6. API changes between versions

This page lists the main changes in the ROSCO API (input file) between different versions.

The changes are tabulated according to the line number, and flag name. The line number corresponds to the resulting line number after all changes are implemented. Thus, be sure to implement each in order so that subsequent line numbers are correct.

6.1. 2.9.0 to 2.10.0

New power reference control mode

• De-rate or power boost the turbine using the reference speed, rated torque, or minimum pitch. More details can be found in the Examples page.

New startup mode

• Startup the turbine by allowing the rotor to rotate freely (free-wheel) and the load rotor in stages to start the turbine.

Updated shutdown mode

• Shutdown mode is modified to enable shutdown based on a set of triggers. The triggers include shutdown on exceeding a predefined pitch, yaw error or generator speed threshold; or at a specific time.

Fixed blade pitch control mode

• The fixed blade pitch mode will use torque control only for the generator and stall-regulated control.

Removed in ROSCO 2.10.0
Line	Input Name	Example Value
129	SD_MaxPit	0.4363 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]
130	SD_CornerFreq	0.4188 ! SD_CornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle, [rad/s]

Changed in ROSCO 2.10.0
Line	Input Name	Example Value
19	PRC_Mode	0 ! PRC_Mode - Power reference tracking mode{0: power control disabled, 1: lookup table from wind speed to generator speed setpoints, 2: change speed, torque, pitch to control power}

