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MathUtils.h
1/* Copyright 2017-2021 Institute for Automation of Complex Power Systems,
2 * EONERC, RWTH Aachen University
3 *
4 * This Source Code Form is subject to the terms of the Mozilla Public
5 * License, v. 2.0. If a copy of the MPL was not distributed with this
6 * file, You can obtain one at https://mozilla.org/MPL/2.0/.
7 *********************************************************************************/
8
9#pragma once
10
11#include <dpsim-models/Definitions.h>
12
13namespace CPS {
14
15class Math {
16public:
17 typedef Real (*DeriveFnPtr)(Matrix inputs);
18
19 // #### Angular Operations ####
20 static Real radtoDeg(Real rad);
21
22 static Real degToRad(Real deg);
23
24 static Real phase(Complex value);
25
26 static Real phaseDeg(Complex value);
27
28 static Real abs(Complex value);
29
30 static Matrix abs(const MatrixComp &mat);
31
32 static Matrix phase(const MatrixComp &mat);
33
34 static Complex polar(Real abs, Real phase);
35 static Complex polarDeg(Real abs, Real phase);
36
37 // -Ofast/-ffast-math folds std::isnan/isfinite to false; test the IEEE-754
38 // exponent bits directly instead.
39 static bool isFinite(Real value);
40 static bool isFinite(Complex value);
41
42 // #### Vector Operations ####
43 //
44 // | Re(row,0)_harm1 | Re(row,colOffset)_harm1 |
45 // | Im(row,0)_harm1 | Im(row,colOffset)_harm1 |
46 // | Re(row,0)_harm2 | Re(row,colOffset)_harm2 |
47 // | Im(row,0)_harm2 | Im(row,colOffset)_harm2 |
48
49 static void setVectorElement(Matrix &mat, Matrix::Index row, Complex value,
50 Int maxFreq = 1, Int freqIdx = 0,
51 Matrix::Index colOffset = 0);
52
53 static void addToVectorElement(Matrix &mat, Matrix::Index row, Complex value,
54 Int maxFreq = 1, Int freqIdx = 0);
55
56 static Complex complexFromVectorElement(const Matrix &mat, Matrix::Index row,
57 Int maxFreq = 1, Int freqIdx = 0);
58
59 static void addToVectorElement(Matrix &mat, Matrix::Index row, Real value);
60 static void setVectorElement(Matrix &mat, Matrix::Index row, Real value);
61
62 static Real realFromVectorElement(const Matrix &mat, Matrix::Index row);
63
64 // #### Matric Operations ####
65 //
66 // | Re-Re(row,col)_harm1 | Im-Re(row,col)_harm1 | Interharmonics harm1-harm2
67 // | Re-Im(row,col)_harm1 | Im-Im(row,col)_harm1 | Interharmonics harm1-harm2
68 // | Interharmonics harm1-harm2 | Re(row,col)_harm2 | Re(row,col)_harm2 |
69 // | Interharmonics harm1-harm2 | Im(row,col)_harm2 | Im(row,col)_harm2 |
70 static void setMatrixElement(SparseMatrixRow &mat, Matrix::Index row,
71 Matrix::Index column, Complex value,
72 Int maxFreq = 1, Int freqIdx = 0);
73
74 static void addToMatrixElement(SparseMatrixRow &mat, Matrix::Index row,
75 Matrix::Index column, Complex value,
76 Int maxFreq = 1, Int freqIdx = 0);
77
78 static void addToMatrixElement(SparseMatrixRow &mat, Matrix::Index row,
79 Matrix::Index column, Matrix value,
80 Int maxFreq = 1, Int freqIdx = 0);
81
82 static void setMatrixElement(SparseMatrixRow &mat, Matrix::Index row,
83 Matrix::Index column, Real value);
84
85 static void addToMatrixElement(SparseMatrixRow &mat, std::vector<UInt> rows,
86 std::vector<UInt> columns, Complex value);
87
88 static void addToMatrixElement(SparseMatrixRow &mat, Matrix::Index row,
89 Matrix::Index column, Real value);
90 static void addToMatrixElement(SparseMatrixRow &mat, std::vector<UInt> rows,
91 std::vector<UInt> columns, Real value);
92
93 static void invertMatrix(const Matrix &mat, Matrix &matInv);
94
95 // #### Integration Methods ####
96 static Matrix StateSpaceTrapezoidal(Matrix states, Matrix A, Matrix B,
97 Real dt, Matrix u_new, Matrix u_old);
