Generalized linear two terminal State Space Nodal component models

dpsim-models/include/dpsim-models/Components.h

@@ -87,6 +87,9 @@
 #include <dpsim-models/EMT/EMT_Ph1_CurrentSource.h>
 #include <dpsim-models/EMT/EMT_Ph1_Inductor.h>
 #include <dpsim-models/EMT/EMT_Ph1_Resistor.h>
+#include <dpsim-models/EMT/EMT_Ph1_SSNTypeI2T.h>
+#include <dpsim-models/EMT/EMT_Ph1_SSNTypeV2T.h>
+#include <dpsim-models/EMT/EMT_Ph1_SSN_Full_Serial_RLC.h>
 #include <dpsim-models/EMT/EMT_Ph1_Switch.h>
 #include <dpsim-models/EMT/EMT_Ph1_VoltageSource.h>
 #include <dpsim-models/EMT/EMT_Ph1_VoltageSourceNorton.h>

dpsim-models/include/dpsim-models/EMT/EMT_Ph1_SSNTypeI2T.h

@@ -0,0 +1,93 @@
+// SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, EONERC, RWTH Aachen University
+// SPDX-License-Identifier: MPL-2.0
+
+#pragma once
+
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+
+namespace CPS {
+namespace EMT {
+namespace Ph1 {
+/// \brief SSNTypeI2T
+/// Model for a one phase, two terminal I-type SSN component which can be represented using
+/// a state space equation system
+/// x' = A * x + B * u
+/// y = C * x + D * u
+/// with x: state vector, y: output vector, u: input vector,
+/// where u represents external current (mIntfCurrent),
+/// y represents external voltage (mIntfVoltage),
+/// x represents any component states.
+class SSNTypeI2T : public MNASimPowerComp<Real>,
+                   public SharedFactory<SSNTypeI2T> {
+private:
+  void ssnUpdateState();
+  void setSSNMatricesToZero();
+
+protected:
+  Matrix mX;
+  Matrix mU;
+  Matrix mUOld;
+  Matrix mW;
+  Matrix mYHist;
+
+public:
+  const CPS::Attribute<Matrix>::Ptr mA;
+  const CPS::Attribute<Matrix>::Ptr mB;
+  const CPS::Attribute<Matrix>::Ptr mC;
+  const CPS::Attribute<Matrix>::Ptr mD;
+
+  const CPS::Attribute<Matrix>::Ptr mdA;
+  const CPS::Attribute<Matrix>::Ptr mdB;
+  const CPS::Attribute<Matrix>::Ptr mdC;
+
+  /// Defines UID, name, component parameters and logging level
+  SSNTypeI2T(String uid, String name,
+             Logger::Level logLevel = Logger::Level::off);
+  /// Defines name and logging level
+  SSNTypeI2T(String name, Logger::Level logLevel = Logger::Level::off)
+      : SSNTypeI2T(name, name, logLevel) {}
+
+  SimPowerComp<Real>::Ptr clone(String name) override;
+
+  void manualInit(Matrix initialState, Matrix initialInput,
+                  Matrix initialOldInput, Real initCurrent, Real initVoltage);
+  // #### General ####
+  void setParameters(const Matrix A, const Matrix B, const Matrix C,
+                     const Matrix D);
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+
+  // #### MNA section ####
+  /// Initializes internal variables of the component
+  void mnaCompInitialize(Real omega, Real timeStep,
+                         Attribute<Matrix>::Ptr leftVector) override;
+  /// Stamps system matrix
+  void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
+  /// Stamps right side (source) vector
+  void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
+  /// Update interface voltage from MNA system result
+  void mnaCompUpdateVoltage(const Matrix &leftVector) override;
+  /// Update interface current from MNA system result
+  void mnaCompUpdateCurrent(const Matrix &leftVector) override;
+
+  void mnaCompPreStep(Real time, Int timeStepCount) override;
+  void mnaCompPostStep(Real time, Int timeStepCount,
+                       Attribute<Matrix>::Ptr &leftVector) override;
+
+  /// Add MNA pre step dependencies
+  void mnaCompAddPreStepDependencies(
+      AttributeBase::List &prevStepDependencies,
+      AttributeBase::List &attributeDependencies,
+      AttributeBase::List &modifiedAttributes) override;
+
+  /// Add MNA post step dependencies
+  void
+  mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
+                                 AttributeBase::List &attributeDependencies,
+                                 AttributeBase::List &modifiedAttributes,
+                                 Attribute<Matrix>::Ptr &leftVector) override;
+};
+} // namespace Ph1
+} // namespace EMT
+} // namespace CPS

