Linear SSN

dpsim-models/include/dpsim-models/Components.h

@@ -108,6 +108,9 @@
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGeneratorDQTrapez.h>
 #include <dpsim-models/EMT/EMT_Ph3_VoltageSource.h>
 #include <dpsim-models/EMT/EMT_Ph3_VoltageSourceNorton.h>
+#include <dpsim-models/EMT/EMT_Ph3_SSN_Capacitor.h>
+#include <dpsim-models/EMT/EMT_Ph3_SSN_Inductor.h>
+#include <dpsim-models/EMT/EMT_Ph3_SSN_Full_Serial_RLC.h>
 #ifdef WITH_SUNDIALS
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGeneratorDQODE.h>
 #endif

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_CurrentSource.h

@@ -47,13 +47,13 @@ class CurrentSource : public MNASimPowerComp<Real>,
   // #### General ####
   /// Initializes component from power flow data
   void initializeFromNodesAndTerminals(Real frequency) override;
-  /// Setter for reference voltage
-  void setParameters(MatrixComp voltageRef, Real srcFreq = 50.0);
+  /// Setter for reference current
+  void setParameters(MatrixComp currentRef, Real srcFreq = 50.0);
   /// Setter for reference signal of type frequency ramp
-  void setParameters(MatrixComp voltageRef, Real freqStart, Real rocof,
+  void setParameters(MatrixComp currentRef, Real freqStart, Real rocof,
                      Real timeStart, Real duration, bool smoothRamp = true);
   /// Setter for reference signal of type cosine frequency modulation
-  void setParameters(MatrixComp voltageRef, Real modulationFrequency,
+  void setParameters(MatrixComp currentRef, Real modulationFrequency,
                      Real modulationAmplitude, Real baseFrequency = 50.0,
                      bool zigzag = false);
 

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_SSN_Capacitor.h

@@ -0,0 +1,86 @@
+/* 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
+
+#include <dpsim-models/Base/Base_Ph3_Capacitor.h>
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+
+namespace CPS {
+namespace EMT {
+namespace Ph3 {
+namespace SSN {
+/// \brief Capacitor model
+///
+/// The SSN-capacitor is represented by a DC equivalent circuit which
+/// corresponds to one iteration of the trapezoidal integration method.
+/// The equivalent DC circuit is a resistance in series with a voltage
+/// source (real voltage source). The resistance is constant for a defined
+/// time step and system frequency and the voltage source changes for each
+/// iteration. This component is meant to show an I-type SSN model
+/// implementation based on a simple example element. The RC model should be
+/// used over this if focussing on SSN model implementation is not the
+/// circuit's goal since this model increases the system matrix dimensions
+/// by 1x1 (added virtual node, real voltage source MNA scheme).
+class Capacitor final : public MNASimPowerComp<Real>,
+                        public Base::Ph3::Capacitor,
+                        public SharedFactory<Capacitor> {
+public:
+  /// Defines UID, name and logging level
+  Capacitor(String uid, String name,
+            Logger::Level logLevel = Logger::Level::off);
+  /// Defines name and logging level
+  Capacitor(String name, Logger::Level logLevel = Logger::Level::off)
+      : Capacitor(name, name, logLevel) {}
+
+  SimPowerComp<Real>::Ptr clone(String name) override;
+
+  // #### General ####
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+
+  // #### 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;
+  /// Update interface voltage from MNA system result
+  void mnaCompUpdateVoltage(const Matrix &leftVector) override;
+  /// Update interface current from MNA system result
+  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;
+
+private:
+  Matrix mDufourBKHat = Matrix::Zero(3, 3);
+  Matrix mDufourWKN = Matrix::Zero(3, 3);
+  //rightsideVector history term
+  Matrix mHistoricVoltage = Matrix::Zero(3, 1);
+};
+} // namespace SSN
+} // namespace Ph3
+} // namespace EMT
+} // namespace CPS

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_SSN_Full_Serial_RLC.h

@@ -0,0 +1,97 @@
+/* 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
+
+#include <dpsim-models/Base/Base_Ph3_Capacitor.h>
+#include <dpsim-models/Base/Base_Ph3_Inductor.h>
+#include <dpsim-models/Base/Base_Ph3_Resistor.h>
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+
+namespace CPS {
+namespace EMT {
+namespace Ph3 {
+namespace SSN {
+/// \brief Full_Serial_RLC
+///
+/// This element represents an one port circuit consisting of a resistor,
+/// an inductor and a capacitor connected in series. The terminals are at
+/// the beginning and the end of the component chain.
+///	The states are the capacitor voltage and the inductor current, the output
+/// is the latter of those states (inductor current). The input is the voltage
+/// across the whole circuit. States and past inputs are updated after each
+/// time step and are used to calculate the current (input) voltage,
+/// represented as MNA node voltages.
+class Full_Serial_RLC final : public MNASimPowerComp<Real>,
+                              public SharedFactory<Full_Serial_RLC>,
+                              public Base::Ph3::Resistor,
+                              public Base::Ph3::Inductor,
+                              public Base::Ph3::Capacitor {
+public:
+  /// Defines UID, name, component parameters and logging level
+  Full_Serial_RLC(String uid, String name,
+                  Logger::Level logLevel = Logger::Level::off);
+  /// Defines name and logging level
+  Full_Serial_RLC(String name, Logger::Level logLevel = Logger::Level::off)
+      : Full_Serial_RLC(name, name, logLevel) {}
+
+  SimPowerComp<Real>::Ptr clone(String name) override;
+  void setParameters(Matrix resistance, Matrix inductance, Matrix capacitance);
+
+  // #### General ####
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+
+  // #### 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;
+  /// Update interface voltage from MNA system result
+  void mnaCompUpdateVoltage(const Matrix &leftVector) override;
+  /// Update interface current from MNA system result
+  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;
+
+private:
+  Matrix mState = Matrix::Zero(6, 1);
+  Matrix mYHistory = Matrix::Zero(3, 1);
+
+  Matrix mDufourUNT = Matrix::Zero(3, 1);
+
+  Matrix mDufourAKHat = Matrix::Zero(6, 6);
+  Matrix mDufourBKHat = Matrix::Zero(6, 3);
+  Matrix mDufourBKNHat = Matrix::Zero(6, 3);
+  Matrix mDufourWKN = Matrix::Zero(3, 3);
+  Matrix mDufourCKN = Matrix::Zero(3, 6);
+
+  void ssnUpdateState();
+};
+} // namespace SSN
+} // namespace Ph3
+} // namespace EMT
+} // namespace CPS

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_SSN_Inductor.h

@@ -0,0 +1,86 @@
+/* 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
+
+#include <dpsim-models/Base/Base_Ph3_Inductor.h>
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+
+namespace CPS {
+namespace EMT {
+namespace Ph3 {
+namespace SSN {
+/// \brief Inductor
+///
+/// The SSN-inductor is represented by a DC equivalent circuit which
+/// corresponds to one iteration of the trapezoidal integration method.
+/// The equivalent DC circuit is a resistance in parallel with a current
+/// source. The resistance is constant for a defined time step and system
+/// frequency and the current source changes for each iteration.
+///	This means that for the inductor the SSN and Resistive Companion models
+/// are conceptionally the same and only variable names, structures and
+/// state update timings differ. This component is meant to show a V-type SSN
+/// model implementation based on a simple example element. Due to additional
+/// calculation steps, the RC model should be used over this otherwise.
+class Inductor final : public MNASimPowerComp<Real>,
+                       public Base::Ph3::Inductor,
+                       public SharedFactory<Inductor> {
+public:
+  /// Defines UID, name, component parameters and logging level
+  Inductor(String uid, String name,
+           Logger::Level logLevel = Logger::Level::off);
+  /// Defines name and logging level
+  Inductor(String name, Logger::Level logLevel = Logger::Level::off)
+      : Inductor(name, name, logLevel) {}
+
+  SimPowerComp<Real>::Ptr clone(String name) override;
+
+  // #### General ####
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+
+  // #### 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;
+  /// Update interface voltage from MNA system result
+  void mnaCompUpdateVoltage(const Matrix &leftVector) override;
+  /// Update interface current from MNA system result
+  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;
+
+private:
+  //rightsideVector history term
+  Matrix mHistoricCurrent = Matrix::Zero(3, 1);
+  //dependency on latest Voltage, represented by Conductance in system matrix
+  Matrix mDufourBKHat = Matrix::Zero(3, 3);
+  Matrix mDufourWKN = Matrix::Zero(3, 3);
+};
+} // namespace SSN
+} // namespace Ph3
+} // namespace EMT
+} // namespace CPS

