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Merge pull request #79 from dietmarw/feat/UsersGuide
feat: Convert the old LaTeX based User's Guide into Modelica documentation
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‎.gitignore‎

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@@ -28,7 +28,6 @@ simulator.log
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**/*.bbl
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**/*.blg
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**/*.log
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**/*.pdf
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**/*.synctex.gz
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**/*.toc
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‎OpenHPL/Controllers/Governor.mo‎

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@@ -126,10 +126,36 @@ equation
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//else
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// der(Y_gv) = u / T_g;
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//end if;
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annotation (
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Documentation(info="<html>
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<p>This is a simple model of the governor that controls the guide vane
132-
opening in the turbine based on the reference power production.</p>
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annotation (preferredView="info", Documentation(info="<html>
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<h4>Governor</h4>
131+
<p>
132+
Here, a simple model of the governor that controls the guide vane opening in the turbine based on the reference power
133+
production is described. The block diagram of this governor model is shown in the figure.
134+
</p>
135+
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<p align=\"center\">
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<img src=\"modelica://OpenHPL/Resources/Images/Governor.png\" alt=\"Governor block diagram\" width=\"600\"/>
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</p>
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<p><em>Figure: Block Diagram of the governor.</em></p>
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<h5>Implementation</h5>
142+
<p>
143+
Using the model in the figure and the standard Modelica blocks, the governor model is encoded in our library as the
144+
<em>Governor</em> unit. This unit has inputs as the reference power production and generator frequency that are implemented
145+
with the standard Modelica <em>RealInput</em> connector. This <em>Governor</em> unit also uses the standard Modelica
146+
<em>RealOutput</em> connectors in order to provide output information about the turbine guide vane opening.
147+
</p>
148+
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<h5>Parameters</h5>
150+
<p>
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In the <em>Governor</em> unit (note: in the text it mentions <em>SynchGen</em> but this appears to be a typo in the
152+
original document - should be <em>Governor</em>), the user can specify the various time constants of this model (see
153+
figure): pilot servomotor time constant T<sub>p</sub>, primary servomotor integration time T<sub>g</sub>, and transient
154+
droop time constant T<sub>r</sub>. The user should also provide the following parameters: droop value σ, transient droop δ,
155+
and nominal values for the frequency and power generation. The information about the maximum, minimum, and initial guide
156+
vane opening should also be specified.
157+
</p>
158+
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<p>The model is taken from <a href=\"modelica://OpenHPL.UsersGuide.References\">[Sharefi2011]</a>.</p>
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</html>"));
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end Governor;

‎OpenHPL/Controllers/package.mo‎

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within OpenHPL;
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package Controllers "Collection of different controllers"
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extends Modelica.Icons.Package;
4-
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extends Icons.Governor;
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end Controllers;

‎OpenHPL/ElectroMech/BaseClasses/BaseValve.mo‎

Lines changed: 5 additions & 9 deletions
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@@ -34,28 +34,24 @@ equation
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Vdot = mdot/data.rho;
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dp*(C_v_*max(epsilon, u^alpha))^2 = Vdot*abs(Vdot) "Valve equation for pressure drop";
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dp = i.p - o.p "Link the pressure drop to the ports";
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annotation ( Documentation(info="<html>
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annotation (preferredView="info", Documentation(info="<html>
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<p>
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This is a partial, simple model of hydraulic valve. &nbsp;</p><p>This model is based on the energy balance of a valve.
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</p>
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<ul>
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<li>Mass flow is equal at innflow and outflow</li>
42+
<li>Mass flow is equal at inflow and outflow</li>
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<li>The head loss and pressure difference is proportional to square of velocity</li>
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</ul>
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<p>
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Specifically:
4747
</p>
48-
<pre>
49-
dp*f(opening)=v|v|
50-
</pre>
48+
<p>$$ \\Delta p \\cdot f(\\mathrm{opening}) = \\nu \\cdot | \\nu | $$</p>
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<p>
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The function f(opening) is expressed as:
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</p>
54-
<pre>
55-
(C_v_*max(epsilon, u^alpha))^2
56-
</pre>
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<p>$$ f(\\mathrm{opening}) = \\left( C_\\mathrm{v} \\cdot \\mathrm{max}(\\epsilon, u^\\alpha)\\right)^2 $$</p>
5753
<p>
58-
When alpha is 1, this implies a linear relation between closing and head loss.
54+
When \\(\\alpha\\) is 1, this implies a linear relation between closing and head loss.
5955
</p>
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<p>The valve capacity can either be specified
6157
directly by the user by specifying <code>C_v</code> or it will be calculated from

