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Added defining equations
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Signed-off-by: Marvin Tollnitsch <marvin.tollnitsch@rwth-aachen.de>
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@MarvinTollnitschRWTH
MarvinTollnitschRWTH committed Feb 28, 2024
1 parent 7689a6d commit ad08d4a
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Showing 2 changed files with 43 additions and 5 deletions.
10 changes: 9 additions & 1 deletion dpsim-models/include/dpsim-models/EMT/EMT_Ph3_SynchronGenerator4OrderSSN.h
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Original file line number Diff line number Diff line change
Expand Up @@ -59,7 +59,15 @@ class SynchronGenerator4OrderSSN:
double omega_old;

private:

//constants
const double C_d = (mTimeStep*X_D)/(2.*T_d0*X_D+mTimeStep*X_d);
const double C_dd = (mTimeStep*(X_d-X_D))/(2.*T_d0*X_D+mTimeStep*X_d);
const double C_0dd = (2.*T_d0*X_D-mTimeStep*X_d)/(2.*T_d0*X_D+mTimeStep*X_d);
const double C_qq = (mTimeStep*(X_q-X_Q))/(2.*T_q0*X_Q+mTimeStep*X_q);
const double C_0qq = (2.*T_q0*X_Q-mTimeStep*X_q)/(2.*T_q0*X_Q+mTimeStep*X_q);
const double C_wbq = (mTimeStep*mTimeStep*omega_base)/(4.*H*X_Q);
const double C_wbd = (mTimeStep*mTimeStep*omega_base)/(4.*H*X_D);
const double C_wb = (mTimeStep*mTimeStep*omega_base)/(8.*H);
}
}
}
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38 changes: 34 additions & 4 deletions dpsim-models/src/EMT/EMT_Ph3_SynchronGenerator4OrderSSN.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -20,6 +20,7 @@ void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::calculateNonlinearFunctionResult
**intfCurrent(1,0) = ((Eq-Vq)/Xd)*cos(theta - (2*M_PI/3)) - ((Vd-Ed)/Xq)*sin(theta - (2*M_PI/3));
**intfCurrent(2,0) = ((Eq-Vq)/Xd)*cos(theta + (2*M_PI/3)) - ((Vd-Ed)/Xq)*sin(theta + (2*M_PI/3));

///FIXME: f_theta instead of theta
theta = ((mTimeStep*mTimeStep*omega_base)/(8.*H))*P_mech - ((mTimeStep*mTimeStep*omega_base)/(8.*H))*((Vd*Vd)/Xq_dash)
+((mTimeStep*mTimeStep*omega_base)/(8.*H))*((Vd)/Xq_dash)*(
((mTimeStep*(Xq-Xq_dash))/(2*Tq0_dash*Xq_dash+mTimeStep*Xq))*Vd+((mTimeStep*(Xq-Xq_dash))/(2.*Tq0_dash*Xq_dash+mTimeStep*Xq))*Vd_old
Expand Down Expand Up @@ -100,7 +101,7 @@ void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::mnaCompApplySystemMatrixStamp(Ma
Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(0, 1), -Jacobian(2, 1));
Math::addToMatrixElement(systemMatrix, matrixNodeIndex(1, 2), matrixNodeIndex(0, 2), -Jacobian(2, 2));
}
//Internal Voltages are v1-v0: Positive for Terminal 1, negative for terminal 0 (Thus also the signs for Jacobian(2, 3) above).
//Internal Voltages are v1-v0: Positive for Terminal 1, negative for terminal 0
//Theta is not a difference: We only have one "virtual terminal" for it.

Math::addToMatrixElement(systemMatrix, mVirtualNodes[0]->matrixNodeIndex(PhaseType::Single), matrixNodeIndex(0, 0) ,-Jacobian(3, 0));
Expand All @@ -119,16 +120,26 @@ void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::mnaCompApplySystemMatrixStamp(Ma

void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::mnaCompInitialize(Real omega, Real timeStep, Attribute<Matrix>::Ptr leftVector) {
updateMatrixNodeIndices();


}

void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::mnaCompApplyRightSideVectorStamp(Matrix& rightVector) {
//Phase current output equations do not contain constant history terms

//Math::setVectorElement(rightVector, matrixNodeIndex(0, PhaseType::A), 0.);
//Math::setVectorElement(rightVector, matrixNodeIndex(0, PhaseType::B), 0.);
//Math::setVectorElement(rightVector, matrixNodeIndex(0, PhaseType::C), 0.);

//Math::setVectorElement(rightVector, matrixNodeIndex(0, PhaseType::A), 0.);
//Math::setVectorElement(rightVector, matrixNodeIndex(0, PhaseType::B), 0.);
//Math::setVectorElement(rightVector, matrixNodeIndex(0, PhaseType::C), 0.);

//Equation for theta does contain constant history terms:

double linear_theta_hist = -C_wb*(P_mech_old-(V_d_old*V_d_old/X_Q)+(V_d_old*E_d_old/X_Q)-(V_q_old*E_q_old/X_D)+(V_q*V_q/X_D))-(0.5*timeStep*omega_old)-(0.5*timeStep*omega_base(omega_old-2.))-omega_old-1.;
Math::setVectorElement(rightVector, mVirtualNodes[0]->matrixNodeIndex(PhaseType::Single), linear_theta_hist);
}

void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::mnaCompAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) {
// actually depends on C, but then we'd have to modify the system matrix anyway
modifiedAttributes.push_back(mRightVector);
prevStepDependencies.push_back(mIntfCurrent);
prevStepDependencies.push_back(mIntfVoltage);
Expand Down Expand Up @@ -178,8 +189,27 @@ void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::iterationUpdate(const Matrix& le

void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::updateJacobian()
{
Jacobian(0,0)=(cos(theta)*sin(theta)*(1.-C_dd)/X_D)-(cos(theta)*sin(theta)*(1.-C_qq)/X_Q);
Jacobian(0,1)=(cos(theta)*sin(theta-(2.*M_PI/3.))*(1.-C_dd)/X_D)-(cos(theta-(2.*M_PI/3.))*sin(theta)*(1.-C_qq)/X_Q);
Jacobian(0,2)=(cos(theta)*sin(theta+(2.*M_PI/3.))*(1.-C_dd)/X_D)-(cos(theta+(2.*M_PI/3.))*sin(theta)*(1.-C_qq)/X_Q);
Jacobian(0,3)=(cos(theta)/X_D)*(V_a*cos(theta)+V_b*cos(theta-(2.*M_PI/3.))+V_c*cos(theta+(2.*M_PI/3.)))*(1.-C_dd)-(sin(theta)/X_D)*(E_q-V_q)+(sin(theta)/X_Q)*(V_a*sin(theta)+V_b*sin(theta-(2.*M_PI/3.))+V_c*sin(theta+(2.*M_PI/3.)))*(1.-C_qq)+(cos(theta)/X_Q)*(E_d-V_d);
Jacobian(1,0)=(cos(theta-(2.*M_PI/3.))*sin(theta)*(1.-C_dd)/X_D)-(cos(theta)*sin(theta-(2.*M_PI/3.))*(1.-C_qq)/X_Q);
Jacobian(1,1)=(cos(theta-(2.*M_PI/3.))*sin(theta-(2.*M_PI/3.))*(1.-C_dd)/X_D)-(cos(theta-(2.*M_PI/3.))*sin(theta-(2.*M_PI/3.))*(1.-C_qq)/X_Q);
Jacobian(1,2)=(cos(theta-(2.*M_PI/3.))*sin(theta+(2.*M_PI/3.))*(1.-C_dd)/X_D)-(cos(theta+(2.*M_PI/3.))*sin(theta-(2.*M_PI/3.))*(1.-C_qq)/X_Q);
Jacobian(1,3)=(cos(theta-(2.*M_PI/3.))/X_D)*(V_a*cos(theta)+V_b*cos(theta-(2.*M_PI/3.))+V_c*cos(theta+(2.*M_PI/3.)))*(1.-C_dd)-(sin(theta-(2.*M_PI/3.))/X_D)*(E_q-V_q)+(sin(theta-(2.*M_PI/3.))/X_Q)*(V_a*sin(theta)+V_b*sin(theta-(2.*M_PI/3.))+V_c*sin(theta+(2.*M_PI/3.)))*(1.-C_qq)+(cos(theta-(2.*M_PI/3.))/X_Q)*(E_d-V_d);
