Base_SynchronGenerator.h

/* Copyright 2017-2021 Institute for Automation of Complex Power Systems,
 *                     EONERC, RWTH Aachen University
 *
 * This Source Code Form is subject to the terms of the Mozilla Public
 * License, v. 2.0. If a copy of the MPL was not distributed with this
 * file, You can obtain one at https://mozilla.org/MPL/2.0/.
 *********************************************************************************/
 
#pragma once
 
#include <dpsim-models/AttributeList.h>
#include <dpsim-models/Definitions.h>
#include <dpsim-models/Signal/Exciter.h>
#include <dpsim-models/Signal/TurbineGovernor.h>
 
namespace CPS {
namespace Base {
class SynchronGenerator {
public:
  enum class StateType { perUnit, statorReferred, rotorReferred };
  enum class ParameterType { perUnit, statorReferred, operational };

  void addGovernor(Real Ta, Real Tb, Real Tc, Real Fa, Real Fb, Real Fc, Real K,
                   Real Tsr, Real Tsm, Real Tm_init, Real PmRef);
  void addExciter(Real Ta, Real Ka, Real Te, Real Ke, Real Tf, Real Kf,
                  Real Tr);
 
protected:
  NumericalMethod
      mNumericalMethod; //not needed if sundials used; could instead determine implicit / explicit solve
  Real mSystemOmega;
  Real mTimeStep;
  StateType mStateType = StateType::perUnit;
  ParameterType mParameterType;
  Bool mInitialValuesSet = false;
 
  // ### Machine parameters ###
  Real mNomPower = 0;
  Real mNomVolt = 0;
  Real mNomFreq = 0;
  Real mNomOmega = 0;
  Real mNomFieldCur = 0;
  Int mNumDampingWindings = 0;
  Int mPoleNumber = 0;

  Real mLmd = 0;
  Real mLmq = 0;
  Real mRfd = 0;
  Real mLlfd = 0;
  Real mLfd = 0;
  Real mLf = 0;
  Real mRkd = 0;
  Real mLlkd = 0;
  Real mLkd = 0;
  Real mRkq1 = 0;
  Real mLlkq1 = 0;
  Real mLkq1 = 0;
  Real mRkq2 = 0;
  Real mLlkq2 = 0;
  Real mLkq2 = 0;
 
public:
  const Attribute<Real>::Ptr mRs;
  const Attribute<Real>::Ptr mLl;
  const Attribute<Real>::Ptr mLd;
  const Attribute<Real>::Ptr mLq;
 
  // Operational parameters
  const Attribute<Real>::Ptr mLd_t;
  const Attribute<Real>::Ptr mLq_t;
  const Attribute<Real>::Ptr mLd_s;
  const Attribute<Real>::Ptr mLq_s;
  const Attribute<Real>::Ptr mTd0_t;
  const Attribute<Real>::Ptr mTq0_t;
  const Attribute<Real>::Ptr mTd0_s;
  const Attribute<Real>::Ptr mTq0_s;
 
protected:
  // #### Initial Values ####
  Complex mInitElecPower = 0;
  Complex mInitTermVoltage = 0;
  Real mInitMechPower = 0;
 
  // ### Stator base values ###
  Real mBase_V = 0;
  Real mBase_V_RMS = 0;
  Real mBase_I = 0;
  Real mBase_I_RMS = 0;
  Real mBase_Z = 0;
  Real mBase_OmElec = 0;
  Real mBase_OmMech = 0;
  Real mBase_L = 0;
  Real mBase_T = 0;
  Real mBase_Psi = 0;

  Real mBase_ifd = 0;
  Real mBase_vfd = 0;
  Real mBase_Zfd = 0;
  Real mBase_Lfd = 0;
 
  // ### Useful Matrices ### (still needed? )
  Matrix mInductanceMat;
  Matrix mResistanceMat;
  Matrix mInvInductanceMat;
 
  // ### State variables ###
  Real mThetaMech = 0;
 
public:
  const Attribute<Real>::Ptr mDelta;
  const Attribute<Real>::Ptr mMechTorque;
  const Attribute<Real>::Ptr mInertia;
  const Attribute<Real>::Ptr mOmMech;
  const Attribute<Real>::Ptr mElecActivePower;
  const Attribute<Real>::Ptr mElecReactivePower;
  const Attribute<Real>::Ptr mMechPower;
  const Attribute<Real>::Ptr mElecTorque;
 
protected:
  Matrix mVsr;
  Matrix mIsr;
  Matrix mPsisr; //equivalent to Fluxes
 
  // #### dq-frame specific variables ####
  Matrix mVdq0;
  Matrix mIdq0;
  Matrix mFluxStateSpaceMat;
  Matrix mOmegaFluxMat;
  Matrix mFluxToCurrentMat;
  Real mLad;
  Real mLaq;
  Real mDetLd;
  Real mDetLq;

