EMT_Ph3_SynchronGeneratorVBR.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
 
#include <dpsim-models/Base/Base_Exciter.h>
#include <dpsim-models/Base/Base_SynchronGenerator.h>
#include <dpsim-models/EMT/EMT_Ph1_Resistor.h>
#include <dpsim-models/EMT/EMT_Ph1_VoltageSource.h>
#include <dpsim-models/MNASimPowerComp.h>
#include <dpsim-models/Signal/TurbineGovernor.h>
#include <dpsim-models/Solver/MNAInterface.h>
#include <dpsim-models/Solver/MNAVariableCompInterface.h>
 
namespace CPS {
namespace EMT {
namespace Ph3 {
class SynchronGeneratorVBR : public MNASimPowerComp<Real>,
                             public Base::SynchronGenerator,
                             public MNAVariableCompInterface,
                             public SharedFactory<SynchronGeneratorVBR> {
protected:
  Real mDLmd;
  Real mDLmq;

  Real mLa;
  Real mLb;

  Real mDVq;
  Real mDVd;
  Real mDVa;
  Real mDVb;
  Real mDVc;

  Real mVa;
  Real mVb;
  Real mVc;

  Real mIa;
  Real mIb;
  Real mIc;

  Real mVq;
  Real mVd;
  Real mV0;

  Real mIq;
  Real mId;
  Real mI0;

  Real mPsikq1;
  Real mPsikq2;
  Real mPsikd;
  Real mPsifd;
  Real mPsimq;
  Real mPsimd;

  Real mVfd;

  Matrix mIabc = Matrix::Zero(3, 1);
  Matrix mVabc = Matrix::Zero(3, 1);
  Matrix mDVabc = Matrix::Zero(3, 1);

  Matrix mDqStatorCurrents = Matrix::Zero(2, 1);
  Real mIq_hist;
  Real mId_hist;
 
  // ### Useful Matrices ###
  Matrix mDInductanceMat = Matrix::Zero(3, 3);

  Matrix mPsikq1kq2 = Matrix::Zero(2, 1);
  Matrix mPsifdkd = Matrix::Zero(2, 1);
  Matrix mConductanceMat = Matrix::Zero(3, 3);
  Matrix mISourceEq = Matrix::Zero(3, 1);
  Matrix mDVqd = Matrix::Zero(2, 1);
  MatrixFixedSize<3, 3> R_eq_vbr = MatrixFixedSize<3, 3>::Zero(3, 3);
  Matrix E_eq_vbr = Matrix::Zero(3, 1);
  MatrixFixedSize<3, 3> mKrs_teta = MatrixFixedSize<3, 3>::Zero(3, 3);
  MatrixFixedSize<3, 3> mKrs_teta_inv = MatrixFixedSize<3, 3>::Zero(3, 3);

  Real c21_omega;
  Real c22_omega;
  Real c13_omega;
  Real c14_omega;
  MatrixFixedSize<2, 2> K1a = MatrixFixedSize<2, 2>::Zero(2, 2);
  Matrix K1b = Matrix::Zero(2, 1);
  Matrix K1 = Matrix::Zero(2, 1);
  MatrixFixedSize<2, 2> K2a = MatrixFixedSize<2, 2>::Zero(2, 2);
  Matrix K2b = Matrix::Zero(2, 1);
  Matrix K2 = Matrix::Zero(2, 1);
  Matrix H_qdr = Matrix::Zero(3, 1);
  Matrix h_qdr;
  MatrixFixedSize<3, 3> K = MatrixFixedSize<3, 3>::Zero(3, 3);
  Matrix mEsh_vbr = Matrix::Zero(3, 1);
  Matrix E_r_vbr = Matrix::Zero(3, 1);
  MatrixFixedSize<2, 2> K1K2 = MatrixFixedSize<2, 2>::Zero(2, 2);

  Real c11;
  Real c12;
  Real c23;
  Real c24;
  Real c15;
  Real c25;
  Real c26;
 
  Real b11;
  Real b12;
  Real b13;
  Real b21;
  Real b22;
  Real b23;
  Real b31;
  Real b32;
  Real b33;
  Real b41;
  Real b42;
  Real b43;
 
  Real E1_1d;
  Real E2_1d;
 
