Fixed a bug introduced in the wind speed estimator

Ben-Mertz · Jul 3, 2019 · 9e960fc · 9e960fc
1 parent 45e9888
commit 9e960fc
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Showing 2 changed files with 18 additions and 21 deletions.
diff --git a/Source/Filters.f90 b/Source/Filters.f90
@@ -217,13 +217,10 @@ REAL FUNCTION NotchFilter(InputSignal, DT, omega, betaNum, betaDen, iStatus, res
 		P4 = (2*omega**2 - 2*K**2)  / (K**2 + 2*omega*BetaDen*K + omega**2)
 		P5 = (K**2 - 2*omega*BetaDen*K + omega**2)/ (K**2 + 2*omega*BetaDen*K + omega**2)
 
-			! Body
-
-
+        ! Body
 		NotchFilter = P1*InputSignal + P2*InputSignalLast1(inst) + P3*InputSignalLast2(inst) - P4*OutputSignalLast1(inst) - P5*OutputSignalLast2(inst)
 
-			! Save signals for next time step
-
+		! Save signals for next time step
 		InputSignalLast2(inst)   = InputSignalLast1(inst)
 		InputSignalLast1(inst)   = InputSignal			!Save input signal for next time step
 		OutputSignalLast2(inst)  = OutputSignalLast1(inst)		!Save input signal for next time step

diff --git a/Source/ReadSetParameters.f90 b/Source/ReadSetParameters.f90
@@ -141,22 +141,6 @@ SUBROUTINE ComputeVariablesSetpoints(CntrPar, LocalVar)
         TYPE(ControlParameters), INTENT(INOUT)  :: CntrPar
         TYPE(LocalVariables), INTENT(INOUT)     :: LocalVar
 
-        ! Initialize testValue (debugging variable)
-        LocalVar%TestType = 0
-
-        ! Initialize the SAVEd variables:
-        ! NOTE: LocalVar%VS_LastGenTrq, though SAVEd, is initialized in the torque controller
-        ! below for simplicity, not here.
-        ! DO K = 1,LocalVar%NumBl
-        LocalVar%PitCom = LocalVar%BlPitch ! This will ensure that the variable speed controller picks the correct control region and the pitch controller picks the correct gain on the first call
-        ! END DO
-        LocalVar%Y_AccErr = 0.0  ! This will ensure that the accumulated yaw error starts at zero
-        LocalVar%Y_YawEndT = -1.0 ! This will ensure that the initial yaw end time is lower than the actual time to prevent initial yawing
-
-        ! Wind speed estimator initialization, we always assume an initial wind speed of 10 m/s
-        LocalVar%WE_Vw = 10
-        LocalVar%WE_VwI = LocalVar%WE_Vw - CntrPar%WE_Gamma*LocalVar%RotSpeed
-
         ! Calculate yaw misalignment error
         LocalVar%Y_MErr = LocalVar%Y_M + CntrPar%Y_MErrSet ! Yaw-alignment error
 
@@ -400,6 +384,22 @@ SUBROUTINE SetParameters(avrSWAP, aviFAIL, ErrMsg, size_avcMSG, CntrPar, LocalVa
 
             CALL ReadControlParameterFileSub(CntrPar)
 
+            ! Initialize testValue (debugging variable)
+            LocalVar%TestType = 0
+
+            ! Initialize the SAVED variables:
+
+            ! DO K = 1,LocalVar%NumBl
+            LocalVar%PitCom = LocalVar%BlPitch ! This will ensure that the variable speed controller picks the correct control region and the pitch controller picks the correct gain on the first call
+            ! END DO
+
+            LocalVar%Y_AccErr = 0.0  ! This will ensure that the accumulated yaw error starts at zero
+            LocalVar%Y_YawEndT = -1.0 ! This will ensure that the initial yaw end time is lower than the actual time to prevent initial yawing
+
+            ! Wind speed estimator initialization, we always assume an initial wind speed of 10 m/s
+            LocalVar%WE_Vw = 10
+            LocalVar%WE_VwI = LocalVar%WE_Vw - CntrPar%WE_Gamma*LocalVar%RotSpeed
+
             ! Check validity of input parameters:
             CALL Assert(LocalVar, CntrPar, avrSWAP, aviFAIL, ErrMsg, size_avcMSG)