14753 0.14606 0.14458 0.14308 0.14158 0.14006 0.13853 0.13698 0.13543 0.13387 0.13229 0.13070 0.12911 0.12750 0.12588 0.12425 0.12262 0.12097 0.11931 0.11764 0.11597 0.11428 0.11258 0.11088 0.10916 0.10744 0.10570 0.10396 0.10221 0.10045 0.09868 0.09690 0.09512 0.09332 0.09152 0.08971 0.08789 0.08606 0.08423 0.08238 0.08053 0.07867 0.07681 0.07493 0.07305 0.07116 0.06927 0.06736 0.06545 0.06354 0.06161 0.05968 0.05774 0.05580 0.05385 0.05189 0.04993 0.04796 0.04599 0.04401 0.04202 0.04004 0.03804 0.03604 0.03404 0.03203 0.03002 0.02801 0.02599 0.02397 0.02195 0.01992 0.01789 0.01586 0.01383 0.01180 0.00976 0.00773 0.00570 0.00366 0.00163 -0.00041 -0.00244 -0.00447 -0.00650 -0.00853 -0.01056 -0.01258 -0.01461 -0.01662 -0.01864 -0.02065 -0.02266 -0.02466 -0.02666 -0.02865 -0.03064 -0.03262 -0.03459 -0.03656 -0.03853 -0.04049 -0.04244 -0.04438 -0.04632 -0.04825 -0.05018 -0.05210 -0.05401 -0.05592 -0.05782 -0.05972 -0.06161 -0.06349 -0.06537 -0.06725 -0.06912 -0.07098 -0.07284 -0.07470 -0.07655 -0.07840 -0.08024 -0.08209 -0.08393 -0.08577 -0.08760 -0.08944 -0.09127 -0.09310 -0.09494 -0.09677 -0.09860 -0.10044 -0.10227 -0.10411 -0.10595 -0.10779 -0.10963 -0.11147 -0.11332 -0.11518 -0.11703 -0.11889 -0.12076 -0.12262 -0.12450 -0.12637 -0.12825 -0.16559 0.16710 0.16860 0.17009 0.17157 0.17304 0.17450 0.17595 0.17739 0.17882 0.18023 0.18163 0.18302 0.18440 0.18576 0.18710 0.18844 0.18976 0.19106 0.19235 0.19362 0.19487 0.19611 0.19733 0.19853 0.19972 0.20089 0.20203 0.20316 0.20427 0.20536 0.20643 0.20748 0.20851 0.20952 0.21051 0.21147 0.21241 0.21333 0.21423 0.21511 0.21596 0.21679 0.21759 0.21838 0.21914 0.21987 0.22059 0.22128 0.22195 0.22259 0.22321 0.22381 0.22438 0.22494 0.22547 0.22597 0.22646 0.22692 0.22736 0.22777 0.22817 0.22854 0.22889 0.22922 0.22952 0.22981 0.23007 0.23031 0.23053 0.23073 0.23091 0.23106 0.23120 0.23131 0.23141 0.23148 0.23153 0.23156 0.23157 0.23156 0.23153 0.23147 0.23140 0.23131 0.23119 0.23105 0.23089 0.23071 0.23051 0.23029 0.23005 0.22978 0.22950 0.22919 0.22886 0.22851 0.22814 0.22774 0.22733 0.22689 0.22643 0.22594 0.22544 0.22491 0.22436 0.22378 0.22319 0.22257 0.22193 0.22126 0.22058 0.21987 0.21913 0.21838 0.21760 0.21680 0.21598 0.21514 0.21427 0.21338 0.21247 0.21154 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-0.17092 -0.18577 -0.20078 -0.21595 -0.23127 -0.24674 -0.26236 -0.27813 -0.29404 -0.31009 -0.32627 -0.34259 -0.35903 -0.37559 -0.39227 -0.40907 -0.42598 -0.44299 -0.46011 -0.47732 -0.49463 -0.51203 -0.52951 -0.54707 -0.56471 -0.58241 -0.60019 -0.61803 -0.63592 -0.65387 -0.67187 -0.68990 -0.70798 -0.72609 -0.74423 -0.76239 -0.78057 -0.79877 -0.81697 -0.83518 -0.85338 -0.87158 -0.88976 -0.90793 -0.92607 -0.94419 -0.96227 -0.98030 -0.99830 -1.01624 -1.03412 -1.05194 -1.06970 -1.08737 -1.10497 -1.12249 -1.13992 -1.15728 -1.17455 -1.19175 -1.20889 -1.22596 -1.24298 -1.25994 -1.27687 -1.29376 -1.31063 -1.32747 -1.34431 -1.36113 -1.37796 -1.39480 -1.41165 -1.42853 -1.44545 -1.46240 -1.47940 -1.49646 -1.51358 -1.53077 -1.54805 -1.56541 -1.58287 -1.60043 -1.61811 -1.63592 -1.65385 -1.67193 -1.69015 -1.70853 -1.72708 -1.74581 -1.76472 -1.78383 -1.80314 -1.82267 -1.84242 -1.86240 -1.88263 -1.90311 -1.92386 -1.94488 -1.96618 -1.98776 -2.00963 -2.03178 -2.05419 -2.07687 -2.09981 -2.12299 -2.14640 -2.17004 -2.19390 -2.21795 -2.24220 -2.26663 -2.29123 -2.31598 -2.34088 -2.36592 -2.39107 -2.41633 -2.44169 -2.46714 -2.49266 -2.51824 -2.54387 -2.56953 -2.59521 -2.62091 -2.64660 -2.67227 -2.69792 -2.72352 -2.74906 -2.77455 -2.79995 -2.82528 -2.85054 -2.87571 -2.90081 -2.92583 -2.95077 -2.97564 -3.00044 -3.02516 -3.04982 -3.07440 -3.09893 -3.12339 -3.14779 -3.17214 -3.19644 -3.22068 -3.24488 -3.26903 -3.29314 -3.31721 -3.34125 -3.36525 -3.38923 -3.41318 -3.43710 -3.46101 -3.48490 -3.50878 -3.53264 -3.55650 -3.58036 -3.60421 -3.62806 -3.65191 -3.67576 -3.69961 -3.72346 -3.74730 -3.77114 -3.79498 -3.81881 -3.84264 -3.86646 -3.89028 -3.91409 -3.93789 -3.96169 -3.98547 -4.00926 -4.03303 -4.05680 -4.08057 -4.10433 -4.12808 -4.15183 -4.17557 -4.19930 -4.22304 -4.24676 -4.27049 -4.29420 -4.31792 -4.34163 -4.36534 -4.38905 -4.41275 -4.43645 -4.46016 -4.48386 -4.50756 -4.53126 -4.55496 -4.57866 -4.60237 -0.36869 0.37166 0.37455 0.37737 0.38011 0.38277 0.38535 0.38786 0.39030 0.39265 0.39494 0.39714 0.39927 0.40132 0.40330 0.40520 0.40703 0.40878 0.41045 0.41206 0.41359 0.41505 0.41644 0.41776 0.41900 0.42017 0.42127 0.42230 0.42325 0.42411 0.42486 0.42545 0.42588 0.42615 0.42625 0.42617 0.42591 0.42545 0.42479 0.42389 0.42274 0.42129 0.41952 0.41743 0.41504 0.41234 0.40935 0.40606 0.40249 0.39865 0.39455 0.39020 0.38559 0.38072 0.37559 0.37022 0.36460 0.35874 0.35264 0.34632 0.33977 0.33299 0.32600 0.31878 0.31136 0.30372 0.29588 0.28783 0.27957 0.27111 0.26246 0.25360 0.24455 0.23531 0.22587 0.21625 0.20643 0.19643 0.18623 0.17585 0.16529 0.15455 0.14362 0.13251 0.12122 0.10974 0.09809 0.08627 0.07426 0.06208 0.04972 0.03719 0.02448 0.01160 -0.00146 -0.01469 -0.02809 -0.04166 -0.05541 -0.06933 -0.08341 -0.09767 -0.11210 -0.12669 -0.14146 -0.15639 -0.17150 -0.18677 -0.20221 -0.21781 -0.23358 -0.24951 -0.26561 -0.28186 -0.29826 -0.31482 -0.33153 -0.34838 -0.36536 -0.38248 -0.39974 -0.41711 -0.43461 -0.45223 -0.46996 -0.48780 -0.50574 -0.52379 -0.54192 -0.56015 -0.57846 -0.59686 -0.61533 -0.63387 -0.65248 -0.67115 -0.68988 -0.70865 -0.72748 -0.74635 -0.76525 -0.78418 -0.80314 -0.82212 -0.84112 -0.86012 -0.87913 -0.89814 -0.91714 -0.93613 -0.95510 -0.97405 -0.99297 -1.01185 -1.03069 -1.04948 -1.06822 -1.08690 -1.10552 -1.12406 -1.14253 -1.16091 -1.17921 -1.19743 -1.21556 -1.23360 -1.25158 -1.26948 -1.28732 -1.30510 -1.32284 -1.34053 -1.35818 -1.37581 -1.39342 -1.41101 -1.42860 -1.44620 -1.46380 -1.48142 -1.49908 -1.51676 -1.53449 -1.55228 -1.57012 -1.58803 -1.60602 -1.62410 -1.64227 -1.66054 -1.67893 -1.69744 -1.71608 -1.73486 -1.75379 -1.77288 -1.79213 -1.81157 -1.83119 -1.85101 -1.87104 -1.89128 -1.91176 -1.93247 -1.95343 -1.97465 -1.99613 -2.01790 -2.03996 -2.06231 -2.08497 -2.10793 -2.13118 -2.15472 -2.17854 -2.20264 -2.22699 -2.25159 -2.27644 -2.30151 -2.32680 -2.35229 -2.37798 -2.40385 -2.42989 -2.45609 -2.48242 -2.50889 -2.53548 -2.56217 -2.58896 -2.61583 -2.64276 -2.66975 -2.69677 -2.72383 -2.75090 -2.77796 -2.80502 -2.83204 -2.85902 -2.88595 -2.91281 -2.93960 -2.96632 -2.99295 -3.01950 -3.04598 -3.07238 -3.09870 -3.12494 -3.15111 -3.17721 -3.20324 -3.22920 -3.25509 -3.28093 -3.30670 -3.33242 -3.35808 -3.38370 -3.40926 -3.43478 -3.46026 -3.48570 -3.51111 -3.53649 -3.56183 -3.58716 -3.61246 -3.63774 -3.66301 -3.68826 -3.71351 -3.73875 -3.76398 -3.78922 -3.81446 -3.83969 -3.86493 -3.89016 -3.91539 -3.94062 -3.96585 -3.99107 -4.01629 -4.04150 -4.06671 -4.09191 -4.11710 -4.14229 -4.16747 -4.19264 -4.21781 -4.24297 -4.26813 -4.29328 -4.31842 -4.34356 -4.36869 -4.39382 -4.41894 -4.44406 -4.46917 -4.49428 -4.51938 -4.54448 -4.56958 -4.59468 -4.61977 -4.64486 -4.66995 -4.69504 -4.72013 -4.74522 -4.77031 -4.79540 -4.82049 -4.84559 -4.87069 - - -# Thrust coefficient - -0.23094 0.23117 0.23140 0.23162 0.23184 0.23205 0.23225 0.23246 0.23265 0.23284 0.23303 0.23321 0.23339 0.23356 0.23373 0.23389 0.23404 0.23419 0.23433 0.23447 0.23460 0.23472 0.23484 0.23495 0.23505 0.23515 0.23524 0.23533 0.23540 0.23547 0.23554 0.23559 0.23564 0.23568 0.23572 0.23574 0.23576 0.23577 0.23578 0.23578 0.23576 0.23574 0.23572 0.23568 0.23564 0.23559 0.23553 0.23547 0.23539 0.23531 0.23522 0.23513 0.23502 0.23491 0.23479 0.23466 0.23453 0.23439 0.23424 0.23408 0.23392 0.23375 0.23357 0.23338 0.23319 0.23299 0.23278 0.23257 0.23235 0.23212 0.23189 0.23165 0.23140 0.23115 0.23089 0.23062 0.23035 0.23008 0.22979 0.22950 0.22921 0.22890 0.22860 0.22828 0.22796 0.22764 0.22731 0.22697 0.22663 0.22628 0.22593 0.22557 0.22520 0.22483 0.22445 0.22407 0.22368 0.22329 0.22289 0.22248 0.22207 0.22165 0.22123 0.22080 0.22036 0.21992 0.21947 0.21901 0.21855 0.21808 0.21761 0.21713 0.21664 0.21615 0.21565 0.21514 0.21463 0.21411 0.21358 0.21305 0.21250 0.21196 0.21140 0.21084 0.21027 0.20970 0.20911 0.20853 0.20793 0.20733 0.20671 0.20610 0.20547 0.20484 0.20420 0.20355 0.20290 0.20224 0.20157 0.20089 0.20021 0.19952 0.19882 0.19811 0.19740 0.19668 0.19595 0.19521 0.19447 0.19372 0.19296 0.19219 0.19142 0.19064 0.18985 0.18905 0.18824 0.18743 0.18661 0.18578 0.18494 0.18409 0.18324 0.18238 0.18151 0.18063 0.17974 0.17884 0.17794 0.17703 0.17611 0.17518 0.17424 0.17329 0.17233 0.17137 0.17040 0.16941 0.16842 0.16742 0.16642 0.16540 0.16437 0.16334 0.16230 0.16124 0.16018 0.15911 0.15804 0.15695 0.15585 0.15475 0.15364 0.15251 0.15138 0.15025 0.14910 0.14794 0.14678 0.14561 0.14443 0.14324 0.14204 0.14083 0.13962 0.13840 0.13717 0.13593 0.13469 0.13343 0.13217 0.13091 0.12963 0.12835 0.12706 0.12576 0.12446 0.12315 0.12183 0.12051 0.11918 0.11784 0.11650 0.11515 0.11379 0.11243 0.11106 0.10969 0.10831 0.10692 0.10553 0.10414 0.10274 0.10133 0.09992 0.09850 0.09708 0.09566 0.09423 0.09280 0.09136 0.08992 0.08847 0.08702 0.08557 0.08411 0.08265 0.08119 0.07972 0.07825 0.07678 0.07531 0.07383 0.07235 0.07087 0.06938 0.06789 0.06641 0.06491 0.06342 0.06193 0.06043 0.05893 0.05744 0.05594 0.05443 0.05293 0.05143 0.04993 0.04842 0.04692 0.04541 0.04391 0.04240 0.04090 0.03939 0.03788 0.03638 0.03487 0.03337 0.03187 0.03036 0.02886 0.02736 0.02586 0.02436 0.02286 0.02136 0.01987 0.01837 0.01688 0.01539 0.01390 0.01242 0.01093 0.00945 0.00797 0.00649 0.00502 0.00354 0.00207 0.00061 -0.00086 -0.00232 -0.00378 -0.00523 -0.00668 -0.00813 -0.00958 -0.01102 -0.01245 -0.01389 -0.01531 -0.01674 -0.01816 -0.01957 -0.02098 -0.02239 -0.02379 -0.02519 -0.25754 0.25774 0.25794 0.25812 0.25831 0.25848 0.25865 0.25880 0.25896 0.25910 0.25924 0.25937 0.25949 0.25961 0.25971 0.25981 0.25990 0.25998 0.26006 0.26013 0.26018 0.26023 0.26027 0.26031 0.26033 0.26035 0.26035 0.26035 0.26034 0.26032 0.26029 0.26025 0.26021 0.26015 0.26009 0.26002 0.25994 0.25985 0.25975 0.25965 0.25953 0.25941 0.25928 0.25914 0.25899 0.25883 0.25867 0.25849 0.25831 0.25812 0.25793 0.25772 0.25751 0.25729 0.25707 0.25683 0.25659 0.25634 0.25609 0.25582 0.25555 0.25528 0.25499 0.25470 0.25441 0.25410 0.25379 0.25347 0.25315 0.25282 0.25248 0.25214 0.25179 0.25143 0.25107 0.25070 0.25032 0.24994 0.24955 0.24916 0.24876 0.24835 0.24793 0.24751 0.24708 0.24665 0.24620 0.24575 0.24530 0.24483 0.24436 0.24389 0.24340 0.24291 0.24241 0.24191 0.24139 0.24087 0.24035 0.23981 0.23927 0.23872 0.23816 0.23759 0.23702 0.23644 0.23585 0.23525 0.23465 0.23404 0.23342 0.23279 0.23215 0.23151 0.23085 0.23019 0.22952 0.22885 0.22816 0.22747 0.22677 0.22606 0.22534 0.22461 0.22388 0.22313 0.22238 0.22162 0.22085 0.22007 0.21928 0.21849 0.21768 0.21687 0.21605 0.21521 0.21437 0.21352 0.21267 0.21180 0.21092 0.21003 0.20914 0.20823 0.20732 0.20639 0.20546 0.20452 0.20356 0.20260 0.20163 0.20064 0.19965 0.19865 0.19764 0.19661 0.19558 0.19454 0.19348 0.19242 0.19135 0.19026 0.18917 0.18807 0.18695 0.18583 0.18469 0.18355 0.18239 0.18122 0.18005 0.17886 0.17766 0.17646 0.17524 0.17401 0.17278 0.17153 0.17027 0.16900 0.16773 0.16644 0.16514 0.16384 0.16252 0.16120 0.15986 0.15852 0.15717 0.15580 0.15443 0.15305 0.15166 0.15026 0.14886 0.14744 0.14602 0.14459 0.14315 0.14170 0.14024 0.13878 0.13731 0.13583 0.13434 0.13284 0.13134 0.12983 0.12832 0.12680 0.12527 0.12373 0.12219 0.12064 0.11908 0.11752 0.11596 0.11438 0.11281 0.11122 0.10963 0.10804 0.10644 0.10484 0.10323 0.10162 0.10000 0.09838 0.09675 0.09512 0.09349 0.09185 0.09021 0.08856 0.08691 0.08526 0.08361 0.08195 0.08029 0.07863 0.07696 0.07530 0.07363 0.07196 0.07028 0.06861 0.06693 0.06525 0.06357 0.06189 0.06021 0.05852 0.05684 0.05515 0.05346 0.05178 0.05009 0.04840 0.04671 0.04503 0.04334 0.04165 0.03996 0.03827 0.03659 0.03490 0.03322 0.03153 0.02985 0.02817 0.02649 0.02481 0.02313 0.02145 0.01978 0.01810 0.01643 0.01476 0.01310 0.01143 0.00977 0.00811 0.00645 0.00480 0.00314 0.00150 -0.00015 -0.00179 -0.00343 -0.00507 -0.00670 -0.00833 -0.00995 -0.01158 -0.01319 -0.01481 -0.01641 -0.01802 -0.01962 -0.02121 -0.02280 -0.02439 -0.02597 -0.02754 -0.02911 -0.03067 -0.03223 -0.03378 -0.03532 -0.03686 -0.03839 -0.03992 -0.04144 -0.04295 -0.04445 -0.04595 -0.04743 -0.04892 -0.05039 -0.05185 -0.28525 0.28539 0.28552 0.28565 0.28576 0.28587 0.28596 0.28605 0.28612 0.28619 0.28625 0.28630 0.28634 0.28637 0.28639 0.28640 0.28640 0.28639 0.28637 0.28634 0.28630 0.28625 0.28619 0.28612 0.28605 0.28596 0.28586 0.28576 0.28564 0.28552 0.28538 0.28524 0.28509 0.28493 0.28476 0.28458 0.28439 0.28419 0.28399 0.28378 0.28355 0.28332 0.28309 0.28284 0.28259 0.28232 0.28205 0.28178 0.28149 0.28120 0.28090 0.28059 0.28028 0.27995 0.27962 0.27928 0.27894 0.27859 0.27823 0.27786 0.27749 0.27711 0.27672 0.27632 0.27592 0.27551 0.27509 0.27467 0.27423 0.27379 0.27334 0.27289 0.27243 0.27195 0.27148 0.27099 0.27050 0.26999 0.26948 0.26896 0.26844 0.26790 0.26736 0.26681 0.26625 0.26568 0.26511 0.26452 0.26393 0.26333 0.26272 0.26210 0.26147 0.26084 0.26019 0.25954 0.25888 0.25820 0.25752 0.25683 0.25614 0.25543 0.25471 0.25398 0.25325 0.25250 0.25175 0.25098 0.25021 0.24943 0.24863 0.24783 0.24702 0.24620 0.24537 0.24452 0.24367 0.24281 0.24194 0.24105 0.24016 0.23926 0.23834 0.23742 0.23648 0.23554 0.23458 0.23361 0.23264 0.23165 0.23065 0.22963 0.22861 0.22758 0.22653 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0.55416 0.54305 0.53186 0.52061 0.50928 0.49789 0.48643 0.47491 0.46334 0.45170 0.44000 0.42825 0.41644 0.40459 0.39268 0.38072 0.36871 0.35666 0.34456 0.33242 0.32024 0.30802 0.29575 0.28345 0.27111 0.25873 0.24633 0.23388 0.22141 0.20890 0.19637 0.18380 0.17121 0.15859 0.14595 0.13329 0.12060 0.10789 0.09516 0.08241 0.06964 0.05685 0.04405 0.03124 0.01841 0.00557 -0.00729 -0.02015 -0.03302 -0.04590 -0.05879 -0.07168 -0.08458 -0.09749 -0.11039 -0.12330 -0.13621 -0.14912 -0.16202 -0.17493 -0.18783 -0.20072 -0.21361 -0.22650 -0.23937 -0.25224 -0.26510 -0.27794 -0.29078 -0.30360 -0.31641 -0.32920 -0.34198 -0.35474 -0.36749 -0.38021 -0.39291 -0.40560 -0.41826 -0.43089 -0.44351 -0.45610 -0.46866 -0.48119 -0.49370 -0.50618 -0.51862 -0.53104 -0.54342 -0.55577 -0.56808 -0.58036 -0.59260 -0.60480 -0.61697 -0.62909 -0.64117 -0.65321 -0.66521 -0.67716 -0.68906 -0.70092 -0.71273 -0.72449 -0.73620 -0.74786 -0.75947 -0.77102 -0.78251 -0.79395 -0.80532 -0.81664 -0.82789 -0.83908 -0.85020 -0.86126 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-1.30257 -1.29980 -1.29700 -1.29416 -1.29129 -1.28839 -1.28546 -1.28251 -1.27952 -1.27651 -1.27347 -1.27041 -1.26732 -1.26422 -1.26110 -1.25795 -1.25480 -1.25162 -1.24844 -1.24524 -1.24203 -1.23882 -1.23560 -1.23237 -1.22914 -1.22591 -1.22267 -1.21944 -1.21622 -1.21300 -1.20978 -1.20658 -1.20339 -1.09951 1.09082 1.08215 1.07350 1.06486 1.05624 1.04764 1.03906 1.03050 1.02195 1.01342 1.00491 0.99642 0.98795 0.97950 0.97107 0.96265 0.95426 0.94589 0.93754 0.92921 0.92090 0.91261 0.90434 0.89610 0.88787 0.87966 0.87146 0.86326 0.85503 0.84675 0.83842 0.83003 0.82157 0.81305 0.80446 0.79578 0.78702 0.77814 0.76913 0.75996 0.75065 0.74119 0.73160 0.72186 0.71199 0.70199 0.69188 0.68165 0.67131 0.66087 0.65033 0.63967 0.62891 0.61805 0.60709 0.59604 0.58490 0.57366 0.56234 0.55094 0.53946 0.52790 0.51627 0.50456 0.49279 0.48094 0.46903 0.45706 0.44502 0.43292 0.42077 0.40855 0.39629 0.38396 0.37159 0.35917 0.34669 0.33417 0.32161 0.30900 0.29635 0.28366 0.27092 0.25815 0.24534 0.23250 0.21962 0.20671 0.19376 0.18079 0.16778 0.15475 0.14169 0.12861 0.11550 0.10237 0.08921 0.07604 0.06284 0.04963 0.03640 0.02316 0.00990 -0.00338 -0.01667 -0.02996 -0.04327 -0.05659 -0.06992 -0.08325 -0.09659 -0.10993 -0.12327 -0.13662 -0.14997 -0.16332 -0.17667 -0.19001 -0.20336 -0.21669 -0.23003 -0.24335 -0.25667 -0.26998 -0.28328 -0.29657 -0.30985 -0.32311 -0.33636 -0.34960 -0.36282 -0.37602 -0.38920 -0.40237 -0.41551 -0.42863 -0.44173 -0.45480 -0.46785 -0.48088 -0.49388 -0.50684 -0.51978 -0.53269 -0.54557 -0.55842 -0.57123 -0.58401 -0.59675 -0.60945 -0.62212 -0.63474 -0.64733 -0.65987 -0.67237 -0.68483 -0.69724 -0.70961 -0.72193 -0.73420 -0.74642 -0.75859 -0.77071 -0.78277 -0.79478 -0.80673 -0.81862 -0.83045 -0.84222 -0.85392 -0.86556 -0.87714 -0.88864 -0.90008 -0.91144 -0.92273 -0.93395 -0.94509 -0.95615 -0.96713 -0.97803 -0.98884 -0.99957 -1.01021 -1.02076 -1.03121 -1.04158 -1.05184 -1.06201 -1.07208 -1.08204 -1.09190 -1.10165 -1.11129 -1.12083 -1.13024 -1.13954 -1.14872 -1.15778 -1.16672 -1.17553 -1.18421 -1.19275 -1.20117 -1.20944 -1.21758 -1.22557 -1.23341 -1.24111 -1.24865 -1.25604 -1.26327 -1.27035 -1.27726 -1.28401 -1.29060 -1.29702 -1.30328 -1.30938 -1.31531 -1.32107 -1.32666 -1.33208 -1.33732 -1.34240 -1.34731 -1.35204 -1.35659 -1.36098 -1.36518 -1.36921 -1.37306 -1.37673 -1.38022 -1.38353 -1.38666 -1.38961 -1.39237 -1.39496 -1.39735 -1.39957 -1.40160 -1.40344 -1.40510 -1.40657 -1.40787 -1.40898 -1.40992 -1.41069 -1.41129 -1.41172 -1.41199 -1.41210 -1.41206 -1.41186 -1.41151 -1.41102 -1.41038 -1.40961 -1.40871 -1.40768 -1.40653 -1.40525 -1.40386 -1.40236 -1.40076 -1.39905 -1.39725 -1.39535 -1.39337 -1.39130 -1.38916 -1.38694 -1.38465 -1.38230 -1.37990 -1.37743 -1.37492 -1.37236 -1.36975 -1.36711 -1.36442 -1.36169 -1.35892 -1.35612 -1.35328 -1.35040 -1.34748 -1.34453 -1.34155 -1.33854 -1.33549 -1.33241 -1.32931 -1.32617 -1.32302 -1.31983 -1.31663 -1.31340 -1.31015 -1.30689 -1.30361 -1.30031 -1.29700 -1.29368 -1.29034 -1.28700 -1.28366 -1.28030 -1.27695 -1.27359 -1.27024 -1.26688 -1.26354 -1.26019 -1.25686 -1.25353 -1.25022 -1.24692 -1.11387 1.10484 1.09582 1.08682 1.07785 1.06888 1.05994 1.05102 1.04212 1.03324 1.02438 1.01554 1.00672 0.99792 0.98915 0.98039 0.97165 0.96293 0.95424 0.94557 0.93693 0.92830 0.91970 0.91112 0.90256 0.89403 0.88552 0.87702 0.86854 0.86004 0.85151 