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Merge branch 'develop' of https://github.com/NREL/ROSCO into develop
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@nikhar-abbas
nikhar-abbas committed Jun 24, 2021
2 parents 4aca5b7 + 65b315b commit f0c2561
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Showing 8 changed files with 1,670 additions and 537 deletions.
1 change: 1 addition & 0 deletions src/Constants.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -16,4 +16,5 @@ MODULE Constants
REAL(8), 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
CHARACTER(*), PARAMETER :: NewLine = ACHAR(10) ! The delimiter for New Lines [ Windows is CHAR(13)//CHAR(10); MAC is CHAR(13); Unix is CHAR(10) {CHAR(13)=\r is a line feed, CHAR(10)=\n is a new line}]
END MODULE Constants
102 changes: 94 additions & 8 deletions src/ControllerBlocks.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,71 @@ MODULE ControllerBlocks
IMPLICIT NONE

CONTAINS
! -----------------------------------------------------------------------------------
! Calculate setpoints for primary control actions
SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances
USE Constants
! Allocate variables
TYPE(ControlParameters), INTENT(INOUT) :: CntrPar
TYPE(LocalVariables), INTENT(INOUT) :: LocalVar
TYPE(ObjectInstances), INTENT(INOUT) :: objInst

REAL(8) :: VS_RefSpd ! Referece speed for variable speed torque controller, [rad/s]
REAL(8) :: PC_RefSpd ! Referece speed for pitch controller, [rad/s]
REAL(8) :: Omega_op ! Optimal TSR-tracking generator speed, [rad/s]
! temp
! REAL(8) :: 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) .OR. (CntrPar%VS_ControlMode == 3)) THEN
VS_RefSpd = (CntrPar%VS_TSRopt * LocalVar%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

! Force zero torque in shutdown mode
IF (LocalVar%SD) THEN
VS_RefSpd = CntrPar%VS_MinOMSpd
ENDIF

! Force minimum rotor speed
VS_RefSpd = max(VS_RefSpd, CntrPar%VS_MinOmSpd)

! TSR-tracking reference error
IF ((CntrPar%VS_ControlMode == 2) .OR. (CntrPar%VS_ControlMode == 3)) THEN
LocalVar%VS_SpdErr = VS_RefSpd - LocalVar%GenSpeedF
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)

! Region 3 minimum pitch angle for state machine
LocalVar%VS_Rgn3Pitch = LocalVar%PC_MinPit + CntrPar%PC_Switch

END SUBROUTINE ComputeVariablesSetpoints
!-------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE StateMachine(CntrPar, LocalVar)
! State machine, determines the state of the wind turbine to specify the corresponding control actions
Expand Down Expand Up @@ -101,11 +166,11 @@ SUBROUTINE StateMachine(CntrPar, LocalVar)
END IF
END SUBROUTINE StateMachine
!-------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar, ErrVar)
! 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 ROSCO_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances, PerformanceData, DebugVariables
USE ROSCO_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances, PerformanceData, DebugVariables, ErrorVariables
IMPLICIT NONE

! Inputs
Expand All @@ -114,6 +179,8 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
TYPE(ObjectInstances), INTENT(INOUT) :: objInst
TYPE(PerformanceData), INTENT(INOUT) :: PerfData
TYPE(DebugVariables), INTENT(INOUT) :: DebugVar
TYPE(ErrorVariables), INTENT(INOUT) :: ErrVar

! Allocate Variables
REAL(8) :: F_WECornerFreq ! Corner frequency (-3dB point) for first order low pass filter for measured hub height wind speed [Hz]

Expand Down Expand Up @@ -145,6 +212,9 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
REAL(8) :: R_m ! Measurement noise covariance [(rad/s)^2]

REAL(8), DIMENSION(3,1), SAVE :: B

CHARACTER(*), PARAMETER :: RoutineName = 'WindSpeedEstimator'

! ---- Debug Inputs ------
DebugVar%WE_b = LocalVar%PC_PitComTF*R2D
DebugVar%WE_w = LocalVar%RotSpeedF
Expand All @@ -154,7 +224,10 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)

! 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))
! Compute AeroDynTorque
Tau_r = AeroDynTorque(LocalVar, CntrPar, PerfData, ErrVar)

LocalVar%WE_VwIdot = CntrPar%WE_Gamma/CntrPar%WE_Jtot*(LocalVar%VS_LastGenTrq*CntrPar%WE_GearboxRatio - Tau_r)
LocalVar%WE_VwI = LocalVar%WE_VwI + LocalVar%WE_VwIdot*LocalVar%DT
LocalVar%WE_Vw = LocalVar%WE_VwI + CntrPar%WE_Gamma*LocalVar%RotSpeedF

Expand Down Expand Up @@ -182,7 +255,7 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)

ELSE
! Find estimated operating Cp and system pole
A_op = interp1d(CntrPar%WE_FOPoles_v,CntrPar%WE_FOPoles,v_h)
A_op = interp1d(CntrPar%WE_FOPoles_v,CntrPar%WE_FOPoles,v_h,ErrVar)