Jacobian(2,0)=(cos(theta+(2.*M_PI/3.))*sin(theta)*(1.-C_dd)/X_D)-(cos(theta)*sin(theta+(2.*M_PI/3.))*(1.-C_qq)/X_Q);
Jacobian(2,1)=(cos(theta+(2.*M_PI/3.))*sin(theta-(2.*M_PI/3.))*(1.-C_dd)/X_D)-(cos(theta-(2.*M_PI/3.))*sin(theta+(2.*M_PI/3.))*(1.-C_qq)/X_Q);
Jacobian(2,2)=(cos(theta+(2.*M_PI/3.))*sin(theta+(2.*M_PI/3.))*(1.-C_dd)/X_D)-(cos(theta+(2.*M_PI/3.))*sin(theta+(2.*M_PI/3.))*(1.-C_qq)/X_Q);
Jacobian(2,3)=(cos(theta+(2.*M_PI/3.))/X_D)*(V_a*cos(theta)+V_b*cos(theta-(2.*M_PI/3.))+V_c*cos(theta+(2.*M_PI/3.)))*(1.-C_dd)-(sin(theta+(2.*M_PI/3.))/X_D)*(E_q-V_q)+(sin(theta+(2.*M_PI/3.))/X_Q)*(V_a*sin(theta)+V_b*sin(theta-(2.*M_PI/3.))+V_c*sin(theta+(2.*M_PI/3.)))*(1.-C_qq)+(cos(theta+(2.*M_PI/3.))/X_Q)*(E_d-V_d);
Jacobian(3,0)=C_wbq*V_d*cos(theta)*(1.-C_qq)-0.5*C_wbq*cos(theta)*(C_qq*V_d_old+C_0qq*E_d_old)-C_wbd*V_q*sin(theta)*(C_dd-1.)-0.5*C_wbd*sin(theta)*(C_d*(E_f+E_f_old)+C_0dd*E_q_old+C_dd*V_q_old);
Jacobian(3,1)=C_wbq*V_d*cos(theta-(2.*M_PI/3.))*(1.-C_qq)-0.5*C_wbq*cos(theta-(2.*M_PI/3.))*(C_qq*V_d_old+C_0qq*E_d_old)-C_wbd*V_q*sin(theta-(2.*M_PI/3.))*(C_dd-1.)-0.5*C_wbd*sin(theta-(2.*M_PI/3.))*(C_d*(E_f+E_f_old)+C_0dd*E_q_old+C_dd*V_q_old);
Jacobian(3,2)=C_wbq*V_d*cos(theta+(2.*M_PI/3.))*(1.-C_qq)-0.5*C_wbq*cos(theta+(2.*M_PI/3.))*(C_qq*V_d_old+C_0qq*E_d_old)-C_wbd*V_q*sin(theta+(2.*M_PI/3.))*(C_dd-1.)-0.5*C_wbd*sin(theta+(2.*M_PI/3.))*(C_d*(E_f+E_f_old)+C_0dd*E_q_old+C_dd*V_q_old);
Jacobian(3,3)=C_wbq*V_d*(V_a*sin(theta)+V_b*sin(theta-(2.*M_PI/3.))+V_c*sin(theta+(2.*M_PI/3.)))*(1.-C_qq)-0.5*C_wbq*(V_a*sin(theta)+V_b*sin(theta-(2.*M_PI/3.))+V_c*sin(theta+(2.*M_PI/3.)))*(C_qq*V_d_old+C_0qq*E_d_old)+C_wbd*V_q*(V_a*cos(theta)+V_b*cos(theta-(2.*M_PI/3.))+V_c*cos(theta+(2.*M_PI/3.)))*(C_dd-1.)+0.5*C_wbd*(V_a*cos(theta)+V_b*cos(theta-(2.*M_PI/3.))+V_c*cos(theta+(2.*M_PI/3.)))*(C_d*(E_f+E_f_old)+C_0dd*E_q_old+C_dd*V_q_old)-1.;
}

void CPS::EMT::Ph3::SynchronGenerator4OrderSSN::updateStates()
{
E_d = C_qq*(V_d+V_d_old)+C_0qq*E_d_old;
E_q = C_dd*(V_q+V_q_old)+C_d*(E_f+E_f_old)+C_0dd*E_q_old;
omega = C_h*(P_mech-(V_d*V_d/X_Q)+(V_d*E_d/X_Q)-(V_q*E_q/X_d)+(V_q*V_q/X_D))+C_h*(P_mech_old-(V_d_old*V_d_old/X_Q)+(V_d_old*E_d_old/X_Q)-(V_q_old*E_q_old/X_D)+(V_q_old*V_q_old/X_D))+omega_old;
}

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