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SrvD: updates to StC control from DLL #3158

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Merged
andrew-platt merged 4 commits into from
Jan 20, 2026
+195 −48
Merged

SrvD: updates to StC control from DLL #3158

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4768172
StC: bugfix in DLL applied forces
andrew-platt Jan 20, 2026
63a91ef
StC: add placeholders for moments applied by DLL
andrew-platt Jan 20, 2026
88fce61
StC: add moments for DLL prescribed forces/moments
andrew-platt Jan 20, 2026
7795154
StC: address comments from GH copilot and minor format fixes
andrew-platt Jan 20, 2026
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34 changes: 24 additions & 10 deletions modules/servodyn/src/BladedInterface_EX.f90
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ MODULE BladedInterface_EX
integer(IntKi), parameter :: CableCtrl_MaxChan = 200 !< Maximum channels in cable control group
integer(IntKi), parameter :: StCCtrl_StartIdx = 2801 !< Starting index for the StC control
integer(IntKi), parameter :: StCCtrl_MaxChan = 200 !< Maximum channels in StC control group
integer(IntKi), parameter :: StCCtrl_ChanPerSet = 20 !< Channels needed per set (10 sets for total channels)
integer(IntKi), parameter :: StCCtrl_ChanPerSet = 25 !< Channels needed per set (8 sets for total channels)


CONTAINS
Expand Down Expand Up @@ -277,25 +277,26 @@ end subroutine InitCableCtrl
subroutine InitStCCtrl()
integer(IntKi) :: I,J ! Generic counters

! Error check the Cable Ctrl
! Error check the StC Ctrl
if (.not. allocated(StC_CtrlChanInitInfo%Requestor)) then
ErrStat2=ErrID_Fatal
ErrMsg2='StC control string array indicating which module requested cable controls is missing (StC_CtrlChanInitInfo%Requestor)'
ErrMsg2='StC control string array indicating which module requested StC controls is missing (StC_CtrlChanInitInfo%Requestor)'
if (Failed()) return
endif
if (size(StC_CtrlChanInitInfo%Requestor) /= p%NumStC_Control) then
ErrStat2=ErrID_Fatal
ErrMsg2='Size of StC control string array (StC_CtrlChanInitInfo%Requestor) does not match the number of requested cable control channels.'
ErrMsg2='Size of StC control string array (StC_CtrlChanInitInfo%Requestor) does not match the number of requested StC control channels.'
if (Failed()) return
endif
if ( (size(StC_CtrlChanInitInfo%InitMeasDisp,2) /= p%NumStC_Control) .or. &
(size(StC_CtrlChanInitInfo%InitMeasVel ,2) /= p%NumStC_Control) .or. &
(size(StC_CtrlChanInitInfo%InitStiff ,2) /= p%NumStC_Control) .or. &
(size(StC_CtrlChanInitInfo%InitDamp ,2) /= p%NumStC_Control) .or. &
(size(StC_CtrlChanInitInfo%InitBrake ,2) /= p%NumStC_Control) .or. &
(size(StC_CtrlChanInitInfo%InitForce ,2) /= p%NumStC_Control) ) then
(size(StC_CtrlChanInitInfo%InitForce ,2) /= p%NumStC_Control) .or. &
(size(StC_CtrlChanInitInfo%InitMoment ,2) /= p%NumStC_Control) ) then
ErrStat2=ErrID_Fatal
ErrMsg2='Size of StC control initialization arrays (StC_CtrlChanInitInfo%Init*) do not match the number of requested cable control channels. Programming error somewhere.'
ErrMsg2='Size of StC control initialization arrays (StC_CtrlChanInitInfo%Init*) do not match the number of requested StC control channels. Programming error somewhere.'
if (Failed()) return
endif
if ( p%NumStC_Control*StCCtrl_ChanPerSet > StCCtrl_MaxChan ) then
Expand Down Expand Up @@ -324,6 +325,8 @@ subroutine InitStCCtrl()
if (Failed()) return
call AllocAry( dll_data%PrevStCCmdForce, 3, p%NumStC_Control, 'PrevStCCmdForce', ErrStat2, ErrMsg2 )
if (Failed()) return
call AllocAry( dll_data%PrevStCCmdMoment,3, p%NumStC_Control, 'PrevStCCmdMoment',ErrStat2, ErrMsg2 )
if (Failed()) return
call AllocAry( dll_data%StCCmdStiff, 3, p%NumStC_Control, 'StCCmdStiff', ErrStat2, ErrMsg2 )
if (Failed()) return
call AllocAry( dll_data%StCCmdDamp, 3, p%NumStC_Control, 'StCCmdDamp', ErrStat2, ErrMsg2 )
Expand All @@ -332,17 +335,21 @@ subroutine InitStCCtrl()
if (Failed()) return
call AllocAry( dll_data%StCCmdForce, 3, p%NumStC_Control, 'StCCmdForce', ErrStat2, ErrMsg2 )
if (Failed()) return
call AllocAry( dll_data%StCCmdMoment, 3, p%NumStC_Control, 'StCCmdMoment', ErrStat2, ErrMsg2 )
if (Failed()) return
! Initialize to values passed in
dll_data%StCMeasDisp = real(StC_CtrlChanInitInfo%InitMeasDisp,SiKi)
dll_data%StCMeasVel = real(StC_CtrlChanInitInfo%InitMeasVel ,SiKi)
dll_data%PrevStCCmdStiff = real(StC_CtrlChanInitInfo%InitStiff ,SiKi)
dll_data%PrevStCCmdDamp = real(StC_CtrlChanInitInfo%InitDamp ,SiKi)
dll_data%PrevStCCmdBrake = real(StC_CtrlChanInitInfo%InitBrake ,SiKi)
dll_data%PrevStCCmdForce = real(StC_CtrlChanInitInfo%InitForce ,SiKi)
dll_data%PrevStCCmdMoment = real(StC_CtrlChanInitInfo%InitMoment ,SiKi)
dll_data%StCCmdStiff = real(StC_CtrlChanInitInfo%InitStiff ,SiKi)
dll_data%StCCmdDamp = real(StC_CtrlChanInitInfo%InitDamp ,SiKi)
dll_data%StCCmdBrake = real(StC_CtrlChanInitInfo%InitBrake ,SiKi)
dll_data%StCCmdForce = real(StC_CtrlChanInitInfo%InitForce ,SiKi)
dll_data%StCCmdMoment = real(StC_CtrlChanInitInfo%InitMoment ,SiKi)

