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fix implementation of VSI with PT1 glied
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Signed-off-by: Martin Moraga <[email protected]>
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@martinmoraga
martinmoraga committed Sep 6, 2023
1 parent e3e225d commit 87fe3ea
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Showing 2 changed files with 43 additions and 14 deletions.
8 changes: 8 additions & 0 deletions dpsim-models/include/dpsim-models/SP/SP_Ph1_VSIVoltageControlDQ.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,12 @@ namespace Ph1 {
/// Power Controller
std::shared_ptr<Signal::VoltageControllerVSI> mVoltageControllerVSI;

// ### Control parameters
Real mKiVoltageCtrl = 0;
Real mKiCurrCtrl = 0;
Real mKpVoltageCtrl = 0;
Real mKpCurrCtrl = 0;

// ### Electrical Subcomponents ###
/// Controlled voltage source
std::shared_ptr<SP::Ph1::VoltageSource> mSubCtrledVoltageSource;
Expand Down Expand Up @@ -141,6 +147,8 @@ namespace Ph1 {
void mnaParentAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) override;
/// Add MNA post step dependencies
void mnaParentAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, Attribute<Matrix>::Ptr &leftVector) override;
///
void mnaCompApplyRightSideVectorStamp(Matrix& rightVector) override;

// #### Control section ####
/// Control pre step operations
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49 changes: 35 additions & 14 deletions dpsim-models/src/SP/SP_Ph1_VSIVoltageControlDQ.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,7 +24,7 @@ SP::Ph1::VSIVoltageControlDQ::VSIVoltageControlDQ(String uid, String name, Logge
mElecPassivePower(mAttributes->create<Real>("Q_elec", 0)),
mIsd(mAttributes->create<Real>("Isd",0)),
mIsq(mAttributes->create<Real>("Isq",0)),
mIsref(mAttributes->createDynamic<MatrixComp>("Isref")),
mIsref(mAttributes->create<MatrixComp>("Isref")),
mVCOOutput(mAttributes->createDynamic<Real>("vco_output")),
mVoltagectrlInputs(mAttributes->createDynamic<Matrix>("voltagectrl_inputs")),
mVoltagectrlOutputs(mAttributes->createDynamic<Matrix>("voltagectrl_outputs")),
Expand Down Expand Up @@ -113,6 +113,10 @@ void SP::Ph1::VSIVoltageControlDQ::setTransformerParameters(Real nomVoltageEnd1,
}

void SP::Ph1::VSIVoltageControlDQ::setControllerParameters(Real Kp_voltageCtrl, Real Ki_voltageCtrl, Real Kp_currCtrl, Real Ki_currCtrl, Real Omega) {
mKiVoltageCtrl = Ki_voltageCtrl;
mKiCurrCtrl = Ki_currCtrl;
mKpVoltageCtrl = Kp_voltageCtrl;
mKpCurrCtrl = Kp_currCtrl;

SPDLOG_LOGGER_INFO(mSLog, "Control Parameters:");
SPDLOG_LOGGER_INFO(mSLog, "Voltage Loop: K_p = {}, K_i = {}", Kp_voltageCtrl, Ki_voltageCtrl);
Expand Down Expand Up @@ -182,7 +186,8 @@ void SP::Ph1::VSIVoltageControlDQ::initializeFromNodesAndTerminals(Real frequenc
mVirtualNodes[2]->setInitialVoltage(vcInit);

**mIsref= MatrixComp::Zero(1, 1);
(**mIsref)(0,0)= filterInterfaceInitialCurrent - icfInit;
(**mIsref)(0,0) = filterInterfaceInitialCurrent - icfInit;
std::cout << "Init mIsref = " << (**mIsref)(0,0) << std::endl;

// Connect electrical subcomponents
mSubResistorF->connect({ mVirtualNodes[0], mVirtualNodes[1] });
Expand Down Expand Up @@ -218,7 +223,7 @@ void SP::Ph1::VSIVoltageControlDQ::initializeFromNodesAndTerminals(Real frequenc
// Initialize control subcomponents
Complex vcdq, ircdq;
vcdq = Math::rotatingFrame2to1(mVirtualNodes[2]->initialSingleVoltage(), std::arg(mVirtualNodes[2]->initialSingleVoltage()), 0);
ircdq = Math::rotatingFrame2to1(-1. * (**mSubResistorC->mIntfCurrent)(0, 0), std::arg(mVirtualNodes[2]->initialSingleVoltage()), 0);
ircdq = Math::rotatingFrame2to1(-1. * (**mSubResistorF->mIntfCurrent)(0, 0), std::arg(mVirtualNodes[2]->initialSingleVoltage()), 0);

**mVcd = vcdq.real();
**mVcq = vcdq.imag();
Expand All @@ -227,6 +232,10 @@ void SP::Ph1::VSIVoltageControlDQ::initializeFromNodesAndTerminals(Real frequenc

// VCO input
mVCO->setInitialValues(**mVcq, std::arg(mVirtualNodes[2]->initialSingleVoltage()), std::arg(mVirtualNodes[2]->initialSingleVoltage()));

