diff --git a/.gitattributes b/.gitattributes new file mode 100644 index 0000000..6f4f2e1 --- /dev/null +++ b/.gitattributes @@ -0,0 +1,15 @@ +# Do not change the line endings by default +* -text + +# Explicitly declare text files we want to always be normalized and converted +# to native line endings on checkout. +*.c text +*.h text +*.mo text +*.mos text +*.order text +.gitattributes text +.gitignore text +*.md text +*.htm* text +.mailmap text diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..9a6f609 --- /dev/null +++ b/.gitignore @@ -0,0 +1,44 @@ +# Ignore Dymola output, log and temporary files (in alphabetical order) +####################################################################### +*.bak-mo +*.mof +buildlog.txt +dsfinal.txt +dsin.txt +dslog.txt +dsmodel.c +dsmodelext[0-9].c +dsres.txt +dymosim* +empty.txt +request +stat +status +stop +# Ignore files created by the unit tests. +simulator.log + +# Temporary files generated by emacs # +###################################### +*~ +\#*\# + +# .mat output files # +##################### +*.mat + +# Python compiled files # +######################### +*.pyc + +# Files generated by OS X +######################### +.DS_Store + +# encrypted files for export +############################ +*.moe + +*. + +OpenHPL/Resources/Documents/UsersGuide_src/auto/ diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..109a126 --- /dev/null +++ b/LICENSE @@ -0,0 +1,236 @@ + ACADEMIC PUBLIC LICENSE + version 1.1.1 + + Copyright (C) 2003, 2010, 2015, 2015 Andras Varga (v1.1) + Copyright (C) 2019 Dietmar Winkler (adapted for OpenHPL) + + + Preamble + + This license contains the terms and conditions of using OpenHPL in +noncommercial settings: at academic institutions for teaching and research +use and for personal or educational purposes. You will find that this +license provides noncommercial users of OpenHPL with rights that are +similar to the well-known GNU General Public License, yet it retains the +possibility for OpenHPL authors to financially support the development by +selling commercial licenses. In fact, if you intend to use OpenHPL in a +"for-profit" environment, where research is conducted to develop or enhance +a product, is used in a commercial service offering, or when an entity uses +OpenHPL to participate in government-funded, EU-funded, military or similar +research projects, then you need to obtain a commercial license. + + What are the rights given to noncommercial users? Similarly to GPL, you +have the right to use the software, to distribute copies, to receive source +code, to change the software and distribute your modifications or the +modified software. Also similarly to the GPL, if you distribute verbatim or +modified copies of this software, they must be distributed under this +license. + + By modeling the GPL, this license guarantees that you are safe when using +OpenHPL in your work, for teaching or research. This license guarantees +that OpenHPL will remain available free of charge for nonprofit use. You +can modify OpenHPL to your purposes, and you can also share your modifications. +Even in the unlikely case of the authors abandoning OpenHPL entirely, this +license permits anyone to continue developing it from the last release, and +to create further releases under this license. + + We believe that the combination of noncommercial open-source and commercial +licensing will be beneficial for the whole user community, because income from +commercial licenses will enable faster development and a higher level of +software quality, while further enjoying the informal, open communication +and collaboration channels of open source development. + + The precise terms and conditions for using, copying, distribution and +modification follow. + + + ACADEMIC PUBLIC LICENSE + + TERMS AND CONDITIONS FOR USE, COPYING, DISTRIBUTION AND MODIFICATION + + 0. Definitions + + "Program" means a copy of OpenHPL, which is said to be distributed under +this Academic Public License. + + "Work based on the Program" means either the Program or any derivative work +under copyright law: that is to say, a work containing the Program or a +portion of it, either verbatim or with modifications and/or translated into +another language. (Hereinafter, translation is included without limitation +in the term "modification".) + + "Using the Program" means any act of creating executables that contain or +directly use libraries that are part of the Program, running any of the +tools that are part of the Program, or creating works based on the Program. + +Each licensee is addressed as "you". + + 1. Permission is hereby granted to use the Program free of charge for +noncommercial purposes, including teaching and academic research at +universities, colleges and other educational institutions and personal +non-profit purposes. 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In such case, this License incorporates +the limitation as if written in the body of this License. + + NO WARRANTY + + 10. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY +FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN +OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES +PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED +OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF +MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS +TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE +PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, +REPAIR OR CORRECTION. + + 11. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED ON IN WRITING +WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR +REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, +INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING +OUT OF THE USE OR INABILITY TO USE THE PROGRAM INCLUDING BUT NOT LIMITED +TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY +YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER +PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE +POSSIBILITY OF SUCH DAMAGES. + + END OF TERMS AND CONDITIONS diff --git a/OpenHPL/Constants.mo b/OpenHPL/Constants.mo new file mode 100644 index 0000000..1c8fbab --- /dev/null +++ b/OpenHPL/Constants.mo @@ -0,0 +1,36 @@ +within OpenHPL; +record Constants "Constants for this library" + extends Modelica.Icons.Record; + parameter Modelica.SIunits.Acceleration g = Modelica.Constants.g_n "gravity" annotation ( + Dialog(enable=false, group = "Constants")); + parameter Modelica.SIunits.Density rho = 997.0 "density" annotation ( + Dialog(group = "Properties")); + parameter Modelica.SIunits.DynamicViscosity mu = 0.89e-3 "dynamic viscosity of water" annotation ( + Dialog(group = "Properties")); + parameter Modelica.SIunits.Height eps = 5e-2 "pipe roughness height" annotation ( + Dialog(group = "Properties")); + parameter Modelica.SIunits.Pressure p_a = 1.013e5 "Atmospheric pressure" annotation ( + Dialog(group = "Constants")); + parameter Modelica.SIunits.Compressibility beta = 4.5e-10 "water compressibility" annotation ( + Dialog(group = "Properties")); + parameter Modelica.SIunits.Compressibility beta_total = 1 / rho / 1000 ^ 2 "total compressibility" annotation ( + Dialog(group = "Properties")); + parameter Boolean Steady = false "If checked - simulation starts from Steady State" annotation ( + choices(checkBox = true), + Dialog(group = "Initialization")); + parameter Modelica.SIunits.VolumeFlowRate V_0 = 19.077 "Initial flow rate through the system" annotation ( + Dialog(group = "Initialization")); + //parameter Boolean TempUse = false "If checked - the water temperature is not constant" annotation (choices(checkBox = true), Dialog(group = "Initialization")); + //parameter Modelica.SIunits.Temperature T_i = 273 + 10 "Initial water temperature" annotation (Dialog(group = "Initialization", enable = TempUse)); + parameter Modelica.SIunits.Frequency f = 50 "Initial frequency" annotation ( + Dialog(group = "Initialization")); + parameter Modelica.SIunits.SpecificHeatCapacity c_p = 4200 annotation ( + Dialog(group = "Constants")); + annotation ( + Documentation(info = "

Here, common parameters are determined for this library.

It is possible to insert this class to models and use the common parameters for whole library. 

+ "), + defaultComponentName = "Const", + defaultComponentPrefixes = "inner", + missingInnerMessage = "No 'Const' component is defined. A default component will be used, and generate constants", + defaultComponentPrefixes = "inner"); +end Constants; diff --git a/OpenHPL/Controllers/package.mo b/OpenHPL/Controllers/package.mo new file mode 100644 index 0000000..3d89bf9 --- /dev/null +++ b/OpenHPL/Controllers/package.mo @@ -0,0 +1,379 @@ +within OpenHPL; +package Controllers "Collection of different controllers" + extends Modelica.Icons.Package; + + extends Icons.Governor; + + model Governor "Govenor/control model" + extends OpenHPL.Icons.Governor; + outer Constants Const "using standart class with constants"; + //// control parameters of the governor + parameter Modelica.SIunits.Time T_p = 0.04 "Pilot servomotor time constant" annotation ( + Dialog(group = "Controller settings")); + parameter Modelica.SIunits.Time T_g = 0.2 "Main servomotor integration time" annotation ( + Dialog(group = "Controller settings")); + parameter Modelica.SIunits.Time T_r = 1.75 "Transient droop time constant" annotation ( + Dialog(group = "Controller settings")); + parameter Real lookup_table[:, :] = [0.0, 0.0; 0.01, 0.06; 0.22, 0.25; 0.53, 0.5; 0.8, 0.75; 1.0, 0.95; 1.05, 1.0] "Table matrix (grid = first column; e.g., table=[0, 0; 1, 1; 2, 4])" annotation ( + Dialog(group = "System settings")); + parameter Real droop = 0.1 "Droop" annotation ( + Dialog(group = "Controller settings")); + parameter Real delta = 0.04 "Transient droop" annotation ( + Dialog(group = "Controller settings")); + parameter Real Y_gv_max = 0.05 "Max guide vane opening rate" annotation ( + Dialog(group = "System settings")); + parameter Real Y_gv_min = 0.2 "Max guide vane closing rate" annotation ( + Dialog(group = "System settings")); + parameter Real Y_gv_ref = 0.72151 "Initial guide vane opening rate" annotation ( + Dialog(group = "System settings")); + parameter Modelica.SIunits.Frequency f_ref = Const.f "Refference frequency" annotation ( + Dialog(group = "System settings")); + parameter Modelica.SIunits.Power Pn = 104e6 "Refference frequency" annotation ( + Dialog(group = "System settings")); + //// connectors + Modelica.Blocks.Interfaces.RealInput P_ref annotation ( + Placement(visible = true, transformation(extent = {{-140, 20}, {-100, 60}}, rotation = 0), iconTransformation(extent = {{-140, 20}, {-100, 60}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealOutput Y_gv annotation ( + Placement(visible = true, transformation(extent = {{100, -10}, {120, 10}}, rotation = 0), iconTransformation(extent = {{100, -10}, {120, 10}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealInput f annotation ( + Placement(visible = true, transformation(origin = {-120, -40}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + //// blocks + Modelica.Blocks.Tables.CombiTable1D look_up_table(table = lookup_table) annotation ( + Placement(visible = true, transformation(origin = {-54, 40}, extent = {{10, -10}, {-10, 10}}, rotation = 180))); + Modelica.Blocks.Continuous.TransferFunction pilot_servo(a = {T_p, 1}, b = {1}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 0) annotation ( + Placement(visible = true, transformation(origin = {-40, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Continuous.TransferFunction main_servo(a = { 1, 0}, b = {1}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = Y_gv_ref) annotation ( + Placement(visible = true, transformation(origin = {46, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain gain_T_s(k = 1 / T_g) annotation ( + Placement(visible = true, transformation(origin = {-10, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter_dotY_gv(limitsAtInit = true, uMax = Y_gv_max, uMin = -Y_gv_min) annotation ( + Placement(visible = true, transformation(origin = {18, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter_Y_gv(limitsAtInit = true, uMax = 1, uMin = 0) annotation ( + Placement(visible = true, transformation(origin = {76, 0}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Continuous.TransferFunction control(a = {T_r, 1}, b = {delta * T_r, 0}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 0) annotation ( + Placement(visible = true, transformation(origin = {62, -30}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain gain_droop(k = droop) annotation ( + Placement(visible = true, transformation(origin = {62, -56}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain gain_P(k = 1 / Pn) annotation ( + Placement(visible = true, transformation(origin = {-84, 40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1 annotation ( + Placement(visible = true, transformation(origin = {8, -44}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add3 add2(k2 = -1, k3 = -1) annotation ( + Placement(visible = true, transformation(origin = {-58, -24}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Math.Add add3(k1 = -1, k2 = +1) annotation ( + Placement(visible = true, transformation(origin = {-58, -60}, extent = {{10, -10}, {-10, 10}}, rotation = -90))); + Modelica.Blocks.Math.Gain gain_f(k = 1 / f_ref) annotation ( + Placement(visible = true, transformation(origin = {-84, -62}, extent = {{-10, -10}, {10, 10}}, rotation = -90))); + Modelica.Blocks.Sources.Constant const(k = 1) annotation ( + Placement(visible = true, transformation(origin = {-30, -80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain gain_droop2(k = droop) annotation ( + Placement(visible = true, transformation(origin = {-80, -4}, extent = {{-10, 10}, {10, -10}}, rotation = -90))); + //Modelica.Blocks.Interfaces.RealInput P_g annotation (Placement(visible = true, transformation(extent = {{-128, -54}, {-88, -14}}, rotation = 0), iconTransformation(extent = {{-120, 24}, {-80, 64}}, rotation = 0))); + initial equation + //Y_gv = Y_gv_ref; + //x_r = delta * Y_gv; + //u = 0; + equation + connect(gain_droop2.y, add2.u1) annotation ( + Line(points = {{-80, -14}, {-80, -14}, {-80, -44}, {-66, -44}, {-66, -36}, {-66, -36}}, color = {0, 0, 127})); + connect(look_up_table.y[1], gain_droop2.u) annotation ( + Line(points = {{-42, 40}, {-34, 40}, {-34, 20}, {-80, 20}, {-80, 8}, {-80, 8}}, color = {0, 0, 127})); + connect(gain_P.y, look_up_table.u[1]) annotation ( + Line(points = {{-72, 40}, {-66, 40}}, color = {0, 0, 127})); + connect(P_ref, gain_P.u) annotation ( + Line(points = {{-120, 40}, {-96, 40}}, color = {0, 0, 127})); + connect(add1.u1, control.y) annotation ( + Line(points = {{20, -38}, {34, -38}, {34, -30}, {52, -30}}, color = {0, 0, 127})); + connect(gain_droop.y, add1.u2) annotation ( + Line(points = {{52, -56}, {36, -56}, {36, -50}, {20, -50}}, color = {0, 0, 127})); + connect(add1.y, add2.u3) annotation ( + Line(points = {{-3, -44}, {-50, -44}, {-50, -36}}, color = {0, 0, 127})); + connect(limiter_Y_gv.y, gain_droop.u) annotation ( + Line(points = {{88, 0}, {92, 0}, {92, -56}, {74, -56}, {74, -56}}, color = {0, 0, 127})); + connect(limiter_Y_gv.y, control.u) annotation ( + Line(points = {{88, 0}, {92, 0}, {92, -30}, {74, -30}, {74, -30}, {74, -30}}, color = {0, 0, 127})); + connect(limiter_Y_gv.y, Y_gv) annotation ( + Line(points = {{88, 0}, {110, 0}}, color = {0, 0, 127})); + connect(const.y, add3.u1) annotation ( + Line(points = {{-40, -80}, {-52, -80}, {-52, -72}, {-52, -72}}, color = {0, 0, 127})); + connect(gain_f.y, add3.u2) annotation ( + Line(points = {{-84, -72}, {-84, -72}, {-84, -92}, {-64, -92}, {-64, -72}, {-64, -72}}, color = {0, 0, 127})); + connect(f, gain_f.u) annotation ( + Line(points = {{-120, -40}, {-84, -40}, {-84, -48}, {-84, -48}, {-84, -50}}, color = {0, 0, 127})); + connect(add3.y, add2.u2) annotation ( + Line(points = {{-58, -48}, {-58, -48}, {-58, -36}, {-58, -36}}, color = {0, 0, 127})); + connect(add2.y, pilot_servo.u) annotation ( + Line(points = {{-58, -13}, {-58, 0}, {-52, 0}}, color = {0, 0, 127})); + connect(main_servo.y, limiter_Y_gv.u) annotation ( + Line(points = {{58, 0}, {64, 0}, {64, 0}, {64, 0}}, color = {0, 0, 127})); + connect(gain_T_s.y, limiter_dotY_gv.u) annotation ( + Line(points = {{2, 0}, {4, 0}, {4, 0}, {6, 0}}, color = {0, 0, 127})); + connect(limiter_dotY_gv.y, main_servo.u) annotation ( + Line(points = {{29, 0}, {34, 0}}, color = {0, 0, 127})); + connect(pilot_servo.y, gain_T_s.u) annotation ( + Line(points = {{-28, 0}, {-22, 0}, {-22, 0}, {-22, 0}}, color = {0, 0, 127})); + //// define curve for control signal based on power + //look_up_table.u[1] = P_ref / Pn; + //Y_gv_ref = look_up_table.y[1]; + //// governor model + //dd = delta * Y_gv - x_r; + //e = 1 - f / f_ref - dd + droop * (Y_gv_ref - Y_gv); + //(P_ref/103e6 - P_g/103e6); + //T_r * der(x_r) + x_r = delta * Y_gv; + //T_p * der(u) + u = e; + //if Y_gv < 0 and u < 0 or Y_gv > 1 and u > 0 then + // der(Y_gv) = 0; + //elseif u / T_g >= Y_gv_max then + // der(Y_gv) = Y_gv_max; + //elseif u / T_g <= (-Y_gv_min) then + // der(Y_gv) = -Y_gv_min; + //else + // der(Y_gv) = u / T_g; + //end if; + annotation ( + Documentation(info = "This is a simple model of the governor that controls the guide vane oppening in the turbine based on the reference power production.

The model is taken from: Resources/Report/Generator_model.pdf
")); + end Governor; + + block GovernorPI + extends Modelica.Icons.UnderConstruction; + outer Constants Const; + parameter Modelica.SIunits.Time T_d = 0.3 "pilot servomotor time constant"; + parameter Modelica.SIunits.Time T_i = 5 "main servomotor integration time"; + parameter Modelica.SIunits.Time T_s = 0.05 "transient droop time constant"; + parameter Modelica.SIunits.Time T_y1 = 0.2 "transient droop time constant"; + parameter Modelica.SIunits.Time T_y2 = 0.2 "transient droop time constant"; + parameter Real droop = 0.1 "droop"; + parameter Real b_t = 0.3 "transient droop"; + parameter Real K_s = 8 "transient droop"; + parameter Real Y_gv_max = 0.05 "Max guide vane opening rat e"; + parameter Real Y_gv_min = 0.2 "Max guide vane closing rate"; + parameter Modelica.SIunits.Frequency f_ref = 50 "Refference frequency"; + Modelica.Blocks.Interfaces.RealInput P_ref annotation ( + Placement(visible = true, transformation(extent = {{-128, -20}, {-88, 20}}, rotation = 0), iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealOutput Y_gv annotation ( + Placement(transformation(extent = {{96, -10}, {116, 10}}), iconTransformation(extent = {{80, -20}, {120, 20}}))); + Modelica.Blocks.Interfaces.RealInput f annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {-80, 102}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 270, origin = {3.55271e-015, 100}))); + Modelica.Blocks.Continuous.TransferFunction derevativPart(b = {T_d, 1}, a = {0.1 * T_d, 1}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 1) annotation ( + Placement(transformation(extent = {{-76, 44}, {-56, 64}}))); + Modelica.Blocks.Sources.Constant ref_f(k = f_ref / f_ref) annotation ( + Placement(transformation(extent = {{-74, 74}, {-54, 94}}))); + Modelica.Blocks.Math.Add add(k2 = -1) annotation ( + Placement(transformation(extent = {{-46, 50}, {-26, 70}}))); + Modelica.Blocks.Continuous.TransferFunction integralPart(b = {T_i, 1}, a = {T_i, 0}) annotation ( + Placement(transformation(extent = {{42, 58}, {62, 78}}))); + Modelica.Blocks.Math.Gain gain(k = 1 / b_t) annotation ( + Placement(transformation(extent = {{14, 58}, {34, 78}}))); + Modelica.Blocks.Math.Feedback feedback annotation ( + Placement(transformation(extent = {{66, 58}, {86, 78}}))); + Modelica.Blocks.Continuous.TransferFunction proportailPart(b = {T_s, 1}, a = {T_s, 0}) annotation ( + Placement(transformation(extent = {{-8, -10}, {12, 10}}))); + Modelica.Blocks.Math.Gain gain1(k = K_s) annotation ( + Placement(transformation(extent = {{-28, -6}, {-16, 6}}))); + Modelica.Blocks.Math.Gain droopM(k = droop) annotation ( + Placement(transformation(extent = {{-46, 20}, {-26, 40}}))); + Modelica.Blocks.Math.Add add1(k2 = +1) annotation ( + Placement(transformation(extent = {{-16, 50}, {4, 70}}))); + Modelica.Blocks.Math.Add Y_dif(k1 = -1, k2 = +1) annotation ( + Placement(transformation(extent = {{-74, 20}, {-54, 40}}))); + Modelica.Blocks.Continuous.TransferFunction servo2(b = {0, 1}, a = {T_y2, 0}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 0.7493) annotation ( + Placement(transformation(extent = {{48, -10}, {68, 10}}))); + Modelica.Blocks.Math.Gain powerfactor(k = 0.000000009215729) annotation ( + Placement(transformation(extent = {{-94, -32}, {-86, -24}}))); + Modelica.Blocks.Math.Add Y_gv_ref annotation ( + Placement(transformation(extent = {{-74, -44}, {-54, -24}}))); + Modelica.Blocks.Sources.Constant losses(k = 0.012086289473684) annotation ( + Placement(transformation(extent = {{-98, -48}, {-88, -38}}))); + Modelica.Blocks.Nonlinear.Limiter limiter(uMax = 1, uMin = 0) annotation ( + Placement(transformation(extent = {{76, -6}, {88, 6}}))); + Modelica.Blocks.Math.Gain gain2(k = 1 / f_ref) annotation ( + Placement(transformation(extent = {{-6, -6}, {6, 6}}, rotation = 270, origin = {-92, 74}))); + Modelica.Blocks.Nonlinear.Limiter limiter1(uMax = Y_gv_max, uMin = -Y_gv_min) annotation ( + Placement(transformation(extent = {{20, -6}, {32, 6}}))); + equation + connect(ref_f.y, add.u1) annotation ( + Line(points = {{-53, 84}, {-52, 84}, {-52, 66}, {-48, 66}}, color = {0, 0, 127})); + connect(derevativPart.y, add.u2) annotation ( + Line(points = {{-55, 54}, {-55, 54}, {-48, 54}}, color = {0, 0, 127})); + connect(integralPart.u, gain.y) annotation ( + Line(points = {{40, 68}, {40, 68}, {35, 68}}, color = {0, 0, 127})); + connect(integralPart.y, feedback.u1) annotation ( + Line(points = {{63, 68}, {63, 68}, {68, 68}}, color = {0, 0, 127})); + connect(proportailPart.u, gain1.y) annotation ( + Line(points = {{-10, 0}, {-10, 0}, {-15, 4, 0}}, color = {0, 0, 127})); + connect(gain1.u, feedback.y) annotation ( + Line(points = {{-29, 2, 0}, {-36, 0}, {-36, 16}, {94, 16}, {94, 68}, {85, 68}}, color = {0, 0, 127})); + connect(gain.u, add1.y) annotation ( + Line(points = {{12, 68}, {5, 68}, {5, 60}}, color = {0, 0, 127})); + connect(add.y, add1.u1) annotation ( + Line(points = {{-25, 60}, {-22, 60}, {-22, 66}, {-18, 66}}, color = {0, 0, 127})); + connect(droopM.y, add1.u2) annotation ( + Line(points = {{-25, 30}, {-22, 30}, {-22, 54}, {-18, 54}}, color = {0, 0, 127})); + connect(Y_dif.y, droopM.u) annotation ( + Line(points = {{-53, 30}, {-56, 30}, {-48, 30}}, color = {0, 0, 127})); + connect(Y_dif.u2, Y_gv) annotation ( + Line(points = {{-76, 24}, {-80, 24}, {-80, 12}, {-46, 12}, {-46, -14}, {94, -14}, {94, 0}, {106, 0}}, color = {0, 0, 127})); + connect(powerfactor.y, Y_gv_ref.u1) annotation ( + Line(points = {{-85, 6, -28}, {-85, 6, -28}, {-76, -28}}, color = {0, 0, 127})); + connect(Y_gv_ref.u2, losses.y) annotation ( + Line(points = {{-76, -40}, {-84, -40}, {-84, -43}, {-87, 5, -43}}, color = {0, 0, 127})); + connect(Y_gv_ref.y, Y_dif.u1) annotation ( + Line(points = {{-53, -34}, {-52, -34}, {-52, -28}, {-52, 8}, {-52, 10}, {-88, 10}, {-88, 36}, {-76, 36}}, color = {0, 0, 127})); + connect(P_ref, powerfactor.u) annotation ( + Line(points = {{-108, 0}, {-84, 0}, {-84, -18}, {-98, -18}, {-98, -28}, {-94, 8, -28}}, color = {0, 0, 127})); + connect(servo2.y, limiter.u) annotation ( + Line(points = {{69, 0}, {74, 8, 0}, {74, 8, 0}}, color = {0, 0, 127})); + connect(Y_gv, limiter.y) annotation ( + Line(points = {{106, 0}, {88, 6, 0}}, color = {0, 0, 127})); + connect(f, gain2.u) annotation ( + Line(points = {{-80, 102}, {-86, 102}, {-86, 81, 2}, {-92, 81, 2}}, color = {0, 0, 127})); + connect(derevativPart.u, gain2.y) annotation ( + Line(points = {{-78, 54}, {-86, 54}, {-86, 67, 4}, {-92, 67, 4}}, color = {0, 0, 127})); + connect(proportailPart.y, limiter1.u) annotation ( + Line(points = {{13, 0}, {18, 8, 0}, {18, 8, 0}}, color = {0, 0, 127})); + connect(servo2.u, limiter1.y) annotation ( + Line(points = {{46, 0}, {32, 6, 0}}, color = {0, 0, 127})); + connect(feedback.u2, limiter1.y) annotation ( + Line(points = {{76, 60}, {76, 24}, {38, 24}, {38, 0}, {32, 6, 0}}, color = {0, 0, 127})); + end GovernorPI; + + block GovernorP + extends Modelica.Icons.UnderConstruction; + outer Constants Const; + parameter Modelica.SIunits.Time T_p = 0.04 "pilot servomotor time constant"; + parameter Modelica.SIunits.Time T_g = 0.2 "main servomotor integration time"; + parameter Modelica.SIunits.Time T_r = 1.75 "transient droop time constant"; + parameter Real droop = 0.1 "droop"; + parameter Real delta = 0.04 "transient droop"; + parameter Real Y_gv_max = 0.05 "Max guide vane opening rat e"; + parameter Real Y_gv_min = 0.2 "Max guide vane closing rate"; + parameter Modelica.SIunits.Frequency f_ref = 50 "Refference frequency"; + parameter Real deadBand = 0.01; + Modelica.Blocks.Interfaces.RealInput P annotation ( + Placement(visible = true, transformation(extent = {{-122, -16}, {-90, 16}}, rotation = 0), iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealOutput Y_gv annotation ( + Placement(transformation(extent = {{98, -10}, {118, 10}}), iconTransformation(extent = {{80, -20}, {120, 20}}))); + Modelica.Blocks.Interfaces.RealInput f annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {0, 104}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 270, origin = {3.55271e-015, 100}))); + Modelica.Blocks.Math.Gain powerfactor(k = 0.000000009215729) annotation ( + Placement(transformation(extent = {{-86, -4}, {-78, 4}}))); + Modelica.Blocks.Math.Add Y_gv_ref annotation ( + Placement(transformation(extent = {{-68, -16}, {-48, 4}}))); + Modelica.Blocks.Sources.Constant losses(k = 0.012086289473684) annotation ( + Placement(transformation(extent = {{-90, -20}, {-80, -10}}))); + Modelica.Blocks.Math.Add3 errror(k1 = -1, k3 = -1) annotation ( + Placement(transformation(extent = {{-24, -12}, {-12, 0}}))); + Modelica.Blocks.Math.Division freq_dif annotation ( + Placement(transformation(extent = {{-8, 64}, {-28, 84}}))); + Modelica.Blocks.Sources.Constant ref_f(k = f_ref) annotation ( + Placement(transformation(extent = {{26, 74}, {6, 94}}))); + Modelica.Blocks.Math.Add one_freq_dif(k2 = -1) annotation ( + Placement(transformation(extent = {{-7, -7}, {7, 7}}, rotation = 270, origin = {-47, 53}))); + Modelica.Blocks.Sources.Constant one(k = 1) annotation ( + Placement(transformation(extent = {{-80, 64}, {-60, 84}}))); + Modelica.Blocks.Continuous.TransferFunction TF_control(a = {T_p, 1}, b = {0, 1}) annotation ( + Placement(transformation(extent = {{-4, -14}, {12, 2}}))); + Modelica.Blocks.Math.Gain u(k = 1 / T_g) annotation ( + Placement(transformation(extent = {{20, -12}, {32, 0}}))); + Modelica.Blocks.Continuous.TransferFunction TF_Y_gv(a = {1, 0}, b = {0, 1}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 0.7493) annotation ( + Placement(transformation(extent = {{56, -6}, {68, 6}}))); + Modelica.Blocks.Math.Add add(k1 = -1, k2 = +1) annotation ( + Placement(transformation(extent = {{10, -10}, {-10, 10}}, rotation = 270, origin = {-32, -48}))); + Modelica.Blocks.Math.Gain droop_k1(k = droop) annotation ( + Placement(transformation(extent = {{4, -4}, {-4, 4}}, rotation = 270, origin = {-32, -24}))); + Modelica.Blocks.Nonlinear.Limiter limiter(uMax = 1, uMin = 0) annotation ( + Placement(transformation(extent = {{76, -6}, {88, 6}}))); + Modelica.Blocks.Nonlinear.Limiter limiter1(uMax = Y_gv_max, uMin = -Y_gv_min) annotation ( + Placement(transformation(extent = {{38, -6}, {50, 6}}))); + Modelica.Blocks.Nonlinear.DeadZone deadZone(uMax = deadBand / f_ref) annotation ( + Placement(transformation(extent = {{-9, -9}, {9, 9}}, rotation = 270, origin = {-47, 29}))); + Modelica.Blocks.Continuous.TransferFunction TF_mech(b = {delta * T_r, 0}, a = {T_r, 1}, initType = Modelica.Blocks.Types.Init.InitialOutput, y_start = 0.03) annotation ( + Placement(transformation(extent = {{48, -48}, {28, -28}}))); + equation + connect(powerfactor.y, Y_gv_ref.u1) annotation ( + Line(points = {{-77.6, 0}, {-70, 0}}, color = {0, 0, 127})); + connect(Y_gv_ref.u2, losses.y) annotation ( + Line(points = {{-70, -12}, {-76, -12}, {-76, -15}, {-79.5, -15}}, color = {0, 0, 127})); + connect(P, powerfactor.u) annotation ( + Line(points = {{-106, 0}, {-86.8, 0}}, color = {0, 0, 127})); + connect(f, freq_dif.u1) annotation ( + Line(points = {{0, 104}, {0, 80}, {-6, 80}}, color = {0, 0, 127})); + connect(freq_dif.u2, ref_f.y) annotation ( + Line(points = {{-6, 68}, {2, 68}, {2, 84}, {5, 84}}, color = {0, 0, 127})); + connect(freq_dif.y, one_freq_dif.u1) annotation ( + Line(points = {{-29, 74}, {-42.8, 74}, {-42.8, 61.4}}, color = {0, 0, 127})); + connect(one.y, one_freq_dif.u2) annotation ( + Line(points = {{-59, 74}, {-51.2, 74}, {-51.2, 61.4}}, color = {0, 0, 127})); + connect(errror.y, TF_control.u) annotation ( + Line(points = {{-11.4, -6}, {-11.4, -6}, {-5.6, -6}}, color = {0, 0, 127})); + connect(TF_control.y, u.u) annotation ( + Line(points = {{12.8, -6}, {12.8, -6}, {18.8, -6}}, color = {0, 0, 127})); + connect(add.y, droop_k1.u) annotation ( + Line(points = {{-32, -37}, {-32, -37}, {-32, -28.8}}, color = {0, 0, 127})); + connect(droop_k1.y, errror.u2) annotation ( + Line(points = {{-32, -19.6}, {-32, -19.6}, {-32, -6}, {-25.2, -6}}, color = {0, 0, 127})); + connect(Y_gv_ref.y, add.u2) annotation ( + Line(points = {{-47, -6}, {-46, -6}, {-46, -72}, {-38, -72}, {-38, -60}}, color = {0, 0, 127})); + connect(Y_gv, limiter.y) annotation ( + Line(points = {{108, 0}, {98, 0}, {88.6, 0}}, color = {0, 0, 127})); + connect(limiter.u, TF_Y_gv.y) annotation ( + Line(points = {{74.8, 0}, {68.6, 0}}, color = {0, 0, 127})); + connect(u.y, limiter1.u) annotation ( + Line(points = {{32.6, -6}, {34, -6}, {34, 0}, {36.8, 0}}, color = {0, 0, 127})); + connect(TF_Y_gv.u, limiter1.y) annotation ( + Line(points = {{54.8, 0}, {52, 0}, {50.6, 0}}, color = {0, 0, 127})); + connect(add.u1, limiter.y) annotation ( + Line(points = {{-26, -60}, {-26, -72}, {92, -72}, {92, 0}, {88.6, 0}}, color = {0, 0, 127})); + connect(one_freq_dif.y, deadZone.u) annotation ( + Line(points = {{-47, 45.3}, {-47, 39.8}}, color = {0, 0, 127})); + connect(deadZone.y, errror.u1) annotation ( + Line(points = {{-47, 19.1}, {-34, 19.1}, {-34, -1.2}, {-25.2, -1.2}}, color = {0, 0, 127})); + connect(TF_mech.y, errror.u3) annotation ( + Line(points = {{27, -38}, {6, -38}, {-12, -38}, {-12, -16}, {-30, -16}, {-30, -10.8}, {-25.2, -10.8}}, color = {0, 0, 127})); + connect(TF_mech.u, limiter.y) annotation ( + Line(points = {{50, -38}, {92, -38}, {92, 0}, {88.6, 0}}, color = {0, 0, 127})); + end GovernorP; + + model GovernorPower + extends Modelica.Icons.UnderConstruction; + outer Constants Const; + parameter Modelica.SIunits.Time T_p = 0.04 "pilot servomotor time constant"; + parameter Modelica.SIunits.Time T_g = 0.2 "main servomotor integration time"; + parameter Modelica.SIunits.Time T_r = 1.75 "transient droop time constant"; + parameter Real droop = 0.1 "droop"; + parameter Real delta = 0.04 "transient droop"; + parameter Real Y_gv_max = 0.05 "Max guide vane opening rate"; + parameter Real Y_gv_min = 0.2 "Max guide vane closing rate"; + parameter Modelica.SIunits.Frequency f_ref = 50 "Refference frequency"; + parameter Real a = 0.000000009215729, b = 0.012086289473684; + Real d, x_r, u, e, Y_gv_ref = 0.9; + Modelica.Blocks.Interfaces.RealInput P_ref annotation ( + Placement(visible = true, transformation(extent = {{-128, -20}, {-88, 20}}, rotation = 0), iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealOutput Y_gv annotation ( + Placement(transformation(extent = {{96, -10}, {116, 10}}), iconTransformation(extent = {{80, -20}, {120, 20}}))); + Modelica.Blocks.Interfaces.RealInput f annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 270, origin = {0, 104}), iconTransformation(extent = {{-20, -20}, {20, 20}}, rotation = 270, origin = {3.55271e-015, 100}))); + Modelica.Blocks.Interfaces.RealInput P annotation ( + Placement(visible = true, transformation(extent = {{-128, -70}, {-88, -30}}, rotation = 0), iconTransformation(extent = {{-120, -80}, {-80, -40}}, rotation = 0))); + initial equation + Y_gv = Y_gv_ref; + x_r = delta * Y_gv; + u = 0; + equation + //f = freq.f; + //Y_gv_ref = a * P_ref + b; + d = delta * Y_gv - x_r; + e = 1 - f / f_ref + droop * (P - P_ref) - d; + T_r * der(x_r) + x_r = delta * Y_gv; + T_p * der(u) + u = e; + if Y_gv < 0 and u < 0 or Y_gv > 1 and u > 0 then + der(Y_gv) = 0; + elseif u / T_g >= Y_gv_max then + der(Y_gv) = Y_gv_max; + elseif u / T_g <= (-Y_gv_min) then + der(Y_gv) = -Y_gv_min; + else + der(Y_gv) = u / T_g; + end if; + end GovernorPower; +end Controllers; diff --git a/OpenHPL/Controllers/package.order b/OpenHPL/Controllers/package.order new file mode 100644 index 0000000..c6bf35f --- /dev/null +++ b/OpenHPL/Controllers/package.order @@ -0,0 +1,4 @@ +Governor +GovernorPI +GovernorP +GovernorPower diff --git a/OpenHPL/Copyright.mo b/OpenHPL/Copyright.mo new file mode 100644 index 0000000..958554a --- /dev/null +++ b/OpenHPL/Copyright.mo @@ -0,0 +1,41 @@ +within OpenHPL; +class Copyright "Disclaimer +
OpenHPL:
+

Copyright © 2019

+ +

The group can be contacted by email: OpenHPL@simulati.no

+

This Source Code Form is subject to the terms of the +ACADEMIC PUBLIC LICENSE.

+" + + annotation ( + preferredView="info", + DocumentationClass=false, + Icon(graphics={ + Text( + extent={{-100,140},{100,100}}, + lineColor={0,127,0}, + textString="%name%"), + Ellipse( + extent={{-100,100},{100,-100}}, + lineColor={0,127,0}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid), + Ellipse( + extent={{-60,60},{60,-60}}, + lineColor={0,127,72}, + fillColor={0,127,0}, + fillPattern=FillPattern.Solid), + Ellipse( + extent={{-40,40},{40,-40}}, + lineColor={255,255,255}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid), + Rectangle( + extent={{28,22},{64,-20}}, + lineColor={255,255,255}, + fillColor={255,255,255}, + fillPattern=FillPattern.Solid)})); +end Copyright; diff --git a/OpenHPL/ElectroMech/Generators/SimpleGen.mo b/OpenHPL/ElectroMech/Generators/SimpleGen.mo new file mode 100644 index 0000000..f8e67d8 --- /dev/null +++ b/OpenHPL/ElectroMech/Generators/SimpleGen.mo @@ -0,0 +1,61 @@ +within OpenHPL.ElectroMech.Generators; +model SimpleGen "Model of a simple generator" + outer Constants Const "Using standard class with constants"; + import Modelica.Constants.pi; + extends OpenHPL.Icons.Generator; + //// geometrical parameters of the agreggate + parameter Modelica.SIunits.MomentOfInertia J = 2e5 "Moment of inertia of the generator"; + parameter Modelica.SIunits.Efficiency theta_e = 0.99 "Generator's electrical efficiency"; + parameter Real k_b = 1000 "Friction factor in the aggregate bearing box [W-s3/rad3]"; + parameter Integer p = 12 "Number of poles"; + //// condition of steady state + parameter Boolean SteadyState = Const.Steady "If true - starts from Steady State" annotation ( + Dialog(group = "Initialization")); + //// staedy state value for angular velocity + parameter Modelica.SIunits.AngularVelocity w_0 = Const.f * 4 * pi / p "Initial angular velocity" annotation ( + Dialog(group = "Initialization")); + //// condition for output + parameter Boolean UseFrequencyOutput = true "If checked - get a connector for frequency output" annotation ( + choices(checkBox = true)); + //// variables + Modelica.SIunits.AngularVelocity w(start = w_0) "Angular velocity"; + Modelica.SIunits.Energy K_a "Kinetic energy"; + Modelica.SIunits.EnergyFlowRate W_ts_dot "Shaft power"; + Modelica.SIunits.EnergyFlowRate W_fa "Friction losses"; + Modelica.SIunits.EnergyFlowRate W_g = u / theta_e "Electrical power"; + //// conectors + Modelica.Blocks.Interfaces.RealInput u "Electrical demand" annotation ( + Placement(visible = true, transformation(extent={{-140,-20},{-100,20}}, rotation = 0), iconTransformation(extent = {{-120, -20}, {-80, 20}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealOutput f if UseFrequencyOutput "Output of generator frequency" + annotation ( + Placement(transformation(extent={{100,-10},{120,10}}))); + Modelica.Blocks.Interfaces.RealInput P_in = W_ts_dot "Input of mechanical power" annotation ( + Placement(visible = true, transformation(origin={3.55271e-15,120}, + extent={{-20,-20},{20,20}}, rotation = 270))); + Modelica.Blocks.Interfaces.RealOutput w_out = w "Output angular velocity of the generator" + annotation ( + Placement(visible = true, transformation(origin={110,60}, extent={{-10,-10}, + {10,10}}, rotation=0))); +initial equation + if SteadyState == true then + der(K_a) = 0; + else + w = w_0; + end if; +equation + //// frequency + f = p / 120 * 30 * w / pi; + //// generator energy balance + K_a = 0.5 * J * w ^ 2; + W_fa = 0.5 * k_b * w ^ 2; + der(K_a) = W_ts_dot - W_fa - W_g; + annotation ( + Documentation(info="

Simple model of an ideal generator with friction.

+

This model has inputs as electric power available on the grid and the turbine shaft power. +This model based on the angular momentum balance, which depends on the turbine shaft power, + the friction loss in the aggregate rotation and the power taken up by the generator.

+

+ +

+")); +end SimpleGen; diff --git a/OpenHPL/ElectroMech/Generators/SynchGen.mo b/OpenHPL/ElectroMech/Generators/SynchGen.mo new file mode 100644 index 0000000..d4c199a --- /dev/null +++ b/OpenHPL/ElectroMech/Generators/SynchGen.mo @@ -0,0 +1,113 @@ +within OpenHPL.ElectroMech.Generators; +model SynchGen "Simple model of the generator connected to the grid" + extends OpenHPL.Icons.Generator; + outer Constants Const "Using standard class with constants"; + import Modelica.Constants.pi; + //// parameters of the generator + parameter Modelica.SIunits.Power P_op = 80e6 "Active power drawn from generator at Steady State operating condition" annotation ( + Dialog(group = "Nominal parameters")), Q_op = 50e6 "Reactive power drawn from generator at SS operating condition" annotation ( + Dialog(group = "Nominal parameters")); + parameter Modelica.SIunits.Resistance Ra = 0.01 "Phase winding resistance" annotation ( + Dialog(group = "Nominal parameters")), Re = 0.1 "Equivalent network resistance" annotation ( + Dialog(group = "Network")), xd = 12 "d_axis reactance" annotation ( + Dialog(group = "d-q axes")), xq = 12 "q_axis reactance" annotation ( + Dialog(group = "d-q axes")), xxd = 1.7 "d_axis transient reactance" annotation ( + Dialog(group = "Transient d-q axes")), xxq = 1.7 "q_axis transient reactance" annotation ( + Dialog(group = "Transient d-q axes")), xe = 1.4 "Equivalent network reactance" annotation ( + Dialog(group = "Network")); + parameter Modelica.SIunits.Time TTdo = 6 "d_axis transient open-circuit time constant" annotation ( + Dialog(group = "Transient d-q axes")), TTqo = 0.1 "q_axis transient open-circuit time constant" annotation ( + Dialog(group = "Transient d-q axes")), TE = 0.05 "Excitation system time constant" annotation ( + Dialog(group = "Excitation system")), TFE = 1 "Stablizer time constant" annotation ( + Dialog(group = "Stablizer")); + parameter Modelica.SIunits.Voltage Vs = 15000 "Network rms voltage" annotation ( + Dialog(group = "Network")), Efmin = 50000 "Min field voltage" annotation ( + Dialog(group = "Transient d-q axes")), Efmax = 50000 "Max field voltage" annotation ( + Dialog(group = "Transient d-q axes")); + parameter Real KE = 400 "Excitation system gain" annotation ( + Dialog(group = "Excitation system")), KF = 0.025 "Stablizer gain" annotation ( + Dialog(group = "Stablizer")); + parameter Integer np = 12 "Number of poles" annotation ( + Dialog(group = "Nominal parameters")); + parameter Modelica.SIunits.AngularVelocity Wm_op = Const.f * pi / 3 "Grid angular velocity" annotation ( + Dialog(group = "Network")); + parameter Modelica.SIunits.MomentOfInertia J = 2e5 "Moment of inertia of the generator" annotation ( + Dialog(group = "Mechanical part")); + parameter Real k_b = 1000 "Friction factor in the generator bearing box, W*s3/rad3" annotation ( + Dialog(group = "Mechanical part")); + parameter Boolean UseFrequencyOutput = true "If checked - get a connector for frequency output" annotation ( + choices(checkBox = true), + Dialog(group = "Network")), SelfInitialization = false "If checked - specify initial values" annotation ( + choices(checkBox = true), + Dialog(group = "Initialization")); + parameter Modelica.SIunits.Angle DELTA_0 = 37.6452 annotation ( + Dialog(group = "Initialization", enable = SelfInitialization)); + parameter Modelica.SIunits.Voltage EEd_0 = -7207.13 "" annotation ( + Dialog(group = "Initialization", enable = SelfInitialization)), EEq_0 = 18005.2 "" annotation ( + Dialog(group = "Initialization", enable = SelfInitialization)), Ef_0 = 38110.4 "" annotation ( + Dialog(group = "Initialization", enable = SelfInitialization)), Vstabilizer_0 = 0 "" annotation ( + Dialog(group = "Initialization", enable = SelfInitialization)); + parameter Modelica.SIunits.AngularVelocity w_0 = 500 * pi / 30 "" annotation ( + Dialog(group = "Initialization", enable = SelfInitialization)); + //// variables + Modelica.SIunits.Angle PHI_op = atan(Q_op / P_op) "Power angle at Steady State", DELTA_op = atan((I_op * (xq + xe) * cos(PHI_op) - I_op * (Ra + Re) * sin(PHI_op)) / (Vs + I_op * (Ra + Re) * cos(PHI_op) + I_op * (xq + xe) * sin(PHI_op))), DELTA; + Modelica.SIunits.Current I_op = sqrt(P_op ^ 2 + Q_op ^ 2) / (3 * Vs) "RMS current (per phase) of the generator", Id_op = -I_op * sin(DELTA_op + PHI_op), Iq_op = I_op * cos(DELTA_op + PHI_op), Idq[2], Id, Iq, It; + Modelica.SIunits.Voltage Ef_op = Vs * cos(DELTA_op) + (Ra + Re) * Iq_op - (xd + xe) * Id_op, Vt_op = sqrt((Vs + I_op * Re * cos(PHI_op) + I_op * xe * sin(PHI_op)) ^ 2 + (I_op * xe * cos(PHI_op) - I_op * Re * sin(PHI_op)) ^ 2), Vtr = Ef_op / KE + Vt_op, Vstabilizer_op = 0, EEd_op = (xxd - xq) * Iq_op, EEq_op = Ef_op + (xd - xxd) * Id_op, Vt, EEd, EEq, Ef, Vstabilizer; + Modelica.SIunits.AngularVelocity w_op = 500 * pi / 30, w; + Modelica.SIunits.Resistance Temp[2, 2]; + Modelica.SIunits.Power Pe, Qe; + Modelica.SIunits.EnergyFlowRate W_ts_dot, W_fa; + //// conectors + Modelica.Blocks.Interfaces.RealOutput f = np / 120 * 30 * w / pi if UseFrequencyOutput "Output generator frequency" annotation ( + Placement(transformation(extent={{100,-10},{120,10}}))); + Modelica.Blocks.Interfaces.RealOutput w_out = w "Output of the generator's angular velocity" annotation (Placement(visible = true, transformation(origin={110,60}, extent={{-10,-10}, + {10,10}}, rotation=0))); + Modelica.Blocks.Interfaces.RealInput P_in = W_ts_dot "Input of mechanical power" annotation ( + Placement(transformation(extent={{-20,-20},{20,20}}, rotation = 270, origin={0,120}))); +initial equation + if SelfInitialization == false then + EEd = EEd_op; + EEq = EEq_op; + DELTA = DELTA_op; + Ef = Ef_op; + Vstabilizer = Vstabilizer_op; + w = w_op; + else + EEd = EEd_0; + EEq = EEq_0; + DELTA = DELTA_0; + Ef = Ef_0; + Vstabilizer = Vstabilizer_0; + w = w_0; + end if; +equation + //// voltage-current relation + Temp = [Ra + Re, xxq + xe; (-xxd) - xe, Ra + Re]; + Temp * Idq = {EEd + Vs * sin(DELTA), EEq - Vs * cos(DELTA)}; + Id = Idq[1]; + Iq = Idq[2]; + Vt = sqrt((EEd - Ra * Id - xxq * Iq) ^ 2 + (EEq - Ra * Iq + xxd * Id) ^ 2); + It = sqrt(Id ^ 2 + Iq ^ 2); + Pe = 3 * (EEd * Id + EEq * Iq); + Qe = sqrt(9 * Vt ^ 2 * It ^ 2 - Pe ^ 2); + //// dynamic equations + TTqo * der(EEd) = (-EEd) + (xxq - xq) * Iq; + TTdo * der(EEq) = (-EEq) + (xd - xxd) * Id + Ef; + der(DELTA) = (w - Wm_op) * np / 2; + //if Ef >= Efmax and ((-Ef) + KE * (Vtr - Vt - Vstabilizer)) / TE > 0 then + // der(Ef) = 0; + //elseif Ef < (-Efmin) and ((-Ef) + KE * (Vtr - Vt - Vstabilizer)) / TE < 0 then + // der(Ef) = 0; + //else + //der(Ef) = ((-Ef) + KE * (Vtr - Vt)) / TE; + der(Ef) = ((-Ef) + KE * (Vtr - Vt - Vstabilizer)) / TE; + //end if; + der(Vstabilizer) = ((-Vstabilizer) + KF * der(Ef)) / TFE; + //// Mechanical equation + W_fa = 0.5 * k_b * w ^ 2; + der(w) = (W_ts_dot - Pe) / (J * w); + // - W_fa; + //// + annotation ( + Documentation(info="This is a model of the generator that is connected to the grid. This model coud give some transient results. However, it is better to use generator models from IPSL.