! TEST INTERP2D
lambda = max(LocalVar%RotSpeed, CntrPar%VS_MinOMSpd) * CntrPar%WE_BladeRadius/v_h
Expand All @@ -202,7 +275,7 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
Q(3,3) = (2.0**2.0)/600.0

! Prediction update
Tau_r = AeroDynTorque(LocalVar,CntrPar,PerfData)
Tau_r = AeroDynTorque(LocalVar, CntrPar, PerfData, ErrVar)
a = PI * v_m/(2.0*L)
dxh(1,1) = 1.0/CntrPar%WE_Jtot * (Tau_r - CntrPar%WE_GearboxRatio * LocalVar%VS_LastGenTrqF)
dxh(2,1) = -a*v_t
Expand Down Expand Up @@ -238,6 +311,11 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
LocalVar%WE_Vw = LPFilter(LocalVar%HorWindV, LocalVar%DT, F_WECornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF)
ENDIF

! Add RoutineName to error message
IF (ErrVar%aviFAIL < 0) THEN
ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
ENDIF

END SUBROUTINE WindSpeedEstimator
!-------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)
Expand Down Expand Up @@ -267,20 +345,28 @@ SUBROUTINE SetpointSmoother(LocalVar, CntrPar, objInst)

END SUBROUTINE SetpointSmoother
!-------------------------------------------------------------------------------------------------------------------------------
REAL FUNCTION PitchSaturation(LocalVar, CntrPar, objInst, DebugVar)
REAL FUNCTION PitchSaturation(LocalVar, CntrPar, objInst, DebugVar, ErrVar)
! PitchSaturation defines a minimum blade pitch angle based on a lookup table provided by DISCON.IN
! SS_Mode = 0, No setpoint smoothing
! SS_Mode = 1, Implement pitch saturation
USE ROSCO_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances, DebugVariables
USE ROSCO_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances, DebugVariables, ErrorVariables
IMPLICIT NONE
! Inputs
TYPE(ControlParameters), INTENT(IN) :: CntrPar
TYPE(LocalVariables), INTENT(INOUT) :: LocalVar
TYPE(ObjectInstances), INTENT(INOUT) :: objInst
TYPE(DebugVariables), INTENT(INOUT) :: DebugVar
TYPE(ErrorVariables), INTENT(INOUT) :: ErrVar

CHARACTER(*), PARAMETER :: RoutineName = 'PitchSaturation'

! Define minimum blade pitch angle as a function of estimated wind speed
PitchSaturation = interp1d(CntrPar%PS_WindSpeeds, CntrPar%PS_BldPitchMin, LocalVar%WE_Vw_F)
PitchSaturation = interp1d(CntrPar%PS_WindSpeeds, CntrPar%PS_BldPitchMin, LocalVar%WE_Vw_F, ErrVar)

! Add RoutineName to error message
IF (ErrVar%aviFAIL < 0) THEN
ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
ENDIF

END FUNCTION PitchSaturation
!-------------------------------------------------------------------------------------------------------------------------------
Expand Down
40 changes: 25 additions & 15 deletions src/Controllers.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -31,25 +31,29 @@ MODULE Controllers

CONTAINS
!-------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)
SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
! 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 ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, DebugVariables
USE ROSCO_Types, ONLY : ControlParameters, LocalVariables, ObjectInstances, DebugVariables, ErrorVariables

! Inputs
TYPE(ControlParameters), INTENT(INOUT) :: CntrPar
TYPE(LocalVariables), INTENT(INOUT) :: LocalVar
TYPE(ObjectInstances), INTENT(INOUT) :: objInst
TYPE(DebugVariables), INTENT(INOUT) :: DebugVar
TYPE(DebugVariables), INTENT(INOUT) :: DebugVar
TYPE(ErrorVariables), INTENT(INOUT) :: ErrVar

! 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.
REAL(8), Save :: PitComT_Last
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.
REAL(8), Save :: PitComT_Last

CHARACTER(*), PARAMETER :: RoutineName = 'PitchControl'

! ------- Blade Pitch Controller --------
! Load PC State
Expand All @@ -60,10 +64,10 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)
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_PitComTF) ! Proportional gain
LocalVar%PC_KI = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KI, LocalVar%PC_PitComTF) ! Integral gain
LocalVar%PC_KD = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KD, LocalVar%PC_PitComTF) ! Derivative gain
LocalVar%PC_TF = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_TF, LocalVar%PC_PitComTF) ! TF gains (derivative filter) !NJA - need to clarify
LocalVar%PC_KP = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KP, LocalVar%PC_PitComTF, ErrVar) ! Proportional gain
LocalVar%PC_KI = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KI, LocalVar%PC_PitComTF, ErrVar) ! Integral gain
LocalVar%PC_KD = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KD, LocalVar%PC_PitComTF, ErrVar) ! Derivative gain
LocalVar%PC_TF = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_TF, LocalVar%PC_PitComTF, ErrVar) ! 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
Expand All @@ -88,7 +92,7 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)

