Reduced-order syngen models

dpsim-models/include/dpsim-models/Base/Base_ReducedOrderSynchronGenerator.h

@@ -60,7 +60,7 @@ namespace Base {
 			virtual ~ReducedOrderSynchronGenerator() { }
 			/// modelAsCurrentSource=true --> SG is modeled as current source, otherwise as voltage source
 			/// Both implementations are equivalent, but the current source implementation is more efficient
-			virtual void setModelAsCurrentSource(Bool modelAsCurrentSource);
+			virtual void setModelAsNortonSource(Bool modelAsCurrentSource);
 			///
 			void setBaseParameters(Real nomPower, Real nomVolt, Real nomFreq);
 			/// Initialization for 3 Order SynGen
@@ -113,7 +113,7 @@ namespace Base {
 			void initializeFromNodesAndTerminals(Real frequency);
 			/// Function to initialize the specific variables of each SG model
 			virtual void specificInitialization() = 0;
-			///
+			/// Model specific step
         	virtual void stepInPerUnit() = 0;
 
 			// ### MNA Section ###
@@ -128,9 +128,8 @@ namespace Base {
 			virtual void mnaCompPostStep(const Matrix& leftVector) = 0;
 			/// Stamps system matrix
 			virtual void mnaCompApplySystemMatrixStamp(SparseMatrixRow& systemMatrix) = 0;
-			/// Model flag indicating whether the machine is modeled as current or voltage source
-			/// Default: currentsource (recommended)
-			Bool mModelAsCurrentSource = true;
+			/// Model flag indicating whether the machine is modelled as Norton or Thevenin equivalent
+			Bool mModelAsNortonSource;
 			// Model flag indicating the SG order to be used
 			SGOrder mSGOrder;
 

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

@@ -31,7 +31,6 @@
 #include <dpsim-models/SP/SP_Ph1_SynchronGenerator4OrderVBR.h>
 #include <dpsim-models/SP/SP_Ph1_SynchronGenerator6aOrderVBR.h>
 #include <dpsim-models/SP/SP_Ph1_SynchronGenerator6bOrderVBR.h>
-#include <dpsim-models/SP/SP_Ph1_SynchronGenerator4OrderDCIM.h>
 #include <dpsim-models/SP/SP_Ph1_varResSwitch.h>
 
 #include <dpsim-models/SP/SP_Ph3_Capacitor.h>
@@ -58,8 +57,11 @@
 #include <dpsim-models/DP/DP_Ph1_ReducedOrderSynchronGeneratorVBR.h>
 #include <dpsim-models/DP/DP_Ph1_SynchronGenerator3OrderVBR.h>
 #include <dpsim-models/DP/DP_Ph1_SynchronGenerator4OrderVBR.h>
+#include <dpsim-models/DP/DP_Ph1_SynchronGenerator4OrderPCM.h>
+#include <dpsim-models/DP/DP_Ph1_SynchronGenerator4OrderTPM.h>
 #include <dpsim-models/DP/DP_Ph1_SynchronGenerator6aOrderVBR.h>
 #include <dpsim-models/DP/DP_Ph1_SynchronGenerator6bOrderVBR.h>
+#include <dpsim-models/DP/DP_Ph1_SynchronGenerator6OrderPCM.h>
 #include <dpsim-models/DP/DP_Ph1_Inverter.h>
 #include <dpsim-models/DP/DP_Ph1_NetworkInjection.h>
 #include <dpsim-models/DP/DP_Ph1_AvVoltageSourceInverterDQ.h>
@@ -97,6 +99,7 @@
 #include <dpsim-models/EMT/EMT_Ph3_ReducedOrderSynchronGeneratorVBR.h>
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGenerator3OrderVBR.h>
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGenerator4OrderVBR.h>
+#include <dpsim-models/EMT/EMT_Ph3_SynchronGenerator4OrderPCM.h>
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGenerator6aOrderVBR.h>
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGenerator6bOrderVBR.h>
 #include <dpsim-models/EMT/EMT_Ph3_SynchronGeneratorDQ.h>

