Merge pull request #51 from NREL/develop

Version 2.3.0
NREL · Jun 25, 2021 · 7e10015 · 7e10015
2 parents fe71ce4 + 2a847f7
commit 7e10015
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Showing 4 changed files with 13 additions and 12 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.6)
-project(ROSCO VERSION 2.2.0 LANGUAGES Fortran)
+project(ROSCO VERSION 2.3.0 LANGUAGES Fortran)
 
 set(CMAKE_Fortran_MODULE_DIRECTORY "${CMAKE_BINARY_DIR}/ftnmods")
 

diff --git a/README.md b/README.md
@@ -27,14 +27,14 @@ If you want to use the controller with DNV GL Bladed v4.5 or earlier (which stil
 If ROSCO played a role in your research, please cite it. This software can be
 cited as:
 
-   ROSCO. Version 2.2.0 (2021). Available at https://github.com/nrel/rosco.
+   ROSCO. Version 2.3.0 (2021). Available at https://github.com/nrel/rosco.
 
 For LaTeX users:
 
 ```
     @misc{ROSCO_2021,
     author = {NREL},
-    title = {{ROSCO. Version 2.2.0}},
+    title = {{ROSCO. Version 2.3.0}},
     year = {2021},
     publisher = {GitHub},
     journal = {GitHub repository},

diff --git a/src/ControllerBlocks.f90 b/src/ControllerBlocks.f90
@@ -198,6 +198,8 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar, Er
         REAL(8)                 :: Tau_r            ! Estimated rotor torque [Nm]
         REAL(8)                 :: a                ! wind variance
         REAL(8)                 :: lambda           ! tip-speed-ratio [rad]
+        REAL(8)                 :: RotSpeed         ! Rotor Speed [rad], locally
+
         !           - Covariance matrices
         REAL(8), DIMENSION(3,3)         :: F        ! First order system jacobian 
         REAL(8), DIMENSION(3,3), SAVE   :: P        ! Covariance estiamte 
@@ -241,11 +243,11 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar, Er
             Q = RESHAPE((/0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0/),(/3,3/))
             IF (LocalVar%iStatus == 0) THEN
                 ! Initialize recurring values
-                om_r = LocalVar%RotSpeedF
+                om_r = max(LocalVar%RotSpeedF, CntrPar%VS_MinOMSpd)
                 v_t = 0.0
                 v_m = LocalVar%HorWindV
                 v_h = LocalVar%HorWindV
-                lambda = LocalVar%RotSpeed * CntrPar%WE_BladeRadius/v_h
+                lambda = max(LocalVar%RotSpeed, CntrPar%VS_MinOMSpd) * CntrPar%WE_BladeRadius/v_h
                 xh = RESHAPE((/om_r, v_t, v_m/),(/3,1/))
                 P = RESHAPE((/0.01, 0.0, 0.0, 0.0, 0.01, 0.0, 0.0, 0.0, 1.0/),(/3,3/))
                 K = RESHAPE((/0.0,0.0,0.0/),(/3,1/))
@@ -256,10 +258,8 @@ SUBROUTINE WindSpeedEstimator(LocalVar, CntrPar, objInst, PerfData, DebugVar, Er
                 A_op = interp1d(CntrPar%WE_FOPoles_v,CntrPar%WE_FOPoles,v_h,ErrVar)
 
                 ! TEST INTERP2D
-                lambda = LocalVar%RotSpeed * CntrPar%WE_BladeRadius/v_h
-
-                Cp_op = interp2d(PerfData%Beta_vec,PerfData%TSR_vec,PerfData%Cp_mat, LocalVar%BlPitch(1)*R2D, lambda, ErrVar)
-
+                lambda = max(LocalVar%RotSpeed, CntrPar%VS_MinOMSpd) * CntrPar%WE_BladeRadius/v_h
+                Cp_op = interp2d(PerfData%Beta_vec,PerfData%TSR_vec,PerfData%Cp_mat, LocalVar%BlPitch(1)*R2D, lambda , ErrVar)
                 Cp_op = max(0.0,Cp_op)
 
                 ! Update Jacobian

diff --git a/src/Functions.f90 b/src/Functions.f90
@@ -234,7 +234,8 @@ REAL FUNCTION interp2d(xData, yData, zData, xq, yq, ErrVar)
     !       6| g    H   i
 
         USE ROSCO_Types, ONLY : ErrorVariables
-
+        USE ieee_arithmetic
+
         IMPLICIT NONE
 
         ! Inputs
@@ -296,7 +297,7 @@ REAL FUNCTION interp2d(xData, yData, zData, xq, yq, ErrVar)
 
         ! ---- Find corner indices surrounding desired interpolation point -----
             ! x-direction
-        IF (xq <= MINVAL(xData)) THEN       ! On lower x-bound, just need to find zData(yq)
+        IF (xq <= MINVAL(xData) .OR. (ieee_is_nan(xq))) THEN       ! On lower x-bound, just need to find zData(yq)
             j = 1
             jj = 1
             interp2d = interp1d(yData,zData(:,j),yq,ErrVar)     
@@ -322,7 +323,7 @@ REAL FUNCTION interp2d(xData, yData, zData, xq, yq, ErrVar)
         ENDIF
         j = j-1 ! Move j back one
             ! y-direction
-        IF (yq <= MINVAL(yData)) THEN       ! On lower y-bound, just need to find zData(xq)
+        IF (yq <= MINVAL(yData) .OR. (ieee_is_nan(yq))) THEN       ! On lower y-bound, just need to find zData(xq)
             i = 1
             ii = 1
             interp2d = interp1d(xData,zData(i,:),xq,ErrVar)