Bugfixes: double use of a filter object (yaw-by-IPC)

Scripts/CompileDISCONHere.cmd

@@ -0,0 +1,13 @@
+:: Compiling DISCON
+
+:: Main DISCON source-file directory:
+set "DISCONSourceDir=..\"
+
+:: Remove old .dll file
+DEL %DISCONSourceDir%\DISCON\DISCON_gwin32.dll
+
+:: Compile new .dll file
+cd %DISCONSourceDir%\Source
+mingw32-make.exe
+
+pause

Source/DISCON.f90

@@ -144,7 +144,7 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM
 INTEGER(4), PARAMETER		:: UnUser = 88										! I/O unit for user defined parameter file
 INTEGER(4), PARAMETER		:: UnPitchGains = 89								! I/O unit for user defined pitch gains parameter file
 
-LOGICAL(1), PARAMETER		:: DbgOut = .TRUE.									! Flag to indicate whether to output debugging information
+LOGICAL(1), PARAMETER		:: DbgOut = .FALSE.									! Flag to indicate whether to output debugging information
 
 CHARACTER(1), PARAMETER		:: Tab			= CHAR(9)							! The tab character.
 CHARACTER(25), PARAMETER	:: FmtDat = "(F8.3,99('"//Tab//"',ES10.3E2,:))	"	! The format of the debugging data

Source/FunctionToolbox.f90

@@ -109,7 +109,7 @@ REAL FUNCTION interp1d(xData, yData, xq)
 
 	END FUNCTION interp1d
 	!-------------------------------------------------------------------------------------------------------------------------------
-	! PI controller, with output saturation
+	! DF controller, with output saturation
 	REAL FUNCTION DFController(error, Kd, Tf, DT, inst)
 	!
 		IMPLICIT NONE
@@ -140,4 +140,44 @@ REAL FUNCTION DFController(error, Kd, Tf, DT, inst)
 		DFControllerLast(inst) = DFController
 	END FUNCTION DFController
 	!-------------------------------------------------------------------------------------------------------------------------------
+	! PRBS identification signal generator function
+	!REAL FUNCTION PRBSgen(mean, amplitude, cycleTime, seed, initValue, reset, inst)
+	!!
+	!	IMPLICIT NONE
+    !
+	!		! Inputs
+	!	REAL(4), INTENT(IN)		:: mean
+	!	REAL(4), INTENT(IN)		:: amplitude
+	!	INTEGER(4), INTENT(IN)	:: cycleTime
+	!	INTEGER(4), INTENT(IN)	:: seed
+	!	LOGICAL, INTENT(IN)		:: reset
+	!	REAL(4), INTENT(IN)		:: initValue
+	!	
+	!		! Local
+	!	INTEGER(4)				:: i											! Counter for making arrays
+	!	REAL(4)					:: randomNumber
+	!	INTEGER(4), DIMENSION(99), SAVE	:: FirstCall = (/ (1, i=1,99) /)
+	!	
+	!	IF ((FirstCall(inst) == 1) .OR. reset) THEN
+	!		RANDOM_NUMBER(1)
+	!		RAND(seed)
+	!		
+	!		FirstCall(inst) = 0
+	!		PRBSgen = initValue
+	!	ELSE
+	!		randomNumber = RAND()
+	!		
+	!		IF randomNumber > 0.5 THEN
+	!			randomNumber = 1
+	!		ELSE
+	!			randomNumber = 0
+	!		END IF
+	!		
+	!		randomNumber = randomNumber - 0.5
+	!		randomNumber = randomNumber*amplitude*2 + mean
+	!		PRBSgen = randomNumber
+	!	END IF
+	!	
+	!END FUNCTION PRBSgen
+	!-------------------------------------------------------------------------------------------------------------------------------
 END MODULE FunctionToolbox

