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Generalized linear two terminal State Space Nodal component models (#406)
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15 files changed

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‎dpsim-models/include/dpsim-models/Components.h‎

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#include <dpsim-models/EMT/EMT_Ph1_CurrentSource.h>
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#include <dpsim-models/EMT/EMT_Ph1_Inductor.h>
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#include <dpsim-models/EMT/EMT_Ph1_Resistor.h>
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#include <dpsim-models/EMT/EMT_Ph1_SSNTypeI2T.h>
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#include <dpsim-models/EMT/EMT_Ph1_SSNTypeV2T.h>
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#include <dpsim-models/EMT/EMT_Ph1_SSN_Full_Serial_RLC.h>
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#include <dpsim-models/EMT/EMT_Ph1_Switch.h>
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#include <dpsim-models/EMT/EMT_Ph1_VoltageSource.h>
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#include <dpsim-models/EMT/EMT_Ph1_VoltageSourceNorton.h>

‎dpsim-models/include/dpsim-models/EMT/EMT_Ph1_SSNTypeI2T.h‎

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// SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, EONERC, RWTH Aachen University
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// SPDX-License-Identifier: MPL-2.0
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#pragma once
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#include <dpsim-models/MNASimPowerComp.h>
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#include <dpsim-models/Solver/MNAInterface.h>
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namespace CPS {
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namespace EMT {
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namespace Ph1 {
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/// \brief SSNTypeI2T
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/// Model for a one phase, two terminal I-type SSN component which can be represented using
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/// a state space equation system
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/// x' = A * x + B * u
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/// y = C * x + D * u
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/// with x: state vector, y: output vector, u: input vector,
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/// where u represents external current (mIntfCurrent),
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/// y represents external voltage (mIntfVoltage),
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/// x represents any component states.
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class SSNTypeI2T : public MNASimPowerComp<Real>,
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public SharedFactory<SSNTypeI2T> {
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private:
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void ssnUpdateState();
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void setSSNMatricesToZero();
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protected:
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Matrix mX;
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Matrix mU;
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Matrix mUOld;
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Matrix mW;
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Matrix mYHist;
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public:
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const CPS::Attribute<Matrix>::Ptr mA;
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const CPS::Attribute<Matrix>::Ptr mB;
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const CPS::Attribute<Matrix>::Ptr mC;
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const CPS::Attribute<Matrix>::Ptr mD;
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const CPS::Attribute<Matrix>::Ptr mdA;
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const CPS::Attribute<Matrix>::Ptr mdB;
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const CPS::Attribute<Matrix>::Ptr mdC;
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/// Defines UID, name, component parameters and logging level
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SSNTypeI2T(String uid, String name,
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Logger::Level logLevel = Logger::Level::off);
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/// Defines name and logging level
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SSNTypeI2T(String name, Logger::Level logLevel = Logger::Level::off)
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: SSNTypeI2T(name, name, logLevel) {}
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SimPowerComp<Real>::Ptr clone(String name) override;
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void manualInit(Matrix initialState, Matrix initialInput,
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Matrix initialOldInput, Real initCurrent, Real initVoltage);
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// #### General ####
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void setParameters(const Matrix A, const Matrix B, const Matrix C,
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const Matrix D);
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/// Initializes component from power flow data
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void initializeFromNodesAndTerminals(Real frequency) override;
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// #### MNA section ####
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/// Initializes internal variables of the component
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void mnaCompInitialize(Real omega, Real timeStep,
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Attribute<Matrix>::Ptr leftVector) override;
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/// Stamps system matrix
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void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
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/// Stamps right side (source) vector
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void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
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/// Update interface voltage from MNA system result
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void mnaCompUpdateVoltage(const Matrix &leftVector) override;
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/// Update interface current from MNA system result
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void mnaCompUpdateCurrent(const Matrix &leftVector) override;
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void mnaCompPreStep(Real time, Int timeStepCount) override;
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void mnaCompPostStep(Real time, Int timeStepCount,
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Attribute<Matrix>::Ptr &leftVector) override;
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/// Add MNA pre step dependencies
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void mnaCompAddPreStepDependencies(
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AttributeBase::List &prevStepDependencies,
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AttributeBase::List &attributeDependencies,
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AttributeBase::List &modifiedAttributes) override;
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/// Add MNA post step dependencies
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void
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mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
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AttributeBase::List &attributeDependencies,
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AttributeBase::List &modifiedAttributes,
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Attribute<Matrix>::Ptr &leftVector) override;
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};
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} // namespace Ph1
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} // namespace EMT
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} // namespace CPS