dpsim-models/src/CMakeLists.txt

@@ -102,6 +102,9 @@ list(APPEND MODELS_SOURCES
 	EMT/EMT_Ph3_SynchronGeneratorIdeal.cpp
 	# EMT/EMT_Ph3_SynchronGeneratorVBRStandalone.cpp
 	EMT/EMT_Ph3_SynchronGeneratorTrStab.cpp
+	EMT/EMT_Ph3_SSN_Capacitor.cpp
+	EMT/EMT_Ph3_SSN_Inductor.cpp
+	EMT/EMT_Ph3_SSN_Full_Serial_RLC.cpp
 
 	SP/SP_Ph1_VoltageSource.cpp
 	SP/SP_Ph1_Capacitor.cpp

dpsim-models/src/EMT/EMT_Ph3_CurrentSource.cpp

@@ -22,6 +22,30 @@ EMT::Ph3::CurrentSource::CurrentSource(String uid, String name,
   **mIntfVoltage = Matrix::Zero(3, 1);
   **mIntfCurrent = Matrix::Zero(3, 1);
 }
+SimPowerComp<Real>::Ptr EMT::Ph3::CurrentSource::clone(String name) {
+  auto copy = CurrentSource::make(name, mLogLevel);
+  copy->setParameters(attributeTyped<MatrixComp>("I_ref")->get(),
+                      attributeTyped<Real>("f_src")->get());
+  return copy;
+}
+
+void EMT::Ph3::CurrentSource::setParameters(MatrixComp currentRef,
+                                            Real srcFreq) {
+  auto srcSigSine = Signal::SineWaveGenerator::make(**mName + "_sw");
+  // Complex(1,0) is used as initialPhasor for signal generator as only phase is used
+  srcSigSine->setParameters(Complex(1, 0), srcFreq);
+  mSrcSig = srcSigSine;
+
+  **mCurrentRef = currentRef;
+  mSrcFreq->setReference(mSrcSig->mFreq);
+
+  mSLog->info("\nCurrent reference phasor [I]: {:s}"
+              "\nFrequency [Hz]: {:s}",
+              Logger::matrixCompToString(currentRef),
+              Logger::realToString(srcFreq));
+
+  mParametersSet = true;
+}
 
 void EMT::Ph3::CurrentSource::initializeFromNodesAndTerminals(Real frequency) {
   SPDLOG_LOGGER_INFO(
@@ -70,13 +94,6 @@ void EMT::Ph3::CurrentSource::initializeFromNodesAndTerminals(Real frequency) {
   mSLog->flush();
 }
 
-SimPowerComp<Real>::Ptr EMT::Ph3::CurrentSource::clone(String name) {
-  auto copy = CurrentSource::make(name, mLogLevel);
-  // TODO: implement setParameters
-  // copy->setParameters(attributeTyped<MatrixComp>("I_ref")->get(), attributeTyped<Real>("f_src")->get());
-  return copy;
-}
-
 void EMT::Ph3::CurrentSource::mnaCompInitialize(
     Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {
   updateMatrixNodeIndices();
@@ -167,4 +184,4 @@ void EMT::Ph3::CurrentSource::mnaCompUpdateVoltage(const Matrix &leftVector) {
         (**mIntfVoltage)(2, 0) -
         Math::realFromVectorElement(leftVector, matrixNodeIndex(0, 2));
   }
-}
+}