Minor bugfixes

Parameter_files/NREL5MW/ControllerParameters.in

@@ -0,0 +1,53 @@
+2.5132741			! CornerFreq		- Corner frequency (-3dB point) in the first-order low-pass filter, [rad/s]
+0					! LoggingLevel		- 0 = write no debug files, 1 = write standard output .dbg-file, 2 = write standard output .dbg-file and complete avrSWAP-array .dbg2-file
+0.087266			! IPC_IntSat		- Integrator saturation (maximum signal amplitude contrbution to pitch from IPC), [rad]
+8E-10				! IPC_KI			- Integral gain for the individual pitch controller, [-]. 
+0					! IPC_ControlMode	- Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) on = 1/off = 0
+0.3141592			! IPC_omegaHP		- High-pass filter cut-in frequency used to separate yaw-by-IPC contribution from blade load reduction contribution, [rad/s]. 
+0.6283185			! IPC_omegaLP		- Low-pass filter corner frequency for the individual pitch controller, [rad/s].	
+1.269330365			! IPC_omegaNotch	- Notch filter corner frequency for the individual pitch controller, [rad/s].
+0.436332313			! IPC_phi			- Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 
+0.70				! IPC_zetaHP		- High-pass filter damping value, [-]. 
+1.0					! IPC_zetaLP		- Low-pass filter damping factor for the individual pitch controller, [-].	
+0.5					! IPC_zetaNotch		- Notch filter damping factor for the individual pitch controller, [-].
+13					! PC_GS_n			- Amount of gain-scheduling table entries
+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							! PC_GS_angles	- Gain-schedule table: pitch angles
+-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			! PC_GS_kp		- Gain-schedule table: pitch controller kp gains
+-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			! PC_GS_ki		- Gain-schedule table: pitch controller ki gains
+0 0 0 0 0 0 0 0 0 0 0 0 0						! PC_GS_kd			- Gain-schedule table: pitch controller kd gains
+0 0 0 0 0 0 0 0 0 0 0 0 0						! PC_GS_tf			- Gain-schedule table: pitch controller tf gains (derivative filter)
+1					! PC_ConstP_n - Amount of controller gains for the constant power contribution to collective pitch control
+-4.0E-09			! PC_ConstP_KP - Proportional gain(s), constant power contribution to collective pitch control
+-4.0E-09			! PC_ConstP_KI - Integral gain(s), constant power contribution to collective pitch control
+1.5707				! PC_MaxPit			- Maximum physical pitch limit, [rad].
+-0.087266			! PC_MinPit			- Minimum physical pitch limit, [rad].
+0.17453				! PC_MaxRat			- Maximum pitch rate (in absolute value) in pitch controller, [rad/s].
+-0.17453			! PC_MinRat			- Minimum pitch rate (in absolute value) in pitch controller, [rad/s].
+50.26548			! PC_RefSpd			- Desired (reference) HSS speed for pitch controller, [rad/s].
+0.0					! PC_SetPnt			- Record 5: Below-rated pitch angle set-point, [rad]
+0.034906			! PC_Switch			- Angle above lowest minimum pitch angle for switch [rad]
+0					! VS_ControlMode	- Generator torque control mode in above rated conditions, 0 = constant torque / 1 = constant power
+26.179938			! VS_CtInSp			- Transitional generator speed (HSS side) between regions 1 and 1 1/2, [rad/s].
+212900				! VS_GenTrqArSatMax	- Above rated generator torque PI control saturation, [Nm]
+42.411				! VS_MaxOM			- Optimal mode maximum speed, [rad/s].
+150000.0			! VS_MaxRat			- Maximum torque rate (in absolute value) in torque controller, [Nm/s].
+250000.0			! VS_MaxTq			- Maximum generator torque in Region 3 (HSS side), [Nm].
+0.0					! VS_MinTq			- Minimum generator (HSS side), [Nm].
+31.415				! VS_MinOM			- Optimal mode minimum speed, [rad/s]
+104.1				! VS_Rgn2K			- Generator torque constant in Region 2 (HSS side), N-m/(rad/s)^2
+1.0E+07				! VS_RtPwr			- Wind turbine rated power [W]
+198943.6			! VS_RtTq			- Rated torque, [Nm].
+42.411				! VS_RtSpd			- Rated generator speed [rad/s]
+1					! VS_n				- Number of controller gains
+-27338.24			! VS_KP				- Proportional gain for generator PI torque controller, used in the transitional 2.5 region, [1/(rad/s) Nm]
+-6134.68 			! VS_KI				- Integral gain for generator PI torque controller, used in the transitional 2.5 region, [1/rad Nm]
+2					! Y_ControlMode		- Yaw control mode: (0 = no yaw control, 1 = yaw rate control, 2 = yaw-by-IPC)
+1.745329252			! Y_ErrThresh		- Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]
+0.17453				! Y_IPC_IntSat		- Integrator saturation (maximum signal amplitude contrbution to pitch from yaw-by-IPC), [rad]
+1					! Y_IPC_n			- Number of controller gains (yaw-by-IPC)
+-0.064				! Y_IPC_KP			- Yaw-by-IPC proportional controller gain Kp
+-0.0008				! Y_IPC_KI			- Yaw-by-IPC integral controller gain Ki
+0.00000				! Y_MErrSet			- Yaw alignment error, setpoint [rad]
+1.0					! Y_omegaLPFast		- Corner frequency fast low pass filter, 1.0 [Hz]
+0.016667			! Y_omegaLPSlow		- Corner frequency slow low pass filter, 1/60 [Hz]
+0.0034906			! Y_Rate			- Yaw rate [rad/s]