0.84292 0.83428 0.82557 0.81680 0.80796 0.79904 0.79004 0.78094 0.77173 0.76237 0.75285 0.74317 0.73334 0.72337 0.71324 0.70298 0.69259 0.68207 0.67144 0.66070 0.64985 0.63888 0.62780 0.61661 0.60531 0.59392 0.58242 0.57083 0.55915 0.54739 0.53553 0.52360 0.51158 0.49949 0.48733 0.47509 0.46278 0.45040 0.43796 0.42546 0.41289 0.40026 0.38758 0.37484 0.36204 0.34920 0.33630 0.32335 0.31036 0.29731 0.28423 0.27110 0.25793 0.24472 0.23147 0.21819 0.20486 0.19151 0.17812 0.16470 0.15125 0.13777 0.12426 0.11073 0.09717 0.08359 0.06998 0.05636 0.04271 0.02905 0.01537 0.00167 -0.01204 -0.02577 -0.03951 -0.05326 -0.06702 -0.08079 -0.09456 -0.10835 -0.12213 -0.13593 -0.14972 -0.16352 -0.17732 -0.19111 -0.20491 -0.21870 -0.23249 -0.24627 -0.26004 -0.27381 -0.28757 -0.30132 -0.31506 -0.32879 -0.34250 -0.35620 -0.36989 -0.38356 -0.39721 -0.41084 -0.42445 -0.43804 -0.45161 -0.46515 -0.47868 -0.49217 -0.50564 -0.51908 -0.53249 -0.54588 -0.55923 -0.57255 -0.58583 -0.59908 -0.61230 -0.62547 -0.63861 -0.65171 -0.66477 -0.67779 -0.69076 -0.70369 -0.71658 -0.72942 -0.74221 -0.75495 -0.76764 -0.78028 -0.79287 -0.80540 -0.81788 -0.83030 -0.84265 -0.85495 -0.86719 -0.87936 -0.89147 -0.90350 -0.91547 -0.92737 -0.93920 -0.95095 -0.96262 -0.97422 -0.98574 -0.99717 -1.00852 -1.01979 -1.03097 -1.04206 -1.05306 -1.06396 -1.07477 -1.08547 -1.09608 -1.10659 -1.11699 -1.12729 -1.13747 -1.14755 -1.15751 -1.16735 -1.17708 -1.18668 -1.19616 -1.20552 -1.21474 -1.22383 -1.23279 -1.24161 -1.25029 -1.25883 -1.26722 -1.27546 -1.28355 -1.29149 -1.29926 -1.30688 -1.31433 -1.32161 -1.32873 -1.33569 -1.34247 -1.34909 -1.35553 -1.36180 -1.36790 -1.37382 -1.37957 -1.38514 -1.39054 -1.39575 -1.40079 -1.40565 -1.41032 -1.41482 -1.41913 -1.42326 -1.42720 -1.43096 -1.43453 -1.43791 -1.44111 -1.44411 -1.44693 -1.44956 -1.45200 -1.45424 -1.45629 -1.45815 -1.45982 -1.46130 -1.46260 -1.46371 -1.46464 -1.46539 -1.46597 -1.46637 -1.46661 -1.46668 -1.46659 -1.46635 -1.46595 -1.46540 -1.46471 -1.46388 -1.46291 -1.46181 -1.46058 -1.45923 -1.45776 -1.45618 -1.45449 -1.45270 -1.45081 -1.44882 -1.44675 -1.44459 -1.44235 -1.44004 -1.43766 -1.43521 -1.43271 -1.43015 -1.42753 -1.42488 -1.42217 -1.41942 -1.41663 -1.41380 -1.41093 -1.40801 -1.40506 -1.40207 -1.39904 -1.39598 -1.39288 -1.38975 -1.38659 -1.38339 -1.38017 -1.37691 -1.37363 -1.37033 -1.36700 -1.36365 -1.36027 -1.35688 -1.35348 -1.35005 -1.34662 -1.34317 -1.33971 -1.33624 -1.33277 -1.32929 -1.32581 -1.32233 -1.31885 -1.31537 -1.31189 -1.30843 -1.30497 -1.30153 -1.29809 -1.29467 -1.29128 -1.12819 1.11880 1.10943 1.10009 1.09076 1.08145 1.07217 1.06291 1.05367 1.04444 1.03525 1.02607 1.01692 1.00779 0.99868 0.98959 0.98052 0.97148 0.96246 0.95347 0.94451 0.93557 0.92665 0.91775 0.90888 0.90004 0.89121 0.88241 0.87363 0.86485 0.85606 0.84721 0.83830 0.82934 0.82031 0.81122 0.80205 0.79280 0.78346 0.77402 0.76445 0.75472 0.74483 0.73477 0.72456 0.71419 0.70367 0.69300 0.68220 0.67127 0.66022 0.64906 0.63778 0.62638 0.61485 0.60322 0.59148 0.57963 0.56768 0.55564 0.54350 0.53127 0.51895 0.50655 0.49407 0.48151 0.46887 0.45616 0.44338 0.43053 0.41761 0.40463 0.39158 0.37847 0.36531 0.35209 0.33881 0.32548 0.31210 0.29867 0.28519 0.27166 0.25809 0.24448 0.23082 0.21713 0.20340 0.18962 0.17582 0.16198 0.14811 0.13420 0.12027 0.10631 0.09232 0.07830 0.06426 0.05020 0.03612 0.02202 0.00789 -0.00625 -0.02040 -0.03457 -0.04876 -0.06296 -0.07716 -0.09138 -0.10561 -0.11984 -0.13408 -0.14833 -0.16258 -0.17683 -0.19108 -0.20533 -0.21958 -0.23383 -0.24807 -0.26231 -0.27654 -0.29077 -0.30499 -0.31920 -0.33339 -0.34758 -0.36175 -0.37591 -0.39005 -0.40417 -0.41828 -0.43237 -0.44644 -0.46049 -0.47451 -0.48851 -0.50249 -0.51644 -0.53036 -0.54425 -0.55812 -0.57195 -0.58575 -0.59952 -0.61325 -0.62695 -0.64061 -0.65424 -0.66782 -0.68137 -0.69487 -0.70833 -0.72174 -0.73511 -0.74843 -0.76171 -0.77493 -0.78811 -0.80123 -0.81430 -0.82731 -0.84027 -0.85317 -0.86601 -0.87878 -0.89150 -0.90415 -0.91673 -0.92925 -0.94169 -0.95407 -0.96637 -0.97859 -0.99074 -1.00281 -1.01480 -1.02670 -1.03852 -1.05026 -1.06190 -1.07345 -1.08491 -1.09628 -1.10754 -1.11871 -1.12978 -1.14074 -1.15160 -1.16234 -1.17298 -1.18350 -1.19391 -1.20420 -1.21437 -1.22441 -1.23433 -1.24412 -1.25378 -1.26330 -1.27269 -1.28193 -1.29104 -1.30000 -1.30880 -1.31746 -1.32596 -1.33431 -1.34249 -1.35051 -1.35836 -1.36604 -1.37355 -1.38089 -1.38805 -1.39504 -1.40186 -1.40849 -1.41495 -1.42123 -1.42733 -1.43324 -1.43898 -1.44453 -1.44989 -1.45507 -1.46006 -1.46487 -1.46948 -1.47391 -1.47814 -1.48219 -1.48604 -1.48970 -1.49316 -1.49643 -1.49951 -1.50239 -1.50507 -1.50755 -1.50983 -1.51192 -1.51380 -1.51549 -1.51699 -1.51829 -1.51940 -1.52033 -1.52107 -1.52163 -1.52201 -1.52222 -1.52226 -1.52214 -1.52185 -1.52141 -1.52081 -1.52006 -1.51917 -1.51814 -1.51698 -1.51568 -1.51426 -1.51271 -1.51106 -1.50928 -1.50741 -1.50543 -1.50336 -1.50120 -1.49895 -1.49662 -1.49421 -1.49174 -1.48920 -1.48660 -1.48394 -1.48123 -1.47848 -1.47567 -1.47282 -1.46993 -1.46699 -1.46401 -1.46099 -1.45793 -1.45483 -1.45169 -1.44851 -1.44530 -1.44205 -1.43876 -1.43545 -1.43210 -1.42873 -1.42532 -1.42190 -1.41844 -1.41497 -1.41147 -1.40795 -1.40442 -1.40087 -1.39730 -1.39373 -1.39014 -1.38654 -1.38294 -1.37934 -1.37573 -1.37212 -1.36851 -1.36490 -1.36130 -1.35771 -1.35413 -1.35056 -1.34701 -1.34347 -1.33995 -1.33645 - - -# Torque coefficient - -0.02698 0.02732 0.02766 0.02800 0.02835 0.02869 0.02903 0.02936 0.02970 0.03004 0.03037 0.03071 0.03104 0.03137 0.03170 0.03203 0.03236 0.03269 0.03302 0.03334 0.03366 0.03399 0.03431 0.03463 0.03494 0.03526 0.03558 0.03589 0.03620 0.03651 0.03682 0.03713 0.03743 0.03774 0.03804 0.03834 0.03864 0.03893 0.03923 0.03952 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/dev/null @@ -1,103 +0,0 @@ -! Turbine: NREL 5MW fixed bottom wind turbine -! NJA - Might want to make a more formal header for this - -!------- DEBUG ------------------------------------------------------------ -0 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file - -!------- CONTROLLER SWITCHES ------------------------------------------------- -1 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals) -0 ! F_NotchType - Notch on the measured generator speed {0: disable, 1: enable} -0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} -0 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control} -1 ! PC_ControlMode - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} -0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} -1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} -0 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Imersion and Invariance Estimator (Ortega et al.)} -1 ! PS_Mode - Peak shaving mode {0: no peak shaving, 1: implement peak shaving} - -!------- FILTERS ---------------------------------------------------------- -1.570796326 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [Hz] -0 ! F_LPFDamping - Damping coefficient [used only when F_FilterType = 2] -0 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0 0 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.1 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [Hz]. - -!------- BLADE PITCH CONTROL ---------------------------------------------- -14 ! PC_GS_n - Amount of gain-scheduling table entries -0.00000 0.03491 0.06981 0.10472 0.13963 0.17453 0.20944 0.24435 0.27925 0.31416 0.34907 0.38397 0.41888 0.45379 ! PC_GS_angles - Gain-schedule table: pitch angles --0.018827 -0.014292 -0.011517 -0.009645 -0.008296 -0.007278 -0.006483 -0.005844 -0.005320 -0.004882 -0.004511 -0.004192 -0.003916 -0.003673 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains --0.008069 -0.006125 -0.004936 -0.004133 -0.003555 -0.003119 -0.002778 -0.002505 -0.002280 -0.002092 -0.001933 -0.001797 -0.001678 -0.001574 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) -1.5707 ! PC_MaxPit - Maximum physical pitch limit, [rad]. --0.087266 ! PC_MinPit - Minimum physical pitch limit, [rad]. -0.13962 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. --0.13962 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. -122.90957 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s]. -0.0 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] -0.003490658 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad] -0 ! Z_EnableSine - Enable/disable sine pitch excitation, used to validate for dynamic induction control, will be removed later, [-] -0.0349066 ! Z_PitchAmplitude - Amplitude of sine pitch excitation, [rad] -0 ! Z_PitchFrequency - Frequency of sine pitch excitation, [rad/s] - -!------- INDIVIDUAL PITCH CONTROL ----------------------------------------- -0.087266 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -1E-8 0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.436332313 0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. -2.5 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] - -!------- VS TORQUE CONTROL ------------------------------------------------ -0.944 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [-] -43093.55 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] -150000.0 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. -48000.00 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.0 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -91.2109 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -2.33228 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] -5.0E+06 ! VS_RtPwr - Wind turbine rated power [W] -43093.55 ! VS_RtTq - Rated torque, [Nm]. -120.113 ! VS_RefSpd - Rated generator speed [rad/s] -1 ! VS_n - Number of generator PI torque controller gains --4200 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) --2100 ! VS_KI - Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) - -!------- SETPOINT SMOOTHER ------------------------------------------------ -30 ! SS_VSGainBias - Variable speed torque controller gain bias, [(rad/s)/rad]. -0.0001 ! SS_PCGainBias - Collective pitch controller gain bias, [(rad/s)/Nm]. - -!------- WIND SPEED ESTIMATOR --------------------------------------------- -63.0 ! WE_BladeRadius - Blade length [m] -4 ! WE_CP_n - Amount of parameters in the Cp array -14.571319658214513 42.809556250371465 2.456512501523107 0.003127994078720 ! WE_CP - Parameters that define the parameterized CP(lambda) function -20 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] -97 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -4.0469564E+07 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] -1.225 ! WE_RhoAir - Air density, [kg m^-3] -"Cp_Ct_Cq.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) -320 40 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios -23 ! WE_FOPoles_N - Number of first-order system poles used in EKF -3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] --0.0203 -0.0270 -0.0338 -0.0405 -0.0473 -0.0540 -0.0608 -0.0675 -0.0743 -0.0671 -0.0939 -0.1257 -0.1601 -0.1973 -0.2364 -0.2783 -0.3223 -0.3678 -0.4153 -0.4632 -0.5122 -0.5629 -0.6194 ! WE_FOPoles - First order system poles - -!------- YAW CONTROL ------------------------------------------------------ -1.745329252 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this, [rad^2 s] -0.17453 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] -1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) --0.064 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp --0.0008 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.6283185 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -1.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.00000 ! Y_MErrSet - Yaw alignment error, set point, [rad] -1.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz] -0.016667 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz] -0.0034906 ! Y_Rate - Yaw rate, [rad/s] - -!------- TOWER FORE-AFT DAMPING ------------------------------------------- --1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a switch -0.1 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal, [rad/s] -0.087266 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] - -!------- PEAK SHAVING ------------------------------------------- -23 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) -3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] - -0.0349 -0.0349 -0.0349 -0.0349 -0.0349 -0.0349 -0.0349 -0.0114 0.0356 0.0577 0.0825 0.1058 0.1282 0.1499 0.1708 0.1913 0.2114 0.2310 0.2502 0.2690 0.2874 0.3056 0.3239 ! PS_BldPitchMin - Minimum blade pitch angles [rad] \ No newline at end of file diff --git a/DRC_Fortran/README.md b/DRC_Fortran/README.md deleted file mode 100644 index 65bb06e94..000000000 --- a/DRC_Fortran/README.md +++ /dev/null @@ -1,17 +0,0 @@ -# DRC_Fortran wind turbine baseline controller -Delft Research Controller (DRC) baseline wind turbine controller, using the Bladed-style DISCON interface used by, e.g., OpenFAST, Bladed (versions 4.5 or earlier) and HAWC2. - -## Introduction -The Delft Research Controller (DRC) provides an open, modular and fully adaptable baseline wind turbine controller to the scientific community. New control implementations can be added to the existing baseline controller, and in this way, convenient assessments of the proposed algorithms is possible. Because of the open character and modular set-up, scientists are able to collaborate and contribute in making continuous improvements to the code. The DRC is being developed in Fortran and uses the Bladed-style DISCON controller interface. The compiled controller is configured by a single control settings parameter file, and can work with any wind turbine model and simulation software using the DISCON interface. Baseline parameter files are supplied for the NREL 5-MW and DTU 10-MW reference wind turbines. - -## Using the DRC for Bladed -If you want to use the controller with DNV GL Bladed v4.5 or earlier (which still has support for the DISCON external controller interface), do the following: -1. Be sure to use and place the 32-bit DLL in the same folder as where you put your project .$PJ-file -2. Copy in that same folder the DISCON.IN controller configuration file -3. Set-up the 32-bit DLL as an external controller (Control -> Discrete External Controller -> Define...) -3. Open the DISCON.IN file with a text editor and copy its entire contents in the "External controller data:" section (Control -> Discrete External Controller -> Define...) -4. Run a "Power Production" simulation - -## Referencing -When you use the DRC in any publication, please cite the following paper: -* Mulders, S.P. and van Wingerden, J.W. "Delft Research Controller: an open-source and community-driven wind turbine baseline controller." Journal of Physics: Conference Series. Vol. 1037. No. 3. IOP Publishing, 2018. [Link to the paper](https://iopscience.iop.org/article/10.1088/1742-6596/1037/3/032009/meta) \ No newline at end of file diff --git a/DRC_Fortran/Scripts/CompileDISCON.cmd b/DRC_Fortran/Scripts/CompileDISCON.cmd deleted file mode 100644 index b3c9ed506..000000000 --- a/DRC_Fortran/Scripts/CompileDISCON.cmd +++ /dev/null @@ -1,18 +0,0 @@ -:: Compiling DISCON - -:: Main FAST directory: -:: Change this to the absolute path if this script is not located in the FAST main folder. -:: In that case also make sure the correct drive is selected -set "FASTdir=." - -:: Go to the correct drive -:: C: - -:: Remove old .dll file -DEL %FASTdir%\CertTest\5MW_Baseline\ServoData\DISCON_gwin32.dll - -:: Compile new .dll file -cd %FASTdir%\Compiling -mingw32-make.exe - -pause diff --git a/DRC_Fortran/Scripts/CompileDISCONHere.cmd b/DRC_Fortran/Scripts/CompileDISCONHere.cmd deleted file mode 100644 index eb6eb2c54..000000000 --- a/DRC_Fortran/Scripts/CompileDISCONHere.cmd +++ /dev/null @@ -1,20 +0,0 @@ -:: Compiling DISCON - -:: Main DISCON source-file directory: -set "DISCONSourceDir=..\" - -:: Remove old .dll file -DEL %DISCONSourceDir%\DISCON\DISCON_gwin64.dll - -:: Compile new .dll file -del /f /s /q Obj_win64 1>nul -rmdir /s /q Obj_win64 - -cd %DISCONSourceDir%\Source -::mingw32-make.exe -make.exe - -del /f /s /q Obj_win64 1>nul -rmdir /s /q Obj_win64 - -pause diff --git a/DRC_Fortran/Scripts/RunTest18.cmd b/DRC_Fortran/Scripts/RunTest18.cmd deleted file mode 100644 index cda679405..000000000 --- a/DRC_Fortran/Scripts/RunTest18.cmd +++ /dev/null @@ -1,13 +0,0 @@ -:: Running Test18 - -:: Main FAST directory: -:: Change this to the absolute path if this script is not located in the FAST main folder. -:: In that case also make sure the correct drive is selected -set "FASTdir=." - -:: Go to the correct drive -:: C: - -:: Run -cd %FASTdir%\CertTest -FAST_Win32.exe Test18.fst \ No newline at end of file diff --git a/DRC_Fortran/Scripts/compileDISCON_linux.bash b/DRC_Fortran/Scripts/compileDISCON_linux.bash deleted file mode 100644 index d056a1b6c..000000000 --- a/DRC_Fortran/Scripts/compileDISCON_linux.bash +++ /dev/null @@ -1,18 +0,0 @@ -# Make a DISCON folder in root, cd to correct directory -mkdir ../DISCON -cd ../Source - -# Set options to 64 bits -sed -i '' '13s/.*/#BITS = 32/' makefile -sed -i '' '14s/.*/BITS = 64/' makefile - -# Build code -rm -f ../DISCON/DISCON_glin64.so -rm -f ../DISCON_x64_DRC.so -make clean -make all -# cp ../DISCON/DISCON_glin64.so ../DISCON_x64_DRC.so -# echo 'The output file is: "../DISCON_x64_DRC.so".' - -# Return to initial directory -cd ../Scripts diff --git a/DRC_Fortran/Scripts/plotTest18.m b/DRC_Fortran/Scripts/plotTest18.m deleted file mode 100644 index c02530891..000000000 --- a/DRC_Fortran/Scripts/plotTest18.m +++ /dev/null @@ -1,94 +0,0 @@ -%% plotTest18 -% Plot results from Test18.out. Data is imported in a structure data. Also -% has the option to run Test18 from the matlab script - -%% Cleaning -close all -clearvars -clc - -%% Settings -totalTime = tic; -testFile = 'Test18.out'; % Name of the test file to read -runCmdFromHere = false; % Run RunTest18.cmd from this matlab script - -%% Loading -debugFolder = 'CertTest\'; % Directory were .out file is located - -if(runCmdFromHere) % Run Test18 first if true - dos('RunTest18.cmd'); -end - -% Import data from Test18.out and put in the data structure -dataRaw = dlmread([debugFolder testFile],'\t',8,0); -[~,vars] = size(dataRaw); -fid = fopen([debugFolder testFile]); -header = textscan(fid,'%s','delimiter','\t'); -fclose(fid); - -header = strtrim(header{1,1}(4:vars+3)); -for i = 1:vars - data.