Cleanup

Ben-Mertz · Jan 10, 2020 · dcbb2bc · dcbb2bc
1 parent 2300380
commit dcbb2bc
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Showing 5 changed files with 20 additions and 26 deletions.
diff --git a/src/ControllerBlocks.f90 b/src/ControllerBlocks.f90
@@ -18,7 +18,7 @@
 !       State Machine: determine the state of the wind turbine to specify the corresponding control actions
 !       WindSpeedEstimator: Estimate wind speed
 !       SetpointSmoother: Modify generator torque and blade pitch controller setpoints in transition region
-!       PeakShaving: Limit rotor thrust near rated operation
+!       PitchSaturation: Prescribe specific minimum pitch schedule
 !       Shutdown: Shutdown control for max bld pitch
 
 MODULE ControllerBlocks
@@ -202,14 +202,10 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData)
                 ! Measurement update
                 S = MATMUL(H,MATMUL(P,TRANSPOSE(H))) + R_m        ! NJA: (H*T*H') \approx 0
                 K = MATMUL(P,TRANSPOSE(H))/S(1,1)
-                ! xh = xh + K*(LocalVar%GenSpeedF/CntrPar%WE_GearboxRatio - xh(1,1))
                 xh = xh + K*(LocalVar%GenSpeedF/CntrPar%WE_GearboxRatio - om_r)
                 P = MATMUL(identity(3) - MATMUL(K,H),P)
 
                 ! Wind Speed Estimate
-                ! xh(1,1) = saturate(xh(1,1),0.0, CntrPar%PC_RefSpd * 1.5)
-                ! xh(2,1) = saturate(xh(2,1),-10.0, 10.0)
-                ! xh(3,1) = saturate(xh(3,1),0.0, MAXVAL(WE_EKF_Vref))
                 om_r = xh(1,1)
                 v_t = xh(2,1)
                 v_m = xh(3,1)
@@ -276,7 +272,7 @@ REAL FUNCTION PitchSaturation(LocalVar, CntrPar, objInst)
 
         Vhat = LocalVar%WE_Vw
         Vhatf = LPFilter(Vhat,LocalVar%DT,0.2,LocalVar%iStatus,.FALSE.,objInst%instLPF)
-        LocalVar%TestType = Vhatf
+
         ! Define minimum blade pitch angle as a function of estimated wind speed
         PitchSaturation = interp1d(CntrPar%PS_WindSpeeds, CntrPar%PS_BldPitchMin, Vhatf)
 
@@ -301,7 +297,9 @@ REAL FUNCTION Shutdown(LocalVar, CntrPar, objInst)
 
         ! See if we should shutdown
         IF (.NOT. LocalVar%SD ) THEN
+            ! Filter pitch signal
             SD_BlPitchF = LPFilter(LocalVar%PC_PitComT, LocalVar%DT, CntrPar%SD_CornerFreq, LocalVar%iStatus, .FALSE., objInst%instLPF)
+
             ! Go into shutdown if above max pit
             IF (SD_BlPitchF > CntrPar%SD_MaxPit) THEN
                 LocalVar%SD  = .TRUE.

diff --git a/src/Controllers.f90 b/src/Controllers.f90
@@ -18,6 +18,7 @@
 !           YawRateControl: Nacelle yaw control
 !           IPC: Individual pitch control
 !           ForeAftDamping: Tower fore-aft damping control
+!           FloatingFeedback: Tower fore-aft feedback for floating offshore wind turbines
 
