Update DRC_Fortran

johnjasa · Sep 27, 2019 · 83db59b · 83db59b
1 parent f6b4011
commit 83db59b
Show file tree

Hide file tree

Showing 8 changed files with 2 additions and 342 deletions.
diff --git a/DRC_Fortran/Parameter_files/NREL5MW/DISCON.IN b/DRC_Fortran/Parameter_files/NREL5MW/DISCON.IN
@@ -8,19 +8,12 @@
 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}
-<<<<<<< HEAD
-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}
-=======
 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}
->>>>>>> tuning_dev
 
 !------- FILTERS ----------------------------------------------------------
 1.570796326			! F_LPFCornerFreq	- Corner frequency (-3dB point) in the low-pass filters, [Hz]
@@ -65,15 +58,10 @@
 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
-<<<<<<< HEAD
--4200				! VS_KP				- Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]
--2100	 			! VS_KI				- Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
-=======
 -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)
->>>>>>> tuning_dev
 
-!------- Setpoint Smoother ------------------------------------------------
+!------- 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].
 
@@ -85,14 +73,11 @@
 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]
-<<<<<<< HEAD
-=======
 "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
->>>>>>> tuning_dev
 
 !------- YAW CONTROL ------------------------------------------------------
 1.745329252			! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this, [rad^2 s]
@@ -111,11 +96,8 @@
 -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]
-<<<<<<< HEAD
-=======
 
 !------- 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]
->>>>>>> tuning_dev
+ -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]
diff --git a/DRC_Fortran/Source/Constants.f90 b/DRC_Fortran/Source/Constants.f90
@@ -1,10 +1,7 @@
 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.
-<<<<<<< HEAD
-=======
     REAL(4), PARAMETER          :: D2R = 0.0175                         ! Factor to convert degrees to radians.
->>>>>>> tuning_dev
     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

diff --git a/DRC_Fortran/Source/ControllerBlocks.f90 b/DRC_Fortran/Source/ControllerBlocks.f90
@@ -9,10 +9,7 @@
 
 MODULE ControllerBlocks
 
-<<<<<<< HEAD
-=======
 USE, INTRINSIC :: ISO_C_Binding
->>>>>>> tuning_dev
 USE Constants
 USE Filters
 USE Functions
@@ -21,12 +18,8 @@ MODULE ControllerBlocks
 
 CONTAINS
 !-------------------------------------------------------------------------------------------------------------------------------
-<<<<<<< HEAD
-    ! State machines, determines the state of the wind turbine to specify the corresponding control actions
-=======
     SUBROUTINE StateMachine(CntrPar, LocalVar)
     ! State machine, determines the state of the wind turbine to specify the corresponding control actions
->>>>>>> tuning_dev
     ! PC States:
     !       PC_State = 0, No pitch control active, BldPitch = PC_MinPit
     !       PC_State = 1, Active PI blade pitch control enabled
@@ -37,34 +30,21 @@ SUBROUTINE StateMachine(CntrPar, LocalVar)
     !       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)
-<<<<<<< HEAD
-    SUBROUTINE StateMachine(CntrPar, LocalVar)
-=======
     !       VS_State = 6, Tip-Speed-Ratio tracking PI controller
->>>>>>> tuning_dev
         USE DRC_Types, ONLY : LocalVariables, ControlParameters
         IMPLICIT NONE
 
         ! Inputs
-<<<<<<< HEAD
-        TYPE(ControlParameters), INTENT(IN)     :: CntrPar
-        TYPE(LocalVariables), INTENT(INOUT)     :: LocalVar
-=======
         TYPE(ControlParameters),    INTENT(IN)          :: CntrPar
         TYPE(LocalVariables),       INTENT(INOUT)       :: LocalVar
->>>>>>> tuning_dev
 
         ! 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
-<<<<<<< HEAD
-                    LocalVar%PC_State = 2
-=======
                     LocalVar%PC_State = 1
->>>>>>> tuning_dev
                 ELSE ! Constant torque tracking
                     LocalVar%VS_State = 4
                     LocalVar%PC_State = 1
@@ -76,39 +56,13 @@ SUBROUTINE StateMachine(CntrPar, LocalVar)
 
         ! Operational States
         ELSE
-<<<<<<< HEAD
-            ! Pitch controller state machine
-=======
             ! --- Pitch controller state machine ---
->>>>>>> tuning_dev
             IF (CntrPar%PC_ControlMode == 1) THEN
                 LocalVar%PC_State = 1
             ELSE 
                 LocalVar%PC_State = 0
             END IF
 