New in ROSCO 2.10.0
Line	Input Name	Example Value
15	VS_FBP	0 ! VS_FBP - Fixed blade pitch configuration mode (0- variable pitch (disabled), 1- constant power overspeed, 2- WSE-lookup reference tracking, 3- torque-lookup reference tracking)
22	SU_Mode	0 ! Startup mode {0: no startup procedure, 1: startup enabled}
54	F_VSRefSpdCornerFreq	0.20944 ! F_VSRefSpdCornerFreq - Corner frequency (-3dB point) in the first order low pass filter of the generator speed reference used for TSR tracking torque control [rad/s].
96	Fixed Pitch Section	!——- FIXED PITCH REGION 3 TORQUE CONTROL ————————————————
97	VS_FBP_n	60 ! VS_FBP_n - Number of gain-scheduling table entries
98	VS_FBP_U	3.000000 3.266897 3.533793 3.800690 4.067586 4.334483 4.601379 4.868276 5.135172 5.402069 5.668966 5.935862 6.202759 6.469655 6.736552 7.003448 7.270345 7.537241 7.804138 8.071034 8.337931 8.604828 8.871724 9.138621 9.405517 9.672414 9.939310 10.206207 10.473103 10.740000 11.215333 11.690667 12.166000 12.641333 13.116667 13.592000 14.067333 14.542667 15.018000 15.493333 15.968667 16.444000 16.919333 17.394667 17.870000 18.345333 18.820667 19.296000 19.771333 20.246667 20.722000 21.197333 21.672667 22.148000 22.623333 23.098667 23.574000 24.049333 24.524667 25.000000 ! VS_FBP_U - Operating schedule table: Wind speeds [m/s].
99	VS_FBP_Omega	0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.523599 0.540904 0.560760 0.580617 0.600474 0.620330 0.640187 0.660044 0.679901 0.699757 0.719614 0.739471 0.759328 0.779184 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 0.791681 ! VS_FBP_Omega - Operating schedule table: Generator speeds [rad/s].
100	VS_FBP_Tau	681375.170448 879890.618036 1113642.754997 1385510.322894 1698372.063292 2055106.717753 2458593.027842 2911709.735122 3417335.581157 3978349.307511 4597629.655747 5278055.367429 6022505.184121 6833857.847387 7714992.098789 8668786.679893 9387854.540424 10089767.991426 10816984.456311 11569503.935078 12347326.427729 13150451.934262 13978880.454677 14832611.988976 15711646.537157 16615984.099220 17545624.675167 18500568.264996 19480814.868708 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 20697039.768044 ! VS_FBP_Tau - Operating schedule table: Generator torques [N m].
107	PRC_Comm	0 ! PRC_Comm - Power reference communication mode when PRC_Mode = 2, 0- use constant DISCON inputs, 1- use open loop inputs, 2- use ZMQ inputs
108	PRC_R_Torque	1.00000 ! PRC_R_Torque - Constant power rating through changing the rated torque, used if PRC_Mode = 2, PRC_Comm = 0, default is 1, effective above rated [-]
109	PRC_R_Speed	1.00000 ! PRC_R_Speed - Constant power rating through changing the rated generator speed, used if PRC_Mode = 2, PRC_Comm = 0, default is 1, effective above rated [-]
110	PRC_R_Pitch	1.00000 ! PRC_R_Pitch - Constant power rating through changing the fine pitch angle, used if PRC_Mode = 2, PRC_Comm = 0, default is 1, effective below rated [-]
111	PRC_Table_n	20 ! PRC_Table_n - Number of elements in PRC_R to _Pitch table. Used if PRC_Mode = 1.
112	PRC_R_Table	0.0000 0.0526 0.1053 0.1579 0.2105 0.2632 0.3158 0.3684 0.4211 0.4737 0.5263 0.5789 0.6316 0.6842 0.7368 0.7895 0.8421 0.8947 0.9474 1.0000 ! PRC_R_Table - Table of turbine rating versus fine pitch (PRC_Pitch_Table), length should be PRC_Table_n, default is 1 [-]. Used if PRC_Mode = 1.
113	PRC_Pitch_Table	0.2296 0.2222 0.2144 0.2066 0.1984 0.1902 0.1814 0.1726 0.1633 0.1538 0.1439 0.1334 0.1226 0.1112 0.0989 0.0858 0.0715 0.0552 0.0351 0.0000 ! PRC_Pitch_Table - Table of fine pitch versus PRC_R_Table, length should be PRC_Table_n [rad]. Used if PRC_Mode = 1.
155	Start Up Section	!——- STARTUP ———————————————————–