(header{i}) = dataRaw(:,i); -end - -clearvars vars - -%% Plotting - -% calculate total wind velocity -Wind1VelTot = sqrt(data.Wind1VelX.^2+data.Wind1VelY.^2+data.Wind1VelZ.^2); - -% Plot different wind velocities -figure; -title('Wind Velocity') -hold on -plot(data.Time,data.Wind1VelX) -plot(data.Time,data.Wind1VelY) -plot(data.Time,data.Wind1VelZ) -plot(data.Time,Wind1VelTot) -ylabel('Wind velocity [m/s]') -legend('x','y','z','total') - -% Plot rotor and generator speed -figure; -s(1) = subplot(2,2,1); -title('Rotor and Generator Speed') -hold on -plot(data.Time,data.RotSpeed) -ylabel('Rotor speed [rpm]') -yyaxis right -plot(data.Time,data.GenSpeed) -ylabel('Generator speed [rpm]') - -% Plot generator torque -s(2) = subplot(2,2,2); -title('Generator Torque') -hold on -plot(data.Time,data.GenTq) -ylabel('Torque [kN*m]') - -% Plot pitch of blade 1 -s(3) = subplot(2,2,3); -title('BldPitch1') -hold on -plot(data.Time,data.BldPitch1) -ylabel('Pitch [deg]') - -% Calculate RootMtotb1 -RootMtotb1 = sqrt(data.RootMxb1.^2 + data.RootMyb1.^2 + data.RootMzb1.^2); - -% Plot the root bending moments of blade 1 -s(4) = subplot(2,2,4); -title('Blade 1 root bending moments') -hold on -plot(data.Time,data.RootMxb1) -plot(data.Time,data.RootMyb1) -plot(data.Time,data.RootMzb1) -plot(data.Time,RootMtotb1) -ylabel('Moment [kN*m]') -legend('x','y','z','total') - -% Link the time axes of the subplots -linkaxes(s,'x') - -toc(totalTime) diff --git a/DRC_Fortran/Source/Constants.f90 b/DRC_Fortran/Source/Constants.f90 deleted file mode 100644 index 084f57806..000000000 --- a/DRC_Fortran/Source/Constants.f90 +++ /dev/null @@ -1,8 +0,0 @@ -MODULE Constants - REAL(4), PARAMETER :: RPS2RPM = 9.5492966 ! Factor to convert radians per second to revolutions per minute. - REAL(4), PARAMETER :: R2D = 57.295780 ! Factor to convert radians to degrees. - REAL(4), PARAMETER :: D2R = 0.0175 ! Factor to convert degrees to radians. - REAL(4), PARAMETER :: PI = 3.14159265359 ! Mathematical constant pi - INTEGER(4), PARAMETER :: NP_1 = 1 ! First rotational harmonic - INTEGER(4), PARAMETER :: NP_2 = 2 ! Second rotational harmonic -END MODULE Constants \ No newline at end of file diff --git a/DRC_Fortran/Source/ControllerBlocks.f90 b/DRC_Fortran/Source/ControllerBlocks.f90 deleted file mode 100644 index 64e4c261d..000000000 --- a/DRC_Fortran/Source/ControllerBlocks.f90 +++ /dev/null @@ -1,289 +0,0 @@ -! This module contains additional blocks to supplement the primary controllers used in the Controllers module -! -! Many of these have I/O flags as a part of the DISCON input file -! -! Blocks (Subroutines): -! State Machine: determine the state of the wind turbine to specify the corresponding control actions -! WindSpeedEstimator: Estimate wind speed -! SetpointSmoother: Modify generator torque and blade pitch controller setpoints in transition region - -MODULE ControllerBlocks - -USE, INTRINSIC :: ISO_C_Binding -USE Constants -USE Filters -USE Functions - -IMPLICIT NONE - -CONTAINS -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE StateMachine(CntrPar, LocalVar) - ! State machine, determines the state of the wind turbine to specify the corresponding control actions - ! PC States: - ! PC_State = 0, No pitch control active, BldPitch = PC_MinPit - ! PC_State = 1, Active PI blade pitch control enabled - ! VS States - ! VS_State = 0, Error state, for debugging purposes, GenTq = VS_RtTq - ! VS_State = 1, Region 1(.5) operation, torque control to keep the rotor at cut-in speed towards the Cp-max operational curve - ! VS_State = 2, Region 2 operation, maximum rotor power efficiency (Cp-max) tracking using K*omega^2 law, fixed fine-pitch angle in BldPitch controller - ! VS_State = 3, Region 2.5, transition between below and above-rated operating conditions (near-rated region) using PI torque control - ! VS_State = 4, above-rated operation using pitch control (constant torque mode) - ! VS_State = 5, above-rated operation using pitch and torque control (constant power mode) - ! VS_State = 6, Tip-Speed-Ratio tracking PI controller - USE DRC_Types, ONLY : LocalVariables, ControlParameters - IMPLICIT NONE - - ! Inputs - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - - ! Initialize State machine if first call - IF (LocalVar%iStatus == 0) THEN ! .TRUE. if we're on the first call to the DLL - - IF (LocalVar%PitCom(1) >= CntrPar%VS_Rgn3Pitch) THEN ! We are in region 3 - IF (CntrPar%VS_ControlMode == 1) THEN ! Constant power tracking - LocalVar%VS_State = 5 - LocalVar%PC_State = 1 - ELSE ! Constant torque tracking - LocalVar%VS_State = 4 - LocalVar%PC_State = 1 - END IF - ELSE ! We are in Region 2 - LocalVar%VS_State = 2 - LocalVar%PC_State = 0 - END IF - - ! Operational States - ELSE - ! --- Pitch controller state machine --- - IF (CntrPar%PC_ControlMode == 1) THEN - LocalVar%PC_State = 1 - ELSE - LocalVar%PC_State = 0 - END IF - - ! --- Torque control state machine --- - IF (LocalVar%PC_PitComT >= CntrPar%VS_Rgn3Pitch) THEN ! Region 3 - IF (CntrPar%VS_ControlMode == 1) THEN - LocalVar%VS_State = 5 ! Constant power tracking - ELSE - LocalVar%VS_State = 4 ! Constant torque tracking - END IF - ELSE - IF (LocalVar%GenArTq >= CntrPar%VS_MaxOMTq*1.01) THEN ! Region 2 1/2 - active PI torque control - LocalVar%VS_State = 3 - ELSEIF (LocalVar%GenSpeedF < CntrPar%VS_RefSpd) THEN ! Region 2 - optimal torque is proportional to the square of the generator speed - - LocalVar%VS_State = 2 - ELSEIF (LocalVar%GenBrTq <= CntrPar%VS_MinOMTq*0.99) THEN ! Region 1 1/2 - - LocalVar%VS_State = 1 - ELSE ! Error state, Debug - LocalVar%VS_State = 0 - END IF - END IF - END IF - END SUBROUTINE StateMachine -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData) - ! Wind Speed Estimator estimates wind speed at hub height. Currently implements two types of estimators - ! WE_Mode = 0, Filter hub height wind speed as passed from servodyn using first order low pass filter with 1Hz cornering frequency - ! WE_Mode = 1, Use Inversion and Inveriance filter as defined by Ortege et. al. - USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances, PerformanceData - IMPLICIT NONE - - ! Inputs - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - TYPE(PerformanceData), INTENT(INOUT) :: PerfData - ! Allocate Variables - REAL(4) :: F_WECornerFreq ! Corner frequency (-3dB point) for first order low pass filter for measured hub height wind speed [Hz] - - ! Only used in EKF, if WE_Mode = 2 - REAL(4), SAVE :: om_r ! Estimated rotor speed [rad/s] - REAL(4), SAVE :: v_t ! Estimated wind speed, turbulent component [m/s] - REAL(4), SAVE :: v_m ! Estimated wind speed, 10-minute averaged [m/s] - REAL(4), SAVE :: v_h ! Combined estimated wind speed [m/s] - REAL(4) :: L ! Turbulent length scale parameter [m] - REAL(4) :: Ti ! Turbulent intensity, [-] - ! REAL(4), DIMENSION(3,3) :: I - ! - operating conditions - REAL(4) :: A_op ! Estimated operational system pole [UNITS!] - REAL(4) :: Cp_op ! Estimated operational Cp [-] - REAL(4) :: Tau_r ! Estimated rotor torque [Nm] - REAL(4) :: a ! wind variance - REAL(4) :: lambda ! tip-speed-ratio [rad] - - ! REAL(4), DIMENSION(1,23) :: WE_EKF_Vref - ! REAL(4) :: WE_EKF_Vref(23) - ! REAL(4) :: WE_EKF_Aref(23) - ! REAL(4) :: WE_EKF_Cpref(23) - ! - Covariance matrices - REAL(4), DIMENSION(3,3) :: F ! First order system jacobian - REAL(4), DIMENSION(3,3), SAVE :: P ! Covariance estiamte - REAL(4), DIMENSION(1,3) :: H ! Output equation jacobian - REAL(4), DIMENSION(3,1), SAVE :: xh ! Estimated state matrix - REAL(4), DIMENSION(3,1) :: dxh ! Estimated state matrix deviation from previous timestep - REAL(4), DIMENSION(3,3) :: Q ! Process noise covariance matrix - REAL(4), DIMENSION(1,1) :: S ! Innovation covariance - REAL(4), DIMENSION(3,1), SAVE :: K ! Kalman gain matrix - REAL(4) :: R_m ! Measurement noise covariance [(rad/s)^2] - REAL(4) :: temp ! temp variable - - ! WE_EKF_Vref = (/ 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25 /) - ! WE_EKF_Aref = (/ -0.0203, -0.0270, -0.0338, -0.0405, -0.0473, -0.0540, -0.0608, -0.0675, -0.0743, -0.0671, -0.0939, -0.1257, -0.1601, -0.1973, -0.2364, -0.2783, -0.3223, -0.3678, -0.4153, -0.4632, -0.5122, -0.5629, -0.6194 /) - ! WE_EKF_Cpref = (/ 0.4957, 0.4957, 0.4957, 0.4957, 0.4957, 0.4957, 0.4957, 0.4957, 0.4957, 0.4193, 0.3298, 0.2641, 0.2147, 0.1769, 0.1475, 0.1242, 0.1056, 0.0906, 0.0782, 0.0680, 0.0596, 0.0524, 0.0464 /) - - - ! ---- Define wind speed estimate ---- - - ! Inversion and Invariance Filter implementation - IF (CntrPar%WE_Mode == 1) THEN - LocalVar%WE_VwIdot = CntrPar%WE_Gamma/CntrPar%WE_Jtot*(LocalVar%VS_LastGenTrq*CntrPar%WE_GearboxRatio - AeroDynTorque(LocalVar, CntrPar, PerfData)) - LocalVar%WE_VwI = LocalVar%WE_VwI + LocalVar%WE_VwIdot*LocalVar%DT - LocalVar%WE_Vw = LocalVar%WE_VwI + CntrPar%WE_Gamma*LocalVar%RotSpeed - - ! Extended Kalman Filter (EKF) implementation - ELSEIF (CntrPar%WE_Mode == 2) THEN - ! Define contant values - L = 4.0 * CntrPar%WE_BladeRadius - Ti = 0.2 - R_m = 0.02 - H = RESHAPE((/1.0 , 0.0 , 0.0/),(/1,3/)) - ! Define matrices to be filled - F = RESHAPE((/0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0/),(/3,3/)) - Q = RESHAPE((/0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0/),(/3,3/)) - IF (LocalVar%iStatus == 0) THEN - ! Initialize recurring values - om_r = LocalVar%RotSpeed - v_t = 0.0 - v_m = LocalVar%HorWindV - v_h = LocalVar%HorWindV - xh = RESHAPE((/om_r, v_t, v_m/),(/3,1/)) - P = RESHAPE((/0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 1.0/),(/3,3/)) - K = RESHAPE((/0.0,0.0,0.0/),(/3,1/)) - ELSE - ! Update estimated values - ! v_h = v_m + v_t - a = PI * v_m/(2.0*L) - - ! Find estimated operating Cp and system pole - A_op = interp1d(CntrPar%WE_FOPoles_v,CntrPar%WE_FOPoles,v_h) - - ! TEST INTERP2D - lambda = LocalVar%RotSpeed * CntrPar%WE_BladeRadius/v_h - Cp_op = interp2d(PerfData%Beta_vec,PerfData%TSR_vec,PerfData%Cp_mat, LocalVar%BlPitch(1)*R2D, lambda ) - Cp_op = max(0.0,Cp_op) - - ! Update Jacobian - F(1,1) = A_op - F(1,2) = 1.0/(2.0*CntrPar%WE_Jtot) * CntrPar%WE_RhoAir * PI *CntrPar%WE_BladeRadius**2.0 * Cp_op * 3.0 * v_h**2.0 * 1.0/om_r - F(1,3) = 1.0/(2.0*CntrPar%WE_Jtot) * CntrPar%WE_RhoAir * PI *CntrPar%WE_BladeRadius**2.0 * Cp_op * 3.0 * v_h**2.0 * 1.0/om_r - F(2,2) = PI * v_m/(2.0*L) - F(2,3) = PI * v_t/(2.0*L) - - ! Update process noise covariance - Q(1,1) = 0.00001 - Q(2,2) =(PI * (v_m**3.0) * (Ti**2.0)) / L - Q(3,3) = (2.0**2.0)/600.0 - - ! Prediction update - ! Tau_r = 0.5 * CntrPar%WE_RhoAir * PI *CntrPar%WE_BladeRadius**3 * Cp_op * v_h**2 * 1.0/(lambda) - Tau_r = AeroDynTorque(LocalVar,CntrPar,PerfData) - dxh(1,1) = 1.0/CntrPar%WE_Jtot * (Tau_r - CntrPar%WE_GearboxRatio * LocalVar%VS_LastGenTrq) - dxh(2,1) = -a*v_t - dxh(3,1) = 0.0 - - xh = xh + LocalVar%DT * dxh ! state update - P = P + LocalVar%DT*(MATMUL(F,P) + MATMUL(P,TRANSPOSE(F)) + Q - MATMUL(K * R_m, TRANSPOSE(K))) - - ! Measurement update - S = MATMUL(H,MATMUL(P,TRANSPOSE(H))) + R_m ! NJA: (H*T*H') \approx 0 - K = MATMUL(P,TRANSPOSE(H))/S(1,1) - xh = xh + K*(LocalVar%GenSpeedF/CntrPar%WE_GearboxRatio - xh(1,1)) - P = MATMUL(identity(3) - MATMUL(K,H),P) - - ! Wind Speed Estimate - ! xh(1,1) = saturate(xh(1,1),0.0, CntrPar%PC_RefSpd * 1.5) - ! xh(2,1) = saturate(xh(2,1),-10.0, 10.0) - ! xh(3,1) = saturate(xh(3,1),0.0, MAXVAL(WE_EKF_Vref)) - om_r = xh(1,1) - v_t = xh(2,1) - v_m = xh(3,1) - v_h = v_t + v_m - LocalVar%TestType = v_m + v_t - LocalVar%WE_Vw = v_m + v_t - ! LocalVar%WE_Vw = LPFilter(v_m + v_t,LocalVar%DT,0.5,LocalVar%iStatus,.FALSE.,objInst%instLPF) - ENDIF - - ELSE - ! Define Variables - F_WECornerFreq = 0.0333 ! Fix to 30 second time constant for now - - ! Filter wind speed at hub height as directly passed from OpenFAST - LocalVar%WE_Vw = LPFilter(LocalVar%HorWindV, LocalVar%DT, F_WECornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF) - ENDIF - - END SUBROUTINE WindSpeedEstimator -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst) - ! Setpoint smoother modifies controller reference in order to separate generator torque and blade pitch control actions - ! SS_Mode = 0, No setpoint smoothing - ! SS_Mode = 1, Implement setpoint smoothing - USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances - IMPLICIT NONE - - ! Inputs - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - ! Allocate Variables - Real(4) :: DelOmega ! Reference generator speed shift, rad/s. - - ! ------ Setpoint Smoothing ------ - IF ( CntrPar%SS_Mode == 1) THEN - ! Find setpoint shift amount - ! DelOmega = (LocalVar%BlPitch(1) - CntrPar%PC_MinPit)*CntrPar%SS_VSGainBias - (CntrPar%VS_RtTq - LocalVar%VS_LastGenTrq)*CntrPar%SS_PCGainBias - ! DelOmega = ((LocalVar%BlPitch(1) - CntrPar%PC_MinPit)/0.524) * CntrPar%SS_VSGainBias - ((CntrPar%VS_RtPwr - LocalVar%VS_GenPwr))/CntrPar%VS_RtPwr * CntrPar%SS_PCGainBias ! 30 degrees - DelOmega = ((LocalVar%BlPitch(1) - CntrPar%PC_MinPit)/0.524) * CntrPar%SS_VSGainBias - ((CntrPar%VS_RtTq - LocalVar%VS_GenPwr))/CntrPar%VS_RtTq * CntrPar%SS_PCGainBias ! 30 degrees - DelOmega = DelOmega * CntrPar%PC_RefSpd - ! Filter - LocalVar%SS_DelOmegaF = LPFilter(DelOmega, LocalVar%DT, CntrPar%F_SSCornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF) - ELSE - LocalVar%SS_DelOmegaF = 0 ! No setpoint smoothing - ENDIF - - END SUBROUTINE SetpointSmoother -!------------------------------------------------------------------------------------------------------------------------------- - REAL FUNCTION PeakShaving(LocalVar, CntrPar, objInst) - ! PeakShaving defines a minimum blade pitch angle based on a lookup table provided by DISON.IN - ! SS_Mode = 0, No setpoint smoothing - ! SS_Mode = 1, Implement setpoint smoothing - USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances - IMPLICIT NONE - ! Inputs - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - ! Allocate Variables - REAL(4) :: V_towertop ! Estimated velocity of tower top (m/s) - REAL(4) :: Vhat ! Estimated wind speed without towertop motion [m/s] - REAL(4) :: Vhatf ! 30 second low pass filtered Estimated wind speed without towertop motion [m/s] - - ! Account for towertop motions in wind speed estimate - ! Integrate Towertop Acceleration - ! dV_towertop = - ! V_towertop = PIController(LocalVar%FA_Acc, 0.0, 1.0, -100.00, 100.00, LocalVar%DT, 0.0, .FALSE., objInst%instPI) - - Vhat = LocalVar%WE_Vw - Vhatf = LPFilter(Vhat,LocalVar%DT,0.2,LocalVar%iStatus,.FALSE.,objInst%instLPF) - LocalVar%TestType = Vhatf - ! Define minimum blade pitch angle as a function of estimated wind speed - PeakShaving = interp1d(CntrPar%PS_WindSpeeds, CntrPar%PS_BldPitchMin, Vhatf) - - END FUNCTION PEAKSHAVING -!