! Pitch Saturation
IF (CntrPar%PS_Mode == 1) THEN
LocalVar%PC_MinPit = PitchSaturation(LocalVar,CntrPar,objInst,DebugVar)
LocalVar%PC_MinPit = PitchSaturation(LocalVar,CntrPar,objInst,DebugVar, ErrVar)
LocalVar%PC_MinPit = max(LocalVar%PC_MinPit, CntrPar%PC_FinePit)
ELSE
LocalVar%PC_MinPit = CntrPar%PC_FinePit
Expand Down Expand Up @@ -125,6 +129,12 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)
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

! Add RoutineName to error message
IF (ErrVar%aviFAIL < 0) THEN
ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
ENDIF

END SUBROUTINE PitchControl
!-------------------------------------------------------------------------------------------------------------------------------
SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
Expand Down Expand Up @@ -399,9 +409,9 @@ SUBROUTINE FlapControl(avrSWAP, CntrPar, LocalVar, objInst)
LocalVar%Flp_Angle(2) = CntrPar%Flp_Angle
LocalVar%Flp_Angle(3) = CntrPar%Flp_Angle
! Initialize filter
RootMOOP_F(1) = SecLPFilter(LocalVar%rootMOOP(1),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(2) = SecLPFilter(LocalVar%rootMOOP(2),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(3) = SecLPFilter(LocalVar%rootMOOP(3),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(1) = SecLPFilter(LocalVar%rootMOOP(1),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(2) = SecLPFilter(LocalVar%rootMOOP(2),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(3) = SecLPFilter(LocalVar%rootMOOP(3),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
! Initialize controller
IF (CntrPar%Flp_Mode == 2) THEN
LocalVar%Flp_Angle(K) = PIIController(RootMyb_VelErr(K), 0 - LocalVar%Flp_Angle(K), CntrPar%Flp_Kp, CntrPar%Flp_Ki, 0.05, -CntrPar%Flp_MaxPit , CntrPar%Flp_MaxPit , LocalVar%DT, 0.0, .TRUE., objInst%instPI)
Expand All @@ -422,7 +432,7 @@ SUBROUTINE FlapControl(avrSWAP, CntrPar, LocalVar, objInst)
ELSEIF (CntrPar%Flp_Mode == 2) THEN
DO K = 1,LocalVar%NumBl
! LPF Blade root bending moment
RootMOOP_F(K) = SecLPFilter(LocalVar%rootMOOP(K),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(K) = SecLPFilter(LocalVar%rootMOOP(K),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)

! Find derivative and derivative error of blade root bending moment
RootMyb_Vel(K) = (RootMOOP_F(K) - RootMyb_Last(K))/LocalVar%DT
Expand Down
21 changes: 16 additions & 5 deletions src/DISCON.F90
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Original file line number Diff line number Diff line change
Expand Up @@ -54,29 +54,40 @@ SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME
TYPE(ObjectInstances), SAVE :: objInst
TYPE(PerformanceData), SAVE :: PerfData
TYPE(DebugVariables), SAVE :: DebugVar
TYPE(ErrorVariables), SAVE :: ErrVar

CHARACTER(*), PARAMETER :: RoutineName = 'ROSCO'

RootName = TRANSFER(avcOUTNAME, RootName)
!------------------------------------------------------------------------------------------------------------------------------
! Main control calculations
!------------------------------------------------------------------------------------------------------------------------------
! Read avrSWAP array into derived types/variables
CALL ReadAvrSWAP(avrSWAP, LocalVar)
CALL SetParameters(avrSWAP, aviFAIL, accINFILE, ErrMsg, SIZE(avcMSG), CntrPar, LocalVar, objInst, PerfData)
CALL SetParameters(avrSWAP, accINFILE, SIZE(avcMSG), CntrPar, LocalVar, objInst, PerfData, ErrVar)
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 WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
IF ((LocalVar%iStatus >= 0) .AND. (ErrVar%aviFAIL >= 0)) THEN ! Only compute control calculations if no error has occurred and we are not on the last time step
CALL WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar, ErrVar)
CALL ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
CALL StateMachine(CntrPar, LocalVar)
CALL SetpointSmoother(LocalVar, CntrPar, objInst)
CALL ComputeVariablesSetpoints(CntrPar, LocalVar, objInst)
CALL VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
CALL PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar)
CALL PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
CALL YawRateControl(avrSWAP, CntrPar, LocalVar, objInst)
CALL FlapControl(avrSWAP, CntrPar, LocalVar, objInst)
CALL Debug(LocalVar, CntrPar, DebugVar, avrSWAP, RootName, SIZE(avcOUTNAME))
END IF

avcMSG = TRANSFER(TRIM(ErrMsg)//C_NULL_CHAR, avcMSG, SIZE(avcMSG))
! Add RoutineName to error message
IF (ErrVar%aviFAIL < 0) THEN
ErrVar%ErrMsg = RoutineName//':'//TRIM(ErrVar%ErrMsg)
print * , TRIM(ErrVar%ErrMsg)
ENDIF
ErrMsg = ErrVar%ErrMsg
avcMSG = TRANSFER(TRIM(ErrVar%ErrMsg)//C_NULL_CHAR, avcMSG, SIZE(avcMSG))
aviFAIL = ErrVar%aviFAIL

RETURN
END SUBROUTINE DISCON
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