‎dpsim-models/include/dpsim-models/EMT/EMT_Ph1_SSNTypeV2T.h‎

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// SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, EONERC, RWTH Aachen University
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// SPDX-License-Identifier: MPL-2.0
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#pragma once
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#include <dpsim-models/MNASimPowerComp.h>
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#include <dpsim-models/Solver/MNAInterface.h>
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namespace CPS {
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namespace EMT {
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namespace Ph1 {
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/// \brief SSNTypeV2T
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/// Model for a one phase, two terminal V-type SSN component which can be represented using
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/// a state space equation system
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/// x' = A * x + B * u
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/// y = C * x + D * u
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/// with x: state vector, y: output vector, u: input vector,
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/// where u represents external voltage (mIntfVoltage),
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/// y represents external current (mIntfCurrent),
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/// x represents any component states.
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class SSNTypeV2T : public MNASimPowerComp<Real>,
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public SharedFactory<SSNTypeV2T> {
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private:
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void ssnUpdateState();
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void setSSNMatricesToZero();
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protected:
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Matrix mX;
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Matrix mU;
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Matrix mUOld;
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Matrix mW;
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Matrix mYHist;
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public:
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const CPS::Attribute<Matrix>::Ptr mA;
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const CPS::Attribute<Matrix>::Ptr mB;
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const CPS::Attribute<Matrix>::Ptr mC;
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const CPS::Attribute<Matrix>::Ptr mD;
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const CPS::Attribute<Matrix>::Ptr mdA;
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const CPS::Attribute<Matrix>::Ptr mdB;
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const CPS::Attribute<Matrix>::Ptr mdC;
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/// Defines UID, name, component parameters and logging level
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SSNTypeV2T(String uid, String name,
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Logger::Level logLevel = Logger::Level::off);
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/// Defines name and logging level
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SSNTypeV2T(String name, Logger::Level logLevel = Logger::Level::off)
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: SSNTypeV2T(name, name, logLevel) {}
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SimPowerComp<Real>::Ptr clone(String name) override;
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void manualInit(Matrix initialState, Matrix initialInput,
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Matrix initialOldInput, Real initCurrent, Real initVoltage);
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// #### General ####
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void setParameters(const Matrix A, const Matrix B, const Matrix C,
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const Matrix D);
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/// Initializes component from power flow data
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void initializeFromNodesAndTerminals(Real frequency) override;
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// #### MNA section ####
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/// Initializes internal variables of the component
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void mnaCompInitialize(Real omega, Real timeStep,
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Attribute<Matrix>::Ptr leftVector) override;
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/// Stamps system matrix
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void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
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/// Stamps right side (source) vector
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void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
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/// Update interface voltage from MNA system result
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void mnaCompUpdateVoltage(const Matrix &leftVector) override;
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/// Update interface current from MNA system result
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void mnaCompUpdateCurrent(const Matrix &leftVector) override;
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void mnaCompPreStep(Real time, Int timeStepCount) override;
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void mnaCompPostStep(Real time, Int timeStepCount,
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Attribute<Matrix>::Ptr &leftVector) override;
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/// Add MNA pre step dependencies
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void mnaCompAddPreStepDependencies(
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AttributeBase::List &prevStepDependencies,
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AttributeBase::List &attributeDependencies,
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AttributeBase::List &modifiedAttributes) override;
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/// Add MNA post step dependencies
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void
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mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
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AttributeBase::List &attributeDependencies,
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AttributeBase::List &modifiedAttributes,
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Attribute<Matrix>::Ptr &leftVector) override;
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};
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} // namespace Ph1
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} // namespace EMT
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} // namespace CPS

