From 819270a13b26a8d956fb2b2fb089e8634c9729d3 Mon Sep 17 00:00:00 2001 From: Wyatt Lowery Date: Sun, 20 Jul 2025 00:55:36 -0500 Subject: [PATCH 01/15] init: source files of exciter with new signal node [skip ci] --- src/Model/PhasorDynamics/CMakeLists.txt | 1 + .../PhasorDynamics/Exciter/CMakeLists.txt | 6 + .../Exciter/IEEET1/CMakeLists.txt | 11 + .../PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 350 ++++++++++++++++++ .../PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp | 130 +++++++ .../Exciter/IEEET1/Ieeet1Data.hpp | 51 +++ .../PhasorDynamics/Exciter/IEEET1/README.md | 43 ++- src/Model/PhasorDynamics/Exciter/README.md | 2 +- 8 files changed, 584 insertions(+), 10 deletions(-) create mode 100644 src/Model/PhasorDynamics/Exciter/CMakeLists.txt create mode 100644 src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt create mode 100644 src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp create mode 100644 src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp create mode 100644 src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp diff --git a/src/Model/PhasorDynamics/CMakeLists.txt b/src/Model/PhasorDynamics/CMakeLists.txt index 7ad3e7ec9..3c5c0d795 100644 --- a/src/Model/PhasorDynamics/CMakeLists.txt +++ b/src/Model/PhasorDynamics/CMakeLists.txt @@ -8,6 +8,7 @@ add_library(gridkit_phasor_dynamics_components INTERFACE) add_subdirectory(Branch) add_subdirectory(Bus) add_subdirectory(BusFault) +add_subdirectory(Exciter) add_subdirectory(Governor) add_subdirectory(Load) add_subdirectory(SynchronousMachine) diff --git a/src/Model/PhasorDynamics/Exciter/CMakeLists.txt b/src/Model/PhasorDynamics/Exciter/CMakeLists.txt new file mode 100644 index 000000000..676742090 --- /dev/null +++ b/src/Model/PhasorDynamics/Exciter/CMakeLists.txt @@ -0,0 +1,6 @@ +# [[ +# Author(s): +# - Luke Lowery +# ]] + +add_subdirectory(IEEET1) \ No newline at end of file diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt b/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt new file mode 100644 index 000000000..cfb07cbee --- /dev/null +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt @@ -0,0 +1,11 @@ +# [[ +# Author(s): +# - Luke Lowery +# - Adam Birchfield +# ]] + +gridkit_add_library(phasor_dynamics_exciter_ieeet1 + SOURCES + Ieeet1.cpp + OUTPUT_NAME + gridkit_phasor_dynamics_exciter_ieeet1) \ No newline at end of file diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp new file mode 100644 index 000000000..7af8b0fd9 --- /dev/null +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -0,0 +1,350 @@ +/** + * @file Ieeet1.cpp + * @author Luke Lowery (lukel@tamu.edu) + * @author Adam Birchfield (abirchfield@tamu.edu) + * + * @brief Definition of a IEEET1 Exciter. + * + */ + +#include +#include + +#include +#include + +#include "Ieeet1.hpp" + +#define _USE_MATH_DEFINES + +namespace GridKit +{ + namespace PhasorDynamics + { + namespace Exciter + { + + /** + * @brief Constructor for IEEET1 Exciter + * + * @param data Data object to store parameters + * @param bus Signal used for terminal reference vmag + * @param speed Signal used for machine relative speed + * @param efd Signal used for E field + * @tparam ScalarT Scalar data type + * @tparam IdxT Index data type + */ + template + Ieeet1::Ieeet1( + signal_type* efd_signal, + signal_type* speed_signal, + bus_type* bus, + const model_data_type& data) + : efd_signal_(efd_signal), + speed_signal_(speed_signal), + bus_(bus), + Tr_(data.Tr), + Ka_(data.Ka), + Ta_(data.Ta), + Ke_(data.Ke), + Te_(data.Te), + Kf_(data.Kf), + Tf_(data.Tf), + Vrmin_(data.Vrmin), + Vrmax_(data.Vrmax), + E1_(data.E1), + E2_(data.E2), + Se1_(data.Se1), + Se2_(data.Se2), + Ispdlim_(data.Ispdlim) + { + + // 9 Internal Variables + size_ = 9; + + // Derived Parameters + ScalarT SR = std::sqrt( Se2_ / Se1_); + + // Technically two solutions + + // Solution 1 (Aligned with PW) + SA_ = (SR * E1_ - E2_) / (SR - 1); + SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); + + // Solution 2 + // SA_ = (SR * E1_ + E2_) / (SR + 1); + // SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); + } + + + /** + * @brief Allocate memory for model + * + */ + template + int Ieeet1::allocate() + { + auto size = static_cast(size_); // avoid compiler warnings + f_.resize(size); + y_.resize(size); + yp_.resize(size); + tag_.resize(size); + + // Set output signal after allocation + // The signal is accessible to the generator + // y_[7] is output efd state + if (efd_signal_) + { + efd_signal_->set(&y_[7]); + } + return 0; + } + + /** + * @brief Initialization of the Exciter + * + * Sets/configures all of the initial values of the exciter + * by assuming no saturation and steady-state. + * + */ + template + int Ieeet1::initialize() + { + + // Read External Variables + + ScalarT efd0{0}; + if (efd_signal_) + { + efd0 = y_[7]; //<- TODO generator needs to set efd initial value + } + + // Terminal Voltage + ScalarT vreal = bus_->Vr(); + ScalarT vimag = bus_->Vi(); + Ec_ = std::sqrt(vreal*vreal + vimag*vimag); + + + // Derived from External initial values + ScalarT vr = Ke_ * efd0; + ScalarT vfx = Kf_ / Tf_ * efd0; + ScalarT vtr = Ke_ / Ka_ * efd0; + + // Vref (setpoint = terminal + error) + vref_ = Ec_ + vtr; + + // IVP for Internal Variables + y_[0] = Ec_; // y0 - vts - Sensed term volt + y_[1] = vr; // y1 - vr - Votlage reg + y_[2] = efd0; // y2 - efdp - Efd pre mult + y_[3] = vfx; // y3 - vfx - Exciter feedback + y_[4] = vtr; // y4 - vtr - Term Volt Err + y_[5] = 0; // y5 - vf - Feedback volt + y_[6] = 0; // y6 - ve - Excit. Cntrl Volt + y_[7] = efd0; // y7 - efd - Efd + y_[8] = 0; // y8 - ksat - Saturation + + // Steady State Conditions + yp_[0] = 0.0; + yp_[1] = 0.0; + yp_[2] = 0.0; + yp_[3] = 0.0; + yp_[4] = 0.0; + yp_[5] = 0.0; + yp_[6] = 0.0; + yp_[7] = 0.0; + yp_[8] = 0.0; + + return 0; + } + + /** + * @brief Identify differential variables. + * + * @tparam ScalarT Scalar data type + * @tparam IdxT Index data type + * @return int 0 + */ + template + int Ieeet1::tagDifferentiable() + { + + tag_[0] = true; // y0 - vts - Sensed term volt + tag_[1] = true; // y1 - vr - Votlage reg + tag_[2] = true; // y2 - efdp - Efd pre mult + tag_[3] = true; // y3 - vfx - Exciter feedback + tag_[4] = false; // y4 - vtr - Term Volt Err + tag_[5] = false; // y5 - vf - Feedback volt + tag_[6] = false; // y6 - ve - Excit. Cntrl Volt + tag_[7] = false; // y7 - efd - Efd + tag_[8] = false; // y8 - ksat - Saturation + + return 0; + } + + /** + * @brief Scaled sigmoid activation function + * + * @param[in] x State variable + * @tparam ScalarT Scalar data type + * @tparam IdxT Index data type + * @return Sigmoid approximation evaluated at x + * + * @warning This needs to be abstracted to be used + * across phasor dynamics. Identical pattern is + * being used in TGOV1 model. + * + * Algebraic approximation of transcendental sigmoid. + */ + template + ScalarT Ieeet1::sigmoid(ScalarT x) + { + return ((0.5 * mu_ * x) / (1.0 + std::abs(mu_ * x))) + 0.5; + } + + /** + * @brief Indicator function for lower valve limit violation. + * + * @param[in] x State variable + * @param[in] f Conditional derivative of state variable + * @tparam ScalarT Scalar data type + * @tparam IdxT Index data type + * @return Lower Smooth Indicator value at coordinates (x, f(x)) + * + * @warning This needs to be abstracted to be used + * across phasor dynamics. Identical pattern is + * being used in TGOV1 model. + */ + template + ScalarT Ieeet1::indicator_low(ScalarT x, ScalarT f) + { + return (this->sigmoid(Vrmin_ - x)) * (this->sigmoid(-f)); + } + + /** + * @brief Indicator function for high valve limit violation. + * + * @param[in] x State variable + * @param[in] f Conditional derivative of state variable + * @tparam ScalarT Scalar data type + * @tparam IdxT Index data type + * @return Higher Smooth Indicator value at coordinates (x, f(x)) + * + * @warning This needs to be abstracted to be used + * across phasor dynamics. Identical pattern is + * being used in TGOV1 model. + */ + template + ScalarT Ieeet1::indicator_high(ScalarT x, ScalarT f) + { + return (this->sigmoid(x - Vrmax_)) * (this->sigmoid(f)); + } + + /** + * @brief Net Indicator function for regulator limits + * + * @param[in] x State variable + * @param[in] f Conditional derivative of state variable + * @tparam ScalarT Scalar data type + * @tparam IdxT Index data type + * @return + * + * @warning This needs to be abstracted to be used + * across phasor dynamics. Identical pattern is + * being used in TGOV1 model. + */ + template + ScalarT Ieeet1::indicator(ScalarT x, ScalarT f) + { + return (1 - this->indicator_low(x, f)) * (1 - this->indicator_high(x, f)); + } + + /** + * @brief Residuals of system equations + * + */ + template + int Ieeet1::evaluateResidual() + { + + // Input Variables + ScalarT omega{0}; + if (speed_signal_) + { + omega = speed_signal_->read(); + } + + // NOTE + // No external variable 'write' needed, + // as it is available to others dierctly throguh + // pointer. + + // Read E comp (terminal voltage, unless compensation impedence) + ScalarT vreal = bus_->Vr(); + ScalarT vimag = bus_->Vi(); + Ec_ = std::sqrt(vreal*vreal + vimag*vimag); + + // Read Internal Variables + ScalarT vts = y_[0]; // y0 - Sensed term volt + ScalarT vr = y_[1]; // y1 - Votlage reg + ScalarT efdp = y_[2]; // y2 - Efd pre mult + ScalarT vfx = y_[3]; // y3 - Exciter feedback + ScalarT vtr = y_[4]; // y4 - Term Volt Err + ScalarT vf = y_[5]; // y5 - Feedback volt + ScalarT ve = y_[6]; // y6 - Excit. Cntrl Volt + ScalarT efd = y_[7]; // y7 - Efd + ScalarT ksat = y_[8]; // y8 - Saturation + + // Read Internal Derivatives + ScalarT vts_dot = yp_[0]; + ScalarT vr_dot = yp_[1]; + ScalarT efdp_dot = yp_[2]; + ScalarT vfx_dot = yp_[3]; + + // The 'pre-limit' derivative of Pv + ScalarT f = -vr + Ka_ * vtr; + ScalarT vr_ind = this->indicator(vr, f); + + // Internal Differential Equations + f_[0] = -vts_dot + (Ec_ - vts) / Tr_; + f_[1] = -vr_dot + vr_ind * f / Ta_; + f_[2] = -efdp_dot + (vr - ve - Ke_ * efdp) / Te_; + f_[3] = -vfx_dot + vf / Tf_; + + // Internal Algebraic Equations + f_[4] = -vtr + vref_ + vUEL_ + vOEL_ + vS_ - vf - vts; + f_[5] = -vf + (efdp * Kf_) / Tf_ - vfx; + f_[6] = -ve + ksat * efdp; + f_[7] = -efd + efdp + omega * efdp * Ispdlim_; + + // TODO smooth approaximation for Enzyme + // NOTE seems about double PW saturation. + f_[8] = -ksat; + if (efdp > SA_) + f_[8] += SB_ * (efdp - SA_) * (efdp - SA_); // / 2 ? + + + return 0; + } + + /** + * @brief Jacobian evaluation not implemented yet + * + * @tparam ScalarT - Scalar data type + * @tparam IdxT - Index data type + * @return int - error code, 0 = success + */ + template + int Ieeet1::evaluateJacobian() + { + std::cout << "Jacobian evaluation not implemented!" << std::endl; + return 0; + } + + // Available template instantiations + template class Ieeet1; + template class Ieeet1; + + } // namespace Governor + } // namespace PhasorDynamics +} // namespace GridKit \ No newline at end of file diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp new file mode 100644 index 000000000..964c38d1e --- /dev/null +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp @@ -0,0 +1,130 @@ +/** + * @file Ieeet1.hpp + * @author Luke Lowery (lukel@tamu.edu) + * @author Adam Birchfield (abirchfield@tamu.edu) + * + * @brief Declaration of a IEEET1 Exciter Model. + * + */ + +#pragma once + +#include + +// Forward declarations +namespace GridKit +{ + namespace PhasorDynamics + { + namespace Exciter + { + template + struct Ieeet1Data; + } // namespace Exciter + + template + class BusBase; + + template + class SignalNode; + + } // namespace PhasorDynamics +} // namespace GridKit + +namespace GridKit +{ + namespace PhasorDynamics + { + namespace Exciter + { + + template + class Ieeet1 : public Component + { + using Component::alpha_; + using Component::f_; + using Component::nnz_; + using Component::size_; + using Component::tag_; + using Component::time_; + using Component::y_; + using Component::yp_; + + using real_type = typename Component::real_type; + using model_data_type = Ieeet1Data; + using signal_type = SignalNode; + using bus_type = BusBase; + + public: + + Ieeet1( + signal_type* efd_signal, + signal_type* speed_signal, + bus_type* bus, + const model_data_type& data + ); + ~Ieeet1() = default; + + int allocate() override; + int initialize() override; + int tagDifferentiable() override; + int evaluateResidual() override; + int evaluateJacobian() override; + + void updateTime(real_type /* t */, real_type /* a */) override + { + } + + private: + + // Signal pointers + signal_type* efd_signal_; + signal_type* speed_signal_; + bus_type* bus_; + + // Model Input parameters + real_type Tr_; ///< Time constant for voltage sensing + real_type Ka_; ///< Coefficient for voltage regulation + real_type Ta_; ///< Time constant for voltage regulation + real_type Ke_; ///< Coefficient for excitation system + real_type Te_; ///< Time constant for excitation system + real_type Kf_; ///< Coefficient for feedback + real_type Tf_; ///< Time