Merge pull request #62 from MiSaren/main

Refactoring (Aalto-Electric-Drives#146)

Author: MiSaren

examples/grid_following/plot_gfl_10kva.py

@@ -14,7 +14,7 @@
 from motulator.common.utils import BaseValues, NominalValues
 from motulator.grid import model
 import motulator.grid.control.grid_following as control
-from motulator.grid.utils import FilterPars, GridPars, plot_grid
+from motulator.grid.utils import FilterPars, GridPars, plot
 # from motulator.grid.utils import plot_voltage_vector
 # from motulator.common.model import CarrierComparison
 # import numpy as np
@@ -38,8 +38,7 @@
 ac_filter = model.ACFilter(filter_par, grid_par)
 
 # AC grid model with constant voltage magnitude and frequency
-grid_model = model.ThreePhaseVoltageSource(
-    w_g=grid_par.w_gN, abs_e_g=grid_par.u_gN)
+grid_model = model.ThreePhaseVoltageSource(w_g=base.w, abs_e_g=base.u)
 
 # Inverter with constant DC voltage
 converter = VoltageSourceConverter(u_dc=650)
@@ -54,8 +53,7 @@
 # Configure the control system.
 
 # Control configuration parameters
-cfg = control.GFLControlCfg(
-    grid_par=grid_par, filter_par=filter_par, max_i=1.5*base.i)
+cfg = control.GFLControlCfg(grid_par, filter_par, max_i=1.5*base.i)
 
 # Create the control system
 ctrl = control.GFLControl(cfg)
@@ -68,8 +66,8 @@
 ctrl.ref.q_g = lambda t: (t > .04)*4e3
 
 # Uncomment lines below to simulate a unbalanced fault (add negative sequence)
-# mdl.grid_model.par.abs_e_g = 0.75*base.u
-# mdl.grid_model.par.abs_e_g_neg = 0.25*base.u
+# mdl.grid_model.par.abs_e_g = .75*base.u
+# mdl.grid_model.par.abs_e_g_neg = .25*base.u
 # mdl.grid_model.par.phi_neg = -np.pi/3
 
 # %%
@@ -86,4 +84,4 @@
 
 # Uncomment line below to plot locus of the grid voltage space vector
 # plot_voltage_vector(sim, base)
-plot_grid(sim, base, plot_pcc_voltage=True)
+plot(sim, base, plot_pcc_voltage=False)

examples/grid_following/plot_gfl_dc_bus_10kva.py

@@ -15,7 +15,7 @@
 from motulator.grid import model
 import motulator.grid.control.grid_following as control
 from motulator.grid.control import DCBusVoltageController
-from motulator.grid.utils import FilterPars, GridPars, plot_grid
+from motulator.grid.utils import FilterPars, GridPars, plot
 
 # %%
 # Compute base values based on the nominal values.
@@ -35,12 +35,8 @@
 # Create AC filter with given parameters
 ac_filter = model.ACFilter(filter_par, grid_par)
 
-# AC-voltage magnitude (to simulate voltage dips or short-circuits)
-abs_e_g_var = lambda t: base.u
-
 # AC grid model with constant voltage magnitude and frequency
-grid_model = model.ThreePhaseVoltageSource(
-    w_g=grid_par.w_gN, abs_e_g=abs_e_g_var)
+grid_model = model.ThreePhaseVoltageSource(w_g=base.w, abs_e_g=base.u)
 
 # Inverter model with DC-bus dynamics included
 converter = VoltageSourceConverter(u_dc=600, C_dc=1e-3)
@@ -51,14 +47,8 @@
 # %%
 # Configure the control system.
 
-# Control parameters
-cfg = control.GFLControlCfg(
-    grid_par=grid_par,
-    C_dc=1e-3,
-    filter_par=filter_par,
-    max_i=1.5*base.i,
-)
 # Create the control system
+cfg = control.GFLControlCfg(grid_par, filter_par, max_i=1.5*base.i, C_dc=1e-3)
 ctrl = control.GFLControl(cfg)
 
 # Add the DC-bus voltage controller to the control system
@@ -86,4 +76,4 @@
 # By default results are plotted in per-unit values. By omitting the argument
 # `base` you can plot the results in SI units.
 
