Creating and Handling Data for Dynamic Simulations¶

Originally Contributed by: Rodrigo Henriquez and José Daniel Lara

Introduction¶

This tutorial briefly introduces how to create a system using PowerSystems.jl data structures. The tutorial will guide you to create the JSON data file for the tutorial 1. Start by calling PowerSystems.jl:

In [1]:

using SIIPExamples
using PowerSystems
const PSY = PowerSystems

Out[1]:

PowerSystems

Step 1: System description¶

Next we need to define the different elements required to run a simulation. To run a simulation in PowerSimulationsDynamics, it is required to define a System that contains the following components:

Static Components:¶

We called static components to those that are used to run a Power Flow problem.

Vector of Bus elements, that define all the buses in the network.
Vector of Branch elements, that define all the branches elements (that connect two buses) in the network.
Vector of StaticInjection elements, that define all the devices connected to buses that can inject (or withdraw) power. These static devices, typically generators, in PowerSimulationsDynamics are used to solve the Power Flow problem that determines the active and reactive power provided for each device.
Vector of PowerLoad elements, that define all the loads connected to buses that can withdraw current. These are also used to solve the Power Flow.
Vector of Source elements, that define source components behind a reactance that can inject or withdraw current.
The base of power used to define per unit values, in MVA as a Float64 value.
The base frequency used in the system, in Hz as a Float64 value.

Dynamic Components:¶

Dynamic components are those that define differential equations to run a transient simulation.

Vector of DynamicInjection elements. These components must be attached to a

StaticInjection that connects the power flow solution to the dynamic formulation of such device. DynamicInjection can be DynamicGenerator or DynamicInverter, and its specific formulation (i.e. differential equations) will depend on the specific components that define such device.

(Optional) Selecting which of the Lines (of the Branch vector) elements must be modeled of

DynamicLines elements, that can be used to model lines with differential equations.

To start we will define the data structures for the network.

One Machine Infinite Bus case manual data creation¶

The following describes the system creation for the OMIB case.

Static System creation¶

To create the system you need to pass the location of the RAW file

In [2]:

file_dir = joinpath(
    dirname(dirname(pathof(SIIPExamples))),
    "script",
    "4_PowerSimulationsDynamics_examples",
    "Data",
)
omib_sys = System(joinpath(file_dir, "OMIB.raw"))

[ Info: The PSS(R)E parser currently supports buses, loads, shunts, generators, branches, transformers, and dc lines
[ Info: angmin and angmax values are 0, widening these values on branch 1 to +/- 60.0 deg.
[ Info: angmin and angmax values are 0, widening these values on branch 2 to +/- 60.0 deg.
[ Info: the voltage setpoint on generator 1 does not match the value at bus 102
┌ Info: Constructing System from Power Models
│   data["name"] = "omib"
└   data["source_type"] = "pti"
[ Info: Reading bus data
[ Info: Reading generator data
[ Info: Reading branch data
[ Info: Reading branch data
[ Info: Reading DC Line data
[ Info: Reading storage data
┌ Warning: There are no ElectricLoad Components in the System
└ @ PowerSystems ~/.julia/packages/PowerSystems/N2l8o/src/utils/IO/system_checks.jl:56

Out[2]:

System

Base Power: 100.0

Components

Num components: 8

6 rows × 3 columns

	ConcreteType	SuperTypes	Count
	String	String	Int64
1	Arc	Topology <: Component <: InfrastructureSystemsComponent <: InfrastructureSystemsType <: Any	1
2	Area	AggregationTopology <: Topology <: Component <: InfrastructureSystemsComponent <: InfrastructureSystemsType <: Any	1
3	Bus	Topology <: Component <: InfrastructureSystemsComponent <: InfrastructureSystemsType <: Any	2
4	Line	ACBranch <: Branch <: Device <: Component <: InfrastructureSystemsComponent <: InfrastructureSystemsType <: Any	2
5	LoadZone	AggregationTopology <: Topology <: Component <: InfrastructureSystemsComponent <: InfrastructureSystemsType <: Any	1
6	ThermalStandard	ThermalGen <: Generator <: StaticInjection <: Device <: Component <: InfrastructureSystemsComponent <: InfrastructureSystemsType <: Any	1

TimeSeriesContainer

Components with time series data: 0

Total StaticTimeSeries: 0

Total Forecasts: 0

Resolution: 0 seconds

This system does not have an injection device in bus 1 (the reference bus). We can add a source with small impedance directly as follows:

In [3]:

slack_bus = [b for b in get_components(Bus, omib_sys) if b.bustype == BusTypes.REF][1]
inf_source = Source(
    name = "InfBus", #name
    available = true, #availability
    active_power = 0.0,
    reactive_power = 0.0,
    bus = slack_bus, #bus
    R_th = 0.0, #Rth
    X_th = 5e-6, #Xth
)
add_component!(omib_sys, inf_source)

We just added a infinite source with $X_{th} = 5\cdot 10^{-6}$ pu

The system can be explored directly using functions like:

In [4]:

get_components(Source, omib_sys)

get_components(Generator, omib_sys)

Out[4]:

Generator Counts: 
ThermalStandard: 1

By exploring those it can be seen that the generators are named as: generator-bus_number-id. Then, the generator attached at bus 2 is named generator-102-1.

Dynamic Injections¶

We are now interested in attaching to the system the dynamic component that will be modeling our dynamic generator.

Dynamic generator devices are composed by 5 components, namely, machine, shaft, avr, tg and pss. So we will be adding functions to create all of its components and the generator itself:

Machine

In [5]:

machine_classic() = BaseMachine(
    0.0, #R
    0.2995, #Xd_p
    0.7087, #eq_p
)

Out[5]:

machine_classic (generic function with 1 method)

Shaft

In [6]:

shaft_damping() = SingleMass(
    3.148, #H
    2.0, #D
)

Out[6]:

shaft_damping (generic function with 1 method)

AVR: No AVR

In [7]:

avr_none() = AVRFixed(0.0)

Out[7]:

avr_none (generic function with 1 method)

TG: No TG

In [8]:

tg_none() = TGFixed(1.0) #efficiency

Out[8]:

tg_none (generic function with 1 method)

PSS: No PSS

In [9]:

pss_none() = PSSFixed(0.0)

Out[9]:

pss_none (generic function with 1 method)

The next lines receives a static generator name, and creates a DynamicGenerator based on that specific static generator, with the specific components defined previously. This is a classic machine model without AVR, Turbine Governor and PSS.

In [10]:

static_gen = get_component(Generator, omib_sys, "generator-102-1")

dyn_gen = DynamicGenerator(
    name = get_name(static_gen),
    ω_ref = 1.0,
    machine = machine_classic(),
    shaft = shaft_damping(),
    avr = avr_none(),
    prime_mover = tg_none(),
    pss = pss_none(),
)

Out[10]:

generator-102-1 (DynamicGenerator{BaseMachine,SingleMass,AVRFixed,TGFixed,PSSFixed}):
   name: generator-102-1
   ω_ref: 1.0
   machine: BaseMachine
   shaft: SingleMass
   avr: AVRFixed
   prime_mover: TGFixed
   pss: PSSFixed
   base_power: 100.0
   n_states: 2
   states: [:δ, :ω]
   ext: Dict{String,Any}()
   internal: InfrastructureSystems.InfrastructureSystemsInternal

The dynamic generator is added to the system by specifying the dynamic and static generator

In [11]:

add_component!(omib_sys, dyn_gen, static_gen)

┌ Warning: struct DynamicGenerator does not exist in validation configuration file, validation skipped
└ @ InfrastructureSystems ~/.julia/packages/InfrastructureSystems/lYELp/src/validation.jl:51

Then we can serialize our system data to a json file that can be later read as:

In [12]:

to_json(omib_sys, joinpath(file_dir, "omib_sys.json"), force = true)