dpsim-models/include/dpsim-models/EMT/EMT_Ph1_SSNTypeV2T.h

@@ -0,0 +1,94 @@
+// SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, EONERC, RWTH Aachen University
+// SPDX-License-Identifier: MPL-2.0
+
+#pragma once
+
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+
+namespace CPS {
+namespace EMT {
+namespace Ph1 {
+/// \brief SSNTypeV2T
+/// Model for a one phase, two terminal V-type SSN component which can be represented using
+/// a state space equation system
+/// x' = A * x + B * u
+/// y = C * x + D * u
+/// with x: state vector, y: output vector, u: input vector,
+/// where u represents external voltage (mIntfVoltage),
+/// y represents external current (mIntfCurrent),
+/// x represents any component states.
+class SSNTypeV2T : public MNASimPowerComp<Real>,
+                   public SharedFactory<SSNTypeV2T> {
+private:
+  void ssnUpdateState();
+  void setSSNMatricesToZero();
+
+protected:
+  Matrix mX;
+  Matrix mU;
+  Matrix mUOld;
+  Matrix mW;
+  Matrix mYHist;
+
+public:
+  const CPS::Attribute<Matrix>::Ptr mA;
+  const CPS::Attribute<Matrix>::Ptr mB;
+  const CPS::Attribute<Matrix>::Ptr mC;
+  const CPS::Attribute<Matrix>::Ptr mD;
+
+  const CPS::Attribute<Matrix>::Ptr mdA;
+  const CPS::Attribute<Matrix>::Ptr mdB;
+  const CPS::Attribute<Matrix>::Ptr mdC;
+
+  /// Defines UID, name, component parameters and logging level
+  SSNTypeV2T(String uid, String name,
+             Logger::Level logLevel = Logger::Level::off);
+  /// Defines name and logging level
+  SSNTypeV2T(String name, Logger::Level logLevel = Logger::Level::off)
+      : SSNTypeV2T(name, name, logLevel) {}
+
+  SimPowerComp<Real>::Ptr clone(String name) override;
+
+  void manualInit(Matrix initialState, Matrix initialInput,
+                  Matrix initialOldInput, Real initCurrent, Real initVoltage);
+
+  // #### General ####
+  void setParameters(const Matrix A, const Matrix B, const Matrix C,
+                     const Matrix D);
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+
+  // #### MNA section ####
+  /// Initializes internal variables of the component
+  void mnaCompInitialize(Real omega, Real timeStep,
+                         Attribute<Matrix>::Ptr leftVector) override;
+  /// Stamps system matrix
+  void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
+  /// Stamps right side (source) vector
+  void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
+  /// Update interface voltage from MNA system result
+  void mnaCompUpdateVoltage(const Matrix &leftVector) override;
+  /// Update interface current from MNA system result
+  void mnaCompUpdateCurrent(const Matrix &leftVector) override;
+
+  void mnaCompPreStep(Real time, Int timeStepCount) override;
+  void mnaCompPostStep(Real time, Int timeStepCount,
+                       Attribute<Matrix>::Ptr &leftVector) override;
+
+  /// Add MNA pre step dependencies
+  void mnaCompAddPreStepDependencies(
+      AttributeBase::List &prevStepDependencies,
+      AttributeBase::List &attributeDependencies,
+      AttributeBase::List &modifiedAttributes) override;
+
+  /// Add MNA post step dependencies
+  void
+  mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
+                                 AttributeBase::List &attributeDependencies,
+                                 AttributeBase::List &modifiedAttributes,
+                                 Attribute<Matrix>::Ptr &leftVector) override;
+};
+} // namespace Ph1
+} // namespace EMT
+} // namespace CPS