‎OpenHPL/ElectroMech/Generators/SimpleGen.mo‎

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Original file line numberDiff line numberDiff line change
@@ -13,20 +13,51 @@ model SimpleGen "Model of a simple generator with mechanical connectors"
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rotation=270,
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origin={0,120})));
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annotation (
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annotation (preferredView="info",
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Documentation(info= "<html>
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<h4>Simple model of an ideal generator with friction.</h4>
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<h4>Simple Generator Model</h4>
19+
<p>Simple model of an ideal generator with friction based on angular momentum balance.</p>
1920
20-
<p>This model based on the angular momentum balance, which depends on the turbine shaft power,
21-
the friction loss in the unit rotation and the power taken up by the generator.</p>
22-
<p>
23-
The generator can be loaded either:</p>
21+
<h5>Energy Balance</h5>
22+
<p>The kinetic energy stored in the rotating generator is \\(K_a = \\frac{1}{2}J_a\\omega_a^2\\),
23+
where ω<sub>a</sub> is angular velocity and J<sub>a</sub> is moment of inertia.</p>
24+
25+
<p>From energy balance:</p>
26+
<p>$$ \\frac{\\mathrm{d}K_a}{\\mathrm{d}t} = \\dot{W}_s - \\dot{W}_{f,a} - \\dot{W}_g $$</p>
27+
<p>where:</p>
28+
<ul>
29+
<li>Ẇ<sub>s</sub> is turbine shaft power</li>
30+
<li>Ẇ<sub>f,a</sub> is frictional power loss</li>
31+
<li>Ẇ<sub>g</sub> is power taken by generator</li>
32+
</ul>
33+
34+
<h5>Friction</h5>
35+
<p>Frictional power loss (mainly from bearings):</p>
36+
<p>$$ \\dot{W}_{f,a} = \\frac{1}{2}k_{f,b}\\omega_a^2 $$</p>
37+
<p>where k<sub>f,b</sub> is the bearing friction factor.</p>
38+
39+
<h5>Electric Power</h5>
40+
<p>Electric power available on grid:</p>
41+
<p>$$ \\dot{W}_e = \\eta_e \\dot{W}_g $$</p>
42+
<p>where η<sub>e</sub> is electrical efficiency.</p>
43+
44+
<h5>Loading Options</h5>
45+
<p>The generator can be loaded either:</p>
2446
<ul>
25-
<li>via the mechanical shaft connector (e.g., using the
26-
<a href=\"modelica://OpenHPL.ElectroMech.PowerSystem.Grid\">Grid</a> model).
27-
The input <code>Pload</code> should be set to 0 in this case.</li>
47+
<li>via the mechanical shaft connector (e.g., using the <a href=\"modelica://OpenHPL.ElectroMech.PowerSystem.Grid\">Grid</a> model).
48+
Set <code>Pload</code> input to 0 in this case.</li>
2849
<li>or via the input connector <code>Pload</code> specifying the connected electrical load.</li>
2950
</ul>
51+
52+
<h5>Connectors</h5>
53+
<ul>
54+
<li>RealInput: grid power (<code>Pload</code>) and shaft power</li>
55+
<li>RealOutput: angular velocity and frequency</li>
56+
</ul>
57+
58+
<h5>Parameters</h5>
59+
<p>User specifies: moment of inertia, electrical efficiency, bearing friction factor, number of poles, and initial angular velocity.</p>
60+
3061
<p align=\"center\">
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<img src=\"modelica://OpenHPL/Resources/Images/simplegen.svg\">
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</p>

