Update DRC

johnjasa · Oct 19, 2019 · c8ffde3 · c8ffde3
1 parent 104392a
commit c8ffde3
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Showing 4 changed files with 29 additions and 13 deletions.
diff --git a/DRC_Fortran/Source/ControllerBlocks.f90 b/DRC_Fortran/Source/ControllerBlocks.f90
@@ -245,7 +245,10 @@ SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
         ! ------ 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)*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

diff --git a/DRC_Fortran/Source/Controllers.f90 b/DRC_Fortran/Source/Controllers.f90
@@ -80,11 +80,11 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
 
         ! Combine and saturate all pitch commands:
         DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
-            ! PitCom(K) = ratelimit(LocalVar%PC_PitComT_IPC(K), LocalVar%BlPitch(K), PC_MinRat, PC_MaxRat, LocalVar%DT) ! Saturate the overall command of blade K using the pitch rate limit
             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
@@ -121,7 +121,7 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
                 ! 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, CntrPar%VS_MaxOMTq, .FALSE., objInst%instPI)
+            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
@@ -149,12 +149,14 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
         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:
-        IF (LocalVar%iStatus == 0)  LocalVar%VS_LastGenTrq = LocalVar%GenTq       ! Initialize the value of LocalVar%VS_LastGenTrq on the first pass only
         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

diff --git a/DRC_Fortran/Source/Functions.f90 b/DRC_Fortran/Source/Functions.f90
@@ -423,8 +423,8 @@ SUBROUTINE Debug(LocalVar, CntrPar, avrSWAP, RootName, size_avcOUTNAME)
             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    ' 
-                WRITE (UnDb,'(A)')  '   (sec) '  //Tab//'(m/s) '
+                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
@@ -447,7 +447,7 @@ SUBROUTINE Debug(LocalVar, CntrPar, avrSWAP, RootName, size_avcOUTNAME)
 
             ! Output debugging information if requested:
             IF (CntrPar%LoggingLevel > 0) THEN
-                WRITE (UnDb,FmtDat)     LocalVar%Time, LocalVar%TestType, LocalVar%WE_Vw
+                WRITE (UnDb,FmtDat)     LocalVar%Time, LocalVar%TestType, LocalVar%WE_Vw, LocalVar%SS_DelOmegaF
             END IF
 
             IF (CntrPar%LoggingLevel > 1) THEN

diff --git a/DRC_Fortran/Source/ReadSetParameters.f90 b/DRC_Fortran/Source/ReadSetParameters.f90
@@ -211,9 +211,10 @@ SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
         ! ----- 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, 0.1, LocalVar%iStatus, .FALSE., objInst%instLPF)
+            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%PC_RefSpd)
+            VS_RefSpd = saturate(VS_RefSpd,CntrPar%VS_MinOMSpd, CntrPar%VS_RefSpd)
         ELSE
             VS_RefSpd = CntrPar%VS_RefSpd
         ENDIF 
@@ -232,6 +233,8 @@ SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
         ! 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    
@@ -245,7 +248,8 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar)
         LocalVar%iStatus = NINT(avrSWAP(1))
         LocalVar%Time = avrSWAP(2)
         LocalVar%DT = avrSWAP(3)
-        LocalVar%BlPitch(1) = avrSWAP(4)
+        ! 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)
@@ -256,8 +260,10 @@ SUBROUTINE ReadAvrSWAP(avrSWAP, LocalVar)
         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) = 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))
@@ -493,6 +499,11 @@ SUBROUTINE SetParameters(avrSWAP, aviFAIL, ErrMsg, size_avcMSG, CntrPar, LocalVa
             ! 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)