dpsim-models/include/dpsim-models/EMT/EMT_Ph1_SSN_Full_Serial_RLC.h

@@ -0,0 +1,100 @@
+// SPDX-FileCopyrightText: 2025 Institute for Automation of Complex Power Systems, EONERC, RWTH Aachen University
+// SPDX-License-Identifier: MPL-2.0
+
+#pragma once
+
+#include <dpsim-models/Base/Base_Ph1_Capacitor.h>
+#include <dpsim-models/Base/Base_Ph1_Inductor.h>
+#include <dpsim-models/Base/Base_Ph1_Resistor.h>
+#include <dpsim-models/MNASimPowerComp.h>
+#include <dpsim-models/Solver/MNAInterface.h>
+
+namespace CPS {
+namespace EMT {
+namespace Ph1 {
+namespace SSN {
+/// \brief Full_Serial_RLC
+///
+/// This element represents an one port circuit consisting of a resistor,
+/// an inductor and a capacitor connected in series. The terminals are at
+/// the beginning and the end of the component chain.
+///	The states are the capacitor voltage and the inductor current, the output
+/// is the latter of those states (inductor current). The input is the voltage
+/// across the whole circuit. States and past inputs are updated after each
+/// time step and are used to calculate the current (input) voltage,
+/// represented as MNA node voltages.
+/// SSN theory and variable naming based on
+/// C. Dufour, J. Mahseredjian and J. Belanger,
+/// "A combined state-space nodal method for the simulation of power system
+/// transients," 2011 IEEE Power and Energy Society General Meeting, Detroit,
+/// MI, USA, 2011, pp. 1-1, doi: 10.1109/PES.2011.6038887. keywords:
+/// {Mathematical model;Analytical models;Equations;Power system transients;
+/// Couplings;Switching circuits}
+
+class Full_Serial_RLC final : public MNASimPowerComp<Real>,
+                              public SharedFactory<Full_Serial_RLC>,
+                              public Base::Ph1::Resistor,
+                              public Base::Ph1::Inductor,
+                              public Base::Ph1::Capacitor {
+public:
+  /// Defines UID, name, component parameters and logging level
+  Full_Serial_RLC(String uid, String name,
+                  Logger::Level logLevel = Logger::Level::off);
+  /// Defines name and logging level
+  Full_Serial_RLC(String name, Logger::Level logLevel = Logger::Level::off)
+      : Full_Serial_RLC(name, name, logLevel) {}
+
+  SimPowerComp<Real>::Ptr clone(String name) override;
+  void setParameters(Real resistance, Real inductance, Real capacitance);
+
+  // #### General ####
+  /// Initializes component from power flow data
+  void initializeFromNodesAndTerminals(Real frequency) override;
+
+  // #### MNA section ####
+  /// Initializes internal variables of the component
+  void mnaCompInitialize(Real omega, Real timeStep,
+                         Attribute<Matrix>::Ptr leftVector) override;
+  /// Stamps system matrix
+  void mnaCompApplySystemMatrixStamp(SparseMatrixRow &systemMatrix) override;
+  /// Stamps right side (source) vector
+  void mnaCompApplyRightSideVectorStamp(Matrix &rightVector) override;
+  /// Update interface voltage from MNA system result
+  void mnaCompUpdateVoltage(const Matrix &leftVector) override;
+  /// Update interface current from MNA system result
+  void mnaCompUpdateCurrent(const Matrix &leftVector) override;
+  /// MNA pre step operations
+  void mnaCompPreStep(Real time, Int timeStepCount) override;
+  /// MNA post step operations
+  void mnaCompPostStep(Real time, Int timeStepCount,
+                       Attribute<Matrix>::Ptr &leftVector) override;
+  /// Add MNA pre step dependencies
+  void mnaCompAddPreStepDependencies(
+      AttributeBase::List &prevStepDependencies,
+      AttributeBase::List &attributeDependencies,
+      AttributeBase::List &modifiedAttributes) override;
+  /// Add MNA post step dependencies
+  void
+  mnaCompAddPostStepDependencies(AttributeBase::List &prevStepDependencies,
+                                 AttributeBase::List &attributeDependencies,
+                                 AttributeBase::List &modifiedAttributes,
+                                 Attribute<Matrix>::Ptr &leftVector) override;
+
+private:
+  Matrix mState = Matrix::Zero(2, 1);
+  Real mYHistory = 0;
+
+  Real mDufourUNT = 0;
+
+  Matrix mDufourAKHat = Matrix::Zero(2, 2);
+  Matrix mDufourBKHat = Matrix::Zero(2, 1);
+  Matrix mDufourBKNHat = Matrix::Zero(2, 1);
+  Real mDufourWKN = 0;
+  Matrix mDufourCKN = Matrix::Zero(1, 2);
+
+  void ssnUpdateState();
+};
+} // namespace SSN
+} // namespace Ph1
+} // namespace EMT
+} // namespace CPS

dpsim-models/include/dpsim-models/MathUtils.h

@@ -119,6 +119,10 @@ class Math {
                                                      const Matrix &C,
                                                      const Real &dt, Matrix &Ad,
                                                      Matrix &Bd, Matrix &Cd);
+  static void calculateStateSpaceTrapezoidalMatrices(const Matrix &A,
+                                                     const Matrix &B,
+                                                     const Real &dt, Matrix &Ad,
+                                                     Matrix &Bd);
   /// Apply the trapezoidal based state space matrices Ad, Bd, Cd to get the states at the current time step
   static Matrix applyStateSpaceTrapezoidalMatrices(const Matrix &Ad,
                                                    const Matrix &Bd,

dpsim-models/src/CMakeLists.txt

@@ -70,6 +70,9 @@ list(APPEND MODELS_SOURCES
 	EMT/EMT_Ph1_VoltageSourceRamp.cpp
 	EMT/EMT_Ph1_VoltageSourceNorton.cpp
 	EMT/EMT_Ph1_Switch.cpp
+	EMT/EMT_Ph1_SSN_Full_Serial_RLC.cpp
+	EMT/EMT_Ph1_SSNTypeI2T.cpp
+	EMT/EMT_Ph1_SSNTypeV2T.cpp
 
 	EMT/EMT_Ph3_CurrentSource.cpp
 	EMT/EMT_Ph3_VoltageSource.cpp