More info about this model: Resources/Report/Generator_model.pdf
")); +end SynchGen; diff --git a/OpenHPL/ElectroMech/Generators/package.mo b/OpenHPL/ElectroMech/Generators/package.mo new file mode 100644 index 0000000..bbf5d56 --- /dev/null +++ b/OpenHPL/ElectroMech/Generators/package.mo @@ -0,0 +1,8 @@ +within OpenHPL.ElectroMech; +package Generators "Collection of generator models" + extends Modelica.Icons.Package; + + extends Icons.Generator; + + +end Generators; diff --git a/OpenHPL/ElectroMech/Generators/package.order b/OpenHPL/ElectroMech/Generators/package.order new file mode 100644 index 0000000..4cc4c25 --- /dev/null +++ b/OpenHPL/ElectroMech/Generators/package.order @@ -0,0 +1,2 @@ +SimpleGen +SynchGen diff --git a/OpenHPL/ElectroMech/Turbines/Francis.mo b/OpenHPL/ElectroMech/Turbines/Francis.mo new file mode 100644 index 0000000..828fd5d --- /dev/null +++ b/OpenHPL/ElectroMech/Turbines/Francis.mo @@ -0,0 +1,238 @@ +within OpenHPL.ElectroMech.Turbines; +model Francis "Model of the Francis turbine" + outer Constants Const "using standart class with constants"; + extends Icons.Turbine; + import Modelica.Constants.pi; + //// conditions for the geometrical parameters of the turbine + parameter Boolean GivenData = true "If checked the user specifies whole set of parameters. Otherwise, the design algorithm will be used for missed parameters" annotation ( + choices(checkBox = true), + Dialog(group = "Given data")); + parameter Boolean dp_v_condition = false "If checked then it includes the pressure drop through the guide vane (leave it unchecked - this doesn't work well)" annotation ( + choices(checkBox = true), + Dialog(tab = "Guide vane")); + parameter Boolean GivenServoData = true "If checked the user specifies parameters for the servo. Otherwise, the design algorithm will be used for missed parameters" annotation ( + choices(checkBox = true), + Dialog(tab = "Servo")); + //// nominal parameters of the turbine + parameter Modelica.SIunits.Height H_n = 460 "Nominal head" annotation ( + Dialog(group = "Nominal parameters")); + parameter Modelica.SIunits.VolumeFlowRate V_dot_n = 24.3 "Nominal flow" annotation ( + Dialog(group = "Nominal parameters")); + parameter Modelica.SIunits.Power P_n = 103e6 "Nominal power" annotation ( + Dialog(group = "Nominal parameters")); + parameter Modelica.SIunits.Conversions.NonSIunits.AngularVelocity_rpm n_n = 500 "Nominal turbine speed" annotation ( + Dialog(group = "Nominal parameters")); + //// geometrical parameters of the turbine + parameter Modelica.SIunits.Radius R_1_ = 2.63 / 2 "Radius of the turbine blade inlet" annotation ( + Dialog(group = "Runner", enable = GivenData)), R_2_ = 1.55 / 2 "Radius of the turbine blade outlet" annotation ( + Dialog(group = "Runner", enable = GivenData)), R_v_ = 2.89 / 2 "Radius of the guide vane suspension circle" annotation ( + Dialog(tab = "Guide vane", enable = GivenData)); + parameter Modelica.SIunits.Length w_1_ = 0.2 "Width of the turbine/blades inlet" annotation ( + Dialog(group = "Runner", enable = GivenData)), w_v_ = w_1_ "Width of the guide vane suspension circle" annotation ( + Dialog(tab = "Guide vane", enable = GivenData)), r_v_ = 1.1 "Radius of servo circle" annotation ( + Dialog(tab = "Servo")), r_Y_ = 1.2 "Radius to servo connection" annotation ( + Dialog(tab = "Servo")), R_Y_ = 3 "Radius to servo" annotation ( + Dialog(tab = "Servo")); + parameter Modelica.SIunits.Diameter D_i = 1.632 "Diameter of the inlet pipe" annotation ( + Dialog(tab = "Guide vane", group = "Scroll case")); + parameter Boolean Given_losses = true "Friction shock loss coefficient due to shock" annotation ( + choices(checkBox = true), + Dialog(group = "Losses in runner")); + parameter Real k_ft1_ = 7e5 "Friction shock loss coefficient due to shock" annotation ( + Dialog(group = "Losses in runner")), k_ft2_ = 0 "hydraulic friction loss coefficient due to effluent whirl" annotation ( + Dialog(group = "Losses in runner")), k_ft3_ = 1.63e4 "friction loss coefficient due to wall friction" annotation ( + Dialog(group = "Losses in runner")), k_fv = 0 "friction loss coefficient from turbine enterance and across guide vanes" annotation ( + Dialog(tab = "Guide vane")), k_ft4 = k_ft3_ * 100 "friction loss coefficient that is used for low load (under u_min)" annotation ( + Dialog(group = "Parameters for low load")); + parameter Real u_min = 0.03 "control signal value under which the moodel used k_f4 friction term to balance the model" annotation ( + Dialog(group = "Parameters for low load")); + parameter Modelica.SIunits.Conversions.NonSIunits.Angle_deg beta1_ = 110 "Turbine inlet blade angle" annotation ( + Dialog(group = "Runner", enable = GivenData)), beta2_ = 162.5 "Turbine outlet blade angle" annotation ( + Dialog(group = "Runner", enable = GivenData)); + parameter Real Reduction = 0.2 "reduction the given formula for the guide vane pressure drop" annotation ( + Dialog(tab = "Guide vane")), u_start_ = 2.28 "Servo position with zero flow" annotation ( + Dialog(tab = "Servo")), u_end_ = 2.4 "Servo position with full flow" annotation ( + Dialog(tab = "Servo")); + //// condition for the inlet water compressibility + parameter Boolean WaterCompress = false "If checked the water is compressible in the penstock" annotation ( + choices(checkBox = true), + Dialog(group = "Condition")); + //// variables + Modelica.SIunits.Pressure p_r1 "runner inlet pressure", dp_tr "turbine pressure drop", dp_r "runner pressure drop", p_tr2 "turbine outlet pressure", dp_v "guide vane pressure drop"; + Modelica.SIunits.Area A_1 "runner inlet croos section", A_0 "turbine inlet croos section", A_v "guide vane croos section", A_2 "runner outlet croos section"; + Modelica.SIunits.EnergyFlowRate W_s_dot "shaft power", W_ft_dot "total runner losses", W_t1 "Euler first term", W_t2 "Euler second term", W_ft_dot_s "shock losses", W_ft_dot_w "whirl losses", W_ft_dot_l "friction losses", W_t_dot "total power"; + Modelica.SIunits.VolumeFlowRate V_dot "flow rate"; + Modelica.SIunits.AngularVelocity w "angular velocity"; + Modelica.SIunits.Velocity u_2 "outlet reference velocity", c_m2 "outlet meridional velocity", c_m1 "inlet meridional velocity", u_1 "inlet reference velocity", c_u1 "inlet tangential velocity"; + Modelica.SIunits.Conversions.NonSIunits.Angle_deg beta1 "inlet blade angle", beta2 "outlet blade angle", _beta1; + Modelica.SIunits.Angle alpha1 "inlet guide vane angle", phi "one of servo angles", psi "one of servo angles", theta "one of servo angles", dtheta "one of servo angles"; + Real k_ft1, k_ft2, k_ft3; + //"losses coefficients" + Real cot_a1, cot_a2, cot_b1, cot_b2, cot_g1, sin_a1, coef; + // cotants, cosines and sines of angles + Modelica.SIunits.Length l = 1.8 * sqrt((R_v - r_v) ^ 2 / 2) "servo term", d "servo term", R_1 "inlet runner radius", R_2 "outlet runner radius", R_v "gude vane radius", w_1 "inlet runner width/geight", w_v "guide vane width/geight", r_Y "servo term", R_Y "servo term", r_v "servo term"; + Real Y "servo position", Y0 = sqrt(R_Y ^ 2 - r_Y ^ 2) "initial servo position", theta0 = Modelica.Math.acos(r_Y / R_Y) "initial servo angle"; + Real d0_2 = l * (r_v ^ 2 - R_v ^ 2) / (l - R_v) "initial servo term d"; + Real theta_0 = theta0 - Modelica.Math.acos((r_v ^ 2 + R_v ^ 2 - d0_2) / (2 * r_v * R_v)) "servo angle for fully close guide vane"; + Real u_end "servo position for fully open guide vane", u_start "servo position for fully close guide vane"; + Real W_t2_n "Euler second term, nominal", W_t1_n "Euler first term, nominal", W_t_dot_n "total power, nominal", cot_a1_n "cotant nominal alpha", V_dot_n_ = V_dot_n / 0.99 "flow rate for fully open guide vane", d_n(start = 0.67) "nominal servo term", theta_n "servo angle for fully open guide vane"; + Modelica.SIunits.Angle alpha1_n "nominal inlet guide vane angle"; + //// conectors + extends OpenHPL.Interfaces.TurbineContacts; + Modelica.Blocks.Interfaces.RealInput w_in = w "Input angular velocity from the generator" annotation ( + Placement(visible = true, transformation(origin={-120,-80}, extent={{-20,-20}, + {20,20}}, rotation = 0))); +equation + //// design algotithm for runner + if GivenData == true then + R_1 = R_1_; + R_2 = R_2_; + R_v = R_v_; + w_1 = w_1_; + w_v = w_v_; + beta1 = beta1_; + beta2 = beta2_; + _beta1 = 180 - beta1; + else + beta2 = 162.5; + R_2 = 0.5 * (240 * V_dot_n / (pi ^ 2 * n_n * Modelica.Math.tan(Modelica.SIunits.Conversions.from_deg(180 - beta2)))) ^ (1 / 3); + R_1 = 30 * u_1 / pi / n_n; + w_1 = 0.8 * V_dot_n / (pi * 2 * R_1 * c_m1); + w_v = w_1; + R_v = 1.1 * R_1; + Modelica.Math.tan(Modelica.SIunits.Conversions.from_deg(_beta1)) = c_m1 / (u_1 - c_u1); + beta1 = 180 - _beta1; + end if; + //// design algotithm for runner losses + if Given_losses == true then + k_ft1 = k_ft1_; + k_ft2 = k_ft2_; + k_ft3 = k_ft3_; + else + k_ft1 = 11.5e3 * exp(8.9e-3 * H_n); + k_ft2 = 0; + k_ft3 = 7e2 * exp(6.7e-3 * H_n); + end if; + //// design algotithm for servo + if GivenServoData == true then + r_v = r_v_; + r_Y = r_Y_; + R_Y = R_Y_; + u_start = u_start_; + u_end = u_end_; + else + r_v = 0.75 * R_v; + r_Y = 0.1 + r_v; + R_Y = 1.8 + r_Y; + u_start = sqrt(r_Y ^ 2 + R_Y ^ 2 - 2 * r_Y * R_Y * Modelica.Math.cos(theta_0)); + u_end = sqrt(r_Y ^ 2 + R_Y ^ 2 - 2 * r_Y * R_Y * Modelica.Math.cos(theta_n)); + //u_start+0.17; + end if; + //// design algotithm for nominal alpha, used for servo design + W_t2_n = Const.rho * V_dot_n_ * n_n * pi / 30 * R_2 * (n_n * pi / 30 * R_2 + V_dot_n_ / A_2 * cot_b2); + W_t1_n = Const.rho * V_dot_n_ * n_n * pi / 30 * R_1 * V_dot_n_ / A_1 * cot_a1_n; + Const.rho * V_dot_n_ * H_n * Const.g + 0.5 * Const.rho * V_dot_n_ * V_dot_n_ ^ 2 * (1 / A_0 ^ 2 - 1 / A_2 ^ 2) = W_t_dot_n; + W_t_dot_n = W_t1_n - W_t2_n + k_ft3 * V_dot_n_ ^ 2; + alpha1_n = Modelica.Math.atan(1 / cot_a1_n); + alpha1_n = Modelica.Math.acos(d_n / 2 / l) - Modelica.Math.acos((d_n ^ 2 + R_v ^ 2 - r_v ^ 2) / 2 / d_n / R_v); + theta_n = theta0 - Modelica.Math.acos((r_v ^ 2 + R_v ^ 2 - d_n ^ 2) / (2 * r_v * R_v)); + //// design algotithm for velocities, used for runner design + u_2 = 2 * pi * R_2 * n_n / 60; + c_m2 = u_2 * Modelica.Math.tan(Modelica.SIunits.Conversions.from_deg(180 - beta2)); + c_m1 = c_m2 / 1.1; + u_1 = 0.725 * sqrt(2 * Const.g * H_n); + c_u1 = 0.48 / 0.725 * sqrt(2 * Const.g * H_n); + //// condition for inlet water compressability + if WaterCompress == false then + V_dot = m_dot / Const.rho; + dp_v = 0.5 * Const.rho * (V_dot ^ 2 * (A_0 ^ 2 - A_v ^ 2 * sin_a1 ^ 2) / (A_0 ^ 2 * A_v ^ 2 * sin_a1 ^ 2) + k_fv) * Reduction; + else + V_dot = m_dot / (Const.rho * (1 + Const.beta * (p_r1 - Const.p_a))); + dp_v = 0.5 * Const.rho * (1 + Const.beta * (p.p - Const.p_a)) * (V_dot ^ 2 * (A_0 ^ 2 - A_v ^ 2 * sin_a1 ^ 2) / (A_0 ^ 2 * A_v ^ 2 * sin_a1 ^ 2) + k_fv) * Reduction; + end if; + //// condition for guide vane pressure drop (does not work well, better to skip guide vane pressure drop) + if dp_v_condition == true then + p_r1 = p.p - dp_v; + dp_tr = dp_r + dp_v; + else + p_r1 = p.p; + dp_tr = dp_r; + end if; + //// define areas + sin_a1 = Modelica.Math.sin(alpha1); + A_1 = 2 * R_1 * w_1 * pi; + A_0 = D_i ^ 2 * pi / 4; + A_v = 2 * R_v * w_v * pi; + A_2 = R_2 ^ 2 * pi; + //// Euler equation for shaft power + W_t1 = m_dot * w * R_1 * V_dot / A_1 * cot_a1; + W_t2 = m_dot * w * R_2 * (w * R_2 + V_dot / A_2 * cot_b2); + W_s_dot = W_t1 - W_t2; + //// condition for low load + if u_t < u_min then + W_ft_dot_s = 0; + W_ft_dot_w = 0; + W_ft_dot_l = k_ft4 * V_dot ^ 2; + else + W_ft_dot_s = k_ft1 * V_dot * (cot_g1 - cot_b1) ^ 2; + W_ft_dot_w = k_ft2 * V_dot * cot_a2 ^ 2; + W_ft_dot_l = k_ft3 * V_dot ^ 2; + end if; + //// losses in the runner + W_ft_dot = W_ft_dot_s + W_ft_dot_w + W_ft_dot_l; + //// servo model, define guide vane openning and alpha1 + Y = u_start + u_t * (u_end - u_start); + Y ^ 2 = r_Y ^ 2 + R_Y ^ 2 - 2 * r_Y * R_Y * Modelica.Math.cos(theta); + dtheta = theta - theta0; + d ^ 2 = r_v ^ 2 + R_v ^ 2 - 2 * r_v * R_v * Modelica.Math.cos(dtheta); + r_v ^ 2 = d ^ 2 + R_v ^ 2 - 2 * d * R_v * Modelica.Math.cos(psi); + Modelica.Math.cos(phi) = d / 2 / l; + alpha1 = phi - psi; + //// Blade angles relation + cot_a1 = 1 / Modelica.Math.tan(alpha1); + cot_a2 = cot_b2 + w * R_2 / (V_dot / A_2); + cot_b1 = 1 / Modelica.Math.tan(Modelica.SIunits.Conversions.from_deg(beta1)); + cot_b2 = 1 / Modelica.Math.tan(Modelica.SIunits.Conversions.from_deg(beta2)); + cot_g1 = cot_a1 - w * R_1 / (V_dot / A_1); + //// pressure drop through the turbine + dp_r * V_dot + 0.5 * m_dot * V_dot ^ 2 * (1 / A_0 ^ 2 - 1 / A_2 ^ 2) = W_t_dot; + W_t_dot = W_s_dot + W_ft_dot; + dp_r = p_r1 - p_tr2; + //// turbine efficiency + coef = W_s_dot / W_t_dot; + //// conectors + p_tr2 = n.p; + //// output mechanical power + P_out = W_s_dot; + annotation ( + Documentation(info=" +

+This is the Francis turbine model that gives possibilities for proper modelling of the Francis turbine. +

+

The mechanistic model is based on Euler equations for the Francis turbine. +Besides hydraulic input and output, there are input as the control signal for the valve opening +and also output as the turbine shaft power and input as angular velocity. +

+

+ +

+

There is also available the runner design algorithm that can define all geometrical +parameters based on the nominal parameters.

The turbine losses coefficients +(k_ft1, k_ft2, k_ft3) can be also defined automatically. +However, if some dynamic data from real turbine is available it is better to tune +these parameters a bit more and use the defined values as a starting point. +

+

A model for servo that that runs the guide vane opening is also available. +Furthermore it is possible to automatically generate all need parameters for the servo, + or simply specify them. +

+

+This mechanistic turbine model does not work really well for low loads (<10% guide vane opening). +However there is parameters that could be tuned for low load regimes. +These are u_min and k_ft4.

+
References
+

More info about the mechanistic turbine model can be found in: https://www.sciencedirect.com/science/article/pii/S2405896318300181

+

More info about the servo (also turbine model) can be found in: Resources/Report/Turbines_model.pdf

+"), + Icon( coordinateSystem(initialScale = 0.1))); +end Francis; diff --git a/OpenHPL/ElectroMech/Turbines/Pelton.mo b/OpenHPL/ElectroMech/Turbines/Pelton.mo new file mode 100644 index 0000000..697dd63 --- /dev/null +++ b/OpenHPL/ElectroMech/Turbines/Pelton.mo @@ -0,0 +1,62 @@ +within OpenHPL.ElectroMech.Turbines; +model Pelton "Model of the Pelton turbine" + outer Constants Const "using standart class with constants"; + extends Icons.Turbine; + import Modelica.Constants.pi; + //// geometrical parameters of the turbine + parameter Modelica.SIunits.Radius R = 3.3 "Radius of the turbine"; + parameter Modelica.SIunits.Diameter D_0 = 3.3 "input diameter of the nuzzle"; + parameter Real k = 0.8 "friction factor", k_f = 1 "coefficient of friction loss in the nuzzle", K = 0.25 "friction loss coefficient due to power loss", d_u = 1 "deflector machanism coefficient"; + parameter Modelica.SIunits.Conversions.NonSIunits.Angle_deg beta = 165; + //// condition for inlet water compressibility + parameter Boolean CompElas = false "If checked the water is compressible and the walls is elastic" annotation ( + choices(checkBox = true)); + //// variables + Modelica.SIunits.Pressure p_tr1 "inlet pressure", dp_tr "turbine pressure drop", p_tr2 "outlet pressure", dp_n "nuzzel pressure drop"; + Modelica.SIunits.Area A_1, A_0 = pi * D_0 ^ 2 / 4; + Modelica.SIunits.EnergyFlowRate W_s_dot "shaft power"; + Modelica.SIunits.VolumeFlowRate V_dot "flow rate"; + Modelica.SIunits.Velocity v_R, v_1; + Modelica.SIunits.AngularVelocity w "angular velocity"; + Real cos_b = Modelica.Math.cos(Modelica.SIunits.Conversions.from_deg(beta)); + //// conectors + extends OpenHPL.Interfaces.TurbineContacts; + Modelica.Blocks.Interfaces.RealInput w_in = w "Input angular velocity from the generator" annotation ( + Placement(visible = true, transformation(origin={-120,-80}, extent={{-20,-20}, + {20,20}}, rotation = 0))); +equation + //// Condition for inlet water compressibility + if CompElas == false then + V_dot = m_dot / Const.rho; + else + V_dot = m_dot / (Const.rho * (1 + Const.beta * (p.p - Const.p_a))); + end if; + //// nuzzel pressure drop + dp_n = 0.5 * m_dot * (V_dot * (1 / A_1 ^ 2 - 1 / A_0 ^ 2) + k_f); + //// Euler equation for shaft power + W_s_dot = m_dot * v_R * (d_u * v_1 - (1 + K) * v_R) * (1 - k * cos_b); + v_R = w * R; + v_1 = V_dot / A_1; + A_1 = u_t; + //// turbine pressure drop + dp_tr * V_dot = W_s_dot; + dp_tr = p_tr1 - p_tr2; + //// connectors pressures + p_tr1 = p.p; + // + dp_n; + p_tr2 = n.p; + //// output mechanical power + P_out = W_s_dot; + annotation ( + Documentation(info=" +

This is a model of the Pelton turbine. +This model is based on the Euler turbine equation. +

+

+The model has not been tested.

+
References
+

More info about the model can be found in: Resources/Report/Turbines_model.pdf +

+"), + Icon( coordinateSystem(initialScale = 0.1))); +end Pelton; diff --git a/OpenHPL/ElectroMech/Turbines/Turbine.mo b/OpenHPL/ElectroMech/Turbines/Turbine.mo new file mode 100644 index 0000000..9bc2b09 --- /dev/null +++ b/OpenHPL/ElectroMech/Turbines/Turbine.mo @@ -0,0 +1,96 @@ +within OpenHPL.ElectroMech.Turbines; +model Turbine "Simple turbine model" + outer Constants Const "Using standard class with constants"; + extends Icons.Turbine; + import Modelica.Constants.pi; + //// parameters of the turbine + parameter Boolean ValveCapacity = true "If checked the guide vane capacity C_v should be specified, otherwise specify the nominal turbine parameters (net head and flow rate)" annotation ( + Dialog(group = "Turbine nominal parameters"), choices(checkBox = true)); + parameter Real C_v = 3.7 "Guide vane 'valve capacity'" annotation ( + Dialog(group = "Turbine nominal parameters", enable = ValveCapacity)); + parameter Modelica.SIunits.Height H_n = 460 "Turbine nominal net head" annotation ( + Dialog(group = "Turbine nominal parameters", enable = not ValveCapacity)); + parameter Modelica.SIunits.VolumeFlowRate V_dot_n = 23.4 "Turbine nominal flow rate" annotation ( + Dialog(group = "Turbine nominal parameters", enable = not ValveCapacity)); + parameter Real u_n = 0.95 "Turbine guide vane nominal opening, pu" annotation ( + Dialog(group = "Turbine nominal parameters", enable = not ValveCapacity)); + //// condition for efficiency + parameter Boolean ConstEfficiency = true "If checked the constant efficiency theta_h is used, + otherwise specify lookup table for efficiency" + annotation ( + Dialog(group = "Efficiency data"), + choices(checkBox = true)); + //// turbine efficiency, either constant theta_h or varying with flow (control signal) from lookup-table. + parameter Modelica.SIunits.Efficiency theta_h = 0.9 "Turbine hydraulic efficiency" annotation ( + Dialog(group = "Efficiency data", enable = ConstEfficiency)); + parameter Real lookup_table[:, :] = [0, 0.4; 0.2, 0.7; 0.5, 0.9; 0.95, 0.95; 1.0, 0.93] "Look-up table for the turbine efficiency, described by a table matrix, where the first column is a pu value of the guide vane opening, and the second column is a pu value of the turbine efficiency" annotation ( + Dialog(group = "Efficiency data", enable = not ConstEfficiency)); + //// condition for inlet water compressibility + parameter Boolean WaterCompress = false "If checked the water is compressible in the penstock" annotation ( + choices(checkBox = true)); + //// variables + Modelica.SIunits.Pressure p_tr1 "Inlet pressure", dp "Turbine pressure drop", p_tr2 "Outlet pressure"; + //Modelica.SIunits.Area A_d = D_o ^ 2 * pi / 4, A_p = D_i ^ 2 * pi / 4; + Modelica.SIunits.EnergyFlowRate K_tr1_dot "Kinetic energy"; + Modelica.SIunits.VolumeFlowRate V_dot "Flow rate"; + Real C_v_ "Guide vane 'valve capacity'"; + output Modelica.SIunits.EnergyFlowRate W_s_dot "Shaft power"; + //// conectors + extends OpenHPL.Interfaces.TurbineContacts; + Modelica.Blocks.Tables.CombiTable1D look_up_table(table = lookup_table); +equation + //// checking water compressibility + V_dot = if WaterCompress then m_dot / (Const.rho * (1 + Const.beta * (p.p - Const.p_a))) else m_dot / Const.rho; + //// define turbine efficiency + look_up_table.u[1] = u_t; + //// define guide vane 'valve capacity' base on the turbine nominal parameters + C_v_ = if ValveCapacity then C_v else V_dot_n/sqrt(H_n*Const.g*Const.rho/Const.p_a)/u_n; + //// turbine valve equation for pressure drop + dp = V_dot ^ 2 * Const.p_a / (C_v_ * u_t) ^ 2; + dp = p_tr1 - p_tr2; + //// turbine energy balance + K_tr1_dot = dp * V_dot; + if ConstEfficiency == true then + W_s_dot = theta_h * K_tr1_dot; + else + W_s_dot = look_up_table.y[1] * K_tr1_dot; + end if; + //// turbine pressures + p_tr1 = p.p; + p_tr2 = n.p; + //// output mechanical power + P_out = W_s_dot; + //// for temperature variation, not finished... + //n.T = p.T; + //// + annotation ( + Documentation(info= "

+This is a simple model of the turbine that give possibilities for simplified +modelling of the turbine unit. The model can use a constant efficiency or varying +efficiency from a lookup-table. +This model does not include any information about rotational speed of the runner. +

+

+This model is baseed on the energy balance and a simple valve-like expression. +The guide vane 'valve capacity' should be used for this valve-like expression and can either be specified +directly by the user by specifying C_v or it will be calculated from +the turbine nominal net head H_n and nominal flow rate +V_dot_n. +

+

+The turbine efficiency is in per-unit values from 0 to 1, where 1 means that there are no losses in the turbine. +The output mechanical power is defined as multiplication of the turbine efficiency and the total possible power: +

+
+
turbine_pressure_drop * turbine_flow_rate
+
+

Besides hydraulic input and output, +there are inputs as the control signal for the valve opening and also output as the turbine shaft power. +