-<<<<<<< HEAD
-            ! Torque control state machine
-            IF (LocalVar%PC_PitComT >= CntrPar%VS_Rgn3Pitch) THEN 
-                ! Region 3
-                IF (CntrPar%VS_ControlMode == 1) THEN ! Constant power tracking
-                    LocalVar%VS_State = 5
-                ELSE ! Constant torque tracking
-                    LocalVar%VS_State = 4
-                END IF
-            ELSE
-                ! Region 2 1/2 - active PI torque control
-                IF (LocalVar%GenArTq >= CntrPar%VS_MaxOMTq*1.01) THEN 
-                    LocalVar%VS_State = 3
-                ! Region 1 1/2
-                ELSEIF (LocalVar%GenBrTq <= CntrPar%VS_MinOMTq*0.99) THEN 
-                    LocalVar%VS_State = 1
-                ! Region 2 - optimal torque is proportional to the square of the generator speed
-                ELSEIF (LocalVar%GenSpeedF < CntrPar%VS_RefSpd)  THEN 
-                    LocalVar%VS_State = 2
-                ! Error state, Debug
-                ELSE 
-=======
             ! --- Torque control state machine ---
             IF (LocalVar%PC_PitComT >= CntrPar%VS_Rgn3Pitch) THEN           ! Region 3
                 IF (CntrPar%VS_ControlMode == 1) THEN 
@@ -126,33 +80,12 @@ SUBROUTINE StateMachine(CntrPar, LocalVar)
 
                     LocalVar%VS_State = 1
                 ELSE                                                        ! Error state, Debug
->>>>>>> tuning_dev
                     LocalVar%VS_State = 0
                 END IF
             END IF
         END IF
     END SUBROUTINE StateMachine
 !-------------------------------------------------------------------------------------------------------------------------------
-<<<<<<< HEAD
-    SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar)
-        USE DRC_Types, ONLY : LocalVariables, ControlParameters
-        IMPLICIT NONE
-
-        ! Inputs
-        TYPE(ControlParameters), INTENT(IN) :: CntrPar
-        TYPE(LocalVariables), INTENT(INOUT) :: LocalVar 
-
-        ! Body
-        LocalVar%WE_VwIdot = CntrPar%WE_Gamma/CntrPar%WE_Jtot*(LocalVar%VS_LastGenTrq*CntrPar%WE_GearboxRatio - AeroDynTorque(LocalVar, CntrPar))
-
-        LocalVar%WE_VwI = LocalVar%WE_VwI + LocalVar%WE_VwIdot*LocalVar%DT
-        LocalVar%WE_Vw = LocalVar%WE_VwI + CntrPar%WE_Gamma*LocalVar%RotSpeed
-
-    END SUBROUTINE WindSpeedEstimator
-!-------------------------------------------------------------------------------------------------------------------------------
-    SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
-        USE DRC_Types!, ONLY : LocalVariables, ControlParameters, ObjectInstances
-=======
     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
@@ -299,7 +232,6 @@ SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
     !       SS_Mode = 0, No setpoint smoothing
     !       SS_Mode = 1, Implement setpoint smoothing
         USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances
->>>>>>> tuning_dev
         IMPLICIT NONE
 
         ! Inputs
@@ -309,29 +241,17 @@ SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
         ! Allocate Variables
         Real(4)                      :: DelOmega                            ! Reference generator speed shift, rad/s.
 
-<<<<<<< HEAD
-        ! Setpoint Smoothing
-=======
         ! ------ Setpoint Smoothing ------
->>>>>>> tuning_dev
         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
             ! Filter
             LocalVar%SS_DelOmegaF = LPFilter(DelOmega, LocalVar%DT, CntrPar%F_SSCornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF) 
         ELSE
-<<<<<<< HEAD
-            LocalVar%SS_DelOmegaF = 0
-=======
             LocalVar%SS_DelOmegaF = 0 ! No setpoint smoothing
->>>>>>> tuning_dev
         ENDIF
 
     END SUBROUTINE SetpointSmoother
 !-------------------------------------------------------------------------------------------------------------------------------
-<<<<<<< HEAD
-END MODULE ControllerBlocks
-=======
 
 END MODULE ControllerBlocks
->>>>>>> tuning_dev