Source/Controllers.f90

@@ -103,16 +103,16 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
 		LocalVar%VS_SpdErrAr = CntrPar%VS_RtSpd - LocalVar%GenSpeedF					! Current speed error - Above-rated PI-control
 		LocalVar%VS_SpdErrBr = CntrPar%VS_MinOM - LocalVar%GenSpeedF					! Current speed error - Below-rated PI-control
 		IF (LocalVar%PC_PitComT >= CntrPar%VS_Rgn3MP) THEN						! We are in region 3
-			LocalVar%GenTrqAr = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_Rgn2MaxTq, CntrPar%VS_GenTrqArSatMax, LocalVar%DT, CntrPar%VS_GenTrqArSatMax, .TRUE., 80)
-			LocalVar%GenTrqBr = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_Rgn2MinTq, LocalVar%DT, CntrPar%VS_Rgn2MinTq, .TRUE., 81)
+			LocalVar%GenTrqAr = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_Rgn2MaxTq, CntrPar%VS_GenTrqArSatMax, LocalVar%DT, CntrPar%VS_GenTrqArSatMax, .TRUE., objInst%instPI)
+			LocalVar%GenTrqBr = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_Rgn2MinTq, LocalVar%DT, CntrPar%VS_Rgn2MinTq, .TRUE., objInst%instPI)
 			IF (CntrPar%VS_ControlMode == 1) THEN					! Constant power tracking
 				LocalVar%GenTrq = CntrPar%VS_RtPwr/LocalVar%GenSpeedF
 			ELSE											! Constant torque tracking
 				LocalVar%GenTrq = CntrPar%VS_RtTq
 			END IF
 		ELSE
-			LocalVar%GenTrqAr = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_Rgn2MaxTq, CntrPar%VS_GenTrqArSatMax, LocalVar%DT, CntrPar%VS_Rgn2MaxTq, .FALSE., 80)
-			LocalVar%GenTrqBr = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_Rgn2MinTq, LocalVar%DT, CntrPar%VS_Rgn2MinTq, .FALSE., 81)
+			LocalVar%GenTrqAr = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_Rgn2MaxTq, CntrPar%VS_GenTrqArSatMax, LocalVar%DT, CntrPar%VS_Rgn2MaxTq, .FALSE., objInst%instPI)
+			LocalVar%GenTrqBr = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_Rgn2MinTq, LocalVar%DT, CntrPar%VS_Rgn2MinTq, .FALSE., objInst%instPI)
 			IF (LocalVar%GenTrqAr >= CntrPar%VS_Rgn2MaxTq*1.01) THEN
 				LocalVar%GenTrq = LocalVar%GenTrqAr
 				CONTINUE

