Legacy Bladed DLL interface channel usage by SrvD: --> indicates from SrvD to DLL <-- indicates from DLL to SrvD <-> indicates from bidirectional Record # Description -------- ----------- 1 --> Status flag set as follows: 0 if this is the first call, 1 for all subsequent time steps, -1 if this is the final call at the end of the simulation (-) 2 --> Current time (sec) [t in single precision] 3 --> Communication interval (sec) 4 --> Blade 1 pitch angle (rad) [SrvD input] 5 --> Below-rated pitch angle set-point (rad) [SrvD Ptch_SetPnt parameter] 6 --> Minimum pitch angle (rad) [SrvD Ptch_Min parameter] 7 --> Maximum pitch angle (rad) [SrvD Ptch_Max parameter] 8 --> Minimum pitch rate (most negative value allowed) (rad/s) [SrvD PtchRate_Min parameter] 9 --> Maximum pitch rate (rad/s) [SrvD PtchRate_Max parameter] 10 --> 0 = pitch position actuator, 1 = pitch rate actuator (-) [must be 0 for ServoDyn] 11 --> Current demanded pitch angle (rad) [I am sending the previous value for blade 1 from the DLL, in the absence of any more information provided in Bladed documentation] 12 --> Current demanded pitch rate (rad/s) [always zero for ServoDyn] 13 --> Demanded power (W) [SrvD GenPwr_Dem parameter from input file] 14 --> Measured shaft power (W) [SrvD input] 15 --> Measured electrical power output (W) [SrvD calculation from previous step; should technically be a state] 16 --> Optimal mode gain (Nm/(rad/s)^2) [if torque-speed table look-up not selected in input file, use SrvD Gain_OM parameter, otherwise use 0 (already overwritten in Init routine)] 17 --> Minimum generator speed (rad/s) [SrvD GenSpd_MinOM parameter] 18 --> Optimal mode maximum speed (rad/s) [SrvD GenSpd_MaxOMp arameter] 19 --> Demanded generator speed above rated (rad/s) [SrvD GenSpd_Dem parameter] 20 --> Measured generator speed (rad/s) [SrvD input] 21 --> Measured rotor speed (rad/s) [SrvD input] 22 --> Demanded generator torque above rated (Nm) [SrvD GenTrq_Dem parameter from input file] 23 --> Measured generator torque (Nm) [SrvD calculation from previous step; should technically be a state] 24 --> Measured yaw error (rad) [SrvD input] 25 --> Start of below-rated torque-speed look-up table (Lookup table not in use) 26 --> No. of points in torque-speed look-up table (-) [SrvD DLL_NumTrq parameter]: 27 --> Hub wind speed (m/s) [SrvD input] 28 --> Pitch control: 0 = collective, 1 = individual (-) [SrvD Ptch_Cntrl parameter] 29 --> Yaw control: 0 = yaw rate control, 1 = yaw torque control (-) [must be 0 for ServoDyn] 30 --> Blade 1 root out-of-plane bending moment (Nm) [SrvD input] 31 --> Blade 2 root out-of-plane bending moment (Nm) [SrvD input] 32 --> Blade 3 root out-of-plane bending moment (Nm) [SrvD input] 33 --> Blade 2 pitch angle (rad) [SrvD input] 34 --> Blade 3 pitch angle (rad) [SrvD input] 35 <-- Generator contactor (-) [sent to DLL at the next call] 36 <-> Shaft brake status (-) [sent to DLL at the next call; anything other than 0 or 1 is an error] 37 --> Nacelle yaw angle from North (rad) 41 <-- demanded yaw actuator torque [this output is ignored since record 29 is set to 0 by ServoDyn indicating yaw rate control] 45 <-- Demanded pitch angle (Collective pitch) (rad) 47 <-- Demanded generator torque (Nm) 48 <-- Demanded nacelle yaw rate (rad/s) 49 --> Maximum number of characters in the "MESSAGE" argument (-) [size of ErrMsg argument plus 1 (we add one for the C NULL CHARACTER)] 50 --> Number of characters in the "INFILE" argument (-) [trimmed length of DLL_InFile parameter plus 1 (we add one for the C NULL CHARACTER)] 51 --> Number of characters in the "OUTNAME" argument (-) [trimmed length of RootName parameter plus 1 (we add one for the C NULL CHARACTER)] 