‎dpsim-models/include/dpsim-models/EMT/EMT_Ph1_SSN_Full_Serial_RLC.h‎

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// SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, EONERC, RWTH Aachen University
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// SPDX-License-Identifier: MPL-2.0
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#pragma once
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#include <dpsim-models/Base/Base_Ph1_Capacitor.h>
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#include <dpsim-models/Base/Base_Ph1_Inductor.h>
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#include <dpsim-models/Base/Base_Ph1_Resistor.h>
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#include <dpsim-models/MNASimPowerComp.h>
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#include <dpsim-models/Solver/MNAInterface.h>
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namespace CPS {
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namespace EMT {
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namespace Ph1 {
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namespace SSN {
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/// \brief Full_Serial_RLC
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///
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/// This element represents an one port circuit consisting of a resistor,
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/// an inductor and a capacitor connected in series. The terminals are at
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/// the beginning and the end of the component chain.
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/// The states are the capacitor voltage and the inductor current, the output
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/// is the latter of those states (inductor current). The input is the voltage
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/// across the whole circuit. States and past inputs are updated after each
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/// time step and are used to calculate the current (input) voltage,
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/// represented as MNA node voltages.
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/// SSN theory and variable naming based on
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/// C. Dufour, J. Mahseredjian and J. Belanger,
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/// "A combined state-space nodal method for the simulation of power system
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/// transients," 2011 IEEE Power and Energy Society General Meeting, Detroit,
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/// MI, USA, 2011, pp. 1-1, doi: 10.1109/PES.2011.6038887. keywords:
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/// {Mathematical model;Analytical models;Equations;Power system transients;
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/// Couplings;Switching circuits}
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class Full_Serial_RLC final : public MNASimPowerComp<Real>,
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public SharedFactory<Full_Serial_RLC>,
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public Base::Ph1::Resistor,
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public Base::Ph1::Inductor,
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public Base::Ph1::Capacitor {
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public:
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/// Defines UID, name, component parameters and logging level
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Full_Serial_RLC(String uid, String name,
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Logger::Level logLevel = Logger::Level::off);
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/// Defines name and logging level
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Full_Serial_RLC(String name, Logger::Level logLevel = Logger::Level::off)
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: Full_Serial_RLC(name, name, logLevel) {}
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SimPowerComp<Real>::Ptr clone(String name) override;
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void setParameters(Real resistance, Real inductance, Real capacitance);
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// #### General ####
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/// Initializes component from power flow data
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void initializeFromNodesAndTerminals(Real frequency) override;
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// #### MNA section ####
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/// Initializes internal variables of the component
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void mnaCompInitialize(Real omega, Real timeStep,
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Attribute<Matrix>::Ptr leftVector) override;
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/// Stamps system matrix
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void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
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/// Stamps right side (source) vector
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void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
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/// Update interface voltage from MNA system result
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void mnaCompUpdateVoltage(const Matrix &leftVector) override;
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/// Update interface current from MNA system result
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void mnaCompUpdateCurrent(const Matrix &leftVector) override;
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/// MNA pre step operations
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void mnaCompPreStep(Real time, Int timeStepCount) override;
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/// MNA post step operations
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void mnaCompPostStep(Real time, Int timeStepCount,
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Attribute<Matrix>::Ptr &leftVector) override;
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/// Add MNA pre step dependencies
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void mnaCompAddPreStepDependencies(
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AttributeBase::List &prevStepDependencies,
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AttributeBase::List &attributeDependencies,
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AttributeBase::List &modifiedAttributes) override;
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/// Add MNA post step dependencies
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void
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mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
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AttributeBase::List &attributeDependencies,
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AttributeBase::List &modifiedAttributes,
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Attribute<Matrix>::Ptr &leftVector) override;
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private:
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Matrix mState = Matrix::Zero(2, 1);
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Real mYHistory = 0;
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Real mDufourUNT = 0;
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Matrix mDufourAKHat = Matrix::Zero(2, 2);
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Matrix mDufourBKHat = Matrix::Zero(2, 1);
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Matrix mDufourBKNHat = Matrix::Zero(2, 1);
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Real mDufourWKN = 0;
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Matrix mDufourCKN = Matrix::Zero(1, 2);
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void ssnUpdateState();
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};
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} // namespace SSN
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} // namespace Ph1
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} // namespace EMT
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} // namespace CPS

‎dpsim-models/include/dpsim-models/MathUtils.h‎

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const Matrix &C,
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const Real &dt, Matrix &Ad,
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Matrix &Bd, Matrix &Cd);
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static void calculateStateSpaceTrapezoidalMatrices(const Matrix &A,
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const Matrix &B,
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const Real &dt, Matrix &Ad,
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Matrix &Bd);
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/// Apply the trapezoidal based state space matrices Ad, Bd, Cd to get the states at the current time step
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static Matrix applyStateSpaceTrapezoidalMatrices(const Matrix &Ad,
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const Matrix &Bd,

‎dpsim-models/src/CMakeLists.txt‎

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EMT/EMT_Ph1_VoltageSourceRamp.cpp
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EMT/EMT_Ph1_VoltageSourceNorton.cpp
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EMT/EMT_Ph1_Switch.cpp
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EMT/EMT_Ph1_SSN_Full_Serial_RLC.cpp
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EMT/EMT_Ph1_SSNTypeI2T.cpp
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EMT/EMT_Ph1_SSNTypeV2T.cpp
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EMT/EMT_Ph3_CurrentSource.cpp
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EMT/EMT_Ph3_VoltageSource.cpp

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