156	SU_StartTime	120.0000000000 ! SU_StartTime - Time to start startup routine [s]
157	SU_FW_MinDuration	200.000 ! SU_FW_MinDuration - Free-wheel minimum duration, [s]
158	SU_RotorSpeedThresh	0.5200 ! SU_RotorSpeedThresh - Rotor speed threshhold to switch from freewheel to loads, [rad/s]
159	SU_RotorSpeedCornerFreq	0.4188 ! SU_RotorSpeedCornerFreq - Cutoff Frequency for first order low-pass filter for rotor speed for startup, [rad/s]
160	SU_LoadStages_N	2 ! SU_LoadStages_N - Number of load staged for startup (should equal number of values in SU_LoadStages, SU_LoadRampDuration and SU_LoadHoldDuration)
161	SU_LoadStages	0.2000 1.0000 ! SU_LoadStages - Array containing loads as a fraction of full generator torque during startup
162	SU_LoadRampDuration	100.0000 100.0000 ! SU_LoadRampDuration - Array containing ramp duration to reach the corresponding partial loads during startup
164	SU_LoadHoldDuration	200.0000 100.0000 ! SU_LoadHoldDuration - Array containing duration to hold the partial loads during startup
165	Shutdown Section	!——- SHUTDOWN ———————————————————–
166	SD_TimeActivate	0 ! SD_TimeActivate - Time to acitvate shutdown modes, [s]
167	SD_EnablePitch	0 ! SD_EnablePitch - Shutdown when collective blade pitch exceeds a threshold, [-]
168	SD_EnableYawError	0 ! SD_EnableYawError - Shutdown when yaw error exceeds a threshold, [-]
169	SD_EnableGenSpeed	0 ! SD_EnableGenSpeed - Shutdown when generator speed exceeds a threshold, [-]
170	SD_EnableTime	0 ! SD_EnableTime - Shutdown at a predefined time, [-]
171	SD_MaxPit	0.393860000000 ! SD_MaxPit - Maximum blade pitch angle to initiate shutdown, [rad]
172	SD_PitchCornerFreq	0.418880000000 ! SD_PitchCornerFreq - Cutoff Frequency for first order low-pass filter for blade pitch angle for shutdown, [rad/s]
173	SD_MaxYawError	30.00000000000 ! SD_MaxYawError - Maximum yaw error to initiate shutdown, [deg]
174	SD_YawErrorCornerFreq	0.418880000000 ! SD_YawErrorCornerFreq - Cutoff Frequency for first order low-pass filter for yaw error for shutdown, [rad/s]
175	SD_MaxGenSpd	0.950020000000 ! SD_MaxGenSpd - Maximum generator speed to initiate shutdown, [rad/s]
176	SD_GenSpdCornerFreq	0.418880000000 ! SD_GenSpdCornerFreq - Cutoff Frequency for first order low-pass filter for generator speed for shutdown, [rad/s]
177	SD_Time	9999.000000000 ! SD_Time - Shutdown time, [s]
178	SD_Method	1 ! SD_Method - Shutdown method {1- Reduce generator torque and increase blade pitch in timed stages (SD_StageTime), 2- stages depend on pitch angle (SD_StagePitch)}
179	SD_Stage_N	1 ! SD_Stage_N - Number of shutdown stages (should equal number of values in SD_MaxPitchRate and SD_MaxTorqueRate) [-]
180	SD_StageTime	1000.0000 ! SD_StageTime - Array containing the time to spend in each shutdown stage [s]
181	SD_StagePitch	1.5708 ! SD_StagePitch - Array with pitch angles to reach in each shutdown stage [rad]. If the pitch < SD_StagePitch[i], the SD_Stage = i. If pitch > SD_StagePitch[SD_Stage_N], the maximum rates are used.
182	SD_MaxTorqueRate	225000.0000 ! SD_MaxTorqueRate - Maximum torque rate for shutdown [Nm/s]
183	SD_MaxPitchRate	0.0044 ! SD_MaxPitchRate - Maximum pitch rate used for shutdown [rad/s]
198	OL_BP_Mode	0 ! OL_BP_Mode - Breakpoint mode for open loop control, 0 - indexed by time (default), 1 - indexed by wind speed]
199	OL_BP_FiltFreq	0.000000 ! OL_BP_FiltFreq - Natural frequency of 1st order filter on breakpoint for open loop control. 0 will skip filter.
208	Ind_R_Speed	0 ! Ind_R_Speed - Index (column, 1-indexed) of power rating via speed offset
209	Ind_R_Torque	0 ! Ind_R_Torque - Index (column, 1-indexed) of power rating via torque offset
210	Ind_R_Pitch	0 ! Ind_R_Pitch - Index (column, 1-indexed) of power rating via pitch offset

