Pitch Actuator and IPC updates

.gitignore

@@ -86,3 +86,6 @@ ROSCO_testing/results/
 *.autosave
 *.mat
 
+# OpenFAST outputs
+outputs/
+

ROSCO/rosco_registry/rosco_types.yaml

@@ -97,6 +97,9 @@ ControlParameters:
       allocatable: True
 
     # Tower fore-aft damping
+    TD_Mode:
+      <<: *integer
+      description: Tower damper mode (0- no tower damper, 1- feed back translational nacelle accelleration to pitch angle
     FA_HPFCornerFreq:
       <<: *real
       description: Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]
@@ -422,6 +425,17 @@ ControlParameters:
       allocatable: True
       dimension: (:,:)
       description: Open loop channels in timeseries
+
+    # Pitch actuator
+    PA_Mode:
+      <<: *integer
+      description: Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
+    PA_CornerFreq:
+      <<: *real
+      description: Pitch actuator bandwidth/cut-off frequency [rad/s]
+    PA_Damping:
+      <<: *real
+      description: Pitch actuator damping ratio [-, unused if PA_Mode = 1]
 
     # Calculated
     PC_RtTq99:
@@ -769,6 +783,10 @@ LocalVariables:
       <<: *real 
       description: Commanded pitch of each blade the last time the controller was called [rad].
       size: 3
+    PitComAct:                  
+      <<: *real 
+      description: Actuated pitch of each blade the last time the controller was called [rad].
+      size: 3
     SS_DelOmegaF:                 
       <<: *real 
       description: Filtered setpoint shifting term defined in setpoint smoother [rad/s].
@@ -1011,4 +1029,4 @@ ExtDLL_Type:
     equals: '""'
     size: 3
     length: 1024
-    description: The name of the procedure in the DLL that will be called.
+    description: The name of the procedure in the DLL that will be called.

ROSCO/rosco_registry/write_registry.py

@@ -278,25 +278,24 @@ def write_roscoio(yfile):
     file.write("            WRITE(UnDb3,'"+'(A,85("'+"'//Tab//'"+'AvrSWAP("'+',I2,")"'+"))')  'LocalVar%Time ', (i,i=1, 85)\n")
     file.write("            WRITE(UnDb3,'"+'(A,85("'+"'//Tab//'"+'(-)"'+"))')  '(s)'"+'\n')
     file.write("        END IF\n")
-    file.write("    ELSE\n")
+    file.write("    END IF\n")
     file.write("        ! Print simulation status, every 10 seconds\n")
-    file.write("        IF (MODULO(LocalVar%Time, 10.0_DbKi) == 0) THEN\n")
-    file.write("            WRITE(*, 100) LocalVar%GenSpeedF*RPS2RPM, LocalVar%BlPitch(1)*R2D, avrSWAP(15)/1000.0, LocalVar%WE_Vw\n")
-    file.write("            100 FORMAT('Generator speed: ', f6.1, ' RPM, Pitch angle: ', f5.1, ' deg, Power: ', f7.1, ' kW, Est. wind Speed: ', f5.1, ' m/s')\n")
-    file.write("        END IF\n")
+    file.write("    IF (MODULO(LocalVar%Time, 10.0_DbKi) == 0) THEN\n")
+    file.write("        WRITE(*, 100) LocalVar%GenSpeedF*RPS2RPM, LocalVar%BlPitch(1)*R2D, avrSWAP(15)/1000.0, LocalVar%WE_Vw\n")
+    file.write("        100 FORMAT('Generator speed: ', f6.1, ' RPM, Pitch angle: ', f5.1, ' deg, Power: ', f7.1, ' kW, Est. wind Speed: ', f5.1, ' m/s')\n")
+    file.write("    END IF\n")
     file.write("\n")
-    file.write("        ! Write debug files\n")
-    file.write("        IF(CntrPar%LoggingLevel > 0) THEN\n")
-    file.write("            WRITE (UnDb, FmtDat)  LocalVar%Time, DebugOutData\n")
-    file.write("        END IF\n")
+    file.write("    ! Write debug files\n")
+    file.write("    IF(CntrPar%LoggingLevel > 0) THEN\n")
+    file.write("        WRITE (UnDb, FmtDat)  LocalVar%Time, DebugOutData\n")
+    file.write("    END IF\n")
     file.write("\n")
-    file.write("        IF(CntrPar%LoggingLevel > 1) THEN\n")
-    file.write("            WRITE (UnDb2, FmtDat)  LocalVar%Time, LocalVarOutData\n")
-    file.write("        END IF\n")
+    file.write("    IF(CntrPar%LoggingLevel > 1) THEN\n")
+    file.write("        WRITE (UnDb2, FmtDat)  LocalVar%Time, LocalVarOutData\n")
+    file.write("    END IF\n")
     file.write("\n")
-    file.write("        IF(CntrPar%LoggingLevel > 2) THEN\n")
-    file.write("            WRITE (UnDb3, FmtDat)    LocalVar%Time, avrSWAP(1: 85)\n")
-    file.write("        END IF\n")
+    file.write("    IF(CntrPar%LoggingLevel > 2) THEN\n")
+    file.write("        WRITE (UnDb3, FmtDat)    LocalVar%Time, avrSWAP(1: 85)\n")
     file.write("    END IF\n")
     file.write("\n")
     file.write("END SUBROUTINE Debug\n")