53 --> Tower top fore-aft acceleration (m/s^2) [SrvD input] 54 --> Tower top side-to-side acceleration (m/s^2) [SrvD input] 55 <-- UNUSED: Pitch override [anything other than 0 is an error in ServoDyn] 56 <-- UNUSED: Torque override [anything other than 0 is an error in ServoDyn] 60 --> Rotor azimuth angle (rad) [SrvD input] 61 --> Number of blades (-) [SrvD NumBl parameter] 62 --> Maximum number of values which can be returned for logging (-) [set to 300] 63 --> Record number for start of logging output (-) [set to ###] 64 --> Maximum number of characters which can be returned in "OUTNAME" (-) [set to 12601 (including the C NULL CHARACTER)] 65 <-- Number of variables returned for logging [anything greater than MaxLoggingChannels is an error] 69 --> Blade 1 root in-plane bending moment (Nm) [SrvD input] 70 --> Blade 2 root in-plane bending moment (Nm) [SrvD input] 71 --> Blade 3 root in-plane bending moment (Nm) [SrvD input] 73 --> Rotating hub My (GL co-ords) (Nm) [SrvD input] 74 --> Rotating hub Mz (GL co-ords) (Nm) [SrvD input] 75 --> Fixed hub My (GL co-ords) (Nm) [SrvD input] 76 --> Fixed hub Mz (GL co-ords) (Nm) [SrvD input] 77 --> Yaw bearing My (GL co-ords) (Nm) [SrvD input] 78 --> Yaw bearing Mz (GL co-ords) (Nm) [SrvD input] 82 --> Nacelle roll acceleration (rad/s^2) [SrvD input] -- this is in the shaft (tilted) coordinate system, instead of the nacelle (nontilted) coordinate system 83 --> Nacelle nodding acceleration (rad/s^2) [SrvD input] 84 --> Nacelle yaw acceleration (rad/s^2) [SrvD input] -- this is in the shaft (tilted) coordinate system, instead of the nacelle (nontilted) coordinate system 95 --> Reserved (SrvD customization: set to SrvD AirDens parameter) 96 --> Reserved (SrvD customization: set to SrvD AvgWindSpeed parameter) 109 --> Shaft torque (=hub Mx for clockwise rotor) (Nm) [SrvD input] 110 --> Thrust - Rotating low-speed shaft force x (GL co-ords) (N) [SrvD input] 111 --> Nonrotating low-speed shaft force y (GL co-ords) (N) [SrvD input] 112 --> Nonrotating low-speed shaft force z (GL co-ords) (N) [SrvD input] 117 --> Controller state [always set to 0] 120 <-- Airfoil command, blade 1 121 <-- Airfoil command, blade 2 122 <-- Airfoil command, blade 3 129 --> Maximum extent of the avrSWAP array: 3300 Legacy Bladed DLL interface with Extended avrSWAP channel usage by SrvD: --> indicates from SrvD to DLL <-- indicates from DLL to SrvD Record # Requested by Description -------- --------------------- ----------- 1000 --> Version of extended avrSWAP: 1 1001 --> General channel group -- Platform motion -- Displacement TDX (m) 1002 --> General channel group -- Platform motion -- Displacement TDY (m) 1003 --> General channel group -- Platform motion -- Displacement TDZ (m) 1004 --> General channel group -- Platform motion -- Displacement RDX (rad) 1005 --> General channel group -- Platform motion -- Displacement RDY (rad) 1006 --> General channel group -- Platform motion -- Displacement RDZ (rad) 1007 --> General channel group -- Platform motion -- Velocity TVX (m/s) 1008 --> General channel group -- Platform motion -- Velocity TVY (m/s) 1009 --> General channel group -- Platform motion -- Velocity TVZ (m/s) 1010 --> General channel group -- Platform motion -- Velocity RVX (rad/s) 1011 --> General channel group -- Platform motion -- Velocity RVY (rad/s) 1012 --> General channel group -- Platform motion -- Velocity RVZ (rad/s) 1013 --> General channel group -- Platform motion -- Acceleration TAX (m/s^2) 1014 --> General channel group -- Platform motion -- Acceleration TAY (m/s^2) 1015 --> General channel group -- Platform motion -- Acceleration TAZ (m/s^2) 1016 --> General channel group -- Platform motion -- Acceleration RAX (rad/s^2) 1017 --> General channel group -- Platform motion -- Acceleration RAY (rad/s^2) 1018 --> General channel group -- Platform motion -- Acceleration RAZ (rad/s^2) 2000 --> Ending index for the non-lidar measurements channel block 2001 --> Starting index for the lidar measurements channel block 2500 --> Ending index for the lidar measurements channel block 2501 <-- Starting index for the lidar control channel block 2600 <-- Ending index for the lidar control channel block 2601 <-- MoorDyn Cable control channel group 1 -- DeltaL 2602 <-- MoorDyn Cable control channel group 1 -- DeltaLdot 2603 <-- Cable control channel group 2 -- DeltaL 2604 <-- Cable control channel group 2 -- DeltaLdot 2605 <-- MoorDyn Cable control channel group 3 -- DeltaL 2606 <-- MoorDyn Cable control channel group 3 -- DeltaLdot 2800 <-- Ending index for the cable control channel block 2801 --> StC control channel group 1 -- StC_Disp_X 2802 --> StC control channel group 1 -- StC_Disp_Y 2803 --> StC control channel group 1 -- StC_Disp_Z 2804 --> StC control channel group 1 -- StC_Vel_X 2805 --> StC control channel group 1 -- StC_Vel_Y 2806 --> StC control channel group 1 -- StC_Vel_Z 2807 <-- StC control channel group 1 -- StC_Stiff_X (override spring constant) 2808 <-- StC control channel group 1 -- StC_Stiff_Y (override spring constant) 2809 <-- StC control channel group 1 -- StC_Stiff_Z (override spring constant) 2810 <-- StC control channel group 1 -- StC_Damp_X (override damping constant) 2811 <-- StC control channel group 1 -- StC_Damp_Y (override damping constant) 2812 <-- StC control channel group 1 -- StC_Damp_Z (override damping constant) 2813 <-- StC control channel group 1 -- StC_Brake_X (braking force) 2814 <-- StC control channel group 1 -- StC_Brake_Y (braking force) 2815 <-- StC control channel group 1 -- StC_Brake_Z (braking force) 2816 <-- StC control channel group 1 -- StC_Force_X (additional force) 2817 <-- StC control channel group 1 -- StC_Force_Y (additional force) 2818 <-- StC control channel group 1 -- StC_Force_Z (additional force) 2819 <-- StC control channel group 1 -- Reserved for future 2820 <-- StC control channel group 1 -- Reserved for future 2821 --> SStC2 StC control channel group 2 -- StC_Disp_X 2822 --> SStC2 StC control channel group 2 -- StC_Disp_Y 2823 --> SStC2 StC control channel group 2 -- StC_Disp_Z 2824 --> SStC2 StC control channel group 2 -- StC_Vel_X 2825 --> SStC2 StC control channel group 2 -- StC_Vel_Y 2826 --> SStC2 StC control channel group 2 -- StC_Vel_Z 2827 <-- SStC2 StC control channel group 2 -- StC_Stiff_X (override spring constant) 2828 <-- SStC2 StC control channel group 2 -- StC_Stiff_Y (override spring constant) 2829 <-- SStC2 StC control channel group 2 -- StC_Stiff_Z (override spring constant) 2830 <-- SStC2 StC control channel group 2 -- StC_Damp_X (override damping constant) 2831 <-- SStC2 StC control channel group 2 -- StC_Damp_Y (override damping constant) 2832 <-- SStC2 StC control channel group 2 -- StC_Damp_Z (override damping constant) 2833 <-- SStC2 StC control channel group 2 -- StC_Brake_X (braking force) 2834 <-- SStC2 StC control channel group 2 -- StC_Brake_Y (braking force) 2835 <-- SStC2 StC control channel group 2 -- StC_Brake_Z (braking force) 2836 <-- SStC2 StC control channel group 2 -- StC_Force_X (additional force) 2837 <-- SStC2 StC control channel group 2 -- StC_Force_Y (additional force) 2838 <-- SStC2 StC control channel group 2 -- StC_Force_Z (additional force) 2839 <-- SStC2 StC control channel group 2 -- Reserved for future 2840 <-- SStC2 StC control channel group 2 -- Reserved for future 3000 <-- Ending index for the StC control channel block