CIM 2 Modelica FactoryAutomated Equation-Based Cyber-Physical Power System Modelica
Model Generation and Time-Domain Simulation from CIM
Francisco Gomez1, Prof. Luigi Vanfretti1,2, and Svein H. Olsen2
[email protected] , [email protected] Power Systems Dept.
KTHStockholm, Sweden
[email protected] [email protected]
Research and Development Division Statnett SF
Oslo, Norway
• Background & Motivation– Modeling and Simulation– Modelica– CIM for Dynamics
• Modelica – Language Description– MetaModelica– CIM/UML to Modelica
• CIM 2 Modelica– Initial Conditions– Simulations
Overview
Acknowledgments• This work has been funded in part by the EU
funded FP7 iTesla project: http://www.itesla-project.eu/ and Statnett SF, the Norwegian power system operator.
• Work related to the iTesla Modelica power systems library presented here is a result of the collaboration between RTE (France), AIA (Spain) and KTH (Sweden) within the EU funded FP7 iTesla project: http://www.itesla-project.eu/
• Special thanks for ‘special training’ and support from
• Prof. Fritzson and his team at Linköping University• Prof. Berhard Bachmann and Lennart Ochel, FH
Bielefeld
• Research• Development of software architecture
supporting transformation from CIM, implementing tools for either translating from CIM to Modelica models
• Development of models of cyber-physical power systems components, communication network components, and other components from other domains
• Application• iTESLA: Innovative Tools for Electrical
System Security within Large Areas• CIM provides standard format for power
systems data • Use of data from TSO
– Description of data equipment, power systems topology and measurements for model validation
Motivation
Modelica
• Modelica is an OOP for declarative equation based mathematical language
• Non-proprietary language, suitable for standardization and exchange of models
• Modelica tools, commercial and free of charge
• Electric power steering and controller model
[1] Andreas Deuring, Johannes Gerl, Harald Wilhelm“Multi-Domain Vehicle Dynamics Simulation in Dymola”,Modelica Conference, Dresden, 2011
• Thermodinamic Network of the ICE model
[2] L. Morawietz, S. Risse, H. Zellbeck, H. Reuss, T. Christ “Modeling an automotive power train and electrical power supply for HiL applications using Modelica”,Modelica Conference, Hamburg, 2005TU Dresden, University of Stuttgart, BMW Group, Germany.
Background
Common Information Model
• Conceived for information exchange: power systems topology, equipment, measurements
• Using UML representation to design a structured data model: Semantic transformation from real world to a model
• Standardization of the model diagrams for cyber-physical components
• Generators• Turbine Governors• Capacitors• Protections• Measurements
• IEC61970 provides standard data model for power systems components
Background
class SynchronousMachineDynamics
Wires::SynchronousMachine
+ aVRToManualLag :Seconds [0..1]+ aVRToManualLead :Seconds [0..1]+ baseQ :ReactivePower [0..1]+ condenserP :ActivePower [0..1]+ coolantCondition :Float [0..1]+ coolantType :CoolantType [0..1]+ earthing :Boolean [0..1]+ earthingStarPointR :Resistance [0..1]+ earthingStarPointX :Reactance [0..1]+ ikk :CurrentFlow [0..1]+ manualToAVR :Seconds [0..1]+ maxQ :ReactivePower [0..1]+ maxU :Voltage [0..1]+ minQ :ReactivePower [0..1]+ minU :Voltage [0..1]+ mu :Float [0..1]+ operatingMode :SynchronousMachineOperatingMode [0..1]+ qPercent :PerCent [0..1]+ r :Resistance [0..1]+ r0 :Resistance [0..1]+ r2 :Resistance [0..1]+ referencePriority :Integer [0..1]+ satDirectSubtransX :PU [0..1]+ satDirectSyncX :PU [0..1]+ satDirectTransX :PU [0..1]+ shortCircuitRotorType :ShortCircuitRotorKind [0..1]+ type :SynchronousMachineKind [0..1]+ voltageRegulationRange :PerCent [0..1]+ x0 :Reactance [0..1]+ x2 :Reactance [0..1]
CIM for Dynamics• Dynamic models used in the
industry today use application specific data format and are embedded within the solver (integration routine)
• No information on how the model is implemented (i.e. actual equations used)
• Dynamic models can be represented in CIM, and exchanged among utilities
• Need to extend CIM to support dynamics models
• CIM should also support the exchange not only of parameters
Background
doc SynchronousGeneratorMechanicalEquation
Extension for CIM Dynamics• Automatic model
transformation from CIM to a well defined (equation based) language
• Information exchange, parameters and equations with CIM and Modelica
