Bugfixes regarding constant power control, updated controller tuning …

…for DTU10MW turbine

Parameter_files/DTU10MW/DISCON.IN

@@ -1,10 +1,10 @@
-0                                         =             User Variable 1: Yaw control mode (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)
+0                                        =             User Variable 1: Yaw control mode (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)
 0.005235988                               =             User Variable 2: Yaw rate, [rad/s]
 26.179938                                 =             User Variable 3: VS_CtInSp, cut-in speed, [rad/s]
 150000.0                                  =             User Variable 4: VS_MaxRat, maximum torque change rate, [Nm/s]
 50.26548                                  =             User Variable 5: PC_RefSpd, generator speed setpoint for the pitch controller, [rad/s]
-0                                         =             User Variable 6: IPC mode for load reductions (0 = off, 1 = on)
-0                                         =             User Variable 7: Above rated control (0 = constant torque control, 1 = constant power control)
-0.0                                       =             User Variable 8:
+0                                        =             User Variable 6: IPC mode for load reductions (0 = off, 1 = on)
+0                                        =             User Variable 7: Above rated control (0 = constant torque control, 1 = constant power control)
+0.00000                                     =             User Variable 8: Yaw alignment error, setpoint [rad]
 0.0                                       =             User Variable 9:
-0.0                                       =             User Variable 10:
+0.0                                       =             User Variable 10:

Parameter_files/DTU10MW/PitchGains.IN

@@ -1,9 +1,12 @@
-12
-0.0719	0.1255	0.1638	0.1958	0.2752	0.2985	0.3206	0.3417	0.3622	0.3819	0.4011	0.4196
--0.0338	-0.0172	-0.0141	-0.0118	-0.0079	-0.0066	-0.0055	-0.005	-0.0035	-0.0031	-0.0026	-0.0017
--0.0044	-0.0039	-0.0018	-0.0016	-0.0016	-0.0017	-0.0018	-0.0019	-0.003	-0.003	-0.003	-0.0032
-0	0	0	0	0	0	0	0	0	0	0	0
-0	0	0	0	0	0	0	0	0	0	0	0
-1
--3.48e+04
--2.26e+04
+13 ! Pitch control: amount of gain-scheduled parameters
+0 0.0349 0.0698 0.1047 0.1396 0.1745 0.2094 0.2443 0.2793 0.3142 0.3491 0.384 0.4189 ! Pitch control: pitch angle breakpoints (rad)
+-0.0105 -0.0104 -0.0102 -0.0099 -0.0095 -0.0091 -0.0086 -0.0081 -0.0076 -0.0071 -0.0066 -0.0061 -0.0056 ! Pitch control: proportional gain (s)
+-0.0028 -0.0028 -0.0027 -0.0027 -0.0026 -0.0024 -0.0023 -0.0022 -0.002 -0.0019 -0.0018 -0.0016 -0.0015 ! Pitch control: integral gain (-)
+0 0 0 0 0 0 0 0 0 0 0 0 0 ! Pitch control: derivative gain (1/s)
+0 0 0 0 0 0 0 0 0 0 0 0 0 ! Pitch control: first-order filter coefficient for derivative action 
+1 ! Generator torque control: amount of gain-scheduled parameters
+-27338.24 ! Generator torque control: proportional gain (s/rad Nm)
+-6134.68 ! Generator torque control: integral gain (1/rad Nm)
+1 ! Yaw-by-IPC control: amount of gain-scheduled parameters
+-0.16 ! Yaw-by-IPC control: proportional gain (1/rad Nm)
+-0.002 ! Yaw-by-IPC control: integral gain (1/(rad s) Nm)

Parameter_files/DTU10MW/ServoDynBladedInterface.dat

@@ -1,18 +1,18 @@
----------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface]
-"../Controller/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]
+---------------------- 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]
+"default"     DLL_DT       - Communication interval for dynamic library [used only with Bladed Interface] (s) (or "default")
+false         DLL_Ramp     - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag)
+9999.9        BPCutoff     - Cuttoff frequency for low-pass filter on blade pitch from DLL (Hz)
           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]
       -10.0   PtchRate_Min - Record  8: Minimum pitch rate (most negative value allowed) (deg/s) [used only with Bladed Interface]
        10.0   PtchRate_Max - Record  9: Maximum pitch rate  (deg/s) [used only with Bladed Interface]
-       80.1   Gain_OM      - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]
+      104.1   Gain_OM      - Record 16: Optimal mode gain (Nm/(rad/s)^2) [used only with Bladed Interface]
       300.0   GenSpd_MinOM - Record 17: Minimum generator speed (rpm) [used only with Bladed Interface]
       405.0   GenSpd_MaxOM - Record 18: Optimal mode maximum speed (rpm) [used only with Bladed Interface]
       405.0   GenSpd_Dem   - Record 19: Demanded generator speed above rated (rpm) [used only with Bladed Interface]