------------------------------------------------------------------------------------------------------------------------------- - -END MODULE ControllerBlocks diff --git a/DRC_Fortran/Source/Controllers.f90 b/DRC_Fortran/Source/Controllers.f90 deleted file mode 100644 index e1b68d3e2..000000000 --- a/DRC_Fortran/Source/Controllers.f90 +++ /dev/null @@ -1,313 +0,0 @@ -MODULE Controllers - - USE, INTRINSIC :: ISO_C_Binding - USE Functions - USE Filters - USE ControllerBlocks - - IMPLICIT NONE - -CONTAINS -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst) - ! Blade pitch controller, generally maximizes rotor speed below rated (region 2) and regulates rotor speed above rated (region 3) - ! PC_State = 0, fix blade pitch to fine pitch angle (PC_FinePit) - ! PC_State = 1, is gain scheduled PI controller - ! Additional loops/methods (enabled via switches in DISCON.IN): - ! Individual pitch control - ! Tower fore-aft damping - ! Sine excitation on pitch - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - - ! Inputs - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - ! Allocate Variables: - REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from the DLL controller. - INTEGER(4) :: K ! Index used for looping through blades. - - - ! ------- Blade Pitch Controller -------- - ! Load PC State - IF (LocalVar%PC_State == 1) THEN ! PI BldPitch control - LocalVar%PC_MaxPit = CntrPar%PC_MaxPit - ELSE ! debug mode, fix at fine pitch - LocalVar%PC_MaxPit = CntrPar%PC_FinePit - END IF - - ! Compute (interpolate) the gains based on previously commanded blade pitch angles and lookup table: - LocalVar%PC_KP = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KP, LocalVar%PC_PitComT) ! Proportional gain - LocalVar%PC_KI = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KI, LocalVar%PC_PitComT) ! Integral gain - LocalVar%PC_KD = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KD, LocalVar%PC_PitComT) ! Derivative gain - LocalVar%PC_TF = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_TF, LocalVar%PC_PitComT) ! TF gains (derivative filter) !NJA - need to clarify - - ! Compute the collective pitch command associated with the proportional and integral gains: - IF (LocalVar%iStatus == 0) THEN - LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPit, LocalVar%DT, LocalVar%PitCom(1), .TRUE., objInst%instPI) - ELSE - LocalVar%PC_PitComT = PIController(LocalVar%PC_SpdErr, LocalVar%PC_KP, LocalVar%PC_KI, CntrPar%PC_FinePit, LocalVar%PC_MaxPit, LocalVar%DT, CntrPar%PC_FinePit, .FALSE., objInst%instPI) - END IF - - ! Find individual pitch control contribution - IF ((CntrPar%IPC_ControlMode >= 1) .OR. (CntrPar%Y_ControlMode == 2)) THEN - CALL IPC(CntrPar, LocalVar, objInst) - ELSE - LocalVar%IPC_PitComF = 0.0 ! THIS IS AN ARRAY!! - END IF - - ! Include tower fore-aft tower vibration damping control - IF ((CntrPar%FA_KI > 0.0) .OR. (CntrPar%Y_ControlMode == 2)) THEN - CALL ForeAftDamping(CntrPar, LocalVar, objInst) - ELSE - LocalVar%FA_PitCom = 0.0 ! THIS IS AN ARRAY!! - END IF - - ! Sine excitation on pitch - IF (CntrPar%Z_EnableSine == 1) THEN - LocalVar%PC_SineExcitation = CntrPar%Z_PitchAmplitude*sin(CntrPar%Z_PitchFrequency*LocalVar%Time) - ELSE - LocalVar%PC_SineExcitation = 0 - END IF - - ! Peak Shaving - IF (CntrPar%PS_Mode == 1) THEN - LocalVar%PC_MinPit = PeakShaving(LocalVar,CntrPar,objInst) - ELSE - LocalVar%PC_MinPit = CntrPar%PC_MinPit - ENDIF - - - ! Combine and saturate all pitch commands: - DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate - LocalVar%PitCom(K) = saturate(LocalVar%PC_PitComT, LocalVar%PC_MinPit, CntrPar%PC_MaxPit) ! Saturate the overall command using the pitch angle limits - LocalVar%PitCom(K) = LocalVar%PitCom(K) + LocalVar%IPC_PitComF(K) + LocalVar%FA_PitCom(K) + LocalVar%PC_SineExcitation - LocalVar%PitCom(K) = ratelimit(LocalVar%PitCom(K), LocalVar%BlPitch(K), CntrPar%PC_MinRat, CntrPar%PC_MaxRat, LocalVar%DT) ! Saturate the overall command of blade K using the pitch rate limit - END DO - - ! Command the pitch demanded from the last - ! call to the controller (See Appendix A of Bladed User's Guide): - avrSWAP(42) = LocalVar%PitCom(1) ! Use the command angles of all blades if using individual pitch - avrSWAP(43) = LocalVar%PitCom(2) ! " - avrSWAP(44) = LocalVar%PitCom(3) ! " - avrSWAP(45) = LocalVar%PitCom(1) ! Use the command angle of blade 1 if using collective pitch - END SUBROUTINE PitchControl -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst) - ! Generator torque controller - ! VS_State = 0, Error state, for debugging purposes, GenTq = VS_RtTq - ! VS_State = 1, Region 1(.5) operation, torque control to keep the rotor at cut-in speed towards the Cp-max operational curve - ! VS_State = 2, Region 2 operation, maximum rotor power efficiency (Cp-max) tracking using K*omega^2 law, fixed fine-pitch angle in BldPitch controller - ! VS_State = 3, Region 2.5, transition between below and above-rated operating conditions (near-rated region) using PI torque control - ! VS_State = 4, above-rated operation using pitch control (constant torque mode) - ! VS_State = 5, above-rated operation using pitch and torque control (constant power mode) - ! VS_State = 6, Tip-Speed-Ratio tracking PI controller - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - ! Inputs - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - ! Allocate Variables - REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. - REAL(4) :: VS_MaxTq ! Locally allocated maximum torque saturation limits - - ! -------- Variable-Speed Torque Controller -------- - ! Optimal Tip-Speed-Ratio tracking controller - IF (CntrPar%VS_ControlMode == 2) THEN - ! Define max torque - IF (LocalVar%VS_State >= 4) THEN - VS_MaxTq = CntrPar%VS_RtTq - ELSE - ! VS_MaxTq = CntrPar%VS_MaxTq ! NJA: May want to boost max torque - VS_MaxTq = CntrPar%VS_RtTq - ENDIF - LocalVar%GenTq = PIController(LocalVar%VS_SpdErr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, VS_MaxTq, LocalVar%DT, LocalVar%VS_LastGenTrq, .FALSE., objInst%instPI) - - ! K*Omega^2 control law with PI torque control in transition regions - ELSE - ! Update PI loops for region 1.5 and 2.5 PI control - ! LocalVar%GenArTq = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_RtTq, .TRUE., objInst%instPI) - LocalVar%GenArTq = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_MaxOMTq, .FALSE., objInst%instPI) - LocalVar%GenBrTq = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_MinOMTq, LocalVar%DT, CntrPar%VS_MinOMTq, .TRUE., objInst%instPI) - - IF (LocalVar%VS_State == 1) THEN ! Region 1.5 - LocalVar%GenTq = LocalVar%GenBrTq - ELSEIF (LocalVar%VS_State == 2) THEN ! Region 2 - LocalVar%GenTq = CntrPar%VS_Rgn2K*LocalVar%GenSpeedF*LocalVar%GenSpeedF - ELSEIF (LocalVar%VS_State == 3) THEN ! Region 2.5 - LocalVar%GenTq = LocalVar%GenArTq - ELSEIF (LocalVar%VS_State == 4) THEN ! Region 3, constant torque - LocalVar%GenTq = CntrPar%VS_RtTq - ELSEIF (LocalVar%VS_State == 5) THEN ! Region 3, constant power - LocalVar%GenTq = (CntrPar%VS_RtPwr/CntrPar%VS_GenEff)/LocalVar%GenSpeedF - END IF - - ENDIF - - - ! Saturate the commanded torque using the maximum torque limit: - LocalVar%GenTq = MIN(LocalVar%GenTq, CntrPar%VS_MaxTq) ! Saturate the command using the maximum torque limit - - ! Saturate the commanded torque using the torque rate limit: - LocalVar%GenTq = ratelimit(LocalVar%GenTq, LocalVar%VS_LastGenTrq, -CntrPar%VS_MaxRat, CntrPar%VS_MaxRat, LocalVar%DT) ! Saturate the command using the torque rate limit - - ! Reset the value of LocalVar%VS_LastGenTrq to the current values: - LocalVar%VS_LastGenTrq = LocalVar%GenTq - - ! Account for first run - - - ! Set the command generator torque (See Appendix A of Bladed User's Guide): - avrSWAP(47) = LocalVar%VS_LastGenTrq ! Demanded generator torque - END SUBROUTINE VariableSpeedControl -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst) - - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - - REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. - - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - - !.............................................................................................................................. - ! Yaw control - !.............................................................................................................................. - - IF (CntrPar%Y_ControlMode == 1) THEN - avrSWAP(29) = 0 ! Yaw control parameter: 0 = yaw rate control - IF (LocalVar%Time >= LocalVar%Y_YawEndT) THEN ! Check if the turbine is currently yawing - avrSWAP(48) = 0.0 ! Set yaw rate to zero - - LocalVar%Y_ErrLPFFast = LPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%Y_omegaLPFast, LocalVar%iStatus, .FALSE., objInst%instLPF) ! Fast low pass filtered yaw error with a frequency of 1 - LocalVar%Y_ErrLPFSlow = LPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%Y_omegaLPSlow, LocalVar%iStatus, .FALSE., objInst%instLPF) ! Slow low pass filtered yaw error with a frequency of 1/60 - - LocalVar%Y_AccErr = LocalVar%Y_AccErr + LocalVar%DT*SIGN(LocalVar%Y_ErrLPFFast**2, LocalVar%Y_ErrLPFFast) ! Integral of the fast low pass filtered yaw error - - IF (ABS(LocalVar%Y_AccErr) >= CntrPar%Y_ErrThresh) THEN ! Check if accumulated error surpasses the threshold - LocalVar%Y_YawEndT = ABS(LocalVar%Y_ErrLPFSlow/CntrPar%Y_Rate) + LocalVar%Time ! Yaw to compensate for the slow low pass filtered error - END IF - ELSE - avrSWAP(48) = SIGN(CntrPar%Y_Rate, LocalVar%Y_MErr) ! Set yaw rate to predefined yaw rate, the sign of the error is copied to the rate - LocalVar%Y_ErrLPFFast = LPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%Y_omegaLPFast, LocalVar%iStatus, .TRUE., objInst%instLPF) ! Fast low pass filtered yaw error with a frequency of 1 - LocalVar%Y_ErrLPFSlow = LPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%Y_omegaLPSlow, LocalVar%iStatus, .TRUE., objInst%instLPF) ! Slow low pass filtered yaw error with a frequency of 1/60 - LocalVar%Y_AccErr = 0.0 ! " - END IF - END IF - END SUBROUTINE YawRateControl -!------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE IPC(CntrPar, LocalVar, objInst) - !------------------------------------------------------------------------------------------------------------------------------- - ! Individual pitch control subroutine - ! Calculates the commanded pitch angles for IPC employed for blade fatigue load reductions at 1P and 2P - ! - ! Variable declaration and initialization - !------------------------------------------------------------------------------------------------------------------------------ - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - - ! Local variables - REAL(4) :: PitComIPC(3), PitComIPCF(3), PitComIPC_1P(3), PitComIPC_2P(3) - INTEGER(4) :: K ! Integer used to loop through turbine blades - REAL(4) :: axisTilt_1P, axisYaw_1P, axisYawF_1P ! Direct axis and quadrature axis outputted by Coleman transform, 1P - REAL(4), SAVE :: IntAxisTilt_1P, IntAxisYaw_1P ! Integral of the direct axis and quadrature axis, 1P - REAL(4) :: axisTilt_2P, axisYaw_2P, axisYawF_2P ! Direct axis and quadrature axis outputted by Coleman transform, 1P - REAL(4), SAVE :: IntAxisTilt_2P, IntAxisYaw_2P ! Integral of the direct axis and quadrature axis, 1P - REAL(4) :: IntAxisYawIPC_1P ! IPC contribution with yaw-by-IPC component - REAL(4) :: Y_MErrF, Y_MErrF_IPC ! Unfiltered and filtered yaw alignment error [rad] - - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - - ! Body - ! Initialization - ! Set integrals to be 0 in the first time step - IF (LocalVar%iStatus==0) THEN - IntAxisTilt_1P = 0.0 - IntAxisYaw_1P = 0.0 - IntAxisTilt_2P = 0.0 - IntAxisYaw_2P = 0.0 - END IF - - ! Pass rootMOOPs through the Coleman transform to get the tilt and yaw moment axis - CALL ColemanTransform(LocalVar%rootMOOP, LocalVar%Azimuth, NP_1, axisTilt_1P, axisYaw_1P) - CALL ColemanTransform(LocalVar%rootMOOP, LocalVar%Azimuth, NP_2, axisTilt_2P, axisYaw_2P) - - ! High-pass filter the MBC yaw component and filter yaw alignment error, and compute the yaw-by-IPC contribution - IF (CntrPar%Y_ControlMode == 2) THEN - Y_MErrF = SecLPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%Y_IPC_omegaLP, CntrPar%Y_IPC_zetaLP, LocalVar%iStatus, .FALSE., objInst%instSecLPF) - Y_MErrF_IPC = PIController(Y_MErrF, CntrPar%Y_IPC_KP(1), CntrPar%Y_IPC_KI(1), -CntrPar%Y_IPC_IntSat, CntrPar%Y_IPC_IntSat, LocalVar%DT, 0.0, .FALSE., objInst%instPI) - ELSE - axisYawF_1P = axisYaw_1P - Y_MErrF = 0.0 - Y_MErrF_IPC = 0.0 - END IF - - ! Integrate the signal and multiply with the IPC gain - IF ((CntrPar%IPC_ControlMode >= 1) .AND. (CntrPar%Y_ControlMode /= 2)) THEN - IntAxisTilt_1P = IntAxisTilt_1P + LocalVar%DT * CntrPar%IPC_KI(1) * axisTilt_1P - IntAxisYaw_1P = IntAxisYaw_1P + LocalVar%DT * CntrPar%IPC_KI(1) * axisYawF_1P - IntAxisTilt_1P = saturate(IntAxisTilt_1P, -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat) - IntAxisYaw_1P = saturate(IntAxisYaw_1P, -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat) - - IF (CntrPar%IPC_ControlMode >= 2) THEN - IntAxisTilt_2P = IntAxisTilt_2P + LocalVar%DT * CntrPar%IPC_KI(2) * axisTilt_2P - IntAxisYaw_2P = IntAxisYaw_2P + LocalVar%DT * CntrPar%IPC_KI(2) * axisYawF_2P - IntAxisTilt_2P = saturate(IntAxisTilt_2P, -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat) - IntAxisYaw_2P = saturate(IntAxisYaw_2P, -CntrPar%IPC_IntSat, CntrPar%IPC_IntSat) - END IF - ELSE - IntAxisTilt_1P = 0.0 - IntAxisYaw_1P = 0.0 - IntAxisTilt_2P = 0.0 - IntAxisYaw_2P = 0.0 - END IF - - ! Add the yaw-by-IPC contribution - IntAxisYawIPC_1P = IntAxisYaw_1P + Y_MErrF_IPC - - ! Pass direct and quadrature axis through the inverse Coleman transform to get the commanded pitch angles - CALL ColemanTransformInverse(IntAxisTilt_1P, IntAxisYawIPC_1P, LocalVar%Azimuth, NP_1, CntrPar%IPC_aziOffset(1), PitComIPC_1P) - CALL ColemanTransformInverse(IntAxisTilt_2P, IntAxisYaw_2P, LocalVar%Azimuth, NP_2, CntrPar%IPC_aziOffset(2), PitComIPC_2P) - - ! Sum nP IPC contributions and store to LocalVar data type - DO K = 1,LocalVar%NumBl - PitComIPC(K) = PitComIPC_1P(K) + PitComIPC_2P(K) - - ! Optionally filter the resulting signal to induce a phase delay - IF (CntrPar%IPC_CornerFreqAct > 0.0) THEN - PitComIPCF(K) = LPFilter(PitComIPC(K), LocalVar%DT, CntrPar%IPC_CornerFreqAct, LocalVar%iStatus, .FALSE., objInst%instLPF) - ELSE - PitComIPCF(K) = PitComIPC(K) - END IF - - LocalVar%IPC_PitComF(K) = PitComIPCF(K) - END DO - END SUBROUTINE IPC - - SUBROUTINE ForeAftDamping(CntrPar, LocalVar, objInst) - !------------------------------------------------------------------------------------------------------------------------------- - ! Fore-aft damping controller, reducing the tower fore-aft vibrations using pitch - ! - ! Variable declaration and initialization - !------------------------------------------------------------------------------------------------------------------------------ - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - - ! Local variables - INTEGER(4) :: K ! Integer used to loop through turbine blades - - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - - ! Body - LocalVar%FA_AccHPFI = PIController(LocalVar%FA_AccHPF, 0.0, CntrPar%FA_KI, -CntrPar%FA_IntSat, CntrPar%FA_IntSat, LocalVar%DT, 0.0, .FALSE., objInst%instPI) - - ! Store the fore-aft pitch contribution to LocalVar data type - DO K = 1,LocalVar%NumBl - LocalVar%FA_PitCom(K) = LocalVar%FA_AccHPFI - END DO - - END SUBROUTINE ForeAftDamping -END MODULE Controllers \ No newline at end of file diff --git a/DRC_Fortran/Source/DISCON.f90 b/DRC_Fortran/Source/DISCON.f90 deleted file mode 100644 index de8df7b77..000000000 --- a/DRC_Fortran/Source/DISCON.f90 +++ /dev/null @@ -1,68 +0,0 @@ -!======================================================================= -! SUBROUTINE DISCON(avrSWAP, from_SC, to_SC, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME='DISCON') -SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME='DISCON') -! DO NOT REMOVE or MODIFY LINES starting with "!DEC$" or "!GCC$" -! !DEC$ specifies attributes for IVF and !GCC$ specifies attributes for gfortran -!DEC$ ATTRIBUTES DLLEXPORT :: DISCON - -USE, INTRINSIC :: ISO_C_Binding -USE :: DRC_Types -USE :: ReadSetParameters -USE :: ControllerBlocks -USE :: Controllers -USE :: Constants -USE :: Filters -USE :: Functions - -IMPLICIT NONE -#ifndef IMPLICIT_DLLEXPORT -!GCC$ ATTRIBUTES DLLEXPORT :: DISCON -#endif - -!------------------------------------------------------------------------------------------------------------------------------ -! Variable declaration and initialization -!------------------------------------------------------------------------------------------------------------------------------ - -! Passed Variables: -!REAL(C_FLOAT), INTENT(IN) :: from_SC(*) ! DATA from the super controller -!REAL(C_FLOAT), INTENT(INOUT) :: to_SC(*) ! DATA to the super controller - -REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. -INTEGER(C_INT), INTENT(INOUT) :: aviFAIL ! A flag used to indicate the success of this DLL call set as follows: 0 if the DLL call was successful, >0 if the DLL call was successful but cMessage should be issued as a warning messsage, <0 if the DLL call was unsuccessful or for any other reason the simulation is to be stopped at this point with cMessage as the error message. -CHARACTER(KIND=C_CHAR), INTENT(IN) :: accINFILE(NINT(avrSWAP(50))) ! The name of the parameter input file -CHARACTER(KIND=C_CHAR), INTENT(IN) :: avcOUTNAME(NINT(avrSWAP(51))) ! OUTNAME (Simulation RootName) -CHARACTER(KIND=C_CHAR), INTENT(INOUT) :: avcMSG(NINT(avrSWAP(49))) ! MESSAGE (Message from DLL to simulation code [ErrMsg]) The message which will be displayed by the calling program if aviFAIL <> 0. -CHARACTER(SIZE(avcOUTNAME)-1) :: RootName ! a Fortran version of the input C string (not considered an array here) [subtract 1 for the C null-character] -CHARACTER(SIZE(avcMSG)-1) :: ErrMsg ! a Fortran version of the C string argument (not considered an array here) [subtract 1 for the C null-character] - -TYPE(ControlParameters), SAVE :: CntrPar -TYPE(LocalVariables), SAVE :: LocalVar -TYPE(ObjectInstances), SAVE :: objInst -TYPE(PerformanceData), SAVE :: PerfData - -!------------------------------------------------------------------------------------------------------------------------------ -! Main control calculations -!------------------------------------------------------------------------------------------------------------------------------ -! Read avrSWAP array into derived types/variables -CALL ReadAvrSWAP(avrSWAP, LocalVar) -CALL SetParameters(avrSWAP, aviFAIL, ErrMsg, SIZE(avcMSG), CntrPar, LocalVar, objInst, PerfData) -CALL PreFilterMeasuredSignals(CntrPar, LocalVar, objInst) - -IF ((LocalVar%iStatus >= 0) .AND. (aviFAIL >= 0)) THEN ! Only compute control calculations if no error has occurred and we are not on the last time step - CALL ComputeVariablesSetpoints(CntrPar, LocalVar, objInst) - - CALL StateMachine(CntrPar, LocalVar) - CALL WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData) - - CALL SetpointSmoother(LocalVar, CntrPar, objInst) - - CALL VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst) - CALL PitchControl(avrSWAP, CntrPar, LocalVar, objInst) - CALL YawRateControl(avrSWAP, CntrPar, LocalVar, objInst) - - CALL Debug(LocalVar, CntrPar, avrSWAP, RootName, SIZE(avcOUTNAME)) -END IF - -avcMSG = TRANSFER(TRIM(ErrMsg)//C_NULL_CHAR, avcMSG, SIZE(avcMSG)) -RETURN -END SUBROUTINE DISCON diff --git a/DRC_Fortran/Source/DISCON.sln b/DRC_Fortran/Source/DISCON.sln deleted file mode 100644 index d92b7b59e..000000000 --- a/DRC_Fortran/Source/DISCON.sln +++ /dev/null @@ -1,22 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 14 -VisualStudioVersion = 14.0.25420.1 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{6989167D-11E4-40FE-8C1A-2192A86A7E90}") = "DISCON", "DISCON.vfproj", "{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Release|x64 = Release|x64 - Release|x86 = Release|x86 - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x64.ActiveCfg = Release|x64 - {1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x64.Build.0 = Release|x64 - {1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x86.ActiveCfg = Release|Win32 - {1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x86.Build.0 = Release|Win32 - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -EndGlobal diff --git a/DRC_Fortran/Source/DISCON.u2d b/DRC_Fortran/Source/DISCON.u2d deleted file mode 100644 index e69de29bb..000000000 diff --git a/DRC_Fortran/Source/DISCON.vfproj b/DRC_Fortran/Source/DISCON.vfproj deleted file mode 100644 index 159240889..000000000 --- a/DRC_Fortran/Source/DISCON.vfproj +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/DRC_Fortran/Source/DRC_Types.f90 b/DRC_Fortran/Source/DRC_Types.f90 deleted file mode 100644 index 325fffc3e..000000000 --- a/DRC_Fortran/Source/DRC_Types.f90 +++ /dev/null @@ -1,178 +0,0 @@ -MODULE DRC_Types - -IMPLICIT NONE - -TYPE, PUBLIC :: ControlParameters - INTEGER(4) :: LoggingLevel ! 