 MODULE Controllers
 
@@ -111,9 +112,10 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
 
         ! Saturate collective pitch commands:
         LocalVar%PC_PitComT = saturate(LocalVar%PC_PitComT, LocalVar%PC_MinPit, CntrPar%PC_MaxPit)                    ! Saturate the overall command using the pitch angle limits
+
         ! Combine and saturate all individual pitch commands:
         DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
-            LocalVar%PitCom(K) = LocalVar%PC_PitComT + LocalVar%IPC_PitComF(K) + LocalVar%FA_PitCom(K) + LocalVar%PC_SineExcitation !+ LocalVar%Fl_PitCom
+            LocalVar%PitCom(K) = LocalVar%PC_PitComT + LocalVar%IPC_PitComF(K) + LocalVar%FA_PitCom(K) + LocalVar%PC_SineExcitation
             LocalVar%PitCom(K) = saturate(LocalVar%PitCom(K), LocalVar%PC_MinPit, CntrPar%PC_MaxPit)                    ! Saturate the overall command using the pitch angle limits
             LocalVar%PitCom(K) = ratelimit(LocalVar%PitCom(K), LocalVar%BlPitch(K), CntrPar%PC_MinRat, CntrPar%PC_MaxRat, LocalVar%DT) ! Saturate the overall command of blade K using the pitch rate limit
         END DO
@@ -145,17 +147,17 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
         REAL(4)                                 :: VS_MaxTq      ! Locally allocated maximum torque saturation limits
 
         ! -------- Variable-Speed Torque Controller --------
+        ! Define max torque
+        IF (LocalVar%VS_State == 4) THEN
+            VS_MaxTq = CntrPar%VS_RtTq
+        ELSE
+            VS_MaxTq = CntrPar%VS_MaxTq           ! NJA: May want to boost max torque
+            ! VS_MaxTq = CntrPar%VS_RtTq
+        ENDIF
+
         ! Optimal Tip-Speed-Ratio tracking controller
         IF (CntrPar%VS_ControlMode == 2) THEN
-            ! Define max torque
-            IF (LocalVar%VS_State >= 4) THEN
-                VS_MaxTq = CntrPar%VS_RtTq
-            ELSE
-                ! VS_MaxTq = CntrPar%VS_MaxTq           ! NJA: May want to boost max torque
-                VS_MaxTq = CntrPar%VS_RtTq
-            ENDIF
-
-            ! TSR tracking vs control
+            ! PI controller
             LocalVar%GenTq = PIController(LocalVar%VS_SpdErr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, VS_MaxTq, LocalVar%DT, LocalVar%VS_LastGenTrq, .FALSE., objInst%instPI)
             LocalVar%GenTq = saturate(LocalVar%GenTq, CntrPar%VS_MinTq, VS_MaxTq)
 
@@ -166,6 +168,7 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
             LocalVar%GenArTq = PIController(LocalVar%VS_SpdErrAr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MaxOMTq, CntrPar%VS_ArSatTq, LocalVar%DT, CntrPar%VS_MaxOMTq, .FALSE., objInst%instPI)
             LocalVar%GenBrTq = PIController(LocalVar%VS_SpdErrBr, CntrPar%VS_KP(1), CntrPar%VS_KI(1), CntrPar%VS_MinTq, CntrPar%VS_MinOMTq, LocalVar%DT, CntrPar%VS_MinOMTq, .FALSE., objInst%instPI)
 
+            ! The action
             IF (LocalVar%VS_State == 1) THEN ! Region 1.5
                 LocalVar%GenTq = LocalVar%GenBrTq
             ELSEIF (LocalVar%VS_State == 2) THEN ! Region 2
@@ -180,7 +183,6 @@ SUBROUTINE VariableSpeedControl(avrSWAP, CntrPar, LocalVar, objInst)
 
             ! Saturate
             LocalVar%GenTq = saturate(LocalVar%GenTq, CntrPar%VS_MinTq, VS_MaxTq)
-
         ENDIF
 
 

diff --git a/src/DISCON.F90 b/src/DISCON.F90
@@ -10,7 +10,7 @@
 ! specific language governing permissions and limitations under the License.
 ! -------------------------------------------------------------------------------------------
 
-! Hih level run script
+! High level run script
 
 !=======================================================================
 SUBROUTINE DISCON(avrSWAP, aviFAIL, accINFILE, avcOUTNAME, avcMSG) BIND (C, NAME='DISCON')

diff --git a/src/Filters.f90 b/src/Filters.f90
@@ -226,8 +226,8 @@ REAL FUNCTION NotchFilter(InputSignal, DT, omega, betaNum, betaDen, iStatus, res
 