// initialize **mIsd, **mIsq
**mIsd = **mIrcd;
**mIsq = **mIrcq;
}

SPDLOG_LOGGER_INFO(mSLog,
Expand Down Expand Up @@ -264,6 +273,7 @@ void SP::Ph1::VSIVoltageControlDQ::mnaParentInitialize(Real omega, Real timeStep

void SP::Ph1::VSIVoltageControlDQ::addControlPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) {
// add pre-step dependencies of subcomponents
modifiedAttributes.push_back(mRightVector);
mVCO->signalAddPreStepDependencies(prevStepDependencies, attributeDependencies, modifiedAttributes);
mVoltageControllerVSI->signalAddPreStepDependencies(prevStepDependencies, attributeDependencies, modifiedAttributes);
}
Expand All @@ -282,7 +292,7 @@ void SP::Ph1::VSIVoltageControlDQ::addControlStepDependencies(AttributeBase::Lis
attributeDependencies.push_back(mIntfCurrent);
attributeDependencies.push_back(mIntfVoltage);
// Check control step deps
// modifiedAttributes.push_back(mVsref);
modifiedAttributes.push_back(mIsref);
}

void SP::Ph1::VSIVoltageControlDQ::controlStep(Real time, Int timeStepCount) {
Expand All @@ -296,8 +306,7 @@ void SP::Ph1::VSIVoltageControlDQ::controlStep(Real time, Int timeStepCount) {
}
else{
vcdq = Math::rotatingFrame2to1(mVirtualNodes[2]->singleVoltage(), (**mVCO->mOutputPrev)(0,0), mThetaN);
ircdq = Math::rotatingFrame2to1(-1. * (**mSubResistorC->mIntfCurrent)(0, 0), (**mVCO->mOutputPrev)(0,0), mThetaN);

ircdq = Math::rotatingFrame2to1(-1. * (**mSubResistorF->mIntfCurrent)(0, 0), (**mVCO->mOutputPrev)(0,0), mThetaN);
}

**mVcd = vcdq.real();
Expand All @@ -310,44 +319,56 @@ void SP::Ph1::VSIVoltageControlDQ::controlStep(Real time, Int timeStepCount) {
mVoltageControllerVSI->signalStep(time, timeStepCount);

// Check equations and theta value
Real theta_s= 0.5;
**mIsd= mVoltageControllerVSI->attributeTyped<Matrix>("state_curr")->get()(0, 0)* (mTimeStep/theta_s) + (mTimeStep/theta_s -1)*(**mIsd);
**mIsq= mVoltageControllerVSI->attributeTyped<Matrix>("state_curr")->get()(1, 0)* (mTimeStep/theta_s) + (mTimeStep/theta_s -1)*(**mIsq);
Real theta_s= 0.1;

//
Real error_d = **mVdRef - **mVcd;
Real error_q = **mVqRef - **mVcq;
**mIsd = -(mVoltageControllerVSI->attributeTyped<Matrix>("state_curr")->get()(0, 0) * mKiVoltageCtrl + mKpVoltageCtrl * error_d) * (mTimeStep/theta_s) + (-mTimeStep/theta_s +1)*(**mIsd);
**mIsq = -(mVoltageControllerVSI->attributeTyped<Matrix>("state_curr")->get()(1, 0) * mKiVoltageCtrl + mKpVoltageCtrl * error_q) * (mTimeStep/theta_s) + (-mTimeStep/theta_s +1)*(**mIsq);

// Transformation interface backward
(**mIsref)(0,0) = Math::rotatingFrame2to1(Complex(**mIsd, **mIsq), mThetaN, (**mVCO->mOutputPrev)(0,0));
(**mIsref)(0,0) = Math::rotatingFrame2to1(-Complex(**mIsd, **mIsq), mThetaN, (**mVCO->mOutputPrev)(0,0));

// Update nominal system angle
mThetaN = mThetaN + mTimeStep * **mOmegaN;

}

void SP::Ph1::VSIVoltageControlDQ::mnaParentAddPreStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes) {
// Check pre step deps
// prevStepDependencies.push_back(mVsref);
prevStepDependencies.push_back(mIntfCurrent);
prevStepDependencies.push_back(mIntfVoltage);
prevStepDependencies.push_back(mIsref);
attributeDependencies.push_back(mVoltageControllerVSI->attributeTyped<Matrix>("output_prev"));
attributeDependencies.push_back(mVCO->attributeTyped<Matrix>("output_prev"));
modifiedAttributes.push_back(mRightVector);
}

void SP::Ph1::VSIVoltageControlDQ::mnaParentPreStep(Real time, Int timeStepCount) {
// pre-step of subcomponents - controlled source
if (mWithControl)
Math::setVectorElement(**mRightVector, mVirtualNodes[0]->matrixNodeIndex(), -(**mIsref)(0,0)); // Check sign
//if (mWithControl) {
// Math::setVectorElement(**mRightVector, mVirtualNodes[0]->matrixNodeIndex(), -(**mIsref)(0,0)); // Check sign
// std::cout << "Isd + jIsq = " << **mIsd << "+ j" << **mIsq << std::endl;
// std::cout << "mIsref = " << (**mIsref)(0,0) << std::endl;
//}

// pre-step of component itself
mnaApplyRightSideVectorStamp(**mRightVector);
}


void SP::Ph1::VSIVoltageControlDQ::mnaCompApplyRightSideVectorStamp(Matrix& rightVector) {
// pre-step of subcomponents - controlled source
if (mWithControl) {
Math::setVectorElement(**mRightVector, mVirtualNodes[0]->matrixNodeIndex(), (**mIsref)(0,0)); // Check sign
}
}

void SP::Ph1::VSIVoltageControlDQ::mnaParentAddPostStepDependencies(AttributeBase::List &prevStepDependencies, AttributeBase::List &attributeDependencies, AttributeBase::List &modifiedAttributes, Attribute<Matrix>::Ptr &leftVector) {
attributeDependencies.push_back(leftVector);
modifiedAttributes.push_back(mIntfVoltage);
modifiedAttributes.push_back(mIntfCurrent);
modifiedAttributes.push_back(mIsref);
}

void SP::Ph1::VSIVoltageControlDQ::mnaParentPostStep(Real time, Int timeStepCount, Attribute<Matrix>::Ptr &leftVector) {
Expand Down

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