From ad15bcdd6d51e8b537630543d1b97b9048c19d7c Mon Sep 17 00:00:00 2001 From: dzalkind <65573423+dzalkind@users.noreply.github.com> Date: Fri, 1 Apr 2022 11:45:30 -0600 Subject: [PATCH 1/4] ROSCO 2.5.0 (#115) * FOCAL Updates (#64) * Update headers * fix bullets * make uppercase * Update turbine.py (#56) * Update turbine.py This add several lines for fixing the problem of repeated maximum values in the performance tables. This will cause the error (' the length of x and y is different.') of 'interpolate.interp1d.' * Add comments and catch when there are multiple optimal pitch angles Co-authored-by: dzalkind * increment version * Update for OpenFAST v3.0.0 * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Update Testing (#58) * Update scripts to run on eagle * Update IEA-15MW semi example: use peak shaving w/ ps_percen=0.8 * Add comparison plots to testing scripts * Update submit script for testing * Update for latest eagle runs * Add future to install dependencies * add TMax to self, define tmin in print_results * run tests in CI * generic ROSCO path * default to overwrite * fix path * import platform * separate run_testing * cleanup, specify lite test * don't run testing in after examples, oops. Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: Nikhar Abbas * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * Increment Version, OF3.0 (#57) * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * increment version * Update for OpenFAST v3.0.0 * Install OF3.0.0 for tests * update for OF v3.0.0 * add publish to pypi on release * Update to ROSCO v2.3.0 * add ROSCO without submodule * move ROSCO source to ROSCO folder * Move cmake-related files to ROSCO * Add back pesky ErrVar * Remove parameters_files * Merge ROSCO and _toolbox gitignore * Fix .gitignore * Remove Examples/DISCON.IN from git * Fix and point example_01 to Tune_Cases/ * Update verbiage around using ofTools vs. weis * Fix and point example_04 to Tune_Cases/ * Clean up example_06 * Clean up example_07 * Only check FlpCornerFreq if using Flp control, fixes example 05 * Make example_04 consistent with others * Let example_05 run independently from 04 * Clean up example_05, wind files * Add schema and update empty tuning yaml inputs, not connected yet * Integrate schema into turbine, controller, and examples * Only check Fl filter parameters if Fl_Mode > 0, fix example_05 * bump version to 2.3 * Compile ROSCO from ROSCO dir * Rename to CI_rosco * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * Make _Toolbox vs_minspeed in rotor frame to match ROSCO * Revert ServoDyn change * change rotor speed constraint to be epsilon * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * Deallocate arrays in ROSCO, check in example_05 * Clean up comments * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * Add omega vs. windspeed functionality * Fix tests: 5MW U_pc and 06 example dir * more detailed sp.optimize settings * run MBC3 in parallel * restructure driver, run initialization doe for tuning * Try new dlclose function * Update example_05 to run simple simulation twice and check result * Revert deallocation stuff * Close discon library after every sim run * Test examples on macOS and windows * Run examples instead of testing on other platforms * Skip examples in windows for now * update paths and yaml load funciton * Skip mac testing of examples * provide default U_pc for single omega/zeta case * allow for float or list-like pc tuning inputs * Change name in setup.py * WE_Vw unit fix * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * cleeanup for improved stability * check for doe_logs as string in load_DOE * major restructure for rsched_driver class * cleanup verbosity * run serial by default * load_parallel as linturb_option * specific IEA15MW yaml for multi omega * remove unused module imports * fix error message types * lin_file as input * add comments on inputs to LinearTurbineModel init method * remove relative file paths * provide OpenFAST linearizations for IEA15MW UMaineSemi * put plotting in specific function * fix WE_lambda units * add self in on a few necessary variables * creaete example 12 for robust scheduling * try a few mbc3 locations for import * allow list-like or numpy arrays for omega_pc and zeta_pc schedules * create and use recorder setup function * Pass Through Kp_float (#57) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * fix setup_recorder to work for optimization driver too * Allow pass through of Kp_float = 0 * cleanup om problems, update om0 calc * doe levels as input * negative k_float to account for OF conventions * cleanup print statements * variable name cleanup, use calculated k_float * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * use standard tuning k_float as IC * formatting update * update problem setup methods * cleanup add_dv, enable adding design variables after problem is setup * change optimization step size * more setup restructure * update verbosity * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Mostly a docs update (#61) * rename for clarity * docs major refresh * fix FA_AccF units in debug file * docs that build locally * remove gitmodules * furo theme * furo in requirements * move readthedocs config file, remove furo import in conf.py * add docs requirements file * typo * move index out of source folder * trying to get furo to work * import date * fix versions and titles, cleanup readthedocs requirements * typo fix, remove extras * more cleanup * bump version * no furo extension, "hack" to load RT version * proper toctree paths * specify method * add mock modules * fix typos * update python install requirements * running locally * move index to main docs dir again * update to build locally * error during warnings * automated version * cleanup * remove old docs * re-add docs * simplify * fix figure path * try alabaster * remove archived docs * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * Pass through Kp_float = 0 (#59) * Pass through kp_float, if desired * Minor fixes: schema error and InputReader defaults * Allow pass through of Kp_float = 0 * Add flp parameters to schema * Change Fl_Mode default to 0 * Add defaults to omega_,zeta_ pc and vs, allow to be numbers * Allow single pitch tuning values in code, default U_pc to 0 * use nac acceleration for floating feedback * Fix TSR saturation for region 2.5operation * Modify system for constant power operation * Only modify pole for constant power above-rated * Remove GenEff from K calc * Update tuning, use constant power * use load_rosco_yaml * constant power * Fix broken tests * Include Fl_Mode=2 for nacelle pitching feedback * Add FOCAL inputs - hpf on floating feedback - lpf on wind speed estimator - associated schema updates * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Skip filter step if there's an error * Update IEA-15MW test case DISCON with focal inputs * Allow Fl_Mode = 2 in ROSCO * Pass through lpf frequency * Add FOCAL tuning yaml * Set Cp contour number of levels * Add FOCAL params to various writers * Update/tune focal yaml * Add scripts for running FAST, tuning various parameters and cases * Add notebook for FAST plotting * Set up step case for testing * Change doubles to C_doubles * Define real and integer kinds, assign to all of ROSCO * Add ADJUSTL to DISCON error message * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Call yaw, flap, and debug only if enabled in DISOCN.IN * Make avrSWAP a ReKi and set constant kinds * Add DISCONs for testing - revert this later * Fix DISCON comparison, before DISCON's were overwritten by model * Rename DEBUG2.dbg to RootName.dbg2 * Update TestCase DISCONs to new input file * Add API change page in docs * Add link to API change on main page * Fix table headers * Fix title underlines * Fix tables again * Fix tables again * Fix version numbering in docs * Simplify FAST_directory in run_FAST * Versioning (#65) * use sphinx-rtd-theme * master doc and sphinx rtd theme * index back to root folder * only ignore install folders * remove hidden toctree * furo theme * update paths * convert rt version to string * update sphinx settings * move conf * furo theme * remove git versioning from cmake * use hard coded rosco_version * update intro write method * set nowrap for intel compilers * Add transfer of error message and clear message after each call * update install instructions * Catch nans in ROSCO at end of WSE * fix conda install typo * cleanup docs * Rename DEBUG2.dbg to RootName.dbg2 * Fix Fl_Mode == 2 * Fix Fl_Mode == 2 again * Allow Fl_Mode = 2 in ROSCO * Set notch and check frequencies when Fl_Mode = 1 (fixes bug) * Update FOCAL tuning yaml * Update TSR * Clean up and doc fix * Remove publish to pypi * Define all constant inputs to functions with kind typing * Generate Test_Case/ inputs automatically * Fix IEA15 DISCON path * Fix example 11 paths * Auto-generate tuning input yaml using schema * Add toolbox_input to doc index * Add toctree * Re-name title of toolbox_input Co-authored-by: Nikhar Abbas Co-authored-by: Xianping Du <38188001+Seager1989@users.noreply.github.com> Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> * update listcheck method for numpy arrays * Open Loop Control (#98) * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * create rosco types yaml * Add more descriptions, add integer_c default, cleanup * updates for allocatability and shapes * python scripts to write ROSCO_types.f90 * reemove superfulous modules * use types from ROSCO registry * Saturate inputs to WSE. Needs some TLC, but seems to work * Reduce saturation limits on speed, torque * Re-organize, set saturation limits. Working at 3 m/s * Initial add of OL control to ROSCO: builds * Update DISCONs with open loop inputs * Fix file reading for OL_Filename * Add open loop control generation and file writing * Use DISCON_dict for more manageable DISCON file writing * Add open loop example, fix constant timeseries * Make open loop example generate power * Handle relative paths and calling from outside the run directory: - Some helper functions borrowed from OpenFAST, f/ext_control - Updated file writing * Clean up: versions, print statements * Fix SysFiles paths in CMakeLists * Tidy up Ext_DLL names * More Ext_DLL name tidying * Test write_registry.py * Update for OL Control * Move preprocessor lines * add zenodo DOI * Regenerated Types * fix shape * revert filepath change * give all types a size, ProcAddr size = 3 * update types * test registry in compile step * specify default shell * update write_registry path * remove default shell * Document API changes, provide OL input example * Fix example 14 (yaw input) * Add error catching to yaw control * Tidy up OL_Input Reading: error catching, generalize * More yaw control fixes, to model * Checkout develop CMakeLists for ROSCO * Update DISCON.INs for TestCases/ * Revert "Checkout develop CMakeLists for ROSCO" This reverts commit 87a491359d73806e3aaa59b4cfdc00f2838875df. * Revert windows cmake stuff to develop * Fix CMake again * Revert "Revert windows cmake stuff to develop" This reverts commit 39df122449b0e2055f2e12e3ce38a0c010c7bd91. * Make last cmake fix - hopefully Co-authored-by: Nikhar Abbas * Restart & registry (#99) * Convert WE saved variables to WE type * Put restart flag in localvars * Use saved filter params from LocalVar * save pitcomt last * Move IPC saved variables to localvars * Saved pi controller variables to localvar * Save RootMyb_Last to localvar * ROSCO_IO - initial commit. Include restart and debug functions * Use ROSCO IO and call restart functions * Remove debug from function.f90 * Save ACC Infile info * update for restart capabilities * add rosco_io with restart and debug functions * cleanup debug call * use registry generate types and IO * delete DFController * fix timestep mismatch * remove unnecessaray istatus check * close files * add reg test for restart * add restart option to run_openfast * add testing to CI, ignore generate files * fix fastcall * remove extra commas * specify gfortran-10 * testing flag cleanup * Use lv_strings to generate debug output * Revert "testing flag cleanup" This reverts commit 6f295563832413e96347acd82716f9aadac6d46c. * Revert "specify gfortran-10" This reverts commit 4c3154491523bcd542133ca2bce5803cdc94523f. * minor cleanup * Use kind from constants * Add some comments for clarity * put debug in if statements * separate reg tests from oother tests * Fl_Mode>0 * Remove hard coded values * Add filtered signals and WE_Vw to debug varrs * cd for regtest * Check logging level before calling debug * add fl_pitcom and pc_minpit to debugvars Co-authored-by: dzalkind * Break up if statement in open loop pitch (#100) * Break up if statement in open loop pitch * Make torque and yaw consistent with pitch: can start after some time * add bld edgewise freq to robust dict_inputs * Fix ccrotor inputs (#104) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Allow default inputs (#110) * Allow defaults for AeroDyn inputs * Allow AeroDyn inputs to be floats, too * ipc (#105) * remove interpolation of blade chord and twist * rename aerodynblade inputs * Update surface and DISCON.INs * Fix performance table paths * Add proportional control and cleanup IPC * Add IPC and filtered RootMyc to registry * Better logic for filtering RootMOOP and fix notch filter slopes bug * Add cyclic flap conrol * Fix comments in ColemanTransformInverse * Addd IPC_KP to DISCON.IN * Error checking foro flp or ipc * add mutichannel plotting with tuples * add CMakeFiles to gitignore * Add IPC_KP to api changes * numerical qualifiers for error handling * add IPC gains to schema for pass-through ability * fix variable names * fix ipc gain printing bug * make sure IPC_KP is positive * Update Polars to point to coord files * ignore dbg2 files * Add IEA15MW_OL.yaml * update coord reader/writer * expand pitch_initial to 30 degrees * Add example 13 for IPC * Update cp surfaces and DISCONS * add examples to readme * cleanup and streaamline run_examples * Add IPC tuning vars * Allow IPC to command pitch value below peak shaving saturation limit * shorten simulation time * Fix Material parameter path * Update DISCONs again * Fix OL_Input reading * Set wind speed, rotor speed IC in example 14 * Debug OL reading * Add more debugging lines * Add more debugging lines 2 * Clean up, hone in on debug call * Disable logging level * Update discons - resolve conflict * Print when finished with ROSCO * add control packageg * Use PriPath and RootName to name dbg files * Print AvrSWAP * Revert "Use PriPath and RootName to name dbg files" This reverts commit 062fcaa55b3bf42d44f8a3f163aa883ab9552412. * Disable other examples * Print OL inputs * Allow logging level 3 * Print OL inputs * Make example shorter * Print more stuf * Print shape * Revert "Print OL inputs" This reverts commit 8e2a642bb35e46850f579ca4e69ca6d6fc93f4cc. * Update ROSCO Simulink model with IPC example * refactor flap tuning for normalization methods * improved flap controller filtering * delete extra F_FlpCornerFrerq * Update inputs, reader, and writer for OF 3.1.0 * Make sigma default interp type for multi_sigma * Use openfast 3.1.0 in CI * Fix leak...maybe * Use OF 3.1.0 in testing * Use gfotran for compile * Clean up print statements * Re-enable all examples * Update NREL-5MW AD file * Only check airfoil controls if more than one table * Update BAR models * Revert "Use gfotran for compile" This reverts commit 5a6e2b7e30287a09a09781e2ba12f9b578132e1f. * Install pyFAST for CI * Fix some paths in ex12 * Disable example 12 * Fix example 12 linear path, re-enable * Skip compilers install for mac * Try gfortran-9, no compilers * Try gfortran-10, no compilers * Skip windows compile in pytools * Re-enable windows, use gfortran as FC * Unset FC in windows * Set environment for windows when dependencies installed * Try setting environment in installation * Put conditional env setting in correct place * Try in setup again * Break up tasks: Windows vs. not * Update DISCONs * Update docs with new variables * Add example documentation * Update ROSCO Simulink model for 3.1.0 * Make IEA model float again * Reduce IEA timestep * Match DT to checkpoint time Co-authored-by: dzalkind * Increment version number * Bladed docs (#116) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: WillC-DNV <100850534+WillC-DNV@users.noreply.github.com> * Update version in API change docs * Bladed readthedocs (#117) * Added image of Bladed control screen setup * Delete Bladed control screen.png * Adding image of Bladed control screen * Add files via upload * Minor edit 1 * Minor change 2 * Minor change 3 * Minor change 4 * Change 6 * Change 7 * Change 8 * Minor change 9 * Tinker with characters in bladed instructions * Add bladed instructions to index * Change bladed toctree label * Do underline stuff * Make toctree label same as file * Remove colons from headers Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: WillC-DNV <100850534+WillC-DNV@users.noreply.github.com> * Update docs to reflect CI process Co-authored-by: Nikhar Abbas Co-authored-by: Xianping Du <38188001+Seager1989@users.noreply.github.com> Co-authored-by: nikhar-abbas <40865984+nikhar-abbas@users.noreply.github.com> Co-authored-by: WillC-DNV <100850534+WillC-DNV@users.noreply.github.com> --- .github/workflows/CI_rosco-compile.yml | 29 +- .github/workflows/CI_rosco-pytools.yml | 44 +- .github/workflows/publish_to_pypi.yml | 27 - .gitignore | 3 + Examples/Cp_Ct_Cq.NREL5MW.txt | 162 +- Examples/Example_OL_Input.dat | 4002 +++ Examples/README.md | 4 +- Examples/example_11.py | 12 +- Examples/example_12.py | 17 +- Examples/example_13.py | 116 + Examples/example_14.py | 153 + Examples/run_examples.py | 112 +- Matlab_Toolbox/Simulink/ROSCO.mdl | 23162 +++++++++++++--- Matlab_Toolbox/Utilities/load_ROSCO_params.m | 19 + Matlab_Toolbox/runFAST.m | 10 +- README.md | 3 + ROSCO/CMakeLists.txt | 24 +- ROSCO/rosco_registry/__init__.py | 0 ROSCO/rosco_registry/rosco_types.yaml | 1003 + ROSCO/rosco_registry/write_registry.py | 362 + ROSCO/src/Constants.f90 | 35 +- ROSCO/src/ControllerBlocks.f90 | 180 +- ROSCO/src/Controllers.f90 | 256 +- ROSCO/src/DISCON.F90 | 48 +- ROSCO/src/Filters.f90 | 328 +- ROSCO/src/Functions.f90 | 378 +- ROSCO/src/ROSCO_IO.f90 | 552 + ROSCO/src/ROSCO_Types.f90 | 551 +- ROSCO/src/ReadSetParameters.f90 | 409 +- ROSCO/src/SysFiles/SysGnuLinux.f90 | 190 + ROSCO/src/SysFiles/SysGnuWin.f90 | 184 + ROSCO/src/SysFiles/SysIFL.f90 | 213 + ROSCO/src/SysFiles/SysIVF.f90 | 143 + ROSCO_testing/ROSCO_testing.py | 6 +- ROSCO_testing/regtest.py | 125 + ROSCO_toolbox/__init__.py | 2 +- ROSCO_toolbox/controller.py | 262 +- ROSCO_toolbox/inputs/.gitignore | 2 + ROSCO_toolbox/inputs/schema2rst.py | 37 +- ROSCO_toolbox/inputs/toolbox_schema.yaml | 133 +- ROSCO_toolbox/inputs/validation.py | 2 +- ROSCO_toolbox/linear/robust_scheduling.py | 4 +- ROSCO_toolbox/ofTools/case_gen/CaseLibrary.py | 508 + ROSCO_toolbox/ofTools/case_gen/HH_WindFile.py | 133 + ROSCO_toolbox/ofTools/case_gen/run_FAST.py | 194 + ROSCO_toolbox/ofTools/fast_io/FAST_reader.py | 167 +- ROSCO_toolbox/ofTools/fast_io/FAST_writer.py | 336 +- .../ofTools/fast_io/output_processing.py | 49 +- ROSCO_toolbox/ofTools/fast_io/plot_FAST.ipynb | 729 + ROSCO_toolbox/ofTools/util/FileTools.py | 1 + ROSCO_toolbox/turbine.py | 19 +- ROSCO_toolbox/utilities.py | 309 +- .../5MW_Land_Simulink/5MW_Land_Simulink.fst | 11 + Test_Cases/5MW_Land_Simulink/DISCON.IN | 119 - .../NRELOffshrBsline5MW_Onshore_ServoDyn.dat | 9 +- .../Airfoils/BAR_10_AeroDyn15_Polar_00.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_01.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_02.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_03.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_04.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_05.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_06.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_07.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_08.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_09.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_10.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_11.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_12.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_13.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_14.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_15.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_16.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_17.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_18.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_19.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_20.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_21.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_22.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_23.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_24.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_25.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_26.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_27.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_28.dat | 2 +- .../Airfoils/BAR_10_AeroDyn15_Polar_29.dat | 2 +- Test_Cases/BAR_10/BAR_10.fst | 13 +- Test_Cases/BAR_10/BAR_10_AeroDyn15.dat | 3 +- Test_Cases/BAR_10/BAR_10_BeamDyn.dat | 2 +- Test_Cases/BAR_10/BAR_10_Cp_Ct_Cq.txt | 81 - Test_Cases/BAR_10/BAR_10_DISCON.IN | 115 +- Test_Cases/BAR_10/BAR_10_ElastoDyn.dat | 2 - Test_Cases/BAR_10/BAR_10_ServoDyn.dat | 7 + Test_Cases/BAR_10/Cp_Ct_Cq.BAR_10.txt | 99 + .../Cp_Ct_Cq.IEA15MW.txt | 308 +- .../DISCON-UMaineSemi.IN | 85 +- .../IEA-15-240-RWT-UMaineSemi.fst | 17 +- .../IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat | 6 +- .../IEA-15-240-RWT-UMaineSemi_ServoDyn.dat | 13 +- .../IEA-15-240-RWT_AeroDyn15.dat | 45 +- .../ServoData/DISCON-UMaineSemi.IN | 119 - Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt | 234 +- Test_Cases/NREL-5MW/DISCON.IN | 117 +- Test_Cases/NREL-5MW/NREL-5MW.fst | 11 + .../NRELOffshrBsline5MW_Onshore_AeroDyn15.dat | 3 +- .../NRELOffshrBsline5MW_Onshore_ElastoDyn.dat | 5 +- .../NRELOffshrBsline5MW_Onshore_ServoDyn.dat | 7 + Test_Cases/update_discons.py | 54 + Tune_Cases/BAR.yaml | 11 +- Tune_Cases/Cp_Ct_Cq.DTU10MW.txt | 165 - Tune_Cases/Cp_Ct_Cq.IEA15MW.txt | 165 - Tune_Cases/Cp_Ct_Cq.NREL5MW.txt | 165 - Tune_Cases/DTU10MW.yaml | 49 - Tune_Cases/IEA15MW.yaml | 6 +- Tune_Cases/IEA15MW_FOCAL.yaml | 54 + Tune_Cases/IEA15MW_MultiOmega.yaml | 1 + .../IEA15MW_OL.yaml | 53 +- Tune_Cases/NREL5MW.yaml | 2 +- Tune_Cases/README.md | 52 +- docs/index.rst | 5 +- docs/source/ROSCO_instructions_for_Bladed.rst | 91 + docs/source/api_change.rst | 39 + docs/source/figures/Bladed_control_screen.png | Bin 0 -> 39449 bytes docs/source/figures/ROSCO_toolbox.png | Bin 0 -> 14071 bytes docs/source/install.rst | 11 +- docs/source/rosco.rst | 10 +- docs/source/rosco_toolbox.rst | 230 +- docs/source/standard_use.rst | 2 + docs/source/toolbox_input.rst | 511 + environment.yml | 1 + setup.py | 2 +- 130 files changed, 32165 insertions(+), 6754 deletions(-) delete mode 100644 .github/workflows/publish_to_pypi.yml create mode 100644 Examples/Example_OL_Input.dat create mode 100644 Examples/example_13.py create mode 100644 Examples/example_14.py create mode 100644 ROSCO/rosco_registry/__init__.py create mode 100644 ROSCO/rosco_registry/rosco_types.yaml create mode 100644 ROSCO/rosco_registry/write_registry.py create mode 100644 ROSCO/src/ROSCO_IO.f90 create mode 100644 ROSCO/src/SysFiles/SysGnuLinux.f90 create mode 100644 ROSCO/src/SysFiles/SysGnuWin.f90 create mode 100644 ROSCO/src/SysFiles/SysIFL.f90 create mode 100644 ROSCO/src/SysFiles/SysIVF.f90 create mode 100644 ROSCO_testing/regtest.py create mode 100644 ROSCO_toolbox/inputs/.gitignore create mode 100644 ROSCO_toolbox/ofTools/case_gen/CaseLibrary.py create mode 100644 ROSCO_toolbox/ofTools/case_gen/HH_WindFile.py create mode 100644 ROSCO_toolbox/ofTools/case_gen/run_FAST.py create mode 100644 ROSCO_toolbox/ofTools/fast_io/plot_FAST.ipynb delete mode 100644 Test_Cases/5MW_Land_Simulink/DISCON.IN delete mode 100644 Test_Cases/BAR_10/BAR_10_Cp_Ct_Cq.txt create mode 100644 Test_Cases/BAR_10/Cp_Ct_Cq.BAR_10.txt rename Tune_Cases/DISCON.IN => Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN (53%) delete mode 100644 Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/DISCON-UMaineSemi.IN create mode 100644 Test_Cases/update_discons.py delete mode 100644 Tune_Cases/Cp_Ct_Cq.DTU10MW.txt delete mode 100644 Tune_Cases/Cp_Ct_Cq.IEA15MW.txt delete mode 100644 Tune_Cases/Cp_Ct_Cq.NREL5MW.txt delete mode 100644 Tune_Cases/DTU10MW.yaml create mode 100644 Tune_Cases/IEA15MW_FOCAL.yaml rename Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/IEA15MW-UMaineSemi.yaml => Tune_Cases/IEA15MW_OL.yaml (64%) create mode 100644 docs/source/ROSCO_instructions_for_Bladed.rst create mode 100644 docs/source/api_change.rst create mode 100644 docs/source/figures/Bladed_control_screen.png create mode 100644 docs/source/figures/ROSCO_toolbox.png create mode 100644 docs/source/toolbox_input.rst diff --git a/.github/workflows/CI_rosco-compile.yml b/.github/workflows/CI_rosco-compile.yml index 42e1e8b6..c04abb8f 100644 --- a/.github/workflows/CI_rosco-compile.yml +++ b/.github/workflows/CI_rosco-compile.yml @@ -16,7 +16,7 @@ jobs: fail-fast: true matrix: os: ["ubuntu-latest", "macOS-latest", "windows-latest"] - python-version: ["3.8"] + python-version: ["3.8"] steps: - name: Checkout repository @@ -28,8 +28,21 @@ jobs: miniconda-version: "latest" channels: conda-forge, general auto-update-conda: true + python-version: 3.8 + environment-file: environment.yml - + # Install ROSCO toolbox + - name: Install ROSCO toolbox + shell: bash -l {0} + run: | + python setup.py install + + # Re-generate registry + - name: Generate Registry + shell: bash -l {0} + run: python ROSCO/rosco_registry/write_registry.py + + - name: Add dependencies windows if: true == contains( matrix.os, 'windows') shell: bash -l {0} @@ -59,15 +72,3 @@ jobs: -G "MinGW Makefiles" \ .. cmake --build . --target install - - # # Install ROSCO linux - # - name: Compile ROSCO linux - # if: false == contains( matrix.os, 'windows') - # working-directory: ${{runner.workspace}}/ROSCO/ROSCO/build - - # # Install ROSCO windows - # - name: Compile ROSCO windows - # if: true == contains( matrix.os, 'windows') - # working-directory: ${{runner.workspace}}/ROSCO/ROSCO/build - # run: cmake --build . --target install -G "MinGW Makefiles" - diff --git a/.github/workflows/CI_rosco-pytools.yml b/.github/workflows/CI_rosco-pytools.yml index 8c9c10c8..7ea77301 100644 --- a/.github/workflows/CI_rosco-pytools.yml +++ b/.github/workflows/CI_rosco-pytools.yml @@ -5,7 +5,7 @@ on: [push, pull_request] # Specify FORTRAN compiler env: - FC: gfortran + FC: gfortran-10 # A workflow run is made up of one or more jobs that can run sequentially or in parallel jobs: @@ -42,15 +42,25 @@ jobs: if: true == contains( matrix.os, 'windows') run: | conda install -y m2w64-toolchain libpython + env: + FC: gfortran + - - name: Add dependencies macOS specific - if: true == contains( matrix.os, 'macOS') - run: | - conda install compilers - + # - name: Add dependencies macOS specific + # if: true == contains( matrix.os, 'macOS') + # run: | + # conda install compilers # Install ROSCO toolbox + - name: Install ROSCO toolbox on Windows + if: true == contains( matrix.os, 'windows') + env: + FC: gfortran + run: | + python setup.py develop --compile-rosco + - name: Install ROSCO toolbox + if: false == contains( matrix.os, 'windows') run: | python setup.py develop --compile-rosco @@ -93,6 +103,12 @@ jobs: run: | conda install -y m2w64-toolchain libpython conda install -y wisdem + - name: Add pyFAST dependency + if: false == contains( matrix.os, 'windows') + run: | + git clone http://github.com/OpenFAST/python-toolbox + cd python-toolbox + python -m pip install -e . # Install ROSCO toolbox @@ -103,7 +119,7 @@ jobs: # Install OpenFAST - name: Install OpenFAST run: | - conda install openfast==3.0.0 + conda install openfast==3.1.0 # Run examples - name: Run examples @@ -154,10 +170,16 @@ jobs: # Install OpenFAST - name: Install OpenFAST run: | - conda install openfast==3.0.0 + conda install openfast==3.1.0 - # Run Testing - - name: Run testing + # Run ROSCO Testing + - name: Run ROSCO testing + run: | + cd ROSCO_testing + python ROSCO_testing.py + + # Regression testing + - name: Run regression testing run: | cd ROSCO_testing - python ROSCO_testing.py \ No newline at end of file + python regtest.py diff --git a/.github/workflows/publish_to_pypi.yml b/.github/workflows/publish_to_pypi.yml deleted file mode 100644 index 096085a1..00000000 --- a/.github/workflows/publish_to_pypi.yml +++ /dev/null @@ -1,27 +0,0 @@ -name: Upload to PyPi - -on: - release: - types: [released] - -jobs: - deploy: - runs-on: ubuntu-latest - steps: - - uses: actions/checkout@v2 - - name: Set up Python 3.8 - uses: actions/setup-python@v2 - with: - python-version: 3.8 - - name: Install dependencies - run: | - python -m pip install --upgrade pip - pip install setuptools wheel twine - - name: Build and publish - if: startsWith(github.ref, 'refs/tags') - env: - TWINE_USERNAME: __token__ - TWINE_PASSWORD: ${{ secrets.PYPI_API_TOKEN }} - run: | - python setup.py sdist bdist_wheel - twine upload dist/* \ No newline at end of file diff --git a/.gitignore b/.gitignore index 524a244a..44e74d47 100644 --- a/.gitignore +++ b/.gitignore @@ -11,6 +11,8 @@ Source/Release/ *build* Makefile */install/* +*test_out* +*CMakeFiles* # Archive Scripts/CompileDISCONHereCopyRun\.cmd @@ -50,6 +52,7 @@ _build *.sum *.ech *.dbg +*.dbg2 *.out *.outb *.dbg diff --git a/Examples/Cp_Ct_Cq.NREL5MW.txt b/Examples/Cp_Ct_Cq.NREL5MW.txt index 65b4326c..4324d3bb 100644 --- a/Examples/Cp_Ct_Cq.NREL5MW.txt +++ b/Examples/Cp_Ct_Cq.NREL5MW.txt @@ -1,93 +1,99 @@ -# ----- Rotor performance tables for the OpenFAST_5MW wind turbine ----- -# ------------ Written on Oct-30-19 using the ROSCO toolbox ------------ +# ----- Rotor performance tables for the NREL-5MW wind turbine ----- +# ------------ Written on Jan-13-22 using the ROSCO toolbox ------------ -# Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.5 0.0 0.5 1.0 1.5 2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 15.0 15.5 16.0 16.5 17.0 17.5 18.0 18.5 19.0 19.5 20.0 20.5 21.0 21.5 22.0 22.5 23.0 23.5 24.0 24.5 -# TSR vector - y axis (matrix rows) (-) -3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 +# Pitch angle vector, 36 entries - x axis (matrix columns) (deg) +-5.0 -4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 26.0 27.0 28.0 29.0 30.0 +# TSR vector, 26 entries - y axis (matrix rows) (-) +2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 # Wind speed vector - z axis (m/s) 11.4 # Power coefficient -0.089542 0.094392 0.099145 0.103788 0.108307 0.112687 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-4.632027 -5.186626 -5.743189 -6.245055 -6.696930 -7.128978 -7.575043 -8.045426 -8.533374 -9.031865 -9.535604 +-0.001687 0.043909 0.102330 0.166837 0.227413 0.274487 0.300332 0.301010 0.266040 0.181968 0.041242 -0.146395 -0.371984 -0.630855 -0.920613 -1.240294 -1.587356 -1.957580 -2.348192 -2.753074 -3.146694 -3.505110 -3.841738 -4.206100 -4.642786 -5.182427 -5.805056 -6.418029 -6.968601 -7.467747 -7.951835 -8.455876 -8.985506 -9.532652 -10.089996 -10.652280 +-0.020991 0.020364 0.073330 0.135754 0.197326 0.245733 0.272607 0.272110 0.233378 0.142039 -0.011538 -0.216915 -0.464126 -0.748233 -1.066769 -1.418378 -1.799699 -2.206350 -2.636179 -3.079288 -3.504186 -3.890511 -4.260392 -4.670103 -5.164549 -5.775547 -6.469853 -7.142266 -7.745026 -8.295764 -8.837283 -9.403900 -9.996885 -10.607377 -11.227722 -11.852766 # Thrust coefficient -0.230643 0.231358 0.231931 0.232351 0.232612 0.232705 0.232628 0.232377 0.231951 0.231351 0.230577 0.229632 0.228519 0.227241 0.225800 0.224201 0.222444 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0.255364 0.246128 0.236523 0.226568 0.216285 0.205698 0.194829 0.183702 0.172342 0.160772 0.149017 0.137101 0.125048 0.112882 0.100625 0.088300 0.075930 0.063535 0.051137 0.038756 0.026414 0.014131 0.001928 -0.010174 -0.022153 -0.033986 -0.045651 -0.057122 -0.068373 -0.439133 0.436226 0.432985 0.429399 0.425455 0.421133 0.416414 0.411271 0.405680 0.399616 0.393053 0.385971 0.378353 0.370186 0.361466 0.352191 0.342369 0.332015 0.321149 0.309796 0.297982 0.285737 0.273090 0.260072 0.246710 0.233036 0.219077 0.204863 0.190422 0.175779 0.160963 0.145997 0.130909 0.115722 0.100463 0.085156 0.069825 0.054496 0.039194 0.023943 0.008770 -0.006301 -0.021244 -0.036035 -0.050647 -0.065052 -0.079223 -0.093129 -0.106738 -0.120013 -0.132916 -0.145406 -0.515949 0.511128 0.505787 0.499888 0.493396 0.486276 0.478500 0.470044 0.460890 0.451032 0.440469 0.429215 0.417290 0.404722 0.391546 0.377796 0.363510 0.348724 0.333475 0.317797 0.301725 0.285291 0.268528 0.251465 0.234132 0.216556 0.198765 0.180787 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0.002044 -0.023213 -0.048304 -0.073190 -0.097830 -0.122182 -0.146202 -0.169844 -0.193061 -0.215800 -0.238004 -0.259612 -0.280555 -0.300758 -0.320141 -0.338617 -0.356096 -0.372485 -0.387691 -0.401625 -0.414204 -0.724510 0.708263 0.691047 0.672882 0.653818 0.633889 0.613133 0.591589 0.569300 0.546307 0.522648 0.498359 0.473477 0.448037 0.422074 0.395623 0.368718 0.341397 0.313695 0.285649 0.257298 0.228679 0.199835 0.170806 0.141634 0.112364 0.083039 0.053705 0.024406 -0.004813 -0.033903 -0.062820 -0.091516 -0.119944 -0.148053 -0.175794 -0.203114 -0.229957 -0.256263 -0.281969 -0.307004 -0.331291 -0.354745 -0.377275 -0.398780 -0.419156 -0.438294 -0.456084 -0.472416 -0.487190 -0.500316 -0.511721 -0.774241 0.754635 0.734084 0.712547 0.690012 0.666521 0.642111 0.616821 0.590699 0.563796 0.536159 0.507833 0.478861 0.449286 0.419151 0.388497 0.357367 0.325805 0.293854 0.261559 0.228967 0.196126 0.163082 0.129887 0.096591 0.063244 0.029900 -0.003389 -0.036569 -0.069587 -0.102388 -0.134916 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-0.196784 -0.228774 -0.258236 -0.284215 -0.305420 -0.320331 -0.327933 -0.328268 +0.634417 0.627969 0.621264 0.612780 0.601387 0.585824 0.565236 0.539859 0.510799 0.478901 0.444769 0.408839 0.371429 0.332767 0.293070 0.252557 0.211368 0.169524 0.127130 0.084335 0.041284 -0.001917 -0.045208 -0.088516 -0.131639 -0.174175 -0.215526 -0.255049 -0.292101 -0.325924 -0.355354 -0.378817 -0.394523 -0.401294 -0.399320 -0.390574 +0.735578 0.726839 0.715209 0.698962 0.676693 0.649128 0.617406 0.582286 0.544379 0.504195 0.462125 0.418443 0.373358 0.327062 0.279804 0.231775 0.183064 0.133686 0.083811 0.033605 -0.016820 -0.067406 -0.118066 -0.168514 -0.218193 -0.266339 -0.312201 -0.355042 -0.394026 -0.427876 -0.454896 -0.473018 -0.480617 -0.477721 -0.466483 -0.450923 +0.836616 0.819394 0.796306 0.768163 0.735696 0.699319 0.659490 0.616641 0.571164 0.523450 0.473790 0.422421 0.369559 0.315437 0.260360 0.204512 0.147873 0.090579 0.032826 -0.025256 -0.083602 -0.142121 -0.200467 -0.257947 -0.313640 -0.366661 -0.416171 -0.461284 -0.500752 -0.532889 -0.555398 -0.565981 -0.564006 -0.551394 -0.532762 -0.512992 +0.923379 0.893210 0.859907 0.823650 0.784285 0.741493 0.695217 0.645715 0.593258 0.538206 0.480917 0.421690 0.360798 0.298558 0.235326 0.171229 0.106253 0.040624 -0.025491 -0.092007 -0.158843 -0.225631 -0.291594 -0.355648 -0.416743 -0.473917 -0.526240 -0.572594 -0.611418 -0.640346 -0.656398 -0.657833 -0.645755 -0.624799 -0.601049 -0.579120 +0.993425 0.954344 0.913695 0.871240 0.826266 0.778188 0.726411 0.670805 0.611601 0.549205 0.484132 0.416794 0.347553 0.276858 0.205091 0.132281 0.058537 -0.015913 -0.090942 -0.166478 -0.242184 -0.317269 -0.390504 -0.460636 -0.526540 -0.587232 -0.641708 -0.688659 -0.725848 -0.749926 -0.757799 -0.749140 -0.727679 -0.700204 -0.673221 -0.650161 +1.058549 1.011415 0.963227 0.914208 0.863809 0.810735 0.753864 0.692505 0.626704 0.556910 0.483849 0.408103 0.330166 0.250636 0.169909 0.087938 0.004949 -0.078857 -0.163388 -0.248386 -0.333115 -0.416283 -0.496411 -0.572141 -0.642397 -0.706208 -0.762552 -0.809541 -0.843850 -0.861381 -0.859866 -0.841099 -0.811461 -0.779163 -0.750163 -0.726138 +1.122305 1.067207 1.011341 0.955082 0.898284 0.839959 0.778078 0.711195 0.638918 0.561654 0.480375 0.395899 0.308904 0.220154 0.129994 0.038399 -0.054349 -0.148080 -0.242618 -0.337354 -0.431053 -0.522046 -0.608688 -0.689695 -0.764072 -0.830961 -0.888968 -0.935169 -0.965155 -0.974811 -0.963246 -0.934896 -0.898382 -0.862536 -0.832084 -0.807326 +1.185738 1.122582 1.058847 0.995008 0.931027 0.866582 0.799502 0.727171 0.648509 0.563696 0.473951 0.380407 0.283976 0.185599 0.085524 -0.016186 -0.119230 -0.223433 -0.328360 -0.432958 -0.535499 -0.634048 -0.726965 -0.813132 -0.891721 -0.961752 -1.021004 -1.065338 -1.089724 -1.090502 -1.068696 -1.031466 -0.989260 -0.950738 -0.919159 -0.894322 +1.248868 1.177878 1.106090 1.034308 0.962814 0.891330 0.818549 0.740704 0.655695 0.563246 0.464772 0.361803 0.255555 0.147124 0.036641 -0.075690 -0.189578 -0.304724 -0.420330 -0.534810 -0.646043 -0.751962 -0.851114 -0.942592 -1.025625 -1.098723 -1.158523 -1.199963 -1.217675 -1.208810 -1.176857 -1.131525 -1.084562 -1.043982 -1.011881 -0.987449 +1.310753 1.232966 1.153240 1.073234 0.993908 0.914846 0.835616 0.752042 0.660663 0.560476 0.452996 0.340238 0.223775 0.104835 -0.016537 -0.140014 -0.265270 -0.391766 -0.518236 -0.642586 -0.762395 -0.875671 -0.981224 -1.078327 -1.165991 -1.241827 -1.301438 -1.339064 -1.349133 -1.330112 -1.288253 -1.235555 -1.184617 -1.142625 -1.110627 -1.086622 +1.370202 1.287113 1.200281 1.111936 1.024461 0.937489 0.851104 0.761450 0.663572 0.555529 0.438759 0.315838 0.188759 0.058841 -0.073915 -0.209068 -0.346176 -0.484368 -0.621832 -0.756036 -0.884420 -1.005217 -1.117496 -1.220568 -1.312850 -1.390993 -1.449734 -1.482671 -1.484225 -1.454750 -1.403285 -1.343886 -1.289747 -1.247079 -1.215478 -1.191550 +1.425945 1.339521 1.246699 1.150493 1.054590 0.959390 0.865327 0.769108 0.664559 0.548527 0.422175 0.288713 0.150621 0.009228 -0.135421 -0.282763 -0.432177 -0.582348 -0.730921 -0.875019 -1.012114 -1.140727 -1.260146 -1.369430 -1.466168 -1.546178 -1.603417 -1.630806 -1.623105 -1.583019 -1.522246 -1.456812 -1.400325 -1.357559 -1.326244 -1.302016 +1.478287 1.389036 1.292096 1.188788 1.084384 0.980656 0.878503 0.775237 0.663743 0.539578 0.403344 0.258956 0.109434 -0.043935 -0.200986 -0.361019 -0.523161 -0.685556 -0.845366 -0.999480 -1.145544 -1.282366 -1.409337 -1.524920 -1.625906 -1.707377 -1.762486 -1.783498 -1.765941 -1.715150 -1.645380 -1.574677 -1.516687 -1.474068 -1.442713 -1.417868 +1.525569 1.435807 1.335411 1.226404 1.113896 1.001379 0.890777 0.780002 0.661259 0.528773 0.382346 0.226642 0.065268 -0.100589 -0.270547 -0.443771 -0.619028 -0.793883 -0.965092 -1.129434 -1.284809 -1.430301 -1.565142 -1.687017 -1.792041 -1.874588 -1.926934 -1.940785 -1.912886 -1.851321 -1.772922 -1.697837 -1.639004 -1.596445 -1.564728 -1.539006 +1.566315 1.479214 1.376488 1.263103 1.143093 1.021619 0.902254 0.783557 0.657210 0.516187 0.359250 0.191837 0.018160 -0.160683 -0.344060 -0.530963 -0.719689 -0.907253 -1.090067 -1.264932 -1.430027 -1.584649 -1.727568 -1.855690 -1.964564 -2.047808 -2.096752 -2.102712 -2.064071 -1.991678 -1.905145 -1.826603 -1.767296 -1.724535 -1.692174 -1.665365 +1.599400 1.517580 1.415403 1.298085 1.171736 1.041419 0.913010 0.786007 0.651695 0.501886 0.334113 0.154593 -0.031851 -0.224178 -0.421492 -0.622547 -0.825079 -1.025616 -1.220296 -1.406037 -1.581314 -1.745475 -1.896602 -2.030921 -2.143474 -2.227031 -2.271933 -2.269336 -2.219606 -2.136371 -2.042346 -1.961175 -1.901455 -1.858218 -1.824963 -1.796908 +1.624851 1.550529 1.451132 1.331239 1.199665 1.060803 0.923092 0.787425 0.644798 0.485924 0.306984 0.114961 -0.084730 -0.291046 -0.502823 -0.718477 -0.935156 -1.148950 -1.355807 -1.552820 -1.738766 -1.912794 -2.072223 -2.212699 -2.328774 -2.412252 -2.452480 -2.440720 -2.379579 -2.285564 -2.184808 -2.101635 -2.041361 -1.997404 -1.963032 -1.933615 +1.644484 1.576932 1.482832 1.362862 1.226569 1.079755 0.932536 0.787882 0.636575 0.468351 0.277909 0.072976 -0.140450 -0.361273 -0.588030 -0.818712 -1.049886 -1.277246 -1.496631 -1.705352 -1.902443 -2.086605 -2.254411 -2.401028 -2.520465 -2.603459 -2.638392 -2.616924 -2.544069 -2.439454 -2.332777 -2.247970 -2.186918 -2.142020 -2.106339 -2.075472 +1.659936 1.597863 1.510260 1.392062 1.252024 1.098156 0.941373 0.787439 0.627098 0.449210 0.246925 0.028662 -0.198996 -0.434846 -0.677094 -0.923225 -1.169251 -1.410513 -1.642804 -1.863707 -2.072377 -2.266900 -2.443154 -2.595911 -2.718548 -2.800637 -2.829676 -2.798002 -2.713156 -2.598249 -2.486428 -2.400100 -2.338052 -2.292009 -2.254855 -2.222470 # Torque coefficient -0.029876 0.031494 0.033080 0.034629 0.036137 0.037598 0.039008 0.040363 0.041656 0.042883 0.044040 0.045120 0.046120 0.047035 0.047860 0.048593 0.049230 0.049768 0.050207 0.050544 0.050780 0.050914 0.050948 0.050882 0.050717 0.050453 0.050092 0.049635 0.049082 0.048434 0.047691 0.046854 0.045924 0.044901 0.043785 0.042579 0.041283 0.039900 0.038431 0.036879 0.035247 0.033537 0.031754 0.029899 0.027978 0.025994 0.023951 0.021854 0.019708 0.017518 0.015290 0.013029 -0.040469 0.042184 0.043828 0.045397 0.046883 0.048280 0.049581 0.050779 0.051868 0.052844 0.053701 0.054437 0.055048 0.055535 0.055895 0.056131 0.056242 0.056231 0.056097 0.055842 0.055466 0.054968 0.054350 0.053611 0.052751 0.051771 0.050672 0.049456 0.048125 0.046682 0.045130 0.043474 0.041719 0.039870 0.037931 0.035907 0.033804 0.031627 0.029380 0.027068 0.024695 0.022265 0.019785 0.017257 0.014690 0.012087 0.009457 0.006806 0.004142 0.001474 -0.001192 -0.003848 -0.050359 0.052034 0.053591 0.055019 0.056312 0.057464 0.058469 0.059324 0.060027 0.060579 0.060979 0.061229 0.061329 0.061280 0.061081 0.060731 0.060229 0.059576 0.058772 0.057818 0.056714 0.055465 0.054073 0.052544 0.050884 0.049100 0.047199 0.045189 0.043077 0.040870 0.038574 0.036196 0.033741 0.031214 0.028619 0.025961 0.023243 0.020469 0.017643 0.014770 0.011856 0.008907 0.005931 0.002935 -0.000071 -0.003076 -0.006072 -0.009050 -0.012004 -0.014929 -0.017823 -0.020686 -0.059114 0.060587 0.061887 0.063009 0.063951 0.064711 0.065290 0.065688 0.065903 0.065936 0.065784 0.065448 0.064926 0.064221 0.063333 0.062265 0.061023 0.059613 0.058042 0.056319 0.054454 0.052455 0.050333 0.048096 0.045753 0.043312 0.040779 0.038161 0.035464 0.032692 0.029850 0.026940 0.023966 0.020929 0.017833 0.014682 0.011479 0.008231 0.004945 0.001628 -0.001708 -0.005052 -0.008393 -0.011716 -0.015013 -0.018277 -0.021501 -0.024686 -0.027834 -0.030949 -0.034045 -0.037135 -0.066226 0.067355 0.068268 0.068963 0.069440 0.069698 0.069736 0.069555 0.069156 0.068542 0.067717 0.066688 0.065461 0.064046 0.062453 0.060694 0.058778 0.056715 0.054517 0.052193 0.049752 0.047202 0.044551 0.041806 0.038972 0.036055 0.033059 0.029988 0.026844 0.023628 0.020341 0.016983 0.013559 0.010072 0.006527 0.002932 -0.000704 -0.004371 -0.008055 -0.011740 -0.015412 -0.019055 -0.022659 -0.026218 -0.029729 -0.033193 -0.036617 -0.040015 -0.043405 -0.046809 -0.050248 -0.053736 -0.071051 0.071713 0.072122 0.072282 0.072192 0.071860 0.071291 0.070494 0.069478 0.068253 0.066830 0.065221 0.063436 0.061485 0.059379 0.057128 0.054740 0.052223 0.049587 0.046839 0.043986 0.041034 0.037988 0.034852 0.031631 0.028325 0.024935 0.021461 0.017904 0.014264 0.010544 0.006747 0.002881 -0.001046 -0.005023 -0.009036 -0.013069 -0.017103 -0.021120 -0.025102 -0.029037 -0.032918 -0.036743 -0.040513 -0.044241 -0.047945 -0.051652 -0.055389 -0.059182 -0.063050 -0.067001 -0.071037 -0.072840 0.073031 0.072965 0.072649 0.072092 0.071300 0.070283 0.069054 0.067621 0.065996 0.064188 0.062206 0.060059 0.057755 0.055303 0.052711 0.049985 0.047135 0.044167 0.041087 0.037900 0.034611 0.031221 0.027733 0.024146 0.020460 0.016673 0.012787 0.008803 0.004725 0.000561 -0.003680 -0.007988 -0.012344 -0.016730 -0.021126 -0.025508 -0.029857 -0.034154 -0.038390 -0.042561 -0.046669 -0.050727 -0.054758 -0.058792 -0.062864 -0.067005 -0.071244 -0.075596 -0.080065 -0.084645 -0.089315 -0.071655 0.071619 0.071331 0.070793 0.070016 0.069007 0.067773 0.066324 0.064669 0.062816 0.060776 0.058555 0.056161 0.053604 0.050891 0.048031 0.045032 0.041900 0.038643 0.035263 0.031766 0.028152 0.024420 0.020570 0.016602 0.012514 0.008307 0.003986 -0.000445 -0.004975 -0.009593 -0.014282 -0.019019 -0.023783 -0.028547 -0.033288 -0.037981 -0.042609 -0.047164 -0.051646 -0.056064 -0.060441 -0.064812 -0.069216 -0.073690 -0.078275 -0.082998 -0.087874 -0.092902 -0.098068 -0.103334 -0.108643 -0.068470 0.068472 0.068220 0.067703 0.066918 0.065875 0.064581 0.063045 0.061279 0.059293 0.057096 0.054700 0.052114 0.049349 0.046414 0.043319 0.040070 0.036676 0.033140 0.029465 0.025652 0.021698 0.017604 0.013369 0.008992 0.004475 -0.000177 -0.004957 -0.009853 -0.014848 -0.019921 -0.025046 -0.030196 -0.035344 -0.040459 -0.045516 -0.050496 -0.055393 -0.060210 -0.064964 -0.069690 -0.074430 -0.079228 -0.084131 -0.089183 -0.094416 -0.099843 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index 22f822fd..ec9a31b6 100644 --- a/Examples/README.md +++ b/Examples/README.md @@ -13,4 +13,6 @@ Examples: 9. Run turbsim to compile binary. 10. Tune a controller for distributed aerodynamic control. 11. Generate simplified linear models, save the parameters to a file. -12. Run robust controller tuning \ No newline at end of file +12. Run robust controller tuning +13. Tune and run a controller with IPC +14. Tune a controller with OpenLoop control commands inputs \ No newline at end of file diff --git a/Examples/example_11.py b/Examples/example_11.py index a9ea5b12..f8a9b199 100644 --- a/Examples/example_11.py +++ b/Examples/example_11.py @@ -40,10 +40,14 @@ controller = ROSCO_controller.Controller(controller_params) # Load turbine data from OpenFAST and rotor performance text file -turbine.load_from_fast(path_params['FAST_InputFile'], \ - os.path.join(this_dir,path_params['FAST_directory']), \ - dev_branch=True,rot_source='txt',\ - txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])) +tune_dir = os.path.join(this_dir,'../Tune_Cases') +turbine.load_from_fast( + path_params['FAST_InputFile'], + os.path.join(this_dir,path_params['FAST_directory']), + dev_branch=True, + rot_source='txt', + txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']) + ) # Tune controller controller.tune_controller(turbine) diff --git a/Examples/example_12.py b/Examples/example_12.py index f6468947..4f421af6 100644 --- a/Examples/example_12.py +++ b/Examples/example_12.py @@ -21,7 +21,6 @@ from ROSCO_toolbox import turbine as ROSCO_turbine from ROSCO_toolbox import controller as ROSCO_controller - def run_example(): # Shorthand directories this_dir = os.path.dirname(os.path.abspath(__file__)) @@ -53,10 +52,14 @@ def run_example(): controller = ROSCO_controller.Controller(controller_params) turbine.load_from_fast( path_params['FAST_InputFile'], - os.path.join(tune_dir, path_params['FAST_directory']), + os.path.join(this_dir, path_params['FAST_directory']), dev_branch=True, - rot_source='txt', txt_filename=os.path.join(tune_dir, path_params['rotor_performance_filename']) - ) + rot_source='txt', txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename']) + ) + + # Fix path params for robust setup + path_params['FAST_directory'] = os.path.join(this_dir, path_params['FAST_directory']) + controller.tune_controller(turbine) k_float = controller.Kp_float @@ -75,6 +78,8 @@ def run_example(): options['path_options'] = path_options options['opt_options'] = opt_options + options['linturb_options']['linfile_path'] = os.path.join(this_dir, options['linturb_options']['linfile_path']) + # Run robust scheduling sd = rsched_driver(options) sd.setup() @@ -114,10 +119,10 @@ def run_example(): ax[4].set_ylabel('Integral Gain') ax[4].grid() - if True: + + if False: plt.show() else: plt.savefig(os.path.join(example_out_dir, '12_RobustSched.png')) - if __name__ == '__main__': run_example() diff --git a/Examples/example_13.py b/Examples/example_13.py new file mode 100644 index 00000000..9b0b7acd --- /dev/null +++ b/Examples/example_13.py @@ -0,0 +1,116 @@ +''' +----------- Example_13 -------------- +Load a turbine, tune a controller with IPC +------------------------------------- + +In this example: + - Load a turbine from OpenFAST + - Tune a controller with IPC + - Run simple simulation with open loop control + +''' +# Python Modules +import yaml, os, platform +import numpy as np +import matplotlib.pyplot as plt + +# ROSCO toolbox modules +from ROSCO_toolbox import controller as ROSCO_controller +from ROSCO_toolbox import turbine as ROSCO_turbine +from ROSCO_toolbox.utilities import DISCON_dict +from ROSCO_toolbox.ofTools.fast_io import output_processing +from ROSCO_toolbox.inputs.validation import load_rosco_yaml +from ROSCO_toolbox.ofTools.case_gen.CaseLibrary import set_channels +from ROSCO_toolbox.ofTools.case_gen.runFAST_pywrapper import runFAST_pywrapper_batch +from ROSCO_toolbox.ofTools.case_gen.CaseGen_General import CaseGen_General + + + +this_dir = os.path.dirname(os.path.abspath(__file__)) +rosco_dir = os.path.dirname(this_dir) +example_out_dir = os.path.join(this_dir,'examples_out') +run_dir = os.path.join(example_out_dir, '13_ipc_sim') + +# Load yaml file (Open Loop Case) +parameter_filename = os.path.join(rosco_dir,'Tune_Cases/BAR.yaml') + +inps = load_rosco_yaml(parameter_filename) +path_params = inps['path_params'] +turbine_params = inps['turbine_params'] +controller_params = inps['controller_params'] + +# Turn flaps off and IPC on +controller_params['Flp_Mode'] = 0 +controller_params['IPC_ControlMode'] = 1 + +# Instantiate turbine, and controller +turbine = ROSCO_turbine.Turbine(turbine_params) +controller = ROSCO_controller.Controller(controller_params) + +# Load turbine data from OpenFAST and rotor performance text file +turbine.load_from_fast(path_params['FAST_InputFile'], + os.path.join(this_dir, path_params['FAST_directory']), dev_branch=True) +# Tune controller +controller.tune_controller(turbine) + +# Set rosco_dll +if platform.system() == 'Windows': + rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.dll') +elif platform.system() == 'Darwin': + rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.dylib') +else: + rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.so') + +case_inputs = {} +case_inputs[('ServoDyn','DLL_FileName')] = {'vals': [rosco_dll], 'group': 0} +case_inputs[('ServoDyn','Ptch_Cntrl')] = {'vals': [1], 'group': 0} + +# Apply all discon variables as case inputs +discon_vt = DISCON_dict( + turbine, + controller, + txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename']) + ) + +for discon_input in discon_vt: + case_inputs[('DISCON_in',discon_input)] = {'vals': [discon_vt[discon_input]], 'group': 0} + +# Generate cases +if not os.path.exists(run_dir): + os.makedirs(run_dir) + +case_list, case_name_list = CaseGen_General(case_inputs, dir_matrix=run_dir, namebase='ipc_example') +channels = set_channels() +channels['BldPitch2'] = True +channels['BldPitch3'] = True + +# Run FAST cases +fastBatch = runFAST_pywrapper_batch(FAST_ver='OpenFAST',dev_branch = True) + +fastBatch.FAST_directory = os.path.realpath(os.path.join(rosco_dir,'Tune_Cases',path_params['FAST_directory'])) +fastBatch.FAST_InputFile = path_params['FAST_InputFile'] +fastBatch.channels = channels +fastBatch.FAST_runDirectory = run_dir +fastBatch.case_list = case_list +fastBatch.case_name_list = case_name_list +fastBatch.debug_level = 2 +fastBatch.FAST_exe = 'openfast' + +fastBatch.run_serial() + + +# # Define Plot cases +cases = {} +cases['Baseline'] = ['Wind1VelX', ('BldPitch1', 'BldPitch2', 'BldPitch3'), 'RootMyc1', 'RotSpeed'] + +out_file = os.path.join(example_out_dir,'13_ipc_sim/ipc_example_0.outb') +op = output_processing.output_processing() +fastout = op.load_fast_out(out_file, tmin=0) +fig, ax = op.plot_fast_out(cases=cases,showplot=False) +if False: + plt.show() +else: + fig[0].savefig(os.path.join(example_out_dir,'13_ipc_FAST_Out.png')) + + + diff --git a/Examples/example_14.py b/Examples/example_14.py new file mode 100644 index 00000000..f91d4de5 --- /dev/null +++ b/Examples/example_14.py @@ -0,0 +1,153 @@ +''' +----------- Example_14 -------------- +Load a turbine, tune a controller with open loop control commands +------------------------------------- + +In this example: + - Load a turbine from OpenFAST + - Tune a controller + - Write open loop inputs + - Run simple simulation with open loop control + +''' +# Python Modules +import yaml, os, platform +import numpy as np +import matplotlib.pyplot as plt + +# ROSCO toolbox modules +from ROSCO_toolbox import controller as ROSCO_controller +from ROSCO_toolbox import turbine as ROSCO_turbine +from ROSCO_toolbox import utilities as ROSCO_utilities +from ROSCO_toolbox.ofTools.fast_io import output_processing +from ROSCO_toolbox.inputs.validation import load_rosco_yaml +from ROSCO_toolbox.ofTools.case_gen.CaseLibrary import set_channels +from ROSCO_toolbox.ofTools.case_gen.runFAST_pywrapper import runFAST_pywrapper, runFAST_pywrapper_batch +from ROSCO_toolbox.ofTools.case_gen.CaseGen_General import CaseGen_General + + + +this_dir = os.path.dirname(os.path.abspath(__file__)) +rosco_dir = os.path.dirname(this_dir) +example_out_dir = os.path.join(this_dir,'examples_out') +example_out_dir = os.path.join(this_dir,'examples_out') +if not os.path.isdir(example_out_dir): + os.makedirs(example_out_dir) + +# Load yaml file (Open Loop Case) +parameter_filename = os.path.join(rosco_dir,'Tune_Cases/IEA15MW_OL.yaml') + +inps = load_rosco_yaml(parameter_filename) +path_params = inps['path_params'] +turbine_params = inps['turbine_params'] +controller_params = inps['controller_params'] + +# Set up open loop input +olc = ROSCO_controller.OpenLoopControl(t_max=20) +olc.interp_timeseries( + 'blade_pitch', + [0,20], + [0,0.0873] , + 'sigma' + ) +olc.const_timeseries( + 'generator_torque', + 19624046*.5 + ) +olc.sine_timeseries('nacelle_yaw', 0.0524, 60) + +# Plot open loop timeseries +fig,ax = olc.plot_timeseries() +if False: + plt.show() +else: + fig.savefig(os.path.join(example_out_dir,'14_OL_Inputs.png')) + +# Write open loop input, get OL indices +ol_filename = os.path.join(example_out_dir,'14_OL_Input.dat') +ol_dict = olc.write_input(ol_filename) +controller_params['open_loop'] = ol_dict + + +# Instantiate turbine, controller, and file processing classes +turbine = ROSCO_turbine.Turbine(turbine_params) +controller = ROSCO_controller.Controller(controller_params) + +# Load turbine data from OpenFAST and rotor performance text file +turbine.load_from_fast(path_params['FAST_InputFile'], \ + os.path.join(this_dir,path_params['FAST_directory']), \ + dev_branch=True,rot_source='txt',\ + txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename'])) + +# Tune controller +controller.tune_controller(turbine) + +# Write parameter input file +param_file = os.path.join(this_dir,'DISCON.IN') # This must be named DISCON.IN to be seen by the compiled controller binary. +ROSCO_utilities.write_DISCON(turbine,controller,param_file=param_file, txt_filename=path_params['rotor_performance_filename']) + +### Run OpenFAST using aeroelasticse tools + +# Set rosco_dll +if platform.system() == 'Windows': + rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.dll') +elif platform.system() == 'Darwin': + rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.dylib') +else: + rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.so') + +case_inputs = {} +case_inputs[('ServoDyn','DLL_FileName')] = {'vals': [rosco_dll], 'group': 0} + +# Apply all discon variables as case inputs +discon_vt = ROSCO_utilities.DISCON_dict( + turbine, +controller, +txt_filename=os.path.join(this_dir,path_params['FAST_directory'],path_params['rotor_performance_filename']) +) +for discon_input in discon_vt: + case_inputs[('DISCON_in',discon_input)] = {'vals': [discon_vt[discon_input]], 'group': 0} + +case_inputs[('Fst','TMax')] = {'vals': [20], 'group': 0} +case_inputs[('InflowWind','HWindSpeed')] = {'vals': [10], 'group': 0} +case_inputs[('ElastoDyn','HWindSpeed')] = {'vals': [5.], 'group': 0} +case_inputs[('DISCON_in','LoggingLevel')] = {'vals': [3], 'group': 0} + +# Generate cases +run_dir = os.path.join(example_out_dir,'14_OL_Sim') +if not os.path.exists(run_dir): + os.makedirs(run_dir) + +case_list, case_name_list = CaseGen_General(case_inputs, dir_matrix=run_dir, namebase='OL_Example') +channels = set_channels() + +# Run FAST cases +fastBatch = runFAST_pywrapper_batch(FAST_ver='OpenFAST',dev_branch = True) + +fastBatch.FAST_directory = os.path.realpath(os.path.join(rosco_dir,'Tune_Cases',path_params['FAST_directory'])) +fastBatch.FAST_InputFile = path_params['FAST_InputFile'] +fastBatch.channels = channels +fastBatch.FAST_runDirectory = run_dir +fastBatch.case_list = case_list +fastBatch.case_name_list = case_name_list +fastBatch.debug_level = 2 +fastBatch.FAST_exe = 'openfast' + +fastBatch.run_serial() + + +# # Define Plot cases +cases = {} +cases['Baseline'] = ['Wind1VelX', 'BldPitch1', 'GenTq', 'RotSpeed','NacYaw'] + +out_file = os.path.join(example_out_dir,'14_OL_Sim/OL_Example_0.outb') +op = output_processing.output_processing() +fastout = op.load_fast_out(out_file, tmin=0) +fig, ax = op.plot_fast_out(cases=cases,showplot=False) + +if False: + plt.show() +else: + fig[0].savefig(os.path.join(example_out_dir,'14_OL_FAST_Out.png')) + + diff --git a/Examples/run_examples.py b/Examples/run_examples.py index 7e561568..181f4239 100644 --- a/Examples/run_examples.py +++ b/Examples/run_examples.py @@ -4,44 +4,6 @@ from time import time import importlib -# from weis.test.utils import execute_script, run_all_scripts - - -def run_all_scripts(folder_string, all_scripts): - scripts = [m for m in all_scripts if m.find(folder_string) >= 0] - for k in scripts: - try: - execute_script(k) - except Exception as e: - print("Failed to run,", k) - raise - -def execute_script(fscript): - # thisdir = os.path.dirname(os.path.realpath(__file__)) - # root_dir = os.path.dirname(os.path.dirname(thisdir)) - examples_dir = os.path.dirname(os.path.realpath(__file__)) - - # Go to location due to relative path use for airfoil files - print("\n\n") - print("NOW RUNNING:", fscript) - print() - fullpath = os.path.join(examples_dir, fscript + ".py") - # basepath = os.path.join(examples_dir, fscript.split("/")[0]) - os.chdir(examples_dir) - - # Get script/module name - froot = fscript.split("/")[-1] - - # Use dynamic import capabilities - # https://www.blog.pythonlibrary.org/2016/05/27/python-201-an-intro-to-importlib/ - print(froot, os.path.realpath(fullpath)) - spec = importlib.util.spec_from_file_location(froot, os.path.realpath(fullpath)) - mod = importlib.util.module_from_spec(spec) - s = time() - spec.loader.exec_module(mod) - print(time() - s, "seconds to run") - -# 02_ref turbines are regression tested in test_gluecode, no need to duplicate runtime all_scripts = [ 'example_01', 'example_02', @@ -54,44 +16,44 @@ def execute_script(fscript): 'example_09', 'example_10', 'example_11', - + 'example_12', + 'example_13', + 'example_14' ] -class TestExamples(unittest.TestCase): - - def test_example_01(self): - run_all_scripts("example_01", all_scripts) - - def test_example_02(self): - run_all_scripts("example_02", all_scripts) - - def test_example_03(self): - run_all_scripts("example_03", all_scripts) - - def test_example_04(self): - run_all_scripts("example_04", all_scripts) - - def test_example_05(self): - run_all_scripts("example_05", all_scripts) - - def test_example_06(self): - run_all_scripts("example_06", all_scripts) - - def test_example_07(self): - run_all_scripts("example_07", all_scripts) - - def test_example_08(self): - run_all_scripts("example_08", all_scripts) - - def test_example_09(self): - run_all_scripts("example_09", all_scripts) +def execute_script(fscript): + examples_dir = os.path.dirname(os.path.realpath(__file__)) + + # Go to location due to relative path use for airfoil files + print("\n\n") + print("NOW RUNNING:", fscript) + print() + fullpath = os.path.join(examples_dir, fscript + ".py") + basepath = os.path.dirname(os.path.realpath(fullpath)) + os.chdir(basepath) + + # Get script/module name + froot = fscript.split("/")[-1] + + # Use dynamic import capabilities + # https://www.blog.pythonlibrary.org/2016/05/27/python-201-an-intro-to-importlib/ + print(froot, os.path.realpath(fullpath)) + spec = importlib.util.spec_from_file_location(froot, os.path.realpath(fullpath)) + mod = importlib.util.module_from_spec(spec) + s = time() + spec.loader.exec_module(mod) + print(time() - s, "seconds to run") - def test_example_10(self): - run_all_scripts("example_10", all_scripts) +class TestExamples(unittest.TestCase): - def test_example_11(self): - run_all_scripts("example_11", all_scripts) - + def test_all_scripts(self): + for ks, s in enumerate(all_scripts): + with self.subTest(f"Running: {s}", i=ks): + try: + execute_script(s) + self.assertTrue(True) + except: + self.assertEqual(s, "Success") def suite(): @@ -102,4 +64,8 @@ def suite(): if __name__ == "__main__": result = unittest.TextTestRunner().run(suite()) - sys.exit(not result.wasSuccessful()) + + if result.wasSuccessful(): + exit(0) + else: + exit(1) diff --git a/Matlab_Toolbox/Simulink/ROSCO.mdl b/Matlab_Toolbox/Simulink/ROSCO.mdl index bcc8684b..279ec45a 100644 --- a/Matlab_Toolbox/Simulink/ROSCO.mdl +++ b/Matlab_Toolbox/Simulink/ROSCO.mdl @@ -6,9 +6,9 @@ Model { NumRootInports 0 NumRootOutports 0 ParameterArgumentNames "" - ComputedModelVersion "1.1851" + ComputedModelVersion "1.1879" NumModelReferences 0 - NumTestPointedSignals 19 + NumTestPointedSignals 34 TestPointedSignal { SignalName "" FullBlockPath "ROSCO/Extract Signals" @@ -48,29 +48,136 @@ Model { Decimation 2 } TestPointedSignal { - SignalName "FA_AccR" - FullBlockPath "ROSCO/Fl_PD/NacIMU" + SignalName "RootMyb" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/RootMyb" LogSignal 1 MaxPoints 5000 Decimation 2 } TestPointedSignal { - SignalName "FA_AccF" - FullBlockPath "ROSCO/Fl_PD/Fl_LPF" + SignalName "cIPC_GS" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/Enable (-)" LogSignal 1 MaxPoints 5000 Decimation 2 } TestPointedSignal { - SignalName "Fl_Pitcom" - FullBlockPath "ROSCO/Fl_PD/Gain1" + SignalName "mx_hat" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/1P IPCDQ Filtering1" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "b_d" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/PI - D" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "b_q" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/PI - Q" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "m_tilt" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/d-q transformation" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "m_yaw" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/d-q transformation" + PortIndex 2 + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "b1" + FullBlockPath "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/inverse d-q transformation" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "RootMyb" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/RootMyb" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "cIPC_GS_2P" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/Enable (-)" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "mx_hat_2P" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/1P IPCDQ Filtering1" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "b_d_2P" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/PI - D" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "b_q" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/PI - Q" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "m_tilt_2P" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/d-q transformation" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "m_yaw" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/d-q transformation" + PortIndex 2 + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "b1_2P" + FullBlockPath "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/inverse d-q transformation" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "FA_AccR" + FullBlockPath "ROSCO/Fl_PD/NacIMU" + LogSignal 1 + MaxPoints 5000 + Decimation 2 + } + TestPointedSignal { + SignalName "FA_AccF" + FullBlockPath "ROSCO/Fl_PD/Fl_LPF" LogSignal 1 MaxPoints 5000 Decimation 2 } TestPointedSignal { SignalName "Fl_Pitcom" - FullBlockPath "ROSCO/Fl_PD1/Fl_LPF" + FullBlockPath "ROSCO/Fl_PD/Gain1" LogSignal 1 MaxPoints 5000 Decimation 2 @@ -154,7 +261,7 @@ Model { PreCompExecutionDomainType "Unset" IsExportFunctionModel 0 NumParameterArguments 0 - NumExternalFileReferences 6 + NumExternalFileReferences 10 ExternalFileReference { Reference "simulink/Logic and Bit\nOperations/Compare\nTo Zero" Path "ROSCO/BldPitch Controller/Compare To Zero1" @@ -167,6 +274,30 @@ Model { SID "392" Type "LIBRARY_BLOCK" } + ExternalFileReference { + Reference "simulink/Discrete/Discrete Derivative" + Path "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/PI - D/Discrete Derivative" + SID "1085" + Type "LIBRARY_BLOCK" + } + ExternalFileReference { + Reference "simulink/Discrete/Discrete Derivative" + Path "ROSCO/Cyclic Pitch controller/1P Cyclic Pitch Controller1/PI - Q/Discrete Derivative" + SID "1098" + Type "LIBRARY_BLOCK" + } + ExternalFileReference { + Reference "simulink/Discrete/Discrete Derivative" + Path "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/PI - D/Discrete Derivative" + SID "1342" + Type "LIBRARY_BLOCK" + } + ExternalFileReference { + Reference "simulink/Discrete/Discrete Derivative" + Path "ROSCO/Cyclic Pitch controller/2P Cyclic Pitch Controller2/PI - Q/Discrete Derivative" + SID "1354" + Type "LIBRARY_BLOCK" + } ExternalFileReference { Reference "simulink/Discontinuities/Saturation\nDynamic" Path "ROSCO/Fl_PD/Integral/Saturate Integral Term" @@ -217,7 +348,7 @@ Model { $ObjectID 2 $ClassName "Simulink.WindowInfo" IsActive [1] - Location [0.0, 23.0, 1920.0, 984.0] + Location [0.0, 23.0, 1920.0, 978.0] Object { $PropName "ModelBrowserInfo" $ObjectID 3 @@ -236,63 +367,54 @@ Model { } Array { Type "Simulink.EditorInfo" - Dimension 15 + Dimension 20 Object { $ObjectID 5 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "376" - Extents [1882.0, 801.0] - ZoomFactor [0.6] - Offset [-850.24873563634617, -79.747742854384114] + Extents [1754.0, 921.0] + ZoomFactor [1.25] + Offset [22.501264363654059, 211.03559047894908] } Object { $ObjectID 6 - IsActive [0] + IsActive [1] ViewObjType "SimulinkTopLevel" LoadSaveID "0" - Extents [1882.0, 808.0] - ZoomFactor [1.0] - Offset [-1120.3836309523813, -40.490476190475533] + Extents [1882.0, 802.0] + ZoomFactor [1.25] + Offset [-28.600000000000364, 81.39999999999992] } Object { $ObjectID 7 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "20" - Extents [1882.0, 808.0] + Extents [1882.0, 806.0] ZoomFactor [1.0] Offset [-419.21718750000014, 14.173611111110858] } Object { $ObjectID 8 - IsActive [1] - ViewObjType "SimulinkSubsys" - LoadSaveID "766" - Extents [1882.0, 808.0] - ZoomFactor [1.0] - Offset [-474.25281148867293, 377.65392394821993] - } - Object { - $ObjectID 9 IsActive [0] ViewObjType "SimulinkSubsys" - LoadSaveID "3" - Extents [1882.0, 808.0] + LoadSaveID "766" + Extents [1754.0, 921.0] ZoomFactor [1.25] - Offset [-480.24140624999995, -154.2] + Offset [-149.22900196486341, 448.38249537679133] } Object { - $ObjectID 10 + $ObjectID 9 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "385" - Extents [1882.0, 679.0] + Extents [1754.0, 921.0] ZoomFactor [1.42] Offset [-196.42996258802737, -123.02816901408451] } Object { - $ObjectID 11 + $ObjectID 10 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "304" @@ -301,7 +423,7 @@ Model { Offset [-652.92578125, -286.0] } Object { - $ObjectID 12 + $ObjectID 11 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "659" @@ -310,7 +432,7 @@ Model { Offset [-569.26368859027275, -675.11747846405319] } Object { - $ObjectID 13 + $ObjectID 12 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "674" @@ -319,7 +441,7 @@ Model { Offset [-401.8984375, -238.0] } Object { - $ObjectID 14 + $ObjectID 13 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "215" @@ -328,7 +450,7 @@ Model { Offset [-318.93746801371117, -79.0957414481943] } Object { - $ObjectID 15 + $ObjectID 14 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "469" @@ -337,7 +459,7 @@ Model { Offset [-152.0, -188.99285957456817] } Object { - $ObjectID 16 + $ObjectID 15 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "219" @@ -346,7 +468,7 @@ Model { Offset [-181.39453081924967, -153.78282236176466] } Object { - $ObjectID 17 + $ObjectID 16 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "727" @@ -355,7 +477,7 @@ Model { Offset [-451.0, -274.0] } Object { - $ObjectID 18 + $ObjectID 17 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "627" @@ -364,7 +486,7 @@ Model { Offset [-366.52329265643107, -163.57983596465817] } Object { - $ObjectID 19 + $ObjectID 18 IsActive [0] ViewObjType "SimulinkSubsys" LoadSaveID "132" @@ -372,11 +494,65 @@ Model { ZoomFactor [1.0] Offset [-522.65872130102036, 54.90816326530603] } + Object { + $ObjectID 19 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "1351" + Extents [1882.0, 805.0] + ZoomFactor [2.5] + Offset [-108.69687499999998, -28.299999999999983] + } + Object { + $ObjectID 20 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "859" + Extents [1754.0, 921.0] + ZoomFactor [1.0] + Offset [-314.1953125, 509.0] + } + Object { + $ObjectID 21 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "1065" + Extents [1882.0, 805.0] + ZoomFactor [1.0] + Offset [-598.5, -72.5] + } + Object { + $ObjectID 22 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "866" + Extents [1754.0, 921.0] + ZoomFactor [1.25] + Offset [383.59739583333374, 45.416666666666856] + } + Object { + $ObjectID 23 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "1130" + Extents [1882.0, 805.0] + ZoomFactor [1.0] + Offset [-285.32421875, -144.0] + } + Object { + $ObjectID 24 + IsActive [0] + ViewObjType "SimulinkSubsys" + LoadSaveID "1121" + Extents [1754.0, 921.0] + ZoomFactor [1.0] + Offset [-636.36666666666815, 180.43333333333317] + } PropName "EditorsInfo" } Object { $PropName "DockComponentsInfo" - $ObjectID 20 + $ObjectID 25 $ClassName "Simulink.DockComponentInfo" Type "GLUE2:PropertyInspector" ID "Property Inspector" @@ -394,7 +570,7 @@ Model { "AAAAfwAAABGAAAC+AAAAAAA////+gAAAAECAAAAAvsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvA" "FAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZQBjAHQAbwByAAAAAAD/////AAAAOQD////7AAAAXgBHAEwAVQBFADIAOgBOAG8AdABlAHMAIABCA" "HIAbwB3AHMAZQByACAAQwBvAG0AcABvAG4AZQBuAHQALwBTAHkAcwBEAG8AYwBNAGkAeABlAGQARQBkAGkAdABvAHIAAAAAAP////8AAAAAAAAAA" - "AAAB4AAAANjAAAAAQAAAAIAAAABAAAAAvwAAAABAAAAAgAAAA//////AAAAAAD/////AAAAAAAAAAD/////AQAAAAD/////AAAAAAAAAAD/////A" + "AAAB4AAAANdAAAAAQAAAAIAAAABAAAAAvwAAAABAAAAAgAAAA//////AAAAAAD/////AAAAAAAAAAD/////AQAAAAD/////AAAAAAAAAAD/////A" "AAAAAD/////AAAAAAAAAAD/////AAAAAAD/////AAAAAAAAAAD/////AAAAAAD/////AAAAAAAAAAD/////AQAAAIT/////AAAAAAAAAAD/////A" "QAAAPb/////AAAAAAAAAAD/////AAAAAAD/////AAAAAAAAAAD/////AQAAAXr/////AAAAAAAAAAD/////AAAAAAD/////AAAAAAAAAAD/////A" "AAAAAD/////AAAAAAAAAAD/////AAAAAAD/////AAAAAAAAAAD/////AQAAA6D/////AAAAAAAAAAD/////AAAAAAD/////AAAAAAAAAAD/////A" @@ -408,14 +584,14 @@ Model { ModifiedByFormat "%" LastModifiedBy "dzalkind" ModifiedDateFormat "%" - LastModifiedDate "Wed Feb 24 15:00:35 2021" - RTWModifiedTimeStamp 536079624 - ModelVersionFormat "1.%" + LastModifiedDate "Tue Mar 15 16:37:05 2022" + RTWModifiedTimeStamp 569263022 + ModelVersionFormat "1.%" SampleTimeColors on SampleTimeAnnotations on LibraryLinkDisplay "disabled" WideLines off - ShowLineDimensions off + ShowLineDimensions on ShowPortDataTypes off ShowAllPropagatedSignalLabels off PortDataTypeDisplayFormat "AliasTypeOnly" @@ -465,7 +641,7 @@ Model { TryForcingSFcnDF off Object { $PropName "DataLoggingOverride" - $ObjectID 21 + $ObjectID 26 $ClassName "Simulink.SimulationData.ModelLoggingInfo" model_ "ROSCO" overrideMode_ [0.0] @@ -484,11 +660,11 @@ Model { } Object { $PropName "InstrumentedSignals" - $ObjectID 22 + $ObjectID 27 $ClassName "Simulink.HMI.InstrumentedSignals" Array { Type "Struct" - Dimension 19 + Dimension 36 MATStruct { UUID "99768b01-3e28-48ea-bf57-afab4791ffe6" BlockPath_ "Extract Signals" @@ -765,29 +941,6 @@ Model { } VisualType_ "" } - MATStruct { - UUID "bd252ac8-af6a-408f-9750-a761e175928b" - BlockPath_ "Fl_PD1/Fl_LPF" - SID_ "795" - SubPath_ "" - OutputPortIndex_ [1.0] - LogicalPortIndex_ [0.0] - SignalName_ "" - SubSysPath_ "" - Decimation_ [1.0] - MaxPoints_ [0.0] - TargetBufferedStreaming_ [0.0] - IsFrameBased_ [0.0] - DomainType_ "" - Array { - Type "Struct" - Dimension 1 - MATStruct { - } - PropName "DomainParams_" - } - VisualType_ "" - } MATStruct { UUID "3ae5e64e-60d8-4a7f-a12c-572dba338c3d" BlockPath_ "Wind Speed Estimator/Discrete Filter" @@ -926,910 +1079,619 @@ Model { } VisualType_ "" } - PropName "Persistence" - } - } - ExtModeBatchMode off - ExtModeEnableFloating on - ExtModeTrigType "manual" - ExtModeTrigMode "normal" - ExtModeTrigPort "1" - ExtModeTrigElement "any" - ExtModeTrigDuration 1000 - ExtModeTrigDurationFloating "auto" - ExtModeTrigHoldOff 0 - ExtModeTrigDelay 0 - ExtModeTrigDirection "rising" - ExtModeTrigLevel 0 - ExtModeArchiveMode "off" - ExtModeAutoIncOneShot off - ExtModeIncDirWhenArm off - ExtModeAddSuffixToVar off - ExtModeWriteAllDataToWs off - ExtModeArmWhenConnect on - ExtModeSkipDownloadWhenConnect off - ExtModeLogAll on - ExtModeAutoUpdateStatusClock on - ShowModelReferenceBlockVersion off - ShowModelReferenceBlockIO off - OrderedModelArguments on - Array { - Type "Handle" - Dimension 18 - Simulink.ConfigSet { - $ObjectID 23 - Version "1.18.1" - DisabledProps [] - Description "" - Array { - Type "Handle" - Dimension 9 - Simulink.SolverCC { - $ObjectID 24 - Version "1.18.1" - DisabledProps [] - Description "" - StartTime "0.0" - StopTime "TMax" - AbsTol "auto" - AutoScaleAbsTol on - FixedStep "auto" - InitialStep "auto" - MaxOrder 5 - ZcThreshold "auto" - ConsecutiveZCsStepRelTol "10*128*eps" - MaxConsecutiveZCs "1000" - ExtrapolationOrder 4 - NumberNewtonIterations 1 - MaxStep "auto" - MinStep "auto" - MaxConsecutiveMinStep "1" - RelTol "1e-3" - EnableMultiTasking off - ConcurrentTasks off - Solver "VariableStepAuto" - SolverName "VariableStepAuto" - SolverJacobianMethodControl "auto" - ShapePreserveControl "DisableAll" - ZeroCrossControl "UseLocalSettings" - ZeroCrossAlgorithm "Nonadaptive" - AlgebraicLoopSolver "TrustRegion" - SolverInfoToggleStatus off - IsAutoAppliedInSIP off - SolverResetMethod "Fast" - PositivePriorityOrder off - AutoInsertRateTranBlk off - SampleTimeConstraint "Unconstrained" - InsertRTBMode "Whenever possible" - SampleTimeProperty [] - DecoupledContinuousIntegration off - MinimalZcImpactIntegration off + MATStruct { + UUID "ffd228a8-e133-478d-97d8-045b5e63df4c" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/RootMyb" + SID_ "1122" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.DataIOCC { - $ObjectID 25 - Version "1.18.1" - DisabledProps [] - Description "" - Decimation "1" - ExternalInput "[t, u]" - FinalStateName "xFinal" - InitialState "xInitial" - LimitDataPoints off - MaxDataPoints "1000" - LoadExternalInput off - LoadInitialState off - SaveFinalState off - SaveCompleteFinalSimState off - SaveFormat "Dataset" - SignalLoggingSaveFormat "Dataset" - SaveOutput on - SaveState off - SignalLogging on - DSMLogging on - InspectSignalLogs off - VisualizeSimOutput on - StreamToWorkspace off - StreamVariableName "streamout" - SaveTime on - ReturnWorkspaceOutputs off - StateSaveName "xout" - TimeSaveName "tout" - OutputSaveName "yout" - SignalLoggingName "logsout" - DSMLoggingName "dsmout" - OutputOption "RefineOutputTimes" - OutputTimes "[]" - ReturnWorkspaceOutputsName "out" - Refine "1" - LoggingToFile off - DatasetSignalFormat "timeseries" - LoggingFileName "out.mat" - LoggingIntervals "[-inf, inf]" + VisualType_ "" + } + MATStruct { + UUID "19245043-330d-427c-abc9-7f9374fa2523" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/PI - Q" + SID_ "1351" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.OptimizationCC { - $ObjectID 26 - Version "1.18.1" - Array { - Type "Cell" - Dimension 9 - Cell "BooleansAsBitfields" - Cell "PassReuseOutputArgsAs" - Cell "PassReuseOutputArgsThreshold" - Cell "ZeroExternalMemoryAtStartup" - Cell "ZeroInternalMemoryAtStartup" - Cell "OptimizeModelRefInitCode" - Cell "NoFixptDivByZeroProtection" - Cell "UseSpecifiedMinMax" - Cell "EfficientTunableParamExpr" - PropName "DisabledProps" + VisualType_ "" + } + MATStruct { + UUID "2bed3c88-c9a5-486b-b3f9-d44ca84fe4bd" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/inverse d-q transformation" + SID_ "1115" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { } - Description "" - BlockReduction on - BooleanDataType on - ConditionallyExecuteInputs on - DefaultParameterBehavior "Tunable" - UseDivisionForNetSlopeComputation "off" - UseFloatMulNetSlope off - DefaultUnderspecifiedDataType "double" - UseSpecifiedMinMax off - InlineInvariantSignals off - OptimizeBlockIOStorage on - BufferReuse on - EnhancedBackFolding off - CachingGlobalReferences off - GlobalBufferReuse on - StrengthReduction off - AdvancedOptControl "" - ExpressionFolding on - BooleansAsBitfields off - BitfieldContainerType "uint_T" - EnableMemcpy on - MemcpyThreshold 64 - PassReuseOutputArgsAs "Structure reference" - PassReuseOutputArgsThreshold 12 - ExpressionDepthLimit 128 - LocalBlockOutputs on - RollThreshold 5 - StateBitsets off - DataBitsets off - ActiveStateOutputEnumStorageType "Native Integer" - ZeroExternalMemoryAtStartup on - ZeroInternalMemoryAtStartup on - InitFltsAndDblsToZero off - NoFixptDivByZeroProtection off - EfficientFloat2IntCast off - EfficientMapNaN2IntZero on - LifeSpan "auto" - MaxStackSize "Inherit from target" - BufferReusableBoundary on - SimCompilerOptimization "off" - AccelVerboseBuild off - OptimizeBlockOrder "off" - OptimizeDataStoreBuffers on - BusAssignmentInplaceUpdate on - DifferentSizesBufferReuse off - OptimizationLevel "level2" - OptimizationPriority "Balanced" - OptimizationCustomize on - UseRowMajorAlgorithm off - LabelGuidedReuse off + PropName "DomainParams_" } - Simulink.DebuggingCC { - $ObjectID 27 - Version "1.18.1" - Array { - Type "Cell" - Dimension 1 - Cell "UseOnlyExistingSharedCode" - PropName "DisabledProps" + VisualType_ "" + } + MATStruct { + UUID "400a2f39-07f3-4145-8012-0ea4aa8b7bb1" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/d-q transformation" + SID_ "1370" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { } - Description "" - RTPrefix "error" - ConsistencyChecking "none" - ArrayBoundsChecking "none" - SignalInfNanChecking "none" - StringTruncationChecking "error" - SignalRangeChecking "none" - ReadBeforeWriteMsg "UseLocalSettings" - WriteAfterWriteMsg "UseLocalSettings" - WriteAfterReadMsg "UseLocalSettings" - AlgebraicLoopMsg "warning" - ArtificialAlgebraicLoopMsg "warning" - SaveWithDisabledLinksMsg "warning" - SaveWithParameterizedLinksMsg "warning" - CheckSSInitialOutputMsg on - UnderspecifiedInitializationDetection "Simplified" - MergeDetectMultiDrivingBlocksExec "error" - CheckExecutionContextPreStartOutputMsg off - CheckExecutionContextRuntimeOutputMsg off - SignalResolutionControl "UseLocalSettings" - BlockPriorityViolationMsg "warning" - MinStepSizeMsg "warning" - TimeAdjustmentMsg "none" - MaxConsecutiveZCsMsg "error" - MaskedZcDiagnostic "warning" - IgnoredZcDiagnostic "warning" - SolverPrmCheckMsg "none" - InheritedTsInSrcMsg "warning" - MultiTaskDSMMsg "error" - MultiTaskCondExecSysMsg "error" - MultiTaskRateTransMsg "error" - SingleTaskRateTransMsg "none" - TasksWithSamePriorityMsg "warning" - ExportedTasksRateTransMsg "none" - SigSpecEnsureSampleTimeMsg "warning" - CheckMatrixSingularityMsg "none" - IntegerOverflowMsg "warning" - Int32ToFloatConvMsg "warning" - ParameterDowncastMsg "error" - ParameterOverflowMsg "error" - ParameterUnderflowMsg "none" - ParameterPrecisionLossMsg "warning" - ParameterTunabilityLossMsg "warning" - FixptConstUnderflowMsg "none" - FixptConstOverflowMsg "none" - FixptConstPrecisionLossMsg "none" - UnderSpecifiedDataTypeMsg "none" - UnnecessaryDatatypeConvMsg "none" - VectorMatrixConversionMsg "none" - InvalidFcnCallConnMsg "error" - FcnCallInpInsideContextMsg "error" - SignalLabelMismatchMsg "none" - UnconnectedInputMsg "warning" - UnconnectedOutputMsg "warning" - UnconnectedLineMsg "warning" - UseOnlyExistingSharedCode "error" - SFcnCompatibilityMsg "none" - FrameProcessingCompatibilityMsg "error" - UniqueDataStoreMsg "none" - BusObjectLabelMismatch "warning" - RootOutportRequireBusObject "warning" - AssertControl "UseLocalSettings" - AllowSymbolicDim on - RowMajorDimensionSupport off - ModelReferenceIOMsg "none" - ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" - ModelReferenceVersionMismatchMessage "none" - ModelReferenceIOMismatchMessage "none" - UnknownTsInhSupMsg "warning" - ModelReferenceDataLoggingMessage "warning" - ModelReferenceSymbolNameMessage "warning" - ModelReferenceExtraNoncontSigs "error" - StateNameClashWarn "none" - SimStateInterfaceChecksumMismatchMsg "warning" - SimStateOlderReleaseMsg "error" - ChecksumConsistencyForSSReuse "none" - LibraryContextMissingDiagnostic "warning" - MatchCodeGenerationContextForUpdateDiagram "none" - InitInArrayFormatMsg "warning" - StrictBusMsg "ErrorLevel1" - BusNameAdapt "WarnAndRepair" - NonBusSignalsTreatedAsBus "none" - SymbolicDimMinMaxWarning "warning" - LossOfSymbolicDimsSimulationWarning "warning" - LossOfSymbolicDimsCodeGenerationWarning "error" - SymbolicDimsDataTypeCodeGenerationDiagnostic "error" - BlockIODiagnostic "none" - SFUnusedDataAndEventsDiag "warning" - SFUnexpectedBacktrackingDiag "error" - SFInvalidInputDataAccessInChartInitDiag "warning" - SFNoUnconditionalDefaultTransitionDiag "error" - SFTransitionOutsideNaturalParentDiag "warning" - SFUnreachableExecutionPathDiag "warning" - SFUndirectedBroadcastEventsDiag "warning" - SFTransitionActionBeforeConditionDiag "warning" - SFOutputUsedAsStateInMooreChartDiag "error" - SFTemporalDelaySmallerThanSampleTimeDiag "warning" - SFSelfTransitionDiag "warning" - SFExecutionAtInitializationDiag "warning" - SFMachineParentedDataDiag "warning" - IntegerSaturationMsg "warning" - AllowedUnitSystems "all" - UnitsInconsistencyMsg "warning" - AllowAutomaticUnitConversions on - RCSCRenamedMsg "warning" - RCSCObservableMsg "warning" - ForceCombineOutputUpdateInSim off - UnitDatabase "" - UnderSpecifiedDimensionMsg "none" + PropName "DomainParams_" } - Simulink.HardwareCC { - $ObjectID 28 - Version "1.18.1" - DisabledProps [] - Description "" - ProdBitPerChar 8 - ProdBitPerShort 16 - ProdBitPerInt 32 - ProdBitPerLong 32 - ProdBitPerLongLong 64 - ProdBitPerFloat 32 - ProdBitPerDouble 64 - ProdBitPerPointer 64 - ProdBitPerSizeT 64 - ProdBitPerPtrDiffT 64 - ProdLargestAtomicInteger "Char" - ProdLargestAtomicFloat "Float" - ProdIntDivRoundTo "Zero" - ProdEndianess "LittleEndian" - ProdWordSize 64 - ProdShiftRightIntArith on - ProdLongLongMode off - ProdHWDeviceType "Intel->x86-64 (Windows64)" - TargetBitPerChar 8 - TargetBitPerShort 16 - TargetBitPerInt 32 - TargetBitPerLong 32 - TargetBitPerLongLong 64 - TargetBitPerFloat 32 - TargetBitPerDouble 64 - TargetBitPerPointer 32 - TargetBitPerSizeT 32 - TargetBitPerPtrDiffT 32 - TargetLargestAtomicInteger "Char" - TargetLargestAtomicFloat "None" - TargetShiftRightIntArith on - TargetLongLongMode off - TargetIntDivRoundTo "Undefined" - TargetEndianess "Unspecified" - TargetWordSize 32 - TargetPreprocMaxBitsSint 32 - TargetPreprocMaxBitsUint 32 - TargetHWDeviceType "Specified" - TargetUnknown off - ProdEqTarget on - UseEmbeddedCoderFeatures on - UseSimulinkCoderFeatures on + VisualType_ "" + } + MATStruct { + UUID "c4b96f97-5df4-4af4-9e12-5bb19a1986a7" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/d-q transformation" + SID_ "1370" + SubPath_ "" + OutputPortIndex_ [2.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.ModelReferenceCC { - $ObjectID 29 - Version "1.18.1" - DisabledProps [] - Description "" - UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" - EnableRefExpFcnMdlSchedulingChecks on - CheckModelReferenceTargetMessage "error" - EnableParallelModelReferenceBuilds off - ParallelModelReferenceErrorOnInvalidPool on - ParallelModelReferenceMATLABWorkerInit "None" - ModelReferenceNumInstancesAllowed "Multi" - PropagateVarSize "Infer from blocks in model" - ModelDependencies "" - ModelReferencePassRootInputsByReference on - ModelReferenceMinAlgLoopOccurrences off - PropagateSignalLabelsOutOfModel on - SupportModelReferenceSimTargetCustomCode off + VisualType_ "" + } + MATStruct { + UUID "29077b37-6b9d-4d3c-9f79-63d2f4f08b10" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/PI - D" + SID_ "1082" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.SFSimCC { - $ObjectID 30 - Version "1.18.1" - DisabledProps [] - Description "" - SimCustomSourceCode "" - SimCustomHeaderCode "" - SimCustomInitializer "" - SimCustomTerminator "" - SimReservedNameArray [] - SimUserSources "" - SimUserIncludeDirs "" - SimUserLibraries "" - SimUserDefines "" - SimCustomCompilerFlags "" - SimCustomLinkerFlags "" - SFSimEcho on - SimCtrlC on - SimIntegrity on - SimUseLocalCustomCode off - SimParseCustomCode on - SimAnalyzeCustomCode off - SimBuildMode "sf_incremental_build" - SimGenImportedTypeDefs off - ModelFunctionsGlobalVisibility "on" - CompileTimeRecursionLimit 50 - EnableRuntimeRecursion on - MATLABDynamicMemAlloc on - MATLABDynamicMemAllocThreshold 65536 - CustomCodeFunctionArrayLayout [] - DefaultCustomCodeFunctionArrayLayout "NotSpecified" + VisualType_ "" + } + MATStruct { + UUID "e20f7f33-de7e-42ed-99fd-3e820b3c9e20" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/PI - D" + SID_ "1339" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.RTWCC { - $BackupClass "Simulink.RTWCC" - $ObjectID 31 - Version "1.18.1" - Array { - Type "Cell" - Dimension 16 - Cell "IncludeHyperlinkInReport" - Cell "GenerateTraceInfo" - Cell "GenerateTraceReport" - 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MultiInstanceERTCode off - CodeInterfacePackaging "Nonreusable function" - PurelyIntegerCode off - SupportNonFinite on - SupportComplex on - SupportContinuousTime on - SupportNonInlinedSFcns on - RemoveDisableFunc off - RemoveResetFunc off - SupportVariableSizeSignals off - ParenthesesLevel "Nominal" - CastingMode "Nominal" - PreserveStateflowLocalDataDimensions off - MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization" - ModelStepFunctionPrototypeControlCompliant off - CPPClassGenCompliant on - AutosarCompliant off - MDXCompliant off - GRTInterface off - GenerateAllocFcn off - UseToolchainInfoCompliant on - GenerateSharedConstants on - CoderGroups [] - AccessMethods [] - LookupTableObjectStructAxisOrder "1,2,3,4,..." - LUTObjectStructOrderExplicitValues "Size,Breakpoints,Table" - LUTObjectStructOrderEvenSpacing "Size,Breakpoints,Table" - ArrayLayout "Column-major" - UnsupportedSFcnMsg "error" - ERTHeaderFileRootName "$R$E" - ERTSourceFileRootName "$R$E" - ERTDataFileRootName "$R_data" - UseMalloc off - ExtMode off - ExtModeStaticAlloc off - ExtModeTesting off - ExtModeStaticAllocSize 1000000 - ExtModeTransport 0 - ExtModeMexFile "ext_comm" - ExtModeMexArgs "" - ExtModeIntrfLevel "Level1" - RTWCAPISignals off - RTWCAPIParams off - RTWCAPIStates off - RTWCAPIRootIO off - GenerateASAP2 off - MultiInstanceErrorCode "Error" - } - PropName "Components" + VisualType_ "" + } + MATStruct { + UUID "4ae16dba-e33d-463d-a5c9-9e574aaf6681" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/inverse d-q transformation" + SID_ "1371" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { } + PropName "DomainParams_" } - SlCovCC.ConfigComp { - $ObjectID 34 - Version "1.18.1" - DisabledProps [] - Description "Simulink Coverage Configuration Component" - Name "Simulink Coverage" - CovEnable off - CovScope "EntireSystem" - CovIncludeTopModel on - RecordCoverage off - CovPath "/" - CovSaveName "covdata" - CovCompData "" - CovMetricSettings "dwe" - CovFilter "" - CovHTMLOptions "" - CovNameIncrementing off - CovHtmlReporting off - CovForceBlockReductionOff on - CovEnableCumulative on - CovSaveCumulativeToWorkspaceVar off - CovSaveSingleToWorkspaceVar off - CovCumulativeVarName "covCumulativeData" - CovCumulativeReport off - CovSaveOutputData on - CovOutputDir "slcov_output/$ModelName$" - CovDataFileName "$ModelName$_cvdata" - CovShowResultsExplorer on - CovReportOnPause on - CovModelRefEnable "off" - CovModelRefExcluded "" - CovExternalEMLEnable on - CovSFcnEnable on - CovBoundaryAbsTol 1e-05 - CovBoundaryRelTol 0.01 - CovUseTimeInterval off - CovStartTime 0 - CovStopTime 0 - CovMcdcMode "Masking" + VisualType_ "" + } + MATStruct { + UUID "45156df6-b2c0-4911-8d98-48973808d58f" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/1P IPCDQ Filtering1" + SID_ "1130" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - PropName "Components" + VisualType_ "" } - Name "Configuration" - ExtraOptions "" - CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 195, 142, 1085, 882 ] - } - Simulink.ConfigSet { - $ObjectID 35 - Version "1.18.1" - DisabledProps [] - Description "" - Array { - Type "Handle" - Dimension 9 - Simulink.SolverCC { - $ObjectID 36 - Version "1.18.1" - DisabledProps [] - Description "" - StartTime "0.0" - StopTime "TMax" - AbsTol "auto" - AutoScaleAbsTol on - FixedStep "dt" - InitialStep "auto" - MaxOrder 5 - ZcThreshold "auto" - ConsecutiveZCsStepRelTol "10*128*eps" - MaxConsecutiveZCs "1000" - ExtrapolationOrder 4 - NumberNewtonIterations 1 - MaxStep "auto" - MinStep "auto" - MaxConsecutiveMinStep "1" - RelTol "1e-3" - EnableMultiTasking on - ConcurrentTasks off - Solver "ode4" - SolverName "ode4" - SolverJacobianMethodControl "auto" - ShapePreserveControl "DisableAll" - ZeroCrossControl "UseLocalSettings" - ZeroCrossAlgorithm "Nonadaptive" - AlgebraicLoopSolver "TrustRegion" - SolverInfoToggleStatus on - IsAutoAppliedInSIP off - SolverResetMethod "Fast" - PositivePriorityOrder off - AutoInsertRateTranBlk off - SampleTimeConstraint "Unconstrained" - InsertRTBMode "Whenever possible" - SampleTimeProperty [] - DecoupledContinuousIntegration off - MinimalZcImpactIntegration off + MATStruct { + UUID "50af7c52-bf21-40bd-bf07-bd9f7f3d565d" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/PI - Q" + SID_ "1095" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.DataIOCC { - $ObjectID 37 - Version "1.18.1" - DisabledProps [] - Description "" - Decimation "1" - ExternalInput "[t, u]" - FinalStateName "xFinal" - InitialState "xInitial" - LimitDataPoints off - MaxDataPoints "1000" - LoadExternalInput off - LoadInitialState off - SaveFinalState off - SaveCompleteFinalSimState off - SaveFormat "Dataset" - SignalLoggingSaveFormat "Dataset" - SaveOutput off - SaveState off - SignalLogging on - DSMLogging on - InspectSignalLogs off - VisualizeSimOutput on - StreamToWorkspace off - StreamVariableName "streamout" - SaveTime off - ReturnWorkspaceOutputs off - StateSaveName "xout" - TimeSaveName "tout" - OutputSaveName "yout" - SignalLoggingName "logsout" - DSMLoggingName "dsmout" - OutputOption "RefineOutputTimes" - OutputTimes "[]" - ReturnWorkspaceOutputsName "out" - Refine "1" - LoggingToFile off - DatasetSignalFormat "timeseries" - LoggingFileName "out.mat" - LoggingIntervals "[-inf, inf]" + VisualType_ "" + } + MATStruct { + UUID "3f2bd3b8-d0c6-41db-94b2-08e7bb5215b2" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/Enable (-)" + SID_ "1128" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" } - Simulink.OptimizationCC { - $ObjectID 38 - Version "1.18.1" - Array { - Type "Cell" - Dimension 9 - Cell "BooleansAsBitfields" - Cell "PassReuseOutputArgsAs" - Cell "PassReuseOutputArgsThreshold" - Cell "ZeroExternalMemoryAtStartup" - Cell "ZeroInternalMemoryAtStartup" - Cell "OptimizeModelRefInitCode" - Cell "NoFixptDivByZeroProtection" - Cell "UseSpecifiedMinMax" - Cell "EfficientTunableParamExpr" - PropName "DisabledProps" + VisualType_ "" + } + MATStruct { + UUID "c729f79d-02c2-49cf-9889-8d1aeea94a9e" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/d-q transformation" + SID_ "1114" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { } - Description "" - BlockReduction on - BooleanDataType on - ConditionallyExecuteInputs on - DefaultParameterBehavior "Tunable" - UseDivisionForNetSlopeComputation "off" - UseFloatMulNetSlope off - DefaultUnderspecifiedDataType "double" - UseSpecifiedMinMax off - InlineInvariantSignals off - OptimizeBlockIOStorage on - BufferReuse on - EnhancedBackFolding off - CachingGlobalReferences off - GlobalBufferReuse on - StrengthReduction off - AdvancedOptControl "" - ExpressionFolding on - BooleansAsBitfields off - BitfieldContainerType "uint_T" - EnableMemcpy on - MemcpyThreshold 64 - PassReuseOutputArgsAs "Structure reference" - PassReuseOutputArgsThreshold 12 - ExpressionDepthLimit 128 - LocalBlockOutputs on - RollThreshold 5 - StateBitsets off - DataBitsets off - ActiveStateOutputEnumStorageType "Native Integer" - ZeroExternalMemoryAtStartup on - ZeroInternalMemoryAtStartup on - InitFltsAndDblsToZero off - NoFixptDivByZeroProtection off - EfficientFloat2IntCast off - EfficientMapNaN2IntZero on - LifeSpan "auto" - MaxStackSize "Inherit from target" - BufferReusableBoundary on - SimCompilerOptimization "off" - AccelVerboseBuild off - OptimizeBlockOrder "off" - OptimizeDataStoreBuffers on - BusAssignmentInplaceUpdate on - DifferentSizesBufferReuse off - OptimizationLevel "level2" - OptimizationPriority "Balanced" - OptimizationCustomize on - UseRowMajorAlgorithm off - LabelGuidedReuse off + PropName "DomainParams_" } - Simulink.DebuggingCC { - $ObjectID 39 + VisualType_ "" + } + MATStruct { + UUID "755b5f4f-4645-4b6b-8414-9d7ab766b983" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/d-q transformation" + SID_ "1114" + SubPath_ "" + OutputPortIndex_ [2.