         ! 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
+        InputSignalLast1(inst)   = InputSignal                  ! Save input signal for next time step
+        OutputSignalLast2(inst)  = OutputSignalLast1(inst)      ! Save input signal for next time step
         OutputSignalLast1(inst)  = NotchFilter
         inst = inst + 1
 

diff --git a/src/Functions.f90 b/src/Functions.f90
@@ -414,16 +414,12 @@ SUBROUTINE Debug(LocalVar, CntrPar, avrSWAP, RootName, size_avcOUTNAME)
         IF (LocalVar%iStatus == 0)  THEN  ! .TRUE. if we're on the first call to the DLL
         ! If we're debugging, open the debug file and write the header:
             IF (CntrPar%LoggingLevel > 0) THEN
-                !OPEN(unit=UnDb, FILE=TRIM(RootName)//'.dbg', STATUS='NEW')
                 OPEN(unit=UnDb, FILE='DEBUG.dbg')
                 WRITE (UnDb,'(A)')  '   Time '  //Tab//' WE_TowerTop    ' //Tab//' WE_Vw    '  //Tab//' NacIMU_FA_Acc    ' //Tab//' FA_Acc    '   //Tab//' Fl_Pitcom    '
                 WRITE (UnDb,'(A)')  '   (sec) '  //Tab//'(m/s) ' //Tab//'(rad) ' //Tab//'(rad/s^2) ' //Tab//'(m/s^2) '//Tab//'(rad) ' 
-                !WRITE (UnDb,'(A)') '   LocalVar%Time '  //Tab//'LocalVar%PC_PitComT  ' //Tab//'LocalVar%PC_SpdErr  ' //Tab//'LocalVar%PC_KP ' //Tab//'LocalVar%PC_KI  ' //Tab//'LocalVar%Y_M  ' //Tab//'LocalVar%rootMOOP(1)  '//Tab//'VS_RtPwr  '//Tab//'LocalVar%GenTq'
-                !WRITE (UnDb,'(A)') '   (sec) ' //Tab//'(rad)    '  //Tab//'(rad/s) '//Tab//'(-) ' //Tab//'(-)   ' //Tab//'(rad)   ' //Tab//'(?)   ' //Tab//'(W)   '//Tab//'(Nm)  '
             END IF
 
             IF (CntrPar%LoggingLevel > 1) THEN
-                !OPEN(UnDb2, FILE=TRIM(RootName)//'.dbg2', STATUS='REPLACE')
                 OPEN(unit=UnDb2, FILE='DEBUG2.dbg')
                 WRITE(UnDb2,'(/////)')
                 WRITE(UnDb2,'(A,85("'//Tab//'AvrSWAP(",I2,")"))')  'LocalVar%Time ', (i,i=1,85)
@@ -434,8 +430,6 @@ SUBROUTINE Debug(LocalVar, CntrPar, avrSWAP, RootName, size_avcOUTNAME)
             IF (MODULO(LocalVar%Time, 10.0) == 0) THEN
                 WRITE(*, 100) LocalVar%GenSpeedF*RPS2RPM, LocalVar%BlPitch(1)*R2D, avrSWAP(15)/1000.0, LocalVar%WE_Vw ! LocalVar%Time !/1000.0
                 100 FORMAT('Generator speed: ', f6.1, ' RPM, Pitch angle: ', f5.1, ' deg, Power: ', f7.1, ' kW, Est. wind Speed: ', f5.1, ' m/s')
-                ! PRINT *, LocalVar%PC_State, LocalVar%VS_State, CntrPar%VS_Rgn3Pitch, CntrPar%PC_FinePit, CntrPar%PC_Switch, LocalVar%BlPitch(1) ! Additional debug info
-                ! PRINT *, LocalVar%RotSpeed
             END IF
 
             ! Output debugging information if requested: