Florian Schlögl, Okko Nannen, Cornelius Steinbrink Bilbao, September 2016

The flexible smart-grid co-simulation framework

Agenda

• Why mosaik?

• Architecture / functionalities

• Connections to FMI

• Advanced topics / examples

2

Why mosaik?

4

Control Strategies

Simulated Infrastructure

Simulation data Commands / Schedules

5

Modular design

mosaik

Eco-system

6

Model/Simulator

• Model:

• Simplified representation of a real world system/object or process

• Reproduces relevant system aspects for analysis; purpose specific

• Simulator:

• Implementation of a model

• Includes functionalities to run the model

7

Co-Simulation/Scenario

• Co-Simulation:

• Synchronized data exchange

• Every simulator provides its “solver”

• Simulation scenario:

• Numbers and connections of system entities

• Parameter values, input, runtime given

• Described in executable file

8

Another Sim Proc Simulator Process

Sim Manager

Scheduler Scenario API

Sim API Sim API

Architecture

9

Another Sim Proc Simulator Process

Sim Manager

Scheduler Scenario API

Sim API Sim API

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Simulator w/ low-level API

Simulator w/ high-level API

mosaik mosaik

Mo

saik AP

I

socket socket

socket

JSON

BaseInterface

socket

JSON

Interface

Simulator

Interface

Simulator

Implemented by user

Implemented by mosaik

API Overview

• API to integrate simulators (and other components: database, visualization, etc.)

• Meta description:

• Object models provided

• Parameters

• Connection attributes

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Example: “HouseSim” Model: Household Param: Inhabitant number Attr: Active Power (sending)

API Overview

• Four API methods for control:

• init() start simulator process

• create() instantiate model entities

• step() provide input data and advance simulator in time

• get_data() obtain output data

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data

next time step

entities

meta data

init()

create()

step()

get_data()

loop

mosaik-API

14

Simulator Interaction

15

Simple example, two simulators

Active Power P

Example

step1()

get_data1()

get_data1()

step1()

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step2()

get_data2()

2

get_data2()

step2()

1

Another Sim Proc Simulator Process

Sim Manager

Scheduler Scenario API

Sim API Sim API

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Management Possibilities

18

Sim AP

I

Sim AP

I

Module

AP

I

Sim

Python import

Other protocol

TCP connection

TCP

etc

Another Sim Proc Simulator Process

Sim Manager

Scheduler Scenario API

Sim API Sim API

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Scenario Creation

List and initialize simulators

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Scenario Creation

Create entities

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Scenario Creation

Connect entities

Connections are: • Rule-based

• Established for complete sets

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Overview Scenario definition

Scenario-API

Scheduler Simulation Manager

mosaik-API

MAS

mosaik API

Visualization

mo

saik

AP

I

Centralized Control

mosaik API

Simulator

mo

saik

AP

I

Simulator

mo

saik

AP

I

Simulator

mo

saik

AP

I

Component Simulator

mo

saik

AP

I

Database

mo

saik

AP

I

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Power Flow Simulator

mo

saik

AP

I

Simulation Utility

Control

Another Sim Proc Simulator Process

Sim Manager

Scheduler Scenario API

Sim API Sim API

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A.step(0) → 1 A.step(1) → 2

0 1 2 3 4

A 1s

A-0 A-1 A-2 A-3

t [s]

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0 1 2 3 4

A.step(0) → 1 B.step(0) → 1 A.step(1) → 2 B.step(1) → 2

A 1s

A-0 A-1

B 1s

B-0 B-1

A-2

B-2

A-3

B-3

t [s]

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B.step(0) → 2 A.step(0) → 1 C.step(0) → 3 A.step(1) → 2; B.step(2) → 4 A.step(2) → 3 A.step(3) → 4 C.step(3) → 6

0 1 2 3 4

A-1

B 2s

B-0

A-2

B-2

A 1s

C 3s

C-0

A-0

C-3

A-3

t [s]

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A.step(0) → 0.5 A.step(0.5) → 2

0 1 2 3 4

A ?s

A-0 A-1 A-2 A-3

t [s]

