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dpsim-villas/models: add co-simulation example
This adds FpgaCosimulation.cpp, an example for a cosimulation with another simulator running a WSCC 9 bus and DPsim running the load connected to bus 5. This also modifies EMT::Ph3::RXLoad to allow it to represent an R-L series load rather than only a parallel load. It also adds EMT::Ph3::ControlledVoltageSource, a voltage source with EMT setpoints for feeding interface data into the DPsim simulation. Signed-off-by: Niklas Eiling <[email protected]>
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dpsim-models/include/dpsim-models/EMT/EMT_Ph3_ControlledVoltageSource.h
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| /* 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 | ||
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| #include <dpsim-models/MNASimPowerComp.h> | ||
| #include <dpsim-models/Signal/CosineFMGenerator.h> | ||
| #include <dpsim-models/Signal/FrequencyRampGenerator.h> | ||
| #include <dpsim-models/Signal/SignalGenerator.h> | ||
| #include <dpsim-models/Signal/SineWaveGenerator.h> | ||
| #include <dpsim-models/Solver/MNAInterface.h> | ||
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| namespace CPS { | ||
| namespace EMT { | ||
| namespace Ph3 { | ||
| /// \brief Controlled Ideal Voltage source model | ||
| /// | ||
| /// This model uses modified nodal analysis to represent an ideal voltage source. | ||
| /// This voltage source derives it's output purely from attributes rather than an internal signal generator. | ||
| class ControlledVoltageSource : public MNASimPowerComp<Real>, public SharedFactory<ControlledVoltageSource> { | ||
| protected: | ||
| // Updates voltage according to reference phasor and frequency | ||
| void updateVoltage(Real time); | ||
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| public: | ||
| const CPS::Attribute<Matrix>::Ptr mVoltageRef; | ||
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| /// Defines UID, name and logging level | ||
| ControlledVoltageSource(String uid, String name, Logger::Level logLevel = Logger::Level::off); | ||
| /// | ||
| ControlledVoltageSource(String name, Logger::Level logLevel = Logger::Level::off) : ControlledVoltageSource(name, name, logLevel) {} | ||
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| SimPowerComp<Real>::Ptr clone(String name) override; | ||
| // #### General #### | ||
| /// Initializes component from power flow data | ||
| void initializeFromNodesAndTerminals(Real frequency) override; | ||
| /// Setter for reference voltage with a real valued generator | ||
| /// This will initialize the values of mVoltageRef to match the given parameters | ||
| /// However, the attributes can be modified during the simulation to dynamically change the value of the output voltage. | ||
| void setParameters(Matrix voltageRef); | ||
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| // #### MNA section #### | ||
| /// Initializes internal variables of the component | ||
| void mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) override; | ||
| /// Stamps system matrix | ||
| void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override; | ||
| /// Stamps right side (source) vector | ||
| void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override; | ||
| /// Returns current through the component | ||
| void mnaCompUpdateCurrent(const Matrix &leftVector) override; | ||
| /// MNA pre step operations | ||
| void mnaCompPreStep(Real time, Int timeStepCount) override; | ||
| /// MNA post step operations | ||
| void mnaCompPostStep(Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) override; | ||
| /// Add MNA pre step dependencies | ||
| void mnaCompAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) override; | ||
| /// Add MNA post step dependencies | ||
| void mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, | ||
| Attribute<Matrix>::Ptr &leftVector) override; | ||
| }; | ||
| } // namespace Ph3 | ||
| } // namespace EMT | ||
| } // namespace CPS |
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dpsim-models/src/EMT/EMT_Ph3_ControlledVoltageSource.cpp
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| Original file line number | Diff line number | Diff line change |
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| @@ -0,0 +1,115 @@ | ||
| /* 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/. | ||
| *********************************************************************************/ | ||
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| #include <dpsim-models/EMT/EMT_Ph3_ControlledVoltageSource.h> | ||
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| using namespace CPS; | ||
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| EMT::Ph3::ControlledVoltageSource::ControlledVoltageSource(String uid, String name, Logger::Level logLevel) | ||
| : MNASimPowerComp<Real>(uid, name, true, true, logLevel), mVoltageRef(mAttributes->createDynamic<Matrix>("V_ref")) // rms-value, phase-to-phase | ||
| { | ||
| mPhaseType = PhaseType::ABC; | ||
| setVirtualNodeNumber(1); | ||
| setTerminalNumber(2); | ||
| **mIntfVoltage = Matrix::Zero(3, 1); | ||
