SP_Ph1_SynchronGeneratorTrStab.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/SP/SP_Ph1_SynchronGeneratorTrStab.h>
using namespace CPS;
 
SP::Ph1::SynchronGeneratorTrStab::SynchronGeneratorTrStab(
    String uid, String name, Logger::Level logLevel)
    : Base::SynchronGenerator(mAttributes),
      CompositePowerComp<Complex>(uid, name, true, true, logLevel),
      mEp(mAttributes->create<Complex>("Ep")),
      mEp_abs(mAttributes->create<Real>("Ep_mag")),
      mEp_phase(mAttributes->create<Real>("Ep_phase")),
      mDelta_p(mAttributes->create<Real>("delta_r")),
      mRefOmega(mAttributes->createDynamic<Real>("w_ref")),
      mRefDelta(mAttributes->createDynamic<Real>("delta_ref")) {
  setVirtualNodeNumber(2);
  setTerminalNumber(1);
  **mIntfVoltage = MatrixComp::Zero(1, 1);
  **mIntfCurrent = MatrixComp::Zero(1, 1);
 
  mStates = Matrix::Zero(10, 1);
}

SimPowerComp<Complex>::Ptr
SP::Ph1::SynchronGeneratorTrStab::clone(String name) {
  auto copy = SynchronGeneratorTrStab::make(name, mLogLevel);
  copy->setStandardParametersPU(mNomPower, mNomVolt, mNomFreq, mXpd / mBase_Z,
                                **mInertia, **mRs, mKd);
  return copy;
}
 
void SP::Ph1::SynchronGeneratorTrStab::setFundamentalParametersPU(
    Real nomPower, Real nomVolt, Real nomFreq, Real Ll, Real Lmd, Real Llfd,
    Real inertia, Real D) {
  setBaseParameters(nomPower, nomVolt, nomFreq);
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Base Parameters ---"
                     "\nnomPower: {:f}"
                     "\nnomVolt: {:f}"
                     "\nnomFreq: {:f}",
                     mNomPower, mNomVolt, mNomFreq);
 
  // Input is in per unit but all values are converted to absolute values.
  mParameterType = ParameterType::statorReferred;
  mStateType = StateType::statorReferred;
 
  **mLl = Ll;
  mLmd = Lmd;
  **mLd = **mLl + mLmd;
  mLlfd = Llfd;
  mLfd = mLlfd + mLmd;
  // M = 2*H where H = inertia
  **mInertia = inertia;
  // X'd in absolute values
  mXpd = mNomOmega * (**mLd - mLmd * mLmd / mLfd) * mBase_L;
  mLpd = (**mLd - mLmd * mLmd / mLfd) * mBase_L;
 
  //The units of D are per unit power divided by per unit speed deviation.
  // D is transformed to an absolute value to obtain Kd, which will be used in the swing equation
  mKd = D * mNomPower / mNomOmega;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Parameters ---"
                     "\nimpedance: {:f}"
                     "\ninductance: {:f}"
                     "\ninertia: {:f}"
                     "\ndamping: {:f}",
                     mXpd, mLpd, **mInertia, mKd);
}
 
void SP::Ph1::SynchronGeneratorTrStab::setStandardParametersSI(
    Real nomPower, Real nomVolt, Real nomFreq, Int polePairNumber, Real Rs,
    Real Lpd, Real inertiaJ, Real Kd) {
  setBaseParameters(nomPower, nomVolt, nomFreq);
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Base Parameters ---"
                     "\nnomPower: {:f}"
                     "\nnomVolt: {:f}"
                     "\nnomFreq: {:f}",
                     mNomPower, mNomVolt, mNomFreq);
 
  mParameterType = ParameterType::statorReferred;
  mStateType = StateType::statorReferred;
 