constant for feedback + real_type Vrmin_; ///< LL to voltage regulation + real_type Vrmax_; ///< HH to voltage regulation + real_type E1_; ///< Saturation parameter + real_type E2_; ///< Saturation parameter + real_type Se1_; ///< Saturation parameter + real_type Se2_; ///< Saturation parameter + real_type Ispdlim_; ///< Speed limit flag indicator + + // Model Derived parameters + // TODO -> Need to be solved for in instantiation! + ScalarT SA_{0}; + ScalarT SB_{0}; + + // External Variables that don't have models yet. + // They are constants until then. + ScalarT vref_{0}; // (Setpoint voltage, can be different from terminal voltage) + ScalarT vUEL_{0}; + ScalarT vOEL_{0}; + ScalarT vS_{0}; + ScalarT Ec_{0}; // "Compensated" terminal measurment + + // Scale of Sigmoid function + // (temporary local implementation) + // This value gave higher precision. + const ScalarT mu_ = 400000.0; + + // Activation function (sigmoid approximation) + ScalarT sigmoid(ScalarT x); + + // Indicator of Valve limit states + ScalarT indicator_low(ScalarT x, ScalarT f); + ScalarT indicator_high(ScalarT x, ScalarT f); + ScalarT indicator(ScalarT x, ScalarT f); + }; + + } // namespace Exciter + } // namespace PhasorDynamics +} // namespace GridKit \ No newline at end of file diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp new file mode 100644 index 000000000..497fa5e93 --- /dev/null +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp @@ -0,0 +1,51 @@ +/** + * @file Ieeet1Data.hpp + * @author Luke Lowery (lukel@tamu.edu) + * + * @brief Data structure for IEEET1 Data + * + */ +#pragma once + +namespace GridKit +{ + namespace PhasorDynamics + { + namespace Exciter + { + /** + * @brief Contains modeling data for a IEEET1 Exciter model. + * + * @tparam RealT Real parameter data type + * @tparam IdxT Integer parameter data type + * + * Integer parameters are of the same type as matrix and vector indices. + * + * @todo Decide on naming scheme for model parameters. + */ + template + struct Ieeet1Data + { + RealT Tr{0}; ///< Time constant for voltage sensing + RealT Ka{50}; ///< Coefficient for voltage regulation + RealT Ta{0.04}; ///< Time constant for voltage regulation + RealT Ke{-0.06}; ///< Coefficient for excitation system + RealT Te{0.6}; ///< Time constant for excitation system + RealT Kf{0.09}; ///< Coefficient for feedback + RealT Tf{1.46}; ///< Time constant for feedback + RealT Vrmin{-1}; ///< LL to voltage regulation + RealT Vrmax{1}; ///< HH to voltage regulation + RealT E1{2.8}; ///< Saturation parameter + RealT E2{3.373}; ///< Saturation parameter + RealT Se1{0.04}; ///< Saturation parameter + RealT Se2{0.33}; ///< Saturation parameter + RealT Ispdlim{0.0}; ///< Speed limit flag indicator + + // NOTE signal data format TBD + // IdxT signal_efd{0}; + // IdxT signal_vref{0}; + // IdxT signal_speed{0}; + }; + } // namespace Exciter + } // namespace PhasorDynamics +} // namespace GridKit \ No newline at end of file diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/README.md b/src/Model/PhasorDynamics/Exciter/IEEET1/README.md index 8f47df20d..0fcd46d7e 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/README.md +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/README.md @@ -32,10 +32,33 @@ $S_{e2}$ | [p.u.] | Saturation Parameter | 0.33 $I_{spdlm}$ | [binary] | Speed Limit flag indicator | 0 | ### Model Derived Parameters + +The relationship of the derived parameters is defined by the following. ``` math \begin{aligned} S_{e1} &= S_B(E_1-S_A)^2 \\ - S_{e2} &= S_B(E_2-S_A)^2 + S_{e2} &= S_B(E_2-S_A)^2 \\ +\end{aligned} +``` + +This system has two solutions, but the prefered solution is as follows. +``` math +\begin{aligned} + C &= \sqrt{ + \dfrac + {S_{e2}} + {S_{e1}} + } + \\ + S_A &= + \dfrac + {C E_1 - E_2} + {C - 1} + \\ + S_B &= + \dfrac + {S_{e1}} + {(E_1-S_A)^2} \end{aligned} ``` @@ -50,7 +73,7 @@ Symbol | Units | Description | Note $V_{ts}$ | [p.u.] | Sensed terminal voltage | $V_{R}$ | [p.u.] | Voltage regulator | $E_{fd}'$ | [p.u.] | Field-current pre-speed multiplier| -$V_{fx}$ | [p.u.] | Exciter feedback internal state | +$V_{fx}$ | [p.u.] | Exciter feedback internal state | #### Algebraic @@ -217,21 +240,23 @@ The approximation written out below approaches an exact solution as $\alpha\to\i ``` ## Initialization + At steady state we assume that $V_R$ is at or within its limits, and that the exciter is not saturated. The field $E_{fd}$ can be obtained through the steady-state conditions of the machine. We also assume for the moment that the stabilizer and over/under -excitation limiters are non-existant. +excitation limiters are non-existant. As of now, we assume there is no compensation impedence and that $E_C$ is simply the terminal voltage magnitude. ```math \begin{aligned} E_{fd}' &= E_{fd} \\ - V_{f} &= 0 \\ + V_R &= K_E E_{fd} \\ + V_{fx} &= \dfrac{K_F}{T_F} E_{fd} \\ + V_{tr} &= \dfrac{K_E}{K_{a}} E_{fd} \\ + E_C &= V_{term}\\ + V_{ts} &= V_{term}\\ + V_{ref} &= E_c + V_{tr} \\ + V_{f} &= 0 \\ V_{E} &= 0 \\ k_{sat} &= 0 \\ - V_{fx} &= \dfrac{K_F}{T_F} E_{fd} \\ - V_R &= K_E E_{fd} \\ - V_{tr} &= \dfrac{1}{K_{a}}V_{R} \\ - V_{ts} &= V_{ref} - V_{tr} \\ - E_C &= V_{ts}\\ \end{aligned} ``` diff --git a/src/Model/PhasorDynamics/Exciter/README.md b/src/Model/PhasorDynamics/Exciter/README.md index 2d66575b6..b63f378e8 100644 --- a/src/Model/PhasorDynamics/Exciter/README.md +++ b/src/Model/PhasorDynamics/Exciter/README.md @@ -1,7 +1,7 @@ # **Exciter Models** > [!NOTE] -> No implementation yet. +> Only the IEEET1 Exciter is currently implemented. ## Introduction From d9f9e4dfe0d068e016cd1d9072125ac122e2ae5e Mon Sep 17 00:00:00 2001 From: Wyatt Lowery Date: Sun, 20 Jul 2025 01:32:26 -0500 Subject: [PATCH 02/15] documentation format adjustments --- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 5 +- .../PhasorDynamics/Exciter/IEEET1/README.md | 68 ++++++++++--------- 2 files changed, 41 insertions(+), 32 deletions(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index 7af8b0fd9..4b9ed3714 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -10,6 +10,9 @@ #include #include + +#include + #include #include @@ -292,7 +295,7 @@ namespace GridKit ScalarT vtr = y_[4]; // y4 - Term Volt Err ScalarT vf = y_[5]; // y5 - Feedback volt ScalarT ve = y_[6]; // y6 - Excit. Cntrl Volt - ScalarT efd = y_[7]; // y7 - Efd + ScalarT efd = y_[7]; // y7 - Efd (EXTERNALLY ACCESSABLE) ScalarT ksat = y_[8]; // y8 - Saturation // Read Internal Derivatives diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/README.md b/src/Model/PhasorDynamics/Exciter/IEEET1/README.md index 0fcd46d7e..313f4a1c6 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/README.md +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/README.md @@ -14,26 +14,27 @@ Standard model of the IEEET1 Exciter. ## Model Parameters -Symbol | Units | Description | Typical Value | Note -------------|--------|-----------------------------------|---------------| ------ -$T_R$ | [sec] | Time constant for voltage sensing | 0 | -$K_a$ | [p.u.] | Coefficient for voltage regulation | 50 | -$T_a$ | [sec] | Time constant for voltage regulation | 0.04 | -$K_e$ | [p.u.] | Coefficient for excitation system | -0.06 | -$T_e$ | [sec] | Time constant for excitation system | 0.6 | -$K_f$ | [p.u.] | Coefficient for feedback | 0.09 | -$T_f$ | [sec] | Time constant for feedback | 1.46 | -$V_{rmin}$ | [p.u.] | Lower limit to voltage regulation | -1 | -$V_{rmax}$ | [p.u.] | Upper limit to voltage regulation | 1 | -$E_1$ | [p.u.] | Saturation Parameter | 2.8 | -$E_2$ | [p.u.] | Saturation Parameter | 3.73 | -$S_{e1}$ | [p.u.] | Saturation Parameter | 0.04 | -$S_{e2}$ | [p.u.] | Saturation Parameter | 0.33 | -$I_{spdlm}$ | [binary] | Speed Limit flag indicator | 0 | +Symbol | Units | Description | Typical Value | Note +------------|--------|--------------------------------------|---------| ------ +$T_R$ | [sec] | Time constant for voltage sensing | 0 | +$K_a$ | [p.u.] | Coefficient for voltage regulation | 50 | +$T_a$ | [sec] | Time constant for voltage regulation | 0.04 | +$K_e$ | [p.u.] | Coefficient for excitation system | -0.06 | +$T_e$ | [sec] | Time constant for excitation system | 0.6 | +$K_f$ | [p.u.] | Coefficient for feedback | 0.09 | +$T_f$ | [sec] | Time constant for feedback | 1.46 | +$V_{rmin}$ | [p.u.] | Lower limit to voltage regulation | -1 | +$V_{rmax}$ | [p.u.] | Upper limit to voltage regulation | 1 | +$E_1$ | [p.u.] | Saturation Parameter | 2.8 | +$E_2$ | [p.u.] | Saturation Parameter | 3.73 | +$S_{e1}$ | [p.u.] | Saturation Parameter | 0.04 | +$S_{e2}$ | [p.u.] | Saturation Parameter | 0.33 | +$I_{spdlm}$ | [binary] | Speed Limit flag indicator | 0 | ### Model Derived Parameters -The relationship of the derived parameters is defined by the following. +The relationship of the derived parameters is defined by the following quadratic model. The parameters are chosen so that the quadratic model represents +the expected saturation near the operating region. ``` math \begin{aligned} S_{e1} &= S_B(E_1-S_A)^2 \\ @@ -41,7 +42,7 @@ The relationship of the derived parameters is defined by the following. \end{aligned} ``` -This system has two solutions, but the prefered solution is as follows. +Generally, this system has two solutions. The non-extraneous solution is as follows. ``` math \begin{aligned} C &= \sqrt{ @@ -99,11 +100,11 @@ $\Delta\omega$ | [p.u.] | Speed Deviation | Read from a Machi Symbol | Units | Description | Note ----------------|--------|-----------------------------------|------- -$E_{C}$ | [p.u.] | Compensated machine terminal voltage magnitude | -$V_{ref}$ | [p.u.] | Reference terminal voltage | -$V_{UEL}$ | [p.u.] | Input from under excitation limiter | -$V_{OEL}$ | [p.u.] | Input from over excitation limiter | -$V_{S}$ | [p.u.] | Input from stabilizer controller | +$E_{C}$ | [p.u.] | Compensated machine terminal voltage magnitude | +$V_{ref}$ | [p.u.] | Reference terminal voltage | +$V_{UEL}$ | [p.u.] | Input from under excitation limiter | +$V_{OEL}$ | [p.u.] | Input from over excitation limiter | +$V_{S}$ | [p.u.] | Input from stabilizer controller | ## Model Equations @@ -114,23 +115,19 @@ The IEEET1 differential equations, as derived from the model diagram. By defini ```math \begin{aligned} \dot{V}_{ts} &= \dfrac{1}{T_R}(E_C-V_{ts}) \\ - \dot{V}_{R} &= - \dfrac{1}{T_A} + \dot{V}_{R} &= \dfrac{1}{T_A} \begin{cases} - -V_{R}+K_{a}V_{tr} + -V_{R} + K_{a}V_{tr} & \text{if } (V_{rmin} < V_R < V_{rmax}) & \lor \\ & \quad (V_R \leq V_{rmin} \land f>0) & \lor \\ & \quad(V_R \geq V_{rmax} \land f<0) \\ - 0 - & \text{else } \\ + 0 & \text{else } \\ \end{cases} \\ - \dot{E}_{fd}' &= \dfrac{1}{T_E}(V_R-V_E-K_E E_{fd}') \\ \dot{V}_{fx} &= \dfrac{1}{T_F}V_f \\ \end{aligned} ``` - #### Smooth Piecewise Approximation (Differential) The domain of the state variable $V_{R}\in(V_{rmin}, V_{rmax})$ is enforced @@ -161,7 +158,13 @@ The indicator function $\phi$ can be defined in terms of a scaled activation fun The scale of the sigmoid function ($\alpha$ on the order of $10^3$) should be chosen so that for all practical parameters of the IEEET1 model, the sigmoid acts as a step function. This is further approximated by an algebraic form to obtain a practical function during implementation. ```math \begin{aligned} - \sigma(x) =\dfrac{1}{1+\exp(-\alpha x)}\approx \dfrac{1}{2}\left(\dfrac{\alpha x}{1+|\alpha x|}\right) + \sigma(x) = + \dfrac{1}{1+\exp(-\alpha x)} + \approx + \dfrac{1}{2} + \left( + \dfrac{\alpha x}{1+|\alpha x|} + 1 + \right) \end{aligned} ``` @@ -206,7 +209,9 @@ Very explicit version, if prefered \right]\\ \end{aligned} ``` + ### Algebraic Equations + The algebraic equations of the exciter. ```math \begin{aligned} @@ -225,6 +230,7 @@ The algebraic equations of the exciter. ``` #### Smooth Piecewise Approximation (Algebraic) + For the algebraic piecewise functions (non-flags), this implementation is straightforward when the approximation above is used. ```math \begin{aligned} From db4564172ec80f7394f2b6643b1571ee6a163809 Mon Sep 17 00:00:00 2001 From: lukelowry Date: Sun, 20 Jul 2025 03:29:38 -0500 Subject: [PATCH 03/15] TwoBus Example added and genrou modifications, all tests pass --- .../Tiny/ThreeBus/Basic/ThreeBusBasic.cpp | 14 +- .../PhasorDynamics/Tiny/TwoBus/CMakeLists.txt | 1 + .../Tiny/TwoBus/Ieeet1/CMakeLists.txt | 8 + .../Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp | 345 +++ .../Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp | 2420 +++++++++++++++++ src/Model/PhasorDynamics/ComponentLibrary.hpp | 1 + .../Exciter/IEEET1/CMakeLists.txt | 7 +- .../SynchronousMachine/GENROUwS/Genrou.hpp | 11 +- .../GENROUwS/GenrouImpl.hpp | 170 +- 9 files changed, 2945 insertions(+), 32 deletions(-) create mode 100644 examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/CMakeLists.txt create mode 100644 examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp create mode 100644 examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp diff --git a/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp b/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp index 8675ce2a2..9cff6cfca 100644 --- a/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp +++ b/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp @@ -212,11 +212,17 @@ int main() { std::vector& y_val = sys.y(); + // Bus 1 -> +2 + // Bus 2 -> +2 + // Gen 1 -> +19 (Start Idx: 4) + // Gen 2 -> +19 (Start Idx: 23) + + // output.push_back(OutputData{t, - 1.0 + y_val[5], - 1.0 + y_val[25], - std::sqrt(y_val[0] * y_val[0] + y_val[1] * y_val[1]), - std::sqrt(y_val[2] * y_val[2] + y_val[3] * y_val[3])}); + 1.0 + y_val[5], // Gen 1 Speed -> 4 + 1 + 1.0 + y_val[24], // Gen 2 Speed -> 23 + 1 + std::sqrt(y_val[0] * y_val[0] + y_val[1] * y_val[1]), // Bus 1 Vmag + std::sqrt(y_val[2] * y_val[2] + y_val[3] * y_val[3])}); // Bus 2 Vmag }; // Set up simulation diff --git a/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt b/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt index ef5c42035..4e74335c6 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt +++ b/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt @@ -1,2 +1,3 @@ add_subdirectory(Basic) add_subdirectory(Tgov1) +add_subdirectory(Ieeet1) \ No newline at end of file diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/CMakeLists.txt b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/CMakeLists.txt new file mode 100644 index 000000000..1592ad1ef --- /dev/null +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/CMakeLists.txt @@ -0,0 +1,8 @@ +add_executable(TwoBusIeeet1 TwoBusIeeet1.cpp) +target_link_libraries(TwoBusIeeet1 + GRIDKIT::phasor_dynamics_components + GRIDKIT::phasor_dynamics_signal + GRIDKIT::solvers_dyn) +install(TARGETS TwoBusIeeet1 RUNTIME DESTINATION bin) + +add_test(NAME GenrouTest1_Ieeet1 COMMAND $) diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp new file mode 100644 index 000000000..17a3892b1 --- /dev/null +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp @@ -0,0 +1,345 @@ +/** + * @file TwoBusIeeet1.cpp + * @author Luke Lowery (lukel@tamu.edu) + * @author Adam Birchfield (abirchfield@tamu.edu) + * @brief Example running a 2-bus system with exciter and governor + * + */ +#include "TwoBusIeeet1.hpp" + +#include +#include + +#include +#include +#include +#include +#include + +// Temp, remove +#include + + +int main() +{ + using namespace GridKit::PhasorDynamics; + using namespace AnalysisManager::Sundials; + + using scalar_type = double; + using real_type = double; + using index_type = size_t; + + using BusType = BusData::BusType; + using signal_type = SignalNode; + using ExciterData = Exciter::Ieeet1Data; + + using machine_type = Genrou; + using gov_type = Governor::Tgov1; + using exc_type = Exciter::Ieeet1; + + std::cout << "Example: TwoBusTgov1 + IEEET1 Exciter\n"; + + // Model Data + SystemModelData data; + + // Set bus data + data.bus.resize(2); + + data.bus[0].bus_id = 0; + data.bus[0].bus_type = BusType::DEFAULT; + data.bus[0].Vr0 = 0.9949877346411762; + data.bus[0].Vi0 = 0.09999703952427966; + + data.bus[1].bus_id = 1; + data.bus[1].bus_type = BusType::SLACK; + data.bus[1].Vr0 = 1.0; + data.bus[1].Vi0 = 0.0; + + // Set signal nodes data + data.signal.resize(2); + + data.signal[0].name = "omega"; + data.signal[0].signal_id = 0; + + data.signal[1].name = "Pm"; + data.signal[1].signal_id = 1; + + data.signal[1].name = "Efd"; + data.signal[1].signal_id = 2; + + + // Set branch data + data.branch.resize(1); + + data.branch[0].ports[BranchPorts::bus1] = data.bus[0].bus_id; + data.branch[0].ports[BranchPorts::bus2] = data.bus[1].bus_id; + data.branch[0].parameters[BranchParameters::R] = 0.0; + data.branch[0].parameters[BranchParameters::X] = 0.1; + data.branch[0].parameters[BranchParameters::G] = 0.0; + data.branch[0].parameters[BranchParameters::B] = 0.0; + + + // Add faults + data.bus_fault.resize(1); + + data.bus_fault[0].parameters[BusFaultParameters::R] = 0.0; + data.bus_fault[0].parameters[BusFaultParameters::X] = 1e-3; + data.bus_fault[0].parameters[BusFaultParameters::state0] = false; + + + // ------------- MODEL GROUP ------------------ + + // Set generator data + data.genrou.resize(1); + + data.genrou[0].parameters[GenrouParameters::p0] = 1.; + data.genrou[0].parameters[GenrouParameters::q0] = 0.05013; + data.genrou[0].parameters[GenrouParameters::H] = 3.; + data.genrou[0].parameters[GenrouParameters::D] = 0.; + data.genrou[0].parameters[GenrouParameters::Ra] = 0.; + data.genrou[0].parameters[GenrouParameters::Tdop] = 7.; + data.genrou[0].parameters[GenrouParameters::Tdopp] = .04; + data.genrou[0].parameters[GenrouParameters::Tqopp] = .05; + data.genrou[0].parameters[GenrouParameters::Tqop] = .75; + data.genrou[0].parameters[GenrouParameters::Xd] = 2.1; + data.genrou[0].parameters[GenrouParameters::Xdp] = 0.2; + data.genrou[0].parameters[GenrouParameters::Xdpp] = 0.18; + data.genrou[0].parameters[GenrouParameters::Xq] = 0.5; + data.genrou[0].parameters[GenrouParameters::Xqp] = 0.5; + data.genrou[0].parameters[GenrouParameters::Xqpp] = 0.18; + data.genrou[0].parameters[GenrouParameters::Xl] = 0.15; + data.genrou[0].parameters[GenrouParameters::S10] = 0.; + data.genrou[0].parameters[GenrouParameters::S12] = 0.; + + // Governor + data.gov.resize(1); + + // Exciter + //data.exciter.resize(1); + ExciterData exdata; + + // BUG: Nonfunctional if Tr = 0 + // Determine how to handle certain parameter edge cases. + // data.exciter[0].Tr = 0.001; + exdata.Tr = 0.001; + + // -------------- END MODEL DATA ------------------ + + // Manually add components + // This is a workaround since signal connections are not implemented in parser + + // Create buses + auto* bus0 = BusFactory::create(data.bus[0]); + auto* bus1 = BusFactory::create(data.bus[1]); + + // Create signal nodes + auto* omega = new signal_type(data.signal[0]); + auto* pmech = new signal_type(data.signal[1]); + auto* efd = new signal_type(data.signal[2]); + + // Create branch + Branch branch(bus0, bus1, data.branch[0]); + + // Add bus fault to bus0 + BusFault fault(bus0, data.bus_fault[0]); + + // Create generator + machine_type gen(bus0, // Bus + omega, // Speed Signal + pmech, // Pmech Signal + efd, // Exciter Signal + data.genrou[0]); + + // Create governor (w/ Pmech and Speed signals) + gov_type gov(pmech, omega); + + // Create exciter (w/ Efd, speed, and bus signals) + exc_type exc(efd, omega, bus0, exdata); + + // Instantiate system model and add components to it + SystemModel sys; + sys.addBus(bus0); + sys.addBus(bus1); + sys.addSignal(omega); + sys.addSignal(pmech); + sys.addSignal(efd); + sys.addComponent(&branch); + sys.addComponent(&gen); + sys.addComponent(&gov); + sys.addComponent(&exc); + sys.addFault(&fault); + + sys.allocate(); + + + // Set time step to 1/4 of a 60Hz cycle + real_type dt = 1.0 / 4.0 / 60.0; + + // A data structure to keep track of the data we want to + // compare to the reference solution. Rather than keeping + // the entire solution vector at every time step around, + // we instead narrow down exactly what we want to keep. + // + // Since this struct is "simple" enough (no constructors or + // assignment operators, and "simple" members), it is a POD + // (plain ol' data), which have some benefits in C++. + struct OutputData + { + // Output variables are time, real and imaginary voltage and + // frequency deviation + real_type ti, Vr, Vi, dw, Pm, Vts, VR, Efd, Vtr, Vf, Ve, ksat; + }; + + // A list of output for each time step. + std::vector output; + + // A callback which will be called by the integrator after + // each time step. It will be told the time of the current + // state, and it is allowed to access the up-to-date state + // of the components, which are captured by a closure + // due to the [&] notation (every variable that is referenced + // by the callback that is external to the callback itself - + // here output, bus1, and gen - will be considered a + // reference to that variable inside the callback). We select + // the subset of the output we're interested in recording and + // push it into output, which is updated outside the callback. + auto output_cb = [&](real_type t) + { + std::vector& y_val = sys.y(); + + // Note Omega of gen is at state index 5! (Each added signal shifted by 1) + // Electric Bus -> 2 States + // Slack Bus -> 0 States + // Signal Bus Pmech -> 0 State + // Signal Bus speed -> 0 State + // Signal Bus efd -> 0 State + // Genrou -> 19 States -> Start Idx 2 + // Gov -> 3 States -> Start Idx 21 + // Exc -> 9 States -> Start Idx 24 + output.push_back(OutputData{ + t, + y_val[0], // Bus Vr + y_val[1], // Bus Vi + y_val[3], // Gen Speed + y_val[23], // Gov Pmech + y_val[24], // Exc Vts + y_val[25], // Exc Vr + y_val[26], // Exc Efd + 2 + y_val[28], // Exc Vtr + y_val[29], // Exc Vf + y_val[30], // Exc Ve + y_val[32] // Exc ksat + }); + }; + + // Set up simulation + Ida ida(&sys); + ida.configureSimulation(); + + // Run simulation - making sure to pass the callback to record output + real_type start = static_cast(clock()); + + // Run for 1s + ida.initializeSimulation(0.0, false); + int nout = static_cast(std::round((1.0 - 0.0) / dt)); + ida.runSimulation(1.0, nout, output_cb); + + // Introduce fault and run for the next 0.1s + fault.setStatus(true); + ida.initializeSimulation(1.0, false); + nout = static_cast(std::round((1.1 - 1.0) / dt)); + ida.runSimulation(1.1, nout, output_cb); + + // Clear the fault and run until t = 10s. + fault.setStatus(false); + ida.initializeSimulation(1.1, false); + nout = static_cast(std::round((10.0 - 1.1) / dt)); + ida.runSimulation(10.0, nout, output_cb); + real_type stop = static_cast(clock()); + + real_type error_V = 0.0; // error in |V| + real_type error_w = 0.0; // error in rotor speed + real_type error_Efd = 0.0; // error in exciter Efd + + // Output Headers + // std::cout << "Time\t|V|\tSpeed\tPm\tEfd\tVreg" << "\n"; + // ref_sol[1] -> Speed + // ref_sol[2] -> |V| + // ref_sol[3] -> Efd + + // Read through the simulation data stored in the buffer. + // Since we captured by reference, output should be available + // for us to read here, outside the callback. + for (size_t i = 0; i < output.size(); i++) + { + OutputData data = output[i]; + std::vector& ref_sol = reference_solution[i + 1]; + + // Review Note: I believe the denominator should not have +1 + real_type err = + std::abs(std::sqrt(data.Vr * data.Vr + data.Vi * data.Vi) - ref_sol[2]) + / (1.0 + std::abs(ref_sol[2])); + if (err > error_V) + error_V = err; + + // Review Note: I believe the denominator should not have +1 + err = std::abs(1.0 + data.dw - ref_sol[1]) / (1.0 + ref_sol[1]); + if (err > error_w) + error_w = err; + + // Exciter Error + err = std::abs(data.Efd - ref_sol[3]) / (ref_sol[3]); + if (err > error_Efd) + error_Efd = err; + + // Optional output + /* + std::cout << data.ti + << " " << std::sqrt(data.Vr * data.Vr + data.Vi * data.Vi) + << " " << (1.0 + data.dw) + << " " << (data.Pm) + << " " << (data.Efd) + << " " << (data.VR) + << " " << (data.ksat) + << "\n"; + // std::cout << "Ref : t = " << ref_sol[0] + // << ", |V| = " << ref_sol[2] + // << ", w = " << ref_sol[1] + // << "\n"; + // std::cout << "Error in |V| = " + // << err + // << "\n"; + // std::cout << "\n"; + */ + } + + // Errors allowed for agreement with Powerworld results + real_type error_V_allowed = 2e-4; + real_type error_w_allowed = 1e-4; + real_type error_Efd_allowed = 1e-2; + + // Tolerances based on Powerworld reference accuracy + int status = 0; + std::cout << "Max error in |V| = " << error_V << "\n"; + if (error_V > error_V_allowed) + { + std::cout << "Test failed with error too large!\n"; + status = 1; + } + std::cout << "Max error in w = " << error_w << "\n"; + if (error_w > error_w_allowed) + { + std::cout << "Test failed with error too large!\n"; + status = 1; + } + std::cout << "Max error in Efd = " << error_Efd << "\n"; + if (error_Efd > error_Efd_allowed) + { + std::cout << "Test failed with error too large!