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" + } + VisualType_ "" + } + MATStruct { + UUID "12a22b4a-9219-4686-b5bf-784b18571f70" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/1P IPCDQ Filtering1" + SID_ "875" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" + } + VisualType_ "" + } + MATStruct { + UUID "6c4f2590-95fb-4a03-8b23-758f58018448" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/Enable (-)" + SID_ "873" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" + } + VisualType_ "" + } + MATStruct { + UUID "d679fa22-3557-433e-95a6-5858cb800871" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/RootMyb" + SID_ "867" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" + } + VisualType_ "" + } + MATStruct { + UUID "23bbc340-0fa8-49fe-bae9-84504f57a192" + BlockPath_ "Cyclic Pitch controller/1P Cyclic Pitch Controller1/1P IPCDQ Filtering1" + SID_ "875" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" + } + VisualType_ "" + } + MATStruct { + UUID "d5faa561-88de-47d4-9351-5508347f11d2" + BlockPath_ "Cyclic Pitch controller/2P Cyclic Pitch Controller2/1P IPCDQ Filtering1" + SID_ "1130" + SubPath_ "" + OutputPortIndex_ [1.0] + LogicalPortIndex_ [0.0] + SignalName_ "" + SubSysPath_ "" + Decimation_ [1.0] + MaxPoints_ [0.0] + TargetBufferedStreaming_ [0.0] + IsFrameBased_ [0.0] + DomainType_ "" + Array { + Type "Struct" + Dimension 1 + MATStruct { + } + PropName "DomainParams_" + } + VisualType_ "" + } + PropName "Persistence" + } + } + ExtModeBatchMode off + ExtModeEnableFloating on + ExtModeTrigType "manual" + ExtModeTrigMode "normal" + ExtModeTrigPort "1" + ExtModeTrigElement "any" + ExtModeTrigDuration 1000 + ExtModeTrigDurationFloating "auto" + ExtModeTrigHoldOff 0 + ExtModeTrigDelay 0 + ExtModeTrigDirection "rising" + ExtModeTrigLevel 0 + ExtModeArchiveMode "off" + ExtModeAutoIncOneShot off + ExtModeIncDirWhenArm off + ExtModeAddSuffixToVar off + ExtModeWriteAllDataToWs off + ExtModeArmWhenConnect on + ExtModeSkipDownloadWhenConnect off + ExtModeLogAll on + ExtModeAutoUpdateStatusClock on + ShowModelReferenceBlockVersion off + ShowModelReferenceBlockIO off + OrderedModelArguments on + Array { + Type "Handle" + Dimension 18 + Simulink.ConfigSet { + $ObjectID 28 + Version "1.18.1" + DisabledProps [] + Description "" + Array { + Type "Handle" + Dimension 9 + Simulink.SolverCC { + $ObjectID 29 + Version "1.18.1" + DisabledProps [] + Description "" + StartTime "0.0" + StopTime "TMax" + AbsTol "auto" + AutoScaleAbsTol on + FixedStep "auto" + InitialStep "auto" + MaxOrder 5 + ZcThreshold "auto" + ConsecutiveZCsStepRelTol "10*128*eps" + MaxConsecutiveZCs "1000" + ExtrapolationOrder 4 + NumberNewtonIterations 1 + MaxStep "auto" + MinStep "auto" + MaxConsecutiveMinStep "1" + RelTol "1e-3" + EnableMultiTasking off + ConcurrentTasks off + Solver "VariableStepAuto" + SolverName "VariableStepAuto" + SolverJacobianMethodControl "auto" + ShapePreserveControl "DisableAll" + ZeroCrossControl "UseLocalSettings" + ZeroCrossAlgorithm "Nonadaptive" + AlgebraicLoopSolver "TrustRegion" + SolverInfoToggleStatus off + IsAutoAppliedInSIP off + SolverResetMethod "Fast" + PositivePriorityOrder off + AutoInsertRateTranBlk off + SampleTimeConstraint "Unconstrained" + InsertRTBMode "Whenever possible" + SampleTimeProperty [] + DecoupledContinuousIntegration off + MinimalZcImpactIntegration off + } + Simulink.DataIOCC { + $ObjectID 30 + Version "1.18.1" + DisabledProps [] + Description "" + Decimation "1" + ExternalInput "[t, u]" + FinalStateName "xFinal" + InitialState "xInitial" + LimitDataPoints off + MaxDataPoints "1000" + LoadExternalInput off + LoadInitialState off + SaveFinalState off + SaveCompleteFinalSimState off + SaveFormat "Dataset" + SignalLoggingSaveFormat "Dataset" + SaveOutput on + SaveState off + SignalLogging on + DSMLogging on + InspectSignalLogs off + VisualizeSimOutput on + StreamToWorkspace off + StreamVariableName "streamout" + SaveTime on + ReturnWorkspaceOutputs off + StateSaveName "xout" + TimeSaveName "tout" + OutputSaveName "yout" + SignalLoggingName "logsout" + DSMLoggingName "dsmout" + OutputOption "RefineOutputTimes" + OutputTimes "[]" + ReturnWorkspaceOutputsName "out" + Refine "1" + LoggingToFile off + DatasetSignalFormat "timeseries" + LoggingFileName "out.mat" + LoggingIntervals "[-inf, inf]" + } + Simulink.OptimizationCC { + $ObjectID 31 Version "1.18.1" Array { Type "Cell" - Dimension 1 - Cell "UseOnlyExistingSharedCode" + Dimension 9 + Cell "BooleansAsBitfields" + Cell "PassReuseOutputArgsAs" + Cell "PassReuseOutputArgsThreshold" + Cell "ZeroExternalMemoryAtStartup" + Cell "ZeroInternalMemoryAtStartup" + Cell "OptimizeModelRefInitCode" + Cell "NoFixptDivByZeroProtection" + Cell "UseSpecifiedMinMax" + Cell "EfficientTunableParamExpr" PropName "DisabledProps" } Description "" - RTPrefix "error" + BlockReduction on + BooleanDataType on + ConditionallyExecuteInputs on + DefaultParameterBehavior "Tunable" + UseDivisionForNetSlopeComputation "off" + UseFloatMulNetSlope off + DefaultUnderspecifiedDataType "double" + UseSpecifiedMinMax off + InlineInvariantSignals off + OptimizeBlockIOStorage on + BufferReuse on + EnhancedBackFolding off + CachingGlobalReferences off + GlobalBufferReuse on + StrengthReduction off + AdvancedOptControl "" + ExpressionFolding on + BooleansAsBitfields off + BitfieldContainerType "uint_T" + EnableMemcpy on + MemcpyThreshold 64 + PassReuseOutputArgsAs "Structure reference" + PassReuseOutputArgsThreshold 12 + ExpressionDepthLimit 128 + LocalBlockOutputs on + RollThreshold 5 + StateBitsets off + DataBitsets off + ActiveStateOutputEnumStorageType "Native Integer" + ZeroExternalMemoryAtStartup on + ZeroInternalMemoryAtStartup on + InitFltsAndDblsToZero off + NoFixptDivByZeroProtection off + EfficientFloat2IntCast off + EfficientMapNaN2IntZero on + LifeSpan "auto" + MaxStackSize "Inherit from target" + BufferReusableBoundary on + SimCompilerOptimization "off" + AccelVerboseBuild off + OptimizeBlockOrder "off" + OptimizeDataStoreBuffers on + BusAssignmentInplaceUpdate on + DifferentSizesBufferReuse off + OptimizationLevel "level2" + OptimizationPriority "Balanced" + OptimizationCustomize on + UseRowMajorAlgorithm off + LabelGuidedReuse off + } + Simulink.DebuggingCC { + $ObjectID 32 + Version "1.18.1" + Array { + Type "Cell" + Dimension 1 + Cell "UseOnlyExistingSharedCode" + PropName "DisabledProps" + } + Description "" + RTPrefix "error" ConsistencyChecking "none" ArrayBoundsChecking "none" SignalInfNanChecking "none" @@ -1939,7 +1801,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 40 + $ObjectID 33 Version "1.18.1" DisabledProps [] Description "" @@ -1987,7 +1849,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 41 + $ObjectID 34 Version "1.18.1" DisabledProps [] Description "" @@ -2006,7 +1868,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 42 + $ObjectID 35 Version "1.18.1" DisabledProps [] Description "" @@ -2039,7 +1901,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 43 + $ObjectID 36 Version "1.18.1" Array { Type "Cell" @@ -2126,7 +1988,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 44 + $ObjectID 37 Version "1.18.1" Array { Type "Cell" @@ -2214,7 +2076,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 45 + $ObjectID 38 Version "1.18.1" Array { Type "Cell" @@ -2320,7 +2182,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 46 + $ObjectID 39 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -2361,13 +2223,13 @@ Model { } PropName "Components" } - Name "Configuration1" + Name "Configuration" ExtraOptions "" CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 321, 58, 1211, 798 ] + ConfigPrmDlgPosition [ 195, 142, 1085, 882 ] } Simulink.ConfigSet { - $ObjectID 47 + $ObjectID 40 Version "1.18.1" DisabledProps [] Description "" @@ -2375,7 +2237,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 48 + $ObjectID 41 Version "1.18.1" DisabledProps [] Description "" @@ -2397,8 +2259,8 @@ Model { RelTol "1e-3" EnableMultiTasking on ConcurrentTasks off - Solver "FixedStepDiscrete" - SolverName "FixedStepDiscrete" + Solver "ode4" + SolverName "ode4" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" @@ -2416,7 +2278,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 49 + $ObjectID 42 Version "1.18.1" DisabledProps [] Description "" @@ -2457,7 +2319,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 50 + $ObjectID 43 Version "1.18.1" Array { Type "Cell" @@ -2525,7 +2387,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 51 + $ObjectID 44 Version "1.18.1" Array { Type "Cell" @@ -2644,7 +2506,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 52 + $ObjectID 45 Version "1.18.1" DisabledProps [] Description "" @@ -2692,7 +2554,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 53 + $ObjectID 46 Version "1.18.1" DisabledProps [] Description "" @@ -2711,7 +2573,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 54 + $ObjectID 47 Version "1.18.1" DisabledProps [] Description "" @@ -2744,7 +2606,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 55 + $ObjectID 48 Version "1.18.1" Array { Type "Cell" @@ -2831,7 +2693,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 56 + $ObjectID 49 Version "1.18.1" Array { Type "Cell" @@ -2919,7 +2781,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 57 + $ObjectID 50 Version "1.18.1" Array { Type "Cell" @@ -3025,7 +2887,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 58 + $ObjectID 51 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -3066,13 +2928,13 @@ Model { } PropName "Components" } - Name "Configuration2" + Name "Configuration1" ExtraOptions "" CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] + ConfigPrmDlgPosition [ 321, 58, 1211, 798 ] } Simulink.ConfigSet { - $ObjectID 59 + $ObjectID 52 Version "1.18.1" DisabledProps [] Description "" @@ -3080,7 +2942,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 60 + $ObjectID 53 Version "1.18.1" DisabledProps [] Description "" @@ -3121,7 +2983,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 61 + $ObjectID 54 Version "1.18.1" DisabledProps [] Description "" @@ -3162,7 +3024,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 62 + $ObjectID 55 Version "1.18.1" Array { Type "Cell" @@ -3230,7 +3092,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 63 + $ObjectID 56 Version "1.18.1" Array { Type "Cell" @@ -3349,7 +3211,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 64 + $ObjectID 57 Version "1.18.1" DisabledProps [] Description "" @@ -3397,7 +3259,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 65 + $ObjectID 58 Version "1.18.1" DisabledProps [] Description "" @@ -3416,7 +3278,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 66 + $ObjectID 59 Version "1.18.1" DisabledProps [] Description "" @@ -3449,7 +3311,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 67 + $ObjectID 60 Version "1.18.1" Array { Type "Cell" @@ -3536,7 +3398,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 68 + $ObjectID 61 Version "1.18.1" Array { Type "Cell" @@ -3624,7 +3486,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 69 + $ObjectID 62 Version "1.18.1" Array { Type "Cell" @@ -3730,7 +3592,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 70 + $ObjectID 63 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -3771,13 +3633,13 @@ Model { } PropName "Components" } - Name "Configuration3" + Name "Configuration2" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 71 + $ObjectID 64 Version "1.18.1" DisabledProps [] Description "" @@ -3785,7 +3647,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 72 + $ObjectID 65 Version "1.18.1" DisabledProps [] Description "" @@ -3826,7 +3688,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 73 + $ObjectID 66 Version "1.18.1" DisabledProps [] Description "" @@ -3867,7 +3729,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 74 + $ObjectID 67 Version "1.18.1" Array { Type "Cell" @@ -3935,7 +3797,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 75 + $ObjectID 68 Version "1.18.1" Array { Type "Cell" @@ -4054,7 +3916,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 76 + $ObjectID 69 Version "1.18.1" DisabledProps [] Description "" @@ -4102,7 +3964,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 77 + $ObjectID 70 Version "1.18.1" DisabledProps [] Description "" @@ -4121,7 +3983,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 78 + $ObjectID 71 Version "1.18.1" DisabledProps [] Description "" @@ -4154,7 +4016,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 79 + $ObjectID 72 Version "1.18.1" Array { Type "Cell" @@ -4241,7 +4103,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 80 + $ObjectID 73 Version "1.18.1" Array { Type "Cell" @@ -4329,7 +4191,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 81 + $ObjectID 74 Version "1.18.1" Array { Type "Cell" @@ -4435,7 +4297,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 82 + $ObjectID 75 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -4476,13 +4338,13 @@ Model { } PropName "Components" } - Name "Configuration4" + Name "Configuration3" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 83 + $ObjectID 76 Version "1.18.1" DisabledProps [] Description "" @@ -4490,7 +4352,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 84 + $ObjectID 77 Version "1.18.1" DisabledProps [] Description "" @@ -4531,7 +4393,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 85 + $ObjectID 78 Version "1.18.1" DisabledProps [] Description "" @@ -4572,7 +4434,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 86 + $ObjectID 79 Version "1.18.1" Array { Type "Cell" @@ -4640,7 +4502,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 87 + $ObjectID 80 Version "1.18.1" Array { Type "Cell" @@ -4759,7 +4621,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 88 + $ObjectID 81 Version "1.18.1" DisabledProps [] Description "" @@ -4807,7 +4669,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 89 + $ObjectID 82 Version "1.18.1" DisabledProps [] Description "" @@ -4826,7 +4688,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 90 + $ObjectID 83 Version "1.18.1" DisabledProps [] Description "" @@ -4859,7 +4721,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 91 + $ObjectID 84 Version "1.18.1" Array { Type "Cell" @@ -4946,7 +4808,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 92 + $ObjectID 85 Version "1.18.1" Array { Type "Cell" @@ -5034,7 +4896,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 93 + $ObjectID 86 Version "1.18.1" Array { Type "Cell" @@ -5140,7 +5002,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 94 + $ObjectID 87 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -5181,13 +5043,13 @@ Model { } PropName "Components" } - Name "Configuration5" + Name "Configuration4" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 95 + $ObjectID 88 Version "1.18.1" DisabledProps [] Description "" @@ -5195,7 +5057,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 96 + $ObjectID 89 Version "1.18.1" DisabledProps [] Description "" @@ -5236,7 +5098,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 97 + $ObjectID 90 Version "1.18.1" DisabledProps [] Description "" @@ -5277,7 +5139,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 98 + $ObjectID 91 Version "1.18.1" Array { Type "Cell" @@ -5345,7 +5207,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 99 + $ObjectID 92 Version "1.18.1" Array { Type "Cell" @@ -5464,7 +5326,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 100 + $ObjectID 93 Version "1.18.1" DisabledProps [] Description "" @@ -5512,7 +5374,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 101 + $ObjectID 94 Version "1.18.1" DisabledProps [] Description "" @@ -5531,7 +5393,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 102 + $ObjectID 95 Version "1.18.1" DisabledProps [] Description "" @@ -5564,7 +5426,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 103 + $ObjectID 96 Version "1.18.1" Array { Type "Cell" @@ -5651,7 +5513,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 104 + $ObjectID 97 Version "1.18.1" Array { Type "Cell" @@ -5739,7 +5601,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 105 + $ObjectID 98 Version "1.18.1" Array { Type "Cell" @@ -5845,7 +5707,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 106 + $ObjectID 99 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -5886,13 +5748,13 @@ Model { } PropName "Components" } - Name "Configuration6" + Name "Configuration5" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 107 + $ObjectID 100 Version "1.18.1" DisabledProps [] Description "" @@ -5900,7 +5762,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 108 + $ObjectID 101 Version "1.18.1" DisabledProps [] Description "" @@ -5941,7 +5803,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 109 + $ObjectID 102 Version "1.18.1" DisabledProps [] Description "" @@ -5982,7 +5844,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 110 + $ObjectID 103 Version "1.18.1" Array { Type "Cell" @@ -6050,7 +5912,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 111 + $ObjectID 104 Version "1.18.1" Array { Type "Cell" @@ -6169,7 +6031,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 112 + $ObjectID 105 Version "1.18.1" DisabledProps [] Description "" @@ -6217,7 +6079,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 113 + $ObjectID 106 Version "1.18.1" DisabledProps [] Description "" @@ -6236,7 +6098,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 114 + $ObjectID 107 Version "1.18.1" DisabledProps [] Description "" @@ -6269,7 +6131,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 115 + $ObjectID 108 Version "1.18.1" Array { Type "Cell" @@ -6356,7 +6218,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 116 + $ObjectID 109 Version "1.18.1" Array { Type "Cell" @@ -6444,7 +6306,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 117 + $ObjectID 110 Version "1.18.1" Array { Type "Cell" @@ -6550,7 +6412,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 118 + $ObjectID 111 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -6591,13 +6453,13 @@ Model { } PropName "Components" } - Name "Configuration7" + Name "Configuration6" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 119 + $ObjectID 112 Version "1.18.1" DisabledProps [] Description "" @@ -6605,7 +6467,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 120 + $ObjectID 113 Version "1.18.1" DisabledProps [] Description "" @@ -6646,7 +6508,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 121 + $ObjectID 114 Version "1.18.1" DisabledProps [] Description "" @@ -6687,7 +6549,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 122 + $ObjectID 115 Version "1.18.1" Array { Type "Cell" @@ -6755,7 +6617,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 123 + $ObjectID 116 Version "1.18.1" Array { Type "Cell" @@ -6874,7 +6736,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 124 + $ObjectID 117 Version "1.18.1" DisabledProps [] Description "" @@ -6922,7 +6784,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 125 + $ObjectID 118 Version "1.18.1" DisabledProps [] Description "" @@ -6941,7 +6803,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 126 + $ObjectID 119 Version "1.18.1" DisabledProps [] Description "" @@ -6974,7 +6836,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 127 + $ObjectID 120 Version "1.18.1" Array { Type "Cell" @@ -7061,7 +6923,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 128 + $ObjectID 121 Version "1.18.1" Array { Type "Cell" @@ -7149,7 +7011,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 129 + $ObjectID 122 Version "1.18.1" Array { Type "Cell" @@ -7255,7 +7117,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 130 + $ObjectID 123 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -7296,13 +7158,13 @@ Model { } PropName "Components" } - Name "Configuration8" + Name "Configuration7" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 131 + $ObjectID 124 Version "1.18.1" DisabledProps [] Description "" @@ -7310,7 +7172,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 132 + $ObjectID 125 Version "1.18.1" DisabledProps [] Description "" @@ -7351,7 +7213,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 133 + $ObjectID 126 Version "1.18.1" DisabledProps [] Description "" @@ -7392,7 +7254,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 134 + $ObjectID 127 Version "1.18.1" Array { Type "Cell" @@ -7460,7 +7322,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 135 + $ObjectID 128 Version "1.18.1" Array { Type "Cell" @@ -7579,7 +7441,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 136 + $ObjectID 129 Version "1.18.1" DisabledProps [] Description "" @@ -7627,7 +7489,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 137 + $ObjectID 130 Version "1.18.1" DisabledProps [] Description "" @@ -7646,7 +7508,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 138 + $ObjectID 131 Version "1.18.1" DisabledProps [] Description "" @@ -7679,7 +7541,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 139 + $ObjectID 132 Version "1.18.1" Array { Type "Cell" @@ -7766,7 +7628,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 140 + $ObjectID 133 Version "1.18.1" Array { Type "Cell" @@ -7854,7 +7716,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 141 + $ObjectID 134 Version "1.18.1" Array { Type "Cell" @@ -7960,7 +7822,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 142 + $ObjectID 135 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -8001,13 +7863,13 @@ Model { } PropName "Components" } - Name "Configuration9" + Name "Configuration8" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 143 + $ObjectID 136 Version "1.18.1" DisabledProps [] Description "" @@ -8015,7 +7877,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 144 + $ObjectID 137 Version "1.18.1" DisabledProps [] Description "" @@ -8056,7 +7918,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 145 + $ObjectID 138 Version "1.18.1" DisabledProps [] Description "" @@ -8097,7 +7959,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 146 + $ObjectID 139 Version "1.18.1" Array { Type "Cell" @@ -8165,7 +8027,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 147 + $ObjectID 140 Version "1.18.1" Array { Type "Cell" @@ -8284,7 +8146,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 148 + $ObjectID 141 Version "1.18.1" DisabledProps [] Description "" @@ -8332,7 +8194,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 149 + $ObjectID 142 Version "1.18.1" DisabledProps [] Description "" @@ -8351,7 +8213,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 150 + $ObjectID 143 Version "1.18.1" DisabledProps [] Description "" @@ -8384,7 +8246,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 151 + $ObjectID 144 Version "1.18.1" Array { Type "Cell" @@ -8471,7 +8333,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 152 + $ObjectID 145 Version "1.18.1" Array { Type "Cell" @@ -8559,7 +8421,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 153 + $ObjectID 146 Version "1.18.1" Array { Type "Cell" @@ -8665,7 +8527,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 154 + $ObjectID 147 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -8706,13 +8568,13 @@ Model { } PropName "Components" } - Name "Configuration10" + Name "Configuration9" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 155 + $ObjectID 148 Version "1.18.1" DisabledProps [] Description "" @@ -8720,7 +8582,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 156 + $ObjectID 149 Version "1.18.1" DisabledProps [] Description "" @@ -8761,7 +8623,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 157 + $ObjectID 150 Version "1.18.1" DisabledProps [] Description "" @@ -8802,7 +8664,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 158 + $ObjectID 151 Version "1.18.1" Array { Type "Cell" @@ -8870,7 +8732,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 159 + $ObjectID 152 Version "1.18.1" Array { Type "Cell" @@ -8989,7 +8851,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 160 + $ObjectID 153 Version "1.18.1" DisabledProps [] Description "" @@ -9037,7 +8899,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 161 + $ObjectID 154 Version "1.18.1" DisabledProps [] Description "" @@ -9056,7 +8918,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 162 + $ObjectID 155 Version "1.18.1" DisabledProps [] Description "" @@ -9089,7 +8951,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 163 + $ObjectID 156 Version "1.18.1" Array { Type "Cell" @@ -9176,7 +9038,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 164 + $ObjectID 157 Version "1.18.1" Array { Type "Cell" @@ -9264,7 +9126,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 165 + $ObjectID 158 Version "1.18.1" Array { Type "Cell" @@ -9370,7 +9232,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 166 + $ObjectID 159 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -9411,13 +9273,13 @@ Model { } PropName "Components" } - Name "Configuration11" + Name "Configuration10" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 167 + $ObjectID 160 Version "1.18.1" DisabledProps [] Description "" @@ -9425,7 +9287,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 168 + $ObjectID 161 Version "1.18.1" DisabledProps [] Description "" @@ -9466,7 +9328,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 169 + $ObjectID 162 Version "1.18.1" DisabledProps [] Description "" @@ -9507,7 +9369,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 170 + $ObjectID 163 Version "1.18.1" Array { Type "Cell" @@ -9575,7 +9437,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 171 + $ObjectID 164 Version "1.18.1" Array { Type "Cell" @@ -9694,7 +9556,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 172 + $ObjectID 165 Version "1.18.1" DisabledProps [] Description "" @@ -9742,7 +9604,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 173 + $ObjectID 166 Version "1.18.1" DisabledProps [] Description "" @@ -9761,7 +9623,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 174 + $ObjectID 167 Version "1.18.1" DisabledProps [] Description "" @@ -9794,7 +9656,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 175 + $ObjectID 168 Version "1.18.1" Array { Type "Cell" @@ -9881,7 +9743,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 176 + $ObjectID 169 Version "1.18.1" Array { Type "Cell" @@ -9969,7 +9831,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 177 + $ObjectID 170 Version "1.18.1" Array { Type "Cell" @@ -10075,7 +9937,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 178 + $ObjectID 171 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -10116,13 +9978,13 @@ Model { } PropName "Components" } - Name "Configuration12" + Name "Configuration11" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 179 + $ObjectID 172 Version "1.18.1" DisabledProps [] Description "" @@ -10130,7 +9992,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 180 + $ObjectID 173 Version "1.18.1" DisabledProps [] Description "" @@ -10171,7 +10033,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 181 + $ObjectID 174 Version "1.18.1" DisabledProps [] Description "" @@ -10212,7 +10074,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 182 + $ObjectID 175 Version "1.18.1" Array { Type "Cell" @@ -10280,7 +10142,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 183 + $ObjectID 176 Version "1.18.1" Array { Type "Cell" @@ -10399,7 +10261,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 184 + $ObjectID 177 Version "1.18.1" DisabledProps [] Description "" @@ -10447,7 +10309,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 185 + $ObjectID 178 Version "1.18.1" DisabledProps [] Description "" @@ -10466,7 +10328,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 186 + $ObjectID 179 Version "1.18.1" DisabledProps [] Description "" @@ -10499,7 +10361,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 187 + $ObjectID 180 Version "1.18.1" Array { Type "Cell" @@ -10586,7 +10448,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 188 + $ObjectID 181 Version "1.18.1" Array { Type "Cell" @@ -10674,7 +10536,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 189 + $ObjectID 182 Version "1.18.1" Array { Type "Cell" @@ -10780,7 +10642,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 190 + $ObjectID 183 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -10821,13 +10683,13 @@ Model { } PropName "Components" } - Name "Configuration13" + Name "Configuration12" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 191 + $ObjectID 184 Version "1.18.1" DisabledProps [] Description "" @@ -10835,7 +10697,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 192 + $ObjectID 185 Version "1.18.1" DisabledProps [] Description "" @@ -10876,7 +10738,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 193 + $ObjectID 186 Version "1.18.1" DisabledProps [] Description "" @@ -10917,7 +10779,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 194 + $ObjectID 187 Version "1.18.1" Array { Type "Cell" @@ -10985,7 +10847,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 195 + $ObjectID 188 Version "1.18.1" Array { Type "Cell" @@ -11104,7 +10966,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 196 + $ObjectID 189 Version "1.18.1" DisabledProps [] Description "" @@ -11152,7 +11014,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 197 + $ObjectID 190 Version "1.18.1" DisabledProps [] Description "" @@ -11171,7 +11033,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 198 + $ObjectID 191 Version "1.18.1" DisabledProps [] Description "" @@ -11204,7 +11066,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 199 + $ObjectID 192 Version "1.18.1" Array { Type "Cell" @@ -11291,7 +11153,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 200 + $ObjectID 193 Version "1.18.1" Array { Type "Cell" @@ -11379,7 +11241,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 201 + $ObjectID 194 Version "1.18.1" Array { Type "Cell" @@ -11485,7 +11347,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 202 + $ObjectID 195 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -11526,13 +11388,13 @@ Model { } PropName "Components" } - Name "Configuration14" + Name "Configuration13" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 203 + $ObjectID 196 Version "1.18.1" DisabledProps [] Description "" @@ -11540,7 +11402,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 204 + $ObjectID 197 Version "1.18.1" DisabledProps [] Description "" @@ -11562,8 +11424,8 @@ Model { RelTol "1e-3" EnableMultiTasking on ConcurrentTasks off - Solver "ode4" - SolverName "ode4" + Solver "FixedStepDiscrete" + SolverName "FixedStepDiscrete" SolverJacobianMethodControl "auto" ShapePreserveControl "DisableAll" ZeroCrossControl "UseLocalSettings" @@ -11581,7 +11443,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 205 + $ObjectID 198 Version "1.18.1" DisabledProps [] Description "" @@ -11597,7 +11459,7 @@ Model { SaveCompleteFinalSimState off SaveFormat "Dataset" SignalLoggingSaveFormat "Dataset" - SaveOutput on + SaveOutput off SaveState off SignalLogging on DSMLogging on @@ -11622,7 +11484,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 206 + $ObjectID 199 Version "1.18.1" Array { Type "Cell" @@ -11690,7 +11552,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 207 + $ObjectID 200 Version "1.18.1" Array { Type "Cell" @@ -11809,7 +11671,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 208 + $ObjectID 201 Version "1.18.1" DisabledProps [] Description "" @@ -11857,7 +11719,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 209 + $ObjectID 202 Version "1.18.1" DisabledProps [] Description "" @@ -11876,7 +11738,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 210 + $ObjectID 203 Version "1.18.1" DisabledProps [] Description "" @@ -11909,7 +11771,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 211 + $ObjectID 204 Version "1.18.1" Array { Type "Cell" @@ -11996,7 +11858,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 212 + $ObjectID 205 Version "1.18.1" Array { Type "Cell" @@ -12084,7 +11946,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 213 + $ObjectID 206 Version "1.18.1" Array { Type "Cell" @@ -12190,7 +12052,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 214 + $ObjectID 207 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -12231,13 +12093,13 @@ Model { } PropName "Components" } - Name "Configuration15" + Name "Configuration14" ExtraOptions "" CurrentDlgPage "Solver" - ConfigPrmDlgPosition [ 374, 90, 1264, 830 ] + ConfigPrmDlgPosition [ 321, 71, 1211, 811 ] } Simulink.ConfigSet { - $ObjectID 215 + $ObjectID 208 Version "1.18.1" DisabledProps [] Description "" @@ -12245,7 +12107,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 216 + $ObjectID 209 Version "1.18.1" DisabledProps [] Description "" @@ -12286,7 +12148,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 217 + $ObjectID 210 Version "1.18.1" DisabledProps [] Description "" @@ -12327,7 +12189,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 218 + $ObjectID 211 Version "1.18.1" Array { Type "Cell" @@ -12395,7 +12257,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 219 + $ObjectID 212 Version "1.18.1" Array { Type "Cell" @@ -12514,7 +12376,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 220 + $ObjectID 213 Version "1.18.1" DisabledProps [] Description "" @@ -12562,7 +12424,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 221 + $ObjectID 214 Version "1.18.1" DisabledProps [] Description "" @@ -12581,7 +12443,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 222 + $ObjectID 215 Version "1.18.1" DisabledProps [] Description "" @@ -12614,7 +12476,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 223 + $ObjectID 216 Version "1.18.1" Array { Type "Cell" @@ -12701,7 +12563,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 224 + $ObjectID 217 Version "1.18.1" Array { Type "Cell" @@ -12789,7 +12651,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 225 + $ObjectID 218 Version "1.18.1" Array { Type "Cell" @@ -12895,7 +12757,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 226 + $ObjectID 219 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -12936,13 +12798,13 @@ Model { } PropName "Components" } - Name "Configuration16" + Name "Configuration15" ExtraOptions "" CurrentDlgPage "Solver" ConfigPrmDlgPosition [ 374, 90, 1264, 830 ] } Simulink.ConfigSet { - $ObjectID 227 + $ObjectID 220 Version "1.18.1" DisabledProps [] Description "" @@ -12950,7 +12812,7 @@ Model { Type "Handle" Dimension 9 Simulink.SolverCC { - $ObjectID 228 + $ObjectID 221 Version "1.18.1" DisabledProps [] Description "" @@ -12958,7 +12820,7 @@ Model { StopTime "TMax" AbsTol "auto" AutoScaleAbsTol on - FixedStep "simu.dt" + FixedStep "dt" InitialStep "auto" MaxOrder 5 ZcThreshold "auto" @@ -12991,7 +12853,7 @@ Model { MinimalZcImpactIntegration off } Simulink.DataIOCC { - $ObjectID 229 + $ObjectID 222 Version "1.18.1" DisabledProps [] Description "" @@ -13020,7 +12882,7 @@ Model { StateSaveName "xout" TimeSaveName "tout" OutputSaveName "yout" - SignalLoggingName "sigsOut" + SignalLoggingName "logsout" DSMLoggingName "dsmout" OutputOption "RefineOutputTimes" OutputTimes "[]" @@ -13032,7 +12894,7 @@ Model { LoggingIntervals "[-inf, inf]" } Simulink.OptimizationCC { - $ObjectID 230 + $ObjectID 223 Version "1.18.1" Array { Type "Cell" @@ -13100,7 +12962,7 @@ Model { LabelGuidedReuse off } Simulink.DebuggingCC { - $ObjectID 231 + $ObjectID 224 Version "1.18.1" Array { Type "Cell" @@ -13219,7 +13081,7 @@ Model { UnderSpecifiedDimensionMsg "none" } Simulink.HardwareCC { - $ObjectID 232 + $ObjectID 225 Version "1.18.1" DisabledProps [] Description "" @@ -13267,7 +13129,7 @@ Model { UseSimulinkCoderFeatures on } Simulink.ModelReferenceCC { - $ObjectID 233 + $ObjectID 226 Version "1.18.1" DisabledProps [] Description "" @@ -13286,7 +13148,7 @@ Model { SupportModelReferenceSimTargetCustomCode off } Simulink.SFSimCC { - $ObjectID 234 + $ObjectID 227 Version "1.18.1" DisabledProps [] Description "" @@ -13319,7 +13181,7 @@ Model { } Simulink.RTWCC { $BackupClass "Simulink.RTWCC" - $ObjectID 235 + $ObjectID 228 Version "1.18.1" Array { Type "Cell" @@ -13406,7 +13268,7 @@ Model { Type "Handle" Dimension 2 Simulink.CodeAppCC { - $ObjectID 236 + $ObjectID 229 Version "1.18.1" Array { Type "Cell" @@ -13494,7 +13356,7 @@ Model { } Simulink.GRTTargetCC { $BackupClass "Simulink.TargetCC" - $ObjectID 237 + $ObjectID 230 Version "1.18.1" Array { Type "Cell" @@ -13600,7 +13462,7 @@ Model { } } SlCovCC.ConfigComp { - $ObjectID 238 + $ObjectID 231 Version "1.18.1" DisabledProps [] Description "Simulink Coverage Configuration Component" @@ -13641,208 +13503,949 @@ Model { } PropName "Components" } - Name "Configuration17" + Name "Configuration16" ExtraOptions "" - CurrentDlgPage "Data Import//Export" - ConfigPrmDlgPosition [ 374, 90, 1274, 830 ] - } - PropName "ConfigurationSets" - } - Simulink.ConfigSet { - $PropName "ActiveConfigurationSet" - $ObjectID 227 - } - Object { - $PropName "DataTransfer" - $ObjectID 239 - $ClassName "Simulink.GlobalDataTransfer" - DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" - DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" - DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)" - DefaultExtrapolationMethodBetweenContTasks "None" - AutoInsertRateTranBlk [0] - } - ExplicitPartitioning off - BlockDefaults { - ForegroundColor "black" - BackgroundColor "white" - DropShadow off - NamePlacement "normal" - FontName "Helvetica" - FontSize 10 - FontWeight "normal" - FontAngle "normal" - ShowName on - HideAutomaticName on - BlockRotation 0 - BlockMirror off - } - AnnotationDefaults { - HorizontalAlignment "center" - VerticalAlignment "middle" - ForegroundColor "black" - BackgroundColor "white" - DropShadow off - FontName "Helvetica" - FontSize 10 - FontWeight "normal" - FontAngle "normal" - MarkupType "model" - UseDisplayTextAsClickCallback off - AnnotationType "note_annotation" - FixedHeight off - FixedWidth off - Interpreter "off" - } - LineDefaults { - FontName "Helvetica" - FontSize 9 - FontWeight "normal" - FontAngle "normal" - } - MaskDefaults { - SelfModifiable "off" - IconFrame "on" - IconOpaque "opaque" - RunInitForIconRedraw "analyze" - IconRotate "none" - PortRotate "default" - IconUnits "autoscale" - } - MaskParameterDefaults { - Evaluate "on" - Tunable "on" - NeverSave "off" - Internal "off" - ReadOnly "off" - Enabled "on" - Visible "on" - ToolTip "on" - } - BlockParameterDefaults { - Block { - BlockType Clock - DisplayTime off - Decimation "10" - } - Block { - BlockType Constant - Value "1" - VectorParams1D on - SamplingMode "Sample based" - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Inherit from 'Constant value'" - LockScale off - SampleTime "inf" - FramePeriod "inf" - PreserveConstantTs off - } - Block { - BlockType Delay - DelayLengthSource "Dialog" - DelayLength "2" - DelayLengthUpperLimit "100" - InitialConditionSource "Dialog" - InitialCondition "0.0" - ExternalReset "None" - ShowEnablePort off - PreventDirectFeedthrough off - DiagnosticForDelayLength "None" - RemoveDelayLengthCheckInGeneratedCode off - InputProcessing "Elements as channels (sample based)" - UseCircularBuffer off - SampleTime "-1" - StateMustResolveToSignalObject off - CodeGenStateStorageClass "Auto" - } - Block { - BlockType Demux - Outputs "4" - DisplayOption "none" - BusSelectionMode off - } - Block { - BlockType DiscreteFilter - NumeratorSource "Dialog" - Numerator "[1]" - DenominatorSource "Dialog" - Denominator "[1 0.5]" - InitialStatesSource "Dialog" - InitialStates "0" - InputProcessing "Elements as channels (sample based)" - ExternalReset "None" - InitialDenominatorStates "0" - FilterStructure "Direct form II" - SampleTime "-1" - a0EqualsOne off - NumCoefMin "[]" - NumCoefMax "[]" - DenCoefMin "[]" - DenCoefMax "[]" - OutMin "[]" - OutMax "[]" - StateDataTypeStr "Inherit: Same as input" - MultiplicandDataTypeStr "Inherit: Same as input" - NumCoefDataTypeStr "Inherit: Inherit via internal rule" - DenCoefDataTypeStr "Inherit: Inherit via internal rule" - NumProductDataTypeStr "Inherit: Inherit via internal rule" - DenProductDataTypeStr "Inherit: Inherit via internal rule" - NumAccumDataTypeStr "Inherit: Inherit via internal rule" - DenAccumDataTypeStr "Inherit: Inherit via internal rule" - OutDataTypeStr "Inherit: Inherit via internal rule" - LockScale off - RndMeth "Floor" - SaturateOnIntegerOverflow off - StateMustResolveToSignalObject off - RTWStateStorageClass "Auto" - } - Block { - BlockType Fcn - Expr "sin(u[1])" - SampleTime "-1" - } - Block { - BlockType Gain - Gain "1" - Multiplication "Element-wise(K.*u)" - ParamMin "[]" - ParamMax "[]" - ParamDataTypeStr "Inherit: Same as input" - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: Same as input" - LockScale off - RndMeth "Floor" - SaturateOnIntegerOverflow on - SampleTime "-1" - } - Block { - BlockType Inport - Port "1" - OutputFunctionCall off - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: auto" - LockScale off - BusOutputAsStruct off - Unit "inherit" - PortDimensions "-1" - VarSizeSig "Inherit" - SampleTime "-1" - SignalType "auto" - SamplingMode "auto" - LatchByDelayingOutsideSignal off - LatchInputForFeedbackSignals off - Interpolate on + CurrentDlgPage "Solver" + ConfigPrmDlgPosition [ 374, 90, 1264, 830 ] } - Block { - BlockType Lookup_n-D - NumberOfTableDimensions "2" - DataSpecification "Table and breakpoints" - BreakpointsSpecification "Explicit values" - BreakpointsForDimension1 "[10,22,31]" - BreakpointsForDimension2 "[10,22,31]" + Simulink.ConfigSet { + $ObjectID 232 + Version "1.18.1" + DisabledProps [] + Description "" + Array { + Type "Handle" + Dimension 9 + Simulink.SolverCC { + $ObjectID 233 + Version "1.18.1" + DisabledProps [] + Description "" + StartTime "0.0" + StopTime "TMax" + AbsTol "auto" + AutoScaleAbsTol on + FixedStep "simu.dt" + InitialStep "auto" + MaxOrder 5 + ZcThreshold "auto" + ConsecutiveZCsStepRelTol "10*128*eps" + MaxConsecutiveZCs "1000" + ExtrapolationOrder 4 + NumberNewtonIterations 1 + MaxStep "auto" + MinStep "auto" + MaxConsecutiveMinStep "1" + RelTol "1e-3" + EnableMultiTasking on + ConcurrentTasks off + Solver "ode4" + SolverName "ode4" + SolverJacobianMethodControl "auto" + ShapePreserveControl "DisableAll" + ZeroCrossControl "UseLocalSettings" + ZeroCrossAlgorithm "Nonadaptive" + AlgebraicLoopSolver "TrustRegion" + SolverInfoToggleStatus on + IsAutoAppliedInSIP off + SolverResetMethod "Fast" + PositivePriorityOrder off + AutoInsertRateTranBlk off + SampleTimeConstraint "Unconstrained" + InsertRTBMode "Whenever possible" + SampleTimeProperty [] + DecoupledContinuousIntegration off + MinimalZcImpactIntegration off + } + Simulink.DataIOCC { + $ObjectID 234 + Version "1.18.1" + DisabledProps [] + Description "" + Decimation "1" + ExternalInput "[t, u]" + FinalStateName "xFinal" + InitialState "xInitial" + LimitDataPoints off + MaxDataPoints "1000" + LoadExternalInput off + LoadInitialState off + SaveFinalState off + SaveCompleteFinalSimState off + SaveFormat "Dataset" + SignalLoggingSaveFormat "Dataset" + SaveOutput on + SaveState off + SignalLogging on + DSMLogging on + InspectSignalLogs off + VisualizeSimOutput on + StreamToWorkspace off + StreamVariableName "streamout" + SaveTime off + ReturnWorkspaceOutputs off + StateSaveName "xout" + TimeSaveName "tout" + OutputSaveName "yout" + SignalLoggingName "sigsOut" + DSMLoggingName "dsmout" + OutputOption "RefineOutputTimes" + OutputTimes "[]" + ReturnWorkspaceOutputsName "out" + Refine "1" + LoggingToFile off + DatasetSignalFormat "timeseries" + LoggingFileName "out.mat" + LoggingIntervals "[-inf, inf]" + } + Simulink.OptimizationCC { + $ObjectID 235 + Version "1.18.1" + Array { + Type "Cell" + Dimension 9 + Cell "BooleansAsBitfields" + Cell "PassReuseOutputArgsAs" + Cell "PassReuseOutputArgsThreshold" + Cell "ZeroExternalMemoryAtStartup" + Cell "ZeroInternalMemoryAtStartup" + Cell "OptimizeModelRefInitCode" + Cell "NoFixptDivByZeroProtection" + Cell "UseSpecifiedMinMax" + Cell "EfficientTunableParamExpr" + PropName "DisabledProps" + } + Description "" + BlockReduction on + BooleanDataType on + ConditionallyExecuteInputs on + DefaultParameterBehavior "Tunable" + UseDivisionForNetSlopeComputation "off" + UseFloatMulNetSlope off + DefaultUnderspecifiedDataType "double" + UseSpecifiedMinMax off + InlineInvariantSignals off + OptimizeBlockIOStorage on + BufferReuse on + EnhancedBackFolding off + CachingGlobalReferences off + GlobalBufferReuse on + StrengthReduction off + AdvancedOptControl "" + ExpressionFolding on + BooleansAsBitfields off + BitfieldContainerType "uint_T" + EnableMemcpy on + MemcpyThreshold 64 + PassReuseOutputArgsAs "Structure reference" + PassReuseOutputArgsThreshold 12 + ExpressionDepthLimit 128 + LocalBlockOutputs on + RollThreshold 5 + StateBitsets off + DataBitsets off + ActiveStateOutputEnumStorageType "Native Integer" + ZeroExternalMemoryAtStartup on + ZeroInternalMemoryAtStartup on + InitFltsAndDblsToZero off + NoFixptDivByZeroProtection off + EfficientFloat2IntCast off + EfficientMapNaN2IntZero on + LifeSpan "auto" + MaxStackSize "Inherit from target" + BufferReusableBoundary on + SimCompilerOptimization "off" + AccelVerboseBuild off + OptimizeBlockOrder "off" + OptimizeDataStoreBuffers on + BusAssignmentInplaceUpdate on + DifferentSizesBufferReuse off + OptimizationLevel "level2" + OptimizationPriority "Balanced" + OptimizationCustomize on + UseRowMajorAlgorithm off + LabelGuidedReuse off + } + Simulink.DebuggingCC { + $ObjectID 236 + Version "1.18.1" + Array { + Type "Cell" + Dimension 1 + Cell "UseOnlyExistingSharedCode" + PropName "DisabledProps" + } + Description "" + RTPrefix "error" + ConsistencyChecking "none" + ArrayBoundsChecking "none" + SignalInfNanChecking "none" + StringTruncationChecking "error" + SignalRangeChecking "none" + ReadBeforeWriteMsg "UseLocalSettings" + WriteAfterWriteMsg "UseLocalSettings" + WriteAfterReadMsg "UseLocalSettings" + AlgebraicLoopMsg "warning" + ArtificialAlgebraicLoopMsg "warning" + SaveWithDisabledLinksMsg "warning" + SaveWithParameterizedLinksMsg "warning" + CheckSSInitialOutputMsg on + UnderspecifiedInitializationDetection "Simplified" + MergeDetectMultiDrivingBlocksExec "error" + CheckExecutionContextPreStartOutputMsg off + CheckExecutionContextRuntimeOutputMsg off + SignalResolutionControl "UseLocalSettings" + BlockPriorityViolationMsg "warning" + MinStepSizeMsg "warning" + TimeAdjustmentMsg "none" + MaxConsecutiveZCsMsg "error" + MaskedZcDiagnostic "warning" + IgnoredZcDiagnostic "warning" + SolverPrmCheckMsg "none" + InheritedTsInSrcMsg "warning" + MultiTaskDSMMsg "error" + MultiTaskCondExecSysMsg "error" + MultiTaskRateTransMsg "error" + SingleTaskRateTransMsg "none" + TasksWithSamePriorityMsg "warning" + ExportedTasksRateTransMsg "none" + SigSpecEnsureSampleTimeMsg "warning" + CheckMatrixSingularityMsg "none" + IntegerOverflowMsg "warning" + Int32ToFloatConvMsg "warning" + ParameterDowncastMsg "error" + ParameterOverflowMsg "error" + ParameterUnderflowMsg "none" + ParameterPrecisionLossMsg "warning" + ParameterTunabilityLossMsg "warning" + FixptConstUnderflowMsg "none" + FixptConstOverflowMsg "none" + FixptConstPrecisionLossMsg "none" + UnderSpecifiedDataTypeMsg "none" + UnnecessaryDatatypeConvMsg "none" + VectorMatrixConversionMsg "none" + InvalidFcnCallConnMsg "error" + FcnCallInpInsideContextMsg "error" + SignalLabelMismatchMsg "none" + UnconnectedInputMsg "warning" + UnconnectedOutputMsg "warning" + UnconnectedLineMsg "warning" + UseOnlyExistingSharedCode "error" + SFcnCompatibilityMsg "none" + FrameProcessingCompatibilityMsg "error" + UniqueDataStoreMsg "none" + BusObjectLabelMismatch "warning" + RootOutportRequireBusObject "warning" + AssertControl "UseLocalSettings" + AllowSymbolicDim on + RowMajorDimensionSupport off + ModelReferenceIOMsg "none" + ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error" + ModelReferenceVersionMismatchMessage "none" + ModelReferenceIOMismatchMessage "none" + UnknownTsInhSupMsg "warning" + ModelReferenceDataLoggingMessage "warning" + ModelReferenceSymbolNameMessage "warning" + ModelReferenceExtraNoncontSigs "error" + StateNameClashWarn "none" + SimStateInterfaceChecksumMismatchMsg "warning" + SimStateOlderReleaseMsg "error" + ChecksumConsistencyForSSReuse "none" + LibraryContextMissingDiagnostic "warning" + MatchCodeGenerationContextForUpdateDiagram "none" + InitInArrayFormatMsg "warning" + StrictBusMsg "ErrorLevel1" + BusNameAdapt "WarnAndRepair" + NonBusSignalsTreatedAsBus "none" + SymbolicDimMinMaxWarning "warning" + LossOfSymbolicDimsSimulationWarning "warning" + LossOfSymbolicDimsCodeGenerationWarning "error" + SymbolicDimsDataTypeCodeGenerationDiagnostic "error" + BlockIODiagnostic "none" + SFUnusedDataAndEventsDiag "warning" + SFUnexpectedBacktrackingDiag "error" + SFInvalidInputDataAccessInChartInitDiag "warning" + SFNoUnconditionalDefaultTransitionDiag "error" + SFTransitionOutsideNaturalParentDiag "warning" + SFUnreachableExecutionPathDiag "warning" + SFUndirectedBroadcastEventsDiag "warning" + SFTransitionActionBeforeConditionDiag "warning" + SFOutputUsedAsStateInMooreChartDiag "error" + SFTemporalDelaySmallerThanSampleTimeDiag "warning" + SFSelfTransitionDiag "warning" + SFExecutionAtInitializationDiag "warning" + SFMachineParentedDataDiag "warning" + IntegerSaturationMsg "warning" + AllowedUnitSystems "all" + UnitsInconsistencyMsg "warning" + AllowAutomaticUnitConversions on + RCSCRenamedMsg "warning" + RCSCObservableMsg "warning" + ForceCombineOutputUpdateInSim off + UnitDatabase "" + UnderSpecifiedDimensionMsg "none" + } + Simulink.HardwareCC { + $ObjectID 237 + Version "1.18.1" + DisabledProps [] + Description "" + ProdBitPerChar 8 + ProdBitPerShort 16 + ProdBitPerInt 32 + ProdBitPerLong 32 + ProdBitPerLongLong 64 + ProdBitPerFloat 32 + ProdBitPerDouble 64 + ProdBitPerPointer 64 + ProdBitPerSizeT 64 + ProdBitPerPtrDiffT 64 + ProdLargestAtomicInteger "Char" + ProdLargestAtomicFloat "Float" + ProdIntDivRoundTo "Zero" + ProdEndianess "LittleEndian" + ProdWordSize 64 + ProdShiftRightIntArith on + ProdLongLongMode off + ProdHWDeviceType "Intel->x86-64 (Windows64)" + TargetBitPerChar 8 + TargetBitPerShort 16 + TargetBitPerInt 32 + TargetBitPerLong 32 + TargetBitPerLongLong 64 + TargetBitPerFloat 32 + TargetBitPerDouble 64 + TargetBitPerPointer 32 + TargetBitPerSizeT 32 + TargetBitPerPtrDiffT 32 + TargetLargestAtomicInteger "Char" + TargetLargestAtomicFloat "None" + TargetShiftRightIntArith on + TargetLongLongMode off + TargetIntDivRoundTo "Undefined" + TargetEndianess "Unspecified" + TargetWordSize 32 + TargetPreprocMaxBitsSint 32 + TargetPreprocMaxBitsUint 32 + TargetHWDeviceType "Specified" + TargetUnknown off + ProdEqTarget on + UseEmbeddedCoderFeatures on + UseSimulinkCoderFeatures on + } + Simulink.ModelReferenceCC { + $ObjectID 238 + Version "1.18.1" + DisabledProps [] + Description "" + UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange" + EnableRefExpFcnMdlSchedulingChecks on + CheckModelReferenceTargetMessage "error" + EnableParallelModelReferenceBuilds off + ParallelModelReferenceErrorOnInvalidPool on + ParallelModelReferenceMATLABWorkerInit "None" + ModelReferenceNumInstancesAllowed "Multi" + PropagateVarSize "Infer from blocks in model" + ModelDependencies "" + ModelReferencePassRootInputsByReference on + ModelReferenceMinAlgLoopOccurrences off + PropagateSignalLabelsOutOfModel on + SupportModelReferenceSimTargetCustomCode off + } + Simulink.SFSimCC { + $ObjectID 239 + Version "1.18.1" + DisabledProps [] + Description "" + SimCustomSourceCode "" + SimCustomHeaderCode "" + SimCustomInitializer "" + SimCustomTerminator "" + SimReservedNameArray [] + SimUserSources "" + SimUserIncludeDirs "" + SimUserLibraries "" + SimUserDefines "" + SimCustomCompilerFlags "" + SimCustomLinkerFlags "" + SFSimEcho on + SimCtrlC on + SimIntegrity on + SimUseLocalCustomCode off + SimParseCustomCode on + SimAnalyzeCustomCode off + SimBuildMode "sf_incremental_build" + SimGenImportedTypeDefs off + ModelFunctionsGlobalVisibility "on" + CompileTimeRecursionLimit 50 + EnableRuntimeRecursion on + MATLABDynamicMemAlloc on + MATLABDynamicMemAllocThreshold 65536 + CustomCodeFunctionArrayLayout [] + DefaultCustomCodeFunctionArrayLayout "NotSpecified" + } + Simulink.RTWCC { + $BackupClass "Simulink.RTWCC" + $ObjectID 240 + Version "1.18.1" + Array { + Type "Cell" + Dimension 16 + Cell "IncludeHyperlinkInReport" + Cell "GenerateTraceInfo" + Cell "GenerateTraceReport" + Cell "GenerateTraceReportSl" + Cell "GenerateTraceReportSf" + Cell "GenerateTraceReportEml" + Cell "PortableWordSizes" + Cell "GenerateWebview" + Cell "GenerateCodeMetricsReport" + Cell "GenerateCodeReplacementReport" + Cell "GenerateMissedCodeReplacementReport" + Cell "GenerateErtSFunction" + Cell "CreateSILPILBlock" + Cell "CodeExecutionProfiling" + Cell "CodeProfilingSaveOptions" + Cell "CodeProfilingInstrumentation" + PropName "DisabledProps" + } + SystemTargetFile "grt.tlc" + HardwareBoard "None" + TLCOptions "" + GenCodeOnly off + MakeCommand "make_rtw" + GenerateMakefile on + PackageGeneratedCodeAndArtifacts off + PackageName "" + TemplateMakefile "grt_default_tmf" + PostCodeGenCommand "" + Description "" + GenerateReport off + RTWVerbose on + RetainRTWFile off + RTWBuildHooks [] + ProfileTLC off + TLCDebug off + TLCCoverage off + TLCAssert off + RTWUseLocalCustomCode off + RTWUseSimCustomCode off + CustomSourceCode "" + CustomHeaderCode "" + CustomInclude "" + CustomSource "" + CustomLibrary "" + CustomDefine "" + CustomBLASCallback "" + CustomLAPACKCallback "" + CustomFFTCallback "" + CustomInitializer "" + CustomTerminator "" + Toolchain "Automatically locate an installed toolchain" + BuildConfiguration "Faster Builds" + CustomToolchainOptions [] + IncludeHyperlinkInReport off + LaunchReport off + PortableWordSizes off + CreateSILPILBlock "None" + CodeExecutionProfiling off + CodeExecutionProfileVariable "executionProfile" + CodeProfilingSaveOptions "SummaryOnly" + CodeProfilingInstrumentation "off" + SILDebugging off + TargetLang "C" + IncludeBusHierarchyInRTWFileBlockHierarchyMap off + GenerateTraceInfo off + GenerateTraceReport off + GenerateTraceReportSl off + GenerateTraceReportSf off + GenerateTraceReportEml off + GenerateWebview off + GenerateCodeMetricsReport off + GenerateCodeReplacementReport off + GenerateMissedCodeReplacementReport off + RTWCompilerOptimization "off" + ObjectivePriorities [] + RTWCustomCompilerOptimizations "" + CheckMdlBeforeBuild "Off" + SharedConstantsCachingThreshold 1024 + Array { + Type "Handle" + Dimension 2 + Simulink.CodeAppCC { + $ObjectID 241 + Version "1.18.1" + Array { + Type "Cell" + Dimension 28 + Cell "IgnoreCustomStorageClasses" + Cell "IgnoreTestpoints" + Cell "InsertBlockDesc" + Cell "InsertPolySpaceComments" + Cell "SFDataObjDesc" + Cell "MATLABFcnDesc" + Cell "SimulinkDataObjDesc" + Cell "DefineNamingRule" + Cell "SignalNamingRule" + Cell "ParamNamingRule" + Cell "InternalIdentifier" + Cell "InlinedPrmAccess" + Cell "CustomSymbolStr" + Cell "CustomSymbolStrGlobalVar" + Cell "CustomSymbolStrType" + Cell "CustomSymbolStrField" + Cell "CustomSymbolStrFcn" + Cell "CustomSymbolStrModelFcn" + Cell "CustomSymbolStrFcnArg" + Cell "CustomSymbolStrBlkIO" + Cell "CustomSymbolStrTmpVar" + Cell "CustomSymbolStrMacro" + Cell "CustomSymbolStrUtil" + Cell "CustomUserTokenString" + Cell "ReqsInCode" + Cell "BlockCommentType" + Cell "CustomSymbolStrEmxType" + Cell "CustomSymbolStrEmxFcn" + PropName "DisabledProps" + } + Description "" + Comment "" + ForceParamTrailComments off + GenerateComments on + CommentStyle "Auto" + IgnoreCustomStorageClasses on + IgnoreTestpoints off + MaxIdLength 31 + PreserveName off + PreserveNameWithParent off + ShowEliminatedStatement off + OperatorAnnotations off + SimulinkDataObjDesc off + SFDataObjDesc off + MATLABFcnDesc off + MangleLength 1 + SharedChecksumLength 8 + CustomSymbolStrGlobalVar "$R$N$M" + CustomSymbolStrType "$N$R$M_T" + CustomSymbolStrField "$N$M" + CustomSymbolStrFcn "$R$N$M$F" + CustomSymbolStrModelFcn "$R$N" + CustomSymbolStrFcnArg "rt$I$N$M" + CustomSymbolStrBlkIO "rtb_$N$M" + CustomSymbolStrTmpVar "$N$M" + CustomSymbolStrMacro "$R$N$M" + CustomSymbolStrUtil "$N$C" + CustomSymbolStrEmxType "emxArray_$M$N" + CustomSymbolStrEmxFcn "emx$M$N" + CustomUserTokenString "" + CustomCommentsFcn "" + DefineNamingRule "None" + DefineNamingFcn "" + ParamNamingRule "None" + ParamNamingFcn "" + SignalNamingRule "None" + SignalNamingFcn "" + InsertBlockDesc off + InsertPolySpaceComments off + SimulinkBlockComments on + BlockCommentType "BlockPathComment" + StateflowObjectComments on + MATLABSourceComments off + EnableCustomComments off + InternalIdentifierFile "" + InternalIdentifier "Shortened" + InlinedPrmAccess "Literals" + ReqsInCode off + UseSimReservedNames off + ReservedNameArray [] + } + Simulink.GRTTargetCC { + $BackupClass "Simulink.TargetCC" + $ObjectID 242 + Version "1.18.1" + Array { + Type "Cell" + Dimension 16 + Cell "IncludeMdlTerminateFcn" + Cell "SuppressErrorStatus" + Cell "ERTCustomFileBanners" + Cell "GenerateSampleERTMain" + Cell "ExistingSharedCode" + Cell "GenerateTestInterfaces" + Cell "ModelStepFunctionPrototypeControlCompliant" + Cell "GenerateAllocFcn" + Cell "PurelyIntegerCode" + Cell "SupportComplex" + Cell "SupportAbsoluteTime" + Cell "SupportContinuousTime" + Cell "SupportNonInlinedSFcns" + Cell "RemoveDisableFunc" + Cell "RemoveResetFunc" + Cell "PreserveStateflowLocalDataDimensions" + PropName "DisabledProps" + } + Description "" + TargetFcnLib "ansi_tfl_table_tmw.mat" + TargetLibSuffix "" + TargetPreCompLibLocation "" + GenFloatMathFcnCalls "NOT IN USE" + TargetLangStandard "C99 (ISO)" + CodeReplacementLibrary "None" + UtilityFuncGeneration "Auto" + MultiwordTypeDef "System defined" + MultiwordLength 2048 + DynamicStringBufferSize 256 + GenerateFullHeader on + InferredTypesCompatibility off + ExistingSharedCode "" + GenerateSampleERTMain off + GenerateTestInterfaces off + ModelReferenceCompliant on + ParMdlRefBuildCompliant on + CompOptLevelCompliant on + ConcurrentExecutionCompliant on + IncludeMdlTerminateFcn on + GeneratePreprocessorConditionals "Use local settings" + CombineOutputUpdateFcns on + CombineSignalStateStructs off + GroupInternalDataByFunction off + SuppressErrorStatus off + IncludeFileDelimiter "Auto" + ERTCustomFileBanners off + SupportAbsoluteTime on + LogVarNameModifier "rt_" + MatFileLogging on + MultiInstanceERTCode off + CodeInterfacePackaging "Nonreusable function" + PurelyIntegerCode off + SupportNonFinite on + SupportComplex on + SupportContinuousTime on + SupportNonInlinedSFcns on + RemoveDisableFunc off + RemoveResetFunc off + SupportVariableSizeSignals off + ParenthesesLevel "Nominal" + CastingMode "Nominal" + PreserveStateflowLocalDataDimensions off + MATLABClassNameForMDSCustomization "Simulink.SoftwareTarget.GRTCustomization" + ModelStepFunctionPrototypeControlCompliant off + CPPClassGenCompliant on + AutosarCompliant off + MDXCompliant off + GRTInterface off + GenerateAllocFcn off + UseToolchainInfoCompliant on + GenerateSharedConstants on + CoderGroups [] + AccessMethods [] + LookupTableObjectStructAxisOrder "1,2,3,4,..." + LUTObjectStructOrderExplicitValues "Size,Breakpoints,Table" + LUTObjectStructOrderEvenSpacing "Size,Breakpoints,Table" + ArrayLayout "Column-major" + UnsupportedSFcnMsg "error" + ERTHeaderFileRootName "$R$E" + ERTSourceFileRootName "$R$E" + ERTDataFileRootName "$R_data" + UseMalloc off + ExtMode off + ExtModeStaticAlloc off + ExtModeTesting off + ExtModeStaticAllocSize 1000000 + ExtModeTransport 0 + ExtModeMexFile "ext_comm" + ExtModeMexArgs "" + ExtModeIntrfLevel "Level1" + RTWCAPISignals off + RTWCAPIParams off + RTWCAPIStates off + RTWCAPIRootIO off + GenerateASAP2 off + MultiInstanceErrorCode "Error" + } + PropName "Components" + } + } + SlCovCC.ConfigComp { + $ObjectID 243 + Version "1.18.1" + DisabledProps [] + Description "Simulink Coverage Configuration Component" + Name "Simulink Coverage" + CovEnable off + CovScope "EntireSystem" + CovIncludeTopModel on + RecordCoverage off + CovPath "/" + CovSaveName "covdata" + CovCompData "" + CovMetricSettings "dwe" + CovFilter "" + CovHTMLOptions "" + CovNameIncrementing off + CovHtmlReporting off + CovForceBlockReductionOff on + CovEnableCumulative on + CovSaveCumulativeToWorkspaceVar off + CovSaveSingleToWorkspaceVar off + CovCumulativeVarName "covCumulativeData" + CovCumulativeReport off + CovSaveOutputData on + CovOutputDir "slcov_output/$ModelName$" + CovDataFileName "$ModelName$_cvdata" + CovShowResultsExplorer on + CovReportOnPause on + CovModelRefEnable "off" + CovModelRefExcluded "" + CovExternalEMLEnable on + CovSFcnEnable on + CovBoundaryAbsTol 1e-05 + CovBoundaryRelTol 0.01 + CovUseTimeInterval off + CovStartTime 0 + CovStopTime 0 + CovMcdcMode "Masking" + } + PropName "Components" + } + Name "Configuration17" + ExtraOptions "" + CurrentDlgPage "Data Import//Export" + ConfigPrmDlgPosition [ 374, 90, 1274, 830 ] + } + PropName "ConfigurationSets" + } + Simulink.ConfigSet { + $PropName "ActiveConfigurationSet" + $ObjectID 232 + } + Object { + $PropName "DataTransfer" + $ObjectID 244 + $ClassName "Simulink.GlobalDataTransfer" + DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)" + DefaultTransitionBetweenAsyncTasks "Ensure data integrity only" + DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)" + DefaultExtrapolationMethodBetweenContTasks "None" + AutoInsertRateTranBlk [0] + } + ExplicitPartitioning off + BlockDefaults { + ForegroundColor "black" + BackgroundColor "white" + DropShadow off + NamePlacement "normal" + FontName "Helvetica" + FontSize 10 + FontWeight "normal" + FontAngle "normal" + ShowName on + HideAutomaticName on + BlockRotation 0 + BlockMirror off + } + AnnotationDefaults { + HorizontalAlignment "center" + VerticalAlignment "middle" + ForegroundColor "black" + BackgroundColor "white" + DropShadow off + FontName "Helvetica" + FontSize 10 + FontWeight "normal" + FontAngle "normal" + MarkupType "model" + UseDisplayTextAsClickCallback off + AnnotationType "note_annotation" + FixedHeight off + FixedWidth off + Interpreter "off" + } + LineDefaults { + FontName "Helvetica" + FontSize 9 + FontWeight "normal" + FontAngle "normal" + } + MaskDefaults { + SelfModifiable "off" + IconFrame "on" + IconOpaque "opaque" + RunInitForIconRedraw "analyze" + IconRotate "none" + PortRotate "default" + IconUnits "autoscale" + } + MaskParameterDefaults { + Evaluate "on" + Tunable "on" + NeverSave "off" + Internal "off" + ReadOnly "off" + Enabled "on" + Visible "on" + ToolTip "on" + } + BlockParameterDefaults { + Block { + BlockType Clock + DisplayTime off + Decimation "10" + } + Block { + BlockType Constant + Value "1" + VectorParams1D on + SamplingMode "Sample based" + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Inherit from 'Constant value'" + LockScale off + SampleTime "inf" + FramePeriod "inf" + PreserveConstantTs off + } + Block { + BlockType Delay + DelayLengthSource "Dialog" + DelayLength "2" + DelayLengthUpperLimit "100" + InitialConditionSource "Dialog" + InitialCondition "0.0" + ExternalReset "None" + ShowEnablePort off + PreventDirectFeedthrough off + DiagnosticForDelayLength "None" + RemoveDelayLengthCheckInGeneratedCode off + InputProcessing "Elements as channels (sample based)" + UseCircularBuffer off + SampleTime "-1" + StateMustResolveToSignalObject off + CodeGenStateStorageClass "Auto" + } + Block { + BlockType Demux + Outputs "4" + DisplayOption "none" + BusSelectionMode off + } + Block { + BlockType DiscreteFilter + NumeratorSource "Dialog" + Numerator "[1]" + DenominatorSource "Dialog" + Denominator "[1 0.5]" + InitialStatesSource "Dialog" + InitialStates "0" + InputProcessing "Elements as channels (sample based)" + ExternalReset "None" + InitialDenominatorStates "0" + FilterStructure "Direct form II" + SampleTime "-1" + a0EqualsOne off + NumCoefMin "[]" + NumCoefMax "[]" + DenCoefMin "[]" + DenCoefMax "[]" + OutMin "[]" + OutMax "[]" + StateDataTypeStr "Inherit: Same as input" + MultiplicandDataTypeStr "Inherit: Same as input" + NumCoefDataTypeStr "Inherit: Inherit via internal rule" + DenCoefDataTypeStr "Inherit: Inherit via internal rule" + NumProductDataTypeStr "Inherit: Inherit via internal rule" + DenProductDataTypeStr "Inherit: Inherit via internal rule" + NumAccumDataTypeStr "Inherit: Inherit via internal rule" + DenAccumDataTypeStr "Inherit: Inherit via internal rule" + OutDataTypeStr "Inherit: Inherit via internal rule" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow off + StateMustResolveToSignalObject off + RTWStateStorageClass "Auto" + } + Block { + BlockType DiscreteIntegrator + IntegratorMethod "Integration: Forward Euler" + gainval "1.0" + ExternalReset "none" + InitialConditionSource "internal" + InitialCondition "0" + InitialConditionSetting "Output" + SampleTime "1" + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Inherit via internal rule" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow off + LimitOutput off + UpperSaturationLimit "inf" + LowerSaturationLimit "-inf" + ShowSaturationPort off + ShowStatePort off + IgnoreLimit off + StateMustResolveToSignalObject off + RTWStateStorageClass "Auto" + } + Block { + BlockType DiscreteStateSpace + A "1" + B "1" + C "1" + D "1" + InitialCondition "0" + SampleTime "1" + StateMustResolveToSignalObject off + RTWStateStorageClass "Auto" + Realization "auto" + } + Block { + BlockType Fcn + Expr "sin(u[1])" + SampleTime "-1" + } + Block { + BlockType Gain + Gain "1" + Multiplication "Element-wise(K.*u)" + ParamMin "[]" + ParamMax "[]" + ParamDataTypeStr "Inherit: Same as input" + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Same as input" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow on + SampleTime "-1" + } + Block { + BlockType Inport + Port "1" + OutputFunctionCall off + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: auto" + LockScale off + BusOutputAsStruct off + Unit "inherit" + PortDimensions "-1" + VarSizeSig "Inherit" + SampleTime "-1" + SignalType "auto" + SamplingMode "auto" + LatchByDelayingOutsideSignal off + LatchInputForFeedbackSignals off + Interpolate on + } + Block { + BlockType Lookup_n-D + NumberOfTableDimensions "2" + DataSpecification "Table and breakpoints" + BreakpointsSpecification "Explicit values" + BreakpointsForDimension1 "[10,22,31]" + BreakpointsForDimension2 "[10,22,31]" BreakpointsForDimension3 "[1:3]" BreakpointsForDimension4 "[1:3]" BreakpointsForDimension5 "[1:3]" @@ -14053,6 +14656,27 @@ Model { LUTDesignRelError "0.01" LUTDesignAbsError "1e-6" } + Block { + BlockType ManualSwitch + CurrentSetting "1" + varsize off + SampleTime "-1" + } + Block { + BlockType Math + Operator "exp" + OutputSignalType "auto" + SampleTime "-1" + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Same as first input" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow on + IntermediateResultsDataTypeStr "Inherit: Inherit via internal rule" + AlgorithmType "Newton-Raphson" + Iterations "3" + } Block { BlockType Mux Inputs "4" @@ -14107,6 +14731,15 @@ Model { InitialCondition "0" LinearizeAsGain on } + Block { + BlockType RelationalOperator + Operator ">=" + InputSameDT on + OutDataTypeStr "Inherit: Logical (see Configuration Parameters: Optimization)" + ZeroCross on + SampleTime "-1" + RndMeth "Nearest" + } Block { BlockType S-Function FunctionName "system" @@ -14134,146 +14767,1258 @@ Model { DefaultConfigurationName "Simulink.scopes.TimeScopeBlockCfg" } Block { - BlockType SignalSpecification - OutMin "[]" - OutMax "[]" - OutDataTypeStr "Inherit: auto" - LockScale off - BusOutputAsStruct off - Unit "inherit" - Dimensions "-1" - VarSizeSig "Inherit" - SampleTime "-1" - SignalType "auto" - SamplingMode "auto" + BlockType SignalSpecification + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: auto" + LockScale off + BusOutputAsStruct off + Unit "inherit" + Dimensions "-1" + VarSizeSig "Inherit" + SampleTime "-1" + SignalType "auto" + SamplingMode "auto" + } + Block { + BlockType Sqrt + Operator "sqrt" + OutputSignalType "auto" + SampleTime "-1" + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Same as first input" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow on + IntermediateResultsDataTypeStr "Inherit: Inherit via internal rule" + AlgorithmType "Exact" + Iterations "3" + } + Block { + BlockType SubSystem + ShowPortLabels "FromPortIcon" + Permissions "ReadWrite" + PermitHierarchicalResolution "All" + TreatAsAtomicUnit off + MinAlgLoopOccurrences off + PropExecContextOutsideSubsystem off + SystemSampleTime "-1" + RTWSystemCode "Auto" + RTWFcnNameOpts "Auto" + RTWFileNameOpts "Auto" + FunctionInterfaceSpec "void_void" + FunctionWithSeparateData off + RTWMemSecFuncInitTerm "Inherit from model" + RTWMemSecFuncExecute "Inherit from model" + RTWMemSecDataConstants "Inherit from model" + RTWMemSecDataInternal "Inherit from model" + RTWMemSecDataParameters "Inherit from model" + SimViewingDevice off + DataTypeOverride "UseLocalSettings" + DataTypeOverrideAppliesTo "AllNumericTypes" + MinMaxOverflowLogging "UseLocalSettings" + Opaque off + MaskHideContents off + SFBlockType "NONE" + VariantControlMode "Expression" + Variant off + GeneratePreprocessorConditionals off + AllowZeroVariantControls off + PropagateVariantConditions off + TreatAsGroupedWhenPropagatingVariantConditions on + ContentPreviewEnabled off + IsWebBlock off + IsObserver off + Latency "0" + AutoFrameSizeCalculation off + IsWebBlockPanel off + } + Block { + BlockType Sum + IconShape "rectangular" + Inputs "++" + CollapseMode "All dimensions" + CollapseDim "1" + InputSameDT on + AccumDataTypeStr "Inherit: Inherit via internal rule" + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Same as first input" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow on + SampleTime "-1" + } + Block { + BlockType Switch + Criteria "u2 >= Threshold" + Threshold "0" + InputSameDT on + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Inherit via internal rule" + LockScale off + RndMeth "Floor" + SaturateOnIntegerOverflow on + ZeroCross on + SampleTime "-1" + AllowDiffInputSizes off + } + Block { + BlockType Terminator + } + Block { + BlockType ToWorkspace + VariableName "simulink_output" + MaxDataPoints "1000" + Decimation "1" + SaveFormat "Array" + Save2DSignal "Inherit from input (this choice will be removed - see release notes)" + FixptAsFi off + NumInputs "1" + SampleTime "0" + } + Block { + BlockType UnitDelay + InitialCondition "0" + InputProcessing "Inherited" + SampleTime "1" + StateMustResolveToSignalObject off + CodeGenStateStorageClass "Auto" + HasFrameUpgradeWarning on + } + } + System { + Name "ROSCO" + Location [0, 23, 1920, 1001] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" + ModelBrowserVisibility off + ModelBrowserWidth 200 + ScreenColor "white" + PaperOrientation "landscape" + PaperPositionMode "auto" + PaperType "usletter" + PaperUnits "inches" + TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] + TiledPageScale 1 + ShowPageBoundaries off + ZoomFactor "125" + ReportName "simulink-default.rpt" + SIDHighWatermark "1553" + Block { + BlockType SubSystem + Name "AirFoil Controller" + SID "1542" + Ports [0, 1] + Position [560, 324, 660, 366] + ZOrder 507 + RequestExecContextInheritance off + System { + Name "AirFoil Controller" + Location [0, 23, 1920, 1001] + Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" + ModelBrowserVisibility off + ModelBrowserWidth 200 + ScreenColor "white" + PaperOrientation "landscape" + PaperPositionMode "auto" + PaperType "usletter" + PaperUnits "inches" + TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] + TiledPageScale 1 + ShowPageBoundaries off + ZoomFactor "100" + Block { + BlockType Constant + Name "Airfoil command" + SID "1543" + Position [55, 35, 85, 65] + ZOrder -1 + Value "zeros(1,3)'" + } + Block { + BlockType Outport + Name "Out1" + SID "1544" + Position [140, 43, 170, 57] + ZOrder -2 + IconDisplay "Port number" + VectorParamsAs1DForOutWhenUnconnected on + } + Line { + ZOrder 1 + SrcBlock "Airfoil command" + SrcPort 1 + DstBlock "Out1" + DstPort 1 + } + } + } + Block { + BlockType SubSystem + Name "BldPitch Controller" + SID "376" + Ports [4, 1] + Position [-15, 217, 95, 373] + ZOrder 205 + BackgroundColor "green" + RequestExecContextInheritance off + System { + Name "BldPitch Controller" + Location [0, 23, 1920, 1001] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" + ModelBrowserVisibility off + ModelBrowserWidth 200 + ScreenColor "white" + PaperOrientation "landscape" + PaperPositionMode "auto" + PaperType "usletter" + PaperUnits "inches" + TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] + TiledPageScale 1 + ShowPageBoundaries off + ZoomFactor "125" + Block { + BlockType Inport + Name "omega_g,ref" + SID "497" + Position [-500, 347, -445, 363] + ZOrder 319 + BackgroundColor "yellow" + NamePlacement "alternate" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "GenSpeedF" + SID "378" + Position [-250, 392, -195, 408] + ZOrder -1 + BackgroundColor "yellow" + NamePlacement "alternate" + Port "2" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "Del_omega_g" + SID "498" + Position [-530, 242, -475, 258] + ZOrder 321 + BackgroundColor "yellow" + NamePlacement "alternate" + Port "3" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "Min Pitch" + SID "789" + Position [-250, 577, -195, 593] + ZOrder 363 + BackgroundColor "yellow" + NamePlacement "alternate" + Port "4" + IconDisplay "Port number" + } + Block { + BlockType Reference + Name "Compare\nTo Zero1" + SID "654" + Ports [1, 1] + Position [-395, 220, -365, 250] + ZOrder 352 + LibraryVersion "1.444" + SourceBlock "simulink/Logic and Bit\nOperations/Compare\nTo Zero" + SourceType "Compare To Zero" + SourceProductBaseCode "SL" + ContentPreviewEnabled on + relop "<" + OutDataTypeStr "boolean" + ZeroCross on + } + Block { + BlockType Constant + Name "Constant1" + SID "716" + Position [80, 525, 165, 545] + ZOrder 355 + BackgroundColor "[0.800000, 0.800000, 0.800000]" + Value "R.PC_GS_KP" + } + Block { + BlockType Constant + Name "Constant2" + SID "717" + Position [80, 550, 165, 570] + ZOrder 356 + BackgroundColor "[0.800000, 0.800000, 0.800000]" + Value "R.PC_GS_KI" + } + Block { + BlockType Constant + Name "Constant3" + SID "718" + Position [80, 575, 165, 595] + ZOrder 357 + BackgroundColor "[0.800000, 0.800000, 0.800000]" + Value "R.PC_GS_angles" + } + Block { + BlockType Delay + Name "Delay" + SID "786" + Ports [1, 1] + Position [570, 743, 605, 777] + ZOrder 362 + BlockMirror on + InputPortMap "u0" + DelayLength "1" + } + Block { + BlockType SubSystem + Name "Integral" + SID "385" + Ports [3, 1] + Position [645, 371, 725, 419] + ZOrder 276 + RequestExecContextInheritance off + ContentPreviewEnabled on + System { + Name "Integral" + Location [0, 23, 1920, 1001] + Open on + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" + ModelBrowserVisibility off + ModelBrowserWidth 200 + ScreenColor "white" + PaperOrientation "landscape" + PaperPositionMode "auto" + PaperType "usletter" + PaperUnits "inches" + TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] + TiledPageScale 1 + ShowPageBoundaries off + ZoomFactor "142" + Block { + BlockType Inport + Name "SpeedErr" + SID "386" + Position [20, 135, 35, 165] + ZOrder 274 + BackgroundColor "yellow" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "Gain" + SID "387" + Position [100, 215, 115, 245] + ZOrder 278 + BackgroundColor "yellow" + Port "2" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "Min Pitch" + SID "790" + Position [450, 45, 465, 75] + ZOrder 280 + BackgroundColor "yellow" + Port "3" + IconDisplay "Port number" + } + Block { + BlockType Gain + Name "Gain1" + SID "388" + Position [125, 135, 155, 165] + ZOrder 273 + BackgroundColor "magenta" + Gain "simu.dt" + ParamDataTypeStr "Inherit: Inherit via internal rule" + OutDataTypeStr "Inherit: Inherit via internal rule" + SaturateOnIntegerOverflow off + } + Block { + BlockType Constant + Name "Maximum Pitch" + SID "389" + Position [270, 22, 380, 48] + ZOrder 265 + BackgroundColor "[0.800000, 0.800000, 0.800000]" + NamePlacement "alternate" + Value "R.PC_MaxPit" + } + Block { + BlockType Constant + Name "Minimum Pitch" + SID "390" + Position [270, 82, 380, 108] + ZOrder 266 + BackgroundColor "[0.800000, 0.800000, 0.800000]" + NamePlacement "alternate" + Value "R.PC_MinPit" + } + Block { + BlockType Product + Name "Multiply" + SID "391" + Ports [2, 1] + Position [230, 143, 255, 172] + ZOrder 279 + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + RndMeth "Floor" + SaturateOnIntegerOverflow off + } + Block { + BlockType Reference + Name "Saturate Integral\nTerm" + SID "392" + Ports [3, 1] + Position [515, 140, 595, 180] + ZOrder 261 + LibraryVersion "1.444" + SourceBlock "simulink/Discontinuities/Saturation\nDynamic" + SourceType "Saturation Dynamic" + SourceProductBaseCode "SL" + ContentPreviewEnabled off + OutMin "[]" + OutMax "[]" + OutDataTypeStr "Inherit: Same as second input" + OutputDataTypeScalingMode "Same as second input" + OutDataType "fixdt(1, 16)" + OutScaling "2^-10" + LockScale off + RndMeth "Nearest" + DoSatur off + } + Block { + BlockType Sum + Name "Sum" + SID "393" + Ports [2, 1] + Position [320, 150, 340, 170] + ZOrder 271 + ShowName off + IconShape "round" + Inputs "|++" + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + SaturateOnIntegerOverflow off + } + Block { + BlockType UnitDelay + Name "Unit Delay" + SID "394" + Position [440, 238, 475, 272] + ZOrder 272 + BlockMirror on + NamePlacement "alternate" + InputProcessing "Elements as channels (sample based)" + SampleTime "-1" + } + Block { + BlockType Outport + Name "IntSpdErr" + SID "395" + Position [890, 153, 920, 167] + ZOrder 275 + BackgroundColor "[0.074510, 0.623529, 1.000000]" + IconDisplay "Port number" + } + Line { + ZOrder 1 + SrcBlock "Maximum Pitch" + SrcPort 1 + Points [29, 0; 0, 110] + DstBlock "Saturate Integral\nTerm" + DstPort 1 + } + Line { + ZOrder 2 + SrcBlock "Unit Delay" + SrcPort 1 + Points [-105, 0] + DstBlock "Sum" + DstPort 2 + } + Line { + ZOrder 4 + SrcBlock "Sum" + SrcPort 1 + DstBlock "Saturate Integral\nTerm" + DstPort 2 + } + Line { + ZOrder 5 + SrcBlock "SpeedErr" + SrcPort 1 + DstBlock "Gain1" + DstPort 1 + } + Line { + ZOrder 6 + SrcBlock "Gain" + SrcPort 1 + Points [94, 0; 0, -65] + DstBlock "Multiply" + DstPort 2 + } + Line { + ZOrder 7 + SrcBlock "Saturate Integral\nTerm" + SrcPort 1 + Points [130, 0] + Branch { + ZOrder 8 + DstBlock "IntSpdErr" + DstPort 1 + } + Branch { + ZOrder 9 + Points [0, 95] + DstBlock "Unit Delay" + DstPort 1 + } + } + Line { + ZOrder 10 + SrcBlock "Gain1" + SrcPort 1 + DstBlock "Multiply" + DstPort 1 + } + Line { + ZOrder 11 + SrcBlock "Multiply" + SrcPort 1 + DstBlock "Sum" + DstPort 1 + } + Line { + ZOrder 14 + SrcBlock "Min Pitch" + SrcPort 1 + Points [25, 0; 0, 115] + DstBlock "Saturate Integral\nTerm" + DstPort 3 + } + } + } + Block { + BlockType Product + Name "Multiply" + SID "397" + Ports [2, 1] + Position [815, 447, 845, 478] + ZOrder 288 + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + RndMeth "Floor" + SaturateOnIntegerOverflow off + } + Block { + BlockType Product + Name "Multiply3" + SID "655" + Ports [2, 1] + Position [-325, 219, -290, 286] + ZOrder 353 + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + RndMeth "Floor" + SaturateOnIntegerOverflow off + } + Block { + BlockType Mux + Name "Mux" + SID "398" + Ports [5, 1] + Position [830, 532, 835, 628] + ZOrder 296 + NamePlacement "alternate" + ShowName off + Inputs "5" + DisplayOption "bar" + } + Block { + BlockType SubSystem + Name "Pitch GS" + SID "396" + Ports [4, 2] + Position [380, 493, 545, 602] + ZOrder 287 + ErrorFcn "Stateflow.Translate.translate" + PermitHierarchicalResolution "ExplicitOnly" + TreatAsAtomicUnit on + RequestExecContextInheritance off + SFBlockType "MATLAB Function" + ContentPreviewEnabled on + System { + Name "Pitch GS" + Location [223, 338, 826, 833] + Open off + PortBlocksUseCompactNotation off + SetExecutionDomain off + ExecutionDomainType "Deduce" + ModelBrowserVisibility off + ModelBrowserWidth 200 + ScreenColor "white" + PaperOrientation "landscape" + PaperPositionMode "auto" + PaperType "usletter" + PaperUnits "inches" + TiledPaperMargins [0.500000, 0.500000, 0.500000, 0.500000] + TiledPageScale 1 + ShowPageBoundaries off + ZoomFactor "100" + SIDHighWatermark "56" + Block { + BlockType Inport + Name "Beta" + SID "396::45" + Position [20, 101, 40, 119] + ZOrder 24 + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "Kp_pc" + SID "396::56" + Position [20, 136, 40, 154] + ZOrder 35 + Port "2" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "Ki_pc" + SID "396::54" + Position [20, 171, 40, 189] + ZOrder 33 + Port "3" + IconDisplay "Port number" + } + Block { + BlockType Inport + Name "PC_beta" + SID "396::55" + Position [20, 206, 40, 224] + ZOrder 34 + Port "4" + IconDisplay "Port number" + } + Block { + BlockType Demux + Name " Demux " + SID "396::52" + Ports [1, 1] + Position [270, 230, 320, 270] + ZOrder 31 + Outputs "1" + DisplayOption "bar" + } + Block { + BlockType S-Function + Name " SFunction " + SID "396::51" + Tag "Stateflow S-Function ROSCO 6" + Ports [4, 3] + Position [180, 107, 230, 208] + ZOrder 30 + FunctionName "sf_sfun" + PortCounts "[4 3]" + SFunctionDeploymentMode off + EnableBusSupport on + SFcnIsStateOwnerBlock off + Port { + PortNumber 2 + Name "Ki" + } + Port { + PortNumber 3 + Name "Kp" + } + } + Block { + BlockType Terminator + Name " Terminator " + SID "396::53" + Position [460, 241, 480, 259] + ZOrder 32 + } + Block { + BlockType Outport + Name "Ki" + SID "396::22" + Position [460, 101, 480, 119] + ZOrder 13 + IconDisplay "Port number" + } + Block { + BlockType Outport + Name "Kp" + SID "396::5" + Position [460, 136, 480, 154] + ZOrder -5 + Port "2" + IconDisplay "Port number" + } + Line { + ZOrder 362 + SrcBlock "Beta" + SrcPort 1 + DstBlock " SFunction " + DstPort 1 + } + Line { + ZOrder 363 + SrcBlock "Kp_pc" + SrcPort 1 + DstBlock " SFunction " + DstPort 2 + } + Line { + ZOrder 364 + SrcBlock "Ki_pc" + SrcPort 1 + DstBlock " SFunction " + DstPort 3 + } + Line { + ZOrder 365 + SrcBlock "PC_beta" + SrcPort 1 + DstBlock " SFunction " + DstPort 4 + } + Line { + Name "Ki" + ZOrder 366 + Labels [0, 0] + SrcBlock " SFunction " + SrcPort 2 + DstBlock "Ki" + DstPort 1 + } + Line { + Name "Kp" + ZOrder 367 + Labels [0, 0] + SrcBlock " SFunction " + SrcPort 3 + DstBlock "Kp" + DstPort 1 + } + Line { + ZOrder 368 + SrcBlock " Demux " + SrcPort 1 + DstBlock " Terminator " + DstPort 1 + } + Line { + ZOrder 369 + SrcBlock " SFunction " + SrcPort 1 + DstBlock " Demux " + DstPort 1 + } + } + } + Block { + BlockType Scope + Name "Scope" + SID "813" + Ports [2] + Position [20, 256, 50, 289] + ZOrder 365 + Commented "on" + ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr." + "Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources" + "','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Domain',true,'S" + "erializedDisplays',{struct('MinYLimReal','-15.34195','MaxYLimReal','161.74389','YLabelReal','','MinYLimMag','0.0000" + "0','MaxYLimMag','161.74389','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 " + "0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0" + ".0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.07" + "45098039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863]" + ",'Title','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',2,'LineNames',{{'Sum" + "3','GenSpeedF'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-15.34195','Max" + "YLimReal','161.74389','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','161.74389','LegendVisibility','off','XGr" + "id',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922" + " 0.686274509803922],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0" + ".0666666666666667;0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.05" + "88235294117647 1 1;1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true),e" + "xtmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','Position',[1 1 441 373],'Vis" + "ibleAtModelOpen','on')" + NumInputPorts "2" + Floating off + } + Block { + BlockType Scope + Name "Scope1" + SID "413" + Ports [1] + Position [815, 289, 845, 321] + ZOrder 316 + Commented "on" + ScopeSpecificationString "Simulink.scopes.TimeScopeBlockCfg('CurrentConfiguration', extmgr.ConfigurationSet(extmgr." + "Configuration('Core','General UI',true),extmgr.Configuration('Core','Source UI',true),extmgr.Configuration('Sources" + "','WiredSimulink',true,'DataLoggingVariableName','ScopeData1'),extmgr.Configuration('Visuals','Time Domain',true,'S" + "erializedDisplays',{struct('MinYLimReal','-0.02964','MaxYLimReal','0.31037','YLabelReal','','MinYLimMag','0.00000'," + "'MaxYLimMag','0.31037','LegendVisibility','off','XGrid',true,'YGrid',true,'PlotMagPhase',false,'AxesColor',[0 0 0]," + "'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922],'ColorOrder',[1 1 0.0666666666666667;0.0745" + "098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;0.392156862745098 0.831372549019608 0.0745098" + "039215686;0.717647058823529 0.274509803921569 1;0.0588235294117647 1 1;1 0.0745098039215686 0.650980392156863],'Tit" + "le','%','LinePropertiesCache',{{}},'UserDefinedChannelNames',{{}},'NumLines',1,'LineNames',{{'Integral" + "'}},'ShowContent',true,'Placement',1)},'DisplayPropertyDefaults',struct('MinYLimReal','-0.02964','MaxYLimReal','0.3" + "1037','YLabelReal','','MinYLimMag','0.00000','MaxYLimMag','0.31037','LegendVisibility','off','XGrid',true,'YGrid',t" + "rue,'PlotMagPhase',false,'AxesColor',[0 0 0],'AxesTickColor',[0.686274509803922 0.686274509803922 0.686274509803922" + "],'ColorOrder',[0.0745098039215686 0.623529411764706 1;1 0.411764705882353 0.16078431372549;1 1 0.0666666666666667;" + "0.717647058823529 0.274509803921569 1;0.392156862745098 0.831372549019608 0.0745098039215686;0.0588235294117647 1 1" + ";1 0.0745098039215686 0.650980392156863])),extmgr.Configuration('Tools','Plot Navigation',true,'OnceAtStop',false,'" + "PreviousZoomMode','ZoomX'),extmgr.Configuration('Tools','Measurements',true,'Version','2018b')),'Version','2018b','" + "Position',[1 1 441 373],'VisibleAtModelOpen','on')" + NumInputPorts "1" + Floating off + } + Block { + BlockType Sum + Name "Sum" + SID "402" + Ports [2, 1] + Position [135, 334, 175, 421] + ZOrder 251 + ShowName off + Inputs "+-" + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + SaturateOnIntegerOverflow off + } + Block { + BlockType Sum + Name "Sum1" + SID "403" + Ports [2, 1] + Position [850, 385, 870, 405] + ZOrder 279 + ShowName off + IconShape "round" + Inputs "|++" + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + SaturateOnIntegerOverflow off + } + Block { + BlockType Sum + Name "Sum3" + SID "656" + Ports [2, 1] + Position [-230, 345, -210, 365] + ZOrder 354 + ShowName off + IconShape "round" + Inputs "-+|" + InputSameDT off + OutDataTypeStr "Inherit: Inherit via internal rule" + SaturateOnIntegerOverflow off + } + Block { + BlockType ToWorkspace + Name "To Workspace" + SID "412" + Ports [1] + Position [380, 260, 440, 290] + ZOrder 315 + BackgroundColor "[1.000000, 0.411765, 0.160784]" + VariableName "SpdErr" + MaxDataPoints "inf" + SaveFormat "Timeseries" + Save2DSignal "3-D array (concatenate along third dimension)" + FixptAsFi on + SampleTime "-1" + } + Block { + BlockType ToWorkspace + Name "To 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[36, 0] + Branch { + ZOrder 242 + Points [0, -90] + DstBlock "Scope1" + DstPort 1 + } + Branch { + ZOrder 241 + DstBlock "Sum1" + DstPort 1 + } + } + Line { + ZOrder 4 + SrcBlock "Pitch GS" + SrcPort 1 + Points [62, 0; 0, -20] + Branch { + ZOrder 335 + Points [87, 0; 0, 80] + DstBlock "Mux" + DstPort 3 + } + Branch { + ZOrder 281 + Points [0, -105] + DstBlock "Integral" + DstPort 2 + } + } + Line { + ZOrder 7 + SrcBlock "Pitch GS" + SrcPort 2 + Points [105, 0; 0, -55] + Branch { + ZOrder 337 + Points [73, 0; 0, 80] + DstBlock "Mux" + DstPort 4 + } + Branch { + ZOrder 330 + Points [0, -50] + DstBlock "Multiply" + DstPort 2 + } + } + Line { + ZOrder 10 + SrcBlock "Mux" + SrcPort 1 + Points [3, 0; 0, 10] + DstBlock "To Workspace1" + DstPort 1 + } + Line { + ZOrder 490 + SrcBlock "Sum1" + SrcPort 1 + Points [219, 0] + Branch { + ZOrder 494 + Points [0, 365] + DstBlock "Delay" + DstPort 1 + } + Branch { + ZOrder 493 + DstBlock "BldPitch" + DstPort 1 + } + } + Line { + ZOrder 378 + SrcBlock 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455 + SrcBlock "omega_g,ref" + SrcPort 1 + DstBlock "Sum3" + DstPort 2 + } + Line { + ZOrder 456 + SrcBlock "Constant1" + SrcPort 1 + DstBlock "Pitch GS" + DstPort 2 + } + Line { + ZOrder 457 + SrcBlock "Constant2" + SrcPort 1 + DstBlock "Pitch GS" + DstPort 3 + } + Line { + ZOrder 458 + SrcBlock "Constant3" + SrcPort 1 + DstBlock "Pitch GS" + DstPort 4 + } + Line { + ZOrder 495 + SrcBlock "Delay" + SrcPort 1 + Points [-209, 0; 0, -250] + DstBlock "Pitch GS" + DstPort 1 + } + Line { + ZOrder 512 + SrcBlock "Min Pitch" + SrcPort 1 + Points [132, 0; 0, -108; 687, 0; 0, -67] + DstBlock "Integral" + DstPort 3 + } + Line { + ZOrder 542 + SrcBlock "Sum" + SrcPort 1 + Points [172, 0] + Branch { + ZOrder 42 + Points [0, -105] + DstBlock "To Workspace" + DstPort 1 + } + Branch { + ZOrder 41 + Points [98, 0] + Branch { + ZOrder 26 + Points [0, 75; 312, 0] + Branch { + ZOrder 336 + Points [0, 105] + DstBlock "Mux" + DstPort 2 + } + Branch { + ZOrder 331 + DstBlock "Multiply" + DstPort 1 + } + } + 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fq_0psd_0fq_1psd_1fq_2psd_2
00.0000001.671551e+100.0000001.965097e+100.0000001.081063e+10
10.0001536.689014e+090.0001537.170768e+090.0001533.754186e+09
20.0003053.124308e+070.0003051.730212e+060.0003054.290867e+06
30.0004584.563406e+070.0004586.438544e+060.0004581.180544e+06
40.0006103.262825e+070.0006104.078779e+060.0006107.362297e+05
.....................
