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Fix Pitch Saturation, Floating Control Pitch Offset #19

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merged 7 commits into from
Jul 21, 2020
Merged

Fix Pitch Saturation, Floating Control Pitch Offset #19

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a1b74db
Saturate PI pitch to PC_MinPit
dzalkind Jul 8, 2020
9df6cd8
Save ROSCO debug as <RootName>.RO.out
dzalkind Jul 8, 2020
4611014
WSE Cp bugfix, add debug var
dzalkind Jul 9, 2020
dd841ae
Merge remote-tracking branch 'upstream/develop' into pretty_debug
dzalkind Jul 13, 2020
d214f5a
Remove tower-top velocity from pitch saturation block
dzalkind Jul 16, 2020
a0ed80b
Add WSE inputs to debug, force IMU filter to initialize at 0 and add HPF
dzalkind Jul 16, 2020
2cf093b
Add generic WSE debug signal
dzalkind Jul 20, 2020
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Add WSE inputs to debug, force IMU filter to initialize at 0 and add HPF
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@dzalkind
dzalkind committed Jul 16, 2020
commit a0ed80bf0982f715ae6ca3d198712dd6f051cd13
5 changes: 5 additions & 0 deletions src/ControllerBlocks.f90
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Expand Up @@ -144,6 +144,11 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar)
REAL(4), DIMENSION(3,1), SAVE :: K ! Kalman gain matrix
REAL(4) :: R_m ! Measurement noise covariance [(rad/s)^2]

! ---- Debug Inputs ------
DebugVar%WE_b = LocalVar%PC_PitComTF*R2D
DebugVar%WE_w = LocalVar%RotSpeedF
DebugVar%WE_t = LocalVar%VS_LastGenTrqF

! ---- Define wind speed estimate ----

! Inversion and Invariance Filter implementation
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9 changes: 7 additions & 2 deletions src/Filters.f90
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Expand Up @@ -274,8 +274,13 @@ SUBROUTINE PreFilterMeasuredSignals(CntrPar, LocalVar, objInst)

! Filtering the tower fore-aft acceleration signal
IF (CntrPar%Fl_Mode == 1) THEN
LocalVar%NacIMU_FA_AccF = SecLPFilter(LocalVar%NacIMU_FA_Acc, LocalVar%DT, CntrPar%F_FlCornerFreq, CntrPar%F_FlDamping, LocalVar%iStatus, .FALSE., objInst%instSecLPF) ! Fixed Damping
! LocalVar%NacIMU_FA_AccF = HPFilter(LocalVar%NacIMU_FA_AccF, LocalVar%DT, CntrPar%F_FlCornerFreq/3, LocalVar%iStatus, .FALSE., objInst%instHPF)
! Force to start at 0
IF (LocalVar%iStatus == 0) THEN
LocalVar%NacIMU_FA_AccF = SecLPFilter(0., LocalVar%DT, CntrPar%F_FlCornerFreq, CntrPar%F_FlDamping, LocalVar%iStatus, .FALSE., objInst%instSecLPF) ! Fixed Damping
ELSE
LocalVar%NacIMU_FA_AccF = SecLPFilter(LocalVar%NacIMU_FA_Acc, LocalVar%DT, CntrPar%F_FlCornerFreq, CntrPar%F_FlDamping, LocalVar%iStatus, .FALSE., objInst%instSecLPF) ! Fixed Damping
ENDIF
LocalVar%NacIMU_FA_AccF = HPFilter(LocalVar%NacIMU_FA_AccF, LocalVar%DT, 0.0167, LocalVar%iStatus, .FALSE., objInst%instHPF)
! LocalVar%NacIMU_FA_AccF = NotchFilterSlopes(LocalVar%NacIMU_FA_Acc, LocalVar%DT, CntrPar%F_FlCornerFreq, CntrPar%F_FlDamping, LocalVar%iStatus, .FALSE., objInst%instNotchSlopes) ! Fixed Damping
IF (CntrPar%F_NotchType >= 2) THEN
LocalVar%NACIMU_FA_AccF = NotchFilter(LocalVar%NacIMU_FA_AccF, LocalVar%DT, CntrPar%F_NotchCornerFreq, CntrPar%F_NotchBetaNumDen(1), CntrPar%F_NotchBetaNumDen(2), LocalVar%iStatus, .FALSE., objInst%instNotch) ! Fixed Damping
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14 changes: 8 additions & 6 deletions src/Functions.f90
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Expand Up @@ -471,27 +471,29 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, avrSWAP, RootName, size_avcOUTNAME

