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Develop #50

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Jun 22, 2021
Merged

Develop #50

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1129adc
trap nans in low/stopped rotor speeds
nikhar-abbas Jun 22, 2021
4aca5b7
increment version
nikhar-abbas Jun 22, 2021
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2 changes: 1 addition & 1 deletion CMakeLists.txt
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
cmake_minimum_required(VERSION 3.6)
project(ROSCO VERSION 2.2.0 LANGUAGES Fortran)
project(ROSCO VERSION 2.3.0 LANGUAGES Fortran)

set(CMAKE_Fortran_MODULE_DIRECTORY "${CMAKE_BINARY_DIR}/ftnmods")

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4 changes: 2 additions & 2 deletions README.md
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Expand Up @@ -27,14 +27,14 @@ If you want to use the controller with DNV GL Bladed v4.5 or earlier (which stil
If ROSCO played a role in your research, please cite it. This software can be
cited as:

ROSCO. Version 2.2.0 (2021). Available at https://github.com/nrel/rosco.
ROSCO. Version 2.3.0 (2021). Available at https://github.com/nrel/rosco.

For LaTeX users:

```
@misc{ROSCO_2021,
author = {NREL},
title = {{ROSCO. Version 2.2.0}},
title = {{ROSCO. Version 2.3.0}},
year = {2021},
publisher = {GitHub},
journal = {GitHub repository},
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8 changes: 5 additions & 3 deletions src/ControllerBlocks.f90
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Expand Up @@ -131,6 +131,8 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
REAL(8) :: Tau_r ! Estimated rotor torque [Nm]
REAL(8) :: a ! wind variance
REAL(8) :: lambda ! tip-speed-ratio [rad]
REAL(8) :: RotSpeed ! Rotor Speed [rad], locally

! - Covariance matrices
REAL(8), DIMENSION(3,3) :: F ! First order system jacobian
REAL(8), DIMENSION(3,3), SAVE :: P ! Covariance estiamte
Expand Down Expand Up @@ -168,11 +170,11 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
Q = RESHAPE((/0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0/),(/3,3/))
IF (LocalVar%iStatus == 0) THEN
! Initialize recurring values
om_r = LocalVar%RotSpeedF
om_r = max(LocalVar%RotSpeedF, CntrPar%VS_MinOMSpd)
v_t = 0.0
v_m = LocalVar%HorWindV
v_h = LocalVar%HorWindV
lambda = LocalVar%RotSpeed * CntrPar%WE_BladeRadius/v_h
lambda = max(LocalVar%RotSpeed, CntrPar%VS_MinOMSpd) * CntrPar%WE_BladeRadius/v_h
xh = RESHAPE((/om_r, v_t, v_m/),(/3,1/))
P = RESHAPE((/0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 1.0/),(/3,3/))
K = RESHAPE((/0.0,0.0,0.0/),(/3,1/))
Expand All @@ -183,7 +185,7 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
A_op = interp1d(CntrPar%WE_FOPoles_v,CntrPar%WE_FOPoles,v_h)

! TEST INTERP2D
lambda = LocalVar%RotSpeed * CntrPar%WE_BladeRadius/v_h
lambda = max(LocalVar%RotSpeed, CntrPar%VS_MinOMSpd) * CntrPar%WE_BladeRadius/v_h
Cp_op = interp2d(PerfData%Beta_vec,PerfData%TSR_vec,PerfData%Cp_mat, LocalVar%BlPitch(1)*R2D, lambda )
Cp_op = max(0.0,Cp_op)

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6 changes: 3 additions & 3 deletions src/Functions.f90
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Expand Up @@ -195,7 +195,7 @@ REAL FUNCTION interp2d(xData, yData, zData, xq, yq)
! 4| a b c
! 5| d e f
! 6| g H i

USE ieee_arithmetic
IMPLICIT NONE
! Inputs
REAL(8), DIMENSION(:), INTENT(IN) :: xData ! Provided x data (vector), to find query point (should be monotonically increasing)
Expand All @@ -215,7 +215,7 @@ REAL FUNCTION interp2d(xData, yData, zData, xq, yq)

! ---- Find corner indices surrounding desired interpolation point -----
! x-direction
IF (xq <= MINVAL(xData)) THEN ! On lower x-bound, just need to find zData(yq)
IF (xq <= MINVAL(xData) .OR. (ieee_is_nan(xq))) THEN ! On lower x-bound, just need to find zData(yq)
j = 1
jj = 1
interp2d = interp1d(yData,zData(:,j),yq)
Expand All @@ -241,7 +241,7 @@ REAL FUNCTION interp2d(xData, yData, zData, xq, yq)
ENDIF
j = j-1 ! Move j back one
! y-direction
IF (yq <= MINVAL(yData)) THEN ! On lower y-bound, just need to find zData(xq)
IF (yq <= MINVAL(yData) .OR. (ieee_is_nan(yq))) THEN ! On lower y-bound, just need to find zData(xq)
i = 1
ii = 1
interp2d = interp1d(xData,zData(i,:),xq)
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