From bff129aa8245ebf63b75295ce4dd4b0fb9a1fb4f Mon Sep 17 00:00:00 2001
From: David Robert Verelst <dave@dtu.dk>
Date: Wed, 12 Jul 2017 09:48:03 +0200
Subject: [PATCH] prepost.hawcstab2: add differential gains as control tune
attribute
---
wetb/prepost/hawcstab2.py | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/wetb/prepost/hawcstab2.py b/wetb/prepost/hawcstab2.py
index ec1c702..9eaaf88 100644
--- a/wetb/prepost/hawcstab2.py
+++ b/wetb/prepost/hawcstab2.py
@@ -373,6 +373,10 @@ class ReadControlTuning(object):
# set some parameters to zero for the linear case, or when aerodynamic
# gain scheduling is not used
+ if not hasattr(self.pi_gen_reg2, 'Kd'):
+ setattr(self.pi_gen_reg2, 'Kd', 0.0)
+ if not hasattr(self.pi_pitch_reg3, 'Kd'):
+ setattr(self.pi_pitch_reg3, 'Kd', 0.0)
if not hasattr(self.pi_pitch_reg3, 'K2'):
setattr(self.pi_pitch_reg3, 'K2', 0.0)
if not hasattr(self.aero_damp, 'Kp2'):
@@ -394,10 +398,11 @@ class ReadControlTuning(object):
tune_tags['[pi_gen_reg2.I]'] = self.pi_gen_reg2.I
tune_tags['[pi_gen_reg2.Kp]'] = self.pi_gen_reg2.Kp
tune_tags['[pi_gen_reg2.Ki]'] = self.pi_gen_reg2.Ki
- tune_tags['[pi_gen_reg2.Kd]'] = 0.0
+ tune_tags['[pi_gen_reg2.Kd]'] = self.pi_gen_reg2.Kd
tune_tags['[pi_pitch_reg3.Kp]'] = self.pi_pitch_reg3.Kp
tune_tags['[pi_pitch_reg3.Ki]'] = self.pi_pitch_reg3.Ki
+ tune_tags['[pi_pitch_reg3.Kd]'] = self.pi_pitch_reg3.Kd
tune_tags['[pi_pitch_reg3.K1]'] = self.pi_pitch_reg3.K1
tune_tags['[pi_pitch_reg3.K2]'] = self.pi_pitch_reg3.K2
--
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