26214039.9993909.375684e-0539.9993902.434349e-0439.9993901.894379e-04
26214139.9995421.289097e-0539.9995428.927871e-0539.9995423.235635e-04
26214239.9996955.578019e-0539.9996956.308301e-0539.9996952.832569e-05
26214339.9998476.688827e-0539.9998479.410833e-0539.9998474.557659e-05
26214440.0000006.043648e-0740.0000005.951048e-0540.0000004.245373e-05
\n", + "

262145 rows × 6 columns

\n", + "" + ], + "text/plain": [ + " fq_0 psd_0 fq_1 psd_1 fq_2 \\\n", + "0 0.000000 1.671551e+10 0.000000 1.965097e+10 0.000000 \n", + "1 0.000153 6.689014e+09 0.000153 7.170768e+09 0.000153 \n", + "2 0.000305 3.124308e+07 0.000305 1.730212e+06 0.000305 \n", + "3 0.000458 4.563406e+07 0.000458 6.438544e+06 0.000458 \n", + "4 0.000610 3.262825e+07 0.000610 4.078779e+06 0.000610 \n", + "... ... ... ... ... ... \n", + "262140 39.999390 9.375684e-05 39.999390 2.434349e-04 39.999390 \n", + "262141 39.999542 1.289097e-05 39.999542 8.927871e-05 39.999542 \n", + "262142 39.999695 5.578019e-05 39.999695 6.308301e-05 39.999695 \n", + "262143 39.999847 6.688827e-05 39.999847 9.410833e-05 39.999847 \n", + "262144 40.000000 6.043648e-07 40.000000 5.951048e-05 40.000000 \n", + "\n", + " psd_2 \n", + "0 1.081063e+10 \n", + "1 3.754186e+09 \n", + "2 4.290867e+06 \n", + "3 1.180544e+06 \n", + "4 7.362297e+05 \n", + "... ... \n", + "262140 1.894379e-04 \n", + "262141 3.235635e-04 \n", + "262142 2.832569e-05 \n", + "262143 4.557659e-05 \n", + "262144 4.245373e-05 \n", + "\n", + "[262145 rows x 6 columns]" + ] + }, + "execution_count": 28, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "# plot thrust spectra\n", + "\n", + "df = pd.DataFrame()\n", + "\n", + "for i in range(3):\n", + " fq, y, _ = spectral.fft_wrap(\n", + " fast_out[i]['Time'], fast_out[i]['RotThrust'], averaging='Welch', averaging_window='Hamming', output_type='psd')\n", + "\n", + " plt.plot(fq,np.sqrt(y))\n", + " \n", + " df['fq_'+str(i)] = fq\n", + " df['psd_'+str(i)] = y\n", + " \n", + "# fq, y, _ = spectral.fft_wrap(\n", + "# fast_out[i]['Time'], fast_out[i]['RtVAvgxh'], averaging='Welch', averaging_window='Hamming', output_type='psd')\n", + "\n", + "# plt.plot(fq,np.sqrt(y))\n", + " \n", + "# fq, y, _ = spectral.fft_wrap(\n", + "# fast_out[i]['Time'], fast_out[i]['Wind1VelX'], averaging='Welch', averaging_window='Hamming', output_type='psd')\n", + "\n", + "# plt.plot(fq,np.sqrt(y))\n", + " \n", + " \n", + " \n", + " \n", + " \n", + "plt.yscale('log')\n", + "plt.xscale('log')\n", + "\n", + "plt.xlim([1e-2,10])\n", + "plt.grid('True')\n", + "\n", + "plt.xlabel('Freq. (Hz)')\n", + "plt.ylabel('PSD')\n", + "\n", + "\n", + "df.to_pickle('/Users/dzalkind/Tools/RAFT/designs/rotors/thrust_psd.p')\n", + "df" + ] + }, + { + "cell_type": "code", + "execution_count": 27, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "{'Time': array([0.00000e+00, 1.30000e-02, 2.50000e-02, ..., 7.99975e+02,\n", + " 7.99987e+02, 8.00000e+02]),\n", + " 'FA_AccF': array([ 0.000e+00, 1.264e-23, -8.574e-23, ..., -9.656e-17, -9.670e-17,\n", + " -9.684e-17]),\n", + " 'FA_AccR': array([-0.000e+00, 7.226e-18, -7.774e-17, ..., -3.648e-17, 2.417e-17,\n", + " 2.873e-17]),\n", + " 'RotSpeed': array([0.6132, 0.6131, 0.613 , ..., 0.5879, 0.5878, 0.5878]),\n", + " 'RotSpeedF': array([0.6132, 0.6132, 0.6132, ..., 0.5932, 0.5932, 0.5931]),\n", + " 'GenSpeed': array([0.6132, 0.6131, 0.613 , ..., 0.5879, 0.5878, 0.5878]),\n", + " 'GenSpeedF': array([0.6132, 0.6132, 0.6132, ..., 0.5932, 0.5932, 0.5931]),\n", + " 'FA_Acc': array([0., 0., 0., ..., 0., 0., 0.]),\n", + " 'Fl_Pitcom': array([-0.000e+00, 1.481e-24, -8.567e-24, ..., 4.151e-13, 4.151e-13,\n", + " 4.151e-13]),\n", + " 'PC_MinPit': array([0., 0., 0., ..., 0., 0., 0.]),\n", + " 'SS_dOmF': array([-0.0007917, -0.0007917, -0.0007901, ..., -0.0004443, -0.0004443,\n", + " -0.0004444]),\n", + " 'WE_Vw': array([8.963, 8.963, 8.963, ..., 7.916, 7.916, 7.916]),\n", + " 'WE_b': array([0.000e+00, 0.000e+00, 2.101e-28, ..., 2.392e-11, 2.392e-11,\n", + " 2.392e-11]),\n", + " 'WE_t': array([13140000., 13140000., 13140000., ..., 11480000., 11470000.,\n", + " 11470000.]),\n", + " 'WE_w': array([0.6132, 0.6132, 0.6132, ..., 0.5932, 0.5932, 0.5931]),\n", + " 'WE_Vm': array([8.963, 8.963, 8.963, ..., 7.981, 7.98 , 7.98 ]),\n", + " 'WE_Vt': array([ 0.000e+00, -2.132e-13, -8.994e-09, ..., -6.438e-02, -6.455e-02,\n", + " -6.472e-02]),\n", + " 'WE_lambda': array([8.21 , 8.209, 8.208, ..., 8.911, 8.911, 8.91 ]),\n", + " 'WE_Cp': array([0.25 , 0.4574, 0.4574, ..., 0.4622, 0.4622, 0.4622]),\n", + " 'meta': {'name': 'iea15mw_0.RO',\n", + " 'description': [' Generated on 22-Jun-2021 at 17:43:27 using ROSCO-v2.1.1-43-g22b65089\\n'],\n", + " 'channels': ['Time',\n", + " 'FA_AccF',\n", + " 'FA_AccR',\n", + " 'RotSpeed',\n", + " 'RotSpeedF',\n", + " 'GenSpeed',\n", + " 'GenSpeedF',\n", + " 'FA_Acc',\n", + " 'Fl_Pitcom',\n", + " 'PC_MinPit',\n", + " 'SS_dOmF',\n", + " 'WE_Vw',\n", + " 'WE_b',\n", + " 'WE_t',\n", + " 'WE_w',\n", + " 'WE_Vm',\n", + " 'WE_Vt',\n", + " 'WE_lambda',\n", + " 'WE_Cp'],\n", + " 'attribute_units': ['sec',\n", + " 'm/s',\n", + " 'rad/s^2',\n", + " 'rad/s',\n", + " 'rad/s',\n", + " 'rad/s',\n", + " 'rad/s',\n", + " 'm/s^2',\n", + " 'rad',\n", + " 'rad',\n", + " 'rad/s',\n", + " 'rad',\n", + " 'deg',\n", + " 'Nm',\n", + " 'rad/s',\n", + " 'm/s',\n", + " 'm/s',\n", + " 'rad/s',\n", + " '-'],\n", + " 'filename': '/Users/dzalkind/Tools/WEIS-3/results/UMaine-Semi/DISCON/IB_NTM_Raft/iea15mw_0.RO.dbg'}}" + ] + }, + "execution_count": 27, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "fast_out[3]" + ] + }, + { + "cell_type": "code", + "execution_count": 11, + "metadata": {}, + "outputs": [ + { + "name": "stdout", + "output_type": "stream", + "text": [ + "(PtfmYaw,0) max period = 150.00041666666667\n", + "(PtfmYaw,1) max period = 85.71452380952381\n" + ] + }, + { + "data": { + "image/png": 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\n", + "text/plain": [ + "
" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "# Plot Spectral\n", + "\n", + "_,_,max_periods = op.plot_spectral(fast_out,[('PtfmYaw',0),('PtfmYaw',1)],showplot=False,detrend=True)\n", + "yaw_fast = fast_out[0]['PtfmYaw']\n", + "std_yaw_fast = np.std(yaw_fast)\n", + "amp = std_yaw_fast * np.sqrt(2)\n", + "\n", + "\n", + "\n", + "\n", + "# save_yaml(dir_matrix, 'case_matrix.yaml', matrix_out_yaml)\n", + "\n", + "# op" + ] + }, + { + "cell_type": "code", + "execution_count": 48, + "metadata": {}, + "outputs": [], + "source": [ + "# ret" + ] + }, + { + "cell_type": "code", + "execution_count": 49, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "94.73684210526316" + ] + }, + "execution_count": 49, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "1/2e-3\n", + "\n", + "3600/38\n" + ] + }, + { + "cell_type": "code", + "execution_count": 50, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "1.9752718440907233" + ] + }, + "execution_count": 50, + "metadata": {}, + "output_type": "execute_result" + }, + { + "data": { + "image/png": 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Di+yjbUMoYpGqaDzEKllWVLJAl4rAJyhcMKjDGWErRINSWlJKvx7AMwDeSwj5ao3ND1BK30Mpfc+1a9e28WsdHkOc8JLj8ySQrhN7otEt2OXk4ouJWyecaOzGynvw4NWptCgR+gS+R5Q6Gg+vSpYWVSc+A2AxGk7RcDgrbDXrhFJ6COAXAfyebV7XwUFAEI0dRdE4sYrR0GWd+E7RuKC4zYnGtZ14lAtt21AJrHDNPczvVFZ2lT2AEw0XDOpwRthG1sk1Qsg+//MEwHcA+Oz9XtfBQQexmcyToO6WaSFVp4WpYNfDe/p0MOOAZ5lcnkaYRfbK1rahpk1fhPTWrKg6gaAAq6WRP8TjdrjY2EZTtacA/BAhxAcjLj9KKf3pLVzXwaGDxaaAR4BJyFq+s1oY/WShKCsUFdVknXjIS3ouQYQO94ejNYvV2Z2Eo1xo2wbLZmIbt9jAH2aikZdm10lRPbzjdrjY2EbWyccBfMMWxuLgMIhFWmAeByCEEYMk9LEZIBqiVkZbMhYLblZWSDy/8+8cHl4cr3PEgYck9M/fdcLrZxBCHnqVLDPEaAS+55qqOZwZXGVQhwuFk02BnSSU/x0H3qDrpK7e2E3pAx7uE6iDHkfrHHsT9h7MRvS82TbaFWcf9mqzJqIR+cQ1VXM4Mzii4XChsEhzeYIFuKIxcIKsqze2s04e/iwBBz1UolErGueRdVK1iIb/UFebzUp9jEbguawTh7ODIxoOFwqLtJB1EwAgCYdPkGr1RhUxX3DPM8W1rCi+eHsxbOjQQFPROO8YjZrAPuyKhjG9lccrOTicBRzRcLhQWGyK0ysarWBQGaNxjkTjfe//En7H//hL+PQbx+c2hosIlWhMI/ZcV+eVdRK2XCdnqJC9cbjG9/7UpwbjkkxgrpNuPFLouRLkDmcHRzQcLhRO2opGMBwMaozRUIJBzws//fEbAICPvHpwbmO4iFCJhsw+OoeNsu06ic54HH/xZz6Dv/eBl/DCS6d7X1JjeqvLOnE4Ozii4XChcLIpsKsQjTgcXtil66RVR+NhKBktTpGfueEUjTE4WuXYndRBwUl4PsXX2hVn4zMex4u3lwCAz755uvclLUpZf0ZFGHiuBLnDmcERDYcLhbbrJPKHy4gPuk7OUdEQhadEpUuHYZQVxUlaSEUDENlH51OCvJ11kp2h60S8q6eN60nzCklocJ24YFCHM4IjGg4XBkVZYZ2XmMf1BhMFNkRDHwwanXMwKKVUtr0/XOXnMoaLiGNerKtBNCyUrbNAmleaGI2zGQelFDcO1wCAu4vsVNfY5AZFw3eKhsPZwRENhwuDZcYIg6ibALAFcugkJmM0NCXIgfMjGquslGMXlS4dhnGkIxqBfy5pyh3XyRlmnayyUn4D95b3QTQ0waCBT1x6q8OZwRENhwsDIY1PonqhjAJvsEeDyXVy3t021c3CKRr20BENmzTns0DXdXJ2hOd4U78jh6ckppvC4DqxIOwOTdxbZlidQ5G4iwhHNBwuDFb8NDdtEY1BRcPkOjnnJliCXLz96gyH69OdUB9HSKIxbSsaD/Y5Uko1BbvOznUiOhfPIv9UNUPyskJZUa3rJHLBoKNQVRS/6/t+CX/2xz5+3kO5EHBEw+HCQJweJsqJLPJtsk706a3xObtO7vFA0LddnWGTV+cSzHgRoXedPPhg0LykoLRZcfYsY0VEbMqTe8mp+rqI+6NTNALPuU7G4ObJBncWGf7FJ26c91AuBBzRcLgwWGfCdaKkt9oEg8oYjYcr6+SES+HPXp4CcHEatjARjQetaOiUsjjwz4y4CtfJ0/sTLNMClI5TIDaG7wAQdTTo6Gs+rnj13vq8h3Ch4IiGw4VBn+ukb4E0liB/CIJBAeCpvQSAi9OwxcMSDKpTys6ye+vxmqkYT+0lqCgGmwm2IRUNXVM1/neuDLkd1HR0p0QOwxENhwuDtQgGbblOKAWKqo9oVPAIk4dVnHeMhlBontqfAAAOVy5OwwZH6xxJ6DVcAMk5pLfqgoyFsnIWyoBQNJ7aY+/LWPeJIEAm1wkA5z6xhBojc9oMoMcJjmg4XBisNYpGaKFKiBREQlpE45zraAhF42muaDjXiR3uLTNcmkaNv4sD/4FnnaR5t+JsHAwT39NCxGg8vc/el7EBoRtDKX6AuU4AuIBQS6gkTwTpOpjhiIbDhcEq06S3+kLy7SEaedmpoQEAge/BI+dHNNZZAUKAJ3ad62QMDlcZ9ttEI/QGm+ttGzrXSZ0yvf136iQtEAWenPtYRaMvGDT0GQl3Ka52UEne0qW4DsIRDYcLA5F1Mg2VEuTWiob+VY8D/9wW11VWYhL6Mk1TrZPgYMbBKsclJbUVOJ/27DrXiXTHnYHffp2VmEW+LMF/WkXDVEcDcK4TWywUcrFKXYzGEBzRcLgwMBXsAvpPkO3qjSqiwDuTTcEGq7zENPIx41k0p0lZfBxxsOq6TqLAe+CbpHSdtOpoAGejaCzTEtMowEwQjZEn6VrRcK6T+4VTNMbBEQ2HC4NVViLwiCQXgJI50uc6aVVvVGFT8OussM5KJKEP3yOYRb7z9VricJVjv6VoiPTM6gxiI0yQioYaoxGeXdzPOi8wjXzMeQn+5ciT9KYvGNS5TkZBvfeuOugwHNFwuDAQrgYVNgGd7cZX7X9/Xlknq6yQga3zJMDCEY1BVBXFoUbRkNJ/9eCepT7r5OxiNJii4deKxmldJxp1zybWyaHGIi1wecbeQRE75mCGIxoOFwbrrGy4TYAxMRp610kcDhf8OiusslIWH5vHgXOdWOBkU6CiwKVZy3UiN8oHqWh0XSdiHGdRS4MR00DGKI3d4JzrZHtYpgWu78QAXIyGDRzRcLgwWPOYBhVigTy16+QcFY11VmLKFZqdJMSJIxqDOOC1RtrBoCJrYqjB3jYhK84GzRLkwNkoGqusxCz25e8Ym2Wzkem4znVyv1imBa5xouEOCMNwRMPhwkBVAARkRcNTZ52cr6IhiNNOEsiS5A5m1ESj5ToJHrz0r43R4KTjLN4p8f6Ld3lsZVAxXm1TNaloOKJhg2VWYh4HiIIHn1Z9EeGIhsOFwTovMGktkjLrpLeORn/WybnV0chrV9A8djEaNhBEQxcMCtidyH/1S3dxtIWaJfpeJ2fnOlmmBWYRKzwXn6LUeZqXIKQmFSqCc3A9XWSkBQvkPo+06osIRzQcLgyYAtBSNGyCQQt9wS7gfOtopHkpMwBcjIYdDpaMIHTSWy03ys+9eYLv/IFfxXf/0K/f91j662icQdaJEqOUhOMroW6KCommQi6guJ6comGFNK+QhN65rh8XCY5oOFwY6IJBbRqj9blOzrIJ1hCyksqTuMs6sYPRdWKZNfHinQUA4IWXD+57LGKj16Vbn0WMxjqvs67iwBvdzGuZFp0YJ4FHqWDXr3zxLu4u0mHD+4AIMHeKhh0c0XC4MNAFg95v1knkn5/rJFOCVHeSEIuseKB1IC4iDlc5PMJiWlTIEtoDz/K1A9beW+c+GIu0KBH6BL7SrE8EWm77nSoriqKi8n1PQv9UREOkxrYRPiKuk1fvrfBdf+dX8Sd/5KNn+ns2Oft2T+PCehzhiIbDhYGujoZV1kk+ULDrnIhGXlK5Qe7EASh1VQaHIKqCeq1OvLbBoHeVTpv322FVR2DPKkYja7lpktAbHQy6SMseovFouE5+4TM3AQAfffXwzH4HpVSqpOe5flwkOKLhcGHQV0ejt6laYS7YdZ5ZJ1lZyfHPE1eG3Aa6qqCAfYyG6ICalRXW91l6Xpc2bVMS/zQQ76iqaIwlM8u0kFVF23hUXCe/9tI9AOx+nZU6KA41sQgGdURjEI5oOFwIUEoblTQFhlwnRVmhqGh/r5NzWCjKiqKslBgNftJ0Zcj7oetzAthvlOr9PVrfX+YJy2ZqLqFnFaORloxUiPedxWiM+x3LrJDvWRuPiuvkjcMNAEYGDu/z+Zqgdu2Ng/GE73GEIxoOFwJZWaGiMGadmBZ2efp4yFwnYkNsKxqulkY/DlZ5p0U8YN/mXO2Qe3ifKa5MKdOXxD8rRSP2lRiNkRvcYtMXo8HuX/EAS7ifBW4eb6R79fbJ2QSEykJtoX+ulYUvEhzRcLgQWPNyy2N7ndTVG3uyTs5BLhYbohj/rnSduNNRHw6WWacqKKCcyAcW/ZNNAZHded+KhsZ1ctoaF8O/q0lM48A/RYyGWdEILNLEH3ZUFcWtkxRf85Y9AGdINJT6KedZWfgiwRENhwsB0dehHaPheQShT4wn2bp6o6HXSeAjK6r7Dgwci7bPfR6zzdMpGv04WGWdPieAGqszHKPx7KUpgO0oGpGGwEZnkPKYFU3CnISebFNvi76sk/PoFbNt3FmmKCuKdz+9CwC4vdicye9puE5CRzRs4IiGw4WAIBq6OgB9Kaq66o0qbNrMnwWE60ScxEW6pqulYcYyLZAWleyaqWJMjMazlycA6sDQ00IXowGA++3PPhh0THprVVEss+Gsk4tcglwQx7ddnQE4u3gn2TMm8F2MhiXum2gQQp4lhPxbQshnCCGfIoT8yW0MzMFBhfi4264TgKU2molGt3qjCpvKomcBuXH47RgNRzRMuHnMTqiia6aKMTEaUtFYZ722Q2Cuk+57dRauk6xsu07GnaRX/PsxZZ2IWiAXOetEqIFP7SX8v8/mW1J73Jxn1tpFwjYUjQLAn6GUfiWAbwbwxwkh797CdR0cJGpFo3sii3zPuEDaxGgAD55oSEVDuE4iFww6hFvc5/7EbtL5WWShaBRlhVVW4km+Ed1vPIyp4uxZBAi2ielYRWPJ06ZNigYhhCmDF9h1IojFlXmM0CdnliqurinnlbV20XDfRINSeoNS+mH+5xMAnwHwlvu9roODihUvZDWJ9D7xQddJTx0N4MG7TtLWxuF5BPM4cK3ie9CnaAQWwaBreaoPeMGrLRANQyfUrae3Fs301iT0sBnxO8QmbAoGBZgqdJFdJ2KOu0lwpk0Ka3esK0Fui63GaBBCngfwDQA+uM3rngplAYwJ8KtGLjplPu76Y8fzMNqPwZbHU2edBB37vswRKXN6VHt9YxOsqgTGpPpV1ah3KC9KeKgQBXWFS9Yq3nCfq+pMx/Nw2jfnK7IIru90FY3Qo/BQ9QYzCqIRhz6moY91OiIrQTMeo+sk9Fmg5phvhtJe+05lUN8DrUprV8dyk8NH2Us0AlUZHBhPB5SOe75jrw8M2otvZycJMU8CrDYjg0EtxyPWlMSvxjVV2/J879v+AWJrRIMQMgfwTwD8KUrpsebn30MIeYEQ8sLt27e39Wv1yFbA//S1wL/9i3b2RQb8/74J+Nffa2mfAt//DcDP/3k7+zIH/udvBH7u/21pXwB/45uAn/1zdvZVCfwv3wL8zH9pZ08ps/8Xf9re/m99G/BTI8JvfuC3Av/8j9vb/+BvB/7pHzP+WGwSMhj0fb8T+InvAWAXDPpVP/edwI/9kc7PI5Oi8UO/H/jRP2w//n/wB4Af+YPW5m/72T+M94V/BZFfb1Q7fY3Vfvg/A/7R/9Z+PD/yB4H/9Q/Y2//oH2ZztsWP/xHg7/1v7O3/yXcDf/d329v/0+8B3vcdjb+6dZIiCjzsTrqb5fRn/gR+MvpvkPXERggyOQl9fC/5W/gvPvtH7cnwT/8p9g0o9uZgUA9/6O73A3/zm+3J4c/+OfbNGzbrdnrrb335+/Bvoj+DjSVZuvwrfxG/FP8/sN8VgyRC30Muqmn+wvcC/9PXsbXRBv/m/wv89a8BcsvN/Zf+B+D7voqt1Tb4d38F+GtfAaQLo8kiZW7HeRLgj9J/jv/28/8JsOlsRXp84PuBv/pOYHM0aJoWFf7P/s/iK/7BN2KHnrA+NENk44M/APzltwPLu3bj+fUfBP7y24CF5V75wt9j9idv2tk/YGyFaBBCQjCS8Y8opT+hs6GU/gCl9D2U0vdcu3ZtG7/WjNufBY5fZy+nDW5+Arj3ReD9f83O/u4XgaNXgV/+n+3s770IHL4M/OrfsLM/fBm49yXg1/62pf0rwJ3Ps5fTBgcvMfsX/q6d/dFr7J5+6O9b2r/O7ulH/5Gd/clN4MbHgI//iNGkkXWyvAu88WHgEz8KgC2+pg89zSvsYYHZrQ8Bn/5nnY1FnBAbRGVzBLz8AeCzP223EaUL4MV/B3z+X9ptLNkKezfej9/mfwwhqe2Z60QTo1GkwBd+Hvjiv2GkdQhlDnz+Z4GX/j37t4P2BZvryx8A8vWwfVUBn/7nwKu/2rvwS1AKfOongNd+3WohB6XAJ34MeP1DwOqe/Otbxxtc34m1bc79T/wIvtp7CcHGvJALspqEHn5/+Qt4Ov2S/cL84R8Cbn2afQscxhiNwMPvWv00cPc3gKNX7K7/a3+bffMHL2l/3E5v/ZpXfxjPezeR3/qC1eWf/czfwTPkDq6lLxttQp/Urqf3fx9wzL97G/z7v8rW3FuftrP/xb8ELN4Ebn7Kzv7f/EVgeRt48xNGk5NNAY8As8jHH1r/MHaqY+DNj9td/9/9FWB9ALzx0UHTNC/xx4N/Bj89xDOrz7C/G3Jjvf/7gPSIvdM2+MD3A+kx8PoLdva/8jeY/au/Zmf/gLGNrBMC4H0APkMptdypzxiHlh+3wFgWeO+LZ2z/Yv1nm43uUFk8bOyVxdJq41Lvp83GpV7fZuNS7Q0bl3CdJJHfXLw3R+wkZpDM06LC00TZfNbN9uDa3hTHN+o/Ly1OFOr7s7g5bL+o7WfZLfnnnSTUKxrqNdV7ZYI6Zhv7lXJ/bL4d9R4emjcuCZVcGDbSBtITrf3tRYprmvgM9VQ8W71qHoZQxTxFNbAZj/qNKPNNi1JbnyVR/8rm+uo3e/Ci1qSRdaLYVzbXV7Cf3jD+LNQFVY+8vtX7cCp7Omh/smEFyQghiMCVmAPL62cL6/FsigoTfv3LGbufg8G/+cr6+gCAgitDtuMv03HXf8DYhqLxbQD+MIDfTgj5KP/fCE31DHCkLDY2fsMT5eOzkf7UjcVm4z1+o/5ztrSwVzfeE7OdgLqZtDZSLdSNyMZ+dUf58z2znc5+ecdsp7XXb+xS0Qj9pvy4vDNQsKvEZaLIp63ra9NbVRsbotGwv2W2kzb1fCdZfT/nphiNxvUt7qdqv7AZz33YW92f4efbgOH9uX2SagNBVfs4Nb+fgqzuVArxsRqPck1ur3bwbOOyr7gDbJ6XSsQM9sLtE/levSkCqE4snpdC9meF+XsPfcJcJ6q7xOb+qLEBNvOtDN+aCSoR67E/2RTYScKWvcX9AQDC2aHF+5/mJSowVU3cT+vgX5vvCwAov57t+MUzsLmf54BtZJ28n1JKKKVfSyn9ev6/n9nG4E4NdfO0efFV4rA5HLa3WBi2Z2/x4qjztXmR1ROsFXFQFQELe3WOW7Jf5yUi32PZBa3xa09iHGlR4QpOGvYqakVDIaRjiZX6jKzs6+snef2sdxND1sly7P1XieRIYnjWxHNlQ4T18711YlA0lPsZZofGy4osjVmh2Fjdn+73UlQUlOrTpq+qxHbs92WwrzuGNt9/OvJ98zd9RMNjrpOx37v6ztiMR11jbexTu/t5sslZ4Tv1MGdz/XwNVFy1snj/8yzFnLAD6bRkY+utm1KV9Zpucz+rqh63zfdIaf2N2cz3HPBoVgZVA4BsfMLqw7Sxb3woI4mDlb36YVkED6mqhw1RWo7cWJZjicnY6w8rLOusqMuPr5rEpDcYNK+aikbr+rGujsbY+3Mf842UjXEeB/o6GmMVqKXZVaS3H0sMx47n/u9nWpQ4XOXajBP1G4ky8/crFI0m0Rg7nnt8POZCcJeJ8j1u6f406miMfr52z0sS9ob94fD1NfdnG+Op7e3eH+E6Gf89jrP3lDkmBXvfel0nq3uQrh+b8WwOAVoq/3YA6TFQZvbXPwc8mkRDZcA2rgc1LsDmw1KJg01Us2pvM57R9iPnO3ZhWI1c2NSPw8peJTJ6+1VW1lVBW+PpVzRKXOpZ+LV1NEbP9/T2oaJo7CQhNnnVncsDHM/Z2N/H+8bfpTsLtpBqFQ3FXlWI2hAxGkk+8gTemO8hAMg+I7o6GvtQie1YYm5QNIoKHkFX0bO6vt33GPoERUXvU/E8v/dtkRZM0VDsKxsFbeR4AsU9FxdC0egjGg/y/hwO258DHk2i0dh4LYiA4vO0UzQUm8wi6r5BfEbaj76+xXzTkfMdq5io9jYvfuP+6+1XeVmntrauHwX9waA7UOJuWtfXVga1GE8DqlQ70j7M6udl7HeiXt/qfo61H0m0x853C++bqKFxba4hGop9VJiJtiQalRJDMXY8gmi0skBUzBvvm831h+9PVioN3JRvnNhcP7P7HgOhDI5dD8d+7+nY78vOfpkWmMZN10lpQzRGfi9eXttHuYXr5H6+x7NYf84BjybRSE+AeK/+s4395BL7s82DWh/W9jbEYXMEJPv24zmNvZyvxXjyJTC9yv5sE5yaLRR7i7z3fAVMr9R/Hrz+sP06K2vXSaaMP18i7K2jUWHuZfX1W+PXZp1kK2ByWWtvHH+yBxDP+v5k/gwpDeCXdaCeKKbUKZ2cL4Fwyv6XWzyvfAn4ERDt2N9/4rE52NoD7B7Zvg8AewZW7xu3mV6V1z9Y8ij/ebehmrA/IHsIKnOWk0hvDUtGBO7R/vvzLz95A7/8hTvN8fD73+c6mXH/PZ1etZuveKbTK8b7mRWVDFwW17xDd0FGPK+F3/98I99jikamPC+b961xf2zeh+H5Nq+vvj9m+7SokAS+tLlLd1BZ3f9x8yWKfcC/397qoOp8x3xfo++P5ft2DnhEicYRsMeroNts1NkC2Hmq/vMQNkfA7jPc3pII7Al7m+sf1/a2Csio+a6AGa9lYvshzq/zP9ssPGOvP0x81pmiaGRLYHqZRYpnK0QB6el1UmLupUC8yzbf1v3X1tHIlkA8Zxu7zfPKlkA0Z/+zJG65P8EaMYKiXkh2EtYq/rgdp5EpRMN2ow6nQDSzH384GzV+hFN2j2zH40eMyNi+b8RnZJ6/bwcrRjQuTTVEgy/ex2QXUWEmGhu+GYScjNyme6CG+0MpxR/7hx/GH/zBD9Zjnl+Xi3pfV+AJmPpSTiwXfrFRzK4bn1cjlZbP9w7dsyMa3GYVXu4dT+Dz70h84/MnxhHD+fWtzVd7/Vn/9dOiRBLWWTl36B6QWr7PFtcX8PN6/OL7NVUmHjP+09vz8dve/3PAo0k0NsfArth4LV0JciO1qPuQngC7T9X/1mo8T9f/dtD+qB6/FZE5romSFdFYArOrAIj9wjC5xDd2yxc/2QP82H4hiedsszNcf5WXmIiGavlK2UiXg1knc5JyItC9vtZ1kouN1zyeBvIls7VVHLIVcm+CJRJ4DaJh6OCarYBoaj+ebMVso6ml4sDHbz1fcf/nds835+MJZ/YnutZ4DngL8EvTUGPPntfamyKqzNcXikZQrFCQCCeYokr19q8d1OtAtlnUxIePRzbW0sRoJHSDihIUSf/G3hg/AMyvGe1Tg6LhWbxvJV+jNvGV3ucllUG50ZnH04DceEfa98y3aa/eH/P4NzkrCa4SMeuDkbz+8Pspv9n5NfiCaPQpGhbPtwF1vlYKprj/TtF4sEhPxm3s2YKxR8ByYV4rJ3CbhXbNZDDiWdovgck+26itXD/HzD7asSNWOT+Bh1N7qVNuLGM2IsuNLlPtTYpGgYlY1Bsb0WKwYNeUpOzamo1O1tEoW4qGJA424182iI+NfeYlWCFpbBTmGI2FkSjpr78YRxyy5Ugic5r7Uz8vq/G33rfDVQaPALuJhmjkjIhlJEFYmevgbHJ24iX5CkUwwYrGoIaDgmjgBgDrxXHjfQP6XScTpFgjQhHMRri6Yqa6Ge5nptbsyFegxMcRZnKj60O6ZGtCOemX4juuE1viMJaYqAqC7ftjYc9UH68mYtiDN/b6NopGWSsa4vq9PWfOXNFo3Z8xPZEeEB5NopEt2MbrBZYKxYKdVrzAbmEo1vUJzSomYgUECScCNvYbZh/PLe3XQDhhm4X1iXGMtH7aE7UtMVkObqSrrKxbxOfKxp6v2EmsJ+tkSlKjKyH0WeGdVO3kKedr6xpQFQS7+abeBBvEjYVfxGh0ypC3FJzh63P7cMzzHaM4jFRAJJGxvT/d9+1glWFvEsLzuuXHBdFLvQninhgNRjTYibf0J1ghMbpORJYLwBUN5X0D+l0ncbXGCjFyfzLi/en/HrNCCQblxHxJJ/B7XEUC6XqBFY1B4p3e8TRcJ0ECDNhLaFxdveDv/CHZQbmxfD+BXiJTVhR5SdnzkIrPHrxijIJwnf15oLpyIO75/Dq8YgWCqj+9VSo411kFz6HmZ5liXxXD/WZU1xUo258eMjx6RKOqWE5xMGH/KwYqfVLK3BNCurchJvkGCDkRsFnIi83IjYITh3BqOZ41n29iV9m0sVHYbixz+41CnKhHuBLkxm7Y6DZ5Kxg0qmMWIr5AUs0CkeYVptgYXQmEENbquaNonGK+I4hJShKsSXMjEjEa2qyTsQqCIG7WitUYxWHk+yNcJ9bv24qPp77/h6tcH5+hjCfzJoip+f2XTdCyBcpgimWL6Km4u6wr/hZr8T7X3690nWgUjbDaYE1jZJ6toqcSbYOioWadcIVrhRhBOXz9fL3AEjGCxPx9AUrBLqkwnhHxzFeg4Qz/8CP3QLMl7p4MrFnZgq1tya7xxN7obpstQb0Ah3QGv8qH2yxkKwCEqc5VUdekMCCUigZTtRNkA4qGUHCusf8fWhPFz2Wc28A3mbXtLZ7ZA8ajRzQEsQgTtlkPfSjFhpV7jebMfuhDoZwxhlP28tsQmXzNx2NhD7DrBwm/vgXRKDb1fG3s8xVGxyCc5kQ95sQrgx31H9UqK1n5cYATkzr4MvQ91nW60hCNokJC014iEAWeJkbjbOe78SZISTOGRbhOjrUxGmOIzCldIS1itclL/Mkf+Qg++uph074x3zMINs274z9c5djXxWeI8UQz5AOKhtyssxWqcIoVTUAMi/5dRdGgjfvZcp1oYjSiao0lEmS2iobF+5bmSowGV3xWSOpNrwflZoE1jRFO+MHIcGKX3Vvl+zC3k+JV+zKz2NiXKPwJVjRBQCp88Avm/isAmu+b+O8WhMKUhJ58H1ZI6vHZjt/CPijXSBExVxeAGdL+VvHZCvDCOlPRZjyC+NjYqzEygN03+YDx6BKNYMI236ETvlAMpOthYKOW1xdEZsC+zFmVN1uFpSrZxxpajp9Sdk2paAyMh9LmRjRGcThVMN/9n3gppVirioZcmNnGGPKTni5OY5OXmGDTmx4at4nG6PmOj3lJkSAlTSIcBx5Cn5jTW60VlrGKlSrd1/Yfe/UQ//yjb+DP/fjHNfZjFZYR6bniRB3W7+fBKsO+UdFg9pk/QdKjaMgU0XwFGkyxQmz04R+tlc1SEvNaoehznYTlBmvE2CCxkuIb71ux1vZnysqqJjXZCiSaIiUJfDosrZfpAiskiCc77FBl6M8Uqq4T8b6J+fdBjckCrDZSFqPEaqJ8/tWBRoTq+2YYz0ZVmLIFEM7k9YfHv2wSGRuiQRJpPyGbfteJut6K+fRBzDee240/U1xdNvbngEePaIiNNojZyzN0whcymR/ZbSwqMQniYeJQKPahBRFQiUxgoVA0FBwbopQy4mObLlmVzK8oF9oBtlxVrSyGAXtKWxtjdzybvAKlUFwnK6iuk1AX0MnBFI1N7/Uj32vV0VClbFtXwpiYjiXWJEHqJQ17Qgh2krBbhvwU0vR4V0g36+cLt9m/PVy3NrKxriJJJMfEaDTtV1kpY1j0458h9ydIsDFu7GlRIuIbEQ2nWCOGV260G/tiU+DyjBEbL1eIQJUDRdYbDBqUK6xojA2J+cY+5BpY1t+XmH/bRM064a6u3Evq/+69/gorxEhmu/Xv0yD0PRQl7W7sg8RB+R5t7PMVVkik4vCl14eIhvK+if9uoUH8shUIfx/sxq8oehb2UbVG6k0kcRhUNNQYNMP4m+NRXHVW9naKzM9+4gb+D3/7V3C0GlCczgCPHtGQG6/lCV8QjSC2c500iIaFopErRMBG0ciV8Y9RZISCM3h9vogJV5HNIgiwjzBIhrvVSmJlaV9mNfExuKJEWuI09FkglSA+fPwRD+jU+UmzPGd++0jYd8cTh359IqG0PuGEFuMHlOBLS9dYtsIaMXLStZ/HgSZGgy/8gX783esv7Z8XoMy3+T68eJtv8mlrIz7FfBHO6vd/8IS/rOdbFUBZYJUVdR0V3fijGUovhgdqlO5lt1V+PzeUKySae7TICuxPQiShB0+4SkO+sRebugS5RtHwC7aRbhBJ+17kynwN4+kEg0ZTlH5stFdB8yU2JEE8mfWOJxBdkGU68qTXvjH+cIR9tsSSRphM2cZ452ggU0593wDtfBuuLE4MaWA7nhaxGrCPqg0yL5HPK0Y2oGis6vXNMP4G5HzN70PXftZ4P3V45d4KH3zxHnxfE1B9xnh0iUZge8JXFI1RrpOJ3UYkNnbpyhm6fovIDCoa/PcLIjN0/QZxiIfHL+xtY1Lk9Wd2MSYd++54VhnbeKeRkhWkjF9bC0NAEk9ur7k/jaZsMmbHcr5lzshSz/gbqCqgWGONGIXXvf877VbxKvGxUdAAyJgXm/ED9Yk0SBiJ40RAuA9O0gKFLv03SCQR6L/+on5ewGCwnVxopX2KVcYzRkzjD6eo5Marn7PcrPlGlCI02i/TArM4wE4SsqJMYr4AUKS9MRpewbJONjSQ9r2Q9988fhZfogRDh1NUXv/GIseTr1AGE5Cg3z4S9WhEerHtxiiJrR3xQbbEURFhb4cRjeVioQ3kbl5fvf/d8TeCc4VCZEnEGt+XhX1crTnRYPYTrxhOb42mveNv2rffN4tg2Wj4eS25S3Zq+o7OEI8e0egoArauk9DSdbKqrz/KtTGxW/jbCsWQolGo9jYKi2JvNR6hgMwsiZW4fmJHZCxcUaLrZhL5iv1UnpCF60T3sZPG9fXjjwIlPVYlkjbjFz8PYjsiUDL7DY1Q+VHnhD+PW63iy5wRnzCpiUBfcF5VMXlfBBPTsp8IyBifpLPQqoTnUI1Z6NgPvaOb+v7b2GfdE12jMmwbPEurGthYspIrGvkKJJyygD6DPSMaPqaRz2pzhM2NQhAN6c5QQIo1NjTCurJVNJSsMcN40rxsBYPOrBUNr9iAiPe5ZzwiqJrmm/p7tB2/+B5t7Is1jnIfl3ZZTIFXps2YmI69/v1U0QgGLVKuUFu+b8Le8v0MaMYOCdx+5hX9ikaZ1t+jYfzN8Wzq9cTKPrX6HpdZiVnk61PEzxiPHtGQG6+I0Rha+AXRsNwoTuvaCEcSAelqGeGasZGypasosttIVdeS7Ql/lL16/02KhuI6kRt7TWT6iEYl7P3I+HyjwKubIonx+2E9/r7TlhrjEyTsv/uIALffUA+lx334Vb2hsxiNomMvxw9IsqJFpY7fYqOoSgC0Hr9irwalHgq/bsXH27C3eIf8EQtnmTYW2jxdoaiomWiUGeBHdoqG7wFlDi+IkVKzorFIWUzIJPTh06yzUaRFicAjrJtqC6TMUHoRVraKRpmx77FnY2wEg5YZEMSoLIkAqXIEUdJ5vm0EXFKn/Pp9rpwGOhvdgCunzLEsfUymzFURkxw3j3v+TZlr308VjWBQ/j54tkSD29uOP6A5Kq/+vmZ+YSwY2By/JXGT4xk7/mFFY2qKczpjPIJEQz2RJsMKhdxY+IMaKo7SUTRsFYrEMsZBGf9YRcPGddLeGK2JQGQ3/vbGOGjf2hj7YjQiX/O8Ngg5Q8+K7sdeFS3iU+Wd4L9G1kl7/C0iYB6/JRHg9hkNtBvjThJgoRbsat//ln33+i1iCPQ/A1XR6ygaOcTh55D3GjkVkaEVD7a2OPEKIqOMf7Nm35zRdcIXWjpwwk+F66TM4IeREkNhUjQCTCKfZXa05itrcmjHk4N6IZZlIO17YbGxNEqQW24sAh4VRKP//sjrF5n98wWsiIAKWqRIESCZcKKBvFGJtXv99njMikYcMCKJQCUaNkRYHX//GurTAhUJpf3UK/rbxI98Xux+KvMd2gMsiYxQNM4Djx7RaJzwJxYPSZx4Q3aqsJGBAYyPuRA+87GKhq3Ckli6ilobozURMCsCTXsNkRmjCGiIgHCdTCJfszFSxB4jAm1Fg1IKKp+v+cQS6YiGrZR6SiKwrgLmOmmNpxOjoSMyvcRBZ28z/u58T9ICz15mm4FUNE59f0K7hVZDZFJONGRl2IZ9ydPHYytFI/YJUGbwwngwRkMoGgFtb6QsRiPuIT4kiHFc+MPzBTQbhT4YVBIbbk8H5gswVSqgOeJ4WNEQ86GjN8ZhIqCiKjLkNMCEB6fGyPDmENEYeN8aMTN8/H5kqwjkXOG1m29Ac/btNhQNG6IxRtGwd+VIRUzYG/aAdV+c0xnj0SMaDSJg4XoYe2JvEAELRaBDBMYSmQFFphGjwdN5x2zsQ0SgUIlYMhz8pz3h96hEOtdA6xmsGkRDJQ7sw4rBfmf7Yy8qioAWyvj1J+pGemvbdQL0PzOL8evsU+prN4qdhGWdyOC40yoajY29z16nUNQxGs9eYkRDdE8dTXzarivr8dfzTVP2jmtdJ8r46cBGkRUVkoByc5VodO0XnGjMQsBH1Rl/WpQ9ikYGL4xwlPvSvhcDigaltFkZtEgBPwSxuP9vHm0QosRkMhl8Xgm/Phm9MaYjFY0cOQJMJiwYNEaOe8u+NSIf/B5ljIbiOglEuqq1omE33wAFqKcoGiQfiNHI7b9HaW/vyrF1/bDuto5obAeNOho2rgQhrUfsYfXJ3ur1bdNnG8GXk2Ei0FY0hjb2RvrsGKlcWRhGE4G+jUIhJjZSeSMYV2+/5FknsyjQbnQx2DXauexpUSFC0bG3UjTOeGPflL42eHEehygqKn3OzTovFs9Xu7GPfB+EorHJpaIhg/Ua87V5vhri1jv+7vuWblimkXaRVMcv76f+m8zKChOPd3ANzTEaRVkhLSrM4gBzTkzazzctDK4T7irygxhHmQje7Lk/lDIVp+d55SUFpdy1QamysQzf/xtHa0TIMU2Swe9RKjRSoTibjZGUKTIEmM2YojH1ilox015/mAg0uuny8Y9SNEYoOAEtQL16PBNvgGgU6SmIw9j7P2wvmgqeBx49oqFmefjxiBO77QlfVRAmw1H97YJd6u/sG3+QKPY9ZKat4AD9KohuY+wjS+2YiKHxn/KE37eQrHhQ4iwOtOOPpKLRfG5pXiJE0bFvXz8O/FrRKHQb7xbny3+2pr52PHWreN3GPkahsCVKXYUIRYq8rLDJKzy1l8D3SK1o3BeRET7nvvetO99806do1NcXigY1bOxZURMNL4iQET3RUGOCdsKqO/4i5TEamvHwe+GHEQ4E0RhLVFv3RxDoOPQawbskGr7/Nw7XiEmB2XQ4fTOWisZpghfHbYy5QjT2owpH7aJwKophV85G1jVRFY0RwawjYlJC5KDKfCdkyHUyLoalVogsiYkgMhpXrIpNXjlFY2tQN+qA3/jeYD51IeT2fbX624oG0E8E1CwVeQLps1917ftORKqCsyVXxbD9Nje6YZ//krtOZrGvtY8oJxqFRtEglopG2VYQLBce3XwtNtJ16RldJwDqFNdTP6+x42/ai6JhO0mA/UmIAxmjccrnex/ELc9siEY9/tLwvaRFiYnHnjMJIlBfP35BNOLQx8zn70Xr/ZQtyQ3jCaIYB6ni6gDwC5+5iV/83K3B+bbvT6am0ir2nsX9v3nA1KDZdDL4vOLAA0EFQptZRW/cOTReXyostsHHALwqQ44A8zlzneyFpYWi0f8+15VaPbmxR4lYPy3c55bvc1lRdnhRFI3Ey/srg4rx+yEAYq+weD7rkWJrT0ivO3+Tl5g4orElqBu7TZ752IWzoThYEAGpgCR2ikY7fdZ2POFkkNECuM+NYoQrxDa4qidGQGCRFgh9wk8rin0oFA32O9unik1D0TATGXPWyYiNMbAlAmz86yoA0bwPtaJRNOzHP6+RwZqtjeJEEo0Q+9OwLlvck6Wiv77imhxFfOrxFDxGYzKgaAj7KutuLBVvIz7xS2lvylIRMvwk9DELVdeJomiYXCd8/EEY466iaHzuzRN89w+9gD/y934dv/CZm5r5mp+vJBqB35gvkTEI5vt5i1fdbKa3GmI0Qh8h6vsj5vu+X/wMPvTygf4XVIpiaLNeUQqPFsgQYGfGiMZuWFm6TszjbxINZh/GbL2qbLM2vAAgXu/7nJcVQhRM0eBEIMFQjAYnYgNEoGnP13LbTD+fq3M9Af4bF6OxRRRrgPjNhcH2hO9b2Gul9T7XhljIE7uFXyUmNuPJdfYDHy0wemO031jGKiDDMREi1dBkH1JzjEbTdaIff6ytoxFvbfw6e5OisctbxXdcJ6OJ2/0pVic8xXYnCbA/jZRg0FMSmfuIeZFEQxujUc9XEDedoiHejcQTG2kMani+QoZPQk8qGiVpxhAxomEmPlGU4CAl0v7HP/Qq+7Uewfve/2J3vj3PtyYaXuN79C0OLneOeJ8Mi+8xDjzle4mQEbbZxcib5Egz32aMzPD7mSPADned7AaFuWCXyCryY4UI6BQNpa4JJxrTOERKA6mImceUWSkCACMaEYr6XgYJJmRI0cjrQ6Bt7aKGvY3rqh6PWdGoXIzG1pBv6g/W6oR/io3RCwDPq68/uLETxn7leAYirAH24giW2kt8VNeMGM/pgv+2Yz82a2N4Y1ykBQsE7YyH2UdUKBqtGI0G0TATwyT0sckrVBXdUkzE8P1fV75B0WDP/Hjd5zoZt1GPD9asXSfzOMClaaikt44lMvcfnFpkbPza9Fb1hM+vX2U9RIOoJ3D9eITrJAl8zLgCksFvKRqGrBM+njBOGlktv/DZW/j2d13Fn/6dX4Zf/uJd/OqX7mrmq3++ggQzolHfT88i2PHu0Uk9X7EZGb7HOPBlvBP8CLdW7HuKSY5PvH6k/wUNohGwtdHi/SRBBM/3AD/G3O8hGur72UMEZF0TpW7LJAqQIkSZ9hANNRgXGCQCecldJ4qCEJPcIr1V2NsoGnnLfoiY2I1/k5d6cvwA8OgRjWJTS3hWBZR0C/OAvWSPlkRGsGVJTAYUFkFkrIILN7WCc2pX0RY3irHpjO30WY29KAfNftZ9XqEhvTXNS8RaotEcv5Dk06IaHxPRGL+9a2BVKkRD8SHvTthmerzRbew2xG0LwZrFRm62k8jH/jSqC3ZpvxebYOKxWSqKKyS3c52QcNKwVyFUgdhTXQP68YiMn0nkYxKwP2c0aMZo5Eq6qWb8STKRJc4PT07wpdtL/LYvv47v/g/fhqvzCH/7l75onG/HldN2C3D7MIxRUWIMfgWAg+Nlff0BIhCHnuI6CXF7kWFDQ+xHFT75+pG+H4n6PQLDG6mIYQnrE/jcL+v3y2A/tJFuipJlzSjf4zT0GdGwSk+3G3+e5/AJBZHjSRD3uU4ohQzu7Bl/A0Xb3kbRGB5/6oJBt4hCp2hYuE6CeARx4A/VxrXRZpvAMPER9lbXzxQZz5LIAKM3RvsT8uliHP7mv38Ff+iHPqa1X6alwXXCxh9U+hgNs+ukOX4RZLjKivuMYbEnbjkCbeXCHZPr5H6CU3uJnl6xUje3ZjDo/Qd3okjx+uEav/kv/1t8UJzspX2XuNGsx3WibHQe37x0Pnk5H1ITDVOTMdV1MuXEJKW+QuQ3Zn83n+/ObIocPigIbh+wOIn3vu0yktDHf/qNz+D9X7jDyKT6fA3Bf0KNabtOYrGRGlwDJ5scmVB3lI2xL0ZDDZ6+fZIiRYjn93wcrOpaFyebHD/5sTcY8dASgTFEI8bUy7HMSv1m3bn+gKKh2E8jHyki4/3RX39A0RDqiGIfIzeXIFdjWHrGX9sLV1H/fCUsiUxZsVosznWyLbT9W0D/xq5baIeIgLiurUIhiYml60TaW7hOGvZjFYcRG4Wa1XKKLIYh+7/zy6/jtlgPWvaieFJjPMr4g4rZtxeqTV4iJMOKhtgw1nmp3ejGx0QMzzeH6jqp7WeRD48orhPt8xrrOhmbpaJ0Jw187E9DrPOSSfhbisH5uU++iVfurfBDv/LSoH2VbxB4xKAgqK4TZq874Yt3I/Hqhd8PQlToBv+tlVRJETy6oYq7tNhgnRlOh/z92Z1PARBUfoyjkxMQArzjGgt+/M3vuoa8pPjYq4fN5wtoiYBUY9SskyBmsUU9J3ZWrKu90ZmJQDtG484iQ4oIT89ZrMlLd5k68l/+2MfwJ/7xR/DhVw6tiUB9f7hrSbh9ggQT/ky07pOO4qDfSGVwrhJ8nEQ+Uhr2B4Oq36/F+Iuc/W6iBGtGfYrGSCLTWD+lfR8xUda3nvHX5NkpGttBQxGwVDSI14qhGCAm8qGOcJ2o4xkkJi2itNXrn7ZE9dlmPeQIjJUaV5kao9Edv1A0eoNBe4iSUDTWWXsjPYsYFmafIoSvIQKEEN5Y7bQxEWOJof55pXKz9bA3Yc/laN06gd9HcOoHvnAHAHDnJDPb+wFAfNBio3ebNMYfIQh8pDQAzbvjkQGVSlZFHPqsloZR0fBlOuym4r+fE4HUVPyIj39vzgIdCxJhsVjguctTOYevfXYPhAAfeeVQs9F1N5ZmMGg934QrGrosGwB442ijFKxTgwX1z6tBNAKuaNAQ17mH6cU7K1QVxc99igWGfuI10/iH34dA1AAJYiSE/Z22loatoiEUJlXRCH1kCHtdS41gXDH+HvsiZ/aeYh8hM/c6Ub+vnvH321seFHrs5TttqmZ7xngEiUau2XhtYy4sNwr+UAvSOmUPjaeVBfPCS/fwYy+8qrn+aYmJpb0gVmOCBb3gjE74CtGgfPwtH7vZdcLG7wvXSdENBo10BbtaC4mQ5FdZeZ9EzJ4I5DQAMQTz7U4CHG/awaCniYk4PRFQe0fsTkSAat6cLycCdgW46jglmq9lMOSnbxw3ff+dhZ8tnObOrfV8Q5+d8Knm/sjNWlG44sBHjrDzPqRKjIbIUqmJRixjWPRZMNx1Mp0g9AkyEmG1WuJd13ekyW4S4l3X5/joq4dWMQKpIeskDrzeE/uNw3UzGFqOX/+84sBv2N9ebJB7EXb8Ar5H8NKdJT5/60Taf+L141MrGlFcKxoJT0/Xpriq3aDl+HUndp3rhB1erIiG5fjzTCga9Z4R0cwcDKpVKCy/R2lvQ5TU+9N9vhuh6DlFY0toBMZYbowdBaFvo04lMfmJj7NT2d3jhd14/PrEnhUV/nd/61fwZ3/843iZS5L1eFquliEi4/FN2CoYVCFWVq6ZUwSzyiwbyxgWMKLxrV/2pNaeuU78hj3b6Nh4vCqH7xFNjEbZyjrRj3/ScJ0oG92o9Ohw9HwD4TppZS3txCHb1BvXj5X7b5G+LImAZz9+8YzLrOE6aSoaSl0MgN2jvusXrYXcj7FYrbHMSrz92gyLtGi0o+8s/H4IWmTmQkPKQut7BDkCUM33m5U8c4PUJ/Y48BjRaI1/rZz+REyHJBp+hKrIUFS0N0aDBAmuzWOk1Md6s8bXvGWvYfb1z+7jI68csAZm/L6I+bbHkynPQr0/cegjR4DKsF7dONooxEpxrxqeV+gTqS7AD3H7JAX1QnhVjucuT/G5myf4wBcYQfyyJ+b43M3j7sboh1bvZyxdJxEC/o023oOW/dD4WRZQs+niJGKKD+0dT3v8Ue/4u66TCCEd6Tqx/R6t7FtExo+143euk21jdDBlqiEmAyd8bv+jH2ES4iu3DMVsesbz4Vfqf/PRVw/19lbEZ6yioVN8tmmvIyZ9H3qKCj6SKMRXPnMVAJAr0ndVURxvcrnZNYlM/XehryEaeSu91TD+icl1Yk2shL0lcQMjGmHIKwW27PenIQ4l0Wil93ndjaiBts/fj+yDNaV91mi7rXedjNtYVLJ9tGDE+lvefgUAcPtEGV9n4YxAywwTXWpra/yhz4iGdiPiKkXYcp0w++b41UVZbLxrSTRClPz97K/rEeKJvQTHGUGIAl//3H7D7Bueu4SDVY5bByL9VN3oWkRDkKTAaxC3OPCQGYgVwPqcXJt4reubnxchBDOfSvs7i0yO55vffhm/+sW7+Pe/cRvPX5niG5+7hJvHKRoxTYbxqxCKQJLUAfshb3y4TMvuP9C9n5rxs2663WDQnCqNGHUoxo1fPHvpOvEZUTIqGtrvcWA/atiHdskMjefbtXdEY9sQLX+BU8RQjMvyCPj/v37HkGMuxiOJTL1xffF2rYJ8+o3jlv0Y10/eHb911owFEShSzfgtqvg17PvvZ04CPHd5iit7LFjuZLmSPz7ZFKAU2Jsq90ISmfp5hb6nb6pGCtB2DE5r/JJo5IrrxAtrpchWQfB85kqwIAIZAlbp0Y86z/fKPMbdRdq9vvh/qxNaaGmvX6hkk6pBotG/MOvslyv2fL+ZE41bDaLRPQGSMrdynQSeh4wGtUqgIC27rpPIZxt1e/wivTUJfalorEuxYccouZ9eH6NRj/8d1+bIEDKi8cx+w0woHK+KtaPneeljNEJONELtfAGmaDwxI/V1gcET8jSoidjtk5SlcZYZvv1d13CSFvjFz93Gt77zKq7vxLizSOXG21iDet438exjUR7cj+BLRUPz79rps4aN1JR1YiKeEtr32bx+CjeVL7Jm/Ag+LVBUlNXh6Vy//T0OHBS0CsvIg4WWaIh32sVobAejiUPelIGB4XRAfv27/BkfLpZme13MRZHipTtLxIGHt16Z4sbRpmU/xnWicRUNKjgjYzpGKxrjXD85Ajy5l+Da/i4AYLmqfYwiEn1fKhoqsar/LvI9cwlyYW8gAtOQEYpVVrIPV9QxEWRmjHRpKXXmCBD6vFZKa2G+Motwd8Gv0T7hBLYbu5IZNUaqVVwnUeCBEFITjVWuWfj7N5auzznCerPGThzgy59kcQsNotFZONnCbHad1PaBUDSK7njEZh1SNT2UEZMO0ShKRL4H3yMya2ldCfdkhIqPUXs6VBSHL39iBzl8TP0Ke9OwYfbO63P4HsGb946kvbg/JtdJu9cJizHpUzQ2uD4VBMmOeE5Fbxc/xMEyYy6CMse3vuOKtPnWd1zBtd0ElALH4lAwcKIWWK+Z/XRSKxo+fyYLG0XD8H2loo6G8r5NIhYMSka5TvoVulrRqL+vgI9fWx1Uce0x+5Guk7EHi8Cg+DhFY8vQnaiH0j3VQKAhe379VVbINtB5OhQ82iU+L95Z4vkrM1xSyzt3xm/vOjla5fgTP/ZJi/GfIgZE3bQG7WvFB55CDnrsMxrg0jTCk/szVJQ0iMYhj0TfFwt1mdXPVXElhL6nDQZNSFkX1xFzaI0/idhzlDEaHXsLBYeIk+OwK4ESHxU8dkLVLMxX5xFO0oKnk+oUii2eiLQLYd6ofLkrFY3CqIAMX78ez2q9wduvz3F1zn7nnQHXiVdlPVkn9XxDoVBU3fHUWSdqMKiHVOM6WWd1wzRhvypr1wntIxrKRvE7vvI6cgR4at5dZpPQx9P7Ce7Jglrm56sPBo0Rhx5yGhi/95vHG1yZ8PdSPt/+5yWIRoEAJ2nBiUaG/WmE73rvs3jv2y7jO77yCTyxw64n3GDq8+1bf1ZrtlZOJoqiUXGisemL0egnArpg0Mj3kCMAqUYoegMHBaFm+WE9X5+7fvREY1wMSPd77P9+F+s20TMoGsX5Eg2D4/MCQ1dXwtb1YOVqSQH/Eg5XOVvUAFki2Xh9TUGtl+6u8ParM2RlJQvhdMYzwnXyvg+8iJ/77AGQALTMQIz2OoXFUqEQrgTbOiCex/7NwEaU0QD70xBP7k+QI8B6U7tORCR6I0ZDQxzCQB8Mmnil1l6FKG29FgW7/BD/8pM38POfvoW/6ocgtsHEhuu351txAhb6ntb+Ct+A7y0zPFVmjEwRRQIfXKh4DAtgQXwUV5G0z5Ci7uUR+h5mkc/UpfCUREaxTzdrvPNt86ZLxmgfglR9rpN6Yw+8im0smucliEaglNiOAx+ZxoefFnVGiYjxWRV1rINQEPqyTuBHePulOTbPXEVoKPv89N4EC50iUOiJRqxxnSzga5/vJi9xsilwKa5jLuT/b8yu3gnPslmU7JvwghgoGZn4S//p10q767vsUHa80Cka5vdtvWFr5XQylfaEK1bLTEc07N432XtGuf+EEFCPXd+Ika5JEXhbu05Cqcj0Fxwb6zqxO1j8Nz/+Yfx1AEMK5iPhOiGE/F1CyC1CyCe3cb37wikVAQD1//cyYLYRLdKCybSoI5Gtr1+kuLtIcX035lUX24rGGFcIs/+lz92SxEf4QY3jl4qDb5eVIMatZCVY2QODJ5wyz5BSH5emEeZxgBwBNpuauImgyFrRUIgMID/cyBCj0SUa3Q9dZp1krAQ59WP8sX/4YfyTD7/GKkIO+Ugb4xlWHCjf1GtFo+s6AcDcJ+rzEuMfJMJRi5gMvJ/CVaSMX/q8OfYmoRKjQZRMJ0uiwecssiS+8qkd+B7BThy0iEZ9YhfX96yIBlM0dMGdQL1ZB1SJ0Qg8VndDE6MhTn7itLosaxeE2Gz0ikZzY0ySRJ7Y23h6f1Krdz0n2D7XiUnBEQG2e+LVUTeunvVwxkuuH8v9Ue8au8xjptbrVqXMgfdhs2H2M0XRQJlhFgd1x2IVOiKgGb9U4FquvcoL4VHNdeX1da4T8/iF26wZo8HdoVpFQxdDMTI420B8Xj9c4zUe40NVIqO5Pxulf895YFv05u8D+D1butb94bRZEmPsgxgnmwIZLzDVX0u/O56qyHC0znFpGvE+Eq0TnYwpsFEQMlR+iM+8eYKvess+MurjwDbdFoBVDELH3jIYFBg84eTZBjlY4y4AKLwQmeKKOuIkbG+iPBv1+lzqDDUxGmlesWC+ASLg86qTq5wpGkJxAHha49j5Dj0vQTSMiga73p1FqnleFq6T07h+1PGXGS+AVC8PuyrR6LiKBr4XhcgsC1YU6ht4FsbuREnlFfYNRSaGV+VmyVfZKAKfIKOhwXXCFtqg5TrJqd+JcVhnytz53CTRUKT13mBQ6Uowf19P7iVy4+2LecnKCqFP4HmkMV8RDKp7viLuZS9qKxr9z2vGg0GPcsL/mX78+zM2XnkosIxRSvm3PZ8KRYO9nztJgGVvemv/+NOi6hTsEv/va96H+vrjsk7EuxKoRKPqUzTGxYDoY5T0xOQ3bp4g5MHKB8LEMP5GQPE5YCu/lVL67wDc28a17hvqwmzletC4BnpfBLbQMkWDLX5VnukjjjvXZ8GIWbZBRdkpcX8a4mRToBCbpLqxy2DEful+U/rIigq/5cuuIUMoA67M47n/jciIYhyRKbIUOVgrcgCoSJNo2LlOckSB1+k3sClKJF5r4zUES01CX6a35opHcV0NuX7Guk5S1nIcQtHoKj5XZmwRY4rGaZ5XV/ExovO8uKLRaoO+JwhBe742dQEU++PcQ0wKfNXTe/K6HddJi8j4dEDRID7g+Qg8j5V219wfoXbVioaStdEiGo0+Jvxny6LruuqP0RjeWJ7aS+RpuG8jzYqKkVKgsTHGIY9B0Nx/oWjsBCK4c5j4AMCUV0I9yth8w0h/sNiJA/geQdru/TGwkaZC0ZhxohEIRcM/dR0NSimydglyPh7q1a4NLSwVE4GOohEwxQ0wKRrt8VscFHT2moZ2t05SxNwVeCCWTD9mvVKqZmCtGFvoX2CiYQNCyPcQQl4ghLxw+/bts/tFDYWCPyxb18kI1wALXCIoSIgQORY6/2L7+gAQxPJj259GuMQ32CO1QFN7IR8Yv8jx/5q37CNDIK+vt29vjBYn0pExCGM2xiLfIEUg7wP1w4Yr6nCdYxb5NRM3uE76FY3h8U8jQTRS5rcHK0rEFI0x8x3OwqhjNIj2/ghF4+4ybZa87xl/Yzyqq2UkERBZMLIuAcfeJORNwNquIosYEMX+IGWnbLFJd4lG8/2sPPZ9aVvEA41g7tAnyAzBf+JE51e5jHlhBbt0rhOFaJQZSnhYF6qCYxEM6g1vLE/tTRp1PUz2WaF0im25TnIE8LSuE7bz7IRC0VBjBMzPS7hOjvgnGIb694cQgv1JKBUKW9eAaPKWxIlin2EeBwNEw+xKUKvYthUlGtTBmlqMTD8VpDRUFA1BNLRlyOX4lcqdVQFUtgW+hDu/O4fbJ6mMIVrkyvupzotDHMJC3xi9d6Z4YESDUvoDlNL3UErfc+3atbP7RepCZaUItBbmwRNjyhUNZlN6ESIULPVvaDz8+uLEfmkaytiDQxPRsCAC64o9xuevTlEgRN7XrVAbU2Cp+Ej7MSf8/vGXecYVDaH6RI1eFYerXKod9fi7MSChTzrSZVqUiLSuk+6zkj7iMseG+iCEVW8cTzSGn1dH0WjZz+MAUeDh7jI75f0fnm/TvhUDUmZI89Ico3FK4lmUFQ5SYDesT2ddotF8P0sSIoKhU6ocP7t+wGM0vB7p2Kvq8USCaLRdJ2o77TJDgYCRUD5foZgY29Z3Yl7039dTewkiUYmzJ+YlLcom0eZ2ceAho77c6FTcPknhEWDmtxWN/uclervc27BnFMXmXht701AW4LJNxyw69oz4zOPAkHXCr9WTNVPXfOm6Tohfp59qIYmJknVV5VoFAVBcJwpRIqjgodJ3cNURGcAcB9gmJj3u/FvHddO8k4L02j82isYDQ3thHlIEOtKxRVSwH9WBSx4ryKPtPKgbjx8h56x+fxrKTfRQBIRqYyL6XSergi1413cSlF6ILBsiDvYxFF0idhoFpKcATpEhpwF2Er7QBhE8Wkh/7eEqk+mV7Pq6jTE3F+xCYRVMeWlab6Sb0sfTexM8vT/BuvKMJZ7r8YwjAmUnRqN5/wkhuCpqaZzieVVeVPcPsXpedq6TI53rZEBqZtdn9/+zb55gU/mYh/VzMrpOOAoSIETR7zrh4w95CXKdoiHrglT185LBlJ2Nq6ybT5U5chLKsuTwI3l9bYOqEc/ryb0EEQpGPHtiXjL1WShERigyWqKxSHF5Vp+2rYkG71Z7L2XjieLEOP5L03ot6yuhrkI0JWsEvxYp5nFgyDoxuB4UIqBWsdVlqfioOq6E7vVbKrjpG+P2simcePdQ2LW57yEOjd9rUYLg1kmKuVCgcq/XvuCu/eBRVzQeCCgdvdGNPqEVKRBEtcwXxIiQM1nZ5vpBLNNh96eRLEQlA0I79kMLeY5F6SH0CS5NQ1RehKqXaLQ2RpsCU/fhk7eJKcgRyKZpJIgRomCBkGAL5rWduGGviwHRFewSlUFtnu/ehNczKTMsSx/PXJrg+k6CHEG9mGrH31ZYhjd20YzPVEcDUKqDamNAzM+3yDb40kGGP//PP1nb21bGldfP67bbHLuTEKusZD7qYMR8FSL/kVcPkSGQp2aAnYob305rvsw1OUQ0akUjQ6h1JdRtxJuKhrZgV17WakWZoSSBjNpXiYZe0bD/vq7MIiSkREH67bOy5ToRp3VCUHqRlmgcrliwOSMm/URGxcQrUFKCW4sCO3HA01v19vuTUKNQDNWh0LhaaIl5RCzraEQAaMOVIFwWLBi0OR5vqCjhiI0d0AeDAkCMXB+joavcCZjX9BHE59ZJirfssrXkOG27TgyKhneBFQ1CyD8G8CsAvpwQ8hoh5Lu3cd3RqOpAL4nBGIfWCdnrOTFSyiQvP8Im5wFafoiQFLW0qr1+UzERH+f+JJSxCQeSaIwNLsyxyAmuzWMQQlD1bESUUtw8PMYHX1m2rj82uNDeJ29TyTJDgDknGn4YNYjGzeONLA5Uj6d7f7QFu2Rl0GFXwv60PrEvCg/PXp7i6jxCRoN6MTXOd5wroYSI0RCKRvf6l2eR4jqxJ26HJ0usSw//8Fdf4fY2z6tFHIq0rrTIIYJx80zjurIknr9x8wTUC+taFmCxMZu8QimCqcusQWQKhIhI3lMZNJf2LOvE18dolEqwID9NC0WgHTy6zss6DZC7ulSiIbIYtKmCioIj7E33nxCCvRjIiRJ/onlezWDQ5vdVGYIdj9a8P5A2Bsf8vBKvRI4AbxyuWTVTPzK6EvanEYunatd5oRVQ6uMiRMGrhqsIwG5saqqmCZYFGnNoKhrNjXqQaJiIgIlo8PGQlr1Z0TC4TozEx6CAaA4Ldxcpnpix9+IwG3ad+B7PXDoHbCvr5LsopU9RSkNK6TOU0vdt47qj0X5I4s+jYhB6GL/y0ou8bRLEiFHU0qr2+up4Ysnq9yahLE1cu070J/a+8Z/kRJ76qRcZC9R88fYSeZbi1eMCJxvlAxitUPTZj9uICD/hi9NzEMaISIHbJxmKssLtkxRP7iXK9XXBoDnCwKBowE7RuDQNcbjKURUploWH5y5PMU+C3l4SbDwaV93ACb+haBiyYK7MDa6TAeK23mxk1swqK6zeH63rRFNHA+A1Y0alO9dE5pV7K8Rx0tjYp2qfGTmeer45d52YK4PW9qEnXAndDUtu1sp8RYxGV9GoGumtZcN1wrqZRoGnX7R1rpMeRWk3pExVkfa6GA1F0WjFKFUkZDEILSJwvMmZy1H3fKnZlRCTEhkCvH64Zs+850S9P+VVUtvzBXoUgZR1zCXNjXE3oEiLqqsKFCmr9SPSnTW1hTZKXx45Tu6e9AwdkiUsiIwKoquLAUY0+oNBhf1AbSSdq8hgf7wpMA9a6a3y/jTnW5QUwTmRDOBRc50YiMbtwxO8cWgIkByzMSovmYzK51K/VtFQFBCJgLWZnscBAt9j8iQZcp30E6VF4eESL/JE/VgrHQM87xoFMurjMzeUrpG2Jcul/Rhi0n+iJlWOymNV/ADm+4yQ484ixZ1FhooCT+yqREPvGgt90o3RMCoa3fHvTyOs8xJpytJtn708wU4c9vaSkOPpxLD0K0RCKg88c5bT1XmMu8uUnaBGxICUeSrru7xyb2WhWKXaYOi260QQ4qKjaNjHgLx+sEacNIMLRTbJSvjnW/PNaYDI2nXCYjR82h2PzNxQ7EWMBqnaRKOZdVJ5gdzM4LMCTdr4DMCYLmwKLtwNK1YUTrVvZSU0iEZLgZKFmlrk6midYzcJ9N8jn5cOMWGKxkt3V6xEvNzo9HFNKPN6DGL8PdenRYbSCzr2cx4gvGr3OzGOv36npaIh6mh4oQzGFaXCqWmNKzN0CtD1jF8XAwIAITF0cBXXCZquFt03SYXr38KeUoqTTS5Lxi9kjIbJdULPLRAUeOSIRkumArChPj7y0m38qR/5qPnf2EbpKxHQ7MTng/gRIuR6RUMzHvgRSMHyxgHA8wj2Rb+TqmSnDVviU5UALbEsPOwm/HcEIfxKX9fj9oKlQ+UI8LmbCtHYZh2NkRsjEemGHGFUx2jcPGbKzzDR0DdVS4uKnfYsiI84sWfpGhl8PHd5ilnss1opY2JYLFwJOQLZsMxkf2XG3HNVvhlF3Koikyfku4vs1M+LKXb1BniNl0Uv89O5TiileONwjUkyaYxfEAi5wbSebwYfIUpMwp428X5N3EzBkXI+ynwjTTBlVdG6+BO/P5XXDAb1aYGJqZSz7v0ENSoIs5BiU/n196rZKDKV9OkU2JY9AByvC+460byfGnuBiLD1ISsqXN9RiYbmm5myjDu1wN1QMCUtM1Skay+CGld5S43qBH93x582FI3m/Rf1LowB8sJeKCwGRUCAVBkK+EpWEX+Xhlwnksjon9cmL/H7vv/9+MiLt5rzNDwvpv5QWfdkaZF1cl6prcAjRzS6isZRymStX3vpXl0Uq/1vbE+k0p8Xch+2By+MEZkUDa3CEoNUKWZKXQBWo0BtWGW5UfNxLgtPZm14foQApTaC+9ZxiogTjVvHSlDWgNTf9TmPOeH3KyB+lTd88l4QI/FK3FmkeJOP8ck20dAEI+oKdqVFxSpBdsavO51FfLpM0XjmknCdWLSZHplOmiOsfe6G9+2K3Ng1G1ePAkXLDISP584itSYC7fG362hcbRANS1cj+wesY2teYpmViOJJw14SDfH9tOqGZNTedUIIQW5wJUhFQ5H6Yx4MShRXQiOwkF+/8iJsstp1AtQncO18R2zsM69ERoM6vV0jrXeJhhpT1r1+VdGm6yTQjMfwTU78ShLVJ3aT3g7Pl6YsULfy7OZbVVTez7b9jGe7rNrrqO77AhrfQDMYtEmcBdFIN4aAbl2MkmH8wl4t6Cf+bYQeRUMlMob789FXD/HpG8d4/+feaLqKDERPZD2KLKGToqVotJ5vUVUInKKxJWg29oO0boz00t1V076qmORo7Tqpry/S/7wgYsGgWkVDRzR4k6i4Xjgb5Z3b9kFs3li4/UlBsMMVDRKwYEpd34DbJykiUiCMYqkW2G1E4zbSMQqI11EcIiRehTsnGd484orGnrKwdlxLSglyTR2NgNoHgwJMEShIhGvzmPVeoQPdH3U+6gFXVw6lAJlJ0eBFu7pZHv33n5QZkoT1kWCKxliiEYKWaXNza4xHR0z6rs/uj3ANRjGPGeFEQDa0EyfZ1vu2oQFCUmIaGk5jrfdNBNq2XQkyc0OZr4zREL8XSk8IJUaDepHsfilItKy42RmPYWM03KOJz1wVt05a2RjKM25mnbRcJ7IRZH39RVaA8srDY10nE6/u4XR9N+4d/6UpW/tKNZhVKgLdb2CVlwhRal0twgXQObCNcZ20iCRQZ4dsTEUMOwXo+p8XKXMUGqIRojC3ibcgnq/cW8nr6OfbvJ8ixi7xSlbnRXHt6a6fl7Q+3JwDHjGi0XRVVBXFcQbsxWyR6sRpaBWEHkWjrE8dm7wOBk1MWSc610kQwy+zRqXD3SSoyzsDI4gPs99UPnYndbfFAKW2b8Ct4zUiFIjiieyFYFVHY7RUbh/MGtCi08Y9JgVunWzwmRvH2JuEuDpTiYbeFdKuo1FWFHlJWUR+g5jox6+WOI+iGJ5HMAl95CTUFoBqjsfeVSRORFLG9PVZUWLOYzd2RjSYArRIiw7RKyuK/+rHP4Zf/uKdwfGrrpPQ93B5xjuXtoneUKVDP5KNA6M4gepKEIrG0uA6EfEL4uSmv34zCwNAh+zVwaD1+xDriAbftCaK6wR+iLyk7MTaiikwzVdiYGNPPBZ8ees4Ndo3s06GiYzoHbObhJrn2x+MGKGQzRmv7yTGEzXAvpkQBXKNK0Rnf7LJEaIA9VrfI2qi0Vm3LMbfCQZV7n/I612kqUnRMBABg+LjVXUwtzr+3joaFq6uG4dsfDEpQC2IicjQYenRgeLa0z/fvKzOrYYG8MgRjaYi8NrBGpvKx2WuvIv6/yZ7+Wfjxq66TviJj2+M9ooGCyabRU1Fg5V3NrlOTMSH2ecIpKLhB+zj16WK3T1hrDlJJrgpFza9KwGAjAGxvj+U6it39hAZn+YgLVdIQgq8fHeFj756iK9/dr8Z3a9VWDJEfrNNvDjldIiGYfzPXpoCYAvGnPdhYDEUodbn3xyP/XzVGA0xX914Ls+VBcaSyKwzpuCEcYJJyHtHBE0F4WOvHeJHX3gN/6+f+IR+/EEMQlmlw7gV8HhtHps3UmOlQ7ZRCEUjFhUV+TtXB4OWir1CNHh5fdG+vHv9pitBBhq27pEuGDQKPLmpio1FHBhU14mw3+R1ldmZkfjkeleFMSZCKBqtbIZSdQ2U2joagJJmqVxfFEDbnYR6xU2MUwOiuAae3Etqe12Ru1mECKX2hK+b72JTIEIOBF2ilAjXSXsd1QXrt8bfCQZVvpcwYu9bZiQa41wnjGh0xx8RS0XD0JFb1JIJaNGIWTPFjAjFOiZFK/1a/3xd1sk20drYf+PWCXIEsuTxrQ7RaPlFxb8dcp0EMfdh+5JodHyLmvGIP3tVjmncitEwuU76iIBCNHZFjAZPD122o7fBaiwArHV1M0ZjSMGx9MlXJQCqURzMxCRCAdKK6YhIibvLDJ998wRf/+x+a0y6mAXmOqkoZD0GESDmV7oTuy6wjcVNhChwaWcm/5740UBTJk2w2oArIUVYR4AL+1ZMgWgVr/X5a5omAcDBKkNICoRRgnnCS6q3shJe5RLt60Ld68TgMPsQRSNGAwCu7kT68QD934yiaEy4W0fY1zEaRcNeYMPjBUJq2NhbWR4l0Z/A64JdqqLha1wnwt+vppOG9c8GFY3WxmjYWAQiUiCjA66TdmVQraJR2x+v2b3cneiyToaf15S3cH/7tVmv/f4kRIS8m55rsD/eFAjRVjDZXERQY9d1MkwEZK8TQSSV9STixLZX0RhBDElVoDS4Ttp1fOrxd7+v9vspVKgQBUqvf75A7TqJuOtKDVbW2bMOwM51sh20NsZPvn6MHAGmAcUs8jWKRkuuFH82BoPWioPsBRHEiFDaZ50EcVfRSEIcr4s6jVLjGuibb6aU8PZDFgzaVjQopVit2eYyTSa4u8yYAtBXl2G04mNSZExEiY2/qWjEjd4Eop04AENWDiMyIT/xCVWDLT4a10lPDMVbLk0QocCVvXlj/P1NmTQLf0+vBJQ5MuorwaARdFkJSehjHgeN3hxy/Pw6bSxStpD7YYwd0aSqtfCIbyAvaZ1Op9m4IhQN1wnAFA2fGjY6Y6VDdv+FopFMJvXfAzJWqVY0WkSjajUT61y/aS9dJ72KBrMRwaCq/UY9HSvjB4Siwf4861VY7BUEv8pBvbB2nWiCLztN1ZTr1wWp6ndaKBp11omOmJi/ybc9cQn/+k//ZuZ68fUnaoCRxIiUyKCm5+qDEQG2ObKDRXdjn3jsG9MGgw4QgTQ3B4MKRcNY3bfzvPqzTvyKxXDVf8HfJVIiKw2HTYsYEKFohKTQpv92iYZQNEqUXtToxaOzLxzR2CJaG+On3jhCFMfwq5yVdF7er+uktpfBcj6rDLqxVjRCBCiaMRqTAFlZ1SlYLWIyNB6maPAUP15Zs+3rTItKFvKKuQ//aJ0PzFcTMxL0FGiS87XM4uH27ROOurE3FA0tkamDQYH6dJMWJQLRGbO9UBmIwP/4v/8ahKTEU5d25d95YQRvqFfCCOkVJUs/bbhODPbPXZ42enPI8QPajeKEnxiDMMIsDrDYKCSLkytV1dvklfHEG6Louk522LdER86XEQ2haCQNexkM2nCd1PNdlYII9JBVZTzUMB5Zi0JRHCJfjdHg8U5ZO0YjkxvjWiUaxmBQ0/My3J8igxdGGkVDIRqGEuQAajVQVTQ2aoyGXrHq+yb9IMI7r++07LvjJ4Rg4pfSvcXszQoOez9LVtZc2nN1SRKNdozGsCLTqQyq2McJ+11FS9G4dbLB7/q+X8Lrd467B03D+AHAo3oiMPXKnhgNzfhbhx2hQsneN5356l0nAU8vXndcJy2iUVEXo7E1tDb2z7x5jPmEpdPN40AfaATYd29VNlKZa++zjV3vOulu1NQLEdBC1tEA6kDExWol7f/u+1/EH/rBD4L2lUTXxGgEYcLH05zr8TqX2TfCT364ygfm2zplAVJB0NvXCs7BktfysCBKXosIkDLD7/vqJ/F/+81v73ZuBdBxVdASic9dJkWdpijmO+TjFfjGtzAlQwSQsbHFzd+twhTDosytAa4gpKqi0SOtv+uJuT7GxDD+RVogRoEgjOu2262NRbrMwDekzsbI/hwh7xCN6zsJAhTWUjkAGSNwsMoxjXx5whT2YkOX6dgt18O6UpQFHVonRlmjQSMdt10nnkc6CohQNNQ6GmIzVxWNaW9wqm5jMX8DQRjjxpEgGs3nVfGg5kYJ8kAlGt37f6zGaLRdDwOuHG0Btx77xCux1r4P3ed1vMkRkkKmnKr2MTGltw67TjZ5BY/wAnit9ycSMRqtOho/9bEb+PzNBV6+dWD//QLwqlxLBCZ+qe/eqmvaKeal4HiT4/pOrCEa+hgZQTRYcG2zRL5u/FlxvoqGoQrOBUVro3v13ho7z0+BVYH5LOimfBY610lP3QTlRC1KkMOPEFJTwa7uCbz0mF+zmXXCfr5arXGF2/93P/1pAMDiCQ87xvRWNt8cgfR1h1EMghKLVoyG+MgBYDIRRIN/BAPps2MVn4+8scJ/8hM/j9/65dfw998W1VkJrYY+eZ4iBCCq99W/i+JvfNfXNp+LMl/dhzvhRGOTsVPFRlQF1Y1fjFUlOOp8Aw3RKDMAU739gM9cgsdJZNRXYjTMJ6iveGKK4LMVlqUPGTXSU9dgwclkwGM0Xr236pwwVUXjeJ3jCZOiQYpGrxMAeO7KFBEKHOUE16V9v9Qsg0EXebOkNd94fY8gCb2WolGPZ1WOc53QPtdJqwS5Ol9BqjsxGmUmifA6q4nGxO9TNMYpPkGUyFTu9olXBBiaFA1fQxyO1zkIAXbioGe+fa4ue/uElDgpNa4To6KhJxoRChAS6F0n8U7935r5imJshJDO+EUGVpE317gPv3IAgKXXF2RWb4QDz8undfdldfyJV5pLkGtdM13XyVP7E4RvFlbBtcusQBJ68LjrLS8pirJCYCpBXtH6nT4HPLKKxqfeOAYA7O/MakVDJ8txewkb14lSGRR+aC5Brrl+DlaASI3REIrGcs0UjY0iRd5acXlb5/Pn188QyMA9k+vkaF3IjXcyYRumVDRMMQWmdFtT0yQ+nl/4PPuIf/Fzt7EWG4WuWiMvotOUUns+dNPzAjD12Xg2iqIRoSUnqv9We/3ufGU7aN1GqiEmfURA/F1aBc06Ggb7b3t+DwDw0oHyu3vsl5sNPEIRxeYYjVsnqWxgd7TKuiXyGzEazeXh+SszhCjqvgqA1UYKP8IizVkckWb800j5NlsEcJho5I37Tw3ERzaJK7OWffOEuda4TsT7uVayTsxEw25jUccfxQlunaQskLl1fxqBjmKcaoyGIOnKfI/WOWtt4BHNeIZdJ2OIUkQKrCvlPel5P0WMRvdgwZSCSehj1VaddVlsrfE3isu1XEUxDz5uE43XlLoVsnz3wPgBIKB5qxIqJ55e2V+wa+D6x+sCT+8lPF14WCFaZyV7R4tUujLV91MXoxGcU+dW4JEjGvVGIUps78+nkmh02hBrT8g9rgQlWHPDK4PCZ8GdQrI3jUcgR4iIlI3eDbucaKz5xvvGSX2tgw2BsYSxcJ1QX0q9xI8QkArLTftFZh85AMx4QN7BKjO+yOr1rX2Y/O9ePszx+7/uaTaXRWm0T1MWnOoLOR3ol3Z7iMaE1EoGwD7ECDqi1LPQauYr20FbEpPehYqfUtc0aGadGOy/+kn2nD7w4jF+6Jdfam1E3fEvebBvGDNFQ+c6OVxleP4qI5onwlWnCbYLUXaIxnP7MXxCcaC6u4dcRZzILNOSERwNEZhGvjEYdCkqHhpdD82CS6YYjWYdjVaMj2Kvc52IzXyTV/I0O/UMAcIWG2Nz/BniOEFZ0bqSq2KfdYhGU6EQ6oBsvw6W3SF609hudOp4xrhaIlJiWbR6tRjsTzYFEk+fdYKSuda66a05vnA3xW/5K/8WN47W2vUnzatGt111/CLLqd2B+ZV7K/zer34SIVfobMYPMEWj0sRoJMYYjbzrehZ/r2Cdlbi2E/MS8MMHo7Xox1NmUsXLispon7leJ1uEslG8eGeBvUnIgs/KnAXH6Rr2AOgGL/YrGiWXqoTrxEeFPLfbuIR/W02PE6mpmzVbLG6t6hd2KU90GveG4jqRH5rfJC0Cx5s6RmM6ZR+fDAZVx6odv90J7bOv3wUAPHN1D3/h978bAPDaEV+QNRtFtkn5kC2D1bRZPLWPFKil73VeSleRfqHV3M92y2jUioa2g+tY14kIOKy8euPoma+o3/HaSYG/8JOfwk997I3aXuPu2vBnHkeJJNbtjfd4U+At++z5L5frznxrotHNOhGZAXfWtGPfT8RCnKQF5kmo3Simkc96nWiyiuQm1hPzMrSRFmWFiqJTR0OMTbWXrhO5caV1dcm8lN9vYsw60ce89CkaYjO8cbTpjL/jOmkRGZ93Jy2zpktM9j4yuU56s4SGYwoEIuRYlh7LYAJ6Fb2TTcFiMQzf4zQKtJVBv3Avx8t3V/jgl+4p42/WGakVjeb4Za8TJRj0ZJPjYJXj657dR0JKrFSiFPR8v2B1LipN+mniDZQg78y3vj+UUmRlhX1RAA3DxG2Tc0WjrIOzM6WgXKcEuet1skUoG+PLd1d465WpVCjmsY9F2np52i1/xZ+NxYe435QvNsJ1AgBV0Uc06uuLSoeivS9Qu05EmdyDtH4h5ImuZ6MriFppkl0rbaVzqcGgk2QC3yMtRaN/o5DoWXj+9SdeBQD8id/91bg6j/H8lSle71E0Mj7GQCOlauNGehQNsfALRaMZozGOCDR94OzP2vQ47XjMREDK4bRVGVS9lsb+t3/VMwCAD754r/d5rbmi4QUR5kmAoqL16ahkjdKyosJTe5xocFedbvwR8k4dDfE7by6rjv0QUV1smJxvcp2s8lJL3BZ9rpNK83xlZdDaXm7WPjotB0hrY5ElyCNPEhkh9a/zEhv+/ZqJhmljMcdBiZipN3VEo2jHaDRdJ2JsueIaOFrnjUq3nV5OyvWtx2+I4wpogbTycZK2SH2P68T0PTJlq6s6Z/yef+bGsfb7bXQaNhDJTPl+X73HvpNnL02R+GV9mBsYPyAUje74Y9KjaAwQDfF+xqGPhJRIG8G1+ue1ySulQBknGkXFeqQQr2NfVE7R2B6UjeLVeys8d3nKHlSVYx6xVs+Nxmom14nSZEl3ffHiC0UDMJ14uxuXJBq+omjwRUEUlbnLT4xP7yVYFLWE270++51eEMs26+J3pZtWlHJaIOInfOJH2J/wao1WG4VdFPrHXr4NoE5hfHp/grui6ruOaPD5qlke4xUWPdFgrhOx+I2LoVDfBy/sqSyorXsyfP1N6VvFaIi/+61f+RZ8y9uvGBdagSytFYodHoehxjiIYOjru+x+5Lp0ahGjQboxGuJ3vnZc1K5CG1dXEGORFtx1oiMaPtZZoVWUFkLW7nV1qVK/ZiHnG8CE9MTsFCIYtAQhLPVVEJmAvwObvJTfr5ZoKK6izvV7MrtmU+bKelPjGpBEw9e7BoTipsYgHG9URaPfVdSBrolij33AS5bf6VQ21WWdFExlNHyPE9WFxkHLDAt+2HrtcK0dT6rWGdGV7AeQp/X9efWAEeznLk+RkKI+zFnOl2qawsVeaagM2uql4vkAiPb9jHwPsVcgU9OFCWHkuTWetChZcKdCZCTR0bR9yApXgnx7ECd8+HjtYF0TDQA7Edu8l+qLrCyEEhYbb8pPiSxGgxON3hN4zVA3FfvzVFE0Qt/DNPIl0bizrrCbBLi6E+NEtP/tITKexgfYroS3TAvEiithbxrWwaCm62sWftMJbZkWjfRcALi+E+OeGIZuY+SnjFAThd4ffKmRLokIBlVcJ0NZJ6brKwuhODFmvYqGbiE3Kybryu/W0dBJ2Ur69duuzXgWiXn8wnUCnykaALCq6oJUkmjsiCJG5uerc52I37mqAhlsbRvzskxLNiaD62SZllpivrBQ9FR7atiIgLrMtWrvtaL0N3mJRGYwsGuIzXyVldjwDIuEmA8iOteeXpFhrqIkThD6BDeOu4pGo0aEhsgIt47qOukoGiNjRqwVQAB+lSNDUBdD7FH0RNaJ6XucaohGlW9krZObGsUHqLNO+savEjFRHffZyxNEpMSJGqMh4i8MrqWQ5s2mcJ4HeAFiWNbRIKST8p8qqlWMWjVrzEET05EEzZLrkuho7IuqQuiCQbcE/vDeXFYoKlq7TgDscqLRqJg59kQqTj38lBgHfsOnJ8pft8ejUzQSr/lS7iahPDXfXgFXd2LsTcL6I+ghMg2i4XWlQoA1rdoJaz/qpSkvC21Ih2r8nYXr5PXDdWdjv76b4M6GNsaqQmx0gRoMekpFQxT8EQWX1ttynfCFXD0RdcczjqhuKs8qGFTdqK/vxLi7VBo6aeyluyyIMI95ynRRS+6ibPH+hJVbL7KamEgoTaJMrpOc+vjIK4fW46+8sFY0NArINOIllFvEjVJav/+Wrj1PQ/TEBiBViJ4T+yavGqmtANvMPcIWd0F8tL1Xet7PvvvjhTGuzmPWbbf1PTZcJ5r5CjWwEQy6Llj5cW136p730zLmRYVHWW+U24u2oqF3nWi7KfP5TqNueist2fXfemWKmycb7frDMgCVZ6YeHD0fJTyULaKxkwTYm4QyXVvGmBDCN2oD0UCrFwmfQ+yZep20FC4xZ837GQceQlI0XSeAtnrzpigxiXyodUNqRaOrgOQlRRg4RWM74A/v5UO2wTx7eSpfCrHJNtI+tSfSno2IS6mSLCiKRkg03fu0rhMeTEaa19+dBHLjvbWqcHUes2Zr2bB07GkUgay1MS7SAjsBlTYd18nImIi2/WsHK8VVwa55fSfGuqyD6toQG10Yb4FoSEWDu1CyUrqKxsZQNLJOhDStVTQMrjdAO19x/WU1znUCP5IqhEwt1bmiNvViL1JYl2VNVOseGCGS0EOea4iGcJ1o0lvFfOezqaxD0B9TI1yNbCyz2Ffs24pG0SFuWVnVpzvd9XUF3ETDrkZTMk40NK4TmWrJ7dciyE4ZPwkizCKWxSOCUxNd1olWIe3Ot2PvR9ifRnVdG2VuTaLRff9rolHbr/Oyrgramm/v+6ntVdSnyFQgVYGc6lwnOqJRsPYC6vVFTEGR1i40BaRkTQh/01sv4eZxCgpwV0Lz+TbTf5tEoCRhg4i9wt3qhBAEtMCmCuoYEzEHzfjLirICWR3iECKGZTAot1ffZ/UZRyjqInXqeFrvvyTEZd2UsiYaUef55i69dYsoM4B4eJmvxqrrZMY32UbRLu3GNXAiJT5E8goLBuUbHXIN0eh+6CmXAaOW9Lo3CaW8d3NV4eo8wt4kxFHeJx2zhdDXuH7aG+MyLTAP6xexXtj43HUBsFofeKy1f+2gq2hc24k7JZ5ViPnGDaIxMutEEo1WemteYu5XDZvGn7X3U5N1IhSNbBzx6aszsip9xLIyqI3CwhQNALjb44rKFYVC9L6RNQKqWtHYSQJMIr+W27Wuk7KuRtka/zNX9/CRlwXR4M+iMs9XkOtJpLhOlPdHZhu0nu86K5HRrn37+ur4626mOkWjSzxr1wknqiJtEGi4Dme8svAJVzTiXkVDowBqx18fRC5NQxyorkxun5YDRCOe8OGzn4ny43vTcGB9s0xnlzEFZvuCKIqGjClo2lNKsUozVs5fe8JnrpOGa5tSHnwZ4d1P7SIrKm01467rpHn9ygtRFbXi/OrBWnZr9rkic7RSxqtxPQBss+64frh9aAwG1RGNqPE+qJlFIYr6cNawb35fwsWHMpOVa2VlUj/srD9FSV3WydbAH+prBysEHmHR9fwh6xUN8aGPCEb0o6bflH+UIcpuLQ2d64SzVXna5thNwlrRWHBFI7FTNJpZG2w8eda0X6RF3Z/BD7E/DXHYSG81L4TUD/Gf/91fw3//0582LlSvHazrsszCXZWEdRtuzf0URCOK7z8YVKgpanrrLFSkxM717VwnsilT3hejMYKoAsipXcEudaN7YpeN445IfdYpGkpwp1A0Fg3XCbtHO0mASejXfmvN+Cd+WQcYy/FzAn9tD28cbZpEtWe+Inh6Gvpae1E/gbaI3iore4mqjnjqen/IhZx0YzT8Vp0UGc2vjtGPMIt9LLNCBqfqYzRO5zqBH9auzNb7qQYK6ohAxL/9Kmc/ky3ik1D7PjMFwbf/vvpcCfzvojjBnRPl5xr7VVbKdO224iA29k56K99cp5OJzJSS7hNdwS5dMC5YtdgQBU42OTZ5iZfvLvG2azN2O2iODL5s+mcaP9BPNCJiKEGuUVg648/rZxygqAO4G/Yt10leF6AT5Fo2dTMoGi7rZFvg/rDbJymuzmP4HpEvhdhkGzEa2u6tfRsRe8nEZsaIBluoQhTdErQ9rhPpZuDYnYQo+cZyZ0NxdR6zBVh2rzRL8b4ua6PKGgx7kRaNE/7+JGwt5OaF5M6a4pc+fxvve/+Lxl4Srx2scH3W3DznSYCc+lp79lfs72Kt68SOCIhn59MCgUeUrJMKMzHf0ZVHuz7wolfR0L0/ZgUqh65gV/+J/eoOs+tTNMqsGwy6UIKJj6WiESIJfZS5efzaXh78d+7vsJ4wN4+Vmg5a1wbfvKWi4WvnO4l8lBWt3X3cZp3bvZ9NhaL7fFORsqpxnXitYE1Wn0CR4bn9nNfhOeZEI+4NBlU39h4FQSGS+yI4u5We2CjYpZlvEgVIaYBKKBqNzq0a4iD+u+9+tkvzG0744u/iOKkVDaCzkQJs/ZFrnvo9SvtMprfKeAk+ntl0gmtc0bt9knY2Uhmjofse+fhDFDhc5fjMjWPkJcXXPbMPlAUIrZDTAIfrNlHSKBpFxciqxhUS6RRtoFvATV6//n2CIMShj4DmjcrQOnuAEWJRR0PvOqnHTynlTdUc0dgOSubjvL1I5cIsXSe+jmg0P8SDZYb3f+mw+TPN9VO1lbRUNAq9okE8Lj8yiLbXIW2+yHuTUJ5KCviSaOS0b6Fl1wg1Ba/aZciXaVFvvH6EKT/x9rbh5n/38lF9nTeW+roYrx2scW3aIhpx0HsiLaWiMemMf6yigTJDEvqSBG7yEtNgrOuk62MX91Yfo3E6aTqHXfdWdeMSWQRHosZKi3hSShsKhVA0akUsk+/+POauk55g6IlnkIHBy/oDuHmsD85r24uYponyvajzFeX4041Iz1VcJ71Eo7uxE02waa1odF0nQdQkPg3XiRIzMosDrNICJxlFRUlHkWzad7MShsZ/ibsyK1H9tUU0GsGgyvsZB6wDbcVJy/FGxOEE+vdT/LdturCYT8/3EieTuvusvH7T/kQpGGjaeCeRj4rWMTUik29nNq3ff9lxuqlYxYFvHn8QISQF3jha46OvHgLgXaGV77GpaOjnK1PcNUQshCYYVNd0UZmvgMw68YiBaHSJG3tPGbkSZDk1BIMW3GUUes51sh1w18adRYprc/4xSimYS+qN9NbmQvW9P/Up/P0PvlFfS3v9UEpdah2NiBRyk2uPR4V4iUjLZ7ubsFMJqzpHcHUeIQl9ZOhfyHMESJRy5uIEFZKyQaqWaam4NkK5uG+qPmma3QO118YX7+Za+9cO1rg6adbyaBKN7v0Ui2Ns6zrpTbfNkISeDAZd5yWmXvcEa6eYKNI0V1vKnmBH626XYuOFpetEWTgnoY/QJzgUZp2Fp4JP64U8DjyEPsFR1nSdzCIfvkcwCX1Ugpjo0oW1igYnGnOhaOjTDdv24p1PjK4T9o7IlGxr10l3Y68VjW6MRqTZ6MIgRIH6NLwpykb5cWE/471jlnxM8l5rxzNSQeCuzIryGDJlI021waD1fAXRoIWl60T8e1sibzH+vdkUL99d1UqEhsgcbwp9FpgcT85ca6g7uB6eLNlcFKJxvC4640/zsu7MC6DhCgeLs4pQ4Eu3l/joq4d4YjfGk3tJTeYQMjfgwHwFkScGxcSYDNAhJqH+/eR71FIXo6GMJy9ZVmUSEKCqm9TVMRpdewAI28HdDxCPGNFg/rDbJ6mU2sRHI6RO2U4XYA/DC2RX0Z//9M3+ha0quKKhIRrIu4xWk9q0Nmzsu7z8rKijf3UnxiT06/EYsiQa5ceV+YYoGk3kFmkhy3TDj5mMDdQNkXoWkhcP6p+9qan0uUwL3FtmuJIowUhgRKPvRCpO1ES7UY9znaDMEQe+TG9tKzhde7uFVsSPVLnZdWXtOikURWOk64QQgr1JiINUny68zIrGiZEQglkc4ERctkix2BTSpdIgGjpFo8c1cGmXKRq3TlKr5yWIxiTyta6Eacx+nrWIxjovUcED1VQ6bNwD9XkFPosJURWNoqVoKAt/HHpMNeT266zspLcK18kyYyphTgIQ2/eT//v+5xvj0pSrqiLzRCoa7Dk0YzTU8bM1gvLrH/ENc3+quBe0MRF9Cos+hsJkf2VvjpNNoaS4donMMi0QEdP9YeMRKquoDnr7aAEA2JnNmEIDVdFoKgJxaHadBGGExCvx6RvH+MAX7uI3vfVSY/yZVtHQuE5y0QSy+3z1RKOHuDVKqDezolLqNzNYWvMVe5hwhXsDrhNBQAKnaGwJZQbqR7izyGqiIU/4zWBBAB3/meeRAamWKRRG14lW0Wi+9HW6Z/P6u7LOPbO/NmdkYEg6zhE023lrXCeUUizTou446YfyFClTqXoWnpcPC7zt6gy7SYCb0nVSv8ivHzLJ+1LcVDRmA64TqlUoxsVQmBSNZvDrSNdJg2gIRcPWlWPhOqFjXSfMZncSKgXQmvbrrFugbB4HHdeJcKkkkV9Xs9XcH23lSyGVxwn2pyErme0Nx1CId34S+lpXgmgwKINZZVt2/v5qKiM2fqfq6vKFK6ErTYeaYNCY24t7wdIGDcGgaYlFWrI23raKm/jvged7acaesQwIFURDKU+tIzJx4CFDIL8lsWH2x2gMEZ9xCsi1fdbG/Uu3l8b5LjaFVlFS7cV7IFTnowUjGrPpVCp6x5um66Tgp/s+1wnxI+xHwA9/8BXcWaT4rvc+1xg/8XlgfGs8bYjGbKQTYxIhoJr0ViPxbLl+WllROYLmgbj1vMQeJoo+in43gpR2XCftfjnngEeOaJQkRFnRjuskoCULFixarhP+81VW4GRTKMGLhg/RqxWNJPDkImfMOmm9ZDK4s6VQ7CaseIyI0L+20yYaBtcJ9esTmDLfEKVsIpcWXGrzSka8CJGuE9nG3TRf4uEorbA/DfHU3gQ3Ft2sh9d4Sd/9WJHuwF5s0rOx01OW8LaJ0VimRcNV1LXXBedppGkePyLiZ/T248avVzR09s2Na79BNJrjXzXqhtSK0pHiajlJC+zw0tRx4NWbcSudsYKnT99U5vvETsJcJxZZCeKdlx2LW/Z9rpPa3s51EvikQzS6rhPl+YbsGxP2aaGL0ahdJ4s0R0lO4XqwqKMBoK5to8s6KboKRRx4bM3i9ofrHLPIbxX4GuvKsbVn43n6yi4A4OOvHSr2zed1khYIofkexX+XuXw/RIrr8QlbV2bTiVT0mKKhKD6loi7rvkf+30/N2bW/9R1X8B++82pj/GEUW2WdiOB1LdFAgaKiLMam/gc989UpbmzejGgMKxoJPzjKfjdG14lQNBzR2A7KHAXPirjGCxx1N6KW64T78+4t601AXKt7fe46yZVThnSdGLJOOoqGfmPf44rGpvKxN2FZAZNwOBg0Q1AXGFLmqyoaIlYj8erAJOE6WfU1reJESXSDfHIvwQ2N6+S1A6Zo7EW04YoClPiLPqKhabtsG0OhKggT5fku0lJRcE6fPivGX1kW+Oq/fi3VytNFX1ZCa6PYm4Q4WJdo90oAGFFunxh3kgAnaSUVhMUml/U14sAHqfQLc4GgV9GAH2JvGsp4gCEiIMqgyw28dUITG0zRquuxzlWiYalASUWjDk4UtSgCzYla2IvAZFnauTXfeRQgKyocrHKUJLB6XhIWMRFN14miaAg1xif69zPg7lX+s8NVLklLrfj0n6gldMRTjt883/35HO+4NsMHvnDXON9FI0ajvVHHXNHgrhO+Xh0tGdHYmTFX3W4Ssqwa5f404uWMG3uEt+z6+Aff/V78L//H31SnbfPxR3GCo0bWiX6+RY/rJODB/Q33ua5pp/hvlWgIxQH1+tBUNNquIvYzEbAtO9SWtWLddJ3w99/V0dgSykwqAlfn/OEqG1ESek2mqCgOgtEOptP5+joaEck1REOjaBhdJwFCwnKon+BNrxoxGpr01qrMkNGgXsCV+YYoJMEQhCMhdfnfmagc2dtLgn3Ux5sCu5MQT+0leP2k6zp57WCNOPAw9brFeITrQes6KVmMCdR6DUOuE+I3snjaRHItiUZel4keSQTUhVCk3tLRrpMBRUMSjb6shOZGsTcJcSSDBdtEQ+86WaS1/cmmdp3EgVfHGbSeWU4CQ/pmPV95uhRz7nOdiLLdRkWD/X27yZsM3DZevzv+gLs/qU7RoF17FqPhS/tNUWEStWM0IuzP2L95/WCNcsiVYx0TUdvvT4TrpLWRlqxhGOu90h1/yBUcqWissmafk5a9HF/veLon9qHxf9s7r+LXXrzH7rXOdZL2BYMy4iOr2fLnfrJkrpgp726721A0msGyspOpYb6kzPDt77rGCpm1xh/HiZWiIYiwF3aJgyCxmbZpZz/RE+nX4qCQU0vXiZfzH7Prp40YDVXRUFSxc8IjRjRyWaeiDgatP7o48OVDFX8nfi5etEu8RoCZaITY5BU8woNrFAVBGwxkSzQSEaMRyHLTQ66TKk9ZMKjqOuEn5ICUkmCIQk1qDrhQQZZD3WGlohHgyb2kbhHecp285dKEZdK0FpGaaHTvJykzqUBJSCJgUBA0sqUY/zwOsNgUKMqK5Zl7lXQV1fZDMRSkQWSIH6CkxLo7r6nbYn19dmJpFM+xPLHvTUJtZUSgRTSCOkaGEQ22UKkxGlHgKQWUWkQDgSF9syZiu0lYV9kdGL9ow52omTYa10mR191nxZwA3srd0nUSBiy4U0c0As1GFykxHXlZoayoomjUWUVXBNE4XA/HjAxsLDr73UkIQlCXIVdcJ7KKrOb6hBAUJJDq1OE6x/609Y6PDgYd6WoJYnzbO69inZcsfdRQR2MeKApV4/ohVzT4miQOSFzREO7XnaRJnIFW0zljlkf/+ONkoonR0Ky3XNX0NYqGT+vn1b7+ENGTigY/GGUIe10nacvVQvyYvceC5LSaton0VqdobAtlJutCPLnXcp1UeSNYUNiLjeuAR2tfv9RDNGTWCSt5SwhBs2BXO0aju/EuTa6TaYgIJScataLRn7WRooDfUjRqV86ypWhEKOR8Z7JyZE/TtiIF9SPWdporGqnGlfPqvTWeuTTVFqeJe4iG6uqqxz9ABNqLptJ2eScJcLIp5Iko9jRV/IaIgB81iQnYCd+oaLQVFmBwYyngNwOzBqTp2hXCmpNRzYnU5DpRF2Y16yQOPHg9rpN+RSNsKRqm+bK/WxQeq3oo41Ka8xWkV/jAVaIR+TzOx3JjDz1dMCibS0C70n0cejJGQ6hhUnlR5itcGzbzHfLJd+wDVlxwbxLWrhOl14l8VwwbV+VFkggfrrJ6rL3BqXbEzWr8fohvfvsVeAT4wBfuaDf2k01RN3U0EBlZzVa4fFvdoGcRKwOvbqR1BmC/otH3vKIoqd/lnvmKAnd+2HX9iHer45rvma9ArbiJGI1ama3tu66QWIl5iQKv1VRN4zpxMRpbQplhVfrYSQJ5SlJ94GqwoPi7WtFgD/7JyyywqTJtLH5Up1MB8t+bs06aL1ntqmhu7PMokIrGO64zsjOJ/F5XTpVnyDrprWw8iVfKDVekuUaK60ScHk4GXCfUD5GXlMdoTLQxLK8drPDspQl06bzTxOw6ISUL3m1gqESyjjjwD3cnCXGyyeuYFGW+DfSd6NrXB1CgJ0pfY98nTVdeCIA0Zcy+jVQp+DZPAlAKA9FQFA2vDgZdcFcLLTMssjoYNPI9ZeNtziFD0KlcK8fD7XcnjMQUZTUoxa8KrxWwHDWIrdjYy1aMwDor6mqiuutrgv/CgDSySAC2kAce0RKryOfpoUUqXTVdohHh8qz+N56mmyazF1kz410PAHgZ8qZi1SQaBiLjhUDBfna0zmv3wKldJyMVDe5K+9pn9vGLn7ultV+kBXZ1LQHkePLancu/39VGFMiqD0fLtGxspLJ8t6Fyqs34wzhutqYw2Is4Hi9Mmj/wI6loNIlGH/HsZp0ExhiN5vOSdTFkunaM0Cet9FbVnhG8yHVv3RLKHKvSw5O7uiZdzIffUB2UE/gBd508dYkRjc3GUAnSC5ttiaWCUBqCQZsvvdp7QoXnEUx8Vgnx3U+xMUxCHwVEg6fuiy9iHOL2Ig5Wcr3tOlHr9MeBB48Ay7wZGNWeryg5vjsJ8NRewuoaKAWOFmmBg1XOFA2N4jBPwkawmgpS8cC6NvoWBu3GzhbmnSTAMitlGeZYVy4Y6DnhpFpiYkxnNI2nJV3W9jknGq1UM+NG2lSIRCAn9fSuk4jkoEow7jwOsc5LUJ817KMU2FFcJyEpQFuuIoCn3w5UvtzlhOXEEDOi2i8Kryb+cr71+MW3JANuueKwzktGiEekY4a+hwx+43uRm7Vm4VcLXglXTbt7qz3ROL3rBAAvQ541NpbUQtEQ959SyoJBZYzGNl0nw+P/ne9+Ah977YjVTWnZL9NhRWMa+SCkJhrrdbNS7Dz2B1wnJkWmn6hGUYJVVtYZI0Ouk46iEUo3ZKd8Qs98BcQzJvzvcgRdRUMh5pJoKK7ApqLRHH/hFI0to8ywKDzZgApA/ZAHgkEPVhlmkS/LK69FOeTG9ZuuE3Z9vnEgN6S3trNOCCplo1bxtkshJskE73meFZRhLhHC3Asae1pkyA3BoFOfKsGginTMf04IwTQKsMppbzBiqZyOhTtKDYZ7nWecPHNpwufb/AjnCS/apflwvareeBvok6a1CkUI4ToBeMVKcAWnfbqU17cnDgXpIxpjxl8rOE1Fo0faVcYjpOVSM551xtMHVXt+PyovkoFs4u9ES2qdqyijfr2ItefLXUXNktCG8fOFfJkrKoGcbz1+QlilUtpSNFYZb9k+wnUSeF5X0Sgr44l3GvnSXigaMg1XSSe9pAQR+mFsfl7K+E3z7dqz8VyaRjhYNoNBs6Kq3xVTFkMQglQ5llmJoqJKjIaYb+sbMMa8mAp8Gcbfel6/5cuuAWC9mjqKxqbAPFBiCBrXZ/MlhGAWsZ4ylFKsN8105zl3BVJdMGivotFPVEVmmSxwaJhvxVWjsEM0Ilkpdm3lOmm+P7LNvSAanWDQtuuElxRXXKVRoMRodBQQF6OxXZQZFjlpEQ3FdRK001vrhfyIp4XtTKcAlJz+1vWF60RKwVzqjz1Nm2DNxpXmlXajAIDrUw9f89xVKW/7HkEUeDxv35S10YrR8ATRqJT0VvZvA9rcuCa8iVHfCacidSXJnTjAPA74CZ9dU9TQeMbgOpnFATJqUjQyA9EYiKHo2AvXCRvrm0eCaJQjiYDedVKSsFMyvn88Q64TS0WjRWTE/HR1HFZZiYQUjfLIc15xsySh9C/XWSeMTFDN/UkRmImGUMxiUfNgQNHwY6zUIliG+U4jn7krlZiXdVYqrhO7jT0KCK/02ZSmTZU1J5GPjAePrnPuctPU0VAbUiVJYp5v6/qm+QLo1MWoFQ3FdVIqbloDkfH8GKTKccBT9Pcn4nB1SlfIaNcPu/6XPbGDyPdwb0M7z+skLTAPmpWD6+vX65torLZIC3it68/iAGVFG+9/o3jiKecbc/dus26L7mBnUjQiRdGwdZ00ibAazJojaLrhDa4TkQ4LP0LoezKNu+s6cVknWwUtc5zkHp7c03fr7NbRqKVpVswowHzWRzRyrmhUtaIBAEGMiWfnOkmLkn0oPTEgKmJfEA1dsGbOYzTUrBOWLjn1S6lkiMJdfotozCKffVw9jL8gzH4aBSCE4NnL04Yr5DWpaOhdJzu8OmipKeHtVwWL4O/8YFwMRe06Yde6wYmGtqUz0E9k2hHlYAqCseS0xr5v/CW/n/ZEo36X53Eox6NznSR+abQXvVpURSNEwdwwCqqK9iga9XwnorJsVg4+r0ZHVDnf5vgToWgoz2uVqa4Tw/1pZRUJRUMnTbO/a7qKplEg7ddZJf9Ojl+MF8B/9we+Cu99/jImyaT3hDz2RN1QNGTBLvazTa6p69EiAl4Ywa9yGdC4dyZZJ8PjjwIPb782w8EGnesv0lxfqbc1HpGSfXeR1TEI0nXCnov6fJt1NMaOnweDxlM+RlXR0Bzs+DcUdNJb64NIs5eWHXFrE+EMYdd1UuUA7yUjgzup4jrxW64TWrGmbgCKStTRuOBEgxDyewghnyOEfIEQ8l9v45qnQZWnSKmPZy9N678UL12VI+64TuqNa5UVmEa+zNkudW3BK0E0yjpGAwD8ELFnqgza/MjTourJw++6BuLQ65XucwRNWRoAvBATv2rU0ZhFPtssletPomBQ0SiEosF/x1svT1k3Tkk0VogDj9Ut0RAl0e+kaBGNqqLwaY6qLesC/QtzD3EQJ/4bR4z8hIqrqGk/znVSkhAeHTsenSshlTEpobXrpKto6Fxpq6zo1DGZKwqIqGy623KdtBWNrKyQI6gXMcN8hXthJYmGOUtonZe9rhOAv19lMyaF/btg1PNiMRrdYDspTbdcRbJWTZnLHhtTNRhUITL/p295Hj/6x76lJ0aD/061AB0AUZDKaC9cAzHzzVdei2hoFJbG5cMYPgrZCkDWEDo18Tmd6wcA3rI/wVHeLSi32BSY6noPif/m12IBnwXuLNJOFtWME0BVsbJ3nZgVjYQrGjIg1PC+iQQBP+4SBxZfQbGxSm+NWFdXTgSyouna0waDArXiUXBXiNKNOG67TpTfL10tF9l1QgjxAfwNAL8XwLsBfBch5N33e93ToCzYxvvVb9mr/7IRo9EKBlVOsKusxCwOMItDZNQ3dOvkrpO86gRgJqQczDqhlGKTl6xDq+XCGQc+31g0C0PFm6qFLaLhR5h4dR0NmdbYOiHXiobZZ1vwLBOx+L7z+hzrypdS/GsHazxzacILCnWJ1TQOkFO/QzTSouIn6hFEQJM+q9q3FY2A9rla7GNAKq8O9uraj1E06rohsbWi0Y3RyDUxL6usZGXDG66T2l7ELAiVIw48RKTg3YJrpHmFjAYyAt40HhEwuepVNJj9WsRa9Mx3IqRvZfzs33mDREZF6BNkUKqeQigaPECxdbpkmV3sd4tTZGNjH/N8xfvZinnpHb/iKhLPS/3eWe+VluukRWSCMEKEAr9x8wQAatfxaV0n92H/xF7C+uso86WU8t5DfSXI2bVET5k7i6xbgI6T5BT1QWcbrhNBNBYq0VAUBDkPbh9G3awTAgoflb3rRPm5jPmTrhNNeqsy3kwqGuL6MSPYRaW1l8GjF1zReC+AL1BKv0QpzQD8CIA/sIXrjsI6K0ELFmz3rifm9Q+UOgssRkMfDLpK2WI4jdkJp70xMvsc8EJs1GBQgBENb7gEeVFRVBT8xGK3cUWBxxqtaT4UUubd7q0A4IdIPCVGIytY6ljr+pPIZymwPYxfKBqCaLzriTkyGmDJI8JfvLPEc5en0r49fhFs1+4VssnLRrptA0FPsJ0xGLQur/3S3SV8j7ACTWNcJwYiU3qRnmgU+iyVftcJVxQ66a3DiomYX6bJglllJSatuiHCXm0j3nadVK304rQozYpGUW/ssgFWXvSMv3addAKWW/YT0TRMdZ3kBXNj9Lq6msRBNFVTXV2NYNA2EeZF8UiVd4NBje9b33xNCt0wkRRdbNUsp01R1k0TNYoMAARRghAFPneTNSGTxQo1rqLB8QN1SYD6F/TbK3N4cjfBSd4scJcWFfKSKpV6+1wnIY43Oe4uU22lWwBIK04qKG0qGsYS6k1XQj1+Zj+dsH5Gq7RFhFpzpjIYtE00mH2IouuaN81X+f1S0RCHWy/qFuxS7LWuk3bWiTL+gisa8xu/AvyLPwOkCzxobINovAXAq8p/v8b/rgFCyPcQQl4ghLxw+/btLfza9vWBY0zxNW9/S5MEAPLDYlknanprvfCscrYZz7jPVttES8RoqOmtAOCHiMlwMKj4KFhlQZNi0nKdBB5beDQKC6lyXoK89Ri5K0cw9ON1XndzVK4/iwLWIbNH2hUFw8SJ9KvfsoccAQ5PFlhlBT5/8wRfIxQkzcIviUYrJmVTlKeLoeg5YYpCRa/eW+PyLOKuonExFDr7yqsr/9mNpy/mJWA1HdSWzb3zVZ4XX2h1wbWrrOik8860igYPBvU50WidjtOCuU78QdeJaOndR1QZEesSje79TyKfyc9KzEszGNTueYU+qwyqBu9mRcmqa2qel+gn5FW5Jr3VpKDZPa+++erGL56NmqWV5lV9kCj071sUxQi5onF5FtXrn/geOwpLD9Fu9SrqH3+KNpF5cjepiTBXBBq9lsT12tfnroRLvIfOnZOuoiHeZ1k0sKqrMQ+6TsT9aIxfKBqMaNRZJ1Gvva8pQQ6wgoh6RcNENOqAX9V1QsKo33XSIRqarBNlvEIBmdz9NPDrP8jUmgeMbRANneOHdv6C0h+glL6HUvqea9eubeHXNpGEPqb/9W/gm//o/9D9IScaceCjqKjMK+4oGpEvfbbGSpB+VKcjyevHiEnRrDoKdBYSUf7crGh0F5Io8JAbmjiRStMmHpBEY5mxNDHRFK1zghp0nWSyqZvwsb/96gzwQxyeLPGJ145QUeDrn9tX5ttcaCchJ24torTJK0Qo6u6ujfGPi6GoiUYon8vVeXwqIqDbKKgXGjbe8a6TnIRdCdNyvqHvsWqxSrdOgXVWcqLRdZ1kSkyNJBohIxrtgmm1otGvuIn3oT8YlG10ciFtzLetaHi8hL2iaMj0VvvnJXp/EGU8dTBo9/30PCIVq25l0PHPd5yrrjn+aSMGoXYN1Fkn+vczipmi8fmbJ7Kq8OnHb0gHrwqgMhykFCLz5F7CiB6oVBAWG4VoaCvp1hvppVmEe8sMt0422GsV+BJZVJuqJlLNyqBDG7ueOMwmTJFtuE609iaFolY0REBx498bXSeKouHXwaxBEHfTWxV7EXPh05pYhb7X7HWi2AtFw1Sg70FgG0TjNQDPKv/9DIA3tnDd0RCMtwOffbji5C8DdhSpc5WVmEU+PI+gQADaVhyqirFuv1VHA2CM0qho1C+ZqelNbd9dGOLAM6aHepxodBWNCBFKlBWTFo8aikbTddJ/Is2koiEWQUIIJskEi9UaH37lEADwdc/sK/Ptuk7aTa4A5joJUfRkbYx3nRBC8BSv9XF9J97aQktHKxrm51uoDdVa49fZtxWieRKwE13r+kvRJj5Qs06ET5u5EqaRD58rKZHvI0KBshWjsckrZAgGg1/tgkFF8HSbmOtjNDyFaFBKlYJd9hs7CwYNGq6uTKSjG2N8WAzOOivhESV+xqhQ2Ls+a3uT4qMqUOyepqrrRFU0DO/bNJkgJgUqSpup/X0Ki9aV0PN9Ad2TsGa+T+4lnWrGuu7RnfFw+/0pe19eubfCXoxGMK6IL2oQjbwEIUp3W+Kx9V6F+Cbaz0wEoE7bwaB610lfG3oAmPplt8UF0F1TWkRAVprm/+2F/URD7DO+7FUUIvSJ7GnScZ1wguhpuhc/KGyDaPw6gHcRQt5GCIkAfCeAn9zCdbcHHtwj5Fv5ELm0W1W0jnAHC8YSxVkklIfaKEHO/y5Cbu866V04264TX+uTBwCPspLlnfxoL5QNdxZpgaN1jt1J0Ln+LB7OOkkp2xh9ReqfTScgZY6/8nOfxbOXJ7gyVz5kXYwGDUBbH60gGkRLNOx98sy+Hv91vtB++ZM7/QutkehpFA0/HMzC6I5fH1yba4lGBFtX2k4c8MqLzfGvsxIRmoqG7xFMIx9pxTZxEbMB8KwTUnQqs6ZFhZwG9SJmmG/oewh9MkhUhQI4lM47iYJGU760qEApLFwnzfsTCEVDGb9MRzc8L+qxEtLrnCkodRvx4fetO9+e960VXNgev8iqyKgvXQnM7aQEg2qI8GzKpP8AJd56Zdoaj+H9FD/vjL+fCHTsW9/vE7tdonG8Yc/CXKm33hiF+/Nzb55gN6RaIrZW+kUJElsHo4+crxdgGrN/s0xbrp3OYdOUVcTs5yFtpbeagkFbrpNWemsQxq1g0K7rJPRJ/Y77EQLPq5V6jWICKMSkPf4HgPsmGpTSAsD/HcDPAfgMgB+llH7qfq+7VSgxGoBKNNiLKR7qTPRc0KWTKv6/VFOAKCJFs0VwVXIFpH7x5e/1w24dDUq1H0oUeEai4Vc5qBfWC6P8QShLSC82BY43hV7R4L1fqHFjzJBRvw6O49ibz5D4JSoKfOc3PVf/QBMcKfu1tMafFhVCUsAzSbWWik9tz8b/Tbyq6juvzzsnxtp+XPos9SMENAcd2Chsxq8lhiNO7PMk0JZ4XmUFD65t2u9NQqwrH6Sq23AD7NQeoug0tWOuEx+e0VVU209Cn8f4mOdL/bDZgVTOtxsMqhaUE/ES0z7XiUahEN1YvQbRKOs6C4b3wacFc9WopdL7nq8mK8H8vkWA4kqo7ZvPVyiym0p0s01RVLSVBdMdjyDrIQrZvoBdoIf4iOs1xtPzfYmf94wf4OnTrY3xeM3epdjYe6jeGAXRuHWSMqKhEBlBxFYt10kcWLi6tPNl4/c9Vpl22XGdNOdLygwpQn3MC1jbh05WY6+rSHGdKHVAgnA4GDTw1G61MSPYZVvR4K4TrnT4KLrdrB8QtkJtKKU/A+BntnGtM4EnXCdC0eCyIa2AIJZBQFNJNMJugSb+39QLunU0ggghFq0WwV0223SdtAqCVd0W1gDbEHRSOaoSHiptZUf4EcKCXe/WSYqyopxo5M0PV6kcGZSakutFhg0N2GKvIIxifMXVCD/8e/8DfMvbryhz7i48dZ2CZqTzJi8RoUDVDqwS92BEDAWzZ6ePP/Zb3oFL0wi//2ufBv7d9nzsIQpewU+5F30bi5G4jXSdtBWNJMB66QFojn+VlQiT7nyv7cRYbAh8mmOe1NcSWScFNIoGgkZ6qDp+hHXq+DQKGCFIzM+LBkxhijtZJ21Fw2u4TkRNi0nkAxt7V1fAiYZPOREgpE5HT/XPlwQRvKzCJk0xiZRnY3NCDloxESaFTl6vRWSUfy9dJ7wD9YYXDUwaMRrmjfS3vWMPv+urnrQYfx9x6CcCTfvu+0kIYcGVGeQ3Odx7qN4YL03rjMF5WAF5be95BLPIVxSNrLkWG3oVGeerELFZHDRLkGvmSyrm+uwcjYSiEbQUjb50fOX6dQxRCnghkkjT60QZf17SpqvI8xH5nnSRtImeUDq8yhB8/wDwSFUGNYJvLGKTSItSUShCJa1N9IbQLLT8oVVeiIp26yCwNvH9xVpEMCjRZXlo7AERo9E9wQp7fR2KkPW9QF28ShcMKk5vppLoKDOkld8tCOZHmHgVvvUdV5tqitZ1ErC6Bh3XCQsG9UdV1uyvowGwVur/l29/Oy8A1Sdl2xMZ4ocISdk8ZQC9J+S+mJdY6zrR2GsWqnkcYFU2XSciFifQFCi7No9xkjOisRM3XSdM0WgRjbxCihCewfWjjmca+VjlPcGgRVqXXNd1q1UUgUnIqpFW/PobGZjJC3ZpgxG7G13oExbTBEjynqrBdj0Lf56lmIYqETiFK2G0fTeraM1P7OlGEI2hdFv2d3/zO7+m0fxNR8RU++547DbG5vW79pNJs46HqFhqTGdXNlJ1/POW6wTghEBpTNmoaXQfriLWsK3tOmkRjTLvfC+q/dyv6jLmfHw2RK/udcLsk9CXe4VuPM10bfazPkUj43/vVS2i+wDxGBGNQr6QaVE1OusJ35yqaHTqJoiHRuteEer1Q5QGRUMhGvznJNCcAA1EIxKKRju9ldvrszZCVkMCwCt3VwCA/UnAFl5VquXz1RYE466cjZZo2KefJqHX8ZkDjOyFKOC1+wYAPURj2HXSGY/Wxz4+fZYRSY30PbIEedpugtc7/u5853HITnSKvTj96+qGXNuJcZwTBLRgcTocojKo3nXSfV71eBTXSeTXWSdaV0Iug027HYabroSEEw0RM9JxnQBWGx2ro9GspJmKWhQGIunxZ5hlafNdH3Q9DAdHMntDcGHbdSJdA3ydEoqGdA2MJQI9rh+j/QgFxHBiF1kc0nWyyVnAJjU1Oayf77OiJg+AyzHtjH+eBEoHbFZk7fSukzrmZRYHWA25TqoMBcxEbzeqG1nK32ehEGWyYBdbT5LQ6y3YlRcVy1xT0p0DT01vbblOygqBR0CconHGEFknQtHIqwYREM2UprFQNDQlp/nCK9q2t4NBA5obFI2u64QEMTqBRobAoTjweYEagyvH8GGJLIkX7y4BAE/MSOf6glhp26BXJQCKlPqGuiSaGJOq+6ETQkA1lTVFMGinQZEY42jXiYmYjAwG1SyEJGCVF4cqv+ZlxQLfeohPWunrntgSn50kwLJsdv8VihyLcWiO/9pOjKOMEY2rymlRxGjkOtcJDUCUEsmN8Sj3RzTA6ttIK1O3WnE9jknkN9JtG+R/xMYoCnYJe8qLOsVCmtZ8L6LS43qzaQTMnu6EPGJjb9XFEMG7q4J9bznvuNtoqrZVhUVDfIZcPw17/fc14wWwVEVjNwk76cu68SehLxW/djAowBS9pUI0ZD+c3vn2Eb3adbLoZJ005+tV/YrGbkRxsmkRDVMwsXL9tkIhYue69mowaLMAXegTmcbacZ1UVLF3ROPsIFwnMr1VdZ3UioY44bONsRUMJx4yhKLRdp3kyLSpTaqiwX7u6Srt9bhONroYDaFoBJqFzauzJD57g5Ulvj71OteXefu6Nu78+pvK1wQv6hQZQ4Q1WFR/R9HIcgSkMhANA5HpWzhHKhRjiIwXaFxjQGfh/57/9QV87X/7r/DRN5b68RQZUuobFI0RRKPwGq6EZaY2zWu5TnZiZDSARyiuzxVFw2dZJ1qiITfq/hP7JApqRUOMtzV+WXK9o2g07SctRUME5s2ToH9jbM3X5+npwj4vKahwdRo2RtEmPN2smYvRMN++8dfjOb3rBBCuMXavsrTtOhk6IY9VWLYxfo2iMWNEY8NdP6aCgd3rs/H/8P/1P8D3f9c3cFdgl2gsCiLtRabQ/Y5/FvmDBbu8Ku/UnVHtd8K2ojGkKLEA86zl2us0/2w9r7xSYjT4tULfrGhkRcVaxJf5uWScAI8T0agKSQ6YolG7TmRFQIVodOomiIcGneskhk9bWSca14lgqdqmTD2uE106Y+060SsCAUpEgYdP3zgGAFyZCEVDJRr85KRTNATRoEFzkxDX0Pl3NeMHWHpo+35mqeiEaCIabUWpJwdcR3yqquMqatrbExMS9LhO+CLwmRvH+Lefuw0A+JWXTtCOQRD2m8rTlIyPeuoadBfaOgaBzVm4TnTBXtfmsSQO12f1cySEIEJRX4sjzUtkLdeDbr4Ac2useomGWnK9FQwq5scxCX1EpA5OFQv2LA46C219fVPJ+Npe9sLoSW+NY14ZcrVquJdGKwKGyp22rhOg6RrIhKKh1vWwOCHX1x8KjhzratERme54dnkH7MMTpqYeCqLRU8dEHc9veutl/Mdf97T2/sziAMd5nX68bigap3cVsWZu7RiN5nz9Ku+4GtXxz8MKJxvl31goYqIthVoiPwn7e51I14ky/sD3UFSUZca1XSdV1/5B4/EgGq2sExYMWp/AxUItfKS6jVEqGpS7TgK960SmQGpdJ1zRCHXBoD2uE+o3egeo9lpFw2fdBJ/mxav2JiES0i3/K4hVBh2RYdfXKxo6RaZLrASoF3bqMghZWE80NETAQMTq8Zjse1wnKhEQWUia63tBhIBUSDNlDi2F5Zc+z0jGn/+P3l37kDuqWIZNpSNu9lL8PAkk2RX2wnXiV137azs10Xhmt0kqjK4To6LRXDjryrLmjVRIzZ2CXa35TiJWQCznPnBBNOZxoLWXv0/7vtX2skS1KIik2aiTieo6URWNM3adGIikOLEXHUVjZAzFqVwJ9z/f/Z0ZAODeCcs0u3WcDhfQM16/e39OFKLBum7z93WQyLTnWxOxOe8a2zdfj/YrGnO/wnHbdTIw30YJdT5+Fgza7zppB4OGvM5RUdHOfPOiq4A8aDweREO4ThqKBn+JgrgOPJOKRtQt0MQfmjgBtuto+DQHpXXOMqruxptKRUPTNKxH0ehTHDxjsGOO56+yD14Wr2pdvy4QpHOdMCKwqXxDOua4jb1dwrvIN9zc0nUyRDTaWQlD9u26BjI4WOc64dJ6psTVtIjh+3/jDr78iR38zq98ohOMCEDWVdlQg6LRtqdUe2Kfx0GHCIj319P4wJ+7PJXE5MuvthqQkZJlNClI87JTcEmidWKfRPzk1bNRlJw4dAp2teznccBSiPm9WzYUjXExBbJ/S1nHTfW5Tia810WIopGZc7qNcYzioN9IFzm7Vzlv7GjvOhmrUPQ/39OMHwCeuMRqedw6YG7bm8cbVkjP0nXSN/55HLDusPzn66wcQcR6XCcNomF2nbR7A6n286BCVii1NCxcXYJoqCXyJ6GPrKxQVu2YC65olN2Yi4AfBouyq2jklVJ3w2WdnCH8ECgLQ3prJBUNEQwKP+r2euD2qUHRECd2mXnSk3USRLExi6T9ocSBhwwh692gnsAl0TAw+CrHV/LiPe9+alc7HkGstHU6xGlZSzR6iIAumNJnMSzq+IvMvLFrXQmmzozq36mqiZyvZXpfDzERZCjPNhp7Vi741166h29/11U8e3lSk6fG9TkpKPUl4xtjBoyuot0k7BCBVVaAoALRRPVf303wFW+5DAC4kjQL9YQoWAEiBWlR1SnTQ64TGQzaF6OhUzS6J8x5woiGaJglFv2xWScAUCmKRrMXht5+wtuEhyiw30kPvb+Nkdnbx1CoJ3ah+tnW0dDen1Gulu3M9+reDgDg9tEJsqLC3WWGJyXRuL9021kc4DhTgkHzVjCoKQtMe/1c2s94J+uqosaS5YFR0WB/Nw14EzmhalgQT+FurxWKuFtYsh1zwSuDqs8r9In8Wcd1IupumIJxHwAeE6LBNsb6AVaNjavdtZHw9NBGJUhBJATRaAW3iRN7TTTMrhM/iLrpgOKlbjHmOPRqP3rZ3Ug9bcErNt8/+N7n8B1f+QS+873PascjiFUqmm5pxrOpfE3dh1iWSO6M3xDjAKDhSihyc0zHWCJQLww6e8sTXc/4Ra2PPFUVjXo8n7/JFtTf9NZLIIRgdz5rXlOxX5WeJhi0b75d10lbMVllpaybopvvH/yWd3avX5XwUXUVjUJdqFquotZCNYkCbPJK1srQKQ75SEVD9LFYpCXmccC63I6MKaDaGA2zj3o2nbIxosCVBtGwiylQ5zv+RN19voJolELRaHRv1b3Ppl4ep3Gd3H/dDUG07x4tcHvB5vDEbmx8XmNcSztJINN/UeZbyDqpFQ0AvC6Mfr4+zQ11i/g1fPauycwTi/kKlTtSFArZsLBDNHRZJ9x1IhWNqjPf2j5nlUHPAY8J0WBSv1nRYP0EZD8PXZYBf2i1oqEs0EEMj7JTZdohGvWLv8lZdDHRMWaDIhBp6gKof9a6Tnh32GcvT/GD//l78BVP7kIXrCmIVVr56LgSlI1Rm3ViGr/mw5JEQxl/P9HQEYEhV4hpPJYLT5+iEbF7XBhcJ1+8zXzR77zOqhq20/vUP68rX9Ntt2e+7aZqajCo4jppt9RWIVUvdb5cUUvbwaBFWadMDxCxqRrj07bnMS9CfRkiGjtRwDogV7XrRFTKHLuRUuX5ioU8lk3VzOmYIcoW0TBsFDpiK+3HEA29a0wEOxZa18kY4nP/G3u/fT+xune8wM1jpgI+IRWNkUSgpVDMeJNGAKiKFFlRtbrtjplvl2gsU7NCF9BuE0L1+hOfvWsnDUWjf75ZyYlw6MvxC2LZaFmhjCcvuwXoAl+N0Wi5TkrKXCsmxeoB4PEhGlXBGtEQfmpTpPVGQBGY1B+gbAbk8IcmFkKdFNwo2iUViqaiEQfeqI00Dn1k0Cwk/M+BbQlvzUbhewS+R/Q+eUk0Rm6MvRtdbV/lY4kD/7Ntnn+PQjF2/CJgVfjM2/ZfvLWE7xG89QpTMuZTM9EwddttjLkx/q6PWuc66SMaffNNq5aikVeG+9m9P9L1VukUNy7zarO0uhvLLGRqmqiKuciKuhuzbjw9WUVU4zqJPHMdgb0dpmiEpJBkUf6+XteDjvjcv+vkKGu6TqaxupHeXwzIsP1I10nP93j3eIlPv8Gy3hjR2EIwaBIi5+RYZOUMKxqG6ysK0VxLNFpZJzSv1TvNfCeeUDRy6/HI99Ov67zEqvKuGT8L7hTBzVzR8Hhcj851UglXi3OdnC38CChSVoc/4DnKZR0jsErLRuMwUaCp2fK3diUA3cqgAFgHV85QZQyG8iHKrq+9J8Z21omnzQIoc0E0xgZTdq8vVBrdeNZaRUN3Qu5RBDQKTrlN14n2fg7EgHTs9fcfqO9xYSAar9xb4en9RJ7ad3h633K97tjnNNAEg9rPdyfREQ3WN8Y0/r75phrXCdE9X814ZAE87ftTEytgOOtEVLJVFY25EjNlur6964QCoNqNOo7rGA3ZiXgoPbo9HkCrUBjHL/5b4zoRZEvU0RBB26OJwBbSbZv244hMiALve/+LAIBnLk+wjXTbeezLdyrn90c2wht0dQ27Tpap2XUSoOh1nUw8RgxEt1qbpnZZJ1g5kuutPLTqXCHtrJOAk9OS1u73olZA6vRWp2icHfxIxljEoccVjXrhXGZFg2iIAk2NoimSaHjyOo3rA013i2ZhTnPelGvExiK7twJQq4mKwERjeigt9VkYbdeMKHGuzFG1T01NwIzj12RtaIIjq2JjtB8bQ7Ed14mZ+ATcdVJmOqIR4sbRGk/tTeSPdmdM2bh7pDSSE4sEDCXI1WsCjRL5KmaarJN1VmIn7KYv19c3u4o2bUWjKBWi0f98xTegdZ3wRa4u2d9PNMR8RbGqZVrUG2zv89W8/0E9X6FKJp45hkVc/y/9gS+v/64yE0/t+JUmjVb2Ij26Zb+jPN8iSzEJ/dqleyoiMNaVsD1Xy/UpwYt3lnhqL9H2WuqOf5j4qO+/WAMn4WldJ/X4RbHGxYDrxNTEEgDmAXvHbp2kxvEze+X9LNrBoGH9XYm6TJ7PusAKlbBUFQp2rcBTYjQIaRw285Ii8Ij5+T4APCZEI5QLXxx4zRLkPL1VdZ14QQyfUGxS88KsWzi1rhOVaBQle4m0wYv6jTQOPCkVqh+irEMR9QRvabMwmi9a5Ht1QKDhRKrNOjHY6xZ+4d5RYxyq4rTEoU+a1tzP3ih0vULRRhj1KBpBjDcON7JmCVBL8feOlx37VOs60REB/fMKfa8z32VWYEeY2Urr/M/rToxGpY2p0d2fOsanz3XCbKKBrBMZb1LUwaC9rpM+4qlxnejqyNTjYX/3pFLQzE5BG/t+6rKKmvazOJDfe56n9T3g6dHWioms87JNV8s4V9G3v511+v3Wd1yt//2YLBiNIjOP6zoyhdZ1crr5NmI0DMHNIfL63VLh+QAIpn6J0Ce4cbTpny8hPI6urWgw4imK2zV6ZzWIA4/RUOqGiKyTRmM1Pv5C1N04x6yT80mqfdBQHlIS+q0S5GGzuhwAn2+MoqkRALlpr0tfXqdxfbDuhL2KRiEUDfuFKg78ToEmAMi56yTUEg3lw2qTmjaRCb36VKs7kSKwc530LPyCDG3SDebSfKzr5CyCR8e5TqoG0WD21Atx+yTFEwrRuCQKFh2fdMZjrWj0jD+IEqCsbVZZiZ2wAlL9+PvmK95ngTRXiUb/85UF8HqIakrZeHSuRp39gisaizTHPJ4P2mtdJ40TI3edkD5FQ7Ox9LgCt+Pa09urMThlnta9V3qJjOZ58V5F1gqCcBUNND2ToHSwDfo3PTvHP37vN+Mbntuv//19Kizq/RHEvxkMqiMCwwXoJNHICsDzZJFHgaqiCGFQNLiCQKoc13cS3JREo0dB4HuSro6GIOVdoiFcJ7QuKc7HLxUNtVV8R9FwWSdnCyUdUyoaavfWlqIh0rOyVPWxC9cJY46dttdgrpNuemv94m9yEQzKH3YxfKJuxGgo9oLNa4mGjpGbXDN+v+skh2Uly56FUNxPlbjJTds27/3MXSd61xJQd8gVcTGq/Yay4jqXp/Xv2d9hG+TRYtUZf38wqG6+3fFE4pk3XCetFtGN65ufl3AFCqRFqQ3ere9Pl2hoiSofm1DLhrJOpDrDq6oerwtWtroxfrvnq45fnhi90wXLbte1Z0E0lMqvZZ7VmTdW7/N9jP80riIjkam/x295xxX2nvT2KupznbSyrpIAFTxU8ORhZTpU0KzlSqivX7se5mqMhpiDYp+VFQu41hExaZ/jid0Yrx+u5XiOMoJ/9ak3m6USxJxLXR2NqCYaZdmxB9QS5PV8w0AJBm2NPy8rl3XyQKB8iEnot0qQR1i3YjSEopFpfPJrXpLb85TiR/z6EXKN60TNOql6sk56XCeaYFBRWTOIEnTQe0LrKiZys9GMJ+9VNOxOdIIMiSZLAFBanRi34Dqx3iiGT6RV0bUXNQ/2p0rsAg8uFL0eAEiSmKMvGNRuvqLbaO06KTEL+oiGbr5sPOtOjEbVTzQaigaPjq+UE2XLPqU+Ap7dVI/H7DpZFB6qiuJ4kytEY9zGrss6iU+ZlXNmrhPD99hWNOpA0O1lUY227z24aObr+QDxWsSkJ1hZcSXU9npXkVAeKi+UxH/aCJY1uAYURaCeQ63IiMyeRhlyxT7NK0Qo6vilzvXZ+L/+2Uv4yKuHWGUFaJnhpz55B9/zDz6EX+R9kJrjURQNpe17JxhUsQd4t1dJHNjaKkqQ61wnunTYB43HhGjUH1YceCxtSPmwlllZnxygnsC7Uvmq0BWwUhSNcsB1EvrQ1gXocZ2kmvTWgn9k0ZDrpHP9lqIRePVmo7HPtMGg4xZasTGmikJEe4lG3/gt52sIpjRff5iYVKoCVQiiwe7NvqJoiGus1qqiUd/P+00XrhUNTn6zAjvBcLCjbmPvuE6KSgnetXOdrErz+6MvYW+e70lOcLIpQCmwJ+5pD1HSzVd1/QjXSUT6snL6YmQsXQlW79uwgqkSjarI6swbjaLUP/4+ImAuAKgnGl1XQu/3KK5je3909obvURCvkgRS0ZhEHlAWxl5F8joNItPMKhLXXahlyBX7tGS1aoju/iv23/Hu68iKCu/+//wc8mwja6K8/wt3NPaKay8UlWtr10mjjpNCfJpZJNx1opYgb823qFRXi1M0zg5KemUcCEWjfvHXWYlJWLtOZDpjo+Q0Jxol6boS+MsXqR0+dUQjL5GorhNLIpBrfODiI4viPkVjeGGIA6/3RJoh0BCrcT5qoWiIyppU9PFQr9W4/umIwFZcJz32pUbREH0XLjWIBvvzZtMlqtlo14mGaCRJw2aVlZgHldG+73mJLA+BNC+VdOR+KV4oM2utIlYrGqOIRuHhaM3mdVrXiTx1FmldeVEoGrbBiGfiOhnOmlErv9JCCQbtVRyaWQmD9jpXQk+vH3kd2+9R2lt+X+I6Fva+RzCNfBQklArjJAr6n5du/MJVxNdu3yOYhL5sR9EhGmkOn9AeRYPN95vfdgW/4yuuA6CIUOA7vvoZfMNz+/jE60ea+bYUDa7IxFqiwcZT8m6vbdeJKNiVV13XSVFS3uvEuU7OFg3Xidco2EW9oJPeKoIXO70tiI91QZuBbYCiaOiyTuoHm0lFQ3fCsXGddIlG0ks0LLJOAq8+1ZpcJ2OyTjQLuSBDoi5AVlZ1k7UtEoHxC7+60A4rLFRDNA6zrutE2GdptzeKPhhUN1/zwi+fuSALWYkpr0poH/MiiEZX0RCuw6ETqSBM6x6iuin7iGrX/iQjGqLRs7Fr5qu6ftKigu8RWafj7F0JBiIAYrVR78QhAIKSBEzRSCxcJ+LvLb/H2n77RKBpb/k99o1fYz+PAxQIJNGYhv5W5juLAyxSRRlU7MW3rG35IO0zeB7B+/7IN+Glv/i7AQBf9vQVfM1b9vDpN46bcRp8vnVBOcpdRbH8XnSuExGDEfqA6voR7pZcrb0hDjdlhSj4/7f35rGWJfd52Fdnv8tbunu6Z+VwHe6kKGpoibIixbYsUpQthpKoKIIjyhJNGJCBBFkQKQS8IAkcxbKDxE5i0HAQO1GiLIogQ3JskYocI0Ech04omgqphSZlznDImeF091vuvWet/FFV59Q5p845v3rv3e773qsPGPSb7l+f/tVZqr76fku5s062D22HE9cNuwR7TEsOzrXue9B24FmHAfsR0rwa3JFGLG8ng3qh2D1I9HM0Oi8+8+Sk1CAOzURDddaMjUQjanzWr6//mbr+ROhE5GgMSf3TRAZopH7VWXM90TJbf15T/rf9IS4UZ4yxt4mG+Lv3pYtGomE4hO0iqk7ipEs0Ciz8MUVj+HmtDDkaPjF0okJA63JY0VhbKhqr0sNLJ+K+jRONEUWjEzqp49OA+fleaCiBqCAM2Cehh9Bn4vCu0hA6ISsIU4rDGYgA9Xus/SHeH6P/w+NV4SVeaJ1TL2C8y9hvn+Cq2WeZCPsaj3ww2OvjffrmHCdpgaN10bHP61B7rPV5MVedCOKQ1/bt773VgrzjT1FWCBkXoSVXdbJFaBNtHGiKhh+1T4mUUDkFKuFS/V34IdZ52ZRT1deXmb/dhl2dj6pXddJ9MU0yue8ZczSqIkPGfSRdX/TxGhbGPtHwsSq1hkC1fZO8aFd1MrwwqkqZdidLW8XhIkMn06El/RrcYH83lYrGrB86ydO02cXooRPSwqt27H1/klg0B1PEZ5WVmPmUhl19/zeVL5r8SKRF2VQyTTzfWZ2jMZxMvK78QQXQtDBmCPH8XTGp1+TNUuHygxAlvHrHGIfe+PugiEBrId12KMH8PTLG8MgyRo4AXpU3yaCTOQ7dhfThEYHGn/MoIMMKxVJ2x60KoVDXJ/NO+j8eGptHnaPiNf9V3yJmapBY+28e7519Mf+9eLzp2Gf90J6vV52YFA0xn9R9YSSpDvQW5ICYx7TQSUNMHNHYHrSJPA59QQbkAUvq5Nb6iHg0O/Ai67yYfohNXhqqBmTmb49otB9q3UdjqGGX4SMJfA8V60+0VZmiMO2OgYGFJQXAeorJcDKoCp345646UQtjrhGNcUXjIkMnFxlj7xOxV1LRVdBUvsl43pzAqIgbD5q4e89/2kQ+mykiLIhMm2gQx6vaEyOoJ7Sy4qLmPkz69ob7H/oMHgNWhSIahtBJZWhhX4cS+jvkHAGek+WBtaJhqkoYU9B8JvIc5EQeB954aEz9/gMNJQwTmdt7sehfA+1gORKRuQjisC0iY+v/8Pd4axFhwwXR2E/Ut0MhYnrVT99+GYswemPf+KPyy/yhZNAgHhzvnT0x33/9SHvf5XhVl0+vasY7XHXSKBqR195YqIZd7WTQJnSSeCMbkQeAa0Y0Ull10oROaqLRKm+VDZqKTg6FHwmiMSB9R90+Gp2HWncGHVpYBj5Cploqa/7wIkcOv096gGZXblJMtFAOIEInpwMLRcUCcHgjLcgN5XqdY+4BTdGQClE7dEIlArahE0oVwDnKE+XP91JgfxYa7SMUuLvKW/aVFw5WLVHHO5enjWZZiqysUFa8PtDJdrw5gvqdVb+GES00xhhDEvpYFzAkI6rkab+viI2EEnL4eO5uh2ioMbSI0kjLeF9205Whk/aO9wJDCdT3zWg//HxvL2NsSg8hiqaayZb4jCmAtf15xmtLNCj3h/Y93t6Lsal88CJrvr0LIDKL2B/so5HLucsfVDQ6/mvv56ODioYItdeJoPL3A9+Dx0yhE60vTKeKSh0Tb+qjUVS8Z/+gcU2IRvMyxnoyqDy5FdAOLgLql6/doCkHvBBrY46GuH7ilVp5a1uhULvFRO8M2o15jn2EykaCF5moCOn6MmA/pJhEgWcuTyzS+qRCcozdQGSAJnmxzJTUXyBiBTjzewrL6PWBCWJCjLEb+0TYVsGIn48y1nRv7NiHKHBvlbXswygG696jsVCRIaY6nzXJtWtJlEeJhjEZUfyc8YZotErtegqC+f7UnXYHiMCqNChiyk/DwpghwBdfPMFe0lHrLBSE0Jd5TSp0EkyETmp/DERmopyx8ediQieAWEhTHiBkBR5ZNpskYW+fI0Czp4SKDP4P3p/u85ogMsHA/Te8/48sY6xLD7zMsN/rnHr20MkiHg6dqHOOgtHxmu//qKJRVE2zLs3/KPAGQieqpb700+tWnbT7aFQVR1nx8c64DwDXg2hooYok8JEVFXjZDp208i7qcsYuEQhFieqAojH3yo6i0a44ATB+euugomHuu5GbSk+B5uNv9X1IjZNC5HuDMfZSEQ1q6GRgElRVJ4VafHKhaFRjuzPpQ/v6ZiJjDJ0UqUiu9Q1d9kdDJ8M5GsxABO5lrEnY6/gjiEbe+AMgMjVYMyYjqhh1/x4tkxg595FnKU7l+zsqjTJmkHabhT2tiYY6d8EfmZjb9ycJPKyzanBHKhSNgfCekfiE+MLXjnF7r/McLBbSJBQHEVZyIm/naGypCqMmJmMxfBqRubMncjRCFM19OHPoxDKnwNb/bRM3g70KLZV52igahe14+8RtEQVaH432eFW7c+PZUhP+L+IAs9DHN060+Vh+j7XiVrTvf+R7SPNuZ9C8ztGI6hwN1bBLO1RN81+VuzbJpgP+bxnXg2jUCkJWKwBVLkqDFNEwKRqVrmhU06GTxO8QDe2jbY6rHqk6Gfho60xnLabNyxwFgv7uWB+vSXHoIA6HQicpStlhcTgZlBb6Ub+v7ucqLREPHVA05H8xTGRsxtu27ywUXiAqCgb8Z4aJ+V7KsUw64/Z8cOYjZAXu1oqG+LuhqUrIGEoY3sGqrPs822AtFblGGrWTpnOdaOTaAU9DUnxn4m8UDTNxWJWGHI3an/54VYXVHSPRoBGBOPCR8wBVnjV5USPETVznvKGEiws93JZEI0KJ28tOGHSUCNgka3aJgKX9GDGv7c+T8zL8/j+yjJH1cjTO6r8eOgnq9aBrr3oqBVFzSnP/+ib/xfUPZmFdtl37qUIngdfzPw79UUWjm0w/1IJc5WxEmHg/t4xrQjSal1FlwFdFBgRRHTppKxqSaHT7XPgBNoUhdCInr5lXaQ272grFJu/sFqU/zfWHF0bzIVcZCjbyURGvH/n+4FkVKgk1Hixv7Vx/rPQLTQvvVVbIcwMsiMAYkTH2NciHJ0FTi+QxYsIYChaAVZ2JxI9xkhbY6yoacgwRykbRKFMU8DFPqERgeAe7PxNNnfIsrSfGWkq13JFmCA2hE4+8MMahL3ZeA/anpTcc3jOM15c7xjt7HULW83944a0VjSJtKr2sO1Pa5hRYJiNOEI0MPkIUeEQRDVIyq+F5WZdjUonDVKhliLidP/RzW1N8bi46oSXqeA0KyzL2cZoVolKs87zKSUVj4P2U4+0TDRk6USerdohV5HvGhl312Sgd4hAMtCCvy2E7VSoPGteEaGihE6VoyL7ytaIR90MnvHuIlq+6iA4oGr3QSfNQzYoGLXQShiEqtBdGVuYo2cDhu5aKhul0WBRpTWRIORrFmKLRJhrrXJa3Dk2ansGfMh2eRIx9DdJhf5RPVKIBoGIhPN4lMhFO0qL97tTXD3s5GgUCLE220r43EQ6Eig5mITIEKLK0Tl4LURj7sAyPt6kqUpNXP3RiWhjbz2AWypb+A6GE08JHbFQ0zMRnOZ8DAJ680dk5EmLsCknoS6KRiXL0UO+zYJlTQCVuUzv2gdCV6frvfOpQKBqsaM5UmlQEOs9rkphsr/y08cdE3CwVFsPCqMp/QxS4VRMN2+fbH+8iDsC5qIrr+jNNNMbfTzPR0JNB2xuLOPDMfTSKjqKhQicDLchzp2g8QGgLo1I0uJzImz4a/dBJd2LmfoRNMRI68TpnnbSIhpajMZScN/ASxIGHgrUXUlbloqmPCerj757NYera6ZsPbROKifh9UtVJORLa8HyU8EReDGR5Kxs5N8AYShgmYsInw4c+NAnW9jnZvmQhWJk3fTFkzstpWmIZ9/1ifoSZXzZVJ0WGnIXtEN2o/+bkXUBMWrmMUa9zLXQyFn81SNOVFwFgfUWjDp10J85+eXQSygZ4A0TmtDBULQ2NF8AjB/sAgDc/tmewp0nriWxyV+VZ0/fGtirkrC25qZ0pRxSWJw5nePr2Id7xmEa2SIqJBfGxIG5G+7OWC1uHfoYUDR8RCjyy15nrzhG6qo+KT4uevQr7hqYcK6P/bYXlYG4KnYjQXqQrbipHo0c0VOhEzD/dqj3fE6XmvdCJzNGoczoc0dgiWqETMWRFNNbGZFDxMHiXaDDBeHtEQ0rxCeu0INc+2lQPnRiT84YXlijwUCBoNeBiVTZMNCxCD1HgCRJgID4FC+F3T94EBvoajCsCBYJWg6kIeZPkahxD3J+YbRbSMYWltu8qMiOKhicUirrzXpmBS0Vj2a06AQA/wtKvtNBJhszUQ0Oz701UA/6oHI0iz2pFLhxTiOrrd95nGXJSBKOdo2FYeIO4p7AMVp2UKeCFSEtuTlg2TswM//b3vhXvec0NfMcbHjHYj8fYFeLAF50jy7RRILcdSpgkJnY5II8e7mEv5H17awXBklhdaMtyEzE5fzLrfhIgk4rGGx/dI/oz7b9SJk+zsvd+VoXI0RgmGgPEU1M0jgyhk6Yqqv0+mKtOmlBIWCsUzf0JfE8760QpIE7ReHDQq04USVChk7xE6LNOwyUZOinaL6aqwjBPnBFiNtwZVE3mdX6H6cUf+AjVxKm/yF6V1+WnJl/ENTudDg0frRg3g95JTvlTIDQn8tX+dxWE4Ze4ZEE93nVWIPEqMBsiMEFkzKGQKUWDfn0uiYb+fNVx5OYcjRDzoGqFTjIE5jCLtKcqMoyJFtVVkWKlQic8H4+/GhYWLsebdatOQlPoxEyEk6HQSZkDQdwku035I8f7La+5if/xT387bi3jafuB5F2laPAibxSNkT4v4voXFEog5yBMEIHuRoREZLZYfnpeImNL3EYUFsYY4EUIWYm3PN4hGtRkX0OOj1IbjYqGtB/vo2F6XmM5GnoyaPt+Rr4pdNLkaJjO7ol8ryYWtQJSKWIykcO1ZVwPoqEeRtEoGmphXKUF5l05W9qzSntxqhwVE4tErwU5APgxYlaOEA1N0QDEi9MtPx0JnWRofyiCaAxMmnXoZDr0oIgENygCBRvo06H87ykOY0Sj8X+VlZhNSv0XEDoZJSaGHfWUosGKpuSszGqiN6RozP0K9+TkwssMKQ+MYRaj/xOKTOWJ0ytVMvO0otFfSLm8Pi10Yr4/STAQOpGdd+vyvS6CrmJl+bxG3rck8JHxALzM2oqG31dkmusbciiGqpCAkYV07Pna5oDYEJ+hhe4iiQMtWfls/g+V/5rvzx9625O4maCZuy8gVKTK1E9qotH4z8+Z83IwC3GalVpoQxKHgT4vUWBOBu1VnWjEKvBZHSqBHwFVjqKb0+H6aGwRhtCJ2uGvsrLVFVTYG0IPRYaCyVwMYzfOEBErBkMnm1ybxNW/YRE6MSkafKg81FRVoaRvw7UBsXB1P8RsUtHod04dQumFdR+KdVYi8ShSf4cIjIZawg6xGldYjPd/xJ77HUWjaBSuXh8Nef2ZV9a7mDLbIOVB+/C1rv/UnBcIhYUXGVbyvQr4+P0fU3zULmkzFjoZUFjiVo5Gl8hEqLghx6ce73kUq+HxqoMIuZSmRY4G5fp04mx+XtEIkTEspFbJu5SFtPM9AmdQEC6GCMCPzIewWTdAM9vf3FsihtZnoqMgmK8/nuPTztFoj5efNQckaIgGgEbVUKGTvJA5Gm2FpZ8MGgG8RC5V9oD370/oe20ig6b/R+hCJw8AviF0IieqVWY4JG2g6kFVYZjPFxGhk/rl6ExUrWRQaX+e0InPi+HQiRozgQiobGVu6ARpPCK+vr7hwx1TBFgIVglWvcpKkbw4SgQMMW2bhWhyobC090JEndCJeh/MikaIRCMaRS7u52G3XfmQP4RQDsoMq7SExyAqYqyIW3N9lZvR6gxKzHlph07a/qvQzFCokaKYtO27ocAhBVDmaMjJu1Y0rN+3CQWtm2x94aG9zvPqnAbd97+f8zJMZIZyKC6GCBiJm429deiKorCM+6/CmieG0Ak3hFp6/lcFUGmKtnZ91T34NG0rC2WZG1vk95NBpX0uiYaBOIQea5e3QiMafIJ4bhnXhGg0VRJqofdU6CQr+pUAjKFgYXPQDSAVDXGdWWTeoUWsGGxB3sjSKnRCX1ji0EPG/daH6PN8ON4MyJa+5oVFR1vRaEuj2SjRoOcUAGJh9GQoapVLonHhxGE6p6Dtf9d+xH8/QoiiVqZ04jnURyNhBe6vRaVKkW2QYUzRMOwAJxQZVuaivDYKwArLhbRI66qftFPemgwpGsYKj6Gqk6xONh3O0eje/6mcnX4OiAlJ6COH3xCNyLcnngM5TcP+24bqKO9nhwhMVlEZvsdBYmKwnwwVmYjMWM6LDTExhOpG7QdCP1PJsnrVGND6ZpSiUZe38gooi7b9GJEBRGNHoNdHQ6mex5t2bgUvMlne2umjERgadgFNmW1lIBqB1646AVBKPwKl/lzG0Alj7MOMsd9ijFWMsWcvyqkLR10lkdYLPavExHlqUjQAUc7YadBUKxoDMecIpdawq70DbGX0A+YdwsBLUB8V31E0JifO7rHXRkVDTETG0AkP6MmghJwCVolFd50ViFBaTsyUidx2h9y1H1/o2smgojMrMJyjEckqpE1eoZSKxsFsbOK0ke4jsCrH0TrHwTwk3J/hUFGdo6He0ToZdJoIz0IfRcX7RLVQ5bMw52iYpHibhbQYfl4ip6lRABPVR+PCieo53zer0N7499V/fyxDRZMKy0Coi0xkUnHw3lSoSBGBSYVChBJQlR37ESKj2xkUk17oRLOrKxCp3Yk7CkUr/0Oz50Umk0Hb4+0ngwr7ShEN3k/uDDzW7qMBoD6jhU8oMlvGeRWNzwH4AQD/8AJ82S5k8pmq+vAqMdGusxILA9GoPKFoNH0TsrrfhPnsBrHjbTfs0luQd4kGPUYdhx5S7reIQ4CpidBQPmuY2JQ/erImAKA+tG1sYrDIKfCb0MNJWiJiZ8gpsM65uLg+GvBFlnudDFqkIkEXQzkaQuECRFy2ylOkPBxXNCxCRV4Qwaty3FvnIv5rLcWndWv74WTQ7v3p+6O+p9JwjPu0omEbGqO9b0koWpCrjcJc9dGwUhBsiYBl1Y9tzshZicCYveEsp0n/dSIw9X21iMDU9xUC4I39SMO6xh7NPaLkvCg/9F91ohF1kkE1O2awN19fEZm2IqM2IyebTlJmmQ320UgNoZO6+gV9ItbO0egqGpc4R4Nz/nnO+W9flDNbhfwQ1e7Kq8SHeJoZqk4AVF7Qick3C0uvBbm8foR8uI9GXd4qPwSLPhpx4COrglZfj3BS0TBMnKbQiWwv3g+dCEXD2NXRdH3CxBmiwCorcbTOZQvyiys/NSsCU1I8XZFhftR5H3JkXLw3e6ZKEjleQBINSdzGiQY958ULIwQo8ML9jbjm5ELRJwJMXr/uo1FU8JhsZ0wMXan3uew0lGudlUPto2GlIAyPV5W3qtBn3Rl06++bhUJHqrKx9cdSYanydihh6v70iMDE+wZoRIBAZACNCIyHMo3Ewdq+TWR8j2EW+k15q+5/mYvuzKZDGoGeAtJVWIYVjdzYR0Mkg+qHqrWJg1+HTpoxG4lG1s3RuIREwwaMsY8xxj7NGPv0Sy+99KD+2QYylBAHHjxU8HgJ+DHWpqoTANwTC0WaV+JjLFLkkmj0WpDL6wc9RaN5qObQCTUZVEjBimiUFUeAEiwY+XCDuLNjMX+4YSA+NNNCkfKpZFC64sD8CBErcLwRcr9oQW4Rkx87VK22n84pGPV/xJ4FUSd0ktat28dakAMy01wm196YU2PU4ztAP4gRosBXXlkJReMMoQcWxAg81uqjEQe+6FNAVBxUGLGniJVNnxdyHw1rhcs8XpUM2iIaJOJ5ntDJWd43wnh50yBuUjHhVTuUMJWzo+zUr1PjVX7U/m+TCBCOEGj5TyBuuv0A0VvEftOwS/OHVWkdKiX53zmkUSkaxx2iwbhKBm3nvBjLWwHwXDQOU/lu+hhCnzUNBZUCIpUVv5o4dHHLmCQajLFPMcY+Z/jvgzb/EOf8E5zzZznnz96+ffvsHp8VcmGPA09rXiJakJuJRoCQFaLrYVUA4EjlizZUdVIvRJzXp70qpEUF32MIfC100pMuhyZOSTQkm00Lccw6m5wIuzvG/oercjDEQtGeaFPuTySD0ndoXijuz8snGY7TQpZj2k7MBGnXyp6eA9IQjUYKTrmPJPSaZ9q5vi/jqPdWGVDmKFhofndM/k/sAP1QKCwnaSHyPqyTX8VCrZfRpXmpVUXRchCUfdGpikKR1uW/JKIxmcxKz0EIfXEInrr/SV3eavO+EXMudCIw9b51qxIoRKDSkhFtiAAl+VW3p4y3ZU9VKM5IBEihlo4/U+9Pz38T0Qg6ioaw96p8+BDL1vX18Tb+K9WzW3USomhOb9WSd2PZGbQO3Wuhk8BjgkR3kncDPa9D+qNap/sqR+MhJYOOUDQBzvl3PwhHtg45MQS+h7nXsLt1XmJuiLHXnSDzCiiltMzHiUYgW1RXRSYYXCd00pKQ9YmtKkU8czB0ojodngIQ/Q72MXJWCIB+eav5w60P4+kqGkWKTTiRDJqv2tcfeYmDUOzAv3RX/B1a34cOUZqaeM6VPDo+UXlBjAh53WsCRYZ1MN6AS9W631/nYGU28bzsYvJBFIMxYS9yNGyTEcXz0lsd1+2Qjfbm0IP6FnKt86u6fhmIc0uGD1XrjDdejvhveF7R3GjKGAPzozouPa+JxhQRkKEExgbH27JXoQQ/oC+kVQ54MU3RUONU94pqH87s7Ot/Z8tEwCZ0YhtqoSS/tvwxfy+LqEs0xHi9sumbY77++HiT0IPvMS1HQ1w/QiG+uXXb/8j3hJBecZGwrxSNMkfoz4xEMvI9rFUOmSIahZY82gkVPUhcj/JWQE6c4qbvh2JiLViIvOSYG4gD98Ux35uirJWHlE+ETuTCkmWb5t+U2ORVh2hoE+1EhnW3YdcmzRCwCt7YwqV3XiwLIauadqSmZFCpyGyqMUXDtAMcWRgl0fjyy4JoeJMts/tSvJWiYVsOOLED9AKZDKorGpVf18eb/FfS/f11Dq+aOtvFLiYfRkmtzDXJoLZEIxYSbd4OnTT20zkvimj0FI0yGz79d8SfSf9rBWH8fWNBhAAVPFTN/SEtjFpyISkHQVvoJomJbk8on9XtyYpDTrQ3hE5sFAHbhZ2UA6LZk0MtZ1VMzONdxoFMBm0/X7qioSssjf+Msebamn1L0dCJhvxm+gpFKoiHgUgGPus17FLHaHjVxP3cMs5b3vohxthzAN4L4FcZY3//YtzaArSFfemLxUIld5oUDRVj3+Rls8BLRWMoua0mGmm/BrzXilmvClG/DioasqVyoYjGGgDqqoHB8arQzMj1a0UDQfujBbCpAvNY1fWVfVUOEpn634liRCjw+6+cAuAimclmYZyUgjstrSd3UHYxeS+QyaB5I32vq8BccSL9Z1UOxoCjdQ6/yiael2HhHZn4oyhGKGvjD+chIfRgDnW1FY1yoirKoGioCZEPEw1zeashlEDZwapQwgTxVCQ8RCFzWGx3vLY5BbahhCnibFoYbRUESyJwoaET1STxrOOlEoczhn4GxjuP/aaPhmbv8RyVTejE8L4t40Dro9GETmJ11sko0ZDEocyas1E61xfJoO2GXXWOBp/Iidsyzlt18kuc86c45zHn/FHO+fsuyrELh1blsReJh5FyMQGacjRaORdywVY7fK97mqm0VzHhRtHQQydV+9wQfcc4UQOuQieqxCrdSKIxdJIggFboZKT5jXqhW6GTmmiMKBp61Yyh+U3PPIoRsgJffOm0XiDJoZM6tERUBDif3PHaxuR9qcjonUFXlTdySJpoqLUXB7i/zuHzAoMHMtX+03Neojipzy+4caY+GoKYxIHf6qPR7lw7nYOgetDkCNrJiIU4lA8YaUEOaA2OJna8gWGhGEuWlfd67utnnWwzB2HqfTMsjNYKyETyd8veNmdhKmeqSwTOMF5b4mbrP8nenEOhsOgpGsLer3KUVsSn/77tJQFO0vZcH7Gi6aMRGIhGp4oEZYbAU/Zt/8OWoiFDLblSZCYUty3jeoVOpCJwIEMnKufCRDSYH4lkUF3RqPx6B9dDEItunQByqTi0FA1j6KSrOJh3x1GnAVGmiAZ14RoJzagXutXivGjGS2pBPqHIAGKHGbMSv/v1Y9qRxTpxqK9PDJ1QMqxb9pX4O6NVHloyqKxCOi39kRwN4f/hPMK9dY4QGeJ4jBjaEZ84VqETjjfcWdJ24C0FQVw/8r1WeWsrdAK0kxFHcjRUBY7+zArWZNAb/WnZE0JjPfsRYign7ZsJE1U01qEEW2Jysf7b51CcN5RArfJ4QOMlKyw50Z6WM7Ls5WgIe59n4Fahk74/Q6GTOOh3rlW5cd3QCYpcVAoaiGfoeyi6oRMt9HNpFY1LBW3h2gvFLm1TE43+As+kVL7JG0VjXQXmk1vl9VVtc56ZQyetJFJ9Yanb55oXojjwkaHpVFqkQjEJotnwePXy1pEDkAKpzphCJ6tRomEiAuMTQ8RKrLKSdmRx6/5kRHtt0gHooQQCkVHvQ1qoXTvHqhzL0RD+H8xCvHS0QYgSSTLyvPyo3deAsLB4jGMWAK+5tSDswDsKgpz49TK6XuhE+aHZd6HKWzPud+wz5FM5Guq6gMUOmZaD4Eu176a6pO0O/yw5FyR724XxrKGEM4R+tj3eXSu3Nfi/lwQiYVM7H6uqOPyqqE87Hr/+cA7IUl1b878JnbQVJfXN1DlhGnEI/X5OBwAEXj90onI0/Kkqvy3jGhGNRupfBmJiPc3F8PcNiwXztR2sJAJr7o+WJ3pS0ShkrbP+Ircy+tWf9RZG84sgkkH9mmjk2Ur+k1M75GnFgTEmFROdOChi5Y807DIQgYmFMZYEYz8k9N3XicDUgU+1vZ0/PaI3MVFFrMA6LWr702I8dAJe4sbMw5e+fg8AMJuNEQ1tolXJu4SY/N/7qW8VZPEsC4XK0SgGqk50+6Fj4mWoRamD+junOukaK5eIRGbQ/4mFN4zEvbiRMJK9fejkIhbGbSgaZwz9TFZ5POjxbrncdiA0uS+Pc1dqHMocm6JEhLw+JNB8/W5ycN//RRz0+miEKLUcjcZ/pSymXUWjVGej9P2Pgn7oRM1VbOr+bxnXiGg0C5GqOjkuxMM8MHRr9AJ1iFZVL3QnhW+uOAEE0ZBEoEyHiIauaGgLY6FyOob7aNQNiKoKOUXR8CP0QzPmFy3yO8fQy48x4yGtBfnUkdEA4IcIZUvu1x5KP6g5FDbEgXO6vQolTOTI6H+WZll9/ePCGw+dAHh8GeDo9BQAMJ/PJ6+PMtP8n544X30YWvmPMm9yXlQfjVLL0ahDJ9rCou6p4frq/UhNiobM0YiNnXRNO8yLUxyW8l4vAv3soYvMQbiAhfFCFRZD1Yx18uiWx7tt+wtIllWbztPCq+1WWSnmLoo/dQJ+X0HYiwNjeWurj4ZEPJAMiklFo2Mv1y5WTeSwbBnXiGg0C9dCVp0cF0rRMBCNUDutUy7YJ4U/UmXQlDMWmczRaBGNgT4aMt4v7M0KxSzy63bXqPL6+iE1dDJFNILO6bDy72UY66OhKwjj5bnq31bJso8uO7vmAfs6lDB1kmP9Z7KvAYloaKEEaqgFQJquWzkso6ETAE/t+3VOymJU0dCJBk1hEfY58f5oE61GZOJWeWvZtNdv+SOf78hZJ2mlEQ2Z86LeWbOiofmvvgHrUMLw+3awFEQjYuZDDof92dUcirP4b1mOuUvjpVRR6f5cUB8Ntek8LholbJ2VspOxTbltP4einaOhh078nqI0VN7qVbkobzUQT5Gj0QmdSAWETX1fW8b1IRpBP3RylIuX6WBmUjRi2TehUTSOcmY+qRMA/FgSDY5SVZ1oxGGTd6tOtA+r6CsgOmahX5fiosxQyOuHk8mFndDDUGimp2iIX8ePidcVBNrC6PESb310jh/6pjvSH+LEM7LQ9e2zyfHW/it7qgICWbos7VOEo+WtAPDEXlBX2TxyuEfwXxsvtY9DfX8I4y1SbbyxoWFXJxl04v5EvgfGBOlq/G/eH2Uz6r/MeSHvqKtKdt4dtn/shmgW9p2vO2iIjE1OwaTicBEL47ZbeG9xvJNVHobxku6/tjm6UOJjKLc1+K82nceZV9utc0E0xhvuGRSTzniXSYBVVqKseKNosFzro9HP0ehXneSaotFNBmVG+2Cg78aDxGRn0CsDLeY/l4rG/Ywh8Jix6kSVM+pVJ/czb1TRAETMrRpUNDp9NIDOwmgmDvPIr+PdKHONaNiGTswLVxgwsfusQwnCPh8lGkoRKLSFcfpD/Lt/5r3Ai/8fwV6bSAqqooHejn3aPgeNaIhr5dmmuT88qI+WHrJ/y51EnFQL0WSL5L8ClSixTgLnqH2u5byEreOoWyXYLeLTEJMuGGNIAl8jGo0ikyFA6LPBcvCuPXkHXk0Tsdc+egMA8L4339SIDHGhGAkVGf1Rv24lp4Bqf84cCts+Ghfed8OkgFxccjB1vGrTeV9VmsvQyR7y6c6+rev3x6vWjtOswH6do6GSQdvvT7/qRFyLVdppr/6N1vVD3+uddcKqTOZwpUB4OOz/lnF9FA0/qhcsFTr5xkYk/zBDW1ZfVhmssib5737OJqXyCDnKvB8K6Ze36gvpuKIxj4KGaBQpKkk04skqBkUcxhWHyPeQQi4UlbYj5eF4C/Laf0rowSDFk4mDsidOPCMLY9/eTtHIs0YRyDDesAsA3nInxrc9vSRf39afc403iDt9NEpzMugEcZtFPjZ6joZ8XimfaGHf9Z+ag0DMCQJk62Vy6A1nez9JfV46oSJKS31lr/4d66oQGyJgGyqaqGIwhn622LKc3Edj3P99STSOsnboJEQx0dl3miipteN40/TpaJ91ohGNgdAJqwqpaPRDY4HPUFYclaaYoMyNOSAPGteLaMiXYCaJxgsnpTFsAkBMwizHaVrWO8B7KZtcWEIUqHKlaGhEo1t10pL6x4mGOPa6mcgLef1RRSOgT5yh77Vj7HIizzHRR6O+vu3CaJNToIWWqBOPjT9FSqxqkaGTbKPdn2CYeMpnycoCP/ehtxCubyJK1NCJzf3PWvdflLeK72EzFDqZUJSSwMO61EIndcv+YCSZWH//LRUNa6Jq+X4W/SMEhv0/w/OqCoJ9h8hUxGREa0XGVhFQoaLNGRQZW0VgGwrLcA4F0Cga95SwWOZY5wUiVsAPLUMnHX+W+sFq9cZUkvtuH426vLWbo5HJHA1zZ1AAyKuqo2h401VFW8Y1Cp00oYSZTBD78r0SN/YGbn44Q4KsVc54lE9XGQiiYao6MfTRADqKgJloMMbAtRhjJft0sIFQi7i+FppRxCcc6tPhISu18kQ50W4Qjbcg79gPhX7a9hmg7k9ITI4sLO0nxtu21/wftRf+F1nzvFKEk6GT9vMlhk64TGAMiOOFlEupOy7tfVPlrUVZoax487wDg/3A/U9CH+uqydJX93NNVsTU+0N9H/pEftQ+pz/f1vOyft8I9kXa2JPGa/t95c07Qf0ey0IQGep4lSJDtQfEmKnfIyDGTHpeepUNcbwj9ipH4558BVToJEYONlXl17r+xpijAShFYw5AUzQ6OURDVSeskjkaRf/+h75QYfKSIw4CgPlgpWrwtR5/37aM66NoBIncHVSYydNb/9ndHHf2Bl7OIIEHLnewSioPh5NB5UsSoegtLJxzcx8NgDyR1AeolWl9Ih9ZSp24fuh7bek7b4gGSdEgTYSxwf5i/Bf2JmmdurDQJ/4yT2v7DY8mFa7W9akTrdXCmBOJm070mvGq8la1c4pNVScTC3sc+liVuiIm359qIpm457/leLfwfM9EZKze5+nk757/tsTcoKj27R/g91jmspya+LxUuJf6vDiXC6lFDtQA8UlCD5Hv4W6qQic51lmJBBm8gdOCAQBeh/jkm97zWsqeOydpAXg+KngImao6aROBWtFQyZ1MnODqV7kg74bxBvLI+EJLCGVVjtDrE5kHjeujaKiXqtgg8ZpD1W7vDdx8+ZIU6Qp6cttUjkbICvCOopGXHJyjLSMPxMyHwIIIyIQ9p0wkgbaDmpgYosBDuu4vFCkPaUSDtFCYJlriwkia2M6zUNCJW1mk9XhThKOnt4q/cJaF0XK8CuTkUVbbR4HoJqiOlx4NnQz4k4QeVmWTpa/Gux4lqud5vjbvm93ztSeq53ifbRU9MhFQisyufI+W9qXlRqrMZYM74vOqSpGLZrBnjGF/FuDeugIgGuGtswIxcvAxRcPzAE8/xsGgaEg1XPXSqDxxcGcdCtEVDV923FWKhhyzV2iKRsf/0FCp4lWy6mTTJz4PEteHaKiPKF/jIBAPeoMId4aIhnyIZbbS+kqE2JuQyoWi0W7ApWLgxmRQAhEA5EmtGYAyByfFkBsFZGpHFAVajkah7UgpoZOCumNUH3pqN3EWqSWRmR5v254qfQv/vTJDnq0RQtyf4dCJ5o/VRHsGe9W23DbUEs5qIqBOley1IC8ywBtXZJLAx+lGvT+N/6uKkAxKfP8be2qoRfPf4vmK98dGgTrH+7mt8V7m79H2eRVE4un5APNJ39f+LMSRyqMoU2zSDTzGEYzlxKkx1Dk1ee/+KzX8VPbSKFiAuVeAATJU1Fc02kQjhJ/LUIhBkQnVcRKql0YQiZyO0JPEZ+T+bBnXh2ioh1issfQLZFxIV4/uD4dOAKDM1hrRCEb6aDTJoMKe1R/DRjZEMledaDuokazs+uTPMquPix9XNJSCM73DD30Pp5WqatnUH/oGESJ/IJmvvv6GtmNU9z/f0CYedX2q9K3+7YI4cdbvw4a20IVCNk1YjmxzihBAzmIshs6+CbTxUnawatLIN7SJVr+fvGpfY9R+3ZywGiQ1ETjeCMm3Dp0EzfcCz2//XgdJ6OF4pb0/8nmtqtDcFRRoPy/KeGv7DY0IqGuVKe39bL3PhIW9tk+J7yf9e2z5Sh2v7r8hR6yHbX+PfgiAde7PiD+eL+bEYk37HhkT/z7VHhDjI4x3PwlxtM7F/c43KIqVdH8kdFJffz34vFSYVbUhz1mCuWcOnRuJRjBDyFPEXiVDUd0cDZkMqhSNYIagSBF6kKEoRzS2D+3DivkGxxAL/RsfG2iiJF8Snq2BYo3STwCMVZ2IjyhmhejCFiS1RN0oGgOhk2IjYnzecMqMr03MXrFBBQZvLItYLozIV5iSgqPAw4pL4pM3xCrFyEKhL9RWC+OKNtG27ClERo13TVwoZgb7aX8SZMg3YuKJkrmxNLrnf06YaI3Pi2BfaESDcj+LjZZsmtThvEbR8Dv+r4UkPOLPLPLxShE29nIiP6lCRIPvzznGSwltqD/L17SFMTS9D5SFek303/A+jxIH0/WJRIMUmgnFcy3WtO/R88QcR31ejIln1vJ/QhEIZm1iTiYOhPmntl9NPt+DWYh7q0z6v0LOxfW9secFCPuRjYtaO1ToJPcizJmZaPgeg+8xZGXZ8j+uUvF3DP4HWjKosg+yjSAzwPj7tmVcr2RQACjWYMUGGRMP6U2PDhAN+VGUcodQesJ+KiY/9yuwsh2f6yXaAZ1krGm26UeaAlJmKFjYxNpNCLWJNl+L3cIAkYl8DyeVWigEEaiYj2KsBXmgT5yEiSHQFjrKxKlP5CQikxjsiUSGIgVL+xlS5KkgGslsZIdjVEyoC53FDtn2/ncWOnVo3t2VUMnq5nWt+z++cCWBjyN5bpC+UK/KkWTQ1v2xHS+FqGpExuL5Usbb9of4fvqRaKym248qAoH4O9Txqh0+9X1Q/z6VyACGHfvUwp7Qv8f6+sTnpftj4z/he9yfhbi/zmv7Ij0dta8RJKP335fNIU9S2WcGMRbecI5b5DfHAyj/I2RIWNaMp2MPaIpGmCCsUsw9dVr2hP9bxLVUNFBssL/cw8//iW8dPva9s3Dlvvj/4fJWQQTmfgnWkanS0dCJIhrjGcH1Sa1lBlamKFiEkQyN/g5/5CWLfA/3ShUjVcRK1nlPLRT19ZMJ4tPZ4XuBmEyp/oON56S07G2IDHGhU4oGy5BvhH00WxCur008lB1ssUbd12N0YdTGC9b+N0f9WbdyOiKZr3T3VPybtWKn2yvlbKTq5H6uE1WpaJThcI6PiQhQFQQSEYgBMLpi5YdCVWwRvTGp35tcWFpo7fAtduytUMhFE4EZWoobZcdOVXyM9hR/iERb959CxNT1COM9mAU42hTAQvhT2hKfkfdzoZ13smEx5mw4FBWHzfEAAMCDGWK+QQKlaLT9CXxVdaIUjTnC6nRQAXmQuJaKBvI1omSOP/iGR0bs2wtRLhWQqRyNmVeJI3k7PTSAsdDJtKIRRY0C4pVZTQQGoeWkIF+PvmRR0FU0Nii9pP4z8/W1hS7fECYdAzEZtU/69lQiU6xlKGqARPbsU+g5NWZ7maOBTCQIA1jMKURjTVsojNI91d5mh99eKNTzfeVUtuePVJiELt0nodcoGloo7WS0vDUUyXm6P2MLo+dL6Z640DGmLVyWCzVV6u/tkKcWuqT5HoHphaurUJCJACG0ofy3ClUkZyAO06GKln1h6b9OxC5IAdlPhKLBpf/qe5++P/PJ73EvDuowZYoIMzbc6VY/HgAAqnCGhGVImJloqD4aNTkJZ4h4qoVOHp6icX2IRj3Ryg9r8qUUf+6VG/B8jZxFYAyYT3Q6nPslvKqjaBhDJ53yr4kjfGeq3XiZwa9SlGyiy1t3hz8y3tD3cFJqMfZig0KGiuiKBmHSadkTPlqg2fFSJlmgCc1QdnPKn3wt/n+MyEh/Z0hRZmtkCLA/H5kIW6GKtVhUR4mMJdFo5SAQFBw/7Ev34axWHFTopFY0lHRPWBiT0MemqLSFUfhzWgZtct0b8xl2+GfZIVPKwWt72x2+jdTfJQJbGq+1IkC9//POjt1SkSEpLBaKjG2oiEAEAJGjUVYcVZAA+QZ5Sn1/ksnnu0waRWPNY8yQDo43DttEg/sJZkgbRaNbdVIrGk0yaFSlgsxQ/N8irhHRUBOznEgoiUkAYp6hTFfYsBjLKDAfEAXUbHTmlfB7ioYKnWiTbqvz4vTCu5gLf/Jsg7BKUfiEeCHQLHRjoZPAw/2yrWgUKnQylKPR3SFTJh1lb2hmM2pPIiad0AxFRgVQZ60Trz9DhirfYIMIh0Pt6wFNut+QFKs6OU9NtFMKji7dU0JRSrqvc2REKKpRNGSORqy/ozRFIAl80Sums9AdFyM5PsAZFYezSP0p0X6m3R+CP0GCsy3s1IXLNlTRle7PL/X37K2qPOZnCG1sk3gmJIVRnXeSsxjIV8jWp82/N3r9OdpEyUA04qAub13xCDGG+6REvte0IAdQBQlmyJDArLg1VSda+TpPkXiOaDw4dLOyiYpGwoRUniIaTgQF6t3qzC/hV+2cizQf6aNRKxoTRGMhZPr1RlTNlDYKwkRoI/IZjgo5Nln+pUJFwzH2LnGzUCgMzWx6aCWPEohAa4dPsO9K91P2ng/ux0hYhipbYcOj4XNyAE26l/eHkvGtL4yUeKou3VMSvfSFThKZyB9QNFr2m9FQVCKVOl5L8YLInBZsWBGrr08MLen2VorAyoIIWC6MZwpVWC7sZ8m5sCECrdAP0X+bUNG5FByqwmJLPMeJmPquM0/4n9ehE2roZ5j4LLXQyYqHHaLRUTQCv0U0Sl+ETuKpqpNKC50ga3I0XNXJA0Bv4aUpAgnEwrLm0XB+hmY/93KE5bpZWCEOqwKaCRlAuwFOtgKikXg/gL25uN7RyanYVVMmTUBTHMYVjY1KLZU7tJxFiHxvuHyzW0UyubDLrHvqwugHMjmPSGTqrHuiwqIn51FCMwAQJkiQYbM6RcrDeuczbK/5Y00ECPZ6chuFmASz3nh1RcP3WJtY1uWD4++POsOn8jWFJZwhKzmBaMjxjlRFNfZqYSSEogCZE7GhEwG1MG41+fIMCoVVjsPGYqHuEhNiqIIcipqjXX5qq7AQNoNnUcSmqk7keScpYqBYo6hDJ5T7o4fq+s9LD52sqggx3wyOVz/wEABKX8w/MR+vOik0RSPhKRKovksuR2P7aCkahB2mtI+RgWcbrMbOtQBqorBgGcJq0yIOabe9c9ef/LRFTEzYX2hEg23E7nHUfyXdT+/YQ99DgQDcC6Bi7BkbaR8NdLLu19OTrE4EzrLDJ9lrExVFJtQnKsJHyMI59vwcq9UpNoiG29fr/tfEikIEkiamTR7vhpaTUtu33wf1Tt5b5ZhHfptYdhWQAcwU0Qja18/Kappo1ETVgohRQm+AlkNBCEXV9vJ5TYWian/UQjdRFdWzB21hnNgh9/3XQ0uEzZSVIqArVlR7CyJzFgXKOhl3M0oEgEbRSBGB52vRSwmgE6WRQ/mWWtXJaRUg5MMN3OKgHTrJPZHTEdfEoW3f9NFoFI0YKWK4qpMHh16VBC30kCAHijVWVYhlMpbMJ4jFkm0Q8U2LODQ5GtrtVkQkPZGKxgTRWC4BAKenJ5gjBQvHFZCedD/yEdaLgUYEJokG0FnYiVK/ShYkEQFtoiItRFqyF/n6KieC5v9hWCDdrLBBiNtLyg75DAsj2f8zjlcjGkple+kk7RNpfeIcub5Kci79pF4YeZDIUyTHiIYmfdsQyYL+vJrx2ryfNu+bLZGR452qitL9zzdCDZxScLpEZqTTcMsfcmijm0y5JQWHUu5c2+vJuNTQ2Lj9/kx8BytJNIaqPAb9Hwm9LeMAJ5sCnHMcVxGiajN4/9XJygq1ojFANHqdQcM5YuQi4XRkvA8C14doqB0+VdHwI3AwJCwDK9Y4rUbOOQHE7idIsGApkmrdIg7GZFDPFy9+diJe/gnicLiIseIxNqdHmCEDiyeIBtCWUidCJ4Aon1JVBqkMnYyizvomSv31RLuyWBg38v5QFQpilUrtz2ry/tQIZtj3C3jFhqho6AvjNhQZbaK1sm8UqMO52IVnRdU066rttec1cj9V6KT0mx0yD9qhGSP0ZFaK/4E+Xpv3rR3KHLZPSOPt2VNCdUCbyJD80YnMbJrI6IqhHxNCUbNmvJRQVCsZl1kQAWpoSQuNUex7ybhUIjCugChFY1VFYPlaCz0QiJhepTVQdVJU4hDDkzKEzwux2VT+aejmaOReAp9xJOWxtO8QDa+fDAoAe/yI5v8WcX2IBmPtHebURCUVgRg5/DLFURHWTHcQ0QJziGRNRMv6t+s+Gt12zNECyE7FfxOKxsE8xCkS5OsjzFgKf6rvPtBMtOkJEC+HzSSh4GqhyE6wxpyoaGwmr9/YN9en2cuJKj1p3c9R+2Ijrh8NdHzVoaTU9Jh8/aWfY8HWWPEEj0wpGsT73/I/l/7HBP/DpBkv9fr1/RH2B7OwXr96OSeq78PE/VdEo/DierxcKnbTVSc241X2x/bvG+n5zknjbdvL99/qfSM+L1leSR/vzP77KmztN839mVRwZs33FcymFRw1P6cnQvGhNgRLT4TiQ8mRKTNgIxfegby4Palcn1YhGC9xwCQRmHpH1cJ/+rK0799TtVl9+Thr8uJOX5L+tO3jwEOm5WioBP1ZdtdoHwbqULWmvBUA9sp7NP+3iOtDNADxImQrID8lfVgsSLD0MvjlBndzD7f3JhhhtMAca1F+pIdOTJ1BpT2yE0E0JnY4e3GAU8xQbY4xR4owsVioJyZa5VcVNPYrlozL3kDzoZMncjURntrbkxYiuQNMqRPzXLs+zZ+Fl2GBFKk/x+F8agdou9DRnlfbf1t7tZCKSdb3WF2m2wsFte7/CNGQ70nuJbV9GQr76dDJWf23eH+08ZLsLd6H2n/y+7YSxIHkz/xs34vt/clOaUSpHq/F91VsgPSIbl8VwOYe/f6DA6uX6cQHAE5fFP/WAPHxPSYaa8mS/0dwhMqPCYrPvLk+840KgiIxXzvaYI24sdf/vkQ3RyOTvY3i7BviNzrPOPDaoRMuic+yMBOTB4lrRjTm4qUEaAtXvIfH/GP4KHHKZ9NSebTEXnUMH1UvdBIFhgqOaA9Y3xNHCk9MPIwxrNkMXnaCOUuRzCx3OCMvmVI0auk7PcGKJ0RFY2UxMc+bHQuZOKwtJmZbIpNoCx1t4p8hw4Kt4Sd7wxU5Xf+3vTBa7ZD7C+ONhdhZ9d5vIhFQikbOkvp5VTIUSCpvtVJ8zvC+WRFV9b1QF95tE+2Vxfsw1xQK4njLDNjcp99/XgGru/T3EwBOv0H/HgGhCJDuv1rYX6YTVaL9rWWEu7l4r2+xI/CpnDhAG+/L4n4a5ocDuTl54f5aUzSkP51QVzdHI2Pi/sTpK0Kt6CQrR50+GpXstbQs7kmFaCJZeYu4XkQj3geOvip+pryYyT6e8F4BABxjhjuTRGOB/VKyR+3FTIuyPryqaz/EZk3I/TluMSH7RXOKVDsDVq+IyWFkYoh0orG5D1Q5TtmMQDQSMWnmqzPs2Akfbr0wEifmwPL6LSJAC1XMvQxLbBDO9gn2Z93xUonDeRa6ZrwqJt0LBdVEYDy0pIhG5kX1wlgE4v6PdwbV/bEhkrbjJYbGAkviGej3h/i+WS3siThpd32XHkoD5MJlsTCevEgfLyCkfur3aGOv+0O9P1b29Os/dpDg5VS8u7fZPTDK/Q/0+2m2vyFzor56b4ONOjH75EXj/ekqGqkMnUTrl43+d6tOCnk+1yL/Bu3+bBHXi2gk+8D958XPJEXjAHe4kKlOSIrGAsviFflzQxzWWYnEdHhbtABOXurZD4HFe7jN7gEAPII94iVw/IL8eXi8oSQURbgAjr8GADjhyXQyaLRX25MmkngPOP46AE63X31DyKmUDyVeAuv7Qq4lKlbY3CeH0hDvYcFXWHop3v3MU7Trp0f0hUvZUxWQZF/Em6lELJb2nYWxqsQO6PGDjtQb78nrjxMfVbmy8Zb1eAtfvJ+jZDVaChKQHtOIXrQUz2pznzbeaA8oU7EDp74/VSF24FR7cPpCp2yOv0Ybb7yv2VPGq67/Av37OpP914jfl+YP6f7I8R59lf69qOtb208Qjf0Ez6+FYvAYu0tLvk/U8xr254ZUNJ67u8IJZo294f50FY2NJ76pcPU14/XrFuTye85l+HKRDROfB4VrRjQOgGOpaBAXopuVIBrHmOPVNycW92gp2COAMmhsV1mJhYloxEvghL5Qh/N9PMEkkUkOpv1PDoH7X5m8fi25hQe1/XFFCJ3M9OtTPsQD4Og58TNl4mldn7LwHjbXJ/lzCBw9b2XPjr8Gj5dY7h3Srn/6ktjFUj705FDsXos1cbwHQHqfHgOfHcqF+l7L/off8yoAwFuf2O/bl6kgeyP3R/XRWHkLsVCfvIhcvv+jZHV2Q6ht1IVidih+PXre0v45ov0N8ev9r9Dfn9qe+H6e+frb8F/OIfefo82H6n5a+0+8/8r+6Lkz3E9L+4nxPnqQ4J+vxMbySfYyTdGo7+dXBr/Hw5lQMb5yd437XN6T++bxiqqTJhl05QkfwpPnjfNJfaiaJCdFKGyWm6/T7v8WcX2OiQcaxgzQd4wSmT/Hrakqg2gBn4sXIw8PoKjFKisxiwy3OlqKiRZoPoIRLPYOgJeVb9P29cQgfRuCIhRp0Iz3mCfjsjcgJzZZSkX6EHV/bO0pC+mN5n6S7G2vfwir8erXpxABnTyS7LXr20y0Hfsf/QNP47veeBtP3egQad2fkecVS6Jx6ikbjtwn5GjU94fbj3er94fT3s8zvT8SVGKo/LG+PzbfF1FhtLVXxIdsf9j8bHV/YP89Tvjz1I05/rdy1qyQ5/i+dOwlATwGPPfKCoCak7nR/yjwUHFRRRL4Hlaedk3D/WGMIfAYCtmCPAvF98uo788Wcf0UDQWSotEsvM88/cS0vbaYb4Lm+uu86Pco6Ng3H+Uwnnz0TvM/VEVDYWS8ateZaT4fVfF01YntxPYgJxJb4hMTci6sFy59od72eM9+fcZYn2QA5OerQien2kSYUUIn53p/bO0Jz/dc78+27bfg/3X+HifG+8ydZaM4ABc2Xs9jOJiF+MrdVfv6AzkaQNOH6aRFNMzXD3xWJ4NmgeXGeou4vkSDtFA3D+qn3v/N0/bzR+of07C5/mlamonG7Kb28+Hk5T3dZ4J9y2Z+a9BMLQYb7cV8me/RQieE69fQJwbtXtHsba9PsG/5f3PQrLHXyKCtP4sdGO+57s/I++N7YAw4RjNxrkNxr0bJauv6274/hOdr+7xs3/9z2Vv6777Hc/nzzJ0l7mvv80W+bzfmEfKST15fzb8qFLJi81F7QORpqGTQzJ+j5LLyhfI+bxHXjGhoDG95Z9hOQWPVN28/OW2vXXPta4pGNkA0dB8ooZDlORSNkRdNxfZ0FealcjmdDGo98Wg+2048thO/7cJOstf8X2x7YbH0x9qe8ry0iXxkvIwxJIHf2qGtJNEgKxrbuD/bJgIPlEhuYbyt93kL39d5vkeK/7rqQfkedfuJ+3lrGcNPFs1CTfEnTJrzbkaur/rvBGHUlM0a/Feha6VobEqGIz4f9UcnGnkFHCkyQ3l/tojrRTQWt5ufKS2n97VwCUU604iAHk9b5QXmphyN5aPNz4TQCfYeb37WxzIEIuNXi8GpRo5eKpYERcNyR6GzfNJCbXn98/hDmsjPY0/xX78/hOvPt22v389x+yT0cA/aO++LRWxc0djy89XtSQujfv0t7Khn9Psp7A/trm9NJHV7wnh1+Z208GpzLMVe7/NAuT96HwmKvd6ngjD//OwPflPTC4OqCDBv0l5VL95axGBqDAb/u4pGVlRN742B+xl4rD69NS8rnCIZtX9QOBfRYIz9JcbYFxhjn2WM/RJj7PCC/NoObrzWzv7w6ebnqeZMALBoiEaq+s1DKBozk6Kx91jz89RJkT37iS51AHBTG+9IO1/1Qt+Nm5LN+2U4TTT061OImH7/qbWLewAAFKRJREFUKQqObj8jTIS6PWXi0e0pCpc+Xv1ZDF7/NZr944NmZ7Y/fHXz8z4hh+jgVZo9QaGzsE9CHy+yZjK7H4n7GfkjCcX6PTwg+KN9X6Tx6pMrZbz6O7lPKF/WFVKKP3pJOsVe/2Yp90efEyjj1TtjUuz1OZBir4My3nPZW/qzN339D7zjcfjqHlH98YJJ+9ffFoTtcB6O2jc5GqLAICsrVGrJHhhv6HvIlKJRVii4pf9bwnkVjU8CeDvn/J0AfgfAz5zfpS3ikTeKX1/zL9Dsbz0jfn3Vt9HsH30bAOCL1ePY5E3982k6UN56+03iV33BGPXnDeJX6kel7B99+6iZCpG8Esvr3n4LsqKaTgZVft96A42IKeJ24zU0+wM52R+8avqAKKBZuPYepxG3xSNiB7K4TSNu85tCGp3doJ0GOjsUTZqiPVKfFMRLID4QjX8oyXnRXBAwL6SF0sJELtaMtoP1w2ZCntjRJaGPVcGAA/GMj3yxyI+SVc8Hbr5O/EyY+OF5zTepbwKGwBhw563SnvCNMQY89g7xs076xvCEzN26+Xqa/VPvEb+qb3MKT79X2j9Ds1dz2+030uxf9y9K+zfR7N/w3dL+zTT7N75f/KqewxTe/Mfs7N/6QfHro0T7t/+gtH8b0f4H7Oxrf4bn3DfcEd/2LPSBN3/foH3USQbNigr/AN8y6k/o64oGx29U77Lzf0s4V3kr5/zXtP/9RwB+6HzubBnL28BHfqWZ3KawuAX8+K/SJ51kH1/4vl/Ej//iV/EXJQut5El9xvLWeA/46K/TdseAWHz+1G+0Qy5jCGLgT/69yevXL3TlAz/xa6jmj6D4uS9MKxp+APzkp2iLFiAWlo/+Ok3NAMTE/9H/laaWKPs/9Rv0mnFlb3Oq4Uc/JRZ2Kn7i708fJqXjT/5d1CW0FPz4rwBVOW2n8GO/LPp6UPGv/pLo6zFBDJPQF+T6T/xPQHaK7MsD5/t08aP/g2gKRiGSAPCv/ILoNUK9p//yfyP6gFCIJwD88N8WDbio7Zo//F8BRy/0TtIcxA/+TdkHhEA8AeAHPgHc++f08sQP/XXglS/RiCcAfPA/B175Ii10CwDf/1eBl3+HFvoEgD/+nwAvfp6mGALA9/0V4D0/CewTFD0A+MDPAe/+SLMpmcL7fxZ4148CN4ibu/f9ReAdP0xfM77n3wfe9iHgkWFi+K2vu4XH9hN8+NmngLf9BUGu7vSJW7fqJC8r/Gfej+JHfuSjwGNmItPK0Sgr/MfFD+Hb/+gP4U1PvIvm/5ZwkX00fgLAfz/0h4yxjwH4GAA8/TRhN7ItvJaoZii85juszMsn34Ov4X+vD1LbSMJhTAYFgKeetfPnyXfb2b/6vZMmYd0jvwKe/lZkeQngC9N9NADgVe+x88d2vE99i5297f2x/QAf/yZL+3fa2Q9MIIOw3alQd34KhgnQhCT0hMQrd8bZF78IYELRAEYnZLM9UQlQuPV68R8VN19HX1QAsQmhbkQAscBRFzlAKDcU9Ubh4Cn6oguIkAwlLKOw/4SdDL/3GH0jBQB7j4r/qFjeAd7wRyzsbzeqDAWLW8AzFvbzm8Azf3TU5MnDGf7Rv6v5/Mb3Ge1MORppsA+8adifwPfq8ta8rHCEBU5f++10/7eESaLBGPsUANOb8nHO+S9Lm48DKAD8/NB1OOefAPAJAHj22WcttmyXC+rcBxVXW2UTRGMHEHgMjDUvtCJJk4uEg4NEEvjY5I2yot4l9w45OJwNTdWJzNGQh3OOIfKZpmiIZTakqoVbxCTR4JyP0jnG2EcA/DEAf4RzfmUJBBVK7lKT7ipVRGN3m7AyxmQSkXh86sWelL0dHCSS0MPLJ0X9/2lRgTFBYh0cHOwRdxSNtJwmGoHv1Z1BFeEIg4f/DZ5r9WOMvR/AvwPguzjnq4tx6XKjUTRkk5VcTL67rGgAQOw3B/go3x3RcKAiCX2sO4qGaOT18Cc5B4fLiG6OhvqmxhD6DHnRhE7E7z38efy8Hvw1AHsAPskY+wxj7K9fgE+XGopo1IqGDJ0Yy1t3CFHgISuFr6mTvR0sIZJBG6KRUqqWHBwcBqFCJ3qOxtScHPoe8uoShk7GwDm3zMy6+mhCJ+Jhr1WORrjbRCP0vZoJN6GT3fbZYXeQhF6rpDsrK0Tu/XFwODO65a15SVE02lUnwG6ETh4+1bliCH0Pvsfqxfo0FaGTRby7ORqAUjQ6oZPQvR4ONMSBj7QTOnGKhoPD2dHkaNCTQfXOoMUVCp04GJAEze5Oxa13PXQS+qwmGpnL0XCwxCzy61JugDYpOjg4DKPXsIuQDBpqG8Zsh0InD9+DK4hYi1dfhvJWAIgC3yWDOpwZs9BHXvJark2LcvpQPgcHh0GcKRm0c9YJ4EInVxZJ4DVVJ9nul7cC7fprJYG7HA0HKlRoUIUKs6JyoTcHh3Mg8D14rJ0MGhKSQYt6HpdJ/TtA+B++B1cQegb+Kr0c5a1R0JS3KunNKRoOVOxJonGiiAYhcc3BwWEcceC3DlWLJ76pQOuHlJUlAo8h2IHv8OF7cAURaTkaq7xE6LOdSMgZg040XGdQB1sskw7RcDkaDg7nRmsDSOwMqhp2pfnufIO74cUVwzxqFI11VopT+nYcellUk6Ox+3477AZU6ORkI4jGJq/qnjIODg5nQ6yF4SnJoIHvIddy7XZFld4NL64YFnGA00xMuKus2PnSVkC80EqFyVwLcgdLLDuhk3V+OQi2g8Muo6doUPpoVLyx35E5fDe8uGJYREF9xslpVu58aSsgklVVKa7rDOpgi71O6GR9Sd57B4ddhlI0OOeCvE98U6Ge1F+UO6NKu5VkC5jHfmvC3fVEUKB9VoUrb3WwRbfqxCkaDg7nRxT4SItKkg1MhiND3wPnQFlxkTy6I3P4bnhxxbCIAqy00Mk83P3QySz0sckU0Sjh70i2ssPlgAqdHG+couHgcFEQikZZ5/xNkffAFz0z8rJyyaBXHfPYx6lctI83RZ2Rv8uYRz5WeQnOuWsf7WANPUdDybwuGdTB4XxQORpKbZ5Sx1UOR15WLhn0qmMZBciKCnlZ4f46x8EsfNguTWIW+SgrjrzkSHcoicjhcsD3GGahj9O0qENvLnTi4HA+qByNNfEU8MBTigZ3yaBXHXO5u1ulJY4uC9GQi8I6K5Hmu8OEHS4PlkmAk7S4NG33HRx2HXEgWiUoRWMyR0PO20VZuWTQq46FnGCP0xzHaYH9y0A0pM/rvJRJRLvxgjpcHizjACdpMyk6RcPB4XxYxCJJv1Y0poiGPEAtc6GTqw+Vgf/1ow04x+VSNPJSHIi1Iy+ow+XBMg5wssnrSTFxioaDw7kwjwKc6uR9KkdDO4jNhU6uOBaxeBm+em8DANi/BMmg6gVeZYULnTicCULRKMgZ8g4ODuNYxiLviapoqNDKJi+lorEb36BbTbYAdVLrV++tAVwuRWNTh07cq+Fgh4UMnbgcDQeHi4FqpKg6TU/laCTyxORNXu1UUv9ueHHFsJBE44X7QtG4FESjVjTKnaq/drg82EsCnKQ5OXHNwcFhHKps/BsnGYDp0In65lIZAt+VDeNueHHFoEInv/+NUwDArWX8MN0hoVV1skPZyg6XB8tYxpPl7suFThwczoe5XEu+cSqJxsQ3pefa7VI/pN3w4opBKRi/8/UTAMDtvUtANLSqE3Hypns1HOywiAOcbAocrQXR2J/tfm6Sg8MuY6kVFgDT4cikldTviMaVxuE8gseA5++tEQfepUgGVS/wOitxkl6OE2cddgt7SYCsrPDSSQrgcoQMHRx2GXq+XxJ6k+FIpWioowDiHVEVHdHYAnyP4eYiAiDUDMbYQ/ZoGrrktsqKOs/EwYEK1T/m+Xtr+B6rd2MODg5ngwrDv3B/QyLuSom+v84BYPJY+QeF3fDiCuLWQoRLHj9IHrInNOiS22lW1rFBBwcqlomYCJ+7u8Z+ElwKgu3gsMtYaIoGiWhIsq+IRrwjIfDd8OIK4s6+IBpve+LgIXtCQxx48BhwtC6QFRWWTtFwsIQKEX7llZULmzg4XABUCDsvOY1oBG2i4RSNK47H9oWS8ZbH9x6yJzQwJqTuOunIyd4OllDVVV96+RQH8+ghe+PgcPmx0JRlCtEIfQaP7Z6i4VaTLeEj3/4a3FvneN/bHnvYrpBxMA/rJmNLFzpxsMRtrYzbKRoODufHDY2wU87MYkyconxvJcphkx1pU+CIxpbw9icP8Dd+7NmH7YYVDmcRnpdEY+5CJw6WuLVsJkVHNBwczo8k9HE4D3FvRT8FPAn9usHXrlQP7oau4rATOJg1isbCKRoOlljEQV299Ogl6B3j4HAZoFSNG8RwZBL6dYOvXTkGwBENhxoHsxAVFz+78laHs6Di4gV625P7D9kTB4ergSOZb/GGO0uSfRJ6eKUmGrsxjzui4VDjxiLUfnbJfA72+K433gYAvOPJw4friIPDFcGHn30VAOCdT9EqGGeRj1LuGHdFmd4NuuOwE3j8YFb/fNMRDYcz4M99/9vw/e96grz7cnBwGMe/+T1vxIeffQpP3ZiT7Odhs6zviqKxG1447ASeOGyai1HjgQ4OOp48nOHJw9m0oYODAwmh7+H1t+nE/XDeKNO7omi40IlDjScPG8bse66ro4ODg8Nlg1KjGXPlrQ47iHe96hCP7sf45lfdeNiuODg4ODicASq/bhEF8HZkw+iIhkONKPDwyX/ju1zFiYODg8MlxQ0ZOol25Ih44JyhE8bYv8cY+yxj7DOMsV9jjD1xUY45PBzsJ6ELmzg4ODhcUqj8ul2axc9Lef4S5/ydnPN3AfgVAH/2/C45ODg4ODg4nAWKaIQ7cqAacE6iwTk/0v53AYCfzx0HBwcHBweHs+ItT4hmeX/8mx5/yJ40OHcwnjH2HwD4MQD3AfyhEbuPAfgYADz99NPn/WcdHBwcHBwcOnjycIb/46f/cOuQw4cNxvm4CMEY+xQA0xGkH+ec/7Jm9zMAEs75n5v6R5999ln+6U9/2tZXBwcHBwcHhx0EY+yfcM6NJ4lOKhqc8+8m/jv/LYBfBTBJNBwcHBwcHByuB85bdfKM9r/fD+AL53PHwcHBwcHB4SrhvDka/yFj7E0AKgC/D+BPn98lBwcHBwcHh6uCcxENzvkPXpQjDg4ODg4ODlcPu1No6+Dg4ODg4HDl4IiGg4ODg4ODw9bgiIaDg4ODg4PD1uCIhoODg4ODg8PW4IiGg4ODg4ODw9bgiIaDg4ODg4PD1uCIhoODg4ODg8PW4IiGg4ODg4ODw9bgiIaDg4ODg4PD1uCIhoODg4ODg8PW4IiGg4ODg4ODw9bAOOcP/h9l7CWIQ9i2gUcAvLyla+86rvPYges9fjf264vrPP7rPHZgt8b/as75bdMfPBSisU0wxj7NOX/2YfvxMHCdxw5c7/G7sV/PsQPXe/zXeezA5Rm/C504ODg4ODg4bA2OaDg4ODg4ODhsDVeRaHziYTvwEHGdxw5c7/G7sV9fXOfxX+exA5dk/FcuR8PBwcHBwcFhd3AVFQ0HBwcHBweHHYEjGg4ODg4ODg5bw5UhGoyx9zPGfpsx9nuMsZ9+2P5sA4yxLzPG/ilj7DOMsU/L37vJGPskY+x35a83NPufkffjtxlj73t4np8NjLH/kjH2ImPsc9rvWY+XMfYt8r79HmPsP2WMsQc9FlsMjP3PM8ael8//M4yxD2h/dpXG/irG2G8wxj7PGPstxti/Jn//ujz7ofFf+efPGEsYY/+YMfabcux/Qf7+dXn2Q+O/3M+ec37p/wPgA/gigNcBiAD8JoC3Pmy/tjDOLwN4pPN7/xGAn5Y//zSAn5U/v1XehxjAa+X98R/2GCzH+50A3g3gc+cZL4B/DOC9ABiA/wXA9z7ssZ1x7H8ewL9lsL1qY38cwLvlz3sAfkeO8bo8+6HxX/nnL/1cyp9DAP8XgG+7Rs9+aPyX+tlfFUXjDwD4Pc75P+OcZwB+AcAHH7JPDwofBPC35M9/C8C/pP3+L3DOU875lwD8HsR9ujTgnP9DAK90fttqvIyxxwHsc87/Ty6+vr+t/Z2dxcDYh3DVxv4C5/z/kT8fA/g8gCdxfZ790PiHcGXGzwVO5P+G8j+O6/Psh8Y/hEsx/qtCNJ4E8BXt/5/D+Id5WcEB/Bpj7J8wxj4mf+9RzvkLgJigANyRv39V74nteJ+UP3d//7LizzDGPitDK0o+vrJjZ4y9BsA3Q+zsrt2z74wfuAbPnzHmM8Y+A+BFAJ/knF+rZz8wfuASP/urQjRMsaerWLf7Bznn7wbwvQB+ijH2nSO21+WeKAyN9yrdh/8CwOsBvAvACwD+svz9Kzl2xtgSwC8C+Nc550djpobfu4rjvxbPn3Necs7fBeApiN3520fMr9TYgcHxX+pnf1WIxnMAXqX9/1MAvvqQfNkaOOdflb++COCXIEIhX5cyGeSvL0rzq3pPbMf7nPy5+/uXDpzzr8tJqALwN9CEwq7c2BljIcQi+/Oc8/9Z/va1efam8V+n5w8AnPN7AP4BgPfjGj17BX38l/3ZXxWi8X8DeIYx9lrGWATgRwD8nYfs04WCMbZgjO2pnwF8D4DPQYzzI9LsIwB+Wf78dwD8CGMsZoy9FsAzEMlBlx1W45Uy6zFj7Ntk1vWPaX/nUkFNtBIfgnj+wBUbu/T1bwL4POf8r2h/dC2e/dD4r8PzZ4zdZowdyp9nAL4bwBdwfZ69cfyX/tk/rCzUi/4PwAcgsrO/CODjD9ufLYzvdRDZxb8J4LfUGAHcAvDrAH5X/npT+zsfl/fjt3EJMq4NY/7vIGTCHIKh/+RZxgvgWYgP84sA/hpkR9xd/m9g7P81gH8K4LMQE8zjV3Ts3wEh834WwGfkfx+4Rs9+aPxX/vkDeCeA/1eO8XMA/qz8/evy7IfGf6mfvWtB7uDg4ODg4LA1XJXQiYODg4ODg8MOwhENBwcHBwcHh63BEQ0HBwcHBweHrcERDQcHBwcHB4etwRENBwcHBwcHh63BEQ0HBwcHBweHrcERDQcHBwcHB4et4f8HQC7EVb3asNUAAAAASUVORK5CYII=\n", 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" + ] + }, + "metadata": { + "needs_background": "light" + }, + "output_type": "display_data" + } + ], + "source": [ + "yaw_fast = fast_out[0]['PtfmYaw']\n", + "amp = np.std(yaw_fast) * np.sqrt(2)\n", + "\n", + "\n", + "per = 3600/38\n", + "\n", + "tt = fast_out[0]['Time']\n", + "\n", + "yaw_sowfa = amp * np.sin(2 * np.pi / per * tt)\n", + "\n", + "\n", + "plt.plot(tt,yaw_fast,tt,yaw_sowfa)\n", + "\n", + "np.min(yaw_fast)\n", + "\n", + "amp" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": 51, + "metadata": {}, + "outputs": [ + { + "data": { + "text/plain": [ + "'/Users/dzalkind/Tools/WEIS-3/pCrunch/HPC_tools/eagle2local_sim_inp.sh /Users/dzalkind/Tools/WEIS-3/results/CT-semi/ntm_long/DISCON-CT-semi/ iea15mw_07'" + ] + }, + "execution_count": 51, + "metadata": {}, + "output_type": "execute_result" + } + ], + "source": [ + "# pull from eagle if necessary\n", + "pull_script = '/Users/dzalkind/Tools/WEIS-3/pCrunch/HPC_tools/eagle2local_sim_inp.sh'\n", + "\n", + "\n", + "basedir = outfiles[0].split('/')[1]\n", + "# if basedir == 'scratch':\n", + " \n", + "temp = outfiles[0].split('/')\n", + "filedir = '/'.join(temp[:-1]) + '/'\n", + "\n", + "namebase = temp[-1].split('.')[0]\n", + "search_str = namebase + '*'\n", + "\n", + "shell_cmd = pull_script + ' ' + filedir + ' ' + namebase\n", + "\n", + "shell_cmd\n", + "# ret = subprocess.call(pull_script,shell=True)\n" + ] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + }, + { + "cell_type": "code", + "execution_count": null, + "metadata": {}, + "outputs": [], + "source": [] + } + ], + "metadata": { + "kernelspec": { + "display_name": "weis-env3", + "language": "python", + "name": "weis-env3" + }, + "language_info": { + "codemirror_mode": { + "name": "ipython", + "version": 3 + }, + "file_extension": ".py", + "mimetype": "text/x-python", + "name": "python", + "nbconvert_exporter": "python", + "pygments_lexer": "ipython3", + "version": "3.8.6" + } + }, + "nbformat": 4, + "nbformat_minor": 4 +} diff --git a/ROSCO_toolbox/ofTools/util/FileTools.py b/ROSCO_toolbox/ofTools/util/FileTools.py index b66ac522..2262f10e 100644 --- a/ROSCO_toolbox/ofTools/util/FileTools.py +++ b/ROSCO_toolbox/ofTools/util/FileTools.py @@ -127,6 +127,7 @@ def save_yaml(outdir, fname, data_out): yaml.width = float("inf") yaml.indent(mapping=4, sequence=6, offset=3) yaml.dump(data_out, f) + f.close() def select_cases(cases, var_sel, val_sel): diff --git a/ROSCO_toolbox/turbine.py b/ROSCO_toolbox/turbine.py index 60af0b2c..09082e73 100644 --- a/ROSCO_toolbox/turbine.py +++ b/ROSCO_toolbox/turbine.py @@ -176,7 +176,11 @@ def load_from_fast(self, FAST_InputFile,FAST_directory, FAST_ver='OpenFAST',dev_ self.NumBl = fast.fst_vt['ElastoDyn']['NumBl'] self.TowerHt = fast.fst_vt['ElastoDyn']['TowerHt'] self.shearExp = 0.2 #HARD CODED FOR NOW + if 'default' in str(fast.fst_vt['AeroDyn15']['AirDens']): + fast.fst_vt['AeroDyn15']['AirDens'] = 1.225 self.rho = fast.fst_vt['AeroDyn15']['AirDens'] + if 'default' in str(fast.fst_vt['AeroDyn15']['KinVisc']): + fast.fst_vt['AeroDyn15']['KinVisc'] = 1.460e-5 self.mu = fast.fst_vt['AeroDyn15']['KinVisc'] self.Ng = fast.fst_vt['ElastoDyn']['GBRatio'] self.GenEff = fast.fst_vt['ServoDyn']['GenEff'] @@ -226,8 +230,8 @@ def load_from_fast(self, FAST_InputFile,FAST_directory, FAST_ver='OpenFAST',dev_ self.TSR_operational = self.Cp.TSR_opt # Pull out some floating-related data - wave_tp = fast.fst_vt['HydroDyn']['WaveTp'] try: + wave_tp = fast.fst_vt['HydroDyn']['WaveTp'] self.wave_peak_period = 1/wave_tp # Will work if HydroDyn exists and a peak period is defined... except: self.wave_peak_period = 0.0 # Set as 0.0 when HydroDyn doesn't exist (fixed bottom) @@ -255,7 +259,7 @@ def load_from_ccblade(self): # Generate the look-up tables, mesh the grid and flatten the arrays for cc_rotor aerodynamic analysis TSR_initial = np.arange(2, 15,0.5) - pitch_initial = np.arange(-5,25,0.5) + pitch_initial = np.arange(-5,31,1.) pitch_initial_rad = pitch_initial * deg2rad ws_array = np.ones_like(TSR_initial) * self.v_rated # evaluate at rated wind speed omega_array = (TSR_initial * ws_array / self.rotor_radius) * RadSec2rpm @@ -506,16 +510,11 @@ def load_blade_info(self): # Create CC-Blade Rotor r0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlSpn']) - chord0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord']) - theta0 = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist']) + chord = np.array(self.fast.fst_vt['AeroDynBlade']['BlChord']) + theta = np.array(self.fast.fst_vt['AeroDynBlade']['BlTwist']) # -- Adjust for Aerodyn15 r = r0 + self.Rhub - chord_intfun = interpolate.interp1d(r0,chord0, bounds_error=None, fill_value='extrapolate', kind='zero') - chord = chord_intfun(r) - theta_intfun = interpolate.interp1d(r0,theta0, bounds_error=None, fill_value='extrapolate', kind='zero') - theta = theta_intfun(r) af_idx = np.array(self.fast.fst_vt['AeroDynBlade']['BlAFID']).astype(int) - 1 #Reset to 0 index - AFNames = self.fast.fst_vt['AeroDyn15']['AFNames'] # Read OpenFAST Airfoil data, assumes AeroDyn > v15.03 and associated polars > v1.01 af_dict = {} @@ -662,7 +661,7 @@ def plot_performance(self): max_tsr_id = self.TSR_initial[max_ind[0]] P = plt.contourf(self.pitch_initial_rad * rad2deg, self.TSR_initial, self.performance_table, - levels=np.linspace(0,np.max(self.performance_table),20)) + levels=20) plt.colorbar(format='%1.3f') plt.title('Power Coefficient', fontsize=14, fontweight='bold') plt.xlabel('Pitch Angle [deg]', fontsize=14, fontweight='bold') diff --git a/ROSCO_toolbox/utilities.py b/ROSCO_toolbox/utilities.py index 139d4f09..24dc6b0e 100644 --- a/ROSCO_toolbox/utilities.py +++ b/ROSCO_toolbox/utilities.py @@ -36,7 +36,7 @@ rpm2RadSec = 2.0*(np.pi)/60.0 RadSec2rpm = 60/(2.0 * np.pi) -def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_Ct_Cq.txt'): +def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_Ct_Cq.txt', rosco_vt = {}): """ Print the controller parameters to the DISCON.IN input file for the generic controller @@ -51,6 +51,11 @@ def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_C txt_filename: str, optional filename of rotor performance file """ + + # Get ROSCO var tree if not provided + if not rosco_vt: + rosco_vt = DISCON_dict(turbine, controller, txt_filename) + print('Writing new controller parameter file parameter file: %s.' % param_file) # Should be obvious what's going on here... file = open(param_file,'w') @@ -58,127 +63,142 @@ def write_DISCON(turbine, controller, param_file='DISCON.IN', txt_filename='Cp_C file.write('! - File written using ROSCO version {} controller tuning logic on {}\n'.format(ROSCO_toolbox.__version__, now.strftime('%m/%d/%y'))) file.write('\n') file.write('!------- DEBUG ------------------------------------------------------------\n') - file.write('{0:<12d} ! LoggingLevel - {{0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file}}\n'.format(int(controller.LoggingLevel))) + file.write('{0:<12d} ! LoggingLevel - {{0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file}}\n'.format(int(rosco_vt['LoggingLevel']))) file.write('\n') file.write('!------- CONTROLLER FLAGS -------------------------------------------------\n') - file.write('{0:<12d} ! F_LPFType - {{1: first-order low-pass filter, 2: second-order low-pass filter}}, [rad/s] (currently filters generator speed and pitch control signals\n'.format(int(controller.F_LPFType))) - file.write('{0:<12d} ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {{0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion}}\n'.format(int(controller.F_NotchType))) - file.write('{0:<12d} ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {{0: off, 1: 1P reductions, 2: 1P+2P reductions}}\n'.format(int(controller.IPC_ControlMode))) - file.write('{0:<12d} ! VS_ControlMode - Generator torque control mode in above rated conditions {{0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power}}\n'.format(int(controller.VS_ControlMode))) - file.write('{0:<12d} ! PC_ControlMode - Blade pitch control mode {{0: No pitch, fix to fine pitch, 1: active PI blade pitch control}}\n'.format(int(controller.PC_ControlMode))) - file.write('{0:<12d} ! Y_ControlMode - Yaw control mode {{0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}}\n'.format(int(controller.Y_ControlMode))) - file.write('{0:<12d} ! SS_Mode - Setpoint Smoother mode {{0: no setpoint smoothing, 1: introduce setpoint smoothing}}\n'.format(int(controller.SS_Mode))) - file.write('{0:<12d} ! WE_Mode - Wind speed estimator mode {{0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}}\n'.format(int(controller.WE_Mode))) - file.write('{0:<12d} ! PS_Mode - Pitch saturation mode {{0: no pitch saturation, 1: implement pitch saturation}}\n'.format(int(controller.PS_Mode > 0))) - file.write('{0:<12d} ! SD_Mode - Shutdown mode {{0: no shutdown procedure, 1: pitch to max pitch at shutdown}}\n'.format(int(controller.SD_Mode))) - file.write('{0:<12d} ! Fl_Mode - Floating specific feedback mode {{0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}}\n'.format(int(controller.Fl_Mode))) - file.write('{0:<12d} ! Flp_Mode - Flap control mode {{0: no flap control, 1: steady state flap angle, 2: Proportional flap control}}\n'.format(int(controller.Flp_Mode))) + file.write('{0:<12d} ! F_LPFType - {{1: first-order low-pass filter, 2: second-order low-pass filter}}, [rad/s] (currently filters generator speed and pitch control signals\n'.format(int(rosco_vt['F_LPFType']))) + file.write('{0:<12d} ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {{0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion}}\n'.format(int(rosco_vt['F_NotchType']))) + file.write('{0:<12d} ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {{0: off, 1: 1P reductions, 2: 1P+2P reductions}}\n'.format(int(rosco_vt['IPC_ControlMode']))) + file.write('{0:<12d} ! VS_ControlMode - Generator torque control mode in above rated conditions {{0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power}}\n'.format(int(rosco_vt['VS_ControlMode']))) + file.write('{0:<12d} ! PC_ControlMode - Blade pitch control mode {{0: No pitch, fix to fine pitch, 1: active PI blade pitch control}}\n'.format(int(rosco_vt['PC_ControlMode']))) + file.write('{0:<12d} ! Y_ControlMode - Yaw control mode {{0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC}}\n'.format(int(rosco_vt['Y_ControlMode']))) + file.write('{0:<12d} ! SS_Mode - Setpoint Smoother mode {{0: no setpoint smoothing, 1: introduce setpoint smoothing}}\n'.format(int(rosco_vt['SS_Mode']))) + file.write('{0:<12d} ! WE_Mode - Wind speed estimator mode {{0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter}}\n'.format(int(rosco_vt['WE_Mode']))) + file.write('{0:<12d} ! PS_Mode - Pitch saturation mode {{0: no pitch saturation, 1: implement pitch saturation}}\n'.format(int(rosco_vt['PS_Mode']))) + file.write('{0:<12d} ! SD_Mode - Shutdown mode {{0: no shutdown procedure, 1: pitch to max pitch at shutdown}}\n'.format(int(rosco_vt['SD_Mode']))) + file.write('{0:<12d} ! Fl_Mode - Floating specific feedback mode {{0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty}}\n'.format(int(rosco_vt['Fl_Mode']))) + file.write('{0:<12d} ! Flp_Mode - Flap control mode {{0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control}}\n'.format(int(rosco_vt['Flp_Mode']))) + file.write('{0:<12d} ! OL_Mode - Open loop control mode {{0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed}}\n'.format(int(rosco_vt['OL_Mode']))) file.write('\n') file.write('!------- FILTERS ----------------------------------------------------------\n') - file.write('{:<13.5f} ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]\n'.format(turbine.bld_edgewise_freq * 1/4)) - file.write('{:<13.5f} ! F_LPFDamping - Damping coefficient {{used only when F_FilterType = 2}} [-]\n'.format(controller.F_LPFDamping)) - file.write('{:<13.5f} ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s]\n'.format(controller.twr_freq)) - file.write('{:<10.5f}{:<9.5f} ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]\n'.format(0.0,0.25)) - file.write('{:<014.5f} ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].\n'.format(controller.ss_cornerfreq)) - file.write('{:<10.5f}{:<9.5f} ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].\n'.format(controller.ptfm_freq, 1.0)) - file.write('{:<10.5f}{:<9.5f} ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].\n'.format(turbine.bld_flapwise_freq*1/3, 1.0)) + file.write('{:<13.5f} ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s]\n'.format(rosco_vt['F_LPFCornerFreq'])) + file.write('{:<13.5f} ! F_LPFDamping - Damping coefficient {{used only when F_FilterType = 2}} [-]\n'.format(rosco_vt['F_LPFDamping'])) + file.write('{:<13.5f} ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s]\n'.format(rosco_vt['F_NotchCornerFreq'])) + file.write('{} ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]\n'.format(''.join('{:<4.6f} '.format(rosco_vt['F_NotchBetaNumDen'][i]) for i in range(len(rosco_vt['F_NotchBetaNumDen']))))) + file.write('{:<13.5f} ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s].\n'.format(rosco_vt['F_SSCornerFreq'])) + file.write('{:<13.5f} ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].\n'.format(rosco_vt['F_WECornerFreq'])) + file.write('{} ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['F_FlCornerFreq'][i]) for i in range(len(rosco_vt['F_FlCornerFreq']))))) + file.write('{:<13.5f} ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].\n'.format(rosco_vt['F_FlHighPassFreq'])) + file.write('{} ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['F_FlpCornerFreq'][i]) for i in range(len(rosco_vt['F_FlpCornerFreq']))))) file.write('\n') file.write('!------- BLADE PITCH CONTROL ----------------------------------------------\n') - file.write('{:<11d} ! PC_GS_n - Amount of gain-scheduling table entries\n'.format(len(controller.pitch_op_pc))) - file.write('{} ! PC_GS_angles - Gain-schedule table: pitch angles [rad].\n'.format(''.join('{:<4.6f} '.format(controller.pitch_op_pc[i]) for i in range(len(controller.pitch_op_pc))))) - file.write('{} ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].\n'.format(''.join('{:<4.6f} '.format(controller.pc_gain_schedule.Kp[i]) for i in range(len(controller.pc_gain_schedule.Kp))))) - file.write('{} ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].\n'.format(''.join('{:<4.6f} '.format(controller.pc_gain_schedule.Ki[i]) for i in range(len(controller.pc_gain_schedule.Ki))))) - file.write('{} ! PC_GS_KD - Gain-schedule table: pitch controller kd gains\n'.format(''.join('{:<1.1f} '.format(0.0) for i in range(len(controller.pc_gain_schedule.Ki))))) - file.write('{} ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)\n'.format(''.join('{:<1.1f} '.format(0.0) for i in range(len(controller.pc_gain_schedule.Ki))))) - file.write('{:<014.5f} ! PC_MaxPit - Maximum physical pitch limit, [rad].\n'.format(controller.max_pitch)) - file.write('{:<014.5f} ! PC_MinPit - Minimum physical pitch limit, [rad].\n'.format(controller.min_pitch)) - file.write('{:<014.5f} ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].\n'.format(turbine.max_pitch_rate)) - file.write('{:<014.5f} ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].\n'.format(turbine.min_pitch_rate)) - file.write('{:<014.5f} ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].\n'.format(turbine.rated_rotor_speed*turbine.Ng)) - file.write('{:<014.5f} ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]\n'.format(controller.min_pitch)) - file.write('{:<014.5f} ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad]\n'.format(1 * deg2rad)) + file.write('{:<11d} ! PC_GS_n - Amount of gain-scheduling table entries\n'.format(int(rosco_vt['PC_GS_n']))) + file.write('{} ! PC_GS_angles - Gain-schedule table: pitch angles [rad].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_angles'][i]) for i in range(len(rosco_vt['PC_GS_angles']))))) + file.write('{} ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_KP'][i]) for i in range(len(rosco_vt['PC_GS_KP']))))) + file.write('{} ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-].\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_KI'][i]) for i in range(len(rosco_vt['PC_GS_KI']))))) + file.write('{} ! PC_GS_KD - Gain-schedule table: pitch controller kd gains\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_KD'][i]) for i in range(len(rosco_vt['PC_GS_KD']))))) + file.write('{} ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter)\n'.format(''.join('{:<4.6f} '.format(rosco_vt['PC_GS_TF'][i]) for i in range(len(rosco_vt['PC_GS_TF']))))) + file.write('{:<014.5f} ! PC_MaxPit - Maximum physical pitch limit, [rad].\n'.format(rosco_vt['PC_MaxPit'])) + file.write('{:<014.5f} ! PC_MinPit - Minimum physical pitch limit, [rad].\n'.format(rosco_vt['PC_MinPit'])) + file.write('{:<014.5f} ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s].\n'.format(rosco_vt['PC_MaxRat'])) + file.write('{:<014.5f} ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s].\n'.format(rosco_vt['PC_MinRat'])) + file.write('{:<014.5f} ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s].\n'.format(rosco_vt['PC_RefSpd'])) + file.write('{:<014.5f} ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad]\n'.format(rosco_vt['PC_FinePit'])) + file.write('{:<014.5f} ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad]\n'.format(rosco_vt['PC_Switch'])) file.write('\n') file.write('!------- INDIVIDUAL PITCH CONTROL -----------------------------------------\n') - file.write('{:<13.1f} ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]\n'.format(0.087266)) # Hardcode to 5 degrees - file.write('{:<13.1e} {:<6.1f}! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]\n'.format(controller.Ki_ipc1p,0.0)) - file.write('{:<13.1e} {:<6.1f}! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. \n'.format(0.0,0.0)) - file.write('{:<13.1f} ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {{0: Disable}}, [rad/s]\n'.format(0.0)) + file.write('{:<13.1f} ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad]\n'.format(rosco_vt['IPC_IntSat'])) # Hardcode to 5 degrees + file.write('{} ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]\n'.format(''.join('{:<4.3e} '.format(rosco_vt['IPC_KP'][i]) for i in range(len(rosco_vt['IPC_KP']))))) + file.write('{} ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]\n'.format(''.join('{:<4.3e} '.format(rosco_vt['IPC_KI'][i]) for i in range(len(rosco_vt['IPC_KI']))))) + file.write('{} ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. \n'.format(''.join('{:<4.6f} '.format(rosco_vt['IPC_aziOffset'][i]) for i in range(len(rosco_vt['IPC_aziOffset']))))) + file.write('{:<13.1f} ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {{0: Disable}}, [rad/s]\n'.format(rosco_vt['IPC_CornerFreqAct'])) file.write('\n') file.write('!------- VS TORQUE CONTROL ------------------------------------------------\n') - file.write('{:<014.5f} ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [%]\n'.format(turbine.GenEff)) - file.write('{:<014.5f} ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]\n'.format(turbine.rated_torque)) - file.write('{:<014.5f} ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].\n'.format(turbine.max_torque_rate)) - file.write('{:<014.5f} ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].\n'.format(turbine.max_torque)) - file.write('{:<014.5f} ! VS_MinTq - Minimum generator torque (HSS side), [Nm].\n'.format(0.0)) - file.write('{:<014.5f} ! VS_MinOMSpd - Minimum generator speed [rad/s]\n'.format(controller.vs_minspd * turbine.Ng)) - file.write('{:<014.5f} ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2]\n'.format(controller.vs_rgn2K)) - file.write('{:<014.5f} ! VS_RtPwr - Wind turbine rated power [W]\n'.format(turbine.rated_power)) - file.write('{:<014.5f} ! VS_RtTq - Rated torque, [Nm].\n'.format(turbine.rated_torque)) - file.write('{:<014.5f} ! VS_RefSpd - Rated generator speed [rad/s]\n'.format(controller.vs_refspd)) - file.write('{:<11d} ! VS_n - Number of generator PI torque controller gains\n'.format(1)) - file.write('{:<014.5f} ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)\n'.format(controller.vs_gain_schedule.Kp[-1])) - file.write('{:<014.5f} ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)\n'.format(controller.vs_gain_schedule.Ki[-1])) - file.write('{:<13.2f} ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad].\n'.format(turbine.TSR_operational)) + file.write('{:<014.5f} ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [%]\n'.format(rosco_vt['VS_GenEff'])) + file.write('{:<014.5f} ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm]\n'.format(rosco_vt['VS_ArSatTq'])) + file.write('{:<014.5f} ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s].\n'.format(rosco_vt['VS_MaxRat'])) + file.write('{:<014.5f} ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm].\n'.format(rosco_vt['VS_MaxTq'])) + file.write('{:<014.5f} ! VS_MinTq - Minimum generator torque (HSS side), [Nm].\n'.format(rosco_vt['VS_MinTq'])) + file.write('{:<014.5f} ! VS_MinOMSpd - Minimum generator speed [rad/s]\n'.format(rosco_vt['VS_MinOMSpd'])) + file.write('{:<014.5f} ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2]\n'.format(rosco_vt['VS_Rgn2K'])) + file.write('{:<014.5f} ! VS_RtPwr - Wind turbine rated power [W]\n'.format(rosco_vt['VS_RtPwr'])) + file.write('{:<014.5f} ! VS_RtTq - Rated torque, [Nm].\n'.format(rosco_vt['VS_RtTq'])) + file.write('{:<014.5f} ! VS_RefSpd - Rated generator speed [rad/s]\n'.format(rosco_vt['VS_RefSpd'])) + file.write('{:<11d} ! VS_n - Number of generator PI torque controller gains\n'.format(int(rosco_vt['VS_n']))) + file.write('{:<014.5f} ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)\n'.format(rosco_vt['VS_KP'])) + file.write('{:<014.5f} ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2)\n'.format(rosco_vt['VS_KI'])) + file.write('{:<13.2f} ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad].\n'.format(rosco_vt['VS_TSRopt'])) file.write('\n') file.write('!------- SETPOINT SMOOTHER ---------------------------------------------\n') - file.write('{:<13.5f} ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-].\n'.format(controller.ss_vsgain)) - file.write('{:<13.5f} ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-].\n'.format(controller.ss_pcgain)) + file.write('{:<13.5f} ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-].\n'.format(rosco_vt['SS_VSGain'])) + file.write('{:<13.5f} ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-].\n'.format(rosco_vt['SS_PCGain'])) file.write('\n') file.write('!------- WIND SPEED ESTIMATOR ---------------------------------------------\n') - file.write('{:<13.3f} ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m]\n'.format(turbine.rotor_radius)) - file.write('{:<11d} ! WE_CP_n - Amount of parameters in the Cp array\n'.format(1)) - file.write('{} ! WE_CP - Parameters that define the parameterized CP(lambda) function\n'.format(''.join('{:<2.1f} '.format(0.0) for i in range(1)))) - file.write('{:<13.1f} ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]\n'.format(0.0)) - file.write('{:<13.1f} ! WE_GearboxRatio - Gearbox ratio [>=1], [-]\n'.format(turbine.Ng)) - file.write('{:<014.5f} ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2]\n'.format(turbine.J)) - file.write('{:<13.3f} ! WE_RhoAir - Air density, [kg m^-3]\n'.format(turbine.rho)) - file.write( '"{}" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq)\n'.format(txt_filename)) - file.write('{:<7d} {:<10d} ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios\n'.format(len(turbine.Cp.pitch_initial_rad),len(turbine.Cp.TSR_initial))) - file.write('{:<11d} ! WE_FOPoles_N - Number of first-order system poles used in EKF\n'.format(len(controller.A))) - file.write('{} ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]\n'.format(''.join('{:<4.2f} '.format(controller.v[i]) for i in range(len(controller.v))))) - file.write('{} ! WE_FOPoles - First order system poles [1/s]\n'.format(''.join('{:<10.8f} '.format(controller.A[i]) for i in range(len(controller.A))))) + file.write('{:<13.3f} ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m]\n'.format(rosco_vt['WE_BladeRadius'])) + file.write('{:<11d} ! WE_CP_n - Amount of parameters in the Cp array\n'.format(int(rosco_vt['WE_CP_n']))) + file.write('{} ! WE_CP - Parameters that define the parameterized CP(lambda) function\n'.format(rosco_vt['WE_CP'])) + file.write('{:<13.1f} ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad]\n'.format(rosco_vt['WE_Gamma'])) + file.write('{:<13.1f} ! WE_GearboxRatio - Gearbox ratio [>=1], [-]\n'.format(rosco_vt['WE_GearboxRatio'])) + file.write('{:<14.5f} ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2]\n'.format(rosco_vt['WE_Jtot'])) + file.write('{:<13.3f} ! WE_RhoAir - Air density, [kg m^-3]\n'.format(rosco_vt['WE_RhoAir'])) + file.write( '"{}" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file)\n'.format(rosco_vt['PerfFileName'])) + file.write('{:<7d} {:<10d} ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios\n'.format(int(rosco_vt['PerfTableSize'][0]),int(rosco_vt['PerfTableSize'][1]))) + file.write('{:<11d} ! WE_FOPoles_N - Number of first-order system poles used in EKF\n'.format(int(rosco_vt['WE_FOPoles_N']))) + file.write('{} ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s]\n'.format(''.join('{:<4.4f} '.format(rosco_vt['WE_FOPoles_v'][i]) for i in range(len(rosco_vt['WE_FOPoles_v']))))) + file.write('{} ! WE_FOPoles - First order system poles [1/s]\n'.format(''.join('{:<10.8f} '.format(rosco_vt['WE_FOPoles'][i]) for i in range(len(rosco_vt['WE_FOPoles']))))) file.write('\n') file.write('!------- YAW CONTROL ------------------------------------------------------\n') - file.write('{:<13.1f} ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]\n'.format(0.0)) - file.write('{:<13.1f} ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]\n'.format(0.0)) - file.write('{:<11d} ! Y_IPC_n - Number of controller gains (yaw-by-IPC)\n'.format(1)) - file.write('{:<13.1f} ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp\n'.format(0.0)) - file.write('{:<13.1f} ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki\n'.format(0.0)) - file.write('{:<13.1f} ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].\n'.format(0.0)) - file.write('{:<13.1f} ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].\n'.format(0.0)) - file.write('{:<13.1f} ! Y_MErrSet - Yaw alignment error, set point [rad]\n'.format(0.0)) - file.write('{:<13.1f} ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s]\n'.format(0.0)) - file.write('{:<13.1f} ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s]\n'.format(0.0)) - file.write('{:<13.1f} ! Y_Rate - Yaw rate [rad/s]\n'.format(0.0)) + file.write('{:<13.5f} ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s]\n'.format(rosco_vt['Y_ErrThresh'])) + file.write('{:<13.5f} ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]\n'.format(rosco_vt['Y_IPC_IntSat'])) + file.write('{:<11d} ! Y_IPC_n - Number of controller gains (yaw-by-IPC)\n'.format(int(rosco_vt['Y_IPC_n']))) + file.write('{:<13.5f} ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp\n'.format(rosco_vt['Y_IPC_KP'])) + file.write('{:<13.5f} ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki\n'.format(rosco_vt['Y_IPC_KI'])) + file.write('{:<13.5f} ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].\n'.format(rosco_vt['Y_IPC_omegaLP'])) + file.write('{:<13.5f} ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].\n'.format(rosco_vt['Y_IPC_zetaLP'])) + file.write('{:<13.5f} ! Y_MErrSet - Yaw alignment error, set point [rad]\n'.format(rosco_vt['Y_MErrSet'])) + file.write('{:<13.5f} ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s]\n'.format(rosco_vt['Y_omegaLPFast'])) + file.write('{:<13.5f} ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s]\n'.format(rosco_vt['Y_omegaLPSlow'])) + file.write('{:<13.5f} ! Y_Rate - Yaw rate [rad/s]\n'.format(rosco_vt['Y_Rate'])) file.write('\n') file.write('!------- TOWER FORE-AFT DAMPING -------------------------------------------\n') - file.write('{:<11d} ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag\n'.format(-1)) - file.write('{:<13.1f} ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]\n'.format(0.0)) - file.write('{:<13.1f} ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]\n'.format(0.0)) + file.write('{:<11d} ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag\n'.format(int(rosco_vt['FA_KI'] ))) + file.write('{:<13.1f} ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s]\n'.format(rosco_vt['FA_HPFCornerFreq'] )) + file.write('{:<13.1f} ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad]\n'.format(rosco_vt['FA_IntSat'] )) file.write('\n') file.write('!------- MINIMUM PITCH SATURATION -------------------------------------------\n') - file.write('{:<11d} ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)\n'.format(len(controller.ps_min_bld_pitch))) - file.write('{} ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s]\n'.format(''.join('{:<4.4f} '.format(controller.v[i]) for i in range(len(controller.v))))) - file.write('{} ! PS_BldPitchMin - Minimum blade pitch angles [rad]\n'.format(''.join('{:<10.8f} '.format(controller.ps_min_bld_pitch[i]) for i in range(len(controller.ps_min_bld_pitch))))) + file.write('{:<11d} ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin)\n'.format(int(rosco_vt['PS_BldPitchMin_N']))) + file.write('{} ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s]\n'.format(''.join('{:<4.4f} '.format(rosco_vt['PS_WindSpeeds'][i]) for i in range(len(rosco_vt['PS_WindSpeeds']))))) + file.write('{} ! PS_BldPitchMin - Minimum blade pitch angles [rad]\n'.format(''.join('{:<10.8f} '.format(rosco_vt['PS_BldPitchMin'][i]) for i in range(len(rosco_vt['PS_BldPitchMin']))))) file.write('\n') file.write('!------- SHUTDOWN -----------------------------------------------------------\n') - file.write('{:<014.5f} ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]\n'.format(controller.sd_maxpit)) - file.write('{:<014.5f} ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]\n'.format(controller.sd_cornerfreq)) + file.write('{:<014.5f} ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]\n'.format(rosco_vt['SD_MaxPit'])) + file.write('{:<014.5f} ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]\n'.format(rosco_vt['SD_CornerFreq'])) file.write('\n') file.write('!------- Floating -----------------------------------------------------------\n') - if controller.Fl_Mode == 2: + if rosco_vt['Fl_Mode'] == 2: floatstr = 'pitching' else: floatstr = 'velocity' - file.write('{:<014.5f} ! Fl_Kp - Nacelle {} proportional feedback gain [s]\n'.format(controller.Kp_float, floatstr)) + file.write('{:<014.5f} ! Fl_Kp - Nacelle {} proportional feedback gain [s]\n'.format(rosco_vt['Fl_Kp'], floatstr)) file.write('\n') file.write('!------- FLAP ACTUATION -----------------------------------------------------\n') - file.write('{:<014.5f} ! Flp_Angle - Initial or steady state flap angle [rad]\n'.format(controller.flp_angle)) - file.write('{:<014.8e} ! Flp_Kp - Blade root bending moment proportional gain for flap control [s]\n'.format(controller.Kp_flap[-1])) - file.write('{:<014.8e} ! Flp_Ki - Flap displacement integral gain for flap control [-]\n'.format(controller.Ki_flap[-1])) - file.write('{:<014.5f} ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad]'.format(controller.flp_maxpit)) + file.write('{:<014.5f} ! Flp_Angle - Initial or steady state flap angle [rad]\n'.format(rosco_vt['Flp_Angle'])) + file.write('{:<014.8e} ! Flp_Kp - Blade root bending moment proportional gain for flap control [s]\n'.format(rosco_vt['Flp_Kp'])) + file.write('{:<014.8e} ! Flp_Ki - Flap displacement integral gain for flap control [-]\n'.format(rosco_vt['Flp_Ki'])) + file.write('{:<014.5f} ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad]\n'.format(rosco_vt['Flp_MaxPit'])) + file.write('\n') + file.write('!------- Open Loop Control -----------------------------------------------------\n') + file.write('"{}" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file)\n'.format(rosco_vt['OL_Filename'])) + file.write('{0:<12d} ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)\n'.format(int(rosco_vt['Ind_Breakpoint']))) + file.write('{0:<12d} ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad\n'.format(int(rosco_vt['Ind_BldPitch']))) + file.write('{0:<12d} ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm\n'.format(int(rosco_vt['Ind_GenTq']))) + file.write('{0:<12d} ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm\n'.format(int(rosco_vt['Ind_YawRate']))) file.close() + + # Write Open loop input + if rosco_vt['OL_Mode'] and hasattr(controller, 'OpenLoop'): + write_ol_control(controller) def read_DISCON(DISCON_filename): ''' @@ -215,15 +235,6 @@ def read_DISCON(DISCON_filename): value = value[1:-1] else: value = float(value) - # Some checks for variables that are generally passed as lists - if param.lower() == 'vs_kp': - value = [value] - if param.lower() == 'vs_ki': - value = [value] - if param.lower() == 'flp_kp': - value = [value] - if param.lower() == 'flp_ki': - value = [value] DISCON_in[param] = value return DISCON_in @@ -350,28 +361,39 @@ def DISCON_dict(turbine, controller, txt_filename=None): ''' DISCON_dict = {} # ------- DEBUG ------- - DISCON_dict['LoggingLevel'] = controller.LoggingLevel + DISCON_dict['LoggingLevel'] = int(controller.LoggingLevel) # ------- CONTROLLER FLAGS ------- - DISCON_dict['F_LPFType'] = controller.F_LPFType - DISCON_dict['F_NotchType'] = controller.F_NotchType - DISCON_dict['IPC_ControlMode'] = controller.IPC_ControlMode - DISCON_dict['VS_ControlMode'] = controller.VS_ControlMode - DISCON_dict['PC_ControlMode'] = controller.PC_ControlMode - DISCON_dict['Y_ControlMode'] = controller.Y_ControlMode - DISCON_dict['SS_Mode'] = controller.SS_Mode - DISCON_dict['WE_Mode'] = controller.WE_Mode - DISCON_dict['PS_Mode'] = controller.PS_Mode - DISCON_dict['SD_Mode'] = controller.SD_Mode - DISCON_dict['Fl_Mode'] = controller.Fl_Mode - DISCON_dict['Flp_Mode'] = controller.Flp_Mode + DISCON_dict['F_LPFType'] = int(controller.F_LPFType) + DISCON_dict['F_NotchType'] = int(controller.F_NotchType) + DISCON_dict['IPC_ControlMode'] = int(controller.IPC_ControlMode) + DISCON_dict['VS_ControlMode'] = int(controller.VS_ControlMode) + DISCON_dict['PC_ControlMode'] = int(controller.PC_ControlMode) + DISCON_dict['Y_ControlMode'] = int(controller.Y_ControlMode) + DISCON_dict['SS_Mode'] = int(controller.SS_Mode) + DISCON_dict['WE_Mode'] = int(controller.WE_Mode) + DISCON_dict['PS_Mode'] = int(controller.PS_Mode > 0) + DISCON_dict['SD_Mode'] = int(controller.SD_Mode) + DISCON_dict['Fl_Mode'] = int(controller.Fl_Mode) + DISCON_dict['Flp_Mode'] = int(controller.Flp_Mode) + DISCON_dict['OL_Mode'] = int(controller.OL_Mode) # ------- FILTERS ------- DISCON_dict['F_LPFCornerFreq'] = turbine.bld_edgewise_freq * 1/4 DISCON_dict['F_LPFDamping'] = controller.F_LPFDamping - DISCON_dict['F_NotchCornerFreq'] = controller.twr_freq - DISCON_dict['F_NotchBetaNumDen'] = [0.0, 0.25] - DISCON_dict['F_SSCornerFreq'] = controller.ss_cornerfreq - DISCON_dict['F_FlCornerFreq'] = [turbine.ptfm_freq, 1.0] - DISCON_dict['F_FlpCornerFreq'] = [turbine.bld_flapwise_freq*1/3, 1.0] + if controller.Flp_Mode > 0: + DISCON_dict['F_NotchCornerFreq'] = turbine.bld_flapwise_freq + DISCON_dict['F_NotchBetaNumDen'] = [0.0, 0.5] + else: + DISCON_dict['F_NotchCornerFreq'] = controller.twr_freq + DISCON_dict['F_NotchBetaNumDen'] = [0.0, 0.25] + DISCON_dict['F_WECornerFreq'] = controller.f_we_cornerfreq + DISCON_dict['F_SSCornerFreq'] = controller.f_ss_cornerfreq + DISCON_dict['F_FlHighPassFreq'] = controller.f_fl_highpassfreq + DISCON_dict['F_FlCornerFreq'] = [controller.ptfm_freq, 1.0] + DISCON_dict['F_FlpCornerFreq'] = [turbine.bld_flapwise_freq*3, 1.0] + DISCON_dict['F_WECornerFreq'] = controller.f_we_cornerfreq + DISCON_dict['F_SSCornerFreq'] = controller.f_ss_cornerfreq + DISCON_dict['F_FlHighPassFreq'] = controller.f_fl_highpassfreq + DISCON_dict['F_FlCornerFreq'] = [controller.ptfm_freq, 1.0] # ------- BLADE PITCH CONTROL ------- DISCON_dict['PC_GS_n'] = len(controller.pitch_op_pc) DISCON_dict['PC_GS_angles'] = controller.pitch_op_pc @@ -387,8 +409,9 @@ def DISCON_dict(turbine, controller, txt_filename=None): DISCON_dict['PC_FinePit'] = controller.min_pitch DISCON_dict['PC_Switch'] = 1 * deg2rad # ------- INDIVIDUAL PITCH CONTROL ------- - DISCON_dict['IPC_IntSat'] = 0.0 - DISCON_dict['IPC_KI'] = [0.0, 0.0] + DISCON_dict['IPC_IntSat'] = 0.087266 + DISCON_dict['IPC_KP'] = [controller.Kp_ipc1p, controller.Kp_ipc2p] + DISCON_dict['IPC_KI'] = [controller.Ki_ipc1p, controller.Ki_ipc2p] DISCON_dict['IPC_aziOffset'] = [0.0, 0.0] DISCON_dict['IPC_CornerFreqAct'] = 0.0 # ------- VS TORQUE CONTROL ------- @@ -397,14 +420,14 @@ def DISCON_dict(turbine, controller, txt_filename=None): DISCON_dict['VS_MaxRat'] = turbine.max_torque_rate DISCON_dict['VS_MaxTq'] = turbine.max_torque DISCON_dict['VS_MinTq'] = 0.0 - DISCON_dict['VS_MinOMSpd'] = controller.vs_minspd + DISCON_dict['VS_MinOMSpd'] = controller.vs_minspd * turbine.Ng DISCON_dict['VS_Rgn2K'] = controller.vs_rgn2K DISCON_dict['VS_RtPwr'] = turbine.rated_power DISCON_dict['VS_RtTq'] = turbine.rated_torque DISCON_dict['VS_RefSpd'] = controller.vs_refspd DISCON_dict['VS_n'] = 1 - DISCON_dict['VS_KP'] = [controller.vs_gain_schedule.Kp[-1]] - DISCON_dict['VS_KI'] = [controller.vs_gain_schedule.Ki[-1]] + DISCON_dict['VS_KP'] = controller.vs_gain_schedule.Kp[-1] + DISCON_dict['VS_KI'] = controller.vs_gain_schedule.Ki[-1] DISCON_dict['VS_TSRopt'] = turbine.TSR_operational # ------- SETPOINT SMOOTHER ------- DISCON_dict['SS_VSGain'] = controller.ss_vsgain @@ -412,7 +435,7 @@ def DISCON_dict(turbine, controller, txt_filename=None): # ------- WIND SPEED ESTIMATOR ------- DISCON_dict['WE_BladeRadius'] = turbine.rotor_radius DISCON_dict['WE_CP_n'] = 1 - DISCON_dict['WE_CP'] = [0.0 for i in range(4)] + DISCON_dict['WE_CP'] = 0 DISCON_dict['WE_Gamma'] = 0.0 DISCON_dict['WE_GearboxRatio'] = turbine.Ng DISCON_dict['WE_Jtot'] = turbine.J @@ -423,20 +446,20 @@ def DISCON_dict(turbine, controller, txt_filename=None): DISCON_dict['WE_FOPoles_v'] = controller.v DISCON_dict['WE_FOPoles'] = controller.A # ------- YAW CONTROL ------- - DISCON_dict['Y_ErrThresh'] = 0.0 + DISCON_dict['Y_ErrThresh'] = 0.1396 DISCON_dict['Y_IPC_IntSat'] = 0.0 DISCON_dict['Y_IPC_n'] = 1 DISCON_dict['Y_IPC_KP'] = 0.0 DISCON_dict['Y_IPC_KI'] = 0.0 - DISCON_dict['Y_IPC_omegaLP'] = 0.0 - DISCON_dict['Y_IPC_zetaLP'] = 0.0 + DISCON_dict['Y_IPC_omegaLP'] = 0.2094 + DISCON_dict['Y_IPC_zetaLP'] = 1 DISCON_dict['Y_MErrSet'] = 0.0 - DISCON_dict['Y_omegaLPFast'] = 0.0 - DISCON_dict['Y_omegaLPSlow'] = 0.0 - DISCON_dict['Y_Rate'] = 0.0 + DISCON_dict['Y_omegaLPFast'] = 0.2094 + DISCON_dict['Y_omegaLPSlow'] = 0.1047 + DISCON_dict['Y_Rate'] = 0.0052 # ------- TOWER FORE-AFT DAMPING ------- - DISCON_dict['JA'] = -1 - DISCON_dict['FA_HPF_CornerFreq'] = 0.0 + DISCON_dict['FA_KI'] = -1 + DISCON_dict['FA_HPFCornerFreq'] = 0.0 DISCON_dict['FA_IntSat'] = 0.0 # ------- MINIMUM PITCH SATURATION ------- DISCON_dict['PS_BldPitchMin_N'] = len(controller.ps_min_bld_pitch) @@ -444,19 +467,25 @@ def DISCON_dict(turbine, controller, txt_filename=None): DISCON_dict['PS_BldPitchMin'] = controller.ps_min_bld_pitch # ------- SHUTDOWN ------- DISCON_dict['SD_MaxPit'] = controller.sd_maxpit - DISCON_dict['SD_CornerFreq'] = controller.sd_cornerfreq + DISCON_dict['SD_CornerFreq'] = controller.f_sd_cornerfreq # ------- Floating ------- DISCON_dict['Fl_Kp'] = controller.Kp_float # ------- FLAP ACTUATION ------- DISCON_dict['Flp_Angle'] = controller.flp_angle - DISCON_dict['Flp_Kp'] = [controller.Kp_flap[-1]] - DISCON_dict['Flp_Ki'] = [controller.Ki_flap[-1]] + DISCON_dict['Flp_Kp'] = controller.Kp_flap[-1] + DISCON_dict['Flp_Ki'] = controller.Ki_flap[-1] DISCON_dict['Flp_MaxPit'] = controller.flp_maxpit + # ------- Open Loop Control ------- + DISCON_dict['OL_Filename'] = controller.OL_Filename + DISCON_dict['Ind_Breakpoint'] = controller.OL_Ind_Breakpoint + DISCON_dict['Ind_BldPitch'] = controller.OL_Ind_BldPitch + DISCON_dict['Ind_GenTq'] = controller.OL_Ind_GenTq + DISCON_dict['Ind_YawRate'] = controller.OL_Ind_YawRate return DISCON_dict -def run_openfast(fast_dir, fastcall='openfast', fastfile=None, chdir=True): +def run_openfast(fast_dir, fastcall='openfast', fastfile=None, chdir=True, restart=False): ''' Runs a openfast openfast simulation. @@ -490,7 +519,10 @@ def run_openfast(fast_dir, fastcall='openfast', fastfile=None, chdir=True): print('Running OpenFAST simulation for {} through the ROSCO toolbox...'.format(fastfile)) # os.system('{} {}'.format(fastcall, os.path.join(fastfile))) - subprocess.run([fastcall, os.path.join(fastfile)], check=True, cwd=cwd) + if restart: + subprocess.run([fastcall,'-restart', os.path.join(fastfile)], check=True, cwd=cwd) + else: + subprocess.run([fastcall, os.path.join(fastfile)], check=True, cwd=cwd) print('OpenFAST simulation complete.') @@ -517,11 +549,12 @@ def list_check(x, return_bool=True): y = x is_list = True elif isinstance(x, np.ndarray): - y = x if x.size == 1: is_list = False + y = float(x) else: is_list = True + y = x else: raise AttributeError('Cannot run list_check for variable of type: {}'.format(type(x))) diff --git a/Test_Cases/5MW_Land_Simulink/5MW_Land_Simulink.fst b/Test_Cases/5MW_Land_Simulink/5MW_Land_Simulink.fst index 6aa1c3c3..33086036 100644 --- a/Test_Cases/5MW_Land_Simulink/5MW_Land_Simulink.fst +++ b/Test_Cases/5MW_Land_Simulink/5MW_Land_Simulink.fst @@ -18,6 +18,17 @@ True Echo - Echo input data to .ech (flag) 0 CompSub - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF} 0 CompMooring - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex} 0 CompIce - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn} + 0 MHK - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine} +---------------------- ENVIRONMENTAL CONDITIONS -------------------------------- + 9.80665 Gravity - Gravitational acceleration (m/s^2) + 1.225 AirDens - Air density (kg/m^3) + 1025 WtrDens - Water density (kg/m^3) + 1.464E-05 KinVisc - Kinematic viscosity of working fluid (m^2/s) + 335 SpdSound - Speed of sound in working fluid (m/s) + 103500 Patm - Atmospheric pressure (Pa) [used only for an MHK turbine cavitation check] + 1700 Pvap - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check] + 50 WtrDpth - Water depth (m) + 0 MSL2SWL - Offset between still-water level and mean sea level (m) [positive upward] ---------------------- INPUT FILES --------------------------------------------- "../NREL-5MW/NRELOffshrBsline5MW_Onshore_ElastoDyn.dat" EDFile - Name of file containing ElastoDyn input parameters (quoted string) "unused" BDBldFile(1) - Name of file containing BeamDyn input parameters for blade 1 (quoted string) diff --git a/Test_Cases/5MW_Land_Simulink/DISCON.IN b/Test_Cases/5MW_Land_Simulink/DISCON.IN deleted file mode 100644 index 7298a475..00000000 --- a/Test_Cases/5MW_Land_Simulink/DISCON.IN +++ /dev/null @@ -1,119 +0,0 @@ -! Controller parameter input file for the 5MW_Land_DLL_WTurb wind turbine -! - File written using ROSCO Controller tuning logic on 02/27/20 - -!------- DEBUG ------------------------------------------------------------ -1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} - -!------- CONTROLLER FLAGS ------------------------------------------------- -1 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals -0 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion} -0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} -2 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power} -1 ! PC_ControlMode - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} -0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} -1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} -2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} -0 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} -0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} -0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} -0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} - -!------- FILTERS ---------------------------------------------------------- -1.57080 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] -0.00000 ! F_LPFDamping - Damping coefficient [used only when F_FilterType = 2] -0.44990 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.628320000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. -0.23250 1.00000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. -0.00000 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. - -!------- BLADE PITCH CONTROL ---------------------------------------------- -27 ! PC_GS_n - Amount of gain-scheduling table entries -0.063580 0.091667 0.113820 0.132927 0.150163 0.165982 0.180787 0.194909 0.208461 0.221269 0.233885 0.245874 0.257736 0.269106 0.280469 0.291234 0.302266 0.312525 0.322919 0.333308 0.342993 0.352949 0.362942 0.372100 0.381515 0.391200 0.400190 ! PC_GS_angles - Gain-schedule table: pitch angles --0.015264 -0.013210 -0.011563 -0.010213 -0.009088 -0.008134 -0.007316 -0.006607 -0.005985 -0.005437 -0.004949 -0.004513 -0.004120 -0.003764 -0.003440 -0.003145 -0.002874 -0.002625 -0.002394 -0.002181 -0.001983 -0.001799 -0.001627 -0.001466 -0.001315 -0.001173 -0.001039 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains --0.005660 -0.005036 -0.004536 -0.004126 -0.003785 -0.003495 -0.003247 -0.003031 -0.002843 -0.002676 -0.002528 -0.002396 -0.002276 -0.002168 -0.002070 -0.001980 -0.001898 -0.001822 -0.001752 -0.001688 -0.001628 -0.001572 -0.001519 -0.001470 -0.001425 -0.001381 -0.001341 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) -1.570800000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. -0.004360000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. -0.174500000000 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. --0.17450000000 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. -122.9096700000 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s]. -0.004360000000 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] -0.017450000000 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad] - -!------- INDIVIDUAL PITCH CONTROL ----------------------------------------- -0.0 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -0.0 0.0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.0 0.0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. -0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] - -!------- VS TORQUE CONTROL ------------------------------------------------ -94.40000000000 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [%] -43093.51876000 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] -1500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. -47402.87063000 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -35.98150000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -2.060980000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] -5000000.000000 ! VS_RtPwr - Wind turbine rated power [W] -43093.51876000 ! VS_RtTq - Rated torque, [Nm]. -122.9096700000 ! VS_RefSpd - Rated generator speed [rad/s] -1 ! VS_n - Number of generator PI torque controller gains --1028.53436000 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) --185.790360000 ! VS_KI - Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -7.79 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. - -!------- SETPOINT SMOOTHER --------------------------------------------- -1.00000 ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-]. -0.00100 ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-]. - -!------- WIND SPEED ESTIMATOR --------------------------------------------- -63.000 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m] -1 ! WE_CP_n - Amount of parameters in the Cp array -0.0 0.0 0.0 0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function -0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] -97.0 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -43702538.05700 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] -1.225 ! WE_RhoAir - Air density, [kg m^-3] -"../NREL-5MW/Cp_Ct_Cq.NREL5MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) -104 48 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios -44 ! WE_FOPoles_N - Number of first-order system poles used in EKF -3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] --0.01651600 -0.01926866 -0.02202133 -0.02477399 -0.02752666 -0.03027933 -0.03303199 -0.03578466 -0.03853732 -0.04128999 -0.04404266 -0.04679532 -0.04954799 -0.05230065 -0.05505332 -0.05780599 -0.06055865 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989 ! WE_FOPoles - First order system poles [1/s] - -!------- YAW CONTROL ------------------------------------------------------ -0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] -0.0 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] -1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) -0.0 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp -0.0 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.0 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -0.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.0 ! Y_MErrSet - Yaw alignment error, set point [rad] -0.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz] -0.0 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz] -0.0 ! Y_Rate - Yaw rate [rad/s] - -!------- TOWER FORE-AFT DAMPING ------------------------------------------- --1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag -0.0 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] -0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] - -!------- MINIMUM PITCH SATURATION ------------------------------------------- -44 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) -3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] --0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01485060 0.01236683 0.03352748 0.05055557 0.06777740 0.07974763 0.09136965 0.10271004 0.11384522 0.12469291 0.13535631 0.14591258 0.15638173 0.16654155 0.17679154 0.18673044 0.19673079 0.20647404 0.21633775 0.22580762 0.23562090 0.24482023 0.25423878 0.26372109 0.27262634 0.28186719 0.29118443 0.29975995 0.30867256 0.31789492 0.32643003 ! PS_BldPitchMin - Minimum blade pitch angles [rad] - -!------- SHUTDOWN ----------------------------------------------------------- -0.436300000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] -0.418880000000 ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s] - -!------- Floating ----------------------------------------------------------- -0.000000000000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s] - -!------- FLAP ACTUATION ----------------------------------------------------- -0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad] -0.00000000e+00 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s] -0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [s] -0.000000000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] \ No newline at end of file diff --git a/Test_Cases/5MW_Land_Simulink/NRELOffshrBsline5MW_Onshore_ServoDyn.dat b/Test_Cases/5MW_Land_Simulink/NRELOffshrBsline5MW_Onshore_ServoDyn.dat index 8599775b..27bb021c 100644 --- a/Test_Cases/5MW_Land_Simulink/NRELOffshrBsline5MW_Onshore_ServoDyn.dat +++ b/Test_Cases/5MW_Land_Simulink/NRELOffshrBsline5MW_Onshore_ServoDyn.dat @@ -57,6 +57,11 @@ True GenTiStp - Method to stop the generator {T: timed using TimGen 9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s) 2 YawManRat - Yaw maneuver rate (in absolute value) (deg/s) 0 NacYawF - Final yaw angle for override yaw maneuvers (degrees) +---------------------- AERODYNAMIC FLOW CONTROL -------------------------------- + 0 AfCmode - Airfoil control mode {0: none, 1: cosine wave cycle, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) + 0 AfC_Mean - Mean level for cosine cycling or steady value (-) [used only with AfCmode==1] + 0 AfC_Amp - Amplitude for for cosine cycling of flap signal (-) [used only with AfCmode==1] + 0 AfC_Phase - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1] ---------------------- STRUCTURAL CONTROL -------------------------------------- 0 NumBStC - Number of blade structural controllers (integer) "unused" BStCfiles - Name of the files for blade structural controllers (quoted strings) [unused when NumBStC==0] @@ -66,9 +71,11 @@ True GenTiStp - Method to stop the generator {T: timed using TimGen "unused" TStCfiles - Name of the files for tower structural controllers (quoted strings) [unused when NumTStC==0] 0 NumSStC - Number of substructure structural controllers (integer) "unused" SStCfiles - Name of the files for substructure structural controllers (quoted strings) [unused when NumSStC==0] +---------------------- CABLE CONTROL ------------------------------------------- + 0 CCmode - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface] "../../ROSCO/build/libdiscon.dylib" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface] -"DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface] +"../NREL-5MW/DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface] "DISCON" DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface] "default" DLL_DT - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface] false DLL_Ramp - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface] diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_00.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_00.dat index 2801c19a..d1effa17 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_00.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_00.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF00_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF00_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_01.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_01.dat index c5fe5d1a..29c39402 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_01.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_01.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF01_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF01_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_02.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_02.dat index c76a6a65..5f450b9e 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_02.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_02.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF02_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF02_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_03.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_03.dat index ecdb2c48..c487094a 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_03.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_03.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF03_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF03_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_04.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_04.dat index 48b1acf4..90386dc8 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_04.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_04.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF04_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF04_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_05.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_05.dat index 4d128fef..7b733e2f 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_05.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_05.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF05_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF05_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_06.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_06.dat index 92c38261..86dc5f51 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_06.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_06.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF06_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF06_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_07.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_07.dat index ba9f3c72..03c45968 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_07.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_07.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF07_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF07_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_08.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_08.dat index 9db98c76..030ad462 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_08.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_08.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF08_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF08_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_09.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_09.dat index 0a5088c8..e93ba9b9 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_09.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_09.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF09_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF09_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_10.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_10.dat index 86dff861..c9b76e2c 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_10.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_10.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF10_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF10_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_11.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_11.dat index e25fd7da..68d1e84e 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_11.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_11.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF11_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF11_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_12.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_12.dat index 88668545..a965b452 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_12.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_12.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF12_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF12_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_13.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_13.dat index 298884a2..c82a5a23 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_13.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_13.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF13_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF13_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_14.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_14.dat index 352d2ebb..7e134112 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_14.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_14.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF14_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF14_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_15.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_15.dat index 9f132bc5..c12d467c 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_15.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_15.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF15_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF15_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_16.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_16.dat index 61a95526..561db999 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_16.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_16.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF16_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF16_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_17.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_17.dat index b95d7ccb..a86b730f 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_17.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_17.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF17_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF17_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_18.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_18.dat index a352edc2..1e175627 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_18.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_18.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF18_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF18_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_19.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_19.dat index 9e59a486..267368fe 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_19.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_19.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF19_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF19_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_20.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_20.dat index e17fec3c..2dd782ef 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_20.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_20.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF20_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF20_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 3 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_21.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_21.dat index 56f0f064..706cb1db 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_21.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_21.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF21_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF21_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 3 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_22.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_22.dat index 9edd95dd..a430b8d0 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_22.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_22.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF22_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF22_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 3 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_23.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_23.dat index bb3876a5..16444fae 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_23.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_23.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF23_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF23_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 3 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_24.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_24.dat index 53fb07bd..74d7c8d7 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_24.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_24.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF24_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF24_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_25.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_25.dat index f163ec61..037f9bfe 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_25.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_25.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF25_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF25_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_26.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_26.dat index 5a08310c..50313c58 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_26.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_26.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF26_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF26_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_27.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_27.dat index 1f5dedf9..ab93a1da 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_27.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_27.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF27_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF27_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_28.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_28.dat index 22bda8a6..05da244e 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_28.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_28.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF28_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF28_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_29.dat b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_29.dat index 721b586f..8c812f5e 100644 --- a/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_29.dat +++ b/Test_Cases/BAR_10/Airfoils/BAR_10_AeroDyn15_Polar_29.dat @@ -5,7 +5,7 @@ ! ------------------------------------------------------------------------------ DEFAULT InterpOrd ! Interpolation order to use for quasi-steady table lookup {1=linear; 3=cubic spline; "default"} [default=3] 1 NonDimArea ! The non-dimensional area of the airfoil (area/chord^2) (set to 1.0 if unsure or unneeded) -0 NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. +@"AF29_Coords.txt" NumCoords ! The number of coordinates in the airfoil shape file. Set to zero if coordinates not included. AF29_BL.txt BL_file ! The file name including the boundary layer characteristics of the profile. Ignored if the aeroacoustic module is not called. 