ROSCO/src/Controllers.f90

@@ -67,7 +67,7 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
         END IF
 
         ! Include tower fore-aft tower vibration damping control
-        IF ((CntrPar%FA_KI > 0.0) .OR. (CntrPar%Y_ControlMode == 2)) THEN
+        IF ((CntrPar%TD_Mode > 0) .OR. (CntrPar%Y_ControlMode == 2)) THEN
             CALL ForeAftDamping(CntrPar, LocalVar, objInst)
         ELSE
             LocalVar%FA_PitCom = 0.0 ! THIS IS AN ARRAY!!
@@ -99,13 +99,12 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
         LocalVar%PC_PitComT = ratelimit(LocalVar%PC_PitComT, LocalVar%PC_PitComT_Last, CntrPar%PC_MinRat, CntrPar%PC_MaxRat, LocalVar%DT) ! Saturate the overall command of blade K using the pitch rate limit
         LocalVar%PC_PitComT_Last = LocalVar%PC_PitComT
 
-        ! Combine and saturate all individual pitch commands:
-        ! Filter to emulate pitch actuator
+        ! Combine and saturate all individual pitch commands in software
         DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
             LocalVar%PitCom(K) = LocalVar%PC_PitComT + LocalVar%FA_PitCom(K) 
             LocalVar%PitCom(K) = saturate(LocalVar%PitCom(K), LocalVar%PC_MinPit, CntrPar%PC_MaxPit)                    ! Saturate the command using the pitch satauration limits
-            LocalVar%PitCom(K) = LocalVar%PC_PitComT + LocalVar%IPC_PitComF(K)                                          ! Add IPC
-            LocalVar%PitCom(K) = saturate(LocalVar%PitCom(K), CntrPar%PC_MinPit, CntrPar%PC_MaxPit)                    ! Saturate the command using the absolute pitch angle limits
+            LocalVar%PitCom(K) = LocalVar%PitCom(K) + LocalVar%IPC_PitComF(K)                                          ! Add IPC
+            LocalVar%PitCom(K) = saturate(LocalVar%PitCom(K), LocalVar%PC_MinPit, CntrPar%PC_MaxPit)                    ! Saturate the command using the absolute 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
 
@@ -119,12 +118,33 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst, DebugVar, ErrVar)
             ENDIF
         ENDIF
 