+ +

+ +

References

More info about the model can be found in: Resources/Report/Report.docx

+"), + Icon( coordinateSystem(initialScale = 0.1))); +end Turbine; diff --git a/OpenHPL/ElectroMech/Turbines/package.mo b/OpenHPL/ElectroMech/Turbines/package.mo new file mode 100644 index 0000000..efe178c --- /dev/null +++ b/OpenHPL/ElectroMech/Turbines/package.mo @@ -0,0 +1,8 @@ +within OpenHPL.ElectroMech; +package Turbines "Different turbine models" + extends Modelica.Icons.Package; + + extends Icons.Turbine; + + +end Turbines; diff --git a/OpenHPL/ElectroMech/Turbines/package.order b/OpenHPL/ElectroMech/Turbines/package.order new file mode 100644 index 0000000..66a526c --- /dev/null +++ b/OpenHPL/ElectroMech/Turbines/package.order @@ -0,0 +1,3 @@ +Turbine +Francis +Pelton diff --git a/OpenHPL/ElectroMech/package.mo b/OpenHPL/ElectroMech/package.mo new file mode 100644 index 0000000..500e00c --- /dev/null +++ b/OpenHPL/ElectroMech/package.mo @@ -0,0 +1,6 @@ +within OpenHPL; +package ElectroMech "Package of electro mechnical components" + extends Modelica.Icons.Package; + + extends Icons.ElectroMech; +end ElectroMech; diff --git a/OpenHPL/ElectroMech/package.order b/OpenHPL/ElectroMech/package.order new file mode 100644 index 0000000..d6463c6 --- /dev/null +++ b/OpenHPL/ElectroMech/package.order @@ -0,0 +1,2 @@ +Turbines +Generators diff --git a/OpenHPL/Examples/HPDetailed.mo b/OpenHPL/Examples/HPDetailed.mo new file mode 100644 index 0000000..1a13876 --- /dev/null +++ b/OpenHPL/Examples/HPDetailed.mo @@ -0,0 +1,47 @@ +within OpenHPL.Examples; +model HPDetailed "Model of waterway of the HP system with detailed model for the penstock (using KP scheme) and simplified models for others conduits, turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {0, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 19.12, rho(displayUnit = "kg/m3") = 997) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,54},{-52,74}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{38,30},{58,50}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,46}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Turbines.Turbine turbine( + C_v=3.7, + ConstEfficiency=false, + WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{8,32},{28,52}}, rotation=0))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation(extent={{-42,60},{-22,80}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5, + PipeElasticity=false, + h_s0=69.9, + vertical=true) annotation (Placement(transformation(extent={{-20,44},{0,64}}))); +equation + connect(control.y, turbine.u_t) annotation ( + Line(points={{11,84},{18,84},{18,54}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points={{58,40},{70,40},{70,46},{80,46}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{28,42},{34,42},{34,40},{38,40}}, color = {28, 108, 200})); + connect(turbine.p, penstockKP.n) annotation ( + Line(points={{8,42},{4,42},{4,54},{0,54}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points={{-22,70},{-20,70},{-20,54}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-52,64},{-46,64},{-46,70},{-42,70}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,66},{-76,66},{-76,64},{-72,64}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPDetailed; diff --git a/OpenHPL/Examples/HPDetailed_Francis.mo b/OpenHPL/Examples/HPDetailed_Francis.mo new file mode 100644 index 0000000..589acc5 --- /dev/null +++ b/OpenHPL/Examples/HPDetailed_Francis.mo @@ -0,0 +1,84 @@ +within OpenHPL.Examples; +model HPDetailed_Francis "Model of the HP system with Francis turbine and simplified models for conduits (connected to the grid generator is also uesd)" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-90,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1980, height = 0.87, offset = 0.09, startTime = 10) annotation ( + Placement(visible = true, transformation(origin = {10, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,50},{-56,70}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{54,30},{74,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,44}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SynchGen generator(P_op=100e6, UseFrequencyOutput=false) annotation (Placement(visible=true, transformation(extent={{16,-4},{40,20}}, rotation=0))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.9386) annotation (Placement(visible=true, transformation( + origin={-36,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=true, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_Y_=3, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + WaterCompress=false, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + u_end_=2.4, + u_start_=2.28, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.5199) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.PenstockKP penstockKP( + D_i=3, + H=428.5, + PipeElasticity=true, + h_s0=70.9386) annotation (Placement(visible=true, transformation( + origin={-12,48}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(penstockKP.n, turbine.p) annotation ( + Line(points = {{-2, 48}, {-2, 48}, {-2, 36}, {18, 36}, {18, 36}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-26, 66}, {-22, 66}, {-22, 48}, {-22, 48}}, color = {28, 108, 200})); + connect(generator.w_out, turbine.w_in) annotation ( + Line(points={{35.2,20},{32,20},{32,30},{16,30}}, color = {0, 0, 127})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points={{28,25},{22,25},{22,20},{20.8,20}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-80,60},{-76,60}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points={{-46,66},{-48,66},{-48,60},{-56,60}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{38,36},{48,36},{48,40},{54,40}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{21,84},{28,84},{28,48}}, color = {0, 0, 127})); + connect(tail.n, discharge.n) annotation ( + Line(points={{84,44},{84,41.95},{80,41.95},{80,40},{74,40}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4), + Diagram); +end HPDetailed_Francis; diff --git a/OpenHPL/Examples/HPDetailed_generator.mo b/OpenHPL/Examples/HPDetailed_generator.mo new file mode 100644 index 0000000..9ef07b0 --- /dev/null +++ b/OpenHPL/Examples/HPDetailed_generator.mo @@ -0,0 +1,51 @@ +within OpenHPL.Examples; +model HPDetailed_generator "Model of waterway and aggregate of the HP system with detailed model for the penstock (using KP scheme) and simplified models for others conduits, turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {0, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 19.12, rho(displayUnit = "kg/m3") = 997) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,54},{-52,74}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{38,30},{58,50}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,46}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=3.7, WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{10,32},{30,52}}, rotation=0))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation(extent={{-42,60},{-22,80}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5, + PipeElasticity=false, + h_s0=69.9, + vertical=true) annotation (Placement(transformation(extent={{-20,44},{0,64}}))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -4.9e6, offset = 80.3e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-22, 0}, {-2, 20}}, rotation = 0))); + ElectroMech.Generators.SimpleGen generator annotation (Placement(visible=true, transformation(extent={{8,0},{28,20}}, rotation=0))); +equation + connect(turbine.p, penstockKP.n) annotation ( + Line(points={{10,42},{4,42},{4,54},{0,54}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{30,42},{34,42},{34,40},{38,40}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{11,84},{20,84},{20,54}}, color = {0, 0, 127})); + connect(turbine.P_out,generator. P_in) annotation ( + Line(points={{20,31},{20,25.5},{18,25.5},{18,22}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points={{58,40},{70,40},{70,46},{80,46}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points={{-22,70},{-20,70},{-20,54}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-52,64},{-46,64},{-46,70},{-42,70}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,66},{-76,66},{-76,64},{-72,64}}, color = {28, 108, 200})); + connect(load.y,generator. u) annotation ( + Line(points = {{-1, 10}, {-1, 10}, {8, 10}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPDetailed_generator; diff --git a/OpenHPL/Examples/HPSimple.mo b/OpenHPL/Examples/HPSimple.mo new file mode 100644 index 0000000..4891d75 --- /dev/null +++ b/OpenHPL/Examples/HPSimple.mo @@ -0,0 +1,51 @@ +within OpenHPL.Examples; +model HPSimple "Model of waterway of the HP system with simplified models for conduits, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-90,30}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin={-10,70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-70,20},{-50,40}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{50,-10},{70,10}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5, Input_level=false) annotation (Placement(visible=true, transformation( + origin={90,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + vertical=true) annotation (Placement(visible=true, transformation( + origin={0,30}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation( + origin={-30,30}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={30,10}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin={-90,90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(turbine.n, discharge.p) annotation ( + Line(points={{40,10},{44,10},{44,0},{50,0}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{1,70},{30,70},{30,22}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{10,30},{14.95,30},{14.95,10},{20,10}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-80,30},{-70,30}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-50,30},{-40,30}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-20,30},{-10,30}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation (Line(points={{70,0},{80,0}}, color={28,108,200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple; diff --git a/OpenHPL/Examples/HPSimple_Francis.mo b/OpenHPL/Examples/HPSimple_Francis.mo new file mode 100644 index 0000000..d3c395f --- /dev/null +++ b/OpenHPL/Examples/HPSimple_Francis.mo @@ -0,0 +1,84 @@ +within OpenHPL.Examples; +model HPSimple_Francis "Model of the HP system with Francis turbine and simplified models for conduits (connected to the grid generator is also uesd)" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1980, height = 0.87, offset = 0.09, startTime = 10) annotation ( + Placement(visible = true, transformation(origin = {10, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,52},{-56,72}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{54,30},{74,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,44}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SynchGen generator(P_op=100e6, UseFrequencyOutput=false) annotation (Placement(visible=true, transformation(extent={{42,-16},{18,8}}, rotation=0))); + Waterway.Pipe penstock( + L=600, + H=428.5, + D_i=3, + D_o=3) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=71) annotation (Placement(visible=true, transformation( + origin={-36,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_Y_=3, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + u_end_=2.4, + u_start_=2.28, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={30,32}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.54) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Fitting fitting(D_1=3, D_2=1.63) annotation (Placement(transformation(extent={{-4,20},{16,40}}))); +equation + connect(generator.w_out, turbine.w_in) annotation ( + Line(points={{16.8,3.2},{12,3.2},{12,24},{18,24}}, color = {0, 0, 127})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points={{30,21},{30,10.4}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,62},{-78,62},{-78,62},{-76,62}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points={{-46,66},{-48,66},{-48,62},{-56,62}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-26,66},{-16.95,66},{-16.95,58},{-10,58}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{40,32},{48,32},{48,40},{54,40}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{21,84},{30,84},{30,44}}, color = {0, 0, 127})); + connect(turbine.p, fitting.n) annotation ( + Line(points={{20,32},{20,30},{16,30}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points={{84,44},{84,41.95},{80,41.95},{80,40},{74,40}}, color = {28, 108, 200})); + connect(penstock.n, fitting.p) annotation ( + Line(points={{-10,38},{-6,38},{-6,30},{-4,30}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_Francis; diff --git a/OpenHPL/Examples/HPSimple_Francis_GridGen.mo b/OpenHPL/Examples/HPSimple_Francis_GridGen.mo new file mode 100644 index 0000000..790d09d --- /dev/null +++ b/OpenHPL/Examples/HPSimple_Francis_GridGen.mo @@ -0,0 +1,111 @@ +within OpenHPL.Examples; +model HPSimple_Francis_GridGen "Synergy with OpenIPSL library(generator)" + extends OpenIPSL.Examples.BaseTest(pwLine2(displayPF=true), pwLine1(displayPF=true)); + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-80,-50}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-64,-60},{-44,-40}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{48,-60},{68,-40}}, + rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={84,-50}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.PenstockKP penstock( + L=600, + H=428.5, + D_i=3, + D_o=3) annotation (Placement(visible=true, transformation( + origin={4,-50}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.939) annotation (Placement(visible=true, transformation( + origin={-26,-50}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n(displayUnit="MW") = 103000000, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={32,-50}, + extent={{-10,10},{10,-10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin={-90,70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, + P_0=16035269.869201, + Q_0=11859436.505981, + Sn=120000000, + Vn=400000, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(visible = true, transformation(extent={{-40,-10},{-20,10}}, rotation = 0))); + Modelica.Blocks.Math.Gain PSI_to_Ppu(k=1/turbine.P_n) + annotation ( + Placement(visible = true, transformation(origin={-59,-5}, extent={{-5,-5},{5,5}}, rotation = 0))); + Modelica.Blocks.Math.Gain wpu_to_wSI(k=2*Modelica.Constants.pi/60*turbine.n_n) annotation (Placement(visible=true, transformation( + origin={-60,20}, + extent={{-6,6},{6,-6}}, + rotation=180))); + OpenHPL.Controllers.Governor govenor(Pn = turbine.P_n, Y_gv_ref = 0.1) + annotation (Placement(visible=true, transformation(origin = {20, -72}, extent = {{-10, -10}, {10, 10}}, + rotation=0))); + //(a = 7.862E-25, c = 1.108E-08, d = -5.344E-02, b = -1.010E-16) + Modelica.Blocks.Math.Gain fpu_to_fSI(k=SysData.fn) annotation (Placement(visible=true, transformation( + origin={-50,-90}, + extent={{6,6},{-6,-6}}, + rotation=180))); + Modelica.Blocks.Sources.Ramp power(duration = 1, height = +1e6, offset = 12e6, + startTime=200) annotation ( + Placement(visible = true, transformation(origin={-10,-72}, extent={{-8,-8},{8,8}}, rotation = 0))); +equation + connect(fpu_to_fSI.y, govenor.f) annotation ( + Line(points={{-43.4,-90},{4,-90},{4,-76},{8,-76},{8,-76}}, color = {0, 0, 127})); + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points = {{31, -72}, {32, -72}, {32, -62}}, color = {0, 0, 127})); + connect(govenor.P_ref, power.y) annotation ( + Line(points = {{8, -68}, {4.4, -68}, {4.4, -72}, {-1.2, -72}}, color = {0, 0, 127})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-16,-50},{-6,-50}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points={{-36,-50},{-44,-50}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{14,-50},{22,-50}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-70,-50},{-64,-50}}, color = {28, 108, 200})); + connect(fpu_to_fSI.u, wpu_to_wSI.u) annotation (Line(points={{-57.2,-90},{-94,-90},{-94,30},{-48,30},{-48,20},{-52.8,20}}, color={0,0,127})); + connect(order2_1.w, wpu_to_wSI.u) annotation (Line(points={{-19,9},{-14,9},{-14,20},{-52.8,20}}, color={0,0,127})); + connect(PSI_to_Ppu.u, turbine.P_out) annotation ( + Line(points={{-65,-5},{-70,-5},{-70,-24},{32,-24},{32,-39}}, color = {0, 0, 127})); + connect(PSI_to_Ppu.y, order2_1.pm) annotation ( + Line(points={{-53.5,-5},{-42,-5}}, color = {0, 0, 127})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points={{-42,5},{-46,5},{-46,14},{-38,14},{-38,11}}, color = {0, 0, 127})); + connect(wpu_to_wSI.y, turbine.w_in) annotation (Line(points={{-66.6,20},{-80,20},{-80,-32},{16,-32},{16,-42},{20,-42}}, color={0,0,127})); + connect(order2_1.p, bus1.p) annotation (Line(points={{-20,0},{0,0}}, color={0,0,255})); + connect(discharge.n, tail.n) annotation (Line(points={{68,-50},{74,-50}}, color={28,108,200})); + connect(turbine.n, discharge.p) annotation (Line(points={{42,-50},{48,-50}}, color={28,108,200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_Francis_GridGen; diff --git a/OpenHPL/Examples/HPSimple_Francis_IPSLGen.mo b/OpenHPL/Examples/HPSimple_Francis_IPSLGen.mo new file mode 100644 index 0000000..f8aea7d --- /dev/null +++ b/OpenHPL/Examples/HPSimple_Francis_IPSLGen.mo @@ -0,0 +1,160 @@ +within OpenHPL.Examples; +model HPSimple_Francis_IPSLGen "Synergy with OpenIPSL library(generator)" + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-48,48}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-34,38},{-14,58}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{50,22},{70,42}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={86,28}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.PenstockKP penstock( + L=600, + H=428.5, + D_i=3, + D_o=3) annotation (Placement(visible=true, transformation( + origin={12,40}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.939) annotation (Placement(visible=true, transformation( + origin={0,54}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,28}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, + P_0=16035269.869201, + Q_0=11859436.505981, + Sn=20000000, + Vn=400000, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(visible = true, transformation(extent = {{-14, -20}, {6, 0}}, rotation = 0))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(visible = true, transformation(origin = {-33, -15}, extent = {{-7, -7}, {7, 7}}, rotation = 0))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(visible = true, transformation(origin = {49, 11}, extent = {{-7, -7}, {7, 7}}, rotation = 180))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(visible = true, transformation(extent = {{-60, -60}, {-36, -40}}, rotation = 0))); + OpenHPL.Controllers.Governor govenor annotation (Placement(visible=true, transformation(extent={{54,42},{34,62}}, rotation=0))); + //(a = 7.862E-25, c = 1.108E-08, d = -5.344E-02, b = -1.010E-16) + Modelica.Blocks.Math.Gain Frequency(k = 50) annotation ( + Placement(visible = true, transformation(origin = {60, 70}, extent = {{-8, -8}, {8, 8}}, rotation = 180))); + Modelica.Blocks.Sources.Ramp power(duration = 1, height = +1e6, offset = 12e6, startTime = 15000) annotation ( + Placement(visible = true, transformation(origin = {78, 52}, extent = {{8, -8}, {-8, 8}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -58}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(B = 0.0005, G = 0, R = 0.01, X = 0.1, opening = 1, t1 = 600, t2 = 600.15) annotation ( + Placement(visible = true, transformation(origin = {56, -34}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {14, -34}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -60}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -10}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0=8000000, Q_0=6000000) annotation ( + Placement(visible = true, transformation(origin = {90, -22}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2( + P_0=8000000, + Q_0=6000000, dQ1 = 0, + t_start_2=1e10, + t_end_2=1e10, dP2 = 0, dQ2 = 0, t_start_1 = 1e3, t_end_1 = 1.1e3, + dP1=1000000) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -60.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(visible = true, transformation(extent = {{-14, -56}, {6, -36}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(visible = true, transformation(extent = {{26, -56}, {46, -36}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus2 annotation ( + Placement(visible = true, transformation(extent = {{66, -32}, {86, -12}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(visible = true, transformation(extent = {{66, -70}, {86, -50}}, rotation = 0))); +equation + connect(pwLine2.p, bus.p) annotation ( + Line(points={{8.6,-34},{2,-34},{2,-46},{-4,-46}}, color = {0, 0, 255})); + connect(pwLine2.n, bus1.p) annotation ( + Line(points={{19.4,-34},{30,-34},{30,-46},{36,-46}}, color = {0, 0, 255})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{10,54},{12,54},{12,50}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points={{-10,54},{-11.8,54},{-11.8,48},{-14,48}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{12,30},{12.85,30},{12.85,28},{18,28}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-38,48},{-36.8,48},{-36.8,48},{-34,48}}, color = {28, 108, 200})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -46}, {40, -46}, {40, -22}, {44, -22}, {44, -34}, {50.6, -34}}, color = {0, 0, 255})); + connect(pwLine4.p, bus1.p) annotation ( + Line(points={{50.6,-10},{44,-10},{44,-22},{40,-22},{40,-46},{36,-46}}, color = {0, 0, 255})); + connect(pwLine3.p, bus1.p) annotation ( + Line(points={{52.6,-60},{40,-60},{40,-46},{36,-46},{36,-46}}, color = {0, 0, 255})); + connect(pwLine1.n, bus1.p) annotation ( + Line(points={{21.4,-58},{30,-58},{30,-46},{34,-46},{34,-46},{36,-46}}, color = {0, 0, 255})); + connect(pwLine4.n, bus2.p) annotation ( + Line(points={{61.4,-10},{68,-10},{68,-22},{76,-22},{76,-22}}, color = {0, 0, 255})); + connect(order2_1.p, bus.p) annotation ( + Line(points = {{6, -10}, {10, -10}, {10, -26}, {-10, -26}, {-10, -46}, {-4, -46}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -60}, {76, -60}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -60}, {80, -60}, {80, -60}, {84, -60}, {84, -59.1445}, {84, -59.1445}, {84, -60.2889}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -22}, {74, -22}, {74, -22}, {72, -22}, {72, -22}, {68, -22}, {68, -34}, {61.4, -34}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -22}, {84, -22}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -46}, {-2.5, -46}, {-2.5, -46}, {-1, -46}, {-1, -46}, {2, -46}, {2, -58}, {6.3, -58}, {6.3, -58}, {8.45, -58}, {8.45, -58}, {10.6, -58}}, color = {0, 0, 255})); + connect(Frequency.u, RealizerAng.u) annotation ( + Line(points={{69.6,70},{100,70},{100,0},{72,0},{72,11},{57.4,11}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points={{7,-1},{72,-1},{72,11},{57.4,11}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points={{-41.4,-15},{-48,-15},{-48,12},{28,12},{28,17}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points={{-25.3,-15},{-16,-15}}, color = {0, 0, 127})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{-16, -5}, {-24, -5}, {-24, 4}, {-12, 4}, {-12, 1}}, color = {0, 0, 127})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points={{41.3,11},{16,11},{16,20}}, color = {0, 0, 127})); + connect(Frequency.y, govenor.f) annotation ( + Line(points={{51.2,70},{56,70},{56,48}}, color = {0, 0, 127})); + connect(govenor.P_ref, power.y) annotation ( + Line(points={{56,56},{62,56},{62,52},{69.2,52}}, + color = {0, 0, 127})); + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points={{33,52},{28,52},{28,40}}, color = {0, 0, 127})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{38,28},{41.05,28},{41.05,27.9},{44,27.9},{44,32},{50,32}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points={{76,28},{76,31.8},{72.95,31.8},{72.95,32},{70,32}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_Francis_IPSLGen; diff --git a/OpenHPL/Examples/HPSimple_Francis_IPSLGenGov.mo b/OpenHPL/Examples/HPSimple_Francis_IPSLGenGov.mo new file mode 100644 index 0000000..4737846 --- /dev/null +++ b/OpenHPL/Examples/HPSimple_Francis_IPSLGenGov.mo @@ -0,0 +1,153 @@ +within OpenHPL.Examples; +model HPSimple_Francis_IPSLGenGov "Synergy with OpenIPSL library(generator + governor)" + //input Real u; + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-88,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,52},{-52,72}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{50,30},{70,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,36}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.9392) annotation (Placement(visible=true, transformation( + origin={-32,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + u_end_=2.36, + u_start_=2.23, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49671) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, + P_0=16035269.869201, + Q_0=11859436.505981, + Sn=20000000, + Vn=400000, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(transformation(extent = {{26, -30}, {46, -10}}))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(transformation(extent = {{-12, -36}, {8, -16}}))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {52, 10}))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(visible = true, transformation(extent = {{-96, -100}, {-72, -80}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -88}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(G = 0, R = 0.01, X = 0.1, opening = 1, B = 0.0005, t1 = 600, t2 = 600.15) annotation ( + Placement(visible = true, transformation(origin = {56, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -90}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -40}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0=8000000, Q_0=6000000) annotation ( + Placement(visible = true, transformation(origin = {90, -52}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2( + P_0=8000000, + Q_0=6000000, + dP1(displayUnit="MW") = 1000000, t_end_1 = 1100, t_end_2 = 1e10, t_start_1 = 1000, t_start_2 = 1e10) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -90.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(transformation(extent = {{-14, -86}, {6, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(transformation(extent = {{26, -86}, {46, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus2 annotation ( + Placement(transformation(extent = {{66, -62}, {86, -42}}))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(transformation(extent = {{66, -100}, {86, -80}}))); + OpenIPSL.Electrical.Controls.PSAT.TG.TGTypeI tGTypeI(R = 0.1, T3 = 0.04, T4 = 5, T5 = 0.04, Tc = 1, Ts = 0.1, pmax = 1, pmin = 0, pref = 0.1537, wref = 1) annotation ( + Placement(transformation(extent = {{100, 62}, {34, 106}}))); +equation + connect(order2_1.p, bus.p) annotation ( + Line(points = {{46, -20}, {52, -20}, {52, -38}, {14, -38}, {14, -58}, {-14, -58}, {-14, -76}, {-4, -76}, {-4, -76}, {-4, -76}}, color = {0, 0, 255})); + connect(tGTypeI.pm, turbine.u_t) annotation ( + Line(points={{30.7,84},{28,84},{28,48},{28,48}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points={{-14,-26},{-20,-26},{-20,12},{28,12},{28,25}}, color = {0, 0, 127})); + //turbine.u_t = u; + connect(reservoir.n, intake.p) annotation ( + Line(points={{-78,62},{-72,62}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points={{-42,66},{-48,66},{-48,62},{-52,62}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-22,66},{-16.95,66},{-16.95,58},{-10,58}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{38,36},{44,36},{44,40},{50,40}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points={{80,36},{80,39.95},{80,39.95},{80,40},{70,40}}, color = {28, 108, 200})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{24, -15}, {16, -15}, {16, -6}, {28, -6}, {28, -9}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{9, -26}, {24, -26}, {24, -25}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{47, -11}, {54, -11}, {54, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{-10,38},{4.95,38},{4.95,36},{18,36}}, color = {28, 108, 200})); + connect(pwLine2.p, pwLine1.p) annotation ( + Line(points = {{10.6, -64}, {2, -64}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(pwLine2.n, pwLine1.n) annotation ( + Line(points = {{21.4, -64}, {30, -64}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(pwLine4.p, pwLinewithOpening1.p) annotation ( + Line(points={{50.6,-40},{44,-40},{44,-64},{50.6,-64}}, color = {0, 0, 255})); + connect(pwLine4.n, pwLinewithOpening1.n) annotation ( + Line(points={{61.4,-40},{68,-40},{68,-64},{61.4,-64}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -76}, {2, -76}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLine1.n) annotation ( + Line(points = {{36, -76}, {30, -76}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -76}, {40, -76}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine3.p, pwLinewithOpening1.p) annotation ( + Line(points = {{52.6, -90}, {40, -90}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -52}, {84, -52}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -52}, {68, -52}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -90}, {84, -90}, {84, -90.2889}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -90}, {63.4, -90}, {76, -90}}, color = {0, 0, 255})); + connect(tGTypeI.w, order2_1.w) annotation ( + Line(points={{106.6,84},{98,84},{98,88},{100,88},{100,-11},{47,-11}}, color = {0, 0, 127})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points={{41,10},{36,10},{16,10},{16,28}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_Francis_IPSLGenGov; diff --git a/OpenHPL/Examples/HPSimple_Francis_IPSLGenInfBus.mo b/OpenHPL/Examples/HPSimple_Francis_IPSLGenInfBus.mo new file mode 100644 index 0000000..4429067 --- /dev/null +++ b/OpenHPL/Examples/HPSimple_Francis_IPSLGenInfBus.mo @@ -0,0 +1,160 @@ +within OpenHPL.Examples; +model HPSimple_Francis_IPSLGenInfBus "Synergy with OpenIPSL library(generator + infinitBus)" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,52},{-56,72}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{50,30},{70,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,36}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.939) annotation (Placement(visible=true, transformation( + origin={-36,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, + P_0=16035269.869201, + Q_0=11859436.505981, + Sn=20000000, + Vn=400000, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(transformation(extent = {{26, -30}, {46, -10}}))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(transformation(extent = {{-12, -36}, {8, -16}}))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {52, 10}))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(transformation(extent = {{-100, -100}, {-76, -80}}))); + Controllers.Governor govenor(droop=0.2) annotation (Placement(transformation(extent={{54,62},{34,82}}))); + Modelica.Blocks.Math.Gain Frequency(k = 50) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {60, 86}))); + Modelica.Blocks.Sources.Ramp power(duration = 1, height = 1.3e6, offset = 12e6, startTime = 1500) annotation ( + Placement(transformation(extent = {{10, -10}, {-10, 10}}, rotation = 0, origin = {86, 70}))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -88}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(G = 0, R = 0.01, X = 0.1, opening = 1, B = 0.0005, t1 = 600, t2 = 600.15) annotation ( + Placement(visible = true, transformation(origin = {56, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -90}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -40}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0=8000000, Q_0=6000000) annotation ( + Placement(visible = true, transformation(origin = {90, -52}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2( + P_0=8000000, + Q_0=6000000, + dP1=1000000, t_end_1 = 1.1e3, t_end_2 = 1e10, t_start_1 = 1e3, t_start_2 = 1e10) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -90.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(transformation(extent = {{-14, -86}, {6, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(transformation(extent = {{26, -86}, {46, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus2(displayPF = true) annotation ( + Placement(transformation(extent = {{66, -62}, {86, -42}}))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(transformation(extent = {{66, -100}, {86, -80}}))); + OpenIPSL.Electrical.Buses.InfiniteBus infiniteBus annotation ( + Placement(visible = true, transformation(extent = {{-62, -64}, {-42, -44}}, rotation = 0))); +equation + connect(infiniteBus.p, bus.p) annotation ( + Line(points = {{-42, -54}, {-28, -54}, {-28, -76}, {-4, -76}}, color = {0, 0, 255})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,62},{-78,62},{-76,62}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points={{-46,66},{-48,66},{-48,62},{-56,62}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-26,66},{-16.95,66},{-16.95,58},{-10,58}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{38,36},{44,36},{44,40},{50,40}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points={{80,36},{80,39.95},{80,39.95},{80,40},{70,40}}, color = {28, 108, 200})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{24, -15}, {16, -15}, {16, -6}, {28, -6}, {28, -9}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points={{-14,-26},{-20,-26},{-20,8},{-20,12},{24,12},{24,25},{28,25}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{9, -26}, {24, -26}, {24, -25}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{47, -11}, {54, -11}, {54, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points={{33,72},{33,72},{28,72},{28,48}}, color = {0, 0, 127})); + connect(Frequency.y, govenor.f) annotation ( + Line(points={{49,86},{49,86},{56,86},{56,68}}, color = {0, 0, 127})); + connect(Frequency.u, RealizerAng.u) annotation ( + Line(points = {{72, 86}, {100, 86}, {100, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(govenor.P_ref, power.y) annotation ( + Line(points={{56,76},{64,76},{64,70},{75,70}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{-10,38},{4.95,38},{4.95,36},{18,36}}, color = {28, 108, 200})); + connect(pwLine2.p, pwLine1.p) annotation ( + Line(points = {{10.6, -64}, {2, -64}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(pwLine2.n, pwLine1.n) annotation ( + Line(points = {{21.4, -64}, {30, -64}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(pwLine4.p, pwLinewithOpening1.p) annotation ( + Line(points={{50.6,-40},{44,-40},{44,-64},{50.6,-64}}, color = {0, 0, 255})); + connect(pwLine4.n, pwLinewithOpening1.n) annotation ( + Line(points={{61.4,-40},{68,-40},{68,-64},{61.4,-64}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -76}, {2, -76}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLine1.n) annotation ( + Line(points = {{36, -76}, {30, -76}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -76}, {40, -76}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine3.p, pwLinewithOpening1.p) annotation ( + Line(points = {{52.6, -90}, {40, -90}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -52}, {84, -52}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -52}, {68, -52}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -90}, {84, -90}, {84, -90.2889}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -90}, {63.4, -90}, {76, -90}}, color = {0, 0, 255})); + connect(order2_1.p, bus.p) annotation ( + Line(points = {{46, -20}, {62, -20}, {62, -36}, {36, -36}, {36, -58}, {-12, -58}, {-12, -76}, {-4, -76}}, color = {0, 0, 255})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points={{41,10},{16,10},{16,28}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_Francis_IPSLGenInfBus; diff --git a/OpenHPL/Examples/HPSimple_OpenChannel.mo b/OpenHPL/Examples/HPSimple_OpenChannel.mo new file mode 100644 index 0000000..786e2da --- /dev/null +++ b/OpenHPL/Examples/HPSimple_OpenChannel.mo @@ -0,0 +1,69 @@ +within OpenHPL.Examples; +model HPSimple_OpenChannel "Example with the open channel" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-90,44}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, + startTime=600) annotation ( + Placement(visible = true, transformation(origin={-38,86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe discharge( L=600, H=-5) + annotation (Placement(visible=true, transformation(extent={{6,0},{ + 26,20}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,10}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3.3, + D_o=3.3, + H=420, + L=600) annotation (Placement(visible=true, transformation( + origin={-30,26}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={-12,14}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0=18.9979) + annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe pipe annotation (Placement(transformation(extent={{-74,34}, + {-54,54}}))); + Waterway.OpenChannel openChannel( + N=100, + w=50, + h0=vector([ones(68)*0.30417; 0.3045; 0.3089; 0.33; 0.398; linspace( + 0.519, + 5.00164, + 28)])) annotation (Placement(transformation(extent={{30,0},{ + 50,20}}))); + Waterway.SurgeTank surgeTank(h_0=73.9171) + annotation (Placement(transformation(extent={{-52,38},{-32,58}}))); + Waterway.Pipe pipe1(H=0, L=10) + annotation (Placement(transformation(extent={{56,-2}, + {76,18}}))); +equation + connect(turbine.p, penstock.n) annotation ( + Line(points={{-22,14},{-30,14},{-30,16}})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{-27,86},{-12,86},{-12,26}}, color = {0, 0, 127})); + connect(reservoir.n, pipe.p) annotation ( + Line(points={{-80,44},{-74,44}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) + annotation (Line(points={{-2,14},{6,14},{6,10}}, color={28,108,200})); + connect(discharge.n, openChannel.p) + annotation (Line(points={{26,10},{30,10}}, color={28,108,200})); + connect(pipe.n, surgeTank.p) + annotation (Line(points={{-54,44},{-54,48},{-52,48}}, color={28,108,200})); + connect(penstock.p, surgeTank.n) + annotation (Line(points={{-30,36},{-32,36},{-32,48}}, color={28,108,200})); + connect(openChannel.n, pipe1.p) annotation (Line(points={{50,10},{54,10},{54, + 8},{56,8}}, color={28,108,200})); + connect(tail.n, pipe1.n) + annotation (Line(points={{80,10},{80,8},{76,8}}, color={28,108,200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_OpenChannel; diff --git a/OpenHPL/Examples/HPSimple_generator.mo b/OpenHPL/Examples/HPSimple_generator.mo new file mode 100644 index 0000000..fea92af --- /dev/null +++ b/OpenHPL/Examples/HPSimple_generator.mo @@ -0,0 +1,58 @@ +within OpenHPL.Examples; +model HPSimple_generator "Model of waterway and aggregate of the HP system with simplified models for conduits, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {-16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,50},{-56,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{36,22},{56,42}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={80,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={-16,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation( + origin={-38,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5.49e6, offset = 82.69e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-40, -6}, {-20, 14}}, rotation = 0))); + OpenHPL.ElectroMech.Generators.SimpleGen generator annotation (Placement(visible=true, transformation(extent={{-2,-6},{18,14}}, rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=3.7, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={8,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(penstock.n, turbine.p) annotation ( + Line(points={{-16,40},{-11.05,40},{-11.05,34},{-2,34}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{-5,86},{8,86},{8,46}}, color = {0, 0, 127})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{18, 34}, {32, 34}, {32, 32}, {36, 32}}, color = {28, 108, 200})); + connect(turbine.P_out,generator. P_in) annotation ( + Line(points={{8,23},{8,16}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points={{56,32},{56,36.95},{70,36.95},{70,40}}, color = {28, 108, 200})); + connect(load.y,generator. u) annotation ( + Line(points={{-19,4},{-2,4}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-76,60}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-56,60},{-50.95,60},{-50.95,66},{-48,66}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-28,66},{-21.95,66},{-21.95,60},{-16,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimple_generator; diff --git a/OpenHPL/Examples/package.mo b/OpenHPL/Examples/package.mo new file mode 100644 index 0000000..1078674 --- /dev/null +++ b/OpenHPL/Examples/package.mo @@ -0,0 +1,4 @@ +within OpenHPL; +package Examples "Some exaples of using library for hydro power (HP) system" + extends Modelica.Icons.ExamplesPackage; +end Examples; diff --git a/OpenHPL/Examples/package.order b/OpenHPL/Examples/package.order new file mode 100644 index 0000000..6a25606 --- /dev/null +++ b/OpenHPL/Examples/package.order @@ -0,0 +1,11 @@ +HPSimple +HPSimple_generator +HPSimple_Francis +HPDetailed +HPDetailed_generator +HPDetailed_Francis +HPSimple_Francis_IPSLGen +HPSimple_Francis_GridGen +HPSimple_Francis_IPSLGenGov +HPSimple_Francis_IPSLGenInfBus +HPSimple_OpenChannel diff --git a/OpenHPL/Functions/DarcyFriction/Friction.mo b/OpenHPL/Functions/DarcyFriction/Friction.mo new file mode 100644 index 0000000..b0ad3c4 --- /dev/null +++ b/OpenHPL/Functions/DarcyFriction/Friction.mo @@ -0,0 +1,26 @@ +within OpenHPL.Functions.DarcyFriction; +function Friction "Friction force with Darcy friction factor" + import Modelica.Constants.pi; + input Modelica.SIunits.Velocity v "Flow velocity"; + input Modelica.SIunits.Diameter D "Pipe diameter"; + input Modelica.SIunits.Length L "Pipe length"; + input Modelica.SIunits.Density rho "Density"; + input Modelica.SIunits.DynamicViscosity mu "Dynamic viscosity of water"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + // Function output (response) value + output Modelica.SIunits.Force F_f "Friction force"; + // Local (protected) quantities +protected + Modelica.SIunits.ReynoldsNumber N_Re; + // Reynold number + Real f; + // friction factor +algorithm + N_Re := rho * abs(v) * D / mu; + f := fDarcy(N_Re, D, eps); + F_f := 0.5 * pi * f * rho * L * v * abs(v) * D / 4; + annotation ( + Documentation(info = " +

Function for defining the friction forces using the Darcy friction factor.

+")); +end Friction; diff --git a/OpenHPL/Functions/DarcyFriction/fDarcy.mo b/OpenHPL/Functions/DarcyFriction/fDarcy.mo new file mode 100644 index 0000000..f07717f --- /dev/null +++ b/OpenHPL/Functions/DarcyFriction/fDarcy.mo @@ -0,0 +1,35 @@ +within OpenHPL.Functions.DarcyFriction; +function fDarcy "Darcy friction factor" + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Diameter D "Pipe diameter"; + input Modelica.SIunits.Height epsilon "Pipe roughness height"; + // Function output (response) value + output Real fD "Darcy friction factor"; + // Local (protected) quantities +protected + Real arg; + // Algorithm for computing specific enthalpy + Modelica.SIunits.ReynoldsNumber N_Re_lam = 2100, N_Re_tur = 2300; + Real X[4, 4], Y[4], K[4]; +algorithm + X := [N_Re_lam ^ 3, N_Re_lam ^ 2, N_Re_lam, 1; N_Re_tur ^ 3, N_Re_tur ^ 2, N_Re_tur, 1; 3 * N_Re_lam ^ 2, 2 * N_Re_lam, 1, 0; 3 * N_Re_tur ^ 2, 2 * N_Re_tur, 1, 0]; + Y := {64 / N_Re_lam, 1 / (2 * log10(epsilon / 3.7 / D + 5.74 / N_Re_tur ^ 0.9)) ^ 2, -64 / N_Re_lam ^ 2, -0.25 * 0.316 / N_Re_tur ^ 1.25}; + K := Modelica.Math.Matrices.inv(X) * Y; + arg := epsilon / 3.7 / D + 5.74 / (N_Re + 1e-3) ^ 0.9; + if N_Re <= 0 then + fD := 0; + elseif N_Re <= 2100 then + fD := 64 / N_Re; + elseif N_Re < 2300 then + fD := K[1] * N_Re ^ 3 + K[2] * N_Re ^ 2 + K[3] * N_Re + K[4]; + else + fD := 1 / (2 * log10(arg)) ^ 2; + end if; + annotation ( + Documentation(info = " +

Function for defining the Darcy friction factor using the Reynold number. Has different equations for laminar (Reynold number < 2100) and turbulent (Reynold number > 2300) flows and also for transitional zone (2100 < Reynold number < 2300).

+

+

Transitional zone is define with a cubic polynomial fitting and looks as follows:

+

+")); +end fDarcy; diff --git a/OpenHPL/Functions/DarcyFriction/package.mo b/OpenHPL/Functions/DarcyFriction/package.mo new file mode 100644 index 0000000..8d6351c --- /dev/null +++ b/OpenHPL/Functions/DarcyFriction/package.mo @@ -0,0 +1,10 @@ +within OpenHPL.Functions; +package DarcyFriction "Functions to define the Darcy friction factor and friction Force" + extends Modelica.Icons.UtilitiesPackage; + + annotation ( + Icon(coordinateSystem(initialScale = 0.1)), + Documentation(info = " +

Functions to define the Darcy friction factor and friction Force, which is based on this coefficient.

+")); +end DarcyFriction; diff --git a/OpenHPL/Functions/DarcyFriction/package.order b/OpenHPL/Functions/DarcyFriction/package.order new file mode 100644 index 0000000..341851f --- /dev/null +++ b/OpenHPL/Functions/DarcyFriction/package.order @@ -0,0 +1,2 @@ +Friction +fDarcy diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/RoundedReduction.mo b/OpenHPL/Functions/Fitting/DifferentFitting/RoundedReduction.mo new file mode 100644 index 0000000..dfea75f --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/RoundedReduction.mo @@ -0,0 +1,14 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function RoundedReduction + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + output Real phi; +algorithm + phi := (0.1 + 50 / N_Re) * ((D_1 / D_2) ^ 4 - 1); + annotation ( + Documentation(info = " +

Define dimension factor φ for Rounded Reduction. Rounded Expansion is the same as Squared Expansion.

+

+")); +end RoundedReduction; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/SharpOrifice.mo b/OpenHPL/Functions/Fitting/DifferentFitting/SharpOrifice.mo new file mode 100644 index 0000000..a425ba8 --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/SharpOrifice.mo @@ -0,0 +1,22 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function SharpOrifice + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + output Real phi; +protected + Real phi_0; +algorithm + phi_0 := (1 - (D_2 / D_1) ^ 2) * ((D_1 / D_2) ^ 4 - 1); + if N_Re < 2500 then + phi := (2.72 + (D_2 / D_1) ^ 2 * (120 / N_Re - 1)) * phi_0; + else + phi := (2.72 + (D_2 / D_1) ^ 2 * 4000 / N_Re) * phi_0; + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for Sharp Orifice.

+

+")); +end SharpOrifice; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/SquareExpansion.mo b/OpenHPL/Functions/Fitting/DifferentFitting/SquareExpansion.mo new file mode 100644 index 0000000..b33255d --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/SquareExpansion.mo @@ -0,0 +1,22 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function SquareExpansion + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + output Real phi; +protected + Real f_D "friction factor"; +algorithm + f_D := Functions.DarcyFriction.fDarcy(N_Re, D_1, eps); + if N_Re < 4000 then + phi := 2 * (1 - (D_1 / D_2) ^ 4); + else + phi := (1 + 0.8 * f_D) * (1 - (D_1 / D_2) ^ 2) ^ 2; + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for Square Expansion

+

+")); +end SquareExpansion; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/SquareReduction.mo b/OpenHPL/Functions/Fitting/DifferentFitting/SquareReduction.mo new file mode 100644 index 0000000..20778c5 --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/SquareReduction.mo @@ -0,0 +1,22 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function SquareReduction + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + output Real phi; +protected + Real f_D "friction factor"; +algorithm + f_D := Functions.DarcyFriction.fDarcy(N_Re, D_1, eps); + if N_Re < 2500 then + phi := (1.2 + 160 / N_Re) * ((D_1 / D_2) ^ 4 - 1); + else + phi := (0.6 + 0.48 * f_D) * (D_1 / D_2) ^ 2 * ((D_1 / D_2) ^ 2 - 1); + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for square reduction.

+

+")); +end SquareReduction; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/TaperedExpansion.mo b/OpenHPL/Functions/Fitting/DifferentFitting/TaperedExpansion.mo new file mode 100644 index 0000000..5e29db1 --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/TaperedExpansion.mo @@ -0,0 +1,22 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function TaperedExpansion + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + input Modelica.SIunits.Conversions.NonSIunits.Angle_deg theta; + output Real phi; +protected + Real f_D "friction factor"; +algorithm + if theta < 22.5 then + phi := 2.6 * Modelica.Math.sin(Modelica.SIunits.Conversions.from_deg(theta) / 4) * SquareExpansion(N_Re, eps, D_1, D_2); + else + phi := SquareExpansion(N_Re, eps, D_1, D_2); + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for Tapered Expansion. The taper angle θ should be specified.

+

+")); +end TaperedExpansion; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/TaperedReduction.mo b/OpenHPL/Functions/Fitting/DifferentFitting/TaperedReduction.mo new file mode 100644 index 0000000..2eb80e4 --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/TaperedReduction.mo @@ -0,0 +1,22 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function TaperedReduction + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + input Modelica.SIunits.Conversions.NonSIunits.Angle_deg theta; + output Real phi; +protected + Real f_D "friction factor"; +algorithm + if theta < 22.5 then + phi := 1.6 * sin(Modelica.SIunits.Conversions.from_deg(theta) / 4) * SquareReduction(N_Re, eps, D_1, D_2); + else + phi := sqrt(sin(Modelica.SIunits.Conversions.from_deg(theta) / 4)) * SquareReduction(N_Re, eps, D_1, D_2); + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for Tapered Reduction. The tapered angle θ should be specified.

+

+")); +end TaperedReduction; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/ThickOrifice.mo b/OpenHPL/Functions/Fitting/DifferentFitting/ThickOrifice.mo new file mode 100644 index 0000000..59f4cf1 --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/ThickOrifice.mo @@ -0,0 +1,21 @@ +within OpenHPL.Functions.Fitting.DifferentFitting; +function ThickOrifice + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; + //Pipe diameters + input Modelica.SIunits.Length L; + output Real phi; +protected + Real phi_0; +algorithm + phi_0 := (1 - (D_2 / D_1) ^ 2) * ((D_1 / D_2) ^ 4 - 1); + if L / D_2 <= 5 then + phi := (0.584 + 0.0936 / ((L / D_2) ^ 1.5 + 0.225)) * phi_0; + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for Thick Orifice. Orifice length should be provided, and this length should not be greater than 5D2.

+

+")); +end ThickOrifice; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/package.mo b/OpenHPL/Functions/Fitting/DifferentFitting/package.mo new file mode 100644 index 0000000..7452f89 --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/package.mo @@ -0,0 +1,3 @@ +within OpenHPL.Functions.Fitting; +package DifferentFitting +end DifferentFitting; diff --git a/OpenHPL/Functions/Fitting/DifferentFitting/package.order b/OpenHPL/Functions/Fitting/DifferentFitting/package.order new file mode 100644 index 0000000..716997f --- /dev/null +++ b/OpenHPL/Functions/Fitting/DifferentFitting/package.order @@ -0,0 +1,7 @@ +SquareReduction +SquareExpansion +TaperedReduction +TaperedExpansion +RoundedReduction +SharpOrifice +ThickOrifice diff --git a/OpenHPL/Functions/Fitting/FittingPhi.mo b/OpenHPL/Functions/Fitting/FittingPhi.mo new file mode 100644 index 0000000..eb0cfaa --- /dev/null +++ b/OpenHPL/Functions/Fitting/FittingPhi.mo @@ -0,0 +1,38 @@ +within OpenHPL.Functions.Fitting; +function FittingPhi + input Modelica.SIunits.Velocity v "Flow velocity"; + input Modelica.SIunits.Diameter D_1 "Pipe diameter from left hand side"; + input Modelica.SIunits.Diameter D_2 "Pipe diameter from right hand side"; + input Modelica.SIunits.Length L "Fitting length"; + input Modelica.SIunits.Conversions.NonSIunits.Angle_deg theta = 90 "Angle of teh tapered reduction/expansion"; + input Modelica.SIunits.Density rho "Density"; + input Modelica.SIunits.DynamicViscosity mu "Dynamic viscosity of water"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Fitting.FittingType fit_type "Type of pipe fitting"; + output Real phi; +protected + Modelica.SIunits.ReynoldsNumber N_Re; +algorithm + N_Re := rho * abs(v) * D_1 / mu; + if fit_type == Fitting.FittingType.SquareReduction then + phi := DifferentFitting.SquareReduction(N_Re, eps, D_1, D_2); + elseif fit_type == Fitting.FittingType.SquareExpansion then + phi := DifferentFitting.SquareExpansion(N_Re, eps, D_1, D_2); + elseif fit_type == Fitting.FittingType.TaperedReduction then + phi := DifferentFitting.TaperedReduction(N_Re, eps, D_1, D_2, theta); + elseif fit_type == Fitting.FittingType.TaperedExpansion then + phi := DifferentFitting.TaperedExpansion(N_Re, eps, D_1, D_2, theta); + elseif fit_type == Fitting.FittingType.RoundReduction then + phi := DifferentFitting.RoundedReduction(N_Re, D_1, D_2); + elseif fit_type == Fitting.FittingType.RoundExpansion then + phi := DifferentFitting.SquareExpansion(N_Re, eps, D_1, D_2); + elseif fit_type == Fitting.FittingType.SharpOrifice then + phi := DifferentFitting.SharpOrifice(N_Re, eps, D_1, D_2); + elseif fit_type == Fitting.FittingType.ThickOrifice then + phi := DifferentFitting.ThickOrifice(N_Re, eps, D_1, D_2, L); + end if; + annotation ( + Documentation(info = " +

Define dimension factor φ for different types of fittings.

+")); +end FittingPhi; diff --git a/OpenHPL/Functions/Fitting/FittingType.mo b/OpenHPL/Functions/Fitting/FittingType.mo new file mode 100644 index 0000000..8959cde --- /dev/null +++ b/OpenHPL/Functions/Fitting/FittingType.mo @@ -0,0 +1,10 @@ +within OpenHPL.Functions.Fitting; +type FittingType = enumeration( + SquareReduction "Square Reduction type", + SquareExpansion "Square Expansion type", + TaperedReduction "Tapered Reduction type", + TaperedExpansion "Tapered Expansion type", + RoundReduction "Round Reduction type", + RoundExpansion "Round Expansion type", + SharpOrifice "Sharp Orifice type", + ThickOrifice "Thick Orifice type") "Enumeration defining type of pipe fitting"; diff --git a/OpenHPL/Functions/Fitting/package.mo b/OpenHPL/Functions/Fitting/package.mo new file mode 100644 index 0000000..f54a37c --- /dev/null +++ b/OpenHPL/Functions/Fitting/package.mo @@ -0,0 +1,4 @@ +within OpenHPL.Functions; +package Fitting "Functions for pipe fitting" + extends Modelica.Icons.UtilitiesPackage; +end Fitting; diff --git a/OpenHPL/Functions/Fitting/package.order b/OpenHPL/Functions/Fitting/package.order new file mode 100644 index 0000000..ea3dc0b --- /dev/null +++ b/OpenHPL/Functions/Fitting/package.order @@ -0,0 +1,3 @@ +FittingPhi +DifferentFitting +FittingType diff --git a/OpenHPL/Functions/KP07/KPfunctions/FluxesH.mo b/OpenHPL/Functions/KP07/KPfunctions/FluxesH.mo new file mode 100644 index 0000000..cb0a1a5 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/FluxesH.mo @@ -0,0 +1,25 @@ +within OpenHPL.Functions.KP07.KPfunctions; +model FluxesH + extends Icons.Method; + parameter Integer N "number of segments"; + input Real U_[8, N], A_[N, 4], F_[2 * N, 4]; + output Real H[2 * N, 2]; +protected + Real H_p[2 * N], H_m[2 * N]; + Real a_mp[2 * N], a_pp[2 * N], a_mm[2 * N], a_pm[2 * N]; +equation + // speed propagation + a_mp = vector([A_[:, 1]; A_[:, 1]]); + a_pp = vector([A_[:, 2]; A_[:, 2]]); + a_mm = vector([A_[:, 3]; A_[:, 3]]); + a_pm = vector([A_[:, 4]; A_[:, 4]]); + // Fluxes + H_p = (a_pp .* F_[:, 1] - a_mp .* F_[:, 2]) ./ (a_pp - a_mp) + a_pp .* a_mp ./ (a_pp - a_mp) .* vector([U_[3, :]; U_[4, :]] - [U_[1, :]; U_[2, :]]); + H_m = (a_pm .* F_[:, 3] - a_mm .* F_[:, 4]) ./ (a_pm - a_mm) + a_pm .* a_mm ./ (a_pm - a_mm) .* vector([U_[7, :]; U_[8, :]] - [U_[5, :]; U_[6, :]]); + H = [H_p, H_m]; + annotation ( + Documentation(info = " +

The model for defining the central upwind numerical fluxes at the cell interfaces. Following equations are used:

+

+")); +end FluxesH; diff --git a/OpenHPL/Functions/KP07/KPfunctions/FluxesHF.mo b/OpenHPL/Functions/KP07/KPfunctions/FluxesHF.mo new file mode 100644 index 0000000..1f86a88 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/FluxesHF.mo @@ -0,0 +1,23 @@ +within OpenHPL.Functions.KP07.KPfunctions; +function FluxesHF + input Integer N "number of segments"; + input Real U_[8, N], A_[N, 4], F_[2 * N, 4]; + output Real H[2 * N, 2]; +protected + Real H_p[2 * N], H_m[2 * N]; + Real a_mp[2 * N], a_pp[2 * N], a_mm[2 * N], a_pm[2 * N]; +algorithm + // speed propagation + a_mp := vector([A_[:, 1]; A_[:, 1]]); + a_pp := vector([A_[:, 2]; A_[:, 2]]); + a_mm := vector([A_[:, 3]; A_[:, 3]]); + a_pm := vector([A_[:, 4]; A_[:, 4]]); + // Fluxes + H_p := (a_pp .* F_[:, 1] - a_mp .* F_[:, 2]) ./ (a_pp - a_mp) + a_pp .* a_mp ./ (a_pp - a_mp) .* vector([U_[3, :]; U_[4, :]] - [U_[1, :]; U_[2, :]]); + H_m := (a_pm .* F_[:, 3] - a_mm .* F_[:, 4]) ./ (a_pm - a_mm) + a_pm .* a_mm ./ (a_pm - a_mm) .* vector([U_[7, :]; U_[8, :]] - [U_[5, :]; U_[6, :]]); + H := [H_p, H_m]; + annotation ( + Documentation(info = " +

The model for defining the central upwind numerical fluxes at the cell interfaces.

+")); +end FluxesHF; diff --git a/OpenHPL/Functions/KP07/KPfunctions/GhostsCell.mo b/OpenHPL/Functions/KP07/KPfunctions/GhostsCell.mo new file mode 100644 index 0000000..778b933 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/GhostsCell.mo @@ -0,0 +1,37 @@ +within OpenHPL.Functions.KP07.KPfunctions; +model GhostsCell + extends Icons.Method; + parameter Integer N "number of segments"; + input Real U[2 * N]; + //, 1]; + output Real U_[2 * (N + 4)]; + //, 1]; + output Real p_[N + 4], m_dot_[N + 4]; + //, 1], + //, 1]; +protected + Real p[N], m_dot[N]; + //, 1], + //, 1]; +equation + p = U[1:N]; + m_dot = U[N + 1:2 * N]; + p_[2] = 2 * p[1] - p[2]; + p_[1] = 2 * p_[2] - p[1]; + p_[N + 3] = 2 * p[N] - p[N - 1]; + p_[N + 4] = 2 * p_[N + 3] - p[N]; + m_dot_[2] = 2 * m_dot[1] - m_dot[2]; + m_dot_[1] = 3 * m_dot[1] - 2 * m_dot[2]; + m_dot_[N + 3] = 2 * m_dot[N] - m_dot[N - 1]; + m_dot_[N + 4] = 3 * m_dot[N] - 2 * m_dot[N - 1]; + p_[3:N + 2] = p; + m_dot_[3:N + 2] = m_dot; + U_ = vector([p_; m_dot_]); + annotation ( + Documentation(info = " +

The model for defining the ghosts cells. It can be observed that for a given jth cell, information from the neighbouring cells j-1 and j-2 (to the left) and j+1 and j+2 (to the right) are required for calculating the flux integrals.

+

+

Here is the equations that are used in this function:

+

+")); +end GhostsCell; diff --git a/OpenHPL/Functions/KP07/KPfunctions/SlopeVectoreS.mo b/OpenHPL/Functions/KP07/KPfunctions/SlopeVectoreS.mo new file mode 100644 index 0000000..cdf0534 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/SlopeVectoreS.mo @@ -0,0 +1,41 @@ +within OpenHPL.Functions.KP07.KPfunctions; +model SlopeVectoreS + extends Icons.Method; + parameter Integer N "number of segments"; + input Real U_[2 * (N + 4)], theta, dx; + output Real s[2, N + 2]; +protected + Real s_m[2 * (N + 2), 1], s_c[2 * (N + 2), 1], s_p[2 * (N + 2), 1], s1[2 * (N + 2), 1]; + Real p_[N + 4], m_dot_[N + 4]; +equation + p_ = U_[1:N + 4]; + m_dot_ = U_[N + 5:2 * (N + 4)]; + s_m = theta * ([p_[2:N + 3]; m_dot_[2:N + 3]] - [p_[1:N + 2]; m_dot_[1:N + 2]]) / dx; + s_c = ([p_[3:N + 4]; m_dot_[3:N + 4]] - [p_[1:N + 2]; m_dot_[1:N + 2]]) / 2 / dx; + s_p = theta * ([p_[3:N + 4]; m_dot_[3:N + 4]] - [p_[2:N + 3]; m_dot_[2:N + 3]]) / dx; + for i in 1:N + 2 loop + s1[i, 1] = 0.5 * (sign(s_m[i, 1]) + sign(s_c[i, 1])) * min(abs(s_m[i, 1]), abs(s_c[i, 1])); + s1[N + 2 + i, 1] = 0.5 * (sign(s_m[N + 2 + i, 1]) + sign(s_c[N + 2 + i, 1])) * min(abs(s_m[N + 2 + i, 1]), abs(s_c[N + 2 + i, 1])); + s[1, i] = 0.5 * (sign(s1[i, 1]) + sign(s_p[i, 1])) * min(abs(s1[i, 1]), abs(s_p[i, 1])); + s[2, i] = 0.5 * (sign(s1[N + 2 + i, 1]) + sign(s_p[N + 2 + i, 1])) * min(abs(s1[N + 2 + i, 1]), abs(s_p[N + 2 + i, 1])); + // if s_m[i,1]>0 and s_c[i,1]>0 and s_p[i,1]>0 then + // s[1,i] = min(min(s_m[i,1],s_c[i,1]),s_p[i,1]); + // elseif s_m[i,1]<0 and s_c[i,1]<0 and s_p[i,1]<0 then + // s[1,i] = max(max(s_m[i,1],s_c[i,1]),s_p[i,1]); + // else + // s[1,i] = 0; + // end if; + // if s_m[N + 2 + i,1]>0 and s_c[N + 2 + i,1]>0 and s_p[N + 2 + i,1]>0 then + // s[2,i] = min(min(s_m[N + 2 + i,1],s_c[N + 2 + i,1]),s_p[N + 2 + i,1]); + // elseif s_m[N + 2 + i,1]<0 and s_c[N + 2 + i,1]<0 and s_p[N + 2 + i,1]<0 then + // s[2,i] = max(max(s_m[N + 2 + i,1],s_c[N + 2 + i,1]),s_p[N + 2 + i,1]); + // else + // s[2,i] = 0; + // end if; + end for; + annotation ( + Documentation(info = " +

The model for defining the slope sj of the reconstructed function in each cell, which is computed using a limiter function to obtain a non-oscillatory nature of the reconstruction. The KP07 scheme utilizes the generalized minmod limiter:

+

+")); +end SlopeVectoreS; diff --git a/OpenHPL/Functions/KP07/KPfunctions/SpeedPropagationApipe.mo b/OpenHPL/Functions/KP07/KPfunctions/SpeedPropagationApipe.mo new file mode 100644 index 0000000..7c9f9db --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/SpeedPropagationApipe.mo @@ -0,0 +1,22 @@ +within OpenHPL.Functions.KP07.KPfunctions; +model SpeedPropagationApipe + extends Icons.Method; + parameter Integer N "number of segments"; + input Real lamda1[N, 4], lamda2[N, 4]; + output Real A[N, 4]; +protected + Real a_mp[N], a_mm[N], a_pm[N], a_pp[N]; +equation + for i in 1:N loop + a_mp[i] = min(min(lamda2[i, 2], lamda2[i, 1]), 0); + a_pp[i] = max(max(lamda1[i, 2], lamda1[i, 1]), 0); + a_mm[i] = min(min(lamda2[i, 4], lamda2[i, 3]), 0); + a_pm[i] = max(max(lamda1[i, 4], lamda1[i, 3]), 0); + end for; + A = [a_mp, a_pp, a_mm, a_pm]; + annotation ( + Documentation(info = " +

The mode lfor defining the the one-sided local speed of propagations. Estimated as the largest and the smallest eigen values of the Jacobian of the system.

+

+")); +end SpeedPropagationApipe; diff --git a/OpenHPL/Functions/KP07/KPfunctions/SpeedPropagationApipeF.mo b/OpenHPL/Functions/KP07/KPfunctions/SpeedPropagationApipeF.mo new file mode 100644 index 0000000..9cf6c36 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/SpeedPropagationApipeF.mo @@ -0,0 +1,21 @@ +within OpenHPL.Functions.KP07.KPfunctions; +function SpeedPropagationApipeF + input Integer N "number of segments"; + input Real lamda1[N, 4]; + input Real lamda2[N, 4]; + output Real A[N, 4]; +protected + Real a_mp[N], a_mm[N], a_pm[N], a_pp[N]; +algorithm + for i in 1:N loop + a_mp[i] := min(min(lamda2[i, 2], lamda2[i, 1]), 0); + a_pp[i] := max(max(lamda1[i, 2], lamda1[i, 1]), 0); + a_mm[i] := min(min(lamda2[i, 4], lamda2[i, 3]), 0); + a_pm[i] := max(max(lamda1[i, 4], lamda1[i, 3]), 0); + end for; + A := [a_mp, a_pp, a_mm, a_pm]; + annotation ( + Documentation(info = " +

The mode lfor defining the the one-sided local speed of propagations. Estimated as the largest and the smallest eigen values of the Jacobian of the system.

+")); +end SpeedPropagationApipeF; diff --git a/OpenHPL/Functions/KP07/KPfunctions/WiseU.mo b/OpenHPL/Functions/KP07/KPfunctions/WiseU.mo new file mode 100644 index 0000000..43db112 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/WiseU.mo @@ -0,0 +1,36 @@ +within OpenHPL.Functions.KP07.KPfunctions; +model WiseU + extends Icons.Method; + parameter Integer N "number of segments"; + input Real dx, boun[2, 2], theta; + input Real U[2 * N], B[N + 4]; + input Boolean bounCon[2, 2]; + output Real U_[8, N]; +protected + Real U_mm[2, N], U_mp[2, N], U_pm[2, N], U_pp[2, N], p_ghosts[N + 4], m_dot_ghosts[N + 4], s[2, N + 2]; +public + KPfunctions.GhostsCell ghostsCell(N = N, U = U); + KPfunctions.SlopeVectoreS slopeVectoreS(N = N, U_ = vector([p_ghosts; m_dot_ghosts]), theta = theta, dx = dx); +equation + // ghosts cells + p_ghosts = ghostsCell.p_ + B; + m_dot_ghosts = ghostsCell.m_dot_; + // slove vectore + s = slopeVectoreS.s; + // pieace wise + U_mp = transpose([p_ghosts[3:N + 2], m_dot_ghosts[3:N + 2]]) + dx * s[:, 2:N + 1] / 2; + U_pp[:, 1:N - 1] = transpose([p_ghosts[4:N + 2], m_dot_ghosts[4:N + 2]]) - dx * s[:, 3:N + 1] / 2; + U_mm[:, 2:N] = transpose([p_ghosts[3:N + 1], m_dot_ghosts[3:N + 1]]) + dx * s[:, 2:N] / 2; + U_pm = transpose([p_ghosts[3:N + 2], m_dot_ghosts[3:N + 2]]) - dx * s[:, 2:N + 1] / 2; + U_mm[1, 1] = if bounCon[1, 1] == true then boun[1, 1] else p_ghosts[2] + dx * s[1, 1] / 2; + U_pp[1, N] = if bounCon[2, 1] == true then boun[2, 1] else p_ghosts[N + 3] - dx * s[1, N + 2] / 2; + U_mm[2, 1] = if bounCon[1, 2] == true then boun[1, 2] else m_dot_ghosts[2] + dx * s[2, 1] / 2; + U_pp[2, N] = if bounCon[2, 2] == true then boun[2, 2] else m_dot_ghosts[N + 3] - dx * s[2, N + 2] / 2; + // output vector U_ + U_ = [U_mp; U_pp; U_mm; U_pm]; + annotation ( + Documentation(info = " +

The piecewise linear reconstruction model, where the values of the left and the right interfaces of the cell (j-1/2 and j+1/2) at the right(+)/left(-) point values are defined.