6.2. 2.8.0 to 2.9.0

Flag to use exteneded Bladed Interface

• Set Ext_Interface to 1 to use the extened bladed interface with OpenFAST v3.5.0 and greater

Gain scheduling of floating feedback

• The floating feedback gain can be scheduled on the low pass filtered wind speed signal. Note that Fl_Kp can now be an array.

Rotor position tracking

• Control the azimuth position of the rotor with OL_Mode of 2 using a PID torque controller with gains defined by RP_Gains.

• Control all three blade pitch inputs in open loop

New torque control mode settings

• VS_ControlMode determines how the generator speed set point is determined: using the WSE (mode 2) or (P/K)^(1/3) (mode 3). The power signal in mode 3 is filtered using VS_PwrFiltF.

• VS_ConstPower determines whether constant power is used (0 is constant torque, 1 is constant power)

Multiple notch filters

• Users can list any number of notch filters and apply them to either the generator speed and/or tower top accelleration signal based on their index

Power reference control via generator speed set points

• With this feature, enabled with PRC_Mode, a user can prescribe a set of generator speed set points (PRC_GenSpeeds) vs. the estimated wind speed (PRC_WindSpeeds), which can be used to avoid certain natural frequencies or implement a soft cut-out scheme.

• A low pass filter with frequency PRC_LPF_Freq is used to filter the wind speed estimate. A lower value increases the stability of the generator speed reference signal.

ZeroMQ Interface

• Each turbine is assigned a ZMQ_ID by the controller, which is tracked by a farm-level controller

Tower resonance avoidance

• When TRA_Mode is 1, change the torque control generator speed setpoint to avoid TRA_ExclSpeed +/- TRA_ExclBand.

• The set point is changed at a slow rate TRA_RateLimit to avoid generator power spikes. VS_RefSpd/100 is recommended.

Removed in ROSCO 2.9.0
Line	Input Name	Example Value
11	F_NotchType	2 ! F_NotchType - Notch on the measured generator speed and/or tower fore-aft motion (for floating) {0: disable, 1: generator speed, 2: tower-top fore-aft motion, 3: generator speed and tower-top fore-aft motion}
35	F_NotchCornerFreq	3.35500 ! F_NotchCornerFreq - Natural frequency of the notch filter, [rad/s]
36	F_NotchBetaNumDen	0.000000 0.250000 ! F_NotchBetaNumDen - Two notch damping values (numerator and denominator, resp) - determines the width and depth of the notch, [-]

New in ROSCO 2.9.0
Line	Input Name	Example Value
7	Ext_Interface	1 ! Ext_Interface - (0 - use standard bladed interface, 1 - Use the extened DLL interface introduced in OpenFAST 3.5.0.)
14	VS_ConstPower	0 ! VS_ConstPower - Do constant power torque control, where above rated torque varies, 0 for constant torque}
18	PRC_Mode	0 ! PRC_Mode - Power reference tracking mode{0: use standard rotor speed set points, 1: use PRC rotor speed setpoints}
38	F_NumNotchFilts	1 ! F_NumNotchFilts - Number of notch filters placed on sensors
39	F_NotchFreqs	3.3550 ! F_NotchFreqs - Natural frequency of the notch filters. Array with length F_NumNotchFilts
40	F_NotchBetaNum	0.0000 ! F_NotchBetaNum - Damping value of numerator (determines the width of notch). Array with length F_NumNotchFilts, [-]
41	F_NotchBetaDen	0.2500 ! F_NotchBetaDen - Damping value of denominator (determines the depth of notch). Array with length F_NumNotchFilts, [-]
42	F_GenSpdNotch_N	0 ! F_GenSpdNotch_N - Number of notch filters on generator speed
43	F_GenSpdNotch_Ind	0 ! F_GenSpdNotch_Ind - Indices of notch filters on generator speed
44	F_TwrTopNotch_N	1 ! F_TwrTopNotch_N - Number of notch filters on tower top acceleration signal
45	F_TwrTopNotch_Ind	1 ! F_TwrTopNotch_Ind - Indices of notch filters on tower top acceleration signal
92	VS_PwrFiltF	0.3140 ! VS_PwrFiltF - Low pass filter on power used to determine generator speed set point. Only used in VS_ControlMode = 3.
98	PRC_Section	!——- POWER REFERENCE TRACKING ————————————–
99	PRC_n	2 ! PRC_n - Number of elements in PRC_WindSpeeds and PRC_GenSpeeds array
100	PRC_LPF_Freq	0.07854 ! PRC_LPF_Freq - Frequency of the low pass filter on the wind speed estimate used to set PRC_GenSpeeds [rad/s]
101	PRC_WindSpeeds	3.0000 25.0000 ! PRC_WindSpeeds - Array of wind speeds used in rotor speed vs. wind speed lookup table [m/s]
102	PRC_GenSpeeds	0.7917 0.7917 ! PRC_GenSpeeds - Array of generator speeds corresponding to PRC_WindSpeeds [rad/s]
103	Empty Line
128	TRA_ExclSpeed	0.00000 ! TRA_ExclSpeed - Rotor speed for exclusion [LSS, rad/s]
129	TRA_ExclBand	0.00000 ! TRA_ExclBand - Size of the rotor frequency exclusion band [LSS, rad/s]. Torque controller reference will be TRA_ExclSpeed +/- TRA_ExlBand/2
130	TRA_RateLimit	0.00000e+00 ! TRA_RateLimit - Rate limit of change in rotor speed reference [LSS, rad/s]. Suggested to be VS_RefSpd/100.
145	Fl_n	1 ! Fl_n - Number of Fl_Kp gains in gain scheduling, optional with default of 1
147	Fl_U	0.0000 ! Fl_U - Wind speeds for scheduling Fl_Kp, optional if Fl_Kp is single value [m/s]
161	Ind_Azimuth	0 ! Ind_Azimuth - The column in OL_Filename that contains the desired azimuth position in rad (used if OL_Mode = 2)
162	RP_Gains	0.0000 0.0000 0.0000 0.0000 ! RP_Gains - PID gains and Tf of derivative for rotor position control (used if OL_Mode = 2)
186	ZMQ_ID	0 ! ZMQ_ID - Integer identifier of turbine