‎OpenHPL/ElectroMech/Generators/SynchGen.mo‎

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@@ -108,9 +108,73 @@ equation
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der(w) = (Wdot_ts - Pe) / (J * w);
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// - W_fa;
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//
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annotation (
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Documentation(info= "<html><p>This is a model of the generator that is connected to the grid.
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This model could give some transient results. However, it is better to use generator models from IPSL.</p>
114-
<p>More info about this model can be found in <a href=\"modelica://OpenHPL.UsersGuide.References\">[Sharefi2011]</a>.</p>
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</html>"));
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annotation (preferredView="info",
112+
Documentation(info= "<html>
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<h4>Synchronous Generator Model</h4>
114+
<p>Detailed synchronous generator model connected to the grid, based on d-q decomposition.</p>
115+
116+
<h5>Voltage-Current Relation</h5>
117+
<p>$$ \\left[\\begin{matrix}R_a+R_e & x_q'+x_e\\\\ -x_d'-x_e & R_a+R_e\\end{matrix}\\right]\\left[\\begin{matrix}I_d \\\\ I_q\\end{matrix}\\right]= \\left[\\begin{matrix}E_d'+V_s\\sin\\delta_e \\\\ E_q'-V_s\\cos\\delta_e\\end{matrix}\\right] $$</p>
118+
<p>where:</p>
119+
<ul>
120+
<li>\\(R_a\\) and \\(R_e\\) are phase winding and equivalent network resistances</li>
121+
<li>\\(x_d\\), \\(x_q\\), \\(x_d'\\), \\(x_q'\\) are d-/q-axis normal and transient reactances</li>
122+
<li>\\(x_e\\) is equivalent network reactance</li>
123+
<li>\\(I_d\\), \\(I_q\\) are d-/q-axis currents</li>
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<li>\\(E_d'\\), \\(E_q'\\) are d-/q-axis transient voltages</li>
125+
<li>\\(V_s\\) is network RMS voltage</li>
126+
<li>\\(\\delta_e\\) is phase shift angle</li>
127+
</ul>
128+
129+
<h5>Phase Shift Angle Dynamics</h5>
130+
<p>$$ \\frac{\\mathrm{d}\\delta_e}{\\mathrm{d}t} = (\\omega - \\omega_s)\\frac{n_p}{2} $$</p>
131+
<p>where \\(n_p\\) is number of poles, \\(\\omega\\) and \\(\\omega_s\\) are generator and grid angular velocities.</p>
132+
133+
<h5>Swing Equation</h5>
134+
<p>$$ \\frac{\\mathrm{d}\\omega}{\\mathrm{d}t}=\\frac{\\dot{W}_s-P_e}{J\\omega} $$</p>
135+
136+
<h5>Transient Operation</h5>
137+
<p>$$
138+
\\begin{array}{c}
139+
T_{qo}'\\frac{\\mathrm{d}E_d'}{\\mathrm{d}t} =-E_d' + (x_q' - x_q)I_q \\\\
140+
T_{do}'\\frac{\\mathrm{d}E_q'}{\\mathrm{d}t} = -E_q' + (x_d - x_d')I_d + E_f
141+
\\end{array}
142+
$$</p>
143+
<p>where \\(T_{do}'\\) and \\(T_{qo}'\\) are d-/q-axis transient open-circuit time constants.</p>
144+
145+
<h5>Excitation System</h5>
146+
<p>Field voltage dynamics:</p>
147+
<p>$$ \\frac{\\mathrm{d}E_f}{\\mathrm{d}t} = \\frac{-E_f + K_E\\left(V_{tr}-V_t-V_{stab}\\right)}{T_E} $$</p>
148+
<p>where \\(K_E\\) is excitation system gain, \\(T_E\\) is excitation time constant, \\(V_{tr}\\) is voltage reference set point,
149+
and \\(V_t = \\sqrt{\\left(E_d'-R_aI_d-x_q'I_q\\right)^2+\\left(E_q'-R_aI_q+x_d'I_d\\right)^2}\\) is terminal voltage.</p>
150+
151+
<h5>Stabilization</h5>
152+
<p>$$ \\frac{\\mathrm{d}V_{stab}}{\\mathrm{d}t} = \\frac{-V_{stab} + K_F\\frac{\\mathrm{d}E_f}{\\mathrm{d}t}}{T_{FE}} $$</p>
153+
<p>where \\(K_F\\) is stabilizer gain and \\(T_{FE}\\) is stabilizer time constant.</p>
154+
155+
<h5>Output Power</h5>
156+
<p>Active and reactive power:</p>
157+
<p>$$
158+
\\begin{array}{c}
159+
P_e = 3\\left(E_d'I_d+E_q'I_q\\right)\\\\
160+
Q_e = \\sqrt{9V_t^2I_t^2-P_e^2}
161+
\\end{array}
162+
$$</p>
163+
<p>where \\(I_t=\\sqrt{I_d^2+I_q^2}\\) is terminate current.</p>
164+
165+
<h5>Connectors</h5>
166+
<ul>
167+
<li>RealInput: turbine shaft power</li>
168+
<li>RealOutput: angular velocity and frequency</li>
169+
</ul>
170+
171+
<h5>Parameters</h5>
172+
<p>User specifies: nominal active/reactive powers, phase winding resistance, number of poles, network parameters
173+
(equivalent resistance/reactance, RMS voltage, grid angular velocity), d-/q-axis reactances and time constants,
174+
field voltage limits, excitation/stabilizer gains and time constants, moment of inertia, friction factor, and
175+
initialization options.</p>
176+
177+
<p><em>Note: For more advanced modeling, consider using generator models from <a href=\"modelica://OpenIPSL\">OpenIPSL</a>.</em></p>
178+
<p>More details in <a href=\"modelica://OpenHPL.UsersGuide.References\">[Sharefi2011]</a>.</p>
179+
</html>"));
116180
end SynchGen;