+

+")); +end WiseU; diff --git a/OpenHPL/Functions/KP07/KPfunctions/package.mo b/OpenHPL/Functions/KP07/KPfunctions/package.mo new file mode 100644 index 0000000..3ae762a --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/package.mo @@ -0,0 +1,3 @@ +within OpenHPL.Functions.KP07; +package KPfunctions +end KPfunctions; diff --git a/OpenHPL/Functions/KP07/KPfunctions/package.order b/OpenHPL/Functions/KP07/KPfunctions/package.order new file mode 100644 index 0000000..97f7d3d --- /dev/null +++ b/OpenHPL/Functions/KP07/KPfunctions/package.order @@ -0,0 +1,7 @@ +GhostsCell +SlopeVectoreS +WiseU +SpeedPropagationApipe +FluxesH +SpeedPropagationApipeF +FluxesHF diff --git a/OpenHPL/Functions/KP07/KPmethod.mo b/OpenHPL/Functions/KP07/KPmethod.mo new file mode 100644 index 0000000..2786580 --- /dev/null +++ b/OpenHPL/Functions/KP07/KPmethod.mo @@ -0,0 +1,62 @@ +within OpenHPL.Functions.KP07; +model KPmethod + extends Icons.Method; + parameter Integer N "number of segments"; + input Real U[2 * N] "state vector", dx "length step", theta = 1.3 "parameter for slope limiter", S_[2 * N] "source term vector S", F_[2 * N, 4] "vector F", lam1[N, 4] "matrix of eigenvalues '+'", lam2[N, 4] "matrix of eigenvalues '-'", B[N + 4] = zeros(N + 4) "additional for open channel", boundary[2, 2] "values for boundary conditions"; + input Boolean boundaryCon[2, 2] "boundary conditions consideration"; + output Real diff_eq[2 * N] "right hand side for KP solution"; + Real U_[8, N] "matrix with boundary state values. Can be extracted"; +protected + Real H_[2 * N, 2] "matrix of fluxes", A_speed[N, 4] "matrix of one-side local speeds propagation"; +public + KPfunctions.WiseU wiseU(N = N, theta = theta, U = U, B = B, dx = dx, boun = boundary, bounCon = boundaryCon) "use function for defing the piece wise linear reconstruction of vector U"; + KPfunctions.SpeedPropagationApipe speedA(N = N, lamda1 = lam1, lamda2 = lam2) "use function for defing the one-side local speeds propagation"; + KPfunctions.FluxesH fluxesH(N = N, U_ = U_, A_ = A_speed, F_ = F_) "use function for defing the central upwind numerical fluxes"; +equation + ///// piece wise linear reconstruction of vector U + U_ = wiseU.U_; + ///// one-side local speeds propagation + A_speed = speedA.A; + //A_speed = Functions.KP07.KPfunctions.SpeedPropagationApipeF(N, lam1, lam2); + ///// central upwind numerical fluxes + H_ = fluxesH.H; + //H_ = Functions.KP07.KPfunctions.FluxesHF(N, U_, A_speed, F_); + //// right hand side of diff. equation + diff_eq = (-(H_[:, 1] - H_[:, 2]) / dx) + S_; + annotation ( + Documentation(info = " +

This is a well-balanced second order scheme, which is a Reimann problem solver free scheme (central scheme) while at the same time it takes the advantage of the upwind scheme by utilizing the local, one side speed of propagation (given by the eigenvalues of the Jacobian matrix) during the calculation of the flux at the cell interfaces.

+

Method description

+

The central-upwind numerical scheme is presented for one dimensional case.

+

+

The semi-discrete (time dependent ODEs) central-upwind scheme can be then written in the following from:

+

+

Here, in this function, the right hand side of the previous equation for the solution of KP07 scheme is calculated and returns as a output.

+

The central upwind numerical fluxes at the cell interfaces are given by:

+

+

For calculating the numerical fluxes Hi+/-1/2(t) and the values of U+/-i+/-1/2 are needed. These can be calculated as the end points of a piecewise linearly reconstructed function:

+

+

The slope si of the reconstructed function in each cell is computed using a limiter function to obtain a non-oscillatory nature of the reconstruction. The KP07 scheme utilizes the generalized minmod limiter as:

+

+

The ghosts cells that are needed for thiese calculations can be defined in the following way:

+

+

Also the one-sided local speed of propagations can be estimated as the largest and the smallest eigen values of the Jacobian of the system as:

+

+

Parameters/variables description

+

As a input for this function should be provided:

+ +

In order to calculate matrix F and eigenvalues, it is possible to take out of the function the piecewise linear reconstruction of states matrix U+/-i+/-1/2 . This matrix consists of following vectors U+/-i+/-1/2 = [U-i+1/2; U+i+1/2; U-i-1/2; U+i-1/2].

+

Examples of using this scheme is presented in KP07.TestKPpde.

+")); +end KPmethod; diff --git a/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/BasicEquation.mo b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/BasicEquation.mo new file mode 100644 index 0000000..682b1d3 --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/BasicEquation.mo @@ -0,0 +1,19 @@ +within OpenHPL.Functions.KP07.TestKPpde.CheckingExtra; +model BasicEquation + extends Icons.Method; + parameter Integer N "number of segments"; + input Real U[2 * N, :] "state vector", rho_atm "atm. density", A_atm[N, :] "atm. cross area", beta_total "total compres.", beta "compres.", p_a "atm. pressure"; + output Real v[N, scalar(size(U[1, :]))] "velocity", rho[N, scalar(size(U[1, :]))] "density", A[N, scalar(size(U[1, :]))] "cross area", V_dot[N, scalar(size(U[1, :]))] "vol. flow", F_ap[N, scalar(size(U[1, :]))] "rho*A"; +protected + Real p_p[N, scalar(size(U[1, :]))] "state, pressure", m_dot[N, scalar(size(U[1, :]))] "state, mass flow"; +equation + //// decompose state vector + U[1:N, :] = p_p; + U[N + 1:2 * N, :] = m_dot; + //// define needed variables + F_ap = rho_atm * A_atm .* (ones(N, scalar(size(p_p[1, :]))) + beta_total * (p_p - p_a * ones(N, scalar(size(p_p[1, :]))))); + v = m_dot ./ F_ap; + rho = rho_atm * (ones(N, scalar(size(p_p[1, :]))) + beta * (p_p - p_a * ones(N, scalar(size(p_p[1, :]))))); + A = F_ap ./ rho; + V_dot = m_dot ./ rho; +end BasicEquation; diff --git a/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/ElasticPenstock.mo b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/ElasticPenstock.mo new file mode 100644 index 0000000..44ea077 --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/ElasticPenstock.mo @@ -0,0 +1,64 @@ +within OpenHPL.Functions.KP07.TestKPpde.CheckingExtra; +model ElasticPenstock + extends Modelica.Icons.Example; + outer Constants Const; + import Modelica.Constants.pi; + parameter Modelica.SIunits.Height H = 420 "Height over which water fall in the pipe, m" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 600 "length of the pipe, m" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D = 3.3 "Diametr from the input side of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 20 "initial flow rate in the pipe, m3/s" annotation ( + Dialog(group = "Initialization")); + parameter Integer N = 20; + Modelica.SIunits.Area A_atm = D ^ 2 * pi / 4; + Modelica.SIunits.Pressure p_p[N], dp = Const.rho * Const.g * H / N, p_1 = 8e5, p_2 = 48e5, p_[N, 4]; + Modelica.SIunits.Length dx = L / N, B[N + 4] = zeros(N + 4); + Modelica.SIunits.MassFlowRate m_dot[N], m_dot_[N, 4], m_dot_R = V_dot0 * Const.rho, m_dot_V = V_dot0 * Const.rho; + Real U_[8, N], S_[2 * N], F_[2 * N, 4], lam1[N, 4], lam2[N, 4]; + Modelica.SIunits.VolumeFlowRate V_dot[N]; + Real theta = 1.3; + Real U[2 * N], F_d[N]; +public + BasicEquation basic(N = N, U = U, rho_atm = Const.rho, A_atm = A_atm * ones(N), beta_total = Const.beta_total, beta = Const.beta, p_a = Const.p_a); + // use this model for define main equations for specific problem, which (these eq.) depend on the state vaector. + Functions.KP07.KPmethod kP(N = N, U = U, dx = dx, theta = theta, B = B, S_ = S_, F_ = F_, lam1 = lam1, lam2 = lam2, boundary = [p_1, m_dot_R; p_2, m_dot_V], boundaryCon = [true, true; false, true]); + // specify all variables which is needed for using KP method for solve PDE + BasicEquation basicMid(N = N, U = transpose([U_[1:2:8, :], U_[2:2:8, :]]), rho_atm = Const.rho, A_atm = A_atm * ones(N, 4), beta_total = Const.beta_total, beta = Const.beta, p_a = Const.p_a); + // Use the model for main equations, but not with state vector, but with the piecewise linear reconstruction of it. +initial equation + m_dot = Const.rho * V_dot0 * ones(N, 1); + p_p = [p_1 + dp / 2:dp:p_1 + dp / 2 + dp * (N - 1)]; +equation + ///// define state vector + U[1:N, 1] = p_p[:, 1]; + U[N + 1:2 * N, 1] = m_dot[:, 1]; + // Define variables intrested vol. flow rate + V_dot = basic.V_dot; + ////// Define the piecewise linear reconstruction of states. + U_ = kP.U_; + ////// + p_ = transpose(matrix(U_[1:2:8, :])); + ///// mass flow rate + m_dot_ = transpose(matrix(U_[2:2:8, :])); + ///// eigenvalues + lam1 = (basicMid.v + sqrt(basicMid.v .* basicMid.v + 4 * basicMid.A / Const.rho ./ A_atm / Const.beta_total)) / 2; + lam2 = (basicMid.v - sqrt(basicMid.v .* basicMid.v + 4 * basicMid.A / Const.rho ./ A_atm / Const.beta_total)) / 2; + ///// F vector + F_ = [m_dot_ ./ Const.rho ./ A_atm ./ Const.beta_total; m_dot_ .* basicMid.v + basicMid.A .* p_]; + //// source term of friction and gravity forces + for i in 1:N loop + F_d[i, 1] = DarcyFriction.Friction(basic.v[i, 1], 2 * sqrt(basic.A[i, 1] / pi), dx, basic.rho[i, 1], Const.mu, Const.eps) / dx; + end for; + S_[1:N, 1] = vector(zeros(N, 1)); + S_[N + 1:2 * N, 1] = vector(basic.F_ap * Const.g * H / L - F_d); + // define defferential equation + der(U) = kP.diff_eq; + annotation ( + experiment(StopTime = 100), + Documentation(info = " +

Here is example of using the KP function to solve hyperbolic PDE (here, model for penstock with compressible water and elastic walls is used).

+

All calculation of the variables that is used for defining eigenvalues, source term S and vector F are implemented in additional function BasicEquation which used one time for centered values and then for boundary values.

+")); +end ElasticPenstock; diff --git a/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/package.mo b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/package.mo new file mode 100644 index 0000000..f67cdf1 --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/package.mo @@ -0,0 +1,4 @@ +within OpenHPL.Functions.KP07.TestKPpde; +package CheckingExtra + extends Modelica.Icons.ExamplesPackage; +end CheckingExtra; diff --git a/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/package.order b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/package.order new file mode 100644 index 0000000..abcd824 --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/CheckingExtra/package.order @@ -0,0 +1,2 @@ +ElasticPenstock +BasicEquation diff --git a/OpenHPL/Functions/KP07/TestKPpde/ElasticPenstock.mo b/OpenHPL/Functions/KP07/TestKPpde/ElasticPenstock.mo new file mode 100644 index 0000000..c259a33 --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/ElasticPenstock.mo @@ -0,0 +1,71 @@ +within OpenHPL.Functions.KP07.TestKPpde; +model ElasticPenstock + extends Modelica.Icons.Example; + outer Constants Const; + import Modelica.Constants.pi; + parameter Modelica.SIunits.Height H = 420 "Height over which water fall in the pipe, m" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 600 "length of the pipe, m" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D = 3.3 "Diametr of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 20 "initial flow rate in the pipe, m3/s" annotation ( + Dialog(group = "Initialization")); + parameter Integer N = 20 "Number of segments"; + Modelica.SIunits.Area A_atm = D ^ 2 * pi / 4 "pipe are at atm. p.", A[N] "center pipe A", A_[N, 4] "bounds pipe A"; + Modelica.SIunits.Pressure p_p[N] "center pressure", dp = Const.rho * Const.g * H / N "initial p. step", p_1 = 8e5 "input p.", p_2 = 48e5 "output p.", p_[N, 4] "bounds p."; + Modelica.SIunits.Length dx = L / N "length step", B[N + 4] = zeros(N + 4) "additional for open channel"; + Modelica.SIunits.MassFlowRate m_dot[N] "center mass flow", m_dot_[N, 4] "bounds mass flow", m_dot_R = V_dot0 * Const.rho "input m_dot", m_dot_V = V_dot0 * Const.rho "output m_dot"; + Real F_ap[N] "centered A*rho", S_[2 * N] "source term", F_[2 * N, 4] "F matrix", lam1[N, 4] "eigenvalue '+'", lam2[N, 4] "eigenvalue '-'", F_ap_[N, 4] "bounds A*rho"; + Modelica.SIunits.Density rho[N] "centered density", rho_[N, 4] "bounds density"; + Modelica.SIunits.Velocity v_[N, 4] "bounds velocity", v[N] "centered velocity"; + Modelica.SIunits.VolumeFlowRate V_dot[N] "centered volumetric flow"; + Real theta = 1.3 "parameter for slope limiter"; + Real U_[8, N] "bounds states", U[2 * N] "center states", F_d[N] "friction"; +public + Functions.KP07.KPmethod kP(N = N, U = U, dx = dx, S_ = S_, F_ = F_, lam1 = lam1, lam2 = lam2, boundary = [p_1, m_dot_R; p_2, m_dot_V], boundaryCon = [true, true; false, true]); + // specify all variables which is needed for using KP method for solve PDE +initial equation + m_dot = Const.rho * V_dot0 * ones(N); + p_p = p_1 + dp / 2:dp:p_1 + dp / 2 + dp * (N - 1); +equation + ///// define state vector + U[1:N] = p_p[:]; + U[N + 1:2 * N] = m_dot[:]; + ///// Define variables, which are going to be used for souce term S_ + F_ap = Const.rho * A_atm * (ones(N) + Const.beta_total * (p_p - Const.p_a * ones(N))); + v = m_dot ./ F_ap; + rho = Const.rho * (ones(N) + Const.beta * (p_p - Const.p_a * ones(N))); + A = F_ap ./ rho; + V_dot = m_dot ./ rho; + ///// Define the piecewise linear reconstruction of states. + U_ = kP.U_; + ///// decompose matrix U into state matrix + p_ = transpose(matrix(U_[1:2:8, :])); + m_dot_ = transpose(matrix(U_[2:2:8, :])); + ///// define variables, which are going to be used for F matrix and eigenvalues + rho_ = Const.rho * (ones(N, 4) + Const.beta * (p_ - Const.p_a * ones(N, 4))); + F_ap_ = Const.rho * A_atm * (ones(N, 4) + Const.beta_total * (p_ - Const.p_a * ones(N, 4))); + A_ = F_ap_ ./ rho_; + v_ = m_dot_ ./ F_ap_; + ///// define eigenvalues + lam1 = (v_ + sqrt(v_ .* v_ + 4 * A_ / Const.rho ./ A_atm / Const.beta_total)) / 2; + lam2 = (v_ - sqrt(v_ .* v_ + 4 * A_ / Const.rho ./ A_atm / Const.beta_total)) / 2; + ///// F vector + F_ = [m_dot_ ./ Const.rho ./ A_atm ./ Const.beta_total; m_dot_ .* v_ + A_ .* p_]; + ///// source term of friction and gravity forces + for i in 1:N loop + // define friction force in each segment using Darcy friction factor + F_d[i] = DarcyFriction.Friction(v[i], 2 * sqrt(A[i] / pi), dx, rho[i], Const.mu, Const.eps) / dx; + end for; + S_[1:N] = vector(zeros(N)); + S_[N + 1:2 * N] = vector(F_ap * Const.g * H / L - F_d); + ///// defferential equation + der(U) = kP.diff_eq; + annotation ( + experiment(StopTime = 100), + Documentation(info = " +

Here is example of using the KP function to solve hyperbolic PDE (here, model for penstock with compressible water and elastic walls is used).

+

All calculation of the variables that is used for defining eigenvalues, source term S and vector F are implemented inside this model.

+")); +end ElasticPenstock; diff --git a/OpenHPL/Functions/KP07/TestKPpde/OpenChannel.mo b/OpenHPL/Functions/KP07/TestKPpde/OpenChannel.mo new file mode 100644 index 0000000..68a503c --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/OpenChannel.mo @@ -0,0 +1,92 @@ +within OpenHPL.Functions.KP07.TestKPpde; +model OpenChannel + extends Modelica.Icons.Example; + outer Constants Const; + parameter Integer N = 100; + parameter Modelica.SIunits.Length w = 194 "Channel width", L = 5000 "Channel length"; + parameter Modelica.SIunits.Height H[2] = {16.7, 0} "Channel height, left and right side", b[N + 1] = linspace(H[1], H[2], N + 1) "Riverbed", h0[N] = vector([ones(5) * 0.4; linspace(H[1] - 0.4 - 0.5 * (b[6] + b[7]), H[1] - 0.4 - 0.5* (b[N] + b[N + 1]), N - 5)]) "Initial depth"; + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 120 "Initial flow rate"; + parameter Real f_n = 0.04 "Manning's roughness coefficient [s/m^1/3]"; + parameter Boolean boundaryCondition[2, 2] = [false, true; false, true] "boundary conditions considiratiion [z_left, q_left; z_right, q_right]", SteadyState = false "if true - starts from Steady State"; + input Real boundaryValues[2, 2] = [h0[1] + b[1], V_dot0 / w; h0[N] + b[N + 1], V_dot0 / w] "values for the boundary conditions [z_left, q_left; z_right, q_right]"; + Modelica.SIunits.Length dx = L / N; + Modelica.SIunits.VolumeFlowRate V_dot[N]; + Modelica.SIunits.Height z[N], B[N], z_[N, 4], h_[N, 4], h[N](start = h0); + Modelica.SIunits.Velocity u_[N, 4]; + Real q0 = V_dot0 / w, q[N](start = ones(N) * V_dot0 / w), q_[N, 4], q_t; + Real S_[2 * N], theta = 1.3, F_[2 * N, 4], lam1[N, 4], lam2[N, 4], F_f[N]; + Real U[2 * N], U_[8, N], U_mp[N], U_pm[N]; +public + Functions.KP07.KPmethod KP(N = N, U = vector([h; q]), dx = dx, theta = theta, B = vector([b[1] + 3 / 2 * (b[1] - b[2]); b[1] + 1 / 2 * (b[1] - b[2]); B; b[N + 1] - 1 / 2 * (b[N] - b[N+1]); b[N + 1] - 3 / 2 * (b[N] - b[N+1])]), S_ = S_, F_ = F_, lam1 = lam1, lam2 = lam2, boundary = boundaryValues, boundaryCon = boundaryCondition); + // specify all variables which is needed for using KP method for solve PDE +initial equation + if SteadyState == true then + der(U) = zeros(2 * N); + else + q = ones(N) * q0; + h = h0; + end if; +equation + /// disturbance + if time < 1200 then + q_t = q0; + elseif time < 1300 then + q_t = q0 + 10 / w; + else + q_t = q0; + end if; + //boundaryValues = [h0[1] + b[1], q_t; h0[N] + b[N + 1], q0]; + /// centered riverbed + B = (b[1:N] + b[2:N + 1]) / 2; + /// z vector + z = h + B; + /// q vector + q = V_dot / w; + /// U vector + U = vector([z; q]); + /// piece wise linear reconstruction of vector U + U_ = KP.U_; + /// positivity preserving + for i in 1:N loop + if U_[1, i] < b[i + 1] then + U_mp[i] = h[i] + b[i + 1]; + else + U_mp[i] = U_[1, i]; + end if; + if U_[7, i] < b[i] then + U_pm[i] = h[i] + b[i]; + else + U_pm[i] = U_[7, i]; + end if; + end for; + /// decompose states + z_ = [U_mp, transpose(matrix(U_[3:2:5, :])), U_pm]; + h_ = z_ - [b[2:N + 1], b[2:N + 1], b[1:N], b[1:N]]; + q_ = transpose(matrix(U_[2:2:8, :])); + /// desingularization + for i in 1:N loop + u_[i, 1] = 2 * h_[i, 1] * q_[i, 1] / (h_[i, 1] ^ 2 + max(h_[i, 1] ^ 2, 1e-10)); + u_[i, 2] = 2 * h_[i, 2] * q_[i, 2] / (h_[i, 2] ^ 2 + max(h_[i, 2] ^ 2, 1e-10)); + u_[i, 3] = 2 * h_[i, 3] * q_[i, 3] / (h_[i, 3] ^ 2 + max(h_[i, 3] ^ 2, 1e-10)); + u_[i, 4] = 2 * h_[i, 4] * q_[i, 4] / (h_[i, 4] ^ 2 + max(h_[i, 4] ^ 2, 1e-10)); + end for; + /// eigenvalues + lam1 = u_ + sqrt(h_ * Const.g); + lam2 = u_ - sqrt(h_ * Const.g); + /// F vector + F_ = [q_; q_ .* q_ ./ h_ + Const.g * h_ .* h_ / 2]; + /// source term of friction and gravity forces + for i in 1:N loop + F_f[i] = (-Const.g * h[i] * (b[i + 1] - b[i]) / dx) - f_n ^ 2 * Const.g * q[i] * abs(q[i]) * (w + 2 * h[i] ^ (4 / 3)) / w ^ (4 / 3) * (2 * h[i] / (h[i] ^ 2 + max(h_[i, 4] ^ 2, 1e-10))) ^ (7 / 3); + end for; + S_[1:N] = zeros(N); + S_[N + 1:2 * N] = F_f; + /// diff. equation + der(U) = KP.diff_eq; + annotation ( + experiment(StopTime = 5000), + Documentation(info = " +

Here is example of using the KP function to solve hyperbolic PDE (here, model for openchannel is used).

+

All calculation of the variables that is used for defining eigenvalues, source term S and vector F are implemented inside this model.

+")); +end OpenChannel; diff --git a/OpenHPL/Functions/KP07/TestKPpde/package.mo b/OpenHPL/Functions/KP07/TestKPpde/package.mo new file mode 100644 index 0000000..1a52c5e --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/package.mo @@ -0,0 +1,4 @@ +within OpenHPL.Functions.KP07; +package TestKPpde + extends Modelica.Icons.ExamplesPackage; +end TestKPpde; diff --git a/OpenHPL/Functions/KP07/TestKPpde/package.order b/OpenHPL/Functions/KP07/TestKPpde/package.order new file mode 100644 index 0000000..7453708 --- /dev/null +++ b/OpenHPL/Functions/KP07/TestKPpde/package.order @@ -0,0 +1,3 @@ +ElasticPenstock +CheckingExtra +OpenChannel diff --git a/OpenHPL/Functions/KP07/package.mo b/OpenHPL/Functions/KP07/package.mo new file mode 100644 index 0000000..29f0886 --- /dev/null +++ b/OpenHPL/Functions/KP07/package.mo @@ -0,0 +1,10 @@ +within OpenHPL.Functions; +package KP07 "Methods for KP07 scheme" + extends Modelica.Icons.UtilitiesPackage; + + annotation ( + Icon(coordinateSystem(initialScale = 0.1)), + Documentation(info = " +

Different methods that define some components in the KP07 scheme.

+")); +end KP07; diff --git a/OpenHPL/Functions/KP07/package.order b/OpenHPL/Functions/KP07/package.order new file mode 100644 index 0000000..2d8c444 --- /dev/null +++ b/OpenHPL/Functions/KP07/package.order @@ -0,0 +1,3 @@ +KPmethod +KPfunctions +TestKPpde diff --git a/OpenHPL/Functions/package.mo b/OpenHPL/Functions/package.mo new file mode 100644 index 0000000..f7b9dd6 --- /dev/null +++ b/OpenHPL/Functions/package.mo @@ -0,0 +1,9 @@ +within OpenHPL; +package Functions "Functions and methods" + extends Modelica.Icons.UtilitiesPackage; + + annotation ( + Documentation(info = " +

Functions and methods for modelling different components of the hydropower system.

+")); +end Functions; diff --git a/OpenHPL/Functions/package.order b/OpenHPL/Functions/package.order new file mode 100644 index 0000000..e988498 --- /dev/null +++ b/OpenHPL/Functions/package.order @@ -0,0 +1,3 @@ +DarcyFriction +KP07 +Fitting diff --git a/OpenHPL/Icons/ElectroMech.mo b/OpenHPL/Icons/ElectroMech.mo new file mode 100644 index 0000000..a09ead8 --- /dev/null +++ b/OpenHPL/Icons/ElectroMech.mo @@ -0,0 +1,9 @@ +within OpenHPL.Icons; +partial class ElectroMech "Electro mechanical icon" + annotation ( + Icon(graphics={ + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold}), Bitmap(extent={{-60,-60},{60,60}}, fileName="modelica://OpenHPL/Resources/Images/electromech.svg")})); +end ElectroMech; diff --git a/OpenHPL/Icons/Fitting.mo b/OpenHPL/Icons/Fitting.mo new file mode 100644 index 0000000..1b468c5 --- /dev/null +++ b/OpenHPL/Icons/Fitting.mo @@ -0,0 +1,54 @@ +within OpenHPL.Icons; +partial class Fitting "Pipe fitting icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio=false, grid={1,1}), + graphics={ + Rectangle( + extent={{-58,-42},{58,42}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + rotation=-5, + radius=50, + origin={28,0}), + Ellipse( + extent={{-32.3168,40.6108},{32.3168,-40.6108}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + rotation=-5, + origin={1.65436,1.72713}), + Rectangle( + extent={{-49,-29},{49,29}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + rotation=-5, + radius=50, + origin={-26,5}), + Ellipse( + extent={{-21.7712,28.6149},{21.7712,-28.6149}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + rotation=-5, + origin={-54.8056,7.5965}), + Ellipse( + extent={{-17.5173,23.3007},{17.5173,-23.3007}}, + lineColor={0,0,0}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + rotation=-5, + origin={-55.5801,7.26125}), + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold})}), + Diagram(coordinateSystem(preserveAspectRatio=false, grid={1,1}))); +end Fitting; diff --git a/OpenHPL/Icons/Generator.mo b/OpenHPL/Icons/Generator.mo new file mode 100644 index 0000000..3ba0c80 --- /dev/null +++ b/OpenHPL/Icons/Generator.mo @@ -0,0 +1,10 @@ +within OpenHPL.Icons; +partial class Generator "Generator icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio = false), graphics={ Bitmap(extent = {{-60, -60}, {60, 60}}, origin={0,0}, rotation = 360, fileName = "modelica://OpenHPL/Resources/Images/generator.svg"), + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold})}), + Diagram(coordinateSystem(preserveAspectRatio = false))); +end Generator; diff --git a/OpenHPL/Icons/Governor.mo b/OpenHPL/Icons/Governor.mo new file mode 100644 index 0000000..261f4df --- /dev/null +++ b/OpenHPL/Icons/Governor.mo @@ -0,0 +1,11 @@ +within OpenHPL.Icons; +partial class Governor "Governor icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio = false), graphics={ Bitmap(extent = {{-60, -60}, {60, 60}}, origin = {2, 0}, rotation = 360, + fileName="modelica://OpenHPL/Resources/Images/governor.svg"), + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold})}), + Diagram(coordinateSystem(preserveAspectRatio = false))); +end Governor; diff --git a/OpenHPL/Icons/Logo.mo b/OpenHPL/Icons/Logo.mo new file mode 100644 index 0000000..7c3ff3a --- /dev/null +++ b/OpenHPL/Icons/Logo.mo @@ -0,0 +1,115 @@ +within OpenHPL.Icons; +partial package Logo "Main package icon" + extends Modelica.Icons.Package; + + annotation ( + Icon(coordinateSystem(preserveAspectRatio=false, grid={1,1}), graphics={ + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={-23,72}, + rotation=390, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,64.5},{-8.5,68.5},{-8.5,72.5},{-7.5,77.5},{-4.5,83.5},{-1.5,87.5},{2.5,90.5},{8.5,91.5},{8.5,64.5},{-8.5,64.5}}, + lineColor={28,108,200}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={23,72}, + rotation=-30, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={39,55}, + rotation=-60, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={45,32}, + rotation=270, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={39,9}, + rotation=-120, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={22,-8}, + rotation=-150, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={-1,-14}, + rotation=180, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={-24,-8}, + rotation=150, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={-40,9}, + rotation=120, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={-46,32}, + rotation=90, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Polygon( + points={{-8.5,-13.5},{-8.5,-9.5},{-8.5,-5.5},{-7.5,-0.5},{-4.5,5.5},{-1.5,9.5},{2.5,12.5},{8.5,13.5},{8.5,-13.5},{-8.5,-13.5}}, + lineColor={28,108,200}, + origin={-40,55}, + rotation=420, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Line( + points={{-60,-68},{-40,-80},{-20,-60},{0,-80},{20,-60},{40,-80},{60,-68}}, + color={28,108,200}, + smooth=Smooth.Bezier, + thickness=0.5), + Line( + points={{-60,-48},{-40,-60},{-20,-40},{0,-60},{20,-40},{40,-60},{60,-48}}, + color={28,108,200}, + smooth=Smooth.Bezier, + thickness=0.5), + Line( + points={{-62,-28},{-42,-40},{-22,-20},{-2,-40},{18,-20},{38,-40},{58,-28}}, + color={28,108,200}, + smooth=Smooth.Bezier), + Ellipse( + extent={{-34,66},{34,-4}}, + lineColor={255,255,255}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid), + Ellipse( + extent={{-10.5,42},{10.5,20}}, + lineColor={28,108,200}, + lineThickness=0.5, + fillPattern=FillPattern.Solid, + fillColor={255,255,255})}), + Diagram(coordinateSystem(preserveAspectRatio=false, grid={1,1}))); +end Logo; diff --git a/OpenHPL/Icons/Method.mo b/OpenHPL/Icons/Method.mo new file mode 100644 index 0000000..db3e386 --- /dev/null +++ b/OpenHPL/Icons/Method.mo @@ -0,0 +1,6 @@ +within OpenHPL.Icons; +partial class Method "Methods/functions icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio = false), graphics={ Bitmap(extent={{-80,-80},{80,80}}, fileName="modelica://OpenHPL/Resources/Images/gears.svg")}), + Diagram(coordinateSystem(preserveAspectRatio = false))); +end Method; diff --git a/OpenHPL/Icons/OpenChannel.mo b/OpenHPL/Icons/OpenChannel.mo new file mode 100644 index 0000000..e020e89 --- /dev/null +++ b/OpenHPL/Icons/OpenChannel.mo @@ -0,0 +1,56 @@ +within OpenHPL.Icons; +partial class OpenChannel "Open chanel icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio=false, grid={1,1}), + graphics={ + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold}), + Polygon( + points={{-70,-10},{-60,-10},{-60,-50},{-20,-50},{-20,-10},{-10,-10},{-10,-60},{-70,-60},{-70,-10}}, + lineColor={0,0,0}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={215,215,215}), + Polygon( + points={{-70,-10},{20,50},{27,50},{-60,-10},{-70,-10}}, + lineColor={0,0,0}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={215,215,215}), + Polygon( + points={{-20,-10},{54,50},{60,50},{-10,-10},{-20,-10}}, + lineColor={0,0,0}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={215,215,215}), + Polygon( + points={{-60,-11},{-60,-11}}, + lineColor={0,0,0}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={215,215,215}), + Polygon( + points={{-60,-10},{-60,-20},{27,43},{27,50},{-60,-10}}, + lineColor={0,0,0}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={215,215,215}), + Polygon( + points={{-10,-10},{-10,-60},{60,21},{60,50},{-10,-10}}, + lineColor={0,0,0}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={215,215,215}), + Polygon( + points={{-59,-20},{-59,-20}}, + lineColor={0,128,255}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={28,108,200}), + Polygon( + points={{-60,-20},{27,43},{46,43},{-20,-10},{-20,-20},{-60,-20}}, + lineColor={0,128,255}, + fillPattern=FillPattern.HorizontalCylinder, + fillColor={28,108,200}), + Rectangle( + extent={{-60,-20},{-20,-50}}, + lineColor={0,128,255}, + fillPattern=FillPattern.Backward, + fillColor={85,170,255})}), + Diagram(coordinateSystem(preserveAspectRatio=false, grid={1,1}))); +end OpenChannel; diff --git a/OpenHPL/Icons/Pipe.mo b/OpenHPL/Icons/Pipe.mo new file mode 100644 index 0000000..4bf0361 --- /dev/null +++ b/OpenHPL/Icons/Pipe.mo @@ -0,0 +1,71 @@ +within OpenHPL.Icons; +partial class Pipe "Pipe icon" + parameter Boolean vertical=false "Display vertical icon instead" + annotation(Dialog(group = "Icon"), + choices(checkBox = true)); + annotation ( + Icon(coordinateSystem(preserveAspectRatio=false, grid={1,1}), + graphics={ + Rectangle( + extent={{-86.6068,-42.7109},{86.6068,42.7109}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + origin={-0.000257904,-4.99992}, + rotation=-5, + radius=50, + visible=not vertical), + Ellipse( + extent={{-32.8116,42.3012},{32.8116,-42.3012}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={-54,-0.999955}, + rotation=-5, + visible=not vertical), + Ellipse( + extent={{-27.8931,37.7122},{27.8931,-37.7122}}, + lineColor={0,0,0}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={-54,0}, + rotation=-5, + visible=not vertical), + Rectangle( + extent={{-86.0196,-30.0189},{86.0196,30.0189}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + origin={13.5,-15.5}, + rotation=-50, + radius=50, + visible=vertical), + Ellipse( + extent={{-25,29.5},{25,-29.5}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={54,-62.5}, + rotation=-50, + visible=vertical), + Ellipse( + extent={{-19.5,24},{19.5,-24}}, + lineColor={0,0,0}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={54.5,-63}, + rotation=-50, + visible=vertical), + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold})})); +end Pipe; diff --git a/OpenHPL/Icons/Reservoir.mo b/OpenHPL/Icons/Reservoir.mo new file mode 100644 index 0000000..3648e8d --- /dev/null +++ b/OpenHPL/Icons/Reservoir.mo @@ -0,0 +1,25 @@ +within OpenHPL.Icons; +partial class Reservoir "Reservoir icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio = false), graphics={ Rectangle(extent={{-100,100},{100,-100}}, lineColor={28,108,200}), + Text( + lineColor={28,108,200}, + extent={{-150,90},{150,50}}, + textString="%name", + textStyle={TextStyle.Bold}), + Line( + points={{-80,20}}, + color={28,108,200}, + thickness=0.5, + smooth=Smooth.Bezier), + Line( + points={{-80,10},{-60,30},{-20,-10},{20,30},{60,-10},{80,10}}, + color={28,108,200}, + smooth=Smooth.Bezier), + Line( + points={{-80,-20},{-60,0},{-20,-40},{20,0},{60,-40},{80,-20}}, + color={28,108,200}, + thickness=0.5, + smooth=Smooth.Bezier)}), + Diagram(coordinateSystem(preserveAspectRatio = false))); +end Reservoir; diff --git a/OpenHPL/Icons/RunOff.mo b/OpenHPL/Icons/RunOff.mo new file mode 100644 index 0000000..7d649d9 --- /dev/null +++ b/OpenHPL/Icons/RunOff.mo @@ -0,0 +1,10 @@ +within OpenHPL.Icons; +partial class RunOff "Run off model icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio = false), graphics={ Bitmap(extent={{-60,-80},{60,60}}, fileName="modelica://OpenHPL/Resources/Images/run_off.svg"), + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold})}), + Diagram(coordinateSystem(preserveAspectRatio = false))); +end RunOff; diff --git a/OpenHPL/Icons/Surge.mo b/OpenHPL/Icons/Surge.mo new file mode 100644 index 0000000..ccdeebb --- /dev/null +++ b/OpenHPL/Icons/Surge.mo @@ -0,0 +1,90 @@ +within OpenHPL.Icons; +partial class Surge "Surge tank/shaft icon" + annotation ( + Icon(coordinateSystem(preserveAspectRatio=false, grid={1,1}), + graphics={ + Rectangle( + extent={{-69.242,-34.6668},{69.242,34.6668}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + origin={-16.0001,-10.5}, + rotation=-5, + radius=50), + Ellipse( + extent={{-26.5482,33.8148},{26.5482,-33.8148}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={-59.5,-6.99999}, + rotation=-5), + Ellipse( + extent={{-21.4428,28.0419},{21.4428,-28.0419}}, + lineColor={0,0,0}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={-59.9171,-7.1959}, + rotation=-5), + Rectangle( + extent={{-47.7067,-22.6289},{47.7067,22.6289}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + origin={52,-48.0002}, + rotation=-50, + radius=50), + Ellipse( + extent={{-21.4976,22.6076},{21.4976,-22.6076}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={69.5,-69}, + rotation=-50), + Ellipse( + extent={{-17.6328,18.9409},{17.6328,-18.9409}}, + lineColor={0,0,0}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={69.8246,-69.6825}, + rotation=-50), + Rectangle( + extent={{-52.541,-28.6218},{52.541,28.6218}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.HorizontalCylinder, + origin={18.0633,44.2871}, + rotation=80, + radius=50), + Ellipse( + extent={{-24.301,28.4083},{24.301,-28.4083}}, + lineColor={0,0,0}, + fillColor={175,175,175}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={22.8035,72.0012}, + rotation=80), + Ellipse( + extent={{-20.0161,24.1519},{20.0161,-24.1519}}, + lineColor={0,0,0}, + fillColor={28,108,200}, + fillPattern=FillPattern.Solid, + startAngle=0, + endAngle=360, + origin={22.7392,72.4819}, + rotation=80), + Text( + lineColor={28,108,200}, + extent={{-150,140},{150,100}}, + textString="%name", + textStyle={TextStyle.Bold})}), + Diagram(coordinateSystem(preserveAspectRatio=false, grid={1,1}))); +end Surge; diff --git a/OpenHPL/Icons/Turbine.mo b/OpenHPL/Icons/Turbine.mo new file mode 100644 index 0000000..9c8e8cb --- /dev/null +++ b/OpenHPL/Icons/Turbine.mo @@ -0,0 +1,10 @@ +within OpenHPL.Icons; +partial class Turbine "Turbine icon" + annotation ( + Icon(graphics={Bitmap(extent = {{-60, -60}, {60, 60}}, origin={0,0}, rotation = 270, + fileName = "modelica://OpenHPL/Resources/Images/turbine.svg"), + Text(lineColor={28,108,200}, + extent={{-150,100},{150,60}}, + textString="%name", + textStyle={TextStyle.Bold})})); +end Turbine; diff --git a/OpenHPL/Icons/Water.mo b/OpenHPL/Icons/Water.mo new file mode 100644 index 0000000..096c623 --- /dev/null +++ b/OpenHPL/Icons/Water.mo @@ -0,0 +1,20 @@ +within OpenHPL.Icons; +partial package Water "Hydro icon" + extends Modelica.Icons.Package; + + annotation ( + Icon(coordinateSystem(preserveAspectRatio=false, grid={2,2}), graphics={ + Line( + points={{-60,-40},{-40,-52},{-20,-32},{0,-52},{20,-32},{40,-52},{60,-40}}, + color={28,108,200}, + smooth=Smooth.Bezier), + Line( + points={{-60,0},{-40,-12},{-20,8},{0,-12},{20,8},{40,-12},{60,0}}, + color={28,108,200}, + smooth=Smooth.Bezier), + Line( + points={{-60,40},{-40,28},{-20,48},{0,28},{20,48},{40,28},{60,40}}, + color={28,108,200}, + smooth=Smooth.Bezier)}), + Diagram(coordinateSystem(preserveAspectRatio=false, grid={2,2}))); +end Water; diff --git a/OpenHPL/Icons/package.mo b/OpenHPL/Icons/package.mo new file mode 100644 index 0000000..b1f63d4 --- /dev/null +++ b/OpenHPL/Icons/package.mo @@ -0,0 +1,4 @@ +within OpenHPL; +package Icons "Sublibrary with icons for components" + extends Modelica.Icons.IconsPackage; +end Icons; diff --git a/OpenHPL/Icons/package.order b/OpenHPL/Icons/package.order new file mode 100644 index 0000000..e8ae354 --- /dev/null +++ b/OpenHPL/Icons/package.order @@ -0,0 +1,13 @@ +Logo +Water +Reservoir +Pipe +OpenChannel +Surge +Fitting +ElectroMech +Turbine +Generator +RunOff +Method +Governor diff --git a/OpenHPL/Interfaces/Contact.mo b/OpenHPL/Interfaces/Contact.mo new file mode 100644 index 0000000..d245306 --- /dev/null +++ b/OpenHPL/Interfaces/Contact.mo @@ -0,0 +1,12 @@ +within OpenHPL.Interfaces; +connector Contact "Water flow connector" + Modelica.SIunits.Pressure p "Contact pressure"; + //Modelica.SIunits.Temperature T "Contact temperature"; + flow Modelica.SIunits.MassFlowRate m_dot "Mass flow rate through the contact"; + annotation ( + Icon(graphics={ Ellipse(extent={{-100,-100},{100,100}}, lineColor = {28, 108, 200}, fillColor = {0, 128, 255}, + fillPattern = FillPattern.Solid)}), + Documentation(info = " +

Contact is a basic water flow connector, which consists of water pressure and mass flow rate through the connector (positive if water is flowing into connector and negative if flowing out).

+")); +end Contact; diff --git a/OpenHPL/Interfaces/ContactNode.mo b/OpenHPL/Interfaces/ContactNode.mo new file mode 100644 index 0000000..2d455e3 --- /dev/null +++ b/OpenHPL/Interfaces/ContactNode.mo @@ -0,0 +1,20 @@ +within OpenHPL.Interfaces; +partial model ContactNode "Model of two connectors and node pressure" + Modelica.SIunits.Pressure p_n "Node pressure"; + //Modelica.SIunits.Temperature T_n "Node temperature"; + Modelica.SIunits.MassFlowRate m_dot "Mass flow rate"; + extends TwoContact; +equation + p_n = p.p; + p.p = n.p; + //T_n = p.T; + //p.T = n.T; + m_dot = p.m_dot + n.m_dot; + annotation ( + Documentation(info = " +

ContactNode is a superclass, which has two Contacts p, n and assumes + that inlet pressure of p is equal to outlet at n. + This node pressure is determined by p_n. + Also the mass flow rate in this node is m_dot.

+")); +end ContactNode; diff --git a/OpenHPL/Interfaces/ContactPort.mo b/OpenHPL/Interfaces/ContactPort.mo new file mode 100644 index 0000000..2633b7f --- /dev/null +++ b/OpenHPL/Interfaces/ContactPort.mo @@ -0,0 +1,14 @@ +within OpenHPL.Interfaces; +partial model ContactPort "Model of two connectors with mass flow rate" + Modelica.SIunits.MassFlowRate m_dot "Mass flow rate"; + extends TwoContact; +equation + 0 = p.m_dot + n.m_dot; + m_dot = p.m_dot; + annotation ( + Documentation(info = " +

ContactPort is a superclass, which has two Contacts p, n and + assumes that the inlet mass flow rate of p is identical to the outlet + mass flow rate of n. This mass flow rate is determined as m_dot.

+")); +end ContactPort; diff --git a/OpenHPL/Interfaces/TurbineContacts.mo b/OpenHPL/Interfaces/TurbineContacts.mo new file mode 100644 index 0000000..635da75 --- /dev/null +++ b/OpenHPL/Interfaces/TurbineContacts.mo @@ -0,0 +1,8 @@ +within OpenHPL.Interfaces; +partial model TurbineContacts "Model of turbine connectors" + extends Interfaces.ContactPort; + input Modelica.Blocks.Interfaces.RealInput u_t "[Guide vane|nozzle] opening of the turbine" annotation ( + Placement(transformation(extent = {{-20, -20}, {20, 20}}, rotation = -90, origin={0,120}))); + Modelica.Blocks.Interfaces.RealOutput P_out "Mechanical Output power" annotation ( + Placement(transformation(origin={0,-110}, extent={{-10,-10},{10,10}}, rotation = 270))); +end TurbineContacts; diff --git a/OpenHPL/Interfaces/TwoContact.mo b/OpenHPL/Interfaces/TwoContact.mo new file mode 100644 index 0000000..516c5da --- /dev/null +++ b/OpenHPL/Interfaces/TwoContact.mo @@ -0,0 +1,11 @@ +within OpenHPL.Interfaces; +partial model TwoContact "Model of two connectors" + Contact p "Inlet contact" annotation ( + Placement(transformation(extent={{-110,-10},{-90,10}}))); + Contact n "Outlet contact" annotation ( + Placement(transformation(extent={{90,-10},{110,10}}))); + annotation ( + Documentation(info = " +

TwoContact is a partial model, which consists of two Contacts p and n. Can be used in cases where model is needed inlet and outlet Contacts, but don't need any specification about mass flow rate and pressures between these Contacts.

