GENSAL Machine Model

CHANGELOG.md

@@ -52,6 +52,7 @@
 - Added component model developer checklist to a README file.
 - Added IEEEST Stabilizer Model
 - Added SEXS-PTI Exciter Model
+- Added GENSAL Machine Model
 - Added 200 Bus Synthetic Illinois Case
 - Added node objects to `PowerElectronics` module & updated all examples to make use of them.
 

GridKit/Model/PhasorDynamics/ComponentLibrary.hpp

@@ -11,4 +11,5 @@
 #include <GridKit/Model/PhasorDynamics/SignalNode/SignalNode.hpp>
 #include <GridKit/Model/PhasorDynamics/Stabilizer/IEEEST/Ieeest.hpp>
 #include <GridKit/Model/PhasorDynamics/SynchronousMachine/GENROUwS/Genrou.hpp>
+#include <GridKit/Model/PhasorDynamics/SynchronousMachine/GENSALwS/Gensal.hpp>
 #include <GridKit/Model/PhasorDynamics/SynchronousMachine/GenClassical/GenClassical.hpp>

GridKit/Model/PhasorDynamics/INPUT_FORMAT.md

@@ -144,6 +144,7 @@ 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`
   `Load`        | a basic static impedence load model                  | `bus`                            | `R`, `X` | `p`, `q`
   `Genrou`      | 6th order machine model                              | `bus`, `pmech`\*, `speed`\*, `efd`\*    | `p0`, `q0`, `H`, `D`, `Ra`, `Tdop`, `Tdopp`, `Tqopp`, `Tqop`, `Xd`, `Xdp`, `Xdpp`, `Xq`, `Xqp`, `Xqpp`, `Xl`, `S10`, `S12`, `mva_base`  | `ir`, `ii`, `p`, `q`, `delta`, `omega`, `speed`
+  `Gensal`      | 5th order salient-pole machine model                 | `bus`, `pmech`\*, `speed`\*, `efd`\*    | `p0`, `q0`, `H`, `D`, `Ra`, `Tdop`, `Tdopp`, `Tqopp`, `Xd`, `Xdp`, `Xdpp`, `Xq`, `Xl`, `S10`, `S12`, `mva_base`  | `ir`, `ii`, `p`, `q`, `delta`, `omega`, `speed`
   `GenClassical`| the classical machine model                          | `bus`, `pmech`\*, `speed`\*, `efd`\*  | `p0`, `q0`, `H`, `D`, `Ra`, `Xdp`, `mva_base` | `ir`, `ii`, `p`, `q`, `delta`, `omega`
   `Tgov1 `      | the TGOV1 governor model                             | `pmech`, `speed`                 | `R`, `T1`, `T2`, `T3`, `Pvmax`, `Pvmin`, `Dt` | `none`
   `Ieeet1`      | the IEEET1 exciter model                             | `bus`, `speed`, `efd`, `vs`\*    | `Tr`, `Ka`, `Ta`, `Ke`, `Te`, `Kf`, `Tf`, `Vrmin`, `Vrmax`, `E1`, `E2`, `Se1`, `Se2`, `Ispdlim` | `efd`, `ksat`

GridKit/Model/PhasorDynamics/SynchronousMachine/CMakeLists.txt

@@ -6,4 +6,5 @@
 # ]]
 
 add_subdirectory(GENROUwS)
+add_subdirectory(GENSALwS)
 add_subdirectory(GenClassical)

GridKit/Model/PhasorDynamics/SynchronousMachine/GENROUwS/GenrouImpl.hpp

@@ -401,7 +401,8 @@ namespace GridKit
       ScalarT ii  = (p * vi - q * vr) / vm2;
 
       // Initial ksat guess from |V|
-      ScalarT ksat = SB_ * (vm - SA_) * (vm - SA_);
+      ScalarT vm_sat = vm - SA_;
+      ScalarT ksat   = (vm_sat > ZERO<RealT>) ? SB_ * vm_sat * vm_sat : ScalarT{ZERO<RealT>};
 
       ScalarT delta, id, iq, vd, vq;
       ScalarT psiqpp, psidpp, psipp;
@@ -428,7 +429,7 @@ namespace GridKit
         id     = ir * std::sin(delta) - ii * std::cos(delta);
         iq     = ir * std::cos(delta) + ii * std::sin(delta);
         vd     = vr * std::sin(delta) - vi * std::cos(delta) + id * Ra_ - iq * Xqpp_;
-        vq     = vr * std::cos(delta) + vi * std::sin(delta) + id * Xqpp_ - iq * Ra_;
+        vq     = vr * std::cos(delta) + vi * std::sin(delta) + id * Xqpp_ + iq * Ra_;
         psiqpp = -vd;
         psidpp = vq;
         Edp    = (Xq1_ - Xqd_ * (Xqp_ - Xqpp_) * ksat) * iq / (ONE<RealT> + Xqd_ * ksat);
@@ -440,7 +441,8 @@ namespace GridKit
         ScalarT psiqpp_fl = -psiqp * Xq4_ - Edp * Xq5_;
         ScalarT psidpp_fl = psidp * Xd4_ + Eqp * Xd5_;
         psipp             = std::sqrt(psiqpp_fl * psiqpp_fl + psidpp_fl * psidpp_fl);
-        ksat              = SB_ * (psipp - SA_) * (psipp - SA_);
+        ScalarT psipp_sat = psipp - SA_;
+        ksat              = (psipp_sat > ZERO<RealT>) ? SB_ * psipp_sat * psipp_sat : ScalarT{ZERO<RealT>};
 