[ Info: Serialized time series data to /Users/cbarrows/Documents/repos/SIIPExamples.jl/script/4_PowerSimulationsDynamics_examples/Data/omib_sys_time_series_storage.h5.
[ Info: Serialized System to /Users/cbarrows/Documents/repos/SIIPExamples.jl/script/4_PowerSimulationsDynamics_examples/Data/omib_sys.json

Dynamic Lines case: Data creation¶

We will now create a three bus system with one inverter and one generator. In order to do so, we will parse the following ThreebusInverter.raw network:

In [13]:

sys_file_dir = joinpath(file_dir, "ThreeBusInverter.raw")
threebus_sys = System(sys_file_dir)
slack_bus = [b for b in get_components(Bus, threebus_sys) if b.bustype == BusTypes.REF][1]
inf_source = Source(
    name = "InfBus", #name
    available = true, #availability
    active_power = 0.0,
    reactive_power = 0.0,
    bus = slack_bus, #bus
    R_th = 0.0, #Rth
    X_th = 5e-6, #Xth
)
add_component!(threebus_sys, inf_source)

[ Info: The PSS(R)E parser currently supports buses, loads, shunts, generators, branches, transformers, and dc lines
[ Info: angmin and angmax values are 0, widening these values on branch 1 to +/- 60.0 deg.
[ Info: angmin and angmax values are 0, widening these values on branch 2 to +/- 60.0 deg.
[ Info: angmin and angmax values are 0, widening these values on branch 3 to +/- 60.0 deg.
┌ Info: Constructing System from Power Models
│   data["name"] = "threebusinverter"
└   data["source_type"] = "pti"
[ Info: Reading bus data
[ Info: Reading generator data
[ Info: Reading branch data
┌ Warning: Rate 250.0 MW for BUS 1-BUS 3-i_1 is larger than the max expected in the range of (min = 47.0, max = 52.0).
└ @ PowerSystems ~/.julia/packages/PowerSystems/N2l8o/src/utils/IO/branchdata_checks.jl:148
┌ Warning: Rate 250.0 MW for BUS 1-BUS 2-i_2 is larger than the max expected in the range of (min = 47.0, max = 52.0).
└ @ PowerSystems ~/.julia/packages/PowerSystems/N2l8o/src/utils/IO/branchdata_checks.jl:148
┌ Warning: Rate 250.0 MW for BUS 2-BUS 3-i_3 is larger than the max expected in the range of (min = 47.0, max = 52.0).
└ @ PowerSystems ~/.julia/packages/PowerSystems/N2l8o/src/utils/IO/branchdata_checks.jl:148
[ Info: Reading branch data
[ Info: Reading DC Line data
[ Info: Reading storage data

We will connect a One-d-one-q machine at bus 102, and a Virtual Synchronous Generator Inverter at bus 103. An inverter is composed by a converter, outer control, inner control, dc source, frequency estimator and a filter.

Dynamic Inverter definition¶

We will create specific functions to create the components of the inverter as follows:

In [14]:

#Define converter as an AverageConverter
converter_high_power() = AverageConverter(rated_voltage = 138.0, rated_current = 100.0)

#Define Outer Control as a composition of Virtual Inertia + Reactive Power Droop
outer_control() = OuterControl(
    VirtualInertia(Ta = 2.0, kd = 400.0, kω = 20.0),
    ReactivePowerDroop(kq = 0.2, ωf = 1000.0),
)

#Define an Inner Control as a Voltage+Current Controler with Virtual Impedance:
inner_control() = CurrentControl(
    kpv = 0.59,     #Voltage controller proportional gain
    kiv = 736.0,    #Voltage controller integral gain
    kffv = 0.0,     #Binary variable enabling the voltage feed-forward in output of current controllers
    rv = 0.0,       #Virtual resistance in pu
    lv = 0.2,       #Virtual inductance in pu
    kpc = 1.27,     #Current controller proportional gain
    kic = 14.3,     #Current controller integral gain
    kffi = 0.0,     #Binary variable enabling the current feed-forward in output of current controllers
    ωad = 50.0,     #Active damping low pass filter cut-off frequency
    kad = 0.2,      #Active damping gain
)

#Define DC Source as a FixedSource:
dc_source_lv() = FixedDCSource(voltage = 600.0)