1 NumTabs ! Number of airfoil tables in this file. Each table must have lines for Re and Ctrl. ! ------------------------------------------------------------------------------ diff --git a/Test_Cases/BAR_10/BAR_10.fst b/Test_Cases/BAR_10/BAR_10.fst index aa7875f0..fab2bcdd 100644 --- a/Test_Cases/BAR_10/BAR_10.fst +++ b/Test_Cases/BAR_10/BAR_10.fst @@ -3,7 +3,7 @@ Generated with AeroElasticSE FAST driver ---------------------- SIMULATION CONTROL -------------------------------------- True Echo - Echo input data to .ech (flag) "FATAL" AbortLevel - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"} -60.0 TMax - Total run time (s) +10.0 TMax - Total run time (s) 0.01 DT - Recommended module time step (s) 2 InterpOrder - Interpolation order for input/output time history (-) {1=linear, 2=quadratic} 0 NumCrctn - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections} @@ -18,6 +18,17 @@ True Echo - Echo input data to .ech (flag) 0 CompSub - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF} 0 CompMooring - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex} 0 CompIce - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn} + 0 MHK - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine} +---------------------- ENVIRONMENTAL CONDITIONS -------------------------------- + 9.80665 Gravity - Gravitational acceleration (m/s^2) + 1.225 AirDens - Air density (kg/m^3) + 1025 WtrDens - Water density (kg/m^3) + 1.464E-05 KinVisc - Kinematic viscosity of working fluid (m^2/s) + 335 SpdSound - Speed of sound in working fluid (m/s) + 103500 Patm - Atmospheric pressure (Pa) [used only for an MHK turbine cavitation check] + 1700 Pvap - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check] + 50 WtrDpth - Water depth (m) + 0 MSL2SWL - Offset between still-water level and mean sea level (m) [positive upward] ---------------------- INPUT FILES --------------------------------------------- "BAR_10_ElastoDyn.dat" EDFile - Name of file containing ElastoDyn input parameters (quoted string) "BAR_10_BeamDyn.dat" BDBldFile(1) - Name of file containing BeamDyn input parameters for blade 1 (quoted string) diff --git a/Test_Cases/BAR_10/BAR_10_AeroDyn15.dat b/Test_Cases/BAR_10/BAR_10_AeroDyn15.dat index ed92372d..201d9e6d 100644 --- a/Test_Cases/BAR_10/BAR_10_AeroDyn15.dat +++ b/Test_Cases/BAR_10/BAR_10_AeroDyn15.dat @@ -18,7 +18,6 @@ False CompAA Flag to compute AeroAcoustics calculation [on 3.350000000000000e+02 SpdSound - Speed of sound (m/s) 1.035000000000000e+05 Patm - Atmospheric pressure (Pa) [used only when CavitCheck=True] 1.700000000000000e+03 Pvap - Vapour pressure of fluid (Pa) [used only when CavitCheck=True] - 5.000000000000000e-01 FluidDepth - Water depth above mid-hub height (m) [used only when CavitCheck=True] ====== Blade-Element/Momentum Theory Options ====================================================== [used only when WakeMod=1] 2 SkewMod - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [used only when WakeMod=1] "default" SkewModFactor - Constant used in Pitt/Peters skewed wake model {or "default" is 15/32*pi} (-) [used only when SkewMod=2; unused when WakeMod=0] @@ -37,6 +36,8 @@ True TIDrag - Include the drag term in the tangential-ind ====== Beddoes-Leishman Unsteady Airfoil Aerodynamics Options ===================================== [used only when AFAeroMod=2] 3 UAMod Unsteady Aero Model Switch (switch) {1=Baseline model (Original), 2=Gonzalez's variant (changes in Cn,Cc,Cm), 3=Minemma/Pierce variant (changes in Cc and Cm)} [used only when AFAeroMod=2] True FLookup Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when AFAeroMod=2] +0.0 UAStartRad - Starting radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2] +1.0 UAEndRad - Ending radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2] ====== Airfoil Information ========================================================================= 3 AFTabMod - Interpolation method for multiple airfoil tables {1=1D interpolation on AoA (first table only); 2=2D interpolation on AoA and Re; 3=2D interpolation on AoA and UserProp} (-) 1 InCol_Alfa - The column in the airfoil tables that contains the angle of attack (-) diff --git a/Test_Cases/BAR_10/BAR_10_BeamDyn.dat b/Test_Cases/BAR_10/BAR_10_BeamDyn.dat index 758feb4e..756c1d53 100644 --- a/Test_Cases/BAR_10/BAR_10_BeamDyn.dat +++ b/Test_Cases/BAR_10/BAR_10_BeamDyn.dat @@ -75,7 +75,7 @@ True RotStates - Orient states in the rotating frame during ---------------------- MESH PARAMETER ------------------------------------------ 5 order_elem - Order of interpolation (basis) function (-) ---------------------- MATERIAL PARAMETER -------------------------------------- -"/Users/nabbas/Documents/TurbineModels/WISDEM_Models/BAR_10/BAR_10_BeamDyn_Blade.dat" BldFile - Name of file containing properties for blade (quoted string) +"BAR_10_BeamDyn_Blade.dat" BldFile - Name of file containing properties for blade (quoted string) ---------------------- PITCH ACTUATOR PARAMETERS ------------------------------- False UsePitchAct - Whether a pitch actuator should be used (flag) 200.0 PitchJ - Pitch actuator inertia (kg-m^2) [used only when UsePitchAct is true] diff --git a/Test_Cases/BAR_10/BAR_10_Cp_Ct_Cq.txt b/Test_Cases/BAR_10/BAR_10_Cp_Ct_Cq.txt deleted file mode 100644 index e7ef6e65..00000000 --- a/Test_Cases/BAR_10/BAR_10_Cp_Ct_Cq.txt +++ /dev/null @@ -1,81 +0,0 @@ -# ----- Rotor performance tables for the Generated with AeroElasticSE FAST driver wind turbine ----- -# ------------ Written on Sep-28-20 using the ROSCO toolbox ------------ - -# Pitch angle vector, 20 entries - x axis (matrix columns) (deg) --5.0 -3.158 -1.316 0.5263 2.368 4.211 6.053 7.895 9.737 11.58 13.42 15.26 17.11 18.95 20.79 22.63 24.47 26.32 28.16 30.0 -# TSR vector, 20 entries - y axis (matrix rows) (-) -2.0 2.526 3.053 3.579 4.105 4.632 5.158 5.684 6.211 6.737 7.263 7.789 8.316 8.842 9.368 9.895 10.42 10.95 11.47 12.0 -# Wind speed vector - z axis (m/s) -8.332 - -# Power coefficient - -0.018997 0.022892 0.026769 0.030629 0.034489 0.038376 0.042201 0.045870 0.049512 0.053331 0.057305 0.061047 0.063907 0.065226 0.064706 0.062474 0.058863 0.054172 0.048656 0.042477 -0.039532 0.046037 0.052579 0.058992 0.064924 0.070726 0.076839 0.083176 0.088927 0.092940 0.094292 0.092720 0.088648 0.082679 0.075276 0.066773 0.057408 0.047383 0.036864 0.025901 -0.070343 0.080179 0.088978 0.097674 0.106897 0.116142 0.123735 0.128041 0.128210 0.124380 0.117377 0.108055 0.096982 0.084558 0.071082 0.056831 0.041995 0.026597 0.010580 -0.006146 -0.110837 0.123010 0.135777 0.148821 0.159736 0.166187 0.167194 0.162873 0.154133 0.142159 0.127805 0.111581 0.093917 0.075166 0.055621 0.035391 0.014359 -0.007626 -0.030690 -0.053978 -0.159261 0.176788 0.193063 0.204502 0.209365 0.207500 0.199435 0.186413 0.169861 0.150576 0.129143 0.106038 0.081672 0.056399 0.030163 0.002777 -0.026051 -0.056387 -0.086606 -0.113428 -0.217538 0.236733 0.248949 0.253255 0.249820 0.239179 0.222746 0.202141 0.178254 0.151729 0.123112 0.092938 0.061517 0.028791 -0.005552 -0.041913 -0.080391 -0.118981 -0.153208 -0.181068 -0.277080 0.291279 0.296726 0.293543 0.282047 0.263518 0.239803 0.212019 0.180829 0.146946 0.110901 0.073110 0.033569 -0.008132 -0.052450 -0.099698 -0.148177 -0.192326 -0.228445 -0.256500 -0.328119 0.336865 0.336361 0.326466 0.307883 0.282652 0.252178 0.217284 0.178718 0.137103 0.092986 0.046525 -0.002671 -0.055118 -0.111352 -0.170618 -0.227377 -0.274924 -0.312077 -0.338357 -0.368305 0.373812 0.368845 0.353404 0.329132 0.297966 0.260940 0.218865 0.172494 0.122512 0.069333 0.012775 -0.047721 -0.112808 -0.182719 -0.253773 -0.316574 -0.366593 -0.402895 -0.426600 -0.397795 0.402803 0.395197 0.375858 0.347051 0.310374 0.266781 0.217170 0.162399 0.103164 0.039685 -0.028495 -0.102082 -0.181806 -0.266579 -0.347974 -0.415516 -0.466169 -0.501201 -0.523586 -0.416430 0.424480 0.416486 0.394930 0.362391 0.320389 0.270029 0.212398 0.148478 0.078961 0.003797 -0.077668 -0.166278 -0.262570 -0.362555 -0.452582 -0.523174 -0.574316 -0.609260 -0.631069 -0.424968 0.439235 0.433486 0.411197 0.375535 0.328283 0.270868 0.204637 0.130736 0.049743 -0.038616 -0.135155 -0.240853 -0.355425 -0.469991 -0.566593 -0.640196 -0.693275 -0.728145 -0.750242 -0.426864 0.446939 0.446484 0.424915 0.386693 0.334220 0.269420 0.193959 0.109097 0.015314 -0.087864 -0.201392 -0.326313 -0.460411 -0.587617 -0.690664 -0.768760 -0.823698 -0.858504 -0.882131 -0.421429 0.447946 0.455436 0.436189 0.395993 0.338341 0.265777 0.180354 0.083447 -0.024548 -0.144276 -0.276842 -0.423081 -0.576800 -0.715350 -0.826836 -0.909517 -0.966035 -1.000976 -1.028804 -0.409021 0.443541 0.460095 0.445040 0.403559 0.340743 0.259981 0.163771 0.053645 -0.070084 -0.208202 -0.361977 -0.531245 -0.703411 -0.855193 -0.975842 -1.062890 -1.120957 -1.156506 -1.192238 -0.393100 0.433416 0.459957 0.451464 0.409452 0.341476 0.252033 0.144136 0.019529 -0.121547 -0.280010 -0.457171 -0.649714 -0.841473 -1.008675 -1.138103 -1.229599 -1.288442 -1.326852 -1.374188 -0.374055 0.419031 0.454540 0.455359 0.413694 0.340568 0.241905 0.121356 -0.019075 -0.179204 -0.360077 -0.562365 -0.778558 -0.993432 -1.176204 -1.313948 -1.409391 -1.469691 -1.513767 -1.575649 -0.351953 0.402213 0.444780 0.456520 0.416276 0.338023 0.229550 0.095325 -0.062351 -0.243337 -0.448683 -0.676156 -0.920010 -1.159411 -1.357508 -1.503584 -1.603235 -1.666196 -1.718315 -1.797585 -0.327018 0.383380 0.431839 0.454600 0.417164 0.333820 0.214912 0.065929 -0.110495 -0.314236 -0.545785 -0.799075 -1.075831 -1.339722 -1.553449 -1.707933 -1.811682 -1.879066 -1.941483 -2.041065 -0.299562 0.362976 0.416736 0.449210 0.416289 0.327920 0.197927 0.033042 -0.163711 -0.392127 -0.649836 -0.934196 -1.246034 -1.534696 -1.763841 -1.927068 -2.035797 -2.109081 -2.184511 -2.306937 - - -# Thrust coefficient - -0.073449 0.073247 0.073056 0.072895 0.072802 0.072821 0.073056 0.073634 0.074611 0.075966 0.077578 0.079099 0.079933 0.079452 0.077343 0.073685 0.068779 0.062900 0.056296 0.049158 -0.098107 0.098607 0.099289 0.100297 0.101847 0.104019 0.106773 0.109853 0.112557 0.113863 0.112841 0.109167 0.103187 0.095451 0.086413 0.076426 0.065752 0.054579 0.043079 0.031317 -0.131849 0.134021 0.137042 0.140977 0.145712 0.150589 0.154187 0.155008 0.152093 0.145446 0.135826 0.124053 0.110712 0.096274 0.081031 0.065267 0.049184 0.032831 0.016191 -0.000790 -0.176971 0.182593 0.189400 0.196608 0.202105 0.203772 0.200477 0.192111 0.179554 0.164003 0.146323 0.127126 0.106866 0.085911 0.064572 0.042985 0.021092 -0.001204 -0.023919 -0.046005 -0.235985 0.245890 0.254874 0.259612 0.258350 0.250608 0.236858 0.218469 0.196898 0.173032 0.147555 0.120994 0.093789 0.066312 0.038567 0.010430 -0.018288 -0.047434 -0.075175 -0.098921 -0.309280 0.319555 0.323208 0.319176 0.307433 0.288689 0.264612 0.236921 0.206616 0.174482 0.141146 0.107188 0.072940 0.038391 0.003331 -0.032482 -0.068849 -0.103466 -0.132936 -0.156089 -0.390368 0.393329 0.387163 0.372232 0.349173 0.319741 0.285993 0.249168 0.210101 0.169648 0.128402 0.086775 0.044796 0.002203 -0.041269 -0.085600 -0.128528 -0.165753 -0.194995 -0.216676 -0.469906 0.462428 0.445377 0.419087 0.384993 0.345577 0.302363 0.256361 0.208525 0.159565 0.110004 0.060007 0.009342 -0.042283 -0.095080 -0.147493 -0.194751 -0.232561 -0.260632 -0.278876 -0.544018 0.526192 0.498161 0.460782 0.416490 0.367426 0.314748 0.259508 0.202595 0.144676 0.086134 0.026901 -0.033337 -0.094907 -0.157321 -0.216420 -0.265881 -0.303192 -0.328281 -0.341851 -0.612222 0.584715 0.546281 0.498739 0.444841 0.386198 0.323920 0.259103 0.192633 0.125148 0.056881 -0.012405 -0.083075 -0.155357 -0.226892 -0.290944 -0.341143 -0.376116 -0.397816 -0.406639 -0.674042 0.638541 0.590865 0.534100 0.470834 0.402462 0.330246 0.255385 0.178819 0.101138 0.022392 -0.057757 -0.139711 -0.223064 -0.302825 -0.370013 -0.419078 -0.451695 -0.470534 -0.473622 -0.730152 0.688327 0.632909 0.567536 0.494883 0.416494 0.333930 0.248547 0.161342 0.072789 -0.017198 -0.109020 -0.203063 -0.297417 -0.384108 -0.452144 -0.500031 -0.531477 -0.546429 -0.542723 -0.783633 0.734460 0.672905 0.599363 0.517181 0.428467 0.335161 0.238789 0.140342 0.040221 -0.061776 -0.166080 -0.272845 -0.377788 -0.469127 -0.537618 -0.585583 -0.615336 -0.625131 -0.613796 -0.835122 0.777564 0.710979 0.629685 0.537874 0.438568 0.334126 0.226252 0.115938 0.003532 -0.111242 -0.228845 -0.348714 -0.463005 -0.557396 -0.627888 -0.675772 -0.702934 -0.706353 -0.687509 -0.885004 0.818985 0.747037 0.658567 0.557121 0.446964 0.330976 0.211047 0.088221 -0.037195 -0.165519 -0.297223 -0.430053 -0.551559 -0.650343 -0.723130 -0.770409 -0.794155 -0.790077 -0.764504 -0.935011 0.858785 0.780840 0.686088 0.575059 0.453791 0.325821 0.193263 0.057265 -0.081888 -0.224545 -0.370997 -0.515243 -0.644319 -0.748878 -0.823218 -0.869539 -0.888288 -0.876987 -0.845274 -0.985513 0.897723 0.812228 0.712284 0.591793 0.459160 0.318747 0.172969 0.023131 -0.130494 -0.288269 -0.449565 -0.603962 -0.743086 -0.852819 -0.927881 -0.972352 -0.985734 -0.967675 -0.929812 -1.036727 0.936845 0.841968 0.737136 0.607409 0.463160 0.309819 0.150225 -0.014127 -0.182970 -0.356548 -0.531098 -0.697868 -0.847410 -0.961398 -1.036830 -1.079177 -1.087021 -1.062160 -1.018156 -1.088829 0.976460 0.870789 0.760539 0.621968 0.465853 0.299092 0.125083 -0.054471 -0.239285 -0.428960 -0.615723 -0.798116 -0.957074 -1.074920 -1.150385 -1.189894 -1.192403 -1.160363 -1.110468 -1.141927 1.016690 0.899233 0.782360 0.635503 0.467287 0.286615 0.097583 -0.097871 -0.299348 -0.503687 -0.705802 -0.904215 -1.071809 -1.192724 -1.268118 -1.304813 -1.301848 -1.262502 -1.206680 - - -# Torque coefficient - -0.009548 0.011505 0.013453 0.015394 0.017334 0.019287 0.021210 0.023054 0.024884 0.026803 0.028800 0.030682 0.032119 0.032782 0.032520 0.031399 0.029583 0.027226 0.024454 0.021348 -0.015729 0.018317 0.020920 0.023472 0.025832 0.028140 0.030573 0.033094 0.035382 0.036979 0.037517 0.036892 0.035271 0.032897 0.029951 0.026568 0.022842 0.018853 0.014667 0.010305 -0.023162 0.026401 0.029299 0.032162 0.035199 0.038243 0.040743 0.042161 0.042217 0.040956 0.038650 0.035580 0.031934 0.027843 0.023406 0.018713 0.013828 0.008758 0.003484 -0.002024 -0.031129 0.034548 0.038134 0.041797 0.044863 0.046675 0.046957 0.045744 0.043289 0.039926 0.035895 0.031338 0.026377 0.021111 0.015622 0.009940 0.004033 -0.002142 -0.008620 -0.015160 -0.038995 0.043286 0.047271 0.050072 0.051263 0.050806 0.048832 0.045643 0.041590 0.036868 0.031621 0.025963 0.019997 0.013809 0.007386 0.000680 -0.006379 -0.013806 -0.021205 -0.027773 -0.047211 0.051377 0.054028 0.054963 0.054217 0.051908 0.048342 0.043870 0.038686 0.032929 0.026718 0.020170 0.013351 0.006248 -0.001205 -0.009096 -0.017447 -0.025822 -0.033250 -0.039296 -0.053997 0.056765 0.057826 0.057206 0.054965 0.051354 0.046733 0.041318 0.035240 0.028637 0.021612 0.014248 0.006542 -0.001585 -0.010221 -0.019429 -0.028877 -0.037480 -0.044519 -0.049987 -0.058023 0.059570 0.059481 0.057731 0.054445 0.049983 0.044594 0.038424 0.031604 0.024245 0.016443 0.008227 -0.000472 -0.009747 -0.019691 -0.030171 -0.040208 -0.048616 -0.055186 -0.059834 -0.059610 0.060501 0.059697 0.057198 0.053270 0.048226 0.042233 0.035423 0.027918 0.019828 0.011221 0.002068 -0.007724 -0.018258 -0.029573 -0.041073 -0.051237 -0.059333 -0.065208 -0.069045 -0.059353 0.060100 0.058965 0.056080 0.051782 0.046309 0.039805 0.032403 0.024231 0.015393 0.005921 -0.004252 -0.015231 -0.027126 -0.039775 -0.051919 -0.061997 -0.069555 -0.074782 -0.078122 -0.057631 0.058745 0.057639 0.054656 0.050152 0.044340 0.037370 0.029394 0.020548 0.010928 0.000525 -0.010749 -0.023012 -0.036338 -0.050175 -0.062634 -0.072404 -0.079481 -0.084317 -0.087336 -0.054839 0.056680 0.055938 0.053062 0.048460 0.042362 0.034953 0.026407 0.016870 0.006419 -0.004983 -0.017441 -0.031080 -0.045865 -0.060649 -0.073114 -0.082612 -0.089462 -0.093962 -0.096813 -0.051597 0.054024 0.053969 0.051362 0.046741 0.040399 0.032566 0.023445 0.013187 0.001851 -0.010621 -0.024343 -0.039443 -0.055652 -0.071028 -0.083484 -0.092924 -0.099565 -0.103772 -0.106628 -0.047908 0.050923 0.051774 0.049586 0.045017 0.038463 0.030214 0.020503 0.009486 -0.002791 -0.016401 -0.031471 -0.048096 -0.065571 -0.081321 -0.093995 -0.103394 -0.109819 -0.113791 -0.116955 -0.043885 0.047589 0.049365 0.047750 0.043299 0.036560 0.027894 0.017572 0.005756 -0.007520 -0.022339 -0.038838 -0.056999 -0.075471 -0.091757 -0.104702 -0.114041 -0.120271 -0.124086 -0.127920 -0.039934 0.044029 0.046725 0.045863 0.041595 0.034689 0.025603 0.014642 0.001984 -0.012348 -0.028445 -0.046442 -0.066002 -0.085482 -0.102468 -0.115616 -0.124911 -0.130888 -0.134790 -0.139599 -0.036080 0.040418 0.043843 0.043922 0.039903 0.032850 0.023333 0.011706 -0.001840 -0.017285 -0.034732 -0.054243 -0.075097 -0.095822 -0.113452 -0.126738 -0.135944 -0.141760 -0.146012 -0.151981 -0.032316 0.036931 0.040839 0.041917 0.038222 0.031037 0.021077 0.008753 -0.005725 -0.022343 -0.041197 -0.062084 -0.084474 -0.106455 -0.124644 -0.138057 -0.147207 -0.152988 -0.157773 -0.165052 -0.028649 0.033587 0.037832 0.039826 0.036546 0.029245 0.018828 0.005776 -0.009680 -0.027529 -0.047814 -0.070004 -0.094250 -0.117369 -0.136093 -0.149626 -0.158715 -0.164619 -0.170087 -0.178811 -0.025093 0.030404 0.034908 0.037628 0.034870 0.027468 0.016579 0.002768 -0.013713 -0.032846 -0.054433 -0.078252 -0.104373 -0.128553 -0.147747 -0.161419 -0.170527 -0.176666 -0.182984 -0.193239 - diff --git a/Test_Cases/BAR_10/BAR_10_DISCON.IN b/Test_Cases/BAR_10/BAR_10_DISCON.IN index f0cffc40..6f4472c5 100644 --- a/Test_Cases/BAR_10/BAR_10_DISCON.IN +++ b/Test_Cases/BAR_10/BAR_10_DISCON.IN @@ -1,5 +1,5 @@ ! Controller parameter input file for the BAR_10 wind turbine -! - File written using ROSCO Controller tuning logic on 11/19/20 +! - File written using ROSCO version 2.5.0 controller tuning logic on 03/21/22 !------- DEBUG ------------------------------------------------------------ 1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} @@ -15,37 +15,41 @@ 2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} 1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} 0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} -0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} -2 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} +0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty} +2 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control} +0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed} !------- FILTERS ---------------------------------------------------------- 0.81771 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] -0.70000 ! F_LPFDamping - Damping coefficient [used only when F_FilterType = 2] -0.00000 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.628320000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. -0.00000 1.00000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. -0.90697 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. +0.70000 ! F_LPFDamping - Damping coefficient {used only when F_FilterType = 2} [-] +2.61601 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] +0.000000 0.500000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] +0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. +0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. +0.000000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. +0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]. +7.848030 1.000000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. !------- BLADE PITCH CONTROL ---------------------------------------------- -33 ! PC_GS_n - Amount of gain-scheduling table entries -0.000000 0.081270 0.102232 0.120018 0.136773 0.151556 0.166247 0.179619 0.192842 0.205458 0.217785 0.229465 0.241251 0.252388 0.263408 0.274584 0.285186 0.295470 0.305837 0.316616 0.326179 0.335567 0.345179 0.355282 0.365503 0.373847 0.382522 0.391565 0.400759 0.410274 0.420186 0.427874 0.435568 ! PC_GS_angles - Gain-schedule table: pitch angles --0.033935 -0.028901 -0.025011 -0.021916 -0.019395 -0.017301 -0.015535 -0.014024 -0.012718 -0.011577 -0.010573 -0.009681 -0.008884 -0.008167 -0.007520 -0.006932 -0.006395 -0.005904 -0.005452 -0.005035 -0.004650 -0.004292 -0.003959 -0.003648 -0.003358 -0.003085 -0.002830 -0.002589 -0.002363 -0.002149 -0.001946 -0.001755 -0.001573 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains --0.003054 -0.002662 -0.002359 -0.002118 -0.001922 -0.001759 -0.001621 -0.001504 -0.001402 -0.001313 -0.001235 -0.001166 -0.001104 -0.001048 -0.000998 -0.000952 -0.000910 -0.000872 -0.000837 -0.000804 -0.000774 -0.000746 -0.000720 -0.000696 -0.000674 -0.000652 -0.000633 -0.000614 -0.000596 -0.000580 -0.000564 -0.000549 -0.000535 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) -1.570800000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. -0.000000000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. +30 ! PC_GS_n - Amount of gain-scheduling table entries +0.057899 0.086034 0.108220 0.127602 0.145231 0.161628 0.177110 0.191882 0.205973 0.219605 0.232854 0.245775 0.258317 0.270576 0.282622 0.294421 0.305965 0.317359 0.328547 0.339534 0.350412 0.361066 0.371600 0.382012 0.392231 0.402383 0.412328 0.422200 0.431927 0.441532 ! PC_GS_angles - Gain-schedule table: pitch angles [rad]. +-0.017460 -0.014512 -0.012235 -0.010423 -0.008947 -0.007722 -0.006689 -0.005805 -0.005042 -0.004374 -0.003787 -0.003265 -0.002799 -0.002380 -0.002002 -0.001658 -0.001344 -0.001057 -0.000793 -0.000549 -0.000324 -0.000115 0.000080 0.000261 0.000431 0.000590 0.000740 0.000880 0.001013 0.001138 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s]. +-0.000715 -0.000623 -0.000552 -0.000496 -0.000450 -0.000412 -0.000380 -0.000352 -0.000328 -0.000307 -0.000289 -0.000273 -0.000258 -0.000245 -0.000233 -0.000223 -0.000213 -0.000204 -0.000196 -0.000188 -0.000181 -0.000175 -0.000169 -0.000163 -0.000158 -0.000153 -0.000148 -0.000144 -0.000140 -0.000136 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-]. +0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains +0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) +1.570000000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. +-0.01505000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. 2.000000000000 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. -2.00000000000 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. 79.85313000000 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s]. -0.000000000000 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] +-0.01505000000 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] 0.017450000000 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad] !------- INDIVIDUAL PITCH CONTROL ----------------------------------------- 0.1 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -0.0e+00 0.0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.0e+00 0.0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. +2.050e-08 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +1.450e-09 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] !------- VS TORQUE CONTROL ------------------------------------------------ @@ -53,16 +57,16 @@ 63892.81326000 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] 4500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. 70282.09458000 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -29.59272000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -13.63377000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] +0.000000000000 ! VS_MinTq - Minimum generator torque (HSS side), [Nm]. +27.49717000000 ! VS_MinOMSpd - Minimum generator speed [rad/s] +12.67229000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2] 5000000.000000 ! VS_RtPwr - Wind turbine rated power [W] 63892.81326000 ! VS_RtTq - Rated torque, [Nm]. -79.85313000000 ! VS_RefSpd - Rated generator speed [rad/s] +75.83317000000 ! VS_RefSpd - Rated generator speed [rad/s] 1 ! VS_n - Number of generator PI torque controller gains --2449.27265000 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) --324.184760000 ! VS_KI - Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -10.50 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. +-2452.07948000 ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +-332.357190000 ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +9.76 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. !------- SETPOINT SMOOTHER --------------------------------------------- 1.00000 ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-]. @@ -71,42 +75,42 @@ !------- WIND SPEED ESTIMATOR --------------------------------------------- 102.996 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m] 1 ! WE_CP_n - Amount of parameters in the Cp array -0.0 0.0 0.0 0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function +0 ! WE_CP - Parameters that define the parameterized CP(lambda) function 0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] 96.8 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -303517908.05748 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] +311169343.31448 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] 1.225 ! WE_RhoAir - Air density, [kg m^-3] -"BAR_10_Cp_Ct_Cq.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) -20 20 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios -44 ! WE_FOPoles_N - Number of first-order system poles used in EKF -3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.77 9.27 9.77 10.27 10.77 11.27 11.77 12.27 12.77 13.27 13.77 14.27 14.77 15.27 15.77 16.27 16.77 17.27 17.77 18.27 18.77 19.27 19.77 20.27 20.77 21.27 21.77 22.27 22.77 23.27 23.77 24.27 24.77 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] --0.00916809 -0.01069611 -0.01222412 -0.01375214 -0.01528016 -0.01680817 -0.01833619 -0.01986420 -0.02139222 -0.02292023 -0.02444825 -0.02018410 -0.02498093 -0.03029010 -0.03645166 -0.04286101 -0.04986109 -0.05718743 -0.06479133 -0.07279857 -0.08092143 -0.08974958 -0.09825923 -0.10766441 -0.11700842 -0.12639567 -0.13680217 -0.14696823 -0.15695945 -0.16794302 -0.17973091 -0.19026756 -0.20132954 -0.21321573 -0.22571789 -0.23870610 -0.25011962 -0.26208372 -0.27466260 -0.28820310 -0.30268014 -0.31781843 -0.32958079 -0.34220397 ! WE_FOPoles - First order system poles +"Cp_Ct_Cq.BAR_10.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file) +36 26 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios +60 ! WE_FOPoles_N - Number of first-order system poles used in EKF +3.0000 3.1818 3.3637 3.5455 3.7274 3.9092 4.0911 4.2729 4.4548 4.6366 4.8185 5.0003 5.1822 5.3640 5.5459 5.7277 5.9096 6.0914 6.2732 6.4551 6.6369 6.8188 7.0006 7.1825 7.3643 7.5462 7.7280 7.9099 8.0917 8.2736 8.8311 9.3887 9.9462 10.5038 11.0613 11.6188 12.1764 12.7339 13.2915 13.8490 14.4066 14.9641 15.5217 16.0792 16.6368 17.1943 17.7519 18.3094 18.8670 19.4245 19.9821 20.5396 21.0972 21.6547 22.2123 22.7698 23.3274 23.8849 24.4425 25.0000 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] +-0.00972164 -0.01031092 -0.01090020 -0.01148948 -0.01207877 -0.01266805 -0.01325733 -0.01384662 -0.01443590 -0.01502518 -0.01561447 -0.01620375 -0.01679303 -0.01738232 -0.01797160 -0.01856088 -0.01915016 -0.01973945 -0.02032873 -0.02091801 -0.02150730 -0.02209658 -0.02268586 -0.02327515 -0.02386443 -0.02445371 -0.02504300 -0.02563228 -0.02622156 -0.02378670 -0.02062296 -0.02541485 -0.03159105 -0.03849962 -0.04595997 -0.05389417 -0.06225884 -0.07101431 -0.08016995 -0.08970426 -0.09955610 -0.10976762 -0.12028100 -0.13120419 -0.14238799 -0.15383228 -0.16572504 -0.17783697 -0.19011487 -0.20289651 -0.21593424 -0.22919262 -0.24255457 -0.25635133 -0.27049546 -0.28482651 -0.29923376 -0.31380076 -0.32862514 -0.34372726 ! WE_FOPoles - First order system poles [1/s] !------- YAW CONTROL ------------------------------------------------------ -0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] -0.0 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] +0.13960 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] +0.00000 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] 1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) -0.0 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp -0.0 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.0 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -0.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.0 ! Y_MErrSet - Yaw alignment error, set point [rad] -0.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz] -0.0 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz] -0.0 ! Y_Rate - Yaw rate [rad/s] +0.00000 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp +0.00000 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki +0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. +1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. +0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad] +0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] +0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] +0.00520 ! Y_Rate - Yaw rate [rad/s] !------- TOWER FORE-AFT DAMPING ------------------------------------------- -1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag -0.0 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] +0.0 ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] 0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] !------- MINIMUM PITCH SATURATION ------------------------------------------- -44 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) -3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.77 9.27 9.77 10.27 10.77 11.27 11.77 12.27 12.77 13.27 13.77 14.27 14.77 15.27 15.77 16.27 16.77 17.27 17.77 18.27 18.77 19.27 19.77 20.27 20.77 21.27 21.77 22.27 22.77 23.27 23.77 24.27 24.77 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] -0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00787764 0.03110294 0.05282515 0.06521487 0.07721293 0.08869902 0.10001143 0.11102809 0.12192860 0.13256353 0.14318984 0.15346483 0.16395126 0.17393638 0.18415157 0.19404097 0.20383823 0.21383900 0.22345100 0.23285045 0.24246185 0.25238513 0.26138595 0.27041745 0.27968880 0.28925873 0.29892232 0.30723659 0.31578458 0.32459029 0.33363474 0.34287381 0.35231919 0.36008984 0.36800358 ! PS_BldPitchMin - Minimum blade pitch angles [rad] +60 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) +3.0000 3.1818 3.3637 3.5455 3.7274 3.9092 4.0911 4.2729 4.4548 4.6366 4.8185 5.0003 5.1822 5.3640 5.5459 5.7277 5.9096 6.0914 6.2732 6.4551 6.6369 6.8188 7.0006 7.1825 7.3643 7.5462 7.7280 7.9099 8.0917 8.2736 8.8311 9.3887 9.9462 10.5038 11.0613 11.6188 12.1764 12.7339 13.2915 13.8490 14.4066 14.9641 15.5217 16.0792 16.6368 17.1943 17.7519 18.3094 18.8670 19.4245 19.9821 20.5396 21.0972 21.6547 22.2123 22.7698 23.3274 23.8849 24.4425 25.0000 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] +-0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01505486 -0.01247538 0.00009416 0.01064594 0.02025612 0.02875892 0.04130468 0.05575026 0.06941162 0.08245994 0.09516301 0.10759186 0.11974680 0.13166674 0.14343508 0.15503135 0.16644975 0.17776272 0.18893241 0.19997037 0.21092550 0.22173526 0.23245676 0.24309225 0.25359679 0.26404201 0.27436979 0.28461736 0.29478565 0.30484212 0.31485020 0.32473305 0.33456481 0.34429551 0.35395031 0.36352600 0.37300643 ! PS_BldPitchMin - Minimum blade pitch angles [rad] !------- SHUTDOWN ----------------------------------------------------------- -0.435570000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] +0.698100000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] 0.418880000000 ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s] !------- Floating ----------------------------------------------------------- @@ -114,6 +118,13 @@ !------- FLAP ACTUATION ----------------------------------------------------- 0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad] -7.94389143e-08 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s] -1.63212406e-09 ! Flp_Ki - Flap displacement integral gain for flap control [s] -0.174530000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] \ No newline at end of file +1.46445122e-08 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s] +1.46445122e-09 ! Flp_Ki - Flap displacement integral gain for flap control [-] +0.174500000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] + +!------- Open Loop Control ----------------------------------------------------- +"unused" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file) +0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) +0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad +0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm +0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm diff --git a/Test_Cases/BAR_10/BAR_10_ElastoDyn.dat b/Test_Cases/BAR_10/BAR_10_ElastoDyn.dat index 5145c1ef..36d0ce49 100644 --- a/Test_Cases/BAR_10/BAR_10_ElastoDyn.dat +++ b/Test_Cases/BAR_10/BAR_10_ElastoDyn.dat @@ -4,8 +4,6 @@ Generated with AeroElasticSE FAST driver False Echo - Echo input data to ".ech" (flag) 3 Method - Integration method: {1: RK4, 2: AB4, or 3: ABM4} (-) "DEFAULT" DT Integration time step (s) ----------------------- ENVIRONMENTAL CONDITION --------------------------------- -9.80665 Gravity - Gravitational acceleration (m/s^2) ---------------------- DEGREES OF FREEDOM -------------------------------------- True FlapDOF1 - First flapwise blade mode DOF (flag) True FlapDOF2 - Second flapwise blade mode DOF (flag) diff --git a/Test_Cases/BAR_10/BAR_10_ServoDyn.dat b/Test_Cases/BAR_10/BAR_10_ServoDyn.dat index ebbbc9bf..b13a1212 100644 --- a/Test_Cases/BAR_10/BAR_10_ServoDyn.dat +++ b/Test_Cases/BAR_10/BAR_10_ServoDyn.dat @@ -57,6 +57,11 @@ True GenTiStp - Method to stop the generator {T: timed usin 9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s) 2.0 YawManRat - Yaw maneuver rate (in absolute value) (deg/s) 0.0 NacYawF - Final yaw angle for override yaw maneuvers (degrees) +---------------------- AERODYNAMIC FLOW CONTROL -------------------------------- + 0 AfCmode - Airfoil control mode {0: none, 1: cosine wave cycle, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) + 0 AfC_Mean - Mean level for cosine cycling or steady value (-) [used only with AfCmode==1] + 0 AfC_Amp - Amplitude for for cosine cycling of flap signal (-) [used only with AfCmode==1] + 0 AfC_Phase - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1] ---------------------- STRUCTURAL CONTROL -------------------------------------- 0 NumBStC - Number of blade structural controllers (integer) "unused" BStCfiles - Name of the files for blade structural controllers (quoted strings) [unused when NumBStC==0] @@ -66,6 +71,8 @@ True GenTiStp - Method to stop the generator {T: timed usin "unused" TStCfiles - Name of the files for tower structural controllers (quoted strings) [unused when NumTStC==0] 0 NumSStC - Number of substructure structural controllers (integer) "unused" SStCfiles - Name of the files for substructure structural controllers (quoted strings) [unused when NumSStC==0] +---------------------- CABLE CONTROL ------------------------------------------- + 0 CCmode - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface] "../../ROSCO/install/lib/libdiscon.dylib" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface] "BAR_10_DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface] diff --git a/Test_Cases/BAR_10/Cp_Ct_Cq.BAR_10.txt b/Test_Cases/BAR_10/Cp_Ct_Cq.BAR_10.txt new file mode 100644 index 00000000..3b860479 --- /dev/null +++ b/Test_Cases/BAR_10/Cp_Ct_Cq.BAR_10.txt @@ -0,0 +1,99 @@ +# ----- Rotor performance tables for the BAR_10 wind turbine ----- +# ------------ Written on Jan-13-22 using the ROSCO toolbox ------------ + +# Pitch angle vector, 36 entries - x axis (matrix columns) (deg) +-5.0 -4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 26.0 27.0 28.0 29.0 30.0 +# TSR vector, 26 entries - y axis (matrix rows) (-) +2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 +# Wind speed vector - z axis (m/s) +8.274 + +# Power coefficient + +0.019142 0.021256 0.023359 0.025450 0.027530 0.029602 0.031665 0.033717 0.035749 0.037763 0.039765 0.041762 0.043770 0.045796 0.047840 0.049888 0.051933 0.053959 0.055933 0.057805 0.059516 0.061002 0.062197 0.063041 0.063481 0.063486 0.063037 0.062132 0.060788 0.059036 0.056920 0.054482 0.051768 0.048812 0.045643 0.042287 +0.038413 0.041802 0.045169 0.048496 0.051779 0.055024 0.058246 0.061464 0.064679 0.067885 0.071087 0.074282 0.077425 0.080441 0.083246 0.085736 0.087787 0.089288 0.090151 0.090322 0.089789 0.088557 0.086657 0.084144 0.081090 0.077569 0.073647 0.069380 0.064815 0.059991 0.054940 0.049692 0.044268 0.038689 0.032966 0.027108 +0.066314 0.071269 0.076151 0.080975 0.085734 0.090443 0.095142 0.099820 0.104393 0.108755 0.112776 0.116280 0.119071 0.120983 0.121915 0.121828 0.120730 0.118651 0.115657 0.111849 0.107342 0.102239 0.096629 0.090583 0.084157 0.077402 0.070364 0.063076 0.055567 0.047859 0.039967 0.031898 0.023652 0.015232 0.006651 -0.002050 +0.103120 0.109814 0.116397 0.122941 0.129402 0.135667 0.141586 0.146942 0.151458 0.154877 0.157022 0.157804 0.157206 0.155260 0.152038 0.147655 0.142264 0.136020 0.129054 0.121469 0.113343 0.104746 0.095741 0.086382 0.076710 0.066758 0.056552 0.046111 0.035440 0.024534 0.013386 0.002000 -0.009586 -0.021290 -0.032988 -0.044512 +0.148146 0.156791 0.165199 0.173203 0.180519 0.186790 0.191699 0.195018 0.196613 0.196445 0.194550 0.191011 0.185961 0.179585 0.172078 0.163612 0.154330 0.144335 0.133711 0.122534 0.110869 0.098775 0.086300 0.073483 0.060352 0.046919 0.033180 0.019122 0.004732 -0.009990 -0.024992 -0.040163 -0.055316 -0.070190 -0.084493 -0.097955 +0.200103 0.210079 0.218995 0.226458 0.232162 0.235884 0.237500 0.237002 0.234438 0.229923 0.223616 0.215727 0.206491 0.196114 0.184758 0.172534 0.159529 0.145826 0.131500 0.116623 0.101255 0.085445 0.069223 0.052604 0.035581 0.018134 0.000240 -0.018114 -0.036895 -0.055983 -0.075164 -0.094094 -0.112360 -0.129582 -0.145448 -0.159781 +0.254483 0.263677 0.270860 0.275792 0.278332 0.278451 0.276187 0.271616 0.264880 0.256207 0.245866 0.234105 0.221116 0.207029 0.191940 0.175942 0.159123 0.141565 0.123344 0.104526 0.085156 0.065261 0.044838 0.023865 0.002311 -0.019853 -0.042635 -0.065960 -0.089635 -0.113308 -0.136451 -0.158521 -0.179049 -0.197712 -0.214384 -0.228978 +0.304515 0.311648 0.316245 0.318217 0.317524 0.314157 0.308209 0.299862 0.289396 0.277097 0.263206 0.247900 0.231295 0.213489 0.194581 0.174666 0.153835 0.132177 0.109764 0.086643 0.062832 0.038320 0.013071 -0.012953 -0.039786 -0.067434 -0.095793 -0.124595 -0.153336 -0.181309 -0.207816 -0.232279 -0.254365 -0.273937 -0.290828 -0.304854 +0.346287 0.351651 0.354151 0.353680 0.350205 0.343815 0.334713 0.323196 0.309566 0.294069 0.276874 0.258092 0.237825 0.216186 0.193282 0.169220 0.144102 0.118011 0.091001 0.063088 0.034256 0.004462 -0.026338 -0.058187 -0.091101 -0.124968 -0.159460 -0.193941 -0.227513 -0.259281 -0.288522 -0.314825 -0.337967 -0.357671 -0.373818 -0.386706 +0.378636 0.383464 0.384844 0.382736 0.377223 0.368522 0.356961 0.342869 0.326500 0.308029 0.287576 0.265262 0.241213 0.215558 0.188422 0.159923 0.130162 0.099207 0.067084 0.033778 -0.000754 -0.036566 -0.073713 -0.112231 -0.152026 -0.192752 -0.233677 -0.273717 -0.311727 -0.346756 -0.378201 -0.405684 -0.429017 -0.448394 -0.463824 -0.475396 +0.401217 0.407171 0.408753 0.406073 0.399449 0.389277 0.375936 0.359722 0.340852 0.319477 0.295742 0.269800 0.241803 0.211900 0.180236 0.146936 0.112095 0.075756 0.037920 -0.001457 -0.042435 -0.085079 -0.129450 -0.175503 -0.222923 -0.270946 -0.318340 -0.363666 -0.405623 -0.443242 -0.476120 -0.504425 -0.528143 -0.546967 -0.561551 -0.572673 +0.414688 0.422781 0.426149 0.424261 0.417621 0.406798 0.392223 0.374214 0.352995 0.328754 0.301685 0.271979 0.239820 0.205388 0.168844 0.130318 0.089886 0.047573 0.003351 -0.042844 -0.091086 -0.141456 -0.193974 -0.248408 -0.304047 -0.359591 -0.413304 -0.463386 -0.508466 -0.548203 -0.582827 -0.612014 -0.635942 -0.654672 -0.668978 -0.680020 +0.419962 0.430980 0.437150 0.437627 0.432139 0.421449 0.406146 0.386630 0.363193 0.336104 0.305618 0.271976 0.235406 0.196119 0.154293 0.110050 0.063457 0.014515 -0.036830 -0.090658 -0.147059 -0.206113 -0.267708 -0.331277 -0.395552 -0.458589 -0.518012 -0.571981 -0.620264 -0.662730 -0.699143 -0.729572 -0.754112 -0.772545 -0.786267 -0.797890 +0.418937 0.432554 0.442226 0.446137 0.443115 0.433408 0.417893 0.397154 0.371629 0.341696 0.307689 0.269912 0.228647 0.184137 0.136570 0.086068 0.032685 -0.023602 -0.082870 -0.145214 -0.210740 -0.279466 -0.351030 -0.424327 -0.497342 -0.567224 -0.631758 -0.690364 -0.742175 -0.787548 -0.826635 -0.858265 -0.882445 -0.900480 -0.914667 -0.928094 +0.412973 0.428977 0.441950 0.449886 0.450461 0.442711 0.427556 0.405911 0.378436 0.345652 0.307999 0.265863 0.219583 0.169436 0.115621 0.058268 -0.002587 -0.066996 -0.135050 -0.206859 -0.282523 -0.361906 -0.444192 -0.527447 -0.608540 -0.685175 -0.755761 -0.819135 -0.875570 -0.924669 -0.965443 -0.997506 -1.021666 -1.039804 -1.055185 -1.071694 +0.402182 0.421267 0.437246 0.449279 0.454084 0.449268 0.435166 0.412980 0.383702 0.348054 0.306613 0.259866 0.208216 0.151975 0.091367 0.026522 -0.042548 -0.115911 -0.193672 -0.275947 -0.362783 -0.453711 -0.547070 -0.639680 -0.729443 -0.813606 -0.890529 -0.960293 -1.021404 -1.073274 -1.115637 -1.148235 -1.172393 -1.191175 -1.208931 -1.230150 +0.386948 0.409537 0.428983 0.444729 0.454130 0.453031 0.440686 0.418395 0.387479 0.348950 0.303565 0.251930 0.194519 0.131691 0.063700 -0.009329 -0.087404 -0.170605 -0.259042 -0.352825 -0.451804 -0.554770 -0.658664 -0.761863 -0.860849 -0.953431 -1.038427 -1.113862 -1.179223 -1.234133 -1.277845 -1.310746 -1.335259 -1.355728 -1.377355 -1.404795 +0.368688 0.394255 0.417401 0.436779 0.450803 0.454001 0.444033 0.422147 0.389793 0.348369 0.298868 0.242040 0.178445 0.108503 0.032496 -0.049456 -0.137375 -0.231342 -0.331466 -0.437765 -0.549534 -0.664008 -0.780135 -0.894407 -1.004195 -1.106458 -1.198597 -1.279998 -1.349868 -1.407448 -1.452260 -1.485670 -1.511400 -1.534757 -1.561498 -1.596614 +0.347775 0.376445 0.402778 0.425950 0.444291 0.452289 0.445242 0.424188 0.390644 0.346315 0.292514 0.230162 0.159930 0.082311 -0.002384 -0.094042 -0.192683 -0.298385 -0.411198 -0.530789 -0.654827 -0.782745 -0.911657 -1.039189 -1.160591 -1.271901 -1.371878 -1.459319 -1.533468 -1.593476 -1.639531 -1.674090 -1.701852 -1.729123 -1.762286 -1.806607 +0.324083 0.356330 0.385740 0.412486 0.434859 0.447913 0.444311 0.424450 0.390010 0.342778 0.284476 0.216247 0.138898 0.053007 -0.041090 -0.143272 -0.253552 -0.371965 -0.498327 -0.630848 -0.768930 -0.911021 -1.055443 -1.196856 -1.329480 -1.450637 -1.558472 -1.651986 -1.730318 -1.792901 -1.840598 -1.876784 -1.907389 -1.939687 -1.980647 -2.035762 +0.297744 0.334039 0.366828 0.396728 0.422889 0.440998 0.441376 0.422964 0.387842 0.337729 0.274716 0.200238 0.115268 0.020473 -0.083771 -0.197332 -0.320190 -0.452207 -0.592133 -0.738599 -0.891917 -1.051179 -1.211857 -1.366989 -1.511693 -1.642779 -1.758667 -1.858371 -1.941128 -2.006485 -2.056082 -2.094479 -2.128800 -2.167289 -2.217494 -2.285098 +0.268812 0.309526 0.346141 0.379251 0.408865 0.431574 0.436378 0.419647 0.384070 0.331124 0.263188 0.182070 0.088947 -0.015409 -0.130582 -0.256406 -0.392740 -0.538894 -0.692229 -0.854607 -1.025894 -1.203622 -1.380582 -1.550354 -1.707298 -1.848643 -1.972908 -2.079207 -2.166483 -2.234767 -2.286658 -2.327888 -2.366850 -2.412766 -2.473780 -2.555637 +0.237754 0.282926 0.323698 0.360233 0.393176 0.419925 0.429282 0.414676 0.378665 0.322912 0.249837 0.161674 0.059843 -0.054765 -0.181677 -0.320642 -0.471198 -0.630277 -0.799967 -0.980050 -1.171785 -1.367981 -1.562345 -1.746969 -1.916604 -2.068716 -2.201933 -2.314954 -2.406870 -2.478378 -2.532979 -2.577705 -2.622313 -2.676997 -2.750456 -2.848347 +0.204811 0.254546 0.299576 0.339876 0.376045 0.406541 0.420152 0.408009 0.371570 0.313030 0.234605 0.138976 0.027858 -0.097719 -0.237198 -0.390114 -0.554544 -0.728591 -0.915022 -1.117185 -1.328926 -1.545016 -1.757103 -1.957128 -2.140111 -2.303726 -2.446137 -2.566060 -2.662891 -2.737933 -2.795671 -2.844645 -2.895995 -2.960837 -3.048435 -3.164166 +0.170553 0.224504 0.273813 0.318155 0.357696 0.391628 0.409160 0.399481 0.362741 0.301411 0.217430 0.113900 -0.007107 -0.144397 -0.297246 -0.464693 -0.642659 -0.832974 -1.041277 -1.264569 -1.498187 -1.734610 -1.965130 -2.181300 -2.378531 -2.554037 -2.705948 -2.833082 -2.935137 -3.014008 -3.075388 -3.129449 -3.188670 -3.265112 -3.368623 -3.504028 +0.135299 0.193099 0.246677 0.294968 0.338130 0.375497 0.396580 0.389149 0.352262 0.288006 0.198246 0.086368 -0.045153 -0.194906 -0.361854 -0.542285 -0.736362 -0.946479 -1.177113 -1.423449 -1.679329 -1.937068 -2.186828 -2.420185 -2.632210 -2.820061 -2.981883 -3.116593 -3.224166 -3.307203 -3.372807 -3.432818 -3.501080 -3.590652 -3.711935 -3.868857 + + +# Thrust coefficient + +0.073657 0.073566 0.073471 0.073372 0.073276 0.073186 0.073111 0.073060 0.073050 0.073092 0.073203 0.073395 0.073681 0.074070 0.074568 0.075168 0.075848 0.076569 0.077281 0.077930 0.078452 0.078774 0.078833 0.078577 0.077964 0.076971 0.075580 0.073783 0.071598 0.069054 0.066197 0.063070 0.059706 0.056137 0.052393 0.048496 +0.097072 0.097281 0.097532 0.097849 0.098258 0.098781 0.099443 0.100260 0.101248 0.102405 0.103704 0.105092 0.106500 0.107841 0.109013 0.109897 0.110380 0.110369 0.109795 0.108609 0.106793 0.104341 0.101283 0.097672 0.093583 0.089089 0.084252 0.079126 0.073753 0.068168 0.062407 0.056498 0.050460 0.044313 0.038072 0.031749 +0.128516 0.129534 0.130760 0.132222 0.133941 0.135908 0.138072 0.140350 0.142628 0.144763 0.146590 0.147936 0.148636 0.148553 0.147597 0.145716 0.142901 0.139181 0.134623 0.129330 0.123413 0.116978 0.110112 0.102884 0.095352 0.087564 0.079560 0.071376 0.063040 0.054575 0.046000 0.037329 0.028574 0.019747 0.010876 0.002012 +0.170253 0.172929 0.175939 0.179198 0.182571 0.185866 0.188859 0.191316 0.192999 0.193700 0.193246 0.191535 0.188539 0.184282 0.178835 0.172317 0.164888 0.156703 0.147897 0.138580 0.128833 0.118720 0.108300 0.097623 0.086735 0.075671 0.064460 0.053126 0.041687 0.030153 0.018537 0.006864 -0.004811 -0.016393 -0.027750 -0.038723 +0.224411 0.229035 0.233613 0.237838 0.241388 0.243958 0.245272 0.245107 0.243318 0.239863 0.234767 0.228117 0.220056 0.210778 0.200498 0.189403 0.177638 0.165311 0.152504 0.139291 0.125738 0.111906 0.097845 0.083597 0.069195 0.054666 0.040028 0.025294 0.010478 -0.004391 -0.019241 -0.033945 -0.048318 -0.062124 -0.075122 -0.087114 +0.290356 0.295588 0.299770 0.302537 0.303595 0.302728 0.299821 0.294869 0.287934 0.279135 0.268661 0.256762 0.243697 0.229684 0.214894 0.199442 0.183423 0.166922 0.150019 0.132785 0.115281 0.097558 0.079662 0.061625 0.043469 0.025211 0.006864 -0.011550 -0.029968 -0.048252 -0.066188 -0.083468 -0.099754 -0.114767 -0.128298 -0.140264 +0.363655 0.366915 0.368068 0.366904 0.363327 0.357360 0.349069 0.338573 0.326062 0.311810 0.296127 0.279280 0.261482 0.242878 0.223576 0.203677 0.183272 0.162447 0.141277 0.119833 0.098170 0.076334 0.054360 0.032267 0.010072 -0.012211 -0.034545 -0.056824 -0.078849 -0.100294 -0.120720 -0.139708 -0.156939 -0.172227 -0.185555 -0.196887 +0.438328 0.437385 0.433709 0.427341 0.418354 0.406817 0.392876 0.376768 0.358833 0.339408 0.318771 0.297121 0.274592 0.251297 0.227345 0.202837 0.177867 0.152518 0.126872 0.100992 0.074929 0.048718 0.022377 -0.004074 -0.030614 -0.057196 -0.083684 -0.109816 -0.135153 -0.159127 -0.181226 -0.201074 -0.218513 -0.233542 -0.246058 -0.255822 +0.509935 0.503873 0.494961 0.483232 0.468725 0.451586 0.432088 0.410619 0.387543 0.363143 0.337615 0.311094 0.283702 0.255558 0.226777 0.197460 0.167709 0.137615 0.107253 0.076679 0.045934 0.015042 -0.015974 -0.047088 -0.078252 -0.109317 -0.139974 -0.169687 -0.197753 -0.223528 -0.246555 -0.266649 -0.283764 -0.297726 -0.308375 -0.315769 +0.576599 0.565775 0.551871 0.534901 0.515001 0.492471 0.467734 0.441190 0.413137 0.383783 0.353271 0.321733 0.289307 0.256123 0.222301 0.187954 0.153189 0.118095 0.082742 0.047182 0.011449 -0.024431 -0.060429 -0.096505 -0.132517 -0.168138 -0.202764 -0.235561 -0.265709 -0.292602 -0.315930 -0.335553 -0.351459 -0.363860 -0.372482 -0.376820 +0.638012 0.623123 0.604691 0.582828 0.557888 0.530356 0.500691 0.469230 0.436213 0.401804 0.366157 0.329432 0.291781 0.253344 0.214252 0.174628 0.134584 0.094210 0.053576 0.012728 -0.028301 -0.069484 -0.110785 -0.152093 -0.193097 -0.233171 -0.271377 -0.306680 -0.338222 -0.365424 -0.388206 -0.407006 -0.421897 -0.432340 -0.438312 -0.439585 +0.694713 0.675960 0.653686 0.627546 0.598095 0.565945 0.531541 0.495198 0.457135 0.417538 0.376598 0.334501 0.291413 0.247489 0.202874 0.157708 0.112107 0.066167 0.019952 -0.026496 -0.073146 -0.119967 -0.166884 -0.213638 -0.259638 -0.303898 -0.345162 -0.382188 -0.414128 -0.441075 -0.463620 -0.481639 -0.495168 -0.503667 -0.506785 -0.504365 +0.747593 0.724963 0.699092 0.669502 0.636124 0.599659 0.560629 0.519382 0.476175 0.431254 0.384853 0.337178 0.288421 0.238759 0.188361 0.137377 0.085936 0.034132 -0.017980 -0.070359 -0.122972 -0.175773 -0.228579 -0.280890 -0.331741 -0.379712 -0.423105 -0.460775 -0.493078 -0.520324 -0.542581 -0.559999 -0.572224 -0.577994 -0.577113 -0.570589 +0.798131 0.770949 0.741531 0.708887 0.672206 0.631734 0.588176 0.541996 0.493552 0.443164 0.391111 0.337641 0.282975 0.227321 0.170870 0.113788 0.056212 -0.001774 -0.060115 -0.118771 -0.177702 -0.236802 -0.295701 -0.353532 -0.408806 -0.459446 -0.504117 -0.543018 -0.575850 -0.603398 -0.626057 -0.642609 -0.652196 -0.654416 -0.649552 -0.639021 +0.847538 0.815160 0.781639 0.745921 0.706401 0.662296 0.614334 0.563208 0.509433 0.453426 0.395530 0.336041 0.275222 0.213313 0.150529 0.087058 0.023034 -0.041464 -0.106382 -0.171670 -0.237266 -0.302939 -0.367992 -0.430962 -0.489520 -0.542413 -0.589076 -0.629075 -0.663243 -0.691690 -0.713673 -0.728343 -0.735037 -0.733365 -0.724220 -0.709791 +0.896142 0.858494 0.820200 0.781031 0.738748 0.691381 0.639200 0.583141 0.523950 0.462174 0.398239 0.332504 0.265279 0.196842 0.127441 0.057275 -0.013525 -0.084882 -0.156729 -0.229005 -0.301585 -0.373979 -0.444858 -0.511798 -0.573819 -0.629429 -0.677992 -0.720313 -0.755660 -0.783966 -0.804955 -0.817460 -0.820657 -0.814707 -0.801328 -0.783372 +0.944283 0.901220 0.857977 0.814614 0.769412 0.719031 0.662825 0.601891 0.537213 0.469518 0.399345 0.327129 0.253238 0.177995 0.101679 0.024499 -0.053418 -0.131982 -0.211113 -0.290719 -0.370496 -0.449370 -0.524897 -0.596523 -0.662133 -0.720855 -0.772581 -0.816292 -0.852209 -0.880429 -0.899975 -0.909660 -0.908955 -0.898716 -0.881384 -0.860133 +0.992742 0.943687 0.895248 0.847168 0.798608 0.745304 0.685232 0.619527 0.549307 0.475547 0.398935 0.319998 0.239174 0.156838 0.073299 -0.011228 -0.096606 -0.182729 -0.269489 -0.356685 -0.443541 -0.527664 -0.608918 -0.685169 -0.755325 -0.817913 -0.871590 -0.916655 -0.953184 -0.980826 -0.998404 -1.004909 -1.000253 -0.985811 -0.964578 -0.940166 +1.041849 0.986489 0.932246 0.879129 0.826546 0.770324 0.706509 0.636084 0.560300 0.480335 0.397078 0.311175 0.223145 0.133420 0.042339 -0.049871 -0.143056 -0.237083 -0.331763 -0.426557 -0.519228 -0.609839 -0.696721 -0.779011 -0.853976 -0.919409 -0.975280 -1.021525 -1.058288 -1.084923 -1.100285 -1.103541 -1.094794 -1.076072 -1.051011 -1.023559 +1.091714 1.029881 0.969350 0.910712 0.853481 0.794164 0.726722 0.651581 0.570237 0.483936 0.393828 0.300710 0.205194 0.107779 0.008831 -0.091400 -0.192736 -0.294977 -0.397693 -0.498978 -0.598479 -0.695589 -0.789898 -0.878224 -0.957117 -1.025649 -1.083411 -1.130630 -1.167345 -1.192839 -1.205891 -1.205635 -1.192625 -1.169591 -1.140771 -1.110366 +1.142397 1.073943 1.006876 0.942129 0.879747 0.816975 0.746002 0.666094 0.579145 0.486392 0.389229 0.288642 0.185358 0.079944 -0.027197 -0.135789 -0.245601 -0.356250 -0.466292 -0.574291 -0.681068 -0.786635 -0.888386 -0.981977 -1.065027 -1.136321 -1.195822 -1.243869 -1.280527 -1.304747 -1.315220 -1.311230 -1.293811 -1.266439 -1.233924 -1.200653 +1.193760 1.118694 1.044907 0.973675 0.905660 0.838847 0.764368 0.679630 0.587032 0.487732 0.383314 0.275004 0.163666 0.049941 -0.065722 -0.183007 -0.301546 -0.420437 -0.536888 -0.652810 -0.768517 -0.882974 -0.991454 -1.090513 -1.177364 -1.251291 -1.312476 -1.361446 -1.397892 -1.420621 -1.428314 -1.420363 -1.398402 -1.366681 -1.330561 -1.294494 +1.245259 1.164068 1.083471 1.005499 0.931438 0.859981 0.781858 0.692337 0.593925 0.487979 0.376110 0.259824 0.140142 0.017793 -0.106722 -0.232990 -0.360343 -0.485603 -0.610619 -0.735232 -0.861328 -0.983845 -1.099326 -1.203457 -1.293994 -1.370559 -1.433583 -1.483338 -1.519403 -1.540510 -1.545201 -1.533057 -1.506453 -1.470415 -1.430763 -1.391911 +1.296518 1.209596 1.122566 1.037715 0.957238 0.880665 0.798558 0.704240 0.599841 0.487145 0.367640 0.243123 0.114806 -0.016481 -0.150160 -0.285616 -0.420823 -0.553730 -0.686855 -0.823302 -0.958500 -1.089514 -1.211589 -1.320678 -1.414936 -1.494332 -1.559072 -1.609498 -1.645118 -1.664447 -1.665879 -1.649355 -1.618052 -1.577711 -1.534562 -1.492911 +1.346651 1.254940 1.161965 1.070335 0.983184 0.901059 0.814585 0.715295 0.604794 0.485236 0.357922 0.224920 0.087678 -0.052861 -0.195969 -0.340589 -0.482651 -0.623796 -0.768819 -0.915364 -1.060418 -1.199519 -1.328115 -1.442183 -1.540393 -1.622515 -1.688894 -1.739975 -1.775078 -1.792429 -1.790372 -1.769326 -1.733253 -1.688607 -1.641979 -1.597507 +1.395233 1.299596 1.201115 1.103301 1.009322 0.921348 0.830104 0.725573 0.608877 0.482268 0.346968 0.205233 0.058773 -0.091311 -0.244024 -0.395765 -0.546521 -0.698271 -0.854776 -1.012154 -1.166528 -1.313773 -1.448871 -1.568173 -1.670261 -1.755051 -1.823076 -1.874817 -1.909294 -1.924470 -1.918728 -1.893006 -1.852085 -1.803133 -1.753039 -1.705713 + + +# Torque coefficient + +0.009595 0.010654 0.011708 0.012756 0.013799 0.014837 0.015871 0.016900 0.017918 0.018928 0.019931 0.020932 0.021939 0.022954 0.023978 0.025005 0.026030 0.027046 0.028035 0.028973 0.029831 0.030575 0.031174 0.031597 0.031818 0.031820 0.031595 0.031142 0.030468 0.029590 0.028529 0.027308 0.025947 0.024465 0.022877 0.021195 +0.015403 0.016761 0.018112 0.019446 0.020762 0.022063 0.023355 0.024646 0.025935 0.027220 0.028504 0.029785 0.031046 0.032255 0.033380 0.034378 0.035201 0.035802 0.036148 0.036217 0.036003 0.035509 0.034747 0.033740 0.032515 0.031103 0.029531 0.027820 0.025989 0.024055 0.022030 0.019925 0.017751 0.015513 0.013219 0.010870 +0.022159 0.023814 0.025446 0.027058 0.028648 0.030221 0.031791 0.033355 0.034883 0.036340 0.037684 0.038855 0.039787 0.040426 0.040738 0.040709 0.040342 0.039647 0.038647 0.037374 0.035868 0.034163 0.032288 0.030268 0.028121 0.025864 0.023512 0.021077 0.018568 0.015992 0.013355 0.010659 0.007903 0.005090 0.002223 -0.000685 +0.029535 0.031452 0.033337 0.035212 0.037062 0.038857 0.040552 0.042086 0.043379 0.044359 0.044973 0.045197 0.045026 0.044468 0.043545 0.042290 0.040746 0.038958 0.036963 0.034790 0.032463 0.030001 0.027421 0.024741 0.021971 0.019120 0.016197 0.013207 0.010150 0.007027 0.003834 0.000573 -0.002745 -0.006098 -0.009448 -0.012749 +0.037127 0.039293 0.041401 0.043406 0.045240 0.046812 0.048042 0.048873 0.049273 0.049231 0.048756 0.047869 0.046604 0.045006 0.043125 0.041003 0.038677 0.036172 0.033509 0.030708 0.027785 0.024754 0.021628 0.018416 0.015125 0.011758 0.008315 0.004792 0.001186 -0.002504 -0.006263 -0.010065 -0.013863 -0.017590 -0.021175 -0.024549 +0.044576 0.046798 0.048784 0.050447 0.051718 0.052547 0.052907 0.052796 0.052225 0.051219 0.049814 0.048056 0.045999 0.043687 0.041158 0.038435 0.035538 0.032485 0.029294 0.025979 0.022556 0.019034 0.015420 0.011718 0.007926 0.004040 0.000054 -0.004035 -0.008219 -0.012471 -0.016744 -0.020961 -0.025030 -0.028866 -0.032401 -0.035594 +0.051021 0.052864 0.054304 0.055293 0.055802 0.055826 0.055372 0.054456 0.053105 0.051366 0.049293 0.046935 0.044331 0.041507 0.038482 0.035274 0.031902 0.028382 0.024729 0.020956 0.017073 0.013084 0.008990 0.004785 0.000463 -0.003980 -0.008548 -0.013224 -0.017971 -0.022717 -0.027357 -0.031782 -0.035897 -0.039639 -0.042981 -0.045907 +0.055502 0.056802 0.057640 0.057999 0.057873 0.057259 0.056175 0.054654 0.052746 0.050504 0.047973 0.045183 0.042156 0.038911 0.035465 0.031835 0.028038 0.024091 0.020006 0.015792 0.011452 0.006984 0.002382 -0.002361 -0.007252 -0.012291 -0.017459 -0.022709 -0.027947 -0.033046 -0.037877 -0.042336 -0.046361 -0.049928 -0.053007 -0.055563 +0.057855 0.058752 0.059169 0.059091 0.058510 0.057442 0.055922 0.053998 0.051720 0.049131 0.046258 0.043120 0.039734 0.036119 0.032292 0.028272 0.024076 0.019717 0.015204 0.010540 0.005723 0.000745 -0.004400 -0.009722 -0.015221 -0.020879 -0.026642 -0.032402 -0.038011 -0.043319 -0.048204 -0.052599 -0.056465 -0.059757 -0.062455 -0.064608 +0.058394 0.059139 0.059351 0.059026 0.058176 0.056834 0.055051 0.052878 0.050353 0.047505 0.044351 0.040909 0.037200 0.033244 0.029059 0.024664 0.020074 0.015300 0.010346 0.005209 -0.000116 -0.005639 -0.011368 -0.017309 -0.023446 -0.029727 -0.036038 -0.042213 -0.048075 -0.053477 -0.058327 -0.062565 -0.066164 -0.069152 -0.071532 -0.073316 +0.057457 0.058309 0.058536 0.058152 0.057204 0.055747 0.053836 0.051514 0.048812 0.045751 0.042352 0.038637 0.034628 0.030345 0.025811 0.021042 0.016053 0.010849 0.005430 -0.000209 -0.006077 -0.012184 -0.018538 -0.025133 -0.031924 -0.038801 -0.045588 -0.052079 -0.058088 -0.063475 -0.068183 -0.072237 -0.075633 -0.078329 -0.080417 -0.082010 +0.055427 0.056508 0.056959 0.056706 0.055819 0.054372 0.052424 0.050017 0.047181 0.043941 0.040323 0.036352 0.032054 0.027452 0.022567 0.017418 0.012014 0.006359 0.000448 -0.005727 -0.012175 -0.018907 -0.025926 -0.033202 -0.040639 -0.048063 -0.055242 -0.061936 -0.067961 -0.073272 -0.077900 -0.081801 -0.084999 -0.087503 -0.089415 -0.090891 +0.052623 0.054004 0.054777 0.054837 0.054149 0.052810 0.050892 0.048447 0.045510 0.042116 0.038296 0.034080 0.029498 0.024575 0.019334 0.013790 0.007951 0.001819 -0.004615 -0.011360 -0.018427 -0.025827 -0.033545 -0.041511 -0.049565 -0.057464 -0.064910 -0.071672 -0.077722 -0.083044 -0.087606 -0.091419 -0.094494 -0.096804 -0.098523 -0.099980 +0.049407 0.051013 0.052154 0.052615 0.052258 0.051114 0.049284 0.046838 0.043828 0.040298 0.036287 0.031832 0.026965 0.021716 0.016106 0.010150 0.003855 -0.002784 -0.009773 -0.017126 -0.024853 -0.032959 -0.041398 -0.050043 -0.058654 -0.066895 -0.074506 -0.081418 -0.087528 -0.092879 -0.097489 -0.101219 -0.104071 -0.106198 -0.107871 -0.109454 +0.045998 0.047781 0.049225 0.050109 0.050173 0.049310 0.047622 0.045211 0.042151 0.038500 0.034306 0.029612 0.024458 0.018872 0.012878 0.006490 -0.000288 -0.007462 -0.015042 -0.023040 -0.031468 -0.040310 -0.049475 -0.058748 -0.067781 -0.076316 -0.084179 -0.091237 -0.097523 -0.102992 -0.107533 -0.111105 -0.113796 -0.115816 -0.117529 -0.119368 +0.042438 0.044452 0.046138 0.047408 0.047915 0.047407 0.045919 0.043578 0.040488 0.036727 0.032354 0.027421 0.021971 0.016036 0.009641 0.002799 -0.004490 -0.012231 -0.020436 -0.029118 -0.038281 -0.047876 -0.057727 -0.067499 -0.076971 -0.085852 -0.093969 -0.101330 -0.107779 -0.113252 -0.117722 -0.121162 -0.123711 -0.125693 -0.127567 -0.129806 +0.038789 0.041054 0.043003 0.044581 0.045524 0.045414 0.044176 0.041942 0.038843 0.034980 0.030431 0.025254 0.019499 0.013201 0.006386 -0.000935 -0.008762 -0.017102 -0.025967 -0.035369 -0.045291 -0.055612 -0.066027 -0.076372 -0.086295 -0.095576 -0.104096 -0.111658 -0.118210 -0.123715 -0.128097 -0.131395 -0.133852 -0.135904 -0.138072 -0.140823 +0.035199 0.037640 0.039850 0.041700 0.043038 0.043344 0.042392 0.040303 0.037214 0.033259 0.028533 0.023108 0.017036 0.010359 0.003102 -0.004722 -0.013115 -0.022086 -0.031645 -0.041794 -0.052464 -0.063393 -0.074480 -0.085390 -0.095871 -0.105634 -0.114431 -0.122202 -0.128873 -0.134370 -0.138648 -0.141838 -0.144294 -0.146524 -0.149077 -0.152430 +0.031693 0.034306 0.036706 0.038817 0.040489 0.041218 0.040575 0.038657 0.035600 0.031560 0.026657 0.020975 0.014575 0.007501 -0.000217 -0.008570 -0.017559 -0.027192 -0.037473 -0.048371 -0.059675 -0.071332 -0.083080 -0.094702 -0.105766 -0.115910 -0.125021 -0.132989 -0.139747 -0.145215 -0.149412 -0.152562 -0.155092 -0.157577 -0.160599 -0.164638 +0.028250 0.031061 0.033625 0.035956 0.037906 0.039044 0.038730 0.036999 0.033997 0.029880 0.024797 0.018850 0.012108 0.004621 -0.003582 -0.012489 -0.022102 -0.032424 -0.043439 -0.054990 -0.067027 -0.079413 -0.092002 -0.104329 -0.115889 -0.126450 -0.135850 -0.144002 -0.150830 -0.156285 -0.160443 -0.163597 -0.166265 -0.169080 -0.172651 -0.177455 +0.024873 0.027905 0.030644 0.033141 0.035327 0.036840 0.036871 0.035333 0.032399 0.028213 0.022949 0.016727 0.009629 0.001710 -0.006998 -0.016485 -0.026748 -0.037776 -0.049465 -0.061700 -0.074508 -0.087812 -0.101235 -0.114194 -0.126282 -0.137233 -0.146913 -0.155242 -0.162156 -0.167615 -0.171759 -0.174966 -0.177833 -0.181048 -0.185242 -0.190890 +0.021557 0.024823 0.027759 0.030414 0.032789 0.034610 0.034995 0.033654 0.030801 0.026555 0.021106 0.014601 0.007133 -0.001236 -0.010472 -0.020563 -0.031496 -0.043217 -0.055514 -0.068536 -0.082272 -0.096525 -0.110716 -0.124331 -0.136917 -0.148253 -0.158218 -0.166743 -0.173742 -0.179218 -0.183379 -0.186686 -0.189810 -0.193493 -0.198386 -0.204950 +0.018333 0.021817 0.024961 0.027778 0.030318 0.032381 0.033102 0.031976 0.029199 0.024900 0.019265 0.012467 0.004615 -0.004223 -0.014009 -0.024725 -0.036334 -0.048601 -0.061686 -0.075573 -0.090357 -0.105486 -0.120474 -0.134710 -0.147791 -0.159521 -0.169793 -0.178508 -0.185596 -0.191110 -0.195320 -0.198769 -0.202209 -0.206426 -0.212090 -0.219639 +0.015208 0.018901 0.022245 0.025237 0.027923 0.030188 0.031198 0.030297 0.027591 0.023244 0.017421 0.010320 0.002069 -0.007256 -0.017613 -0.028968 -0.041178 -0.054101 -0.067945 -0.082956 -0.098679 -0.114725 -0.130474 -0.145326 -0.158914 -0.171063 -0.181638 -0.190543 -0.197733 -0.203305 -0.207592 -0.211229 -0.215042 -0.219857 -0.226361 -0.234955 +0.012212 0.016075 0.019606 0.022781 0.025612 0.028042 0.029297 0.028604 0.025973 0.021582 0.015569 0.008156 -0.000509 -0.010339 -0.021284 -0.033273 -0.046016 -0.059643 -0.074559 -0.090547 -0.107275 -0.124203 -0.140709 -0.156188 -0.170310 -0.182877 -0.193754 -0.202857 -0.210165 -0.215812 -0.220207 -0.224078 -0.228318 -0.233792 -0.241204 -0.250899 +0.009354 0.013350 0.017054 0.020392 0.023376 0.025960 0.027417 0.026903 0.024353 0.019911 0.013706 0.005971 -0.003122 -0.013475 -0.025016 -0.037490 -0.050908 -0.065434 -0.081378 -0.098409 -0.116099 -0.133917 -0.151184 -0.167317 -0.181975 -0.194962 -0.206149 -0.215462 -0.222899 -0.228640 -0.233175 -0.237324 -0.242043 -0.248236 -0.256621 -0.267469 + diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/Cp_Ct_Cq.IEA15MW.txt b/Test_Cases/IEA-15-240-RWT-UMaineSemi/Cp_Ct_Cq.IEA15MW.txt index 6079859d..5488662d 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/Cp_Ct_Cq.IEA15MW.txt +++ b/Test_Cases/IEA-15-240-RWT-UMaineSemi/Cp_Ct_Cq.IEA15MW.txt @@ -1,237 +1,99 @@ -# ----- Rotor performance tables for the IEA-15-240-RWT wind turbine ----- -# ------------ Written on Feb-25-20 using the ROSCO toolbox ------------ +# ----- Rotor performance tables for the IEA-15-240-RWT-UMaineSemi wind turbine ----- +# ------------ Written on Jan-13-22 using the ROSCO toolbox ------------ -# Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.75 -0.5 -0.25 0.0 0.25 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 21.0 21.25 21.5 21.75 22.0 22.25 22.5 22.75 23.0 23.25 23.5 23.75 24.0 24.25 24.5 24.75 -# TSR vector - y axis (matrix rows) (-) -3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 +# Pitch angle vector, 36 entries - x axis (matrix columns) (deg) +-5.0 -4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 26.0 27.0 28.0 29.0 30.0 +# TSR vector, 26 entries - y axis (matrix rows) (-) +2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 # Wind speed vector - z axis (m/s) -10.59 +10.74 # Power coefficient -0.061055 0.062543 0.064025 0.065501 0.066971 0.068433 0.069887 0.071331 0.072766 0.074190 0.075602 0.077001 0.078386 0.079755 0.081109 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-0.923619 -1.112130 -1.304348 -1.497491 -1.688490 -1.873974 -2.050464 -2.215360 -2.367797 -2.508038 -2.636958 -2.755923 -2.866736 -2.971582 -3.073543 -3.179506 +0.081919 0.125711 0.170327 0.216226 0.261618 0.304542 0.343187 0.375127 0.391476 0.381325 0.342377 0.278492 0.194038 0.091286 -0.028452 -0.164378 -0.315948 -0.482428 -0.662379 -0.853805 -1.054435 -1.261731 -1.472870 -1.684728 -1.893856 -2.096473 -2.288771 -2.468189 -2.634096 -2.786934 -2.927765 -3.058183 -3.180258 -3.296479 -3.410571 -3.531209 +0.041584 0.085346 0.132094 0.180334 0.229751 0.277509 0.320600 0.356398 0.377301 0.370718 0.331902 0.264422 0.173544 0.061998 -0.068663 -0.217497 -0.383839 -0.566719 -0.764382 -0.974568 -1.194731 -1.422028 -1.653298 -1.885048 -2.113418 -2.334189 -2.543243 -2.738124 -2.918432 -3.084779 -3.238430 -3.381229 -3.515528 -3.644151 -3.771614 -3.908675 +0.003397 0.045453 0.093229 0.143805 0.196595 0.248906 0.296781 0.336522 0.361457 0.358550 0.319976 0.248745 0.151048 0.030135 -0.112176 -0.274788 -0.456888 -0.657231 -0.873742 -1.103887 -1.344823 -1.593379 -1.846033 -2.098890 -2.347652 -2.587633 -2.814435 -3.025765 -3.221441 -3.402247 -3.569666 -3.725808 -3.873334 -4.015434 -4.157593 -4.312929 # Thrust coefficient -0.123429 0.123924 0.124425 0.124929 0.125436 0.125945 0.126455 0.126966 0.127475 0.127984 0.128489 0.128991 0.129489 0.129980 0.130464 0.130941 0.131408 0.131864 0.132309 0.132742 0.133160 0.133564 0.133951 0.134321 0.134672 0.135004 0.135315 0.135604 0.135869 0.136110 0.136325 0.136514 0.136674 0.136806 0.136906 0.136976 0.137012 0.137014 0.136982 0.136914 0.136809 0.136666 0.136485 0.136265 0.136005 0.135704 0.135362 0.134979 0.134555 0.134088 0.133579 0.133027 0.132432 0.131795 0.131114 0.130391 0.129625 0.128816 0.127964 0.127071 0.126136 0.125159 0.124142 0.123084 0.121987 0.120852 0.119678 0.118468 0.117221 0.115939 0.114623 0.113274 0.111892 0.110479 0.109035 0.107562 0.106061 0.104532 0.102976 0.101394 0.099787 0.098156 0.096502 0.094825 0.093126 0.091406 0.089666 0.087907 0.086129 0.084333 0.082520 0.080690 0.078845 0.076984 0.075109 0.073221 0.071319 0.069404 0.067477 0.065539 0.063590 0.061631 0.059661 0.057682 -0.144266 0.144902 0.145537 0.146170 0.146799 0.147424 0.148043 0.148655 0.149258 0.149851 0.150432 0.151001 0.151555 0.152094 0.152616 0.153119 0.153602 0.154064 0.154503 0.154917 0.155305 0.155667 0.155999 0.156301 0.156571 0.156808 0.157009 0.157175 0.157302 0.157390 0.157438 0.157444 0.157406 0.157324 0.157197 0.157023 0.156802 0.156532 0.156213 0.155845 0.155426 0.154956 0.154435 0.153862 0.153237 0.152560 0.151830 0.151048 0.150213 0.149326 0.148388 0.147397 0.146356 0.145264 0.144122 0.142931 0.141693 0.140407 0.139075 0.137697 0.136276 0.134813 0.133308 0.131762 0.130178 0.128556 0.126897 0.125203 0.123474 0.121712 0.119918 0.118094 0.116239 0.114356 0.112445 0.110507 0.108543 0.106555 0.104543 0.102508 0.100452 0.098375 0.096278 0.094161 0.092027 0.089875 0.087706 0.085521 0.083322 0.081107 0.078879 0.076638 0.074384 0.072118 0.069840 0.067551 0.065252 0.062943 0.060624 0.058296 0.055960 0.053615 0.051264 0.048906 -0.167635 0.168386 0.169129 0.169860 0.170579 0.171283 0.171971 0.172641 0.173292 0.173921 0.174528 0.175109 0.175664 0.176191 0.176687 0.177151 0.177581 0.177975 0.178331 0.178648 0.178923 0.179155 0.179342 0.179482 0.179574 0.179616 0.179605 0.179542 0.179424 0.179251 0.179020 0.178731 0.178383 0.177975 0.177507 0.176977 0.176385 0.175730 0.175012 0.174232 0.173388 0.172481 0.171511 0.170479 0.169384 0.168228 0.167011 0.165734 0.164398 0.163004 0.161554 0.160048 0.158488 0.156877 0.155214 0.153501 0.151741 0.149934 0.148083 0.146187 0.144250 0.142272 0.140255 0.138200 0.136108 0.133982 0.131821 0.129629 0.127405 0.125151 0.122869 0.120559 0.118223 0.115863 0.113478 0.111070 0.108641 0.106191 0.103721 0.101232 0.098726 0.096202 0.093662 0.091106 0.088536 0.085951 0.083353 0.080741 0.078117 0.075481 0.072834 0.070176 0.067507 0.064829 0.062141 0.059445 0.056741 0.054029 0.051310 0.048585 0.045855 0.043120 0.040380 0.037638 -0.193367 0.194197 0.195006 0.195792 0.196553 0.197287 0.197992 0.198665 0.199305 0.199909 0.200474 0.200999 0.201482 0.201919 0.202309 0.202650 0.202939 0.203174 0.203353 0.203474 0.203535 0.203535 0.203470 0.203341 0.203144 0.202880 0.202545 0.202140 0.201663 0.201113 0.200490 0.199792 0.199020 0.198172 0.197250 0.196252 0.195180 0.194033 0.192813 0.191519 0.190154 0.188717 0.187211 0.185637 0.183996 0.182290 0.180521 0.178691 0.176800 0.174852 0.172847 0.170789 0.168677 0.166516 0.164305 0.162047 0.159743 0.157396 0.155007 0.152577 0.150109 0.147603 0.145062 0.142487 0.139880 0.137241 0.134573 0.131877 0.129155 0.126406 0.123634 0.120838 0.118021 0.115183 0.112325 0.109448 0.106554 0.103642 0.100714 0.097771 0.094812 0.091839 0.088852 0.085852 0.082840 0.079815 0.076779 0.073732 0.070674 0.067607 0.064530 0.061445 0.058352 0.055252 0.052144 0.049031 0.045913 0.042790 0.039664 0.036535 0.033404 0.030272 0.027141 0.024011 -0.221268 0.222125 0.222948 0.223732 0.224475 0.225175 0.225828 0.226433 0.226985 0.227484 0.227925 0.228306 0.228625 0.228879 0.229065 0.229181 0.229226 0.229196 0.229089 0.228904 0.228639 0.228293 0.227862 0.227348 0.226747 0.226060 0.225286 0.224423 0.223473 0.222434 0.221308 0.220093 0.218792 0.217405 0.215933 0.214377 0.212738 0.211020 0.209222 0.207347 0.205398 0.203376 0.201283 0.199122 0.196895 0.194604 0.192251 0.189838 0.187367 0.184841 0.182261 0.179630 0.176950 0.174222 0.171450 0.168634 0.165777 0.162880 0.159946 0.156976 0.153972 0.150936 0.147869 0.144772 0.141649 0.138499 0.135324 0.132126 0.128906 0.125664 0.122402 0.119121 0.115822 0.112506 0.109172 0.105823 0.102458 0.099079 0.095685 0.092278 0.088858 0.085426 0.081981 0.078526 0.075060 0.071583 0.068098 0.064603 0.061100 0.057589 0.054072 0.050548 0.047019 0.043486 0.039949 0.036409 0.032868 0.029326 0.025785 0.022246 0.018710 0.015180 0.011655 0.008139 -0.251110 0.251931 0.252697 0.253405 0.254053 0.254636 0.255153 0.255599 0.255971 0.256267 0.256484 0.256618 0.256668 0.256629 0.256501 0.256281 0.255966 0.255555 0.255046 0.254438 0.253729 0.252919 0.252007 0.250993 0.249876 0.248657 0.247337 0.245915 0.244394 0.242775 0.241058 0.239246 0.237341 0.235344 0.233259 0.231088 0.228832 0.226495 0.224080 0.221588 0.219022 0.216385 0.213680 0.210908 0.208073 0.205177 0.202222 0.199211 0.196147 0.193031 0.189866 0.186655 0.183399 0.180101 0.176762 0.173386 0.169974 0.166528 0.163049 0.159540 0.156002 0.152436 0.148845 0.145230 0.141591 0.137930 0.134248 0.130547 0.126826 0.123088 0.119332 0.115559 0.111771 0.107967 0.104148 0.100316 0.096470 0.092611 0.088739 0.084856 0.080962 0.077057 0.073141 0.069216 0.065283 0.061340 0.057391 0.053434 0.049472 0.045505 0.041533 0.037559 0.033583 0.029606 0.025630 0.021657 0.017688 0.013724 0.009767 0.005819 0.001881 -0.002044 -0.005954 -0.009847 -0.282623 0.283322 0.283945 0.284487 0.284944 0.285313 0.285591 0.285773 0.285858 0.285841 0.285720 0.285492 0.285155 0.284707 0.284146 0.283470 0.282678 0.281769 0.280743 0.279599 0.278337 0.276959 0.275465 0.273855 0.272132 0.270296 0.268351 0.266297 0.264138 0.261877 0.259515 0.257056 0.254502 0.251857 0.249124 0.246306 0.243405 0.240425 0.237369 0.234239 0.231038 0.227771 0.224438 0.221044 0.217591 0.214081 0.210519 0.206905 0.203243 0.199536 0.195785 0.191993 0.188162 0.184295 0.180393 0.176459 0.172494 0.168499 0.164478 0.160430 0.156358 0.152263 0.148145 0.144007 0.139849 0.135672 0.131477 0.127264 0.123034 0.118789 0.114528 0.110252 0.105962 0.101658 0.097341 0.093011 0.088669 0.084316 0.079951 0.075576 0.071191 0.066796 0.062393 0.057983 0.053565 0.049142 0.044714 0.040282 0.035848 0.031413 0.026978 0.022545 0.018117 0.013693 0.009277 0.004870 0.000474 -0.003908 -0.008275 -0.012625 -0.016954 -0.021261 -0.025543 -0.029798 -0.315479 0.315959 0.316335 0.316604 0.316761 0.316803 0.316727 0.316529 0.316207 0.315758 0.315179 0.314471 0.313630 0.312656 0.311548 0.310307 0.308932 0.307425 0.305785 0.304015 0.302116 0.300090 0.297939 0.295667 0.293275 0.290768 0.288147 0.285416 0.282580 0.279641 0.276602 0.273468 0.270241 0.266926 0.263525 0.260042 0.256481 0.252844 0.249136 0.245359 0.241517 0.237613 0.233650 0.229631 0.225559 0.221436 0.217266 0.213051 0.208794 0.204497 0.200162 0.195792 0.191388 0.186952 0.182487 0.177994 0.173475 0.168931 0.164363 0.159773 0.155162 0.150531 0.145880 0.141211 0.136524 0.131820 0.127099 0.122363 0.117611 0.112845 0.108064 0.103270 0.098462 0.093642 0.088809 0.083964 0.079109 0.074243 0.069367 0.064482 0.059589 0.054689 0.049784 0.044873 0.039959 0.035044 0.030127 0.025212 0.020300 0.015393 0.010492 0.005600 0.000718 -0.004150 -0.009003 -0.013838 -0.018654 -0.023446 -0.028213 -0.032951 -0.037659 -0.042333 -0.046970 -0.051567 -0.349307 0.349453 0.349466 0.349343 0.349080 0.348675 0.348125 0.347427 0.346581 0.345585 0.344438 0.343141 0.341693 0.340095 0.338348 0.336455 0.334415 0.332233 0.329910 0.327450 0.324855 0.322129 0.319275 0.316297 0.313200 0.309987 0.306662 0.303230 0.299693 0.296057 0.292325 0.288500 0.284588 0.280592 0.276515 0.272362 0.268135 0.263839 0.259478 0.255053 0.250570 0.246031 0.241438 0.236796 0.232107 0.227373 0.222597 0.217783 0.212931 0.208044 0.203125 0.198175 0.193196 0.188190 0.183159 0.178103 0.173024 0.167924 0.162803 0.157662 0.152502 0.147323 0.142127 0.136914 0.131685 0.126439 0.121178 0.115902 0.110611 0.105306 0.099988 0.094657 0.089313 0.083957 0.078591 0.073214 0.067828 0.062433 0.057031 0.051623 0.046210 0.040793 0.035374 0.029955 0.024538 0.019123 0.013714 0.008312 0.002920 -0.002461 -0.007828 -0.013178 -0.018508 -0.023816 -0.029100 -0.034355 -0.039580 -0.044770 -0.049924 -0.055037 -0.060107 -0.065129 -0.070102 -0.075021 -0.383695 0.383386 0.382915 0.382281 0.381481 0.380514 0.379379 0.378076 0.376604 0.374964 0.373157 0.371186 0.369051 0.366756 0.364302 0.361694 0.358934 0.356026 0.352974 0.349782 0.346455 0.342998 0.339414 0.335708 0.331885 0.327950 0.323906 0.319759 0.315513 0.311172 0.306740 0.302222 0.297621 0.292942 0.288189 0.283365 0.278475 0.273521 0.268508 0.263438 0.258315 0.253142 0.247921 0.242657 0.237351 0.232006 0.226624 0.221208 0.215759 0.210281 0.204774 0.199241 0.193682 0.188099 0.182494 0.176868 0.171220 0.165553 0.159866 0.154161 0.148438 0.142698 0.136941 0.131167 0.125378 0.119573 0.113753 0.107919 0.102072 0.096211 0.090337 0.084452 0.078556 0.072650 0.066735 0.060812 0.054882 0.048946 0.043006 0.037064 0.031121 0.025179 0.019240 0.013307 0.007380 0.001463 -0.004442 -0.010332 -0.016205 -0.022057 -0.027887 -0.033690 -0.039463 -0.045204 -0.050909 -0.056574 -0.062196 -0.067771 -0.073296 -0.078768 -0.084181 -0.089533 -0.094820 -0.100038 -0.418231 0.417352 0.416287 0.415035 0.413596 0.411971 0.410160 0.408166 0.405989 0.403633 0.401100 0.398393 0.395516 0.392472 0.389267 0.385903 0.382387 0.378723 0.374916 0.370972 0.366895 0.362691 0.358365 0.353921 0.349365 0.344702 0.339936 0.335072 0.330114 0.325068 0.319937 0.314726 0.309439 0.304079 0.298652 0.293159 0.287606 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-0.254145 -0.334241 -0.412210 -0.487216 -0.558380 -0.624756 -0.685326 -0.739035 -0.785001 -0.822768 -0.852322 -0.873908 -0.887939 -0.894954 -0.895600 -0.890608 +1.200634 1.137445 1.074091 1.011838 0.951774 0.894037 0.834912 0.771492 0.703048 0.629422 0.551751 0.471121 0.388161 0.303315 0.216936 0.129330 0.040767 -0.048492 -0.138117 -0.227598 -0.316208 -0.403110 -0.487418 -0.568205 -0.644486 -0.715195 -0.779185 -0.835299 -0.882669 -0.920969 -0.950309 -0.971037 -0.983660 -0.988810 -0.987235 -0.979770 +1.265255 1.195691 1.124977 1.055449 0.988373 0.924624 0.861796 0.795127 0.722837 0.644478 0.560948 0.473752 0.383758 0.291553 0.197588 0.102236 0.005819 -0.091347 -0.188842 -0.286020 -0.382025 -0.475922 -0.566734 -0.653432 -0.734914 -0.809987 -0.877364 -0.935804 -0.984492 -1.023251 -1.052305 -1.072100 -1.083234 -1.086438 -1.082566 -1.072555 +1.328343 1.253526 1.176341 1.099544 1.025366 0.954961 0.887436 0.817466 0.741390 0.658428 0.569007 0.475083 0.377831 0.278012 0.176184 0.072792 -0.031782 -0.137156 -0.242799 -0.347918 -0.451540 -0.552633 -0.650122 -0.742865 -0.829637 -0.909108 -0.979846 -1.040544 -1.090488 -1.129647 -1.158354 -1.177145 -1.186712 -1.187891 -1.181646 -1.169016 +1.389243 1.310229 1.227774 1.144163 1.062812 0.985517 0.912297 0.838613 0.758818 0.671306 0.575987 0.475177 0.370448 0.262756 0.152781 0.041050 -0.071988 -0.185871 -0.299938 -0.413247 -0.524713 -0.633211 -0.737554 -0.836483 -0.928639 -1.012543 -1.086618 -1.149524 -1.200679 -1.240192 -1.268496 -1.286214 -1.294139 -1.293215 -1.284523 -1.269193 +1.446495 1.365446 1.278456 1.189187 1.100736 1.016407 0.936851 0.858699 0.775201 0.683140 0.581940 0.474094 0.361664 0.245836 0.127425 0.007052 -0.114760 -0.237453 -0.360218 -0.481968 -0.601517 -0.717631 -0.829012 -0.934270 -1.031906 -1.120281 -1.197677 -1.262753 -1.315088 -1.354917 -1.382763 -1.399343 -1.405550 -1.402447 -1.391234 -1.373118 +1.500721 1.417864 1.328236 1.234040 1.139124 1.047650 0.961392 0.877983 0.790575 0.693978 0.586914 0.471885 0.351528 0.227296 0.100156 -0.029167 -0.160066 -0.291867 -0.423604 -0.554054 -0.681927 -0.805878 -0.924482 -1.036215 -1.139429 -1.232316 -1.313020 -1.380245 -1.433740 -1.473850 -1.501186 -1.516561 -1.520978 -1.515620 -1.501808 -1.480814 +1.551807 1.467724 1.376212 1.278271 1.177831 1.079246 0.986033 0.896750 0.805016 0.703846 0.590948 0.468593 0.340079 0.207169 0.071004 -0.067579 -0.207877 -0.349086 -0.490070 -0.629485 -0.765930 -0.897937 -1.023953 -1.142311 -1.251201 -1.348641 -1.432649 -1.502015 -1.556654 -1.597013 -1.623789 -1.637895 -1.640449 -1.632760 -1.616272 -1.592298 +1.598372 1.515229 1.421950 1.321664 1.216399 1.111177 1.010820 0.915192 0.818588 0.712807 0.594079 0.464255 0.327350 0.185486 0.039995 -0.108161 -0.258171 -0.409083 -0.559596 -0.708245 -0.853511 -0.993800 -1.127420 -1.252552 -1.367219 -1.469253 -1.556568 -1.628077 -1.683852 -1.724429 -1.750594 -1.763367 -1.763986 -1.753891 -1.734646 -1.707584 +1.639737 1.559431 1.465833 1.363446 1.254467 1.143376 1.035772 0.933446 0.831408 0.720912 0.596337 0.458902 0.313369 0.162271 0.007152 -0.150891 -0.310927 -0.471838 -0.632165 -0.790322 -0.944662 -1.093459 -1.234875 -1.366933 -1.487477 -1.594151 -1.684783 -1.758447 -1.815350 -1.856114 -1.881620 -1.892996 -1.891607 -1.879032 -1.856946 -1.826682 # Torque coefficient -0.020401 0.020898 0.021394 0.021887 0.022378 0.022867 0.023352 0.023835 0.024315 0.024790 0.025262 0.025730 0.026192 0.026650 0.027102 0.027549 0.027989 0.028423 0.028849 0.029268 0.029680 0.030083 0.030477 0.030863 0.031239 0.031605 0.031961 0.032306 0.032640 0.032962 0.033273 0.033571 0.033856 0.034128 0.034386 0.034631 0.034861 0.035077 0.035277 0.035463 0.035632 0.035786 0.035924 0.036045 0.036149 0.036237 0.036308 0.036362 0.036399 0.036418 0.036420 0.036405 0.036372 0.036322 0.036254 0.036169 0.036066 0.035947 0.035810 0.035656 0.035486 0.035299 0.035096 0.034877 0.034642 0.034392 0.034126 0.033847 0.033552 0.033244 0.032922 0.032587 0.032239 0.031879 0.031506 0.031122 0.030726 0.030319 0.029902 0.029474 0.029036 0.028588 0.028131 0.027665 0.027190 0.026707 0.026215 0.025716 0.025208 0.024694 0.024172 0.023643 0.023107 0.022565 0.022016 0.021462 0.020901 0.020335 0.019763 0.019185 0.018602 0.018014 0.017421 0.016823 -0.024373 0.024912 0.025447 0.025978 0.026504 0.027025 0.027540 0.028050 0.028553 0.029050 0.029539 0.030021 0.030495 0.030960 0.031416 0.031863 0.032299 0.032726 0.033141 0.033546 0.033938 0.034318 0.034685 0.035039 0.035379 0.035706 0.036017 0.036314 0.036594 0.036859 0.037108 0.037340 0.037555 0.037753 0.037933 0.038095 0.038238 0.038363 0.038469 0.038557 0.038625 0.038673 0.038703 0.038712 0.038703 0.038673 0.038624 0.038555 0.038467 0.038360 0.038233 0.038087 0.037922 0.037738 0.037537 0.037317 0.037080 0.036825 0.036554 0.036266 0.035962 0.035642 0.035307 0.034958 0.034594 0.034216 0.033824 0.033420 0.033003 0.032573 0.032132 0.031680 0.031216 0.030742 0.030257 0.029763 0.029259 0.028746 0.028224 0.027694 0.027155 0.026608 0.026053 0.025491 0.024922 0.024346 0.023763 0.023174 0.022578 0.021977 0.021369 0.020755 0.020136 0.019511 0.018881 0.018246 0.017605 0.016960 0.016309 0.015653 0.014993 0.014328 0.013659 0.012985 -0.028449 0.029018 0.029579 0.030134 0.030681 0.031219 0.031748 0.032268 0.032778 0.033278 0.033767 0.034244 0.034710 0.035162 0.035602 0.036028 0.036440 0.036837 0.037219 0.037586 0.037936 0.038269 0.038586 0.038884 0.039165 0.039427 0.039670 0.039893 0.040097 0.040281 0.040445 0.040587 0.040709 0.040810 0.040889 0.040947 0.040983 0.040997 0.040989 0.040959 0.040908 0.040834 0.040739 0.040623 0.040485 0.040326 0.040146 0.039946 0.039726 0.039486 0.039227 0.038950 0.038654 0.038340 0.038008 0.037660 0.037296 0.036915 0.036519 0.036109 0.035684 0.035245 0.034792 0.034327 0.033850 0.033360 0.032859 0.032346 0.031823 0.031290 0.030746 0.030193 0.029631 0.029060 0.028481 0.027893 0.027298 0.026695 0.026084 0.025467 0.024842 0.024211 0.023574 0.022930 0.022281 0.021625 0.020963 0.020296 0.019623 0.018945 0.018261 0.017572 0.016878 0.016179 0.015474 0.014765 0.014051 0.013333 0.012610 0.011882 0.011150 0.010414 0.009673 0.008929 -0.032542 0.033126 0.033700 0.034263 0.034814 0.035353 0.035879 0.036392 0.036890 0.037375 0.037844 0.038297 0.038733 0.039153 0.039556 0.039940 0.040306 0.040652 0.040979 0.041286 0.041572 0.041837 0.042080 0.042302 0.042501 0.042677 0.042831 0.042961 0.043067 0.043150 0.043208 0.043243 0.043253 0.043239 0.043201 0.043139 0.043052 0.042942 0.042809 0.042652 0.042473 0.042271 0.042047 0.041801 0.041534 0.041247 0.040939 0.040612 0.040266 0.039901 0.039519 0.039119 0.038703 0.038270 0.037822 0.037359 0.036881 0.036389 0.035884 0.035366 0.034836 0.034293 0.033739 0.033174 0.032599 0.032013 0.031418 0.030813 0.030200 0.029578 0.028947 0.028309 0.027663 0.027010 0.026349 0.025682 0.025008 0.024327 0.023640 0.022947 0.022248 0.021543 0.020832 0.020115 0.019393 0.018665 0.017931 0.017193 0.016448 0.015699 0.014944 0.014185 0.013420 0.012651 0.011876 0.011097 0.010313 0.009525 0.008733 0.007936 0.007136 0.006331 0.005523 0.004712 -0.036573 0.037157 0.037727 0.038281 0.038819 0.039341 0.039846 0.040333 0.040801 0.041250 0.041680 0.042089 0.042478 0.042845 0.043190 0.043512 0.043811 0.044087 0.044339 0.044566 0.044768 0.044945 0.045096 0.045221 0.045321 0.045393 0.045439 0.045459 0.045452 0.045419 0.045359 0.045273 0.045161 0.045024 0.044861 0.044673 0.044461 0.044226 0.043966 0.043684 0.043380 0.043054 0.042707 0.042340 0.041953 0.041547 0.041122 0.040680 0.040220 0.039743 0.039251 0.038743 0.038220 0.037684 0.037133 0.036570 0.035994 0.035406 0.034806 0.034195 0.033574 0.032943 0.032302 0.031652 0.030993 0.030325 0.029650 0.028966 0.028275 0.027576 0.026871 0.026159 0.025439 0.024714 0.023982 0.023244 0.022499 0.021749 0.020993 0.020230 0.019462 0.018688 0.017909 0.017124 0.016333 0.015536 0.014735 0.013927 0.013115 0.012297 0.011474 0.010646 0.009813 0.008975 0.008132 0.007285 0.006433 0.005577 0.004717 0.003853 0.002986 0.002116 0.001242 0.000367 -0.040467 0.041034 0.041582 0.042111 0.042619 0.043105 0.043571 0.044013 0.044433 0.044829 0.045201 0.045548 0.045869 0.046165 0.046434 0.046676 0.046890 0.047077 0.047235 0.047365 0.047467 0.047539 0.047583 0.047598 0.047583 0.047541 0.047470 0.047370 0.047243 0.047089 0.046907 0.046699 0.046465 0.046206 0.045921 0.045613 0.045281 0.044927 0.044550 0.044152 0.043733 0.043294 0.042836 0.042359 0.041865 0.041353 0.040824 0.040280 0.039720 0.039146 0.038557 0.037955 0.037341 0.036714 0.036075 0.035425 0.034764 0.034093 0.033413 0.032723 0.032024 0.031316 0.030600 0.029877 0.029145 0.028406 0.027661 0.026908 0.026148 0.025382 0.024609 0.023830 0.023044 0.022252 0.021454 0.020650 0.019840 0.019024 0.018201 0.017373 0.016539 0.015699 0.014853 0.014002 0.013144 0.012281 0.011412 0.010537 0.009657 0.008772 0.007881 0.006985 0.006084 0.005178 0.004268 0.003354 0.002435 0.001513 0.000588 -0.000341 -0.001272 -0.002205 -0.003140 -0.004077 -0.044155 0.044688 0.045198 0.045683 0.046144 0.046578 0.046986 0.047368 0.047721 0.048046 0.048343 0.048610 0.048847 0.049054 0.049231 0.049376 0.049491 0.049574 0.049626 0.049648 0.049638 0.049597 0.049526 0.049425 0.049294 0.049133 0.048944 0.048727 0.048481 0.048209 0.047911 0.047587 0.047238 0.046864 0.046468 0.046049 0.045608 0.045146 0.044663 0.044161 0.043641 0.043102 0.042545 0.041972 0.041383 0.040779 0.040160 0.039527 0.038880 0.038221 0.037550 0.036867 0.036173 0.035468 0.034753 0.034029 0.033295 0.032553 0.031802 0.031043 0.030276 0.029501 0.028720 0.027931 0.027134 0.026332 0.025522 0.024706 0.023883 0.023054 0.022218 0.021376 0.020527 0.019672 0.018811 0.017943 0.017069 0.016189 0.015302 0.014409 0.013510 0.012604 0.011692 0.010774 0.009850 0.008920 0.007983 0.007041 0.006094 0.005141 0.004183 0.003220 0.002252 0.001280 0.000304 -0.000676 -0.001659 -0.002644 -0.003633 -0.004623 -0.005614 -0.006607 -0.007599 -0.008592 -0.047573 0.048056 0.048511 0.048937 0.049333 0.049699 0.050034 0.050337 0.050609 0.050847 0.051053 0.051226 0.051366 0.051472 0.051545 0.051585 0.051592 0.051565 0.051506 0.051415 0.051293 0.051138 0.050954 0.050738 0.050494 0.050221 0.049919 0.049590 0.049235 0.048854 0.048449 0.048019 0.047566 0.047091 0.046594 0.046076 0.045538 0.044981 0.044406 0.043812 0.043202 0.042576 0.041934 0.041277 0.040606 0.039922 0.039225 0.038515 0.037794 0.037061 0.036318 0.035565 0.034802 0.034030 0.033249 0.032460 0.031662 0.030856 0.030043 0.029222 0.028394 0.027558 0.026716 0.025867 0.025011 0.024148 0.023278 0.022402 0.021519 0.020629 0.019732 0.018829 0.017919 0.017002 0.016078 0.015147 0.014209 0.013265 0.012314 0.011355 0.010390 0.009419 0.008440 0.007456 0.006465 0.005467 0.004464 0.003455 0.002441 0.001421 0.000397 -0.000632 -0.001665 -0.002701 -0.003741 -0.004784 -0.005829 -0.006875 -0.007923 -0.008972 -0.010020 -0.011068 -0.012114 -0.013159 -0.050662 0.051080 0.051464 0.051816 0.052133 0.052416 0.052663 0.052876 0.053053 0.053195 0.053302 0.053373 0.053409 0.053410 0.053376 0.053308 0.053207 0.053072 0.052904 0.052704 0.052472 0.052210 0.051918 0.051597 0.051247 0.050870 0.050467 0.050037 0.049583 0.049105 0.048604 0.048081 0.047536 0.046971 0.046386 0.045782 0.045159 0.044519 0.043863 0.043190 0.042503 0.041800 0.041084 0.040355 0.039613 0.038859 0.038094 0.037318 0.036532 0.035735 0.034929 0.034114 0.033291 0.032459 0.031619 0.030770 0.029915 0.029052 0.028181 0.027303 0.026418 0.025526 0.024626 0.023720 0.022806 0.021885 0.020957 0.020022 0.019080 0.018130 0.017173 0.016208 0.015236 0.014257 0.013270 0.012276 0.011274 0.010265 0.009248 0.008224 0.007194 0.006156 0.005111 0.004060 0.003002 0.001938 0.000869 -0.000206 -0.001286 -0.002371 -0.003461 -0.004554 -0.005650 -0.006750 -0.007851 -0.008955 -0.010059 -0.011164 -0.012268 -0.013372 -0.014474 -0.015574 -0.016671 -0.017764 -0.053370 0.053709 0.054011 0.054276 0.054504 0.054694 0.054847 0.054963 0.055042 0.055084 0.055089 0.055057 0.054990 0.054888 0.054751 0.054579 0.054374 0.054136 0.053866 0.053565 0.053234 0.052873 0.052484 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@@ ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine -! - File written using ROSCO version 2.3.0 controller tuning logic on 08/20/21 +! - File written using ROSCO version 2.5.0 controller tuning logic on 03/21/22 !