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Make Flp and Fl filter variables consistent with others
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Clean up parsing echo for arrays
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@dzalkind
dzalkind committed May 7, 2021
1 parent d0fe8b1 commit 039389a
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Showing 4 changed files with 26 additions and 22 deletions.
8 changes: 4 additions & 4 deletions src/Controllers.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -405,9 +405,9 @@ SUBROUTINE FlapControl(avrSWAP, CntrPar, LocalVar, objInst)
LocalVar%Flp_Angle(2) = CntrPar%Flp_Angle
LocalVar%Flp_Angle(3) = CntrPar%Flp_Angle
! Initialize filter
RootMOOP_F(1) = SecLPFilter(LocalVar%rootMOOP(1),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(2) = SecLPFilter(LocalVar%rootMOOP(2),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(3) = SecLPFilter(LocalVar%rootMOOP(3),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(1) = SecLPFilter(LocalVar%rootMOOP(1),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(2) = SecLPFilter(LocalVar%rootMOOP(2),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(3) = SecLPFilter(LocalVar%rootMOOP(3),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
! Initialize controller
IF (CntrPar%Flp_Mode == 2) THEN
LocalVar%Flp_Angle(K) = PIIController(RootMyb_VelErr(K), 0 - LocalVar%Flp_Angle(K), CntrPar%Flp_Kp, CntrPar%Flp_Ki, 0.05, -CntrPar%Flp_MaxPit , CntrPar%Flp_MaxPit , LocalVar%DT, 0.0, .TRUE., objInst%instPI)
Expand All @@ -428,7 +428,7 @@ SUBROUTINE FlapControl(avrSWAP, CntrPar, LocalVar, objInst)
ELSEIF (CntrPar%Flp_Mode == 2) THEN
DO K = 1,LocalVar%NumBl
! LPF Blade root bending moment
RootMOOP_F(K) = SecLPFilter(LocalVar%rootMOOP(K),LocalVar%DT, CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping, LocalVar%iStatus, .FALSE.,objInst%instSecLPF)
RootMOOP_F(K) = SecLPFilter(LocalVar%rootMOOP(K),LocalVar%DT, CntrPar%F_FlpCornerFreq(1), CntrPar%F_FlpCornerFreq(2), LocalVar%iStatus, .FALSE.,objInst%instSecLPF)

! Find derivative and derivative error of blade root bending moment
RootMyb_Vel(K) = (RootMOOP_F(K) - RootMyb_Last(K))/LocalVar%DT
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5 changes: 2 additions & 3 deletions src/Filters.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -276,12 +276,11 @@ SUBROUTINE PreFilterMeasuredSignals(CntrPar, LocalVar, objInst)
IF (CntrPar%Fl_Mode == 1) THEN
! 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
LocalVar%NacIMU_FA_AccF = SecLPFilter(0., LocalVar%DT, CntrPar%F_FlCornerFreq(1), CntrPar%F_FlCornerFreq(2), 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
LocalVar%NacIMU_FA_AccF = SecLPFilter(LocalVar%NacIMU_FA_Acc, LocalVar%DT, CntrPar%F_FlCornerFreq(1), CntrPar%F_FlCornerFreq(2), 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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6 changes: 2 additions & 4 deletions src/ROSCO_Types.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -33,10 +33,8 @@ MODULE ROSCO_Types
REAL(8) :: F_NotchCornerFreq ! Natural frequency of the notch filter, [rad/s]
REAL(8), DIMENSION(:), ALLOCATABLE :: F_NotchBetaNumDen ! These two notch damping values (numerator and denominator) determines the width and depth of the notch
REAL(8) :: F_SSCornerFreq ! Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing}
REAL(8) :: F_FlCornerFreq ! Corner frequency (-3dB point) in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s].
REAL(8) :: F_FlDamping ! Damping constant in the first order low pass filter of the tower-top fore-aft motion for floating feedback control [-].
REAL(8) :: F_FlpCornerFreq ! Corner frequency (-3dB point) in the second order low pass filter of the blade root bending moment for flap control [rad/s].
REAL(8) :: F_FlpDamping ! Damping constant in the first order low pass filter of the blade root bending moment for flap control[-].
REAL(8), DIMENSION(:), ALLOCATABLE :: F_FlCornerFreq ! Corner frequency (-3dB point) in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s].
REAL(8), DIMENSION(:), ALLOCATABLE :: F_FlpCornerFreq ! Corner frequency (-3dB point) in the second order low pass filter of the blade root bending moment for flap control [rad/s].