\n"; + status = 1; + } + + std::cout << "\n\nComplete in " << (stop - start) / CLOCKS_PER_SEC << " seconds\n"; + + return status; +} \ No newline at end of file diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp new file mode 100644 index 000000000..44ce9d354 --- /dev/null +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp @@ -0,0 +1,2420 @@ +/** + * @file TwoBusIeeet1.cpp + * @author Luke Lowery (lukel@tamu.edu) + * @author Adam Birchfield (abirchfield@tamu.edu) + * @brief Reference solution for the 2-bus system obtained with Powerworld + * + */ +#include + +// Must remove the SECOND repeated time point to match PW. + +// Index | Field +// 0 | Time +// 1 | Generator Speed +// 2 | Bus Voltage Magnitude +// 3 | Generator E field +std::vector> reference_solution = + { + {0,1,1.00000047684,1.91404712}, + {0.004167,1,1.00000047684,1.91404712}, + {0.008333,1,1.00000047684,1.91404712}, + {0.0125,0.99999994,1.00000047684,1.91404712}, + {0.016667,0.99999994,1.00000047684,1.91404712}, + {0.020833,0.99999994,1.00000047684,1.91404712}, + {0.025,0.99999994,1.00000047684,1.91404712}, + 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{9.979167,1.0000031,1.0005582571,1.91092384}, + {9.983333,1.0000031,1.00055670738,1.91092396}, + {9.9875,1.0000031,1.00055503845,1.91092408}, + {9.991667,1.0000031,1.00055336952,1.9109242}, + {9.995833,1.0000031,1.0005518198,1.91092432}, + {10,1.0000031,1.00055015087,1.91092443}, +}; \ No newline at end of file diff --git a/src/Model/PhasorDynamics/ComponentLibrary.hpp b/src/Model/PhasorDynamics/ComponentLibrary.hpp index 417bdae4c..88c955bc1 100644 --- a/src/Model/PhasorDynamics/ComponentLibrary.hpp +++ b/src/Model/PhasorDynamics/ComponentLibrary.hpp @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt b/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt index cfb07cbee..1b06e47ad 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/CMakeLists.txt @@ -7,5 +7,10 @@ gridkit_add_library(phasor_dynamics_exciter_ieeet1 SOURCES Ieeet1.cpp + LINK_LIBRARIES + GRIDKIT::phasor_dynamics_signal OUTPUT_NAME - gridkit_phasor_dynamics_exciter_ieeet1) \ No newline at end of file + gridkit_phasor_dynamics_exciter_ieeet1) + +# Link to interface target for all components +target_link_libraries(gridkit_phasor_dynamics_components INTERFACE GRIDKIT::phasor_dynamics_exciter_ieeet1) diff --git a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp index 8f6f527f2..def5dd7ac 100644 --- a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp +++ b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp @@ -54,7 +54,15 @@ namespace GridKit public: Genrou(bus_type* bus, IdxT unit_id); - Genrou(bus_type* bus, signal_type* omega, signal_type* pmech, const model_data_type& data); + Genrou(bus_type* bus, + signal_type* omega, + signal_type* pmech, + const model_data_type& data); + Genrou(bus_type* bus, + signal_type* omega, + signal_type* pmech, + signal_type* efd, + const model_data_type& data); Genrou(bus_type* bus, const model_data_type& data); Genrou(bus_type* bus, IdxT unit_id, @@ -123,6 +131,7 @@ namespace GridKit bus_type* bus_; signal_type* pmech_{nullptr}; signal_type* omega_{nullptr}; + signal_type* efd_signal_{nullptr}; IdxT bus_id_{0}; IdxT unit_id_; //< @todo this should be removed diff --git a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp index 3c710418b..873c6b010 100644 --- a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp +++ b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp @@ -47,7 +47,7 @@ namespace GridKit S10_(0.), S12_(0.) { - size_ = 20; + size_ = 19; setDerivedParams(); } @@ -97,7 +97,7 @@ namespace GridKit S10_(S10), S12_(S12) { - size_ = 20; + size_ = 19; setDerivedParams(); } @@ -204,7 +204,7 @@ namespace GridKit bus_id_ = data.ports.at(model_data_type::Ports::bus); } - size_ = 20; + size_ = 19; setDerivedParams(); } @@ -216,6 +216,7 @@ namespace GridKit : bus_(bus), pmech_(pmech), omega_(omega), + efd_signal_(nullptr), unit_id_(1) { if (data.parameters.contains(model_data_type::Parameters::p0)) @@ -313,21 +314,119 @@ namespace GridKit bus_id_ = data.ports.at(model_data_type::Ports::bus); } - size_ = 20; + size_ = 19; setDerivedParams(); } - // /** - // * @brief Destroy the Genrou - // * - // * @tparam ScalarT - // * @tparam IdxT - // */ - // template - // Genrou::~Genrou() - // { - // // std::cout << "Destroy Genrou..." << std::endl; - // } + /** + * @brief Constructor for a GENROU generator model with saturation + */ + template + Genrou::Genrou(bus_type* bus, signal_type* omega, signal_type* pmech, signal_type* efd, const model_data_type& data) + : bus_(bus), + pmech_(pmech), + omega_(omega), + efd_signal_(efd), + unit_id_(1) + { + if (data.parameters.contains(model_data_type::Parameters::p0)) + { + p0_ = std::get(data.parameters.at(model_data_type::Parameters::p0)); + } + + if (data.parameters.contains(model_data_type::Parameters::q0)) + { + q0_ = std::get(data.parameters.at(model_data_type::Parameters::q0)); + } + + if (data.parameters.contains(model_data_type::Parameters::H)) + { + H_ = std::get(data.parameters.at(model_data_type::Parameters::H)); + } + + if (data.parameters.contains(model_data_type::Parameters::D)) + { + D_ = std::get(data.parameters.at(model_data_type::Parameters::D)); + } + + if (data.parameters.contains(model_data_type::Parameters::Ra)) + { + Ra_ = std::get(data.parameters.at(model_data_type::Parameters::Ra)); + } + + if (data.parameters.contains(model_data_type::Parameters::Tdop)) + { + Tdop_ = std::get(data.parameters.at(model_data_type::Parameters::Tdop)); + } + + if (data.parameters.contains(model_data_type::Parameters::Tdopp)) + { + Tdopp_ = std::get(data.parameters.at(model_data_type::Parameters::Tdopp)); + } + + if (data.parameters.contains(model_data_type::Parameters::Tqopp)) + { + Tqopp_ = std::get(data.parameters.at(model_data_type::Parameters::Tqopp)); + } + + if (data.parameters.contains(model_data_type::Parameters::Tqop)) + { + Tqop_ = std::get(data.parameters.at(model_data_type::Parameters::Tqop)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xd)) + { + Xd_ = std::get(data.parameters.at(model_data_type::Parameters::Xd)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xdp)) + { + Xdp_ = std::get(data.parameters.at(model_data_type::Parameters::Xdp)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xdpp)) + { + Xdpp_ = std::get(data.parameters.at(model_data_type::Parameters::Xdpp)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xq)) + { + Xq_ = std::get(data.parameters.at(model_data_type::Parameters::Xq)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xqp)) + { + Xqp_ = std::get(data.parameters.at(model_data_type::Parameters::Xqp)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xqpp)) + { + Xqpp_ = std::get(data.parameters.at(model_data_type::Parameters::Xqpp)); + } + + if (data.parameters.contains(model_data_type::Parameters::Xl)) + { + Xl_ = std::get(data.parameters.at(model_data_type::Parameters::Xl)); + } + + if (data.parameters.contains(model_data_type::Parameters::S10)) + { + S10_ = std::get(data.parameters.at(model_data_type::Parameters::S10)); + } + + if (data.parameters.contains(model_data_type::Parameters::S12)) + { + S12_ = std::get(data.parameters.at(model_data_type::Parameters::S12)); + } + + if (data.ports.contains(model_data_type::Ports::bus)) + { + bus_id_ = data.ports.at(model_data_type::Ports::bus); + } + + size_ = 19; + setDerivedParams(); + } /*! * @brief allocate method computes sparsity pattern of the Jacobian. @@ -403,11 +502,11 @@ namespace GridKit y_[14] = iq; y_[15] = ir; y_[16] = ii; - y_[17] = efd_set_ = Eqp + Xd1_ * (id + Xd3_ * (Eqp - psidp - Xd2_ * id)) + psidpp * ksat; - y_[18] = G_ * (vd * std::sin(delta) + vq * std::cos(delta)) - - B_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, real */ - y_[19] = B_ * (vd * std::sin(delta) + vq * std::cos(delta)) - + G_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, imag */ + //y_[17] = efd_set_ = Eqp + Xd1_ * (id + Xd3_ * (Eqp - psidp - Xd2_ * id)) + psidpp * ksat; + y_[17] = G_ * (vd * std::sin(delta) + vq * std::cos(delta)) + - B_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, real */ + y_[18] = B_ * (vd * std::sin(delta) + vq * std::cos(delta)) + + G_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, imag */ // Set Setpoint mechanical power, which may or may not be used pmech_set_ = Te; @@ -416,6 +515,13 @@ namespace GridKit pmech_->init(Te); } + // Set Efield signal (may or may not exist) + efd_set_ = Eqp + Xd1_ * (id + Xd3_ * (Eqp - psidp - Xd2_ * id)) + psidpp * ksat; + if (efd_signal_) + { + efd_signal_->init(efd_set_); + } + for (IdxT i = 0; i < size_; ++i) yp_[static_cast(i)] = 0.0; @@ -461,11 +567,12 @@ namespace GridKit ScalarT iq = y_[14]; ScalarT ir = y_[15]; ScalarT ii = y_[16]; - ScalarT efd = y_[17]; - ScalarT inr = y_[18]; - ScalarT ini = y_[19]; + ScalarT inr = y_[17]; + ScalarT ini = y_[18]; ScalarT vr = Vr(); ScalarT vi = Vi(); + + // Mechanmical Power ScalarT pmech; if (pmech_) { @@ -476,6 +583,17 @@ namespace GridKit pmech = pmech_set_; } + // Exciter Efield + ScalarT efd; + if (efd_signal_) + { + efd = efd_signal_->read(); + } + else + { + efd = efd_set_; + } + /* Read derivatives */ ScalarT delta_dot = yp_[0]; ScalarT omega_dot = yp_[1]; @@ -506,11 +624,11 @@ namespace GridKit f_[16] = ii + B_ * vr + G_ * vi - ini; /* 2 Genrou control inputs are set to constant for this example */ - f_[17] = efd - efd_set_; + //f_[17] = efd - efd_set_; /* 2 Genrou current source definitions */ - f_[18] = inr - (G_ * (std::sin(delta) * vd + std::cos(delta) * vq) - B_ * (-std::cos(delta) * vd + std::sin(delta) * vq)); - f_[19] = ini - (B_ * (std::sin(delta) * vd + std::cos(delta) * vq) + G_ * (-std::cos(delta) * vd + std::sin(delta) * vq)); + f_[17] = inr - (G_ * (std::sin(delta) * vd + std::cos(delta) * vq) - B_ * (-std::cos(delta) * vd + std::sin(delta) * vq)); + f_[18] = ini - (B_ * (std::sin(delta) * vd + std::cos(delta) * vq) + G_ * (-std::cos(delta) * vd + std::sin(delta) * vq)); /* Current balance */ Ir() += inr - Vr() * G_ + Vi() * B_; From b7611274e8471cba1d6bd4022574919ea331368c Mon Sep 17 00:00:00 2001 From: lukelowry Date: Sun, 20 Jul 2025 04:51:24 -0500 Subject: [PATCH 04/15] Exciter data impl coherent with Genrou --- .../Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp | 52 +++--- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 154 ++++++++++-------- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp | 4 - .../Exciter/IEEET1/Ieeet1Data.hpp | 71 +++++--- src/Model/PhasorDynamics/SystemModelData.hpp | 3 + 5 files changed, 158 insertions(+), 126 deletions(-) diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp index 17a3892b1..66949f560 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp @@ -31,8 +31,6 @@ int main() using BusType = BusData::BusType; using signal_type = SignalNode; - using ExciterData = Exciter::Ieeet1Data; - using machine_type = Genrou; using gov_type = Governor::Tgov1; using exc_type = Exciter::Ieeet1; @@ -114,14 +112,24 @@ int main() // Governor data.gov.resize(1); - // Exciter - //data.exciter.resize(1); - ExciterData exdata; + // Exciter + data.exciter.resize(1); + + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Tr] = 0.001; // (BUG: Nonfunctional if Tr = 0) + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Ka] = 50.; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Ta] = 0.04; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Ke] = -0.06; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Te] = 0.6; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Kf] = 0.09; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Tf] = 1.46; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Vrmin] = -1.; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Vrmax] = 1.; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::E1] = 2.8; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::E2] = 3.373; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Se1] = 0.04; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Se2] = 0.33; + data.exciter[0].parameters[Exciter::Ieeet1Parameters::Ispdlim] = 0.; - // BUG: Nonfunctional if Tr = 0 - // Determine how to handle certain parameter edge cases. - // data.exciter[0].Tr = 0.001; - exdata.Tr = 0.001; // -------------- END MODEL DATA ------------------ @@ -145,16 +153,16 @@ int main() // Create generator machine_type gen(bus0, // Bus - omega, // Speed Signal - pmech, // Pmech Signal - efd, // Exciter Signal + omega, // Machine Speed Signal + pmech, // Governor Pmech Signal + efd, // Exciter Efd Signal data.genrou[0]); - + // Create governor (w/ Pmech and Speed signals) gov_type gov(pmech, omega); // Create exciter (w/ Efd, speed, and bus signals) - exc_type exc(efd, omega, bus0, exdata); + exc_type exc(efd, omega, bus0, data.exciter[0]); // Instantiate system model and add components to it SystemModel sys; @@ -187,7 +195,7 @@ int main() { // Output variables are time, real and imaginary voltage and // frequency deviation - real_type ti, Vr, Vi, dw, Pm, Vts, VR, Efd, Vtr, Vf, Ve, ksat; + real_type ti, Vr, Vi, dw, Pm, Efd; }; // A list of output for each time step. @@ -208,11 +216,7 @@ int main() std::vector& y_val = sys.y(); // Note Omega of gen is at state index 5! (Each added signal shifted by 1) - // Electric Bus -> 2 States - // Slack Bus -> 0 States - // Signal Bus Pmech -> 0 State - // Signal Bus speed -> 0 State - // Signal Bus efd -> 0 State + // Bus -> 2 States // Genrou -> 19 States -> Start Idx 2 // Gov -> 3 States -> Start Idx 21 // Exc -> 9 States -> Start Idx 24 @@ -222,13 +226,7 @@ int main() y_val[1], // Bus Vi y_val[3], // Gen Speed y_val[23], // Gov Pmech - y_val[24], // Exc Vts - y_val[25], // Exc Vr - y_val[26], // Exc Efd + 2 - y_val[28], // Exc Vtr - y_val[29], // Exc Vf - y_val[30], // Exc Ve - y_val[32] // Exc ksat + y_val[26], // Exc Efd }); }; diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index 4b9ed3714..b373daf13 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -38,45 +38,87 @@ namespace GridKit * @tparam IdxT Index data type */ template - Ieeet1::Ieeet1( - signal_type* efd_signal, - signal_type* speed_signal, - bus_type* bus, - const