untested HYGOV implementation

Author: hexaeder

src/Library/Library.jl

@@ -180,6 +180,9 @@ include("OpenIPSL/Controls/PSSE_TurbineGovernors.jl")
 export PSSE_GGOV1_EXPERIMENTAL
 include("OpenIPSL/Controls/PSSE_GGOV1.jl")
 
+export PSSE_HYGOV
+include("OpenIPSL/Controls/PSSE_HYGOV.jl")
+
 export PSSE_IEEEST
 include("OpenIPSL/Controls/PSSE_PSS.jl")
 

src/Library/OpenIPSL/Controls/PSSE_HYGOV.jl

@@ -0,0 +1,127 @@
+# PSSE Hydro Turbine Governor Components
+#
+# Original work Copyright (c) 2016-2022 Luigi Vanfretti, ALSETLab, and contributors
+# Original work licensed under BSD 3-Clause License
+# Original source: https://github.com/OpenIPSL/OpenIPSL
+#
+# This Julia/PowerDynamics port maintains the same mathematical formulation
+# while adapting to PowerDynamics/ModelingToolkit framework conventions.
+
+@mtkmodel PSSE_HYGOV begin
+    @parameters begin
+        # Governor parameters
+        R=0.05, [description="Permanent droop gain [pu]"]
+        r=0.3, [description="Temporary droop gain [pu]"]
+        T_r=5, [description="Governor time constant [s]"]
+        T_f=0.05, [description="Filter time constant [s]"]
+        T_g=0.5, [description="Servo time constant [s]"]
+        VELM=0.2, [description="Gate open/close velocity limit [pu/s]"]
+        G_MAX=0.9, [description="Maximum gate limit [pu]"]
+        G_MIN=0, [description="Minimum gate limit [pu]"]
+
+        # Hydraulic turbine parameters
+        T_w=1.25, [description="Water time constant [s]"]
+        A_t=1.2, [description="Turbine gain [pu]"]
+        D_turb=0.2, [description="Turbine damping [pu]"]
+        q_NL=0.08, [description="Water flow at no load [pu]"]
+        h0=1, [description="Water head initial value [pu]", bounds=(0, Inf)]
+
+        # Initialization parameters (determined during initialization)
+        n_ref, [guess=1, description="Speed reference [pu]"]
+    end
+
+    # Protected parameters calculated from initial conditions (like OpenIPSL)
+    # These follow the OpenIPSL initialization logic:
+    # P_m0 := PMECH0
+    # q0 := P_m0/(A_t*h0) + q_NL
+    # g0 := q0/sqrt(h0)
+    # c0 := g0
+    # nref := R*c0
+
+    @components begin
+        # Active inputs/outputs
+        SPEED_in = RealInput()   # Machine speed deviation from nominal [pu]
+        PMECH_out = RealOutput() # Turbine mechanical power [pu]
+
+        # Building block components
+        filter = SimpleLag(K=1, T=T_f, guess=0)
+        temp_droop = SimpleLead(K=r*T_r, T=T_r, guess=0)
+        position_limiter = LimIntegrator(K=1, outMin=G_MIN, outMax=G_MAX, guess=nothing)
+        servo = SimpleLag(K=1, T=T_g, guess=nothing)
+        water_integrator = LimIntegrator(K=1/T_w, outMin=-Inf, outMax=Inf, guess=nothing)
+    end
+
+    @variables begin
+        # Governor system variables
+        speed_input(t), [description="Speed input signal [pu]"]
+        droop_feedback(t), [description="Permanent droop feedback [pu]"]
+        governor_error(t), [description="Governor error signal [pu]"]
+        velocity_limited_signal(t), [description="Velocity limited signal [pu/s]"]
+        desired_gate_position(t), [description="Desired gate position [pu]"]
+        gate_position(t), [description="Actual gate position [pu]"]
+
+        # Hydraulic system variables
+        flow_gate_ratio(t), [description="Flow to gate ratio"]
+        flow_gate_ratio_squared(t), [description="(Q/G)^2"]
+        water_flow(t), [description="Water flow Q [pu]"]
+        flow_minus_noload(t), [description="Flow minus no-load Q-qNL [pu]"]
+        turbine_head(t), [description="Turbine head H [pu]"]
+        head_flow_product(t), [description="H*(Q-qNL) [pu]"]
+        base_power(t), [description="A_t * H * (Q-qNL) [pu]"]
+        damping_term(t), [description="D_turb * G * SPEED [pu]"]
+    end
+
+    @equations begin
+        # Governor system (following OpenIPSL signal flow)
+        speed_input ~ SPEED_in.u
+
+        # Permanent droop feedback (R * gate_position)
+        droop_feedback ~ R * desired_gate_position
+
+        # Main error calculation (add: n_ref - (SPEED + R*c))
+        governor_error ~ n_ref - (speed_input + droop_feedback)
+
+        # Filter (SimpleLag1)
+        filter.in ~ governor_error
+
+        # Temporary droop compensation (simpleLead)
+        temp_droop.in ~ filter.out
+
+        # Velocity limiting
+        velocity_limited_signal ~ clamp(temp_droop.out, -VELM, VELM)
+
+        # Position limiter (LimIntegrator)
+        position_limiter.in ~ velocity_limited_signal
+        desired_gate_position ~ position_limiter.out
+
+        # Servo motor
+        servo.in ~ desired_gate_position
+        gate_position ~ servo.out
+
+        # Hydraulic turbine system (following OpenIPSL connections)
+        # Division: Q/G
+        flow_gate_ratio ~ water_flow / gate_position
+
+        # Product: (Q/G)^2
+        flow_gate_ratio_squared ~ flow_gate_ratio^2
+
+        # Water integrator: dQ/dt = (h0 - (Q/G)^2)/T_w
+        water_integrator.in ~ h0 - flow_gate_ratio_squared
+        water_flow ~ water_integrator.out
+
+        # Add3: Q - qNL
+        # flow_minus_noload ~ water_flow - q_NL
+
+        # Turbine head calculation: H = (Q/G)^2
+        turbine_head ~ flow_gate_ratio_squared
+
+        # Gain6: A_t * H * (Q - qNL)
+        base_power ~ A_t * turbine_head * (water_flow - q_NL)
+
+        # Damping term: D_turb * G * SPEED
+        damping_term ~ D_turb * gate_position * speed_input
+
+        # Final power: base_power - damping_term
+        PMECH_out.u ~ base_power - damping_term
+    end
+end