| **mIntfCurrent = Matrix::Zero(3, 1); | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::setParameters(Matrix voltageRef) { | ||
| **mVoltageRef = voltageRef; | ||
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| mParametersSet = true; | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::initializeFromNodesAndTerminals(Real frequency) { | ||
| SPDLOG_LOGGER_INFO(mSLog, "\n--- Initialization from node voltages ---"); | ||
| // TODO: this approach currently overwrites voltage reference set from outside, when not using setParameters | ||
| if (!mParametersSet) { | ||
| // initialize voltage reference as zeroes | ||
| SPDLOG_LOGGER_INFO(mSLog, | ||
| "\nReference voltage: {:s}" | ||
| "\nTerminal 0 voltage: {:s}" | ||
| "\nTerminal 1 voltage: {:s}", | ||
| Logger::matrixCompToString(**mVoltageRef), Logger::phasorToString(initialSingleVoltage(0)), Logger::phasorToString(initialSingleVoltage(1))); | ||
| } else { | ||
| SPDLOG_LOGGER_INFO(mSLog, | ||
| "\nInitialization from node voltages omitted (parameter already set)." | ||
| "\nReference voltage: {:s}", | ||
| Logger::matrixCompToString(**mVoltageRef)); | ||
| } | ||
| SPDLOG_LOGGER_INFO(mSLog, "\n--- Initialization from node voltages ---"); | ||
| mSLog->flush(); | ||
| } | ||
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| SimPowerComp<Real>::Ptr EMT::Ph3::ControlledVoltageSource::clone(String name) { | ||
| auto copy = ControlledVoltageSource::make(name, mLogLevel); | ||
| copy->setParameters(**mVoltageRef); | ||
| return copy; | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) { updateMatrixNodeIndices(); } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) { | ||
| if (terminalNotGrounded(0)) { | ||
| Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), mVirtualNodes[0]->matrixNodeIndex(PhaseType::A), -1); | ||
| Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::A), matrixNodeIndex(0, 0), -1); | ||
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| Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), mVirtualNodes[0]->matrixNodeIndex(PhaseType::B), -1); | ||
| Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::B), matrixNodeIndex(0, 1), -1); | ||
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| Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), mVirtualNodes[0]->matrixNodeIndex(PhaseType::C), -1); | ||
| Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::C), matrixNodeIndex(0, 2), -1); | ||
| } | ||
| if (terminalNotGrounded(1)) { | ||
| Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), mVirtualNodes[0]->matrixNodeIndex(PhaseType::A), 1); | ||
| Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::A), matrixNodeIndex(1, 0), 1); | ||
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| Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), mVirtualNodes[0]->matrixNodeIndex(PhaseType::B), 1); | ||
| Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::B), matrixNodeIndex(1, 1), 1); | ||
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| Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), mVirtualNodes[0]->matrixNodeIndex(PhaseType::C), 1); | ||
| Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::C), matrixNodeIndex(1, 2), 1); | ||
| } | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompApplyRightSideVectorStamp(Matrix &rightVector) { | ||
| Math::setVectorElement(rightVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::A), (**mIntfVoltage)(0, 0)); | ||
| Math::setVectorElement(rightVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::B), (**mIntfVoltage)(1, 0)); | ||
| Math::setVectorElement(rightVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::C), (**mIntfVoltage)(2, 0)); | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::updateVoltage(Real time) { | ||
| **mIntfVoltage = **mVoltageRef; | ||
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| SPDLOG_LOGGER_DEBUG(mSLog, "\nUpdate Voltage: {:s}", Logger::matrixToString(**mIntfVoltage)); | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) { | ||
| attributeDependencies.push_back(mVoltageRef); | ||
| modifiedAttributes.push_back(mRightVector); | ||
| modifiedAttributes.push_back(mIntfVoltage); | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompPreStep(Real time, Int timeStepCount) { | ||
| updateVoltage(time); | ||
| mnaCompApplyRightSideVectorStamp(**mRightVector); | ||
| } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, | ||
| Attribute<Matrix>::Ptr &leftVector) { | ||
| attributeDependencies.push_back(leftVector); | ||
| modifiedAttributes.push_back(mIntfCurrent); | ||
| }; | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompPostStep(Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) { mnaCompUpdateCurrent(**leftVector); } | ||
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| void EMT::Ph3::ControlledVoltageSource::mnaCompUpdateCurrent(const Matrix &leftVector) { | ||
| (**mIntfCurrent)(0, 0) = Math::realFromVectorElement(leftVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::A)); | ||
| (**mIntfCurrent)(1, 0) = Math::realFromVectorElement(leftVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::B)); | ||
| (**mIntfCurrent)(2, 0) = Math::realFromVectorElement(leftVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::C)); | ||
| } |
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