‎OpenHPL/ElectroMech/PowerSystem/Grid.mo‎

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connect(product.y, dP2.u1) annotation (Line(points={{-13.5,67},{-8,67},{-8,33.6},{-12.8,33.6}}, color={0,0,127}));
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connect(toHz.u, w_m2pu.y) annotation (Line(points={{5.2,-50},{84,-50},{84,-40},{78.6,-40}}, color={0,0,127}));
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connect(toHz.y, dF.u1) annotation (Line(points={{-8.6,-50},{-22,-50}}, color={0,0,127}));
52-
annotation (
52+
annotation (preferredView="info",
5353
Documentation(info="<html>
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<h4>Primary control</h4>
5555
<h5>Network Power-Frequency Characteristic</h5>

‎OpenHPL/ElectroMech/Turbines/Francis.mo‎

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@@ -212,36 +212,66 @@ equation
212212
mdot=i.mdot;
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214214
connect(p_out, P_out) annotation (Line(points={{40,90},{40,110}}, color={0,0,127}));
215-
annotation (
215+
annotation (preferredView="info",
216216
Documentation(info="<html>
217-
<p>
218-
This is the Francis turbine model that gives possibilities for proper modelling of the Francis turbine.
219-
</p>
220-
<p>The mechanistic model is based on Euler equations for the Francis turbine.
221-
Besides hydraulic input and output, there are input as the control signal for the valve opening
222-
and also output as the turbine shaft power and input as angular velocity.
223-
</p>
217+
<h4>Francis Turbine Model</h4>
218+
219+
<p>This is the Francis turbine model that gives possibilities for proper modelling of the Francis turbine.
220+
The mechanistic model is based on Euler equations for the Francis turbine.</p>
221+
222+
<p>Besides hydraulic input and output, there are input as the control signal for the valve opening
223+
and also output as the turbine shaft power and input as angular velocity.</p>
224+
224225
<p align=\"center\">
225226
<img src=\"modelica://OpenHPL/Resources/Images/turbinefrancis.svg\">
226227
</p>
228+
<p><em>Figure: Key quantities in the Francis turbine model showing inlet (1) and outlet (2) sections.</em></p>
229+
230+
<h5>Euler Turbine Equations</h5>
231+
232+
<p>The shaft power produced by the turbine is given by:</p>
233+
<p>$$ \\dot{W}_s = \\dot{m}\\omega \\left(R_1\\frac{\\dot{V}}{A_1}\\cot{\\alpha_1} - R_2\\left(\\omega R_2 + \\frac{\\dot{V}}{A_2}\\cot{\\beta_2}\\right)\\right) $$</p>
234+
235+
<p>where ṁ and V̇ are mass and volumetric flow rates, ω is angular velocity, R<sub>1</sub> and R<sub>2</sub>
236+
are inlet and outlet radii, A<sub>1</sub> and A<sub>2</sub> are cross-sectional areas, α<sub>1</sub> is
237+
inlet guide vane angle, and β<sub>2</sub> is outlet blade angle.</p>
238+
239+
<h5>Total Work and Efficiency</h5>
240+
241+
<p>The total work rate is:</p>
242+
<p>$$ \\dot{W}_t = \\dot{W}_s + \\dot{W}_{ft} + \\Delta p_v \\dot{V} $$</p>
243+
<p>where Ẇ<sub>ft</sub> represents various friction losses (shock, whirl, wall friction),
244+
