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Signed-off-by: martin.moraga <[email protected]>
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martinmoraga committed May 15, 2024
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276 changes: 140 additions & 136 deletions dpsim-models/include/dpsim-models/Signal/VSIControlType1.h
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#pragma once

#include <dpsim-models/SimSignalComp.h>
#include <dpsim-models/Base/Base_VSIControlDQ.h>
#include <dpsim-models/Logger.h>
#include <dpsim-models/SimSignalComp.h>

namespace CPS {
namespace Signal {

class VSIControlType1Parameters :
public Base::VSIControlParameters,
public SharedFactory<VSIControlType1Parameters> {

public:
///
Real Kpv;
///
Real Kiv;
///
Real Kpc;
///
Real Kic;
///
Real VdRef;
///
Real VqRef;
/// Equivalent time constant of the PT1 block
Real tau;
};

/// DOC: Controller for a grid-forming power converter,
/// which is implemented by using two cascaded
/// PI controllers working on the dq reference frame.
/// The output of the inverter is used as the reference voltage
/// for the voltage source of the inverter
/// Optional: if mModelAsCurrentSource == true, the PI controller
/// modelling the current loop is replaced by one equivalent PT1 block
/// In this case the output of the inverter is the equivalent current flowing
/// into the RLC-Filter, e.g. the reference for the current source
/// of the inverter
/// *** This controller does not consider the feedforward terms
/// Ref.: Joan Rocabert, Control of Power Converters in AC Microgrids
/// & BA of Matthias Mees
class VSIControlType1 :
public SimSignalComp,
public Base::VSIControlDQ,
public SharedFactory<VSIControlType1> {

public:
/// @brief VBR auxiliar variables
Real mA_VBR;
Real mB_VBR;
Real mB2_VBR;
Real mC_VBR;
Real mD_VBR;
Real mE_VBR;

private:
/// Controller Parameters
std::shared_ptr<VSIControlType1Parameters> mParameters;

/// Controller variables
/// state variable of the outer loop (d-component)
const Attribute<Real>::Ptr mPhi_d;
/// state variable of the outer loop (q-component)
const Attribute<Real>::Ptr mPhi_q;
/// state variable of the inner loop (d-component)
const Attribute<Real>::Ptr mGamma_d;
/// state variable of the inner loop (q-component)
const Attribute<Real>::Ptr mGamma_q;

// State space matrices
/// matrix A of state space model
Matrix mA = Matrix::Zero(4, 4);
/// matrix B of state space model
Matrix mB = Matrix::Zero(4, 6);
/// matrix C of state space model
Matrix mC = Matrix::Zero(2, 4);
/// matrix D of state space model
Matrix mD = Matrix::Zero(2, 6);

/// Trapedzoidal based state space matrix A
Matrix mATrapezoidal;
/// Trapedzoidal based state space matrix B
Matrix mBTrapezoidal;
/// Trapedzoidal based state space matrix Matrix::Zero(2,1)
Matrix mCTrapezoidal;

// input, state and output vectors
// matrixes of the seperate control loops previous and current
/// Previous Input
const Attribute<Matrix>::Ptr mInputPrev;
/// Current Input
const Attribute<Matrix>::Ptr mInputCurr;
/// Previous State
const Attribute<Matrix>::Ptr mStatePrev;
/// Current State
const Attribute<Matrix>::Ptr mStateCurr;
/// Output
const Attribute<Matrix>::Ptr mOutput;

/// ### VBR Auxiliar Variables ###
Complex mVcap_dq;
Complex mIfilter_dq;
Real mIref_d;
Real mIref_q;

public:
///
explicit VSIControlType1(const String & name, CPS::Logger::Level logLevel) :
SimSignalComp(name, name, logLevel),
mPhi_d(mAttributes->create<Real>("Phi_d", 0)),
mPhi_q(mAttributes->create<Real>("Phi_q", 0)),
mGamma_d(mAttributes->create<Real>("Gamma_d", 0)),
mGamma_q(mAttributes->create<Real>("Gamma_q", 0)),
mInputPrev(mAttributes->create<Matrix>("input_prev", Matrix::Zero(6,1))),
mInputCurr(mAttributes->create<Matrix>("input_curr", Matrix::Zero(6,1))),
mStatePrev(mAttributes->create<Matrix>("state_prev", Matrix::Zero(4,1))),
mStateCurr(mAttributes->create<Matrix>("state_curr", Matrix::Zero(4,1))),
mOutput(mAttributes->create<Matrix>("output", Matrix::Zero(2,1))) { }

/// Constructor with log level
VSIControlType1(const String & name);

/// Sets Parameters of the vsi controller
void setParameters(std::shared_ptr<Base::VSIControlParameters> parameters) final;

///
void calculateVBRconstants() final;

/// Initialises the initial state of the vsi controller
void initialize(const Complex& Vsref_dq, const Complex& Vcap_dq,
const Complex& Ifilter_dq, Real time_step, Bool modelAsCurrentSource) final;