+")); +end TwoContact; diff --git a/OpenHPL/Interfaces/package.mo b/OpenHPL/Interfaces/package.mo new file mode 100644 index 0000000..5a8fe1e --- /dev/null +++ b/OpenHPL/Interfaces/package.mo @@ -0,0 +1,8 @@ +within OpenHPL; +package Interfaces "Basic inerface components" + extends Modelica.Icons.InterfacesPackage; + + + + +end Interfaces; diff --git a/OpenHPL/Interfaces/package.order b/OpenHPL/Interfaces/package.order new file mode 100644 index 0000000..eb2ac99 --- /dev/null +++ b/OpenHPL/Interfaces/package.order @@ -0,0 +1,5 @@ +Contact +TwoContact +ContactPort +ContactNode +TurbineContacts diff --git a/OpenHPL/Resources/Documents/Generator_model.pdf b/OpenHPL/Resources/Documents/Generator_model.pdf new file mode 100644 index 0000000..9a26b3d Binary files /dev/null and b/OpenHPL/Resources/Documents/Generator_model.pdf differ diff --git a/OpenHPL/Resources/Documents/Hydrology_model.pdf b/OpenHPL/Resources/Documents/Hydrology_model.pdf new file mode 100644 index 0000000..bb0b4ce Binary files /dev/null and b/OpenHPL/Resources/Documents/Hydrology_model.pdf differ diff --git a/OpenHPL/Resources/Documents/Report.docx b/OpenHPL/Resources/Documents/Report.docx new file mode 100644 index 0000000..c9bbf93 Binary files /dev/null and b/OpenHPL/Resources/Documents/Report.docx differ diff --git a/OpenHPL/Resources/Documents/Turbines_model.pdf b/OpenHPL/Resources/Documents/Turbines_model.pdf new file mode 100644 index 0000000..0729f90 Binary files /dev/null and b/OpenHPL/Resources/Documents/Turbines_model.pdf differ diff --git a/OpenHPL/Resources/Documents/UsersGuide.pdf b/OpenHPL/Resources/Documents/UsersGuide.pdf new file mode 100644 index 0000000..58eb73f Binary files /dev/null and b/OpenHPL/Resources/Documents/UsersGuide.pdf differ diff --git a/OpenHPL/Resources/Documents/UsersGuide_src/LICENSE b/OpenHPL/Resources/Documents/UsersGuide_src/LICENSE new file mode 100644 index 0000000..f8b699e --- /dev/null +++ b/OpenHPL/Resources/Documents/UsersGuide_src/LICENSE @@ -0,0 +1,415 @@ +The LaTeX Project Public License +=-=-=-=-=-=-=-=-=-=-=-=-=-=-=-=- + +LPPL Version 1.3c 2008-05-04 + +Copyright 1999 2002-2008 LaTeX3 Project + Everyone is allowed to distribute verbatim copies of this + license document, but modification of it is not allowed. + + +PREAMBLE +======== + +The LaTeX Project Public License (LPPL) is the primary license under +which the LaTeX kernel and the base LaTeX packages are distributed. + +You may use this license for any work of which you hold the copyright +and which you wish to distribute. 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USN-base!} + \PassOptionsToClass{\CurrentOption}{USN-base} +}% + +% --- execution of options --- +\ProcessOptions* %% process the options in calling order + +% --- load other classes +\LoadClass{USN-base} %% we reuse the USN-base class + +% --- useful commands +\newcommand{\mysubject}{Process, Energy and Automation Engineering} + +\newcommand{\USNtitlepage}{% + \subject{\mysubject} + \title{\mytitle} + \subtitle{\normalsize + Thesis submitted to the University of South-Eastern Norway\\ + for the degree of philosophiae doctor~(PhD)} + \author{\myauthor} + \date{} +% --- pdf document settings --- + \hypersetup{% + pdftitle = {\mytitle},% + pdfsubject = {\mysubject},% + pdfauthor = {\myauthor},% + pdfkeywords = {\mykeywords} + }% +\pdfbookmark[0]{\@title}{title} %% set the correct PDF bookmark +\maketitle% +% +\cleardoubleemptypage %% fillpage without page number +% +} diff --git a/OpenHPL/Resources/Documents/UsersGuide_src/USN-base.cls b/OpenHPL/Resources/Documents/UsersGuide_src/USN-base.cls new file mode 100644 index 0000000..8a0850a --- /dev/null +++ b/OpenHPL/Resources/Documents/UsersGuide_src/USN-base.cls @@ -0,0 +1,118 @@ +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% +%% LaTeX-class for writing theses %% +%% %% +%% (c) Dietmar Winkler (me.dwe.no) %% +%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%% + +% ---Identification---- +\NeedsTeXFormat{LaTeX2e} +\ProvidesClass{USN-base}[2018/09/11 Template base class for reports and theses] + +% --- definitions of options --- +% norsk option: +\newif\if@norsk +\@norskfalse +\DeclareOption{norsk}{\@norsktrue} + +% nosummary option: +\newif\if@summary +\@summarytrue +\DeclareOption{nosummary}{\@summaryfalse} + +% All other options are passed on to the book class +\DeclareOption*{% + \typeout{Option \CurrentOption\space is passed to package scrbook!} + \PassOptionsToClass{\CurrentOption}{scrbook} +}% + +% --- execution of options --- +\ProcessOptions* % process the options in calling order +\LoadClass[12pt, openright]{scrbook} +\KOMAoptions{% + cleardoublepage=plain, + parskip=half, + numbers=noendperiod, + appendixprefix=true +} + +% --- package loading --- +\RequirePackage{scrlayer-scrpage} %% needed for the footer setup +\RequirePackage{geometry} %% manual set the page size + \geometry{margin=25mm, includeheadfoot} +\RequirePackage[\if@norsk norsk \else british\fi]{babel} %% adapt to NO or EN +\RequirePackage{amsmath,mathptmx} %% we need lots of math features +\RequirePackage{ifthen} %% provides simple if-then functionality +\RequirePackage{url} %% helps displaying URLs +\RequirePackage{longtable} %% for long tables that might break over pages +\RequirePackage{graphicx} %% needed for inclusion of graphics + \graphicspath{{fig/}} %% this is were the images reside +\RequirePackage[hidelinks]{hyperref} %% generate links in the PDF (but no boxes around them) +\RequirePackage{pdfpages} %% for inclusion of PDF documents +\RequirePackage{framed} %% provides framebox +\RequirePackage[super]{nth} %% Generate English ordinal numbers +\RequirePackage{lastpage} %% to calculate the number of pages +\RequirePackage{fontspec} %% needed to set up custom fonts and lmodern fonts +\RequirePackage{carlito} %% Carlito is the metric-compatible free alternative + %% to Calibri font +\RequirePackage{csquotes} + +% --- set figure and table captions to footnotesize +\setkomafont{caption}{\footnotesize} + +% --- set the fonts of all toc entries to san-serif +% from https://tex.stackexchange.com/questions/360135/koma-change-font-of-toc-section-entries +\newcommand*\tocentryformat[1]{{\sffamily#1}} +\RedeclareSectionCommands + [ + tocentryformat=\tocentryformat, + tocpagenumberformat=\tocentryformat + ] + {section,subsection,subsubsection,paragraph,subparagraph} + +% --- useful commands +\newcommand*{\figref}[1]{\figurename~\ref{#1}} +\newcommand*{\tabref}[1]{\tablename~\ref{#1}} + +% --- title page setup +\newcommand{\USNlogo}{% %% lang dependent logo + \if@norsk% + \includegraphics[height=15mm]{USN_logo}% + \else% + \includegraphics[height=15mm]{USN_logo_en}% + \fi% +} + +\newcommand{\USNtitlehead}{% %% define the USN title head + \begin{minipage}[c]{.5\textwidth}% + \USNlogo% + \end{minipage}% + \begin{minipage}[c]{.5\textwidth}% + \begin{flushright} + {\sffamily\large\href{http://www.usn.no}{www.usn.no}} + \end{flushright} + \end{minipage}% +} +\titlehead{\USNtitlehead} + +\publishers{\textsf{% + \if@norsk% + {\Large Fakultet for teknologi, naturvitenskap og maritime fag} + \else% + {\Large Faculty of Technology, Natural Sciences and Maritime Sciences} + \fi% + \\{\large Campus Porsgrunn}} + }% + +%--- special footer setup +% norsk: +\newpagestyle{sammendrag}{}{ + \cfoot{\begin{center}% + Universitetet i Sørøst-Norge tar ikke ansvar for denne studentrapportens resultater og konklusjoner. + \end{center}} +}% +% english: +\newpagestyle{summary}{}{ + \cfoot{\begin{center}% + The University of South-Eastern Norway accepts no responsibility for the results and conclusions presented in this report. + \end{center}} +}% diff --git a/OpenHPL/Resources/Documents/UsersGuide_src/UsersGuide.bib b/OpenHPL/Resources/Documents/UsersGuide_src/UsersGuide.bib new file mode 100644 index 0000000..f5ae190 --- /dev/null +++ b/OpenHPL/Resources/Documents/UsersGuide_src/UsersGuide.bib @@ -0,0 +1,107 @@ +@MastersThesis{Sha:13, + author = {Shafiee, S.}, + title = {{Automatic updating of hydrological models for runoff/inflow forecasting to hydropower system}}, + school = {Telemark University College}, + year = {2013}, + address = {Porsgrunn, Norway}, +} + +@MastersThesis{Sha:11, + author = {Behzad R. Sharefi}, + title = {{Modeling for Control of Hydropower Systems}}, + school = {Telemark University College, Porsgrunn, Norway}, + year = {2011}, +} + +@TechReport{Sha:15, + author = {Roshan Sharma}, + title = {Second order scheme for open channel flow}, + institution = {Porsgrunn: Telemark University College}, + year = {2015}, + url = {http://hdl.handle.net/11250/2438453}, +} + +@Inproceedings{Vyt:17, + author = {L. Vytvytskyi and B. Lie}, + title = {Comparison of elastic vs. inelastic penstock model using {OpenModelica}}, + booktitle = {Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th--27th, 2017}, + number = {138}, + pages = {20-28}, + publisher = {Link\"{o}ping University Electronic Press, Link\"{o}pings Universitet}, + year = {2017}, + doi = {10.3384/ecp1713820} +} + +@Inproceedings{Vyt:18s, + author = {L. Vytvytskyi and B. Lie}, + title = {Linearization for {Analysis} of a {Hydropower} {Model} using {Python} +{API} for {OpenModelica}}, + booktitle = {Proceedings of the 59th Conference on Simulation and Modelling (SIMS 59) Oslo, Norway, September 26th--28th, 2018}, + year = {2018} +} + +@Inproceedings{Val:17, + author = {V. Splavska and L. Vytvytskyi and B. Lie}, + title = {Hydropower {Systems}: {Comparison} of {Mechanistic} and {Table} {Look-up} {Turbine} {Models}}, + booktitle = {Proceedings of the 58th Conference on Simulation and Modelling (SIMS 58) Reykjavik, Iceland, September 25th--27th, 2017}, + number = {138}, + pages = {368-373}, + publisher = {Link\"{o}ping University Electronic Press, Link\"{o}pings Universitet}, + year = {2017}, + doi = {10.3384/ecp17138368} +} + +@Article{Vyt:18, + author = {L. Vytvytskyi and B. Lie}, + title = {Mechanistic model for {Francis} turbines in {OpenModelica}}, + journal = {IFAC-PapersOnLine}, + year = {2018}, + volume = {51}, + number = {2}, + pages = {103 - 108}, + doi = {10.1016/j.ifacol.2018.03.018}, +} + +@article{Vyt:19a, +title = {{Combining Measurements with Models for Superior Information in Hydropower Plants}}, +author = {L. Vytvytskyi and B. Lie}, +journal = {Accepted in Flow Measurement and Instrumentation}, +year = {2019}, +issn = {0142-0615} +} + +@article{Vyt:19b, +title = {{OpenHPL for modelling Trollheim hydropower plant}}, +author = {L. Vytvytskyi and B. Lie}, +journal = {Submitted to Energies}, +year = {2019}, +issn = {1996-1073} +} + +@TechReport{LieL:18, + author = {B. Lie}, + title = {Lecture notes in course {FM1015} {Modelling} of {Dynamic} {Systems}}, + institution = {University of South-Eastern Norway}, + year = {2018}, + address = {Porsgrunn, Norway} +} + +@Article{Vyt:15, + author = {Liubomyr Vytvytskyi and Roshan Sharma and Bernt Lie}, + title = {{Model based control for run-of-river system. Part 1: Model implementation and tuning}}, + journal = {Modeling, Identification and Control: A Norwegian Research Bulletin}, + year = {2015}, + volume = {36}, + number = {4}, + pages = {237--249}, + doi = {10.4173/mic.2015.4.4}, + publisher = {Norwegian Society of Automatic Control}, +} + +@Book{Bre:01, + title = {{Hydraulic Turbines. Design, Erection and Operation}}, + publisher = {Norwegian University of Science and Technology}, + year = {2001}, + author = {Hermod Brekke}, + address = {Trondheim, Norway}, +} \ No newline at end of file diff --git a/OpenHPL/Resources/Documents/UsersGuide_src/UsersGuide.tex b/OpenHPL/Resources/Documents/UsersGuide_src/UsersGuide.tex new file mode 100644 index 0000000..022c33b --- /dev/null +++ b/OpenHPL/Resources/Documents/UsersGuide_src/UsersGuide.tex @@ -0,0 +1,1143 @@ +%% sample template file for a PhD Thesis +%% The default is with two sided setup: +\documentclass[% +% oneside % uncomment for onesided layout +]{USN-PhD} + +% --- Bibliography setup --- +%%% default is the "ieee" style +\usepackage[style=ieee, sorting=none]{biblatex} +%%% If you want to use "author-year" style +%%% where `\cite{Foo2011}` generates "Foo et al. (2011)" +%%% and `\parentcite{Foo2011}` generates "(Foo et al. 2011)" +%%% then comment the line above and use +%\usepackage[style=authoryear]{biblatex} +%%% or +%%% if you want to use "alphabetic" style then use +%%% where `cite[Foo2011]` generates "[Foo11]" +%%% then comment the line above and use +%\usepackage[style=alphabetic]{biblatex} +%%% instead. +%% load the bib file: +\addbibresource{UsersGuide.bib} + +\usepackage{listings} +\input{listings-modelica.cfg} + +\begin{document} + +%% Create title page with the parameters given in the preamble above +%\USNtitlepage% +\chapter*{User's guide for the Open Hydropower Library (OpenHPL)} + +Liubomyr Vytvytskyi + +Porsgrunn, \nth{6} September 2019 + +\tableofcontents +%\addcontentsline{toc}{chapter}{\contentsname} + +\chapter{Introduction} + +\emph{OpenHPL} is an open-source hydropower library that consists of hydropower unit models and is encoded in Modelica. Modelica is a multi-domain as well as a component-oriented modelling language that is suitable for complex system modelling. In order to develop the library, OpenModelica has been used as an open-source Modelica-based modelling and simulation environment. + +This hydropower library, \emph{OpenHPL}, provides the capability for the modelling of hydropower systems of different complexity. The library includes the following units: +\begin{enumerate} +\item Various waterway units are modelled based on the mass and momentum balances, i.e., reservoirs, conduits, surge tank, fittings. A modern method for solving more detailed models (PDEs) is implemented in the library, and enables the modelling of the waterway with elastic walls and compressible water as well as open channel. +\item A hydrology model has been implemented and makes it possible to simulate the water inflow to the reservoirs. +\item Mechanistic models, as well as simple look-up table turbine models are implemented for the Francis and Pelton turbine types. The Francis turbine model also includes a turbine design algorithm that gives all of the needed parameters for the model, based on the turbine's nominal operating values. +\item The capability for multiphysics connections and work with other libraries is ensured, e.g., connecting with the Open-Instance Power System Library \emph{OpenIPSL} makes it possible to model the electrical part for the hydropower system. +\end{enumerate} + +A detailed description of each hydropower unit and their uses are presented below in this user guide. + +\chapter{Installation} + +\emph{OpenHPL} can be opened either in open-source OpenModelica\footnote{\url{https://openmodelica.org}} or commercial Dymola\footnote{\url{https://www.3ds.com/products-services/catia/products/dymola}} modelling and simulation environments, which are based on the Modelica language. Here, OpenModelica is emphasized due to free availability. To install OpenModelica, follow the instructions at \url{https://openmodelica.org/download/download-windows} for Windows users, or find the installation instruction for other operating systems at \url{https://openmodelica.org} in ``Download'' tab. Some tutorials exist for Modelica at \url{http://book.xogeny.com}, and for OpenModelica at \url{https://goo.gl/76274H}. + +The \emph{OpenHPL} can be found at \url{http://openhpl.simulati.no}. To install this library, follow the instructions at the project homepage. + +In addition, Modelica models in OpenModelica can be simulated within a scripting language (Python\footnote{\url{https://www.python.org}} via the OMPython API\footnote{\url{https://www.openmodelica.org/doc/OpenModelicaUsersGuide/latest/ompython.html}}, Julia\footnote{\url{https://julialang.org}} via the OMJulia API\footnote{\url{https://openmodelica.org/doc/OpenModelicaUsersGuide/latest/omjulia.html}}) and further analysed using the analysis tools in the scripting language. The installation instructions for both these APIs can be found in the links provided in the footnotes for each API. + +\chapter{OpenHPL elements} + +An overview of each element of the hydropower library \emph{OpenHPL} is provided in this section. A screenshot of \emph{OpenHPL} in OpenModelica is shown in Figure~\ref{fig:fig1}. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.7\textwidth]{fig/Bilde1} + \caption{Screen shot of OpenModelica with the hydropower library.} + \label{fig:fig1} +\end{figure} + +It is visible from Figure~\ref{fig:fig1} that the library is divided into various components and classes. Each of these components and classes is listed below with a short description: +\begin{itemize} + \item First, the \emph{Copyright} element provides a reference to the license for this library. + \item Next, the \emph{Constants} element is a record's model that determines the common parameters for this library. It is possible to insert this class to models and use the common parameters for the whole library. + \item Then, the \emph{Examples} class provides various examples of using the library for hydropower system as well as examples of using \emph{OpenHPL} together with power system library --- \emph{OpenIPSL}. + \item The \emph{Waterway} class consists of various unit models for the waterway of the hydropower system, such as reservoirs, conduits, surge tank, pipe fittings, etc. + \item The \emph{ElectroMech} class provides the electro-mechanical components of the hydropower system and consists of two main sub-classes: \emph{Turbines} with various turbine unit models and \emph{Generators} with models for a synchronise generator. + \item Then, the \emph{Controllers} class holds a simple model for a governor of the hydropower system. + \item The \emph{Tests} class provides various testing models for all library components. + \item Next, the \emph{Interfaces} class gives connector models for the library components. + \item The \emph{Functions class} consists of three sub-classes that define functions for the calculation of a friction term in the pipe --- \emph{DarcyFriction}, for solving PDEs using Kurganov-Petrova (KP) scheme --- \emph{KP07}, and for pressure drop calculation in various pipe fitting --- \emph{Fitting}. + \item Finally, the \emph{Icons} class holds icons for all library components. +\end{itemize} +Below, a detailed description of each unit model of the \emph{OpenHPL} is provided. + +\section{Interfaces} + +First, a detailed description of the interface connectors is provided here. In the \emph{OpenHPL}, two types of connectors are typically used.The first type is the standard Modelica real input/output connector, the other type is a set of connectors that represent the water flow and are modelled similar to the connection in an electrical circuit with voltage and current, or similar to the idea of potential and flow in Bond Graph models. The water flow connector which is called \emph{Contact} in the library, contains information about the pressure in the connector and mass flow rate that flows through the connector. An example of a Modelica code for defining the \emph{Contact} connector looks as follows: + +\begin{lstlisting}[language = modelica] +connector Contact "Water flow connector" + Modelica.SIunits.Pressure p "Contact pressure"; + flow Modelica.SIunits.MassFlowRate m_dot "Mass flow rate through the contact"; + // Creating an icon for connector + annotation (Icon(graphics={ Ellipse(extent={{-100,-100},{100,100}}, lineColor = {28, 108, 200}, fillColor = {0, 128, 255}, fillPattern = FillPattern.Solid)})); +end Contact; +\end{lstlisting} + +In addition, some extensions of this water flow connector are developed for the better use in the library. These extensions are listed hereby. +\begin{itemize} + \item \emph{TwoContact} is an extension from the \emph{Contact} model which provides a model of two connectors of inlet and outlet contacts. A Modelica code for this model looks as follows: + \begin{lstlisting}[language = modelica] + partial model TwoContact "Model of two connectors" + // Specifying connectors and their placement in diagram + Contact p "Inlet contact" annotation(Placement(transformation(extent={{-110,-10},{-90,10}}))); + Contact n "Outlet contact" annotation(Placement(transformation(extent={{90,-10},{110,10}}))); + end TwoContact; + \end{lstlisting} + \item \emph{ContactPort} is an extension from the \emph{TwoContact} model which also provides information about a mass flow rate between these two connectors. The mass flow rate that flows through the inlet connector is equal to the mass flow through the outlet connector. This model is used for the pipe modelling. A Modelica code for this \emph{ContactPort} model looks as follows: + \begin{lstlisting}[language = modelica] + partial model ContactPort "Model of two connectors with mass flow rate" + Modelica.SIunits.MassFlowRate m_dot "Mass flow rate"; + extends TwoContact; + equation + 0 = p.m_dot + n.m_dot; + m_dot = p.m_dot; + end ContactPort; + \end{lstlisting} + \item \emph{ContactNode} is an extension from the \emph{TwoContact} model and provides a node pressure that is equal to the pressures from these two connectors. This model also defines the mass flow rate that is the sum of the mass flow rates through the inlet and outlet connectors. This model is used for the surge tank modelling. A Modelica code for this \emph{ContactNode} model looks as follows: + \begin{lstlisting}[language = modelica] + partial model ContactNode "Model of two connectors and node pressure" + Modelica.SIunits.Pressure p_n "Node pressure"; + Modelica.SIunits.MassFlowRate m_dot "Mass flow rate"; + extends TwoContact; + equation + p_n = p.p; + p.p = n.p; + m_dot = p.m_dot + n.m_dot; + end ContactNode; + \end{lstlisting} + \item \emph{TurbineContacts} is an extension from \emph{ContactPort} model and provides the real input and output connectors, additionally. This model is used for turbine modelling. A Modelica code for this \emph{TurbineContacts} model looks as follows: + \begin{lstlisting}[language = modelica] + partial model TurbineContacts "Model of turbine connectors" + extends ContactPort; + // Specifying additional connectors and their placement in diagram + input Modelica.Blocks.Interfaces.RealInput u_t "[Guide vane|nozzle] opening of the turbine" annotation (Placement(transformation(extent = {{-20, -20}, {20, 20}}, rotation = -90, origin={0,120}))); + Modelica.Blocks.Interfaces.RealOutput P_out "Mechanical Output power" annotation (Placement(transformation(origin={0,-110}, extent={{-10,-10},{10,10}}, rotation = 270))); + end TurbineContacts; + \end{lstlisting} +\end{itemize} + +\section{Functions} + +Here, a detailed description of the functions and their used algorithms in the library, are presented. + +\subsection{Friction term} + +First, the functions for defining the friction force in the waterway are described. More details can be found in Bernt Lie's Lecture notes, \cite{LieL:18}. + +The friction force $F_\mathrm{f}$ is directed in the opposite direction of the velocity $v$ (the linear velocity average across the cross-section of the pipe) of the fluid, \cite{LieL:18}. A common expression for friction force in the filled pipes is the following: + +\begin{equation}\label{eq:eq1} + F_\mathrm{f}=-\frac{1}{8}\pi\rho LDf_\mathrm{D}v|v| +\end{equation} +Here, $L$ and $D$ are related to the pipe width and diameter, respectively. $f_\mathrm{D}$ is a Darcy friction factor that is a function of Reynolds' number $N_\mathrm{Re}$, with the roughness ratio $\frac{\epsilon}{D}$ as a parameter, see Figure~\ref{fig:fig2}. + +In Figure~\ref{fig:fig2}, the turbulent region ($N_\mathrm{Re} > 2.3\cdot10^3$) is a flow regime where the velocity across the pipe has a stochastic nature, and where the velocity $v$ is relatively uniform across the pipe when we average the velocity over some short period of time. The laminar region ($N_\mathrm{Re} < 2.1\cdot10^3$) is a flow regime with a regular velocity v which varies as a parabola with the radius of the pipe, with zero velocity at the pipe wall and maximal velocity at the centre of the pipe. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.8\textwidth]{fig/darcyf} + \caption{Darcy friction factor as a function of Reynolds' number.} + \label{fig:fig2} +\end{figure} + +Darcy friction factor varies with the roughness of the pipe surface, specified by roughness height $\epsilon$. For laminar flow in a cylindrical pipe ($N_\mathrm{Re} < 2.1\cdot10^3$), the Darcy friction factor $f_\mathrm{D}$ can be found using the following expression: +\begin{equation}\label{eq:eq2} +f_\mathrm{D}=\frac{64}{N_\mathrm{Re}} +\end{equation} +Here, Reynolds' number is found as follows: $N_\mathrm{Re}=\frac{\rho|v|D}{\mu}$, where $\mu$ is the the fluid viscosity. + +For turbulent flow ($N_\mathrm{Re} > 2.3\cdot10^3$), it is common to rewrite the expression for the Darcy friction factor as +\begin{equation}\label{eq:eq3} +f_\mathrm{D}=\frac{1}{\left(2\log_{10} \left(\frac{\epsilon}{3.7D} + \frac{5.74}{N_\mathrm{Re}^{0.9}}\right)\right)^ 2} +\end{equation} +In order to define the Darcy friction factor in a region between laminar and turbulent flow regimes, a possibility is to use some interpolation expressions between the laminar value at $N_\mathrm{Re}=2100$ and the turbulent value at $N_\mathrm{Re}= 2300$, e.g., a cubic polynomial fitting with the same slope as laminar friction at $N_\mathrm{Re}=2100$ and turbulent friction at $N_\mathrm{Re}=2300$, \cite{LieL:18}. To achieve the global differentiability, with $p(N_\mathrm{Re})=aN_\mathrm{Re}^3+bN_\mathrm{Re}^2+cN_\mathrm{Re}+d$, thus: +\begin{equation} +\begin{array}{c} +p(N_\mathrm{Re}=2100)=f_\mathrm{D}^\mathrm{l}(N_\mathrm{Re}=2100)\\ +p(N_\mathrm{Re}=2300)=f_\mathrm{D}^\mathrm{t}(N_\mathrm{Re}=2300)\\ +\left.\frac{dp}{dN_\mathrm{Re}}\right\rvert_{N_\mathrm{Re}=2100}=\left.\frac{df_\mathrm{D}^\mathrm{l}}{dN_\mathrm{Re}}\right\rvert_{N_\mathrm{Re}=2100}\\ +\left.\frac{dp}{dN_\mathrm{Re}}\right\rvert_{N_\mathrm{Re}=2300}=\left.\frac{\partial f_\mathrm{D}^\mathrm{t}}{\partial N_\mathrm{Re}}\right\rvert_{\frac{\epsilon}{D},N_\mathrm{Re}=2300} +\end{array} +\end{equation} +Hence, the constants $a$, $b$, $c$ and $d$ can be found as follows: +\begin{equation}\label{eq:eq4} +\begin{bmatrix}a\\b\\c\\d \end{bmatrix}= +\begin{bmatrix}2100^3&2100^2 & 2100& 1\\ 2300^3 & 2300^2 & 2300 & 1\\ 3\cdot2100^2 & 2\cdot2100& 1 & 0\\ 3\cdot2300^2 & 2\cdot2300 &1 & 0\end{bmatrix}^{-1} +\begin{bmatrix} \frac{64}{2100} \\ \frac{1}{\left(2\log_{10}\left(\frac{\epsilon}{3.7D}+\frac{5.74}{2300^ {0.9}}\right)\right)^2} \\ -\frac{64}{2100^ 2} \\ -0.25\frac{0.316}{2300^{1.25}} \end{bmatrix} +\end{equation} +Based on the presented equation for calculation of the friction force in the waterway, two functions are encoded in this class \emph{DarcyFriction}. The first function is for defining the Darcy friction factor and called \emph{fDarcy}. This function has the following inputs: the Reynolds' number $N_\mathrm{Re}$, the pipe diameter $D$, and the pipe roughness height $\epsilon$. Then, based on Eq.~\ref{eq:eq2} for the laminar flow (Reynold number < 2100), Eq.~\ref{eq:eq3} for turbulent flow (Reynold number > 2300), and Eq.~\ref{eq:eq4} for transitional zone (2100 < Reynold number < 2300); the \emph{fDarcy} function provides value for the Darcy friction factor $f_\mathrm{D}$. + +Another function, \emph{Friction} is for defining the actual friction force and is based on a response from the \emph{fDarcy} function. This function has the following inputs: the linear velocity $v$, the pipe length and diameter $L$ and $D$, the liquid density and viscosity $\rho$ and $\mu$, and the pipe roughness height $\epsilon$. As an output, this function provides a value for the friction force $F_\mathrm{f}$ based on Eq.~\ref{eq:eq1}. An example of a Modelica code for defining the \emph{Friction} function looks as follows: + +\begin{lstlisting}[language = modelica] +function Friction "Friction force with Darcy friction factor" + import Modelica.Constants.pi; + input Modelica.SIunits.Velocity v "Flow velocity"; + input Modelica.SIunits.Diameter D "Pipe diameter"; + input Modelica.SIunits.Length L "Pipe length"; + input Modelica.SIunits.Density rho "Density"; + input Modelica.SIunits.DynamicViscosity mu "Dynamic viscosity of water"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + // Function output (response) value + output Modelica.SIunits.Force F_f "Friction force"; +// Local (protected) quantities +protected + Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + Real f "friction factor"; +algorithm + N_Re := rho * abs(v) * D / mu; + f := fDarcy(N_Re, D, eps); + F_f := 0.5 * pi * f * rho * L * v * abs(v) * D / 4; +end Friction; +\end{lstlisting} + +\subsection{KP scheme} + +Here, functions for solving PDEs in Modelica are described. First, the overview of the KP scheme is presented. More details about this scheme can be found in Roshan Sharma work, \cite{Sha:15}, and other works, \cite{Vyt:15,Vyt:17}. + +This is a well-balanced second-order scheme, which is a Reimann problem solver free scheme (central scheme) while at the same time, it takes advantage of the upwind scheme by utilizing the local, one side speed of propagation (given by the eigenvalues of the Jacobian matrix) during the calculation of the flux at the cell interfaces, \cite{Sha:15}. + +The central-upwind numerical scheme is presented for the one-dimensional case. +\begin{equation} +\frac{\partial U\left(x,t\right)}{\partial t}+\frac{\partial F\left(x,t,U\right)}{\partial x}=S\left(x,t,U\right) +\end{equation} +Here, $U\left(x,t\right)$ is the state vector, where states are the functions of position $x$ and time $t$. $F\left(x,t,U\right)$ is the vector of fluxes and $S\left(x,t,U\right)$ is the source terms. + +In order to solve this PDE, it should be first discretized by finite-volume methods. With the finite volume method, we divide the grid into small control volumes/cells and then apply the conservation laws. This control volume/cell with notations are shown in Figure~\ref{fig:fig2_1}. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.7\textwidth]{fig/kp} + \caption{Control volume/cell, \cite{Sha:15}.} + \label{fig:fig2_1} +\end{figure} + +Hence, the semi-discrete (time-dependent ODEs) central-upwind scheme can be then written in the following form: +\begin{equation}\label{eq:eq7} +\frac{d}{dt}\bar{U}_j\left(t\right)=-\frac{H_{j+\frac{1}{2}}\left(t\right)-H_{j-\frac{1}{2}}\left(t\right)}{\Delta x}+\bar{S}_j\left(t\right) +\end{equation} +Here, $\bar{U}_j$ are the cell centre average values, while $H_{j\pm\frac{1}{2}}\left(t\right)$ are the central upwind numerical fluxes at the cell interfaces and are given by: +\begin{equation}\label{eq:eq8} +\begin{array}{c} +H_{j+\frac{1}{2}}\left(t\right)=\frac{a^+_{j+\frac{1}{2}}F\left(U^-_{j+\frac{1}{2}}\right)-a^-_{j+\frac{1}{2}}F\left(U^+_{j+\frac{1}{2}}\right)}{a^+_{j+\frac{1}{2}}-a^-_{j+\frac{1}{2}}}+\frac{a^+_{j+\frac{1}{2}}a^-_{j+\frac{1}{2}}}{a^+_{j+\frac{1}{2}}-a^-_{j+\frac{1}{2}}}\left[U^+_{j+\frac{1}{2}}-U^-_{j+\frac{1}{2}}\right]\\ +H_{j-\frac{1}{2}}\left(t\right)=\frac{a^+_{j-\frac{1}{2}}F\left(U^-_{j-\frac{1}{2}}\right)-a^-_{j-\frac{1}{2}}F\left(U^+_{j-\frac{1}{2}}\right)}{a^+_{j-\frac{1}{2}}-a^-_{j-\frac{1}{2}}}+\frac{a^+_{j-\frac{1}{2}}a^-_{j-\frac{1}{2}}}{a^+_{j-\frac{1}{2}}-a^-_{j-\frac{1}{2}}}\left[U^+_{j-\frac{1}{2}}-U^-_{j-\frac{1}{2}}\right] +\end{array} +\end{equation} +Here, $a^\pm_{j\pm\frac{1}{2}}$ are the one-sided local speeds of propagation. + +For calculating the numerical fluxes $H_{j\pm\frac{1}{2}}\left(t\right)$, the values of states at the cell interfaces $U^\pm_{j\pm\frac{1}{2}}$ are needed. These values can be calculated as the endpoints of a piecewise linearly reconstructed function: +\begin{equation}\label{eq:eq9} +\begin{array}{c} +U^-_{j+\frac{1}{2}}=\bar{U}_j+\frac{\Delta x}{2}s_j\\ +U^+_{j+\frac{1}{2}}=\bar{U}_{j+1}-\frac{\Delta x}{2}s_{j+1}\\ +U^-_{j-\frac{1}{2}}=\bar{U}_{j-1}+\frac{\Delta x}{2}s_{j-1}\\ +U^+_{j-\frac{1}{2}}=\bar{U}_j-\frac{\Delta x}{2}s_j +\end{array} +\end{equation} +The slope $s_j$ of the reconstructed function in each cell is computed using a limiter function to obtain a non-oscillatory nature of the reconstruction. The KP scheme utilizes the generalized \emph{minmod} limiter as: +\begin{equation}\label{eq:eq10} +\begin{array}{c} +s_j^-=\theta\frac{\bar{U}_j-\bar{U}_{j-1}}{\Delta x},s_j^c=\frac{\bar{U}_{j+1}-\bar{U}_{j-1}}{2\Delta x},s_j^+=\theta\frac{\bar{U}_{j+1}-\bar{U}_{j}}{\Delta x}\\ +s_j=minmod\left(s_j^-,s_j^c,s_j^+\right)=\begin{cases} + \min\left(s_j^-,s_j^c,s_j^+\right), & \text{if }s_j^->0\text{ \& }s_j^c>0\text{ \& }s_j^+>0 \\ + \max\left(s_j^-,s_j^c,s_j^+\right), & \text{if }s_j^-<0\text{ \& }s_j^c<0\text{ \& }s_j^+<0 \\ + 0, & \text{otherwise} + \end{cases} +\end{array} +\end{equation} +The parameter $\theta\in[1,2]$ is used to control or tune the amount of numerical dissipation or numerical viscosity present in the resulting scheme. The value of $\theta = 1.3$ is an acceptable starting point in general. + +It can be observed that for a given $j^\mathrm{th}$ cell, the information from the neighbouring cells $j-1$ and $j-2$ (to the left) and $j+1$ and $j+2$ (to the right) are required for calculating the flux integrals. This will pose difficulties at the cells on the left and right boundaries. While evaluating the flux integrals near the left boundary cells ($j=1$ and $j=2$) and near the right boundary cells ($j=N-1$ and $j=N$; $N$ is the number of cells in the grid), imaginary cells that lie outside the physical boundary should also be taken into consideration, see Figure~\ref{fig:fig2_2}. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.7\textwidth]{fig/ghosts} + \caption{Ghost cells at the grid boundaries, \cite{Sha:15}.} + \label{fig:fig2_2} +\end{figure} + +These imaginary cells denoted by $j=0$ and $j=-1$ on the left, and $j=N+1$ and $j=N+2$ on the right are called the ghost cells. The average value of the conserved variables at the centre of these ghost cells depends on the nature of the physical boundary taken into account. These ghosts cells can be defined in the following way: +\begin{equation}\label{eq:eq11} +\begin{array}{c} +\bar{U}_{j=0}=2\bar{U}_{j=1}-\bar{U}_{j=2}\\ +\bar{U}_{j=-1}=2\bar{U}_{j=0}-\bar{U}_{j=1}\\ +\bar{U}_{j=N+1}=2\bar{U}_{j=N}-\bar{U}_{j=N-1}\\ +\bar{U}_{j=N+2}=2\bar{U}_{j=N+1}-\bar{U}_{j=N} +\end{array} +\end{equation} +The one-sided local speeds of propagation can be estimated as the largest and the smallest eigenvalues $\lambda_{1,2}$ of the Jacobian $\frac{\partial F}{\partial U}$ of the system as: +\begin{equation}\label{eq:eq12} +\begin{array}{c} +a^+_{j\pm\frac{1}{2}}=\max\left(\lambda^+_{1,j\pm\frac{1}{2}},\lambda^-_{1,j\pm\frac{1}{2}},0\right)\\ +a^-_{j\pm\frac{1}{2}}=\max\left(\lambda^+_{2,j\pm\frac{1}{2}},\lambda^-_{2,j\pm\frac{1}{2}},0\right) +\end{array} +\end{equation} +Lastly, the source term $\bar{S}_j\left(t\right)$ has to be appropriately discretized to ensure the well-balanced method. This can be written as: +\begin{equation} +\bar{S}_j\left(t\right)=S\left(\bar{U}_j\right) +\end{equation} +Hence, the separate functions for each of these elements defining in Eqs.~\ref{eq:eq8}-\ref{eq:eq12} are modelled and encoded in \emph{OpenHPL}. These functions are assembled in the \emph{KPfunctions} folder in class \emph{KP07}, and look as follows: +\begin{itemize} +\item \emph{GhostsCell} function provides values of the conserved variables at the centre of the ghost cells, using Eq.~\ref{eq:eq11}. As an input piece of information this function receives the number of cells $N$, and the state vector with the cell centre average values $\bar{U}_{j=1..N}$. Then, the \emph{GhostsCell} function returns a state vector with the cell centre average values for all (including ghost) cells $\bar{U}_{j=-1..N+2}$. +\item \emph{SlopeVectoreS} function returns the slope vector $s_{j=0..N+1}$ of the reconstructed function for each cell, using Eq.~\ref{eq:eq10}. This function has the following inputs: the number of cells $N$, parameters $\theta$ and $\Delta x$, and the state vector with the cell centre average values $\bar{U}_{j=-1..N+2}$. +\item Then, function \emph{WiseU} is created to define the values of states $U^\pm_{j\pm\frac{1}{2}}$ as the endpoints of a piecewise linearly reconstructed function from Eq.~\ref{eq:eq9} using the two previous functions. This function has the following inputs: the number of cells $N$, parameters $\theta$ and $\Delta x$, condition and values for the boundaries, and the state vector with the cell centre average values $\bar{U}_{j=1..N}$. +\item Another function as the \emph{SpeedPropagationApipe} provides the one-sided local speeds of propagation $a^\pm_{j\pm\frac{1}{2}}$, using Eq.~\ref{eq:eq12}. As an input information this function receives the number of cells $N$ and vectors of eigenvalues $\lambda^\pm_{1,j\pm\frac{1}{2}}$ and $\lambda^\pm_{2,j\pm\frac{1}{2}}$ of the Jacobian of the system. +\item The last function \emph{FluxesH} in the \emph{KPfunctions} folder, defines the central upwind numerical fluxes at the cell interfaces $H_{j\pm\frac{1}{2}}$, using Eq.~\ref{eq:eq8}. This function has the following inputs: the number of cells $N$, the values of states at the cell interfaces $U^\pm_{j\pm\frac{1}{2}}$, the one-sided local speeds of propagation $a^\pm_{j\pm\frac{1}{2}}$, and the vector of fluxes $F\left(U^\pm_{j\pm\frac{1}{2}}\right)$. +\end{itemize} + +Then, the primary function for the KP scheme \emph{KPmethod} is created which uses the last three presented functions to define the right-hand side of Eq.~\ref{eq:eq7} (discretization solution of PDE). As an input piece of information, this function receives the number of cells $N$, parameters $\theta$ and $\Delta x$, the state vector with the cell centre average values $\bar{U}_{j=1..N}$, vectors of eigenvalues $\lambda^\pm_{1,j\pm\frac{1}{2}}$ and $\lambda^\pm_{2,j\pm\frac{1}{2}}$ of the Jacobian of the system, the vector of fluxes $F\left(U^\pm_{j\pm\frac{1}{2}}\right)$ and source terms $\bar{S}_j$, and condition and values for the boundaries. It should be noted that the \emph{KPmethod} function is encoded for the cases of systems with two states (state vector $\bar{U}_{j=1..N}$ consists of two states) that is common for the detailed model of the pipe or open channel model (see those unit models below). The boundaries are specified with the inlet and outlet state values: either inlet (or: outlet) values for both states, or inlet and outlet values for one of the states. + +In the case with the use of the KP scheme for the open channel model \cite{Sha:15,Vyt:15}, one of the states should be processed through the scheme with some additional vector that is ensured in this \emph{KPmethod} function ($B_{j=-1..N+2}$ vector is also input to the functions \emph{KPmethod} and \emph{WiseU}). + +It should be noted that due to the issues of the simulation speed, all of the presented functions in class \emph{KP07} are implemented as the \emph{model} type in OpenModelica instead of the \emph{function} type. An example of a Modelica code for defining the \emph{KPmethod} function looks as follows: + +\begin{lstlisting}[language = modelica] +model KPmethod + extends Icons.Method; + parameter Integer N "number of segments"; + input Real U[2 * N] "state vector", + dx "length step", + theta = 1.3 "parameter for slope limiter", + S_[2 * N] "source term vector S", + F_[2 * N, 4] "vector F", + lam1[N, 4] "matrix of eigenvalues '+'", + lam2[N, 4] "matrix of eigenvalues '-'", + B[N + 4] = zeros(N + 4) "additional for open channel", + boundary[2, 2] "values for boundary conditions"; + input Boolean boundaryCon[2, 2] "boundary conditions consideration"; + output Real diff_eq[2 * N] "right hand side for KP solution"; + Real U_[8, N] "matrix with boundary state values. Can be extracted"; +protected + Real H_[2 * N, 2] "matrix of fluxes", + A_speed[N, 4] "matrix of one-side local speeds propagation"; +public + KPfunctions.WiseU wiseU(N = N, theta = theta, U = U, B = B, dx = dx, boun = boundary, bounCon = boundaryCon) "use function for defing the piece wise linear reconstruction of vector U"; + KPfunctions.SpeedPropagationApipe speedA(N = N, lamda1 = lam1, lamda2 = lam2) "use function for defing the one-side local speeds propagation"; + KPfunctions.FluxesH fluxesH(N = N, U_ = U_, A_ = A_speed, F_ = F_) "use function for defing the central upwind numerical fluxes"; +equation + ///// piece wise linear reconstruction of vector U + U_ = wiseU.U_; + ///// one-side local speeds propagation + A_speed = speedA.A; + ///// central upwind numerical fluxes + H_ = fluxesH.H; + //// right hand side of diff. equation + diff_eq = (-(H_[:, 1] - H_[:, 2]) / dx) + S_; +end KPmethod; +\end{lstlisting} + +Examples of using the KP scheme for solving PDEs are also provided in the class \emph{KP07} in the \emph{TestKPpde} folder. More information about using the \emph{KPmethod} function is presented below in the waterway modelling section for the \emph{PenstockKP} and \emph{OpenChannel} units. + +\subsection{Fitting} + +The functions for defining the pressure drop in various pipe fittings are described here. More details can be found in Bernt Lie's Lecture notes, \cite{LieL:18}. + +Due to different constrictions in the pipes, it is of interest to define losses in these fittings. This can be done based on friction pressure drop which can be calculated as: +\begin{equation}\label{eq:eq14} +\Delta p_\mathrm{f}=\frac{1}{2}\phi\rho v|v| +\end{equation} +Here, the dimensionless factor $\phi$ is $\phi=f_\mathrm{D}\frac{L}{D}$ for a long, straight pipe. Here, $\phi$ will be the generalized friction factor. In this case, it is possible to write pressure drop for different constrictions. Some cases of various fittings are shown in Figures~\ref{fig:fig3}-\ref{fig:fig6}. Equations for the dimensionless factor $\phi$ are also demonstrated in these figures for the presented fittings. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.8\textwidth]{fig/Square_fi} + \caption{Square reduction/expansion fittings, \cite{LieL:18}.} + \label{fig:fig3} +\end{figure} +\begin{figure}[!ht] + \centering + \includegraphics[width=0.8\textwidth]{fig/Tapered_fit} + \caption{Tapered reduction/expansion fittings, \cite{LieL:18}.} + \label{fig:fig4} +\end{figure} +\begin{figure}[!ht] + \centering + \includegraphics[width=0.8\textwidth]{fig/Rounded_fit} + \caption{Rounded reduction/expansion fittings, \cite{LieL:18}.} + \label{fig:fig5} +\end{figure} +\begin{figure}[!ht] + \centering + \includegraphics[width=0.8\textwidth]{fig/Sharp_fit} + \caption{Sharp/Thick orifice fittings, \cite{LieL:18}.