Emt syngen trstab #185

gnakti · 2023-02-06T10:24:09Z

This branch implements:

The synchronous generator second-order model in EMT domain
A variable resistance switch in EMT domain
SMIB and 3-Bus c++ examples in EMT domain with two scenarios (steady state & fault)
SMIB and 3-Bus Jupyter Notebooks extended with EMT domain

sonarqubecloud · 2023-02-06T11:26:01Z

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Signed-off-by: Ghassen Nakti <[email protected]>

sonarqubecloud · 2023-07-16T16:58:57Z

Kudos, SonarCloud Quality Gate passed!

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0 Security Hotspots
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0.0% Coverage
12.9% Duplication

dinkelbachjan · 2023-07-20T13:55:57Z

dpsim-models/src/EMT/EMT_Ph3_varResSwitch.cpp

+// !!! TODO: 	Adaptions to use in EMT_Ph3 models phase-to-ground peak variables
+// !!! 			with initialization from phase-to-phase RMS variables


I assume this is here due to copy & paste and can be removed

dinkelbachjan · 2023-07-20T14:02:17Z

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_varResSwitch.h

+		public MNAVariableCompInterface,
+		public MNASwitchInterface,


Do we really need inheritance from both classes? I would assume that we require always system recomputation with varResSwitch and consequently use MNAVariableCompInterface. So can't we drop MNASwitchInterface?

dinkelbachjan · 2023-07-20T14:10:34Z

dpsim-models/src/EMT/EMT_Ph3_varResSwitch.cpp

+void EMT::Ph3::varResSwitch::mnaCompApplySwitchSystemMatrixStamp(Bool closed, SparseMatrixRow& systemMatrix, Int freqIdx) {
+	MatrixFixedSize<3, 3> conductance = (closed) ?
+		(**mClosedResistance).inverse() : (**mOpenResistance).inverse();
+
+	// Set diagonal entries
+	if (terminalNotGrounded(0)) {
+		// set upper left block, 3x3 entries
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), matrixNodeIndex(0, 0), conductance(0, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), matrixNodeIndex(0, 1), conductance(0, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), matrixNodeIndex(0, 2), conductance(0, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), matrixNodeIndex(0, 0), conductance(1, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), matrixNodeIndex(0, 1), conductance(1, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), matrixNodeIndex(0, 2), conductance(1, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), matrixNodeIndex(0, 0), conductance(2, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), matrixNodeIndex(0, 1), conductance(2, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), matrixNodeIndex(0, 2), conductance(2, 2));
+	}
+	if (terminalNotGrounded(1)) {
+		// set buttom right block, 3x3 entries
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), matrixNodeIndex(1, 0), conductance(0, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), matrixNodeIndex(1, 1), conductance(0, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), matrixNodeIndex(1, 2), conductance(0, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), matrixNodeIndex(1, 0), conductance(1, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), matrixNodeIndex(1, 1), conductance(1, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), matrixNodeIndex(1, 2), conductance(1, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(1, 0), conductance(2, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(1, 1), conductance(2, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(1, 2), conductance(2, 2));
+	}
+	// Set off diagonal blocks, 2x3x3 entries
+	if (terminalNotGrounded(0) && terminalNotGrounded(1)) {
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), matrixNodeIndex(1, 0), -conductance(0, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), matrixNodeIndex(1, 1), -conductance(0, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 0), matrixNodeIndex(1, 2), -conductance(0, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), matrixNodeIndex(1, 0), -conductance(1, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), matrixNodeIndex(1, 1), -conductance(1, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 1), matrixNodeIndex(1, 2), -conductance(1, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), matrixNodeIndex(1, 0), -conductance(2, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), matrixNodeIndex(1, 1), -conductance(2, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(0, 2), matrixNodeIndex(1, 2), -conductance(2, 2));
+
+
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), matrixNodeIndex(0, 0), -conductance(0, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), matrixNodeIndex(0, 1), -conductance(0, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 0), matrixNodeIndex(0, 2), -conductance(0, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), matrixNodeIndex(0, 0), -conductance(1, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), matrixNodeIndex(0, 1), -conductance(1, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 1), matrixNodeIndex(0, 2), -conductance(1, 2));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(0, 0), -conductance(2, 0));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(0, 1), -conductance(2, 1));
+		Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(0, 2), -conductance(2, 2));
+	}
+
+	SPDLOG_LOGGER_TRACE(mSLog,
+		"\nConductance matrix: {:s}",
+		Logger::matrixToString(conductance));
+}