  // M = 2*H where H = inertia
  // H = J * 0.5 * omegaNom^2 / polePairNumber
  **mInertia = calcHfromJ(inertiaJ, 2 * PI * nomFreq, polePairNumber);
  // X'd in absolute values
  mXpd = mNomOmega * Lpd;
  mLpd = Lpd;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Parameters ---"
                     "\nimpedance: {:f}"
                     "\ninductance: {:f}"
                     "\ninertia: {:f}"
                     "\ndamping: {:f}",
                     mXpd, mLpd, **mInertia, mKd);
}
 
void SP::Ph1::SynchronGeneratorTrStab::setStandardParametersPU(
    Real nomPower, Real nomVolt, Real nomFreq, Real Xpd, Real inertia, Real Rs,
    Real D) {
  setBaseParameters(nomPower, nomVolt, nomFreq);
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Base Parameters ---"
                     "\nnomPower: {:f}"
                     "\nnomVolt: {:f}"
                     "\nnomFreq: {:f}",
                     mNomPower, mNomVolt, mNomFreq);
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Parameters Per-Unit ---"
                     "\n Xpd: {:f} [p.u.]",
                     Xpd);
 
  // Input is in per unit but all values are converted to absolute values.
  mParameterType = ParameterType::statorReferred;
  mStateType = StateType::statorReferred;
 
  // M = 2*H where H = inertia
  **mInertia = inertia;
  // X'd in absolute values
  mXpd = Xpd * mBase_Z;
  mLpd = Xpd * mBase_L;
 
  **mRs = Rs;
  //The units of D are per unit power divided by per unit speed deviation.
  // D is transformed to an absolute value to obtain Kd, which will be used in the swing equation
  mKd = D * mNomPower / mNomOmega;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Parameters ---"
                     "\nXpd: {:f} [Ohm]"
                     "\nLpd: {:f} [H]"
                     "\nInertia: {:f} [s]"
                     "\nDamping: {:f}",
                     mXpd, mLpd, **mInertia, mKd);
}
 
void SP::Ph1::SynchronGeneratorTrStab::setModelFlags(
    Bool convertWithOmegaMech) {
  mConvertWithOmegaMech = convertWithOmegaMech;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Model flags ---"
                     "\nconvertWithOmegaMech: {:s}",
                     std::to_string(mConvertWithOmegaMech));
}
 
void SP::Ph1::SynchronGeneratorTrStab::setInitialValues(Complex elecPower,
                                                        Real mechPower) {
  mInitElecPower = elecPower;
  mInitMechPower = mechPower;
}
 
void SP::Ph1::SynchronGeneratorTrStab::initializeFromNodesAndTerminals(
    Real frequency) {
 
  // Initialize omega mech with nominal system frequency
  **mOmMech = mNomOmega;
 
  // Static calculation based on load flow
  (**mIntfVoltage)(0, 0) = initialSingleVoltage(0);
  mInitElecPower = (mInitElecPower == Complex(0, 0))
                       ? -terminal(0)->singlePower()
                       : mInitElecPower;
  mInitMechPower = (mInitElecPower == Complex(0, 0)) ? mInitElecPower.real()
                                                     : mInitMechPower;
 
  //I_intf is the current which is flowing into the Component, while mInitElecPower is flowing out of it
  (**mIntfCurrent)(0, 0) = std::conj(-mInitElecPower / (**mIntfVoltage)(0, 0));
 
  mImpedance = Complex(**mRs, mXpd);
 
  // Calculate initial emf behind reactance from power flow results
  **mEp = (**mIntfVoltage)(0, 0) - mImpedance * (**mIntfCurrent)(0, 0);
 
  // The absolute value of Ep is constant, only delta_p changes every step
  **mEp_abs = Math::abs(**mEp);
  // Delta_p is the angular position of mEp with respect to the synchronously rotating reference
  **mDelta_p = Math::phase(**mEp);
 
  // Update electrical power
  // TODO: review for Rs != 0
  **mElecActivePower =
      ((**mIntfVoltage)(0, 0) * std::conj(-(**mIntfCurrent)(0, 0))).real();
  **mElecReactivePower =
      ((**mIntfVoltage)(0, 0) * std::conj(-(**mIntfCurrent)(0, 0))).imag();
 