} + \label{fig:fig6} +\end{figure} + +Based on the presented equations and figures for the calculation of the dimensionless factor $\phi$ in the various fitting, a set of functions is encoded regarding each specific type of fittings, such as \emph{SquareReduction}, \emph{SquareExpansion}, \emph{TaperedReduction}, \emph{TaperedExpansion}, \emph{RoundedReduction}, \emph{SharpOrifice}, and \emph{ThickOrifice}. All these functions receive the Reynolds' number $N_\mathrm{Re}$, diameters of first and second pipes $D_1$ and $D_2$, and the pipe roughness height $\epsilon$. Then, based on the equations from Figures~\ref{fig:fig3}-\ref{fig:fig6}, these functions provide value for the dimensionless factor $\phi$. As an example, a Modelica code for defining the \emph{SquareReduction} function looks as follows: + +\begin{lstlisting}[language = modelica] +function SquareReduction + input Modelica.SIunits.ReynoldsNumber N_Re "Reynold number"; + input Modelica.SIunits.Height eps "Pipe roughness height"; + input Modelica.SIunits.Diameter D_1, D_2; //Pipe diameters + output Real phi; +protected + Real f_D "friction factor"; +algorithm + f_D := Functions.DarcyFriction.fDarcy(N_Re, D_1, eps); + if N_Re < 2500 then + phi := (1.2 + 160 / N_Re) * ((D_1 / D_2) ^ 4 - 1); + else + phi := (0.6 + 0.48 * f_D) * (D_1 / D_2) ^ 2 * ((D_1 / D_2) ^ 2 - 1); + end if; +end SquareReduction; +\end{lstlisting} + +Another function, \emph{FittingPhi} also provides the dimensionless factor $\phi$ as an output. This function calls the presented above functions with a specific type of the fitting in order to get value for the factor $\phi$. This function has the following inputs: the linear velocity $v$, the pipe length $L$, diameters of first and second pipes $D_1$ and $D_2$, liquid density and viscosity $\rho$ and $\mu$, the pipe roughness height $\epsilon$. The last input for this function is a variable with the specific type \emph{FittingType} that holds information about the fitting type. + +\section{Waterway} + +A typical structure of the waterway of the hydropower system is shown in Figure~\ref{fig:fig7}. + +\begin{figure}[!ht] + \centering + \includegraphics[width=0.95\textwidth]{fig/Fig_1_scheme} + \caption{Reservoir structure, \cite{LieL:18}.} + \label{fig:fig7} +\end{figure} + +\subsection{Reservoir} + +Figure~\ref{fig:fig7} shows that the water level in the reservoir $H_\mathrm{r}$ is a key quantity, \cite{Val:17}. Similarly to the water tank, a reservoir model can be described by mass and momentum balances as following, \cite{Sha:11}: +\begin{equation} +\begin{array}{c} + H_\mathrm{r}\frac{d\dot{m}_\mathrm{r}}{dt}=\frac{\rho}{A_\mathrm{r}}\dot{V}_\mathrm{r}^2+A_\mathrm{r}\left(p_\mathrm{atm}-p_\mathrm{r}\right)+\rho gH_\mathrm{r}A_\mathrm{r}-F_\mathrm{f,r}\\ + \frac{dm_\mathrm{r}}{dt}=\dot{m}_\mathrm{r} +\end{array} +\end{equation} +Here, $\dot{m}_\mathrm{r}$ is the reservoir mass flow rate that can be found from the reservoir volumetric flow rate $\dot{V}_\mathrm{r}$. $A_\mathrm{r}$ is a square area of the reservoir. $p_\mathrm{atm}$ and $p_\mathrm{r}$ are the atmospheric and the reservoir outlet pressures, respectively. $F_\mathrm{f,r}$ is a friction term that can be found using Darcy friction factor. + +In a simple case, it can be assumed that the level of the reservoir is constant, the reservoir inlet flow equal the outlet flow, and the area of the reservoir is closed to infinity. Then the reservoir can be presented just as an equation for pressure in the inlet/outlet of the reservoir, \cite{Sha:11,Val:17}. +\begin{equation} + p_\mathrm{r}=p_\mathrm{atm}+\rho gH_\mathrm{r} +\end{equation} +Hence, both of these cases are modelled in the \emph{Reservoir} unit in the library. This unit uses the \emph{Contact} connector and can be connected to other waterway units. The \emph{Reservoir} unit can be specified with the following options: +\begin{itemize} + \item The user can choose a simple model of the reservoir, and calculate the outlet pressure depending on the depth of the outlet from the reservoir. + \item The user can also choose a more complicated model, add the inflow to the reservoir and specify the reservoir geometry. + \item Also, it is possible to connect an input signal with the varying water level in the reservoir. +\end{itemize} + +\subsection{Fitting} + +There are various possibilities of the fittings for the pipes with different diameters as well as the existence of orifices in the pipe. In this unit \emph{Fitting}, the pressure drop due to these constrictions is defined using Eq.~\ref{eq:eq14} and function \emph{FittingPhi}. The \emph{Fitting} unit uses the \emph{ContactPort} connector model in order to have inlet and outlet connectors and the possibility to define pressure drop between those connectors. Then, this unit can be connected to the other waterway units. + +When the \emph{Fitting} unit is in use, the user can postulate the specific type of fitting that is of interest and required based on the geometry parameters for this fitting. + +\subsection{Pipe} + +The simple model of the pipe unit \emph{Pipe} gives possibilities for easy modelling of different conduit: intake race, penstock, tailrace, etc. In these waterway units, there are only small pressure variations due to the small slope angle (height difference between inlet and outlet of the component). That is why the model for these units can be simplified by considering incompressibility of the water and the inelasticity of the walls, \cite{Vyt:17,Val:17,Sha:11}. A sketch of the pipe with all needed terms for modelling is shown in Figure~\ref{fig:fig8}. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.6\textwidth]{fig/Fig_2_scheme} + \caption{Model for flow through a pipe.} + \label{fig:fig8} +\end{figure} + +In the case of incompressible water, the mass in the filled pipe is constant, and: +\begin{equation}\label{eq:eq17} +\frac{dm_\mathrm{c}}{dt} = \dot{m}_\mathrm{c,in} - \dot{m}_\mathrm{c,out} = 0 +\end{equation} +Here, the mass of the water in the pipe (conduit) is $m_\mathrm{c}=\rho V_\mathrm{c}=\rho L_\mathrm{c}\overline{A}_\mathrm{c}$, where $\rho$ is the water density, $V_c$ -- the volume of the water in the pipe, $L_\mathrm{c}$ -- the length of the pipe (conduit) and $\overline{A}_\mathrm{c}$ -- the averaged cross-section area of the pipe that are defined from averaged pipe diameter $\overline{D}_\mathrm{c}$. The inlet and outlet mass flow rates are equal with $\dot{m}_\mathrm{c,in}=\rho\dot{V}_\mathrm{c,in}$ and $\dot{m}_\mathrm{c,out}=\rho\dot{V}_\mathrm{c,out}$ respectively, where $\dot{V}_\mathrm{c,in}=\dot{V}_\mathrm{c,out}$ -- the inlet and outlet volumetric flow rates in the pipe. + +The momentum balance for this simplified model can be expressed as: +\begin{equation}\label{eq:eq18} +\frac{dM_\mathrm{c}}{dt} = \dot{M}_\mathrm{c,in} - \dot{M}_\mathrm{c,out} + F_\mathrm{p,c} + F_\mathrm{g,c} + F_\mathrm{f,c} +\end{equation} +Here, the momentum of the water in the pipe is $M_\mathrm{c}=m_\mathrm{c}v_\mathrm{c}$, where $v_\mathrm{c}$ is the average water velocity and can be defined as $v_\mathrm{c}=\dot{V}_\mathrm{c}/\overline{A}_\mathrm{c}$. The inlet and outlet momentum flow rates are $\dot{M}_\mathrm{c,in}=\dot{m}_\mathrm{c,in}v_\mathrm{c,in}$ and $\dot{M}_\mathrm{c,out}=\dot{m}_\mathrm{c,out}v_\mathrm{c,out}$ respectively, where $v_\mathrm{c,in}=\dot{V}_\mathrm{c,in}/A_\mathrm{c,in}$ and $v_\mathrm{c,out}=\dot{V}_\mathrm{c,out}/A_\mathrm{c,out}$ are the velocities in the inlet and outlet of the pipe, respectively; and are equal in a case with constant diameter of the pipe ($A_\mathrm{c,in}=A_\mathrm{c,out}$). $F_\mathrm{p,c}$ -- the pressure force, due to the difference between the inlet and outlet pressures $p_\mathrm{c,1}$ and $p_\mathrm{c,2}$ can be calculated as follows: $F_\mathrm{p,c}=A_\mathrm{c,in}p_\mathrm{c,1}-A_\mathrm{c,out}p_\mathrm{c,2}$. There is also gravity force that is defined as $F_\mathrm{g,c}=m_\mathrm{c}g\cos\theta_\mathrm{c}$, where $g$ -- the gravitational acceleration and $\theta_\mathrm{c}$ -- the angle of the pipe slope that can be defined from the ratio of height difference $H_\mathrm{c}$ and the length $L_\mathrm{c}$ of the pipe. The last term in the momentum balance is friction force which can be calculated as $F_\mathrm{f,c}=-\frac{1}{8}L_\mathrm{c}f_\mathrm{D,c}\pi\rho\overline{D}_\mathrm{c}v_\mathrm{c}|v_\mathrm{c}|$ using the Darcy friction factor $f_\mathrm{D,c}$ for the conduit. + +The main defined variable is the volumetric flow rate. In this \emph{Pipe} unit, the flow rate changes simultaneously in the whole pipe (information about the speed of wave propagation is not included here). Water pressures can be shown just in the boundaries of pipe (inlet and outlet pressure from connectors). This unit uses the \emph{ContactPort} connector model and can be connected to other waterway units. + +When the \emph{Pipe} unit is in use, the user can specify the required geometry parameters for this pipe: length $L_\mathrm{c}$, height difference $H_\mathrm{c}$, inlet and outlet diameters $D_\mathrm{c,1}$ and $D_\mathrm{c,2}$, and pipe roughness height $\epsilon_\mathrm{c}$. In order to define the friction force $F_\mathrm{f,c}$ the \emph{Friction} function is used here. It should be noted that this unit provides possibilities for the modelling of pipes with both positive and negative slopes (positive or negative height difference). This unit can be initialized by the initial value of the flow rate $\dot{V}_\mathrm{c,0}$. Otherwise, user can choose to an option when the simulation starts from steady-state and the OpenModelica handles automatically initial steady-state values (does not work properly in OpenModelica). + +\subsection{Surge Tank} + +The surge shaft/tank will be presented here as a vertical open pipe with constant diameter together with manifold, which connecting conduit, surge volume and penstock, \cite{Sha:11,Val:17}. Surge volume (vertical open pipe) is shown in Figure~\ref{fig:fig9}. +\begin{figure}[!ht] + \centering + \includegraphics[width=0.4\textwidth]{fig/surgepic} + \caption{Model for a vertical open pipe.} + \label{fig:fig9} +\end{figure} + +The model for the surge volume can be described by mass and momentum balances as follows: +\begin{equation} +\begin{array}{c} +\frac{dm_\mathrm{s}}{dt} = \dot{m}_\mathrm{s,in} = \rho \dot{V}_\mathrm{s}\\ +\frac{dm_\mathrm{s}v_\mathrm{s}}{dt} =\dot{m}_\mathrm{s,in}v_\mathrm{s,in}+F_\mathrm{p,s}+F_\mathrm{g,s}+F_\mathrm{f,s} +\end{array} +\end{equation} +Here, the mass of the water in the surge tank is $m_\mathrm{s}=\rho V_\mathrm{s}=\rho l_\mathrm{s}A_\mathrm{s}=\rho A_\mathrm{s}\frac{h_\mathrm{s}}{\cos\theta_\mathrm{s}}$, where $\rho$ is the water density, $V_s$ is the volume of the water in the surge tank, $h_\mathrm{s}$ and $l_\mathrm{s}$ are the height and length of the surge tank filled with water and $A_\mathrm{s}$ is the cross-section area of the surge tank that defined from the vertical pipe diameter $D_\mathrm{s}$. The water velocity $v_\mathrm{s}$ can be defined as $v_\mathrm{s}=\dot{V}_\mathrm{s}/A_\mathrm{s}$. The inlet water velocity $v_\mathrm{s,in}=\dot{V}_\mathrm{s}/A_\mathrm{s}$. $F_\mathrm{p,s}$ is the pressure force, due to the difference between the inlet and outlet pressures $p_\mathrm{s,1}$ and $p_\mathrm{atm}$ and can be calculated as follows: $F_\mathrm{p,s}=A_\mathrm{s}\left(p_\mathrm{s,1}-p_\mathrm{atm}\right)$. There is also gravity force that is defined as $F_\mathrm{g,s}=m_\mathrm{s}g\cos\theta_\mathrm{s}$, where $g$ -- the gravitational acceleration and $\theta_\mathrm{s}$ -- the angle of the slope of the surge tank and can be defined from the ratio of height difference $H_\mathrm{s}$ and length $L_\mathrm{s}$. The last term in the momentum balance is friction force, which can be calculated as $F_\mathrm{f,s}=-\frac{1}{8}l_\mathrm{s}f_\mathrm{D,s}\pi\rho D_\mathrm{s}v_\mathrm{s}|v_\mathrm{s}|$ using Darcy friction factor $f_\mathrm{D,s}$ for the surge tank. + +The manifold is described by the preservation of mass in steady-state; the volumetric flow rate in the intake race $\dot{V}_\mathrm{i}$ equals to the sum of volumetric flow rates from surge volume $\dot{V}_\mathrm{s}$ and penstock $\dot{V}_\mathrm{p}$: $\dot{V}_\mathrm{i}=\dot{V}_\mathrm{p}+\dot{V}_\mathrm{s}$. In addition, the manifold pressure is equal for all three connections. This manifold is already implemented in the \emph{ContactNode} connectors model that is used in this \emph{SurgeTank} unit. Then, this unit can be connected to other waterway units. + +In the \emph{SurgeTank} unit, the user can specify the required geometry parameters for the surge tank (vertical pipe): length $L_\mathrm{s}$, height difference $H_\mathrm{s}$, diameters $D_\mathrm{s}$, pipe roughness height $\epsilon_\mathrm{s}$, and value for the atmospheric pressure $p_\mathrm{atm}$. In order to define the friction force $F_\mathrm{f,s}$ the \emph{Friction} function is used here. This unit can be initialized by the initial values of the flow rate $\dot{V}_\mathrm{s,0}$ and water height $h_\mathrm{s,0}$. Otherwise, the user can decide on an option when the simulation starts from the steady-state and the OpenModelica automatically handles the initial steady-state values (does not work properly in OpenModelica). + +\subsection{Pipe with compressible water and elastic walls} + +Unlike the conduit, the penstock has considerable pressure variation due to a considerable height drop. Thus, to make the model for the penstock more realistic, the compressible water and the elastic walls of the penstock should be taken into account. To express the compressibility/elasticity, some compressibility coefficients which show the relationship between pressure, water density and pipe inner radius, are used, \cite{Sha:11,Vyt:17}. + +The isothermal compressibility $\beta_T$ is defined as follows: +\begin{equation} +\beta_T = \frac{1}{\rho}\frac{d\rho}{dp} +\end{equation} +Here, $\rho$ and $p$ denote density and pressure, respectively. Assuming that the isothermal compressibility is independent of the pressure, this equation can be rewritten in a way that is convenient to calculate the fluid density at different pressures: +\begin{equation} +\rho = \rho^{\text{atm}}e^{\beta_T(p-p^{\text{atm}})} +\end{equation} +Here $p^{\text{atm}}$ is the atmospheric pressure and $\rho^{\text{atm}}$ is the water density at atmospheric pressure. The relation between density and pressure from this equation is a fairly linear dependency for the pressure in the range which is normal in hydropower plants. That is why the previous equation can be simplified as follows: +\begin{equation} +\rho \approx \rho^{\text{atm}}(1+{\beta_T(p-p^{\text{atm}})}) +\end{equation} +In the same way, the relation between pressure and pipe cross-section area can be defined using equivalent compressibility coefficient $\beta^{eq}$ due to the pipe shell elasticity; after simplification the relation looks as follows: +\begin{equation} +A \approx A^{\text{atm}}(1+{\beta^{eq}(p-p^{\text{atm}})}) +\end{equation} +Here, $A^{\text{atm}}$ is the pipe cross-section area at atmospheric pressure. + +It is also possible to define a linear relationship for the product of density and cross-sectional area that change with the pressure. +\begin{equation} +A\cdot\rho \approx A^{\text{atm}}\rho^{\text{atm}}(1+{\beta^\mathrm{tot}(p-p^{\text{atm}})}) +\end{equation} +Here, $\beta^\mathrm{tot}$ is the total compressibility due to water compressibility and pipe shell elasticity ($\beta^\mathrm{tot}=\beta_T+\beta^{eq}$), and is related to the speed of sound in water inside the pipe. + +Hence, using the previous equations for the relationship between the density of the water, cross-sectional area of the pipe, and pressure in the pipe, ODEs (\ref{eq:eq17}) and (\ref{eq:eq18}) for mass and momentum balances can be further developed into the PDEs, \cite{Vyt:17}: +\begin{equation}\label{eq:eq18_} +\begin{array}{c} +A^{\text{atm}}_\mathrm{p}\rho^{\text{atm}}\beta^\mathrm{tot}\frac{\partial m_\mathrm{p}}{\partial t} = -\frac{\partial\dot{m}_\mathrm{p}}{\partial x}\\ +\frac{\partial\dot{m}_\mathrm{p}}{\partial t} = -\frac{\partial}{\partial x}\big(\dot{m}_\mathrm{p}v_\mathrm{p}+A_\mathrm{p}p_\mathrm{p})+\rho A_\mathrm{p}g\cos\theta-\frac{1}{8}f_\mathrm{D,p}\pi\rho D_\mathrm{p}v_\mathrm{p}|v_\mathrm{p}| +\end{array} +\end{equation} +The KP scheme is chosen for the discretization of the model for the elastic penstock with compressible water. Firstly, PDEs (\ref{eq:eq18_}) for the elastic penstock model should be presented in vector form as a standard formulation for KP scheme, \cite{Sha:15}: +\begin{equation} +\frac{\partial U}{\partial t}+\frac{\partial F}{\partial x} = S +\end{equation} +Here, $U=\left[\begin{matrix}p_\mathrm{p} & \dot{m}_\mathrm{p}\end{matrix}\right]^T$ is a vector of conserved variables, $F=\left[\begin{matrix}\frac{\dot{m}_\mathrm{p}}{A_\mathrm{p}^{\mathrm{atm}}\rho^{\mathrm{atm}} +\beta^\mathrm{tot}} & \dot{m}_\mathrm{p}v_\mathrm{p}+A_\mathrm{p}p_\mathrm{p}\end{matrix}\right]^T$ is a vector of fluxes, and $S=\left[\begin{matrix} 0 & \rho A_\mathrm{p}g\cos\theta_\mathrm{p}-\frac{1}{8}f_\mathrm{D,p}\pi\rho D_\mathrm{p}v_\mathrm{p}|v_\mathrm{p}|\end{matrix}\right]^T$ is a source terms vector. + +As shown above in the description of the KP scheme, the eigenvalues $\lambda_{1,2}$ of the Jacobian $\frac{\partial F}{\partial U}$ of the system are needed and can be found as follows, \cite{Vyt:17}: + +\begin{align} +\lambda_{1,2}=\frac{v_\mathrm{p}\pm\sqrt{v_\mathrm{p}^2+\frac{4A_\mathrm{p}}{A_\mathrm{p}^{\text{atm}}\rho^{\text{atm}}\beta^\mathrm{tot}}}}{2} +\end{align} + +From these eigenvalues, it can be deduced that the speed of sound is given as $c=\sqrt{\frac{A_\mathrm{p}}{A_\mathrm{p}^{\text{atm}}\rho^{\text{atm}}\beta^\mathrm{tot}}}$, thus confirming that the total compressibility factor $\beta^\mathrm{tot}$ is related to the speed of sound. + +Hence, the function for the KP scheme \emph{KPmethod} from function class \emph{KP07} is then used in unit \emph{PenstockKP} in order to discretize the presented PDEs into ODEs. The \emph{KPmethod} function provides the right hand side of Eq.~\ref{eq:eq7} (discretization solution of PDE) that is then used for ODE in the \emph{PenstockKP}. Moreover, the values of states at the cell interfaces $U^\pm_{j\pm\frac{1}{2}}$ are taken from function \emph{KPmethod} in the \emph{PenstockKP} unit in order to define the vectors of eigenvalues $\lambda^\pm_{1,j\pm\frac{1}{2}}$ and $\lambda^\pm_{2,j\pm\frac{1}{2}}$, and the vector of fluxes $F\left(U^\pm_{j\pm\frac{1}{2}}\right)$. Then, these vectors together with the state vector with the cell centre average values $\bar{U}_{j=1..N}$, and source terms vector $\bar{S}_j$ are used in the function \emph{KPmethod}. The boundaries conditions are also specified for the \emph{KPmethod} function in the \emph{PenstockKP} unit and are the values for the inlet and outlet pressures $p_\mathrm{p,1}$ and $p_\mathrm{p,2}$. + +The \emph{PenstockKP} unit uses the \emph{TwoContact} connector model that provides information about inlet and outlet pressure and the mass flow rate of two connectors which can be connected to other waterway units. In this \emph{PenstockKP} unit, the user can specify the required geometry parameters for the: length $L_\mathrm{p}$, height difference $H_\mathrm{p}$, inlet and outlet diameters $D_\mathrm{p,1}$ and $D_\mathrm{p,2}$, pipe roughness height $\epsilon_\mathrm{p}$ and the number of cells $N$ for the discretization. In order to define the friction force $F_\mathrm{f,p}$ in the cell of the pipe, the \emph{Friction} function is used here. This unit can be initialized by the initial value of the flow rate $\dot{V}_\mathrm{p,0}$ and pressure $p_\mathrm{p,0}$ for each cell of the pipe. In order to simplify the pressure initialization, the user can simply specify the initial value for the surge tank water height $h_\mathrm{s,0}$ (then an encoded formula for the pressure initialization is used). Otherwise, the user can choose an option when the simulation starts from steady-state and the OpenModelica automatically handles the initial steady-state values (does not work properly in OpenModelica). + +\subsection{Open Channel} + +Similarly to the detailed model of the pipe, the model of the open channel is also encoded in the library. The open channel model looks as follows, \cite{Sha:15,Vyt:17}: + \begin{equation} +\frac{\partial U}{\partial t}+\frac{\partial F}{\partial x} = S +\end{equation} +where:\begin{itemize} +\item[] $U=\left[\begin{matrix}q & z\end{matrix}\right]^T$ , +\item[] $F=\left[\begin{matrix}q & \frac{q^2}{z-B}+\frac{g}{2}\left(z-B\right)^2\end{matrix}\right]^T$, +\item[] $S=\left[\begin{matrix}0 & -g\left(z-B\right)\frac{\partial B}{\partial x}-\frac{gf_n^2q|q|\left(w+2\left(z-B\right)\right)^\frac{4}{3}}{w^\frac{4}{3}}\frac{1}{\left(z-B\right)^\frac{7}{3}}\end{matrix}\right]^T$, +\end{itemize} +with: $z=h+B$, and $q=\frac{\dot{V}}{w}$. Here, $h$ is water depth in the channel, $B$ is the channel bed elevation, $q$ is the discharge per unit width $w$ of the open channel. $f_n$ is the Manning's roughness coefficient. The KP scheme is described earlier, but some additional specific details for open channels should be added here. Firstly, the eigenvalues for this model are defined as follows, \cite{Sha:15}: +\begin{equation} +\lambda_{1,2}=u\pm\sqrt{gh} +\end{equation} +where, $u$ is the cross-section average water velocity. In the channel areas which are dry or almost dry (if the computational domain contains a dry bed, islands or coastal areas), the values of $h_{i\pm\frac{1}{2}}^\pm$ could be very small or even zero. In such cases when $h_{i\pm\frac{1}{2}}^\pm<\epsilon$, with $\epsilon$ being an a-priori chosen small positive number (e.g. $\epsilon = 1e^{-5}$), the velocity at the cell centres in the entire domain is recomputed by the ted by the desingularization formula, \cite{Sha:15}: +\begin{equation} +\bar{u}_j=\frac{2\bar{h}_j\bar{q}_j}{\bar{h}_j^2+\max\left(\bar{h}_j^2,\epsilon^2\right)} +\end{equation} +Then, the point values of the velocity $u_{i\pm\frac{1}{2}}^\pm$ at the left/right cell interfaces, i.e., at $x_j = x_{j\pm\frac{1}{2}}$ are computed as, \cite{Sha:15} +\begin{equation}\label{eq:eq19} +\begin{array}{c} +u^-_{j+\frac{1}{2}}=\bar{u}_j+\frac{\Delta x}{2}s_{u_j}\\ +u^+_{j+\frac{1}{2}}=\bar{u}_{j+1}-\frac{\Delta x}{2}s_{u_{j+1}}\\ +u^-_{j-\frac{1}{2}}=\bar{u}_{j-1}+\frac{\Delta x}{2}s_{u_{j-1}}\\ +u^+_{j-\frac{1}{2}}=\bar{u}_j-\frac{\Delta x}{2}s_{u_j} +\end{array} +\end{equation} +The slope or the numerical derivative of the velocity $s_{u_j}$ are calculated using the same limiter function as in equation~\ref{eq:eq10}, however, in this case replacing $U$ by $u$ (it has not been rewritten here for the sake of brevity), \cite{Sha:15}. + +Hence, similar to the \emph{PenstockKP} unit the function for the KP scheme \emph{KPmethod} from function class \emph{KP07} is then used in unit \emph{OpenCannel} in order to discretize the presented PDEs into ODEs. The values of states at the cell interfaces $U^\pm_{j\pm\frac{1}{2}}$ are taken from function \emph{KPmethod} in the \emph{OpenCannel} unit in order to define the vectors of eigenvalues $\lambda^\pm_{1,j\pm\frac{1}{2}}$ and $\lambda^\pm_{2,j\pm\frac{1}{2}}$, the point values of the velocity $u_{i\pm\frac{1}{2}}^\pm$, and the vector of fluxes $F\left(U^\pm_{j\pm\frac{1}{2}}\right)$. Then, these vectors together with the state vector with the cell centre average values $\bar{U}_{j=1..N}$ and source terms vector $\bar{S}_j$ are used in the function \emph{KPmethod}. The boundaries conditions are also specified for the \emph{KPmethod} function in the \emph{OpenCannel} unit and are the values for the inlet and outlet flows per unit width $q_\mathrm{1}$ and $q_\mathrm{2}$. + +The \emph{OpenCannel} unit uses the \emph{TwoContact} connector model that gives information about inlet and outlet pressure (water depth in the channel) and the flow rate of two connectors which can be connected to other waterway units. In this \emph{OpenCannel} unit, the user can specify the required geometry parameters for the: length $L$ and width $w$ of the channel, height vector $H$ of the channel bed with a height from the left and right sides, the Manning's roughness coefficient $f_n$, and the number of cells $N$ for the discretization. This unit can be initialized by the initial value of the flow rate $\dot{V}_\mathrm{0}$ and water depth $h_\mathrm{0}$ for each cell of the channel. User can also change the boundary condition for the KP scheme. + +\subsection{Reservoir Channel} + +In order to make a more detailed model of the reservoir, the open channel model is used, where the channel bed is assumed to be flat (no slope). Here, the user also specifies the geometry parameters of the channel (reservoir) such as length $L$ and width $w$ of the channel (reservoir), height vector $H$ of the reservoir bed with height from the left and right sides (should be same number in order to have flatbed), and the number of cells $N$ for the discretization. This unit can be initialized by the initial value of the water depth $h_\mathrm{0}$ in the reservoir. + +The \emph{ReservoirChannel} unit uses the \emph{Contact} connector that provides information about the outlet pressure and the flow rate from/to the reservoir which can be connected to other waterway units. + +\subsection{Runoff} + +Similar to many other hydrological models, the HBV model is based on the land phase of the hydrological (water) cycle, see Figure~\ref{fig:fig10}. The figure shows that the HBV model consists of four main water storage components connected in a cascade form. Using a variety of weather information, such as air temperature, precipitation and potential evapotranspiration, the dynamics and the balances of the water in the presented water storages are calculated. Hence, the runoff/inflow from some of the defined catchment areas can be found, \cite{Sha:13}. + +\begin{figure}[!ht] + \centering + \includegraphics[width=0.6\textwidth]{fig/hydrology} + \caption{Structure of the HBV model.} + \label{fig:fig10} +\end{figure} + +The model is developed for each water storage component to define the dynamics and balances of the water. In addition, the catchment area is divided into elevation zones (usually not more than ten) where each zone has the same area. The air temperature and the precipitation are provided for each elevation zone. Hence, all calculations within each water storage component are performed for each elevation zone. + +\subsubsection{Snow routine} + +In the snow routine segment, the snow storage, as well as snowmelt are computed. This computation is performed for each elevation zone. Using the mass balance, the change in the dry snow storage volume $V_\mathrm{s,d}$, is found as follows: +\begin{equation}\label{eq:eq20} +\frac{dV_\mathrm{s,d}}{dt}=\dot{V}_\mathrm{p,s}-\dot{V}_\mathrm{d2w} +\end{equation} +Here, the flow of the precipitation in the form of snow is denoted as $\dot{V}_\mathrm{p,s}$. This precipitation in the form of snow is defined from the input precipitation flow, $\dot{V}_\mathrm{p}$, based on the information about the air temperature, $T$, a threshold temperature for snowmelt, $T_\mathrm{T}$, and for the area that is not covered by lakes (the fractional area covered by the lakes, $a_\mathrm{L}$, is used): +\begin{equation}\label{eq:eq21} +\dot{V}_\mathrm{p,s}=\begin{cases} \dot{V}_\mathrm{p}K_\mathrm{CR}K_\mathrm{CS}(1 - a_\mathrm{L}), & \mbox{if } T\leq T_\mathrm{T}\\ 0, & \mbox{if } T>T_\mathrm{T} \end{cases} +\end{equation} +Precipitation correction coefficients $K_\mathrm{CR}$ and $K_\mathrm{CS}$ are also used here, for the rainfall and snowfall precipitations, respectively. Then, the flow of precipitation in the form of rain is defined as follows: +\begin{equation}\label{eq:eq22} +\dot{V}_\mathrm{p,r}=\begin{cases} \dot{V}_\mathrm{p}K_\mathrm{CR}(1 - a_\mathrm{L}), & \mbox{if } T>T_\mathrm{T}\\ 0, & \mbox{if } T\leq T_\mathrm{T} \end{cases} +\end{equation} +The flow of the melting snow (melting of snow from dry form to water form), $\dot{V}_\mathrm{d2w}$, can be found using the following expression based on the degree-day factor $K_\mathrm{dd}$ and the area of the elevation zone $A_\mathrm{e}$: +\begin{equation}\label{eq:eq23} +\dot{V}_\mathrm{d2w}=\begin{cases} A_\mathrm{e}K_\mathrm{dd}(T - T_\mathrm{T})(1 - a_\mathrm{L}), & \mbox{if }T>T_\mathrm{T}\mbox{ and }V_\mathrm{s,d}>0\\ 0, & \mbox{otherwise} \end{cases} +\end{equation} +Finally, the flow out of the snow routine to the next soil moisture segment, $\dot{V}_\mathrm{s2s}$, is found as a sum of flows of precipitation in the form of rain, and the melted snow: +\begin{equation}\label{eq:eq24} +\dot{V}_\mathrm{s2s}=\dot{V}_\mathrm{p,r}+\dot{V}_\mathrm{d2w} +\end{equation} +It should be noted that a simplification related to the threshold temperature, $T_\mathrm{T}$, is assumed here. This threshold temperature describes both the snow melt and the rainfall to snowfall transition temperatures in the presented model. In reality, this threshold temperature might differ for each of these processes. In addition, the storage of snow in water form is not considered here, mostly due to the simplification with the threshold temperature. + +\subsubsection{Soil moisture routine} + +In the soil moisture segment, the water storage in the ground (soil) is found together with actual evapotranspiration from the snow-free areas. The net runoff to the next segment (upper zone) is also defined here. Using the mass balance, the volume of the soil moisture storage, $V_\mathrm{s,m}$, is found as follows: +\begin{equation}\label{eq:eq25} +\frac{dV_\mathrm{s,m}}{dt}=\dot{V}_\mathrm{s2s}-\dot{V}_\mathrm{s2u}-\alpha_\mathrm{e}\dot{V}_\mathrm{s,e} +\end{equation} +Here, $\dot{V}_\mathrm{s2u}$ is the net runoff to the next segment (the upper zone). $\dot{V}_\mathrm{s,e}$ is the actual evapotranspiration from the soil, that is taken into account only for the snow-free areas (zones). To define these snow-free zones, coefficient $\alpha_\mathrm{e}$ is used and equals one for snow-free areas and zero for covered-by-snow areas. The actual evapotranspiration can be found from the potential evapotranspiration, $\dot{V}_\mathrm{e}$, the volume of the soil moisture storage, $V_\mathrm{s,m}$, the area of the elevation zone $A_\mathrm{e}$, and the field capacity --- threshold soil (ground) moisture storage, $g_\mathrm{T}$: +\begin{equation}\label{eq:eq26} +\dot{V}_\mathrm{s,e}=\begin{cases} \frac{V_\mathrm{s,m}}{A_\mathrm{e}g_\mathrm{T}}\dot{V}_\mathrm{e}, & \mbox{if } V_\mathrm{s,m}< A_\mathrm{e}g_\mathrm{T}\\ \dot{V}_\mathrm{e}, & \mbox{if } V_\mathrm{s,m}\geq A_\mathrm{e}g_\mathrm{T} \end{cases} +\end{equation} +The potential evapotranspiration, $\dot{V}_\mathrm{e}$, is defined as the input to the hydrology model, similarly to the air temperature and precipitations. + +The output of the soil moisture segment --- the net runoff to the next segment, $\dot{V}_\mathrm{s2u}$, can be found based on the field capacity, $g_\mathrm{T}$, as follows: +\begin{equation}\label{eq:eq27} +\dot{V}_\mathrm{s2u}=\begin{cases} \Big(\frac{V_\mathrm{s,m}}{A_\mathrm{e}g_\mathrm{T}}\Big)^{\beta}\dot{V}_\mathrm{s2s}, & \mbox{if } 0\leq V_\mathrm{s,m}< A_\mathrm{e}g_\mathrm{T}\\ \dot{V}_\mathrm{s2s}, & \mbox{if } V_\mathrm{s,m}\geq A_\mathrm{e}g_\mathrm{T} \end{cases} +\end{equation} +Here, $\beta$ is an empirical parameter for specifying the relationship between the flow out of the snow routine, the soil moisture storage, and the net runoff from the soil moisture. Typically, $\beta \in [2,3]$, which leads to nonlinearity in Eq.~\ref{eq:eq27}. + +\subsubsection{Runoff routine} + +The upper and lower zones from Figure~\ref{fig:fig10} are combined into one segment --- the runoff routine. In this segment, the runoff from the catchment area is found based on the outflow from the soil moisture. The effects of the precipitation to, and evapotranspiration from the lakes in the catchment area are also taken into account here. + +The upper zone characterises components with quick runoff. The following mass balance is used for the upper zone description: +\begin{equation}\label{eq:eq28} +\frac{dV_\mathrm{u,w}}{dt}=\dot{V}_\mathrm{s2u}-\dot{V}_\mathrm{u2l}-\dot{V}_\mathrm{u2s}-\dot{V}_\mathrm{u2q} +\end{equation} +Here, $V_\mathrm{u,w}$ is the water volume in the upper zone that depends on the saturation threshold, $s_\mathrm{T}$, which defines the surface (fast) runoff, $\dot{V}_\mathrm{u2s}$, and the fast runoff, $\dot{V}_\mathrm{u2q}$. $\dot{V}_\mathrm{u2b}$ is the runoff to the lower zone and is defined by the percolation capacity, $K_\mathrm{PC}$, for the area that is not covered by lakes: +\begin{equation}\label{eq:eq29} +\dot{V}_\mathrm{u2l}=A_\mathrm{e}(1-a_\mathrm{L})K_\mathrm{PC} +\end{equation} +The surface runoff, $\dot{V}_\mathrm{u2s}$, can be found using the saturation threshold, $s_\mathrm{T}$, and the water volume in the upper zone, $V_\mathrm{u,w}$: +\begin{equation}\label{eq:eq30} +\dot{V}_\mathrm{u2s}=\begin{cases} a_1(V_\mathrm{u,w}-A_\mathrm{e}s_\mathrm{T}), & \mbox{if } V_\mathrm{u,w}>A_\mathrm{e}s_\mathrm{T}\\ 0, & \mbox{if } V_\mathrm{u,w}\leq A_\mathrm{e}s_\mathrm{T} \end{cases} +\end{equation} +Here, $a_1$ is a parameter that represents the recession constant for the surface runoff. A similar recession constant, $a_2$, is used for the fast runoff, $\dot{V}_\mathrm{u2q}$, calculations: +\begin{equation}\label{eq:eq31} +\dot{V}_\mathrm{u2q}=a_2\min{(V_\mathrm{u,w},A_\mathrm{e}s_\mathrm{T})} +\end{equation} +The lower zone characterises the lake and the groundwater storages and defines the base runoff from the catchment area. The following mass balance equation is used for the lower zone description: +\begin{equation}\label{eq:eq32} +\frac{dV_\mathrm{l,w}}{dt}=\dot{V}_\mathrm{u2l}+a_\mathrm{L}\dot{V}_\mathrm{p}-\dot{V}_\mathrm{l2b}-a_\mathrm{L}\dot{V}_\mathrm{e} +\end{equation} +The water volume in the lower zone is denoted as $V_\mathrm{l,w}$. As mentioned previously, $\dot{V}_\mathrm{p}$ and $\dot{V}_\mathrm{e}$ are the precipitation and the potential evapotranspiration flows, respectively. $a_\mathrm{L}$ is the fractional area covered by lakes. $\dot{V}_\mathrm{l2b}$ is the base runoff from the lower zone that can be found as follows: +\begin{equation}\label{eq:eq33} +\dot{V}_\mathrm{l2b}=a_3V_\mathrm{l,w} +\end{equation} +Here, $a_3$ is the recession constant similar to $a_1$ and $a_2$. + +The total runoff from the catchment, $\dot{V}_\mathrm{tot}$, is a sum of the base, quick, surface runoffs for each elevation zones, and is defined as follows: +\begin{equation}\label{eq:eq34} +\dot{V}_\mathrm{tot}=\sum\limits_{i=1}^n(\dot{V}_{\mathrm{l2b},i}+\dot{V}_{\mathrm{u2s},i}+\dot{V}_{\mathrm{u2q},i}) +\end{equation} +Here, the base $\dot{V}_{\mathrm{l2b},i}$, quick $\dot{V}_{\mathrm{u2q},i}$, and surface $\dot{V}_{\mathrm{u2s},i}$ runoffs are first summed up for each of the $n$ elevation zones and then these sums of the base, quick and surface runoffs are added together. + +Hence, this hydrology model is encoded in the \emph{OpenHPL} library as the \emph{RunOff\_zones} unit where the main defined variable is the total runoff from the catchment. This unit uses the standard Modelica connector \emph{RealOutput} connector as an output from the model that can be connected to, for example, simple reservoir model \emph{Reservoir} unit. + +In order to get historic information about the air temperature, precipitation, and potential evapotranspiration for each of the elevation zones, the standard Modelica \emph{CombiTimeTable} source models are used in order to read this data from the text files. + +When the \emph{RunOff\_zones} unit is in use, the user can specify the required geometry parameters for the catchment: the number of elevation zones, all hydrology parameters such as threshold temperatures, degree-day factor, precipitation correction coefficients, field capacity and $\beta$ parameter in soil moisture routine, threshold level for quick runoff in upper zone, percolation from upper zone to lower zone, recession constants for the surface and quick runoffs in upper zone, and recession constant for the base runoff in lower zone. Finally, the user can also specify the info about the text files where the data for the \emph{CombiTimeTable} models are stored. + +\section{Electro-Mechanical} + +\subsection{Turbine} + +The turbine unit can be expressed with a simple turbine model based on a look-up table (turbine efficiency vs. guide vane opening). This simple turbine model is described by Eq.~\ref{eq:eq35}, \cite{LieL:18,Vyt:19b}, where the mechanical turbine shaft power $\dot{W}_\mathrm{tr}$ is defined as: + +\begin{equation}\label{eq:eq35} +\dot{W}_\mathrm{tr} = \eta_\mathrm{h}\Delta p_\mathrm{tr}\dot{V}_\mathrm{tr} +\end{equation} + +Here, $\eta_\mathrm{h}$ gives the turbine hydraulic efficiency that is found from a standard turbine look-up table and depends on the turbine control signal, $u_v$. $\Delta p_\mathrm{tr}$ is the pressure drop through the turbine that is defined as the difference between inlet and outlet turbine pressures, i.e., $\Delta p_\mathrm{tr} = p_\mathrm{tr1}-p_\mathrm{tr2}$. The relationship between the turbine volumetric flow rate $\dot{V}_\mathrm{tr}$ and the pressure drop $\Delta p_\mathrm{tr}$ is described through a simple valve-like expression as follows: + +\begin{equation}\label{eq:eq36} +\dot{V}_\mathrm{tr} = C_\mathrm{v} u_\mathrm{v} \sqrt{\frac{\Delta p_\mathrm{tr}}{p^\mathrm{a}}} +\end{equation} + +Here, $C_\mathrm{v}$ in Eq.~\ref{eq:eq36} is some guide vane ``valve capacity'' that can be tuned by using the nominal turbine net head (nominal pressure drop) and the nominal turbine flow rate. $p^\mathrm{a}$ is the atmospheric pressure. + +Based on Eqs.~\ref{eq:eq35} and \ref{eq:eq36}, the simple turbine model is implemented in \emph{OpenHPL} as the \emph{Turbine} element. In this \emph{Turbine} unit, the multi-physic connections are used in order to stay connected to waterway units as well as to the other electro-mechanical units. Those connections are already implemented in the \emph{TurbineContacts} connectors model that is used in this \emph{Turbine} unit. Then, this unit can be connected to other waterway and electro-mechanical units. + +In the \emph{Turbine} unit, the user can specify the required parameters for the simple turbine model: guide vane ``valve capacity'' $C_\mathrm{v}$, the nominal turbine net head (nominal pressure drop) and the nominal turbine flow rate, turbine guide vane nominal opening signal $u_{v,n}$ in per unit value from 0 to 1. The user can also choose either to use the constant turbine efficiency and specify it, or to use the look-up table for the turbine efficiency and also specify this table. + +\subsection{Francis} + + Our library also includes a mechanistic Francis turbine model based on the Euler turbine equations. The key quantities of the model are shown in Fig.~\ref{fig:fig11}, and the shaft power $\dot{W}_s$ produced in the Francis turbine is defined as follows, \cite{LieL:18,Vyt:18}: + +\begin{equation} \label{eq:eq37} +{\dot{W}_s} = \dot{m}\omega \Big(R_1\frac{\dot{V}}{A_1}\cot{\alpha_1}-R_2\big(\omega R_2+\frac{\dot{V}}{A_2}\cot{\beta_2}\big)\Big). +\end{equation} + +\begin{figure} +\centering +\includegraphics[width=0.6\textwidth]{fig/Fig_2_F_turb} % The printed column width is 8.4 cm. +\caption{Key quantities in the Francis turbine model, with blade angles $\beta_1$ and $\beta_2$. The water effluent comes out from the paper plane, \cite{LieL:18}.} +\label{fig:fig11} +\end{figure} + +Here, $\dot{m}$ and $\dot{V}$ are the mass and volumetric flow rate through the turbine, respectively, and $\omega$ is the angular velocity of the runner. $R_1$ and $R_2$ are the inlet and outlet radius of the runner, respectively. $A_1$ and $A_2$ are the inlet and outlet cross-sectional areas, respectively, and can be defined by using the runner dimensions: $R_1$, $R_2$, and $w_1$ which is the inlet width/height of the runner/blades. $\alpha_1$ is the inlet guide vane angle that is given by a control signal. $\beta_2$ is the outlet blade angle. + +The total work rate $\dot{W}_t$ removed through the turbine is: + +\begin{equation} \label{eq:eq38} +{\dot{W}_t} = {\dot{W}_s+\dot{W}_{ft}+\Delta p_v\dot{V}}. +\end{equation} + +Here, $\Delta p_v$ is the pressure loss across the guide vane due to friction and is often neglected. +The total work rate might also be formulated based on Bernoulli's law: $\dot{W}_t=\Delta p_{tr}\dot{V} + \frac{1}{2}\dot{m}\dot{V}^2(\frac{1}{A_0^2}-\frac{1}{A_2^2})$, from where the total pressure loss across the turbine $\Delta p_{tr}$ can be defined; $A_0$ is the inlet cross section area to the spiral case. $\dot{W}_{ft}$ -- the friction term that represents various friction losses within the turbine is calculated as follows: + +\begin{equation} \label{eq:eq39} +\begin{array}{ll} +\dot{W}_{ft} = k_{ft,1}\dot{V}(\cot{\gamma_1}-\cot{\beta_1})^2 \\ ++k_{ft,2}\dot{V}\cot^2{\alpha_2}+k_{ft,3}\dot{V}^2. +\end{array} +\end{equation} + +Here, $k_{ft,1}$, $k_{ft,2}$ and $k_{ft,3}$ are friction coefficients that represent shock, whirl, and pipe friction losses, respectively. These coefficients are tuning parameters for the mechanistic Francis turbine model. $\beta_1$ is the inlet blade angle which in the nominal operating condition should be equal to the angle of the relative velocity $\gamma_1$ in order to achieve an influent no-shock condition (the angle of the relative velocity is defined from: $\cot{\gamma_1}=\cot{\alpha_1}-\frac{\omega R_1}{\dot{V}}A_1$). To satisfy the no-whirl effluent condition, angle $\alpha_2$ should be equal to 0. This angle is defined as $\cot{\alpha_2}=\cot{\beta_2}+\frac{\omega R_2}{\dot{V}/A_2}$. + +We propose the following expressions for the turbine loss coefficients, \cite{Vyt:19b}: +\begin{equation} +\begin{array}{c} +k_{ft,1} = 11.6\cdot10^3e^{8.9\cdot10^{-3}H_\mathrm{n}}\\ +k_{ft,2} = 0\\ +k_{ft,3} = 720e^{6.7\cdot10^{-3}H_\mathrm{n}} +\end{array} +\end{equation} + +The efficiency of the turbine can be defined as follows: +\begin{equation} \label{eq:eq40} +{\eta} = \frac{\dot{W}_{s}}{\dot{W}_{t}} +\end{equation} + +\textbf{Turbine design algorithm.} Geometry parameters for the Francis turbine must be found in order to use the mechanistic turbine model as presented above. These parameters, such as blade angles or runner dimensions, can be found from design data. Typically, for real (in use) turbines, these data are unavailable due to trade confidentiality. Thus, it is of interest to develop a design algorithm that can be used to define all the geometry parameters. The structure of this algorithm is shown in Fig.