model_data_type& data) + Ieeet1::Ieeet1(signal_type* efd_signal, + signal_type* speed_signal, + bus_type* bus, + const model_data_type& data) : efd_signal_(efd_signal), speed_signal_(speed_signal), - bus_(bus), - Tr_(data.Tr), - Ka_(data.Ka), - Ta_(data.Ta), - Ke_(data.Ke), - Te_(data.Te), - Kf_(data.Kf), - Tf_(data.Tf), - Vrmin_(data.Vrmin), - Vrmax_(data.Vrmax), - E1_(data.E1), - E2_(data.E2), - Se1_(data.Se1), - Se2_(data.Se2), - Ispdlim_(data.Ispdlim) + bus_(bus) { + if (data.parameters.contains(model_data_type::Parameters::Tr)) + { + Tr_ = std::get(data.parameters.at(model_data_type::Parameters::Tr)); + } + if (data.parameters.contains(model_data_type::Parameters::Ka)) + { + Ka_ = std::get(data.parameters.at(model_data_type::Parameters::Ka)); + } + if (data.parameters.contains(model_data_type::Parameters::Ta)) + { + Ta_ = std::get(data.parameters.at(model_data_type::Parameters::Ta)); + } + if (data.parameters.contains(model_data_type::Parameters::Ke)) + { + Ke_ = std::get(data.parameters.at(model_data_type::Parameters::Ke)); + } + if (data.parameters.contains(model_data_type::Parameters::Te)) + { + Te_ = std::get(data.parameters.at(model_data_type::Parameters::Te)); + } + if (data.parameters.contains(model_data_type::Parameters::Kf)) + { + Kf_ = std::get(data.parameters.at(model_data_type::Parameters::Kf)); + } + if (data.parameters.contains(model_data_type::Parameters::Tf)) + { + Tf_ = std::get(data.parameters.at(model_data_type::Parameters::Tf)); + } + if (data.parameters.contains(model_data_type::Parameters::Vrmin)) + { + Vrmin_ = std::get(data.parameters.at(model_data_type::Parameters::Vrmin)); + } + if (data.parameters.contains(model_data_type::Parameters::Vrmax)) + { + Vrmax_ = std::get(data.parameters.at(model_data_type::Parameters::Vrmax)); + } + if (data.parameters.contains(model_data_type::Parameters::E1)) + { + E1_ = std::get(data.parameters.at(model_data_type::Parameters::E1)); + } + if (data.parameters.contains(model_data_type::Parameters::E2)) + { + E2_ = std::get(data.parameters.at(model_data_type::Parameters::E2)); + } + if (data.parameters.contains(model_data_type::Parameters::Se1)) + { + Se1_ = std::get(data.parameters.at(model_data_type::Parameters::Se1)); + } + if (data.parameters.contains(model_data_type::Parameters::Se2)) + { + Se2_ = std::get(data.parameters.at(model_data_type::Parameters::Se2)); + } + if (data.parameters.contains(model_data_type::Parameters::Ispdlim)) + { + Ispdlim_ = std::get(data.parameters.at(model_data_type::Parameters::Ispdlim)); + } + // 9 Internal Variables size_ = 9; // Derived Parameters ScalarT SR = std::sqrt( Se2_ / Se1_); - // Technically two solutions - // Solution 1 (Aligned with PW) SA_ = (SR * E1_ - E2_) / (SR - 1); SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); + // Solution 2 // SA_ = (SR * E1_ + E2_) / (SR + 1); // SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); + } @@ -95,7 +137,6 @@ namespace GridKit // Set output signal after allocation // The signal is accessible to the generator - // y_[7] is output efd state if (efd_signal_) { efd_signal_->set(&y_[7]); @@ -114,12 +155,11 @@ namespace GridKit int Ieeet1::initialize() { - // Read External Variables - + // External Variables ScalarT efd0{0}; if (efd_signal_) { - efd0 = y_[7]; //<- TODO generator needs to set efd initial value + efd0 = y_[7]; //<- TODO generator sets efd initial value } // Terminal Voltage @@ -205,43 +245,6 @@ namespace GridKit return ((0.5 * mu_ * x) / (1.0 + std::abs(mu_ * x))) + 0.5; } - /** - * @brief Indicator function for lower valve limit violation. - * - * @param[in] x State variable - * @param[in] f Conditional derivative of state variable - * @tparam ScalarT Scalar data type - * @tparam IdxT Index data type - * @return Lower Smooth Indicator value at coordinates (x, f(x)) - * - * @warning This needs to be abstracted to be used - * across phasor dynamics. Identical pattern is - * being used in TGOV1 model. - */ - template - ScalarT Ieeet1::indicator_low(ScalarT x, ScalarT f) - { - return (this->sigmoid(Vrmin_ - x)) * (this->sigmoid(-f)); - } - - /** - * @brief Indicator function for high valve limit violation. - * - * @param[in] x State variable - * @param[in] f Conditional derivative of state variable - * @tparam ScalarT Scalar data type - * @tparam IdxT Index data type - * @return Higher Smooth Indicator value at coordinates (x, f(x)) - * - * @warning This needs to be abstracted to be used - * across phasor dynamics. Identical pattern is - * being used in TGOV1 model. - */ - template - ScalarT Ieeet1::indicator_high(ScalarT x, ScalarT f) - { - return (this->sigmoid(x - Vrmax_)) * (this->sigmoid(f)); - } /** * @brief Net Indicator function for regulator limits @@ -250,7 +253,7 @@ namespace GridKit * @param[in] f Conditional derivative of state variable * @tparam ScalarT Scalar data type * @tparam IdxT Index data type - * @return + * @return Scalar value indicating limit activation. * * @warning This needs to be abstracted to be used * across phasor dynamics. Identical pattern is @@ -259,7 +262,10 @@ namespace GridKit template ScalarT Ieeet1::indicator(ScalarT x, ScalarT f) { - return (1 - this->indicator_low(x, f)) * (1 - this->indicator_high(x, f)); + + ScalarT ind_low = (this->sigmoid(Vrmin_ - x)) * (this->sigmoid(-f)); + ScalarT ind_high = (this->sigmoid(x - Vrmax_)) * (this->sigmoid(f)); + return (1 - ind_low) * (1 - ind_high); } /** @@ -274,14 +280,18 @@ namespace GridKit ScalarT omega{0}; if (speed_signal_) { + // Meta PR Note + // This seems to be very slow, + // but I see how read/write ownership may require this + // + // I believe implementing the equivilent to signal->read() + // at the system level would address this, by routing + // external signals into a generic inputs_ vector + // at the same time as the internal state values y_ + // are recieved from IDA. omega = speed_signal_->read(); } - // NOTE - // No external variable 'write' needed, - // as it is available to others dierctly throguh - // pointer. - // Read E comp (terminal voltage, unless compensation impedence) ScalarT vreal = bus_->Vr(); ScalarT vimag = bus_->Vi(); @@ -295,7 +305,7 @@ namespace GridKit ScalarT vtr = y_[4]; // y4 - Term Volt Err ScalarT vf = y_[5]; // y5 - Feedback volt ScalarT ve = y_[6]; // y6 - Excit. Cntrl Volt - ScalarT efd = y_[7]; // y7 - Efd (EXTERNALLY ACCESSABLE) + ScalarT efd = y_[7]; // y7 - Efd ScalarT ksat = y_[8]; // y8 - Saturation // Read Internal Derivatives @@ -324,7 +334,7 @@ namespace GridKit // NOTE seems about double PW saturation. f_[8] = -ksat; if (efdp > SA_) - f_[8] += SB_ * (efdp - SA_) * (efdp - SA_); // / 2 ? + f_[8] += SB_ * (efdp - SA_) * (efdp - SA_); // return 0; diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp index 964c38d1e..7e7f1c2c2 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp @@ -118,10 +118,6 @@ namespace GridKit // Activation function (sigmoid approximation) ScalarT sigmoid(ScalarT x); - - // Indicator of Valve limit states - ScalarT indicator_low(ScalarT x, ScalarT f); - ScalarT indicator_high(ScalarT x, ScalarT f); ScalarT indicator(ScalarT x, ScalarT f); }; diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp index 497fa5e93..2503e5370 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp @@ -7,45 +7,70 @@ */ #pragma once +#include + namespace GridKit { namespace PhasorDynamics { namespace Exciter { + /// Initial parameters for a Genrou generator model + enum class Ieeet1Parameters + { + Tr, ///< Time constant for voltage sensing + Ka, ///< Coefficient for voltage regulation + Ta, ///< Time constant for voltage regulation + Ke, ///< Coefficient for excitation system + Te, ///< Time constant for excitation system + Kf, ///< Coefficient for feedback + Tf, ///< Time constant for feedback + Vrmin, ///< LL to voltage regulation + Vrmax, ///< HH to voltage regulation + E1, ///< Saturation parameter + E2, ///< Saturation parameter + Se1, ///< Saturation parameter + Se2, ///< Saturation parameter + Ispdlim ///< Speed limit flag indicator + + }; + + /// Ports for a Genrou generator model + enum class Ieeet1Ports + { + bus, ///< Unique ID of the terminal bus + speed_signal, ///< Unique ID of the generator speed signal + efd_signal, ///< Unique ID of the output efd signal + }; + + /// Variables able to be monitored for a Genrou generator model + enum class Ieeet1MonitorableVariables + { + efd, + ksat, + }; + /** - * @brief Contains modeling data for a IEEET1 Exciter model. + * @brief Contains modeling data for a Genrou generator model. * * @tparam RealT Real parameter data type * @tparam IdxT Integer parameter data type * * Integer parameters are of the same type as matrix and vector indices. - * - * @todo Decide on naming scheme for model parameters. */ template - struct Ieeet1Data + struct Ieeet1Data : public ComponentData { - RealT Tr{0}; ///< Time constant for voltage sensing - RealT Ka{50}; ///< Coefficient for voltage regulation - RealT Ta{0.04}; ///< Time constant for voltage regulation - RealT Ke{-0.06}; ///< Coefficient for excitation system - RealT Te{0.6}; ///< Time constant for excitation system - RealT Kf{0.09}; ///< Coefficient for feedback - RealT Tf{1.46}; ///< Time constant for feedback - RealT Vrmin{-1}; ///< LL to voltage regulation - RealT Vrmax{1}; ///< HH to voltage regulation - RealT E1{2.8}; ///< Saturation parameter - RealT E2{3.373}; ///< Saturation parameter - RealT Se1{0.04}; ///< Saturation parameter - RealT Se2{0.33}; ///< Saturation parameter - RealT Ispdlim{0.0}; ///< Speed limit flag indicator + Ieeet1Data() = default; - // NOTE signal data format TBD - // IdxT signal_efd{0}; - // IdxT signal_vref{0}; - // IdxT signal_speed{0}; + using Parameters = Ieeet1Parameters; + using Ports = Ieeet1Ports; + using MonitorableVariables = Ieeet1MonitorableVariables; }; } // namespace Exciter } // namespace PhasorDynamics -} // namespace GridKit \ No newline at end of file +} // namespace GridKit diff --git a/src/Model/PhasorDynamics/SystemModelData.hpp b/src/Model/PhasorDynamics/SystemModelData.hpp index 2d8aaa319..29ac924bf 100644 --- a/src/Model/PhasorDynamics/SystemModelData.hpp +++ b/src/Model/PhasorDynamics/SystemModelData.hpp @@ -8,6 +8,7 @@ #include #include #include +#include #include #include #include @@ -29,6 +30,7 @@ namespace GridKit using BusDataT = BusData; using BusFaultDataT = BusFaultData; using Tgov1DataT = Governor::Tgov1Data; + using Ieeet1DataT = Exciter::Ieeet1Data; using GenrouDataT = GenrouData; using GenClassicalDataT = GenClassicalData; using LoadDataT = LoadData; @@ -73,6 +75,7 @@ namespace GridKit std::vector genclassical; ///< Classical generator instances within the model std::vector load; ///< Loads within the model std::vector gov; ///< Governors within the model + std::vector exciter; ///< Exciters within the model std::vector signal; ///< Signal nodes }; } // namespace PhasorDynamics From 6a10424c6fcabb6fec5957841a621d29b77a78fa Mon Sep 17 00:00:00 2001 From: lukelowry Date: Sun, 20 Jul 2025 10:04:01 +0000 Subject: [PATCH 05/15] Apply pre-commmit fixes --- .../Tiny/ThreeBus/Basic/ThreeBusBasic.cpp | 6 +- .../PhasorDynamics/Tiny/TwoBus/CMakeLists.txt | 2 +- .../Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp | 34 +- .../Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp | 4804 ++++++++--------- .../PhasorDynamics/Exciter/CMakeLists.txt | 2 +- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 104 +- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp | 29 +- .../Exciter/IEEET1/Ieeet1Data.hpp | 45 +- .../SynchronousMachine/GENROUwS/Genrou.hpp | 14 +- .../GENROUwS/GenrouImpl.hpp | 12 +- src/Model/PhasorDynamics/SystemModelData.hpp | 2 +- 11 files changed, 2518 insertions(+), 2536 deletions(-) diff --git a/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp b/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp index 9cff6cfca..cd82e6844 100644 --- a/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp +++ b/examples/PhasorDynamics/Tiny/ThreeBus/Basic/ThreeBusBasic.cpp @@ -217,10 +217,10 @@ int main() // Gen 1 -> +19 (Start Idx: 4) // Gen 2 -> +19 (Start Idx: 23) - // + // output.push_back(OutputData{t, - 1.0 + y_val[5], // Gen 1 Speed -> 4 + 1 - 1.0 + y_val[24], // Gen 2 Speed -> 23 + 1 + 1.0 + y_val[5], // Gen 1 Speed -> 4 + 1 + 1.0 + y_val[24], // Gen 2 Speed -> 23 + 1 std::sqrt(y_val[0] * y_val[0] + y_val[1] * y_val[1]), // Bus 1 Vmag std::sqrt(y_val[2] * y_val[2] + y_val[3] * y_val[3])}); // Bus 2 Vmag }; diff --git a/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt b/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt index 4e74335c6..90f5ba38b 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt +++ b/examples/PhasorDynamics/Tiny/TwoBus/CMakeLists.txt @@ -1,3 +1,3 @@ add_subdirectory(Basic) add_subdirectory(Tgov1) -add_subdirectory(Ieeet1) \ No newline at end of file +add_subdirectory(Ieeet1) diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp index 66949f560..951fd8f44 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp @@ -19,7 +19,6 @@ // Temp, remove #include - int main() { using namespace