  Bool mCompensationOn;
  Real mRcomp;

  void initPerUnitStates();
 
  // #### Controllers ####
  Bool mHasTurbineGovernor = false;
  Bool mHasExciter = false;
 
  // Deprecated
  Real mInitTerminalVoltage = 0;
  Real mInitVoltAngle = 0;

  explicit SynchronGenerator(CPS::AttributeList::Ptr attributeList)
      : mRs(attributeList->create<Real>("Rs", 0)),
        mLl(attributeList->create<Real>("Ll", 0)),
        mLd(attributeList->create<Real>("Ld", 0)),
        mLq(attributeList->create<Real>("Lq", 0)),
        mLd_t(attributeList->create<Real>("Ld_t", 0)),
        mLq_t(attributeList->create<Real>("Lq_t", 0)),
        mLd_s(attributeList->create<Real>("Ld_s", 0)),
        mLq_s(attributeList->create<Real>("Lq_s", 0)),
        mTd0_t(attributeList->create<Real>("Td0_t", 0)),
        mTq0_t(attributeList->create<Real>("Tq0_t", 0)),
        mTd0_s(attributeList->create<Real>("Td0_s", 0)),
        mTq0_s(attributeList->create<Real>("Tq0_s", 0)),
        mDelta(attributeList->create<Real>("delta_r", 0)),
        mMechTorque(attributeList->create<Real>("T_m", 0)),
        mInertia(attributeList->create<Real>("inertia", 0)),
        mOmMech(attributeList->create<Real>("w_r", 0)),
        mElecActivePower(attributeList->create<Real>("P_elec", 0)),
        mElecReactivePower(attributeList->create<Real>("Q_elec", 0)),
        mMechPower(attributeList->create<Real>("P_mech", 0)),
        mElecTorque(attributeList->create<Real>("T_e", 0)){};

  void setBaseParameters(Real nomPower, Real nomVolt, Real nomFreq);
  void setBaseParameters(Real nomPower, Real nomVolt, Real nomFreq,
                         Real nomFieldCur);

  void calcStateSpaceMatrixDQ();
  Real calcHfromJ(Real J, Real omegaNominal, Int polePairNumber);
 
public:
  virtual ~SynchronGenerator() {}

  void setBaseAndFundamentalPerUnitParameters(Real nomPower, Real nomVolt,
                                              Real nomFreq, Real nomFieldCur,
                                              Int poleNumber, Real Rs, Real Ll,
                                              Real Lmd, Real Lmq, Real Rfd,
                                              Real Llfd, Real Rkd, Real Llkd,
                                              Real Rkq1, Real Llkq1, Real Rkq2,
                                              Real Llkq2, Real inertia);

  void setBaseAndOperationalPerUnitParameters(
      Real nomPower, Real nomVolt, Real nomFreq, Int poleNumber,
      Real nomFieldCur, Real Rs, Real Ld, Real Lq, Real Ld_t, Real Lq_t,
      Real Ld_s, Real Lq_s, Real Ll, Real Td0_t, Real Tq0_t, Real Td0_s,
      Real Tq0_s, Real inertia);

  void setFundamentalPerUnitParameters(Int poleNumber, Real Rs, Real Ll,
                                       Real Lmd, Real Lmq, Real Rfd, Real Llfd,
                                       Real Rkd, Real Llkd, Real Rkq1,
                                       Real Llkq1, Real Rkq2, Real Llkq2,
                                       Real inertia);

  void applyFundamentalPerUnitParameters();

  void setAndApplyFundamentalPerUnitParameters(Int poleNumber, Real Rs, Real Ll,
                                               Real Lmd, Real Lmq, Real Rfd,
                                               Real Llfd, Real Rkd, Real Llkd,
                                               Real Rkq1, Real Llkq1, Real Rkq2,
                                               Real Llkq2, Real inertia);

  void setOperationalPerUnitParameters(Int poleNumber, Real inertia, Real Rs,
                                       Real Ld, Real Lq, Real Ll, Real Ld_t,
                                       Real Lq_t, Real Ld_s, Real Lq_s,
                                       Real Td0_t, Real Tq0_t, Real Td0_s,
                                       Real Tq0_s);

  void calculateFundamentalFromOperationalParameters();

  void setInitialValues(Real initActivePower, Real initReactivePower,
                        Real initTerminalVolt, Real initVoltAngle,
                        Real initMechPower);

  void setNumericalMethod(NumericalMethod method) { mNumericalMethod = method; }

  std::shared_ptr<Signal::TurbineGovernor> mTurbineGovernor;
  std::shared_ptr<Signal::Exciter> mExciter;
};
} // namespace Base
} // namespace CPS