! Create info for summary file about channels
if (UnSum > 0) then
Expand All @@ -366,8 +373,13 @@ subroutine InitStCCtrl()
call WrSumInfoRcvd( J+16,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- StC_Force_X (additional force)')
call WrSumInfoRcvd( J+17,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- StC_Force_Y (additional force)')
call WrSumInfoRcvd( J+18,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- StC_Force_Z (additional force)')
call WrSumInfoRcvd( J+19,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- Reserved for future')
call WrSumInfoRcvd( J+20,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- Reserved for future')
call WrSumInfoRcvd( J+19,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- StC_Moment_X (additional moment)')
call WrSumInfoRcvd( J+20,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- StC_Moment_Y (additional moment)')
call WrSumInfoRcvd( J+21,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- StC_Moment_Z (additional moment)')
call WrSumInfoRcvd( J+22,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- Reserved for future')
call WrSumInfoRcvd( J+23,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- Reserved for future')
call WrSumInfoRcvd( J+24,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- Reserved for future')
call WrSumInfoRcvd( J+25,StC_CtrlChanInitInfo%Requestor(I),'StC control channel group '//trim(Num2LStr(I))//' -- Reserved for future')
enddo
endif
end subroutine InitStCCtrl
Expand Down Expand Up @@ -569,7 +581,8 @@ subroutine SetEXavrStC_Sensors()
dll_data%avrswap(J+ 7:J+ 9) = dll_data%PrevStCCmdStiff(1:3,I) ! StC initial stiffness -- StC_Stiff_X, StC_Stiff_Y, StC_Stiff_Z (N/m)
dll_data%avrswap(J+10:J+12) = dll_data%PrevStCCmdDamp( 1:3,I) ! StC initial damping -- StC_Damp_X, StC_Damp_Y, StC_Damp_Z (N/(m/s))
dll_data%avrswap(J+13:J+15) = dll_data%PrevStCCmdBrake(1:3,I) ! StC initial brake -- StC_Brake_X, StC_Brake_Y, StC_Brake_Z (N)
dll_data%avrswap(J+16:J+18) = dll_data%PrevStCCmdForce(1:3,I) ! StC initial brake -- StC_Force_X, StC_Force_Y, StC_Force_Z (N)
dll_data%avrswap(J+16:J+18) = dll_data%PrevStCCmdForce(1:3,I) ! StC initial force -- StC_Force_X, StC_Force_Y, StC_Force_Z (N)
dll_data%avrswap(J+19:J+21) = dll_data%PrevStCCmdMoment(1:3,I) ! StC initial moment -- StC_Moment_X, StC_Moment_Y, StC_Moment_Z (N)
enddo
endif
end subroutine SetEXavrStC_Sensors
Expand Down Expand Up @@ -645,7 +658,8 @@ subroutine Retrieve_EXavrSWAP_StControls ()
dll_data%StCCmdStiff(1:3,I) = dll_data%avrswap(J+ 7:J+ 9) ! StC commanded stiffness -- StC_Stiff_X, StC_Stiff_Y, StC_Stiff_Z (N/m)
dll_data%StCCmdDamp( 1:3,I) = dll_data%avrswap(J+10:J+12) ! StC commanded damping -- StC_Damp_X, StC_Damp_Y, StC_Damp_Z (N/(m/s))
dll_data%StCCmdBrake(1:3,I) = dll_data%avrswap(J+13:J+15) ! StC commanded brake -- StC_Brake_X, StC_Brake_Y, StC_Brake_Z (N)
dll_data%StCCmdForce(1:3,I) = dll_data%avrswap(J+16:J+18) ! StC commanded brake -- StC_Force_X, StC_Force_Y, StC_Force_Z (N)
dll_data%StCCmdForce(1:3,I) = dll_data%avrswap(J+16:J+18) ! StC commanded force -- StC_Force_X, StC_Force_Y, StC_Force_Z (N)
dll_data%StCCmdMoment(1:3,I)= dll_data%avrswap(J+19:J+21) ! StC commanded moment -- StC_Moment_X, StC_Moment_Y, StC_Moment_Z (N)
enddo

end subroutine Retrieve_EXavrSWAP_StControls
Expand Down
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