+        ! Place pitch actuator here, so it can be used with or without open-loop
+        DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
+            IF (CntrPar%PA_Mode > 0) THEN
+                IF (CntrPar%PA_Mode == 1) THEN
+                    LocalVar%PitComAct(K) = LPFilter(LocalVar%PitCom(K), LocalVar%DT, CntrPar%PA_CornerFreq, LocalVar%FP, LocalVar%iStatus, LocalVar%restart, objInst%instLPF)
+                ELSE IF (CntrPar%PA_Mode == 2) THEN
+                    LocalVar%PitComAct(K) = SecLPFilter(LocalVar%PitCom(K),LocalVar%DT,CntrPar%PA_CornerFreq,CntrPar%PA_Damping,LocalVar%FP,LocalVar%iStatus,LocalVar%restart,objInst%instSecLPF)
+                END IF  
+            ELSE
+                LocalVar%PitComAct(K) = LocalVar%PitCom(K)
+            ENDIF
+        END DO
+
+        ! Hardware saturation: using CntrPar%PC_MinPit
+        DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
+            ! Saturate the pitch command using the overall (hardware) limit
+            LocalVar%PitComAct(K) = saturate(LocalVar%PitComAct(K), LocalVar%PC_MinPit, CntrPar%PC_MaxPit)
+            ! Saturate the overall command of blade K using the pitch rate limit
+            LocalVar%PitComAct(K) = ratelimit(LocalVar%PitComAct(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
+
         ! Command the pitch demanded from the last
         ! call to the controller (See Appendix A of Bladed User's Guide):
-        avrSWAP(42) = LocalVar%PitCom(1)    ! Use the command angles of all blades if using individual pitch
-        avrSWAP(43) = LocalVar%PitCom(2)    ! "
-        avrSWAP(44) = LocalVar%PitCom(3)    ! "
-        avrSWAP(45) = LocalVar%PitCom(1)    ! Use the command angle of blade 1 if using collective pitch
+        avrSWAP(42) = LocalVar%PitComAct(1)    ! Use the command angles of all blades if using individual pitch
+        avrSWAP(43) = LocalVar%PitComAct(2)    ! "
+        avrSWAP(44) = LocalVar%PitComAct(3)    ! "
+        avrSWAP(45) = LocalVar%PitComAct(1)    ! Use the command angle of blade 1 if using collective pitch
 
         ! Add RoutineName to error message
         IF (ErrVar%aviFAIL < 0) THEN

ROSCO/src/Filters.f90

@@ -310,4 +310,4 @@ SUBROUTINE PreFilterMeasuredSignals(CntrPar, LocalVar, DebugVar, objInst, ErrVar
         DebugVar%NacIMU_FA_AccF = LocalVar%NacIMU_FA_AccF
         DebugVar%FA_AccF = LocalVar%FA_AccF
     END SUBROUTINE PreFilterMeasuredSignals
-    END MODULE Filters
+    END MODULE Filters