#Define a Frequency Estimator as a PLL based on Vikram Kaura and Vladimir Blaskoc 1997 paper:
pll() = KauraPLL(
    ω_lp = 500.0, #Cut-off frequency for LowPass filter of PLL filter.
    kp_pll = 0.084,  #PLL proportional gain
    ki_pll = 4.69,   #PLL integral gain
)

#Define an LCL filter:
filt() = LCLFilter(lf = 0.08, rf = 0.003, cf = 0.074, lg = 0.2, rg = 0.01)

Out[14]:

filt (generic function with 1 method)

We will construct the inverter later by specifying to which static device is assigned.

Dynamic Generator definition¶

Similarly we will construct a dynamic generator as follows: Create the machine

In [15]:

machine_oneDoneQ() = OneDOneQMachine(
0, #R
3125, #Xd
2578, #Xq
1813, #Xd_p
25, #Xq_p
89, #Td0_p
6, #Tq0_p
)

Out[15]:

machine_oneDoneQ (generic function with 1 method)

Shaft

In [16]:

shaft_no_damping() = SingleMass(
    3.01, #H (M = 6.02 -> H = M/2)
    0.0, #D
)

Out[16]:

shaft_no_damping (generic function with 1 method)

AVR: Type I: Resembles a DC1 AVR

In [17]:

avr_type1() = AVRTypeI(
    20.0, #Ka - Gain
    0.01, #Ke
    0.063, #Kf
    0.2, #Ta
    0.314, #Te
    0.35, #Tf
    0.001, #Tr
    (min = -5.0, max = 5.0),
    0.0039, #Ae - 1st ceiling coefficient
    1.555, #Be - 2nd ceiling coefficient
)

#No TG
tg_none() = TGFixed(1.0) #efficiency

#No PSS
pss_none() = PSSFixed(0.0) #Vs

Out[17]:

pss_none (generic function with 1 method)

Now we will construct the dynamic generator and inverter.

Add the components to the system¶

In [18]:

for g in get_components(Generator, threebus_sys)
    #Find the generator at bus 102
    if get_number(get_bus(g)) == 102
        #Create the dynamic generator
        case_gen = DynamicGenerator(
            get_name(g),
            1.0, # ω_ref,
            machine_oneDoneQ(), #machine
            shaft_no_damping(), #shaft
            avr_type1(), #avr
            tg_none(), #tg
            pss_none(), #pss
        )
        #Attach the dynamic generator to the system by specifying the dynamic and static part
        add_component!(threebus_sys, case_gen, g)
        #Find the generator at bus 103
    elseif get_number(get_bus(g)) == 103
        #Create the dynamic inverter
        case_inv = DynamicInverter(
            get_name(g),
            1.0, # ω_ref,
            converter_high_power(), #converter
            outer_control(), #outer control
            inner_control(), #inner control voltage source
            dc_source_lv(), #dc source
            pll(), #pll
            filt(), #filter
        )
        #Attach the dynamic inverter to the system
        add_component!(threebus_sys, case_inv, g)
    end
end

┌ Warning: struct DynamicGenerator does not exist in validation configuration file, validation skipped
└ @ InfrastructureSystems ~/.julia/packages/InfrastructureSystems/lYELp/src/validation.jl:51
┌ Warning: struct DynamicInverter does not exist in validation configuration file, validation skipped
└ @ InfrastructureSystems ~/.julia/packages/InfrastructureSystems/lYELp/src/validation.jl:51

Save the system in a JSON file¶

In [19]:

to_json(threebus_sys, joinpath(file_dir, "threebus_sys.json"), force = true)

[ Info: Serialized time series data to /Users/cbarrows/Documents/repos/SIIPExamples.jl/script/4_PowerSimulationsDynamics_examples/Data/threebus_sys_time_series_storage.h5.
[ Info: Serialized System to /Users/cbarrows/Documents/repos/SIIPExamples.jl/script/4_PowerSimulationsDynamics_examples/Data/threebus_sys.json

This notebook was generated using Literate.jl.