------- DEBUG ------------------------------------------------------------ 1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} @@ -15,25 +15,28 @@ 2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} 1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} 0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} -2 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} -0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} +2 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty} +0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control} +0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed} !------- FILTERS ---------------------------------------------------------- 1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] 0.70000 ! F_LPFDamping - Damping coefficient {used only when F_FilterType = 2} [-] 3.35500 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.628300000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. -0.21300 1.00000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. -1.16240 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. +0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] +0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. +0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. +0.213000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. +0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]. +10.461600 1.000000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. !------- BLADE PITCH CONTROL ---------------------------------------------- 30 ! PC_GS_n - Amount of gain-scheduling table entries -0.060683 0.087433 0.108570 0.126809 0.143182 0.158231 0.172273 0.185522 0.198122 0.210183 0.221780 0.232979 0.243834 0.254376 0.264646 0.274672 0.284470 0.294064 0.303472 0.312709 0.321787 0.330716 0.339507 0.348169 0.356709 0.365135 0.373452 0.381666 0.389784 0.397808 ! PC_GS_angles - Gain-schedule table: pitch angles [rad]. --3.811712 -3.407304 -3.072613 -2.791042 -2.550874 -2.343603 -2.162903 -2.003972 -1.863099 -1.737374 -1.624476 -1.522539 -1.430039 -1.345725 -1.268556 -1.197660 -1.132303 -1.071860 -1.015796 -0.963653 -0.915032 -0.869590 -0.827023 -0.787068 -0.749491 -0.714086 -0.680669 -0.649079 -0.619169 -0.590809 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s]. --0.289550 -0.262237 -0.239633 -0.220617 -0.204397 -0.190398 -0.178194 -0.167461 -0.157947 -0.149456 -0.141831 -0.134946 -0.128699 -0.123005 -0.117793 -0.113005 -0.108591 -0.104509 -0.100723 -0.097201 -0.093917 -0.090848 -0.087973 -0.085275 -0.082737 -0.080346 -0.078089 -0.075956 -0.073936 -0.072020 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-]. -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) +0.061311 0.088116 0.108942 0.126990 0.143219 0.158161 0.172040 0.185119 0.197612 0.209635 0.221066 0.232181 0.242992 0.253405 0.263647 0.273567 0.283313 0.292848 0.302185 0.311386 0.320385 0.329291 0.338004 0.346643 0.355108 0.363504 0.371761 0.379937 0.388011 0.395981 ! PC_GS_angles - Gain-schedule table: pitch angles [rad]. +-1.206456 -1.044724 -0.911403 -0.799610 -0.704521 -0.622652 -0.551426 -0.488893 -0.433554 -0.384235 -0.340004 -0.300113 -0.263952 -0.231022 -0.200909 -0.173265 -0.147799 -0.124263 -0.102447 -0.082167 -0.063268 -0.045612 -0.029082 -0.013573 0.001008 0.014740 0.027696 0.039940 0.051529 0.062514 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s]. +-0.125868 -0.113748 -0.103758 -0.095380 -0.088255 -0.082120 -0.076782 -0.072096 -0.067949 -0.064253 -0.060939 -0.057949 -0.055240 -0.052772 -0.050515 -0.048444 -0.046536 -0.044772 -0.043137 -0.041617 -0.040201 -0.038878 -0.037639 -0.036477 -0.035384 -0.034355 -0.033384 -0.032467 -0.031599 -0.030775 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-]. +0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains +0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) 1.570000000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. 0.000000000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. 0.034900000000 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. @@ -44,8 +47,9 @@ !------- INDIVIDUAL PITCH CONTROL ----------------------------------------- 0.1 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -0.0e+00 0.0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.0e+00 0.0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. +0.000e+00 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000e+00 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] !------- VS TORQUE CONTROL ------------------------------------------------ @@ -53,14 +57,14 @@ 19624046.66639 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] 4500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. 21586451.33303 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -0.523600000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -34505815.52476 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2] +0.000000000000 ! VS_MinTq - Minimum generator torque (HSS side), [Nm]. +0.523600000000 ! VS_MinOMSpd - Minimum generator speed [rad/s] +37840583.60628 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2] 15000000.00000 ! VS_RtPwr - Wind turbine rated power [W] 19624046.66639 ! VS_RtTq - Rated torque, [Nm]. 0.791680000000 ! VS_RefSpd - Rated generator speed [rad/s] 1 ! VS_n - Number of generator PI torque controller gains --39034030.68778 ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +-37877315.85935 ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -4588245.18720 ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) 9.00 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. @@ -71,29 +75,29 @@ !------- WIND SPEED ESTIMATOR --------------------------------------------- 120.000 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m] 1 ! WE_CP_n - Amount of parameters in the Cp array -0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function +0 ! WE_CP - Parameters that define the parameterized CP(lambda) function 0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] 1.0 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -318628138.00000 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] +318628138.00000 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] 1.225 ! WE_RhoAir - Air density, [kg m^-3] -"/Users/nabbas/Documents/WindEnergyToolbox/ROSCO/Tune_Cases/Cp_Ct_Cq.IEA15MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) -104 48 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios +"Cp_Ct_Cq.IEA15MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file) +36 26 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios 60 ! WE_FOPoles_N - Number of first-order system poles used in EKF -3.00 3.27 3.53 3.80 4.07 4.33 4.60 4.87 5.14 5.40 5.67 5.94 6.20 6.47 6.74 7.00 7.27 7.54 7.80 8.07 8.34 8.60 8.87 9.14 9.41 9.67 9.94 10.21 10.47 10.74 11.22 11.69 12.17 12.64 13.12 13.59 14.07 14.54 15.02 15.49 15.97 16.44 16.92 17.39 17.87 18.35 18.82 19.30 19.77 20.25 20.72 21.20 21.67 22.15 22.62 23.10 23.57 24.05 24.52 25.00 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] --0.02334364 -0.02542042 -0.02749720 -0.02957398 -0.03165076 -0.03372754 -0.03580432 -0.03788110 -0.03995788 -0.04203466 -0.04411143 -0.04618821 -0.04826499 -0.05034177 -0.05241855 -0.05449533 -0.05657211 -0.05864889 -0.06072567 -0.06280245 -0.06487923 -0.06695601 -0.06903278 -0.07110956 -0.07318634 -0.07526312 -0.07733990 -0.07941668 -0.08149346 -0.08119577 -0.05454346 -0.05695037 -0.06335518 -0.07173786 -0.08143862 -0.09212647 -0.10361954 -0.11576910 -0.12850182 -0.14177876 -0.15556708 -0.16981797 -0.18445675 -0.19956215 -0.21503774 -0.23089771 -0.24714044 -0.26373464 -0.28068814 -0.29797559 -0.31560008 -0.33353280 -0.35180528 -0.37035226 -0.38920331 -0.40835512 -0.42775936 -0.44742679 -0.46737873 -0.48757093 ! WE_FOPoles - First order system poles [1/s] +3.0000 3.2669 3.5338 3.8007 4.0676 4.3345 4.6014 4.8683 5.1352 5.4021 5.6690 5.9359 6.2028 6.4697 6.7366 7.0034 7.2703 7.5372 7.8041 8.0710 8.3379 8.6048 8.8717 9.1386 9.4055 9.6724 9.9393 10.2062 10.4731 10.7400 11.2153 11.6907 12.1660 12.6413 13.1167 13.5920 14.0673 14.5427 15.0180 15.4933 15.9687 16.4440 16.9193 17.3947 17.8700 18.3453 18.8207 19.2960 19.7713 20.2467 20.7220 21.1973 21.6727 22.1480 22.6233 23.0987 23.5740 24.0493 24.5247 25.0000 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] +-0.02438353 -0.02655283 -0.02872212 -0.03089141 -0.03306071 -0.03523000 -0.03739930 -0.03956859 -0.04173788 -0.04390718 -0.04607647 -0.04824576 -0.05041506 -0.05258435 -0.05475365 -0.05692294 -0.05909223 -0.06126153 -0.06343082 -0.06560011 -0.06776941 -0.06993870 -0.07210800 -0.07427729 -0.07644658 -0.07861588 -0.08078517 -0.08295446 -0.08512376 -0.08490640 -0.05739531 -0.05967534 -0.06643664 -0.07537721 -0.08537869 -0.09664144 -0.10851650 -0.12137925 -0.13453168 -0.14834459 -0.16280188 -0.17753158 -0.19283401 -0.20862160 -0.22461456 -0.24120058 -0.25817445 -0.27538476 -0.29299882 -0.31103587 -0.32941546 -0.34807902 -0.36693717 -0.38625237 -0.40583167 -0.42579305 -0.44596365 -0.46626113 -0.48675074 -0.50756940 ! WE_FOPoles - First order system poles [1/s] !------- YAW CONTROL ------------------------------------------------------ -0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] -0.0 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] +0.13960 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] +0.00000 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] 1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) -0.0 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp -0.0 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.0 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -0.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.0 ! Y_MErrSet - Yaw alignment error, set point [rad] -0.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] -0.0 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] -0.0 ! Y_Rate - Yaw rate [rad/s] +0.00000 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp +0.00000 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki +0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. +1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. +0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad] +0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] +0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] +0.00520 ! Y_Rate - Yaw rate [rad/s] !------- TOWER FORE-AFT DAMPING ------------------------------------------- -1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag @@ -103,17 +107,24 @@ !------- MINIMUM PITCH SATURATION ------------------------------------------- 60 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) 3.0000 3.2669 3.5338 3.8007 4.0676 4.3345 4.6014 4.8683 5.1352 5.4021 5.6690 5.9359 6.2028 6.4697 6.7366 7.0034 7.2703 7.5372 7.8041 8.0710 8.3379 8.6048 8.8717 9.1386 9.4055 9.6724 9.9393 10.2062 10.4731 10.7400 11.2153 11.6907 12.1660 12.6413 13.1167 13.5920 14.0673 14.5427 15.0180 15.4933 15.9687 16.4440 16.9193 17.3947 17.8700 18.3453 18.8207 19.2960 19.7713 20.2467 20.7220 21.1973 21.6727 22.1480 22.6233 23.0987 23.5740 24.0493 24.5247 25.0000 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] -0.06096404 0.06096404 0.06096404 0.06096404 0.06096404 0.05989354 0.05575228 0.05107426 0.04580190 0.03987284 0.03342335 0.02657588 0.01947577 0.01221943 0.00493408 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00840069 0.02280570 0.03537141 0.04647892 0.05404517 0.06482739 0.07508321 0.08495204 0.09451935 0.10383907 0.11295080 0.12188355 0.13065966 0.13929783 0.14781427 0.15622063 0.16452836 0.17274642 0.18088282 0.18894375 0.19693548 0.20486135 0.21272286 0.22052830 0.22827982 0.23598030 0.24362922 0.25122962 0.25878539 0.26629954 0.27376630 0.28119278 0.28858074 0.29592793 0.30323465 ! PS_BldPitchMin - Minimum blade pitch angles [rad] +0.05997374 0.05997374 0.05997374 0.05997374 0.05997374 0.05995230 0.05568017 0.05139305 0.04630957 0.04053154 0.03444871 0.02774193 0.02083682 0.01377992 0.00660717 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00798358 0.02222567 0.03475505 0.04563791 0.05328450 0.06405592 0.07436594 0.08427713 0.09385932 0.10323575 0.11234777 0.12134295 0.13011531 0.13881511 0.14732690 0.15578898 0.16409463 0.17235500 0.18049466 0.18858365 0.19658691 0.20452181 0.21241204 0.22021131 0.22800500 0.23567545 0.24336643 0.25094186 0.25851588 0.26602564 0.27348266 0.28093357 0.28828297 0.29566389 0.30293290 ! PS_BldPitchMin - Minimum blade pitch angles [rad] !------- SHUTDOWN ----------------------------------------------------------- 0.698100000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] 0.418880000000 ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s] !------- Floating ----------------------------------------------------------- --9.32022000000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s] +-9.34645000000 ! Fl_Kp - Nacelle pitching proportional feedback gain [s] !------- FLAP ACTUATION ----------------------------------------------------- 0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad] 0.00000000e+00 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s] 0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [-] -0.174500000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] \ No newline at end of file +0.174500000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] + +!------- Open Loop Control ----------------------------------------------------- +"unused" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file) +0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) +0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad +0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm +0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.fst b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.fst index 7bcc3adf..a2684323 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.fst +++ b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi.fst @@ -3,8 +3,8 @@ IEA 15 MW offshore reference model on UMaine VolturnUS-S semi-submersible floati ---------------------- SIMULATION CONTROL -------------------------------------- False Echo - Echo input data to .ech (flag) "FATAL" AbortLevel - Error level when simulation should abort (string) {"WARNING", "SEVERE", "FATAL"} -150.0 TMax - Total run time (s) -0.025 DT - Integration time step (s) +10.0 TMax - Total run time (s) +0.0125 DT - Integration time step (s) 2 InterpOrder - Interpolation order for input/output time history (-) {1=linear, 2=quadratic} 0 NumCrctn - Number of correction iterations (-) {0=explicit calculation, i.e., no corrections} 99999.0 DT_UJac - Time between calls to get Jacobians (s) @@ -18,6 +18,17 @@ False Echo - Echo input data to .ech (flag) 0 CompSub - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn} 3 CompMooring - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex} 0 CompIce - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn} + 0 MHK - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine} +---------------------- ENVIRONMENTAL CONDITIONS -------------------------------- + 9.80665 Gravity - Gravitational acceleration (m/s^2) + 1.225 AirDens - Air density (kg/m^3) + 1025 WtrDens - Water density (kg/m^3) + 1.464E-05 KinVisc - Kinematic viscosity of working fluid (m^2/s) + 335 SpdSound - Speed of sound in working fluid (m/s) + 103500 Patm - Atmospheric pressure (Pa) [used only for an MHK turbine cavitation check] + 1700 Pvap - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check] + 50 WtrDpth - Water depth (m) + 0 MSL2SWL - Offset between still-water level and mean sea level (m) [positive upward] ---------------------- INPUT FILES --------------------------------------------- "IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat" EDFile - Name of file containing ElastoDyn input parameters (quoted string) "" BDBldFile(1) - Name of file containing BeamDyn input parameters for blade 1 (quoted string) @@ -36,7 +47,7 @@ False SumPrint - Print summary data to ".sum" (fl 99999.0 ChkptTime - Amount of time between creating checkpoint files for potential restart (s) default DT_Out - Time step for tabular output (s) (or "default") 0.000000 TStart - Time to begin tabular output (s) -2 OutFileFmt - Format for tabular (time-marching) output file (switch) {1: text file [.out], 2: binary file [.outb], 3: both} +3 OutFileFmt - Format for tabular (time-marching) output file (switch) {1: text file [.out], 2: binary file [.outb], 3: both} True TabDelim - Use tab delimiters in text tabular output file? (flag) {uses spaces if false} "ES10.3E2" OutFmt - Format used for text tabular output, excluding the time channel. Resulting field should be 10 characters. (quoted string) ---------------------- LINEARIZATION ------------------------------------------- diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat index 30146386..8d74a1f8 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat +++ b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ElastoDyn.dat @@ -4,8 +4,6 @@ IEA 15 MW offshore reference model on UMaine VolturnUS-S semi-submersible floati False Echo - Echo input data to ".ech" (flag) 3 Method - Integration method: {1: RK4, 2: AB4, or 3: ABM4} (-) "default" DT Integration time step (s) ----------------------- ENVIRONMENTAL CONDITION --------------------------------- - 9.80665 Gravity - Gravitational acceleration (m/s^2) ---------------------- DEGREES OF FREEDOM -------------------------------------- True FlapDOF1 - First flapwise blade mode DOF (flag) True FlapDOF2 - Second flapwise blade mode DOF (flag) @@ -13,7 +11,7 @@ True EdgeDOF - First edgewise blade mode DOF (flag) False TeetDOF - Rotor-teeter DOF (flag) [unused for 3 blades] False DrTrDOF - Drivetrain rotational-flexibility DOF (flag) True GenDOF - Generator DOF (flag) -False YawDOF - Yaw DOF (flag) +True YawDOF - Yaw DOF (flag) True TwFADOF1 - First fore-aft tower bending-mode DOF (flag) True TwFADOF2 - Second fore-aft tower bending-mode DOF (flag) True TwSSDOF1 - First side-to-side tower bending-mode DOF (flag) @@ -32,7 +30,7 @@ True PtfmYDOF - Platform yaw rotation DOF (flag) 1. BlPitch(3) - Blade 3 initial pitch (degrees) [unused for 2 blades] 0 TeetDefl - Initial or fixed teeter angle (degrees) [unused for 3 blades] 0 Azimuth - Initial azimuth angle for blade 1 (degrees) - 6. RotSpeed - Initial or fixed rotor speed (rpm) + 5. RotSpeed - Initial or fixed rotor speed (rpm) 0 NacYaw - Initial or fixed nacelle-yaw angle (degrees) 0 TTDspFA - Initial fore-aft tower-top displacement (meters) 0 TTDspSS - Initial side-to-side tower-top displacement (meters) diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ServoDyn.dat b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ServoDyn.dat index 2bde0d1b..f402ab4b 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ServoDyn.dat +++ b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT-UMaineSemi_ServoDyn.dat @@ -49,14 +49,19 @@ True GenTiStp - Method to stop the generator {T: timed usin 0.6 HSSBrDT - Time for HSS-brake to reach full deployment once initiated (sec) [used only when HSSBrMode=1] 28116.2 HSSBrTqF - Fully deployed HSS-brake torque (N-m) ---------------------- NACELLE-YAW CONTROL ------------------------------------- -0 YCMode - Yaw control mode {0: none, 3: user-defined from routine UserYawCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) -9999.9 TYCOn - Time to enable active yaw control (s) [unused when YCMode=0] +5 YCMode - Yaw control mode {0: none, 3: user-defined from routine UserYawCont, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) +0 TYCOn - Time to enable active yaw control (s) [unused when YCMode=0] 0.0 YawNeut - Neutral yaw position--yaw spring force is zero at this yaw (degrees) 4.6273E+10 YawSpr - Nacelle-yaw spring constant (N-m/rad) 3.9088E+07 YawDamp - Nacelle-yaw damping constant (N-m/(rad/s)) 9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s) 2.0 YawManRat - Yaw maneuver rate (in absolute value) (deg/s) 0.0 NacYawF - Final yaw angle for override yaw maneuvers (degrees) +---------------------- AERODYNAMIC FLOW CONTROL -------------------------------- + 0 AfCmode - Airfoil control mode {0: none, 1: cosine wave cycle, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) + 0 AfC_Mean - Mean level for cosine cycling or steady value (-) [used only with AfCmode==1] + 0 AfC_Amp - Amplitude for for cosine cycling of flap signal (-) [used only with AfCmode==1] + 0 AfC_Phase - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1] ---------------------- STRUCTURAL CONTROL -------------------------------------- 0 NumBStC - Number of blade structural controllers (integer) "unused" BStCfiles - Name of the files for blade structural controllers (quoted strings) [unused when NumBStC==0] @@ -66,9 +71,11 @@ True GenTiStp - Method to stop the generator {T: timed usin "unused" TStCfiles - Name of the files for tower structural controllers (quoted strings) [unused when NumTStC==0] 0 NumSStC - Number of substructure structural controllers (integer) "unused" SStCfiles - Name of the files for substructure structural controllers (quoted strings) [unused when NumSStC==0] +---------------------- CABLE CONTROL ------------------------------------------- + 0 CCmode - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface] "../../ROSCO/install/lib/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface] -"ServoData/DISCON-UMaineSemi.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface] +"DISCON-UMaineSemi.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface] "DISCON" DLL_ProcName - Name of procedure in DLL to be called (-) [case sensitive; used only with DLL Interface] "default" DLL_DT - Communication interval for dynamic library (s) (or "default") [used only with Bladed Interface] False DLL_Ramp - Whether a linear ramp should be used between DLL_DT time steps [introduces time shift when true] (flag) [used only with Bladed Interface] diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT_AeroDyn15.dat b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT_AeroDyn15.dat index ced863ef..585bd715 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT_AeroDyn15.dat +++ b/Test_Cases/IEA-15-240-RWT-UMaineSemi/IEA-15-240-RWT_AeroDyn15.dat @@ -13,12 +13,11 @@ False CavitCheck - Perform cavitation check? (flag) [AFAeroMo False CompAA - Flag to compute AeroAcoustics calculation [used only when WakeMod = 1 or 2] "AeroAcousticsInput.dat" AA_InputFile - AeroAcoustics input file [used only when CompAA=true] ====== Environmental Conditions =================================================================== - 1.225000000000000e+00 AirDens - Air density (kg/m^3) - 1.479232653061225e-05 KinVisc - Kinematic air viscosity (m^2/s) - 3.350000000000000e+02 SpdSound - Speed of sound (m/s) - 1.035000000000000e+05 Patm - Atmospheric pressure (Pa) [used only when CavitCheck=True] - 1.700000000000000e+03 Pvap - Vapour pressure of fluid (Pa) [used only when CavitCheck=True] - 5.000000000000000e-01 FluidDepth - Water depth above mid-hub height (m) [used only when CavitCheck=True] +"default" AirDens - Air density (kg/m^3) +"default" KinVisc - Kinematic air viscosity (m^2/s) +"default" SpdSound - Speed of sound (m/s) +"default" Patm - Atmospheric pressure (Pa) [used only when CavitCheck=True] +"default" Pvap - Vapour pressure of fluid (Pa) [used only when CavitCheck=True] ====== Blade-Element/Momentum Theory Options ====================================================== [used only when WakeMod=1] 2 SkewMod - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [unused when WakeMod=0 or 3] "default" SkewModFactor - Constant used in Pitt/Peters skewed wake model {or "default" is 15/32*pi} (-) [used only when SkewMod=2; unused when WakeMod=0 or 3] @@ -37,6 +36,8 @@ True TIDrag - Include the drag term in the tangential-ind ====== Beddoes-Leishman Unsteady Airfoil Aerodynamics Options ===================================== [used only when AFAeroMod=2] 3 UAMod - Unsteady Aero Model Switch (switch) {1=Baseline model (Original), 2=Gonzalez's variant (changes in Cn,Cc,Cm), 3=Minnema/Pierce variant (changes in Cc and Cm)} [used only when AFAeroMod=2] True FLookup - Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when AFAeroMod=2] +0.0 UAStartRad - Starting radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2] +1.0 UAEndRad - Ending radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2] ====== Airfoil Information ========================================================================= 1 AFTabMod - Interpolation method for multiple airfoil tables {1=1D interpolation on AoA (first table only); 2=2D interpolation on AoA and Re; 3=2D interpolation on AoA and UserProp} (-) 1 InCol_Alfa - The column in the airfoil tables that contains the angle of attack (-) @@ -100,22 +101,22 @@ True UseBlCm - Include aerodynamic pitching moment in calc "IEA-15-240-RWT_AeroDyn15_blade.dat" ADBlFile(1) - Name of file containing distributed aerodynamic properties for Blade #1 (-) "IEA-15-240-RWT_AeroDyn15_blade.dat" ADBlFile(2) - Name of file containing distributed aerodynamic properties for Blade #2 (-) [unused if NumBl < 2] "IEA-15-240-RWT_AeroDyn15_blade.dat" ADBlFile(3) - Name of file containing distributed aerodynamic properties for Blade #3 (-) [unused if NumBl < 3] -====== Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True] -11 NumTwrNds - Number of tower nodes used in the analysis (-) [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True] -TwrElev TwrDiam TwrCd TwrTI (used only with TwrShadow=2) -(m) (m) (-) (-) - 15. 10. 1. 1.0e-1 - 28. 10. 1. 1.0e-1 - 41. 9.926 1. 1.0e-1 - 54. 9.443 1. 1.0e-1 - 67. 8.833 1. 1.0e-1 - 80. 8.151 1. 1.0e-1 - 93. 7.39 1. 1.0e-1 - 106. 6.909 1. 1.0e-1 - 119. 6.748 1. 1.0e-1 - 132. 6.572 1. 1.0e-1 - 144.495 6.5 1. 1.0e-1 -====== Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow=True, or TwrAero=True] +====== Tower Influence and Aerodynamics ============================================================= [used only when TwrPotent/=0, TwrShadow/=0, or TwrAero=True] +11 NumTwrNds - Number of tower nodes used in the analysis (-) [used only when TwrPotent/=0, TwrShadow/=0, or TwrAero=True] +TwrElev TwrDiam TwrCd TwrTI (used only with TwrShadow=2) +(m) (m) (-) (-) + 15. 10. 0.5 0.1 + 28. 10. 0.5 0.1 + 41. 9.926 0.5 0.1 + 54. 9.443 0.5 0.1 + 67. 8.833 0.5 0.1 + 80. 8.151 0.5 0.1 + 93. 7.39 0.5 0.1 + 106. 6.909 0.5 0.1 + 119. 6.748 0.5 0.1 + 132. 6.572 0.5 0.1 + 144.386 6.5 0.5 0.1 +====== Outputs ==================================================================================== True SumPrint - Generate a summary file listing input options and interpolated properties to ".AD.sum"? (flag) 9 NBlOuts - Number of blade node outputs [0 - 9] (-) 1, 6, 11, 20, 30, 38, 43, 47, 50 BlOutNd - Blade nodes whose values will be output (-) diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/DISCON-UMaineSemi.IN b/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/DISCON-UMaineSemi.IN deleted file mode 100644 index e967e2f4..00000000 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/DISCON-UMaineSemi.IN +++ /dev/null @@ -1,119 +0,0 @@ -! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine -! - File written using ROSCO version 2.2.0 controller tuning logic on 06/02/21 - -!------- DEBUG ------------------------------------------------------------ -1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} - -!------- CONTROLLER FLAGS ------------------------------------------------- -2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals -2 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion} -0 ! IPC_ControlMode - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} -2 ! VS_ControlMode - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control with constant torque, 3: TSR tracking PI control with constant power} -1 ! PC_ControlMode - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} -0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} -1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} -2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} -1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} -0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} -2 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} -0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} - -!------- FILTERS ---------------------------------------------------------- -1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] -0.70000 ! F_LPFDamping - Damping coefficient {used only when F_FilterType = 2} [-] -3.35500 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.628320000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. -0.21300 1.00000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. -1.16240 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. - -!------- BLADE PITCH CONTROL ---------------------------------------------- -30 ! PC_GS_n - Amount of gain-scheduling table entries -0.060198 0.087134 0.108448 0.126859 0.143398 0.158602 0.172796 0.186189 0.198928 0.211120 0.222850 0.234173 0.245147 0.255807 0.266195 0.276325 0.286231 0.295933 0.305445 0.314779 0.323952 0.332975 0.341858 0.350608 0.359236 0.367748 0.376149 0.384447 0.392644 0.400744 ! PC_GS_angles - Gain-schedule table: pitch angles [rad]. --1.598670 -1.403333 -1.241551 -1.105363 -0.989139 -0.888791 -0.801272 -0.724271 -0.655999 -0.595051 -0.540309 -0.490871 -0.446001 -0.405095 -0.367649 -0.333242 -0.301519 -0.272177 -0.244958 -0.219639 -0.196029 -0.173960 -0.153286 -0.133879 -0.115625 -0.098425 -0.082190 -0.066841 -0.052308 -0.038527 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s]. --0.206015 -0.186658 -0.170625 -0.157129 -0.145612 -0.135667 -0.126994 -0.119364 -0.112598 -0.106558 -0.101133 -0.096234 -0.091788 -0.087734 -0.084023 -0.080613 -0.077470 -0.074562 -0.071864 -0.069355 -0.067016 -0.064829 -0.062780 -0.060857 -0.059048 -0.057343 -0.055734 -0.054213 -0.052773 -0.051408 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-]. -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) -1.570800000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. -0.000000000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. -0.034900000000 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. --0.03490000000 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. -0.791680000000 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s]. -0.000000000000 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] -0.017450000000 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad] - -!------- INDIVIDUAL PITCH CONTROL ----------------------------------------- -0.1 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -0.0e+00 0.0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.0e+00 0.0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. -0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] - -!------- VS TORQUE CONTROL ------------------------------------------------ -96.55000000000 ! VS_GenEff - Generator efficiency mechanical power -> electrical power, [should match the efficiency defined in the generator properties!], [%] -19624046.66639 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] -4500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. -21586451.33303 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -0.523600000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -34937749.21735 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2] -15000000.00000 ! VS_RtPwr - Wind turbine rated power [W] -19624046.66639 ! VS_RtTq - Rated torque, [Nm]. -0.791680000000 ! VS_RefSpd - Rated generator speed [rad/s] -1 ! VS_n - Number of generator PI torque controller gains --38676765.16943 ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) --4588245.18720 ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -9.00 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. - -!------- SETPOINT SMOOTHER --------------------------------------------- -1.00000 ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-]. -0.00100 ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-]. - -!------- WIND SPEED ESTIMATOR --------------------------------------------- -120.000 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m] -1 ! WE_CP_n - Amount of parameters in the Cp array -0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function -0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] -1.0 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -318628138.00000 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] -1.225 ! WE_RhoAir - Air density, [kg m^-3] -"Cp_Ct_Cq.IEA15MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) -104 72 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios -60 ! WE_FOPoles_N - Number of first-order system poles used in EKF -3.00 3.27 3.53 3.80 4.07 4.33 4.60 4.87 5.14 5.40 5.67 5.94 6.20 6.47 6.74 7.00 7.27 7.54 7.80 8.07 8.34 8.60 8.87 9.14 9.41 9.67 9.94 10.21 10.47 10.74 11.22 11.69 12.17 12.64 13.12 13.59 14.07 14.54 15.02 15.49 15.97 16.44 16.92 17.39 17.87 18.35 18.82 19.30 19.77 20.25 20.72 21.20 21.67 22.15 22.62 23.10 23.57 24.05 24.52 25.00 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] --0.02366483 -0.02577018 -0.02787553 -0.02998089 -0.03208624 -0.03419159 -0.03629695 -0.03840230 -0.04050765 -0.04261301 -0.04471836 -0.04682371 -0.04892907 -0.05103442 -0.05313977 -0.05524513 -0.05735048 -0.05945583 -0.06156119 -0.06366654 -0.06577189 -0.06787725 -0.06998260 -0.07208795 -0.07419331 -0.07629866 -0.07840401 -0.08050937 -0.08261472 -0.07921295 -0.05363855 -0.05601196 -0.06228621 -0.07050010 -0.08000290 -0.09048156 -0.10174863 -0.11365942 -0.12615707 -0.13917960 -0.15270665 -0.16669562 -0.18106141 -0.19588503 -0.21106595 -0.22664340 -0.24258187 -0.25886648 -0.27550565 -0.29248186 -0.30978187 -0.32738614 -0.34531736 -0.36353035 -0.38202289 -0.40082810 -0.41987220 -0.43918834 -0.45876266 -0.47857910 ! WE_FOPoles - First order system poles [1/s] - -!------- YAW CONTROL ------------------------------------------------------ -0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] -0.0 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] -1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) -0.0 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp -0.0 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.0 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -0.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.0 ! Y_MErrSet - Yaw alignment error, set point [rad] -0.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] -0.0 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] -0.0 ! Y_Rate - Yaw rate [rad/s] - -!------- TOWER FORE-AFT DAMPING ------------------------------------------- --1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag -0.0 ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] -0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] - -!------- MINIMUM PITCH SATURATION ------------------------------------------- -60 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) -3.0000 3.2669 3.5338 3.8007 4.0676 4.3345 4.6014 4.8683 5.1352 5.4021 5.6690 5.9359 6.2028 6.4697 6.7366 7.0034 7.2703 7.5372 7.8041 8.0710 8.3379 8.6048 8.8717 9.1386 9.4055 9.6724 9.9393 10.2062 10.4731 10.7400 11.2153 11.6907 12.1660 12.6413 13.1167 13.5920 14.0673 14.5427 15.0180 15.4933 15.9687 16.4440 16.9193 17.3947 17.8700 18.3453 18.8207 19.2960 19.7713 20.2467 20.7220 21.1973 21.6727 22.1480 22.6233 23.0987 23.5740 24.0493 24.5247 25.0000 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] -0.06981317 0.06981317 0.06981317 0.06544985 0.06108652 0.06108652 0.05672320 0.05235988 0.04363323 0.03926991 0.03054326 0.02617994 0.01745329 0.01308997 0.00436332 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00000000 0.00846242 0.02297908 0.03562095 0.04679173 0.05441817 0.06531126 0.07566895 0.08563939 0.09530571 0.10472222 0.11392608 0.12294997 0.13181647 0.14054481 0.14914972 0.15764424 0.16603901 0.17434237 0.18256207 0.19070469 0.19877714 0.20678372 0.21472883 0.22261606 0.23044510 0.23822156 0.24594897 0.25362874 0.26126159 0.26884689 0.27639120 0.28389435 0.29135253 0.29877202 0.30615320 ! PS_BldPitchMin - Minimum blade pitch angles [rad] - -!------- SHUTDOWN ----------------------------------------------------------- -0.400740000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] -0.418880000000 ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s] - -!------- Floating ----------------------------------------------------------- --9.37521000000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s] - -!------- FLAP ACTUATION ----------------------------------------------------- -0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad] -0.00000000e+00 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s] -0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [-] -0.000000000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] \ No newline at end of file diff --git a/Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt b/Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt index 5d1dfb81..4324d3bb 100644 --- a/Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt +++ b/Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt @@ -1,165 +1,99 @@ -# ----- Rotor performance tables for the 5MW_Land wind turbine ----- -# ------------ Written on Dec-11-19 using the ROSCO toolbox ------------ +# ----- Rotor performance tables for the NREL-5MW wind turbine ----- +# ------------ Written on Jan-13-22 using the ROSCO toolbox ------------ -# Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.75 -0.5 -0.25 0.0 0.25 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 21.0 21.25 21.5 21.75 22.0 22.25 22.5 22.75 23.0 23.25 23.5 23.75 24.0 24.25 24.5 24.75 -# TSR vector - y axis (matrix rows) (-) -3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 +# Pitch angle vector, 36 entries - x axis (matrix columns) (deg) +-5.0 -4.0 -3.0 -2.0 -1.0 0.0 1.0 2.0 3.0 4.0 5.0 6.0 7.0 8.0 9.0 10.0 11.0 12.0 13.0 14.0 15.0 16.0 17.0 18.0 19.0 20.0 21.0 22.0 23.0 24.0 25.0 26.0 27.0 28.0 29.0 30.0 +# TSR vector, 26 entries - y axis (matrix rows) (-) +2.0 2.5 3.0 3.5 4.0 4.5 5.0 5.5 6.0 6.5 7.0 7.5 8.0 8.5 9.0 9.5 10.0 10.5 11.0 11.5 12.0 12.5 13.0 13.5 14.0 14.5 # Wind speed vector - z axis (m/s) 11.4 # Power coefficient -0.091629 0.094090 0.096514 0.098901 0.101250 0.103558 0.105826 0.108050 0.110232 0.112368 0.114459 0.116502 0.118497 0.120443 0.122338 0.124181 0.125970 0.127706 0.129385 0.131007 0.132570 0.134072 0.135514 0.136893 0.138207 0.139457 0.140640 0.141756 0.142804 0.143784 0.144696 0.145540 0.146319 0.147030 0.147676 0.148255 0.148769 0.149219 0.149605 0.149928 0.150188 0.150383 0.150515 0.150582 0.150587 0.150529 0.150409 0.150227 0.149981 0.149673 0.149302 0.148871 0.148380 0.147828 0.147217 0.146545 0.145811 0.145012 0.144149 0.143217 0.142214 0.141136 0.139979 0.138743 0.137424 0.136025 0.134547 0.132992 0.131362 0.129656 0.127872 0.126011 0.124072 0.122058 0.119971 0.117813 0.115588 0.113295 0.110934 0.108508 0.106015 0.103458 0.100837 0.098154 0.095410 0.092608 0.089752 0.086846 0.083892 0.080893 0.077851 0.074769 0.071649 0.068492 0.065301 0.062077 0.058822 0.055539 0.052227 0.048890 0.045528 0.042142 0.038734 0.035304 -0.116951 0.119633 0.122262 0.124837 0.127357 0.129822 0.132229 0.134577 0.136866 0.139093 0.141257 0.143357 0.145391 0.147359 0.149256 0.151083 0.152836 0.154515 0.156117 0.157641 0.159088 0.160454 0.161741 0.162950 0.164079 0.165130 0.166105 0.167003 0.167825 0.168571 0.169242 0.169838 0.170360 0.170805 0.171174 0.171466 0.171682 0.171819 0.171879 0.171861 0.171764 0.171588 0.171336 0.171008 0.170606 0.170128 0.169575 0.168945 0.168237 0.167448 0.166576 0.165617 0.164569 0.163426 0.162185 0.160846 0.159410 0.157879 0.156255 0.154538 0.152730 0.150828 0.148831 0.146743 0.144564 0.142300 0.139952 0.137521 0.135007 0.132410 0.129730 0.126968 0.124126 0.121205 0.118210 0.115142 0.112008 0.108810 0.105552 0.102237 0.098867 0.095445 0.091974 0.088456 0.084893 0.081287 0.077641 0.073957 0.070235 0.066479 0.062689 0.058868 0.055017 0.051137 0.047230 0.043296 0.039337 0.035354 0.031348 0.027320 0.023271 0.019201 0.015112 0.011004 -0.143862 0.146710 0.149490 0.152200 0.154839 0.157404 0.159895 0.162309 0.164643 0.166896 0.169066 0.171151 0.173150 0.175060 0.176880 0.178611 0.180251 0.181803 0.183265 0.184640 0.185928 0.187129 0.188241 0.189267 0.190205 0.191056 0.191818 0.192491 0.193072 0.193560 0.193953 0.194251 0.194452 0.194558 0.194569 0.194485 0.194306 0.194033 0.193665 0.193202 0.192641 0.191981 0.191217 0.190345 0.189362 0.188264 0.187047 0.185711 0.184260 0.182697 0.181024 0.179239 0.177341 0.175330 0.173207 0.170975 0.168638 0.166200 0.163663 0.161026 0.158290 0.155454 0.152519 0.149487 0.146359 0.143140 0.139836 0.136450 0.132987 0.129450 0.125842 0.122168 0.118428 0.114626 0.110765 0.106847 0.102873 0.098848 0.094773 0.090650 0.086481 0.082269 0.078015 0.073720 0.069388 0.065019 0.060615 0.056178 0.051708 0.047209 0.042680 0.038124 0.033540 0.028930 0.024295 0.019636 0.014953 0.010246 0.005517 0.000766 -0.004006 -0.008797 -0.013605 -0.018429 -0.171932 0.174905 0.177790 0.180588 0.183294 0.185908 0.188427 0.190850 0.193175 0.195403 0.197534 0.199566 0.201501 0.203338 0.205076 0.206715 0.208255 0.209695 0.211037 0.212277 0.213415 0.214446 0.215369 0.216180 0.216879 0.217463 0.217933 0.218287 0.218522 0.218640 0.218638 0.218516 0.218273 0.217907 0.217414 0.216790 0.216030 0.215131 0.214090 0.212908 0.211586 0.210129 0.208538 0.206813 0.204952 0.202955 0.200823 0.198564 0.196182 0.193680 0.191059 0.188319 0.185457 0.182475 0.179375 0.176161 0.172837 0.169410 0.165885 0.162267 0.158560 0.154765 0.150886 0.146927 0.142889 0.138777 0.134591 0.130336 0.126013 0.121624 0.117173 0.112661 0.108090 0.103464 0.098783 0.094050 0.089268 0.084438 0.079562 0.074642 0.069681 0.064680 0.059641 0.054566 0.049456 0.044313 0.039138 0.033932 0.028696 0.023431 0.018137 0.012815 0.007466 0.002088 -0.003316 -0.008748 -0.014204 -0.019684 -0.025186 -0.030707 -0.036245 -0.041797 -0.047359 -0.052929 -0.200838 0.203909 0.206880 0.209749 0.212515 0.215177 0.217734 0.220184 0.222527 0.224762 0.226889 0.228905 0.230809 0.232599 0.234272 0.235824 0.237251 0.238552 0.239722 0.240758 0.241657 0.242415 0.243028 0.243492 0.243808 0.243972 0.243980 0.243829 0.243513 0.243029 0.242372 0.241542 0.240542 0.239376 0.238048 0.236558 0.234906 0.233091 0.231115 0.228985 0.226706 0.224284 0.221720 0.219013 0.216162 0.213169 0.210037 0.206769 0.203372 0.199853 0.196218 0.192471 0.188618 0.184663 0.180611 0.176464 0.172226 0.167902 0.163490 0.158992 0.154412 0.149750 0.145010 0.140193 0.135302 0.130339 0.125305 0.120204 0.115036 0.109806 0.104515 0.099166 0.093761 0.088304 0.082795 0.077238 0.071634 0.065985 0.060294 0.054562 0.048792 0.042985 0.037141 0.031263 0.025350 0.019404 0.013425 0.007413 0.001367 -0.004712 -0.010825 -0.016971 -0.023149 -0.029358 -0.035596 -0.041859 -0.048144 -0.054447 -0.060765 -0.067093 -0.073427 -0.079763 -0.086097 -0.092426 -0.230641 0.233863 0.236973 0.239972 0.242855 0.245621 0.248266 0.250787 0.253179 0.255440 0.257564 0.259547 0.261384 0.263068 0.264592 0.265950 0.267134 0.268139 0.268962 0.269596 0.270033 0.270266 0.270291 0.270103 0.269702 0.269091 0.268276 0.267262 0.266050 0.264640 0.263035 0.261238 0.259259 0.257104 0.254781 0.252291 0.249631 0.246804 0.243811 0.240656 0.237346 0.233888 0.230290 0.226559 0.222701 0.218721 0.214623 0.210414 0.206096 0.201671 0.197143 0.192516 0.187792 0.182972 0.178060 0.173059 0.167965 0.162781 0.157510 0.152152 0.146709 0.141185 0.135580 0.129898 0.124142 0.118313 0.112415 0.106451 0.100424 0.094335 0.088188 0.081986 0.075731 0.069425 0.063071 0.056670 0.050224 0.043736 0.037206 0.030636 0.024026 0.017376 0.010688 0.003960 -0.002807 -0.009616 -0.016466 -0.023356 -0.030288 -0.037259 -0.044268 -0.051312 -0.058387 -0.065489 -0.072612 -0.079752 -0.086902 -0.094058 -0.101212 -0.108359 -0.115495 -0.122615 -0.129714 -0.136785 -0.261843 0.265283 0.268590 0.271760 0.274786 0.277662 0.280380 0.282931 0.285305 0.287491 0.289480 0.291263 0.292831 0.294173 0.295276 0.296129 0.296725 0.297061 0.297136 0.296955 0.296523 0.295844 0.294921 0.293755 0.292352 0.290723 0.288880 0.286834 0.284588 0.282145 0.279505 0.276672 0.273653 0.270456 0.267088 0.263559 0.259875 0.256045 0.252073 0.247964 0.243724 0.239357 0.234867 0.230258 0.225534 0.220697 0.215750 0.210693 0.205528 0.200257 0.194884 0.189409 0.183835 0.178163 0.172392 0.166522 0.160556 0.154496 0.148345 0.142104 0.135777 0.129367 0.122876 0.116308 0.109666 0.102954 0.096173 0.089328 0.082421 0.075455 0.068432 0.061354 0.054224 0.047043 0.039813 0.032535 0.025211 0.017841 0.010424 0.002961 -0.004550 -0.012108 -0.019716 -0.027374 -0.035082 -0.042840 -0.050648 -0.058502 -0.066401 -0.074338 -0.082309 -0.090307 -0.098326 -0.106357 -0.114392 -0.122424 -0.130445 -0.138446 -0.146420 -0.154363 -0.162266 -0.170124 -0.177931 -0.185684 -0.294863 0.298505 0.301962 0.305222 0.308270 0.311094 0.313679 0.316009 0.318064 0.319831 0.321297 0.322455 0.323302 0.323836 0.324063 0.323982 0.323596 0.322909 0.321931 0.320676 0.319159 0.317394 0.315387 0.313144 0.310673 0.307981 0.305081 0.301981 0.298693 0.295227 0.291589 0.287788 0.283829 0.279718 0.275460 0.271060 0.266521 0.261847 0.257041 0.252105 0.247043 0.241857 0.236549 0.231120 0.225572 0.219908 0.214126 0.208228 0.202218 0.196097 0.189865 0.183527 0.177082 0.170528 0.163868 0.157105 0.150242 0.143280 0.136225 0.129078 0.121843 0.114525 0.107126 0.099649 0.092099 0.084478 0.076788 0.069034 0.061217 0.053339 0.045403 0.037410 0.029361 0.021257 0.013099 0.004887 -0.003381 -0.011704 -0.020085 -0.028525 -0.037025 -0.045586 -0.054207 -0.062889 -0.071630 -0.080425 -0.089270 -0.098159 -0.107085 -0.116037 -0.125006 -0.133983 -0.142955 -0.151912 -0.160842 -0.169738 -0.178589 -0.187388 -0.196127 -0.204800 -0.213403 -0.221937 -0.230401 -0.238803 -0.329311 0.332920 0.336237 0.339238 0.341909 0.344236 0.346210 0.347822 0.349067 0.349940 0.350441 0.350569 0.350333 0.349747 0.348830 0.347600 0.346067 0.344242 0.342138 0.339774 0.337166 0.334331 0.331285 0.328038 0.324600 0.320979 0.317182 0.313216 0.309084 0.304793 0.300346 0.295746 0.290998 0.286104 0.281067 0.275889 0.270572 0.265117 0.259527 0.253801 0.247942 0.241952 0.235830 0.229580 0.223202 0.216695 0.210063 0.203309 0.196432 0.189437 0.182326 0.175094 0.167744 0.160280 0.152703 0.145017 0.137227 0.129335 0.121345 0.113263 0.105091 0.096832 0.088492 0.080073 0.071578 0.063009 0.054370 0.045662 0.036887 0.028047 0.019143 0.010175 0.001142 -0.007954 -0.017117 -0.026347 -0.035646 -0.045015 -0.054458 -0.063973 -0.073561 -0.083220 -0.092948 -0.102741 -0.112590 -0.122488 -0.132424 -0.142387 -0.152364 -0.162340 -0.172302 -0.182233 -0.192122 -0.201958 -0.211729 -0.221427 -0.231043 -0.240572 -0.250012 -0.259364 -0.268632 -0.277826 -0.286960 -0.296054 -0.363235 0.366309 0.368978 0.371230 0.373053 0.374438 0.375380 0.375886 0.375969 0.375647 0.374938 0.373855 0.372418 0.370650 0.368578 0.366227 0.363623 0.360786 0.357731 0.354468 0.351009 0.347359 0.343525 0.339511 0.335322 0.330963 0.326436 0.321744 0.316891 0.311880 0.306713 0.301391 0.295917 0.290292 0.284516 0.278591 0.272516 0.266292 0.259921 0.253403 0.246740 0.239933 0.232985 0.225896 0.218665 0.211296 0.203791 0.196152 0.188381 0.180479 0.172444 0.164280 0.155989 0.147575 0.139044 0.130399 0.121644 0.112784 0.103824 0.094766 0.085616 0.076376 0.067050 0.057641 0.048151 0.038582 0.028937 0.019216 0.009421 -0.000449 -0.010394 -0.020416 -0.030515 -0.040694 -0.050955 -0.061300 -0.071731 -0.082249 -0.092853 -0.103541 -0.114309 -0.125152 -0.136059 -0.147022 -0.158026 -0.169057 -0.180098 -0.191131 -0.202138 -0.213101 -0.224004 -0.234835 -0.245580 -0.256230 -0.266776 -0.277212 -0.287537 -0.297755 -0.307874 -0.317905 -0.327870 -0.337795 -0.347709 -0.357642 -0.393962 0.396077 0.397689 0.398800 0.399420 0.399559 0.399240 0.398486 0.397328 0.395802 0.393945 0.391789 0.389360 0.386683 0.383774 0.380647 0.377313 0.373778 0.370046 0.366123 0.362012 0.357717 0.353240 0.348584 0.343753 0.338749 0.333573 0.328229 0.322716 0.317037 0.311193 0.305182 0.299007 0.292666 0.286159 0.279488 0.272652 0.265651 0.258486 0.251160 0.243673 0.236029 0.228225 0.220263 0.212146 0.203878 0.195460 0.186895 0.178183 0.169323 0.160320 0.151179 0.141904 0.132499 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-0.764242 -0.833635 -0.896797 -0.950560 -0.998368 -1.044827 +0.427324 0.444280 0.455448 0.462056 0.464498 0.462253 0.454597 0.441298 0.422256 0.397517 0.367139 0.331124 0.289519 0.242518 0.190536 0.134077 0.073568 0.009566 -0.057573 -0.127803 -0.201376 -0.278345 -0.358171 -0.439117 -0.518328 -0.593032 -0.663068 -0.731776 -0.804602 -0.885395 -0.971040 -1.052725 -1.123154 -1.184540 -1.242706 -1.302084 +0.413889 0.430080 0.443986 0.455667 0.463490 0.465861 0.461379 0.449315 0.429515 0.402103 0.367325 0.325347 0.276400 0.220931 0.159637 0.093102 0.021935 -0.053297 -0.132381 -0.215535 -0.302917 -0.394172 -0.487834 -0.580989 -0.669719 -0.752399 -0.831452 -0.912845 -1.003839 -1.105589 -1.208911 -1.301214 -1.380509 -1.453087 -1.525242 -1.600224 +0.390738 0.409602 0.427384 0.443933 0.457445 0.465005 0.464411 0.454181 0.433864 0.403639 0.364016 0.315425 0.258360 0.193623 0.122136 0.044567 -0.038313 -0.126023 -0.218606 -0.316340 -0.419059 -0.525699 -0.633667 -0.738622 -0.836834 -0.928785 -1.019688 -1.118620 -1.233318 -1.358741 -1.478110 -1.581346 -1.672639 -1.759983 -1.849169 -1.941926 +0.363054 0.386720 0.409228 0.429996 0.447852 0.460425 0.463989 0.456010 0.435373 0.402165 0.357222 0.301344 0.235402 0.160566 0.077923 -0.011703 -0.107479 -0.209107 -0.316861 -0.430808 -0.550233 -0.673151 -0.795604 -0.912315 -1.020857 -1.123956 -1.230487 -1.353172 -1.496497 -1.645302 -1.779751 -1.896314 -2.002958 -2.108318 -2.217267 -2.330606 +0.332023 0.361556 0.389367 0.414649 0.436246 0.452807 0.460431 0.454894 0.434075 0.397696 0.346937 0.283092 0.207494 0.121668 0.026850 -0.075950 -0.185943 -0.303110 -0.427726 -0.559435 -0.696810 -0.836734 -0.973950 -1.103096 -1.222996 -1.339770 -1.467400 -1.620400 -1.794614 -1.965735 -2.116279 -2.249130 -2.374431 -2.500966 -2.632648 -2.770283 +0.297995 0.333854 0.367528 0.397656 0.423215 0.442899 0.454053 0.450936 0.429986 0.390235 0.333142 0.260640 0.174562 0.076794 -0.031277 -0.148468 -0.274167 -0.408575 -0.551737 -0.702675 -0.859149 -1.016871 -1.169580 -1.311915 -1.444423 -1.578792 -1.734397 -1.922541 -2.128205 -2.321411 -2.490350 -2.642587 -2.789846 -2.940844 -3.098986 -3.264660 +0.261597 0.303619 0.343502 0.378889 0.408674 0.431280 0.445167 0.444233 0.423112 0.379761 0.315806 0.233927 0.136491 0.025768 -0.096686 -0.229613 -0.372646 -0.526034 -0.689370 -0.860978 -1.037730 -1.214335 -1.383513 -1.539437 -1.686737 -1.844401 -2.034203 -2.260837 -2.498120 -2.714447 -2.904511 -3.079332 -3.251981 -3.431224 -3.619857 -3.816817 +0.223751 0.271311 0.317227 0.358217 0.392491 0.418111 0.434088 0.434927 0.413446 0.366239 0.294883 0.202866 0.093151 -0.031589 -0.169648 -0.319787 -0.481868 -0.655988 -0.841105 -1.034831 -1.233270 -1.430180 -1.616348 -1.786462 -1.952417 -2.139500 -2.368690 -2.636225 -2.905702 -3.147086 -3.361213 -3.561934 -3.763787 -3.975522 -4.198409 -4.429489 +0.185578 0.237532 0.288993 0.335546 0.374551 0.403289 0.421002 0.423063 0.400961 0.349628 0.270309 0.167352 0.044405 -0.095487 -0.250473 -0.419415 -0.602317 -0.798913 -1.007440 -1.224860 -1.446724 -1.665242 -1.868434 -2.054428 -2.244050 -2.466255 -2.739406 -3.049892 -3.352672 -3.621561 -3.862815 -4.093010 -4.328409 -4.576896 -4.837351 -5.105458 +0.147095 0.203239 0.259075 0.310894 0.354752 0.386719 0.405978 0.408744 0.385629 0.329881 0.242007 0.127271 -0.009910 -0.166158 -0.339498 -0.528928 -0.734472 -0.955298 -1.188911 -1.431845 -1.679152 -1.920015 -2.140330 -2.345296 -2.563821 -2.826409 -3.147779 -3.503220 -3.840906 -4.140058 -4.411660 -4.675361 -4.948974 -5.238172 -5.539321 -5.847566 +0.109921 0.168465 0.228283 0.284493 0.333003 0.368316 0.389001 0.392004 0.367452 0.306944 0.209888 0.082498 -0.069969 -0.243863 -0.437077 -0.648769 -0.878808 -1.125646 -1.386141 -1.656724 -1.931386 -2.194733 -2.433122 -2.661010 -2.913585 -3.221522 -3.595200 -3.997663 -4.372318 -4.704715 -5.010142 -5.311913 -5.628384 -5.961897 -6.307013 -6.658699 +0.075556 0.133907 0.196815 0.256499 0.309270 0.347981 0.370019 0.372880 0.346417 0.280755 0.173858 0.032901 -0.135979 -0.328881 -0.543585 -0.779386 -1.035790 -1.310469 -1.599847 -1.900506 -2.203972 -2.489774 -2.748220 -3.003362 -3.294941 -3.653136 -4.083147 -4.534716 -4.948847 -5.317645 -5.660775 -6.005570 -6.369299 -6.750614 -7.143160 -7.541782 +0.045437 0.101086 0.164731 0.227521 0.283675 0.325613 0.348964 0.351362 0.322521 0.251245 0.133815 -0.021672 -0.208162 -0.421508 -0.659413 -0.921225 -1.205892 -1.510319 -1.830843 -2.164074 -2.497172 -2.805822 -3.087060 -3.374013 -3.709339 -4.122787 -4.613131 -5.115993 -5.572447 -5.980987 -6.366170 -6.759084 -7.174174 -7.606904 -8.050518 -8.499762 +0.020095 0.070625 0.132961 0.197686 0.256313 0.301131 0.325760 0.327415 0.295744 0.218342 0.089649 -0.081378 -0.286748 -0.522056 -0.784958 -1.074719 -1.389587 -1.725804 -2.080005 -2.448103 -2.811255 -3.143907 -3.451088 -3.774480 -4.158169 -4.632027 -5.186626 -5.743189 -6.245055 -6.696930 -7.128978 -7.575043 -8.045426 -8.533374 -9.031865 -9.535604 +-0.001687 0.043909 0.102330 0.166837 0.227413 0.274487 0.300332 0.301010 0.266040 0.181968 0.041242 -0.146395 -0.371984 -0.630855 -0.920613 -1.240294 -1.587356 -1.957580 -2.348192 -2.753074 -3.146694 -3.505110 -3.841738 -4.206100 -4.642786 -5.182427 -5.805056 -6.418029 -6.968601 -7.467747 -7.951835 -8.455876 -8.985506 -9.532652 -10.089996 -10.652280 +-0.020991 0.020364 0.073330 0.135754 0.197326 0.245733 0.272607 0.272110 0.233378 0.142039 -0.011538 -0.216915 -0.464126 -0.748233 -1.066769 -1.418378 -1.799699 -2.206350 -2.636179 -3.079288 -3.504186 -3.890511 -4.260392 -4.670103 -5.164549 -5.775547 -6.469853 -7.142266 -7.745026 -8.295764 -8.837283 -9.403900 -9.996885 -10.607377 -11.227722 -11.852766 # Thrust coefficient -0.234686 0.234877 0.235022 0.235122 0.235174 0.235179 0.235135 0.235043 0.234902 0.234712 0.234472 0.234184 0.233847 0.233461 0.233026 0.232545 0.232016 0.231442 0.230822 0.230158 0.229451 0.228701 0.227911 0.227080 0.226211 0.225304 0.224361 0.223382 0.222371 0.221328 0.220256 0.219158 0.218035 0.216890 0.215723 0.214537 0.213333 0.212113 0.210877 0.209627 0.208361 0.207078 0.205778 0.204458 0.203119 0.201761 0.200380 0.198974 0.197541 0.196078 0.194583 0.193057 0.191497 0.189901 0.188267 0.186593 0.184875 0.183111 0.181299 0.179433 0.177510 0.175523 0.173470 0.171347 0.169153 0.166888 0.164555 0.162158 0.159699 0.157177 0.154591 0.151941 0.149230 0.146460 0.143632 0.140753 0.137823 0.134845 0.131820 0.128748 0.125630 0.122469 0.119264 0.116016 0.112727 0.109399 0.106036 0.102641 0.099217 0.095766 0.092289 0.088789 0.085268 0.081727 0.078168 0.074593 0.071003 0.067399 0.063784 0.060158 0.056522 0.052879 0.049229 0.045573 -0.267586 0.267493 0.267339 0.267124 0.266848 0.266511 0.266114 0.265658 0.265144 0.264572 0.263944 0.263261 0.262524 0.261734 0.260894 0.260003 0.259064 0.258079 0.257049 0.255977 0.254865 0.253715 0.252531 0.251316 0.250073 0.248806 0.247516 0.246208 0.244882 0.243541 0.242185 0.240815 0.239431 0.238033 0.236617 0.235184 0.233730 0.232256 0.230759 0.229234 0.227681 0.226094 0.224474 0.222817 0.221122 0.219386 0.217604 0.215774 0.213891 0.211950 0.209945 0.207873 0.205728 0.203502 0.201191 0.198793 0.196310 0.193744 0.191098 0.188375 0.185574 0.182696 0.179740 0.176710 0.173608 0.170441 0.167210 0.163918 0.160565 0.157152 0.153680 0.150149 0.146562 0.142920 0.139226 0.135484 0.131697 0.127870 0.124005 0.120105 0.116172 0.112209 0.108218 0.104201 0.100159 0.096096 0.092011 0.087908 0.083787 0.079651 0.075500 0.071336 0.067161 0.062975 0.058781 0.054579 0.050370 0.046155 0.041936 0.037714 0.033489 0.029262 0.025034 0.020807 -0.301090 0.300607 0.300054 0.299432 0.298742 0.297986 0.297165 0.296280 0.295333 0.294327 0.293264 0.292147 0.290979 0.289762 0.288502 0.287200 0.285863 0.284495 0.283101 0.281685 0.280250 0.278798 0.277332 0.275853 0.274361 0.272858 0.271342 0.269811 0.268263 0.266695 0.265106 0.263491 0.261849 0.260176 0.258468 0.256723 0.254938 0.253109 0.251232 0.249301 0.247311 0.245256 0.243126 0.240914 0.238612 0.236212 0.233708 0.231099 0.228388 0.225580 0.222677 0.219678 0.216584 0.213393 0.210108 0.206732 0.203272 0.199736 0.196124 0.192439 0.188680 0.184849 0.180946 0.176973 0.172930 0.168823 0.164657 0.160436 0.156164 0.151846 0.147484 0.143081 0.138640 0.134163 0.129653 0.125112 0.120542 0.115945 0.111323 0.106678 0.102011 0.097324 0.092618 0.087896 0.083158 0.078406 0.073642 0.068865 0.064079 0.059284 0.054482 0.049674 0.044860 0.040043 0.035222 0.030400 0.025577 0.020753 0.015930 0.011109 0.006289 0.001472 -0.003341 -0.008148 -0.334730 0.333794 0.332785 0.331705 0.330557 0.329344 0.328072 0.326744 0.325366 0.323943 0.322481 0.320988 0.319467 0.317924 0.316364 0.314787 0.313199 0.311600 0.309991 0.308374 0.306745 0.305102 0.303441 0.301761 0.300058 0.298329 0.296570 0.294778 0.292947 0.291074 0.289154 0.287181 0.285150 0.283051 0.280874 0.278609 0.276244 0.273768 0.271174 0.268458 0.265621 0.262664 0.259592 0.256402 0.253091 0.249660 0.246113 0.242458 0.238703 0.234852 0.230909 0.226876 0.222749 0.218530 0.214222 0.209831 0.205360 0.200815 0.196204 0.191531 0.186800 0.182012 0.177171 0.172280 0.167343 0.162363 0.157341 0.152282 0.147186 0.142056 0.136895 0.131705 0.126486 0.121242 0.115973 0.110682 0.105369 0.100037 0.094687 0.089320 0.083938 0.078543 0.073135 0.067717 0.062290 0.056855 0.051413 0.045966 0.040516 0.035063 0.029608 0.024152 0.018697 0.013242 0.007789 0.002338 -0.003110 -0.008553 -0.013990 -0.019420 -0.024842 -0.030253 -0.035651 -0.041034 -0.368288 0.366893 0.365440 0.363936 0.362387 0.360800 0.359181 0.357538 0.355875 0.354198 0.352510 0.350813 0.349109 0.347399 0.345680 0.343949 0.342204 0.340442 0.338658 0.336849 0.335010 0.333135 0.331219 0.329255 0.327238 0.325161 0.323013 0.320781 0.318451 0.316009 0.313442 0.310741 0.307902 0.304925 0.301810 0.298555 0.295157 0.291613 0.287925 0.284100 0.280146 0.276072 0.271881 0.267574 0.263152 0.258615 0.253970 0.249221 0.244374 0.239438 0.234418 0.229320 0.224149 0.218913 0.213616 0.208261 0.202852 0.197395 0.191886 0.186330 0.180727 0.175082 0.169396 0.163672 0.157911 0.152117 0.146291 0.140434 0.134548 0.128636 0.122698 0.116737 0.110755 0.104752 0.098730 0.092692 0.086639 0.080571 0.074492 0.068402 0.062304 0.056198 0.050087 0.043971 0.037852 0.031731 0.025609 0.019486 0.013364 0.007242 0.001123 -0.004994 -0.011106 -0.017213 -0.023313 -0.029405 -0.035487 -0.041556 -0.047609 -0.053645 -0.059660 -0.065650 -0.071614 -0.077545 -0.402146 0.400435 0.398701 0.396950 0.395188 0.393418 0.391644 0.389866 0.388084 0.386297 0.384500 0.382690 0.380864 0.379014 0.377134 0.375219 0.373261 0.371253 0.369187 0.367055 0.364840 0.362525 0.360095 0.357534 0.354830 0.351976 0.348968 0.345804 0.342478 0.338983 0.335315 0.331477 0.327475 0.323319 0.319018 0.314573 0.309984 0.305253 0.300383 0.295379 0.290249 0.285001 0.279645 0.274188 0.268641 0.263009 0.257298 0.251515 0.245665 0.239748 0.233770 0.227737 0.221650 0.215514 0.209331 0.203103 0.196830 0.190512 0.184151 0.177750 0.171311 0.164836 0.158326 0.151784 0.145211 0.138610 0.131982 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-0.434846 -0.677094 -0.923225 -1.169251 -1.410513 -1.642804 -1.863707 -2.072377 -2.266900 -2.443154 -2.595911 -2.718548 -2.800637 -2.829676 -2.798002 -2.713156 -2.598249 -2.486428 -2.400100 -2.338052 -2.292009 -2.254855 -2.222470 # Torque coefficient -0.030572 0.031393 0.032202 0.032999 0.033782 0.034552 0.035309 0.036051 0.036779 0.037492 0.038189 0.038871 0.039537 0.040186 0.040818 0.041433 0.042030 0.042609 0.043169 0.043710 0.044232 0.044733 0.045214 0.045674 0.046113 0.046530 0.046925 0.047297 0.047647 0.047974 0.048278 0.048560 0.048819 0.049057 0.049272 0.049465 0.049637 0.049787 0.049916 0.050024 0.050110 0.050176 0.050219 0.050242 0.050243 0.050224 0.050184 0.050123 0.050041 0.049938 0.049815 0.049671 0.049507 0.049323 0.049119 0.048895 0.048650 0.048384 0.048095 0.047785 0.047450 0.047090 0.046704 0.046292 0.045852 0.045385 0.044892 0.044373 0.043829 0.043260 0.042665 0.042044 0.041397 0.040725 0.040028 0.039308 0.038566 0.037801 0.037013 0.036204 0.035372 0.034519 0.033645 0.032749 0.031834 0.030899 0.029946 0.028976 0.027991 0.026990 0.025975 0.024947 0.023906 0.022852 0.021788 0.020712 0.019626 0.018531 0.017426 0.016312 0.015190 0.014061 0.012924 0.011779 -0.036019 0.036845 0.037655 0.038448 0.039224 0.039983 0.040724 0.041448 0.042153 0.042839 0.043505 0.044152 0.044778 0.045384 0.045969 0.046531 0.047071 0.047588 0.048082 0.048551 0.048997 0.049418 0.049814 0.050186 0.050534 0.050858 0.051158 0.051434 0.051688 0.051917 0.052124 0.052308 0.052468 0.052606 0.052719 0.052809 0.052875 0.052918 0.052936 0.052931 0.052901 0.052847 0.052769 0.052668 0.052544 0.052397 0.052227 0.052033 0.051815 0.051572 0.051303 0.051008 0.050685 0.050333 0.049951 0.049538 0.049096 0.048624 0.048124 0.047596 0.047039 0.046453 0.045838 0.045195 0.044524 0.043826 0.043103 0.042355 0.041580 0.040780 0.039955 0.039104 0.038229 0.037330 0.036407 0.035462 0.034497 0.033512 0.032508 0.031487 0.030450 0.029396 0.028327 0.027243 0.026146 0.025035 0.023912 0.022778 0.021631 0.020475 0.019307 0.018131 0.016944 0.015749 0.014546 0.013335 0.012115 0.010889 0.009655 0.008414 0.007167 0.005914 0.004654 0.003389 -0.041143 0.041957 0.042752 0.043527 0.044282 0.045016 0.045728 0.046418 0.047086 0.047730 0.048351 0.048947 0.049518 0.050065 0.050585 0.051080 0.051549 0.051993 0.052411 0.052805 0.053173 0.053516 0.053834 0.054128 0.054396 0.054639 0.054857 0.055050 0.055216 0.055355 0.055468 0.055553 0.055611 0.055641 0.055644 0.055620 0.055569 0.055491 0.055386 0.055253 0.055093 0.054904 0.054685 0.054436 0.054155 0.053841 0.053493 0.053111 0.052696 0.052249 0.051770 0.051260 0.050717 0.050142 0.049535 0.048897 0.048228 0.047531 0.046805 0.046051 0.045269 0.044458 0.043618 0.042751 0.041857 0.040936 0.039991 0.039023 0.038032 0.037021 0.035989 0.034938 0.033869 0.032782 0.031677 0.030557 0.029420 0.028269 0.027104 0.025925 0.024732 0.023528 0.022311 0.021083 0.019844 0.018595 0.017335 0.016066 0.014788 0.013501 0.012206 0.010903 0.009592 0.008274 0.006948 0.005616 0.004276 0.002930 0.001578 0.000219 -0.001146 -0.002516 -0.003891 -0.005271 -0.045892 0.046686 0.047456 0.048203 0.048925 0.049623 0.050295 0.050942 0.051562 0.052157 0.052726 0.053268 0.053785 0.054275 0.054739 0.055176 0.055587 0.055972 0.056330 0.056661 0.056965 0.057240 0.057486 0.057703 0.057889 0.058045 0.058171 0.058265 0.058328 0.058359 0.058359 0.058326 0.058262 0.058164 0.058032 0.057866 0.057663 0.057423 0.057145 0.056830 0.056477 0.056088 0.055663 0.055203 0.054706 0.054173 0.053604 0.053001 0.052365 0.051697 0.050998 0.050266 0.049502 0.048706 0.047879 0.047021 0.046134 0.045219 0.044278 0.043312 0.042323 0.041310 0.040275 0.039218 0.038140 0.037042 0.035925 0.034789 0.033635 0.032464 0.031276 0.030072 0.028852 0.027617 0.026367 0.025104 0.023827 0.022538 0.021237 0.019924 0.018599 0.017264 0.015919 0.014565 0.013201 0.011828 0.010447 0.009057 0.007659 0.006254 0.004841 0.003421 0.001993 0.000557 -0.000885 -0.002335 -0.003791 -0.005254 -0.006723 -0.008196 -0.009675 -0.011156 -0.012641 -0.014128 -0.050257 0.051026 0.051769 0.052487 0.053179 0.053846 0.054485 0.055099 0.055685 0.056244 0.056776 0.057281 0.057757 0.058205 0.058624 0.059012 0.059369 0.059695 0.059988 0.060247 0.060472 0.060661 0.060815 0.060931 0.061010 0.061051 0.061053 0.061015 0.060936 0.060815 0.060651 0.060443 0.060193 0.059901 0.059569 0.059196 0.058782 0.058328 0.057834 0.057301 0.056731 0.056124 0.055483 0.054805 0.054092 0.053343 0.052559 0.051742 0.050891 0.050011 0.049101 0.048164 0.047199 0.046210 0.045196 0.044158 0.043098 0.042015 0.040911 0.039786 0.038640 0.037473 0.036287 0.035082 0.033858 0.032616 0.031356 0.030080 0.028787 0.027478 0.026154 0.024815 0.023463 0.022097 0.020718 0.019328 0.017925 0.016512 0.015088 0.013654 0.012210 0.010756 0.009294 0.007823 0.006344 0.004856 0.003360 0.001855 0.000342 -0.001179 -0.002709 -0.004247 -0.005793 -0.007347 -0.008907 -0.010475 -0.012047 -0.013625 -0.015206 -0.016789 -0.018374 -0.019960 -0.021545 -0.023129 -0.054320 0.055079 0.055812 0.056518 0.057197 0.057848 0.058471 0.059065 0.059628 0.060161 0.060661 0.061128 0.061561 0.061957 0.062316 0.062636 0.062915 0.063152 0.063345 0.063495 0.063598 0.063653 0.063658 0.063614 0.063520 0.063376 0.063184 0.062945 0.062660 0.062328 0.061950 0.061526 0.061060 0.060553 0.060006 0.059419 0.058793 0.058127 0.057422 0.056679 0.055899 0.055085 0.054238 0.053359 0.052450 0.051513 0.050548 0.049556 0.048539 0.047497 0.046431 0.045341 0.044228 0.043093 0.041936 0.040758 0.039559 0.038338 0.037096 0.035835 0.034553 0.033252 0.031932 0.030593 0.029238 0.027865 0.026476 0.025071 0.023652 0.022218 0.020770 0.019309 0.017836 0.016351 0.014854 0.013347 0.011829 0.010301 0.008763 0.007215 0.005658 0.004092 0.002517 0.000933 -0.000661 -0.002265 -0.003878 -0.005501 -0.007133 -0.008775 -0.010426 -0.012085 -0.013751 -0.015424 -0.017101 -0.018783 -0.020467 -0.022152 -0.023837 -0.025521 -0.027201 -0.028878 -0.030550 -0.032215 -0.058243 0.059008 0.059744 0.060449 0.061122 0.061761 0.062366 0.062933 0.063462 0.063948 0.064390 0.064787 0.065136 0.065434 0.065679 0.065869 0.066002 0.066076 0.066093 0.066053 0.065957 0.065806 0.065600 0.065341 0.065029 0.064667 0.064257 0.063802 0.063302 0.062759 0.062171 0.061541 0.060870 0.060159 0.059409 0.058624 0.057805 0.056953 0.056070 0.055156 0.054212 0.053241 0.052242 0.051217 0.050166 0.049090 0.047990 0.046865 0.045716 0.044544 0.043349 0.042131 0.040891 0.039629 0.038346 0.037040 0.035713 0.034365 0.032997 0.031609 0.030201 0.028776 0.027332 0.025871 0.024393 0.022900 0.021392 0.019870 0.018333 0.016784 0.015222 0.013647 0.012061 0.010464 0.008856 0.007237 0.005608 0.003968 0.002319 0.000659 -0.001012 -0.002693 -0.004385 -0.006089 -0.007803 -0.009529 -0.011266 -0.013013 -0.014770 -0.016535 -0.018308 -0.020087 -0.021871 -0.023657 -0.025445 -0.027231 -0.029015 -0.030795 -0.032569 -0.034336 -0.036094 -0.037841 -0.039578 -0.041302 -0.062135 0.062903 0.063632 0.064318 0.064961 0.065556 0.066101 0.066592 0.067025 0.067397 0.067706 0.067950 0.068128 0.068241 0.068289 0.068272 0.068190 0.068046 0.067840 0.067575 0.067255 0.066883 0.066461 0.065988 0.065467 0.064900 0.064289 0.063635 0.062943 0.062212 0.061446 0.060645 0.059810 0.058944 0.058047 0.057120 0.056163 0.055178 0.054165 0.053125 0.052059 0.050966 0.049847 0.048703 0.047534 0.046341 0.045122 0.043879 0.042613 0.041323 0.040010 0.038674 0.037316 0.035935 0.034531 0.033106 0.031660 0.030193 0.028706 0.027200 0.025676 0.024133 0.022574 0.020999 0.019408 0.017802 0.016181 0.014547 0.012900 0.011240 0.009568 0.007883 0.006187 0.004479 0.002760 0.001030 -0.000712 -0.002466 -0.004232 -0.006011 -0.007802 -0.009606 -0.011423 -0.013253 -0.015094 -0.016948 -0.018812 -0.020685 -0.022566 -0.024452 -0.026342 -0.028234 -0.030125 -0.032012 -0.033894 -0.035768 -0.037634 -0.039488 -0.041329 -0.043157 -0.044970 -0.046768 -0.048552 -0.050322 -0.065925 0.066647 0.067311 0.067912 0.068447 0.068913 0.069308 0.069631 0.069880 0.070055 0.070155 0.070181 0.070133 0.070016 0.069833 0.069586 0.069279 0.068914 0.068493 0.068019 0.067497 0.066930 0.066320 0.065670 0.064982 0.064257 0.063497 0.062703 0.061876 0.061017 0.060126 0.059206 0.058255 0.057275 0.056267 0.055230 0.054166 0.053074 0.051955 0.050809 0.049636 0.048436 0.047211 0.045960 0.044683 0.043380 0.042053 0.040700 0.039324 0.037924 0.036500 0.035052 0.033581 0.032086 0.030570 0.029031 0.027471 0.025892 0.024292 0.022674 0.021038 0.019385 0.017715 0.016030 0.014329 0.012614 0.010884 0.009141 0.007384 0.005615 0.003832 0.002037 0.000229 -0.001592 -0.003427 -0.005274 -0.007136 -0.009012 -0.010902 -0.012807 -0.014726 -0.016660 -0.018607 -0.020568 -0.022539 -0.024521 -0.026510 -0.028505 -0.030502 -0.032499 -0.034493 -0.036481 -0.038461 -0.040430 -0.042386 -0.044328 -0.046253 -0.048160 -0.050050 -0.051922 -0.053778 -0.055618 -0.057447 -0.059267 -0.069254 0.069840 0.070349 0.070778 0.071125 0.071389 0.071569 0.071666 0.071681 0.071620 0.071485 0.071278 0.071004 0.070667 0.070272 0.069824 0.069328 0.068787 0.068204 0.067582 0.066923 0.066227 0.065496 0.064730 0.063932 0.063101 0.062237 0.061343 0.060418 0.059462 0.058477 0.057463 0.056419 0.055346 0.054245 0.053115 0.051957 0.050771 0.049556 0.048313 0.047043 0.045745 0.044420 0.043069 0.041690 0.040285 0.038854 0.037398 0.035916 0.034410 0.032878 0.031321 0.029740 0.028136 0.026510 0.024861 0.023192 0.021503 0.019795 0.018068 0.016323 0.014562 0.012784 0.010990 0.009180 0.007356 0.005517 0.003664 0.001796 -0.000086 -0.001982 -0.003892 -0.005818 -0.007759 -0.009715 -0.011687 -0.013676 -0.015681 -0.017703 -0.019741 -0.021794 -0.023861 -0.025941 -0.028031 -0.030129 -0.032232 -0.034337 -0.036441 -0.038539 -0.040629 -0.042708 -0.044773 -0.046822 -0.048852 -0.050863 -0.052853 -0.054821 -0.056769 -0.058698 -0.060611 -0.062511 -0.064403 -0.066293 -0.068187 -0.071698 0.072083 0.072376 0.072578 0.072691 0.072716 0.072658 0.072521 0.072310 0.072033 0.071695 0.071302 0.070860 0.070373 0.069844 0.069275 0.068668 0.068024 0.067345 0.066631 0.065883 0.065101 0.064287 0.063439 0.062560 0.061649 0.060707 0.059735 0.058732 0.057698 0.056634 0.055541 0.054417 0.053263 0.052079 0.050864 0.049620 0.048346 0.047042 0.045709 0.044346 0.042955 0.041535 0.040086 0.038609 0.037104 0.035572 0.034013 0.032428 0.030815 0.029177 0.027513 0.025825 0.024114 0.022380 0.020624 0.018847 0.017050 0.015234 0.013400 0.011547 0.009677 0.007791 0.005887 0.003968 0.002033 0.000082 -0.001884 -0.003867 -0.005865 -0.007881 -0.009913 -0.011963 -0.014031 -0.016117 -0.018222 -0.020345 -0.022486 -0.024643 -0.026817 -0.029004 -0.031203 -0.033410 -0.035622 -0.037836 -0.040048 -0.042252 -0.044447 -0.046628 -0.048792 -0.050937 -0.053060 -0.055160 -0.057235 -0.059286 -0.061313 -0.063319 -0.065306 -0.067279 -0.069245 -0.071209 -0.073179 -0.075161 -0.077158 -0.072973 0.073120 0.073175 0.073144 0.073036 0.072856 0.072611 0.072309 0.071955 0.071552 0.071104 0.070615 0.070087 0.069522 0.068920 0.068282 0.067608 0.066900 0.066157 0.065380 0.064570 0.063726 0.062850 0.061941 0.061000 0.060027 0.059022 0.057985 0.056916 0.055816 0.054683 0.053518 0.052321 0.051092 0.049830 0.048536 0.047210 0.045851 0.044461 0.043039 0.041585 0.040101 0.038586 0.037040 0.035465 0.033861 0.032229 0.030567 0.028877 0.027160 0.025416 0.023647 0.021853 0.020035 0.018194 0.016331 0.014447 0.012543 0.010619 0.008677 0.006715 0.004736 0.002739 0.000725 -0.001307 -0.003356 -0.005423 -0.007507 -0.009611 -0.011733 -0.013875 -0.016036 -0.018218 -0.020420 -0.022643 -0.024885 -0.027147 -0.029425 -0.031720 -0.034026 -0.036343 -0.038665 -0.040989 -0.043310 -0.045624 -0.047927 -0.050214 -0.052482 -0.054727 -0.056948 -0.059142 -0.061308 -0.063446 -0.065557 -0.067643 -0.069708 -0.071758 -0.073798 -0.075838 -0.077884 -0.079944 -0.082026 -0.084133 -0.086268 -0.072973 0.072932 0.072822 0.072648 0.072417 0.072134 0.071804 0.071428 0.071010 0.070553 0.070058 0.069524 0.068954 0.068347 0.067703 0.067024 0.066309 0.065558 0.064773 0.063953 0.063099 0.062210 0.061288 0.060331 0.059341 0.058316 0.057257 0.056164 0.055036 0.053874 0.052676 0.051444 0.050176 0.048873 0.047535 0.046161 0.044753 0.043310 0.041833 0.040322 0.038777 0.037200 0.035589 0.033947 0.032273 0.030570 0.028835 0.027071 0.025277 0.023455 0.021606 0.019731 0.017831 0.015907 0.013960 0.011990 0.009999 0.007987 0.005954 0.003902 0.001830 -0.000260 -0.002370 -0.004500 -0.006648 -0.008816 -0.011005 -0.013215 -0.015446 -0.017699 -0.019974 -0.022272 -0.024591 -0.026933 -0.029296 -0.031678 -0.034078 -0.036492 -0.038917 -0.041349 -0.043784 -0.046218 -0.048644 -0.051059 -0.053457 -0.055834 -0.058186 -0.060511 -0.062805 -0.065068 -0.067300 -0.069501 -0.071673 -0.073821 -0.075950 -0.078068 -0.080184 -0.082306 -0.084444 -0.086607 -0.088799 -0.091027 -0.093288 -0.095580 -0.072010 0.071888 0.071712 0.071487 0.071217 0.070903 0.070548 0.070154 0.069721 0.069250 0.068739 0.068190 0.067603 0.066977 0.066314 0.065612 0.064874 0.064098 0.063286 0.062437 0.061551 0.060628 0.059668 0.058671 0.057637 0.056565 0.055456 0.054309 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-0.079685 -0.103030 -0.127959 -0.154221 -0.181514 -0.208440 -0.233104 -0.255880 -0.279857 -0.308306 -0.343440 -0.384561 -0.425827 -0.463037 -0.496541 -0.528576 -0.561649 -0.596525 -0.632704 -0.669664 -0.707014 +-0.000121 0.003139 0.007316 0.011928 0.016259 0.019625 0.021473 0.021521 0.019021 0.013010 0.002949 -0.010467 -0.026596 -0.045104 -0.065821 -0.088677 -0.113491 -0.139960 -0.167888 -0.196836 -0.224978 -0.250604 -0.274671 -0.300722 -0.331943 -0.370526 -0.415042 -0.458867 -0.498231 -0.533919 -0.568529 -0.604567 -0.642433 -0.681552 -0.721401 -0.761602 +-0.001449 0.001406 0.005062 0.009371 0.013622 0.016963 0.018818 0.018784 0.016110 0.009805 -0.000797 -0.014974 -0.032039 -0.051651 -0.073640 -0.097912 -0.124235 -0.152307 -0.181979 -0.212567 -0.241898 -0.268567 -0.294100 -0.322383 -0.356515 -0.398693 -0.446622 -0.493039 -0.534649 -0.572667 -0.610048 -0.649163 -0.690097 -0.732240 -0.775063 -0.818211 diff --git a/Test_Cases/NREL-5MW/DISCON.IN b/Test_Cases/NREL-5MW/DISCON.IN index 23d1ea17..1ef3dcf9 100644 --- a/Test_Cases/NREL-5MW/DISCON.IN +++ b/Test_Cases/NREL-5MW/DISCON.IN @@ -1,8 +1,8 @@ -! Controller parameter input file for the 5MW_Land wind turbine -! - File written using ROSCO Controller tuning logic on 05/14/20 +! Controller parameter input file for the NREL-5MW wind turbine +! - File written using ROSCO version 2.5.0 controller tuning logic on 03/21/22 !------- DEBUG ------------------------------------------------------------ -2 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} +1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} !------- CONTROLLER FLAGS ------------------------------------------------- 1 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals @@ -13,39 +13,43 @@ 0 ! Y_ControlMode - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} 1 ! SS_Mode - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} 2 ! WE_Mode - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} -0 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} +1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} 0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} -0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} -0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} +0 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty} +0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control} +0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed} !------- FILTERS ---------------------------------------------------------- 1.57080 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] -0.00000 ! F_LPFDamping - Damping coefficient [used only when F_FilterType = 2] -3.24210 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0.00000 0.25000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] -0.314150000000 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. -0.21360 1.00000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. -0.00000 1.00000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. +0.00000 ! F_LPFDamping - Damping coefficient {used only when F_FilterType = 2} [-] +0.00000 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] +0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] +0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. +0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. +0.000000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. +0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]. +0.000000 1.000000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. !------- BLADE PITCH CONTROL ---------------------------------------------- 30 ! PC_GS_n - Amount of gain-scheduling table entries -0.057184 0.084679 0.106097 0.124429 0.140845 0.155934 0.170053 0.183401 0.196139 0.208359 0.220146 0.231564 0.242647 0.253450 0.263988 0.274301 0.284401 0.294305 0.304033 0.313597 0.323005 0.332262 0.341382 0.350374 0.359244 0.367996 0.376635 0.385162 0.393584 0.401904 ! PC_GS_angles - Gain-schedule table: pitch angles [rad]. --0.017430 -0.015265 -0.013508 -0.012054 -0.010831 -0.009787 -0.008886 -0.008101 -0.007410 -0.006798 -0.006251 -0.005760 -0.005317 -0.004915 -0.004548 -0.004213 -0.003905 -0.003620 -0.003358 -0.003114 -0.002887 -0.002676 -0.002478 -0.002293 -0.002119 -0.001956 -0.001802 -0.001656 -0.001519 -0.001389 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s]. --0.005822 -0.005216 -0.004724 -0.004317 -0.003975 -0.003683 -0.003431 -0.003211 -0.003018 -0.002846 -0.002693 -0.002556 -0.002432 -0.002319 -0.002217 -0.002123 -0.002037 -0.001957 -0.001884 -0.001815 -0.001752 -0.001693 -0.001637 -0.001586 -0.001537 -0.001491 -0.001448 -0.001408 -0.001369 -0.001333 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-]. -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains -0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 0.0 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) -1.570800000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. -0.000000000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. +0.056789 0.084492 0.106018 0.124332 0.140807 0.155903 0.169931 0.183270 0.196062 0.208354 0.220050 0.231503 0.242646 0.253377 0.263967 0.274233 0.284343 0.294292 0.303997 0.313626 0.322957 0.332260 0.341319 0.350368 0.359221 0.368059 0.376700 0.385301 0.393691 0.402050 ! PC_GS_angles - Gain-schedule table: pitch angles [rad]. +-0.020655 -0.018159 -0.016134 -0.014459 -0.013049 -0.011846 -0.010809 -0.009904 -0.009108 -0.008403 -0.007774 -0.007209 -0.006698 -0.006235 -0.005813 -0.005427 -0.005072 -0.004745 -0.004442 -0.004162 -0.003901 -0.003657 -0.003430 -0.003217 -0.003017 -0.002829 -0.002652 -0.002484 -0.002326 -0.002176 ! PC_GS_KP - Gain-schedule table: pitch controller kp gains [s]. +-0.008388 -0.007514 -0.006805 -0.006218 -0.005725 -0.005304 -0.004940 -0.004624 -0.004345 -0.004098 -0.003878 -0.003680 -0.003501 -0.003339 -0.003192 -0.003056 -0.002932 -0.002817 -0.002712 -0.002613 -0.002522 -0.002437 -0.002357 -0.002283 -0.002212 -0.002147 -0.002085 -0.002026 -0.001971 -0.001918 ! PC_GS_KI - Gain-schedule table: pitch controller ki gains [-]. +0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_KD - Gain-schedule table: pitch controller kd gains +0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 ! PC_GS_TF - Gain-schedule table: pitch controller tf gains (derivative filter) +1.570000000000 ! PC_MaxPit - Maximum physical pitch limit, [rad]. +0.000880000000 ! PC_MinPit - Minimum physical pitch limit, [rad]. 0.174500000000 ! PC_MaxRat - Maximum pitch rate (in absolute value) in pitch controller, [rad/s]. -0.17450000000 ! PC_MinRat - Minimum pitch rate (in absolute value) in pitch controller, [rad/s]. 122.9096700000 ! PC_RefSpd - Desired (reference) HSS speed for pitch controller, [rad/s]. -0.000000000000 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] +0.000880000000 ! PC_FinePit - Record 5: Below-rated pitch angle set-point, [rad] 0.017450000000 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad] !