         if (iter == max_iter - 1)
         {
@@ -460,8 +462,9 @@ namespace GridKit
       y_[5] = Edp;
       y_[6] = psiqpp = -psiqp * Xq4_ - Edp * Xq5_;
       y_[7] = psidpp = psidp * Xd4_ + Eqp * Xd5_;
-      y_[8] = psipp = std::sqrt(psiqpp * psiqpp + psidpp * psidpp);
-      y_[9] = ksat = SB_ * ((psipp - SA_) * (psipp - SA_));
+      y_[8] = psipp     = std::sqrt(psiqpp * psiqpp + psidpp * psidpp);
+      ScalarT psipp_sat = psipp - SA_;
+      y_[9] = ksat = (psipp_sat > ZERO<RealT>) ? SB_ * psipp_sat * psipp_sat : ScalarT{ZERO<RealT>};
       y_[10] = vd = -psiqpp * (ONE<RealT> + omega);
       y_[11] = vq = psidpp * (ONE<RealT> + omega);
       y_[12]      = (psidpp - id * Xdpp_) * iq - (psiqpp - iq * Xdpp_) * id;
@@ -566,17 +569,18 @@ namespace GridKit
       f[5] = Edp_dot - (ONE<RealT> / Tqop_) * (-Edp + Xqd_ * psiqpp * ksat + Xq1_ * (iq - Xq3_ * (Edp + iq * Xq2_ - psiqp)));
 
       /* 11 Genrou algebraic equations */
-      f[6]  = psiqpp - (-psiqp * Xq4_ - Edp * Xq5_);
-      f[7]  = psidpp - (psidp * Xd4_ + Eqp * Xd5_);
-      f[8]  = psipp - std::sqrt((psidpp * psidpp) + (psiqpp * psiqpp));
-      f[9]  = ksat - SB_ * ((psipp - SA_) * (psipp - SA_));
-      f[10] = vd + psiqpp * (ONE<RealT> + omega);
-      f[11] = vq - psidpp * (ONE<RealT> + omega);
-      f[12] = telec - ((psidpp - id * Xdpp_) * iq - (psiqpp - iq * Xdpp_) * id);
-      f[13] = id - (ir * std::sin(delta) - ii * std::cos(delta));
-      f[14] = iq - (ir * std::cos(delta) + ii * std::sin(delta));
-      f[15] = ir + G_ * vr - B_ * vi - inr;
-      f[16] = ii + B_ * vr + G_ * vi - ini;
+      f[6]              = psiqpp - (-psiqp * Xq4_ - Edp * Xq5_);
+      f[7]              = psidpp - (psidp * Xd4_ + Eqp * Xd5_);
+      f[8]              = psipp - std::sqrt((psidpp * psidpp) + (psiqpp * psiqpp));
+      ScalarT psipp_sat = psipp - SA_;
+      f[9]              = ksat - SB_ * psipp_sat * psipp_sat * Math::sigmoid(psipp_sat);
+      f[10]             = vd + psiqpp * (ONE<RealT> + omega);
+      f[11]             = vq - psidpp * (ONE<RealT> + omega);
+      f[12]             = telec - ((psidpp - id * Xdpp_) * iq - (psiqpp - iq * Xdpp_) * id);
+      f[13]             = id - (ir * std::sin(delta) - ii * std::cos(delta));
+      f[14]             = iq - (ir * std::cos(delta) + ii * std::sin(delta));
+      f[15]             = ir + G_ * vr - B_ * vi - inr;
+      f[16]             = ii + B_ * vr + G_ * vi - ini;
 
       /* 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));