  MatrixFixedSize<2, 2> Ea = MatrixFixedSize<2, 2>::Zero(2, 2);
  Matrix E1b = Matrix::Zero(2, 1);
  // CHECK: E1 and F1 seem to be vectors (Zero(2, 1)) and not matrices
  Matrix E1 = Matrix::Zero(2, 2);
  MatrixFixedSize<2, 2> Fa = MatrixFixedSize<2, 2>::Zero(2, 2);
  Matrix F1b = Matrix::Zero(2, 1);
  Matrix F1 = Matrix::Zero(2, 2);
  MatrixFixedSize<2, 2> E2b = MatrixFixedSize<2, 2>::Zero(2, 2);
  MatrixFixedSize<2, 2> E2 = MatrixFixedSize<2, 2>::Zero(2, 2);
  MatrixFixedSize<2, 2> F2b = MatrixFixedSize<2, 2>::Zero(2, 2);
  MatrixFixedSize<2, 2> F2 = MatrixFixedSize<2, 2>::Zero(2, 2);
  Matrix F3b = Matrix::Zero(2, 1);
  Matrix F3 = Matrix::Zero(2, 2);
  Matrix C26 = Matrix::Zero(2, 1);
 
public:
  SynchronGeneratorVBR(String name, String uid,
                       Logger::Level logLevel = Logger::Level::off);
  SynchronGeneratorVBR(String name,
                       Logger::Level logLevel = Logger::Level::off);

  void setBaseAndFundamentalPerUnitParameters(
      Real nomPower, Real nomVolt, Real nomFreq, Int poleNumber,
      Real nomFieldCur, Real Rs, Real Ll, Real Lmd, Real Lmq, Real Rfd,
      Real Llfd, Real Rkd, Real Llkd, Real Rkq1, Real Llkq1, Real Rkq2,
      Real Llkq2, Real inertia);

  void setBaseAndOperationalPerUnitParameters(
      Real nomPower, Real nomVolt, Real nomFreq, Int poleNumber,
      Real nomFieldCur, Real Rs, Real Ld, Real Lq, Real Ld_t, Real Lq_t,
      Real Ld_s, Real Lq_s, Real Ll, Real Td0_t, Real Tq0_t, Real Td0_s,
      Real Tq0_s, Real inertia);

  void setInitialValues(Real initActivePower, Real initReactivePower,
                        Real initTerminalVolt, Real initVoltAngle,
                        Real initMechPower);

  void initialize(Matrix frequencies) override;

  void initializeFromNodesAndTerminals(Real frequency) override;

  void initialize(Real om, Real dt);

  void mnaCompInitialize(Real omega, Real timeStep,
                         Attribute<Matrix>::Ptr leftVector) override;

  void stepInPerUnit();

  Matrix parkTransform(Real theta, Real a, Real b, Real c);

  Matrix inverseParkTransform(Real theta, Real q, Real d, Real zero);

  void CalculateL();
  void CalculateAuxiliarConstants(Real dt);
  void CalculateAuxiliarVariables();

  //Matrix& rotorFluxes() { return mRotorFlux; }
  Matrix &dqStatorCurrents() { return mDqStatorCurrents; }
  Real electricalTorque() const { return **mElecTorque * mBase_T; }
  Real rotationalSpeed() const { return **mOmMech * mBase_OmMech; }
  Real rotorPosition() const { return mThetaMech; }
  Matrix &statorCurrents() { return mIabc; }
 
  // #### MNA section ####
  void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
  void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
  void mnaCompPreStep(Real time, Int timeStepCount) override;
  void mnaCompPostStep(Real time, Int timeStepCount,
                       Attribute<Matrix>::Ptr &leftVector) override;
  void mnaCompAddPreStepDependencies(
      AttributeBase::List &prevStepDependencies,
      AttributeBase::List &attributeDependencies,
      AttributeBase::List &modifiedAttributes) override;
  void
  mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
                                 AttributeBase::List &attributeDependencies,
                                 AttributeBase::List &modifiedAttributes,
                                 Attribute<Matrix>::Ptr &leftVector) override;
  Bool hasParameterChanged() override { return true; }
};
} // namespace Ph3
} // namespace EMT
} // namespace CPS