dpsim-models/include/dpsim-models/DP/DP_Ph1_DPDQInterface.h

@@ -0,0 +1,52 @@
+/* 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/Definitions.h>
+
+namespace CPS {
+namespace DP {
+namespace Ph1 {
+	/// @brief Class providing interface with DP domain for all components in DQ domain
+	class DPDQInterface {
+
+		protected:
+			/// Transform from DQ to DP domain
+			MatrixFixedSize<2,2> mDQToDPTransform;
+			/// Transform from DP to DQ domain
+			MatrixFixedSize<2,2> mDPToDQTransform;
+
+			/// Shifting frequency of the DP domain (assumed to be constant)
+			Real mOmegaShift;
+
+		public:
+			/// Constructor
+			DPDQInterface() {}
+
+			/// Setter for shit frequency
+			void setDPShiftFrequency(const Real & omegaShift);
+
+			/// Getter for transform from DQ to DP domain
+			MatrixFixedSize<2,2> DQToDPTransform() { return mDQToDPTransform; };
+			/// Getter for transform from DP to DQ domain
+			MatrixFixedSize<2,2> DPToDQTransform() { return mDPToDQTransform; };
+
+			/// Update transformation matrix from DQ to DP
+			void updateDQToDPTransform(const Real & thetaDQ, const Real & simTime);
+			/// Update transformation matrix from DP to DQ
+			void updateDPToDQTransform(const Real & thetaDQ, const Real & simTime);
+
+			/// Apply transform to obtain current complex DP
+			Complex applyDQToDPTransform(const MatrixFixedSize<2,1> & dqMatrix);
+			/// Apply transform to obtain current DQ vector
+			MatrixFixedSize<2,1> applyDPToDQTransform(const Complex& dpComplex);
+    };
+}
+}
+}

dpsim-models/include/dpsim-models/DP/DP_Ph1_ReducedOrderSynchronGeneratorVBR.h

@@ -10,6 +10,7 @@
 
 #include <dpsim-models/Base/Base_ReducedOrderSynchronGenerator.h>
 #include <dpsim-models/Solver/MNAVariableCompInterface.h>
+#include <dpsim-models/DP/DP_Ph1_DPDQInterface.h>
 
 namespace CPS {
 namespace DP {
@@ -27,30 +28,12 @@ namespace Ph1 {
 		Complex mIvbr;
 
 	protected:
+		/// Interface used to transform between DP and DQ vars
+		DPDQInterface mDomainInterface;
         /// Resistance matrix in dq reference frame
 		Matrix mResistanceMatrixDq;
 		/// Conductance matrix phase A
 		MatrixFixedSize<2, 2> mConductanceMatrix;
-		/// Ka Matrix
-		MatrixComp mKa;
-		/// Kb Matrix
-		MatrixComp mKb;
-		/// Kb Matrix
-		MatrixComp mKc;
-		/// Constant part of Resistance matrix in abc reference frame
-		Matrix mResistanceMatrix_const;
-		/// phase a equivalent part of mKa
-		Complex mKa_1ph;
-		/// phase a equivalent part of mKb
-		Complex mKb_1ph;
-		/// phase a equivalent part of mResistanceMatrix_const
-		Complex mR_const_1ph;
-		/// Vector to create abc vector from a component
-		MatrixComp mShiftVector;
-		/// complex conjugate of mShiftVector
-		MatrixComp mShiftVectorConj;
-		/// Matrix to convert Evbr from dq domain to abc domain (only phase a)
-		MatrixComp mKvbr;
 
         /// Constructor
         ReducedOrderSynchronGeneratorVBR(const String & uid, const String & name, Logger::Level logLevel);
@@ -59,16 +42,12 @@ namespace Ph1 {
 	  	// #### General Functions ####
         /// Specific component initialization
         virtual void specificInitialization() override =0;
-        ///
-		void initializeResistanceMatrix() override;
         ///
         virtual void stepInPerUnit() override =0;
 		///
-        void calculateConductanceMatrix();
-		/// Calculate Ka, Kb and Kvbr
-		void calculateAuxiliarVariables();
+        virtual void calculateConductanceMatrix();
 		///
-		Matrix get_parkTransformMatrix() const;
+		void initializeResistanceMatrix() final {};
 