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file - - INTEGER(4) :: F_LPFType ! {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] - INTEGER(4) :: F_NotchType ! Notch on the measured generator speed {0: disable, 1: enable} - REAL(4) :: F_LPFCornerFreq ! Corner frequency (-3dB point) in the first-order low-pass filter, [rad/s] - REAL(4) :: F_LPFDamping ! Damping coefficient [used only when F_FilterType = 2] - REAL(4) :: F_NotchCornerFreq ! Natural frequency of the notch filter, [rad/s] - REAL(4), DIMENSION(:), ALLOCATABLE :: F_NotchBetaNumDen ! These two notch damping values (numerator and denominator) determines the width and depth of the notch - Real(4) :: F_SSCornerFreq ! Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} - - REAL(4) :: FA_HPFCornerFreq ! Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] - REAL(4) :: FA_IntSat ! Integrator saturation (maximum signal amplitude contrbution to pitch from FA damper), [rad] - REAL(4) :: FA_KI ! Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - - INTEGER(4) :: IPC_ControlMode ! Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} - REAL(4) :: IPC_IntSat ! Integrator saturation (maximum signal amplitude contrbution to pitch from IPC) - REAL(4), DIMENSION(:), ALLOCATABLE :: IPC_KI ! Integral gain for the individual pitch controller, [-]. 8E-10 - REAL(4), DIMENSION(:), ALLOCATABLE :: IPC_aziOffset ! Phase offset added to the azimuth angle for the individual pitch controller, [rad]. - REAL(4) :: IPC_CornerFreqAct ! Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] - - INTEGER(4) :: PC_ControlMode ! Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} - INTEGER(4) :: PC_GS_n ! Amount of gain-scheduling table entries - REAL(4), DIMENSION(:), ALLOCATABLE :: PC_GS_angles ! Gain-schedule table: pitch angles - REAL(4), DIMENSION(:), ALLOCATABLE :: PC_GS_KP ! Gain-schedule table: pitch controller kp gains - REAL(4), DIMENSION(:), ALLOCATABLE :: PC_GS_KI ! Gain-schedule table: pitch controller ki gains - REAL(4), DIMENSION(:), ALLOCATABLE :: PC_GS_KD ! Gain-schedule table: pitch controller kd gains - REAL(4), DIMENSION(:), ALLOCATABLE :: PC_GS_TF ! Gain-schedule table: pitch controller tf gains (derivative filter) - REAL(4) :: PC_MaxPit ! Maximum physical pitch limit, [rad]. - REAL(4) :: PC_MinPit ! Minimum physical pitch limit, [rad]. - REAL(4) :: PC_MaxRat ! Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. - REAL(4) :: PC_MinRat ! Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. - REAL(4) :: PC_RefSpd ! Desired (reference) HSS speed for pitch controller, [rad/s]. - REAL(4) :: PC_FinePit ! Record 5: Below-rated pitch angle set-point (deg) [used only with Bladed Interface] - REAL(4) :: PC_Switch ! Angle above lowest minimum pitch angle for switch [rad] - - INTEGER(4) :: VS_ControlMode ! Generator torque control mode in above rated conditions {0: constant torque, 1: constant power} - REAL(4) :: VS_GenEff ! Generator efficiency mechanical power -> electrical power [-] - REAL(4) :: VS_ArSatTq ! Above rated generator torque PI control saturation, [Nm] -- 212900 - REAL(4) :: VS_MaxRat ! Maximum torque rate (in absolute value) in torque controller, [Nm/s]. - REAL(4) :: VS_MaxTq ! Maximum generator torque in Region 3 (HSS side), [Nm]. -- chosen to be 10% above VS_RtTq - REAL(4) :: VS_MinTq ! Minimum generator (HSS side), [Nm]. - REAL(4) :: VS_MinOMSpd ! Optimal mode minimum speed, [rad/s] - REAL(4) :: VS_Rgn2K ! Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2 - REAL(4) :: VS_RtPwr ! Wind turbine rated power [W] - REAL(4) :: VS_RtTq ! Rated torque, [Nm]. - REAL(4) :: VS_RefSpd ! Rated generator speed [rad/s] - INTEGER(4) :: VS_n ! Number of controller gains - REAL(4), DIMENSION(:), ALLOCATABLE :: VS_KP ! Proportional gain for generator PI torque controller, used in the transitional 2.5 region - REAL(4), DIMENSION(:), ALLOCATABLE :: VS_KI ! Integral gain for generator PI torque controller, used in the transitional 2.5 region - REAL(4) :: VS_TSRopt ! Power-maximizing region 2 tip-speed ratio [rad] - - INTEGER(4) :: SS_Mode ! Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} - REAL(4) :: SS_VSGainBias ! Variable speed torque controller gain bias, [(rad/s)/rad]. - REAL(4) :: SS_PCGainBias ! Collective pitch controller gain bias, [(rad/s)/Nm]. - - INTEGER(4) :: WE_Mode ! Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Imersion and Invariance Estimator (Ortega et al.) - REAL(4) :: WE_BladeRadius ! Blade length [m] - INTEGER(4) :: WE_CP_n ! Amount of parameters in the Cp array - REAL(4), DIMENSION(:), ALLOCATABLE :: WE_CP ! Parameters that define the parameterized CP(\lambda) function - REAL(4) :: WE_Gamma ! Adaption gain of the wind speed estimator algorithm [m/rad] - REAL(4) :: WE_GearboxRatio ! Gearbox ratio, >=1 [-] - REAL(4) :: WE_Jtot ! Total drivetrain inertia, including blades, hub and casted generator inertia to LSS [kg m^2] - REAL(4) :: WE_RhoAir ! Air density [kg m^-3] - CHARACTER(1024) :: PerfFileName ! File containing rotor performance tables (Cp,Ct,Cq) - INTEGER(4), DIMENSION(:), ALLOCATABLE :: PerfTableSize ! Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios - INTEGER(4) :: WE_FOPoles_N ! Number of first-order system poles used in EKF - REAL(4), DIMENSION(:), ALLOCATABLE :: WE_FOPoles_v ! Wind speeds corresponding to first-order system poles [m/s] - REAL(4), DIMENSION(:), ALLOCATABLE :: WE_FOPoles ! First order system poles - - INTEGER(4) :: Y_ControlMode ! Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} - REAL(4) :: Y_ErrThresh ! Error threshold [rad]. Turbine begins to yaw when it passes this. (104.71975512) -- 1.745329252 - REAL(4) :: Y_IPC_IntSat ! Integrator saturation (maximum signal amplitude contrbution to pitch from yaw-by-IPC) - INTEGER(4) :: Y_IPC_n ! Number of controller gains (yaw-by-IPC) - REAL(4), DIMENSION(:), ALLOCATABLE :: Y_IPC_KP ! Yaw-by-IPC proportional controller gain Kp - REAL(4), DIMENSION(:), ALLOCATABLE :: Y_IPC_KI ! Yaw-by-IPC integral controller gain Ki - REAL(4) :: Y_IPC_omegaLP ! Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. - REAL(4) :: Y_IPC_zetaLP ! Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. - REAL(4) :: Y_MErrSet ! Yaw alignment error, setpoint [rad] - REAL(4) :: Y_omegaLPFast ! Corner frequency fast low pass filter, 1.0 [Hz] - REAL(4) :: Y_omegaLPSlow ! Corner frequency slow low pass filter, 1/60 [Hz] - REAL(4) :: Y_Rate ! Yaw rate [rad/s] - - INTEGER(4) :: Z_EnableSine ! Enable/disable sine pitch excitation - REAL(4) :: Z_PitchAmplitude ! Amplitude of sine pitch excitation - REAL(4) :: Z_PitchFrequency ! Frequency of sine pitch excitation - - INTEGER(4) :: PS_Mode ! Peak shaving mode {0: no peak shaving, 1: implement peak shaving} - INTEGER(4) :: PS_BldPitchMin_N ! Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) - REAL(4), DIMENSION(:), ALLOCATABLE :: PS_WindSpeeds ! Wind speeds corresponding to minimum blade pitch angles [m/s] - REAL(4), DIMENSION(:), ALLOCATABLE :: PS_BldPitchMin ! Minimum blade pitch angles [rad] - - REAL(4) :: PC_RtTq99 ! 99% of the rated torque value, using for switching between pitch and torque control, [Nm]. - REAL(4) :: VS_MaxOMTq ! Maximum torque at the end of the below-rated region 2, [Nm] - REAL(4) :: VS_MinOMTq ! Minimum torque at the beginning of the below-rated region 2, [Nm] - REAL(4) :: VS_Rgn3Pitch ! Pitch angle at which the state machine switches to region 3, [rad]. -END TYPE ControlParameters - -TYPE, PUBLIC :: LocalVariables - ! ---------- From avrSWAP ---------- - INTEGER(4) :: iStatus - REAL(4) :: Time - REAL(4) :: DT - REAL(4) :: VS_GenPwr - REAL(4) :: GenSpeed - REAL(4) :: RotSpeed - REAL(4) :: Y_M - REAL(4) :: HorWindV - REAL(4) :: rootMOOP(3) - REAL(4) :: BlPitch(3) - REAL(4) :: Azimuth - INTEGER(4) :: NumBl - - ! ---------- -Internal controller variables ---------- - REAL(4) :: FA_Acc ! Tower fore-aft acceleration [m/s^2] - REAL(4) :: FA_AccHPF ! High-pass filtered fore-aft acceleration [m/s^2] - REAL(4) :: FA_AccHPFI ! Tower velocity, high-pass filtered and integrated fore-aft acceleration [m/s] - REAL(4) :: FA_PitCom(3) ! Tower fore-aft vibration damping pitch contribution [rad] - REAL(4) :: GenSpeedF ! Filtered HSS (generator) speed [rad/s]. - REAL(4) :: GenTq ! Electrical generator torque, [Nm]. - REAL(4) :: GenTqMeas ! Measured generator torque [Nm] - REAL(4) :: GenArTq ! Electrical generator torque, for above-rated PI-control [Nm]. - REAL(4) :: GenBrTq ! Electrical generator torque, for below-rated PI-control [Nm]. - INTEGER(4) :: GlobalState ! Current global state to determine the behavior of the different controllers [-]. - REAL(4) :: IPC_PitComF(3) ! Commanded pitch of each blade as calculated by the individual pitch controller, F stands for low-pass filtered [rad]. - REAL(4) :: PC_KP ! Proportional gain for pitch controller at rated pitch (zero) [s]. - REAL(4) :: PC_KI ! Integral gain for pitch controller at rated pitch (zero) [-]. - REAL(4) :: PC_KD ! Differential gain for pitch controller at rated pitch (zero) [-]. - REAL(4) :: PC_TF ! First-order filter parameter for derivative action - REAL(4) :: PC_MaxPit ! Maximum pitch setting in pitch controller (variable) [rad]. - REAL(4) :: PC_MinPit ! Minimum pitch setting in pitch controller (variable) [rad]. - REAL(4) :: PC_PitComT ! Total command pitch based on the sum of the proportional and integral terms [rad]. - REAL(4) :: PC_PitComT_IPC(3) ! Total command pitch based on the sum of the proportional and integral terms, including IPC term [rad]. - REAL(4) :: PC_PwrErr ! Power error with respect to rated power [W] - REAL(4) :: PC_SineExcitation ! Sine contribution to pitch signal - REAL(4) :: PC_SpdErr ! Current speed error (pitch control) [rad/s]. - INTEGER(4) :: PC_State ! State of the pitch control system - REAL(4) :: PitCom(3) ! Commanded pitch of each blade the last time the controller was called [rad]. - REAL(4) :: SS_DelOmegaF ! Filtered setpoint shifting term defined in setpoint smoother [rad/s]. - REAL(4) :: TestType ! Test variable, no use - REAL(4) :: VS_LastGenTrq ! Commanded electrical generator torque the last time the controller was called [Nm]. - REAL(4) :: VS_MechGenPwr ! Mechanical power on the generator axis [W] - REAL(4) :: VS_SpdErrAr ! Current speed error for region 2.5 PI controller (generator torque control) [rad/s]. - REAL(4) :: VS_SpdErrBr ! Current speed error for region 1.5 PI controller (generator torque control) [rad/s]. - REAL(4) :: VS_SpdErr ! Current speed error for tip-speed-ratio tracking controller (generator torque control) [rad/s]. - INTEGER(4) :: VS_State ! State of the torque control system - REAL(4) :: WE_Vw ! Estimated wind speed [m/s] - REAL(4) :: WE_VwI ! Integrated wind speed quantity for estimation [m/s] - REAL(4) :: WE_VwIdot ! Differentiated integrated wind speed quantity for estimation [m/s] - REAL(4) :: Y_AccErr ! Accumulated yaw error [rad]. - REAL(4) :: Y_ErrLPFFast ! Filtered yaw error by fast low pass filter [rad]. - REAL(4) :: Y_ErrLPFSlow ! Filtered yaw error by slow low pass filter [rad]. - REAL(4) :: Y_MErr ! Measured yaw error, measured + setpoint [rad]. - REAL(4) :: Y_YawEndT ! Yaw end time [s]. Indicates the time up until which yaw is active with a fixed rate - END TYPE LocalVariables - -TYPE, PUBLIC :: ObjectInstances - INTEGER(4) :: instLPF - INTEGER(4) :: instSecLPF - INTEGER(4) :: instHPF - INTEGER(4) :: instNotchSlopes - INTEGER(4) :: instNotch - INTEGER(4) :: instPI -END TYPE ObjectInstances - -TYPE, PUBLIC :: PerformanceData - REAL(4), DIMENSION(:), ALLOCATABLE :: TSR_vec - REAL(4), DIMENSION(:), ALLOCATABLE :: Beta_vec - REAL(4), DIMENSION(:,:), ALLOCATABLE :: Cp_mat - REAL(4), DIMENSION(:,:), ALLOCATABLE :: Ct_mat - REAL(4), DIMENSION(:,:), ALLOCATABLE :: Cq_mat -END TYPE PerformanceData - -END MODULE DRC_Types \ No newline at end of file diff --git a/DRC_Fortran/Source/Filters.f90 b/DRC_Fortran/Source/Filters.f90 deleted file mode 100644 index f6dc0e4ce..000000000 --- a/DRC_Fortran/Source/Filters.f90 +++ /dev/null @@ -1,258 +0,0 @@ -!------------------------------------------------------------------------------------------------------------------------------- -! This module contains all the filters -MODULE Filters -!............................................................................................................................... - - IMPLICIT NONE - -CONTAINS - - !------------------------------------------------------------------------------------------------------------------------------- - ! Discrete time Low-Pass Filter - REAL FUNCTION LPFilter(InputSignal, DT, CornerFreq, iStatus, reset, inst) - !............................................................................................................................... - - ! Inputs - - REAL(4), INTENT(IN) :: InputSignal - REAL(4), INTENT(IN) :: DT ! time step [s] - REAL(4), INTENT(IN) :: CornerFreq ! corner frequency [rad/s] - INTEGER(4), INTENT(IN) :: iStatus ! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation. - INTEGER(4), INTENT(INOUT) :: inst ! Instance number. Every instance of this function needs to have an unique instance number to ensure instances don't influence each other. - LOGICAL(4), INTENT(IN) :: reset ! Reset the filter to the input signal - - ! Local - - REAL(4), DIMENSION(99), SAVE :: InputSignalLast ! Input signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast ! Output signal the last time this filter was called. Supports 99 separate instances. - - ! Initialization - - IF ((iStatus == 0) .OR. reset) THEN - OutputSignalLast(inst) = InputSignal - InputSignalLast(inst) = InputSignal - ENDIF - - ! Body - - LPFilter = (DT*CornerFreq*InputSignal + DT*CornerFreq*InputSignalLast(inst) - (DT*CornerFreq-2.0)*OutputSignalLast(inst))/(DT*CornerFreq+2.0) - - ! Save signals for next time step - - InputSignalLast(inst) = InputSignal - OutputSignalLast(inst) = LPFilter - inst = inst + 1 - - END FUNCTION LPFilter - !------------------------------------------------------------------------------------------------------------------------------- - ! Discrete time second order Low-Pass Filter - REAL FUNCTION SecLPFilter(InputSignal, DT, CornerFreq, Damp, iStatus, reset, inst) - !............................................................................................................................... - - IMPLICIT NONE - - ! Inputs - - REAL(4), INTENT(IN) :: InputSignal - REAL(4), INTENT(IN) :: DT ! time step [s] - REAL(4), INTENT(IN) :: CornerFreq ! corner frequency [rad/s] - REAL(4), INTENT(IN) :: Damp ! Dampening constant - INTEGER(4), INTENT(IN) :: iStatus ! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation. - INTEGER(4), INTENT(INOUT) :: inst ! Instance number. Every instance of this function needs to have an unique instance number to ensure instances don't influence each other. - LOGICAL(4), INTENT(IN) :: reset ! Reset the filter to the input signal - - ! Local - - REAL(4), DIMENSION(99), SAVE :: InputSignalLast1 ! Input signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: InputSignalLast2 ! Input signal the next to last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast1 ! Output signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast2 ! Output signal the next to last time this filter was called. Supports 99 separate instances. - - ! Initialization - - IF ((iStatus == 0) .OR. reset ) THEN - OutputSignalLast1(inst) = InputSignal - OutputSignalLast2(inst) = InputSignal - InputSignalLast1(inst) = InputSignal - InputSignalLast2(inst) = InputSignal - ENDIF - - ! Body - - SecLPFilter = 1/(4+4*DT*Damp*CornerFreq+DT**2*CornerFreq**2) * ( (8-2*DT**2*CornerFreq**2)*OutputSignalLast1(inst) & - + (-4+4*DT*Damp*CornerFreq-DT**2*CornerFreq**2)*OutputSignalLast2(inst) + (DT**2*CornerFreq**2)*InputSignal & - + (2*DT**2*CornerFreq**2)*InputSignalLast1(inst) + (DT**2*CornerFreq**2)*InputSignalLast2(inst) ) - - ! Save signals for next time step - - InputSignalLast2(inst) = InputSignalLast1 (inst) - InputSignalLast1(inst) = InputSignal - OutputSignalLast2(inst) = OutputSignalLast1 (inst) - OutputSignalLast1(inst) = SecLPFilter - inst = inst + 1 - - END FUNCTION SecLPFilter - !------------------------------------------------------------------------------------------------------------------------------- - ! Discrete time High-Pass Filter - REAL FUNCTION HPFilter( InputSignal, DT, CornerFreq, iStatus, reset, inst) - !............................................................................................................................... - - ! Inputs - - REAL(4), INTENT(IN) :: InputSignal - REAL(4), INTENT(IN) :: DT ! time step [s] - REAL(4), INTENT(IN) :: CornerFreq ! corner frequency [rad/s] - INTEGER, INTENT(IN) :: iStatus ! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation. - INTEGER, INTENT(INOUT) :: inst ! Instance number. Every instance of this function needs to have an unique instance number to ensure instances don't influence each other. - LOGICAL(4), INTENT(IN) :: reset ! Reset the filter to the input signal - - ! Local - - REAL(4) :: K ! Constant gain - REAL(4), DIMENSION(99), SAVE :: InputSignalLast ! Input signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast ! Output signal the last time this filter was called. Supports 99 separate instances. - - ! Initialization - - IF ((iStatus == 0) .OR. reset) THEN - OutputSignalLast(inst) = InputSignal - InputSignalLast(inst) = InputSignal - ENDIF - - K = 2.0 / DT - - ! Body - - HPFilter = K/(CornerFreq + K)*InputSignal - K/(CornerFreq + K)*InputSignalLast(inst) - (CornerFreq - K)/(CornerFreq + K)*OutputSignalLast(inst) - - ! Save signals for next time step - - InputSignalLast(inst) = InputSignal - OutputSignalLast(inst) = HPFilter - inst = inst + 1 - - END FUNCTION HPFilter - !------------------------------------------------------------------------------------------------------------------------------- - ! Discrete time inverted Notch Filter with descending slopes, G = CornerFreq*s/(Damp*s^2+CornerFreq*s+Damp*CornerFreq^2) - REAL FUNCTION NotchFilterSlopes(InputSignal, DT, CornerFreq, Damp, iStatus, reset, inst) - !............................................................................................................................... - - ! Inputs - - REAL(4), INTENT(IN) :: InputSignal - REAL(4), INTENT(IN) :: DT ! time step [s] - REAL(4), INTENT(IN) :: CornerFreq ! corner frequency [rad/s] - REAL(4), INTENT(IN) :: Damp ! Dampening constant - INTEGER, INTENT(IN) :: iStatus ! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation. - INTEGER, INTENT(INOUT) :: inst ! Instance number. Every instance of this function needs to have an unique instance number to ensure instances don't influence each other. - LOGICAL(4), INTENT(IN) :: reset ! Reset the filter to the input signal - - ! Local - - REAL(4), DIMENSION(99), SAVE :: InputSignalLast1 ! Input signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: InputSignalLast2 ! Input signal the next to last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast1 ! Output signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast2 ! Output signal the next to last time this filter was called. Supports 99 separate instances. - - ! Initialization - - IF ((iStatus == 0) .OR. reset) THEN - OutputSignalLast1(inst) = InputSignal - OutputSignalLast2(inst) = InputSignal - InputSignalLast1(inst) = InputSignal - InputSignalLast2(inst) = InputSignal - ENDIF - - ! Body - - NotchFilterSlopes = 1.0/(4.0+2.0*DT*Damp*CornerFreq+DT**2.0*CornerFreq**2.0) * ( (8.0-2.0*DT**2.0*CornerFreq**2.0)*OutputSignalLast1(inst) & - + (-4.0+2.0*DT*Damp*CornerFreq-DT**2.0*CornerFreq**2.0)*OutputSignalLast2(inst) + & - (2.0*DT*Damp*CornerFreq)*InputSignal + (-2.0*DT*Damp*CornerFreq)*InputSignalLast2(inst) ) - - ! Save signals for next time step - - InputSignalLast2(inst) = InputSignalLast1(inst) - InputSignalLast1(inst) = InputSignal !Save input signal for next time step - OutputSignalLast2(inst) = OutputSignalLast1(inst) !Save input signal for next time step - OutputSignalLast1(inst) = NotchFilterSlopes - inst = inst + 1 - - END FUNCTION NotchFilterSlopes - !------------------------------------------------------------------------------------------------------------------------------- - ! Discrete time Notch Filter, G = (s^2 + 2*omega*betaNum*s + omega^2)/(s^2 + 2*omega*betaDen*s + omega^2) - REAL FUNCTION NotchFilter(InputSignal, DT, omega, betaNum, betaDen, iStatus, reset, inst) - !............................................................................................................................... - - ! Inputs - - REAL(4), INTENT(IN) :: InputSignal - REAL(4), INTENT(IN) :: DT ! time step [s] - REAL(4), INTENT(IN) :: omega ! corner frequency [rad/s] - REAL(4), INTENT(IN) :: betaNum ! Dampening constant in numerator of filter transfer function - REAL(4), INTENT(IN) :: betaDen ! Dampening constant in denominator of filter transfer function - INTEGER, INTENT(IN) :: iStatus ! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation. - INTEGER, INTENT(INOUT) :: inst ! Instance number. Every instance of this function needs to have an unique instance number to ensure instances don't influence each other. - LOGICAL(4), INTENT(IN) :: reset ! Reset the filter to the input signal - - ! Local - REAL(4) :: K, P1, P2, P3, P4, P5 ! Constant gain - REAL(4), DIMENSION(99), SAVE :: InputSignalLast1 ! Input signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: InputSignalLast2 ! Input signal the next to last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast1 ! Output signal the last time this filter was called. Supports 99 separate instances. - REAL(4), DIMENSION(99), SAVE :: OutputSignalLast2 ! Output signal the next to last time this filter was called. Supports 99 separate instances. - - ! Initialization - - IF ((iStatus == 0) .OR. reset) THEN - OutputSignalLast1(inst) = InputSignal - OutputSignalLast2(inst) = InputSignal - InputSignalLast1(inst) = InputSignal - InputSignalLast2(inst) = InputSignal - ENDIF - - K = 2/DT - P1 = (K**2 + 2*omega*BetaNum*K + omega**2)/(K**2 + 2*omega*BetaDen*K + omega**2) - P2 = (2*omega**2 - 2*K**2) / (K**2 + 2*omega*BetaDen*K + omega**2); - P3 = (K**2 - 2*omega*BetaNum*K + omega**2) / (K**2 + 2*omega*BetaDen*K + omega**2) - P4 = (2*omega**2 - 2*K**2) / (K**2 + 2*omega*BetaDen*K + omega**2) - P5 = (K**2 - 2*omega*BetaDen*K + omega**2)/ (K**2 + 2*omega*BetaDen*K + omega**2) - - ! Body - NotchFilter = P1*InputSignal + P2*InputSignalLast1(inst) + P3*InputSignalLast2(inst) - P4*OutputSignalLast1(inst) - P5*OutputSignalLast2(inst) - - ! Save signals for next time step - InputSignalLast2(inst) = InputSignalLast1(inst) - InputSignalLast1(inst) = InputSignal !Save input signal for next time step - OutputSignalLast2(inst) = OutputSignalLast1(inst) !Save input signal for next time step - OutputSignalLast1(inst) = NotchFilter - inst = inst + 1 - - END FUNCTION NotchFilter - !------------------------------------------------------------------------------------------------------------------------------- - ! Prefilter measured wind turbine signals to separate the filtering from the actual control actions - SUBROUTINE PreFilterMeasuredSignals(CntrPar, LocalVar, objInst) - !............................................................................................................................... - - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - - ! Filter the HSS (generator) speed measurement: - ! Apply Low-Pass Filter (choice between first- and second-order low-pass filter) - IF (CntrPar%F_LPFType == 1) THEN - LocalVar%GenSpeedF = LPFilter(LocalVar%GenSpeed, LocalVar%DT, CntrPar%F_LPFCornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF) - ELSEIF (CntrPar%F_LPFType == 2) THEN - LocalVar%GenSpeedF = SecLPFilter(LocalVar%GenSpeed, LocalVar%DT, CntrPar%F_LPFCornerFreq, CntrPar%F_LPFDamping, LocalVar%iStatus, .FALSE., objInst%instSecLPF) ! Second-order low-pass filter on generator speed - END IF - - IF (CntrPar%F_NotchType == 1) THEN - LocalVar%GenSpeedF = NotchFilter(LocalVar%GenSpeedF, LocalVar%DT, CntrPar%F_NotchCornerFreq, CntrPar%F_NotchBetaNumDen(1), CntrPar%F_NotchBetaNumDen(2), LocalVar%iStatus, .FALSE., objInst%instNotch) - END IF - - ! Filtering the tower fore-aft acceleration signal - LocalVar%FA_AccHPF = HPFilter(LocalVar%FA_Acc, LocalVar%DT, CntrPar%FA_HPFCornerFreq, LocalVar%iStatus, .FALSE., objInst%instHPF) - - END SUBROUTINE PreFilterMeasuredSignals - END MODULE Filters diff --git a/DRC_Fortran/Source/Functions.f90 b/DRC_Fortran/Source/Functions.f90 deleted file mode 100644 index 5c41b3969..000000000 --- a/DRC_Fortran/Source/Functions.f90 +++ /dev/null @@ -1,465 +0,0 @@ -! This module contains basic functions -MODULE Functions - -USE Constants -USE Filters - -IMPLICIT NONE - -CONTAINS - !------------------------------------------------------------------------------------------------------------------------------- - ! Saturates inputValue. Makes sure it is not smaller than minValue and not larger than maxValue - REAL FUNCTION saturate(inputValue, minValue, maxValue) - ! - - IMPLICIT NONE - - REAL(4), INTENT(IN) :: inputValue - REAL(4), INTENT(IN) :: minValue - REAL(4), INTENT(IN) :: maxValue - - saturate = MIN(MAX(inputValue,minValue), maxValue) - - END FUNCTION saturate - !------------------------------------------------------------------------------------------------------------------------------- - ! Saturates inputValue. Makes sure it is not smaller than minValue and not larger than maxValue - REAL FUNCTION ratelimit(inputSignal, inputSignalPrev, minRate, maxRate, DT) - ! - IMPLICIT NONE - - REAL(4), INTENT(IN) :: inputSignal - REAL(4), INTENT(IN) :: inputSignalPrev - REAL(4), INTENT(IN) :: minRate - REAL(4), INTENT(IN) :: maxRate - REAL(4), INTENT(IN) :: DT - - ! Local variables - REAL(4) :: rate - - rate = (inputSignal - inputSignalPrev)/DT ! Signal rate (unsaturated) - rate = saturate(rate, minRate, maxRate) ! Saturate the signal rate - ratelimit = inputSignalPrev + rate*DT ! Saturate the overall command using the rate limit - - END FUNCTION ratelimit - !------------------------------------------------------------------------------------------------------------------------------- - ! PI controller, with output saturation - REAL FUNCTION PIController(error, kp, ki, minValue, maxValue, DT, I0, reset, inst) - ! - IMPLICIT NONE - - ! Allocate Inputs - REAL(4), INTENT(IN) :: error - REAL(4), INTENT(IN) :: kp - REAL(4), INTENT(IN) :: ki - REAL(4), INTENT(IN) :: minValue - REAL(4), INTENT(IN) :: maxValue - REAL(4), INTENT(IN) :: DT - INTEGER(4), INTENT(INOUT) :: inst - REAL(4), INTENT(IN) :: I0 - LOGICAL, INTENT(IN) :: reset - - ! Allocate local variables - INTEGER(4) :: i ! Counter for making arrays - REAL(4) :: PTerm ! Proportional term - REAL(4), DIMENSION(99), SAVE :: ITerm = (/ (real(9999.9), i = 1,99) /) ! Integral term, current. - REAL(4), DIMENSION(99), SAVE :: ITermLast = (/ (real(9999.9), i = 1,99) /) ! Integral term, the last time this controller was called. Supports 99 separate instances. - INTEGER(4), DIMENSION(99), SAVE :: FirstCall = (/ (1, i=1,99) /) ! First call of this function? - - ! Initialize persistent variables/arrays, and set inital condition for integrator term - IF ((FirstCall(inst) == 1) .OR. reset) THEN - ITerm(inst) = I0 - ITermLast(inst) = I0 - - FirstCall(inst) = 0 - PIController = I0 - ELSE - PTerm = kp*error - ITerm(inst) = ITerm(inst) + DT*ki*error - ITerm(inst) = saturate(ITerm(inst), minValue, maxValue) - PIController = PTerm + ITerm(inst) - PIController = saturate(PIController, minValue, maxValue) - - ITermLast(inst) = ITerm(inst) - END IF - inst = inst + 1 - - END FUNCTION PIController - !------------------------------------------------------------------------------------------------------------------------------- - ! interp1d 1-D interpolation (table lookup), xData should be monotonically increasing - REAL FUNCTION interp1d(xData, yData, xq) - ! - IMPLICIT NONE - ! Inputs - REAL(4), DIMENSION(:), INTENT(IN) :: xData ! Provided x data (vector), to be interpolated - REAL(4), DIMENSION(:), INTENT(IN) :: yData ! Provided y data (vector), to be interpolated - REAL(4), INTENT(IN) :: xq ! x-value for which the y value has to be interpolated - INTEGER(4) :: I ! Iteration index - - IF (xq <= MINVAL(xData)) THEN - interp1d = yData(1) - ELSEIF (xq >= MAXVAL(xData)) THEN - interp1d = yData(SIZE(xData)) - ELSE - DO I = 1, SIZE(xData) - IF (xq <= xData(I)) THEN - interp1d = yData(I-1) + (yData(I) - yData(I-1))/(xData(I) - xData(I-1))*(xq - xData(I-1)) - EXIT - ELSE - CONTINUE - END IF - END DO - END IF - - END FUNCTION interp1d - !------------------------------------------------------------------------------------------------------------------------------- - ! interp2d 2-D interpolation (table lookup). Query done using bilinear interpolation. - REAL FUNCTION interp2d(xData, yData, zData, xq, yq) - ! Note that the interpolated matrix with associated query vectors may be different than "standard", - zData should be formatted accordingly - ! - xData follows the matrix from left to right - ! - yData follows the matrix from top to bottom - ! A simple case: xData = [1 2 3], yData = [4 5 6] - ! | 1 2 3 - ! ------------- - ! 4| a b c - ! 5| d e f - ! 6| g H i - - IMPLICIT NONE - ! Inputs - REAL(4), DIMENSION(:), INTENT(IN) :: xData ! Provided x data (vector), to find query point (should be monotonically increasing) - REAL(4), DIMENSION(:), INTENT(IN) :: yData ! Provided y data (vector), to find query point (should be monotonically increasing) - REAL(4), DIMENSION(:,:), INTENT(IN) :: zData ! Provided z data (vector), to be interpolated - REAL(4), INTENT(IN) :: xq ! x-value for which the z value has to be interpolated - REAL(4), INTENT(IN) :: yq ! y-value for which the z value has to be interpolated - ! Allocate variables - INTEGER(4) :: i ! Iteration index & query index, x-direction - INTEGER(4) :: ii ! Iteration index & second que . ry index, x-direction - INTEGER(4) :: j ! Iteration index & query index, y-direction - INTEGER(4) :: jj ! Iteration index & second query index, y-direction - REAL(4), DIMENSION(2,2) :: fQ ! zData value at query points for bilinear interpolation - REAL(4), DIMENSION(1) :: fxy ! Interpolated z-data point to be returned - REAL(4) :: fxy1 ! zData value at query point for bilinear interpolation - REAL(4) :: fxy2 ! zData value at query point for bilinear interpolation - - ! ---- Find corner indices surrounding desired interpolation point ----- - ! x-direction - IF (xq <= MINVAL(xData)) THEN ! On lower x-bound, just need to find zData(yq) - j = 1 - jj = 1 - interp2d = interp1d(yData,zData(:,j),yq) - RETURN - ELSEIF (xq >= MAXVAL(xData)) THEN ! On upper x-bound, just need to find zData(yq) - j = size(xData) - jj = size(xData) - interp2d = interp1d(yData,zData(:,j),yq) - RETURN - ELSE - DO j = 1,size(xData) ! On axis, just need 1d interpolation - IF (xq == xData(j)) THEN - jj = j - interp2d = interp1d(yData,zData(:,j),yq) - RETURN - ELSEIF (xq <= xData(j)) THEN - jj = j - EXIT - ELSE - CONTINUE - END IF - END DO - ENDIF - j = j-1 ! Move j back one - ! y-direction - IF (yq <= MINVAL(yData)) THEN ! On lower y-bound, just need to find zData(xq) - i = 1 - ii = 1 - interp2d = interp1d(xData,zData(i,:),xq) - RETURN - ELSEIF (yq >= MAXVAL(yData)) THEN ! On upper y-bound, just need to find zData(xq) - i = size(yData) - ii = size(yData) - interp2d = interp1d(xData,zData(i,:),xq) - RETURN - ELSE - DO i = 1,size(yData) - IF (yq == yData(i)) THEN ! On axis, just need 1d interpolation - ii = i - interp2d = interp1d(yData,zData(i,:),xq) - RETURN - ELSEIF (yq <= yData(i)) THEN - ii = i - EXIT - ELSE - CONTINUE - END IF - END DO - ENDIF - i = i-1 ! move i back one - - ! ---- Do bilinear interpolation ---- - - ! Find values at corners - fQ(1,1) = zData(i,j) - fQ(2,1) = zData(ii,j) - fQ(1,2) = zData(i,jj) - fQ(2,2) = zData(ii,jj) - - ! fQ(1,1) = zData(size(yData) - i,j) - ! fQ(2,1) = zData(size(yData) - ii,j) - ! fQ(1,2) = zData(size(yData) - i,jj) - ! fQ(2,2) = zData(size(yData) - ii,jj) - - ! ! Interpolate - fxy1 = (xData(jj) - xq)/(xData(jj) - xData(j))*fQ(1,1) + (xq - xData(j))/(xData(jj) - xData(j))*fQ(2,1) - fxy2 = (xData(jj) - xq)/(xData(jj) - xData(j))*fQ(1,2) + (xq - xData(j))/(xData(jj) - xData(j))*fQ(2,1) - fxy = (yData(ii) - yq)/(yData(ii) - yData(i))*fxy1 + (yq - yData(i))/(yData(ii) - yData(i))*fxy2 - - interp2d = fxy(1) - - - ! z = 1/(xData(ii) - xData(i)*(yData(jj) - yData(j))) * MATMUL( (/(xData(ii) - xq),(xq - xData(i))/), MATMUL( fQ , RESHAPE( (/ (yData(jj) - yq) , (yq - yData(j)) /),(/2,1/)) ) ) - ! interp2d = z(1) - - - END FUNCTION interp2d - !------------------------------------------------------------------------------------------------------------------------------- - ! Performs a direct calculation of the inverse of a 3×3 matrix. - ! Source: http://fortranwiki.org/fortran/show/Matrix+inversion - FUNCTION matinv3(A) RESULT(B) - REAL(4), INTENT(IN) :: A(3,3) !! Matrix - REAL(4) :: B(3,3) !! Inverse matrix - REAL(4) :: detinv - - ! Calculate the inverse determinant of the matrix - detinv = 1/(A(1,1)*A(2,2)*A(3,3) - A(1,1)*A(2,3)*A(3,2)& - - A(1,2)*A(2,1)*A(3,3) + A(1,2)*A(2,3)*A(3,1)& - + A(1,3)*A(2,1)*A(3,2) - A(1,3)*A(2,2)*A(3,1)) - - ! Calculate the inverse of the matrix - B(1,1) = +detinv * (A(2,2)*A(3,3) - A(2,3)*A(3,2)) - B(2,1) = -detinv * (A(2,1)*A(3,3) - A(2,3)*A(3,1)) - B(3,1) = +detinv * (A(2,1)*A(3,2) - A(2,2)*A(3,1)) - B(1,2) = -detinv * (A(1,2)*A(3,3) - A(1,3)*A(3,2)) - B(2,2) = +detinv * (A(1,1)*A(3,3) - A(1,3)*A(3,1)) - B(3,2) = -detinv * (A(1,1)*A(3,2) - A(1,2)*A(3,1)) - B(1,3) = +detinv * (A(1,2)*A(2,3) - A(1,3)*A(2,2)) - B(2,3) = -detinv * (A(1,1)*A(2,3) - A(1,3)*A(2,1)) - B(3,3) = +detinv * (A(1,1)*A(2,2) - A(1,2)*A(2,1)) - END FUNCTION matinv3 - !------------------------------------------------------------------------------------------------------------------------------- - ! Produces an identity matrix of size n x n - FUNCTION identity(n) RESULT(A) - ! Allocate variables - INTEGER, INTENT(IN) :: n - REAL(4), DIMENSION(n, n) :: A - INTEGER :: i - INTEGER :: j - - ! Build identity matrix - DO i=1,n - DO j = 1,n - IF (i == j) THEN - A(i,j) = 1.0 - ELSE - A(i,j) = 0.0 - ENDIF - ENDDO - ENDDO - - END FUNCTION identity - !