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Summary of mosaik

• Mosaik is a co-simulation tool

• Main functionalities:

• Organize data exchange

• Synchronization

• Main use cases:

• Create scenario

• Connect simulators

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Mosaik and FMI Functional Mock-Up Interface Mosaik

FMI for Co-Simulation Mosaik-API for simulators

Slave / FMU Simulator

Master (no part of FMI) Scheduler

Advantages: • More complete model description • Extensive interface for nuanced

control

Advantages: • Interface more easily implemented • Scheduling included • Flexible scenario creation

Conclusion: • No “either/or”

• Mosaik as possible master for FMI (mapping between mosaik-API and FMI)

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Simple Demo Scenario

Scenario definition

Scenario-API

Scheduler Simulation Manager

mosaik-API

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Simple Demo Scenario (II)

Scenario definition

Scenario-API

Scheduler Simulation Manager

mosaik-API

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• One MV grid with sub-ordinate LV grids • About 8k nodes in total

• Decentral producers, consumers and storage • About 55k units in total

• Discrete step size: • 1 minute

Application Cases

Application Cases (II)

• Mosaik-IPSYS

• First external use of mosaik (by DTU)

• Couple a Java simulation (IPSYS) and a Java MAS (MasSim and JadeSim)

• Relatively small scenario

Cyclic Data Dependencies

No problem Data flow

Problem (Who comes first?)

Mosaik solution: Asynchronous Requests

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Cyclic Data Dependencies

• Establish data connection in one direction

• Include asynchronous request

• Cycle is resolved via a shift in time

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0 1 2 3 4

A.step(0) → 1 B.step(0) → 1 A.step(1) → 2 B.step(1) → 2

A 1s

A-0 A-1

B 1s

B-0 B-1

A-2

B-2

A-3

B-3

t [s]

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With mosaik toward HiL

... VPN Gateway Router/Firewall

Internet

HERO Cluster (High-End Computing Resource Oldenburg)

25 (max. 100) Sessions @ 1Gbit/s

...

...

6x BECKHOFF CX2020 RT-Anlagen-Targets Komponentenmodelle

Agenten Regler

18x

Kommunikationssimulation

38

D/A

EtherCAT

Ethernet

96x Ports

48x Ports

I/O-Switch

Stationsanzeigen Schaltzustände Auslastung LabView Console

2x 6x CPUs @ 2,6 GHz

Virtualisierungsserver mosaik-Simulation Entwicklungsumgebungen Lizenzserver

Leitstand SCADA

IEC 60870

IEC

618

50

U

ML

CIM

(619

70/6

196

8)

OP

C U

A (6

254

1)

Standardkonforme Informations- und

Prozessketten

Protocol Switch 18x

6x Kerne (~140 Knoten)

... Stationsrechner Leitsystem Schutzsystem Komponentenmodelle Agenten Regler

3x BECKHOFF C6920

D/A

D/A

Geplanter Ausbau

RT-Netz-Target Netzmodell

Komponentenmodelle

3x Kerne (~70 Knoten)

OPAL-RT eMEGAsim

SESA-Lab

38

With mosaik toward HiL

m

39

With mosaik toward HiL

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.exe

Analog I/O

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mosaik.offis.de Help: mosaik-users@lists.offis.de Docs: mosaik.readthedocs.org Code: bitbucket.org/mosaik

Scenario definition

Scenario-API

Scheduler Simulation Manager

mosaik-API

Multi- Agent- System

mosaik API

Visualization

mo

saik

AP

I

Centralized Control

mosaik API

Simulator

mo

saik

AP

I

Simulator

mo

saik

AP

I

Simulator

mo

saik

AP

I

Consumption Simulator

mo

saik

AP

I

Database

mo

saik

AP

I

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Power Flow Simulator

mo

saik

AP

I

Simulation

Utility

Control

Weather

Market

Generation

A-0 A-1 A-2 A-3

B-2

C-0 C-3

0 1 2 3 4

B-0

A 1s

B 2s

C 3s

Another Sim ProcSimulator Process

Sim Manager

SchedulerScenario API

Sim API Sim API