From 8ec395cabf922e3259592f162de1bcc891878c86 Mon Sep 17 00:00:00 2001 From: dzalkind Date: Mon, 24 Jul 2023 13:54:45 -0600 Subject: [PATCH] Clean up open loop yaw control --- ROSCO/src/Controllers.f90 | 10 +--------- 1 file changed, 1 insertion(+), 9 deletions(-) diff --git a/ROSCO/src/Controllers.f90 b/ROSCO/src/Controllers.f90 index 410103c4..d7b21520 100644 --- a/ROSCO/src/Controllers.f90 +++ b/ROSCO/src/Controllers.f90 @@ -403,19 +403,11 @@ SUBROUTINE YawRateControl(avrSWAP, CntrPar, LocalVar, objInst, zmqVar, DebugVar, YawRateCom = 0.0 ! if YawState is not 0, start yawing on the next time step ENDIF - ! If using open loop yaw rate control, overwrite controlled output - ! Open loop torque control - IF ((CntrPar%OL_Mode > 0) .AND. (CntrPar%Ind_YawRate > 0)) THEN - IF (LocalVar%Time >= CntrPar%OL_Breakpoints(1)) THEN - avrSWAP(48) = interp1d(CntrPar%OL_Breakpoints,CntrPar%OL_YawRate,LocalVar%Time, ErrVar) - ENDIF - ENDIF - ! Output yaw rate command in rad/s avrSWAP(48) = YawRateCom * D2R ! If using open loop yaw rate control, overwrite controlled output - ! Open loop torque control + ! Open loop yaw rated control - control input in rad/s IF ((CntrPar%OL_Mode == 1) .AND. (CntrPar%Ind_YawRate > 0)) THEN IF (LocalVar%Time >= CntrPar%OL_Breakpoints(1)) THEN avrSWAP(48) = interp1d(CntrPar%OL_Breakpoints,CntrPar%OL_YawRate,LocalVar%Time, ErrVar)