------------------------------------------------------------------------------------------------------------------------------- - ! DF controller, with output saturation - REAL FUNCTION DFController(error, Kd, Tf, DT, inst) - ! - IMPLICIT NONE - - ! Inputs - REAL(4), INTENT(IN) :: error - REAL(4), INTENT(IN) :: kd - REAL(4), INTENT(IN) :: tf - REAL(4), INTENT(IN) :: DT - INTEGER(4), INTENT(IN) :: inst - - ! Local - REAL(4) :: B ! - INTEGER(4) :: i ! Counter for making arrays - REAL(4), DIMENSION(99), SAVE :: errorLast = (/ (0, i=1,99) /) ! - REAL(4), DIMENSION(99), SAVE :: DFControllerLast = (/ (0, i=1,99) /) ! - INTEGER(4), DIMENSION(99), SAVE :: FirstCall = (/ (1, i=1,99) /) ! First call of this function? - - ! Initialize persistent variables/arrays, and set inital condition for integrator term - ! IF (FirstCall(inst) == 1) THEN - ! FirstCall(inst) = 0 - ! END IF - - B = 2.0/DT - DFController = (Kd*B)/(B*Tf+1.0)*error - (Kd*B)/(B*Tf+1.0)*errorLast(inst) - (1.0-B*Tf)/(B*Tf+1.0)*DFControllerLast(inst) - - errorLast(inst) = error - DFControllerLast(inst) = DFController - END FUNCTION DFController - !------------------------------------------------------------------------------------------------------------------------------- - !The Coleman or d-q axis transformation transforms the root out of plane bending moments of each turbine blade - !to a direct axis and a quadrature axis - SUBROUTINE ColemanTransform(rootMOOP, aziAngle, nHarmonic, axTOut, axYOut) - !............................................................................................................................... - - IMPLICIT NONE - - ! Inputs - - REAL(4), INTENT(IN) :: rootMOOP(3) ! Root out of plane bending moments of each blade - REAL(4), INTENT(IN) :: aziAngle ! Rotor azimuth angle - INTEGER(4), INTENT(IN) :: nHarmonic ! The harmonic number, nP - - ! Outputs - - REAL(4), INTENT(OUT) :: axTOut, axYOut ! Direct axis and quadrature axis outputted by this transform - - ! Local - - REAL(4), PARAMETER :: phi2 = 2.0/3.0*PI ! Phase difference from first to second blade - REAL(4), PARAMETER :: phi3 = 4.0/3.0*PI ! Phase difference from first to third blade - - ! Body - - axTOut = 2.0/3.0 * (cos(nHarmonic*(aziAngle))*rootMOOP(1) + cos(nHarmonic*(aziAngle+phi2))*rootMOOP(2) + cos(nHarmonic*(aziAngle+phi3))*rootMOOP(3)) - axYOut = 2.0/3.0 * (sin(nHarmonic*(aziAngle))*rootMOOP(1) + sin(nHarmonic*(aziAngle+phi2))*rootMOOP(2) + sin(nHarmonic*(aziAngle+phi3))*rootMOOP(3)) - - END SUBROUTINE ColemanTransform - !------------------------------------------------------------------------------------------------------------------------------- - !The inverse Coleman or d-q axis transformation transforms the direct axis and quadrature axis - !back to root out of plane bending moments of each turbine blade - SUBROUTINE ColemanTransformInverse(axTIn, axYIn, aziAngle, nHarmonic, aziOffset, PitComIPC) - !............................................................................................................................... - - IMPLICIT NONE - - ! Inputs - - REAL(4), INTENT(IN) :: axTIn, axYIn ! Direct axis and quadrature axis - REAL(4), INTENT(IN) :: aziAngle ! Rotor azimuth angle - REAL(4), INTENT(IN) :: aziOffset ! Phase shift added to the azimuth angle - INTEGER(4), INTENT(IN) :: nHarmonic ! The harmonic number, nP - - ! Outputs - - REAL(4), INTENT(OUT) :: PitComIPC(3) ! Root out of plane bending moments of each blade - - ! Local - - REAL(4), PARAMETER :: phi2 = 2.0/3.0*PI ! Phase difference from first to second blade - REAL(4), PARAMETER :: phi3 = 4.0/3.0*PI ! Phase difference from first to third blade - - ! Body - - PitComIPC(1) = cos(nHarmonic*(aziAngle+aziOffset))*axTIn + sin(nHarmonic*(aziAngle+aziOffset))*axYIn - PitComIPC(2) = cos(nHarmonic*(aziAngle+aziOffset+phi2))*axTIn + sin(nHarmonic*(aziAngle+aziOffset+phi2))*axYIn - PitComIPC(3) = cos(nHarmonic*(aziAngle+aziOffset+phi3))*axTIn + sin(nHarmonic*(aziAngle+aziOffset+phi3))*axYIn - - END SUBROUTINE ColemanTransformInverse - !------------------------------------------------------------------------------------------------------------------------------- - !Paremeterized Cp(lambda) function for a fixed pitch angle. Circumvents the need of importing a look-up table - REAL FUNCTION CPfunction(CP, lambda) - IMPLICIT NONE - - ! Inputs - REAL(4), INTENT(IN) :: CP(4) ! Parameters defining the parameterizable Cp(lambda) function - REAL(4), INTENT(IN) :: lambda ! Estimated or measured tip-speed ratio input - - CPfunction = exp(-CP(1)/lambda)*(CP(2)/lambda-CP(3))+CP(4)*lambda - CPfunction = saturate(CPfunction, 0.001, 1.0) - - END FUNCTION CPfunction - !------------------------------------------------------------------------------------------------------------------------------- - !Function for computing the aerodynamic torque, divided by the effective rotor torque of the turbine, for use in wind speed estimation - REAL FUNCTION AeroDynTorque(LocalVar, CntrPar, PerfData) - USE DRC_Types, ONLY : LocalVariables, ControlParameters, PerformanceData - IMPLICIT NONE - - ! Inputs - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(IN) :: LocalVar - TYPE(PerformanceData), INTENT(IN) :: PerfData - - ! Local - REAL(4) :: RotorArea - REAL(4) :: Cp - REAL(4) :: Lambda - - RotorArea = PI*CntrPar%WE_BladeRadius**2 - Lambda = LocalVar%RotSpeed*CntrPar%WE_BladeRadius/LocalVar%WE_Vw - ! Cp = CPfunction(CntrPar%WE_CP, Lambda) - Cp = interp2d(PerfData%Beta_vec,PerfData%TSR_vec,PerfData%Cp_mat, LocalVar%BlPitch(1)*R2D, Lambda) - - AeroDynTorque = 0.5*(CntrPar%WE_RhoAir*RotorArea)*(LocalVar%WE_Vw**3/LocalVar%RotSpeed)*Cp - AeroDynTorque = MAX(AeroDynTorque, 0.0) - - - END FUNCTION AeroDynTorque - !------------------------------------------------------------------------------------------------------------------------------- - SUBROUTINE Debug(LocalVar, CntrPar, avrSWAP, RootName, size_avcOUTNAME) - USE, INTRINSIC :: ISO_C_Binding - USE DRC_Types, ONLY : LocalVariables, ControlParameters - - IMPLICIT NONE - - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(IN) :: LocalVar - - INTEGER(4), INTENT(IN) :: size_avcOUTNAME - INTEGER(4) :: I ! Generic index. - CHARACTER(1), PARAMETER :: Tab = CHAR(9) ! The tab character. - CHARACTER(25), PARAMETER :: FmtDat = "(F8.3,99('"//Tab//"',ES10.3E2,:)) " ! The format of the debugging data - INTEGER(4), PARAMETER :: UnDb = 85 ! I/O unit for the debugging information - INTEGER(4), PARAMETER :: UnDb2 = 86 ! I/O unit for the debugging information, avrSWAP - REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. - CHARACTER(size_avcOUTNAME-1), INTENT(IN) :: RootName ! a Fortran version of the input C string (not considered an array here) [subtract 1 for the C null-character] - - !.............................................................................................................................. - ! Initializing debug file - !.............................................................................................................................. - IF (LocalVar%iStatus == 0) THEN ! .TRUE. if we're on the first call to the DLL - ! If we're debugging, open the debug file and write the header: - IF (CntrPar%LoggingLevel > 0) THEN - !OPEN(unit=UnDb, FILE=TRIM(RootName)//'.dbg', STATUS='NEW') - OPEN(unit=UnDb, FILE='DEBUG.dbg') - WRITE (UnDb,'(A)') ' Time ' //Tab//' WE_TowerTop ' //Tab//' WE_Vw ' //Tab//' SS_DelOmega ' - WRITE (UnDb,'(A)') ' (sec) ' //Tab//'(m/s) ' //Tab//'(rad) ' - !WRITE (UnDb,'(A)') ' LocalVar%Time ' //Tab//'LocalVar%PC_PitComT ' //Tab//'LocalVar%PC_SpdErr ' //Tab//'LocalVar%PC_KP ' //Tab//'LocalVar%PC_KI ' //Tab//'LocalVar%Y_M ' //Tab//'LocalVar%rootMOOP(1) '//Tab//'VS_RtPwr '//Tab//'LocalVar%GenTq' - !WRITE (UnDb,'(A)') ' (sec) ' //Tab//'(rad) ' //Tab//'(rad/s) '//Tab//'(-) ' //Tab//'(-) ' //Tab//'(rad) ' //Tab//'(?) ' //Tab//'(W) '//Tab//'(Nm) ' - END IF - - IF (CntrPar%LoggingLevel > 1) THEN - !OPEN(UnDb2, FILE=TRIM(RootName)//'.dbg2', STATUS='REPLACE') - OPEN(unit=UnDb2, FILE='DEBUG2.dbg') - WRITE(UnDb2,'(/////)') - WRITE(UnDb2,'(A,85("'//Tab//'AvrSWAP(",I2,")"))') 'LocalVar%Time ', (i,i=1,85) - WRITE(UnDb2,'(A,85("'//Tab//'(-)"))') '(s)' - END IF - ELSE - ! Print simulation status, every 10 seconds - IF (MODULO(LocalVar%Time, 10.0) == 0) THEN - WRITE(*, 100) LocalVar%GenSpeedF*RPS2RPM, LocalVar%BlPitch(1)*R2D, avrSWAP(15)/1000.0, LocalVar%WE_Vw ! LocalVar%Time !/1000.0 - 100 FORMAT('Generator speed: ', f6.1, ' RPM, Pitch angle: ', f5.1, ' deg, Power: ', f7.1, ' kW, Est. wind Speed: ', f5.1, ' m/s') - ! PRINT *, LocalVar%PC_State, LocalVar%VS_State, CntrPar%VS_Rgn3Pitch, CntrPar%PC_FinePit, CntrPar%PC_Switch, LocalVar%BlPitch(1) ! Additional debug info - ! PRINT *, LocalVar%RotSpeed - END IF - - ! Output debugging information if requested: - IF (CntrPar%LoggingLevel > 0) THEN - WRITE (UnDb,FmtDat) LocalVar%Time, LocalVar%TestType, LocalVar%WE_Vw, LocalVar%SS_DelOmegaF - END IF - - IF (CntrPar%LoggingLevel > 1) THEN - WRITE (UnDb2,FmtDat) LocalVar%Time, avrSWAP(1:85) - END IF - END IF - - IF (MODULO(LocalVar%Time, 10.0) == 0.0) THEN - !LocalVar%TestType = LocalVar%TestType + 10 - !PRINT *, LocalVar%TestType - END IF - END SUBROUTINE Debug - !------------------------------------------------------------------------------------------------------------------------------- - -END MODULE Functions diff --git a/DRC_Fortran/Source/ReadSetParameters.f90 b/DRC_Fortran/Source/ReadSetParameters.f90 deleted file mode 100644 index d53fcf36f..000000000 --- a/DRC_Fortran/Source/ReadSetParameters.f90 +++ /dev/null @@ -1,560 +0,0 @@ -MODULE ReadSetParameters - - USE, INTRINSIC :: ISO_C_Binding - -USE Constants -USE Functions - - IMPLICIT NONE - -CONTAINS - ! ----------------------------------------------------------------------------------- - ! Read all constant control parameters from DISCON.IN parameter file - SUBROUTINE ReadControlParameterFileSub(CntrPar) - USE DRC_Types, ONLY : ControlParameters - - INTEGER(4), PARAMETER :: UnControllerParameters = 89 - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - - OPEN(unit=UnControllerParameters, file='DISCON.IN', status='old', action='read') - - !----------------------- HEADER ------------------------ - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) - - !----------------------- DEBUG -------------------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%LoggingLevel - READ(UnControllerParameters, *) - - !----------------- CONTROLLER FLAGS --------------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%F_LPFType - READ(UnControllerParameters, *) CntrPar%F_NotchType - READ(UnControllerParameters, *) CntrPar%IPC_ControlMode - READ(UnControllerParameters, *) CntrPar%VS_ControlMode - READ(UnControllerParameters, *) CntrPar%PC_ControlMode - READ(UnControllerParameters, *) CntrPar%Y_ControlMode - READ(UnControllerParameters, *) CntrPar%SS_Mode - READ(UnControllerParameters, *) CntrPar%WE_Mode - READ(UnControllerParameters, *) CntrPar%PS_Mode - READ(UnControllerParameters, *) - - !----------------- FILTER CONSTANTS --------------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%F_LPFCornerFreq - READ(UnControllerParameters, *) CntrPar%F_LPFDamping - READ(UnControllerParameters, *) CntrPar%F_NotchCornerFreq - ALLOCATE(CntrPar%F_NotchBetaNumDen(2)) - READ(UnControllerParameters,*) CntrPar%F_NotchBetaNumDen - READ(UnControllerParameters,*) CntrPar%F_SSCornerFreq - READ(UnControllerParameters, *) - - !----------- BLADE PITCH CONTROLLER CONSTANTS ----------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%PC_GS_n - ALLOCATE(CntrPar%PC_GS_angles(CntrPar%PC_GS_n)) - READ(UnControllerParameters,*) CntrPar%PC_GS_angles - ALLOCATE(CntrPar%PC_GS_KP(CntrPar%PC_GS_n)) - READ(UnControllerParameters,*) CntrPar%PC_GS_KP - ALLOCATE(CntrPar%PC_GS_KI(CntrPar%PC_GS_n)) - READ(UnControllerParameters,*) CntrPar%PC_GS_KI - ALLOCATE(CntrPar%PC_GS_KD(CntrPar%PC_GS_n)) - READ(UnControllerParameters,*) CntrPar%PC_GS_KD - ALLOCATE(CntrPar%PC_GS_TF(CntrPar%PC_GS_n)) - READ(UnControllerParameters,*) CntrPar%PC_GS_TF - READ(UnControllerParameters, *) CntrPar%PC_MaxPit - READ(UnControllerParameters, *) CntrPar%PC_MinPit - READ(UnControllerParameters, *) CntrPar%PC_MaxRat - READ(UnControllerParameters, *) CntrPar%PC_MinRat - READ(UnControllerParameters, *) CntrPar%PC_RefSpd - READ(UnControllerParameters, *) CntrPar%PC_FinePit - READ(UnControllerParameters, *) CntrPar%PC_Switch - !-- sine pitch excitiation -- - READ(UnControllerParameters, *) CntrPar%Z_EnableSine - READ(UnControllerParameters, *) CntrPar%Z_PitchAmplitude - READ(UnControllerParameters, *) CntrPar%Z_PitchFrequency - READ(UnControllerParameters, *) - - !------------------- IPC CONSTANTS ----------------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%IPC_IntSat - ALLOCATE(CntrPar%IPC_KI(2)) - READ(UnControllerParameters,*) CntrPar%IPC_KI - ALLOCATE(CntrPar%IPC_aziOffset(2)) - READ(UnControllerParameters,*) CntrPar%IPC_aziOffset - READ(UnControllerParameters, *) CntrPar%IPC_CornerFreqAct - READ(UnControllerParameters, *) - - !------------ VS TORQUE CONTROL CONSTANTS ---------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%VS_GenEff - READ(UnControllerParameters, *) CntrPar%VS_ArSatTq - READ(UnControllerParameters, *) CntrPar%VS_MaxRat - READ(UnControllerParameters, *) CntrPar%VS_MaxTq - READ(UnControllerParameters, *) CntrPar%VS_MinTq - READ(UnControllerParameters, *) CntrPar%VS_MinOMSpd - READ(UnControllerParameters, *) CntrPar%VS_Rgn2K - READ(UnControllerParameters, *) CntrPar%VS_RtPwr - READ(UnControllerParameters, *) CntrPar%VS_RtTq - READ(UnControllerParameters, *) CntrPar%VS_RefSpd - READ(UnControllerParameters, *) CntrPar%VS_n - ALLOCATE(CntrPar%VS_KP(CntrPar%VS_n)) - READ(UnControllerParameters,*) CntrPar%VS_KP - ALLOCATE(CntrPar%VS_KI(CntrPar%VS_n)) - READ(UnControllerParameters,*) CntrPar%VS_KI - READ(UnControllerParameters,*) CntrPar%VS_TSRopt - READ(UnControllerParameters, *) - - !------- Setpoint Smoother -------------------------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%SS_VSGainBias - READ(UnControllerParameters, *) CntrPar%SS_PCGainBias - READ(UnControllerParameters, *) - - !------------ WIND SPEED ESTIMATOR CONTANTS -------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%WE_BladeRadius - READ(UnControllerParameters, *) CntrPar%WE_CP_n - ALLOCATE(CntrPar%WE_CP(CntrPar%WE_CP_n)) - READ(UnControllerParameters, *) CntrPar%WE_CP - READ(UnControllerParameters, *) CntrPar%WE_Gamma - READ(UnControllerParameters, *) CntrPar%WE_GearboxRatio - READ(UnControllerParameters, *) CntrPar%WE_Jtot - READ(UnControllerParameters, *) CntrPar%WE_RhoAir - READ(UnControllerParameters, *) CntrPar%PerfFileName - ALLOCATE(CntrPar%PerfTableSize(2)) - READ(UnControllerParameters, *) CntrPar%PerfTableSize - READ(UnControllerParameters, *) CntrPar%WE_FOPoles_N - ALLOCATE(CntrPar%WE_FOPoles_v(CntrPar%WE_FOPoles_n)) - READ(UnControllerParameters, *) CntrPar%WE_FOPoles_v - ALLOCATE(CntrPar%WE_FOPoles(CntrPar%WE_FOPoles_n)) - READ(UnControllerParameters, *) CntrPar%WE_FOPoles - - READ(UnControllerParameters, *) - - !-------------- YAW CONTROLLER CONSTANTS ----------------- - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%Y_ErrThresh - READ(UnControllerParameters, *) CntrPar%Y_IPC_IntSat - READ(UnControllerParameters, *) CntrPar%Y_IPC_n - ALLOCATE(CntrPar%Y_IPC_KP(CntrPar%Y_IPC_n)) - READ(UnControllerParameters,*) CntrPar%Y_IPC_KP - ALLOCATE(CntrPar%Y_IPC_KI(CntrPar%Y_IPC_n)) - READ(UnControllerParameters,*) CntrPar%Y_IPC_KI - READ(UnControllerParameters, *) CntrPar%Y_IPC_omegaLP - READ(UnControllerParameters, *) CntrPar%Y_IPC_zetaLP - READ(UnControllerParameters, *) CntrPar%Y_MErrSet - READ(UnControllerParameters, *) CntrPar%Y_omegaLPFast - READ(UnControllerParameters, *) CntrPar%Y_omegaLPSlow - READ(UnControllerParameters, *) CntrPar%Y_Rate - READ(UnControllerParameters, *) - - !------------ FORE-AFT TOWER DAMPER CONSTANTS ------------ - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%FA_KI - READ(UnControllerParameters, *) CntrPar%FA_HPFCornerFreq - READ(UnControllerParameters, *) CntrPar%FA_IntSat - READ(UnControllerParameters, *) - - !------------ PEAK SHAVING ------------ - READ(UnControllerParameters, *) - READ(UnControllerParameters, *) CntrPar%PS_BldPitchMin_N - ALLOCATE(CntrPar%PS_WindSpeeds(CntrPar%PS_BldPitchMin_N)) - READ(UnControllerParameters, *) CntrPar%PS_WindSpeeds - ALLOCATE(CntrPar%PS_BldPitchMin(CntrPar%PS_BldPitchMin_N)) - READ(UnControllerParameters, *) CntrPar%PS_BldPitchMin - ! END OF INPUT FILE - - !------------------- CALCULATED CONSTANTS ----------------------- - CntrPar%PC_RtTq99 = CntrPar%VS_RtTq*0.99 - CntrPar%VS_MinOMTq = CntrPar%VS_Rgn2K*CntrPar%VS_MinOMSpd**2 - CntrPar%VS_MaxOMTq = CntrPar%VS_Rgn2K*CntrPar%VS_RefSpd**2 - CntrPar%VS_Rgn3Pitch = CntrPar%PC_FinePit + CntrPar%PC_Switch - - CLOSE(UnControllerParameters) - - !