------- INDIVIDUAL PITCH CONTROL ----------------------------------------- -0.0 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -0.0 0.0 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.0 0.0 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. +0.1 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] +0.000e+00 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000e+00 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] !------- VS TORQUE CONTROL ------------------------------------------------ @@ -53,57 +57,57 @@ 43093.51876000 ! VS_ArSatTq - Above rated generator torque PI control saturation, [Nm] 1500000.000000 ! VS_MaxRat - Maximum torque rate (in absolute value) in torque controller, [Nm/s]. 47402.87063000 ! VS_MaxTq - Maximum generator torque in Region 3 (HSS side), [Nm]. -0.000000000000 ! VS_MinTq - Minimum generator (HSS side), [Nm]. -34.87381000000 ! VS_MinOMSpd - Optimal mode minimum speed, cut-in speed towards optimal mode gain path, [rad/s] -2.060980000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [N-m/(rad/s)^2] +0.000000000000 ! VS_MinTq - Minimum generator torque (HSS side), [Nm]. +35.29006000000 ! VS_MinOMSpd - Minimum generator speed [rad/s] +2.185750000000 ! VS_Rgn2K - Generator torque constant in Region 2 (HSS side), [Nm/(rad/s)^2] 5000000.000000 ! VS_RtPwr - Wind turbine rated power [W] 43093.51876000 ! VS_RtTq - Rated torque, [Nm]. 122.9096700000 ! VS_RefSpd - Rated generator speed [rad/s] 1 ! VS_n - Number of generator PI torque controller gains --276.090740000 ! VS_KP - Proportional gain for generator PI torque controller [1/(rad/s) Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) --46.4475900000 ! VS_KI - Integral gain for generator PI torque controller [1/rad Nm]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) -7.55 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. +-657.442080000 ! VS_KP - Proportional gain for generator PI torque controller [-]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +-104.507080000 ! VS_KI - Integral gain for generator PI torque controller [s]. (Only used in the transitional 2.5 region if VS_ControlMode =/ 2) +7.64 ! VS_TSRopt - Power-maximizing region 2 tip-speed-ratio [rad]. !------- SETPOINT SMOOTHER --------------------------------------------- 1.00000 ! SS_VSGain - Variable speed torque controller setpoint smoother gain, [-]. -0.01000 ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-]. +0.00100 ! SS_PCGain - Collective pitch controller setpoint smoother gain, [-]. !------- WIND SPEED ESTIMATOR --------------------------------------------- 63.000 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m] 1 ! WE_CP_n - Amount of parameters in the Cp array -0.0 0.0 0.0 0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function +0 ! WE_CP - Parameters that define the parameterized CP(lambda) function 0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] 97.0 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] -43702538.05700 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] +43702538.05700 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] 1.225 ! WE_RhoAir - Air density, [kg m^-3] -"Cp_Ct_Cq.NREL5MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) -104 48 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios -44 ! WE_FOPoles_N - Number of first-order system poles used in EKF -3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] --0.01651600 -0.01926866 -0.02202133 -0.02477399 -0.02752666 -0.03027933 -0.03303199 -0.03578466 -0.03853732 -0.04128999 -0.04404266 -0.04679532 -0.04954799 -0.05230065 -0.05505332 -0.05780599 -0.06055865 -0.05136706 -0.06083297 -0.07318141 -0.08698814 -0.10174996 -0.11701540 -0.13277020 -0.14916461 -0.16625567 -0.18314382 -0.20108255 -0.21861726 -0.23708646 -0.25523482 -0.27455940 -0.29291942 -0.31337978 -0.33196662 -0.35213321 -0.37322194 -0.39245925 -0.41381198 -0.43612755 -0.45572506 -0.47749086 -0.50133095 -0.53269989 ! WE_FOPoles - First order system poles [1/s] +"Cp_Ct_Cq.NREL5MW.txt" ! PerfFileName - File containing rotor performance tables (Cp,Ct,Cq) (absolute path or relative to this file) +36 26 ! PerfTableSize - Size of rotor performance tables, first number refers to number of blade pitch angles, second number referse to number of tip-speed ratios +60 ! WE_FOPoles_N - Number of first-order system poles used in EKF +3.0000 3.2897 3.5793 3.8690 4.1586 4.4483 4.7379 5.0276 5.3172 5.6069 5.8966 6.1862 6.4759 6.7655 7.0552 7.3448 7.6345 7.9241 8.2138 8.5034 8.7931 9.0828 9.3724 9.6621 9.9517 10.2414 10.5310 10.8207 11.1103 11.4000 11.8533 12.3067 12.7600 13.2133 13.6667 14.1200 14.5733 15.0267 15.4800 15.9333 16.3867 16.8400 17.2933 17.7467 18.2000 18.6533 19.1067 19.5600 20.0133 20.4667 20.9200 21.3733 21.8267 22.2800 22.7333 23.1867 23.6400 24.0933 24.5467 25.0000 ! WE_FOPoles_v - Wind speeds corresponding to first-order system poles [m/s] +-0.01638154 -0.01796321 -0.01954487 -0.02112654 -0.02270820 -0.02428987 -0.02587154 -0.02745320 -0.02903487 -0.03061653 -0.03219820 -0.03377987 -0.03536153 -0.03694320 -0.03852486 -0.04010653 -0.04168820 -0.04326986 -0.04485153 -0.04643319 -0.04801486 -0.04959652 -0.05117819 -0.05275986 -0.05434152 -0.05592319 -0.05758373 -0.05882656 -0.06845507 -0.05992890 0.02094683 0.01327182 0.00285485 -0.00935731 -0.02210773 -0.03573037 -0.04990222 -0.06404904 -0.07899629 -0.09463190 -0.10954192 -0.12525205 -0.14168652 -0.15843395 -0.17415061 -0.19052486 -0.20780146 -0.22581018 -0.24373777 -0.26010871 -0.27706767 -0.29551708 -0.31430599 -0.33428552 -0.35420853 -0.37183729 -0.38936451 -0.40828911 -0.42758878 -0.44818175 ! WE_FOPoles - First order system poles [1/s] !------- YAW CONTROL ------------------------------------------------------ -0.0 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] -0.0 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] +0.13960 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] +0.00000 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] 1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) -0.0 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp -0.0 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.0 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -0.0 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.0 ! Y_MErrSet - Yaw alignment error, set point [rad] -0.0 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [Hz] -0.0 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [Hz] -0.0 ! Y_Rate - Yaw rate [rad/s] +0.00000 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp +0.00000 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki +0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. +1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. +0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad] +0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] +0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] +0.00520 ! Y_Rate - Yaw rate [rad/s] !------- TOWER FORE-AFT DAMPING ------------------------------------------- -1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag -0.0 ! FA_HPF_CornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] +0.0 ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] 0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] !------- MINIMUM PITCH SATURATION ------------------------------------------- -44 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) -3.00 3.50 4.00 4.50 5.00 5.50 6.00 6.50 7.00 7.50 8.00 8.50 9.00 9.50 10.00 10.50 11.00 11.90 12.40 12.90 13.40 13.90 14.40 14.90 15.40 15.90 16.40 16.90 17.40 17.90 18.40 18.90 19.40 19.90 20.40 20.90 21.40 21.90 22.40 22.90 23.40 23.90 24.40 24.90 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] --0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 -0.01745329 0.00328405 0.02562355 0.04517390 0.05783628 0.06999314 0.08176368 0.09325336 0.10440432 0.11531371 0.12610147 0.13676836 0.14709199 0.15750297 0.16757105 0.17770429 0.18757441 0.19756086 0.20712313 0.21707295 0.22634750 0.23589052 0.24549638 0.25445922 0.26382523 0.27327477 0.28187764 0.29088444 0.30026370 0.30887704 ! PS_BldPitchMin - Minimum blade pitch angles [rad] +60 ! PS_BldPitchMin_N - Number of values in minimum blade pitch lookup table (should equal number of values in PS_WindSpeeds and PS_BldPitchMin) +3.0000 3.2897 3.5793 3.8690 4.1586 4.4483 4.7379 5.0276 5.3172 5.6069 5.8966 6.1862 6.4759 6.7655 7.0552 7.3448 7.6345 7.9241 8.2138 8.5034 8.7931 9.0828 9.3724 9.6621 9.9517 10.2414 10.5310 10.8207 11.1103 11.4000 11.8533 12.3067 12.7600 13.2133 13.6667 14.1200 14.5733 15.0267 15.4800 15.9333 16.3867 16.8400 17.2933 17.7467 18.2000 18.6533 19.1067 19.5600 20.0133 20.4667 20.9200 21.3733 21.8267 22.2800 22.7333 23.1867 23.6400 24.0933 24.5467 25.0000 ! PS_WindSpeeds - Wind speeds corresponding to minimum blade pitch angles [m/s] +0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.00088027 0.01116187 0.02310060 0.03164156 0.03968639 0.04741131 0.05899071 0.07019329 0.08090119 0.09141661 0.10169361 0.11174124 0.12170066 0.13137494 0.14103377 0.15048120 0.15989580 0.16913227 0.17831010 0.18739638 0.19643591 0.20537011 0.21419674 0.22293719 0.23161365 0.24025975 0.24885012 0.25735704 0.26578040 0.27407178 0.28233051 0.29047594 0.29867838 0.30674517 0.31490089 0.32284411 ! PS_BldPitchMin - Minimum blade pitch angles [rad] !------- SHUTDOWN ----------------------------------------------------------- 0.436300000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad] @@ -115,5 +119,12 @@ !------- FLAP ACTUATION ----------------------------------------------------- 0.000000000000 ! Flp_Angle - Initial or steady state flap angle [rad] 0.00000000e+00 ! Flp_Kp - Blade root bending moment proportional gain for flap control [s] -0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [s] -0.000000000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] +0.00000000e+00 ! Flp_Ki - Flap displacement integral gain for flap control [-] +0.174500000000 ! Flp_MaxPit - Maximum (and minimum) flap pitch angle [rad] + +!------- Open Loop Control ----------------------------------------------------- +"unused" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file) +0 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) +0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad +0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm +0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm diff --git a/Test_Cases/NREL-5MW/NREL-5MW.fst b/Test_Cases/NREL-5MW/NREL-5MW.fst index 0e5b0116..7471ec5b 100644 --- a/Test_Cases/NREL-5MW/NREL-5MW.fst +++ b/Test_Cases/NREL-5MW/NREL-5MW.fst @@ -18,6 +18,17 @@ True Echo - Echo input data to .ech (flag) 0 CompSub - Compute sub-structural dynamics (switch) {0=None; 1=SubDyn; 2=External Platform MCKF} 0 CompMooring - Compute mooring system (switch) {0=None; 1=MAP++; 2=FEAMooring; 3=MoorDyn; 4=OrcaFlex} 0 CompIce - Compute ice loads (switch) {0=None; 1=IceFloe; 2=IceDyn} + 0 MHK - MHK turbine type (switch) {0=Not an MHK turbine; 1=Fixed MHK turbine; 2=Floating MHK turbine} +---------------------- ENVIRONMENTAL CONDITIONS -------------------------------- + 9.80665 Gravity - Gravitational acceleration (m/s^2) + 1.225 AirDens - Air density (kg/m^3) + 1025 WtrDens - Water density (kg/m^3) + 1.464E-05 KinVisc - Kinematic viscosity of working fluid (m^2/s) + 335 SpdSound - Speed of sound in working fluid (m/s) + 103500 Patm - Atmospheric pressure (Pa) [used only for an MHK turbine cavitation check] + 1700 Pvap - Vapour pressure of working fluid (Pa) [used only for an MHK turbine cavitation check] + 50 WtrDpth - Water depth (m) + 0 MSL2SWL - Offset between still-water level and mean sea level (m) [positive upward] ---------------------- INPUT FILES --------------------------------------------- "NRELOffshrBsline5MW_Onshore_ElastoDyn.dat" EDFile - Name of file containing ElastoDyn input parameters (quoted string) "NRELOffshrBsline5MW_BeamDyn.dat" BDBldFile(1) - Name of file containing BeamDyn input parameters for blade 1 (quoted string) diff --git a/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_AeroDyn15.dat b/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_AeroDyn15.dat index 7a358d7f..0983cb2d 100644 --- a/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_AeroDyn15.dat +++ b/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_AeroDyn15.dat @@ -18,7 +18,6 @@ False CompAA - Flag to compute AeroAcoustics calculation [on 335 SpdSound - Speed of sound (m/s) 103500 Patm - Atmospheric pressure (Pa) [used only when CavitCheck=True] 1700 Pvap - Vapour pressure of fluid (Pa) [used only when CavitCheck=True] - 0.5 FluidDepth - Water depth above mid-hub height (m) [used only when CavitCheck=True] ====== Blade-Element/Momentum Theory Options ====================================================== [unused when WakeMod=0 or 3] 2 SkewMod - Type of skewed-wake correction model (switch) {1=uncoupled, 2=Pitt/Peters, 3=coupled} [unused when WakeMod=0 or 3] "default" SkewModFactor - Constant used in Pitt/Peters skewed wake model {or "default" is 15/32*pi} (-) [used only when SkewMod=2; unused when WakeMod=0 or 3] @@ -37,6 +36,8 @@ False TIDrag - Include the drag term in the tangential-induc ====== Beddoes-Leishman Unsteady Airfoil Aerodynamics Options ===================================== [used only when AFAeroMod=2] 3 UAMod - Unsteady Aero Model Switch (switch) {1=Baseline model (Original), 2=Gonzalez's variant (changes in Cn,Cc,Cm), 3=Minnema/Pierce variant (changes in Cc and Cm)} [used only when AFAeroMod=2] True FLookup - Flag to indicate whether a lookup for f' will be calculated (TRUE) or whether best-fit exponential equations will be used (FALSE); if FALSE S1-S4 must be provided in airfoil input files (flag) [used only when AFAeroMod=2] +0.0 UAStartRad - Starting radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2] +1.0 UAEndRad - Ending radius for dynamic stall (fraction of rotor radius) [used only when AFAeroMod=2] ====== Airfoil Information ========================================================================= 1 AFTabMod - Interpolation method for multiple airfoil tables {1=1D interpolation on AoA (first table only); 2=2D interpolation on AoA and Re; 3=2D interpolation on AoA and UserProp} (-) 1 InCol_Alfa - The column in the airfoil tables that contains the angle of attack (-) diff --git a/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ElastoDyn.dat b/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ElastoDyn.dat index 5c9eb6f3..eccedf9e 100644 --- a/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ElastoDyn.dat +++ b/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ElastoDyn.dat @@ -4,8 +4,6 @@ NREL 5.0 MW Baseline Wind Turbine for Use in Offshore Analysis. Properties from False Echo - Echo input data to ".ech" (flag) 3 Method - Integration method: {1: RK4, 2: AB4, or 3: ABM4} (-) "DEFAULT" DT - Integration time step (s) ----------------------- ENVIRONMENTAL CONDITION --------------------------------- - 9.80665 Gravity - Gravitational acceleration (m/s^2) ---------------------- DEGREES OF FREEDOM -------------------------------------- True FlapDOF1 - First flapwise blade mode DOF (flag) True FlapDOF2 - Second flapwise blade mode DOF (flag) @@ -137,6 +135,9 @@ True TabDelim - Use tab delimiters in text tabular output file? (fla "RootFzb1" - Out-of-plane shear, in-plane shear, and axial forces at the root of blade 1 "RootMxb1" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1 "RootMyb1" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1 +"RootMyc1" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1 +"RootMyc2" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1 +"RootMyc3" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1 "RootMzb1" - In-plane bending, out-of-plane bending, and pitching moments at the root of blade 1 "RotTorq" - Rotor torque and low-speed shaft 0- and 90-bending moments at the main bearing "LSSGagMya" - Rotor torque and low-speed shaft 0- and 90-bending moments at the main bearing diff --git a/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ServoDyn.dat b/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ServoDyn.dat index d16d9f38..a7f094dd 100644 --- a/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ServoDyn.dat +++ b/Test_Cases/NREL-5MW/NRELOffshrBsline5MW_Onshore_ServoDyn.dat @@ -57,6 +57,11 @@ True GenTiStp - Method to stop the generator {T: timed using TimGen 9999.9 TYawManS - Time to start override yaw maneuver and end standard yaw control (s) 2 YawManRat - Yaw maneuver rate (in absolute value) (deg/s) 0 NacYawF - Final yaw angle for override yaw maneuvers (degrees) +---------------------- AERODYNAMIC FLOW CONTROL -------------------------------- + 0 AfCmode - Airfoil control mode {0: none, 1: cosine wave cycle, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) + 0 AfC_Mean - Mean level for cosine cycling or steady value (-) [used only with AfCmode==1] + 0 AfC_Amp - Amplitude for for cosine cycling of flap signal (-) [used only with AfCmode==1] + 0 AfC_Phase - Phase relative to the blade azimuth (0 is vertical) for for cosine cycling of flap signal (deg) [used only with AfCmode==1] ---------------------- STRUCTURAL CONTROL -------------------------------------- 0 NumBStC - Number of blade structural controllers (integer) "unused" BStCfiles - Name of the files for blade structural controllers (quoted strings) [unused when NumBStC==0] @@ -66,6 +71,8 @@ True GenTiStp - Method to stop the generator {T: timed using TimGen "unused" TStCfiles - Name of the files for tower structural controllers (quoted strings) [unused when NumTStC==0] 0 NumSStC - Number of substructure structural controllers (integer) "unused" SStCfiles - Name of the files for substructure structural controllers (quoted strings) [unused when NumSStC==0] +---------------------- CABLE CONTROL ------------------------------------------- + 0 CCmode - Cable control mode {0: none, 4: user-defined from Simulink/Labview, 5: user-defined from Bladed-style DLL} (switch) ---------------------- BLADED INTERFACE ---------------------------------------- [used only with Bladed Interface] "../../ROSCO/install/lib/libdiscon.so" DLL_FileName - Name/location of the dynamic library {.dll [Windows] or .so [Linux]} in the Bladed-DLL format (-) [used only with Bladed Interface] "DISCON.IN" DLL_InFile - Name of input file sent to the DLL (-) [used only with Bladed Interface] diff --git a/Test_Cases/update_discons.py b/Test_Cases/update_discons.py new file mode 100644 index 00000000..076387ee --- /dev/null +++ b/Test_Cases/update_discons.py @@ -0,0 +1,54 @@ +''' +Update the DISCON.IN examples in the ROSCO repository using the Tune_Case/ .yaml files + +''' +import os + +# ROSCO toolbox modules +from ROSCO_toolbox import controller as ROSCO_controller +from ROSCO_toolbox import turbine as ROSCO_turbine +from ROSCO_toolbox.utilities import write_DISCON +from ROSCO_toolbox.inputs.validation import load_rosco_yaml + +test_dir = os.path.dirname(os.path.abspath(__file__)) +tune_dir = os.path.realpath(os.path.join(test_dir,'../Tune_Cases')) + + +# Paths are relative to Tune_Case/ and Test_Case/ +tune_to_test_map = { + 'NREL5MW.yaml': 'NREL-5MW/DISCON.IN', + 'IEA15MW.yaml': 'IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN', + 'BAR.yaml': 'BAR_10/BAR_10_DISCON.IN' +} + +for tuning_yaml in tune_to_test_map: + + # Load yaml file + inps = load_rosco_yaml(os.path.join(tune_dir,tuning_yaml)) + path_params = inps['path_params'] + turbine_params = inps['turbine_params'] + controller_params = inps['controller_params'] + + # Instantiate turbine, controller, and file processing classes + turbine = ROSCO_turbine.Turbine(turbine_params) + controller = ROSCO_controller.Controller(controller_params) + + # Load turbine data from OpenFAST and rotor performance text file + turbine.load_from_fast( + path_params['FAST_InputFile'], + os.path.join(tune_dir,path_params['FAST_directory']), + dev_branch=True, + rot_source='txt', + txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']) + ) + + # Tune controller + controller.tune_controller(turbine) + + # Write parameter input file + discon_in_file = os.path.join(test_dir,tune_to_test_map[tuning_yaml]) + write_DISCON( + turbine,controller, + param_file=discon_in_file, + txt_filename=path_params['rotor_performance_filename'].split('/')[-1] + ) diff --git a/Tune_Cases/BAR.yaml b/Tune_Cases/BAR.yaml index 8942f555..bb21281d 100644 --- a/Tune_Cases/BAR.yaml +++ b/Tune_Cases/BAR.yaml @@ -6,7 +6,7 @@ path_params: FAST_InputFile: 'BAR_10.fst' # Name of *.fst file FAST_directory: '../Test_Cases/BAR_10' # Main OpenFAST model directory, where the *.fst lives # Optional (but suggested...) - rotor_performance_filename: 'BAR_10_Cp_Ct_Cq.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) + rotor_performance_filename: '../Test_Cases/BAR_10/Cp_Ct_Cq.BAR_10.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) # -------------------------------- TURBINE PARAMETERS ----------------------------------- turbine_params: @@ -32,7 +32,7 @@ controller_params: Y_ControlMode: 0 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} SS_Mode: 1 # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} WE_Mode: 2 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)} - PS_Mode: 0 # Peak shaving mode {0: no peak shaving, 1: implement peak shaving} + PS_Mode: 1 # Peak shaving mode {0: no peak shaving, 1: implement peak shaving} SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} Fl_Mode: 0 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} Flp_Mode: 2 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} @@ -43,5 +43,8 @@ controller_params: zeta_vs: 0.5 # Torque controller desired damping ratio [-] omega_vs: 0.1 # Torque controller desired natural frequency [rad/s] # Only needed if Flp_Mode > 0 - zeta_flp: 0.7 # Flap controller desired damping ratio [-] - omega_flp: 2.63 # Flap controller desired natural frequency [rad/s] + flp_kp_norm: 0.1 # Flap controller gain normalization term + flp_tau: 10 # Flap controller integral gain time constant [s] + ps_percent: 0.8 + IPC_Kp1p: 2.05e-08 + IPC_Ki1p: 1.45e-09 \ No newline at end of file diff --git a/Tune_Cases/Cp_Ct_Cq.DTU10MW.txt b/Tune_Cases/Cp_Ct_Cq.DTU10MW.txt deleted file mode 100644 index 8389e32d..00000000 --- a/Tune_Cases/Cp_Ct_Cq.DTU10MW.txt +++ /dev/null @@ -1,165 +0,0 @@ -# ----- Rotor performance tables for the DTU_10MW_RWT wind turbine ----- -# ------------ Written on Oct-31-19 using the ROSCO toolbox ------------ - -# Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.75 -0.5 -0.25 0.0 0.25 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 21.0 21.25 21.5 21.75 22.0 22.25 22.5 22.75 23.0 23.25 23.5 23.75 24.0 24.25 24.5 24.75 -# TSR vector - y axis (matrix rows) (-) -3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 -# Wind speed vector - z axis (m/s) -11.4 - -# Power coefficient - -0.090725 0.092940 0.095153 0.097362 0.099567 0.101766 0.103957 0.106140 0.108311 0.110469 0.112613 0.114739 0.116846 0.118932 0.120993 0.123028 0.125035 0.127009 0.128949 0.130852 0.132714 0.134532 0.136303 0.138024 0.139691 0.141301 0.142850 0.144335 0.145752 0.147099 0.148372 0.149569 0.150688 0.151725 0.152680 0.153550 0.154335 0.155033 0.155643 0.156166 0.156600 0.156945 0.157203 0.157372 0.157454 0.157450 0.157359 0.157185 0.156927 0.156588 0.156169 0.155672 0.155099 0.154451 0.153732 0.152942 0.152085 0.151162 0.150175 0.149128 0.148021 0.146857 0.145638 0.144367 0.143044 0.141673 0.140254 0.138789 0.137281 0.135731 0.134139 0.132508 0.130839 0.129132 0.127389 0.125611 0.123799 0.121953 0.120073 0.118161 0.116217 0.114242 0.112235 0.110197 0.108129 0.106030 0.103902 0.101744 0.099557 0.097341 0.095096 0.092823 0.090522 0.088192 0.085836 0.083452 0.081042 0.078605 0.076143 0.073655 0.071142 0.068605 0.066044 0.063460 -0.117473 0.120093 0.122698 0.125287 0.127855 0.130402 0.132923 0.135416 0.137878 0.140305 0.142695 0.145044 0.147349 0.149605 0.151809 0.153957 0.156045 0.158067 0.160021 0.161900 0.163702 0.165421 0.167053 0.168595 0.170044 0.171395 0.172648 0.173799 0.174848 0.175792 0.176631 0.177364 0.177990 0.178511 0.178925 0.179233 0.179437 0.179536 0.179532 0.179427 0.179222 0.178919 0.178520 0.178028 0.177444 0.176771 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0.356606 0.360370 0.363077 0.364592 0.364776 0.363326 0.359893 0.354405 0.346739 0.336876 0.324764 0.310400 0.293875 0.275324 0.254855 0.232555 0.208496 0.182747 0.155372 0.126432 0.095982 0.064073 0.030753 -0.003931 -0.039933 -0.077206 -0.115699 -0.155332 -0.195254 -0.236750 -0.279741 -0.323261 -0.367488 -0.413015 -0.459323 -0.506204 -0.553866 -0.602986 -0.652890 -0.703204 -0.753937 -0.805388 -0.857642 -0.909705 -0.962584 -1.016117 -1.070015 -1.124206 -1.178466 -1.232848 -1.287294 -1.342129 -1.396727 -1.451658 -1.506354 -1.561313 -1.616243 -1.671099 -1.725844 -1.780216 -1.834599 -1.888818 -1.942815 -1.996348 -2.049772 -2.102927 -2.155766 -2.208262 -2.260387 -2.312120 -2.363438 -2.414319 -2.464744 -2.514695 -2.564157 -2.613116 -2.661565 -2.709499 -2.756917 -2.803821 -2.850218 -2.896113 -2.941517 -2.986440 -3.030893 -3.074890 -3.118445 -3.161575 -3.204296 -3.246628 -3.288590 -0.227042 0.239008 0.250698 0.262111 0.273166 0.283715 0.293665 0.303025 0.311802 0.319943 0.327384 0.334069 0.339917 0.344836 0.348748 0.351565 0.353173 0.353419 0.352119 0.348863 0.343469 0.335820 0.325845 0.313520 0.298801 0.281771 0.262569 0.241322 0.218123 0.193055 0.166192 0.137605 0.107360 0.075519 0.042136 0.007266 -0.029039 -0.066726 -0.105730 -0.145596 -0.186266 -0.229046 -0.272464 -0.317042 -0.362432 -0.409055 -0.456359 -0.504577 -0.554437 -0.605206 -0.656484 -0.708294 -0.760985 -0.814612 -0.868086 -0.922586 -0.977856 -1.033602 -1.089747 -1.146040 -1.202568 -1.259242 -1.316412 -1.373380 -1.430808 -1.488038 -1.545620 -1.603230 -1.660824 -1.718361 -1.775539 -1.832837 -1.890003 -1.946988 -2.003515 -2.060027 -2.116295 -2.172281 -2.227953 -2.283285 -2.338253 -2.392830 -2.446994 -2.500723 -2.553995 -2.606790 -2.659089 -2.710879 -2.762146 -2.812885 -2.863091 -2.912765 -2.961911 -3.010534 -3.058644 -3.106249 -3.153362 -3.199995 -3.246162 -3.291880 -3.337165 -3.382036 -3.426513 -3.470616 -0.209807 0.222203 0.234329 0.246177 0.257696 0.268731 0.279151 0.288949 0.298127 0.306633 0.314403 0.321376 0.327456 0.332562 0.336622 0.339539 0.341221 0.341507 0.340258 0.337151 0.331832 0.324198 0.314111 0.301560 0.286482 0.268943 0.249076 0.227031 0.202910 0.176804 0.148794 0.118959 0.087372 0.054099 0.019202 -0.017259 -0.055219 -0.094576 -0.134577 -0.176365 -0.219858 -0.264116 -0.308903 -0.356034 -0.402977 -0.451471 -0.501800 -0.553169 -0.605158 -0.657804 -0.711493 -0.766006 -0.820942 -0.876844 -0.933652 -0.991059 -1.048987 -1.107162 -1.165695 -1.224474 -1.283871 -1.343121 -1.402964 -1.462666 -1.522817 -1.583064 -1.643362 -1.703667 -1.763648 -1.823842 -1.883953 -1.943934 -2.003482 -2.063096 -2.122506 -2.181674 -2.240567 -2.299156 -2.357414 -2.415314 -2.472830 -2.529937 -2.586612 -2.642831 -2.698573 -2.753816 -2.808543 -2.862740 -2.916396 -2.969505 -3.022064 -3.074075 -3.125542 -3.176474 -3.226878 -3.276766 -3.326150 -3.375044 -3.423464 -3.471426 -3.518948 -3.566051 -3.612756 -3.659085 -0.192161 0.204924 0.217473 0.229749 0.241693 0.253183 0.264072 0.274318 0.283911 0.292792 0.300897 0.308166 0.314487 0.319779 0.323981 0.326996 0.328732 0.329046 0.327786 0.324750 0.319501 0.311865 0.301669 0.288878 0.273439 0.255381 0.234838 0.211974 0.186906 0.159734 0.130545 0.099427 0.066460 0.031718 -0.004729 -0.042803 -0.082058 -0.122442 -0.165142 -0.208770 -0.253442 -0.299894 -0.347099 -0.395927 -0.445553 -0.497223 -0.549635 -0.602840 -0.657254 -0.712617 -0.768539 -0.825597 -0.883708 -0.942554 -1.002058 -1.061923 -1.122281 -1.183006 -1.244484 -1.305889 -1.368032 -1.430108 -1.492745 -1.555561 -1.618506 -1.681395 -1.744281 -1.807338 -1.870375 -1.933216 -1.995910 -2.058630 -2.121194 -2.183564 -2.245706 -2.307588 -2.369179 -2.430450 -2.491374 -2.551922 -2.612068 -2.671786 -2.731053 -2.789844 -2.848136 -2.905909 -2.963146 -3.019833 -3.075959 -3.131519 -3.186513 -3.240944 -3.294816 -3.348138 -3.400920 -3.453173 -3.504912 -3.556150 -3.606905 -3.657194 -3.707038 -3.756457 -3.805475 -3.854114 -0.174213 0.187230 0.200143 0.212835 0.225191 0.237096 0.248430 0.259125 0.269145 0.278413 0.286859 0.294427 0.300995 0.306479 0.310819 0.313930 0.315710 0.316031 0.314733 0.311676 0.306480 0.298815 0.288511 0.275470 0.259663 0.241079 0.219846 0.196144 0.170104 0.141837 0.111438 0.079004 0.044624 0.008382 -0.029611 -0.068581 -0.109649 -0.152698 -0.196831 -0.242164 -0.289332 -0.337378 -0.386277 -0.437910 -0.490418 -0.544205 -0.598702 -0.654621 -0.711245 -0.769180 -0.828326 -0.888353 -0.949184 -1.010508 -1.072470 -1.134938 -1.198117 -1.261704 -1.325993 -1.390310 -1.455313 -1.520595 -1.586100 -1.651773 -1.717231 -1.783099 -1.849018 -1.914664 -1.980506 -2.046314 -2.112026 -2.177601 -2.243002 -2.308194 -2.373145 -2.437821 -2.502193 -2.566230 -2.629902 -2.693182 -2.756042 -2.818456 -2.880398 -2.941844 -3.002771 -3.063158 -3.122987 -3.182246 -3.240926 -3.299023 -3.356536 -3.413470 -3.469831 -3.525627 -3.580871 -3.635575 -3.689752 -3.743419 -3.796595 -3.849297 -3.901547 -3.953368 -4.004784 -4.055821 -0.156055 0.169215 0.182388 0.195445 0.208204 0.220502 0.232240 0.243368 0.253819 0.263485 0.272284 0.280154 0.286969 0.292652 0.297133 0.300330 0.302149 0.302458 0.301105 0.297961 0.292761 0.285054 0.274631 0.261337 0.245148 0.226029 0.204094 0.179534 0.152499 0.123110 0.091471 0.057691 0.021876 -0.015514 -0.054403 -0.095919 -0.138716 -0.183248 -0.229134 -0.276421 -0.325621 -0.375887 -0.428124 -0.481817 -0.536373 -0.592516 -0.649522 -0.708022 -0.767900 -0.828814 -0.890689 -0.953200 -1.016508 -1.080473 -1.145291 -1.210679 -1.276917 -1.343299 -1.410509 -1.478116 -1.546057 -1.614272 -1.682350 -1.750948 -1.819682 -1.888191 -1.957019 -2.025877 -2.094709 -2.163469 -2.232120 -2.300623 -2.368940 -2.437039 -2.504883 -2.572440 -2.639678 -2.706565 -2.773073 -2.839171 -2.904831 -2.970026 -3.034730 -3.098916 -3.162563 -3.225648 -3.288156 -3.350073 -3.411392 -3.472111 -3.532229 -3.591752 -3.650687 -3.709045 -3.766837 -3.824076 -3.880778 -3.936961 -3.992643 -4.047844 -4.102588 -4.156898 -4.210800 -4.264322 -0.137700 0.150974 0.164291 0.177617 0.190736 0.203419 0.215531 0.227056 0.237929 0.247999 0.257163 0.265340 0.272403 0.278285 0.282911 0.286189 0.288041 0.288325 0.286899 0.283635 0.278343 0.270586 0.260023 0.246470 0.229887 0.210223 0.187574 0.162138 0.134085 0.103549 0.070647 0.035514 -0.001401 -0.040040 -0.081416 -0.124246 -0.168977 -0.215195 -0.262963 -0.311922 -0.363861 -0.416949 -0.470902 -0.527267 -0.583925 -0.642642 -0.702913 -0.764385 -0.826986 -0.890378 -0.954735 -1.019913 -1.086103 -1.153033 -1.220979 -1.289203 -1.358415 -1.428161 -1.498372 -1.568981 -1.639550 -1.710768 -1.782222 -1.853518 -1.925252 -1.997097 -2.068996 -2.140901 -2.212769 -2.284559 -2.356231 -2.427747 -2.499069 -2.570160 -2.640986 -2.711511 -2.781704 -2.851532 -2.920962 -2.989967 -3.058515 -3.126579 -3.194131 -3.261146 -3.327599 -3.393470 -3.458743 -3.523405 -3.587451 -3.650879 -3.713689 -3.775889 -3.837486 -3.898492 -3.958919 -4.018782 -4.078097 -4.136882 -4.195158 -4.252948 -4.310273 -4.367162 -4.423639 -4.479735 -0.119117 0.132528 0.145944 0.159419 0.172816 0.185850 0.198325 0.210210 0.221476 0.231949 0.241483 0.249976 0.257291 0.263371 0.268145 0.271503 0.273374 0.273627 0.272111 0.268702 0.263248 0.255406 0.244681 0.230864 0.213873 0.193656 0.170283 0.143953 0.114863 0.083162 0.049343 0.013189 -0.025326 -0.066333 -0.108622 -0.153736 -0.199654 -0.247802 -0.297710 -0.349857 -0.403784 -0.458878 -0.515555 -0.573682 -0.633967 -0.695629 -0.758598 -0.822524 -0.887594 -0.953663 -1.020914 -1.089084 -1.158265 -1.228252 -1.299215 -1.370868 -1.443136 -1.515946 -1.588834 -1.662517 -1.736555 -1.810525 -1.885064 -1.959808 -2.034695 -2.109676 -2.184705 -2.259736 -2.334726 -2.409634 -2.484416 -2.559035 -2.633450 -2.707625 -2.781523 -2.855108 -2.928345 -3.001203 -3.073647 -3.145647 -3.217173 -3.288196 -3.358686 -3.428617 -3.497966 -3.566711 -3.634838 -3.702335 -3.769196 -3.835422 -3.901014 -3.965979 -4.030328 -4.094071 -4.157222 -4.219797 -4.281813 -4.343291 -4.404251 -4.464718 -4.524716 -4.584272 -4.643416 -4.702178 - - -# Thrust coefficient - -0.193667 0.194522 0.195388 0.196264 0.197147 0.198036 0.198930 0.199826 0.200723 0.201617 0.202508 0.203392 0.204268 0.205131 0.205981 0.206814 0.207627 0.208417 0.209181 0.209916 0.210620 0.211288 0.211918 0.212507 0.213051 0.213547 0.213992 0.214382 0.214716 0.214989 0.215200 0.215345 0.215423 0.215430 0.215365 0.215225 0.215010 0.214717 0.214345 0.213893 0.213360 0.212746 0.212051 0.211274 0.210415 0.209476 0.208456 0.207358 0.206182 0.204930 0.203605 0.202207 0.200739 0.199203 0.197602 0.195938 0.194214 0.192432 0.190594 0.188703 0.186761 0.184771 0.182735 0.180656 0.178534 0.176374 0.174176 0.171943 0.169677 0.167379 0.165051 0.162695 0.160312 0.157903 0.155469 0.153013 0.150533 0.148033 0.145511 0.142970 0.140409 0.137829 0.135231 0.132614 0.129979 0.127327 0.124658 0.121972 0.119270 0.116551 0.113816 0.111066 0.108299 0.105518 0.102721 0.099909 0.097083 0.094242 0.091389 0.088522 0.085642 0.082750 0.079846 0.076932 -0.225979 0.227069 0.228158 0.229243 0.230322 0.231390 0.232447 0.233487 0.234508 0.235507 0.236480 0.237422 0.238331 0.239203 0.240033 0.240818 0.241555 0.242238 0.242864 0.243429 0.243929 0.244360 0.244720 0.245003 0.245208 0.245332 0.245371 0.245323 0.245185 0.244956 0.244634 0.244217 0.243704 0.243094 0.242387 0.241582 0.240680 0.239681 0.238585 0.237394 0.236109 0.234733 0.233268 0.231716 0.230079 0.228361 0.226565 0.224693 0.222749 0.220736 0.218658 0.216516 0.214314 0.212056 0.209743 0.207380 0.204968 0.202511 0.200011 0.197470 0.194891 0.192276 0.189627 0.186945 0.184233 0.181492 0.178724 0.175930 0.173110 0.170267 0.167400 0.164511 0.161600 0.158668 0.155714 0.152739 0.149744 0.146729 0.143694 0.140639 0.137565 0.134471 0.131358 0.128226 0.125075 0.121905 0.118717 0.115510 0.112286 0.109044 0.105785 0.102509 0.099216 0.095908 0.092584 0.089246 0.085895 0.082530 0.079154 0.075767 0.072370 0.068965 0.065553 0.062135 -0.262147 0.263391 0.264612 0.265806 0.266969 0.268097 0.269186 0.270230 0.271225 0.272166 0.273049 0.273868 0.274619 0.275297 0.275897 0.276414 0.276846 0.277186 0.277432 0.277580 0.277628 0.277570 0.277407 0.277134 0.276750 0.276253 0.275643 0.274918 0.274077 0.273122 0.272052 0.270867 0.269570 0.268162 0.266645 0.265021 0.263295 0.261469 0.259546 0.257531 0.255427 0.253239 0.250970 0.248624 0.246204 0.243716 0.241162 0.238545 0.235871 0.233141 0.230358 0.227527 0.224650 0.221730 0.218769 0.215769 0.212734 0.209665 0.206564 0.203433 0.200273 0.197086 0.193872 0.190632 0.187367 0.184078 0.180764 0.177427 0.174067 0.170684 0.167278 0.163849 0.160398 0.156924 0.153427 0.149908 0.146366 0.142802 0.139217 0.135609 0.131979 0.128328 0.124656 0.120963 0.117248 0.113514 0.109760 0.105988 0.102197 0.098389 0.094564 0.090724 0.086869 0.083001 0.079121 0.075231 0.071332 0.067426 0.063514 0.059599 0.055682 0.051765 0.047851 0.043941 -0.301502 0.302763 0.303970 0.305116 0.306197 0.307207 0.308139 0.308988 0.309749 0.310416 0.310983 0.311446 0.311799 0.312039 0.312161 0.312163 0.312040 0.311791 0.311412 0.310902 0.310260 0.309484 0.308574 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-1.947688 -1.962497 -1.976484 -1.989660 -2.002036 -2.013622 -2.024430 -2.034472 -2.043762 -1.341588 1.312381 1.282810 1.253070 1.223281 1.193430 1.163491 1.133593 1.103889 1.074394 1.045075 1.015894 0.986732 0.957537 0.928261 0.898837 0.869203 0.839255 0.808885 0.778010 0.746468 0.714001 0.680459 0.645725 0.609765 0.572535 0.534116 0.494658 0.454282 0.413082 0.371134 0.328520 0.285325 0.242516 0.200101 0.155451 0.111367 0.066856 0.022553 -0.021806 -0.067053 -0.111850 -0.157694 -0.203744 -0.249259 -0.295324 -0.340924 -0.386903 -0.433212 -0.479457 -0.525577 -0.571204 -0.616568 -0.661490 -0.706384 -0.750862 -0.795315 -0.838906 -0.882572 -0.925810 -0.968581 -1.010850 -1.052155 -1.093317 -1.133921 -1.173593 -1.212942 -1.251703 -1.289832 -1.327309 -1.364111 -1.400223 -1.435626 -1.470306 -1.504245 -1.537428 -1.569841 -1.601470 -1.632298 -1.662314 -1.691501 -1.719847 -1.747339 -1.773961 -1.799703 -1.824552 -1.848501 -1.871544 -1.893678 -1.914905 -1.935227 -1.954650 -1.973182 -1.990830 -2.007603 -2.023510 -2.038560 -2.052764 -2.066131 -2.078674 -2.090404 -2.101333 -2.111473 -2.120839 -1.359670 1.330162 1.300229 1.269955 1.239481 1.208867 1.178123 1.147344 1.116684 1.086201 1.055887 1.025703 0.995534 0.965339 0.935069 0.904654 0.874038 0.843115 0.811781 0.779952 0.747512 0.714211 0.679824 0.644210 0.607325 0.569113 0.529636 0.489052 0.447496 0.405076 0.361876 0.318007 0.274450 0.231195 0.185622 0.140573 0.095022 0.049655 0.004200 -0.040751 -0.088271 -0.135381 -0.181726 -0.229588 -0.276127 -0.323608 -0.371504 -0.419398 -0.467229 -0.514605 -0.561783 -0.608573 -0.655397 -0.701870 -0.748389 -0.794068 -0.839897 -0.885338 -0.930349 -0.974892 -1.018468 -1.061955 -1.104900 -1.146893 -1.188618 -1.229759 -1.270279 -1.310153 -1.349360 -1.387882 -1.425701 -1.462799 -1.499160 -1.534767 -1.569604 -1.603656 -1.636908 -1.669345 -1.700951 -1.731713 -1.761616 -1.790646 -1.818789 -1.846030 -1.872358 -1.897763 -1.922234 -1.945769 -1.968365 -1.990025 -2.010751 -2.030551 -2.049432 -2.067403 -2.084472 -2.100648 -2.115942 -2.130363 -2.143924 -2.156635 -2.168509 -2.179559 -2.189797 -2.199238 -1.377322 1.347492 1.317253 1.286583 1.255524 1.224189 1.192660 1.161047 1.129471 1.098010 1.066696 1.035497 1.004306 0.973094 0.941815 0.910391 0.878772 0.846857 0.814539 0.781729 0.748340 0.714180 0.678930 0.642432 0.604614 0.565418 0.524884 0.483169 0.440431 0.396792 0.353305 0.309125 0.264159 0.217748 0.172648 0.125261 0.079786 0.033155 -0.013756 -0.061902 -0.110417 -0.158441 -0.206737 -0.255072 -0.304450 -0.353892 -0.403339 -0.452374 -0.501282 -0.549860 -0.598543 -0.646944 -0.695227 -0.743191 -0.791143 -0.838758 -0.885991 -0.932799 -0.978649 -1.024472 -1.069782 -1.114129 -1.158263 -1.201826 -1.244778 -1.287096 -1.328757 -1.369741 -1.410030 -1.449605 -1.488448 -1.526541 -1.563868 -1.600412 -1.636157 -1.671087 -1.705187 -1.738440 -1.770832 -1.802349 -1.832975 -1.862695 -1.891496 -1.919363 -1.946284 -1.972248 -1.997248 -2.021280 -2.044343 -2.066441 -2.087576 -2.107757 -2.126991 -2.145288 -2.162655 -2.179103 -2.194643 -2.209284 -2.223039 -2.235920 -2.247939 -2.259109 -2.269445 -2.278960 - - -# Torque coefficient - -0.030271 0.031010 0.031748 0.032485 0.033221 0.033954 0.034685 0.035414 0.036138 0.036858 0.037573 0.038283 0.038986 0.039682 0.040369 0.041049 0.041718 0.042377 0.043024 0.043659 0.044280 0.044887 0.045478 0.046052 0.046608 0.047145 0.047662 0.048157 0.048630 0.049080 0.049505 0.049904 0.050277 0.050623 0.050942 0.051232 0.051494 0.051727 0.051930 0.052105 0.052250 0.052365 0.052451 0.052507 0.052535 0.052533 0.052503 0.052445 0.052359 0.052246 0.052106 0.051940 0.051749 0.051533 0.051293 0.051029 0.050743 0.050435 0.050106 0.049757 0.049387 0.048999 0.048592 0.048168 0.047727 0.047269 0.046796 0.046307 0.045804 0.045287 0.044756 0.044211 0.043654 0.043085 0.042504 0.041910 0.041306 0.040690 0.040063 0.039425 0.038776 0.038117 0.037447 0.036767 0.036077 0.035377 0.034667 0.033947 0.033217 0.032478 0.031729 0.030970 0.030203 0.029425 0.028639 0.027844 0.027040 0.026227 0.025405 0.024575 0.023737 0.022890 0.022036 0.021174 -0.036180 0.036987 0.037789 0.038587 0.039378 0.040162 0.040938 0.041706 0.042464 0.043212 0.043948 0.044672 0.045381 0.046076 0.046755 0.047417 0.048059 0.048682 0.049284 0.049863 0.050418 0.050947 0.051450 0.051925 0.052371 0.052787 0.053173 0.053528 0.053851 0.054141 0.054400 0.054625 0.054818 0.054979 0.055106 0.055201 0.055264 0.055294 0.055293 0.055261 0.055198 0.055105 0.054982 0.054830 0.054650 0.054443 0.054209 0.053950 0.053666 0.053358 0.053026 0.052673 0.052298 0.051902 0.051486 0.051051 0.050597 0.050126 0.049638 0.049133 0.048612 0.048076 0.047526 0.046961 0.046383 0.045791 0.045186 0.044569 0.043940 0.043298 0.042645 0.041980 0.041304 0.040616 0.039918 0.039208 0.038487 0.037756 0.037014 0.036261 0.035498 0.034724 0.033940 0.033145 0.032341 0.031526 0.030701 0.029866 0.029021 0.028167 0.027303 0.026429 0.025547 0.024655 0.023754 0.022844 0.021926 0.020999 0.020065 0.019122 0.018172 0.017216 0.016252 0.015282 -0.042240 0.043089 0.043928 0.044755 0.045569 0.046369 0.047154 0.047922 0.048672 0.049403 0.050113 0.050801 0.051464 0.052102 0.052712 0.053294 0.053845 0.054365 0.054851 0.055305 0.055723 0.056107 0.056455 0.056767 0.057043 0.057283 0.057487 0.057655 0.057787 0.057884 0.057945 0.057972 0.057964 0.057923 0.057849 0.057742 0.057604 0.057435 0.057236 0.057009 0.056753 0.056471 0.056163 0.055829 0.055472 0.055091 0.054688 0.054263 0.053818 0.053353 0.052869 0.052367 0.051846 0.051309 0.050756 0.050186 0.049602 0.049003 0.048390 0.047763 0.047122 0.046469 0.045802 0.045123 0.044432 0.043729 0.043013 0.042286 0.041547 0.040796 0.040034 0.039260 0.038475 0.037679 0.036871 0.036052 0.035222 0.034381 0.033528 0.032665 0.031791 0.030906 0.030011 0.029105 0.028188 0.027261 0.026324 0.025377 0.024420 0.023454 0.022478 0.021493 0.020499 0.019496 0.018485 0.017467 0.016441 0.015408 0.014368 0.013323 0.012271 0.011215 0.010154 0.009090 -0.048254 0.049109 0.049946 0.050762 0.051556 0.052325 0.053069 0.053785 0.054472 0.055127 0.055748 0.056335 0.056885 0.057398 0.057873 0.058309 0.058706 0.059064 0.059382 0.059660 0.059899 0.060099 0.060260 0.060383 0.060467 0.060514 0.060523 0.060496 0.060434 0.060337 0.060206 0.060042 0.059847 0.059620 0.059364 0.059080 0.058767 0.058428 0.058064 0.057675 0.057262 0.056826 0.056369 0.055890 0.055391 0.054873 0.054336 0.053781 0.053209 0.052620 0.052014 0.051394 0.050758 0.050107 0.049443 0.048764 0.048072 0.047367 0.046648 0.045917 0.045172 0.044416 0.043646 0.042864 0.042070 0.041264 0.040445 0.039615 0.038772 0.037917 0.037050 0.036171 0.035280 0.034377 0.033463 0.032537 0.031599 0.030650 0.029689 0.028717 0.027733 0.026739 0.025734 0.024718 0.023692 0.022656 0.021610 0.020554 0.019488 0.018414 0.017332 0.016241 0.015143 0.014038 0.012926 0.011809 0.010686 0.009558 0.008427 0.007292 0.006154 0.005014 0.003872 0.002730 -0.053995 0.054809 0.055592 0.056343 0.057058 0.057736 0.058375 0.058973 0.059530 0.060045 0.060517 0.060946 0.061332 0.061675 0.061975 0.062233 0.062449 0.062622 0.062755 0.062847 0.062899 0.062912 0.062886 0.062823 0.062723 0.062589 0.062419 0.062217 0.061982 0.061717 0.061422 0.061098 0.060746 0.060368 0.059964 0.059536 0.059084 0.058609 0.058112 0.057594 0.057056 0.056498 0.055922 0.055327 0.054715 0.054086 0.053440 0.052779 0.052103 0.051411 0.050705 0.049985 0.049250 0.048502 0.047740 0.046965 0.046176 0.045374 0.044559 0.043730 0.042888 0.042033 0.041165 0.040285 0.039391 0.038484 0.037565 0.036632 0.035687 0.034729 0.033759 0.032776 0.031780 0.030773 0.029752 0.028720 0.027676 0.026620 0.025552 0.024473 0.023383 0.022282 0.021171 0.020049 0.018918 0.017777 0.016627 0.015469 0.014304 0.013131 0.011951 0.010766 0.009575 0.008379 0.007179 0.005976 0.004771 0.003563 0.002354 0.001145 -0.000064 -0.001272 -0.002479 -0.003683 -0.059192 0.059902 0.060568 0.061189 0.061764 0.062293 0.062774 0.063209 0.063598 0.063941 0.064238 0.064490 0.064697 0.064861 0.064981 0.065060 0.065097 0.065094 0.065051 0.064970 0.064851 0.064697 0.064507 0.064284 0.064029 0.063742 0.063425 0.063079 0.062704 0.062303 0.061876 0.061424 0.060947 0.060448 0.059926 0.059382 0.058818 0.058234 0.057630 0.057008 0.056367 0.055709 0.055035 0.054344 0.053637 0.052914 0.052176 0.051424 0.050656 0.049874 0.049078 0.048267 0.047442 0.046602 0.045749 0.044881 0.044000 0.043104 0.042194 0.041271 0.040333 0.039382 0.038417 0.037439 0.036446 0.035440 0.034421 0.033388 0.032341 0.031281 0.030208 0.029122 0.028023 0.026912 0.025788 0.024652 0.023504 0.022344 0.021174 0.019992 0.018800 0.017599 0.016387 0.015167 0.013938 0.012702 0.011459 0.010209 0.008953 0.007693 0.006428 0.005159 0.003888 0.002614 0.001340 0.000064 -0.001211 -0.002485 -0.003758 -0.005028 -0.006295 -0.007558 -0.008817 -0.010070 -0.063556 0.064111 0.064617 0.065073 0.065479 0.065837 0.066147 0.066409 0.066626 0.066797 0.066923 0.067006 0.067047 0.067045 0.067004 0.066923 0.066804 0.066649 0.066457 0.066231 0.065972 0.065681 0.065359 0.065007 0.064627 0.064218 0.063783 0.063322 0.062836 0.062326 0.061793 0.061237 0.060659 0.060061 0.059442 0.058804 0.058147 0.057472 0.056779 0.056069 0.055342 0.054599 0.053839 0.053064 0.052273 0.051467 0.050645 0.049807 0.048954 0.048086 0.047203 0.046305 0.045392 0.044464 0.043521 0.042562 0.041589 0.040602 0.039599 0.038582 0.037550 0.036503 0.035442 0.034366 0.033276 0.032172 0.031053 0.029921 0.028775 0.027615 0.026442 0.025256 0.024057 0.022846 0.021623 0.020388 0.019142 0.017885 0.016618 0.015341 0.014055 0.012760 0.011457 0.010148 0.008831 0.007509 0.006182 0.004851 0.003516 0.002178 0.000839 -0.000501 -0.001842 -0.003183 -0.004522 -0.005858 -0.007192 -0.008523 -0.009849 -0.011170 -0.012485 -0.013793 -0.015094 -0.016388 -0.066930 0.067320 0.067659 0.067950 0.068192 0.068388 0.068538 0.068644 0.068706 0.068726 0.068704 0.068642 0.068541 0.068403 0.068228 0.068017 0.067772 0.067494 0.067184 0.066843 0.066473 0.066073 0.065645 0.065191 0.064710 0.064204 0.063674 0.063120 0.062543 0.061944 0.061323 0.060682 0.060021 0.059340 0.058641 0.057923 0.057187 0.056434 0.055663 0.054875 0.054071 0.053250 0.052412 0.051558 0.050687 0.049800 0.048897 0.047978 0.047042 0.046090 0.045122 0.044139 0.043139 0.042123 0.041091 0.040044 0.038981 0.037902 0.036808 0.035698 0.034572 0.033432 0.032276 0.031106 0.029921 0.028721 0.027507 0.026279 0.025037 0.023782 0.022513 0.021232 0.019939 0.018634 0.017317 0.015989 0.014651 0.013304 0.011947 0.010582 0.009210 0.007831 0.006445 0.005055 0.003659 0.002260 0.000858 -0.000545 -0.001951 -0.003356 -0.004761 -0.006165 -0.007566 -0.008965 -0.010360 -0.011751 -0.013136 -0.014516 -0.015889 -0.017254 -0.018612 -0.019960 -0.021300 -0.022630 -0.069328 0.069568 0.069760 0.069907 0.070009 0.070068 0.070084 0.070060 0.069995 0.069892 0.069751 0.069574 0.069362 0.069115 0.068835 0.068523 0.068179 0.067805 0.067402 0.066970 0.066511 0.066024 0.065512 0.064975 0.064413 0.063828 0.063220 0.062589 0.061937 0.061264 0.060571 0.059858 0.059125 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-0.102874 -0.107820 -0.112820 -0.117845 -0.122864 -0.127923 -0.132995 -0.138077 -0.143165 -0.148257 -0.153348 -0.158437 -0.163521 -0.168595 -0.173659 -0.178709 -0.183743 -0.188757 -0.193751 -0.198721 -0.203665 -0.208581 -0.213467 -0.218321 -0.223141 -0.227924 -0.232670 -0.237376 -0.242041 -0.246664 -0.251245 -0.255782 -0.260276 -0.264727 -0.269136 -0.273503 -0.277829 -0.282114 -0.286360 -0.290569 -0.294741 -0.298878 -0.302981 -0.307053 -0.311094 -0.315108 -0.319095 - diff --git a/Tune_Cases/Cp_Ct_Cq.IEA15MW.txt b/Tune_Cases/Cp_Ct_Cq.IEA15MW.txt deleted file mode 100644 index 46e1039d..00000000 --- a/Tune_Cases/Cp_Ct_Cq.IEA15MW.txt +++ /dev/null @@ -1,165 +0,0 @@ -# ----- Rotor performance tables for the IEA-15-240-RWT wind turbine ----- -# ------------ Written on Jan-21-20 using the ROSCO toolbox ------------ - -# Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.75 -0.5 -0.25 0.0 0.25 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 21.0 21.25 21.5 21.75 22.0 22.25 22.5 22.75 23.0 23.25 23.5 23.75 24.0 24.25 24.5 24.75 -# TSR vector - y axis (matrix rows) (-) -3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 -# Wind speed vector - z axis (m/s) -10.88 - -# Power coefficient - -0.063489 0.065012 0.066528 0.068036 0.069536 0.071027 0.072508 0.073978 0.075437 0.076883 0.078315 0.079732 0.081133 0.082518 0.083884 0.085231 0.086558 0.087863 0.089145 0.090403 0.091636 0.092842 0.094021 0.095170 0.096290 0.097378 0.098433 0.099455 0.100441 0.101391 0.102303 0.103177 0.104011 0.104804 0.105554 0.106261 0.106924 0.107542 0.108113 0.108637 0.109113 0.109540 0.109918 0.110246 0.110523 0.110749 0.110924 0.111046 0.111117 0.111135 0.111100 0.111013 0.110872 0.110679 0.110433 0.110135 0.109784 0.109381 0.108927 0.108421 0.107865 0.107260 0.106605 0.105903 0.105153 0.104356 0.103515 0.102629 0.101701 0.100730 0.099718 0.098666 0.097576 0.096448 0.095283 0.094083 0.092848 0.091581 0.090280 0.088949 0.087587 0.086196 0.084777 0.083330 0.081857 0.080357 0.078833 0.077285 0.075713 0.074119 0.072503 0.070866 0.069208 0.067531 0.065834 0.064119 0.062385 0.060634 0.058865 0.057080 0.055279 0.053462 0.051630 0.049782 -0.081973 0.083752 0.085516 0.087265 0.088996 0.090708 0.092401 0.094072 0.095721 0.097345 0.098945 0.100517 0.102061 0.103575 0.105057 0.106507 0.107923 0.109302 0.110644 0.111948 0.113210 0.114431 0.115608 0.116741 0.117827 0.118865 0.119853 0.120791 0.121676 0.122509 0.123286 0.124008 0.124673 0.125280 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0.400130 0.394413 0.387120 0.378315 0.368078 0.356505 0.343673 0.329643 0.314468 0.298191 0.280849 0.262475 0.243096 0.222736 0.201418 0.179159 0.155975 0.131882 0.106891 0.081015 0.054263 0.026644 -0.001835 -0.031166 -0.061343 -0.092360 -0.124211 -0.156892 -0.190396 -0.224715 -0.259839 -0.295757 -0.332455 -0.369914 -0.408115 -0.447035 -0.486647 -0.526924 -0.567837 -0.609358 -0.651457 -0.694103 -0.737263 -0.780907 -0.824999 -0.869506 -0.914392 -0.959622 -1.005157 -1.050961 -1.096993 -1.143214 -1.189582 -1.236055 -1.282590 -1.329142 -1.375667 -1.422118 -1.468447 -1.514605 -1.560543 -1.606209 -1.651553 -1.696523 -1.741066 -1.785131 -1.828666 -1.871626 -1.913966 -1.955649 -1.996644 -2.036927 -2.076479 -2.115293 -2.153361 -2.190685 -2.227266 -2.263108 -2.298219 -2.332610 -2.366292 -2.399279 -2.431588 -2.463235 -2.494241 -0.283280 0.293331 0.303172 0.312806 0.322242 0.331495 0.340579 0.349496 0.358233 0.366707 0.374751 0.382163 0.388714 0.394219 0.398467 0.401225 0.402403 0.401952 0.399825 0.396042 0.390604 0.383488 0.374744 0.364447 0.352706 0.339605 0.325216 0.309598 0.292797 0.274857 0.255813 0.235694 0.214529 0.192340 0.169148 0.144970 0.119824 0.093721 0.066676 0.038698 0.009798 -0.020016 -0.050737 -0.082356 -0.114869 -0.148268 -0.182547 -0.217699 -0.253715 -0.290584 -0.328291 -0.366820 -0.406152 -0.446264 -0.487128 -0.528719 -0.571005 -0.613958 -0.657545 -0.701737 -0.746499 -0.791798 -0.837600 -0.883868 -0.930568 -0.977660 -1.025107 -1.072870 -1.120907 -1.169177 -1.217638 -1.266246 -1.314957 -1.363723 -1.412499 -1.461236 -1.509886 -1.558397 -1.606717 -1.654795 -1.702577 -1.750007 -1.797031 -1.843595 -1.889643 -1.935124 -1.979989 -2.024194 -2.067702 -2.110483 -2.152513 -2.193778 -2.234271 -2.273987 -2.312928 -2.351097 -2.388501 -2.425147 -2.461048 -2.496217 -2.530669 -2.564422 -2.597494 -2.629908 -0.268273 0.278928 0.289374 0.299596 0.309594 0.319378 0.328961 0.338345 0.347525 0.356449 0.364985 0.372948 0.380104 0.386239 0.391163 0.394631 0.396462 0.396592 0.394964 0.391565 0.386416 0.379497 0.370825 0.360480 0.348574 0.335204 0.320450 0.304378 0.287042 0.268486 0.248751 0.227871 0.205874 0.182787 0.158631 0.133427 0.107191 0.079939 0.051685 0.022440 -0.007785 -0.038980 -0.071138 -0.104251 -0.138311 -0.173311 -0.209245 -0.246102 -0.283874 -0.322546 -0.362103 -0.402526 -0.443793 -0.485878 -0.528752 -0.572385 -0.616747 -0.661805 -0.707528 -0.753880 -0.800828 -0.848335 -0.896366 -0.944882 -0.993845 -1.043215 -1.092951 -1.143012 -1.193355 -1.243935 -1.294709 -1.345628 -1.396646 -1.447715 -1.498784 -1.549803 -1.600720 -1.651480 -1.702030 -1.752314 -1.802274 -1.851853 -1.900994 -1.949639 -1.997730 -2.045213 -2.092040 -2.138166 -2.183554 -2.228174 -2.272007 -2.315040 -2.357267 -2.398687 -2.439300 -2.479112 -2.518131 -2.556366 -2.593832 -2.630541 -2.666512 -2.701763 -2.736315 -2.770191 -0.252865 0.264105 0.275165 0.285997 0.296585 0.306929 0.317040 0.326917 0.336561 0.345937 0.354943 0.363420 0.371151 0.377892 0.383446 0.387588 0.390085 0.390805 0.389694 0.386703 0.381856 0.375143 0.366556 0.356175 0.344108 0.330467 0.315343 0.298807 0.280920 0.261732 0.241286 0.219620 0.196766 0.172751 0.147601 0.121336 0.093976 0.065536 0.036033 0.005478 -0.026117 -0.058741 -0.092385 -0.127041 -0.162702 -0.199358 -0.237002 -0.275623 -0.315210 -0.355746 -0.397215 -0.439594 -0.482859 -0.526981 -0.571929 -0.617672 -0.664177 -0.711409 -0.759335 -0.807918 -0.857122 -0.906908 -0.957240 -1.008075 -1.059374 -1.111094 -1.163193 -1.215626 -1.268348 -1.321311 -1.374469 -1.427772 -1.481171 -1.534614 -1.588048 -1.641419 -1.694672 -1.747751 -1.800598 -1.853154 -1.905358 -1.957150 -2.008470 -2.059257 -2.109451 -2.158996 -2.207842 -2.255945 -2.303269 -2.349786 -2.395479 -2.440336 -2.484353 -2.527532 -2.569873 -2.611384 -2.652074 -2.691954 -2.731039 -2.769345 -2.806889 -2.843694 -2.879780 -2.915173 -0.237109 0.248890 0.260549 0.272003 0.283204 0.294136 0.304801 0.315200 0.325330 0.335169 0.344635 0.353602 0.361877 0.369202 0.375356 0.380126 0.383276 0.384601 0.384015 0.381458 0.376924 0.370425 0.361938 0.351530 0.339306 0.325393 0.309891 0.292881 0.274428 0.254590 0.233413 0.210937 0.187199 0.162228 0.136050 0.108691 0.080169 0.050503 0.019709 -0.012199 -0.045209 -0.079310 -0.114490 -0.150742 -0.188056 -0.226424 -0.265836 -0.306280 -0.347742 -0.390205 -0.433648 -0.478047 -0.523374 -0.569598 -0.616687 -0.664607 -0.713322 -0.762798 -0.812997 -0.863882 -0.915413 -0.967552 -1.020256 -1.073485 -1.127194 -1.181338 -1.235874 -1.290753 -1.345927 -1.401348 -1.456965 -1.512726 -1.568579 -1.624468 -1.680339 -1.736134 -1.791795 -1.847262 -1.902475 -1.957370 -2.011885 -2.065956 -2.119519 -2.172510 -2.224867 -2.276533 -2.327457 -2.377596 -2.426914 -2.475386 -2.522995 -2.569734 -2.615601 -2.660595 -2.704722 -2.747989 -2.790407 -2.831989 -2.872750 -2.912708 -2.951882 -2.990296 -3.027972 -3.064939 -0.221031 0.233333 0.245550 0.257617 0.269444 0.280987 0.292234 0.303180 0.313820 0.324140 0.334071 0.343511 0.352297 0.360183 0.366916 0.372281 0.376049 0.377989 0.377933 0.375825 0.371621 0.365341 0.356969 0.346542 0.334166 0.319978 0.304092 0.286596 0.267564 0.247056 0.225126 0.201816 0.177166 0.151209 0.123972 0.095483 0.065762 0.034829 0.002702 -0.030603 -0.065075 -0.100700 -0.137468 -0.175368 -0.214392 -0.254528 -0.295766 -0.338092 -0.381491 -0.425942 -0.471422 -0.517905 -0.565360 -0.613753 -0.663050 -0.713215 -0.764211 -0.816000 -0.868544 -0.921803 -0.975735 -1.030299 -1.085452 -1.141147 -1.197341 -1.253985 -1.311033 -1.368433 -1.426136 -1.484090 -1.542242 -1.600536 -1.658916 -1.717327 -1.775708 -1.834000 -1.892140 -1.950067 -2.007716 -2.065020 -2.121913 -2.178328 -2.234198 -2.289457 -2.344039 -2.397887 -2.450950 -2.503184 -2.554555 -2.605040 -2.654626 -2.703306 -2.751080 -2.797950 -2.843921 -2.889002 -2.933206 -2.976547 -3.019042 -3.060709 -3.101571 -3.141651 -3.180975 -3.219573 -0.204626 0.217465 0.230211 0.242854 0.255306 0.267476 0.279328 0.290845 0.302019 0.312841 0.323248 0.333154 0.342428 0.350852 0.358146 0.364082 0.368428 0.370968 0.371454 0.369803 0.365946 0.359897 0.351647 0.341208 0.328685 0.314221 0.297943 0.279950 0.260322 0.239127 0.216421 0.192252 0.166662 0.139687 0.111359 0.081703 0.050745 0.018506 -0.014997 -0.049746 -0.085726 -0.122926 -0.161332 -0.200935 -0.241723 -0.283685 -0.326809 -0.371078 -0.416475 -0.462978 -0.510560 -0.559192 -0.608841 -0.659470 -0.711043 -0.763523 -0.816870 -0.871045 -0.926007 -0.981713 -1.038121 -1.095185 -1.152860 -1.211099 -1.269854 -1.329074 -1.388710 -1.448709 -1.509018 -1.569582 -1.630344 -1.691247 -1.752232 -1.813239 -1.874205 -1.935068 -1.995761 -2.056220 -2.116375 -2.176158 -2.235497 -2.294324 -2.352567 -2.410157 -2.467028 -2.523121 -2.578383 -2.632772 -2.686257 -2.738816 -2.790440 -2.841122 -2.890864 -2.939668 -2.987543 -3.034498 -3.080548 -3.125706 -3.169993 -3.213428 -3.256035 -3.297840 -3.338871 -3.379158 -0.187895 0.201284 0.214567 0.227750 0.240798 0.253598 0.266072 0.278185 0.289915 0.301261 0.312162 0.322538 0.332286 0.341220 0.349059 0.355546 0.360442 0.363547 0.364582 0.363394 0.359901 0.354093 0.345970 0.335527 0.322860 0.308118 0.291441 0.272938 0.252699 0.230797 0.207292 0.182239 0.155681 0.127657 0.098202 0.067344 0.035110 0.001522 -0.033400 -0.069637 -0.107175 -0.146000 -0.186098 -0.227457 -0.270066 -0.313913 -0.358982 -0.405256 -0.452715 -0.501333 -0.551082 -0.601930 -0.653839 -0.706773 -0.760693 -0.815558 -0.871329 -0.927962 -0.985416 -1.043644 -1.102602 -1.162243 -1.222517 -1.283377 -1.344770 -1.406645 -1.468947 -1.531623 -1.594615 -1.657867 -1.721317 -1.784907 -1.848574 -1.912253 -1.975881 -2.039389 -2.102710 -2.165773 -2.228507 -2.290839 -2.352696 -2.414002 -2.474685 -2.534672 -2.593896 -2.652295 -2.709820 -2.766427 -2.822087 -2.876783 -2.930505 -2.983251 -3.035022 -3.085823 -3.135663 -3.184552 -3.232507 -3.279543 -3.325682 -3.370945 -3.415357 -3.458946 -3.501743 -3.543779 - - -# Thrust coefficient - -0.127013 0.127522 0.128034 0.128548 0.129064 0.129581 0.130098 0.130614 0.131127 0.131637 0.132143 0.132644 0.133138 0.133625 0.134103 0.134571 0.135028 0.135473 0.135905 0.136323 0.136725 0.137110 0.137477 0.137825 0.138153 0.138460 0.138744 0.139005 0.139240 0.139450 0.139632 0.139786 0.139911 0.140005 0.140067 0.140096 0.140091 0.140051 0.139974 0.139861 0.139710 0.139521 0.139292 0.139023 0.138713 0.138362 0.137970 0.137536 0.137059 0.136540 0.135978 0.135372 0.134724 0.134033 0.133298 0.132520 0.131699 0.130835 0.129928 0.128979 0.127988 0.126955 0.125882 0.124768 0.123615 0.122423 0.121193 0.119926 0.118622 0.117284 0.115911 0.114505 0.113066 0.111596 0.110096 0.108566 0.107008 0.105422 0.103809 0.102170 0.100506 0.098818 0.097106 0.095372 0.093616 0.091839 0.090042 0.088225 0.086390 0.084537 0.082667 0.080780 0.078877 0.076960 0.075028 0.073082 0.071123 0.069151 0.067168 0.065173 0.063167 0.061151 0.059125 0.057090 -0.148515 0.149158 0.149798 0.150434 0.151065 0.151689 0.152306 0.152913 0.153509 0.154094 0.154665 0.155221 0.155761 0.156283 0.156785 0.157268 0.157728 0.158165 0.158577 0.158963 0.159321 0.159650 0.159947 0.160213 0.160445 0.160642 0.160802 0.160925 0.161007 0.161049 0.161049 0.161005 0.160917 0.160783 0.160602 0.160374 0.160097 0.159771 0.159395 0.158968 0.158491 0.157961 0.157380 0.156746 0.156060 0.155321 0.154529 0.153685 0.152787 0.151837 0.150835 0.149781 0.148675 0.147519 0.146313 0.145057 0.143754 0.142403 0.141005 0.139563 0.138077 0.136548 0.134977 0.133366 0.131716 0.130028 0.128304 0.126544 0.124749 0.122922 0.121062 0.119172 0.117251 0.115302 0.113325 0.111321 0.109291 0.107237 0.105159 0.103059 0.100936 0.098793 0.096629 0.094447 0.092246 0.090028 0.087793 0.085542 0.083276 0.080996 0.078701 0.076394 0.074074 0.071742 0.069398 0.067044 0.064679 0.062304 0.059920 0.057528 0.055127 0.052718 0.050302 0.047880 -0.172560 0.173309 0.174047 0.174771 0.175480 0.176172 0.176846 0.177500 0.178131 0.178739 0.179321 0.179877 0.180403 0.180898 0.181361 0.181790 0.182182 0.182537 0.182851 0.183124 0.183353 0.183537 0.183674 0.183762 0.183800 0.183786 0.183719 0.183597 0.183419 0.183184 0.182891 0.182538 0.182125 0.181652 0.181116 0.180518 0.179858 0.179134 0.178347 0.177496 0.176582 0.175604 0.174562 0.173457 0.172290 0.171061 0.169771 0.168421 0.167011 0.165543 0.164019 0.162439 0.160805 0.159119 0.157381 0.155594 0.153759 0.151877 0.149950 0.147980 0.145968 0.143914 0.141822 0.139692 0.137525 0.135323 0.133088 0.130820 0.128521 0.126192 0.123834 0.121449 0.119037 0.116601 0.114140 0.111657 0.109152 0.106626 0.104081 0.101516 0.098934 0.096334 0.093718 0.091087 0.088441 0.085780 0.083106 0.080419 0.077719 0.075008 0.072285 0.069552 0.066808 0.064055 0.061293 0.058522 0.055743 0.052957 0.050165 0.047367 0.044564 0.041756 0.038945 0.036131 -0.198970 0.199785 0.200576 0.201342 0.202080 0.202789 0.203465 0.204107 0.204712 0.205280 0.205806 0.206290 0.206728 0.207119 0.207460 0.207749 0.207984 0.208163 0.208284 0.208345 0.208343 0.208279 0.208148 0.207951 0.207685 0.207350 0.206943 0.206465 0.205913 0.205288 0.204588 0.203813 0.202963 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0.968437 0.944828 0.921380 0.897922 0.874283 0.850312 0.825852 0.800760 0.774923 0.748295 0.720823 0.692497 0.663274 0.633158 0.602223 0.570580 0.538316 0.505501 0.472192 0.438435 0.404270 0.369732 0.334851 0.299653 0.264163 0.228403 0.192391 0.156147 0.119687 0.083026 0.046179 0.009160 -0.028018 -0.065342 -0.102800 -0.140378 -0.178065 -0.215844 -0.253701 -0.291618 -0.329576 -0.367555 -0.405533 -0.443486 -0.481391 -0.519225 -0.556964 -0.594585 -0.632064 -0.669376 -0.706498 -0.743405 -0.780072 -0.816475 -0.852587 -0.888383 -0.923837 -0.958922 -0.993612 -1.027878 -1.061693 -1.095028 -1.127854 -1.160143 -1.191862 -1.222983 -1.253473 -1.283299 -1.312429 -1.340829 -1.368465 -1.395302 -1.421305 -1.446442 -1.470678 -1.493986 -1.516339 -1.537718 -1.558109 -1.577504 -1.595900 -1.613299 -1.629703 -1.645119 -1.659553 -1.673013 -1.685509 -1.697051 -1.707650 -1.717318 -1.726068 -1.733914 -1.740870 -1.746953 -1.243400 1.216008 1.188613 1.161256 1.134079 1.107216 1.080750 1.054717 1.029128 1.003989 0.979242 0.954811 0.930593 0.906435 0.882146 0.857566 0.832529 0.806903 0.780527 0.753339 0.725270 0.696306 0.666409 0.635557 0.603820 0.571312 0.538135 0.504366 0.470067 0.435291 0.400081 0.364474 0.328503 0.292198 0.255584 0.218684 0.181520 0.144111 0.106474 0.068627 0.030586 -0.007636 -0.046025 -0.084566 -0.123246 -0.162051 -0.200968 -0.239980 -0.279070 -0.318220 -0.357410 -0.396616 -0.435816 -0.474986 -0.514101 -0.553138 -0.592071 -0.630877 -0.669530 -0.708005 -0.746278 -0.784322 -0.822113 -0.859623 -0.896827 -0.933698 -0.970208 -1.006329 -1.042035 -1.077295 -1.112081 -1.146363 -1.180112 -1.213295 -1.245882 -1.277841 -1.309138 -1.339739 -1.369612 -1.398719 -1.427025 -1.454495 -1.481094 -1.506784 -1.531534 -1.555314 -1.578100 -1.599873 -1.620620 -1.640335 -1.659016 -1.676667 -1.693291 -1.708895 -1.723487 -1.737075 -1.749669 -1.761280 -1.771919 -1.781601 -1.790337 -1.798143 -1.805035 -1.811029 -1.262421 1.234377 1.206317 1.178265 1.150290 1.122549 1.095174 1.068226 1.041726 1.015692 0.990073 0.964797 0.939778 0.914884 0.889917 0.864699 0.839055 0.812862 0.785940 0.758186 0.729522 0.699919 0.669344 0.637756 0.605215 0.571839 0.537741 0.503008 0.467709 0.431900 0.395630 0.358940 0.321864 0.284434 0.246679 0.208622 0.170288 0.131695 0.092865 0.053813 0.014557 -0.024887 -0.064505 -0.104282 -0.144204 -0.184255 -0.224422 -0.264685 -0.305028 -0.345430 -0.385868 -0.426320 -0.466761 -0.507165 -0.547508 -0.587765 -0.627909 -0.667916 -0.707760 -0.747415 -0.786855 -0.826053 -0.864983 -0.903617 -0.941927 -0.979887 -1.017467 -1.054639 -1.091373 -1.127640 -1.163410 -1.198651 -1.233332 -1.267421 -1.300885 -1.333691 -1.365803 -1.397188 -1.427809 -1.457629 -1.486612 -1.514720 -1.541915 -1.568163 -1.593428 -1.617683 -1.640902 -1.663070 -1.684173 -1.704209 -1.723177 -1.741081 -1.757926 -1.773718 -1.788468 -1.802182 -1.814873 -1.826552 -1.837231 -1.846923 -1.855644 -1.863408 -1.870232 -1.876133 - - -# Torque coefficient - -0.021215 0.021724 0.022230 0.022734 0.023235 0.023733 0.024228 0.024720 0.025207 0.025690 0.026169 0.026642 0.027111 0.027573 0.028030 0.028480 0.028923 0.029359 0.029788 0.030208 0.030620 0.031023 0.031417 0.031801 0.032175 0.032539 0.032891 0.033232 0.033562 0.033880 0.034184 0.034476 0.034755 0.035020 0.035271 0.035507 0.035728 0.035935 0.036126 0.036301 0.036460 0.036602 0.036729 0.036838 0.036931 0.037006 0.037065 0.037106 0.037129 0.037135 0.037124 0.037095 0.037048 0.036983 0.036901 0.036801 0.036684 0.036549 0.036398 0.036229 0.036043 0.035841 0.035622 0.035387 0.035136 0.034870 0.034589 0.034293 0.033983 0.033659 0.033320 0.032969 0.032605 0.032228 0.031839 0.031438 0.031025 0.030601 0.030167 0.029722 0.029267 0.028802 0.028328 0.027844 0.027352 0.026851 0.026342 0.025825 0.025299 0.024767 0.024227 0.023680 0.023126 0.022565 0.021998 0.021425 0.020846 0.020261 0.019670 0.019073 0.018471 0.017864 0.017252 0.016635 -0.025284 0.025833 0.026377 0.026916 0.027450 0.027978 0.028500 0.029016 0.029524 0.030026 0.030519 0.031004 0.031480 0.031947 0.032404 0.032851 0.033288 0.033714 0.034128 0.034530 0.034919 0.035296 0.035659 0.036008 0.036343 0.036663 0.036968 0.037257 0.037530 0.037787 0.038027 0.038249 0.038455 0.038642 0.038811 0.038961 0.039093 0.039206 0.039300 0.039374 0.039430 0.039465 0.039481 0.039477 0.039453 0.039409 0.039345 0.039262 0.039158 0.039036 0.038893 0.038732 0.038551 0.038352 0.038135 0.037899 0.037645 0.037374 0.037086 0.036782 0.036461 0.036125 0.035773 0.035406 0.035025 0.034630 0.034222 0.033800 0.033365 0.032918 0.032460 0.031989 0.031508 0.031016 0.030514 0.030001 0.029479 0.028948 0.028407 0.027858 0.027301 0.026735 0.026162 0.025581 0.024993 0.024397 0.023795 0.023186 0.022571 0.021949 0.021322 0.020688 0.020049 0.019404 0.018754 0.018098 0.017437 0.016770 0.016099 0.015423 0.014742 0.014056 0.013365 0.012671 -0.029439 0.030016 0.030584 0.031145 0.031697 0.032240 0.032773 0.033296 0.033808 0.034310 0.034800 0.035277 0.035742 0.036193 0.036631 0.037055 0.037463 0.037856 0.038234 0.038595 0.038939 0.039266 0.039575 0.039865 0.040137 0.040390 0.040624 0.040837 0.041031 0.041203 0.041355 0.041486 0.041596 0.041683 0.041750 0.041794 0.041816 0.041816 0.041794 0.041750 0.041683 0.041595 0.041484 0.041352 0.041199 0.041024 0.040828 0.040612 0.040376 0.040119 0.039843 0.039549 0.039236 0.038905 0.038556 0.038191 0.037809 0.037411 0.036997 0.036569 0.036126 0.035669 0.035198 0.034715 0.034219 0.033711 0.033191 0.032660 0.032118 0.031566 0.031004 0.030432 0.029851 0.029260 0.028661 0.028054 0.027439 0.026816 0.026185 0.025548 0.024903 0.024251 0.023593 0.022929 0.022258 0.021581 0.020899 0.020210 0.019516 0.018816 0.018110 0.017399 0.016683 0.015962 0.015235 0.014504 0.013767 0.013026 0.012280 0.011530 0.010775 0.010016 0.009253 0.008486 -0.033595 0.034185 0.034763 0.035329 0.035883 0.036423 0.036950 0.037463 0.037962 0.038445 0.038912 0.039362 0.039796 0.040211 0.040609 0.040988 0.041347 0.041687 0.042006 0.042304 0.042582 0.042837 0.043071 0.043282 0.043470 0.043635 0.043776 0.043894 0.043988 0.044057 0.044102 0.044123 0.044119 0.044091 0.044038 0.043960 0.043859 0.043733 0.043584 0.043411 0.043216 0.042997 0.042757 0.042494 0.042210 0.041906 0.041581 0.041236 0.040873 0.040490 0.040090 0.039672 0.039238 0.038787 0.038320 0.037839 0.037342 0.036832 0.036308 0.035771 0.035221 0.034660 0.034087 0.033502 0.032907 0.032302 0.031687 0.031062 0.030428 0.029786 0.029135 0.028476 0.027809 0.027135 0.026453 0.025764 0.025069 0.024367 0.023658 0.022943 0.022222 0.021494 0.020761 0.020021 0.019276 0.018525 0.017769 0.017006 0.016239 0.015466 0.014687 0.013904 0.013115 0.012321 0.011523 0.010719 0.009911 0.009099 0.008282 0.007460 0.006635 0.005806 0.004973 0.004137 -0.037673 0.038259 0.038831 0.039386 0.039924 0.040445 0.040948 0.041433 0.041898 0.042344 0.042769 0.043173 0.043556 0.043916 0.044253 0.044568 0.044858 0.045125 0.045367 0.045583 0.045774 0.045940 0.046079 0.046192 0.046278 0.046338 0.046370 0.046376 0.046354 0.046306 0.046232 0.046131 0.046003 0.045850 0.045671 0.045467 0.045239 0.044986 0.044710 0.044411 0.044090 0.043746 0.043382 0.042996 0.042591 0.042167 0.041724 0.041263 0.040784 0.040289 0.039778 0.039251 0.038709 0.038153 0.037583 0.037000 0.036404 0.035796 0.035177 0.034546 0.033904 0.033253 0.032591 0.031920 0.031240 0.030551 0.029854 0.029149 0.028436 0.027716 0.026989 0.026254 0.025512 0.024764 0.024009 0.023248 0.022480 0.021706 0.020926 0.020140 0.019348 0.018550 0.017746 0.016936 0.016120 0.015299 0.014472 0.013639 0.012801 0.011958 0.011109 0.010255 0.009395 0.008531 0.007662 0.006789 0.005911 0.005028 0.004142 0.003252 0.002358 0.001462 0.000562 -0.000340 -0.041599 0.042167 0.042714 0.043241 0.043747 0.044230 0.044692 0.045130 0.045544 0.045934 0.046299 0.046639 0.046952 0.047239 0.047498 0.047730 0.047934 0.048109 0.048256 0.048374 0.048463 0.048522 0.048552 0.048553 0.048525 0.048468 0.048382 0.048267 0.048125 0.047954 0.047757 0.047532 0.047282 0.047005 0.046704 0.046379 0.046029 0.045657 0.045262 0.044846 0.044409 0.043952 0.043475 0.042979 0.042465 0.041934 0.041386 0.040822 0.040243 0.039649 0.039041 0.038419 0.037784 0.037137 0.036477 0.035807 0.035125 0.034433 0.033731 0.033020 0.032299 0.031570 0.030832 0.030086 0.029332 0.028570 0.027802 0.027026 0.026242 0.025453 0.024656 0.023853 0.023043 0.022226 0.021404 0.020575 0.019739 0.018897 0.018049 0.017195 0.016335 0.015469 0.014596 0.013718 0.012833 0.011943 0.011047 0.010145 0.009237 0.008323 0.007405 0.006481 0.005552 0.004618 0.003680 0.002737 0.001790 0.000840 -0.000114 -0.001070 -0.002029 -0.002990 -0.003953 -0.004917 -0.045307 0.045838 0.046345 0.046827 0.047283 0.047713 0.048115 0.048490 0.048836 0.049153 0.049441 0.049699 0.049926 0.050123 0.050288 0.050422 0.050525 0.050596 0.050635 0.050643 0.050619 0.050564 0.050479 0.050363 0.050216 0.050041 0.049835 0.049602 0.049340 0.049051 0.048736 0.048395 0.048028 0.047637 0.047223 0.046786 0.046326 0.045846 0.045344 0.044823 0.044283 0.043725 0.043149 0.042556 0.041948 0.041323 0.040684 0.040031 0.039364 0.038684 0.037991 0.037287 0.036572 0.035846 0.035109 0.034363 0.033607 0.032842 0.032069 0.031287 0.030497 0.029699 0.028893 0.028080 0.027260 0.026433 0.025599 0.024758 0.023910 0.023055 0.022193 0.021325 0.020451 0.019569 0.018681 0.017786 0.016885 0.015977 0.015063 0.014142 0.013214 0.012280 0.011339 0.010392 0.009439 0.008479 0.007514 0.006542 0.005565 0.004582 0.003594 0.002601 0.001603 0.000601 -0.000405 -0.001415 -0.002428 -0.003444 -0.004462 -0.005482 -0.006503 -0.007524 -0.008546 -0.009568 -0.048734 0.049213 0.049664 0.050084 0.050475 0.050834 0.051161 0.051457 0.051719 0.051949 0.052145 0.052307 0.052435 0.052530 0.052591 0.052618 0.052612 0.052572 0.052500 0.052394 0.052257 0.052088 0.051888 0.051657 0.051397 0.051107 0.050789 0.050444 0.050071 0.049673 0.049250 0.048802 0.048331 0.047837 0.047321 0.046785 0.046228 0.045651 0.045056 0.044443 0.043813 0.043167 0.042504 0.041827 0.041136 0.040430 0.039712 0.038981 0.038238 0.037484 0.036719 0.035943 0.035158 0.034363 0.033559 0.032746 0.031925 0.031095 0.030258 0.029412 0.028560 0.027700 0.026832 0.025957 0.025075 0.024186 0.023290 0.022387 0.021477 0.020560 0.019636 0.018704 0.017766 0.016820 0.015868 0.014908 0.013941 0.012966 0.011985 0.010997 0.010001 0.008999 0.007990 0.006974 0.005951 0.004923 0.003888 0.002847 0.001801 0.000749 -0.000307 -0.001368 -0.002433 -0.003502 -0.004573 -0.005648 -0.006725 -0.007803 -0.008882 -0.009962 -0.011042 -0.012120 -0.013197 -0.014272 -0.051823 0.052235 0.052614 0.052959 0.053269 0.053544 0.053783 0.053986 0.054154 0.054286 0.054381 0.054441 0.054465 0.054454 0.054408 0.054327 0.054211 0.054062 0.053880 0.053665 0.053419 0.053141 0.052833 0.052496 0.052129 0.051736 0.051315 0.050868 0.050397 0.049901 0.049381 0.048839 0.048276 0.047691 0.047087 0.046463 0.045821 0.045161 0.044484 0.043791 0.043083 0.042360 0.041622 0.040872 0.040108 0.039333 0.038545 0.037747 0.036938 0.036118 0.035289 0.034451 0.033603 0.032747 0.031883 0.031010 0.030129 0.029241 0.028344 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-0.229097 -0.232115 -0.235077 -0.237986 -0.240843 - diff --git a/Tune_Cases/Cp_Ct_Cq.NREL5MW.txt b/Tune_Cases/Cp_Ct_Cq.NREL5MW.txt deleted file mode 100644 index 5d1dfb81..00000000 --- a/Tune_Cases/Cp_Ct_Cq.NREL5MW.txt +++ /dev/null @@ -1,165 +0,0 @@ -# ----- Rotor performance tables for the 5MW_Land wind turbine ----- -# ------------ Written on Dec-11-19 using the ROSCO toolbox ------------ - -# Pitch angle vector - x axis (matrix columns) (deg) --1.0 -0.75 -0.5 -0.25 0.0 0.25 0.5 0.75 1.0 1.25 1.5 1.75 2.0 2.25 2.5 2.75 3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 15.0 15.25 15.5 15.75 16.0 16.25 16.5 16.75 17.0 17.25 17.5 17.75 18.0 18.25 18.5 18.75 19.0 19.25 19.5 19.75 20.0 20.25 20.5 20.75 21.0 21.25 21.5 21.75 22.0 22.25 22.5 22.75 23.0 23.25 23.5 23.75 24.0 24.25 24.5 24.75 -# TSR vector - y axis (matrix rows) (-) -3.0 3.25 3.5 3.75 4.0 4.25 4.5 4.75 5.0 5.25 5.5 5.75 6.0 6.25 6.5 6.75 7.0 7.25 7.5 7.75 8.0 8.25 8.5 8.75 9.0 9.25 9.5 9.75 10.0 10.25 10.5 10.75 11.0 11.25 11.5 11.75 12.0 12.25 12.5 12.75 13.0 13.25 13.5 13.75 14.0 14.25 14.5 14.75 -# Wind speed vector - z axis (m/s) -11.4 - -# Power coefficient - -0.091629 0.094090 0.096514 0.098901 0.101250 0.103558 0.105826 0.108050 0.110232 0.112368 0.114459 0.116502 0.118497 0.120443 0.122338 0.124181 0.125970 0.127706 0.129385 0.131007 0.132570 0.134072 0.135514 0.136893 0.138207 0.139457 0.140640 0.141756 0.142804 0.143784 0.144696 0.145540 0.146319 0.147030 0.147676 0.148255 0.148769 0.149219 0.149605 0.149928 0.150188 0.150383 0.150515 0.150582 0.150587 0.150529 0.150409 0.150227 0.149981 0.149673 0.149302 0.148871 0.148380 0.147828 0.147217 0.146545 0.145811 0.145012 0.144149 0.143217 0.142214 0.141136 0.139979 0.138743 0.137424 0.136025 0.134547 0.132992 0.131362 0.129656 0.127872 0.126011 0.124072 0.122058 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0.351324 0.352833 0.352757 0.350906 0.347077 0.341129 0.332815 0.322042 0.308603 0.292359 0.273093 0.250768 0.225455 0.197345 0.166604 0.133371 0.097773 0.059924 0.019937 -0.022074 -0.066006 -0.111775 -0.159292 -0.208523 -0.259442 -0.311995 -0.366135 -0.421825 -0.479039 -0.537760 -0.597979 -0.659695 -0.722907 -0.787614 -0.853806 -0.921468 -0.990571 -1.061075 -1.132932 -1.206090 -1.280489 -1.356061 -1.432742 -1.510470 -1.589195 -1.668874 -1.749471 -1.830951 -1.913262 -1.996329 -2.080014 -2.164086 -2.248235 -2.332080 -2.415157 -2.496979 -2.577144 -2.655364 -2.731474 -2.805478 -2.877578 -2.948140 -3.017655 -3.086751 -3.156169 -3.226682 -3.299026 -3.373883 -3.451861 -3.533476 -3.619194 -3.709472 -3.804751 -3.905372 -4.011522 -4.123204 -4.240113 -4.361543 -4.486428 -4.613455 -4.741227 -4.868342 -4.993578 -5.116071 -5.235342 -5.351154 -5.463476 -5.572455 -5.678355 -5.781499 -5.882255 -5.981036 -6.078306 -6.174586 -6.270425 -0.269955 0.282485 0.293898 0.304159 0.313219 0.321075 0.327767 0.333161 0.337197 0.339978 0.341429 0.341255 0.339239 0.335182 0.328940 0.320247 0.309016 0.295009 0.278105 0.258035 0.234743 0.208281 0.178856 0.146648 0.111808 0.074473 0.034766 -0.007192 -0.051278 -0.097385 -0.145423 -0.195302 -0.247003 -0.300483 -0.355688 -0.412569 -0.471091 -0.531230 -0.592970 -0.656304 -0.721230 -0.787745 -0.855845 -0.925515 -0.996732 -1.069459 -1.143650 -1.219252 -1.296207 -1.374448 -1.453904 -1.534512 -1.616217 -1.698970 -1.782740 -1.867498 -1.953204 -2.039804 -2.127197 -2.215190 -2.303492 -2.391736 -2.479470 -2.566169 -2.651361 -2.734678 -2.815869 -2.894839 -2.971683 -3.046672 -3.120237 -3.192952 -3.265529 -3.338780 -3.413506 -3.490456 -3.570310 -3.653650 -3.740979 -3.832777 -3.929519 -4.031652 -4.139503 -4.253238 -4.372796 -4.497747 -4.627226 -4.760014 -4.894666 -5.029680 -5.163602 -5.295240 -5.423821 -5.548922 -5.670362 -5.788162 -5.902518 -6.013729 -6.122152 -6.228191 -6.332304 -6.435010 -6.536883 -6.638505 -0.256105 0.269002 0.280772 0.291346 0.300711 0.308823 0.315707 0.321235 0.325320 0.328075 0.329453 0.329166 0.326959 0.322656 0.316084 0.306991 0.295265 0.280657 0.263054 0.242152 0.217860 0.190211 0.159427 0.125702 0.089200 0.050068 0.008440 -0.035556 -0.081786 -0.130145 -0.180530 -0.232857 -0.287114 -0.343246 -0.401197 -0.460919 -0.522379 -0.585552 -0.650423 -0.716988 -0.785243 -0.855183 -0.926798 -1.000068 -1.074962 -1.151436 -1.229437 -1.308908 -1.389782 -1.471988 -1.555457 -1.640129 -1.725952 -1.812887 -1.900912 -1.989999 -2.080107 -2.171169 -2.263038 -2.355458 -2.448081 -2.540472 -2.632099 -2.722429 -2.811016 -2.897524 -2.981761 -3.063712 -3.143534 -3.221571 -3.298330 -3.374466 -3.450785 -3.528149 -3.607380 -3.689230 -3.774364 -3.863341 -3.956665 -4.054834 -4.158343 -4.267647 -4.383059 -4.504718 -4.632480 -4.765773 -4.903566 -5.044475 -5.186934 -5.329340 -5.470211 -5.608416 -5.743265 -5.874385 -6.001649 -6.125131 -6.245074 -6.361812 -6.475738 -6.587299 -6.697004 -6.805432 -6.913203 -7.020931 -0.241875 0.255074 0.267166 0.278031 0.287666 0.296025 0.303097 0.308757 0.312888 0.315606 0.316900 0.316482 0.314064 0.309492 0.302560 0.293039 0.280782 0.265544 0.247203 0.225436 0.200110 0.171234 0.139045 0.103751 0.065532 0.024543 -0.019073 -0.065174 -0.113621 -0.164308 -0.217119 -0.271984 -0.328887 -0.387765 -0.448560 -0.511226 -0.575728 -0.642046 -0.710165 -0.780079 -0.851784 -0.925271 -1.000525 -1.077519 -1.156213 -1.236556 -1.318492 -1.401956 -1.486875 -1.573176 -1.660792 -1.749669 -1.839760 -1.931039 -2.023488 -2.117080 -2.211768 -2.307456 -2.403937 -2.500891 -2.597908 -2.694470 -2.790001 -2.883987 -2.976008 -3.065773 -3.153161 -3.238219 -3.321166 -3.402422 -3.482572 -3.562367 -3.642696 -3.724458 -3.808482 -3.895521 -3.986209 -4.081093 -4.180694 -4.285529 -4.396115 -4.512912 -4.636226 -4.766155 -4.902453 -5.044386 -5.190750 -5.339994 -5.490435 -5.640387 -5.788366 -5.933316 -6.074620 -6.211957 -6.345247 -6.474620 -6.600364 -6.722852 -6.842515 -6.959849 -7.075423 -7.189871 -7.303858 -7.418027 -0.227327 0.240729 0.253085 0.264225 0.274089 0.282675 0.289930 0.295718 0.299890 0.302566 0.303764 0.303196 0.300553 0.295683 0.288368 0.278385 0.265560 0.249664 0.230543 0.207879 0.181481 0.151339 0.117697 0.080782 0.040787 -0.002122 -0.047791 -0.096069 -0.146809 -0.199899 -0.255220 -0.312714 -0.372354 -0.434074 -0.497813 -0.563526 -0.631182 -0.700757 -0.772241 -0.845624 -0.920902 -0.998060 -1.077077 -1.157919 -1.240537 -1.324876 -1.410873 -1.498456 -1.587548 -1.678077 -1.769982 -1.863210 -1.957727 -2.053518 -2.150567 -2.248842 -2.348288 -2.448755 -2.549969 -2.651552 -2.753013 -2.853760 -2.953222 -3.050903 -3.146415 -3.239530 -3.330191 -3.418488 -3.504713 -3.589367 -3.673119 -3.756823 -3.841439 -3.927881 -4.016987 -4.109489 -4.205998 -4.307064 -4.413226 -4.525025 -4.643004 -4.767627 -4.899191 -5.037745 -5.182911 -5.333779 -5.488962 -5.646752 -5.805349 -5.963005 -6.118265 -6.270151 -6.418106 -6.561861 -6.701385 -6.836863 -6.968631 -7.097099 -7.222743 -7.346117 -7.467850 -7.588630 -7.709162 -7.830114 -0.212501 0.226016 0.238552 0.249921 0.259996 0.268770 0.276197 0.282109 0.286319 0.288945 0.290036 0.289301 0.286418 0.281223 0.273504 0.263023 0.249600 0.233009 0.213068 0.189471 0.161964 0.130513 0.095369 0.056780 0.014949 -0.029944 -0.077736 -0.128262 -0.181371 -0.236945 -0.294861 -0.355076 -0.417548 -0.482207 -0.548993 -0.617861 -0.688780 -0.761729 -0.836696 -0.913671 -0.992644 -1.073599 -1.156504 -1.241319 -1.327988 -1.416451 -1.506636 -1.598467 -1.691864 -1.786760 -1.883098 -1.980832 -2.079942 -2.180420 -2.282246 -2.385388 -2.489758 -2.595143 -2.701204 -2.807491 -2.913426 -3.018387 -3.121819 -3.223248 -3.322333 -3.418913 -3.512970 -3.604644 -3.694311 -3.782549 -3.870126 -3.958004 -4.047182 -4.138588 -4.233056 -4.331290 -4.433884 -4.541406 -4.654418 -4.773484 -4.899179 -5.031974 -5.172148 -5.319683 -5.474048 -5.634140 -5.798384 -5.964926 -6.131856 -6.297384 -6.460110 -6.619132 -6.773942 -6.924321 -7.070291 -7.212097 -7.350118 -7.484805 -7.616688 -7.746383 -7.874577 -8.002011 -8.129426 -8.257511 -0.197408 0.210977 0.223602 0.235125 0.245393 0.254316 0.261894 0.267923 0.272164 0.274736 0.275709 0.274789 0.271652 0.266105 0.257960 0.246948 0.232897 0.215572 0.194769 0.170202 0.141547 0.108743 0.072049 0.031728 -0.012000 -0.058943 -0.108927 -0.161776 -0.217334 -0.275474 -0.336073 -0.399102 -0.464502 -0.532200 -0.602137 -0.674269 -0.748565 -0.825005 -0.903575 -0.984265 -1.067060 -1.151936 -1.238857 -1.327772 -1.418620 -1.511335 -1.605839 -1.702048 -1.799888 -1.899295 -2.000217 -2.102620 -2.206495 -2.311836 -2.418623 -2.526812 -2.636263 -2.746695 -2.857702 -2.968747 -3.079186 -3.188402 -3.295857 -3.401106 -3.503871 -3.604040 -3.701618 -3.796816 -3.890093 -3.982111 -4.073755 -4.166075 -4.260094 -4.356744 -4.456845 -4.561069 -4.670016 -4.784274 -4.904426 -5.031069 -5.164813 -5.306135 -5.455291 -5.612166 -5.776055 -5.945654 -6.119196 -6.294693 -6.470137 -6.643719 -6.814109 -6.980472 -7.142346 -7.299560 -7.452197 -7.600560 -7.745069 -7.886226 -8.024620 -8.160928 -8.295897 -8.430319 -8.564965 -8.700531 -0.182005 0.195633 0.208280 0.219865 0.230273 0.239324 0.247017 0.253151 0.257419 0.259930 0.260774 0.259653 0.256247 0.250324 0.241730 0.230153 0.215444 0.197347 0.175639 0.150061 0.120218 0.086017 0.047719 0.005609 -0.040078 -0.089138 -0.141386 -0.196635 -0.254722 -0.315512 -0.378887 -0.444823 -0.513248 -0.584088 -0.657283 -0.732790 -0.810578 -0.890628 -0.972924 -1.057454 -1.144197 -1.233122 -1.324185 -1.417329 -1.512487 -1.609584 -1.708537 -1.809261 -1.911686 -2.015753 -2.121416 -2.228657 -2.337474 -2.447860 -2.559794 -2.673202 -2.787879 -2.903478 -3.019513 -3.135357 -3.250341 -3.363867 -3.475412 -3.584576 -3.691144 -3.795024 -3.896254 -3.995129 -4.092190 -4.188198 -4.284165 -4.381198 -4.480333 -4.582505 -4.688499 -4.798973 -4.914543 -5.035819 -5.163404 -5.297944 -5.440081 -5.590296 -5.748815 -5.915389 -6.089120 -6.268501 -6.451577 -6.636233 -6.820376 -7.002209 -7.180469 -7.354383 -7.523535 -7.687802 -7.847333 -8.002489 -8.153732 -8.301621 -8.446810 -8.590036 -8.732106 -8.873857 -9.016086 -9.159479 - - -# Thrust coefficient - -0.234686 0.234877 0.235022 0.235122 0.235174 0.235179 0.235135 0.235043 0.234902 0.234712 0.234472 0.234184 0.233847 0.233461 0.233026 0.232545 0.232016 0.231442 0.230822 0.230158 0.229451 0.228701 0.227911 0.227080 0.226211 0.225304 0.224361 0.223382 0.222371 0.221328 0.220256 0.219158 0.218035 0.216890 0.215723 0.214537 0.213333 0.212113 0.210877 0.209627 0.208361 0.207078 0.205778 0.204458 0.203119 0.201761 0.200380 0.198974 0.197541 0.196078 0.194583 0.193057 0.191497 0.189901 0.188267 0.186593 0.184875 0.183111 0.181299 0.179433 0.177510 0.175523 0.173470 0.171347 0.169153 0.166888 0.164555 0.162158 0.159699 0.157177 0.154591 0.151941 0.149230 0.146460 0.143632 0.140753 0.137823 0.134845 0.131820 0.128748 0.125630 0.122469 0.119264 0.116016 0.112727 0.109399 0.106036 0.102641 0.099217 0.095766 0.092289 0.088789 0.085268 0.081727 0.078168 0.074593 0.071003 0.067399 0.063784 0.060158 0.056522 0.052879 0.049229 0.045573 -0.267586 0.267493 0.267339 0.267124 0.266848 0.266511 0.266114 0.265658 0.265144 0.264572 0.263944 0.263261 0.262524 0.261734 0.260894 0.260003 0.259064 0.258079 0.257049 0.255977 0.254865 0.253715 0.252531 0.251316 0.250073 0.248806 0.247516 0.246208 0.244882 0.243541 0.242185 0.240815 0.239431 0.238033 0.236617 0.235184 0.233730 0.232256 0.230759 0.229234 0.227681 0.226094 0.224474 0.222817 