Changed in ROSCO develop
Line	Input Name	Example Value
12	VS_ControlMode	2 ! VS_ControlMode - Generator torque control mode in above rated conditions (0- no torque control, 1- k*omega^2 with PI transitions, 2- WSE TSR Tracking, 3- Power-based TSR Tracking)}126 OL_mode 0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: rotor position control}
125	Twr_Section	!——- TOWER CONTROL ——————————————————
141	Fl_Kp	0.0000 ! Fl_Kp - Nacelle velocity proportional feedback gain [s]
153	Ind_BldPitch	0 0 0 ! Ind_BldPitch - The columns in OL_Filename that contains the blade pitch (1,2,3) inputs in rad [array]

6.3. 2.7.0 to 2.8.0

Optional Inputs - ROSCO now reads in the whole input file and searches for keywords to set the inputs. Blank spaces and specific ordering are no longer required. - Input requirements depend on control modes. E.g., open loop inputs are not required if OL_Mode = 0` Cable Control - Can control OpenFAST cables (MoorDyn or SubDyn) using ROSCO Structural Control - Can control OpenFAST structural control elements (ServoDyn) using ROSCO Active wake control - Added Active Wake Control (AWC) implementation

New in ROSCO 2.8.0
Line	Input Name	Example Value
6	Echo	0 ! Echo - (0 - no Echo, 1 - Echo input data to <RootName>.echo)
25	AWC_Mode	0 ! AWC_Mode - Active wake control mode [0 - not used, 1 - complex number method, 2 - Coleman transform method]
28	CC_Mode	0 ! CC_Mode - Cable control mode [0- unused, 1- User defined, 2- Open loop control]
29	StC_Mode	0 ! StC_Mode - Structural control mode [0- unused, 1- User defined, 2- Open loop control]
139	Ind_CableControl	0 ! Ind_CableControl - The column(s) in OL_Filename that contains the cable control inputs in m [Used with CC_Mode = 2, must be the same size as CC_Group_N]
140	Ind_StructControl	0 ! Ind_StructControl - The column(s) in OL_Filename that contains the structural control inputs [Used with StC_Mode = 2, must be the same size as StC_Group_N]
148	Empty Line
149	AWC_Section	!——- Active Wake Control —————————————————–
150	AWC_NumModes	1 ! AWC_NumModes - AWC- Number of modes to include [-]
151	AWC_n	1 ! AWC_n - AWC azimuthal mode [-] (only used in complex number method)
152	AWC_harmonic	1 ! AWC_harmonic - AWC Coleman transform harmonic [-] (only used in Coleman transform method)
153	AWC_freq	0.03 ! AWC_freq - AWC frequency [Hz]
154	AWC_amp	2.0 ! AWC_amp - AWC amplitude [deg]
155	AWC_clockangle	0.0 ! AWC_clockangle - AWC clock angle [deg]
165	Empty Line
166	CC_Section	!——- Cable Control ———————————————————
167	CC_Group_N	3 ! CC_Group_N - Number of cable control groups
168	CC_GroupIndex	2601 2603 2605 ! CC_GroupIndex - First index for cable control group, should correspond to deltaL
169	CC_ActTau	20.000000 ! CC_ActTau - Time constant for line actuator [s]
170	Empty Line
171	StC_Section	!——- Structural Controllers ———————————————————
172	StC_Group_N	3 ! StC_Group_N - Number of cable control groups
173	StC_GroupIndex	2818 2838 2858 ! StC_GroupIndex - First index for structural control group, options specified in ServoDyn summary output