Do we really require this method? I assume that, when employing the varResSwitch, we do not follow the approach of precalculating the matrices before the simulation, but instead use the approach of system recomputation during the simulation. mnaCompApplySwitchSystemMatrixStamp is used when precalculating the matrices. So I would assume that the method can be removed in this model and instead only mnaCompApplySystemMatrixStamp and hasParameterChanged will be used to build the component's matrix stamp.

dinkelbachjan · 2023-07-20T14:14:50Z

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_varResSwitch.h

+		Bool mPrevState=false;
+		Real mDeltaResClosed = 0; 
+		Real mDeltaResOpen = 1.5;
+		Matrix mPrevRes; // previous resistance value to multiply with rate of change
+		// because we change the base value mClosedResistance & mOpenResistance to recompute the system Matrix
+		// we need to save the initialisation values to use them as target values in the transition
+		Matrix mInitClosedRes;
+		Matrix mInitOpenRes;


Improve code style, explanatory \\\ comments are missing

dinkelbachjan · 2023-07-20T14:17:01Z

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_varResSwitch.h

+
+		// #### MNA section for switches ####
+		/// Check if switch is closed
+		Bool mnaIsClosed() { return isClosed(); }


Required? Why not use of isClosed from Base::Ph3::Switch?

dinkelbachjan · 2023-07-20T14:17:49Z

dpsim-models/include/dpsim-models/EMT/EMT_Ph3_varResSwitch.h

+		/// Add MNA post step dependencies
+		void mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, Attribute<Matrix>::Ptr &leftVector) override;
+
+		Bool hasParameterChanged();


Add override flag

dinkelbachjan · 2023-07-20T14:23:52Z

dpsim-models/src/EMT/EMT_Ph3_varResSwitch.cpp

+	//Define variables for the transition
+	mDeltaResClosed= 0;
+	// mDeltaResOpen = 1.5; // assumption for 1ms step size
+	mDeltaResOpen= 0.5*timestep/0.001 + 1;


Can we add an explanatory comment for this formula and where the fixed values e.g. 0.001 come from?

dinkelbachjan · 2023-07-20T14:28:04Z

dpsim/examples/cxx/Circuits/DP_SynGenTrStab_3Bus_Fault.cpp

 	simDP.setDirectLinearSolverImplementation(DPsim::DirectLinearSolverImpl::SparseLU);

+	if (useVarResSwitch == true) {


The use of useVarResSwitch seems inconstistent. Sometimes you use it for case distinctions, sometimes you just comment out the respective varResSwitch code lines, e.g. in 147-151

