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dpsim-villas: fix Fpa9BusHil and close loop to make PHIL work.
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Signed-off-by: Niklas Eiling <niklas.eiling@eonerc.rwth-aachen.de>
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@n-eiling
n-eiling committed Nov 27, 2024
1 parent d2f8d9f commit 0ad6eae
Showing 1 changed file with 62 additions and 35 deletions.
97 changes: 62 additions & 35 deletions dpsim-villas/examples/cxx/Fpga9BusHil.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -10,8 +10,6 @@
#include <DPsim.h>
#include <dpsim-models/Attribute.h>
#include <dpsim-models/DP/DP_Ph1_CurrentSource.h>
#include <dpsim-models/DP/DP_Ph1_ProfileVoltageSource.h>
#include <dpsim-models/DP/DP_Ph1_VoltageSource.h>
#include <dpsim-models/EMT/EMT_Ph3_RXLoad.h>
#include <dpsim-models/SimNode.h>
#include <dpsim-villas/InterfaceVillas.h>
Expand Down Expand Up @@ -84,9 +82,9 @@ const std::string buildFpgaConfig(CommandLineArgs &args) {
return config;
}

SystemTopology hilTopology(CommandLineArgs &args, std::shared_ptr<Interface> intf, std::shared_ptr<DataLoggerInterface> logger) {
std::pair<SystemTopology, std::shared_ptr<std::vector<Event::Ptr>>> hilTopology(CommandLineArgs &args, std::shared_ptr<Interface> intf, std::shared_ptr<DataLoggerInterface> logger) {
std::string simName = "Fpga9BusHil";

auto events = std::make_shared<std::vector<Event::Ptr>>();
std::list<fs::path> filenames = Utils::findFiles({"WSCC-09_DI.xml", "WSCC-09_EQ.xml", "WSCC-09_SV.xml", "WSCC-09_TP.xml"}, "build/_deps/cim-data-src/WSCC-09/WSCC-09", "CIMPATH");

// ----- POWERFLOW FOR INITIALIZATION -----
Expand Down Expand Up @@ -120,46 +118,77 @@ SystemTopology hilTopology(CommandLineArgs &args, std::shared_ptr<Interface> int

sys.initWithPowerflow(systemPF, CPS::Domain::EMT);

// Extend topology with switch
// auto sw = Ph1::Switch::make("StepLoad");
// sw->setParameters(1e9, 0.1);
// sw->connect({SimNode::GND, sys.node<SimNode>("BUS6")});
// sw->open();
// sys.addComponent(sw);

// sys.component<CPS::SimPowerComp>("BUS1")->

// auto cs = Ph1::CurrentSource::make("cs");
// cs->setParameters(Complex(0, 0));
// cs->connect({SimNode::GND, sys.node<SimNode>("BUS6")});

// sys.addComponent(cs);

sys.component<CPS::EMT::Ph3::RXLoad>("LOAD5")->setParameters(Matrix({{125e6, 0, 0}, {0, 125e6, 0}, {0, 0, 125e6}}), Matrix({{90e6, 0, 0}, {0, 90e6, 0}, {0, 0, 90e6}}), 230e3, true);

sys.component<CPS::EMT::Ph3::RXLoad>("LOAD8")->setParameters(Matrix({{100e6, 0, 0}, {0, 100e6, 0}, {0, 0, 100e6}}), Matrix({{30e6, 0, 0}, {0, 30e6, 0}, {0, 0, 30e6}}), 230e3, true);

sys.component<CPS::EMT::Ph3::RXLoad>("LOAD6")->setParameters(Matrix({{90e6, 0, 0}, {0, 90e6, 0}, {0, 0, 90e6}}), Matrix({{30e6, 0, 0}, {0, 30e6, 0}, {0, 0, 30e6}}), 230e3, true);

auto cs = Ph1::CurrentSource::make("cs");
cs->setParameters(Complex(0, 0));
cs->connect({SimNode::GND, sys.node<SimNode>("BUS6")});

sys.addComponent(cs);

// Interface
auto seqnumAttribute = CPS::AttributeStatic<Int>::make(0);
auto current = CPS::AttributeStatic<Real>::make(0);
// auto current = CPS::AttributeStatic<Real>::make(0);

auto scaledOutputVoltage = CPS::AttributeDynamic<Real>::make(0);
auto updateFn =
std::make_shared<CPS::AttributeUpdateTask<Real, Real>::Actor>([](std::shared_ptr<Real> &dependent, typename CPS::Attribute<Real>::Ptr dependency) { *dependent = *dependency / 230000; });
// We scale the voltage so we map the nominal voltage in the simulation (230kV) to a nominal real peak voltage
// of 15V. The amplifier has a gain of 20, so the voltage before the amplifier is 1/20 of the voltage at the load.
constexpr double voltage_scale = 15. * 1.414 / (230e3 * 20.);
auto updateFn = std::make_shared<CPS::AttributeUpdateTask<Real, Real>::Actor>([](std::shared_ptr<Real> &dependent, typename CPS::Attribute<Real>::Ptr dependency) {
*dependent = *dependency * voltage_scale;
if (*dependent > 1.) {
*dependent = 1.;
} else if (*dependent < -1.) {
*dependent = -1.;
}
});
scaledOutputVoltage->addTask(CPS::UpdateTaskKind::UPDATE_ON_GET,
CPS::AttributeUpdateTask<Real, Real>::make(CPS::UpdateTaskKind::UPDATE_ON_GET, *updateFn, sys.node<SimNode>("BUS6")->mVoltage->deriveCoeff<Real>(0, 0)));
auto voltageInterfaceActive = CPS::AttributeStatic<CPS::Bool>::make(false);
auto voltageActiveFn = std::make_shared<CPS::AttributeUpdateTask<Real, Bool>::Actor>([](std::shared_ptr<Real> &dependent, typename CPS::Attribute<Bool>::Ptr dependency) {
if (!*dependency) {
*dependent = 0.;
}
});
scaledOutputVoltage->addTask(CPS::UpdateTaskKind::UPDATE_ON_GET, CPS::AttributeUpdateTask<Real, Bool>::make(CPS::UpdateTaskKind::UPDATE_ON_GET, *voltageActiveFn, voltageInterfaceActive));
// We activate the voltage interface after 2 seconds to allow the current sensors to stabilize.
auto activeVoltageEvent = AttributeEvent<Bool>::make(2., voltageInterfaceActive, true);
events->push_back(activeVoltageEvent);