ROSCO/src/ROSCO_IO.f90

@@ -94,6 +94,9 @@ SUBROUTINE WriteRestartFile(LocalVar, CntrPar, objInst, RootName, size_avcOUTNAM
         WRITE( Un, IOSTAT=ErrStat) LocalVar%PitCom(1)
         WRITE( Un, IOSTAT=ErrStat) LocalVar%PitCom(2)
         WRITE( Un, IOSTAT=ErrStat) LocalVar%PitCom(3)
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%PitComAct(1)
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%PitComAct(2)
+        WRITE( Un, IOSTAT=ErrStat) LocalVar%PitComAct(3)
         WRITE( Un, IOSTAT=ErrStat) LocalVar%SS_DelOmegaF
         WRITE( Un, IOSTAT=ErrStat) LocalVar%TestType
         WRITE( Un, IOSTAT=ErrStat) LocalVar%VS_MaxTq
@@ -272,6 +275,9 @@ SUBROUTINE ReadRestartFile(avrSWAP, LocalVar, CntrPar, objInst, PerfData, RootNa
         READ( Un, IOSTAT=ErrStat) LocalVar%PitCom(1)
         READ( Un, IOSTAT=ErrStat) LocalVar%PitCom(2)
         READ( Un, IOSTAT=ErrStat) LocalVar%PitCom(3)
+        READ( Un, IOSTAT=ErrStat) LocalVar%PitComAct(1)
+        READ( Un, IOSTAT=ErrStat) LocalVar%PitComAct(2)
+        READ( Un, IOSTAT=ErrStat) LocalVar%PitComAct(3)
         READ( Un, IOSTAT=ErrStat) LocalVar%SS_DelOmegaF
         READ( Un, IOSTAT=ErrStat) LocalVar%TestType
         READ( Un, IOSTAT=ErrStat) LocalVar%VS_MaxTq
@@ -424,7 +430,7 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, avrSWAP, RootName, size_avcOUTNAME
                                       '[m/s]', '[m/s]', '[rad]', '[rad]', '[rad/s]', & 
                                       '[rad/s]', '[rad/s]', '[m/s]', '[rad]', '[rad]', & 
                                       '', '', '', '']
-    nLocalVars = 72
+    nLocalVars = 73
     Allocate(LocalVarOutData(nLocalVars))
     Allocate(LocalVarOutStrings(nLocalVars))
     LocalVarOutData(1) = LocalVar%iStatus
@@ -472,33 +478,34 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, avrSWAP, RootName, size_avcOUTNAME
     LocalVarOutData(43) = LocalVar%IPC_KP(1)
     LocalVarOutData(44) = LocalVar%PC_State
     LocalVarOutData(45) = LocalVar%PitCom(1)
-    LocalVarOutData(46) = LocalVar%SS_DelOmegaF
-    LocalVarOutData(47) = LocalVar%TestType
-    LocalVarOutData(48) = LocalVar%VS_MaxTq
-    LocalVarOutData(49) = LocalVar%VS_LastGenTrq
-    LocalVarOutData(50) = LocalVar%VS_LastGenPwr
-    LocalVarOutData(51) = LocalVar%VS_MechGenPwr
-    LocalVarOutData(52) = LocalVar%VS_SpdErrAr
-    LocalVarOutData(53) = LocalVar%VS_SpdErrBr
-    LocalVarOutData(54) = LocalVar%VS_SpdErr
-    LocalVarOutData(55) = LocalVar%VS_State
-    LocalVarOutData(56) = LocalVar%VS_Rgn3Pitch
-    LocalVarOutData(57) = LocalVar%WE_Vw
-    LocalVarOutData(58) = LocalVar%WE_Vw_F
-    LocalVarOutData(59) = LocalVar%WE_VwI
-    LocalVarOutData(60) = LocalVar%WE_VwIdot
-    LocalVarOutData(61) = LocalVar%VS_LastGenTrqF
-    LocalVarOutData(62) = LocalVar%Y_AccErr
-    LocalVarOutData(63) = LocalVar%Y_ErrLPFFast