98 static Matrix StateSpaceTrapezoidal(Matrix states, Matrix A, Matrix B,
99 Matrix C, Real dt, Matrix u_new,
100 Matrix u_old);
101 static Matrix StateSpaceTrapezoidal(Matrix states, Matrix A, Matrix B,
102 Real dt, Matrix u);
103 static Matrix StateSpaceTrapezoidal(Matrix states, Matrix A, Matrix B,
104 Matrix C, Real dt, Matrix u);
105 static Matrix StateSpaceTrapezoidal(Matrix states, Matrix A, Matrix input,
106 Real dt);
107 static Real StateSpaceTrapezoidal(Real states, Real A, Real B, Real C,
108 Real dt, Real u);
109 static Real StateSpaceTrapezoidal(Real states, Real A, Real B, Real dt,
110 Real u);
111
112 static Matrix StateSpaceEuler(Matrix states, Matrix A, Matrix B, Real dt,
113 Matrix u);
114 static Matrix StateSpaceEuler(Matrix states, Matrix A, Matrix B, Matrix C,
115 Real dt, Matrix u);
116 static Matrix StateSpaceEuler(Matrix states, Matrix A, Matrix input, Real dt);
117 static Real StateSpaceEuler(Real states, Real A, Real B, Real dt, Real u);
118 static Real StateSpaceEuler(Real states, Real A, Real B, Real C, Real dt,
119 Real u);
120
122 static void calculateStateSpaceTrapezoidalMatrices(const Matrix &A,
123 const Matrix &B,
124 const Matrix &C,
125 const Real &dt, Matrix &Ad,
126 Matrix &Bd, Matrix &Cd);
127 static void calculateStateSpaceTrapezoidalMatrices(const Matrix &A,
128 const Matrix &B,
129 const Real &dt, Matrix &Ad,
130 Matrix &Bd);
132 static Matrix applyStateSpaceTrapezoidalMatrices(const Matrix &Ad,
133 const Matrix &Bd,
134 const Matrix &Cd,
135 const Matrix &statesPrevStep,
136 const Matrix &inputCurrStep,
137 const Matrix &inputPrevStep);
138
139 static void FFT(std::vector<Complex> &samples);
140
141 static Complex rotatingFrame2to1(Complex f2, Real theta1, Real theta2);
142
144 static MatrixComp singlePhaseVariableToThreePhase(Complex var_1ph);
145
147 static Matrix singlePhaseParameterToThreePhase(Real parameter);
148
150 static Matrix singlePhasePowerToThreePhase(Real power);
151
152 // #### Reference Frame Transformations ####
153
154 static Matrix parkTransformPowerInvariant(Real theta, const Matrix &fabc);
155
156 static Matrix parkTransformMatrixPowerInvariant(Real theta);
157
158 static Matrix inverseParkTransformPowerInvariant(Real theta,
159 const Matrix &fdq);
160
161 static Matrix inverseParkTransformMatrixPowerInvariant(Real theta);
162};
163} // namespace CPS
CPS::Math::singlePhasePowerToThreePhase
static Matrix singlePhasePowerToThreePhase(Real power)
To convert single phase power to symmetrical three phase.
Definition MathUtils.cpp:230
CPS::Math::calculateStateSpaceTrapezoidalMatrices
static void calculateStateSpaceTrapezoidalMatrices(const Matrix &A, const Matrix &B, const Matrix &C, const Real &dt, Matrix &Ad, Matrix &Bd, Matrix &Cd)
Calculate the discretized state space matrices Ad, Bd, Cd using trapezoidal rule.
Definition MathUtils.cpp:337
CPS::Math::applyStateSpaceTrapezoidalMatrices
static Matrix applyStateSpaceTrapezoidalMatrices(const Matrix &Ad, const Matrix &Bd, const Matrix &Cd, const Matrix &statesPrevStep, const Matrix &inputCurrStep, const Matrix &inputPrevStep)
Apply the trapezoidal based state space matrices Ad, Bd, Cd to get the states at the current time ste...
Definition MathUtils.cpp:369
CPS::Math::singlePhaseParameterToThreePhase
static Matrix singlePhaseParameterToThreePhase(Real parameter)
To convert single phase parameters to symmetrical three phase ones.
Definition MathUtils.cpp:224
CPS::Math::singlePhaseVariableToThreePhase
static MatrixComp singlePhaseVariableToThreePhase(Complex var_1ph)
To convert single phase complex variables (voltages, currents) to symmetrical three phase ones.
Definition MathUtils.cpp:218
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