GridKit/Model/PhasorDynamics/SynchronousMachine/GENROUwS/README.md

@@ -131,7 +131,7 @@ Note that for implementation purposes, some of these equations may be simplified
   0 &= -V_{d} -\psi''_{q}(1+\omega)\\
   0 &= -V_{q}  +\psi''_{d}(1+\omega)\\
   0 &= -T_{elec} +(\psi''_{d} - I_dX_d'')I_q-(\psi''_{q} - I_qX_d'')I_d \\
-  0 &= -k_{sat} + S_B (\psi''-S_A)^2 \\
+  0 &= -k_{sat} + S_B(\psi''-S_A)^2\sigma(\psi''-S_A) \\
   0 &= -I_d + I_r \sin(\delta) - I_i \cos(\delta) \\
   0 &= -I_q + I_r \cos(\delta) + I_i \sin(\delta) \\
   0 &= -I_r + G (V_d \sin(\delta) + V_q \cos(\delta) - V_r) - B (V_d \cos(\delta) + V_q \sin(\delta) - V_i) \\
@@ -156,7 +156,11 @@ from the steady-state initial conditions.
   \psi^{''}_{d} &= V_q \\
   \psi^{''}_{q} &= -V_d \\
   \psi^{''} &= \sqrt{(\psi''_{d})^2+(\psi''_{q})^2} \\
-  k_{sat}     &= S_B(\psi^{''}-S_A)^2 \\
+  k_{sat}     &=
+    \begin{cases}
+      S_B(\psi^{''}-S_A)^2, & \psi^{''} > S_A\\
+      0, & \psi^{''} \le S_A
+    \end{cases}\\
   T_{elec}    &= (\psi''_{d} - I_dX_d^{''})I_q-(\psi''_{q} - I_qX_d^{''})I_d \\
   P_{m}    &= T_{elec} \\
   \psi_d'  &= \psi_d'' - (X_d'' - X_\ell)I_d \\

GridKit/Model/PhasorDynamics/SynchronousMachine/GENSALwS/CMakeLists.txt

@@ -0,0 +1,45 @@
+set(_install_headers
+  Gensal.hpp
+  GensalData.hpp)
+
+if(GRIDKIT_ENABLE_ENZYME)
+  gridkit_add_library(phasor_dynamics_gensal
+    SOURCES
+      GensalEnzyme.cpp
+    HEADERS
+      ${_install_headers}
+    INCLUDE_DIRECTORIES
+      PRIVATE ${GRIDKIT_THIRD_PARTY_DIR}/magic-enum/include
+    LINK_LIBRARIES
+      PUBLIC GridKit::phasor_dynamics_core
+      PUBLIC GridKit::phasor_dynamics_signal
+      PRIVATE ClangEnzymeFlags
+    COMPILE_OPTIONS
+      PRIVATE -mllvm -enzyme-auto-sparsity=1 -fno-math-errno -fno-vectorize)
+else()
+  gridkit_add_library(phasor_dynamics_gensal
+    SOURCES
+      Gensal.cpp
+    HEADERS
+      ${_install_headers}
+    INCLUDE_DIRECTORIES
+      PRIVATE ${GRIDKIT_THIRD_PARTY_DIR}/magic-enum/include
+    LINK_LIBRARIES
+      PUBLIC GridKit::phasor_dynamics_core
+      PUBLIC GridKit::phasor_dynamics_signal)
+endif()
+
+gridkit_add_library(phasor_dynamics_gensal_dependency_tracking
+  SOURCES
+    GensalDependencyTracking.cpp
+  INCLUDE_DIRECTORIES
+    PRIVATE ${GRIDKIT_THIRD_PARTY_DIR}/magic-enum/include
+  LINK_LIBRARIES
+    PUBLIC GridKit::phasor_dynamics_core
+    PUBLIC GridKit::phasor_dynamics_signal_dependency_tracking)
+
+# Link to interface target for all components
+target_link_libraries(phasor_dynamics_components
+  INTERFACE GridKit::phasor_dynamics_gensal)
+target_link_libraries(phasor_dynamics_components_dependency_tracking
+  INTERFACE GridKit::phasor_dynamics_gensal_dependency_tracking)

GridKit/Model/PhasorDynamics/SynchronousMachine/GENSALwS/Gensal.cpp

@@ -0,0 +1,32 @@
+/**
+ * @file Gensal.cpp
+ * @author Luke Lowery (lukel@tamu.edu)
+ * @brief Definition of a GENSAL generator model.
+ */
+
+#include "GensalImpl.hpp"
+
+namespace GridKit
+{
+  namespace PhasorDynamics
+  {
+    /**
+     * @brief Jacobian evaluation not implemented yet
+     *
+     * @tparam ScalarT - scalar data type
+     * @tparam IdxT    - matrix index data type
+     * @return int - error code, 0 = success
+     */
+    template <class ScalarT, typename IdxT>
+    int Gensal<ScalarT, IdxT>::evaluateJacobian()
+    {
+      Log::misc() << "Evaluate Jacobian for Gensal..." << std::endl;
+      Log::misc() << "Jacobian evaluation not implemented!" << std::endl;
+      return 0;
+    }
+
+    // Available template instantiations
+    template class Gensal<double, long int>;
+    template class Gensal<double, size_t>;
+  } // namespace PhasorDynamics
+} // namespace GridKit