The benefit / role of CIM:Modelling of the network are done separate from the analyticExisting Steady-State Solver Engine (SSSE) can be used to initialize the transient study
Background
model gensal…
parameter Real wbase = 2 * pi * 50 "system base speed";parameter Complex Epqp = fpp + a * It;parameter Real delta0 = arg(Epqp);
parameter Real Pm0 = p0 + (id0 * id0 + iq0 * iq0) * Ra;Real delta "rotor angle";Real w "machine speed deviation, p.u.";…
initial equation delta = delta0; w = 0;
equation … der(w) = ((Pm0 - D * w) / (w + 1) - Te) / (2 * H); der(delta) = wbase * w;end gensal;
• Background & Motivation– Modeling and Simulation– Modelica– CIM for Dynamics
• Modelica – Language Description– MetaModelica– CIM/UML to Modelica
• CIM 2 Modelica– Initial Conditions– Simulations
Overview
Modeling Language
• Modeling language based on equations, allow specification of mathematical models
• Multi-Domain modeling
• Visual Acausal Hierarchical Component Modeling• Physical structure• No specification of data flow
direction
load
EM DC
G
R L
Electrical
Mechanics
model DCMotorModelica.Electrical.Analog.Basic.Resistor r1(R =
10);Modelica.Electrical.Analog.Basic.Inductor i1;Modelica.Electrical.Analog.Basic.EMF emf1;Modelica.Mechanics.Rotational.Inertia load;Modelica.Electrical.Analog.Basic.Ground g;Modelica.Electrical.Analog.Sources.ConstantVoltage
v;equation
connect(DC.p,R.n);connect(R.p,L.n);connect(L.p,EM.n);connect(EM.p,DC.n);connect(DC.n,G.p);connect(EM.flange_b,load.flange_a);
end DCMotor;
Modelica
Modeling Language
• Typed Declarative Equation-based Textual Language
• Object-Oriented Language with class concept• Reuse of classes • Reuse of components• Scalable and Modular models
•Decoupling the model from the solver
model GENROUparameter Complex It=conj(S/VT) “Some comments
here“; parameter Complex Is = It + VT/Zs; parameter Complex fpp = Zs*Is; parameter Real ang_P=arg(fpp); parameter Real ang_I=arg(It); parameter Real ang_PI=ang_P-ang_I; parameter Real psi = 'abs'(fpp);equation
der(Epq) = (1/Tpd0)*(Efd0 -XadIfd); der(Epd) = (1/Tpq0)*(-1)*(XaqIlq);
…anglev =atan2(p.vi, p.vr);Vt = sqrt(p.vr^2 + p.vi^2);
anglei =atan2(p.ii, p.ir); I = sqrt(p.ii^2 + p.ir^2);
…end GENROU;
Variable declaration
DAE Equations
Modelica
Power Systems Library in Modelica
• The FP7 iTESLA project develops a high level library for modeling power grid components
• Generators,• Governors,• Controls,• Branches,• Loads,• Buses,• Events
• The library makes available standardized power systems models usually available in power system tools only accessible through proprietary (and expensive) licenses
Modelica
CIM / UML to Modelica
• Modelica provides data definition and compilers for equation based modeling
• ModelicaML is a tool to create UML definition for Modelica models
• Design of classes, components and models using a data model representation:• Definition of start values for
components and definition of mathematical equations
• Code generation creates classes and models with relation between classes
Modelica
CIM / UML to Modelica
• Semantic transformation for automatic simulation directly from CIM definition
Modelica
• Background & Motivation– Modeling and Simulation– Modelica– CIM for Dynamics
• Modelica – Language Description– MetaModelica– CIM/UML to Modelica
• CIM 2 Modelica– Initial Conditions– Simulations
Overview
Process flow design
• Automatic generation of Modelica code from CIM/UML definition
• Manual design of CIM/UML definition and Mapping
• Loading CIM/XML and Mapping
• Semantic transformation into Modelica code:– Set initial values from load flow solution– Set connection between classes
CIM 2 Modelica
CIM 2 Modelica Mapping
•Relation between CIM classes and Power system library classes
•CIM Attributes and values -> Modelica Variables and starting values
•CIM relations between classes -> Modelica connection between components
or•CIM relations between classes -> Use of Modelica classes as objects
CIM 2 Modelica
Modelica Simulation Engine (architecture)
Simulation Engine
• Open-source software for cyber-physical system simulation
• Plug-in different compilers and solvers
• Enhancement to CIM:• Integration with PMU
measurements or simulation -> Harmonization with HDFS is an alternative
• Include the Modelica library code as part of the CIM standard
CIM 2 Modelica
Prop
ertie
s
Resu
ltsHDF5
JMOMC
PYTHON
JAVA
Dymola
Thank you! Questions?
[email protected] , [email protected] Power Systems Dept.
KTHStockholm, Sweden
[email protected] [email protected]
Research and Development Division Statnett SF
Oslo, Norway