  // Start in steady state so that electrical and mech. power are the same
  // because of the initial condition mOmMech = mNomOmega the damping factor is not considered at the initialisation
  // TODO: review for Rs != 0
  **mMechPower = **mElecActivePower;
 
  // Initialize node between X'd and Ep
  mVirtualNodes[0]->setInitialVoltage(**mEp);
 
  // Create sub voltage source for emf
  mSubVoltageSource = SP::Ph1::VoltageSource::make(**mName + "_src", mLogLevel);
  mSubVoltageSource->setParameters(**mEp);
  mSubVoltageSource->connect({SimNode::GND, mVirtualNodes[0]});
  mSubVoltageSource->setVirtualNodeAt(mVirtualNodes[1], 0);
  mSubVoltageSource->initialize(mFrequencies);
  mSubVoltageSource->initializeFromNodesAndTerminals(frequency);
  addMNASubComponent(mSubVoltageSource,
                     MNA_SUBCOMP_TASK_ORDER::TASK_AFTER_PARENT,
                     MNA_SUBCOMP_TASK_ORDER::TASK_BEFORE_PARENT, false);
 
  // Create sub inductor as Xpd
  mSubInductor = SP::Ph1::Inductor::make(**mName + "_ind", mLogLevel);
  mSubInductor->setParameters(mLpd);
  mSubInductor->connect({mVirtualNodes[0], terminal(0)->node()});
  mSubInductor->initialize(mFrequencies);
  mSubInductor->initializeFromNodesAndTerminals(frequency);
  addMNASubComponent(mSubInductor, MNA_SUBCOMP_TASK_ORDER::TASK_AFTER_PARENT,
                     MNA_SUBCOMP_TASK_ORDER::TASK_BEFORE_PARENT, false);
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "\n--- Initialize according to powerflow ---"
                     "\nTerminal 0 voltage: {:e}<{:e}"
                     "\nVoltage behind reactance: {:e}<{:e}"
                     "\ninitial electrical power: {:e}+j{:e}"
                     "\nactive electrical power: {:e}"
                     "\nreactive electrical power: {:e}"
                     "\nmechanical power: {:e}"
                     "\n--- End of powerflow initialization ---",
                     Math::abs((**mIntfVoltage)(0, 0)),
                     Math::phaseDeg((**mIntfVoltage)(0, 0)), Math::abs(**mEp),
                     Math::phaseDeg(**mEp), mInitElecPower.real(),
                     mInitElecPower.imag(), **mElecActivePower,
                     **mElecReactivePower, **mMechPower);
}
 
void SP::Ph1::SynchronGeneratorTrStab::step(Real time) {
 
  // #### Calculations based on values from time step k ####
  // Electrical power at time step k
  // TODO: review for Rs != 0
  **mElecActivePower =
      ((**mIntfVoltage)(0, 0) * std::conj(-(**mIntfCurrent)(0, 0))).real();
  **mElecReactivePower =
      ((**mIntfVoltage)(0, 0) * std::conj(-(**mIntfCurrent)(0, 0))).imag();
 
  // Mechanical speed derivative at time step k
  // convert torque to power with actual rotor angular velocity or nominal omega
  Real dOmMech;
  if (mConvertWithOmegaMech)
    dOmMech =
        mNomOmega * mNomOmega / (2. * **mInertia * mNomPower * **mOmMech) *
        (**mMechPower - **mElecActivePower - mKd * (**mOmMech - mNomOmega));
  else
    dOmMech =
        mNomOmega / (2. * **mInertia * mNomPower) *
        (**mMechPower - **mElecActivePower - mKd * (**mOmMech - mNomOmega));
 
  // #### Calculate states for time step k+1 applying semi-implicit Euler ####
  // Mechanical speed at time step k+1 applying Euler forward
  if (mBehaviour == Behaviour::MNASimulation)
    **mOmMech = **mOmMech + mTimeStep * dOmMech;
 