 		// ### MNA Section ###
 		void mnaCompApplySystemMatrixStamp(SparseMatrixRow& systemMatrix) override;

dpsim-models/include/dpsim-models/DP/DP_Ph1_SynchronGenerator4OrderPCM.h

@@ -0,0 +1,96 @@
+/* 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/Solver/MNASyncGenInterface.h>
+#include <dpsim-models/Base/Base_ReducedOrderSynchronGenerator.h>
+#include <dpsim-models/DP/DP_Ph1_DPDQInterface.h>
+
+namespace CPS {
+namespace DP {
+namespace Ph1 {
+	/// @brief 4 Order Synchronous generator model for transient stability analysis
+	///
+	/// This model is based on Eremia section 2.1.6.
+	/// Modeling approach: delayed current injection + predictor corrector method
+	class SynchronGenerator4OrderPCM :
+		public Base::ReducedOrderSynchronGenerator<Complex>,
+		public MNASyncGenInterface,
+		public SharedFactory<SynchronGenerator4OrderPCM> {
+	public:
+		///
+		SynchronGenerator4OrderPCM(const String& uid, const String& name, Logger::Level logLevel = Logger::Level::off);
+		///
+		SynchronGenerator4OrderPCM(const String& name, Logger::Level logLevel = Logger::Level::off);
+		///
+		SimPowerComp<Complex>::Ptr clone(const String& name);
+
+		// #### General Functions ####
+		///
+		void specificInitialization() override;
+		///
+		void calculateStateSpaceMatrices();
+		///
+		void stepInPerUnit() override;
+		//
+		void correctorStep() override;
+		///
+		void updateVoltage(const Matrix& leftVector) override;
+		///
+		bool requiresIteration() override;
+		///
+		void initializeResistanceMatrix() final {};
+
+		/// Warning if this method is applied: the model is exclusively implemented as current source and this setter will have no impact!
+		void setModelAsNortonSource(Bool modelAsCurrentSource) override {
+			SPDLOG_LOGGER_WARN(mSLog, "This model can exclusively be used as current source. The setter setModelAsNortonSource will have no impact on the model!");
+		}
+
+		// #### MNA Functions ####
+		///
+		void mnaCompApplyRightSideVectorStamp(Matrix& rightVector) final;
+		///
+		void mnaCompPostStep(const Matrix& leftVector) final;
+		///
+		void mnaCompApplySystemMatrixStamp(SparseMatrixRow& systemMatrix) final {};
+
+	protected:
+		/// Interface used to transform between DP and DQ vars
+		DPDQInterface mDomainInterface;
+
+		// #### Model specific variables ####
+		/// Transient emf
+		const Attribute<Matrix>::Ptr mEdq_t;
+
+		// Variables saving values for later use
+		/// Trapedzoidal based state space matrix Ad
+		Matrix mAdTrapezoidal;
+		/// Trapedzoidal based state space matrix Bd
+		Matrix mBdTrapezoidal;
+		/// Trapedzoidal based state space matrix Cd
+		Matrix mCdTrapezoidal;
+		/// Edqt at k
+		Matrix mEdqtPrevStep;
+		/// Idq at k
+		Matrix mIdqPrevStep;
+		/// Vdq at k
+		Matrix mVdqPrevStep;
+		/// Vdq at j-1
+		Matrix mVdqPrevIter;
+
+		/// A matrix of continuous time state space model
+		Matrix mAStateSpace = Matrix::Zero(2,2);
+		/// B matrix of continuous time state space model
+		Matrix mBStateSpace = Matrix::Zero(2,2);
+		/// C matrix of continuous time state space model
+		Matrix mCStateSpace = Matrix::Zero(2,1);
+	};
+}
+}
+}

