PowerControllerVSI.cpp

/* 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/.
 *********************************************************************************/
 
#include <dpsim-models/Signal/PowerControllerVSI.h>
 
using namespace CPS;
using namespace CPS::Signal;
 
PowerControllerVSI::PowerControllerVSI(String name, Logger::Level logLevel)
    : SimSignalComp(name, name, logLevel),
      mInputPrev(mAttributes->create<Matrix>("input_prev", Matrix::Zero(6, 1))),
      mStatePrev(mAttributes->create<Matrix>("state_prev", Matrix::Zero(6, 1))),
      mOutputPrev(
          mAttributes->create<Matrix>("output_prev", Matrix::Zero(2, 1))),
      mInputCurr(mAttributes->create<Matrix>("input_curr", Matrix::Zero(6, 1))),
      mStateCurr(mAttributes->create<Matrix>("state_curr", Matrix::Zero(6, 1))),
      mOutputCurr(
          mAttributes->create<Matrix>("output_curr", Matrix::Zero(2, 1))),
      mVc_d(mAttributes->createDynamic<Real>("Vc_d")),
      mVc_q(mAttributes->createDynamic<Real>("Vc_q")),
      mIrc_d(mAttributes->createDynamic<Real>("Irc_d")),
      mIrc_q(mAttributes->createDynamic<Real>("Irc_q")) {
 
  SPDLOG_LOGGER_INFO(mSLog, "Create {} {}", type(), name);
}
 
void PowerControllerVSI::setParameters(Real Pref, Real Qref) {
  mPref = Pref;
  mQref = Qref;
 
  SPDLOG_LOGGER_INFO(mSLog, "General Parameters:");
  SPDLOG_LOGGER_INFO(mSLog, "Active Power={} [W] Reactive Power={} [VAr]",
                     mPref, mQref);
 
  // use Pref and Qref as init values for states P and Q
  // init values for other states remain zero (if not changed using setInitialStateValues)
  mPInit = Pref;
  mQInit = Qref;
}
 
void PowerControllerVSI::setControllerParameters(Real Kp_powerCtrl,
                                                 Real Ki_powerCtrl,
                                                 Real Kp_currCtrl,
                                                 Real Ki_currCtrl,
                                                 Real Omega_cutoff) {
 
  mKiPowerCtrld = Ki_powerCtrl;
  mKiPowerCtrlq = Ki_powerCtrl;
  mKpPowerCtrld = Kp_powerCtrl;
  mKpPowerCtrlq = Kp_powerCtrl;
  mKiCurrCtrld = Ki_currCtrl;
  mKiCurrCtrlq = Ki_currCtrl;
  mKpCurrCtrld = Kp_currCtrl;
  mKpCurrCtrlq = Kp_currCtrl;
  mOmegaCutoff = Omega_cutoff;
 
  SPDLOG_LOGGER_INFO(mSLog, "Control Parameters:");
  SPDLOG_LOGGER_INFO(mSLog, "Power Loop: K_i = {}, K_p = {}", Kp_powerCtrl,
                     Ki_powerCtrl);
  SPDLOG_LOGGER_INFO(mSLog, "Current Loop: K_i = {}, K_p = {}", Kp_currCtrl,
                     Ki_currCtrl);
  SPDLOG_LOGGER_INFO(mSLog, "Cut-Off Frequency = {}", Omega_cutoff);
 
  // Set state space matrices using controller parameters
  mA << -mOmegaCutoff, 0, 0, 0, 0, 0, 0, -mOmegaCutoff, 0, 0, 0, 0, -1, 0, 0, 0,
      0, 0, 0, 1, 0, 0, 0, 0, -mKpPowerCtrld, 0, mKiPowerCtrld, 0, 0, 0, 0,
      mKpPowerCtrlq, 0, mKiPowerCtrlq, 0, 0;
 
  mB << 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 0, 0, 0, 0, 0, 0, -1, 0, 0, 0, 0,
      mKpPowerCtrld, 0, 0, 0, -1, 0, 0, -mKpPowerCtrlq, 0, 0, 0, -1;
 
  mC << -mKpPowerCtrld * mKpCurrCtrld, 0, mKpCurrCtrld * mKiPowerCtrld, 0,
      mKiCurrCtrld, 0, 0, mKpPowerCtrlq * mKpCurrCtrlq, 0,
      mKpCurrCtrlq * mKiPowerCtrlq, 0, mKiCurrCtrlq;
 
  mD << mKpCurrCtrld * mKpPowerCtrld, 0, 0, 0, -mKpCurrCtrld, 0, 0,
      -mKpCurrCtrlq * mKpPowerCtrlq, 0, 0, 0, -mKpCurrCtrlq;
 