0.221122 0.219386 0.217604 0.215774 0.213891 0.211950 0.209945 0.207873 0.205728 0.203502 0.201191 0.198793 0.196310 0.193744 0.191098 0.188375 0.185574 0.182696 0.179740 0.176710 0.173608 0.170441 0.167210 0.163918 0.160565 0.157152 0.153680 0.150149 0.146562 0.142920 0.139226 0.135484 0.131697 0.127870 0.124005 0.120105 0.116172 0.112209 0.108218 0.104201 0.100159 0.096096 0.092011 0.087908 0.083787 0.079651 0.075500 0.071336 0.067161 0.062975 0.058781 0.054579 0.050370 0.046155 0.041936 0.037714 0.033489 0.029262 0.025034 0.020807 -0.301090 0.300607 0.300054 0.299432 0.298742 0.297986 0.297165 0.296280 0.295333 0.294327 0.293264 0.292147 0.290979 0.289762 0.288502 0.287200 0.285863 0.284495 0.283101 0.281685 0.280250 0.278798 0.277332 0.275853 0.274361 0.272858 0.271342 0.269811 0.268263 0.266695 0.265106 0.263491 0.261849 0.260176 0.258468 0.256723 0.254938 0.253109 0.251232 0.249301 0.247311 0.245256 0.243126 0.240914 0.238612 0.236212 0.233708 0.231099 0.228388 0.225580 0.222677 0.219678 0.216584 0.213393 0.210108 0.206732 0.203272 0.199736 0.196124 0.192439 0.188680 0.184849 0.180946 0.176973 0.172930 0.168823 0.164657 0.160436 0.156164 0.151846 0.147484 0.143081 0.138640 0.134163 0.129653 0.125112 0.120542 0.115945 0.111323 0.106678 0.102011 0.097324 0.092618 0.087896 0.083158 0.078406 0.073642 0.068865 0.064079 0.059284 0.054482 0.049674 0.044860 0.040043 0.035222 0.030400 0.025577 0.020753 0.015930 0.011109 0.006289 0.001472 -0.003341 -0.008148 -0.334730 0.333794 0.332785 0.331705 0.330557 0.329344 0.328072 0.326744 0.325366 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-0.490251 -0.545503 -0.601008 -0.656725 -0.712608 -0.768602 -0.824647 -0.880682 -0.936642 -0.992462 -1.048073 -1.103407 -1.158395 -1.212971 -1.267072 -1.320645 -1.373640 -1.426017 -1.477742 -1.528792 -1.579149 -1.628800 -1.677740 -1.725966 -1.773469 -1.820233 -1.866233 -1.911436 -1.955795 -1.999258 -2.041761 -2.083239 -2.123616 -2.162816 -2.200763 -2.237381 -2.272589 -2.306301 -2.338419 -2.368829 -2.397399 -2.423985 -2.448427 -2.470555 -2.490188 -2.507144 -2.521242 -2.532300 -2.540149 -2.544646 -2.545689 -2.543228 -2.537287 -2.527967 -2.515434 -2.499903 -2.481638 -2.460949 -2.438190 -2.413755 -2.388080 -2.361639 -2.334929 -2.308447 -2.282649 -1.225352 1.189553 1.153035 1.116081 1.078942 1.041810 1.004942 0.968311 0.931793 0.895524 0.859524 0.823495 0.787164 0.750397 0.713042 0.674903 0.635880 0.595786 0.554527 0.511876 0.467692 0.421945 0.374844 0.326576 0.277291 0.227113 0.176156 0.124545 0.072388 0.019724 -0.033379 -0.086950 -0.141032 -0.195592 -0.250599 -0.306026 -0.361847 -0.418039 -0.474580 -0.531442 -0.588596 -0.646003 -0.703620 -0.761392 -0.819261 -0.877164 -0.935035 -0.992808 -1.050413 -1.107778 -1.164835 -1.221513 -1.277744 -1.333469 -1.388633 -1.443190 -1.497100 -1.550334 -1.602870 -1.654693 -1.705795 -1.756172 -1.805818 -1.854719 -1.902856 -1.950196 -1.996699 -2.042312 -2.086977 -2.130626 -2.173188 -2.214583 -2.254731 -2.293556 -2.330981 -2.366920 -2.401284 -2.433968 -2.464848 -2.493785 -2.520626 -2.545201 -2.567329 -2.586821 -2.603488 -2.617142 -2.627597 -2.634683 -2.638264 -2.638246 -2.634595 -2.627361 -2.616668 -2.602701 -2.585694 -2.565935 -2.543759 -2.519550 -2.493731 -2.466774 -2.439187 -2.411495 -2.384210 -2.357789 -1.238167 1.201721 1.164366 1.126403 1.088181 1.049901 1.011824 0.973996 0.936278 0.898814 0.861655 0.824494 0.787046 0.749163 0.710699 0.671442 0.631288 0.590053 0.547617 0.503764 0.458309 0.411202 0.362657 0.312880 0.262030 0.210243 0.157643 0.104364 0.050514 -0.003864 -0.058707 -0.114065 -0.169959 -0.226352 -0.283212 -0.340511 -0.398222 -0.456319 -0.514778 -0.573567 -0.632652 -0.691992 -0.751534 -0.811221 -0.870989 -0.930773 -0.990504 -1.050111 -1.109521 -1.168663 -1.227463 -1.285851 -1.343760 -1.401131 -1.457910 -1.514052 -1.569520 -1.624289 -1.678340 -1.731660 -1.784245 -1.836090 -1.887185 -1.937511 -1.987043 -2.035742 -2.083559 -2.130439 -2.176317 -2.221120 -2.264770 -2.307185 -2.348285 -2.387991 -2.426222 -2.462891 -2.497905 -2.531150 -2.562492 -2.591785 -2.618865 -2.643553 -2.665658 -2.684980 -2.701325 -2.714500 -2.724314 -2.730599 -2.733225 -2.732108 -2.727235 -2.718680 -2.706588 -2.691163 -2.672659 -2.651390 -2.627720 -2.602059 -2.574869 -2.546657 -2.517962 -2.489334 -2.461298 -2.434307 -1.250594 1.213552 1.175454 1.136559 1.097258 1.057860 1.018583 0.979546 0.940614 0.901940 0.863604 0.825289 0.786708 0.747685 0.708095 0.667696 0.626392 0.583991 0.540355 0.495283 0.448540 0.400053 0.350045 0.298734 0.246296 0.192875 0.138606 0.083633 0.028061 -0.028060 -0.084675 -0.141853 -0.199590 -0.257849 -0.316595 -0.375800 -0.435433 -0.495468 -0.555876 -0.616624 -0.677671 -0.738970 -0.800464 -0.862092 -0.923784 -0.985473 -1.047086 -1.108549 -1.169787 -1.230726 -1.291291 -1.351411 -1.411020 -1.470060 -1.528478 -1.586229 -1.643283 -1.699615 -1.755210 -1.810059 -1.864159 -1.917502 -1.970073 -2.021849 -2.072797 -2.122871 -2.172018 -2.220176 -2.267276 -2.313240 -2.357983 -2.401423 -2.443476 -2.484065 -2.523104 -2.560505 -2.596166 -2.629964 -2.661760 -2.691397 -2.718702 -2.743483 -2.765538 -2.784662 -2.800654 -2.813314 -2.822451 -2.827898 -2.829531 -2.827280 -2.821154 -2.811250 -2.797733 -2.780826 -2.760806 -2.738013 -2.712841 -2.685733 -2.657189 -2.627751 -2.597988 -2.568474 -2.539737 -2.512225 -1.262696 1.225028 1.186248 1.146513 1.106177 1.065668 1.025216 0.984964 0.944803 0.904905 0.865373 0.825885 0.786155 0.745968 0.705234 0.663670 0.621196 0.577608 0.532747 0.486438 0.438389 0.388505 0.337010 0.284144 0.230092 0.175012 0.119047 0.062354 0.005032 -0.052861 -0.111283 -0.170312 -0.229924 -0.290081 -0.350747 -0.411889 -0.473478 -0.535484 -0.597874 -0.660611 -0.723649 -0.786936 -0.850409 -0.914002 -0.977644 -1.041261 -1.104780 -1.168121 -1.231208 -1.293966 -1.356318 -1.418193 -1.479526 -1.540258 -1.600339 -1.659726 -1.718392 -1.776317 -1.833487 -1.889898 -1.945544 -2.000413 -2.054487 -2.107735 -2.160117 -2.211583 -2.262074 -2.311523 -2.359853 -2.406984 -2.452826 -2.497294 -2.540305 -2.581779 -2.621628 -2.659761 -2.696066 -2.730413 -2.762654 -2.792624 -2.820136 -2.844988 -2.866969 -2.885866 -2.901472 -2.913584 -2.922007 -2.926579 -2.927183 -2.923764 -2.916356 -2.905076 -2.890109 -2.871695 -2.850140 -2.825812 -2.799135 -2.770588 -2.740711 -2.710079 -2.679291 -2.648939 -2.619550 -2.591557 - - -# Torque coefficient - -0.030572 0.031393 0.032202 0.032999 0.033782 0.034552 0.035309 0.036051 0.036779 0.037492 0.038189 0.038871 0.039537 0.040186 0.040818 0.041433 0.042030 0.042609 0.043169 0.043710 0.044232 0.044733 0.045214 0.045674 0.046113 0.046530 0.046925 0.047297 0.047647 0.047974 0.048278 0.048560 0.048819 0.049057 0.049272 0.049465 0.049637 0.049787 0.049916 0.050024 0.050110 0.050176 0.050219 0.050242 0.050243 0.050224 0.050184 0.050123 0.050041 0.049938 0.049815 0.049671 0.049507 0.049323 0.049119 0.048895 0.048650 0.048384 0.048095 0.047785 0.047450 0.047090 0.046704 0.046292 0.045852 0.045385 0.044892 0.044373 0.043829 0.043260 0.042665 0.042044 0.041397 0.040725 0.040028 0.039308 0.038566 0.037801 0.037013 0.036204 0.035372 0.034519 0.033645 0.032749 0.031834 0.030899 0.029946 0.028976 0.027991 0.026990 0.025975 0.024947 0.023906 0.022852 0.021788 0.020712 0.019626 0.018531 0.017426 0.016312 0.015190 0.014061 0.012924 0.011779 -0.036019 0.036845 0.037655 0.038448 0.039224 0.039983 0.040724 0.041448 0.042153 0.042839 0.043505 0.044152 0.044778 0.045384 0.045969 0.046531 0.047071 0.047588 0.048082 0.048551 0.048997 0.049418 0.049814 0.050186 0.050534 0.050858 0.051158 0.051434 0.051688 0.051917 0.052124 0.052308 0.052468 0.052606 0.052719 0.052809 0.052875 0.052918 0.052936 0.052931 0.052901 0.052847 0.052769 0.052668 0.052544 0.052397 0.052227 0.052033 0.051815 0.051572 0.051303 0.051008 0.050685 0.050333 0.049951 0.049538 0.049096 0.048624 0.048124 0.047596 0.047039 0.046453 0.045838 0.045195 0.044524 0.043826 0.043103 0.042355 0.041580 0.040780 0.039955 0.039104 0.038229 0.037330 0.036407 0.035462 0.034497 0.033512 0.032508 0.031487 0.030450 0.029396 0.028327 0.027243 0.026146 0.025035 0.023912 0.022778 0.021631 0.020475 0.019307 0.018131 0.016944 0.015749 0.014546 0.013335 0.012115 0.010889 0.009655 0.008414 0.007167 0.005914 0.004654 0.003389 -0.041143 0.041957 0.042752 0.043527 0.044282 0.045016 0.045728 0.046418 0.047086 0.047730 0.048351 0.048947 0.049518 0.050065 0.050585 0.051080 0.051549 0.051993 0.052411 0.052805 0.053173 0.053516 0.053834 0.054128 0.054396 0.054639 0.054857 0.055050 0.055216 0.055355 0.055468 0.055553 0.055611 0.055641 0.055644 0.055620 0.055569 0.055491 0.055386 0.055253 0.055093 0.054904 0.054685 0.054436 0.054155 0.053841 0.053493 0.053111 0.052696 0.052249 0.051770 0.051260 0.050717 0.050142 0.049535 0.048897 0.048228 0.047531 0.046805 0.046051 0.045269 0.044458 0.043618 0.042751 0.041857 0.040936 0.039991 0.039023 0.038032 0.037021 0.035989 0.034938 0.033869 0.032782 0.031677 0.030557 0.029420 0.028269 0.027104 0.025925 0.024732 0.023528 0.022311 0.021083 0.019844 0.018595 0.017335 0.016066 0.014788 0.013501 0.012206 0.010903 0.009592 0.008274 0.006948 0.005616 0.004276 0.002930 0.001578 0.000219 -0.001146 -0.002516 -0.003891 -0.005271 -0.045892 0.046686 0.047456 0.048203 0.048925 0.049623 0.050295 0.050942 0.051562 0.052157 0.052726 0.053268 0.053785 0.054275 0.054739 0.055176 0.055587 0.055972 0.056330 0.056661 0.056965 0.057240 0.057486 0.057703 0.057889 0.058045 0.058171 0.058265 0.058328 0.058359 0.058359 0.058326 0.058262 0.058164 0.058032 0.057866 0.057663 0.057423 0.057145 0.056830 0.056477 0.056088 0.055663 0.055203 0.054706 0.054173 0.053604 0.053001 0.052365 0.051697 0.050998 0.050266 0.049502 0.048706 0.047879 0.047021 0.046134 0.045219 0.044278 0.043312 0.042323 0.041310 0.040275 0.039218 0.038140 0.037042 0.035925 0.034789 0.033635 0.032464 0.031276 0.030072 0.028852 0.027617 0.026367 0.025104 0.023827 0.022538 0.021237 0.019924 0.018599 0.017264 0.015919 0.014565 0.013201 0.011828 0.010447 0.009057 0.007659 0.006254 0.004841 0.003421 0.001993 0.000557 -0.000885 -0.002335 -0.003791 -0.005254 -0.006723 -0.008196 -0.009675 -0.011156 -0.012641 -0.014128 -0.050257 0.051026 0.051769 0.052487 0.053179 0.053846 0.054485 0.055099 0.055685 0.056244 0.056776 0.057281 0.057757 0.058205 0.058624 0.059012 0.059369 0.059695 0.059988 0.060247 0.060472 0.060661 0.060815 0.060931 0.061010 0.061051 0.061053 0.061015 0.060936 0.060815 0.060651 0.060443 0.060193 0.059901 0.059569 0.059196 0.058782 0.058328 0.057834 0.057301 0.056731 0.056124 0.055483 0.054805 0.054092 0.053343 0.052559 0.051742 0.050891 0.050011 0.049101 0.048164 0.047199 0.046210 0.045196 0.044158 0.043098 0.042015 0.040911 0.039786 0.038640 0.037473 0.036287 0.035082 0.033858 0.032616 0.031356 0.030080 0.028787 0.027478 0.026154 0.024815 0.023463 0.022097 0.020718 0.019328 0.017925 0.016512 0.015088 0.013654 0.012210 0.010756 0.009294 0.007823 0.006344 0.004856 0.003360 0.001855 0.000342 -0.001179 -0.002709 -0.004247 -0.005793 -0.007347 -0.008907 -0.010475 -0.012047 -0.013625 -0.015206 -0.016789 -0.018374 -0.019960 -0.021545 -0.023129 -0.054320 0.055079 0.055812 0.056518 0.057197 0.057848 0.058471 0.059065 0.059628 0.060161 0.060661 0.061128 0.061561 0.061957 0.062316 0.062636 0.062915 0.063152 0.063345 0.063495 0.063598 0.063653 0.063658 0.063614 0.063520 0.063376 0.063184 0.062945 0.062660 0.062328 0.061950 0.061526 0.061060 0.060553 0.060006 0.059419 0.058793 0.058127 0.057422 0.056679 0.055899 0.055085 0.054238 0.053359 0.052450 0.051513 0.050548 0.049556 0.048539 0.047497 0.046431 0.045341 0.044228 0.043093 0.041936 0.040758 0.039559 0.038338 0.037096 0.035835 0.034553 0.033252 0.031932 0.030593 0.029238 0.027865 0.026476 0.025071 0.023652 0.022218 0.020770 0.019309 0.017836 0.016351 0.014854 0.013347 0.011829 0.010301 0.008763 0.007215 0.005658 0.004092 0.002517 0.000933 -0.000661 -0.002265 -0.003878 -0.005501 -0.007133 -0.008775 -0.010426 -0.012085 -0.013751 -0.015424 -0.017101 -0.018783 -0.020467 -0.022152 -0.023837 -0.025521 -0.027201 -0.028878 -0.030550 -0.032215 -0.058243 0.059008 0.059744 0.060449 0.061122 0.061761 0.062366 0.062933 0.063462 0.063948 0.064390 0.064787 0.065136 0.065434 0.065679 0.065869 0.066002 0.066076 0.066093 0.066053 0.065957 0.065806 0.065600 0.065341 0.065029 0.064667 0.064257 0.063802 0.063302 0.062759 0.062171 0.061541 0.060870 0.060159 0.059409 0.058624 0.057805 0.056953 0.056070 0.055156 0.054212 0.053241 0.052242 0.051217 0.050166 0.049090 0.047990 0.046865 0.045716 0.044544 0.043349 0.042131 0.040891 0.039629 0.038346 0.037040 0.035713 0.034365 0.032997 0.031609 0.030201 0.028776 0.027332 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-0.173711 -0.181407 -0.189189 -0.197034 -0.204908 -0.212769 -0.220572 -0.228276 -0.235846 -0.243254 -0.250485 -0.257535 -0.264404 -0.271114 -0.277701 -0.284216 -0.290729 -0.297313 -0.304041 -0.310974 -0.318167 -0.325664 -0.333507 -0.341737 -0.350395 -0.359525 -0.369170 -0.379364 -0.390121 -0.401425 -0.413215 -0.425388 -0.437812 -0.450343 -0.462839 -0.475178 -0.487275 -0.499077 -0.510556 -0.521703 -0.532529 -0.543058 -0.553322 -0.563358 -0.573211 -0.582930 -0.592571 -0.602191 -0.611842 -0.621573 - diff --git a/Tune_Cases/DTU10MW.yaml b/Tune_Cases/DTU10MW.yaml deleted file mode 100644 index 805a0c21..00000000 --- a/Tune_Cases/DTU10MW.yaml +++ /dev/null @@ -1,49 +0,0 @@ -# --------------------- ROSCO controller tuning input file ------------------- - # Written for use with ROSCO_Toolbox tuning procedures - # Turbine: DTU 10MW Reference Wind Turbine -# ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------ -path_params: - FAST_InputFile: 'DTU_10MW_RWT.fst' # Name of *.fst file - FAST_directory: '/Users/nabbas/Documents/TurbineModels/DTU_10MW/DTU10MWRWT/Baseline' # Main OpenFAST model directory, where the *.fst lives - # Optional - rotor_performance_filename: 'Cp_Ct_Cq.DTU10MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) - -# -------------------------------- TURBINE PARAMETERS ----------------------------------- -turbine_params: - rotor_inertia: 156348032.208 # Rotor inertia [kg m^2], {Available in Elastodyn .sum file} - rated_rotor_speed: 1.0053 # Rated rotor speed [rad/s] - v_min: 4.0 # Cut-in wind speed [m/s] - v_rated: 11.4 # Rated wind speed [m/s] - v_max: 25.0 # Cut-out wind speed [m/s], -- Does not need to be exact (JUST ASSUME FOR NOW) - max_pitch_rate: 0.1745 # Maximum blade pitch rate [rad/s] - max_torque_rate: 5000000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s} - rated_power: 10000000. # Rated Power [W] - bld_edgewise_freq: 4.519 # Blade edgewise first natural frequency [rad/s] - bld_flapwise_freq: 0.0 # Blade flapwise first natural frequency [rad/s] - # Optional - # TSR_operational: # None # Desired below-rated operational tip speed ratio (Cp-maximizing TSR is used if not defined) -#------------------------------- CONTROLLER PARAMETERS ---------------------------------- -controller_params: - # Controller flags - LoggingLevel: 1 # {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file - F_LPFType: 1 # {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals) - F_NotchType: 0 # Notch on the measured generator speed {0: disable, 1: enable} - IPC_ControlMode: 0 # Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} - VS_ControlMode: 2 # Generator torqe control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control} - PC_ControlMode: 1 # Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} - Y_ControlMode: 0 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} - SS_Mode: 1 # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} - WE_Mode: 2 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator 2: Extended Kalman Filter} - PS_Mode: 0 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation} - SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} - Fl_Mode: 0 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} - Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} - # Optional - should be defined if Fl_Mode = 1 - # twr_freq: # None # Tower natural frequency [rad/s] - # ptfm_freq: # None # Platform natural frequency [rad/s] -# Controller parameters - U_pc: [12] - zeta_pc: [0.8] # Pitch controller desired damping ratio [-] - omega_pc: [0.3] # Pitch controller desired natural frequency [rad/s] - zeta_vs: 0.7 # Torque controller desired damping ratio [-] - omega_vs: 0.2 # Torque controller desired natural frequency [rad/s] diff --git a/Tune_Cases/IEA15MW.yaml b/Tune_Cases/IEA15MW.yaml index 726fc442..673716eb 100644 --- a/Tune_Cases/IEA15MW.yaml +++ b/Tune_Cases/IEA15MW.yaml @@ -6,7 +6,7 @@ path_params: FAST_InputFile: 'IEA-15-240-RWT-UMaineSemi.fst' # Name of *.fst file FAST_directory: '../Test_Cases/IEA-15-240-RWT-UMaineSemi' # Main OpenFAST model directory, where the *.fst lives # Optional (but suggested...) - rotor_performance_filename: 'Cp_Ct_Cq.IEA15MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) + rotor_performance_filename: '../Test_Cases/IEA-15-240-RWT-UMaineSemi/Cp_Ct_Cq.IEA15MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) # -------------------------------- TURBINE PARAMETERS ----------------------------------- turbine_params: @@ -40,8 +40,8 @@ controller_params: Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} # Controller parameters # U_pc: [14] - zeta_pc: 2.0 # Pitch controller desired damping ratio [-] - omega_pc: 0.3 # Pitch controller desired natural frequency [rad/s] + zeta_pc: 1.0 # Pitch controller desired damping ratio [-] + omega_pc: 0.2 # Pitch controller desired natural frequency [rad/s] zeta_vs: 0.85 # Torque controller desired damping ratio [-] omega_vs: 0.12 # Torque controller desired natural frequency [rad/s] twr_freq: 3.355 # for semi only! diff --git a/Tune_Cases/IEA15MW_FOCAL.yaml b/Tune_Cases/IEA15MW_FOCAL.yaml new file mode 100644 index 00000000..09a00dc9 --- /dev/null +++ b/Tune_Cases/IEA15MW_FOCAL.yaml @@ -0,0 +1,54 @@ +# --------------------- ROSCO controller tuning input file ------------------- + # Written for use with ROSCO_Toolbox tuning procedures + # Turbine: IEA 15MW Reference Wind Turbine +# ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------ +path_params: + FAST_InputFile: 'IEA-15-240-RWT-UMaineSemi.fst' # Name of *.fst file + FAST_directory: '../Test_Cases/IEA-15-240-RWT-UMaineSemi' # Main OpenFAST model directory, where the *.fst lives + # Optional (but suggested...) + rotor_performance_filename: 'Cp_Ct_Cq.IEA15MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) + +# -------------------------------- TURBINE PARAMETERS ----------------------------------- +turbine_params: + rotor_inertia: 310619488. # Rotor inertia [kg m^2], {Available in Elastodyn .sum file} + rated_rotor_speed: 0.7916813478 # Rated rotor speed [rad/s] + v_min: 3. # Cut-in wind speed [m/s] + v_rated: 11.5 # Rated wind speed [m/s] + v_max: 25.0 # Cut-out wind speed [m/s], -- Does not need to be exact (JUST ASSUME FOR NOW) + max_pitch_rate: 0.0349 # Maximum blade pitch rate [rad/s] + max_torque_rate: 4500000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s} + rated_power: 1.4780e+07 # Rated Power [W] + TSR_operational: 7.49 + +#------------------------------- CONTROLLER PARAMETERS ---------------------------------- +controller_params: + # Controller flags + LoggingLevel: 1 # {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file + F_LPFType: 2 # {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals) + F_NotchType: 0 # Notch on the measured generator speed {0: disable, 1: enable} + IPC_ControlMode: 0 # Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} + VS_ControlMode: 2 # Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control} + PC_ControlMode: 1 # Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} + Y_ControlMode: 0 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} + SS_Mode: 1 # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} + WE_Mode: 2 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)} + PS_Mode: 0 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation} + SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} + Fl_Mode: 2 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} + Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} + # Controller parameters + # U_pc: [14] + zeta_pc: 1.0 # Pitch controller desired damping ratio [-] + omega_pc: 0.2 # Pitch controller desired natural frequency [rad/s] + zeta_vs: 0.85 # Torque controller desired damping ratio [-] + omega_vs: 0.12 # Torque controller desired natural frequency [rad/s] + # Optional - these can be defined, but do not need to be + min_pitch: 0.030 # Minimum pitch angle [rad], {default = 0 degrees} + vs_minspd: 0.523598775 # Minimum rotor speed [rad/s], {default = 0 rad/s} + ps_percent: 1.0 # None # Percent peak shaving [%, <= 1 ], {default = 80%} + twr_freq: 3.355 # for semi only! + ptfm_freq: 0.213 # for semi only! + filter_params: + f_fl_highpassfreq: 0.01 + f_lpf_cornerfreq: 1.00810 + diff --git a/Tune_Cases/IEA15MW_MultiOmega.yaml b/Tune_Cases/IEA15MW_MultiOmega.yaml index af1809b0..20278253 100644 --- a/Tune_Cases/IEA15MW_MultiOmega.yaml +++ b/Tune_Cases/IEA15MW_MultiOmega.yaml @@ -42,6 +42,7 @@ controller_params: U_pc: [14,20] zeta_pc: [2.0,1.0] # Pitch controller desired damping ratio [-] omega_pc: [0.15,0.3] # Pitch controller desired natural frequency [rad/s] + interp_type: sigma zeta_vs: 0.85 # Torque controller desired damping ratio [-] omega_vs: 0.12 # Torque controller desired natural frequency [rad/s] twr_freq: 3.355 # for semi only! diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/IEA15MW-UMaineSemi.yaml b/Tune_Cases/IEA15MW_OL.yaml similarity index 64% rename from Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/IEA15MW-UMaineSemi.yaml rename to Tune_Cases/IEA15MW_OL.yaml index 5fc8588c..faaa6943 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/ServoData/IEA15MW-UMaineSemi.yaml +++ b/Tune_Cases/IEA15MW_OL.yaml @@ -3,17 +3,17 @@ # Turbine: IEA 15MW Reference Wind Turbine # ------------------------------ OpenFAST PATH DEFINITIONS ------------------------------ path_params: - FAST_InputFile: 'IEA-15-240-RWT_semi.fst' # Name of *.fst file - FAST_directory: '/mnt/c/Users/egaertne/Projects/IEA15MW_floating_tower/inputs/OpenFAST_UMaine' # Main OpenFAST model directory, where the *.fst lives + FAST_InputFile: 'IEA-15-240-RWT-UMaineSemi.fst' # Name of *.fst file + FAST_directory: '../Test_Cases/IEA-15-240-RWT-UMaineSemi' # Main OpenFAST model directory, where the *.fst lives # Optional (but suggested...) - rotor_performance_filename: "/mnt/c/Users/egaertne/Projects/IEA15MW_floating_tower/inputs/OpenFAST_UMaine/Cp_Ct_Cq.IEA15MW.txt" # Filename for rotor performance text file (if it has been generated by ccblade already) + rotor_performance_filename: 'Cp_Ct_Cq.IEA15MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) # -------------------------------- TURBINE PARAMETERS ----------------------------------- turbine_params: rotor_inertia: 310619488. # Rotor inertia [kg m^2], {Available in Elastodyn .sum file} rated_rotor_speed: 0.7916813478 # Rated rotor speed [rad/s] v_min: 3. # Cut-in wind speed [m/s] - v_rated: 10.59 # Rated wind speed [m/s] + v_rated: 10.74 # Rated wind speed [m/s] v_max: 25.0 # Cut-out wind speed [m/s], -- Does not need to be exact (JUST ASSUME FOR NOW) max_pitch_rate: 0.0349 # Maximum blade pitch rate [rad/s] max_torque_rate: 4500000. # Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s} @@ -21,37 +21,50 @@ turbine_params: bld_edgewise_freq: 4.0324 # Blade edgewise first natural frequency [rad/s] bld_flapwise_freq: 3.4872 # Blade flapwise first natural frequency [rad/s] TSR_operational: 9.0 - twr_freq: 3.12 # for semi only! - ptfm_freq: 0.226 # for semi only! + + pitch_act_bw: 1.5708 # Pitch Actuator bandwidth [rad], {default = 6.2832 rad/s} #------------------------------- CONTROLLER PARAMETERS ---------------------------------- controller_params: # Controller flags - LoggingLevel: 1 # {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file + LoggingLevel: 2 # {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file F_LPFType: 2 # {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals) F_NotchType: 0 # Notch on the measured generator speed {0: disable, 1: enable} IPC_ControlMode: 0 # Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P reductions} VS_ControlMode: 2 # Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control} PC_ControlMode: 1 # Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} - Y_ControlMode: 0 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} + Y_ControlMode: 1 # Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} SS_Mode: 1 # Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} WE_Mode: 2 # Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.)} - PS_Mode: 3 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation} + PS_Mode: 2 # Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation} SD_Mode: 0 # Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} - Fl_Mode: 1 + Fl_Mode: 1 # Floating specific feedback mode {0: no nacelle velocity feedback, 1: nacelle velocity feedback} Flp_Mode: 0 # Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control} # Controller parameters zeta_pc: 1.0 # Pitch controller desired damping ratio [-] - omega_pc: 0.2 # Pitch controller desired natural frequency [rad/s] + omega_pc: 0.3 # Pitch controller desired natural frequency [rad/s] zeta_vs: 0.85 # Torque controller desired damping ratio [-] omega_vs: 0.12 # Torque controller desired natural frequency [rad/s] - # Optional - these can be defined, but do not need to be - max_pitch: # None # Maximum pitch angle [rad], {default = 90 degrees} min_pitch: 0.0 # Minimum pitch angle [rad], {default = 0 degrees} vs_minspd: 0.523598775 # Minimum rotor speed [rad/s], {default = 0 rad/s} - ss_cornerfreq: # None # First order low-pass filter cornering frequency for setpoint smoother [rad/s] - ss_vsgain: # None # Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%} - ss_pcgain: # None # Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%} - ps_percent: # None # Percent peak shaving [%, <= 1 ], {default = 80%} - sd_maxpit: # None # Maximum blade pitch angle to initiate shutdown [rad], {default = bld pitch at v_max} - sd_cornerfreq: # None # Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s], {default = 0.41888 ~ time constant of 15s} - flp_maxpit: # None # Maximum (and minimum) flap pitch angle [rad] + twr_freq: 3.355 # for semi only! + ptfm_freq: 0.213 # for semi only! + open_loop: + flag: True + OL_Ind_Breakpoint: 1 + OL_Ind_BldPitch: 2 + filename: /Users/dzalkind/Downloads/pitch_LC2p2_4ROSCO.dat + # dt: 0.05 + # t_max: 200 + # blade_pitch: + # interpolated: + # flag: True + # time: [0,40,80,120] # breakpoint + # value: [0.1745,0.2618,0.0873,0.1396] # radians + # # generator_torque: + # # time: [0,40,80,120] + # # value: [19624046,19624046,19624046,19624046] #Nm + # yaw: # rad + # sine: + # amplitude: 0.0524 + # period: 20 + # filename: '/Users/dzalkind/Tools/ROSCO/Examples/ol_test.dat' \ No newline at end of file diff --git a/Tune_Cases/NREL5MW.yaml b/Tune_Cases/NREL5MW.yaml index 9ad252dc..21f5acab 100644 --- a/Tune_Cases/NREL5MW.yaml +++ b/Tune_Cases/NREL5MW.yaml @@ -6,7 +6,7 @@ path_params: FAST_InputFile: 'NREL-5MW.fst' # Name of *.fst file FAST_directory: '../Test_Cases/NREL-5MW' # Main OpenFAST model directory, where the *.fst lives # Optional - rotor_performance_filename: 'Cp_Ct_Cq.NREL5MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) + rotor_performance_filename: '../Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) # -------------------------------- TURBINE PARAMETERS ----------------------------------- turbine_params: diff --git a/Tune_Cases/README.md b/Tune_Cases/README.md index a1fe9b52..c6d46eff 100644 --- a/Tune_Cases/README.md +++ b/Tune_Cases/README.md @@ -12,58 +12,8 @@ The basic steps are as follows 6. Enjoy the results. Possibly retune your controller. ## The .yaml File -We use a .yaml file to define the inputs to the generic controlling scripts. This .yaml file defines three different dictionaries with a number of parameters. The parameters that must be defined are listed below +We use a .yaml file to define the inputs to the generic controlling scripts. This .yaml file defines three different dictionaries with a number of parameters. The parameters that must be defined in [the documentation](https://rosco.readthedocs.io/en/latest/source/rosco_toolbox.html#the-rosco-toolbox-tuning-file) -1. path_params: -* `FAST_InputFile` - the name of the `*.fst` file -* `FAST_directory` - the directory for the `*.fst` file -* `rotor_performance_filename` - the name of the existing or desired rotor performance text file (`Cp_Ct_Cq.txt` by default). If this exists, CCBlade will not be run in `tune_ROSCO.py`. If it does not exist, you CCBlade will be run. The inputs to `turbine.py` can also be changed to force CCBlade to run or not. - -2. turbine_params: -* `rotor_inertia` - Rotor inertia (kg m^2). This is available in an Elastodyn .sum file. Run a turbine model for a few seconds without any controller if you need to. -* `rated_rotor_speed` - Rated rotor speed (rad/s). -* `v_min` - Cut-in wind speed (m/s). -* `v_rated` - Rated wind speed (m/s). -* `v_max` - Cut-out wind speed (m/s), -- Does not need to be exact (JUST ASSUME FOR NOW) -* `max_pitch_rate` - Maximum blade pitch rate (deg/s) -* `max_torque_rate` - Maximum torque rate (Nm/s) -* `rated_power` - Rated Power (W) -* `bld_edgewise_freq` - Blade edgewise first natural frequency (rad/s) - -3. controller_params: -* `LoggingLevel` - Default = 1 - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} -* `F_LPFType` - Default = 1 - {1: first-order low-pass filter, 2: second-order low-pass filter}, (rad/s) (currently filters generator speed and pitch *control signals) -* `F_NotchType` - Default = 0 - Notch on the measured generator speed {0: disable, 1: enable} -* `IPC_ControlMode` - Default = 0 - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution) {0: off, 1: 1P reductions, 2: 1P+2P *reductions} -* `VS_ControlMode` - Default = 2 - Generator torque control mode in above rated conditions {0: constant torque, 1: constant power, 2: TSR tracking PI control} -* `PC_ControlMode` - Default = 2 - Blade pitch control mode {0: No pitch, fix to fine pitch, 1: active PI blade pitch control} -* `Y_ControlMode` - Default = 0 - Yaw control mode {0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC} -* `SS_Mode` - Default = 1 - Setpoint Smoother mode {0: no setpoint smoothing, 1: introduce setpoint smoothing} -* `WE_Mode` - Default = 2 - Wind speed estimator mode {0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator, 2: Extended Kalman Filter} -* `PS_Mode` - Default = 0 - Pitch saturation mode {0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation} -* `zeta_pc` - Pitch controller desired damping ratio (-) -* `omega_pc` - Pitch controller desired natural frequency (rad/s) -* `zeta_vs` - Torque controller desired damping ratio (-) -* `omega_vs` - Torque controller desired natural frequency (rad/s) - -#### Optional Parameters -There are a few parameters that are only needed for specific controller behaviors, or to adjust behaviors to be different than the default: -1. turbine_params: -* `twr_freq` - Tower fore-aft natural frequency (rad/s), only used inf Fl_Mode = 1 -* `ptfm_freq` - Platform fore-aft natural frequency (rad/s), only used inf Fl_Mode = 1 -2. controller_params -* `zeta_flp` - Flap controller desired damping ratio, only used if Flp_Mode = 1 -* `omega_flp`- Flap controller desired natural frequency (rad/s), only used if Flp_Mode = 1 -* `max_pitch`- Maximum pitch angle (rad), {default = 90 degrees} -* `min_pitch`- Minimum pitch angle (rad), {default = 0 degrees} -* `vs_minspd`- Minimum rotor speed (rad/s), {default = 0 rad/s} -* `ss_cornerfreq`- First order low-pass filter cornering frequency for setpoint smoother (rad/s) -* `ss_vsgain`- Torque controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 100%} -* `ss_pcgain`- Pitch controller setpoint smoother gain bias percentage [%, <= 1 ], {default = 0.1%} -* `ps_percent`- Percent peak shaving [%, <= 1 ], {default = 80%}, only used if PS_Mode = 1 or 3 -* `sd_maxpit`- Maximum blade pitch angle to initiate shutdown (rad), {default = bld pitch at v_max}, only used if SD_Mode = 1 -* `sd_cornerfreq`- Cutoff Frequency for first order low-pass filter for blade pitch angle rad/s, {default = 0.41888 ~ time constant of 15s}, only used if SD_Mode = 1 -* `flp_maxpit`- Maximum (and minimum) flap pitch angle (rad), only used if Flp_Mode = 2 ### The controller parameters The controller flags have some default values for the ROSCO controller implementation (provided in the previous section). This, subsequently, leaves four turbine parameters that the user must decide `zeta_pc`, `omega_pc`, `zeta_vs`, and `omega_vs`. The example .yaml scripts provided offer some insight into what these values might be for different sizes and types of turbines. Generally speaking, we desire slower responses in the the variable speed (vs) torque controller. This equates to `zeta_vs = 1` and `omega_vs = 0.3` for the NREL 5MW wind turbine. These values tend to translate fairly well to larger turbines, but decreasing `omega_vs = 0.3` may be desired. For the pitch controller, the NREL 5MW turbine was tuned such that `zeta_pc = 0.7`, and `omega_pc = 0.6` in the legacy controller. As a high level rule of thumb, increasing the desired damping to be over-damped (`zeta_pc ~ 1.0`) and the natural frequency to be much slower (`omega_pc = 0.2`) seems to produce smoother wind turbine responses in large turbines with highly flexible rotors. diff --git a/docs/index.rst b/docs/index.rst index 86a289dc..1e60107e 100644 --- a/docs/index.rst +++ b/docs/index.rst @@ -24,7 +24,7 @@ The python-based toolbox primarily used for tuning the controller and writing th * Linear model analysis capability **ROSCO Controller** -The controller implementation itself. This is compiled to :code:`libdiscon.*`` file, reads the DISCON.IN file, and interfaces with OpenFAST using the Bladed-style interface. +The controller implementation itself. This is compiled to :code:`libdiscon.*` file, reads the DISCON.IN file, and interfaces with OpenFAST using the Bladed-style interface. * Fortran based * Follows Bladed-style control interface @@ -76,3 +76,6 @@ limitations under the License. source/standard_use.rst source/rosco_toolbox.rst source/rosco.rst + source/api_change.rst + source/toolbox_input.rst + source/ROSCO_instructions_for_Bladed.rst diff --git a/docs/source/ROSCO_instructions_for_Bladed.rst b/docs/source/ROSCO_instructions_for_Bladed.rst new file mode 100644 index 00000000..6aa5e56a --- /dev/null +++ b/docs/source/ROSCO_instructions_for_Bladed.rst @@ -0,0 +1,91 @@ +.. toctree:: + +.. _ROSCO_instructions_for_Bladed: + +Running Bladed simulations with ROSCO controller +================================================ + +ROSCO controller can be used with Bladed. + +ROSCO dll must be built to 32bit windows version. Most pre-built +discon.dlls in ROSCO github are 64bit, so you may need to build from +source. + +  + +Configuration in Bladed is as follows: + +  + +Bladed versions 4.6 to current (4.12) +------------------------------------- + +In the Bladed External Controller dialog, fill in the fields as follows: + +- *'Time step'* value non-critical as ROSCO adapts to whatever value + is specified. Suggest 10ms. + + + +- *'Additional Controller Parameters'* - copy all text from DISCON.IN + for the relevant turbine and paste in to this field. + + Notes: + + - This must be the topmost field called 'Additional Controller Parameters', not the field with the same name lower down in external controller 1 settings. + + - Do not add, remove or re-order any lines in this text as this will break ROSCO parsing of the content. + + - Any paths such as PerfFileName must be absolute (eg 'C:\ROSCO\config.txt', not '..\config.txt') for use with Bladed. + +- Add an external controller (click “+”) and set + + - *'Controller location'* - path to the ROSCO libdiscon_win32.dll + + - *'Calling convention'* - \__cdecl + + - *'Additional Controller Parameters'* - blank + + - *'Pass parameters by file'* - must be ticked (this instructs Bladed to create a DISCON.IN file at runtime with the text from the Additional Controller Parameters window, and ROSCO reads from this file) + + - *'Force legacy discon'* - ticked + +**Example setup shown in the image below**\ |image1| + + + +Bladed 4.5 & earlier +-------------------- + +In External Controller dialog, + +- *'Communication interval'* - ROSCO adapts to whatever value is specified. Suggest 10ms. + +- *'Controller code'* - path to the ROSCO libdiscon_win32.dll + +- *'Calling convention'* - \__cdecl + +- *'External Controller data'* - copy the configuration text from DISCON.IN for the relevant turbine and paste in to this field. + + Notes: + + - Do not add, remove or re-order any lines in this text as this will break ROSCO parsing of the content + + - Any paths such as PerfFileName must be absolute (eg 'C:\ROSCO\config.txt', not '..\config.txt') for use with Bladed. + + +**Troubleshooting (all Bladed versions)** + +Most error messages from ROSCO are not passed to the Bladed GUI for +display or logging. They will be visible only in the transient DOS +window that appears while a Bladed simulation is running. If there is a +problem you will likely see only 'simulation terminated unexpectedly' in +Bladed UI. To view error messages from ROSCO you will need to run Bladed +from the command line. This will ensure that the console window where +errors are displayed remains open to view the error message. + +Instructions to run Bladed from the command line are available +`here `__ +on the Bladed Knowledge Base + +.. |image1| image:: figures/Bladed_control_screen.png diff --git a/docs/source/api_change.rst b/docs/source/api_change.rst new file mode 100644 index 00000000..4571d79f --- /dev/null +++ b/docs/source/api_change.rst @@ -0,0 +1,39 @@ +.. _api_change: + +API changes between versions +============================ + +This page lists the main changes in the ROSCO API (input file) between different versions. + +The changes are tabulated according to the line number, and flag name. +The line number corresponds to the resulting line number after all changes are implemented. +Thus, be sure to implement each in order so that subsequent line numbers are correct. + + +ROSCO v2.4.1 to ROSCO v2.5.0 +------------------------------- +Two filter parameters were added to +- change the high pass filter in the floating feedback module +- change the low pass filter of the wind speed estimator signal that is used in torque control + +Open loop control inputs, users must specify: +- The open loop input filename, an example can be found in Examples/Example_OL_Input.dat +- Indices (columns) of values specified in OL_Filename + +IPC +- Proportional Control capabilities were added, 1P and 2P gains should be specified + +====== ================= ====================================================================================================================================================================================================== +Added in ROSCO develop +---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- +Line Flag Name Example Value +====== ================= ====================================================================================================================================================================================================== +27 F_WECornerFreq 0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. +29 F_FlHighPassFreq 0.01000 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]. +50 IPC_KP 0.000000 0.000000 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +125 OL_Filename "14_OL_Input.dat" ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file) +126 Ind_Breakpoint 1 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1) +127 Ind_BldPitch 2 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad +128 Ind_GenTq 3 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm +129 Ind_YawRate 4 ! 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You should do conda create -y --name rosco-env python=3.8 conda activate rosco-env -2. Install WISDEM - -.. code-block:: bash - - conda install -y wisdem - -3. Clone and Install the ROSCO toolbox with ROSCO +2. Clone and Install the ROSCO toolbox with ROSCO .. code-block:: bash @@ -193,9 +187,10 @@ Please follow the following steps to install the ROSCO tool-chain. You should do cd ROSCO conda install compilers # (Mac/Linux only) conda install m2w64-toolchain libpython # (Windows only) + conda install -y wisdem python setup.py install --compile-rosco -4. Clone and Install the ROSCO toolbox without ROSCO +3. Clone and Install the ROSCO toolbox without ROSCO .. code-block:: bash diff --git a/docs/source/rosco.rst b/docs/source/rosco.rst index bcb44e8b..cb6e75a9 100644 --- a/docs/source/rosco.rst +++ b/docs/source/rosco.rst @@ -114,6 +114,14 @@ Examples of the DISCON.IN file are found in each of the Test Cases in the ROSCO - :code:`F_FlCornerFreq` - Float Float - Corner frequency and damping ratio for the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. + * - + - :code:`F_WECornerFreq` + - Float + - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. + * - + - :code:`F_FlHighPassFreq` + - Float + - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].. * - - :code:`F_FlpCornerFreq` - Float Float @@ -397,4 +405,4 @@ Examples of the DISCON.IN file are found in each of the Test Cases in the ROSCO .. _OpenFAST: https://github.com/openfast/openfast -.. _yaml: https://yaml.org/ \ No newline at end of file +.. _yaml: https://yaml.org/ diff --git a/docs/source/rosco_toolbox.rst b/docs/source/rosco_toolbox.rst index 8e3a86cb..a61b3131 100644 --- a/docs/source/rosco_toolbox.rst +++ b/docs/source/rosco_toolbox.rst @@ -43,237 +43,9 @@ Tune_Cases .......... Some example tuning scripts and tuning input files are provided here. The code found in :code:`tune_ROSCO.py` can be modified by the user to easily enable tuning of their own wind turbine model. -.. _rt_tuning_yaml: - The ROSCO Toolbox Tuning File ------------------------------ -A yaml_ formatted input file is used for the standard ROSCO toolbox tuning process. This file contains the necessary inputs for the ROSCO toolbox to load an OpenFAST input file deck and tune the ROSCO controller. It contains the following inputs: - -.. list-table:: ROSCO toolbox input yaml - :header-rows: 1 - :widths: 15 15 10 10 50 - :stub-columns: 1 - - * - Primary Section - - Variable - - Required - - Type - - Description - * - :code:`path_params` - - :code:`FAST_InputFile` - - Yes - - String - - Name of the primary (\*.fst) OpenFAST input file - * - - - :code:`FAST_directory` - - Yes - - String - - Main OpenFAST model directory, where the \*.fst lives - * - - - :code:`rotor_performance_filename` - - No - - String - - Filename for rotor performance text file. If this is not specified, and an existing rotor performance file cannot be found, cc-blade will be run - * - :code:`turbine_params` - - :code:`rotor_interia` - - Yes - - Float - - Rotor inertia [kg m^2], (Available in Elastodyn .sum file) - * - - - :code:`rated_rotor_speed` - - Yes - - Float - - Rated rotor speed of the turbine [rad/s] - * - - - :code:`v_min` - - Yes - - Float - - Cut-in wind speed [m/s] - * - - - :code:`v_max` - - Yes - - Float - - Cut-out wind speed [m/s] - * - - - :code:`max_pitch_rate` - - Yes - - Float - - Maximum blade pitch rate [rad/s] - * - - - :code:`max_torque_rate` - - Yes - - Float - - Maximum generator torque rate [Nm/s] - * - - - :code:`rated_power` - - Yes - - Float - - Rated Power [W]. - * - - - :code:`bld_edgewise_freq` - - Yes - - Float - - Blade edgewise first natural frequency [rad/s]. Set this even if you are using stiff blades. It becomes the generator speed LPF bandwidth. - * - - - :code:`TSR_operational` - - No - - Float - - Desired below-rated operation tip speed ratio [-]. If this is not specified, the Cp-maximizing TSR from the Cp surface is used. - * - - - :code:`twr_freq` - - No - - Float - - Tower first fore-aft natural frequency [rad/s]. Required for floating wind turbine control. - * - - - :code:`ptfm_freq` - - No - - Float - - Platform first fore-aft natural frequency [rad/s]. Required for floating wind turbine control. - * - :code:`controller_params` - - :code:`LoggingLevel` - - Yes - - Int - - 0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file - * - - - :code:`F_LPFType` - - Yes - - Int - - Type of Low pass filter for the generator speed feedback signal [rad/s]. 1: first-order low-pass filter, 2: second-order low-pass filter. - * - - - :code:`F_NotchType` - - Yes - - Int - - Notch filter on generator speed and/or tower fore-aft motion, used for floating wind turbine control. 0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion - * - - - :code:`IPC_ControlMode` - - Yes - - Int - - Turn Individual Pitch Control (IPC) for fatigue load reductions (pitch contribution). 0: off, 1: 1P reductions, 2: 1P+2P reductions. - * - - - :code:`VS_ControlMode` - - Yes - - Int - - Generator torque control mode. 0: :math:`k\omega^2` below rated, constant torque above rated, 1: :math:`k\omega^2` below rated, constant power above rated, 2: TSR tracking PI control below rated, constant torque above rated, 3: TSR tracking PI control below rated, constant power above rated. - * - - - :code:`PC_ControlMode` - - Yes - - Int - - Blade pitch control mode. 0: No pitch control, fix to fine pitch, 1: active PI blade pitch control - * - - - :code:`Y_ControlMode` - - Yes - - Int - - Yaw control mode. 0: no yaw control, 1: yaw rate control, 2: yaw-by-IPC - * - - - :code:`SS_Mode` - - Yes - - Int - - Setpoint Smoother mode. 0: no set point smoothing, 1: set point smoothing - * - - - :code:`WE_Mode` - - Yes - - Int - - Wind speed estimator mode. 0: One-second low pass filtered hub height wind speed, 1: Immersion and Invariance Estimator (Ortega et al.), 2: Extended Kalman filter - * - - - :code:`PS_Mode` - - Yes - - Int - - Pitch saturation mode. 0: no pitch saturation, 1: peak shaving, 2: Cp-maximizing pitch saturation, 3: peak shaving and Cp-maximizing pitch saturation - * - - - :code:`SD_Mode` - - Yes - - Int - - Shutdown mode. 0: no shutdown procedure, 1: pitch to max pitch at shutdown. - * - - - :code:`Fl_Mode` - - Yes - - Int - - Floating feedback mode. 0: no nacelle rotational velocity feedback, 1: nacelle rotational velocity feedback - * - - - :code:`Flp_Mode` - - Yes - - Int - - Flap control mode. 0: no flap control, 1: steady state flap angle, 2: Proportional flap control - * - - - :code:`zeta_pc` - - Yes - - Float - - Pitch controller desired damping ratio [-] - * - - - :code:`omega_pc` - - Yes - - Float - - Pitch controller desired natural frequency [rad/s] - * - - - :code:`zeta_vs` - - Yes - - Float - - Torque controller desired damping ratio [-] - * - - - :code:`omega_vs` - - Yes - - Float - - Torque controller desired natural frequency [rad/s] - * - - - :code:`zeta_flp` - - No - - Float - - Flap controller desired damping ratio [-]. Required if :code:`Flp_Mode`>0 - * - - - :code:`omega_flp` - - No - - Float - - Flap controller desired natural frequency [rad/s]. Required if :code:`Flp_Mode`>0 - * - - - :code:`max_pitch` - - No - - Float - - Maximum blade pitch angle [rad]. Default is 1.57 rad (90 degrees). - * - - - :code:`min_pitch` - - No - - Float - - Minimum blade pitch angle [rad]. Default is 0 degrees. - * - - - :code:`vs_minspd` - - No - - Float - - Minimum rotor speed [rad/s]. Default is 0 rad/s. - * - - - :code:`ss_cornerfreq` - - No - - Float - - First order low-pass filter cornering frequency for setpoint smoother [rad/s]. Default is .6283 rad/s. - * - - - :code:`ss_vsgain` - - No - - Float - - Torque controller set point smoother gain bias percentage [:math:`\leq` 1]. Default is 1. - * - - - :code:`ss_pcgain` - - No - - Float - - Pitch controller set point smoother gain bias percentage [:math:`\leq` 1]. Default is 0.001. - * - - - :code:`ps_percent` - - No - - Float - - Percent peak shaving [:math:`\leq` 1]. Default is 0.8. - * - - - :code:`sd_maxpit` - - No - - Float - - Maximum blade pitch angle to initiate shutdown [rad]. Default is the blade pitch angle at :code:`v_max`. - * - - - :code:`sd_cornerfreq` - - No - - Float - - Cutoff Frequency for first order low-pass filter for blade pitch angle [rad/s]. Default is 0.41888 rad/s. - * - - - :code:`flp_maxpit` - - No - - Float - - Maximum (and minimum) flap pitch angle [rad]. Default is 0.1745 rad (10 degrees). +A yaml_ formatted input file is used for the standard ROSCO toolbox tuning process. This file contains the necessary inputs for the ROSCO toolbox to load an OpenFAST input file deck and tune the ROSCO controller. It can be found here: :ref:`rt_tuning_yaml`. .. _OpenFAST: https://github.com/openfast/openfast diff --git a/docs/source/standard_use.rst b/docs/source/standard_use.rst index fe06d1a2..e96c4f52 100644 --- a/docs/source/standard_use.rst +++ b/docs/source/standard_use.rst @@ -62,6 +62,7 @@ ROSCO also contains a method for distributed aerodynamic control (e.g., via trai The ROSCO toolbox also contains methods for working with OpenFAST linear models * :code:`example_11.py` exports a file of the parameters used for the simplified linear models used to tune ROSCO * :code:`example_12.py` shows how linear models generated using OpenFAST can be used to tune controllers with robust stability properties. +* :code:`example_13.py` shows the tuning procedure for IPC Running OpenFAST Simulations ---------------------------- @@ -83,6 +84,7 @@ Several example scripts are set up to quickly simulate ROSCO with OpenFAST: * :code:`example_06.py` loads a turbine, tunes a controller, and runs an OpenFAST simulation * :code:`example_08.py` loads the OpenFAST output files and plots the results * :code:`example_09.py` runs TurbSim, for generating turbulent wind inputs +* :code:`example_14.py` runs an OpenFAST simulation with ROSCO providing open loop control inputs Testing ROSCO diff --git a/docs/source/toolbox_input.rst b/docs/source/toolbox_input.rst new file mode 100644 index 00000000..d041f0e3 --- /dev/null +++ b/docs/source/toolbox_input.rst @@ -0,0 +1,511 @@ + +.. toctree:: + +.. _rt_tuning_yaml: + +************************** +ROSCO_Toolbox tuning .yaml +************************** +Definition of inputs for ROSCO tuning procedure + + +/Users/dzalkind/Tools/ROSCO/ROSCO_toolbox/inputs/toolbox_schema. + + + +path_params +**************************************** + + +:code:`FAST_InputFile` : String + Name of `*.fst` file + +:code:`FAST_directory` : String + Main OpenFAST model directory, where the `*.fst` lives, relative + to ROSCO dir (if applicable) + +:code:`rotor_performance_filename` : String + Filename for rotor performance text file (if it has been generated + by ccblade already) + + + +turbine_params +**************************************** + + +:code:`rotor_inertia` : Float, kg m^2 + Rotor inertia [kg m^2], {Available in Elastodyn .sum file} + +:code:`rated_rotor_speed` : Float, rad/s + Rated rotor speed [rad/s] + + *Minimum* = 0 + +:code:`v_min` : Float, m/s + Cut-in wind speed of the wind turbine. + + *Minimum* = 0 + +:code:`v_max` : Float, m/s + Cut-out wind speed of the wind turbine. + + *Minimum* = 0 + +:code:`max_pitch_rate` : Float, rad/s + Maximum blade pitch rate [rad/s] + + *Minimum* = 0 + +:code:`max_torque_rate` : Float, Nm/s + Maximum torque rate [Nm/s], {~1/4 VS_RtTq/s} + + *Minimum* = 0 + +:code:`rated_power` : Float, W + Rated Power [W] + + *Minimum* = 0 + +:code:`bld_edgewise_freq` : Float, rad/s + Blade edgewise first natural frequency [rad/s] + + *Default* = 4.0 + + *Minimum* = 0 + +:code:`bld_flapwise_freq` : Float, rad/s + Blade flapwise first natural frequency [rad/s] + + *Default* = 0 + + *Minimum* = 0 + +:code:`TSR_operational` : Float + Optimal tip speed ratio, if 0 the optimal TSR will be determined + by the Cp surface + + *Default* = 0 + + *Minimum* = 0 + + + +controller_params +**************************************** + + +:code:`LoggingLevel` : Float + 0- write no debug files, 1- write standard output .dbg-file, 2- + write standard output .dbg-file and complete avrSWAP-array + .dbg2-file + + *Default* = 1 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`F_LPFType` : Float + 1- first-order low-pass filter, 2- second-order low-pass filter, + [rad/s] (currently filters generator speed and pitch control + signals) + + *Default* = 1 + + *Minimum* = 1 *Maximum* = 2 + + +:code:`F_NotchType` : Float + Notch on the measured generator speed and/or tower fore-aft motion + (for floating) {0- disable, 1- generator speed, 2- tower-top fore- + aft motion, 3- generator speed and tower-top fore-aft motion} + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 3 + + +:code:`IPC_ControlMode` : Float + Turn Individual Pitch Control (IPC) for fatigue load reductions + (pitch contribution) (0- off, 1- 1P reductions, 2- 1P+2P + reduction) + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`VS_ControlMode` : Float + Generator torque control mode in above rated conditions (0- + constant torque, 1- constant power, 2- TSR tracking PI control + with constant torque, 3- TSR tracking with constant power) + + *Default* = 2 + + *Minimum* = 0 *Maximum* = 3 + + +:code:`PC_ControlMode` : Float + Blade pitch control mode (0- No pitch, fix to fine pitch, 1- + active PI blade pitch control) + + *Default* = 1 + + *Minimum* = 0 *Maximum* = 1 + + +:code:`Y_ControlMode` : Float + Yaw control mode (0- no yaw control, 1- yaw rate control, 2- yaw- + by-IPC) + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`SS_Mode` : Float + Setpoint Smoother mode (0- no setpoint smoothing, 1- introduce + setpoint smoothing) + + *Default* = 1 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`WE_Mode` : Float + Wind speed estimator mode (0- One-second low pass filtered hub + height wind speed, 1- Immersion and Invariance Estimator (Ortega + et al.) + + *Default* = 2 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`PS_Mode` : Float + Pitch saturation mode (0- no pitch saturation, 1- peak shaving, 2- + Cp-maximizing pitch saturation, 3- peak shaving and Cp-maximizing + pitch saturation) + + *Default* = 3 + + *Minimum* = 0 *Maximum* = 3 + + +:code:`SD_Mode` : Float + Shutdown mode (0- no shutdown procedure, 1- pitch to max pitch at + shutdown) + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 1 + + +:code:`Fl_Mode` : Float + Floating specific feedback mode (0- no nacelle velocity feedback, + 1 - nacelle velocity feedback, 2 - nacelle pitching acceleration + feedback) + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`Flp_Mode` : Float + Flap control mode (0- no flap control, 1- steady state flap angle, + 2- Proportional flap control) + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`PwC_Mode` : Float + Active Power Control Mode (0- no active power control 1- constant + active power control, 2- open loop power vs time, 3- open loop + power vs. wind speed) + + *Default* = 0 + + *Minimum* = 0 *Maximum* = 2 + + +:code:`U_pc` : Array of Floats + List of wind speeds to schedule pitch control zeta and omega + + *Default* = [12] + + *Minimum* = 0 + +:code:`zeta_pc` : Array of Floats or Float + List of pitch controller desired damping ratio at U_pc [-] + + *Default* = [1.0] + +:code:`omega_pc` : Array of Floats or Float, rad/s + List of pitch controller desired natural frequency at U_pc [rad/s] + + *Default* = [0.2] + +:code:`interp_type` : String from, ['sigma', 'linear', 'quadratic', 'cubic'] + Type of interpolation between above rated tuning values (only used + for multiple pitch controller tuning values) + + *Default* = sigma + +:code:`zeta_vs` : Float + Torque controller desired damping ratio [-] + + *Default* = 1.0 + + *Minimum* = 0 + +:code:`omega_vs` : Float, rad/s + Torque controller desired natural frequency [rad/s] + + *Default* = 0.2 + + *Minimum* = 0 + +:code:`max_pitch` : Float, rad + Maximum pitch angle [rad], {default = 90 degrees} + + *Default* = 1.57 + +:code:`min_pitch` : Float, rad + Minimum pitch angle [rad], {default = 0 degrees} + + *Default* = 0 + +:code:`vs_minspd` : Float, rad/s + Minimum rotor speed [rad/s], {default = 0 rad/s} + + *Default* = 0 + +:code:`ss_vsgain` : Float + Torque controller setpoint smoother gain bias percentage [%, <= 1 + ], {default = 100%} + + *Default* = 1.0 + +:code:`ss_pcgain` : Float, rad + Pitch controller setpoint smoother gain bias percentage [%, <= 1 + ], {default = 0.1%} + + *Default* = 0.001 + +:code:`ps_percent` : Float, rad + Percent peak shaving [%, <= 1 ], {default = 80%} + + *Default* = 0.8 *Maximum* = 1 + + +:code:`sd_maxpit` : Float, rad + Maximum blade pitch angle to initiate shutdown [rad], {default = + 40 deg.} + + *Default* = 0.6981 + +:code:`flp_maxpit` : Float, rad + Maximum (and minimum) flap pitch angle [rad] + + *Default* = 0.1745 + +:code:`twr_freq` : Float, rad/s + Tower natural frequency, for floating only + + *Minimum* = 0 + +:code:`ptfm_freq` : Float, rad/s + Platform natural frequency, for floating only + + *Minimum* = 0 + +:code:`WS_GS_n` : Float + Number of wind speed breakpoints + + *Default* = 60 + + *Minimum* = 0 + +:code:`PC_GS_n` : Float + Number of pitch angle gain scheduling breakpoints + + *Default* = 30 + + *Minimum* = 0 + +:code:`Kp_float` : Float, s + Gain of floating feedback control + +:code:`tune_Fl` : Boolean + Whether to automatically tune Kp_float + + *Default* = True + +:code:`zeta_flp` : Float + Flap controller desired damping ratio [-] + + *Minimum* = 0 + +:code:`omega_flp` : Float, rad/s + Flap controller desired natural frequency [rad/s] + + *Minimum* = 0 + +:code:`flp_kp_norm` : Float + Flap controller normalization term for DC gain (kappa) + + *Minimum* = 0 + +:code:`flp_tau` : Float, s + Flap controller time constant for integral gain + + *Minimum* = 0 + +:code:`IPC_Kp1p` : Float, s + Proportional gain for IPC, 1P [s] + + *Default* = 0.0 + + *Minimum* = 0 + +:code:`IPC_Kp2p` : Float + Proportional gain for IPC, 2P [-] + + *Default* = 0.0 + + *Minimum* = 0 + +:code:`IPC_Ki1p` : Float, s + Integral gain for IPC, 1P [s] + + *Default* = 0.0 + + *Minimum* = 0 + +:code:`IPC_Ki2p` : Float + integral gain for IPC, 2P [-] + + *Default* = 0.0 + + *Minimum* = 0 + + + +filter_params +######################################## + + +:code:`f_lpf_cornerfreq` : Float, rad/s + Corner frequency (-3dB point) in the first order low pass filter + of the generator speed [rad/s] + + *Minimum* = 0 + +:code:`f_lpf_damping` : Float, rad/s + Damping ratio in the first order low pass filter of the generator + speed [-] + + *Minimum* = 0 + +:code:`f_we_cornerfreq` : Float, rad/s + Corner frequency (-3dB point) in the first order low pass filter + for the wind speed estimate [rad/s] + + *Default* = 0.20944 + + *Minimum* = 0 + +:code:`f_fl_highpassfreq` : Float, rad/s + Natural frequency of first-order high-pass filter for nacelle + fore-aft motion [rad/s] + + *Default* = 0.01042 + + *Minimum* = 0 + +:code:`f_ss_cornerfreq` : Float, rad/s + First order low-pass filter cornering frequency for setpoint + smoother [rad/s] + + *Default* = 0.6283 + + *Minimum* = 0 + +:code:`f_sd_cornerfreq` : Float, rad + Cutoff Frequency for first order low-pass filter for blade pitch + angle [rad/s], {default = 0.41888 ~ time constant of 15s} + + *Default* = 0.41888 + + + +open_loop +######################################## + + +:code:`flag` : Boolean + Flag to use open loop control + + *Default* = False + +:code:`filename` : String + Filename of open loop input that ROSCO reads + + *Default* = unused + +:code:`OL_Ind_Breakpoint` : Float + Index (column, 1-indexed) of breakpoint (time) in open loop index + + *Default* = 1 + +:code:`OL_Ind_BldPitch` : Float + Index (column, 1-indexed) of breakpoint (time) in open loop index + + *Default* = 0 + +:code:`OL_Ind_GenTq` : Float + Index (column, 1-indexed) of breakpoint (time) in open loop index + + *Default* = 0 + +:code:`OL_Ind_YawRate` : Float + Index (column, 1-indexed) of breakpoint (time) in open loop index + + *Default* = 0 + + + +linmodel_tuning +**************************************** + + +Inputs used for tuning ROSCO using linear (level 2) models + +:code:`type` : String from, ['none', 'robust', 'simulation'] + Type of level 2 based tuning - robust gain scheduling (robust) or + simulation based optimization (simulation) + + *Default* = none + +:code:`linfile_path` : String + Path to OpenFAST linearization (.lin) files, if they exist + + *Default* = none + +:code:`lintune_outpath` : String + Path for outputs from linear model based tuning + + *Default* = lintune_outfiles + +:code:`load_parallel` : Boolean + Load linearization files in parallel (True/False) + + *Default* = False + +:code:`stability_margin` : Float or Array of Floats + Desired maximum stability margin + + *Default* = 0.1 + diff --git a/environment.yml b/environment.yml index bd1b71df..4195d0e3 100644 --- a/environment.yml +++ b/environment.yml @@ -12,3 +12,4 @@ dependencies: - wisdem - cmake - pyparsing==2.4.7 + - control diff --git a/setup.py b/setup.py index 716f9fbb..aa4a94c3 100644 --- a/setup.py +++ b/setup.py @@ -36,7 +36,7 @@ EMAIL = 'nikhar.abbas@nrel.gov' AUTHOR = 'NREL, National Wind Technology Center' REQUIRES_PYTHON = '>=3.4' -VERSION = '2.4.1' +VERSION = '2.5.0' # These packages are required for all of the code to be executed. # - Maybe you can get away with older versions... From 5d201855f57d0773ad8304349257db19c6db6af2 Mon Sep 17 00:00:00 2001 From: Gustavo Hylander <74593034+ghylander@users.noreply.github.com> Date: Tue, 5 Apr 2022 17:01:21 +0200 Subject: [PATCH 2/4] Fixed wrong formatting of list items (#122) extra newline required between list elements --- docs/source/api_change.rst | 4 ++++ 1 file changed, 4 insertions(+) diff --git a/docs/source/api_change.rst b/docs/source/api_change.rst index 4571d79f..7865d377 100644 --- a/docs/source/api_change.rst +++ b/docs/source/api_change.rst @@ -13,11 +13,15 @@ Thus, be sure to implement each in order so that subsequent line numbers are cor ROSCO v2.4.1 to ROSCO v2.5.0 ------------------------------- Two filter parameters were added to + - change the high pass filter in the floating feedback module + - change the low pass filter of the wind speed estimator signal that is used in torque control Open loop control inputs, users must specify: + - The open loop input filename, an example can be found in Examples/Example_OL_Input.dat + - Indices (columns) of values specified in OL_Filename IPC From 77278f5d1cee95a830b22d79797b351481e87972 Mon Sep 17 00:00:00 2001 From: dzalkind <65573423+dzalkind@users.noreply.github.com> Date: Wed, 27 Apr 2022 11:37:50 -0600 Subject: [PATCH 3/4] Flip Ct and Cq table allocation (#129) --- ROSCO/src/ReadSetParameters.f90 | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROSCO/src/ReadSetParameters.f90 b/ROSCO/src/ReadSetParameters.f90 index 549ab3a8..74ab40f6 100644 --- a/ROSCO/src/ReadSetParameters.f90 +++ b/ROSCO/src/ReadSetParameters.f90 @@ -501,7 +501,7 @@ SUBROUTINE ReadCpFile(CntrPar,PerfData, ErrVar) CALL ReadEmptyLine(UnPerfParameters,CurLine) CALL ReadEmptyLine(UnPerfParameters,CurLine) CALL ReadEmptyLine(UnPerfParameters,CurLine) - ALLOCATE(PerfData%Ct_mat(CntrPar%PerfTableSize(1),CntrPar%PerfTableSize(2))) + ALLOCATE(PerfData%Ct_mat(CntrPar%PerfTableSize(2),CntrPar%PerfTableSize(1))) DO i = 1,CntrPar%PerfTableSize(2) READ(UnPerfParameters, *) PerfData%Ct_mat(i,:) ! Read Ct table END DO @@ -509,7 +509,7 @@ SUBROUTINE ReadCpFile(CntrPar,PerfData, ErrVar) CALL ReadEmptyLine(UnPerfParameters,CurLine) CALL ReadEmptyLine(UnPerfParameters,CurLine) CALL ReadEmptyLine(UnPerfParameters,CurLine) - ALLOCATE(PerfData%Cq_mat(CntrPar%PerfTableSize(1),CntrPar%PerfTableSize(2))) + ALLOCATE(PerfData%Cq_mat(CntrPar%PerfTableSize(2),CntrPar%PerfTableSize(1))) DO i = 1,CntrPar%PerfTableSize(2) READ(UnPerfParameters, *) PerfData%Cq_mat(i,:) ! Read Cq table END DO From 6a6a1fd3ea247563f694bf897b7d3991a1e6d138 Mon Sep 17 00:00:00 2001 From: dzalkind Date: Fri, 22 Jul 2022 14:34:46 -0600 Subject: [PATCH 4/4] Clean up merge and regen discons --- ROSCO_testing/regtest.py | 125 ------------------ Test_Cases/BAR_10/BAR_10_DISCON.IN | 2 +- .../DISCON-UMaineSemi.IN | 55 +++++--- Test_Cases/NREL-5MW/DISCON.IN | 2 +- Test_Cases/update_discons.py | 54 -------- Tune_Cases/IEA15MW.yaml | 2 +- Tune_Cases/NREL5MW.yaml | 2 +- 7 files changed, 39 insertions(+), 203 deletions(-) delete mode 100644 ROSCO_testing/regtest.py delete mode 100644 Test_Cases/update_discons.py diff --git a/ROSCO_testing/regtest.py b/ROSCO_testing/regtest.py deleted file mode 100644 index d42c7e74..00000000 --- a/ROSCO_testing/regtest.py +++ /dev/null @@ -1,125 +0,0 @@ -''' -Regression testing for ROSCO - -Tests: - restart -''' - -import os -import platform -import unittest -import numpy as np - -# Python Modules -import os -import platform -from shutil import copyfile - -# ROSCO toolbox modules -from ROSCO_toolbox.inputs.validation import load_rosco_yaml -from ROSCO_toolbox.ofTools.fast_io import output_processing -from ROSCO_toolbox.ofTools.case_gen.CaseLibrary import set_channels -from ROSCO_toolbox.ofTools.case_gen.CaseGen_General import CaseGen_General -from ROSCO_toolbox.ofTools.fast_io.FAST_writer import InputReader_OpenFAST, InputWriter_OpenFAST -from ROSCO_toolbox.utilities import run_openfast - - -class RegressionTesting(unittest.TestCase): - def test_restart(self): - this_dir = os.path.dirname(os.path.abspath(__file__)) - rosco_dir = os.path.dirname(this_dir) - test_out_dir = os.path.join(this_dir, 'test_out') - - # Load yaml file (Open Loop Case) - parameter_filename = os.path.join(rosco_dir, 'Tune_Cases/IEA15MW.yaml') - - inps = load_rosco_yaml(parameter_filename) - path_params = inps['path_params'] - turbine_params = inps['turbine_params'] - controller_params = inps['controller_params'] - - # Set rosco_dll - if platform.system() == 'Windows': - rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.dll') - elif platform.system() == 'Darwin': - rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.dylib') - else: - rosco_dll = os.path.join(rosco_dir, 'ROSCO/build/libdiscon.so') - - case_inputs = {} - case_inputs[('Fst', 'TMax')] = {'vals': [3.], 'group': 0} - case_inputs[('ServoDyn', 'DLL_FileName')] = {'vals': [rosco_dll], 'group': 0} - case_inputs[('Fst', 'ChkptTime')] = {'vals': [1.], 'group': 1} - case_inputs[('Fst', 'OutFileFmt')] = {'vals': [2], 'group': 1} - case_inputs[('Fst', 'DT')] = {'vals': [0.025], 'group': 0} - case_inputs[('DISCON_in', 'LoggingLevel')] = {'vals': [2], 'group': 1} - - # Generate cases - run_dir = os.path.join(test_out_dir, 'restart') - if not os.path.exists(run_dir): - os.makedirs(run_dir) - - case_list, case_name_list = CaseGen_General(case_inputs, dir_matrix=run_dir, namebase='iea15_restart') - channels = set_channels() - - # write files - reader = InputReader_OpenFAST() - writer = InputWriter_OpenFAST() - reader.FAST_InputFile = path_params['FAST_InputFile'] - reader.FAST_directory = os.path.realpath(os.path.join( rosco_dir, 'Tune_Cases', path_params['FAST_directory'])) - reader.execute() - writer.fst_vt = reader.fst_vt - writer.FAST_runDirectory = test_out_dir - for case, case_name in zip(case_list, case_name_list): - writer.FAST_namingOut = case_name - writer.update(fst_update=case) - writer.update_outlist(channels) - writer.execute() - - # Run first case - fastcall = 'openfast' - run_openfast( - test_out_dir, - fastcall=fastcall, - fastfile=writer.FAST_InputFileOut, - chdir=True - ) - copyfile(os.path.join(test_out_dir, writer.FAST_InputFileOut[:-3]+'outb'), - os.path.join(test_out_dir, 'orig.outb') ) - # copyfile(os.path.join(test_out_dir, writer.FAST_InputFileOut[:-3]+'RO.dbg'), - # os.path.join(test_out_dir, 'orig.dbg') ) - - # run restart case - run_openfast( - test_out_dir, - fastcall=fastcall, - fastfile=writer.FAST_InputFileOut[:-3]+'40', - chdir=True, - restart=True - ) - copyfile(os.path.join(test_out_dir, writer.FAST_InputFileOut[:-3]+'outb'), - os.path.join(test_out_dir, 'restart.outb')) - # copyfile(os.path.join(test_out_dir, writer.FAST_InputFileOut[:-3]+'RO.dbg'), - # os.path.join(test_out_dir, 'restart.dbg')) - - output_files = [os.path.join(test_out_dir, 'orig.outb'), - os.path.join(test_out_dir, 'restart.outb')] - op = output_processing.output_processing() - fastout = op.load_fast_out(output_files, tmin=0) - - if False: # Plotting for debug - import matplotlib.pyplot as plt - cases = {} - cases['Baseline'] = ['Wind1VelX', 'BldPitch1', 'GenTq', 'RotSpeed', 'NacYaw'] - fig, ax = op.plot_fast_out(cases=cases, showplot=False) - plt.show() - - self.check_relative_error(fastout[1]['GenPwr'], fastout[0]['GenPwr'], 1e-3) - - def check_relative_error(self, meas, real, tol): - '''check relative error''' - error = np.linalg.norm(meas - real) / np.linalg.norm(real) - self.assertTrue(error<=tol) - -if __name__ == "__main__": - unittest.main() diff --git a/Test_Cases/BAR_10/BAR_10_DISCON.IN b/Test_Cases/BAR_10/BAR_10_DISCON.IN index 7a2aaa86..a2d09fa1 100644 --- a/Test_Cases/BAR_10/BAR_10_DISCON.IN +++ b/Test_Cases/BAR_10/BAR_10_DISCON.IN @@ -1,5 +1,5 @@ ! Controller parameter input file for the BAR_10 wind turbine -! - File written using ROSCO version 2.5.0 controller tuning logic on 07/01/22 +! - File written using ROSCO version 2.5.0 controller tuning logic on 07/22/22 !------- DEBUG ------------------------------------------------------------ 1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)} diff --git a/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN b/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN index 0889cb8a..3745fee9 100644 --- a/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN +++ b/Test_Cases/IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN @@ -1,8 +1,8 @@ ! Controller parameter input file for the IEA-15-240-RWT-UMaineSemi wind turbine -! - File written using ROSCO version 2.5.0 controller tuning logic on 03/21/22 +! - File written using ROSCO version 2.5.0 controller tuning logic on 07/22/22 !------- DEBUG ------------------------------------------------------------ -1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: write standard output .dbg-file and complete avrSWAP-array .dbg2-file} +2 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)} !------- CONTROLLER FLAGS ------------------------------------------------- 2 ! F_LPFType - {1: first-order low-pass filter, 2: second-order low-pass filter}, [rad/s] (currently filters generator speed and pitch control signals @@ -16,19 +16,24 @@ 1 ! PS_Mode - Pitch saturation mode {0: no pitch saturation, 1: implement pitch saturation} 0 ! SD_Mode - Shutdown mode {0: no shutdown procedure, 1: pitch to max pitch at shutdown} 2 ! Fl_Mode - Floating specific feedback mode {0: no nacelle velocity feedback, 1: feed back translational velocity, 2: feed back rotational veloicty} +0 ! TD_Mode - Tower damper mode {0: no tower damper, 1: feed back translational nacelle accelleration to pitch angle} 0 ! Flp_Mode - Flap control mode {0: no flap control, 1: steady state flap angle, 2: Proportional flap control, 2: Cyclic (1P) flap control} -0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed} +0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time} +2 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter} +0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library} +0 ! ZMQ_Mode - Fuse ZeroMQ interaface {0: unused, 1: Yaw Control} !------- FILTERS ---------------------------------------------------------- 1.00810 ! F_LPFCornerFreq - Corner frequency (-3dB point) in the low-pass filters, [rad/s] 0.70000 ! F_LPFDamping - Damping coefficient {used only when F_FilterType = 2} [-] 3.35500 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s] -0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] +0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-] 0.62830 ! F_SSCornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the setpoint smoother, [rad/s]. 0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s]. -0.213000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. +0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s]. +0.213000 1.000000 ! F_FlCornerFreq - Natural frequency and damping in the second order low pass filter of the tower-top fore-aft motion for floating feedback control [rad/s, -]. 0.01042 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s]. -10.461600 1.000000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. +10.461600 1.000000 ! F_FlpCornerFreq - Corner frequency and damping in the second order low pass filter of the blade root bending moment for flap control [rad/s, -]. !------- BLADE PITCH CONTROL ---------------------------------------------- 30 ! PC_GS_n - Amount of gain-scheduling table entries @@ -46,10 +51,11 @@ 0.017450000000 ! PC_Switch - Angle above lowest minimum pitch angle for switch, [rad] !------- INDIVIDUAL PITCH CONTROL ----------------------------------------- -0.1 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] -0.000e+00 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.000e+00 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] -0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. +8.592000 10.740000 ! IPC_Vramp - Start and end wind speeds for cut-in ramp function. First entry: IPC inactive, second entry: IPC fully active. [m/s] +0.3 ! IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from IPC), [rad] +0.000e+00 0.000e+00 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000e+00 0.000e+00 ! IPC_KI - Integral gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-] +0.000000 0.000000 ! IPC_aziOffset - Phase offset added to the azimuth angle for the individual pitch controller, [rad]. 0.0 ! IPC_CornerFreqAct - Corner frequency of the first-order actuators model, to induce a phase lag in the IPC signal {0: Disable}, [rad/s] !------- VS TORQUE CONTROL ------------------------------------------------ @@ -75,7 +81,7 @@ !------- WIND SPEED ESTIMATOR --------------------------------------------- 120.000 ! WE_BladeRadius - Blade length (distance from hub center to blade tip), [m] 1 ! WE_CP_n - Amount of parameters in the Cp array -0 ! WE_CP - Parameters that define the parameterized CP(lambda) function +0.0 ! WE_CP - Parameters that define the parameterized CP(lambda) function 0.0 ! WE_Gamma - Adaption gain of the wind speed estimator algorithm [m/rad] 1.0 ! WE_GearboxRatio - Gearbox ratio [>=1], [-] 318628138.00000 ! WE_Jtot - Total drivetrain inertia, including blades, hub and casted generator inertia to LSS, [kg m^2] @@ -87,20 +93,16 @@ -0.02438353 -0.02655283 -0.02872212 -0.03089141 -0.03306071 -0.03523000 -0.03739930 -0.03956859 -0.04173788 -0.04390718 -0.04607647 -0.04824576 -0.05041506 -0.05258435 -0.05475365 -0.05692294 -0.05909223 -0.06126153 -0.06343082 -0.06560011 -0.06776941 -0.06993870 -0.07210800 -0.07427729 -0.07644658 -0.07861588 -0.08078517 -0.08295446 -0.08512376 -0.08490640 -0.05739531 -0.05967534 -0.06643664 -0.07537721 -0.08537869 -0.09664144 -0.10851650 -0.12137925 -0.13453168 -0.14834459 -0.16280188 -0.17753158 -0.19283401 -0.20862160 -0.22461456 -0.24120058 -0.25817445 -0.27538476 -0.29299882 -0.31103587 -0.32941546 -0.34807902 -0.36693717 -0.38625237 -0.40583167 -0.42579305 -0.44596365 -0.46626113 -0.48675074 -0.50756940 ! WE_FOPoles - First order system poles [1/s] !------- YAW CONTROL ------------------------------------------------------ -0.13960 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. [rad^2 s] +0.00000 ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the first value of Y_ErrThresh is used [m/s] +4.000000 8.000000 ! Y_ErrThresh - Yaw error threshold. Turbine begins to yaw when it passes this. If Y_uSwitch is zero, only the first value is used. [deg]. +0.00870 ! Y_Rate - Yaw rate [rad/s] +0.00000 ! Y_MErrSet - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] 0.00000 ! Y_IPC_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad] -1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC) 0.00000 ! Y_IPC_KP - Yaw-by-IPC proportional controller gain Kp 0.00000 ! Y_IPC_KI - Yaw-by-IPC integral controller gain Ki -0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s]. -1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-]. -0.00000 ! Y_MErrSet - Yaw alignment error, set point [rad] -0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s] -0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s] -0.00520 ! Y_Rate - Yaw rate [rad/s] !------- TOWER FORE-AFT DAMPING ------------------------------------------- --1 ! FA_KI - Integral gain for the fore-aft tower damper controller, -1 = off / >0 = on [rad s/m] - !NJA - Make this a flag +-1.00000 ! FA_KI - Integral gain for the fore-aft tower damper controller [rad s/m] 0.0 ! FA_HPFCornerFreq - Corner frequency (-3dB point) in the high-pass filter on the fore-aft acceleration signal [rad/s] 0.0 ! FA_IntSat - Integrator saturation (maximum signal amplitude contribution to pitch from FA damper), [rad] @@ -128,3 +130,16 @@ 0 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad 0 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm 0 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm + +!------- Pitch Actuator Model ----------------------------------------------------- +1.570800000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s] +0.707000000000 ! PA_Damping - Pitch actuator damping ratio [-, unused if PA_Mode = 1] + +!------- External Controller Interface ----------------------------------------------------- +"unused" ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format +"unused" ! DLL_InFile - Name of input file sent to the DLL (-) +"DISCON" ! DLL_ProcName - Name of procedure in DLL to be called (-) + +!------- ZeroMQ Interface --------------------------------------------------------- +"tcp://localhost:5555" ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. "tcp://localhost:5555") +2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s] diff --git a/Test_Cases/NREL-5MW/DISCON.IN b/Test_Cases/NREL-5MW/DISCON.IN index 8603e09f..b5a353ae 100644 --- a/Test_Cases/NREL-5MW/DISCON.IN +++ b/Test_Cases/NREL-5MW/DISCON.IN @@ -1,5 +1,5 @@ ! Controller parameter input file for the NREL-5MW wind turbine -! - File written using ROSCO version 2.5.0 controller tuning logic on 07/01/22 +! - File written using ROSCO version 2.5.0 controller tuning logic on 07/22/22 !------- DEBUG ------------------------------------------------------------ 1 ! LoggingLevel - {0: write no debug files, 1: write standard output .dbg-file, 2: LoggingLevel 1 + ROSCO LocalVars (.dbg2) 3: LoggingLevel 2 + complete avrSWAP-array (.dbg3)} diff --git a/Test_Cases/update_discons.py b/Test_Cases/update_discons.py deleted file mode 100644 index 076387ee..00000000 --- a/Test_Cases/update_discons.py +++ /dev/null @@ -1,54 +0,0 @@ -''' -Update the DISCON.IN examples in the ROSCO repository using the Tune_Case/ .yaml files - -''' -import os - -# ROSCO toolbox modules -from ROSCO_toolbox import controller as ROSCO_controller -from ROSCO_toolbox import turbine as ROSCO_turbine -from ROSCO_toolbox.utilities import write_DISCON -from ROSCO_toolbox.inputs.validation import load_rosco_yaml - -test_dir = os.path.dirname(os.path.abspath(__file__)) -tune_dir = os.path.realpath(os.path.join(test_dir,'../Tune_Cases')) - - -# Paths are relative to Tune_Case/ and Test_Case/ -tune_to_test_map = { - 'NREL5MW.yaml': 'NREL-5MW/DISCON.IN', - 'IEA15MW.yaml': 'IEA-15-240-RWT-UMaineSemi/DISCON-UMaineSemi.IN', - 'BAR.yaml': 'BAR_10/BAR_10_DISCON.IN' -} - -for tuning_yaml in tune_to_test_map: - - # Load yaml file - inps = load_rosco_yaml(os.path.join(tune_dir,tuning_yaml)) - path_params = inps['path_params'] - turbine_params = inps['turbine_params'] - controller_params = inps['controller_params'] - - # Instantiate turbine, controller, and file processing classes - turbine = ROSCO_turbine.Turbine(turbine_params) - controller = ROSCO_controller.Controller(controller_params) - - # Load turbine data from OpenFAST and rotor performance text file - turbine.load_from_fast( - path_params['FAST_InputFile'], - os.path.join(tune_dir,path_params['FAST_directory']), - dev_branch=True, - rot_source='txt', - txt_filename=os.path.join(tune_dir,path_params['rotor_performance_filename']) - ) - - # Tune controller - controller.tune_controller(turbine) - - # Write parameter input file - discon_in_file = os.path.join(test_dir,tune_to_test_map[tuning_yaml]) - write_DISCON( - turbine,controller, - param_file=discon_in_file, - txt_filename=path_params['rotor_performance_filename'].split('/')[-1] - ) diff --git a/Tune_Cases/IEA15MW.yaml b/Tune_Cases/IEA15MW.yaml index 7eaf1d8d..fa2aeb57 100644 --- a/Tune_Cases/IEA15MW.yaml +++ b/Tune_Cases/IEA15MW.yaml @@ -6,7 +6,7 @@ path_params: FAST_InputFile: 'IEA-15-240-RWT-UMaineSemi.fst' # Name of *.fst file FAST_directory: '../Test_Cases/IEA-15-240-RWT-UMaineSemi' # Main OpenFAST model directory, where the *.fst lives # Optional (but suggested...) - rotor_performance_filename: '../Test_Cases/IEA-15-240-RWT-UMaineSemi/Cp_Ct_Cq.IEA15MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) + rotor_performance_filename: 'Cp_Ct_Cq.IEA15MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) # -------------------------------- TURBINE PARAMETERS ----------------------------------- turbine_params: diff --git a/Tune_Cases/NREL5MW.yaml b/Tune_Cases/NREL5MW.yaml index 21f5acab..9ad252dc 100644 --- a/Tune_Cases/NREL5MW.yaml +++ b/Tune_Cases/NREL5MW.yaml @@ -6,7 +6,7 @@ path_params: FAST_InputFile: 'NREL-5MW.fst' # Name of *.fst file FAST_directory: '../Test_Cases/NREL-5MW' # Main OpenFAST model directory, where the *.fst lives # Optional - rotor_performance_filename: '../Test_Cases/NREL-5MW/Cp_Ct_Cq.NREL5MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) + rotor_performance_filename: 'Cp_Ct_Cq.NREL5MW.txt' # Filename for rotor performance text file (if it has been generated by ccblade already) # -------------------------------- TURBINE PARAMETERS ----------------------------------- turbine_params: