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Updated IPC subroutine to use types instead of separate variables
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Sebastiaan Mulders committed Oct 25, 2017
1 parent 762bc92 commit a414224
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Showing 3 changed files with 43 additions and 44 deletions.
Binary file modified DISCON/DISCON_gwin32.dll
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4 changes: 2 additions & 2 deletions Source/DISCON.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -360,9 +360,9 @@ SUBROUTINE DISCON (avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAM

! Individual pitch control
IF ((CntrPar%IPC_ControlMode == 1) .OR. (CntrPar%Y_ControlMode == 2)) THEN
CALL IPC(LocalVar%rootMOOP, LocalVar%Azimuth, CntrPar%IPC_phi, LocalVar%Y_MErr, LocalVar%DT, CntrPar%IPC_KI, CntrPar%Y_IPC_KP, CntrPar%Y_IPC_KI, CntrPar%IPC_omegaHP, CntrPar%IPC_omegaLP, CntrPar%IPC_omegaNotch, CntrPar%IPC_zetaHP, CntrPar%IPC_zetaLP, CntrPar%IPC_zetaNotch, LocalVar%iStatus, CntrPar%IPC_ControlMode, CntrPar%Y_ControlMode, LocalVar%NumBl, LocalVar%IPC_PitComF, objInst)
CALL IPC(LocalVar, CntrPar, objInst)
ELSE
LocalVar%IPC_PitComF = 0.0
LocalVar%IPC_PitComF = 0.0 ! THIS IS AN ARRAY!!
END IF

! Combine and saturate all pitch commands:
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83 changes: 41 additions & 42 deletions Source/IPC.f90
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Original file line number Diff line number Diff line change
@@ -1,11 +1,12 @@
!-------------------------------------------------------------------------------------------------------------------------------
! Individual pitch control subroutine
SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI, omegaHP, omegaLP, omegaNotch, zetaHP, zetaLP, zetaNotch, iStatus, IPC_ControlMode, Y_ControlMode, NumBl, PitComIPCF, objInst)
!SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI, omegaHP, omegaLP, omegaNotch, zetaHP, zetaLP, zetaNotch, iStatus, IPC_ControlMode, Y_ControlMode, NumBl, PitComIPCF, objInst)
SUBROUTINE IPC(LocalVar, CntrPar, objInst)
!...............................................................................................................................

USE :: FunctionToolbox
USE :: Filters
USE DRC_Types, ONLY : ObjectInstances
USE DRC_Types, ONLY : LocalVariables, ControlParameters, ObjectInstances

IMPLICIT NONE

Expand All @@ -15,37 +16,39 @@ SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI,

! Inputs

REAL(4), INTENT(IN) :: aziAngle ! Rotor azimuth angle
REAL(4), INTENT(IN) :: DT ! Time step
REAL(4), INTENT(IN) :: KInter ! Gain for the integrator
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) :: omegaNotch ! Notch filter frequency
REAL(4), INTENT(IN) :: phi ! Phase offset added to the azimuth angle
REAL(4), INTENT(IN) :: rootMOOP(3) ! Root out of plane bending moments of each blade
REAL(4), INTENT(IN) :: Y_MErr ! Yaw alignment error, measured [rad]
REAL(4), INTENT(IN) :: zetaHP ! High-pass filter damping value
REAL(4), INTENT(IN) :: zetaLP ! Low-pass filter damping value
REAL(4), INTENT(IN) :: zetaNotch ! Notch 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) :: NumBl ! Number of turbine blades
INTEGER(4), INTENT(IN) :: Y_ControlMode ! Yaw control mode
REAL(4), INTENT(IN) :: Y_IPC_KP ! Yaw-by-IPC proportional controller gain Kp
REAL(4), INTENT(IN) :: Y_IPC_KI ! Yaw-by-IPC integral controller gain Ki
INTEGER(4), INTENT(IN) :: IPC_ControlMode ! Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 0
!REAL(4), INTENT(IN) :: LocalVar%Azimuth ! Rotor azimuth angle
!REAL(4), INTENT(IN) :: LocalVar%DT ! Time step
!REAL(4), INTENT(IN) :: CntrPar%IPC_KI ! Gain for the integrator
!REAL(4), INTENT(IN) :: CntrPar%IPC_omegaHP ! High-pass filter cut-in frequency
!REAL(4), INTENT(IN) :: CntrPar%IPC_omegaLP ! Low-pass filter cut-off frequency
!REAL(4), INTENT(IN) :: CntrPar%IPC_omegaNotch ! Notch filter frequency
!REAL(4), INTENT(IN) :: CntrPar%IPC_phi ! Phase offset added to the azimuth angle
!REAL(4), INTENT(IN) :: LocalVariables%rootMOOP(3) ! Root out of plane bending moments of each blade
!REAL(4), INTENT(IN) :: LocalVariables%Y_MErr ! Yaw alignment error, measured [rad]
!REAL(4), INTENT(IN) :: CntrPar%IPC_zetaHP ! High-pass filter damping value
!REAL(4), INTENT(IN) :: CntrPar%IPC_zetaLP ! Low-pass filter damping value
!REAL(4), INTENT(IN) :: CntrPar%IPC_zetaNotch ! Notch filter damping value
!INTEGER(4), INTENT(IN) :: LocalVariables%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) :: LocalVariables%NumBl ! Number of turbine blades
!INTEGER(4), INTENT(IN) :: CntrPar%Y_ControlMode ! Yaw control mode
!REAL(4), INTENT(IN) :: CntrPar%Y_IPC_KP ! Yaw-by-IPC proportional controller gain Kp
!REAL(4), INTENT(IN) :: CntrPar%Y_IPC_KI ! Yaw-by-IPC integral controller gain Ki
!INTEGER(4), INTENT(IN) :: CntrPar%IPC_ControlMode ! Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 0