  // Derivative of rotor angle at time step k + 1
  // if reference omega is set, calculate delta with respect to reference
  Real dDelta_p = **mOmMech - (mUseOmegaRef ? **mRefOmega : mNomOmega);
 
  // Rotor angle at time step k + 1 applying Euler backward
  // Update emf - only phase changes
  if (mBehaviour == Behaviour::MNASimulation) {
    **mDelta_p = **mDelta_p + mTimeStep * dDelta_p;
    **mEp = Complex(**mEp_abs * cos(**mDelta_p), **mEp_abs * sin(**mDelta_p));
  }
 
  mStates << Math::abs(**mEp), Math::phaseDeg(**mEp), **mElecActivePower,
      **mMechPower, **mDelta_p, **mOmMech, dOmMech, dDelta_p,
      (**mIntfVoltage)(0, 0).real(), (**mIntfVoltage)(0, 0).imag();
  SPDLOG_LOGGER_DEBUG(mSLog, "\nStates, time {:f}: \n{:s}", time,
                      Logger::matrixToString(mStates));
}
 
void SP::Ph1::SynchronGeneratorTrStab::mnaParentInitialize(
    Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {
  mTimeStep = timeStep;
 
  mMnaTasks.push_back(std::make_shared<AddBStep>(*this));
}
 
void SP::Ph1::SynchronGeneratorTrStab::mnaParentAddPreStepDependencies(
    AttributeBase::List &prevStepDependencies,
    AttributeBase::List &attributeDependencies,
    AttributeBase::List &modifiedAttributes) {
  // other attributes generally also influence the pre step,
  // but aren't marked as writable anyway
  prevStepDependencies.push_back(mIntfVoltage);
};
 
void SP::Ph1::SynchronGeneratorTrStab::mnaParentAddPostStepDependencies(
    AttributeBase::List &prevStepDependencies,
    AttributeBase::List &attributeDependencies,
    AttributeBase::List &modifiedAttributes,
    Attribute<Matrix>::Ptr &leftVector) {
  attributeDependencies.push_back(leftVector);
  modifiedAttributes.push_back(mIntfVoltage);
};
 
void SP::Ph1::SynchronGeneratorTrStab::mnaParentPreStep(Real time,
                                                        Int timeStepCount) {
  step(time);
  //change V_ref of subvoltage source
  mSubVoltageSource->mVoltageRef->set(**mEp);
}
 
void SP::Ph1::SynchronGeneratorTrStab::AddBStep::execute(Real time,
                                                         Int timeStepCount) {
  **mGenerator.mRightVector = mGenerator.mSubInductor->mRightVector->get() +
                              mGenerator.mSubVoltageSource->mRightVector->get();
}
 
void SP::Ph1::SynchronGeneratorTrStab::mnaParentPostStep(
    Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) {
  mnaCompUpdateVoltage(**leftVector);
  mnaCompUpdateCurrent(**leftVector);
}
 
void SP::Ph1::SynchronGeneratorTrStab::mnaCompUpdateVoltage(
    const Matrix &leftVector) {
  SPDLOG_LOGGER_DEBUG(mSLog, "Read voltage from {:d}", matrixNodeIndex(0));
  (**mIntfVoltage)(0, 0) =
      Math::complexFromVectorElement(leftVector, matrixNodeIndex(0));
}
 
void SP::Ph1::SynchronGeneratorTrStab::mnaCompUpdateCurrent(
    const Matrix &leftVector) {
  SPDLOG_LOGGER_DEBUG(mSLog, "Read current from {:d}", matrixNodeIndex(0));
  //Current flowing out of component
  **mIntfCurrent = mSubInductor->mIntfCurrent->get();
}
 
void SP::Ph1::SynchronGeneratorTrStab::setReferenceOmega(
    Attribute<Real>::Ptr refOmegaPtr, Attribute<Real>::Ptr refDeltaPtr) {
  mRefOmega->setReference(refOmegaPtr);
  mRefDelta->setReference(refDeltaPtr);
  mUseOmegaRef = true;
 
  SPDLOG_LOGGER_INFO(mSLog, "Use of reference omega.");
}