Source/DISCON.sln

@@ -0,0 +1,22 @@
+
+Microsoft Visual Studio Solution File, Format Version 12.00
+# Visual Studio 14
+VisualStudioVersion = 14.0.25420.1
+MinimumVisualStudioVersion = 10.0.40219.1
+Project("{6989167D-11E4-40FE-8C1A-2192A86A7E90}") = "DISCON", "DISCON.vfproj", "{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}"
+EndProject
+Global
+	GlobalSection(SolutionConfigurationPlatforms) = preSolution
+		Release|x64 = Release|x64
+		Release|x86 = Release|x86
+	EndGlobalSection
+	GlobalSection(ProjectConfigurationPlatforms) = postSolution
+		{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x64.ActiveCfg = Release|x64
+		{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x64.Build.0 = Release|x64
+		{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x86.ActiveCfg = Release|Win32
+		{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}.Release|x86.Build.0 = Release|Win32
+	EndGlobalSection
+	GlobalSection(SolutionProperties) = preSolution
+		HideSolutionNode = FALSE
+	EndGlobalSection
+EndGlobal

Source/DISCON.vfproj

@@ -0,0 +1,39 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<VisualStudioProject ProjectType="typeDynamicLibrary" ProjectCreator="Intel Fortran" Keyword="Dll" Version="11.0" ProjectIdGuid="{1EDB6BC1-C5C9-4E4F-8785-31B8143FCBC6}">
+	<Platforms>
+		<Platform Name="Win32"/>
+		<Platform Name="x64"/></Platforms>
+	<Configurations>
+		<Configuration Name="Release|Win32" ConfigurationType="typeDynamicLibrary">
+				<Tool Name="VFFortranCompilerTool" SuppressStartupBanner="true" RuntimeLibrary="rtMultiThreadedDLL"/>
+				<Tool Name="VFLinkerTool" SuppressStartupBanner="true" SubSystem="subSystemWindows" LinkDLL="true"/>
+				<Tool Name="VFResourceCompilerTool"/>
+				<Tool Name="VFMidlTool" SuppressStartupBanner="true"/>
+				<Tool Name="VFCustomBuildTool"/>
+				<Tool Name="VFPreLinkEventTool"/>
+				<Tool Name="VFPreBuildEventTool"/>
+				<Tool Name="VFPostBuildEventTool"/>
+				<Tool Name="VFManifestTool" SuppressStartupBanner="true"/></Configuration>
+		<Configuration Name="Release|x64" ConfigurationType="typeDynamicLibrary">
+				<Tool Name="VFFortranCompilerTool" SuppressStartupBanner="true" RuntimeLibrary="rtMultiThreadedDLL"/>
+				<Tool Name="VFLinkerTool" SuppressStartupBanner="true" SubSystem="subSystemWindows" LinkDLL="true"/>
+				<Tool Name="VFResourceCompilerTool"/>
+				<Tool Name="VFMidlTool" SuppressStartupBanner="true" TargetEnvironment="midlTargetAMD64"/>
+				<Tool Name="VFCustomBuildTool"/>
+				<Tool Name="VFPreLinkEventTool"/>
+				<Tool Name="VFPreBuildEventTool"/>
+				<Tool Name="VFPostBuildEventTool"/>
+				<Tool Name="VFManifestTool" SuppressStartupBanner="true"/></Configuration></Configurations>
+	<Files>
+		<Filter Name="Header Files" Filter="fi;fd"/>
+		<Filter Name="Resource Files" Filter="rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe"/>
+		<Filter Name="Source Files" Filter="f90;for;f;fpp;ftn;def;odl;idl">
+		<File RelativePath=".\Constants.f90"/>
+		<File RelativePath=".\Controllers.f90"/>
+		<File RelativePath=".\DISCON.f90"/>
+		<File RelativePath=".\DRC_Types.f90"/>
+		<File RelativePath=".\Filters.f90"/>
+		<File RelativePath=".\FunctionToolbox.f90"/>
+		<File RelativePath=".\ReadSetParameters.f90"/></Filter>
+		<File RelativePath=".\ReadMe.txt"/></Files>
+	<Globals/></VisualStudioProject>

Source/FunctionToolbox.f90

@@ -45,33 +45,32 @@ REAL FUNCTION PIController(error, kp, ki, minValue, maxValue, DT, I0, reset, ins
 	!
 		IMPLICIT NONE
 
-			! Inputs
-		REAL(4), INTENT(IN)		:: error
-		REAL(4), INTENT(IN)		:: kp
-		REAL(4), INTENT(IN)		:: ki
-		REAL(4), INTENT(IN)		:: minValue
-		REAL(4), INTENT(IN)		:: maxValue
-		REAL(4), INTENT(IN)		:: DT
-		INTEGER(4), INTENT(IN)	:: inst
-		REAL(4), INTENT(IN)		:: I0
-		LOGICAL, INTENT(IN)		:: reset
+		! Inputs
+		REAL(4), INTENT(IN)			:: error
+		REAL(4), INTENT(IN)			:: kp
+		REAL(4), INTENT(IN)			:: ki
+		REAL(4), INTENT(IN)			:: minValue
+		REAL(4), INTENT(IN)			:: maxValue
+		REAL(4), INTENT(IN)			:: DT
+		INTEGER(4), INTENT(INOUT)	:: inst
+		REAL(4), INTENT(IN)			:: I0
+		LOGICAL, INTENT(IN)			:: reset
 
-			! Local
+		! Local
 		INTEGER(4)						:: i											! Counter for making arrays
 		REAL(4)							:: PTerm										! Proportional term
 		REAL(4), DIMENSION(99), SAVE	:: ITerm = (/ (real(9999.9), i = 1,99) /)		! Integral term, current.
 		REAL(4), DIMENSION(99), SAVE	:: ITermLast = (/ (real(9999.9), i = 1,99) /)	! Integral term, the last time this controller was called. Supports 99 separate instances.
 		INTEGER(4), DIMENSION(99), SAVE	:: FirstCall = (/ (1, i=1,99) /)				! First call of this function?
 
-			! Initialize persistent variables/arrays, and set inital condition for integrator term
+		! Initialize persistent variables/arrays, and set inital condition for integrator term
 		IF ((FirstCall(inst) == 1) .OR. reset) THEN
 			ITerm(inst) = I0
 			ITermLast(inst) = I0
 
 			FirstCall(inst) = 0
 			PIController = I0
 		ELSE
-
 			PTerm = kp*error
 			ITerm(inst) = ITerm(inst) + DT*ki*error
 			ITerm(inst) = saturate(ITerm(inst), minValue, maxValue)
@@ -80,6 +79,7 @@ REAL FUNCTION PIController(error, kp, ki, minValue, maxValue, DT, I0, reset, ins
 
 			ITermLast(inst) = ITerm(inst)
 		END IF
+		inst = inst + 1
 
 	END FUNCTION PIController
 	!-------------------------------------------------------------------------------------------------------------------------------

Source/Release/DISCON.dll.embed.manifest

@@ -0,0 +1,3 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<assembly xmlns='urn:schemas-microsoft-com:asm.v1' manifestVersion='1.0'>
+</assembly>

Source/Release/DISCON.dll.intermediate.manifest

@@ -0,0 +1,10 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<assembly xmlns='urn:schemas-microsoft-com:asm.v1' manifestVersion='1.0'>
+  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v3">
+    <security>
+      <requestedPrivileges>
+        <requestedExecutionLevel level='asInvoker' uiAccess='false' />
+      </requestedPrivileges>
+    </security>
+  </trustInfo>
+</assembly>

Source/makefile

@@ -12,8 +12,6 @@
    # 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.
 

Source/x64/Release/DISCON.dll.embed.manifest

@@ -0,0 +1,3 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<assembly xmlns='urn:schemas-microsoft-com:asm.v1' manifestVersion='1.0'>
+</assembly>

Source/x64/Release/DISCON.dll.intermediate.manifest

@@ -0,0 +1,10 @@
+<?xml version='1.0' encoding='UTF-8' standalone='yes'?>
+<assembly xmlns='urn:schemas-microsoft-com:asm.v1' manifestVersion='1.0'>
+  <trustInfo xmlns="urn:schemas-microsoft-com:asm.v3">
+    <security>
+      <requestedPrivileges>
+        <requestedExecutionLevel level='asInvoker' uiAccess='false' />
+      </requestedPrivileges>
+    </security>
+  </trustInfo>
+</assembly>