Updates documentation, defined NREL5MW ServoDyn constants for Bladed …

…interface and solved a switching issue between pitch and torque control

ServoDynBladedInterface_NREL5MW.dat

@@ -0,0 +1,20 @@
+---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
+"ServoData/DISCON_gwin32.dll"    DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface]
+"DISCON.IN"    DLL_InFile   - Name of input file sent to the DLL (-) [used only with Bladed Interface]
+"DISCON"      DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface]
+"default"     DLL_DT       - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface]
+false         DLL_Ramp     - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface]
+     9999.9   BPCutoff     - Cuttoff frequency for low-pass filter on blade pitch from DLL (Hz) [used only with Bladed Interface]
+          0   NacYaw_North - Reference yaw angle of the nacelle when the upwind end points due North (deg) [used only with Bladed Interface]
+          1   Ptch_Cntrl   - Record 28: Use individual pitch control {0: collective pitch; 1: individual pitch control} (switch) [used only with Bladed Interface]
+          0   Ptch_SetPnt  - Record  5: Below-rated pitch angle set-point (deg) [used only with Bladed Interface]
+       -5.0   Ptch_Min     - Record  6: Minimum pitch angle (deg) [used only with Bladed Interface]
+       90.0   Ptch_Max     - Record  7: Maximum pitch angle (deg) [used only with Bladed Interface]
+       -8.0   PtchRate_Min - Record  8: Minimum pitch rate (most negative value allowed) (deg/s) [used only with Bladed Interface]
+        8.0   PtchRate_Max - Record  9: Maximum pitch rate  (deg/s) [used only with Bladed Interface]
+   2.332287   Gain_OM      - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]
+          0   GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]
+          0   GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
+    1173.70   GenSpd_Dem   - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]
+   43093.55   GenTrq_Dem   - Record 22: Demanded generator torque above rated (Nm) [used only with Bladed Interface]
+          0   GenPwr_Dem   - Record 13: Demanded power (W) [used only with Bladed Interface]

Source/DISCON.f90

@@ -96,7 +96,7 @@ SUBROUTINE DISCON ( avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG ) BIND (C, N
 REAL(4), PARAMETER           :: VS_Rgn2Sp     	=	91.21091                  	! Transitional generator speed (HSS side) between regions 1 1/2 and 2, [rad/s].
 REAL(4), PARAMETER           :: VS_Rgn3MP     	=	0.01745329                	! Minimum pitch angle at which the torque is computed as if we are in region 3 regardless of the generator speed, [rad]. -- chosen to be 1.0 degree above PC_MinPit
 REAL(4), PARAMETER           :: VS_RtGnSp     	=	121.6805                    ! Rated generator speed (HSS side), [rad/s]. -- chosen to be 99% of PC_RefSpd
-REAL(4), PARAMETER           :: VS_RtTq      	=	43773.63                    ! Rated torque, [Nm].
+REAL(4)                      :: VS_RtTq                                         ! Rated torque, [Nm].
 REAL(4), PARAMETER           :: VS_RtPwr      	=	5296610.0                   ! Rated generator generator power in Region 3, [W]. -- chosen to be 5MW divided by the electrical generator efficiency of 94.4%
 REAL(4), SAVE                :: VS_Slope15                                      ! Torque/speed slope of region 1 1/2 cut-in torque ramp , [Nm/(rad/s)].
 REAL(4), SAVE                :: VS_Slope25                                      ! Torque/speed slope of region 2 1/2 induction generator, [Nm/(rad/s)].
@@ -152,6 +152,7 @@ SUBROUTINE DISCON ( avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG ) BIND (C, N
 rootMOOP (3) =       avrSWAP(32)
 Time         =       avrSWAP( 2)
 Y_MErr       =       avrSWAP(24)
+VS_RtTq      =       avrSWAP(22)
 
 !print *, 'from_sc: ', from_sc(1:4)
 !to_sc(1) = 5.0;
@@ -452,7 +453,7 @@ SUBROUTINE DISCON ( avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG ) BIND (C, N
 		! Compute the generator torque, which depends on which region we are in:
 
 	IF ( (   GenSpeedF >= VS_RtGnSp ) .OR. (  PitCom(1) >= VS_Rgn3MP ) )  THEN ! We are in region 3 - power is constant
-		GenTrq = VS_RtPwr/GenSpeedF
+		GenTrq = VS_RtTq
 	ELSEIF ( GenSpeedF <= VS_CtInSp )  THEN                                    ! We are in region 1 - torque is zero
 		GenTrq = 0.0
 	ELSEIF ( GenSpeedF <  VS_Rgn2Sp )  THEN                                    ! We are in region 1 1/2 - linear ramp in torque from zero to optimal