Modelica Tutorial with PowerSystems: A tutorial for Modelica simulation

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Modelica Tutorial

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OpenModelica• OS

- Linux- Windows- Mac

ØPartly supportedØInstall

• Homebrew• Macport

- Virtual Machine (ubuntu)Ø https://openmodelica.org/download/virtual-

machineØ Installation

1. Install virtualbox2. Download box file, and vmdk file in same

directory3. Double click the box file

Ø Bug: cannot login• Change GUI manager

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1. Modelica introduction2. Thermal simulation using Modelica3. Exercise1: RL Circuit4. Exercise2: Transmission Loss5. Exercise3: Power World

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What is Modelica?

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TUTORIAL – COURSE

Introduction to Object-Oriented Modeling and Simulation with Modelica

Using OpenModelica

Peter Fritzson

Copyright (c) Open Source Modelica Consortium Version 2012

https://www.modelica.org/libraries

A language for modeling of complex physical system.

Primary designed for simulation.

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What is Modelica?

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TUTORIAL – COURSE

Introduction to Object-Oriented Modeling and Simulation with Modelica

Using OpenModelica

Peter Fritzson

Copyright (c) Open Source Modelica Consortium Version 2012


A language for modeling of complex physical system.

Combine multi-domain modeling

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What is Modelica?

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Declarative languageEquations and mathematical functions allow acausal modeling, high level specification, increased correctness

Multi-domain modelingCombine electrical, mechanical, thermodynamic, hydraulic, biological, control, event, real-time, etc…

Everything is a classStrongly typed object-oriented language with a general class concept, Java & MATLAB-like syntax

Visual component programmingHierarchical system architecture capabilities

Efficient, non-proprietaryEfficiency comparable to C; advanced equation compilation,e.g. 300 000 equations, ~ 150 000 lines on standard PC

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Free/Commercial tools• Simulator

- CommercialØDymolaØCyModelicaØWoflramØSimulationX

- FreeØOpenModelicaØJModelica.orgØModelicac

• Editor- Modelica mode for emacs- UltraEdit- Modelica Plugin (for Eclipse)- Modelica Sublime Text Package- OMEditor

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• Developer site- https://modelica.org/tools

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Modelica Free/Commercial Libraries

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• Modelica Library- Modelica- Power system- Vehicle- Mathematics- Chemical- Building


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Modelica Tutorial

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• Exercise 1- RL Circuit model

• Exercise 2- Transmission Loss model

• Exercise 3- Power World

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Exercise 1: RL Circuit

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• Goal- Making a basic RL circuit model using Modelica language- Executing a simulation and plotting the result- Understanding the relationship between electrical-thermal energy

• Library- Modelica library

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Exercise 1: RLC Circuit Modeling

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OpentheOMEdit

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1. MakeanewPackage“RLCircuit”2. MakeanewModel“Resistor”3. Addaextendsmodel4. Addaparameter“R”5. Addaequation

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extendsModelica.Electrical.Analog.Interfaces.OnePort;parameterModelica.SIunits.Resistance R(start=1);equationv=R*i;

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“partial”meansthismodelisincomplete

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SI=>Modelica.SIunitsimportSI=Modelica.SIunits;

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modelResistorequationv=p.v - nv;0=p.i - n.i;i =p.i;v=R*i;endResistor

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Youcancheckyourcodehere

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1. Makeanewmodel“RLCircuit”inRLCircuit package2. Add Inductor,Ground, andsinVoltage from

Modelica.Electrical.Analog,andResistor3. Connecteachother

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1. Changethestoptime2. simulatethemodel

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Exercise 1: Simulation result

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Choosetheresistor1.v

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1. RightclicktheRLCircuit2. Clickthe“Duplicate”3. ChooseRLCircuit packageasthe“Path”4. Choosethenewmodel

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1. Rightclicktheresistance2. Deletetheblock3. Replacetheresistanceto

Modelica.Electrical.Analog.Basic.Resistor

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1. AddFixedTemperature fromModelica.Thermal.HeatTransfer.Sources.FixedTemperature

2. Connecttothereplacedresistor

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Simulation results1. ClicktheLossPower andvinRLCircuit22. Comparetheresult

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Newplotwindow

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Exercise 2: Transmission Loss

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• Goal- Making a simple model representing transmission loss

using PowerSystems library- Using the icon setting- Understanding the outer/inner variables

• Library- PowerSystems

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1. OpenFile->SystemLibraries->PowerSystems2. Makeanewmodel

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extendsPowerSystems.Basic.Icons.Block;

Icon setting

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Clicktheiconview

Icon setting

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Icon setting

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1. ExtendPartialTwoTerminal2. Add threevariables

YoucansearchthePartialTwoTerminal here

Parameter of the line model

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Replaceablepackageinheritsallfunctions/variables/settingsfromPowerSystems libraryEverymodelinPowerSystems inheritsthisPhaseSystem• DCorAC• Phasenumber• Frequency

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1. AddequationPhaseSystem.m:NumberofreferenceangleDC:m=0AC:m>0

Equation of the line model

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ifPhaseSystem.m >0thenomegaRef =der(PhaseSystem.thetaRef(terminal_p.theta));elseomegaRef =0;endif;v=R*i +omegaRef *L*j(i);zeros(PhaseSystem.n)=terminal_p.i +terminal_n.i;ifPhaseSystem.m >0thenterminal_p.theta =terminal_n.theta;endif

Equation of the line model

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Simulation of the line model

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1. Set1.FixedVoltageSource, 2.FixedCurrennt,and3.SystemfromPowersystem.Generic

2. OpentheparameterwindowoftheFixedCurrent bydoubleclickandchangetheparameter


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1. Set1.FixedVoltageSource, 2.FixedCurrennt,and3.SystemfromPowersystem.Generic

2. OpentheparameterwindowoftheFixedCurrent bydoubleclickandchangetheparameter


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1. Confirmyourcodeiscorrect


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System:aninterfaceofPhaseSystem setting”inner”worksasaglobalvariable• Omega,theta,andfrequency• DC/AC/AC(3phase)• Initialvalue


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System:aninterfaceofPhaseSystem setting”inner”worksasaglobalvariable• Omega,theta,andfrequency• DC/AC/AC(3phase)• Initialvalue

innerPowerSystems.Systemsystem(…


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*ModelicaAdvancedTutorial:DevelopingModelingLibrary,MartinOtter,HildingElmqvist

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Byclickingtheinformation button,youcanseethedetailedinformation ofthe“System”.


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Theresultisconstantvalue


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Exercise 3: Power World

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• Goal- Simulating the simplified power grid including

ØVoltageØCurrentØFrequency

- Considering transmission loss, and voltage conversion- Using dynamic wind and electricity consumption data


* The Power World uses Generic components with the quasi-static ThreePhase_dq because fast electrical transients and asymmetries are neglected. For more precise simulation of power grid, you can use the SPOT from PowerSystems supporting AC 3 phase.

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• Goal- Simulating the simplified power grid including

ØVoltageØCurrentØFrequency

- Considering transmission loss, and voltage conversion- Using dynamic wind and electricity consumption data



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1. AddSystemfromPowerSystems2. AddPowerPlant,HydroPlant,WindFarm,andCity

fromPowerSystems.Examples.Components

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Youcancheckthecontentby1. Rightclicktheblock2. Choose“OpenClass"


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1. Clickthe“TextView”2. ChangetheWindFarm setting


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windFarm1(redeclare packagePhaseSystem =PowerSystems.PhaseSystems.DirectCurrent)


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1. AddVoltageConverter,Inverterandline

2. DoubleclickandchangetheparameterofVoltageConverter to380/50

3. DoubleclickandchangethePotentialReference ofInvertertofalse


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1. AddVoltageConverter,Inverterandline

2. DoubleclickandchangetheparameterofVoltageConverter to380/10


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1. AddLoadDispatcher fromPowerSystems.Example.PowerWorld.Components

2. AddRealExpression fromModelica.Blocks.Sources


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1. DoubleclicktheRealExpression2. Settheoutput“y”as“system.omega/2/pi”


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“pi”isdefined inModelica.Constants1. Click“TextView”2. Add”importModelica.Constants.pi;”


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1. Justclick“OK”whenyouconnecttheLoadDispatcher andPlants


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1. Doubleclickthe”system”2. Changeini to“tr”(double quotation isrequired)3. Changeftype_par tofalse

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1. Changethestoptime to8640060(sec)*60*24=86400

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Simulation result: Electricity demand and supply

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Simulation result: Wind

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Simulation result: Frequency

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Simulation result: Frequency

Inthesystem,simulation isterminatedwhenthefrequencyexceedthelimitation.

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Two Windfarm model

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Two Windfarm model

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SPOT: more precise power-system simulation

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Thankyouforyourattention

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Converter(DC/AC)

EnergyConsumer

FrequencyData

PowerPlant

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HydroDispatch:HydroDispatch[1] = hydroBaseHydroDispatch[2] = hydroDailyHydroDispatch[3] = controlHydro

plantDispatch:plantDispatch[1] = plantScheduleplantDispatch[2] = secondaryControlplantDispatch[3] = primaryControl

𝜃 = 𝜔 $ 2𝜋

LoadDispatcher

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PowerPlant

plantDispatch:plantDispatch[1] = plantSchedule = fuel.u1plantDispatch[2] = secondaryControl = add.u1plantDispatch[3] = primaryControl

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HydroPlant

HydroDispatch:HydroDispatch[1] = hydroBase = riverControl.uHydroDispatch[2] = hydroDaily = add.u2HydroDispatch[3] = controlHydro

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WindFarm

Wind Data

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City

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Open Modelica Library

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• Simulation Result

city

windFarmhydroPlant

powerPlant

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IPSL

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Modelica Tutorial with PowerSystems: A tutorial for Modelica simulation

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Transcript of Modelica Tutorial with PowerSystems: A tutorial for Modelica simulation