dpsim-models/include/dpsim-models/DP/DP_Ph1_SynchronGenerator4OrderTPM.h

@@ -0,0 +1,108 @@
+/* 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/Solver/MNASyncGenInterface.h>
+#include <dpsim-models/Base/Base_ReducedOrderSynchronGenerator.h>
+#include <dpsim-models/DP/DP_Ph1_DPDQInterface.h>
+
+namespace CPS {
+namespace DP {
+namespace Ph1 {
+	/// @brief 4 Order Synchronous generator model for transient stability analysis
+	///
+	/// This model is based on Eremia section 2.1.6.
+	/// Modeling approach: thevenin prediction method
+	class SynchronGenerator4OrderTPM :
+		public Base::ReducedOrderSynchronGenerator<Complex>,
+		public MNASyncGenInterface,
+		public SharedFactory<SynchronGenerator4OrderTPM> {
+	protected:
+		/// Interface used to transform between DP and DQ vars
+		DPDQInterface mDomainInterface;
+
+		/// Constant part as conductance matrix
+		Matrix mConductanceMatrixConst = Matrix::Zero(2,2);
+		/// Varying part as resistance matrix
+		Matrix mResistanceMatrixVarying = Matrix::Zero(2,2);
+
+		// #### Model specific variables ####
+		/// Transient emf
+		const Attribute<Matrix>::Ptr mEdq_t;
+		/// Original history voltage of VBR model
+		Matrix mEh = Matrix::Zero(2,1);
+		/// Modified history voltage of TPM model
+        const Attribute<Complex>::Ptr mEhMod;
+		/// Norton equivalent current of EhMod
+		Complex mIhMod;
+
+		// Variables saving values for later use
+		/// Trapedzoidal based state space matrix Ad
+		Matrix mAdStateSpace;
+		/// Trapedzoidal based state space matrix Bd
+		Matrix mBdStateSpace;
+		/// Trapedzoidal based state space matrix Cd
+		Matrix mCdStateSpace;
+		/// Idp at k-1
+		MatrixComp mIdpTwoPrevStep;
+		/// Vdq at k
+		Matrix mVdqPrevStep;
+		/// Vdq at j-1
+		Matrix mVdqPrevIter;
+		/// Edq_t at k
+		Matrix mEdqtPrevStep;
+
+		/// A matrix of continuous time state space model
+		Matrix mAStateSpace = Matrix::Zero(2,2);
+		/// B matrix of continuous time state space model
+		Matrix mBStateSpace = Matrix::Zero(2,2);
+		/// C matrix of continuous time state space model
+		Matrix mCStateSpace = Matrix::Zero(2,1);
+	public:
+		///
+		SynchronGenerator4OrderTPM(String uid, String name, Logger::Level logLevel = Logger::Level::off);
+		///
+		SynchronGenerator4OrderTPM(String name, Logger::Level logLevel = Logger::Level::off);
+		///
+		SimPowerComp<Complex>::Ptr clone(String name);
+
+		// #### General Functions ####
+		/// Initializes component from power flow data
+		void specificInitialization() override;
+		///
+		void calculateStateSpaceMatrices();
+		///
+		void calculateConstantConductanceMatrix();
+		///
+		void stepInPerUnit() override;
+		///
+		void correctorStep() override;
+		///
+		void updateVoltage(const Matrix& leftVector) override;
+		///
+		bool requiresIteration() override;
+
+		///
+		void initializeResistanceMatrix() final {};
+
+		// #### MNA Functions ####
+		///
+		void mnaCompApplyRightSideVectorStamp(Matrix& rightVector) override;
+		///
+		void mnaCompPostStep(const Matrix& leftVector) override;
+		///
+		void mnaCompApplySystemMatrixStamp(SparseMatrixRow& systemMatrix) override;
+
+		void setOperationalParametersPerUnit(Real nomPower,
+			Real nomVolt, Real nomFreq, Real H, Real Ld, Real Lq, Real L0,
+			Real Ld_t, Real Lq_t, Real Td0_t, Real Tq0_t);
+	};
+}
+}
+}