~\ref{fig:fig12}, where the input and output values for the design algorithm are presented. + +\begin{figure} +\begin{center} +\includegraphics[width=0.4\textwidth]{fig/Fig_3_Algor_str} % The printed column width is 8.4 cm. +\caption{Block diagram that describes the turbine design algorithm (inputs and outputs).} +\label{fig:fig12} +\end{center} +\end{figure} + +As input data for the calculation, nominal net head $H_n$ and volumetric flow rate $\dot{V}_n$ are used. A possible turbine design algorithm is as follows, ref. Fig.~\ref{fig:fig11}, \cite{Bre:01}: + +\begin{enumerate} + \item Choose the outlet blade angle $\beta_2$ and reference velocity $v_{\omega,2}$. These values are usually in the interval: +\begin{equation} \label{eq:eq41} +\begin{array}{ll} +158\mathrm{^\circ} \leq \beta_2 \leq 165\mathrm{^\circ} \\ +35\mathrm{m/s} \leq v_{\omega,2} \leq 42\mathrm{m/s} +\end{array} +\end{equation} + Here, the outlet angle and reference velocity take higher values for higher heads. Brekke suggests that these values may be chosen as $\beta_2=162.5\mathrm{^\circ}$ and $v_{\omega,2}=41\mathrm{m/s}$. + \item Define the outlet runner cross-section area $A_2$ (radius $R_2$) and adjust it together with reference velocity $v_{\omega,2}$ to the normal synchronous rotational speed.\\First, the meridional velocity is defined as: +\begin{equation} \label{eq:eq42} +{v_2^r} = -\frac{v_{\omega,2}}{\cot{\beta_2}}, +\end{equation} +then outlet radius can be defined from the outlet cross-sectional area ($A_2=\pi R_2^2$): +\begin{equation} \label{eq:eq43} +{v_2^r} = \frac{\dot{V}}{A_2} \Rightarrow R_2=\sqrt{\frac{\dot{V}}{\pi v_2^r}} +\end{equation} +Then, the turbine rotational speed $n$ [$\mathrm{RPM}$] can be calculated from the angular velocity ($\omega=\frac{\pi n}{30}$): +\begin{equation} \label{eq:eq44} +{v_{\omega,2}}={\omega R_2} \Rightarrow n=\frac{30v_{\omega,2}}{\pi R_2} +\end{equation} +After this the turbine speed should be reduced to the nearest synchronous speed (depends on number of pole pairs $p$ in the generator: $n=\frac{60f}{p}$, where frequency $f$ is constant $50\,\mathrm{Hz}$) and then the outlet radius with the reference velocity should be recalculated in reverse order, using~(\ref{eq:eq44}),~(\ref{eq:eq43}) and~(\ref{eq:eq42}).\\ Normally, the information about the turbine rotational speed is available, so the outlet runner radius and the reference velocity can be found directly from~(\ref{eq:eq42}),~(\ref{eq:eq43}) and~(\ref{eq:eq44}). + \item Choosing the inlet runner dimension, inlet cross-section area $A_1$ (radius $R_1$ and width $w_1$).\\ The inlet radius can be defined from the reference velocity $v_{\omega,1}$ as follows: +\begin{equation} \label{eq:eq45} +{R_1}=\frac{v_{\omega,1}}{\omega}=\frac{30v_{\omega,1}}{\pi n} +\end{equation} +Here, the reference velocity can be chosen from the range of reduced value $\overline{v}_{\omega,1}\in [0.7, 0.75]$, which is dimensionless and expressed as: +\begin{equation} \label{eq:eq46} +{\overline{v}_{\omega,1}} = \frac{v_{\omega,1}}{\sqrt{2gH}} +\end{equation} +It is common to use $\overline{v}_{\omega,1}=0.725$.\\Regularly, in order to avoid backflow in the runner, an acceleration of the flow through the runner is desirable. That is why the outlet meridional velocity can be chosen approximately ten per cent higher than the inlet. +\begin{equation} \label{eq:eq47} +{v_2^r} = 1.1v_1^r +\end{equation} +Then the inlet runner width $w_1$ can be calculated from the inlet cross-sectional area ($A_1=2\pi R_1w_1$): +\begin{equation} \label{eq:eq48} +{v_1^r} = \frac{\dot{V}}{A_1}\Rightarrow w_1=\frac{\dot{V}}{2\pi R_1v_1^r} +\end{equation} +Here, it should be noted that the blade thickness could be included for improving the calculation of the inlet cross-section area, e.g., 10\% of the perimeter. + \item The inlet blade angle $\beta_1$ can be found as follows: +\begin{equation} \label{eq:eq49} +{\tan{(180^\circ-\beta_1)}} = \frac{v_1^r}{v_{\omega,1}-v_1^t} +\end{equation} + Here, $v_1^t$ is the tangential velocity and can be defined from dimensionless value $\overline{v}_1^t = 0.48/\overline{v}_{\omega,1}$, using~(\ref{eq:eq46}) to convert from dimensionless value. +\end{enumerate} + +\textbf{Guide vane actuation.} In addition, a model for the guide vane opening is also included in order to define the inlet guide vane angle $\alpha_1$, \cite{LieL:18}. The guide vane geometry is depicted in Figure~\ref{fig:fig13}. +\begin{figure} +\begin{center} +\includegraphics[width=0.8\textwidth]{fig/Guide_vane} % The printed column width is 8.4 cm. +\caption{Guide vane geometry relating actuator position $Y$ to guide vane angel $\alpha_1$, \cite{LieL:18}.} +\label{fig:fig13} +\end{center} +\end{figure} + +From Figure~\ref{fig:fig13}~(a), assuming that the actuator cylinder is ``vertical'' in position ``0'', it can be found that +\begin{equation} +\begin{array}{c} +{R}_Y^2=r_Y^2+Y_0^2 \\ +\cos\theta_0=\frac{r_Y}{R_Y} +\end{array} +\end{equation} + +Clearly, $d_0=R_v-r_v$. Next, moving the actuator to position $Y$, Figure~\ref{fig:fig13}~(b) with the cosine law gives +\begin{equation} +Y^2=r_Y^2+R_Y^2-2r_YR_Y\cos\theta +\end{equation} +thus specifying angle $\theta$. The change in angel $\theta$ is introduced in (Figure~\ref{fig:fig12}~(b), (c)) as +\begin{equation} +\Delta\theta\equiv\theta-\theta_0 +\end{equation} + +Then, applying the cosine law to Figure~\ref{fig:fig13}~(c) gives length $d$ ($d\in[d_0,2l]$) from +\begin{equation} +d^2=r_v^2+R_v^2-2r_vR_v\cos\Delta\theta +\end{equation} +and then angle $\psi$ from +\begin{equation} +r_v^2=d^2+R_v^2-2dR_v\cos\psi +\end{equation} +Here, it is necessary to ensure that the sign of $\psi$ equals to the sign of $\Delta\theta$. + +From Figure~\ref{fig:fig13}~(d) and applying the cosine law, we find +\begin{equation} +l^2=l^2+d^2-2ld\cos\phi\Rightarrow\cos\phi=\frac{d}{2l} +\end{equation} + +Finally, the guide vane angle can be found as +\begin{equation} +\alpha_1=\phi-\psi +\end{equation} + +In the above model, it has been assumed that the guide vane is perpendicular to the attached ``arm'' of length $l$, and that in position ``0'', a guide vane is at position ``9 o'clock'', Figure~\ref{fig:fig13}~(a), \cite{LieL:18}. + +Hence, together the Francis turbine model, the turbine design algorithm and the guide vane actuation (servo position) are realized in the \emph{Francis} turbine element in our library. In this \emph{Francis} unit, the multi-physic\emph{TurbineContacts} connectors model is also used and ensures connection to other waterway and electro-mechanical units. In addition, this \emph{Francis} unit has also the standard Modelica \emph{RealInput} connector that describes the angular velocity as an input to the Francis turbine model. Typically, this angular velocity connector is based on the derived info from (connected to) the generator units. + +In the \emph{Francis} unit, the user can specify the required nominal parameters for the Francis turbine: nominal turbine net head (nominal pressure drop), nominal turbine flow rate, nominal power, and nominal rotational speed. Then, the user can either choose to use the design algorithm that automatically defines the turbine geometry parameters (radius of the turbine blade inlet and outlet, the width of the turbine/blades inlet, the turbine inlet and outlet blade angles), or specify these turbine geometries manually. Similarly, the user has the same options for the losses coefficients and parameters for the guide vane actuation (servo position) model. + +\subsection{Pelton} + +Similar to the Francis turbine model, the mechanistic Pelton turbine model is developed and used. The key quantities of the model are shown in Fig.~\ref{fig:fig14}, and the shaft power $\dot{W}_s$ produced in the Pelton turbine is defined as follows, \cite{LieL:18}: +\begin{figure} +\begin{center} +\includegraphics[width=0.8\textwidth]{fig/Pelton_turb} % The printed column width is 8.4 cm. +\caption{Some key concepts of the Pelton turbine, \cite{LieL:18}.} +\label{fig:fig14} +\end{center} +\end{figure} + +\begin{equation} +\dot{W}_s=\dot{m}v_R\left[\delta(u_\delta)\cdot v_1-v_R\right]\left(1-k\cos\beta\right) +\end{equation} +Here, $\dot{m}$ is the mass flow rate through the turbine. The reference velocity is equal to $v_R = \omega R$: here, $R$ is a is the radius of the rotor where the mass hits the bucket and $\omega$ is the angular velocity that is normally constrained by the grid frequency. The water velocity at position ``1'' (Figure~\ref{fig:fig14}) is equal to $v_1=\frac{\dot{V}}{A_1}$, where $\dot{V}$ is the volumetric flow rate through the turbine and $A_1$ is a cross-sectional area at position ``1'' (the end of the nuzzle). $\beta$ is the reflection angle with typical value of $\beta= 165^{\circ}$, and $k<1$ is some friction factor, typically $k\in[0.8, 0.9]$, \cite{LieL:18}. In practical installations, there is a deflector mechanism to reduce the velocity $v_1\delta(u_\delta)$ to avoid over-speed. + +The total work rate $\dot{W}_t$ removed through the turbine is: +\begin{equation} \label{eq:eq50} +{\dot{W}_t} = {\dot{W}_s+\dot{W}_{ft}} +\end{equation} +Here, $\dot{W}_{ft}$ is a friction of losses that can be found as follows: +\begin{equation} +\dot{W}_{ft}=K\left(1-k\cos\beta\right)\dot{m}v_R^2 +\end{equation} +Here, friction coefficient $K$ equals 0.25, \cite{LieL:18}. + +In addition, the pressure drop across the nozzle (positions ``0'' and ``1'`) $\Delta p_n$ can be found as follows, \cite{LieL:18}: +\begin{equation} +\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] +\end{equation} +Here, $A_0$ is a cross sectional area at position ``0'' (the beginning of the nuzzle). $A_1(Y)$ means that the cross-sectional area at position ``1'' is a function of the needle position $Y$. $k_f$ is a coefficient of friction loss in the nuzzle. + +Hence, this Pelton turbine model is realized in the \emph{Pelton} turbine element in our library. In this \emph{Pelton} unit, the multi-physic\emph{TurbineContacts} connectors model is also used and ensures connection to other waterway and electro-mechanical units. In addition, this \emph{Pelton} unit also has the standard Modelica \emph{RealInput} connector that describes the angular velocity as an input to the Francis turbine model. Typically, this angular velocity connector is based on the derived info from (connected to) the generator units. + +In the \emph{Pelton} unit, the user can specify the required geometry for the Pelton turbine: radius of the turbine runner, input diameter of the nuzzle, runner bucket angle, friction factors and coefficients, and deflector mechanism coefficient. + +\subsection{Simple Generator} + +Here, a simple model of an ideal generator with friction is considered. This model has inputs as electric power available on the grid and the turbine shaft power. This model is based on the angular momentum balance which depends on the turbine shaft power, the friction loss in the aggregate rotation, and the power taken up by the generator. The rotor angular velocity mainly depends on its inertia, internal friction and available power. The kinetic energy stored in the rotating generator is $ K_a=\frac{1}{2}J_a\omega_a^2$, where $\omega_a$ is the angular velocity of the rotor and $J_a$ is its moment of inertia. The kinetic energy $K_a$ is changed by the power terms operating on the generator axis, e.g., the turbine shaft power $\dot{W}_s$ produced by the turbine, friction power $\dot{W}_{f,a}$, and the power taken up by the generator, $\dot{W}_g$, \cite{LieL:18}, and from energy the balance can be expressed as follows: +\begin{equation} +\frac{dK_a}{dt}=\dot{W}_s-\dot{W}_{f,a}-\dot{W}_g +\end{equation} +$\dot{W}_{f,a}$ is the frictional power loss in the rotor. This frictional power loss is mainly due to losses in the shaft supporting bearings, losses in the transmission gearboxes and losses in the windage (air gap). For simplicity, it is assumed that the bearing term is dominating, and express $\dot{W}_{f,a}$ as +\begin{equation} +\dot{W}_{f,a}=\frac{1}{2}k_{f,b}\omega_a^2 +\end{equation} +Here, $k_{f,b}$ is the bearing friction factor. The power taken up by the generator is transmitted to the grid with electric efficiency $\eta_e$. Thus the electric power available on the grid is $\dot{W}_e=\eta_e\dot{W}_g$. + +Hence, this simple generator model is encoded in the \emph{OpenHPL} as a \emph{SimpleGen} unit. This unit has inputs as electric power available on the grid and the turbine shaft power which both are implemented with the standard Modelica \emph{RealInput} connector. This \emph{SimpleGen} unit also uses the standard Modelica \emph{RealOutput} connectors in order to provide output information about the angular velocity and frequency of the generator. All these connectors can be connected to turbines units and other standard Modelica blocks. + +In the \emph{SimpleGen} unit, the user can specify the required parameters for the generator: moment of inertia of the generator, generator's electrical efficiency, friction factor in the rotor bearing box, the number of the generator poles. This unit can be initialised by the initial value of the angular velocity $\omega_0$. Otherwise, the user can decide on an option when the simulation starts from a steady-state and the OpenModelica automatically handles the initial steady-state values (does not work properly in OpenModelica). + +\subsection{Synchronize Generator} + +Here, a more detailed model of the synchronous generator is presented. More details in the Behzad Sharefi master thesis, \cite{Sha:11}. This model is based on the d-q decomposition and assumed that the generator is connected to the grid, \cite{Sha:11}. The voltage-current relation is given as: +\begin{equation} +\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] +\end{equation} +Here, $R_a$ and $R_e$ are the phase winding and equivalent network resistances, $x_d$, $x_q$, $x_d'$, and $x_q'$ are d-/q-axis normal, and transient reactances. $x_e$ is the equivalent network reactance. $I_d$ and $I_q$ are the d-/q-axis currents. $E_d'$ and $E_q'$ are the d-/q-axis transient voltages. $V_s$ is the network RMS (Root-Mean-Squared) voltage. $\delta_e$ is the phase shift angle that is described as follows: +\begin{equation} +\frac{d\delta_e}{dt} = (\omega - \omega_s)\frac{n_p}{2} +\end{equation} +Here, $n_p$ is the number of poles in the generator, where $\omega$ and $\omega_s$ are the generator and grid angular velocities, respectively. The Swing equation is used to describe the angular velocity dynamics and looks as follows: +\begin{equation} +\frac{d\omega}{dt}=\frac{\dot{W}_s-P_e}{J\omega} +\end{equation} + +The dynamic equations for the transient operation are as follows: \begin{equation} +\begin{array}{c} +T_{qo}'\frac{dE_d'}{dt} =-E_d' + (x_q' - x_q)I_q \\ +T_{do}'\frac{dE_q'}{dt} = -E_q' + (x_d - x_d')I_d + E_f +\end{array} +\end{equation} +Here, $T_{do}'$ and $T_{qo}'$ are the d-/q-axis transient open-circuit time constants. $E_f$ is the voltage across the field winding with the following dynamic equation: +\begin{equation} +\frac{dE_f}{dt} = \frac{-E_f + K_E\left(V_{tr}-V_t-V_{stab}\right)}{T_E} +\end{equation} +Here, $K_E$ is the excitation system gain and $T_E$ --- excitation system time constant. $V_{tr}$ is the voltage reference set point for the exciter. +$V_t$ is the terminal voltage and can be found as $V_t = \sqrt{\left(E_d'-R_aI_d-x_q'I_q\right)^2+\left(E_q'-R_aI_q+x_d'I_d\right)^2}$. $V_{stab}$ is the stabilisation voltage with the following dynamic equation: +\begin{equation} +\frac{dV_{stab}}{dt} = \frac{-V_{stab} + K_F\frac{dE_f}{dt}}{T_{FE}} +\end{equation} +Here, $K_F$ is the stabiliser gain, and $T_{FE}$ --- the stabiliser time constant. + +The output active and reactive power of the generator can be found as follows: +\begin{equation} +\begin{array}{c} +P_e = 3\left(E_d'I_d+E_q'I_q\right)\\ +Q_e = \sqrt{9V_t^2I_t^2-P_e^2} +\end{array} +\end{equation} +Here, the terminate current is given as $I_t=\sqrt{I_d^2+I_q^2}$. + +Hence, this synchronise generator model is encoded in the \emph{OpenHPL} as a\emph{SynchGen} unit. This unit has inputs as the turbine shaft power, that is implemented with the standard Modelica \emph{RealInput} connector. This \emph{SynchGen} unit also uses the standard Modelica \emph{RealOutput} connectors in order to provide output information about the angular velocity and frequency of the generator. All these connectors can be connected to turbines units and other standard Modelica blocks. + +In the \emph{SynchGen} unit, the user can specify the required nominal parameters for the generator: active and reactive powers drawn from the generator at Steady-State operating condition, phase winding resistance, and the number of poles. The following network parameters should be also specified by the user: equivalent network resistance and reactance, network RMS voltage, grid angular velocity. The user also specifies the d-/q-axis normal and transient reactances, d-/q-axis transient open-circuit time constants, minimum and maximum field voltages, excitation system, stabilizer gains, time constants, moment of inertia of the generator, and the friction factor in the rotor bearing box. This unit can be initialized, or the user can decide on an option for the self initialisation. + +\section{Governor} + +Here, a simple model of the governor that controls the guide vane opening in the turbine based on the reference power production is described. More details in the Behzad Sharefi master thesis, \cite{Sha:11}. The block diagram of this governor model is shown in Figure~\ref{fig:fig15}. +\begin{figure} +\begin{center} +\includegraphics[width=0.8\textwidth]{fig/Governor} % The printed column width is 8.4 cm. +\caption{Block Diagram of the governor, \cite{Sha:11}.} +\label{fig:fig15} +\end{center} +\end{figure} + +Using the model in Figure~\ref{fig:fig15} and the standard Modelica blocks, the governor model is encoded in our library as the \emph{Governor} unit. This unit has inputs as the reference power production and generator frequency that are implemented with the standard Modelica \emph{RealInput} connector. This \emph{Governor} unit also uses the standard Modelica \emph{RealOutput} connectors in order to provide output information about the turbine guide vane opening. + +In the \emph{SynchGen} unit, the user can specify the various time constants of this model (see Figure~\ref{fig:fig15}): pilot servomotor time constant $T_p$, primary servomotor integration time $T_g$, and transient droop time constant $T_r$. The user should also provide the following parameters: droop value $\sigma$, transient droop $\delta$, and nominal values for the frequency and power generation. The information about the maximum, minimum, and initial guide vane opening should also be specified. + +\section{Examples} + +Here, various models that have been assembled in the \emph{Examples} class are described. + +\subsection{HPSimple} + +In this model of the hydropower system, the simplified models are used for conduits and turbine modelling. The generator is not included in the model. The simple \emph{Pipe} unit is used to represent the penstock, intake and discharge races. The simple \emph{Turbine} unit is used to represent the turbine. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). Data from the Sundsbarm hydropower plant is used for this example model. + +\subsection{HPSimple\_generator} + +In this model of the hydropower system, the simplified models are used for conduits, turbine, and generator modelling. The simple \emph{Pipe} unit is used to represent the penstock, intake and discharge races. The simple \emph{Turbine} unit is used to represent the turbine. The \emph{SimpleGen} unit is used to represent the generator. The \emph{Reservoir} unit is used to represent the reservoir and tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). Data from the Sundsbarm hydropower plant is used for this example model. + +\subsection{HPSimple\_Francis} + +In this model of the hydropower system, the simplified model is used for conduits modelling. The turbine and the generator are modelled with more detailed \emph{Francis} and \emph{SynchGen} units, respectively. The simple \emph{Pipe} unit is used to represent the penstock, intake and discharge races. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). Data from the Sundsbarm hydropower plant is used for this example model. + +\subsection{HPDetailed} + +In this model of the hydropower system, the simplified models are used for conduits and turbine modelling, except for the penstock that is modelled with the more detailed \emph{PenstockKP} unit. The generator is not included in the model. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The simple \emph{Turbine} unit is used to represent the turbine. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). Data from the Sundsbarm hydropower plant is used for this example model. + +\subsection{HPDetailed\_generator} + +In this model of the hydropower system, the simplified models are used for conduits, turbine, and generator modelling, except for the penstock that is modelled with the more detailed \emph{PenstockKP} unit. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The simple \emph{Turbine} unit is used to represent the turbine. The \emph{SimpleGen} unit is used to represent the generator. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). Data from the Sundsbarm hydropower plant is used for this example model. + +\subsection{HPDetailed\_Francis} + +In this model of the hydropower system, the simplified model is used for conduits modelling, except for the penstock that is modelled with the more detailed \emph{PenstockKP} unit. The turbine and generator are modelled with more detailed \emph{Francis} and \emph{SynchGen} units, respectively. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). Data from the Sundsbarm hydropower plant is used for this example model. + +\subsection{HPSimple\_Francis\_IPSLGen} + +Here, the last example model (uses the \emph{PenstockKP} and \emph{Francis} units) is extended by synergy with the \emph{OpenIPSL} for generator and power system modelling. The \emph{Governor} unit from the \emph{OpenHPL} is also used here. The penstock is modelled with the more detailed \emph{PenstockKP} unit. The turbine is modelled with more detailed \emph{Francis} unit. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). + +\subsection{HPSimple\_Francis\_GridGen} + +Here, the \emph{HPDetailed\_Francis} example model (uses the \emph{PenstockKP} and \emph{Francis} units) is also extended by synergy with the \emph{OpenIPSL} for only generator modelling. The \emph{Governor} unit from the \emph{OpenHPL} is also used here. The penstock is modelled with the more detailed \emph{PenstockKP} unit. The turbine is modelled with the more detailed \emph{Francis} unit. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). + +\subsection{HPSimple\_Francis\_IPSLGenGov} + +Here, the \emph{HPDetailed\_Francis} example model (uses the \emph{PenstockKP} and \emph{Francis} units) is extended by synergy with the \emph{OpenIPSL} for generator, governor and power system modelling. The penstock is modelled with the more detailed \emph{PenstockKP} unit. The turbine is modelled with the more detailed \emph{Francis} unit. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). + +\subsection{HPSimple\_Francis\_IPSLGenInfBus} + +Here, the \emph{HPDetailed\_Francis} example model (uses the \emph{PenstockKP} and \emph{Francis} units) is extended by synergy with the \emph{OpenIPSL} for generator and power system (including infinite bus) modelling. The \emph{Governor} unit from the \emph{OpenHPL} is also used here. The penstock is modelled with the more detailed \emph{PenstockKP} unit. The turbine is modelled with the more detailed \emph{Francis} unit. The simple \emph{Pipe} unit is used to represent the intake and discharge races. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). + +\subsection{HPSimple\_OpenChannel} + +In this model of the hydropower system, the simplified models are used for conduits and turbine modelling. The generator is not included in the model. The simple \emph{Pipe} unit is used to represent the penstock and intake race. The discharge race is an open channel here, and the \emph{OpenChannel} unit is used for modelling. The simple \emph{Turbine} unit is used to represent the turbine. The \emph{Reservoir} unit is used to represent the reservoir and the tailwater (here, this unit uses a simple model of the reservoir that only depends on the water depth in the reservoir). + +\chapter{Basic example} + +Here, a basic (step-by-step) example is provided in order to show how to connect and specify elements from the \emph{OpenHPL} in a flowsheet. Furthermore, an example of how to set up the OMPython API is also presented. + +\section{Flowsheet} + +In order to create a flowsheet model for the hydropower system in OpenModelica using the \emph{OpenHPL}, the following steps should be performed: + +\begin{enumerate} + \item Create a new Modelica class that is specified as ``Model'' and assign a name for this model. Then, open this model with the ``Diagram view''. See example in Figure~\ref{fig:fig16}. + \begin{figure}[ht] + \begin{center} + \includegraphics[width=1\textwidth]{fig/Exam_1} % The printed column width is 8.4 cm. + \caption{Creating a new model in OpenModelica.} + \label{fig:fig16} + \end{center} + \end{figure} + \item Drag and drop all of the needed elements for the hydropower structure from the \emph{OpenHPL} and provide a name for each element. Then, connect the connectors of these elements between each other. See example in Figure~\ref{fig:fig17}. + \begin{figure} + \begin{center} + \includegraphics[width=1\textwidth]{fig/Exam_2} % The printed column width is 8.4 cm. + \caption{Connecting the elements of the hydropower system.} + \label{fig:fig17} + \end{center} + \end{figure} + \item Also, insert the records model ``Constants'' from the \emph{OpenHPL} with the name ``Const'' to the model in order to have control on some constants and properties that are common for all hydropower elements. As an example in case, typical initial value of the volumetric flow rate in the system for each ``Pipe'' unit can be specified. + \item Specify each of the elements with an appropriate geometry. See example for the specification of the intake race element in Figure~\ref{fig:fig18}. + \begin{figure}[ht] + \begin{center} + \includegraphics[width=0.8\textwidth]{fig/Exam_4} % The printed column width is 8.4 cm. + \caption{Specification of the elements.} + \label{fig:fig18} + \end{center} + \end{figure} + \item Provide a control signal for the turbine. To make this, you can either add a source of the ramp signal from the standard Modelica library (``Modelica.Blocks.Sources. Ramp''), or create an input variable (or just a simple variable) for the example model ``OpenHPL example'' and equate it to the turbine control input. Both possibilities are shown in Figure~\ref{fig:fig19}.\label{example_control} + \begin{figure} + \begin{center} + \includegraphics[width=1\textwidth]{fig/Exam_5} % The printed column width is 8.4 cm. + \caption{Creating a control signal for the turbine.} + \label{fig:fig19} + \end{center} + \end{figure} + \item Specify the simulation setup values and save it in the model. Then, the simulation can be carried out. See example for the simulation specification and running in Figure~\ref{fig:fig20}. + \begin{figure}[ht] + \begin{center} + \includegraphics[width=1\textwidth]{fig/Exam_6} % The printed column width is 8.4 cm. + \caption{Specifying and running simulation.} + \label{fig:fig20} + \end{center} + \end{figure} +\end{enumerate} + +\section{OMPython API} + +In order to run the simulations of the developed example hydropower model from Python, the OMPython API for OpenModelica can be used. The following steps should be performed to set up the API: + +\begin{enumerate} + \item Import the ``Modelica system'' environment form the OMPython package. Then, create an object in Python of the OpenModelica model ``OpenHPL example''. Here, the libraries that are used in the model should also be loaded to the object which in this case, is the standard Modelica library and the \emph{OpenHPL}. See an example of the code below: + \begin{lstlisting}[language = Python] + from OMPython import ModelicaSystem + hps_s = ModelicaSystem("OpenHPL_example.mo", "OpenHPL_example", ["Modelica", "OpenHPL/package.mo"]) + \end{lstlisting} + \item When the object is created, the simulation options, as well as the parameters and input variables can be specified. In order to check and specify the simulation options, the following commands can be used: + \begin{lstlisting}[language = Python] + hps_s.setSimulationOptions(stepSize=0.1, stopTime=1000) # set simulation options + hps_s.getSimulationOptions() # get list of simulation options + \end{lstlisting} + Similar commands for parameters and input variables look as follows: + \begin{lstlisting}[language = Python] + hps_s.getParameters() # get list of model parameters + hps_s.setParameters(**{"turbine.H_n":460}) # set parameter value for the turbine nominal head + hps_s.getInputs() # get list of input variables + hps_s.setInputs(u=[(0,0.75),(100,0.75),(101,0.7),(1000,0.7)]) # set input value over time as a ramp signal + \end{lstlisting} + It should be noted that here, I used the model with input variable for the control signal of the turbine (see item \#\ref{example_control} and Figure~\ref{fig:fig19} in the previous flowsheet section). + \item Run the simulation and get the results. An example of these commands are carried out as follows: + \begin{lstlisting}[language = Python] + hps_s.simulate() # run simulation + hps_s.getSolutions() # get list of solution variables + time, Vdot, p_tr1, p_tr2 = hps_s.getSolutions("time", "turbine.V_dot", "turbine.p_tr1", "turbine.p_tr2") # get results of simulation time variable, and the turbine flow rate, inlet and outlet pressures. + \end{lstlisting} + These simulation results can be then plotted using \emph{matplotlib} package. See the plots of the turbine flow rate and the pressures in Figure~\ref{fig:fig21}. + \begin{figure}[ht] + \begin{center} + \includegraphics[width=0.7\textwidth]{fig/Exam_sim} % The printed column width is 8.4 cm. + \caption{Plotting of simulation results.} + \label{fig:fig21} + \end{center} + \end{figure} + \item It is also possible to linearize the model for the future analysis. The linearization can be done with one command. However more commands can also be used to check/specify the linearization options and define the states/inputs/outputs. See the example below: + \begin{lstlisting}[language = Python] + hps_s.setLinearizationOptions(stopTime=0.1) # set a stop time for linearization (linearization is performed in this point) + hps_s.getLinearizationOptions() # get a list of the linearization options + As,Bs,Cs,Ds = hps_s.linearize() # actual linearization; defining standard A, B, C and D matrices. + hps_s.getLinearStates() # get list of states + hps_s.getLinearInputs() # get list of inputs + hps_s.getLinearOutputs() # get list of outputs + \end{lstlisting} + It should be noted that the linearized model should include the input variable which in this case is the input variable for the turbine control signal. +\end{enumerate} + +Similar to OMPython API, the running of OpenModelica models in Julia using OMJulia API can also be carried out. 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-3.930913978 -4.05188172 -4.157526882 -4.253494624 -4.33172043 -4.420698925 -4.540322581 -4.810483871 diff --git a/OpenHPL/Resources/Tables/Prec_var.txt b/OpenHPL/Resources/Tables/Prec_var.txt new file mode 100644 index 0000000..544dfc4 --- /dev/null +++ b/OpenHPL/Resources/Tables/Prec_var.txt @@ -0,0 +1,9110 @@ +#1 +double zones_prec(9108,11) # Zones persipitation variation +0 10.4 13 12.1 11.8 12.7 12.2 12.1 11.9 11 11 +86400 10.4 13 12.1 11.8 12.7 12.2 12.1 11.9 11 11 +86400 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.3 +172800 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.3 +172800 0 0 0 0 0 0 0 0 0 0 +259200 0 0 0 0 0 0 0 0 0 0 +259200 0.1 1.9 2.6 2 4.1 4.8 4.5 5 3.7 3.3 +345600 0.1 1.9 2.6 2 4.1 4.8 4.5 5 3.7 3.3 +345600 3.7 9.4 8.7 7.4 10.1 10.2 10.6 10 8.7 8.6 +432000 3.7 9.4 8.7 7.4 10.1 10.2 10.6 10 8.7 8.6 +432000 21.5 24.8 25 25 24.9 23.7 22.9 21.9 20.7 18.8 +518400 21.5 24.8 25 25 24.9 23.7 22.9 21.9 20.7 18.8 +518400 10.2 11 10.7 10.8 10.4 9.7 9.3 8.8 8.2 7.7 +604800 10.2 11 10.7 10.8 10.4 9.7 9.3 8.8 8.2 7.7 +604800 15.6 16.9 17.7 17.5 17.2 16.2 15.6 14.8 13.8 12.2 +691200 15.6 16.9 17.7 17.5 17.2 16.2 15.6 14.8 13.8 12.2 +691200 7.2 9.6 10.2 9.8 10.6 11.3 10.9 10.6 10.1 9.2 +777600 7.2 9.6 10.2 9.8 10.6 11.3 10.9 10.6 10.1 9.2 +777600 0.6 3.6 3.3 2.5 4.2 4.5 3.9 4 2.9 2.7 +864000 0.6 3.6 3.3 2.5 4.2 4.5 3.9 4 2.9 2.7 +864000 7.6 7.4 7.1 6.9 6.9 6.3 6.2 6 5.6 5.3 +950400 7.6 7.4 7.1 6.9 6.9 6.3 6.2 6 5.6 5.3 +950400 17.4 21.7 20.8 18.9 19.9 19.9 18.2 16.7 15.1 13.2 +1036800 17.4 21.7 20.8 18.9 19.9 19.9 18.2 16.7 15.1 13.2 +1036800 0 0 0 0 0 0 0 0 0 0 +1123200 0 0 0 0 0 0 0 0 0 0 +1123200 0 0 0 0 0 0 0 0 0 0 +1209600 0 0 0 0 0 0 0 0 0 0 +1209600 0 0 0 0 0 0 0 0 0 0 +1296000 0 0 0 0 0 0 0 0 0 0 +1296000 0.6 0.2 0.6 0.7 0.2 0 0.2 0.3 0.6 0.6 +1382400 0.6 0.2 0.6 0.7 0.2 0 0.2 0.3 0.6 0.6 +1382400 8.6 7 6 7.2 6.7 6.1 6.6 6.6 5.8 6.4 +1468800 8.6 7 6 7.2 6.7 6.1 6.6 6.6 5.8 6.4 +1468800 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 +1555200 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 0.1 +1555200 6.8 8.2 8.4 8 8.7 9.1 8.9 8.8 8.7 8.4 +1641600 6.8 8.2 8.4 8 8.7 9.1 8.9 8.8 8.7 8.4 +1641600 6.7 6.4 6.5 6.4 6.3 5.9 5.8 5.6 5.4 5.2 +1728000 6.7 6.4 6.5 6.4 6.3 5.9 5.8 5.6 5.4 5.2 +1728000 0 0 0 0 0 0 0 0 0 0 +1814400 0 0 0 0 0 0 0 0 0 0 +1814400 0 0 0 0 0 0 0 0 0 0 +1900800 0 0 0 0 0 0 0 0 0 0 +1900800 0 0 0 0 0 0 0 0 0 0 +1987200 0 0 0 0 0 0 0 0 0 0 +1987200 0 0 0 0 0 0 0 0 0 0 +2073600 0 0 0 0 0 0 0 0 0 0 +2073600 0 0 0 0 0 0 0 0 0 0 +2160000 0 0 0 0 0 0 0 0 0 0 +2160000 0 0 0 0 0 0 0 0 0 0 +2246400 0 0 0 0 0 0 0 0 0 0 +2246400 0 0 0 0 0 0 0 0 0 0 +2332800 0 0 0 0 0 0 0 0 0 0 +2332800 0 0 0 0 0 0 0 0 0 0 +2419200 0 0 0 0 0 0 0 0 0 0 +2419200 0 0 0 0 0 0 0 0 0 0 +2505600 0 0 0 0 0 0 0 0 0 0 +2505600 0 0 0 0 0 0 0 0 0 0 +2592000 0 0 0 0 0 0 0 0 0 0 +2592000 0 0 0 0 0 0 0 0 0 0 +2678400 0 0 0 0 0 0 0 0 0 0 +2678400 0 0 0 0 0 0 0 0 0 0 +2764800 0 0 0 0 0 0 0 0 0 0 +2764800 0 0 0 0 0 0 0 0 0 0 +2851200 0 0 0 0 0 0 0 0 0 0 +2851200 0 0 0 0 0 0 0 0 0 0 +2937600 0 0 0 0 0 0 0 0 0 0 +2937600 0 0 0 0 0 0 0 0 0 0 +3024000 0 0 0 0 0 0 0 0 0 0 +3024000 1.9 1.6 1.4 1.9 1.7 1.6 1.8 1.9 1.8 2.1 +3110400 1.9 1.6 1.4 1.9 1.7 1.6 1.8 1.9 1.8 2.1 +3110400 0 0.1 0 0 0 0.1 0.1 0.1 0.1 0.1 +3196800 0 0.1 0 0 0 0.1 0.1 0.1 0.1 0.1 +3196800 0 0 0 0 0 0 0 0 0 0 +3283200 0 0 0 0 0 0 0 0 0 0 +3283200 0 0 0 0 0 0 0 0 0 0 +3369600 0 0 0 0 0 0 0 0 0 0 +3369600 15.4 17.2 16.1 15.4 16.1 15.2 14.7 14.1 12.9 12.1 +3456000 15.4 17.2 16.1 15.4 16.1 15.2 14.7 14.1 12.9 12.1 +3456000 1.9 6.2 5.3 6.3 8.6 8.5 9.9 8.9 6.1 6 +3542400 1.9 6.2 5.3 6.3 8.6 8.5 9.9 8.9 6.1 6 +3542400 0 0 0 0 0 0 0 0 0 0 +3628800 0 0 0 0 0 0 0 0 0 0 +3628800 0.3 0.1 0.3 0.3 0.1 0 0.1 0.1 0.1 0.2 +3715200 0.3 0.1 0.3 0.3 0.1 0 0.1 0.1 0.1 0.2 +3715200 0 0 0 0 0 0 0 0 0 0 +3801600 0 0 0 0 0 0 0 0 0 0 +3801600 0 0 0 0 0 0 0 0 0 0 +3888000 0 0 0 0 0 0 0 0 0 0 +3888000 0 0 0 0 0 0 0 0 0 0 +3974400 0 0 0 0 0 0 0 0 0 0 +3974400 0 0 0 0 0 0 0 0 0 0 +4060800 0 0 0 0 0 0 0 0 0 0 +4060800 0 0 0 0 0 0 0 0 0 0 +4147200 0 0 0 0 0 0 0 0 0 0 +4147200 0.1 0 0.2 0.1 0 0.2 0.1 0.3 0.4 0.3 +4233600 0.1 0 0.2 0.1 0 0.2 0.1 0.3 0.4 0.3 +4233600 0 0 0 0 0 0 0 0 0 0 +4320000 0 0 0 0 0 0 0 0 0 0 +4320000 0 0 0 0 0 0 0 0 0 0 +4406400 0 0 0 0 0 0 0 0 0 0 +4406400 0.9 1.1 1.1 1.1 1.2 1.2 1.2 1.2 1.1 1 +4492800 0.9 1.1 1.1 1.1 1.2 1.2 1.2 1.2 1.1 1 +4492800 0 0 0 0 0 0 0 0 0 0 +4579200 0 0 0 0 0 0 0 0 0 0 +4579200 0 0 0 0 0 0 0 0 0 0 +4665600 0 0 0 0 0 0 0 0 0 0 +4665600 0 0 0 0 0 0 0 0 0 0 +4752000 0 0 0 0 0 0 0 0 0 0 +4752000 0 0 0 0 0 0 0 0 0 0 +4838400 0 0 0 0 0 0 0 0 0 0 +4838400 0 0 0 0 0 0 0 0 0 0 +4924800 0 0 0 0 0 0 0 0 0 0 +4924800 0 0 0 0 0 0 0 0 0 0 +5011200 0 0 0 0 0 0 0 0 0 0 +5011200 2.3 1.7 1.9 2.8 2.5 2.4 2.8 2.9 2.8 3.1 +5097600 2.3 1.7 1.9 2.8 2.5 2.4 2.8 2.9 2.8 3.1 +5097600 0 0 0 0 0 0 0 0 0 0 +5184000 0 0 0 0 0 0 0 0 0 0 +5184000 0 0 0 0 0 0 0 0 0 0 +5270400 0 0 0 0 0 0 0 0 0 0 +5270400 0.1 0.1 0.1 0.1 0.1 0.2 0.1 0.2 0.3 0.4 +5356800 0.1 0.1 0.1 0.1 0.1 0.2 0.1 0.2 0.3 0.4 +5356800 13.6 14.4 13.6 13.2 13.2 12.2 11.7 11 10 9 +5443200 13.6 14.4 13.6 13.2 13.2 12.2 11.7 11 10 9 +5443200 0 0 0 0 0 0 0 0 0 0 +5529600 0 0 0 0 0 0 0 0 0 0 +5529600 0 0 0 0 0 0 0 0 0 0 +5616000 0 0 0 0 0 0 0 0 0 0 +5616000 0 0 0 0 0 0 0 0 0 0 +5702400 0 0 0 0 0 0 0 0 0 0 +5702400 0 0 0 0 0 0 0 0 0 0 +5788800 0 0 0 0 0 0 0 0 0 0 +5788800 0 0 0 0 0 0 0 0 0 0 +5875200 0 0 0 0 0 0 0 0 0 0 +5875200 0.1 0.3 0.2 0.2 0.3 0.5 0.6 0.9 1.1 1.4 +5961600 0.1 0.3 0.2 0.2 0.3 0.5 0.6 0.9 1.1 1.4 +5961600 0.3 0.6 0.2 0.3 0.5 0.4 0.6 0.7 0.7 1.4 +6048000 0.3 0.6 0.2 0.3 0.5 0.4 0.6 0.7 0.7 1.4 +6048000 0 0 0 0 0 0 0 0 0 0 +6134400 0 0 0 0 0 0 0 0 0 0 +6134400 3.2 3.8 4 3.8 4.1 4.1 4.1 4.1 4.1 4 +6220800 3.2 3.8 4 3.8 4.1 4.1 4.1 4.1 4.1 4 +6220800 1.7 1.9 2.1 2.3 2.5 2.6 2.7 2.9 3 3 +6307200 1.7 1.9 2.1 2.3 2.5 2.6 2.7 2.9 3 3 +6307200 6.7 6.8 7.1 7 7.1 6.9 6.9 6.9 6.8 6.6 +6393600 6.7 6.8 7.1 7 7.1 6.9 6.9 6.9 6.8 6.6 +6393600 2.3 3.1 3.1 3.5 3.7 4.5 4.7 5.1 5.5 5.6 +6480000 2.3 3.1 3.1 3.5 3.7 4.5 4.7 5.1 5.5 5.6 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0 0 0 0 0 0 0 +7948800 0 0 0 0 0 0 0 0 0 0 +8035200 0 0 0 0 0 0 0 0 0 0 +8035200 2.7 2.8 2.6 2.5 2.5 2.4 2.3 2.2 2.1 1.9 +8121600 2.7 2.8 2.6 2.5 2.5 2.4 2.3 2.2 2.1 1.9 +8121600 0 0 0 0 0 0 0 0 0 0 +8208000 0 0 0 0 0 0 0 0 0 0 +8208000 12.1 11 10.5 10.5 9.9 8.9 8.8 8.6 8.2 7.9 +8294400 12.1 11 10.5 10.5 9.9 8.9 8.8 8.6 8.2 7.9 +8294400 16.1 12.6 11.5 13.7 12.1 10 10.8 10.2 9.3 9.8 +8380800 16.1 12.6 11.5 13.7 12.1 10 10.8 10.2 9.3 9.8 +8380800 0.3 0.7 0.2 0.5 0.6 0.6 0.9 1 0.9 1.5 +8467200 0.3 0.7 0.2 0.5 0.6 0.6 0.9 1 0.9 1.5 +8467200 0 0 0 0 0 0 0 0 0 0 +8553600 0 0 0 0 0 0 0 0 0 0 +8553600 0 0 0 0 0 0 0 0 0 0 +8640000 0 0 0 0 0 0 0 0 0 0 +8640000 0 0 0 0 0 0 0 0 0 0 +8726400 0 0 0 0 0 0 0 0 0 0 +8726400 0 0 0 0 0 0 0 0 0 0 +8812800 0 0 0 0 0 0 0 0 0 0 +8812800 0 0 0 0 0 0 0 0 0 0 +8899200 0 0 0 0 0 0 0 0 0 0 +8899200 0 0 0 0 0 0 0 0 0 0 +8985600 0 0 0 0 0 0 0 0 0 0 +8985600 0 0 0 0 0 0 0 0 0 0 +9072000 0 0 0 0 0 0 0 0 0 0 +9072000 0 0 0 0 0 0 0 0 0 0 +9158400 0 0 0 0 0 0 0 0 0 0 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1.4 1.2 1.1 1.4 1.6 1.6 1.9 +10540800 1.5 1 0.9 1.4 1.2 1.1 1.4 1.6 1.6 1.9 +10540800 0 0 0 0 0 0 0 0 0 0 +10627200 0 0 0 0 0 0 0 0 0 0 +10627200 0 0 0 0 0 0 0 0 0 0 +10713600 0 0 0 0 0 0 0 0 0 0 +10713600 0 0 0 0 0 0 0 0 0 0 +10800000 0 0 0 0 0 0 0 0 0 0 +10800000 0 0 0 0 0 0 0 0 0 0 +10886400 0 0 0 0 0 0 0 0 0 0 +10886400 0 0 0 0 0 0 0 0 0 0 +10972800 0 0 0 0 0 0 0 0 0 0 +10972800 1.8 1.7 1.7 1.7 1.6 1.6 1.6 1.5 1.5 1.3 +11059200 1.8 1.7 1.7 1.7 1.6 1.6 1.6 1.5 1.5 1.3 +11059200 0.1 1 0.6 0.9 0.9 1 1.3 1.1 0.8 0.9 +11145600 0.1 1 0.6 0.9 0.9 1 1.3 1.1 0.8 0.9 +11145600 0.8 0.8 0.3 0.2 0.5 0.1 0.1 0.1 0.1 0.1 +11232000 0.8 0.8 0.3 0.2 0.5 0.1 0.1 0.1 0.1 0.1 +11232000 0 0 0 0 0 0 0 0 0 0 +11318400 0 0 0 0 0 0 0 0 0 0 +11318400 0 0 0 0 0 0 0 0 0 0 +11404800 0 0 0 0 0 0 0 0 0 0 +11404800 0 0 0 0 0 0 0 0 0 0 +11491200 0 0 0 0 0 0 0 0 0 0 +11491200 0 0 0 0 0 0 0 0 0 0 +11577600 0 0 0 0 0 0 0 0 0 0 +11577600 3.1 6.9 5.9 5.4 7.4 6.8 7.2 5.9 4.2 3.9 +11664000 3.1 6.9 5.9 5.4 7.4 6.8 7.2 5.9 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28.8 28.2 27.4 26.5 24.7 +344822400 7.8 7.8 7.6 7.8 7.7 8.2 8.2 8.1 8 7.4 +344908800 7.8 7.8 7.6 7.8 7.7 8.2 8.2 8.1 8 7.4 +344908800 0.4 0.1 0.2 0.3 0.1 0.1 0.1 0.2 0.3 0.3 +344995200 0.4 0.1 0.2 0.3 0.1 0.1 0.1 0.2 0.3 0.3 +344995200 5.8 6 6.1 6.2 6.2 6.6 6.6 6.7 6.8 6.5 +345081600 5.8 6 6.1 6.2 6.2 6.6 6.6 6.7 6.8 6.5 +345081600 3.2 4 4 4.4 4.6 5.6 5.6 5.7 5.8 5.2 +345168000 3.2 4 4 4.4 4.6 5.6 5.6 5.7 5.8 5.2 +345168000 4.9 5.3 5 4.8 4.9 5 4.9 4.8 4.6 4.2 +345254400 4.9 5.3 5 4.8 4.9 5 4.9 4.8 4.6 4.2 +345254400 0 0 0 0 0 0 0 0 0 0 +345340800 0 0 0 0 0 0 0 0 0 0 +345340800 0.2 0.5 0.5 0.2 0.6 0.5 0.4 0.4 0.3 0.3 +345427200 0.2 0.5 0.5 0.2 0.6 0.5 0.4 0.4 0.3 0.3 +345427200 0 0 0 0 0 0 0 0 0 0 +345513600 0 0 0 0 0 0 0 0 0 0 +345513600 0 0 0 0 0 0 0 0 0 0 +345600000 0 0 0 0 0 0 0 0 0 0 +345600000 0 0 0 0 0 0 0 0 0 0 +345686400 0 0 0 0 0 0 0 0 0 0 +345686400 2.8 3 3.2 3.2 3.2 3.4 3.4 3.5 3.6 3.7 +345772800 2.8 3 3.2 3.2 3.2 3.4 3.4 3.5 3.6 3.7 +345772800 0.2 0.1 0.2 0.3 0.3 0.2 0.3 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-2.8 -3.7 +388368000 0.5 -0.2 -0.7 -1 -1.4 -1.8 -2.1 -2.5 -3 -3.9 +388454400 0.5 -0.2 -0.7 -1 -1.4 -1.8 -2.1 -2.5 -3 -3.9 +388454400 -0.9 -1.6 -2.1 -2.5 -2.9 -3.3 -3.7 -4.1 -4.6 -5.4 +388540800 -0.9 -1.6 -2.1 -2.5 -2.9 -3.3 -3.7 -4.1 -4.6 -5.4 +388540800 -1.4 -2.1 -2.7 -3 -3.4 -3.7 -4 -4.4 -4.8 -5.6 +388627200 -1.4 -2.1 -2.7 -3 -3.4 -3.7 -4 -4.4 -4.8 -5.6 +388627200 0.1 -0.6 -1.1 -1.4 -1.7 -2.1 -2.4 -2.8 -3.3 -4.1 +388713600 0.1 -0.6 -1.1 -1.4 -1.7 -2.1 -2.4 -2.8 -3.3 -4.1 +388713600 -0.8 -1.4 -1.8 -2.2 -2.5 -2.8 -3.1 -3.5 -3.9 -4.6 +388800000 -0.8 -1.4 -1.8 -2.2 -2.5 -2.8 -3.1 -3.5 -3.9 -4.6 +388800000 -0.5 -0.8 -1.3 -1.5 -1.7 -1.9 -2.2 -2.5 -2.9 -3.6 +388886400 -0.5 -0.8 -1.3 -1.5 -1.7 -1.9 -2.2 -2.5 -2.9 -3.6 +388886400 -0.6 -1.1 -1.7 -2 -2.4 -2.8 -3 -3.2 -3.5 -4.2 +388972800 -0.6 -1.1 -1.7 -2 -2.4 -2.8 -3 -3.2 -3.5 -4.2 +388972800 1.8 0.8 0 -0.2 -0.6 -1 -1.3 -1.5 -1.9 -2.5 +389059200 1.8 0.8 0 -0.2 -0.6 -1 -1.3 -1.5 -1.9 -2.5 +389059200 3.6 2.8 2.3 2.1 1.7 1.3 1 0.7 0.3 -0.5 +389145600 3.6 2.8 2.3 2.1 1.7 1.3 1 0.7 0.3 -0.5 +389145600 6.6 5.7 5.2 4.9 4.4 4 3.8 3.5 3.2 2.8 +389232000 6.6 5.7 5.2 4.9 4.4 4 3.8 3.5 3.2 2.8 +389232000 6.7 5.6 4.8 4.6 4.3 3.9 3.7 3.4 3.1 2.5 +389318400 6.7 5.6 4.8 4.6 4.3 3.9 3.7 3.4 3.1 2.5 +389318400 6 5.3 4.9 4.7 4.4 4.2 4.1 3.9 3.5 2.9 +389404800 6 5.3 4.9 4.7 4.4 4.2 4.1 3.9 3.5 2.9 +389404800 10.4 9.4 9 8.8 8.5 8.2 7.9 7.6 7.3 6.7 +389491200 10.4 9.4 9 8.8 8.5 8.2 7.9 7.6 7.3 6.7 +389491200 10.3 9.3 8.8 8.7 8.4 8.1 7.9 7.7 7.5 7.1 +389577600 10.3 9.3 8.8 8.7 8.4 8.1 7.9 7.7 7.5 7.1 +389577600 4.5 4.1 3.6 3.2 3 2.7 2.4 2 1.6 0.8 +389664000 4.5 4.1 3.6 3.2 3 2.7 2.4 2 1.6 0.8 +389664000 3 2.4 1.9 1.6 1.2 0.9 0.6 0.3 -0.1 -0.9 +389750400 3 