Source/IPC.f90

@@ -61,7 +61,7 @@ SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI,
 
 		! Calculate commanded IPC pitch angles
 
-	CALL CalculatePitCom(rootMOOPF, aziAngle, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI, omegaHP, zetaHP, phi, iStatus, IPC_ControlMode, Y_ControlMode, PitComIPC)
+	CALL CalculatePitCom(rootMOOPF, aziAngle, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI, omegaHP, omegaLP, zetaHP, zetaLP, phi, iStatus, IPC_ControlMode, Y_ControlMode, PitComIPC)
 
 		! Filter PitComIPC with second order low pass filter
 
@@ -82,7 +82,7 @@ SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI,
 	! Calculates the commanded pitch angles.
 	! NOTE: if it is required for this subroutine to be used multiple times (for 1p and 2p IPC for example), the saved variables
 	! IntAxisTilt and IntAxisYaw need to be modified so that they support multiple instances (see LPFilter in the Filters module).
-	SUBROUTINE CalculatePitCom(rootMOOP, aziAngle, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI, omegaHP, zetaHP, phi, iStatus, IPC_ControlMode, Y_ControlMode, PitComIPC)
+	SUBROUTINE CalculatePitCom(rootMOOP, aziAngle, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI, omegaHP, omegaLP, zetaHP, zetaLP, phi, iStatus, IPC_ControlMode, Y_ControlMode, PitComIPC)
 	!...............................................................................................................................
 
 		IMPLICIT NONE
@@ -94,8 +94,10 @@ SUBROUTINE CalculatePitCom(rootMOOP, aziAngle, Y_MErr, DT, KInter, Y_IPC_KP, Y_I
 		REAL(4), INTENT(IN)		:: DT								! The time step
 		REAL(4), INTENT(IN)		:: KInter							! Integrator gain
 		REAL(4), INTENT(IN)		:: omegaHP							! High-pass filter cut-in frequency
+		REAL(4), INTENT(IN)		:: omegaLP							! Low-pass filter cut-off frequency
 		REAL(4), INTENT(IN)		:: phi								! Phase offset added to the azimuth angle
 		REAL(4), INTENT(IN)		:: zetaHP							! High-pass filter damping value
+		REAL(4), INTENT(IN)		:: zetaLP							! Low-pass filter damping value
 		INTEGER(4), INTENT(IN)	:: iStatus							! A status flag set by the simulation as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation.
 		INTEGER(4), INTENT(IN)	:: Y_ControlMode					! Yaw control mode
 		REAL(4), INTENT(IN)		:: Y_MErr							! Yaw alignment error, measured [rad]
@@ -148,7 +150,7 @@ SUBROUTINE CalculatePitCom(rootMOOP, aziAngle, Y_MErr, DT, KInter, Y_IPC_KP, Y_I
 
 		IF (Y_ControlMode == 2) THEN
 			axisYawF = HPFilter(axisYaw, DT, omegaHP, iStatus, 1)
-			Y_MErrF = SecLPFilter(Y_MErr, DT, omegaLP, zetaLP, iStatus, 1)
+			Y_MErrF = SecLPFilter(Y_MErr, DT, omegaLP, zetaLP, iStatus, 2)
 			Y_MErrF_IPC = PIController(Y_MErrF, Y_IPC_KP, Y_IPC_KI, -100.0, 100.0, DT, 0.0, .FALSE., 3)
 		ELSE
 			axisYawF = axisYaw