6.4. 2.6.0 to 2.7.0

Pitch Faults - Constant pitch actuator offsets (PF_Mode = 1) IPC Saturation Modes - Added options for saturating the IPC command with the peak shaving limit

New in ROSCO 2.7.0
Line	Input Name	Example Value
22	PA_Mode	0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
23	PF_Mode	0 ! PF_Mode - Pitch fault mode {0 - not used, 1 - constant offset on one or more blades}
56	IPC_SatMode	2 ! IPC_SatMode - IPC Saturation method (0 - no saturation (except by PC_MinPit), 1 - saturate by PS_BldPitchMin, 2 - saturate sotfly (full IPC cycle) by PC_MinPit, 3 - saturate softly by PS_BldPitchMin)
139	PF_Section	!——- Pitch Actuator Faults ———————————————————
140	PF_Offsets	0.00000000 0.00000000 0.00000000 ! PF_Offsets - Constant blade pitch offsets for blades 1-3 [rad]
141	Empty Line

6.5. 2.5.0 to develop

IPC - A wind speed based soft cut-in using a sigma interpolation is added for the IPC controller

Pitch Actuator - A first or second order filter can be used to model a pitch actuator

External Control Interface - Call another control library from ROSCO

ZeroMQ Interface - Communicate with an external routine via ZeroMQ. Only yaw control currently supported

Updated yaw control - Filter wind direction with deadband, and yaw until direction error changes signs (https://iopscience.iop.org/article/10.1088/1742-6596/1037/3/032011)

New in ROSCO 2.6.0
Line	Input Name	Example Value
19	TD_Mode	0 ! TD_Mode - Tower damper mode {0: no tower damper, 1: feed back translational nacelle accelleration to pitch angle}
22	PA_Mode	0 ! PA_Mode - Pitch actuator mode {0 - not used, 1 - first order filter, 2 - second order filter}
23	Ext_Mode	0 ! Ext_Mode - External control mode {0 - not used, 1 - call external dynamic library}
24	ZMQ_Mode	0 ! ZMQ_Mode - Fuse ZeroMQ interaface {0: unused, 1: Yaw Control}
33	F_YawErr	0.17952 ! F_YawErr - Low pass filter corner frequency for yaw controller [rad/s].
54	IPC_Vramp	9.120000 11.400000 ! IPC_Vramp - Start and end wind speeds for cut-in ramp function. First entry: IPC inactive, second entry: IPC fully active. [m/s]
96	Y_uSwitch	0.00000 ! Y_uSwitch - Wind speed to switch between Y_ErrThresh. If zero, only the first value of Y_ErrThresh is used [m/s]
133	Empty Line	N/A
134	PitchActSec	!——- Pitch Actuator Model —————————————————–
135	PA_CornerFreq	3.140000000000 ! PA_CornerFreq - Pitch actuator bandwidth/cut-off frequency [rad/s]
136	PA_Damping	0.707000000000 ! PA_Damping - Pitch actuator damping ratio [-, unused if PA_Mode = 1]
137	Empty Line
138	ExtConSec	!——- External Controller Interface —————————————————–
139	DLL_FileName	“unused” ! DLL_FileName - Name/location of the dynamic library in the Bladed-DLL format
140	DLL_InFile	“unused” ! DLL_InFile - Name of input file sent to the DLL (-)
141	DLL_ProcName	“DISCON” ! DLL_ProcName - Name of procedure in DLL to be called (-)
142	Empty Line
143	ZeroMQSec	!——- ZeroMQ Interface ———————————————————
144	ZMQ_CommAddress	“tcp://localhost:5555” ! ZMQ_CommAddress - Communication address for ZMQ server, (e.g. “tcp://localhost:5555”)
145	ZMQ_UpdatePeriod	2 ! ZMQ_UpdatePeriod - Call ZeroMQ every [x] seconds, [s]