dinkelbachjan · 2023-07-20T14:40:32Z

examples/Notebooks/Circuits/EMT_DP_SP_SynGenTrStab_3Bus_SteadyState.ipynb

+    "for name in ['delta_gen']:\n",
+    "    plt.plot(ts_sp1ph_TrStab_dl[name+'1'].interpolate(timestep).time[begin_idx:end_idx], ts_sp1ph_TrStab_dl[name+'2'].interpolate(timestep).values[begin_idx:end_idx]*180/3.14 - ts_sp1ph_TrStab_dl[name+'1'].interpolate(timestep).values[begin_idx:end_idx]*180/3.14, label=name + ' SP backshift')\n",
+    "    plt.plot(ts_dp1ph_TrStab_dl[name+'1'].interpolate(timestep).time[begin_idx:end_idx], ts_dp1ph_TrStab_dl[name+'2'].interpolate(timestep).values[begin_idx:end_idx]*180/3.14 - ts_dp1ph_TrStab_dl[name+'1'].interpolate(timestep).values[begin_idx:end_idx]*180/3.14, label=name + ' DP backshift', linestyle='--')\n",
+    "    plt.plot(ts_emt3ph_TrStab_dl[name+'1'].interpolate(timestep).time[begin_idx:end_idx], ts_emt3ph_TrStab_dl[name+'2'].interpolate(timestep).values[begin_idx:end_idx]*180/3.14 - ts_emt3ph_TrStab_dl[name+'1'].interpolate(timestep).values[begin_idx:end_idx]*180/3.14, label=name + ' EMT')\n",
+    "plt.legend()"
+   ]


Currently, the SynGenTrStab notebooks do no include any assert statements for validation. Can't this be changed? E.g. by performing cross-domain validations

dinkelbachjan · 2023-07-20T15:03:31Z

dpsim-models/src/EMT/EMT_Ph3_SynchronGeneratorTrStab.cpp

+	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));


As follow-up of this PR, the swing equation could be aggregated instead to make this feature also available to other synchronous generator models. Issue #235 is opened up for that

gnakti assigned dinkelbachjan Feb 6, 2023

gnakti added the enhancement New feature or request label Feb 6, 2023

gnakti added 27 commits July 16, 2023 14:22

wip

cab7c3a

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add first working version

0f34b41

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fix initialisation of internal voltage

14961ab

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add comments

cbb2b29

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update EMT SMIB fault example

32b7462

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update namespace of SMIB examples

dab4652

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remove emt line model in 1ph

9ec4fdb

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comment out emt part in SMIB notebooks

0d3ffa6

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add EMT varResSwitch model

dac3a6c

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use varResSwitch in EMT SMIB example

c358b1a

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add EMT 3Bus examples

dfff59f

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add model flags

801e572

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use three bus parameters of Marti paper

d12cf28

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update to version used in publication

eed69f5

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fix pipeline build error

862c1d2

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use new method getOptionReal from utils

e737682

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post-rebase remaining adaption to new attribute system

617ba72

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add emt 3ph SynGenTrStab to pybind

3c40464

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fix attribute and task system

97f8707

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set correct frequency of external network injection

efe5e87

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use new task system

c681774

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add EMT simulation to jupyter notebooks

ad70800

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rename notebooks

38a061d

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fix and clean up C++ examples

dbdc663

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remove unused attributes from EMT varResSwitch

1d441ab

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pybind: update EMT SynGenTrStab functions

217dae7

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add new task function of composite components

f6bd2cf

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gnakti added 2 commits July 16, 2023 14:29

replace regular switch with varResSwitch

0258838

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fix prestep task order for DP SynGenTrStab

02b4287

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gnakti force-pushed the emt-syngen-trstab branch from 608f0e1 to 02b4287 Compare July 16, 2023 12:29

gnakti added 3 commits July 16, 2023 15:49

[post rebase fixes]: Attributes, SPDLOG & MNA interface

2dd95e2

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[post rebase fixes] solver

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[Post rebase fixes] notebooks

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gnakti requested a review from dinkelbachjan July 17, 2023 07:17

dinkelbachjan reviewed Jul 20, 2023

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Emt syngen trstab #185

Emt syngen trstab #185

gnakti commented Feb 6, 2023

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		// !!! TODO: Adaptions to use in EMT_Ph3 models phase-to-ground peak variables
		// !!! with initialization from phase-to-phase RMS variables

		simDP.setDirectLinearSolverImplementation(DPsim::DirectLinearSolverImpl::SparseLU);

		if (useVarResSwitch == true) {

Emt syngen trstab #185

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