// We scale the current using a gain so that we get a load in the simulation in the MVA range.
// Additionally, the current sensor (LXSR 6-NPS) has a sensitivity of 0.1042 V/A (from datasheet),
// we are using 3 turns, and we measured an offset voltage of -2.5268 V.
constexpr double current_scale = 100. / (3. * 0.1042);
constexpr double current_offset = -2.5268;
auto scaledCurrent = CPS::AttributeDynamic<Real>::make(0);
auto closedLoop = CPS::AttributeStatic<CPS::Bool>::make(false);
auto currentScaleFn = std::make_shared<CPS::AttributeUpdateTask<Real, Bool>::Actor>([](std::shared_ptr<Real> &dependent, typename CPS::Attribute<Bool>::Ptr dependency) {
if (!*dependency) {
*dependent = 0.;
} else {
*dependent = (*dependent + current_offset) * current_scale;
}
});
scaledCurrent->addTask(CPS::UpdateTaskKind::UPDATE_ON_SET, CPS::AttributeUpdateTask<Real, Bool>::make(CPS::UpdateTaskKind::UPDATE_ON_SET, *currentScaleFn, closedLoop));
auto closeLoopEvent = AttributeEvent<Bool>::make(2., closedLoop, true);
events->push_back(closeLoopEvent);

auto currentCopyFn = std::make_shared<CPS::AttributeUpdateTask<Real, Complex>::Actor>(
[](std::shared_ptr<Real> &dependent, typename CPS::Attribute<Complex>::Ptr dependency) { dependency->set(Complex(*dependent, 0)); });
scaledCurrent->addTask(CPS::UpdateTaskKind::UPDATE_ON_SET, CPS::AttributeUpdateTask<Real, Complex>::make(CPS::UpdateTaskKind::UPDATE_ON_SET, *currentCopyFn, cs->mCurrentRef));

intf->addImport(seqnumAttribute, true, true);
intf->addImport(current, true, true);
// intf->addImport(cs->mCurrentRef->deriveReal(), true, true);
intf->addImport(scaledCurrent, true, true);
intf->addExport(scaledOutputVoltage);

// Logger
if (logger) {
logger->logAttribute("v_scaled", scaledOutputVoltage);
logger->logAttribute("cs", current);
logger->logAttribute("interfaceVoltage", scaledOutputVoltage);
logger->logAttribute("interfaceCurrent", scaledCurrent);
logger->logAttribute("v1", sys.node<SimNode>("BUS1")->attribute("v"));
logger->logAttribute("v2", sys.node<SimNode>("BUS2")->attribute("v"));
logger->logAttribute("v3", sys.node<SimNode>("BUS3")->attribute("v"));
Expand All @@ -169,11 +198,8 @@ SystemTopology hilTopology(CommandLineArgs &args, std::shared_ptr<Interface> int
logger->logAttribute("v7", sys.node<SimNode>("BUS7")->attribute("v"));
logger->logAttribute("v8", sys.node<SimNode>("BUS8")->attribute("v"));
logger->logAttribute("v9", sys.node<SimNode>("BUS9")->attribute("v"));
// logger->logAttribute("wr_1", sys.component<CPS::EMT::Ph3::SynchronGeneratorDQTrapez>("GEN1")->attribute("w_r"));
// logger->logAttribute("wr_2", sys.component<CPS::EMT::Ph3::SynchronGeneratorDQTrapez>("GEN2")->attribute("w_r"));
// logger->logAttribute("wr_3", sys.component<CPS::EMT::Ph3::SynchronGeneratorDQTrapez>("GEN3")->attribute("w_r"));
}
return sys;
return {sys, events};
}

int main(int argc, char *argv[]) {
Expand All @@ -188,12 +214,15 @@ int main(int argc, char *argv[]) {
logger = RealTimeDataLogger::make(logFilename, args.duration, args.timeStep);
}

auto sys = hilTopology(args, intf, logger);
auto topo = hilTopology(args, intf, logger);

Simulation sim(args.name, args);
sim.setSystem(sys);
sim.setSystem(topo.first);
sim.addInterface(intf);
sim.setLogStepTimes(false);
for (auto event : *topo.second) {
sim.addEvent(event);
}

if (log) {
sim.addLogger(logger);
Expand All @@ -203,7 +232,5 @@ int main(int argc, char *argv[]) {

CPS::Logger::get("FpgaExample")->info("Simulation finished.");
sim.logStepTimes("FpgaExample");
sys.renderToFile("Fpga9BusHil.svg");
// std::ofstream of("task_dependencies.svg");
// sim.dependencyGraph().render(of);
topo.first.renderToFile("Fpga9BusHil.svg");
}

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