REAL(8) :: FA_HPFCornerFreq ! Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]
REAL(8) :: FA_IntSat ! Integrator saturation (maximum signal amplitude contrbution to pitch from FA damper), [rad]
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29 changes: 18 additions & 11 deletions src/ReadSetParameters.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@ MODULE ReadSetParameters
IMPLICIT NONE

! Global Variables
LOGICAL, PARAMETER :: DEBUG_PARSING = .FALSE. ! debug flag to output parsing information, set up Echo file later
LOGICAL, PARAMETER :: DEBUG_PARSING = .TRUE. ! debug flag to output parsing information, set up Echo file later

INTERFACE ParseInput ! Parses a character variable name and value from a string.
MODULE PROCEDURE ParseInput_Str ! Parses a character string from a string.
Expand Down Expand Up @@ -98,13 +98,10 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar, accINFILE, accINFILE_size,ErrVar
CALL ParseInput(UnControllerParameters,CurLine,'F_LPFCornerFreq',accINFILE(1),CntrPar%F_LPFCornerFreq,ErrVar)
CALL ParseInput(UnControllerParameters,CurLine,'F_LPFDamping',accINFILE(1),CntrPar%F_LPFDamping,ErrVar)
CALL ParseInput(UnControllerParameters,CurLine,'F_NotchCornerFreq',accINFILE(1),CntrPar%F_NotchCornerFreq,ErrVar)
! ALLOCATE(CntrPar%F_NotchBetaNumDen(2))
! READ(UnControllerParameters,*) CntrPar%F_NotchBetaNumDen ; CurLine=CurLine+1
CALL ParseAry(UnControllerParameters, CurLine, 'F_NotchBetaNumDen', CntrPar%F_NotchBetaNumDen, 2, accINFILE(1), ErrVar )
! Print *, 'CntrPar%F_NotchBetaNumDen:', CntrPar%F_NotchBetaNumDen
CALL ParseInput(UnControllerParameters,CurLine,'F_SSCornerFreq',accINFILE(1),CntrPar%F_SSCornerFreq,ErrVar)
READ(UnControllerParameters,*) CntrPar%F_FlCornerFreq, CntrPar%F_FlDamping ; CurLine=CurLine+1
READ(UnControllerParameters,*) CntrPar%F_FlpCornerFreq, CntrPar%F_FlpDamping ; CurLine=CurLine+1
CALL ParseAry(UnControllerParameters, CurLine, 'F_FlCornerFreq', CntrPar%F_FlCornerFreq, 2, accINFILE(1), ErrVar )
CALL ParseAry(UnControllerParameters, CurLine, 'F_FlpCornerFreq', CntrPar%F_FlpCornerFreq, 2, accINFILE(1), ErrVar )
CALL ReadEmptyLine(UnControllerParameters,CurLine)

!----------- BLADE PITCH CONTROLLER CONSTANTS -----------
Expand Down Expand Up @@ -520,25 +517,25 @@ SUBROUTINE CheckInputs(LocalVar, CntrPar, avrSWAP, ErrVar, size_avcMSG)
ENDIF

! F_FlCornerFreq(1) (frequency)
IF (CntrPar%F_FlCornerFreq <= 0.0) THEN
IF (CntrPar%F_FlCornerFreq(1) <= 0.0) THEN
ErrVar%aviFAIL = -1
ErrVar%ErrMsg = 'F_FlCornerFreq(1) must be greater than zero.'
ENDIF

! F_FlCornerFreq(2) (damping)
IF (CntrPar%F_FlDamping <= 0.0) THEN
IF (CntrPar%F_FlCornerFreq(2) <= 0.0) THEN
ErrVar%aviFAIL = -1
ErrVar%ErrMsg = 'F_FlCornerFreq(2) must be greater than zero.'
ENDIF

! F_FlpCornerFreq(1) (frequency)
IF (CntrPar%F_FlCornerFreq <= 0.0) THEN
IF (CntrPar%F_FlpCornerFreq(1) <= 0.0) THEN
ErrVar%aviFAIL = -1
ErrVar%ErrMsg = 'F_FlpCornerFreq(1) must be greater than zero.'
ENDIF

! F_FlpCornerFreq(2) (damping)
IF (CntrPar%F_FlDamping <= 0.0) THEN
IF (CntrPar%F_FlpCornerFreq(2) <= 0.0) THEN
ErrVar%aviFAIL = -1
ErrVar%ErrMsg = 'F_FlpCornerFreq(2) must be greater than zero.'
ENDIF
Expand Down Expand Up @@ -1292,8 +1289,10 @@ SUBROUTINE ParseDbAry ( Un, LineNum, AryName, Ary, AryLen, FileName, ErrVar )

CHARACTER(512) :: Line
INTEGER(4) :: ErrStatLcl ! Error status local to this routine.
INTEGER(4) :: i

CHARACTER(200), ALLOCATABLE :: Words_Ary (:) ! The array "words" parsed from the line.
CHARACTER(1024) :: Debug_String
CHARACTER(*), PARAMETER :: RoutineName = 'ParseDbAry'

! Read the whole line as a string
Expand Down Expand Up @@ -1323,8 +1322,16 @@ SUBROUTINE ParseDbAry ( Un, LineNum, AryName, Ary, AryLen, FileName, ErrVar )
! Separate line string into AryLen + 1 words, should include variable name
CALL GetWords ( Line, Words_Ary, AryLen + 1 )

! Debug Output
IF (DEBUG_PARSING) THEN
print *, 'Read: '//Words_Ary(AryLen:AryLen+1)//' on line ', LineNum
Debug_String = ''
DO i = 1,AryLen+1
Debug_String = TRIM(Debug_String)//TRIM(Words_Ary(i))
IF (i < AryLen + 1) THEN
Debug_String = TRIM(Debug_String)//','
END IF
END DO
print *, 'Read: '//TRIM(Debug_String)//' on line ', LineNum
END IF

! Check that Variable Name is at the end of Words, will also check length of array
Expand Down

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