/// Performs a step to update all state variables and the output
Complex step(const Complex& Vcap_dq, const Complex& Ifilter_dq) final;

///
Complex stepVBR(const Complex& Vcap_dq, const Complex& Ifilter_dq) final;

};

}
}
class VSIControlType1Parameters
: public Base::VSIControlParameters,
public SharedFactory<VSIControlType1Parameters> {

public:
///
Real Kpv;
///
Real Kiv;
///
Real Kpc;
///
Real Kic;
///
Real VdRef;
///
Real VqRef;
/// Equivalent time constant of the PT1 block
Real tau;
};

/// DOC: Controller for a grid-forming power converter,
/// which is implemented by using two cascaded
/// PI controllers working on the dq reference frame.
/// The output of the inverter is used as the reference voltage
/// for the voltage source of the inverter
/// Optional: if mModelAsCurrentSource == true, the PI controller
/// modelling the current loop is replaced by one equivalent PT1 block
/// In this case the output of the inverter is the equivalent current flowing
/// into the RLC-Filter, e.g. the reference for the current source
/// of the inverter
/// *** This controller does not consider the feedforward terms
/// Ref.: Joan Rocabert, Control of Power Converters in AC Microgrids
/// & BA of Matthias Mees
class VSIControlType1 : public SimSignalComp,
public Base::VSIControlDQ,
public SharedFactory<VSIControlType1> {

public:
/// @brief VBR auxiliar variables
Real mA_VBR;
Real mB_VBR;
Real mB2_VBR;
Real mC_VBR;
Real mD_VBR;
Real mE_VBR;

private:
/// Controller Parameters
std::shared_ptr<VSIControlType1Parameters> mParameters;

/// Controller variables
/// state variable of the outer loop (d-component)
const Attribute<Real>::Ptr mPhi_d;
/// state variable of the outer loop (q-component)
const Attribute<Real>::Ptr mPhi_q;
/// state variable of the inner loop (d-component)
const Attribute<Real>::Ptr mGamma_d;
/// state variable of the inner loop (q-component)
const Attribute<Real>::Ptr mGamma_q;

// State space matrices
/// matrix A of state space model
Matrix mA = Matrix::Zero(4, 4);
/// matrix B of state space model
Matrix mB = Matrix::Zero(4, 6);
/// matrix C of state space model
Matrix mC = Matrix::Zero(2, 4);
/// matrix D of state space model
Matrix mD = Matrix::Zero(2, 6);

/// Trapedzoidal based state space matrix A
Matrix mATrapezoidal;
/// Trapedzoidal based state space matrix B
Matrix mBTrapezoidal;
/// Trapedzoidal based state space matrix Matrix::Zero(2,1)
Matrix mCTrapezoidal;

// input, state and output vectors
// matrixes of the seperate control loops previous and current
/// Previous Input
const Attribute<Matrix>::Ptr mInputPrev;
/// Current Input
const Attribute<Matrix>::Ptr mInputCurr;
/// Previous State
const Attribute<Matrix>::Ptr mStatePrev;
/// Current State
const Attribute<Matrix>::Ptr mStateCurr;
/// Output
const Attribute<Matrix>::Ptr mOutput;

/// ### VBR Auxiliar Variables ###
Complex mVcap_dq;
Complex mIfilter_dq;
Real mIref_d;
Real mIref_q;

public:
///
explicit VSIControlType1(const String &name, CPS::Logger::Level logLevel)
: SimSignalComp(name, name, logLevel),
mPhi_d(mAttributes->create<Real>("Phi_d", 0)),
mPhi_q(mAttributes->create<Real>("Phi_q", 0)),
mGamma_d(mAttributes->create<Real>("Gamma_d", 0)),
mGamma_q(mAttributes->create<Real>("Gamma_q", 0)),
mInputPrev(
mAttributes->create<Matrix>("input_prev", Matrix::Zero(6, 1))),
mInputCurr(
mAttributes->create<Matrix>("input_curr", Matrix::Zero(6, 1))),
mStatePrev(
mAttributes->create<Matrix>("state_prev", Matrix::Zero(4, 1))),
mStateCurr(
mAttributes->create<Matrix>("state_curr", Matrix::Zero(4, 1))),
mOutput(mAttributes->create<Matrix>("output", Matrix::Zero(2, 1))) {}

/// Constructor with log level
VSIControlType1(const String &name);

/// Sets Parameters of the vsi controller
void
setParameters(std::shared_ptr<Base::VSIControlParameters> parameters) final;

///
void calculateVBRconstants() final;

/// Initialises the initial state of the vsi controller
void initialize(const Complex &Vsref_dq, const Complex &Vcap_dq,
const Complex &Ifilter_dq, Real time_step,
Bool modelAsCurrentSource) final;

/// Performs a step to update all state variables and the output
Complex step(const Complex &Vcap_dq, const Complex &Ifilter_dq) final;

///
Complex stepVBR(const Complex &Vcap_dq, const Complex &Ifilter_dq) final;
};

} // namespace Signal
} // namespace CPS
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