and Δp<sub>v</sub>V̇ accounts for guide vane pressure drop. Turbine efficiency \\(\\eta = \\dot{W}_s / \\dot{W}_t\\).</p>
245+
246+
<h5>Turbine Design Algorithm</h5>
247+
227248
<p>There is also available the runner design algorithm that can define all geometrical
228-
parameters based on the nominal parameters.</p><p>The turbine losses coefficients
229-
(<code>k_ft1</code>, <code>k_ft2</code>, <code>k_ft3</code>) can be also defined automatically.
230-
However, if some dynamic data from real turbine is available it is better to tune
231-
these parameters a bit more and use the defined values as a starting point.
232-
</p>
233-
<p>A model for servo that that runs the guide vane opening is also available.
234-
Furthermore it is possible to automatically generate all need parameters for the servo,
235-
or simply specify them.
236-
</p>
237-
<p>
238-
This mechanistic turbine model does not work really well for low loads (&lt;10% guide vane opening).
249+
parameters based on the nominal parameters (net head, flow rate, power, speed).
250+
The algorithm determines: outlet blade angle β<sub>2</sub>, runner radii R<sub>1</sub> and R<sub>2</sub>,
251+
runner width w<sub>1</sub>, and inlet blade angle β<sub>1</sub>.</p>
252+
253+
<p>The turbine losses coefficients (<code>k_ft1</code>, <code>k_ft2</code>, <code>k_ft3</code>) can be also
254+
defined automatically. However, if some dynamic data from real turbine is available it is better to tune
255+
these parameters a bit more and use the defined values as a starting point.</p>
256+
257+
<h5>Guide Vane Actuation</h5>
258+
259+
<p>A model for servo that runs the guide vane opening is also available. A guide vane opening model relates
260+
actuator position Y to guide vane angle α<sub>1</sub> through geometric relationships. Furthermore it is
261+
possible to automatically generate all needed parameters for the servo, or simply specify them.</p>
262+
263+
<h5>Low Load Performance</h5>
264+
265+
<p>This mechanistic turbine model does not work really well for low loads (&lt;10% guide vane opening).
239266
However there is parameters that could be tuned for low load regimes.
240267
These are <code>u_min</code> and <code>k_ft4</code>.</p>
241268
269+
<h5>More Information</h5>
270+
242271
<p>More info about the mechanistic turbine model can be found in:
243-
<a href=\"modelica://OpenHPL.UsersGuide.References\">[Vytvytskyi2018]</a> and about
244-
the servo (also turbine model) in:
272+
<a href=\"modelica://OpenHPL.UsersGuide.References\">[Vytvytskyi2018]</a> and
273+
<a href=\"modelica://OpenHPL.UsersGuide.References\">[Vytvytskyi2019]</a>.
274+
Additional details about the servo (and turbine model) are in:
245275
<a href=\"modelica://OpenHPL/Resources/Documents/Turbines_model.pdf\">Resources/Documents/Turbines_model.pdf</a>.</p>
246276
</html>"));
247277
end Francis;

‎OpenHPL/ElectroMech/Turbines/Pelton.mo‎

Lines changed: 45 additions & 10 deletions
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@@ -56,18 +56,53 @@ equation
5656
mdot=i.mdot;
5757