Source/makefile

@@ -0,0 +1,120 @@
+#================================================================================#
+# This makefile created by B. Jonkman on 2-Apr-2013,                             #
+# adapted from Crunch (M. Buhl on 25-Jan-2013).                                  #
+# (c) 2013 National Renewable Energy Laboratory                                  #
+#                                                                                #
+# This makefile has been tested on Windows 7 with gfortran.                      #
+# This makefile works with mingw32-make.exe.                                     #
+#                                                                                #
+# It was designed to be used with discon.f90 for the Bladed DLL Interface        #
+#================================================================================#
+
+   # 32-bit or 64-bit?
+BITS = 32
+#BITS = 64
+
+
+   # Location of source files for the DLL.
+   # You may need to change these for your DLL.
+
+DLL_DIR     = .
+
+SOURCE_FILE = FunctionToolbox.f90 Filters.f90 IPC.f90 DISCON.f90
+
+
+   # Name of compiler to use and flags to use.
+FC      = gfortran
+FFLAGS  = -O2 -m$(BITS) -fbacktrace -ffree-line-length-none -x f95-cpp-input -C
+LDFLAGS = -shared -O2 -m$(BITS) -fbacktrace
+
+# other useful gfortran options:
+#  -fdefault-real-8 -fcheck=bounds -std=f2003 -O0 -v
+# -Wl,--out-implib,DISCON.lib
+
+
+   # Destination and RootName for executable
+
+OUTPUT_NAME = DISCON
+DEST_DIR    = ../DISCON
+
+   #==========================================================#
+   # You should not need to change anything beyond this point #
+   #==========================================================#
+
+   # System-specific settings.
+
+ifeq ($(OS),Windows_NT)
+      # Windows
+   DEL_CMD   = del
+   EXE_EXT   = _gwin$(BITS).dll
+   INTER_DIR = Obj_win$(BITS)
+   MD_CMD    = @mkdir
+   OBJ_EXT   = .obj
+   PATH_SEP  = \\
+   SYS_FILE  = SysGnuWin
+else
+
+   FFLAGS := $(FFLAGS) -DIMPLICIT_DLLEXPORT
+
+      # Linux
+   DEL_CMD   = rm -f
+   EXE_EXT   = _glin$(BITS).so
+   INTER_DIR = Obj_lin$(BITS)
+   MD_CMD    = @mkdir -p
+   OBJ_EXT   = .o
+   PATH_SEP  = /
+   SYS_FILE  = SysGnuLinux
+
+   UNAME := $(shell uname -s)
+
+   ifneq ($(UNAME), Darwin)
+      FFLAGS     := $(FFLAGS) -fPIC
+      LDFLAGS    := $(LDFLAGS) -fPIC
+   endif
+endif
+
+
+   # Source files (by module)
+
+DLL_SOURCES =          \
+	$(SOURCE_FILE)
+
+vpath %.f90 $(DLL_DIR)
+vpath %.mod $(INTER_DIR)
+vpath %.obj $(INTER_DIR)
+
+ALL_OBJS      = $(DLL_SOURCES:.f90=.obj)
+
+   # Rule to do everything.
+
+all:     default
+default:  $(INTER_DIR) $(DEST_DIR)/$(OUTPUT_NAME)$(EXE_EXT)
+
+   # General rules for compliling the files.
+
+%.obj: %.f90
+	$(FC)  $(FFLAGS) -c $< -o $(INTER_DIR)/$@ -J $(INTER_DIR) -B $(INTER_DIR)
+
+
+   #  Dependency rules.
+#$(SYS_FILE).obj:                   $(PREC).obj
+
+
+   # Make sure the destination directory for the intermediate files exist.
+
+$(INTER_DIR):
+	$(MD_CMD) $(INTER_DIR)
+
+
+   # For linking DLL.
+
+$(DEST_DIR)/$(OUTPUT_NAME)$(EXE_EXT): $(ALL_OBJS) | $(INTER_DIR)
+	$(FC) $(LDFLAGS) -I $(INTER_DIR) -o $(DEST_DIR)/$(OUTPUT_NAME)$(EXE_EXT) \
+	$(foreach src, $(ALL_OBJS), $(addprefix $(INTER_DIR)/,$(src)))
+
+   # Cleanup afterwards.
+
+clean:
+	$(DEL_CMD) $(INTER_DIR)$(PATH_SEP)*.mod $(INTER_DIR)$(PATH_SEP)*.obj
+
+#gfortran -shared -O2 -m32 -fbacktrace -ffree-line-length-none -x f95-cpp-input -C ../CertTest/5MW_Baseline/ServoData/Source/DISCON.f90