Implemented collective sine excitation on pitch

Parameter_files/DTU10MW/DISCON.IN

@@ -55,5 +55,6 @@
 1.0					! Y_omegaLPFast		- Corner frequency fast low pass filter, 1.0 [Hz]
 0.016667			! Y_omegaLPSlow		- Corner frequency slow low pass filter, 1/60 [Hz]
 0.0034906			! Y_Rate			- Yaw rate [rad/s]
-0.0349066			! Z_PitchAmplitude	- Amplitude of sine pitch excitation
-0					! Z_PitchFrequency	- Frequency of sine pitch excitation
+0					! Z_EnableSine		- Enable/disable sine pitch excitation [-]
+0.0349066			! Z_PitchAmplitude	- Amplitude of sine pitch excitation [rad]
+0					! Z_PitchFrequency	- Frequency of sine pitch excitation [rad/s]

Source/Controllers.f90

@@ -65,12 +65,19 @@ SUBROUTINE PitchControl(avrSWAP, CntrPar, LocalVar, objInst)
         ELSE
             LocalVar%FA_PitCom = 0.0 ! THIS IS AN ARRAY!!
         END IF
+
+		! Sine excitation on pitch
+		IF (CntrPar%Z_EnableSine == 1) THEN
+			LocalVar%PC_SineExcitation = CntrPar%Z_PitchAmplitude*sin(CntrPar%Z_PitchFrequency*LocalVar%Time)
+		ELSE
+			LocalVar%PC_SineExcitation = 0
+		END IF
 
 		! Combine and saturate all pitch commands:
 		DO K = 1,LocalVar%NumBl ! Loop through all blades, add IPC contribution and limit pitch rate
 			! PitCom(K) = ratelimit(LocalVar%PC_PitComT_IPC(K), LocalVar%BlPitch(K), PC_MinRat, PC_MaxRat, LocalVar%DT)	! Saturate the overall command of blade K using the pitch rate limit
 			LocalVar%PitCom(K) = saturate(LocalVar%PC_PitComT, CntrPar%PC_MinPit, CntrPar%PC_MaxPit)					! Saturate the overall command using the pitch angle limits
-			LocalVar%PitCom(K) = LocalVar%PitCom(K) + LocalVar%IPC_PitComF(K) + LocalVar%FA_PitCom(K)
+			LocalVar%PitCom(K) = LocalVar%PitCom(K) + LocalVar%IPC_PitComF(K) + LocalVar%FA_PitCom(K) + LocalVar%PC_SineExcitation
 		END DO
 
 		! Command the pitch demanded from the last

Source/DRC_Types.f90

@@ -68,6 +68,10 @@ MODULE DRC_Types
 	REAL(4)								:: Y_omegaLPSlow				! Corner frequency slow low pass filter, 1/60 [Hz]
 	REAL(4)								:: Y_Rate						! Yaw rate [rad/s]
 
+	INTEGER(4)							:: Z_EnableSine					! Enable/disable sine pitch excitation
+	REAL(4)								:: Z_PitchAmplitude				! Amplitude of sine pitch excitation
+	REAL(4)								:: Z_PitchFrequency				! Frequency of sine pitch excitation
+
 	REAL(4)								:: PC_RtTq99					! 99% of the rated torque value, using for switching between pitch and torque control, [Nm].
 	REAL(4)								:: VS_MaxOMTq					! Maximum torque at the end of the below-rated region 2, [Nm]
 	REAL(4)								:: VS_MinOMTq					! Minimum torque at the beginning of the below-rated region 2, [Nm]
@@ -109,6 +113,7 @@ MODULE DRC_Types
 	REAL(4)								:: PC_PitComT					! Total command pitch based on the sum of the proportional and integral terms, [rad].
 	REAL(4)								:: PC_PitComT_IPC(3)			! Total command pitch based on the sum of the proportional and integral terms, including IPC term [rad].
 	REAL(4)								:: PC_PwrErr					! Power error with respect to rated power [W]
+	REAL(4)								:: PC_SineExcitation			! Sine contribution to pitch signal
 	REAL(4)								:: PC_SpdErr					! Current speed error (pitch control) [rad/s].
 	INTEGER(4)							:: PC_State						! State of the pitch control system
 	REAL(4)								:: PitCom(3)					! Commanded pitch of each blade the last time the controller was called, [rad].

Source/ReadSetParameters.f90

@@ -113,6 +113,11 @@ SUBROUTINE ReadControlParameterFileSub(CntrPar)
 		READ(UnControllerParameters, *) CntrPar%Y_omegaLPSlow
 		READ(UnControllerParameters, *) CntrPar%Y_Rate
 
+		!------------------- SINE PITCH EXCITATION -----------------------
+		READ(UnControllerParameters, *) CntrPar%Z_EnableSine
+		READ(UnControllerParameters, *) CntrPar%Z_PitchAmplitude
+		READ(UnControllerParameters, *) CntrPar%Z_PitchFrequency
+
 		!------------------- CALCULATED CONSTANTS -----------------------
 		CntrPar%PC_RtTq99 = CntrPar%VS_RtTq*0.99
 		CntrPar%VS_MinOMTq = CntrPar%VS_Rgn2K*CntrPar%VS_MinOMSpd**2