5858
connect(p_out, P_out) annotation (Line(points={{40,90},{40,110}}, color={0,0,127}));
59-
annotation (
59+
annotation (preferredView="info",
6060
Documentation(info="<html>
61-
<p>This is a model of the Pelton turbine.
62-
This model is based on the Euler turbine equation.
63-
</p>
64-
<p>
65-
<em>The model has not been tested.</em></p>
61+
<h4>Pelton Turbine Model</h4>
62+
<p>Mechanistic Pelton turbine model based on the Euler turbine equation and impulse turbine principles.</p>
63+
6664
<p align=\"center\">
67-
<img src=\"modelica://OpenHPL/Resources/Images/turbinepelton.svg\">
68-
</p>
69-
<p>More info about the model can be found in:
70-
<a href=\"modelica://OpenHPL/Resources/Documents/Turbines_model.pdf\">Resources/Documents/Turbines_model.pdf</a>
65+
<img src=\"modelica://OpenHPL/Resources/Images/turbinepelton.svg\" alt=\"Pelton turbine\" width=\"600\"/>
7166
</p>
67+
<p><em>Figure: Key concepts of the Pelton turbine.</em></p>
68+
69+
<h5>Shaft Power</h5>
70+
<p>The shaft power \\(\\dot{W}_s\\) produced in the Pelton turbine is:</p>
71+
<p>$$ \\dot{W}_s=\\dot{m}v_R\\left[\\delta(u_\\delta)\\cdot v_1-v_R\\right]\\left(1-k\\cos\\beta\\right) $$</p>
72+
<p>where:</p>
73+
<ul>
74+
<li>\\(\\dot{m}\\) is the mass flow rate through the turbine</li>
75+
<li>\\(v_R = \\omega R\\) is the reference velocity (\\(R\\) = radius of rotor where flow hits the bucket, \\(\\omega\\) = angular velocity constrained by grid frequency)</li>
76+
<li>\\(v_1=\\frac{\\dot{V}}{A_1}\\) is water velocity at position \"1\" (end of nozzle), with \\(\\dot{V}\\) = volumetric flow rate and \\(A_1\\) = cross-sectional area</li>
77+
<li>\\(\\beta\\) is the reflection angle (typically \\(\\beta= 165^{\\circ}\\))</li>
78+
<li>\\(k<1\\) is a friction factor (typically \\(k\\in[0.8, 0.9]\\))</li>
79+
<li>\\(\\delta(u_\\delta)\\) represents deflector mechanism to reduce velocity and avoid over-speed</li>
80+
</ul>
81+
82+
<h5>Total Work and Friction Losses</h5>
83+
<p>Total work rate removed through the turbine:</p>
84+
<p>$$ {\\dot{W}_t} = {\\dot{W}_s+\\dot{W}_{ft}} $$</p>
85+
<p>Friction losses:</p>
86+
<p>$$ \\dot{W}_{ft}=K\\left(1-k\\cos\\beta\\right)\\dot{m}v_R^2 $$</p>
87+
<p>with friction coefficient \\(K=0.25\\).</p>
88+
89+
<h5>Nozzle Pressure Drop</h5>
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<p>Pressure drop across the nozzle (positions \"0\" and \"1\"):</p>
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<p>$$ \\Delta p_n=\\frac{1}{2}\\rho\\dot{V}\\left[\\dot{V}\\left(\\frac{1}{A_1^2(Y)}-\\frac{1}{A_0^2}\\right)+k_f\\right] $$</p>
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<p>where \\(A_0\\) is cross-sectional area at nozzle beginning, \\(A_1(Y)\\) is area at nozzle end (function of needle position Y),
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and \\(k_f\\) is the nozzle friction loss coefficient.</p>
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<h5>Connectors</h5>
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<ul>
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<li><a href=\"modelica://OpenHPL.Interfaces.TurbineContacts\">TurbineContacts</a> for connection to waterway and electro-mechanical units</li>
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<li>RealInput connector for angular velocity (typically from generator)</li>
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</ul>
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<h5>Parameters</h5>
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<p>User specifies: turbine runner radius, nozzle input diameter, runner bucket angle, friction factors and coefficients,
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deflector mechanism coefficient.</p>
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<p><em>Note: This model has not been tested.</em></p>
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<p>More info in: <a href=\"modelica://OpenHPL/Resources/Documents/Turbines_model.pdf\">Resources/Documents/Turbines_model.pdf</a></p>
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</html>"));
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end Pelton;

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