GridKit::PhasorDynamics; @@ -32,7 +31,7 @@ int main() using BusType = BusData::BusType; using signal_type = SignalNode; using machine_type = Genrou; - using gov_type = Governor::Tgov1; + using gov_type = Governor::Tgov1; using exc_type = Exciter::Ieeet1; std::cout << "Example: TwoBusTgov1 + IEEET1 Exciter\n"; @@ -65,7 +64,6 @@ int main() data.signal[1].name = "Efd"; data.signal[1].signal_id = 2; - // Set branch data data.branch.resize(1); @@ -76,7 +74,6 @@ int main() data.branch[0].parameters[BranchParameters::G] = 0.0; data.branch[0].parameters[BranchParameters::B] = 0.0; - // Add faults data.bus_fault.resize(1); @@ -84,7 +81,6 @@ int main() data.bus_fault[0].parameters[BusFaultParameters::X] = 1e-3; data.bus_fault[0].parameters[BusFaultParameters::state0] = false; - // ------------- MODEL GROUP ------------------ // Set generator data @@ -112,7 +108,7 @@ int main() // Governor data.gov.resize(1); - // Exciter + // Exciter data.exciter.resize(1); data.exciter[0].parameters[Exciter::Ieeet1Parameters::Tr] = 0.001; // (BUG: Nonfunctional if Tr = 0) @@ -130,7 +126,6 @@ int main() data.exciter[0].parameters[Exciter::Ieeet1Parameters::Se2] = 0.33; data.exciter[0].parameters[Exciter::Ieeet1Parameters::Ispdlim] = 0.; - // -------------- END MODEL DATA ------------------ // Manually add components @@ -159,10 +154,10 @@ int main() data.genrou[0]); // Create governor (w/ Pmech and Speed signals) - gov_type gov(pmech, omega); + gov_type gov(pmech, omega); // Create exciter (w/ Efd, speed, and bus signals) - exc_type exc(efd, omega, bus0, data.exciter[0]); + exc_type exc(efd, omega, bus0, data.exciter[0]); // Instantiate system model and add components to it SystemModel sys; @@ -179,7 +174,6 @@ int main() sys.allocate(); - // Set time step to 1/4 of a 60Hz cycle real_type dt = 1.0 / 4.0 / 60.0; @@ -221,12 +215,12 @@ int main() // Gov -> 3 States -> Start Idx 21 // Exc -> 9 States -> Start Idx 24 output.push_back(OutputData{ - t, - y_val[0], // Bus Vr - y_val[1], // Bus Vi - y_val[3], // Gen Speed - y_val[23], // Gov Pmech - y_val[26], // Exc Efd + t, + y_val[0], // Bus Vr + y_val[1], // Bus Vi + y_val[3], // Gen Speed + y_val[23], // Gov Pmech + y_val[26], // Exc Efd }); }; @@ -295,9 +289,9 @@ int main() std::cout << data.ti << " " << std::sqrt(data.Vr * data.Vr + data.Vi * data.Vi) << " " << (1.0 + data.dw) - << " " << (data.Pm) - << " " << (data.Efd) - << " " << (data.VR) + << " " << (data.Pm) + << " " << (data.Efd) + << " " << (data.VR) << " " << (data.ksat) << "\n"; // std::cout << "Ref : t = " << ref_sol[0] @@ -340,4 +334,4 @@ int main() std::cout << "\n\nComplete in " << (stop - start) / CLOCKS_PER_SEC << " seconds\n"; return status; -} \ No newline at end of file +} diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp index 44ce9d354..135a918a7 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.hpp @@ -16,2405 +16,2405 @@ // 3 | Generator E field std::vector> reference_solution = { - {0,1,1.00000047684,1.91404712}, - {0.004167,1,1.00000047684,1.91404712}, - {0.008333,1,1.00000047684,1.91404712}, - {0.0125,0.99999994,1.00000047684,1.91404712}, - {0.016667,0.99999994,1.00000047684,1.91404712}, - {0.020833,0.99999994,1.00000047684,1.91404712}, - {0.025,0.99999994,1.00000047684,1.91404712}, - {0.029167,0.99999994,1.00000047684,1.91404712}, - {0.033333,0.99999994,1.00000047684,1.91404712}, - {0.0375,0.99999994,1.00000047684,1.91404712}, - {0.041667,0.99999994,1.00000047684,1.91404712}, - {0.045833,0.99999994,1.00000047684,1.91404712}, - {0.05,0.99999988,1.00000047684,1.91404712}, - {0.054167,0.99999988,1.00000047684,1.91404712}, - {0.058333,0.99999988,1.00000047684,1.91404712}, - {0.0625,0.99999988,1.00000047684,1.91404712}, - {0.066667,0.99999988,1.00000047684,1.91404712}, - {0.070833,0.99999988,1.00000047684,1.91404712}, - {0.075,0.99999988,1.00000047684,1.91404712}, - {0.079167,0.99999988,1.00000047684,1.91404712}, - {0.083333,0.99999988,1.00000047684,1.91404712}, - {0.0875,0.99999988,1.00000047684,1.91404712}, - {0.091667,0.99999988,1.00000047684,1.91404712}, - {0.095833,0.99999988,1.00000047684,1.91404712}, - {0.1,0.99999988,1.00000047684,1.91404712}, - {0.104167,0.99999988,1.00000047684,1.91404712}, - {0.108333,0.99999988,1.00000047684,1.91404712}, - {0.1125,0.99999988,1.00000047684,1.91404712}, - {0.116667,0.99999988,1.00000047684,1.91404712}, - {0.120833,0.99999988,1.00000047684,1.91404712}, - {0.125,0.99999988,1.00000047684,1.91404712}, - {0.129167,0.99999988,1.00000047684,1.91404712}, - {0.133333,0.99999988,1.00000047684,1.91404712}, - {0.1375,0.99999994,1.00000047684,1.91404712}, - {0.141667,0.99999994,1.00000047684,1.91404712}, - {0.145833,0.99999994,1.00000047684,1.91404712}, - {0.15,0.99999994,1.00000047684,1.91404712}, - {0.154167,0.99999994,1.00000047684,1.91404712}, - {0.158333,0.99999994,1.00000047684,1.91404712}, - {0.1625,0.99999994,1.00000047684,1.91404712}, - {0.166667,0.99999994,1.00000047684,1.91404712}, - {0.170833,0.99999994,1.00000047684,1.91404712}, - {0.175,0.99999994,1.00000047684,1.91404712}, - {0.179167,0.99999994,1.00000047684,1.91404712}, - {0.183333,0.99999994,1.00000047684,1.91404712}, - {0.1875,0.99999994,1.00000047684,1.91404712}, - {0.191667,0.99999994,1.00000047684,1.91404712}, - {0.195833,1,1.00000047684,1.91404712}, - {0.2,1,1.00000047684,1.91404712}, - {0.204167,1,1.00000047684,1.91404712}, - {0.208333,1,1.00000047684,1.91404712}, - {0.2125,1,1.00000047684,1.91404712}, - {0.216667,1,1.00000047684,1.91404712}, - {0.220833,1,1.00000047684,1.91404712}, - {0.225,1,1.00000047684,1.91404712}, - {0.229167,1,1.00000047684,1.91404712}, - {0.233333,1,1.00000047684,1.91404712}, - {0.2375,1,1.00000047684,1.91404712}, - {0.241667,1,1.00000047684,1.91404712}, - {0.245833,1,1.00000047684,1.91404712}, - {0.25,1,1.00000047684,1.91404712}, - {0.254167,1,1.00000047684,1.91404712}, - {0.258333,1,1.00000047684,1.91404712}, - {0.2625,1,1.00000047684,1.91404712}, - {0.266667,1,1.00000047684,1.91404712}, - {0.270833,1,1.00000047684,1.91404712}, - {0.275,1,1.00000047684,1.91404712}, - {0.279167,1,1.00000047684,1.91404712}, - {0.283333,1,1.00000047684,1.91404712}, - {0.2875,1,1.00000047684,1.91404712}, - {0.291667,1,1.00000047684,1.91404712}, - {0.295833,1.00000012,1.00000047684,1.91404712}, - {0.3,1.00000012,1.00000047684,1.91404712}, - {0.304167,1.00000012,1.00000047684,1.91404712}, - {0.308333,1.00000012,1.00000047684,1.91404712}, - {0.3125,1.00000012,1.00000047684,1.91404712}, - {0.316667,1.00000012,1.00000047684,1.91404712}, - {0.320833,1.00000012,1.00000047684,1.91404712}, - {0.325,1.00000012,1.00000047684,1.91404712}, - {0.329167,1.00000012,1.00000047684,1.91404712}, - {0.333333,1.00000012,1.00000047684,1.91404712}, - {0.3375,1.00000012,1.00000047684,1.91404712}, - {0.341667,1.00000012,1.00000047684,1.91404712}, - {0.345833,1.00000012,1.00000047684,1.91404712}, - {0.35,1.00000012,1.00000047684,1.91404712}, - {0.354167,1.00000012,1.00000047684,1.91404712}, - {0.358333,1.00000012,1.00000047684,1.91404712}, - {0.3625,1,1.00000047684,1.91404712}, - {0.366667,1,1.00000047684,1.91404712}, - {0.370833,1,1.00000047684,1.91404712}, - {0.375,1,1.00000047684,1.91404712}, - {0.379167,1,1.00000047684,1.91404712}, - {0.383333,1,1.00000047684,1.91404712}, - {0.3875,1,1.00000047684,1.91404712}, - {0.391667,1,1.00000047684,1.91404712}, - {0.395833,1,1.00000047684,1.91404712}, - {0.4,1,1.00000047684,1.91404712}, - {0.404167,1,1.00000047684,1.91404712}, - {0.408333,1,1.00000047684,1.91404712}, - 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{9.891667, 1.00000322, 1.00059366226, 1.91092491}, + {9.895833, 1.00000322, 1.00059199333, 1.91092467}, + {9.9, 1.00000322, 1.0005903244, 1.91092455}, + {9.904167, 1.00000322, 1.00058853626, 1.91092443}, + {9.908333, 1.00000322, 1.00058686733, 1.91092432}, + {9.9125, 1.00000322, 1.00058507919, 1.91092408}, + {9.916667, 1.00000322, 1.00058341026, 1.91092408}, + {9.920833, 1.00000322, 1.00058174133, 1.91092396}, + {9.925, 1.00000322, 1.0005800724, 1.91092384}, + {9.929167, 1.00000322, 1.00057828426, 1.91092372}, + {9.933333, 1.0000031, 1.00057661533, 1.91092372}, + {9.9375, 1.0000031, 1.0005749464, 1.9109236}, + {9.941667, 1.0000031, 1.00057327747, 1.9109236}, + {9.945833, 1.0000031, 1.00057160854, 1.9109236}, + {9.95, 1.0000031, 1.00056993961, 1.9109236}, + {9.954167, 1.0000031, 1.00056827068, 1.9109236}, + {9.958333, 1.0000031, 1.00056660175, 1.9109236}, + {9.9625, 1.0000031, 1.00056493282, 1.9109236}, + {9.966667, 1.0000031, 1.00056326389, 1.91092372}, + {9.970833, 1.0000031, 1.00056159496, 1.91092372}, + {9.975, 1.0000031, 1.00055992603, 1.91092384}, + {9.979167, 1.0000031, 1.0005582571, 1.91092384}, + {9.983333, 1.0000031, 1.00055670738, 1.91092396}, + {9.9875, 1.0000031, 1.00055503845, 1.91092408}, + {9.991667, 1.0000031, 1.00055336952, 1.9109242}, + {9.995833, 1.0000031, 1.0005518198, 1.91092432}, + {10, 1.0000031, 1.00055015087, 1.91092443}, +}; diff --git a/src/Model/PhasorDynamics/Exciter/CMakeLists.txt b/src/Model/PhasorDynamics/Exciter/CMakeLists.txt index 676742090..10d059f8e 100644 --- a/src/Model/PhasorDynamics/Exciter/CMakeLists.txt +++ b/src/Model/PhasorDynamics/Exciter/CMakeLists.txt @@ -3,4 +3,4 @@ # - Luke Lowery # ]] -add_subdirectory(IEEET1) \ No newline at end of file +add_subdirectory(IEEET1) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index b373daf13..bf3767c54 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -2,22 +2,20 @@ * @file Ieeet1.cpp * @author Luke Lowery (lukel@tamu.edu) * @author Adam Birchfield (abirchfield@tamu.edu) - * + * * @brief Definition of a IEEET1 Exciter. * */ +#include "Ieeet1.hpp" + #include #include - #include - #include #include -#include "Ieeet1.hpp" - #define _USE_MATH_DEFINES namespace GridKit @@ -38,11 +36,11 @@ namespace GridKit * @tparam IdxT Index data type */ template - Ieeet1::Ieeet1(signal_type* efd_signal, - signal_type* speed_signal, - bus_type* bus, + Ieeet1::Ieeet1(signal_type* efd_signal, + signal_type* speed_signal, + bus_type* bus, const model_data_type& data) - : efd_signal_(efd_signal), + : efd_signal_(efd_signal), speed_signal_(speed_signal), bus_(bus) { @@ -94,7 +92,7 @@ namespace GridKit if (data.parameters.contains(model_data_type::Parameters::Se1)) { Se1_ = std::get(data.parameters.at(model_data_type::Parameters::Se1)); - } + } if (data.parameters.contains(model_data_type::Parameters::Se2)) { Se2_ = std::get(data.parameters.at(model_data_type::Parameters::Se2)); @@ -102,26 +100,23 @@ namespace GridKit if (data.parameters.contains(model_data_type::Parameters::Ispdlim)) { Ispdlim_ = std::get(data.parameters.at(model_data_type::Parameters::Ispdlim)); - } + } // 9 Internal Variables size_ = 9; // Derived Parameters - ScalarT SR = std::sqrt( Se2_ / Se1_); + ScalarT SR = std::sqrt(Se2_ / Se1_); // Solution 1 (Aligned with PW) SA_ = (SR * E1_ - E2_) / (SR - 1); SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); - // Solution 2 // SA_ = (SR * E1_ + E2_) / (SR + 1); // SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); - } - /** * @brief Allocate memory for model * @@ -146,7 +141,7 @@ namespace GridKit /** * @brief Initialization of the Exciter - * + * * Sets/configures all of the initial values of the exciter * by assuming no saturation and steady-state. * @@ -165,19 +160,18 @@ namespace GridKit // Terminal Voltage ScalarT vreal = bus_->Vr(); ScalarT vimag = bus_->Vi(); - Ec_ = std::sqrt(vreal*vreal + vimag*vimag); - + Ec_ = std::sqrt(vreal * vreal + vimag * vimag); // Derived from External initial values - ScalarT vr = Ke_ * efd0; - ScalarT vfx = Kf_ / Tf_ * efd0; - ScalarT vtr = Ke_ / Ka_ * efd0; + ScalarT vr = Ke_ * efd0; + ScalarT vfx = Kf_ / Tf_ * efd0; + ScalarT vtr = Ke_ / Ka_ * efd0; // Vref (setpoint = terminal + error) vref_ = Ec_ + vtr; // IVP for Internal Variables - y_[0] = Ec_; // y0 - vts - Sensed term volt + y_[0] = Ec_; // y0 - vts - Sensed term volt y_[1] = vr; // y1 - vr - Votlage reg y_[2] = efd0; // y2 - efdp - Efd pre mult y_[3] = vfx; // y3 - vfx - Exciter feedback @@ -188,13 +182,13 @@ namespace GridKit y_[8] = 0; // y8 - ksat - Saturation // Steady State Conditions - yp_[0] = 0.0; - yp_[1] = 0.0; - yp_[2] = 0.0; - yp_[3] = 0.0; - yp_[4] = 0.0; + yp_[0] = 0.0; + yp_[1] = 0.0; + yp_[2] = 0.0; + yp_[3] = 0.0; + yp_[4] = 0.0; yp_[5] = 0.0; - yp_[6] = 0.0; + yp_[6] = 0.0; yp_[7] = 0.0; yp_[8] = 0.0; @@ -212,7 +206,7 @@ namespace GridKit int Ieeet1::tagDifferentiable() { - tag_[0] = true; // y0 - vts - Sensed term volt + tag_[0] = true; // y0 - vts - Sensed term volt tag_[1] = true; // y1 - vr - Votlage reg tag_[2] = true; // y2 - efdp - Efd pre mult tag_[3] = true; // y3 - vfx - Exciter feedback @@ -236,7 +230,7 @@ namespace GridKit * @warning This needs to be abstracted to be used * across phasor dynamics. Identical pattern is * being used in TGOV1 model. - * + * * Algebraic approximation of transcendental sigmoid. */ template @@ -245,7 +239,6 @@ namespace GridKit return ((0.5 * mu_ * x) / (1.0 + std::abs(mu_ * x))) + 0.5; } - /** * @brief Net Indicator function for regulator limits * @@ -284,7 +277,7 @@ namespace GridKit // This seems to be