TurbineGovernor.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/MathUtils.h>
#include <dpsim-models/Signal/TurbineGovernor.h>
 
using namespace CPS;
using namespace CPS::Signal;
 
void TurbineGovernor::setParameters(Real Ta, Real Tb, Real Tc, Real Fa, Real Fb,
                                    Real Fc, Real K, Real Tsr, Real Tsm) {
  mTa = Ta;
  mTb = Tb;
  mTc = Tc;
  mFa = Fa;
  mFb = Fb;
  mFc = Fc;
 
  mK = K;
  mTsr = Tsr;
  mTsm = Tsm;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "Turbine parameters: \n"
                     "Ta: {:e}\nTb: {:e}\nTc: {:e}\n"
                     "Fa: {:e}\nFb: {:e}\nFc: {:e}\n",
                     mTa, mTb, mTc, mFa, mFb, mFc);
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "Governor parameters: \n"
                     "K: {:e}\nTsr: {:e}\nTsm: {:e}\n",
                     mK, mTsr, mTsm);
}
 
void TurbineGovernor::initialize(Real PmRef, Real Tm_init) {
  mTm = Tm_init;
  T1 = (1 - mFa) * PmRef;
  T2 = mFa * PmRef;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "Turbine initial values: \n"
                     "init_Tm: {:e}\ninit_T1: {:e}\ninit_T2: {:e}\n",
                     mTm, T1, T2);
 
  mVcv = PmRef;
  mpVcv = 0;
  Psm_in = PmRef;
 
  SPDLOG_LOGGER_INFO(mSLog,
                     "Governor initial values: \n"
                     "init_Vcv: {:e}\ninit_pVcv: {:e}\ninit_Psm_in: {:e}\n",
                     mVcv, mpVcv, Psm_in);
}
 
Real TurbineGovernor::step(Real Om, Real OmRef, Real PmRef, Real dt) {
  // ### Governing ###
  // Modelled according to V. Sapucaia-Gunzenhauser, "Modeling and Simulation of Rotating Machines", p.45
 
  // Input of speed relay
  Psr_in = PmRef + (OmRef - Om) * mK;
 
  // Input of servor motor
  Psm_in = Math::StateSpaceEuler(Psm_in, -1 / mTsr, 1 / mTsr, dt, Psr_in);
 
  // rate of change of valve
  // including limiter with upper bound 0.1pu/s and lower bound -1.0pu/s
  mpVcv = (Psm_in - mVcv) / mTsm;
  if (mpVcv >= 0.1)
    mpVcv = 0.1;
  else if (mpVcv <= -1)
    mpVcv = -1;
 
  // valve position
  // including limiter with upper bound 1 and lower bound 0
  mVcv = mVcv + dt * mpVcv;
  if (mVcv >= 1)
    mVcv = 1;
  else if (mVcv <= 0)
    mVcv = 0;
 
  // ### Turbine ###
  // Simplified Single Reheat Tandem-Compound Steam Turbine
  // Modelled according to V. Sapucaia-Gunzenhauser, "Modeling and Simulation of Rotating Machines", p.44
 
  T1 = Math::StateSpaceEuler(T1, -1 / mTb, 1 / mTb, dt, mVcv);
  T2 = mVcv * mFa;
  mTm = (mFb + mFc) * T1 + T2;
 
  return mTm;
}