Modified in ROSCO 2.6.0
Line	Input Name	Example Value
97	Y_ErrThresh	4.000000 8.000000 ! Y_ErrThresh - Yaw error threshold/deadbands. Turbine begins to yaw when it passes this. If Y_uSwitch is zero, only the second value is used. [deg].
98	Y_Rate	0.00870 ! Y_Rate - Yaw rate [rad/s]
99	Y_MErrSet	0.00000 ! Y_MErrSet - Integrator saturation (maximum signal amplitude contribution to pitch from yaw-by-IPC), [rad]

Removed in ROSCO 2.6.0
Line	Input Name	Example Value
96	Y_IPn	1 ! Y_IPC_n - Number of controller gains (yaw-by-IPC)
99	Y_IPC_omegaLP	0.20940 ! Y_IPC_omegaLP - Low-pass filter corner frequency for the Yaw-by-IPC controller to filtering the yaw alignment error, [rad/s].
100	Y_IPC_zetaLP	1.00000 ! Y_IPC_zetaLP - Low-pass filter damping factor for the Yaw-by-IPC controller to filtering the yaw alignment error, [-].
102	Y_omegaLPFast	0.20940 ! Y_omegaLPFast - Corner frequency fast low pass filter, 1.0 [rad/s]
103	Y_omegaLPSlow	0.10470 ! Y_omegaLPSlow - Corner frequency slow low pass filter, 1/60 [rad/s]

6.6. ROSCO v2.4.1 to ROSCO v2.5.0

Two filter parameters were added to - change the high pass filter in the floating feedback module - change the low pass filter of the wind speed estimator signal that is used in torque control

Open loop control inputs, users must specify: - The open loop input filename, an example can be found in Examples/Example_OL_Input.dat - Indices (columns) of values specified in OL_Filename

IPC - Proportional Control capabilities were added, 1P and 2P gains should be specified

Line	Input Name	Example Value
20	OL_Mode	0 ! OL_Mode - Open loop control mode {0: no open loop control, 1: open loop control vs. time, 2: open loop control vs. wind speed}
27	F_WECornerFreq	0.20944 ! F_WECornerFreq - Corner frequency (-3dB point) in the first order low pass filter for the wind speed estimate [rad/s].
29	F_FlHighPassFreq	0.01000 ! F_FlHighPassFreq - Natural frequency of first-order high-pass filter for nacelle fore-aft motion [rad/s].
50	IPC_KP	0.000000 0.000000 ! IPC_KP - Proportional gain for the individual pitch controller: first parameter for 1P reductions, second for 2P reductions, [-]
125	OL_Filename	“14_OL_Input.dat” ! OL_Filename - Input file with open loop timeseries (absolute path or relative to this file)
126	Ind_Breakpoint	1 ! Ind_Breakpoint - The column in OL_Filename that contains the breakpoint (time if OL_Mode = 1)
127	Ind_BldPitch	2 ! Ind_BldPitch - The column in OL_Filename that contains the blade pitch input in rad
128	Ind_GenTq	3 ! Ind_GenTq - The column in OL_Filename that contains the generator torque in Nm
129	Ind_YawRate	4 ! Ind_YawRate - The column in OL_Filename that contains the generator torque in Nm