very slow, // but I see how read/write ownership may require this // - // I believe implementing the equivilent to signal->read() + // I believe implementing the equivilent to signal->read() // at the system level would address this, by routing // external signals into a generic inputs_ vector // at the same time as the internal state values y_ @@ -295,18 +288,18 @@ namespace GridKit // Read E comp (terminal voltage, unless compensation impedence) ScalarT vreal = bus_->Vr(); ScalarT vimag = bus_->Vi(); - Ec_ = std::sqrt(vreal*vreal + vimag*vimag); + Ec_ = std::sqrt(vreal * vreal + vimag * vimag); // Read Internal Variables - ScalarT vts = y_[0]; // y0 - Sensed term volt - ScalarT vr = y_[1]; // y1 - Votlage reg - ScalarT efdp = y_[2]; // y2 - Efd pre mult - ScalarT vfx = y_[3]; // y3 - Exciter feedback - ScalarT vtr = y_[4]; // y4 - Term Volt Err - ScalarT vf = y_[5]; // y5 - Feedback volt - ScalarT ve = y_[6]; // y6 - Excit. Cntrl Volt - ScalarT efd = y_[7]; // y7 - Efd - ScalarT ksat = y_[8]; // y8 - Saturation + ScalarT vts = y_[0]; // y0 - Sensed term volt + ScalarT vr = y_[1]; // y1 - Votlage reg + ScalarT efdp = y_[2]; // y2 - Efd pre mult + ScalarT vfx = y_[3]; // y3 - Exciter feedback + ScalarT vtr = y_[4]; // y4 - Term Volt Err + ScalarT vf = y_[5]; // y5 - Feedback volt + ScalarT ve = y_[6]; // y6 - Excit. Cntrl Volt + ScalarT efd = y_[7]; // y7 - Efd + ScalarT ksat = y_[8]; // y8 - Saturation // Read Internal Derivatives ScalarT vts_dot = yp_[0]; @@ -315,27 +308,26 @@ namespace GridKit ScalarT vfx_dot = yp_[3]; // The 'pre-limit' derivative of Pv - ScalarT f = -vr + Ka_ * vtr; - ScalarT vr_ind = this->indicator(vr, f); + ScalarT f = -vr + Ka_ * vtr; + ScalarT vr_ind = this->indicator(vr, f); // Internal Differential Equations - f_[0] = -vts_dot + (Ec_ - vts) / Tr_; - f_[1] = -vr_dot + vr_ind * f / Ta_; + f_[0] = -vts_dot + (Ec_ - vts) / Tr_; + f_[1] = -vr_dot + vr_ind * f / Ta_; f_[2] = -efdp_dot + (vr - ve - Ke_ * efdp) / Te_; - f_[3] = -vfx_dot + vf / Tf_; + f_[3] = -vfx_dot + vf / Tf_; // Internal Algebraic Equations - f_[4] = -vtr + vref_ + vUEL_ + vOEL_ + vS_ - vf - vts; - f_[5] = -vf + (efdp * Kf_) / Tf_ - vfx; - f_[6] = -ve + ksat * efdp; - f_[7] = -efd + efdp + omega * efdp * Ispdlim_; - + f_[4] = -vtr + vref_ + vUEL_ + vOEL_ + vS_ - vf - vts; + f_[5] = -vf + (efdp * Kf_) / Tf_ - vfx; + f_[6] = -ve + ksat * efdp; + f_[7] = -efd + efdp + omega * efdp * Ispdlim_; + // TODO smooth approaximation for Enzyme // NOTE seems about double PW saturation. f_[8] = -ksat; if (efdp > SA_) - f_[8] += SB_ * (efdp - SA_) * (efdp - SA_); // - + f_[8] += SB_ * (efdp - SA_) * (efdp - SA_); // return 0; } @@ -358,6 +350,6 @@ namespace GridKit template class Ieeet1; template class Ieeet1; - } // namespace Governor + } // namespace Exciter } // namespace PhasorDynamics -} // namespace GridKit \ No newline at end of file +} // namespace GridKit diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp index 7e7f1c2c2..8452bee2b 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp @@ -2,7 +2,7 @@ * @file Ieeet1.hpp * @author Luke Lowery (lukel@tamu.edu) * @author Adam Birchfield (abirchfield@tamu.edu) - * + * * @brief Declaration of a IEEET1 Exciter Model. * */ @@ -56,31 +56,28 @@ namespace GridKit using bus_type = BusBase; public: - Ieeet1( - signal_type* efd_signal, - signal_type* speed_signal, - bus_type* bus, - const model_data_type& data - ); + signal_type* efd_signal, + signal_type* speed_signal, + bus_type* bus, + const model_data_type& data); ~Ieeet1() = default; - int allocate() override; - int initialize() override; - int tagDifferentiable() override; - int evaluateResidual() override; - int evaluateJacobian() override; + int allocate() override; + int initialize() override; + int tagDifferentiable() override; + int evaluateResidual() override; + int evaluateJacobian() override; void updateTime(real_type /* t */, real_type /* a */) override { } private: - // Signal pointers signal_type* efd_signal_; signal_type* speed_signal_; - bus_type* bus_; + bus_type* bus_; // Model Input parameters real_type Tr_; ///< Time constant for voltage sensing @@ -111,7 +108,7 @@ namespace GridKit ScalarT vS_{0}; ScalarT Ec_{0}; // "Compensated" terminal measurment - // Scale of Sigmoid function + // Scale of Sigmoid function // (temporary local implementation) // This value gave higher precision. const ScalarT mu_ = 400000.0; @@ -123,4 +120,4 @@ namespace GridKit } // namespace Exciter } // namespace PhasorDynamics -} // namespace GridKit \ No newline at end of file +} // namespace GridKit diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp index 2503e5370..476358e37 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp @@ -1,7 +1,7 @@ /** * @file Ieeet1Data.hpp * @author Luke Lowery (lukel@tamu.edu) - * + * * @brief Data structure for IEEET1 Data * */ @@ -18,29 +18,28 @@ namespace GridKit /// Initial parameters for a Genrou generator model enum class Ieeet1Parameters { - Tr, ///< Time constant for voltage sensing - Ka, ///< Coefficient for voltage regulation - Ta, ///< Time constant for voltage regulation - Ke, ///< Coefficient for excitation system - Te, ///< Time constant for excitation system - Kf, ///< Coefficient for feedback - Tf, ///< Time constant for feedback - Vrmin, ///< LL to voltage regulation - Vrmax, ///< HH to voltage regulation - E1, ///< Saturation parameter - E2, ///< Saturation parameter - Se1, ///< Saturation parameter - Se2, ///< Saturation parameter - Ispdlim ///< Speed limit flag indicator - + Tr, ///< Time constant for voltage sensing + Ka, ///< Coefficient for voltage regulation + Ta, ///< Time constant for voltage regulation + Ke, ///< Coefficient for excitation system + Te, ///< Time constant for excitation system + Kf, ///< Coefficient for feedback + Tf, ///< Time constant for feedback + Vrmin, ///< LL to voltage regulation + Vrmax, ///< HH to voltage regulation + E1, ///< Saturation parameter + E2, ///< Saturation parameter + Se1, ///< Saturation parameter + Se2, ///< Saturation parameter + Ispdlim ///< Speed limit flag indicator }; /// Ports for a Genrou generator model enum class Ieeet1Ports { - bus, ///< Unique ID of the terminal bus - speed_signal, ///< Unique ID of the generator speed signal - efd_signal, ///< Unique ID of the output efd signal + bus, ///< Unique ID of the terminal bus + speed_signal, ///< Unique ID of the generator speed signal + efd_signal, ///< Unique ID of the output efd signal }; /// Variables able to be monitored for a Genrou generator model @@ -60,10 +59,10 @@ namespace GridKit */ template struct Ieeet1Data : public ComponentData + IdxT, + Ieeet1Parameters, + Ieeet1Ports, + Ieeet1MonitorableVariables> { Ieeet1Data() = default; diff --git a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp index def5dd7ac..13f846190 100644 --- a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp +++ b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp @@ -54,14 +54,14 @@ namespace GridKit public: Genrou(bus_type* bus, IdxT unit_id); - Genrou(bus_type* bus, - signal_type* omega, - signal_type* pmech, + Genrou(bus_type* bus, + signal_type* omega, + signal_type* pmech, const model_data_type& data); - Genrou(bus_type* bus, - signal_type* omega, - signal_type* pmech, - signal_type* efd, + Genrou(bus_type* bus, + signal_type* omega, + signal_type* pmech, + signal_type* efd, const model_data_type& data); Genrou(bus_type* bus, const model_data_type& data); Genrou(bus_type* bus, diff --git a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp index 873c6b010..8a8484f86 100644 --- a/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp +++ b/src/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp @@ -502,11 +502,11 @@ namespace GridKit y_[14] = iq; y_[15] = ir; y_[16] = ii; - //y_[17] = efd_set_ = Eqp + Xd1_ * (id + Xd3_ * (Eqp - psidp - Xd2_ * id)) + psidpp * ksat; - y_[17] = G_ * (vd * std::sin(delta) + vq * std::cos(delta)) - - B_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, real */ - y_[18] = B_ * (vd * std::sin(delta) + vq * std::cos(delta)) - + G_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, imag */ + // y_[17] = efd_set_ = Eqp + Xd1_ * (id + Xd3_ * (Eqp - psidp - Xd2_ * id)) + psidpp * ksat; + y_[17] = G_ * (vd * std::sin(delta) + vq * std::cos(delta)) + - B_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, real */ + y_[18] = B_ * (vd * std::sin(delta) + vq * std::cos(delta)) + + G_ * (vd * -std::cos(delta) + vq * std::sin(delta)); /* inort, imag */ // Set Setpoint mechanical power, which may or may not be used pmech_set_ = Te; @@ -624,7 +624,7 @@ namespace GridKit f_[16] = ii + B_ * vr + G_ * vi - ini; /* 2 Genrou control inputs are set to constant for this example */ - //f_[17] = efd - efd_set_; + // f_[17] = efd - efd_set_; /* 2 Genrou current source definitions */ f_[17] = inr - (G_ * (std::sin(delta) * vd + std::cos(delta) * vq) - B_ * (-std::cos(delta) * vd + std::sin(delta) * vq)); diff --git a/src/Model/PhasorDynamics/SystemModelData.hpp b/src/Model/PhasorDynamics/SystemModelData.hpp index 29ac924bf..231366c30 100644 --- a/src/Model/PhasorDynamics/SystemModelData.hpp +++ b/src/Model/PhasorDynamics/SystemModelData.hpp @@ -7,8 +7,8 @@ #include #include #include -#include #include +#include #include #include #include From b188dc9984a16d1c83478c7bd34657527f126731 Mon Sep 17 00:00:00 2001 From: Luke Lowery Date: Mon, 21 Jul 2025 10:17:38 -0500 Subject: [PATCH 06/15] Comment Spelling Co-authored-by: superwhiskers --- src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index bf3767c54..ec96f1c56 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -207,7 +207,7 @@ namespace GridKit { tag_[0] = true; // y0 - vts - Sensed term volt - tag_[1] = true; // y1 - vr - Votlage reg + tag_[1] = true; // y1 - vr - Voltage reg tag_[2] = true; // y2 - efdp - Efd pre mult tag_[3] = true; // y3 - vfx - Exciter feedback tag_[4] = false; // y4 - vtr - Term Volt Err From f719a3de353bda17a001b95f9a0c972ab02788e3 Mon Sep 17 00:00:00 2001 From: Luke Lowery Date: Mon, 21 Jul 2025 10:18:10 -0500 Subject: [PATCH 07/15] Comment Spelling cont. Co-authored-by: superwhiskers --- src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index ec96f1c56..2eab2df29 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -277,7 +277,7 @@ namespace GridKit // This seems to be very slow, // but I see how read/write ownership may require this // - // I believe implementing the equivilent to signal->read() + // I believe implementing the equivalent to signal->read() // at the system level would address this, by routing // external signals into a generic inputs_ vector // at the same time as the internal state values y_ From 63a622533f874dbddfba57430baa27a16f6cf1a0 Mon Sep 17 00:00:00 2001 From: Luke Lowery Date: Mon, 21 Jul 2025 10:18:33 -0500 Subject: [PATCH 08/15] Comment Spelling cont. [skip ci] Co-authored-by: superwhiskers --- src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index 2eab2df29..96c7d6ec3 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -172,7 +172,7 @@ namespace GridKit // IVP for Internal Variables y_[0] = Ec_; // y0 - vts - Sensed term volt - y_[1] = vr; // y1 - vr - Votlage reg + y_[1] = vr; // y1 - vr - Voltage reg y_[2] = efd0; // y2 - efdp - Efd pre mult y_[3] = vfx; // y3 - vfx - Exciter feedback y_[4] = vtr; // y4 - vtr - Term Volt Err From 4e4bb0832508c5800f7c7d98004a81ec61db6683 Mon Sep 17 00:00:00 2001 From: Luke Lowery Date: Mon, 21 Jul 2025 10:18:48 -0500 Subject: [PATCH 09/15] Comment Spelling cont. [skip ci] Co-authored-by: superwhiskers --- src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index 96c7d6ec3..6d2bcd998 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -285,7 +285,7 @@ namespace GridKit omega = speed_signal_->read(); } - // Read E comp (terminal voltage, unless compensation impedence) + // Read E comp (terminal voltage, unless compensation impedance) ScalarT vreal = bus_->Vr(); ScalarT vimag = bus_->Vi(); Ec_ = std::sqrt(vreal * vreal + vimag * vimag); From 7f0588cee3f3d8b98c8c5af595433710d9fde432 Mon Sep 17 00:00:00 2001 From: Luke Lowery Date: Mon, 21 Jul 2025 10:19:14 -0500 Subject: [PATCH 10/15] Comment Spelling cont. [skip ci] Co-authored-by: superwhiskers --- src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index 6d2bcd998..7514b7164 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -292,7 +292,7 @@ namespace GridKit // Read Internal Variables ScalarT vts = y_[0]; // y0 - Sensed term volt - ScalarT vr = y_[1]; // y1 - Votlage reg + ScalarT vr = y_[1]; // y1 - Voltage reg ScalarT efdp = y_[2]; // y2 - Efd pre mult ScalarT vfx = y_[3]; // y3 - Exciter feedback ScalarT vtr = y_[4]; // y4 - Term Volt Err From 04cc49d49e717659d6d13e11b2da6aeb044cf8c4 Mon Sep 17 00:00:00 2001 From: lukelowry Date: Mon, 21 Jul 2025 11:23:18 -0500 Subject: [PATCH 11/15] Private parameter function and misc formatting [skip ci] --- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 141 ++++++++++-------- .../PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp | 3 + .../Exciter/IEEET1/Ieeet1Data.hpp | 8 +- src/Model/PhasorDynamics/INPUT_FORMAT.md | 1 + 4 files changed, 83 insertions(+), 70 deletions(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index 7514b7164..aa2a76d32 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -45,76 +45,12 @@ namespace GridKit bus_(bus) { - if (data.parameters.contains(model_data_type::Parameters::Tr)) - { - Tr_ = std::get(data.parameters.at(model_data_type::Parameters::Tr)); - } - if (data.parameters.contains(model_data_type::Parameters::Ka)) - { - Ka_ = std::get(data.parameters.at(model_data_type::Parameters::Ka)); - } - if (data.parameters.contains(model_data_type::Parameters::Ta)) - { - Ta_ = std::get(data.parameters.at(model_data_type::Parameters::Ta)); - } - if (data.parameters.contains(model_data_type::Parameters::Ke)) - { - Ke_ = std::get(data.parameters.at(model_data_type::Parameters::Ke)); - } - if (data.parameters.contains(model_data_type::Parameters::Te)) - { - Te_ = std::get(data.parameters.at(model_data_type::Parameters::Te)); - } - if (data.parameters.contains(model_data_type::Parameters::Kf)) - { - Kf_ = std::get(data.parameters.at(model_data_type::Parameters::Kf)); - } - if (data.parameters.contains(model_data_type::Parameters::Tf)) - { - Tf_ = std::get(data.parameters.at(model_data_type::Parameters::Tf)); - } - if (data.parameters.contains(model_data_type::Parameters::Vrmin)) - { - Vrmin_ = std::get(data.parameters.at(model_data_type::Parameters::Vrmin)); - } - if (data.parameters.contains(model_data_type::Parameters::Vrmax)) - { - Vrmax_ = std::get(data.parameters.at(model_data_type::Parameters::Vrmax)); - } - if (data.parameters.contains(model_data_type::Parameters::E1)) - { - E1_ = std::get(data.parameters.at(model_data_type::Parameters::E1)); - } - if (data.parameters.contains(model_data_type::Parameters::E2)) - { - E2_ = std::get(data.parameters.at(model_data_type::Parameters::E2)); - } - if (data.parameters.contains(model_data_type::Parameters::Se1)) - { - Se1_ = std::get(data.parameters.at(model_data_type::Parameters::Se1)); - } - if (data.parameters.contains(model_data_type::Parameters::Se2)) - { - Se2_ = std::get(data.parameters.at(model_data_type::Parameters::Se2)); - } - if (data.parameters.contains(model_data_type::Parameters::Ispdlim)) - { - Ispdlim_ = std::get(data.parameters.at(model_data_type::Parameters::Ispdlim)); - } + // Parse data struct into model + this->initModelParams(data); // 9 Internal Variables size_ = 9; - // Derived Parameters - ScalarT SR = std::sqrt(Se2_ / Se1_); - - // Solution 1 (Aligned with PW) - SA_ = (SR * E1_ - E2_) / (SR - 1); - SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); - - // Solution 2 - // SA_ = (SR * E1_ + E2_) / (SR + 1); - // SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); } /** @@ -346,6 +282,79 @@ namespace GridKit return 0; } + /** + * @brief Initialization Exciter Parameters from data structure + */ + template + void Ieeet1::initModelParams(const model_data_type& data) + { + + if (data.parameters.contains(model_data_type::Parameters::Tr)) + { + Tr_ = std::get(data.parameters.at(model_data_type::Parameters::Tr)); + } + if (data.parameters.contains(model_data_type::Parameters::Ka)) + { + Ka_ = std::get(data.parameters.at(model_data_type::Parameters::Ka)); + } + if (data.parameters.contains(model_data_type::Parameters::Ta)) + { + Ta_ = std::get(data.parameters.at(model_data_type::Parameters::Ta)); + } + if (data.parameters.contains(model_data_type::Parameters::Ke)) + { + Ke_ = std::get(data.parameters.at(model_data_type::Parameters::Ke)); + } + if (data.parameters.contains(model_data_type::Parameters::Te)) + { + Te_ = std::get(data.parameters.at(model_data_type::Parameters::Te)); + } + if (data.parameters.contains(model_data_type::Parameters::Kf)) + { + Kf_ = std::get(data.parameters.at(model_data_type::Parameters::Kf)); + } + if (data.parameters.contains(model_data_type::Parameters::Tf)) + { + Tf_ = std::get(data.parameters.at(model_data_type::Parameters::Tf)); + } + if (data.parameters.contains(model_data_type::Parameters::Vrmin)) + { + Vrmin_ = std::get(data.parameters.at(model_data_type::Parameters::Vrmin)); + } + if (data.parameters.contains(model_data_type::Parameters::Vrmax)) + { + Vrmax_ = std::get(data.parameters.at(model_data_type::Parameters::Vrmax)); + } + if (data.parameters.contains(model_data_type::Parameters::E1)) + { + E1_ = std::get(data.parameters.at(model_data_type::Parameters::E1)); + } + if (data.parameters.contains(model_data_type::Parameters::E2)) + { + E2_ = std::get(data.parameters.at(model_data_type::Parameters::E2)); + } + if (data.parameters.contains(model_data_type::Parameters::Se1)) + { + Se1_ = std::get(data.parameters.at(model_data_type::Parameters::Se1)); + } + if (data.parameters.contains(model_data_type::Parameters::Se2)) + { + Se2_ = std::get(data.parameters.at(model_data_type::Parameters::Se2)); + } + if (data.parameters.contains(model_data_type::Parameters::Ispdlim)) + { + Ispdlim_ = std::get(data.parameters.at(model_data_type::Parameters::Ispdlim)); + } + + // Derived Parameters + ScalarT SR = std::sqrt( Se2_ / Se1_); + + // Solution 1 (Aligned with PW) + SA_ = (SR * E1_ - E2_) / (SR - 1); + SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); + + } + // Available template instantiations template class Ieeet1; template class Ieeet1; diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp index 8452bee2b..d3586d169 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.hpp @@ -116,6 +116,9 @@ namespace GridKit // Activation function (sigmoid approximation) ScalarT sigmoid(ScalarT x); ScalarT indicator(ScalarT x, ScalarT f); + + // Parameter initialization function + void initModelParams(const model_data_type& data); }; } // namespace Exciter diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp index 476358e37..7baa48915 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1Data.hpp @@ -15,7 +15,7 @@ namespace GridKit { namespace Exciter { - /// Initial parameters for a Genrou generator model + /// Initial parameters for IEEET1 Exciter model enum class Ieeet1Parameters { Tr, ///< Time constant for voltage sensing @@ -34,7 +34,7 @@ namespace GridKit Ispdlim ///< Speed limit flag indicator }; - /// Ports for a Genrou generator model + /// Ports for a IEEET1 Exciter model enum class Ieeet1Ports { bus, ///< Unique ID of the terminal bus @@ -42,7 +42,7 @@ namespace GridKit efd_signal, ///< Unique ID of the output efd signal }; - /// Variables able to be monitored for a Genrou generator model + /// Variables able to be monitored for a IEEET1 Exciter model enum class Ieeet1MonitorableVariables { efd, @@ -50,7 +50,7 @@ namespace GridKit }; /** - * @brief Contains modeling data for a Genrou generator model. + * @brief Contains modeling data for a IEEET1 Exciter model. * * @tparam RealT Real parameter data type * @tparam IdxT Integer parameter data type diff --git a/src/Model/PhasorDynamics/INPUT_FORMAT.md b/src/Model/PhasorDynamics/INPUT_FORMAT.md index 905fa983f..d8342bed6 100644 --- a/src/Model/PhasorDynamics/INPUT_FORMAT.md +++ b/src/Model/PhasorDynamics/INPUT_FORMAT.md @@ -114,6 +114,7 @@ are specified: `branch` | a basic algebraic pi model for a line or transformer | `bus1`, `bus2` | `R`, `X`, `G`, `B` | `ir1`, `ii1`, `im1`, `p1`, `q1`, `ir2`, `ii2`, `im2`, `p2`, `q2` `static_load` | a basic static ZIP load | `bus` | `Pz`, `Qz`, `Pi`, `Qi`, `Pp`, `Qp` | `ir`, `ii`, `p`, `q` `GENROU` | 6th order machine model | `bus`, `exciter_signal`\*, `governor_signal`\* | `p0`, `q0`, `H`, `D`, `Ra`, `Tdop`, `Tdopp`, `Tqopp`, `Tqop`, `Xd`, `Xdp`, `Xdpp`, `Xq`, `Xqp`, `Xqpp`, `Xl`, `S10`, `S12` | `ir`, `ii`, `p`, `q`, `delta`, `omega` + `IEEET1` | a basic exciter model | `bus`, `speed_signal`, `efd_signal` | `Efd` | `Efd`, `ksat` `bus_fault` | simple impedance-based fault at a bus | `bus`, `control_signal`\* | `state0`, `R`, `X` | `state`, `ir`, `ii` Ports marked with \* are optional and, if missing, will be assumed to be From f59073325e319ef1bb38fceea150a840119bd915 Mon Sep 17 00:00:00 2001 From: Luke Lowery Date: Tue, 22 Jul 2025 01:08:41 -0500 Subject: [PATCH 12/15] Signal vector memory allocation in example Co-authored-by: superwhiskers --- examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp index 951fd8f44..98034b5b2 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp @@ -53,7 +53,7 @@ int main() data.bus[1].Vi0 = 0.0; // Set signal nodes data - data.signal.resize(2); + data.signal.resize(3); data.signal[0].name = "omega"; data.signal[0].signal_id = 0; @@ -61,8 +61,8 @@ int main() data.signal[1].name = "Pm"; data.signal[1].signal_id = 1; - data.signal[1].name = "Efd"; - data.signal[1].signal_id = 2; + data.signal[2].name = "Efd"; + data.signal[2].signal_id = 2; // Set branch data data.branch.resize(1); From c67660b556b05ad1c55bd91d6c5c2403973106cc Mon Sep 17 00:00:00 2001 From: lukelowry Date: Tue, 22 Jul 2025 06:08:59 +0000 Subject: [PATCH 13/15] Apply pre-commmit fixes --- src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp | 12 +++++------- 1 file changed, 5 insertions(+), 7 deletions(-) diff --git a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp index aa2a76d32..9623460a8 100644 --- a/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp +++ b/src/Model/PhasorDynamics/Exciter/IEEET1/Ieeet1.cpp @@ -50,7 +50,6 @@ namespace GridKit // 9 Internal Variables size_ = 9; - } /** @@ -282,13 +281,13 @@ namespace GridKit return 0; } - /** + /** * @brief Initialization Exciter Parameters from data structure */ template void Ieeet1::initModelParams(const model_data_type& data) { - + if (data.parameters.contains(model_data_type::Parameters::Tr)) { Tr_ = std::get(data.parameters.at(model_data_type::Parameters::Tr)); @@ -336,7 +335,7 @@ namespace GridKit if (data.parameters.contains(model_data_type::Parameters::Se1)) { Se1_ = std::get(data.parameters.at(model_data_type::Parameters::Se1)); - } + } if (data.parameters.contains(model_data_type::Parameters::Se2)) { Se2_ = std::get(data.parameters.at(model_data_type::Parameters::Se2)); @@ -344,15 +343,14 @@ namespace GridKit if (data.parameters.contains(model_data_type::Parameters::Ispdlim)) { Ispdlim_ = std::get(data.parameters.at(model_data_type::Parameters::Ispdlim)); - } + } // Derived Parameters - ScalarT SR = std::sqrt( Se2_ / Se1_); + ScalarT SR = std::sqrt(Se2_ / Se1_); // Solution 1 (Aligned with PW) SA_ = (SR * E1_ - E2_) / (SR - 1); SB_ = Se1_ / (E1_ - SA_) / (E1_ - SA_); - } // Available template instantiations From 1a1a0f1c30d8638f598e6d9b4c504cdb44120945 Mon Sep 17 00:00:00 2001 From: lukelowry Date: Tue, 22 Jul 2025 11:59:07 -0500 Subject: [PATCH 14/15] Fix memory leak in example --- .../Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp | 26 +++++++++++-------- 1 file changed, 15 insertions(+), 11 deletions(-) diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp index 98034b5b2..05175b213 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp @@ -136,9 +136,9 @@ int main() auto* bus1 = BusFactory::create(data.bus[1]); // Create signal nodes - auto* omega = new signal_type(data.signal[0]); - auto* pmech = new signal_type(data.signal[1]); - auto* efd = new signal_type(data.signal[2]); + signal_type omega(data.signal[0]); + signal_type pmech(data.signal[1]); + signal_type efd(data.signal[2]); // Create branch Branch branch(bus0, bus1, data.branch[0]); @@ -148,24 +148,24 @@ int main() // Create generator machine_type gen(bus0, // Bus - omega, // Machine Speed Signal - pmech, // Governor Pmech Signal - efd, // Exciter Efd Signal + &omega, // Machine Speed Signal + &pmech, // Governor Pmech Signal + &efd, // Exciter Efd Signal data.genrou[0]); // Create governor (w/ Pmech and Speed signals) - gov_type gov(pmech, omega); + gov_type gov(&pmech, &omega); // Create exciter (w/ Efd, speed, and bus signals) - exc_type exc(efd, omega, bus0, data.exciter[0]); + exc_type exc(&efd, &omega, bus0, data.exciter[0]); // Instantiate system model and add components to it SystemModel sys; sys.addBus(bus0); sys.addBus(bus1); - sys.addSignal(omega); - sys.addSignal(pmech); - sys.addSignal(efd); + sys.addSignal(&omega); + sys.addSignal(&pmech); + sys.addSignal(&efd); sys.addComponent(&branch); sys.addComponent(&gen); sys.addComponent(&gov); @@ -333,5 +333,9 @@ int main() std::cout << "\n\nComplete in " << (stop - start) / CLOCKS_PER_SEC << " seconds\n"; + // Free Bus pointers manually + delete bus0; + delete bus1; + return status; } From 0186f5817ecc10b1651824e05857ab3a4aa475af Mon Sep 17 00:00:00 2001 From: lukelowry Date: Tue, 22 Jul 2025 16:55:21 +0000 Subject: [PATCH 15/15] Apply pre-commmit fixes --- examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp index 05175b213..4adf99269 100644 --- a/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp +++ b/examples/PhasorDynamics/Tiny/TwoBus/Ieeet1/TwoBusIeeet1.cpp @@ -147,7 +147,7 @@ int main() BusFault fault(bus0, data.bus_fault[0]); // Create generator - machine_type gen(bus0, // Bus + machine_type gen(bus0, // Bus &omega, // Machine Speed Signal &pmech, // Governor Pmech Signal &efd, // Exciter Efd Signal