! Outputs

REAL(4), INTENT(OUT) :: PitComIPCF(3) ! Filtered pitch angle of each rotor blade
!REAL(4), INTENT(OUT) :: LocalVar%IPC_PitComF(3) ! Filtered pitch angle of each rotor blade

! Inputs/outputs

TYPE(LocalVariables), INTENT(INOUT) :: LocalVar
TYPE(ControlParameters), INTENT(IN) :: CntrPar
TYPE(ObjectInstances), INTENT(INOUT) :: objInst

! Local variables

REAL(4), PARAMETER :: PI = 3.14159265359 ! Mathematical constant pi
REAL(4) :: rootMOOPF(3), PitComIPC(3) !
REAL(4) :: PitComIPC(3)
INTEGER(4) :: K ! Integer used to loop through turbine blades
REAL(4) :: axisTilt, axisYaw, axisYawF ! Direct axis and quadrature axis outputted by Coleman transform
REAL(4), SAVE :: IntAxisTilt, IntAxisYaw ! Integral of the direct axis and quadrature axis
Expand All @@ -62,43 +65,39 @@ SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI,
!------------------------------------------------------------------------------------------------------------------------------
! Filter rootMOOPs with notch filter

DO K = 1,NumBl
!DO K = 1,LocalVar%NumBl
! Instances 1-3 of the Notch Filter are reserved for this routine.
rootMOOPF(K) = rootMOOP(K) ! Notch filter currently not in use
!rootMOOPF(K) = WHICHNOTCHFILTERFUNCTION(rootMOOP(K), DT, omegaNotch, zetaNotch, iStatus, K) !! CHECK
END DO

! Calculate commanded IPC pitch angles
!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, objInst)
! rootMOOPF(K) = LocalVar%rootMOOP(K) ! Notch filter currently not in use
!END DO

! Initialization
! Set integrals to be 0 in the first time step

IF(iStatus==0) THEN
IF(LocalVar%iStatus==0) THEN
IntAxisTilt = 0.0
IntAxisYaw = 0.0
END IF

! Body
! Pass rootMOOPs through the Coleman transform to get the direct and quadrature axis

CALL ColemanTransform(rootMOOP, aziAngle, axisTilt, axisYaw)
CALL ColemanTransform(LocalVar%rootMOOP, LocalVar%Azimuth, axisTilt, axisYaw)

! High-pass filter the MBC yaw component and filter yaw alignment error, and compute the yaw-by-IPC contribution

IF (Y_ControlMode == 2) THEN
axisYawF = HPFilter(axisYaw, DT, omegaHP, iStatus, .FALSE., objInst%instHPF)
Y_MErrF = SecLPFilter(Y_MErr, DT, omegaLP, zetaLP, iStatus, .FALSE., objInst%instSecLPF)
Y_MErrF_IPC = PIController(Y_MErrF, Y_IPC_KP, Y_IPC_KI, -100.0, 100.0, DT, 0.0, .FALSE., 3)
IF (CntrPar%Y_ControlMode == 2) THEN
axisYawF = HPFilter(axisYaw, LocalVar%DT, CntrPar%IPC_omegaHP, LocalVar%iStatus, .FALSE., objInst%instHPF)
Y_MErrF = SecLPFilter(LocalVar%Y_MErr, LocalVar%DT, CntrPar%IPC_omegaLP, CntrPar%IPC_zetaLP, LocalVar%iStatus, .FALSE., objInst%instSecLPF)
Y_MErrF_IPC = PIController(Y_MErrF, CntrPar%Y_IPC_KP(1), CntrPar%Y_IPC_KI(1), -100.0, 100.0, LocalVar%DT, 0.0, .FALSE., 3)
ELSE
axisYawF = axisYaw
Y_MErrF = 0.0
END IF

! Integrate the signal and multiply with the IPC gain
IF (IPC_ControlMode == 1) THEN
IntAxisTilt = IntAxisTilt + DT * KInter * axisTilt
IntAxisYaw = IntAxisYaw + DT * KInter * axisYawF
IF (CntrPar%IPC_ControlMode == 1) THEN
IntAxisTilt = IntAxisTilt + LocalVar%DT * CntrPar%IPC_KI * axisTilt
IntAxisYaw = IntAxisYaw + LocalVar%DT * CntrPar%IPC_KI * axisYawF
ELSE
IntAxisTilt = 0.0
IntAxisYaw = 0.0
Expand All @@ -110,14 +109,14 @@ SUBROUTINE IPC(rootMOOP, aziAngle, phi, Y_MErr, DT, KInter, Y_IPC_KP, Y_IPC_KI,

! Pass direct and quadrature axis through the inverse Coleman transform to get the commanded pitch angles

CALL ColemanTransformInverse(IntAxisTilt, IntAxisYawIPC, aziAngle, phi, PitComIPC)
CALL ColemanTransformInverse(IntAxisTilt, IntAxisYawIPC, LocalVar%Azimuth, CntrPar%IPC_phi, PitComIPC)

! Filter PitComIPC with second order low pass filter

DO K = 1,NumBl
DO K = 1,LocalVar%NumBl
! Instances 1-3 of the Second order Low-Pass Filter are reserved for this routine.
! PitComIPCF(K) = SecLPFilter(PitComIPC(K), DT, omegaLP, zetaLP, iStatus, K)
PitComIPCF(K) = PitComIPC(K)
! LocalVar%IPC_PitComF(K) = SecLPFilter(PitComIPC(K), LocalVar%DT, CntrPar%IPC_omegaLP, CntrPar%IPC_zetaLP, LocalVar%iStatus, K)
LocalVar%IPC_PitComF(K) = PitComIPC(K)
END DO

CONTAINS
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