Comment Cleanup

Ben-Mertz · Sep 20, 2019 · 066b118 · 066b118
1 parent e68a2ee
commit 066b118
Showing 1 changed file with 9 additions and 11 deletions.
diff --git a/Source/Controllers.f90 b/Source/Controllers.f90
@@ -28,30 +28,28 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
             LocalVar%PC_MaxPitVar = CntrPar%PC_FinePit
         END IF
 
-        ! Compute the gain scheduling correction factor based on the previously
-        ! commanded pitch angle for blade 1:
-        LocalVar%PC_KP = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KP, LocalVar%PC_PitComT)
-        LocalVar%PC_KI = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KI, LocalVar%PC_PitComT)
-        LocalVar%PC_KD = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_KD, LocalVar%PC_PitComT)
-        LocalVar%PC_TF = interp1d(CntrPar%PC_GS_angles, CntrPar%PC_GS_TF, LocalVar%PC_PitComT)
+        ! 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
 
-        ! Integrate the error signal w.r.t. time; saturate the integral term using the pitch angle limits:
-        ! Compute the pitch commands associated with the proportional and integral
-        ! gains:
+
+        ! 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_MaxPitVar, 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_MaxPitVar, LocalVar%DT, CntrPar%PC_FinePit, .FALSE., objInst%instPI)
         END IF
 
-        ! Individual pitch control
+        ! 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
 
-        ! Fore-aft tower vibration damping control
+        ! 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