-plot_grid(sim=sim, base=base, plot_pcc_voltage=True)
+plot(sim, base)

examples/grid_following/plot_gfl_lcl_10kva.py

@@ -14,7 +14,7 @@
 from motulator.common.utils import BaseValues, NominalValues
 from motulator.grid import model
 import motulator.grid.control.grid_following as control
-from motulator.grid.utils import FilterPars, GridPars, plot_grid
+from motulator.grid.utils import FilterPars, GridPars, plot
 
 # %%
 # Compute base values based on the nominal values.
@@ -32,28 +32,20 @@
 # DC-bus parameters
 ac_filter = model.ACFilter(filter_par, grid_par)
 
-# AC-voltage magnitude (to simulate voltage dips or short-circuits)
-abs_e_g_var = lambda t: grid_par.u_gN
-
 # AC grid model with constant voltage magnitude and frequency
-grid_model = model.ThreePhaseVoltageSource(
-    w_g=grid_par.w_gN, abs_e_g=abs_e_g_var)
+grid_model = model.ThreePhaseVoltageSource(w_g=base.w, abs_e_g=base.u)
 
 # Inverter model with constant DC voltage
 converter = VoltageSourceConverter(u_dc=650)
 
 # Create system model
 mdl = model.GridConverterSystem(converter, ac_filter, grid_model)
 
-# Uncomment line below to enable the PWM model
-#mdl.pwm = CarrierComparison()
-
 # %%
 # Configure the control system.
 
 # Control parameters
-cfg = control.GFLControlCfg(
-    grid_par=grid_par, filter_par=filter_par, max_i=1.5*base.i)
+cfg = control.GFLControlCfg(grid_par, filter_par, max_i=1.5*base.i)
 
 # Create the control system
 ctrl = control.GFLControl(cfg)
@@ -74,7 +66,4 @@
 # %%
 # Plot the results.
 
-# By default results are plotted in per-unit values. By omitting the argument
-# `base` you can plot the results in SI units.
-
-plot_grid(sim, base=base, plot_pcc_voltage=True)
+plot(sim, base)

examples/grid_forming/plot_gfm_obs_13kva.py

@@ -14,7 +14,7 @@
 from motulator.common.utils import BaseValues, NominalValues
 from motulator.grid import model
 import motulator.grid.control.grid_forming as control
-from motulator.grid.utils import FilterPars, GridPars, plot_grid
+from motulator.grid.utils import FilterPars, GridPars, plot
 # from motulator.common.model import CarrierComparison
 
 # %%
@@ -38,18 +38,14 @@
 ac_filter = model.ACFilter(filter_par, grid_par)
 
 # Grid voltage source with constant frequency and voltage magnitude
-grid_model = model.ThreePhaseVoltageSource(
-    w_g=grid_par.w_gN, abs_e_g=grid_par.u_gN)
+grid_model = model.ThreePhaseVoltageSource(w_g=base.w, abs_e_g=base.u)
 
 # Inverter with constant DC voltage
 converter = VoltageSourceConverter(u_dc=650)
 
 # Create system model
 mdl = model.GridConverterSystem(converter, ac_filter, grid_model)
 
-# Uncomment the lines below to enable the PWM model
-# mdl.pwm = CarrierComparison()
-
 # %%
 # Configure the control system.
 
@@ -58,11 +54,7 @@
 
 # Set the configuration parameters
 cfg = control.ObserverBasedGFMControlCfg(
-    grid_par=grid_par_est,
-    filter_par=filter_par,
-    T_s=100e-6,
-    max_i=1.3*base.i,
-    R_a=.2*base.Z)
+    grid_par_est, filter_par, max_i=1.3*base.i, T_s=100e-6, R_a=.2*base.Z)
 
 # Create the control system
 ctrl = control.ObserverBasedGFMControl(cfg)
@@ -71,19 +63,18 @@
 # Set the references for converter output voltage magnitude and active power.
 
 # Converter output voltage magnitude reference
-ctrl.ref.v_c = lambda t: grid_par.u_gN
+ctrl.ref.v_c = lambda t: base.u
 
 # Active power reference
-ctrl.ref.p_g = lambda t: ((t > .2)*(4.15e3) + (t > .5)*(4.15e3) + (t > .8)*
-                          (4.2e3) - (t > 1.2)*(12.5e3))
+ctrl.ref.p_g = lambda t: ((t > .2)/3 + (t > .5)/3 + (t > .8)/3 -
+                          (t > 1.2))*nom.P
 
 # Uncomment line below to simulate operation in rectifier mode
-# ctrl.ref.p_g = lambda t: ((t > .2) - (t > .7)*2 + (t > 1.2))*12.5e3
+# ctrl.ref.p_g = lambda t: ((t > .2) - (t > .7)*2 + (t > 1.2))*nom.P
 
 # Uncomment lines below to simulate a grid voltage sag with constant ref.p_g
-# mdl.grid_model.par.e_g_abs = lambda t: (
-#    1 - (t > .2)*(0.8) + (t > 1)*(0.8))*grid_par.u_gN
-# ctrl.ref.p_g = lambda t: 12.5e3
+# mdl.grid_model.par.abs_e_g = lambda t: (1 - (t > .2)*.8 + (t > 1)*.8)*base.u
+# ctrl.ref.p_g = lambda t: nom.P
 
 # %%
 # Create the simulation object and simulate it.
@@ -94,7 +85,4 @@
 # %%
 # Plot the results.
 
-# By default results are plotted in per-unit values. By omitting the argument
-# `base` you can plot the results in SI units.
-
-plot_grid(sim=sim, base=base, plot_pcc_voltage=False)
+plot(sim, base)

examples/grid_forming/plot_gfm_rfpsc_13kva.py

@@ -12,7 +12,7 @@
 from motulator.common.utils import BaseValues, NominalValues
 from motulator.grid import model
 import motulator.grid.control.grid_forming as control
-from motulator.grid.utils import FilterPars, GridPars, plot_grid
+from motulator.grid.utils import FilterPars, GridPars, plot
 
 # %%
 # Compute base values based on the nominal values.
@@ -35,8 +35,7 @@
 ac_filter = model.ACFilter(filter_par, grid_par)
 
 # Grid voltage source with constant frequency and voltage magnitude
-grid_model = model.ThreePhaseVoltageSource(
-    w_g=grid_par.w_gN, abs_e_g=grid_par.u_gN)
+grid_model = model.ThreePhaseVoltageSource(w_g=base.w, abs_e_g=base.u)
 
 # Inverter with constant DC voltage
 converter = VoltageSourceConverter(u_dc=650)
@@ -49,11 +48,7 @@
 
 # Control configuration parameters
 cfg = control.RFPSCControlCfg(
-    grid_par=grid_par,
-    filter_par=filter_par,
-    T_s=100e-6,
-    max_i=1.3*base.i,
-    R_a=.2*base.Z)
+    grid_par, filter_par, max_i=1.3*base.i, T_s=100e-6, R_a=.2*base.Z)
 
 # Create the control system
 ctrl = control.RFPSCControl(cfg)
@@ -62,10 +57,10 @@
 # Set the references for converter output voltage magnitude and active power.
 
 # Converter output voltage magnitude reference
-ctrl.ref.v = lambda t: grid_par.u_gN
+ctrl.ref.v_c = lambda t: base.u
 
 # Active power reference
-ctrl.ref.p_g = lambda t: ((t > .2)*(1/3) + (t > .5)*(1/3) + (t > .8)*(1/3) -
+ctrl.ref.p_g = lambda t: ((t > .2)/3 + (t > .5)/3 + (t > .8)/3 -
                           (t > 1.2))*nom.P
 
 # %%
@@ -77,7 +72,4 @@
 # %%
 # Plot the results.
 
-# By default results are plotted in per-unit values. By omitting the argument
-# `base` you can plot the results in SI units.
-
-plot_grid(sim, base=base, plot_pcc_voltage=True)
+plot(sim, base)

motulator/common/control/_control.py

@@ -294,10 +294,8 @@ class ComplexPIController:
     2DOF synchronous-frame complex-vector PI controller.
 
     This implements a discrete-time 2DOF synchronous-frame complex-vector PI
-    controller, based on a disturbance observer structure. The complex-vector
-    gain selection is based on [#Bri2000]_. The addition of the feedforward
-    signal is based on [#Har2009]_. The continuous-time counterpart of
-    the controller is::
+    controller [#Bri2000]_. The continuous-time counterpart of the controller 
+    is::
 
         u = k_t*ref_i - k_p*i + (k_i + 1j*w*k_t)/s*(ref_i - i) + u_ff
 
@@ -330,11 +328,9 @@ class ComplexPIController:
     """
 
     def __init__(self, k_p, k_i, k_t=None):
-        # Gains
         self.k_p = k_p
         self.k_t = k_t if k_t is not None else k_p
         self.alpha_i = k_i/self.k_t  # Inverse of the integration time T_i
-        # States
         self.v, self.u_i = 0, 0
 
     def output(self, ref_i, i, u_ff=0):