-    LocalVarOutData(64) = LocalVar%Y_ErrLPFSlow
-    LocalVarOutData(65) = LocalVar%Y_MErr
-    LocalVarOutData(66) = LocalVar%Y_YawEndT
-    LocalVarOutData(67) = LocalVar%Fl_PitCom
-    LocalVarOutData(68) = LocalVar%NACIMU_FA_AccF
-    LocalVarOutData(69) = LocalVar%FA_AccF
-    LocalVarOutData(70) = LocalVar%Flp_Angle(1)
-    LocalVarOutData(71) = LocalVar%RootMyb_Last(1)
-    LocalVarOutData(72) = LocalVar%ACC_INFILE_SIZE
+    LocalVarOutData(46) = LocalVar%PitComAct(1)
+    LocalVarOutData(47) = LocalVar%SS_DelOmegaF
+    LocalVarOutData(48) = LocalVar%TestType
+    LocalVarOutData(49) = LocalVar%VS_MaxTq
+    LocalVarOutData(50) = LocalVar%VS_LastGenTrq
+    LocalVarOutData(51) = LocalVar%VS_LastGenPwr
+    LocalVarOutData(52) = LocalVar%VS_MechGenPwr
+    LocalVarOutData(53) = LocalVar%VS_SpdErrAr
+    LocalVarOutData(54) = LocalVar%VS_SpdErrBr
+    LocalVarOutData(55) = LocalVar%VS_SpdErr
+    LocalVarOutData(56) = LocalVar%VS_State
+    LocalVarOutData(57) = LocalVar%VS_Rgn3Pitch
+    LocalVarOutData(58) = LocalVar%WE_Vw
+    LocalVarOutData(59) = LocalVar%WE_Vw_F
+    LocalVarOutData(60) = LocalVar%WE_VwI
+    LocalVarOutData(61) = LocalVar%WE_VwIdot
+    LocalVarOutData(62) = LocalVar%VS_LastGenTrqF
+    LocalVarOutData(63) = LocalVar%Y_AccErr
+    LocalVarOutData(64) = LocalVar%Y_ErrLPFFast
+    LocalVarOutData(65) = LocalVar%Y_ErrLPFSlow
+    LocalVarOutData(66) = LocalVar%Y_MErr
+    LocalVarOutData(67) = LocalVar%Y_YawEndT
+    LocalVarOutData(68) = LocalVar%Fl_PitCom
+    LocalVarOutData(69) = LocalVar%NACIMU_FA_AccF
+    LocalVarOutData(70) = LocalVar%FA_AccF
+    LocalVarOutData(71) = LocalVar%Flp_Angle(1)
+    LocalVarOutData(72) = LocalVar%RootMyb_Last(1)
+    LocalVarOutData(73) = LocalVar%ACC_INFILE_SIZE
     LocalVarOutStrings = [CHARACTER(15) ::  'iStatus', 'Time', 'DT', 'VS_GenPwr', 'GenSpeed', & 
                                       'RotSpeed', 'Y_M', 'HorWindV', 'rootMOOP', 'rootMOOPF', & 
                                       'BlPitch', 'Azimuth', 'NumBl', 'FA_Acc', 'NacIMU_FA_Acc', & 
@@ -508,12 +515,12 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, avrSWAP, RootName, size_avcOUTNAME
                                       'PC_MinPit', 'PC_PitComT', 'PC_PitComT_Last', 'PC_PitComTF', 'PC_PitComT_IPC', & 
                                       'PC_PwrErr', 'PC_SpdErr', 'IPC_AxisTilt_1P', 'IPC_AxisYaw_1P', 'IPC_AxisTilt_2P', & 
                                       'IPC_AxisYaw_2P', 'IPC_KI', 'IPC_KP', 'PC_State', 'PitCom', & 
-                                      'SS_DelOmegaF', 'TestType', 'VS_MaxTq', 'VS_LastGenTrq', 'VS_LastGenPwr', & 
-                                      'VS_MechGenPwr', 'VS_SpdErrAr', 'VS_SpdErrBr', 'VS_SpdErr', 'VS_State', & 
-                                      'VS_Rgn3Pitch', 'WE_Vw', 'WE_Vw_F', 'WE_VwI', 'WE_VwIdot', & 