  SPDLOG_LOGGER_INFO(mSLog, "State space matrices:");
  SPDLOG_LOGGER_INFO(mSLog, "A = \n{}", mA);
  SPDLOG_LOGGER_INFO(mSLog, "B = \n{}", mB);
  SPDLOG_LOGGER_INFO(mSLog, "C = \n{}", mC);
  SPDLOG_LOGGER_INFO(mSLog, "D = \n{}", mD);
}
 
void PowerControllerVSI::setInitialStateValues(Real pInit, Real qInit,
                                               Real phi_dInit, Real phi_qInit,
                                               Real gamma_dInit,
                                               Real gamma_qInit) {
 
  mPInit = pInit;
  mQInit = qInit;
  mPhi_dInit = phi_dInit;
  mPhi_qInit = phi_qInit;
  mGamma_dInit = gamma_dInit;
  mGamma_qInit = gamma_qInit;
 
  SPDLOG_LOGGER_INFO(mSLog, "Initial State Value Parameters:");
  SPDLOG_LOGGER_INFO(mSLog, "PInit = {}, QInit = {}", pInit, qInit);
  SPDLOG_LOGGER_INFO(mSLog, "Phi_dInit = {}, Phi_qInit = {}", phi_dInit,
                     phi_qInit);
  SPDLOG_LOGGER_INFO(mSLog, "Gamma_dInit = {}, Gamma_qInit = {}", gamma_dInit,
                     gamma_qInit);
}
 
void PowerControllerVSI::initializeStateSpaceModel(
    Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {
  mTimeStep = timeStep;
  mOmegaCutoff = omega;
 
  // update B matrix due to its dependence on Irc
  updateBMatrixStateSpaceModel();
 
  // initialization of input
  **mInputCurr << mPref, mQref, **mVc_d, **mVc_q, **mIrc_d, **mIrc_q;
  SPDLOG_LOGGER_INFO(mSLog, "Initialization of input: \n" +
                                Logger::matrixToString(**mInputCurr));
 
  // initialization of states
  **mStateCurr << mPInit, mQInit, mPhi_dInit, mPhi_qInit, mGamma_dInit,
      mGamma_qInit;
  SPDLOG_LOGGER_INFO(mSLog, "Initialization of states: \n" +
                                Logger::matrixToString(**mStateCurr));
 
  // initialization of output
  **mOutputCurr = mC * **mStateCurr + mD * **mInputCurr;
  SPDLOG_LOGGER_INFO(mSLog, "Initialization of output: \n" +
                                Logger::matrixToString(**mOutputCurr));
}
 
void PowerControllerVSI::signalAddPreStepDependencies(
    AttributeBase::List &prevStepDependencies,
    AttributeBase::List &attributeDependencies,
    AttributeBase::List &modifiedAttributes) {
  prevStepDependencies.push_back(mInputCurr);
  prevStepDependencies.push_back(mOutputCurr);
  modifiedAttributes.push_back(mInputPrev);
  modifiedAttributes.push_back(mOutputPrev);
};
 
void PowerControllerVSI::signalPreStep(Real time, Int timeStepCount) {
  **mInputPrev = **mInputCurr;
  **mStatePrev = **mStateCurr;
  **mOutputPrev = **mOutputCurr;
}
 
void PowerControllerVSI::signalAddStepDependencies(
    AttributeBase::List &prevStepDependencies,
    AttributeBase::List &attributeDependencies,
    AttributeBase::List &modifiedAttributes) {
  attributeDependencies.push_back(mVc_d);
  attributeDependencies.push_back(mVc_q);
  attributeDependencies.push_back(mIrc_d);
  attributeDependencies.push_back(mIrc_q);
  modifiedAttributes.push_back(mInputCurr);
  modifiedAttributes.push_back(mOutputCurr);
};
 
void PowerControllerVSI::signalStep(Real time, Int timeStepCount) {
  // update B matrix due to its dependence on Irc
  updateBMatrixStateSpaceModel();
 
  // get current inputs
  **mInputCurr << mPref, mQref, **mVc_d, **mVc_q, **mIrc_d, **mIrc_q;
  SPDLOG_LOGGER_DEBUG(
      mSLog,
      "Time {}\n: inputCurr = \n{}\n , inputPrev = \n{}\n , statePrev = \n{}",
      time, **mInputCurr, **mInputPrev, **mStatePrev);
 
  // calculate new states
  **mStateCurr = Math::StateSpaceTrapezoidal(**mStatePrev, mA, mB, mTimeStep,
                                             **mInputCurr, **mInputPrev);
  SPDLOG_LOGGER_DEBUG(mSLog, "stateCurr = \n {}", **mStateCurr);
 
  // calculate new outputs
  **mOutputCurr = mC * **mStateCurr + mD * **mInputCurr;
  SPDLOG_LOGGER_DEBUG(mSLog, "Output values: outputCurr = \n{}", **mOutputCurr);
}
 
void PowerControllerVSI::updateBMatrixStateSpaceModel() {
  mB.coeffRef(0, 2) = mOmegaCutoff * **mIrc_d;
  mB.coeffRef(0, 3) = mOmegaCutoff * **mIrc_q;
  mB.coeffRef(1, 2) = -mOmegaCutoff * **mIrc_q;
  mB.coeffRef(1, 3) = mOmegaCutoff * **mIrc_d;
}
 
Task::List PowerControllerVSI::getTasks() {
  return Task::List(
      {std::make_shared<PreStep>(*this), std::make_shared<Step>(*this)});
}