! Set up Debug Strings and Data
! Note that Debug strings have 10 character limit
nDebugOuts = 9
nDebugOuts = 11
ALLOCATE(DebugOutData(nDebugOuts))
! Header Unit Variable
DebugOutStr1 = 'IMU_FA_AccF'; DebugOutUni1 = '(m/s)'; DebugOutData(1) = LocalVar%NacIMU_FA_AccF
DebugOutStr1 = 'FA_AccF'; DebugOutUni1 = '(m/s)'; DebugOutData(1) = LocalVar%NacIMU_FA_AccF
DebugOutStr2 = 'WE_Vw'; DebugOutUni2 = '(rad)'; DebugOutData(2) = LocalVar%WE_Vw
DebugOutStr3 = 'IMU_FA_Acc'; DebugOutUni3 = '(rad/s^2)'; DebugOutData(3) = LocalVar%NacIMU_FA_Acc
DebugOutStr3 = 'FA_AccR'; DebugOutUni3 = '(rad/s^2)'; DebugOutData(3) = LocalVar%NacIMU_FA_Acc
DebugOutStr4 = 'FA_Acc'; DebugOutUni4 = '(m/s^2)'; DebugOutData(4) = LocalVar%FA_Acc
DebugOutStr5 = 'Fl_Pitcom'; DebugOutUni5 = '(rad)'; DebugOutData(5) = LocalVar%Fl_Pitcom
DebugOutStr6 = 'WE_Cp'; DebugOutUni6 = '(-)'; DebugOutData(6) = DebugVar%WE_Cp
DebugOutStr7 = 'PC_MinPit'; DebugOutUni7 = '(rad)'; DebugOutData(7) = LocalVar%PC_MinPit
DebugOutStr8 = 'SS_dOmF'; DebugOutUni8 = '(rad/s)'; DebugOutData(8) = LocalVar%SS_DelOmegaF
DebugOutStr9 = 'WE_Pitch'; DebugOutUni8 = '(rad)'; DebugOutData(9) = DebugVar%WE_Pitch
DebugOutStr9 = 'WE_b'; DebugOutUni9 = '(deg)'; DebugOutData(9) = DebugVar%WE_b
DebugOutStr10 = 'WE_t'; DebugOutUni10 = '(Nm)'; DebugOutData(10) = DebugVar%WE_t
DebugOutStr11 = 'WE_w'; DebugOutUni11 = '(rad/s)'; DebugOutData(11) = DebugVar%WE_w

Allocate(DebugOutStrings(nDebugOuts))
Allocate(DebugOutUnits(nDebugOuts))
DebugOutStrings = [CHARACTER(10) :: DebugOutStr1, DebugOutStr2, DebugOutStr3, DebugOutStr4, &
DebugOutStr5, DebugOutStr6, DebugOutStr7, DebugOutStr8, &
DebugOutStr9]
DebugOutStr9, DebugOutStr10, DebugOutStr11]
DebugOutUnits = [CHARACTER(10) :: DebugOutUni1, DebugOutUni2, DebugOutUni3, DebugOutUni4, &
DebugOutUni5, DebugOutUni6, DebugOutUni7, DebugOutUni8, &
DebugOutUni9]
DebugOutUni9, DebugOutUni10, DebugOutUni11]

! Initialize debug file
IF (LocalVar%iStatus == 0) THEN ! .TRUE. if we're on the first call to the DLL
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4 changes: 3 additions & 1 deletion src/ROSCO_Types.f90
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Expand Up @@ -219,7 +219,9 @@ MODULE ROSCO_Types

TYPE, PUBLIC :: DebugVariables
REAL(4) :: WE_Cp ! Cp that WSE uses to determine aerodynamic torque, for debug purposes [-]
REAL(4) :: WE_Pitch ! Cp that WSE uses to determine aerodynamic torque, for debug purposes [-]
REAL(4) :: WE_b ! Pitch that WSE uses to determine aerodynamic torque, for debug purposes [-]
REAL(4) :: WE_w ! Rotor Speed that WSE uses to determine aerodynamic torque, for debug purposes [-]
REAL(4) :: WE_t ! Torque that WSE uses, for debug purposes [-]
END TYPE DebugVariables

END MODULE ROSCO_Types