implement and test HYGOV model

Author: hexaeder

src/Library/OpenIPSL/Controls/PSSE_HYGOV.jl

@@ -24,10 +24,10 @@
         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)]
+        h0=1, [guess=0.1, description="Water head initial value [pu]", bounds=(0, Inf)]
 
         # Initialization parameters (determined during initialization)
-        n_ref, [guess=1, description="Speed reference [pu]"]
+        n_ref, [guess=1, description="Speed reference [pu]", bounds=(0,Inf)]
     end
 
     # Protected parameters calculated from initial conditions (like OpenIPSL)
@@ -44,11 +44,11 @@
         PMECH_out = RealOutput() # Turbine mechanical power [pu]
 
         # Building block components
-        filter = SimpleLag(K=1, T=T_f, guess=0)
+        filter = SimpleLag(K=1, T=T_f, default=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)
+        position_limiter = LimIntegrator(K=1, outMin=G_MIN, outMax=G_MAX, guess=0.1)
+        servo = SimpleLag(K=1, T=T_g, guess=0.1)
+        water_integrator = LimIntegrator(K=1/T_w, outMin=-Inf, outMax=Inf, guess=0.1)
     end
 
     @variables begin
@@ -103,18 +103,15 @@
         flow_gate_ratio ~ water_flow / gate_position
 
         # Product: (Q/G)^2
-        flow_gate_ratio_squared ~ flow_gate_ratio^2
+        turbine_head ~ flow_gate_ratio^2
 
         # Water integrator: dQ/dt = (h0 - (Q/G)^2)/T_w
-        water_integrator.in ~ h0 - flow_gate_ratio_squared
+        water_integrator.in ~ h0 - turbine_head
         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)
 

src/Library/building_blocks.jl

@@ -54,15 +54,30 @@ end
         K # Gain
         T # Time constant
         guess=0
+        default=nothing
     end
     @variables begin
         in(t), [description="Input signal", input=true]
-        out(t), [guess=guess, description="Output signal", output=true]
+        out(t)=default, [guess=guess, description="Output signal", output=true]
     end
     @equations begin
         T * Dt(out) ~ K*in - out
     end
 end
+@mtkmodel SimpleLead begin
+    @structural_parameters begin
+        K # Gain
+        T # Time constant
+        guess=0
+    end
+    @variables begin
+        in(t), [description="Input signal", input=true]
+        out(t), [guess=guess, description="Output signal", output=true]
+    end
+    @equations begin
+        T*Dt(in) ~ K*out - in
+    end
+end
 
 @mtkmodel LimitedIntegratorBase begin
     @structural_parameters begin
@@ -79,7 +94,7 @@ end
     end
     @variables begin
         in(t), [description="Input signal", input=true]
-        out(t), [guess=guess, description="limited integrator output state"]
+        out(t), [guess=guess, description="limited integrator output state", output=true]
         min(t), [description="Lower limit"]
         max(t), [description="Upper limit"]
         forcing(t)

test/OpenIPSL_test/HYGOV/model_simulation.mos

@@ -0,0 +1,28 @@
+// Load OpenIPSL library
+loadFile(getEnvironmentVar("OPENIPSL_PATH") + "/package.mo");
+
+// Run HYGOV simulation with model's native experiment settings
+simulate(OpenIPSL.Tests.Controls.PSSE.TG.HYGOV);
+
+// Extract machine, exciter and governor data for testing
+filterSimulationResults(
+      "OpenIPSL.Tests.Controls.PSSE.TG.HYGOV_res.mat",
+      "modelica_results.csv",
+      {
+            // GENSAL machine variables (key dynamics)
+            "gENSAL.delta",                 // Rotor angle
+            "gENSAL.w",                     // Speed deviation (omega)
+            "gENSAL.Vt",                    // Terminal voltage magnitude
+
+            // SCRX exciter variables (control path)
+            "sCRX.EFD",                     // Final exciter field voltage output
+
+            // HYGOV governor variables (main states)
+            "hYGOV.SimpleLag1.y",          // Filtered governor error (filter output)
+            "hYGOV.Position_Limiter.y",    // Desired gate position (c)
+            "hYGOV.g.y",                   // Actual gate position (G)
+            "hYGOV.q.y",                   // Water flow (Q)
+            "hYGOV.H",                     // Turbine head (H)
+            "hYGOV.PMECH"                  // Turbine mechanical power output
+      }
+);

test/OpenIPSL_test/HYGOV/modelica_results.csv.gz

@@ -0,0 +1,38 @@
+#!/bin/bash
+
+# Get script directory
+SCRIPTDIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+
+# Set temporary directory
+TMPDIR="/tmp/hygov_sim"
+
+# Create temporary directory
+mkdir -p "$TMPDIR" && cd "$TMPDIR"
+
+# Remove existing OpenIPSL directory if it exists
+rm -rf OpenIPSL
+
+# Clone OpenIPSL at specific commit for reproducibility
+git clone --depth 1 https://github.com/OpenIPSL/OpenIPSL.git
+cd OpenIPSL
+git fetch --depth 1 origin fe8aa5c
+git checkout fe8aa5c
+cd ..
+
+# Set OpenIPSL library path
+export OPENIPSL_PATH="$TMPDIR/OpenIPSL/OpenIPSL"
+
+# Run OpenModelica simulation
+omc "$SCRIPTDIR/model_simulation.mos"
+
+# Copy results back, compress, and cleanup
+# Copy minimal data (for git repo)
+cp modelica_results.csv "$SCRIPTDIR/" || { echo "Error: Failed to copy simulation results"; exit 1; }
+
+# Remove existing compressed files if they exist to avoid conflicts
+rm -f "$SCRIPTDIR/modelica_results.csv.gz"
+
+# Compress the file
+gzip "$SCRIPTDIR/modelica_results.csv"
+
+rm -rf "$TMPDIR"

test/OpenIPSL_test/HYGOV/ref_data_gen.sh

@@ -254,7 +254,7 @@ The following OpenIPSL models use the SMIB test harness and are candidates for P
   - *Dependencies: Requires GENROU machine model*
 - [ ] **TGOV1** - Steam turbine governor
   - *Dependencies: Requires GENROE machine model*
-- [ ] **HYGOV** - Hydro turbine governor
+- [X] **HYGOV** - Hydro turbine governor
   - *Dependencies: Requires GENSAL machine model + SCRX excitation system*
 
 ### Power System Stabilizers (PSSE)