Rate limit pitch signal

Ben-Mertz · Oct 8, 2019 · 0ba7479 · 0ba7479
1 parent e9c7f74
commit 0ba7479
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/Source/Controllers.f90 b/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