------------------- HOUSEKEEPING ----------------------- - CntrPar%PerfFileName = TRIM(CntrPar%PerfFileName) - END SUBROUTINE ReadControlParameterFileSub - ! ----------------------------------------------------------------------------------- - ! Calculate setpoints for primary control actions - SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst) - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances - - ! Allocate variables - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - - REAL(4) :: VS_RefSpd ! Referece speed for variable speed torque controller, [rad/s] - REAL(4) :: PC_RefSpd ! Referece speed for pitch controller, [rad/s] - REAL(4) :: Omega_op ! Optimal TSR-tracking generator speed, [rad/s] - REAL(4) :: WE_Vw_f ! Filtered Wind Speed Estimate - ! temp - ! REAL(4) :: VS_TSRop = 7.5 - - ! ----- Calculate yaw misalignment error ----- - LocalVar%Y_MErr = LocalVar%Y_M + CntrPar%Y_MErrSet ! Yaw-alignment error - - ! ----- Pitch controller speed and power error ----- - ! Implement setpoint smoothing - IF (LocalVar%SS_DelOmegaF < 0) THEN - PC_RefSpd = CntrPar%PC_RefSpd - LocalVar%SS_DelOmegaF - ELSE - PC_RefSpd = CntrPar%PC_RefSpd - ENDIF - LocalVar%PC_SpdErr = PC_RefSpd - LocalVar%GenSpeedF ! Speed error - LocalVar%PC_PwrErr = CntrPar%VS_RtPwr - LocalVar%VS_GenPwr ! Power error - - ! ----- Torque controller reference errors ----- - ! Define VS reference generator speed [rad/s] - IF (CntrPar%VS_ControlMode == 2) THEN - WE_Vw_f = LPFilter(LocalVar%We_Vw, LocalVar%DT, 0.625, LocalVar%iStatus, .FALSE., objInst%instLPF) - ! WE_Vw_f = LocalVar%We_Vw - VS_RefSpd = (CntrPar%VS_TSRopt * WE_Vw_f / CntrPar%WE_BladeRadius) * CntrPar%WE_GearboxRatio - VS_RefSpd = saturate(VS_RefSpd,CntrPar%VS_MinOMSpd, CntrPar%VS_RefSpd) - ELSE - VS_RefSpd = CntrPar%VS_RefSpd - ENDIF - - ! Implement setpoint smoothing - IF (LocalVar%SS_DelOmegaF > 0) THEN - VS_RefSpd = VS_RefSpd - LocalVar%SS_DelOmegaF - ENDIF - - ! TSR-tracking reference error - IF (CntrPar%VS_ControlMode == 2) THEN - LocalVar%VS_SpdErr = VS_RefSpd - LocalVar%GenSpeedF - LocalVar%TestType = VS_RefSpd - ENDIF - - ! Define transition region setpoint errors - LocalVar%VS_SpdErrAr = VS_RefSpd - LocalVar%GenSpeedF ! Current speed error - Region 2.5 PI-control (Above Rated) - LocalVar%VS_SpdErrBr = CntrPar%VS_MinOMSpd - LocalVar%GenSpeedF ! Current speed error - Region 1.5 PI-control (Below Rated) - - - END SUBROUTINE ComputeVariablesSetpoints - ! ----------------------------------------------------------------------------------- - ! Read avrSWAP array passed from ServoDyn - SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar) - USE DRC_Types, ONLY : LocalVariables - - REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - - ! Load variables from calling program (See Appendix A of Bladed User's Guide): - LocalVar%iStatus = NINT(avrSWAP(1)) - LocalVar%Time = avrSWAP(2) - LocalVar%DT = avrSWAP(3) - ! LocalVar%BlPitch(1) = avrSWAP(4) - LocalVar%BlPitch(1) = LocalVar%PitCom(1) - LocalVar%VS_MechGenPwr = avrSWAP(14) - LocalVar%VS_GenPwr = avrSWAP(15) - LocalVar%GenSpeed = avrSWAP(20) - LocalVar%RotSpeed = avrSWAP(21) - LocalVar%GenTqMeas = avrSWAP(23) - LocalVar%Y_M = avrSWAP(24) - LocalVar%HorWindV = avrSWAP(27) - LocalVar%rootMOOP(1) = avrSWAP(30) - LocalVar%rootMOOP(2) = avrSWAP(31) - LocalVar%rootMOOP(3) = avrSWAP(32) - ! LocalVar%BlPitch(2) = avrSWAP(33) - ! LocalVar%BlPitch(3) = avrSWAP(34) - LocalVar%BlPitch(2) = LocalVar%PitCom(2) - LocalVar%BlPitch(3) = LocalVar%PitCom(3) - LocalVar%FA_Acc = avrSWAP(53) - LocalVar%Azimuth = avrSWAP(60) - LocalVar%NumBl = NINT(avrSWAP(61)) - END SUBROUTINE ReadAvrSWAP - ! ----------------------------------------------------------------------------------- - ! Check for errors before any execution - SUBROUTINE Assert(LocalVar, CntrPar, avrSWAP, aviFAIL, ErrMsg, size_avcMSG) - USE, INTRINSIC :: ISO_C_Binding - USE DRC_Types, ONLY : LocalVariables, ControlParameters - - IMPLICIT NONE - - ! Inputs - TYPE(ControlParameters), INTENT(IN) :: CntrPar - TYPE(LocalVariables), INTENT(IN) :: LocalVar - INTEGER(4), INTENT(IN) :: size_avcMSG - REAL(C_FLOAT), INTENT(IN) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. - - ! Outputs - INTEGER(C_INT), INTENT(OUT) :: aviFAIL ! A flag used to indicate the success of this DLL call set as follows: 0 if the DLL call was successful, >0 if the DLL call was successful but cMessage should be issued as a warning messsage, <0 if the DLL call was unsuccessful or for any other reason the simulation is to be stopped at this point with cMessage as the error message. - CHARACTER(size_avcMSG-1), INTENT(OUT) :: ErrMsg ! a Fortran version of the C string argument (not considered an array here) [subtract 1 for the C null-character] - - ! Local - - !.............................................................................................................................. - ! Check validity of input parameters: - !.............................................................................................................................. - - IF ((CntrPar%F_LPFType > 2.0) .OR. (CntrPar%F_LPFType < 1.0)) THEN - aviFAIL = -1 - ErrMsg = 'F_LPFType must be 1 or 2.' - ENDIF - - IF ((CntrPar%F_LPFDamping > 1.0) .OR. (CntrPar%F_LPFDamping < 0.0)) THEN - aviFAIL = -1 - ErrMsg = 'Filter damping coefficient must be between [0, 1]' - ENDIF - - IF (CntrPar%IPC_CornerFreqAct < 0.0) THEN - aviFAIL = -1 - ErrMsg = 'Corner frequency of IPC actuator model must be positive, or set to 0 to disable.' - ENDIF - - IF (CntrPar%F_LPFCornerFreq <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'CornerFreq must be greater than zero.' - ENDIF - - IF ((CntrPar%IPC_ControlMode > 0) .AND. (CntrPar%Y_ControlMode > 1)) THEN - aviFAIL = -1 - ErrMsg = 'IPC control for load reductions and yaw-by-IPC cannot be activated simultaneously' - ENDIF - - IF (LocalVar%DT <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'DT must be greater than zero.' - ENDIF - - IF (CntrPar%VS_MaxRat <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'VS_MaxRat must be greater than zero.' - ENDIF - - IF (CntrPar%VS_RtTq < 0.0) THEN - aviFAIL = -1 - ErrMsg = 'VS_RtTq must not be negative.' - ENDIF - - IF (CntrPar%VS_Rgn2K < 0.0) THEN - aviFAIL = -1 - ErrMsg = 'VS_Rgn2K must not be negative.' - ENDIF - - IF (CntrPar%VS_MaxTq < CntrPar%VS_RtTq) THEN - aviFAIL = -1 - ErrMsg = 'VS_RtTq must not be greater than VS_MaxTq.' - ENDIF - - IF (CntrPar%VS_KP(1) > 0.0) THEN - aviFAIL = -1 - ErrMsg = 'VS_KP must be greater than zero.' - ENDIF - - IF (CntrPar%VS_KI(1) > 0.0) THEN - aviFAIL = -1 - ErrMsg = 'VS_KI must be greater than zero.' - ENDIF - - IF (CntrPar%PC_RefSpd <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'PC_RefSpd must be greater than zero.' - ENDIF - - IF (CntrPar%PC_MaxRat <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'PC_MaxRat must be greater than zero.' - ENDIF - - IF (CntrPar%PC_MinPit >= CntrPar%PC_MaxPit) THEN - aviFAIL = -1 - ErrMsg = 'PC_MinPit must be less than PC_MaxPit.' - ENDIF - - IF (CntrPar%IPC_KI(1) < 0.0) THEN - aviFAIL = -1 - ErrMsg = 'IPC_KI(1) must be zero or greater than zero.' - ENDIF - - IF (CntrPar%IPC_KI(2) < 0.0) THEN - aviFAIL = -1 - ErrMsg = 'IPC_KI(2) must be zero or greater than zero.' - ENDIF - - ! ---- Yaw Control ---- - IF (CntrPar%Y_ControlMode > 0) THEN - IF (CntrPar%Y_IPC_omegaLP <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'Y_IPC_omegaLP must be greater than zero.' - ENDIF - - IF (CntrPar%Y_IPC_zetaLP <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'Y_IPC_zetaLP must be greater than zero.' - ENDIF - - IF (CntrPar%Y_ErrThresh <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'Y_ErrThresh must be greater than zero.' - ENDIF - - IF (CntrPar%Y_Rate <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'CntrPar%Y_Rate must be greater than zero.' - ENDIF - - IF (CntrPar%Y_omegaLPFast <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'Y_omegaLPFast must be greater than zero.' - ENDIF - - IF (CntrPar%Y_omegaLPSlow <= 0.0) THEN - aviFAIL = -1 - ErrMsg = 'Y_omegaLPSlow must be greater than zero.' - ENDIF - ENDIF - ! Abort if the user has not requested a pitch angle actuator (See Appendix A - ! of Bladed User's Guide): - IF (NINT(avrSWAP(10)) /= 0) THEN ! .TRUE. if a pitch angle actuator hasn't been requested - aviFAIL = -1 - ErrMsg = 'Pitch angle actuator not requested.' - ENDIF - - IF (NINT(avrSWAP(28)) == 0 .AND. ((CntrPar%IPC_ControlMode > 0) .OR. (CntrPar%Y_ControlMode > 1))) THEN - aviFAIL = -1 - ErrMsg = 'IPC enabled, but Ptch_Cntrl in ServoDyn has a value of 0. Set it to 1.' - ENDIF - END SUBROUTINE Assert - ! ----------------------------------------------------------------------------------- - ! Define parameters for control actions - SUBROUTINE SetParameters(avrSWAP, aviFAIL, ErrMsg, size_avcMSG, CntrPar, LocalVar, objInst, PerfData) - USE DRC_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, PerformanceData - - INTEGER(4), INTENT(IN) :: size_avcMSG - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - TYPE(LocalVariables), INTENT(INOUT) :: LocalVar - TYPE(ObjectInstances), INTENT(INOUT) :: objInst - TYPE(PerformanceData), INTENT(INOUT) :: PerfData - - REAL(C_FLOAT), INTENT(INOUT) :: avrSWAP(*) ! The swap array, used to pass data to, and receive data from, the DLL controller. - INTEGER(C_INT), INTENT(OUT) :: aviFAIL ! A flag used to indicate the success of this DLL call set as follows: 0 if the DLL call was successful, >0 if the DLL call was successful but cMessage should be issued as a warning messsage, <0 if the DLL call was unsuccessful or for any other reason the simulation is to be stopped at this point with cMessage as the error message. - CHARACTER(size_avcMSG-1), INTENT(OUT) :: ErrMsg ! a Fortran version of the C string argument (not considered an array here) [subtract 1 for the C null-character] - INTEGER(4) :: K ! Index used for looping through blades. - - ! Set aviFAIL to 0 in each iteration: - aviFAIL = 0 - - ! Initialize all filter instance counters at 1 - objInst%instLPF = 1 - objInst%instSecLPF = 1 - objInst%instHPF = 1 - objInst%instNotchSlopes = 1 - objInst%instNotch = 1 - objInst%instPI = 1 - - ! Set unused outputs to zero (See Appendix A of Bladed User's Guide): - avrSWAP(35) = 1.0 ! Generator contactor status: 1=main (high speed) variable-speed generator - avrSWAP(36) = 0.0 ! Shaft brake status: 0=off - avrSWAP(41) = 0.0 ! Demanded yaw actuator torque - avrSWAP(46) = 0.0 ! Demanded pitch rate (Collective pitch) - avrSWAP(55) = 0.0 ! Pitch override: 0=yes - avrSWAP(56) = 0.0 ! Torque override: 0=yes - avrSWAP(65) = 0.0 ! Number of variables returned for logging - avrSWAP(72) = 0.0 ! Generator start-up resistance - avrSWAP(79) = 0.0 ! Request for loads: 0=none - avrSWAP(80) = 0.0 ! Variable slip current status - avrSWAP(81) = 0.0 ! Variable slip current demand - - ! Read any External Controller Parameters specified in the User Interface - ! and initialize variables: - IF (LocalVar%iStatus == 0) THEN ! .TRUE. if we're on the first call to the DLL - - ! Inform users that we are using this user-defined routine: - aviFAIL = 1 - ErrMsg = ' '//NEW_LINE('A')// & - 'Running the Delft Research Controller (DRC) '//NEW_LINE('A')// & - 'A wind turbine controller for use in the scientific field '//NEW_LINE('A')// & - 'Written by S.P. Mulders, Jan-Willem van Wingerden '//NEW_LINE('A')// & - 'Delft University of Technology, The Netherlands '//NEW_LINE('A')// & - 'Visit our GitHub-page to contribute to this project: '//NEW_LINE('A')// & - 'https://github.com/TUDelft-DataDrivenControl ' - - CALL ReadControlParameterFileSub(CntrPar) - - IF (CntrPar%WE_Mode > 0) THEN - CALL READCpFile(CntrPar,PerfData) - ENDIF - ! Initialize testValue (debugging variable) - LocalVar%TestType = 0 - - ! Initialize the SAVED variables: - - ! DO K = 1,LocalVar%NumBl - LocalVar%PitCom = LocalVar%BlPitch ! This will ensure that the variable speed controller picks the correct control region and the pitch controller picks the correct gain on the first call - ! END DO - - LocalVar%Y_AccErr = 0.0 ! This will ensure that the accumulated yaw error starts at zero - LocalVar%Y_YawEndT = -1.0 ! This will ensure that the initial yaw end time is lower than the actual time to prevent initial yawing - - ! Wind speed estimator initialization, we always assume an initial wind speed of 10 m/s - LocalVar%WE_Vw = 10 - LocalVar%WE_VwI = LocalVar%WE_Vw - CntrPar%WE_Gamma*LocalVar%RotSpeed - - ! Setpoint Smoother initialization to zero - LocalVar%SS_DelOmegaF = 0 - - ! Generator Torque at K omega^2 - LocalVar%GenTq = min(CntrPar%VS_RtTq, CntrPar%VS_Rgn2K*LocalVar%GenSpeed*LocalVar%GenSpeed) - LocalVar%VS_LastGenTrq = LocalVar%GenTq - print *,'Initial GenTq = ', LocalVar%GenTq - - ! Check validity of input parameters: - CALL Assert(LocalVar, CntrPar, avrSWAP, aviFAIL, ErrMsg, size_avcMSG) - - ENDIF - END SUBROUTINE SetParameters - ! ----------------------------------------------------------------------------------- - ! Read all constant control parameters from DISCON.IN parameter file - SUBROUTINE ReadCpFile(CntrPar,PerfData) - USE DRC_Types, ONLY : PerformanceData, ControlParameters - - INTEGER(4), PARAMETER :: UnPerfParameters = 89 - TYPE(PerformanceData), INTENT(INOUT) :: PerfData - TYPE(ControlParameters), INTENT(INOUT) :: CntrPar - ! Local variables - INTEGER(4) :: i ! iteration index - OPEN(unit=UnPerfParameters, file=TRIM(CntrPar%PerfFileName), status='old', action='read') ! Should put input file into DISCON.IN - - ! ----------------------- Axis Definitions ------------------------ - READ(UnPerfParameters, *) - ALLOCATE(PerfData%Beta_vec(CntrPar%PerfTableSize(1))) - READ(UnPerfParameters, *) PerfData%Beta_vec - READ(UnPerfParameters, *) - ALLOCATE(PerfData%TSR_vec(CntrPar%PerfTableSize(2))) - READ(UnPerfParameters, *) PerfData%TSR_vec - - ! ----------------------- Read Cp, Ct, Cq, Tables ------------------------ - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) ! Input file should contains wind speed information here - unneeded for now - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - ALLOCATE(PerfData%Cp_mat(CntrPar%PerfTableSize(2),CntrPar%PerfTableSize(1))) - DO i = 1,CntrPar%PerfTableSize(2) - READ(UnPerfParameters, *) PerfData%Cp_mat(i,:) ! Read Cp table - END DO - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - ALLOCATE(PerfData%Ct_mat(CntrPar%PerfTableSize(1),CntrPar%PerfTableSize(2))) - DO i = 1,CntrPar%PerfTableSize(2) - READ(UnPerfParameters, *) PerfData%Ct_mat(i,:) ! Read Ct table - END DO - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - READ(UnPerfParameters, *) - ALLOCATE(PerfData%Cq_mat(CntrPar%PerfTableSize(1),CntrPar%PerfTableSize(2))) - DO i = 1,CntrPar%PerfTableSize(2) - READ(UnPerfParameters, *) PerfData%Ct_mat(i,:) ! Read Cq table - END DO - - END SUBROUTINE ReadCpFile -END MODULE ReadSetParameters \ No newline at end of file diff --git a/DRC_Fortran/Source/makefile b/DRC_Fortran/Source/makefile deleted file mode 100644 index 23eaac836..000000000 --- a/DRC_Fortran/Source/makefile +++ /dev/null @@ -1,118 +0,0 @@ -#================================================================================# -# This makefile created by B. Jonkman on 2-Apr-2013, # -# adapted from Crunch (M. Buhl on 25-Jan-2013). # -# (c) 2013 National Renewable Energy Laboratory # -# # -# This makefile has been tested on Windows 7 with gfortran. # -# This makefile works with mingw32-make.exe. # -# # -# It was designed to be used with discon.f90 for the Bladed DLL Interface # -#================================================================================# - - # 32-bit or 64-bit? -#BITS = 32 -BITS = 64 - # Location of source files for the DLL. - # You may need to change these for your DLL. - -DLL_DIR = . - -SOURCE_FILE = Constants.f90 DRC_Types.f90 Filters.f90 Functions.f90 ReadSetParameters.f90 ControllerBlocks.f90 Controllers.f90 DISCON.f90 - - - # Name of compiler to use and flags to use. -FC = gfortran -FFLAGS = -O2 -m$(BITS) -fbacktrace -ffree-line-length-none -x f95-cpp-input -C -LDFLAGS = -shared -O2 -m$(BITS) -fbacktrace - -# other useful gfortran options: -# -fdefault-real-8 -fcheck=bounds -std=f2003 -O0 -v -# -Wl,--out-implib,DISCON.lib - - - # Destination and RootName for executable - -OUTPUT_NAME = DISCON -DEST_DIR = ../DISCON - - #==========================================================# - # You should not need to change anything beyond this point # - #==========================================================# - - # System-specific settings. - -ifeq ($(OS),Windows_NT) - # Windows - DEL_CMD = del - EXE_EXT = _gwin$(BITS).dll - INTER_DIR = Obj_win$(BITS) - MD_CMD = @mkdir - OBJ_EXT = .obj - PATH_SEP = \\ - SYS_FILE = SysGnuWin -else - - FFLAGS := $(FFLAGS) -DIMPLICIT_DLLEXPORT - - # Linux - DEL_CMD = rm -f - EXE_EXT = _glin$(BITS).so - INTER_DIR = Obj_lin$(BITS) - MD_CMD = @mkdir -p - OBJ_EXT = .o - PATH_SEP = / - SYS_FILE = SysGnuLinux - - UNAME := $(shell uname -s) - - ifneq ($(UNAME), Darwin) - FFLAGS := $(FFLAGS) -fPIC - LDFLAGS := $(LDFLAGS) -fPIC - endif -endif - - - # Source files (by module) - -DLL_SOURCES = \ - $(SOURCE_FILE) - -vpath %.f90 $(DLL_DIR) -vpath %.mod $(INTER_DIR) -vpath %.obj $(INTER_DIR) - -ALL_OBJS = $(DLL_SOURCES:.f90=.obj) - - # Rule to do everything. - -all: default -default: $(INTER_DIR) $(DEST_DIR)/$(OUTPUT_NAME)$(EXE_EXT) - - # General rules for compliling the files. - -%.obj: %.f90 - $(FC) $(FFLAGS) -c $< -o $(INTER_DIR)/$@ -J $(INTER_DIR) -B $(INTER_DIR) - - - # Dependency rules. -#$(SYS_FILE).obj: $(PREC).obj - - - # Make sure the destination directory for the intermediate files exist. - -$(INTER_DIR): - $(MD_CMD) $(INTER_DIR) - - - # For linking DLL. - -$(DEST_DIR)/$(OUTPUT_NAME)$(EXE_EXT): $(ALL_OBJS) | $(INTER_DIR) - $(FC) $(LDFLAGS) -I $(INTER_DIR) -o $(DEST_DIR)/$(OUTPUT_NAME)$(EXE_EXT) \ - $(foreach src, $(ALL_OBJS), $(addprefix $(INTER_DIR)/,$(src))) - - # Cleanup afterwards. - -clean: - $(DEL_CMD) $(INTER_DIR)$(PATH_SEP)*.mod $(INTER_DIR)$(PATH_SEP)*.obj - -#gfortran -shared -O2 -m32 -fbacktrace -ffree-line-length-none -x f95-cpp-input -C ../CertTest/5MW_Baseline/ServoData/Source/DISCON.f90 diff --git a/DRC_Fortran/bin/DISCON_x64.dll b/DRC_Fortran/bin/DISCON_x64.dll deleted file mode 100644 index 766bcf5ad..000000000 Binary files a/DRC_Fortran/bin/DISCON_x64.dll and /dev/null differ diff --git a/DRC_Fortran/bin/DISCON_x86.dll b/DRC_Fortran/bin/DISCON_x86.dll deleted file mode 100644 index 9db76ced3..000000000 Binary files a/DRC_Fortran/bin/DISCON_x86.dll and /dev/null differ diff --git a/DRC_Fortran/bin/Readme.txt b/DRC_Fortran/bin/Readme.txt deleted file mode 100644 index 4e95c9e14..000000000 --- a/DRC_Fortran/bin/Readme.txt +++ /dev/null @@ -1,2 +0,0 @@ -In order to use the compiled version of the DRC, install the "Redistributable Libraries for 32- and 64-bit msi files for the Intel® Parallel Studio XE Composer Edition for Fortran" first: -https://software.intel.com/sites/default/files/managed/01/70/ww_ifort_redist_msi_2017.1.143.zip \ No newline at end of file