-                                      'VS_LastGenTrqF', 'Y_AccErr', 'Y_ErrLPFFast', 'Y_ErrLPFSlow', 'Y_MErr', & 
-                                      'Y_YawEndT', 'Fl_PitCom', 'NACIMU_FA_AccF', 'FA_AccF', 'Flp_Angle', & 
-                                      'RootMyb_Last', 'ACC_INFILE_SIZE']
+                                      'PitComAct', 'SS_DelOmegaF', 'TestType', 'VS_MaxTq', 'VS_LastGenTrq', & 
+                                      'VS_LastGenPwr', 'VS_MechGenPwr', 'VS_SpdErrAr', 'VS_SpdErrBr', 'VS_SpdErr', & 
+                                      'VS_State', 'VS_Rgn3Pitch', 'WE_Vw', 'WE_Vw_F', 'WE_VwI', & 
+                                      'WE_VwIdot', 'VS_LastGenTrqF', 'Y_AccErr', 'Y_ErrLPFFast', 'Y_ErrLPFSlow', & 
+                                      'Y_MErr', 'Y_YawEndT', 'Fl_PitCom', 'NACIMU_FA_AccF', 'FA_AccF', & 
+                                      'Flp_Angle', 'RootMyb_Last', 'ACC_INFILE_SIZE']
     ! Initialize debug file
     IF ((LocalVar%iStatus == 0) .OR. (LocalVar%iStatus == -9))  THEN ! .TRUE. if we're on the first call to the DLL
         IF (CntrPar%LoggingLevel > 0) THEN
@@ -536,25 +543,24 @@ SUBROUTINE Debug(LocalVar, CntrPar, DebugVar, avrSWAP, RootName, size_avcOUTNAME
             WRITE(UnDb3,'(A,85("'//Tab//'AvrSWAP(",I2,")"))')  'LocalVar%Time ', (i,i=1, 85)
             WRITE(UnDb3,'(A,85("'//Tab//'(-)"))')  '(s)'
         END IF
-    ELSE
+    END IF
         ! Print simulation status, every 10 seconds
-        IF (MODULO(LocalVar%Time, 10.0_DbKi) == 0) THEN
-            WRITE(*, 100) LocalVar%GenSpeedF*RPS2RPM, LocalVar%BlPitch(1)*R2D, avrSWAP(15)/1000.0, LocalVar%WE_Vw
-            100 FORMAT('Generator speed: ', f6.1, ' RPM, Pitch angle: ', f5.1, ' deg, Power: ', f7.1, ' kW, Est. wind Speed: ', f5.1, ' m/s')
-        END IF
+    IF (MODULO(LocalVar%Time, 10.0_DbKi) == 0) THEN
+        WRITE(*, 100) LocalVar%GenSpeedF*RPS2RPM, LocalVar%BlPitch(1)*R2D, avrSWAP(15)/1000.0, LocalVar%WE_Vw
+        100 FORMAT('Generator speed: ', f6.1, ' RPM, Pitch angle: ', f5.1, ' deg, Power: ', f7.1, ' kW, Est. wind Speed: ', f5.1, ' m/s')
+    END IF
 
-        ! Write debug files
-        IF(CntrPar%LoggingLevel > 0) THEN
-            WRITE (UnDb, FmtDat)  LocalVar%Time, DebugOutData
-        END IF
+    ! Write debug files
+    IF(CntrPar%LoggingLevel > 0) THEN
+        WRITE (UnDb, FmtDat)  LocalVar%Time, DebugOutData
+    END IF
 
-        IF(CntrPar%LoggingLevel > 1) THEN
-            WRITE (UnDb2, FmtDat)  LocalVar%Time, LocalVarOutData
-        END IF
+    IF(CntrPar%LoggingLevel > 1) THEN
+        WRITE (UnDb2, FmtDat)  LocalVar%Time, LocalVarOutData
+    END IF
 
-        IF(CntrPar%LoggingLevel > 2) THEN
-            WRITE (UnDb3, FmtDat)    LocalVar%Time, avrSWAP(1: 85)
-        END IF
+    IF(CntrPar%LoggingLevel > 2) THEN
+        WRITE (UnDb3, FmtDat)    LocalVar%Time, avrSWAP(1: 85)
     END IF
 
 END SUBROUTINE Debug