2.4 1.9 1.6 1.2 0.9 0.6 0.3 -0.1 -0.9 +389750400 2.4 1.7 1.2 0.9 0.5 0.2 -0.2 -0.5 -1 -1.7 +389836800 2.4 1.7 1.2 0.9 0.5 0.2 -0.2 -0.5 -1 -1.7 +389836800 0 -0.3 -0.7 -1.1 -1.3 -1.5 -1.7 -1.9 -2.3 -2.9 +389923200 0 -0.3 -0.7 -1.1 -1.3 -1.5 -1.7 -1.9 -2.3 -2.9 +389923200 2.2 1.8 1.3 0.9 0.7 0.4 0.1 -0.2 -0.5 -1.2 +390009600 2.2 1.8 1.3 0.9 0.7 0.4 0.1 -0.2 -0.5 -1.2 +390009600 3 2.8 2.3 2.1 1.9 1.7 1.4 1.2 0.9 0.2 +390096000 3 2.8 2.3 2.1 1.9 1.7 1.4 1.2 0.9 0.2 +390096000 3.3 2.8 2.3 2 1.8 1.6 1.4 1.2 1 0.6 +390182400 3.3 2.8 2.3 2 1.8 1.6 1.4 1.2 1 0.6 +390182400 6.8 6.2 5.9 5.7 5.4 5.2 4.9 4.7 4.5 4 +390268800 6.8 6.2 5.9 5.7 5.4 5.2 4.9 4.7 4.5 4 +390268800 9 8.4 7.9 7.6 7.2 6.8 6.5 6.1 5.7 5 +390355200 9 8.4 7.9 7.6 7.2 6.8 6.5 6.1 5.7 5 +390355200 6.3 5.7 5.4 5.1 4.8 4.6 4.4 4.2 4 3.6 +390441600 6.3 5.7 5.4 5.1 4.8 4.6 4.4 4.2 4 3.6 +390441600 11.3 10.6 10.2 9.9 9.5 9.2 8.9 8.6 8.2 7.6 +390528000 11.3 10.6 10.2 9.9 9.5 9.2 8.9 8.6 8.2 7.6 +390528000 8.1 7.4 7.2 7.1 6.8 6.5 6.4 6.3 6.1 5.8 +390614400 8.1 7.4 7.2 7.1 6.8 6.5 6.4 6.3 6.1 5.8 +390614400 12.6 11.9 11.3 11 10.6 10.3 10 9.6 9.1 8.3 +390700800 12.6 11.9 11.3 11 10.6 10.3 10 9.6 9.1 8.3 +390700800 10.5 9.4 8.9 8.6 8.3 7.9 7.6 7.3 6.9 6.5 +390787200 10.5 9.4 8.9 8.6 8.3 7.9 7.6 7.3 6.9 6.5 +390787200 8.8 8 7.5 7.2 6.8 6.4 6.1 5.7 5.3 4.5 +390873600 8.8 8 7.5 7.2 6.8 6.4 6.1 5.7 5.3 4.5 +390873600 7 6.3 5.9 5.8 5.4 5.1 4.9 4.6 4.3 3.8 +390960000 7 6.3 5.9 5.8 5.4 5.1 4.9 4.6 4.3 3.8 +390960000 10.5 9.8 9.3 9.1 8.7 8.3 8 7.7 7.3 6.6 +391046400 10.5 9.8 9.3 9.1 8.7 8.3 8 7.7 7.3 6.6 +391046400 10.4 9.5 9.1 8.8 8.4 7.9 7.6 7.2 6.8 6.1 +391132800 10.4 9.5 9.1 8.8 8.4 7.9 7.6 7.2 6.8 6.1 +391132800 11.7 10.8 10.5 10.3 9.9 9.5 9.2 8.8 8.3 7.6 +391219200 11.7 10.8 10.5 10.3 9.9 9.5 9.2 8.8 8.3 7.6 +391219200 15.7 14.7 14.3 14 13.6 13.1 12.9 12.6 12.3 11.8 +391305600 15.7 14.7 14.3 14 13.6 13.1 12.9 12.6 12.3 11.8 +391305600 18 17 16.5 16.2 15.7 15.2 14.9 14.4 14.1 13.6 +391392000 18 17 16.5 16.2 15.7 15.2 14.9 14.4 14.1 13.6 +391392000 14 13.4 13 12.7 12.3 11.9 11.7 11.3 11 10.3 +391478400 14 13.4 13 12.7 12.3 11.9 11.7 11.3 11 10.3 +391478400 15.5 14.9 14.5 14.1 13.7 13.4 13 12.6 12.1 11.3 +391564800 15.5 14.9 14.5 14.1 13.7 13.4 13 12.6 12.1 11.3 +391564800 11.8 11.2 10.8 10.6 10.2 9.8 9.5 9 8.5 7.6 +391651200 11.8 11.2 10.8 10.6 10.2 9.8 9.5 9 8.5 7.6 +391651200 8.9 8.2 7.7 7.4 6.9 6.5 6.2 5.8 5.3 4.4 +391737600 8.9 8.2 7.7 7.4 6.9 6.5 6.2 5.8 5.3 4.4 +391737600 8.9 8.2 7.7 7.4 6.9 6.5 6.2 5.8 5.3 4.4 +391824000 8.9 8.2 7.7 7.4 6.9 6.5 6.2 5.8 5.3 4.4 +391824000 9.9 9.1 8.6 8.3 7.8 7.4 7.1 6.7 6.2 5.4 +391910400 9.9 9.1 8.6 8.3 7.8 7.4 7.1 6.7 6.2 5.4 +391910400 5.5 5.2 4.9 4.6 4.4 4.2 4 3.8 3.6 3.2 +391996800 5.5 5.2 4.9 4.6 4.4 4.2 4 3.8 3.6 3.2 +391996800 10.3 10 9.6 9.3 9.1 8.9 8.7 8.4 8.1 7.4 +392083200 10.3 10 9.6 9.3 9.1 8.9 8.7 8.4 8.1 7.4 +392083200 9.2 8.7 8.3 8 7.7 7.4 7.1 6.7 6.4 5.6 +392169600 9.2 8.7 8.3 8 7.7 7.4 7.1 6.7 6.4 5.6 +392169600 10.4 9.8 9.3 9 8.6 8.1 7.8 7.4 7 6.1 +392256000 10.4 9.8 9.3 9 8.6 8.1 7.8 7.4 7 6.1 +392256000 10.6 10.1 9.6 9.3 9 8.7 8.4 8.1 7.7 7 +392342400 10.6 10.1 9.6 9.3 9 8.7 8.4 8.1 7.7 7 +392342400 8 7.6 7.3 7 6.8 6.5 6.2 6 5.6 5 +392428800 8 7.6 7.3 7 6.8 6.5 6.2 6 5.6 5 +392428800 9.8 9.2 8.8 8.5 8.2 7.8 7.6 7.2 6.7 5.9 +392515200 9.8 9.2 8.8 8.5 8.2 7.8 7.6 7.2 6.7 5.9 +392515200 9.8 9.4 9 8.8 8.6 8.3 8.1 7.8 7.5 6.9 +392601600 9.8 9.4 9 8.8 8.6 8.3 8.1 7.8 7.5 6.9 +392601600 11.5 10.9 10.5 10.3 9.9 9.6 9.3 8.9 8.5 7.7 +392688000 11.5 10.9 10.5 10.3 9.9 9.6 9.3 8.9 8.5 7.7 +392688000 10.4 9.9 9.5 9.2 8.9 8.6 8.3 7.9 7.6 6.9 +392774400 10.4 9.9 9.5 9.2 8.9 8.6 8.3 7.9 7.6 6.9 +392774400 11.9 11.2 10.7 10.4 10 9.5 9.2 8.8 8.2 7.2 +392860800 11.9 11.2 10.7 10.4 10 9.5 9.2 8.8 8.2 7.2 +392860800 11.9 11.2 10.7 10.5 10.1 9.6 9.3 8.9 8.5 7.7 +392947200 11.9 11.2 10.7 10.5 10.1 9.6 9.3 8.9 8.5 7.7 +392947200 12.4 11.7 11.4 11.2 10.8 10.4 10.2 9.9 9.5 8.8 +393033600 12.4 11.7 11.4 11.2 10.8 10.4 10.2 9.9 9.5 8.8 +393033600 13.5 13 12.6 12.2 11.9 11.5 11.2 10.8 10.3 9.5 +393120000 13.5 13 12.6 12.2 11.9 11.5 11.2 10.8 10.3 9.5 +393120000 11.7 11.2 10.7 10.5 10.1 9.7 9.4 9 8.6 7.8 +393206400 11.7 11.2 10.7 10.5 10.1 9.7 9.4 9 8.6 7.8 +393206400 15.9 15 14.6 14.3 13.8 13.3 13 12.6 12.1 11.4 +393292800 15.9 15 14.6 14.3 13.8 13.3 13 12.6 12.1 11.4 +393292800 13.4 12.6 12.2 11.9 11.5 11 10.6 10.2 9.7 8.8 +393379200 13.4 12.6 12.2 11.9 11.5 11 10.6 10.2 9.7 8.8 +393379200 9.9 9.2 8.9 8.6 8.5 8.1 7.9 7.7 7.3 6.7 +393465600 9.9 9.2 8.9 8.6 8.5 8.1 7.9 7.7 7.3 6.7 diff --git a/OpenHPL/Tests/CaseStudingValentynasCase.mo b/OpenHPL/Tests/CaseStudingValentynasCase.mo new file mode 100644 index 0000000..f8cd364 --- /dev/null +++ b/OpenHPL/Tests/CaseStudingValentynasCase.mo @@ -0,0 +1,108 @@ +within OpenHPL.Tests; +model CaseStudingValentynasCase "HP system model for Valentyna's Master case" + extends Modelica.Icons.Example; + Real coef2, coef3; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,68}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1980, height = 0.75, offset = 0.04, startTime = 10) annotation ( + Placement(visible = true, transformation(origin = {10, 80}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake( + D_i=5, + D_o=5, + H=15.5, + L=3000) annotation (Placement(visible=true, transformation(extent={{-78,58},{-58,78}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge( + D_i=5, + D_o=5, + H=0.5, + L=600) annotation (Placement(visible=true, transformation(extent={{50,4},{70,24}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,18}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.ElectroMech.Generators.SynchGen generator(UseFrequencyOutput=false) annotation (Placement(visible=true, transformation(extent={{24,-18},{44,2}}, rotation=0))); + Waterway.Pipe penstock( + D_i=4, + D_o=4, + H=133, + L=300) annotation (Placement(visible=true, transformation( + origin={-26,62}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.73, + H_n=270, + P_n=52e6, + R_1_=2.02/2, + R_2_=0.773, + R_Y=2.5, + R_v_=2.23/2, + Reduction=0.1, + V_dot_n=20.76, + beta1_=107, + beta2_=163.2, + dp_v_condition=false, + k_ft1_=120e3, + k_ft2_=0e3, + k_ft3_=6e3, + n_n=500, + r_Y=1, + r_v=0.9, + u_end=2.11, + u_start=2, + w_1_=0.26, + w_v_=0.259) annotation (Placement(visible=true, transformation( + origin={34,20}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 5.2) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Fitting fitting(D_1=3, D_2=1.73) annotation (Placement(visible=true, transformation(extent={{0,-4},{20,16}}, rotation=0))); + OpenHPL.Waterway.Pipe penstock1( + D_i=3, + D_o=3, + H=89, + L=200) annotation (Placement(visible=true, transformation( + origin={-10,18}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.Fitting fitting1(D_1=4, D_2=3) annotation (Placement(transformation( + extent={{-10,-10},{10,10}}, + rotation=270, + origin={-16,40}))); + Waterway.SurgeTank surgeTank(D=4.5, h_0=48 + 45.5) annotation (Placement(visible=true, transformation( + origin={-42,74}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(generator.w_out, turbine.w_in) annotation ( + Line(points={{40,2},{38,2},{38,10},{38,9.8},{38,9.8}}, color = {0, 0, 127})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points={{34,9},{28,9},{28,2},{28,2}}, color = {0, 0, 127})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-58,68},{-54,68},{-54,74},{-52,74}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,68},{-80,68},{-80,68},{-80,67.6},{-80,68},{-78,68}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{21,80},{34,80},{34,32}}, color = {0, 0, 127})); + connect(turbine.p, fitting.n) annotation ( + Line(points={{24,20},{20,20},{20,6}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{44,20},{47,20},{47,14},{50,14}}, color = {28, 108, 200})); + connect(fitting.p, penstock1.n) annotation ( + Line(points={{0,6},{-6,6},{-6,8},{-10,8}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points={{70,14},{76,14},{76,18},{84,18},{84,18}}, color = {28, 108, 200})); + connect(penstock1.p, fitting1.n) annotation ( + Line(points={{-10,28},{-14,28},{-14,30},{-16,30}}, color = {28, 108, 200})); + coef2 = turbine.W_s_dot / turbine.V_dot / turbine.dp_tr; + coef3 = turbine.W_s_dot / turbine.V_dot / turbine.dp_r; + connect(penstock.n, fitting1.p) annotation ( + Line(points={{-26,52},{-26,49.9},{-16,49.9},{-16,50}}, color = {28, 108, 200})); + connect(penstock.p, surgeTank.n) annotation ( + Line(points={{-26,72},{-30,72},{-30,74},{-32,74}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end CaseStudingValentynasCase; diff --git a/OpenHPL/Tests/HPBjarneBorresen.mo b/OpenHPL/Tests/HPBjarneBorresen.mo new file mode 100644 index 0000000..bb905a7 --- /dev/null +++ b/OpenHPL/Tests/HPBjarneBorresen.mo @@ -0,0 +1,99 @@ +within OpenHPL.Tests; +model HPBjarneBorresen "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=503 - 499.5) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe PN6( + D_i=1.4, + D_o=1.4, + H=499.5 - 470, + L=3372) annotation (Placement(visible=true, transformation(extent={{-76,50},{-56,70}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=218 - 217) annotation (Placement(visible=true, transformation( + origin={88,-20}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.PenstockKP K92( + D_i=1.4, + D_o=1.4, + H=238 - 217, + L=147, + PipeElasticity=true) annotation (Placement(visible=true, transformation( + origin={46,-8}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + inner OpenHPL.Constants Const(V_0 = 2.4) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=0.8) annotation (Placement(visible=true, transformation( + origin={62,-26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe PN10( + D_i=1.4, + D_o=1.4, + H=470 - 440, + L=972) annotation (Placement(visible=true, transformation( + origin={-40,54}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe PN16( + D_i=1.4, + D_o=1.4, + H=440 - 380, + L=300) annotation (Placement(visible=true, transformation( + origin={-12,48}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe PN20( + D_i=1.4, + D_o=1.4, + H=380 - 340, + L=252) annotation (Placement(visible=true, transformation( + origin={14,44}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP K91( + D_i=1.4, + D_o=1.4, + H=340 - 268, + L=335, + PipeElasticity=true) annotation (Placement(visible=true, transformation( + origin={24,28}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.PenstockKP K10( + D_i=1.4, + D_o=1.4, + H=268 - 238, + L=122, + PipeElasticity=true) annotation (Placement(visible=true, transformation( + origin={36,10}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = 0.2, offset = 0.6, startTime = 500) annotation ( + Placement(visible = true, transformation(origin = {44, 66}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(control.y, turbine.u_t) annotation ( + Line(points = {{56, 66}, {62, 66}, {62, -16}, {62, -16}}, color = {0, 0, 127})); + connect(tail.n, turbine.n) annotation ( + Line(points = {{77.9, -20.1}, {76.4, -20.1}, {76.4, -20.1}, {74.9, -20.1}, {74.9, -20.1}, {71.9, -20.1}, {71.9, -26.1}, {71.9, -26.1}, {71.9, -26.1}, {71.9, -26.1}}, color = {28, 108, 200})); + connect(K92.n, turbine.p) annotation ( + Line(points = {{45.9, -18.1}, {46.1375, -18.1}, {46.1375, -18.1}, {46.375, -18.1}, {46.375, -18.1}, {46.85, -18.1}, {46.85, -26.1}, {49.375, -26.1}, {49.375, -26.1}, {51.9, -26.1}}, color = {28, 108, 200})); + connect(K10.n, K92.p) annotation ( + Line(points = {{46, 10}, {46, 2}}, color = {28, 108, 200})); + connect(K91.n, K10.p) annotation ( + Line(points = {{24, 18}, {24, 18}, {24, 10}, {26, 10}, {26, 10}}, color = {28, 108, 200})); + connect(PN20.n, K91.p) annotation ( + Line(points = {{24, 44}, {24, 44}, {24, 38}, {24, 38}}, color = {28, 108, 200})); + connect(PN16.n, PN20.p) annotation ( + Line(points = {{-2, 48}, {1, 48}, {1, 44}, {4, 44}}, color = {28, 108, 200})); + connect(PN10.n, PN16.p) annotation ( + Line(points = {{-30, 54}, {-25, 54}, {-25, 48}, {-22, 48}}, color = {28, 108, 200})); + connect(PN6.n, PN10.p) annotation ( + Line(points = {{-56, 60}, {-53, 60}, {-53, 54}, {-50, 54}}, color = {28, 108, 200})); + connect(reservoir.n, PN6.p) annotation ( + Line(points = {{-83.9, 63.9}, {-79.95, 63.9}, {-79.95, 59.9}, {-75.9, 59.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPBjarneBorresen; diff --git a/OpenHPL/Tests/HPElasticKPPenstock.mo b/OpenHPL/Tests/HPElasticKPPenstock.mo new file mode 100644 index 0000000..a8f9e22 --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstock.mo @@ -0,0 +1,55 @@ +within OpenHPL.Tests; +model HPElasticKPPenstock "Model of HP system with elastic penctock (KP), but simplified models for turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {0, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 19.12, rho(displayUnit = "kg/m3") = 997) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,54},{-52,74}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{38,30},{58,50}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,46}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7, WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{8,32},{28,52}}, rotation=0))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation(extent={{-42,60},{-22,80}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5, + N=10, + PipeElasticity=false, + h_s0=69.9, + p_p0=997*Const.g*(penstockKP.h_s0 + penstockKP.H/penstockKP.N/2):997*Const.g*penstockKP.H/penstockKP.N:997*Const.g*(penstockKP.h_s0 + penstockKP.H/penstockKP.N*(penstockKP.N - 1/2))) annotation (Placement(transformation(extent={{-20,44},{0,64}}))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-22, 0}, {-2, 20}}, rotation = 0))); + ElectroMech.Generators.SimpleGen aggregate annotation (Placement(visible=true, transformation(extent={{8,0},{28,20}}, rotation=0))); +equation + //19.077 * ones(10) + //, H = 428.5, h_s0 = 69.9, N = 10, p_p0 = 997 * 9.81 * (69.9 + 428.5 / 10 / 2):997 * 9.81 * 428.5 / 10:9.81 * 997 * (69.9 + 428.5 / 10 * (10 - 1 / 2)) + //997 * Const.g + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{18, 32}, {18, 32}, {18, 22}, {18, 22}, {18, 20}}, color = {0, 0, 127})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{11, 84}, {18, 84}, {18, 52.8}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{58.1, 39.9}, {70, 39.9}, {70, 45.9}, {79.9, 45.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{28.1, 41.9}, {34, 41.9}, {34, 39.9}, {38.1, 39.9}}, color = {28, 108, 200})); + connect(turbine.p, penstockKP.n) annotation ( + Line(points = {{8.1, 41.9}, {4, 41.9}, {4, 53.9}, {0.1, 53.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-21.9, 69.9}, {-19.9, 69.9}, {-19.9, 53.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 63.9}, {-46, 63.9}, {-46, 69.9}, {-41.9, 69.9}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 65.9}, {-76, 65.9}, {-76, 63.9}, {-71.9, 63.9}}, color = {28, 108, 200})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{-1, 10}, {-1, 10}, {8, 10}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstock; diff --git a/OpenHPL/Tests/HPElasticKPPenstockANDIntake.mo b/OpenHPL/Tests/HPElasticKPPenstockANDIntake.mo new file mode 100644 index 0000000..7be9645 --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstockANDIntake.mo @@ -0,0 +1,60 @@ +within OpenHPL.Tests; +model HPElasticKPPenstockANDIntake "Model of HP system with elastic penctock and intake (KP), but simplified models for turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(height = -0.04615, duration = 1, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {0, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={78,38}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Turbines.Turbine turbine( + C_v=3.7, + WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{8,32},{28,52}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5, + N=10, + PipeElasticity=true) annotation (Placement(transformation(extent={{-18,44},{2,64}}))); + Waterway.PenstockKP Intake( + D_i=5.8, + D_o=5.8, + H=23, + L=6600, + N=110, + PipeElasticity=true, + h_s0=48, + p_p0=997*9.81*(48 + 23/110/2):997*9.81*23/110:997*9.81*(48 + 23/110*(110 - 1/2))) annotation (Placement(visible=true, transformation( + origin={-62,68}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe discharge( + D_i=5.8, + D_o=5.8, + H=0.5, + L=600) annotation (Placement(visible=true, transformation( + origin={48,40}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(reservoir.n, Intake.p) annotation ( + Line(points = {{-81.9, 65.9}, {-72, 65.9}, {-72, 67.9}, {-71.9, 67.9}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{11, 84}, {18, 84}, {18, 52.8}}, color = {0, 0, 127})); + connect(penstockKP.n, turbine.p) annotation ( + Line(points = {{2.1, 53.9}, {2.1, 41.9}, {8.1, 41.9}}, color = {0, 0, 0})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{28.1, 41.9}, {38.1, 41.9}, {38.1, 39.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{67.9, 37.9}, {64, 37.9}, {64, 39.9}, {58.1, 39.9}}, color = {28, 108, 200})); + connect(Intake.n, penstockKP.p) annotation ( + Line(points = {{-51.9, 67.9}, {-34.95, 67.9}, {-34.95, 53.9}, {-17.9, 53.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstockANDIntake; diff --git a/OpenHPL/Tests/HPElasticKPPenstockCompres.mo b/OpenHPL/Tests/HPElasticKPPenstockCompres.mo new file mode 100644 index 0000000..ff2c690 --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstockCompres.mo @@ -0,0 +1,53 @@ +within OpenHPL.Tests; +model HPElasticKPPenstockCompres "Model of HP system with elastic penctock (KP), but simplified models for turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {0, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,54},{-52,74}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{38,30},{58,50}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,46}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Turbines.Turbine turbine( + C_v=3.7, + WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{8,32},{28,52}}, rotation=0))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation(extent={{-42,60},{-22,80}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5, + N=10, + PipeElasticity=false, + h_s0=69) annotation (Placement(transformation(extent={{-20,44},{0,64}}))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-22, 0}, {-2, 20}}, rotation = 0))); + OpenHPL.ElectroMech.Generators.SimpleGen aggregate annotation (Placement(visible=true, transformation(extent={{6,0},{26,20}}, rotation=0))); +equation + connect(load.y, aggregate.u) annotation ( + Line(points = {{-1, 10}, {6, 10}}, color = {0, 0, 127})); + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{14, 31}, {14, 25.5}, {12, 25.5}, {12, 20}}, color = {0, 0, 127})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{11, 84}, {18, 84}, {18, 52.8}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{58.1, 39.9}, {70, 39.9}, {70, 45.9}, {79.9, 45.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{28.1, 41.9}, {34, 41.9}, {34, 39.9}, {38.1, 39.9}}, color = {28, 108, 200})); + connect(turbine.p, penstockKP.n) annotation ( + Line(points = {{8.1, 41.9}, {4, 41.9}, {4, 53.9}, {0.1, 53.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-21.9, 69.9}, {-19.9, 69.9}, {-19.9, 53.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 63.9}, {-46, 63.9}, {-46, 69.9}, {-41.9, 69.9}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 65.9}, {-76, 65.9}, {-76, 63.9}, {-71.9, 63.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstockCompres; diff --git a/OpenHPL/Tests/HPElasticKPPenstockFrancis.mo b/OpenHPL/Tests/HPElasticKPPenstockFrancis.mo new file mode 100644 index 0000000..4901003 --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstockFrancis.mo @@ -0,0 +1,69 @@ +within OpenHPL.Tests; +model HPElasticKPPenstockFrancis "HP system model with Francis turbine and elastic penstock" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.6, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {18, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-74,54},{-54,74}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{56,30},{76,50}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,46}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation(extent={{-44,60},{-24,80}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5) annotation (Placement(transformation(extent={{-22,44},{-2,64}}))); + OpenHPL.ElectroMech.Turbines.Francis francis( + D_i=1.632, + GivenData=true, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + WaterCompress=true, + beta1_=110, + k_ft1_=7e5, + k_ft2_=1, + k_ft3_=1.57e4, + r_Y=1.2, + r_v=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={42,38}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Generators.SynchGen generator( + P_op=100e6, + Q_op=62.5e6, + UseFrequencyOutput=false) annotation (Placement(visible=true, transformation( + origin={40,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(generator.w_out, francis.w_in) annotation ( + Line(points = {{46, 14}, {46, 14}, {46, 28}, {46, 28}, {46, 28}}, color = {0, 0, 127})); + connect(francis.P_out, generator.P_in) annotation ( + Line(points = {{38, 28}, {34, 28}, {34, 14}, {34, 14}}, color = {0, 0, 127})); + connect(francis.n, discharge.p) annotation ( + Line(points = {{52.1, 37.9}, {53.1, 37.9}, {53.1, 39.9}, {56.1, 39.9}}, color = {28, 108, 200})); + connect(control.y, francis.u_t) annotation ( + Line(points = {{29, 84}, {42, 84}, {42, 48.8}}, color = {0, 0, 127})); + connect(penstockKP.n, francis.p) annotation ( + Line(points = {{-1.9, 53.9}, {32.1, 53.9}, {32.1, 37.9}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{76.1, 39.9}, {80, 39.9}, {80, 45.9}, {83.9, 45.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-23.9, 69.9}, {-21.9, 69.9}, {-21.9, 53.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-53.9, 63.9}, {-48, 63.9}, {-48, 69.9}, {-43.9, 69.9}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 65.9}, {-78, 65.9}, {-78, 63.9}, {-73.9, 63.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstockFrancis; diff --git a/OpenHPL/Tests/HPElasticKPPenstockFrancisGov.mo b/OpenHPL/Tests/HPElasticKPPenstockFrancisGov.mo new file mode 100644 index 0000000..9f45878 --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstockFrancisGov.mo @@ -0,0 +1,80 @@ +within OpenHPL.Tests; +model HPElasticKPPenstockFrancisGov "HP system model with Francis turbine and elastic penstock and governor" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(startTime = 600, height = -0.4615, duration = 10, offset = 0.6) annotation ( + Placement(visible = true, transformation(origin = {18, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,54},{-56,74}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{56,30},{76,50}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,46}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation(extent={{-44,60},{-24,80}}, rotation=0))); + Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5) annotation (Placement(transformation(extent={{-22,44},{-2,64}}))); + OpenHPL.ElectroMech.Turbines.Francis francis( + GivenData=true, + R_1_=2.63/2, + R_2_=1.55/2, + beta1_=110, + k_ft2_=1, + k_ft3_=1.57e4, + r_Y=1.2, + r_v=1.1, + w_1_=0.2, + R_v_=2.89/2, + w_v_=0.2, + D_i=1.632, + k_ft1_=7e5, + WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={40,40}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Generators.SynchGen generator(P_op=100e6, Q_op=62.5e6) annotation (Placement(visible=true, transformation( + origin={40,10}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Controllers.Governor govenor( + a=7.862E-25, + c=1.108E-08, + d=-5.344E-02, + b=-1.010E-16) annotation (Placement(transformation(extent={{74,68},{54,88}}))); + Modelica.Blocks.Sources.Ramp Power(startTime = 600, height = -81e6, duration = 10, offset = 81e6) annotation ( + Placement(visible = true, transformation(origin = {90, 78}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Waterway.Fitting fitting(D_1=3, D_2=1.632) annotation (Placement(transformation(extent={{4,30},{24,50}}))); +equation + connect(govenor.f, generator.f) annotation ( + Line(points = {{64, 88}, {64, 98}, {78, 98}, {78, 10}, {50, 10}}, color = {0, 0, 127})); + connect(generator.P_in, francis.P_out) annotation ( + Line(points = {{34, 20}, {36, 20}, {36, 30}}, color = {0, 0, 127})); + connect(generator.w_out, francis.w_in) annotation ( + Line(points = {{46, 20}, {44, 20}, {44, 30}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 65.9}, {-78, 65.9}, {-78, 64}, {-76, 64}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-56, 64}, {-48, 64}, {-48, 69.9}, {-43.9, 69.9}}, color = {28, 108, 200})); + connect(francis.n, discharge.p) annotation ( + Line(points = {{50.1, 39.9}, {50.1, 39.9}, {56.1, 39.9}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{76.1, 39.9}, {80, 39.9}, {80, 45.9}, {83.9, 45.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-23.9, 69.9}, {-21.9, 69.9}, {-21.9, 53.9}}, color = {28, 108, 200})); + connect(govenor.Y_gv, francis.u_t) annotation ( + Line(points = {{54, 78}, {54, 78}, {40, 78}, {40, 50.8}}, color = {0, 0, 127})); + connect(Power.y, govenor.P_ref) annotation ( + Line(points = {{79, 78}, {74, 78}}, color = {0, 0, 127})); + connect(penstockKP.n, fitting.p) annotation ( + Line(points = {{-1.9, 53.9}, {2, 53.9}, {2, 39.9}, {4.1, 39.9}}, color = {28, 108, 200})); + connect(francis.p, fitting.n) annotation ( + Line(points = {{30.1, 39.9}, {28, 39.9}, {24.1, 39.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstockFrancisGov; diff --git a/OpenHPL/Tests/HPElasticKPPenstockHalfSurgeD.mo b/OpenHPL/Tests/HPElasticKPPenstockHalfSurgeD.mo new file mode 100644 index 0000000..8dac1a2 --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstockHalfSurgeD.mo @@ -0,0 +1,48 @@ +within OpenHPL.Tests; +model HPElasticKPPenstockHalfSurgeD "Similar to previous HP system, but with twice reduced surge tank diameter" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 1200) annotation ( + Placement(visible = true, transformation(origin = {0, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 1200) annotation ( + Placement(visible = true, transformation(extent = {{-20, 2}, {0, 22}}, rotation = 0))); + Waterway.Pipe intake(V_dot0=19) annotation (Placement(visible=true, transformation(extent={{-74,56},{-54,76}}, rotation=0))); + Waterway.Pipe discharge( + H=5, + L=600, + V_dot0=19) annotation (Placement(visible=true, transformation(extent={{38,28},{58,48}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={78,38}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SimpleGen aggregate(w_0=52) annotation (Placement(visible=true, transformation(extent={{8,2},{28,22}}, rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7, WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{8,32},{28,52}}, rotation=0))); + Waterway.PenstockKP penstockKP(N=20, V_dot0=19*ones(20)) annotation (Placement(visible=true, transformation(extent={{-18,42},{2,62}}, rotation=0))); + Waterway.SurgeTank surgeTank(D=1.7) annotation (Placement(visible=true, transformation(extent={{-44,60},{-24,80}}, rotation=0))); +equation + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{18, 32}, {18, 32}, {18, 22}, {18, 22}}, color = {0, 0, 127})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{1, 12}, {8, 12}}, color = {0, 0, 127})); + connect(discharge.p, turbine.n) annotation ( + Line(points = {{38.1, 37.9}, {31, 37.9}, {31, 41.9}, {28.1, 41.9}})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{58.1, 37.9}, {62, 37.9}, {62, 38}, {63.9, 38}, {63.9, 37.9}, {67.9, 37.9}})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{11, 84}, {18, 84}, {18, 52.8}}, color = {0, 0, 127})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-53.9, 65.9}, {-49, 65.9}, {-49, 69.9}, {-43.9, 69.9}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-73.9, 65.9}, {-76, 65.9}, {-76, 66}, {-77.9, 66}, {-77.9, 65.9}, {-81.9, 65.9}})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-23.9, 69.9}, {-17.9, 69.9}, {-17.9, 51.9}}, color = {0, 0, 0})); + connect(penstockKP.n, turbine.p) annotation ( + Line(points = {{2.1, 51.9}, {2.1, 41.9}, {8.1, 41.9}}, color = {0, 0, 0})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstockHalfSurgeD; diff --git a/OpenHPL/Tests/HPElasticKPPenstockWithoutSurge.mo b/OpenHPL/Tests/HPElasticKPPenstockWithoutSurge.mo new file mode 100644 index 0000000..11fb44f --- /dev/null +++ b/OpenHPL/Tests/HPElasticKPPenstockWithoutSurge.mo @@ -0,0 +1,57 @@ +within OpenHPL.Tests; +model HPElasticKPPenstockWithoutSurge "Model of HP system without surge tank and with elastic penctock (KP), but simplified models for turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-90,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {10, 84}))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.06) annotation (Placement(visible=true, transformation(extent={{56,24},{76,44}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(transformation( + extent={{-10,10},{10,-10}}, + rotation=180, + origin={92,42}))); + Waterway.PenstockKP penstockKP1( + D_i=3, + D_o=3, + H=428.5, + N=10, + PipeElasticity=true, + V_dot0=19.06*ones(10)) annotation (Placement(visible=true, transformation( + origin={-6,50}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7, WaterCompres=true) annotation (Placement(transformation(extent={{22,26},{42,46}}))); + Waterway.Pipe condiut(H=23, V_dot0=19.06) annotation (Placement(visible=true, transformation( + origin={-48,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-8, -2}, {12, 18}}, rotation = 0))); + ElectroMech.Generators.SimpleGen aggregate annotation (Placement(visible=true, transformation(extent={{22,-2},{42,18}}, rotation=0))); +equation + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{32, 26}, {32, 26}, {32, 18}, {32, 18}}, color = {0, 0, 127})); + connect(condiut.n, penstockKP1.p) annotation ( + Line(points = {{-37.9, 63.9}, {-26, 63.9}, {-26, 49.9}, {-15.9, 49.9}}, color = {28, 108, 200})); + connect(reservoir.n, condiut.p) annotation ( + Line(points = {{-79.9, 61.9}, {-58, 61.9}, {-58, 63.9}, {-57.9, 63.9}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{21, 84}, {32, 84}, {32, 46.8}}, color = {0, 0, 127})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{42.1, 35.9}, {50, 35.9}, {50, 33.9}, {56.1, 33.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{81.9, 41.9}, {80, 41.9}, {80, 33.9}, {76.1, 33.9}}, color = {28, 108, 200})); + connect(turbine.p, penstockKP1.n) annotation ( + Line(points = {{22.1, 35.9}, {14, 35.9}, {14, 49.9}, {4.1, 49.9}}, color = {28, 108, 200})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{13, 8}, {13, 8}, {22, 8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPElasticKPPenstockWithoutSurge; diff --git a/OpenHPL/Tests/HPLinTest.mo b/OpenHPL/Tests/HPLinTest.mo new file mode 100644 index 0000000..3671c90 --- /dev/null +++ b/OpenHPL/Tests/HPLinTest.mo @@ -0,0 +1,10 @@ +within OpenHPL.Tests; +model HPLinTest + extends Modelica.Icons.Example; + OpenHPL.Tests.HPLiniarizationKPFran hpl; + parameter Real t_ramp = 600, u_start = 0.7493, u_end = 0.7; + Real u; +equation + u = if time < t_ramp then u_start else u_end; + hpl.u = u; +end HPLinTest; diff --git a/OpenHPL/Tests/HPLiniarization.mo b/OpenHPL/Tests/HPLiniarization.mo new file mode 100644 index 0000000..ef05d9c --- /dev/null +++ b/OpenHPL/Tests/HPLiniarization.mo @@ -0,0 +1,55 @@ +within OpenHPL.Tests; +model HPLiniarization "Simple HP system model for liniarization" + extends Modelica.Icons.Example; + input Real u(start = 0.7493); + output Real dotV; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe intake(H=23, V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={72,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.908) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(discharge.n, tail.n) annotation ( + Line(points = {{50, 34}, {56.05, 34}, {56.05, 40}, {62, 40}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{20.1, 33.9}, {25.1, 33.9}, {25.1, 34}, {30, 34}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-77.95, 61.9}, {-77.95, 59.9}, {-71.9, 59.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 59.9}, {-45.95, 59.9}, {-45.95, 65.9}, {-39.9, 65.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-19.9, 65.9}, {-15.95, 65.9}, {-15.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {-10.1, 33.9}, {0.1, 33.9}}, color = {28, 108, 200})); + turbine.u_t = u; + dotV = turbine.V_dot; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarization; diff --git a/OpenHPL/Tests/HPLiniarization2.mo b/OpenHPL/Tests/HPLiniarization2.mo new file mode 100644 index 0000000..f5dc4ef --- /dev/null +++ b/OpenHPL/Tests/HPLiniarization2.mo @@ -0,0 +1,55 @@ +within OpenHPL.Tests; +model HPLiniarization2 "Simple HP system model for liniarization" + extends Modelica.Icons.Example; + input Real u(start = 0.7493); + output Real dotV; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe intake(H=23, V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={72,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.908, p_2=Const.p_a) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(discharge.n, tail.n) annotation ( + Line(points = {{50, 34}, {56.05, 34}, {56.05, 40}, {62, 40}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{20.1, 33.9}, {25.1, 33.9}, {25.1, 34}, {30, 34}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-77.95, 61.9}, {-77.95, 59.9}, {-71.9, 59.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 59.9}, {-45.95, 59.9}, {-45.95, 65.9}, {-39.9, 65.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-19.9, 65.9}, {-15.95, 65.9}, {-15.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {-10.1, 33.9}, {0.1, 33.9}}, color = {28, 108, 200})); + turbine.u_t = u; + dotV = turbine.V_dot; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarization2; diff --git a/OpenHPL/Tests/HPLiniarization3.mo b/OpenHPL/Tests/HPLiniarization3.mo new file mode 100644 index 0000000..89f5ed9 --- /dev/null +++ b/OpenHPL/Tests/HPLiniarization3.mo @@ -0,0 +1,55 @@ +within OpenHPL.Tests; +model HPLiniarization3 "Simple HP system model for liniarization" + extends Modelica.Icons.Example; + input Real u(start = 0.7493); + output Real dotV; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe intake(H=23, V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={72,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.908, p_2=Const.p_a) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(discharge.n, tail.n) annotation ( + Line(points = {{50, 34}, {56.05, 34}, {56.05, 40}, {62, 40}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{20.1, 33.9}, {25.1, 33.9}, {25.1, 34}, {30, 34}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-77.95, 61.9}, {-77.95, 59.9}, {-71.9, 59.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 59.9}, {-45.95, 59.9}, {-45.95, 65.9}, {-39.9, 65.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-19.9, 65.9}, {-15.95, 65.9}, {-15.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {-10.1, 33.9}, {0.1, 33.9}}, color = {28, 108, 200})); + turbine.u_t = u; + dotV = turbine.V_dot; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarization3; diff --git a/OpenHPL/Tests/HPLiniarization4.mo b/OpenHPL/Tests/HPLiniarization4.mo new file mode 100644 index 0000000..96adb33 --- /dev/null +++ b/OpenHPL/Tests/HPLiniarization4.mo @@ -0,0 +1,55 @@ +within OpenHPL.Tests; +model HPLiniarization4 "Simple HP system model for liniarization" + extends Modelica.Icons.Example; + input Real u(start = 0.7493); + output Real dotV; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe intake(H=23, V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={72,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.908, p_2=Const.p_a) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(discharge.n, tail.n) annotation ( + Line(points = {{50, 34}, {56.05, 34}, {56.05, 40}, {62, 40}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{20.1, 33.9}, {25.1, 33.9}, {25.1, 34}, {30, 34}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-77.95, 61.9}, {-77.95, 59.9}, {-71.9, 59.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 59.9}, {-45.95, 59.9}, {-45.95, 65.9}, {-39.9, 65.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-19.9, 65.9}, {-15.95, 65.9}, {-15.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {-10.1, 33.9}, {0.1, 33.9}}, color = {28, 108, 200})); + turbine.u_t = u; + dotV = turbine.V_dot; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarization4; diff --git a/OpenHPL/Tests/HPLiniarizationFranGen.mo b/OpenHPL/Tests/HPLiniarizationFranGen.mo new file mode 100644 index 0000000..d52e82d --- /dev/null +++ b/OpenHPL/Tests/HPLiniarizationFranGen.mo @@ -0,0 +1,74 @@ +within OpenHPL.Tests; +model HPLiniarizationFranGen "HP system model for liniarization with Francis turbine + generator" + extends Modelica.Icons.Example; + Waterway.Pipe intake(H=23, V_dot0=18.5952) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + input Real u = 0.576313; + output Real P; + //, f; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=18.5952) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + V_dot0=18.5952) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.963) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Francis turbine( + GivenData=false, + GivenServoData=false, + Given_losses=false, + u_end_=2.3683, + u_start_=2.24) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Generators.SynchGen generator( + SelfInitialization=true, + EEd_0=-7207.13, + EEq_0=18005.2, + Ef_0=38110.4, + Vstabilizer_0=0, + w_0=52.3599, + DELTA_0=0.65703268757177) annotation (Placement(visible=true, transformation(extent={{0,-10},{20,10}}, rotation=0))); +equation + connect(generator.w_out, turbine.w_in) annotation ( + Line(points = {{16, 10}, {16, 17}, {14, 17}, {14, 24}}, color = {0, 0, 127})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points = {{6, 23}, {6, 16.5}, {4, 16.5}, {4, 10}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-77.95, 61.9}, {-77.95, 59.9}, {-71.9, 59.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 59.9}, {-45.95, 59.9}, {-45.95, 65.9}, {-39.9, 65.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-19.9, 65.9}, {-15.95, 65.9}, {-15.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{50.1, 33.9}, {62.05, 33.9}, {62.05, 39.9}, {83.9, 39.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {-10.1, 33.9}, {0.1, 33.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{20.1, 33.9}, {25.05, 33.9}, {30.1, 33.9}}, color = {28, 108, 200})); + turbine.u_t = u; + P = generator.Pe; + //f = generator.f; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarizationFranGen; diff --git a/OpenHPL/Tests/HPLiniarizationGenIPSL.mo b/OpenHPL/Tests/HPLiniarizationGenIPSL.mo new file mode 100644 index 0000000..e3d8043 --- /dev/null +++ b/OpenHPL/Tests/HPLiniarizationGenIPSL.mo @@ -0,0 +1,149 @@ +within OpenHPL.Tests; +model HPLiniarizationGenIPSL "Synergy with OpenIPSL library(generator + governor)" + extends Modelica.Icons.Example; + input Real u = 0.574; + output Real w, dotV, P; + //, P; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23, V_dot0=18.5381) annotation (Placement(visible=true, transformation(extent={{-76,52},{-56,72}}, rotation=0))); + Waterway.Pipe discharge( + L=600, + H=0.5, + V_dot0=18.5381) annotation (Placement(visible=true, transformation(extent={{50,30},{70,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,36}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + L=600, + H=428.5, + D_i=3, + D_o=3, + V_dot0=18.5381) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=69.9692) annotation (Placement(visible=true, transformation( + origin={-36,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y=1.2, + r_v=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, P_0 = 16.0352698692006 * 5, Q_0 = 11.859436505981 * 5, Sn = 20 * 5, Vn = 400, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(transformation(extent = {{26, -30}, {46, -10}}))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(transformation(extent = {{-12, -36}, {8, -16}}))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {52, 10}))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(visible = true, transformation(extent = {{-98, -100}, {-74, -80}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -88}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(G = 0, R = 0.01, X = 0.1, opening = 1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -90}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -40}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0 = 8 * 5, Q_0 = 6 * 5, V_0 = 1, angle_0 = 0) annotation ( + Placement(visible = true, transformation(origin = {90, -52}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2(P_0 = 8 * 5, Q_0 = 6 * 5, V_0 = 1, angle_0 = 0, dP1 = 1, dP2 = 0, dQ1 = 0, dQ2 = 0, t_end_1 = 1.1e10, t_end_2 = 1e10, t_start_1 = 1e10, t_start_2 = 1e10) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -90.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(transformation(extent = {{-14, -86}, {6, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(transformation(extent = {{26, -86}, {46, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus2 annotation ( + Placement(transformation(extent = {{66, -62}, {86, -42}}))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(transformation(extent = {{66, -100}, {86, -80}}))); + OpenIPSL.Electrical.Buses.InfiniteBus infiniteBus annotation ( + Placement(visible = true, transformation(extent = {{-62, -64}, {-42, -44}}, rotation = 0))); +equation + connect(bus.p, infiniteBus.p) annotation ( + Line(points = {{-4, -76}, {-20, -76}, {-20, -54}, {-42, -54}, {-42, -54}, {-42, -54}}, color = {0, 0, 255})); + connect(infiniteBus.p, order2_1.p) annotation ( + Line(points = {{-42, -54}, {36, -54}, {36, -36}, {62, -36}, {62, -20}, {46, -20}, {46, -20}}, color = {0, 0, 255})); + turbine.u_t = u; + dotV = turbine.V_dot; + P = order2_1.P; + w = turbine.w; + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-78, 61.9}, {-75.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points = {{-45.9, 65.9}, {-48, 65.9}, {-48, 61.9}, {-55.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-25.9, 65.9}, {-16.95, 65.9}, {-16.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 35.9}, {44, 35.9}, {44, 39.9}, {50.1, 39.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{79.9, 35.9}, {79.9, 39.95}, {80, 39.95}, {80, 39.9}, {70.1, 39.9}}, color = {28, 108, 200})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{24, -15}, {16, -15}, {16, -6}, {28, -6}, {28, -9}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points = {{-14, -26}, {-20, -26}, {-20, 8}, {-20, 12}, {24, 12}, {24, 26}, {24, 25.4}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{9, -26}, {24, -26}, {24, -25}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{47, -11}, {54, -11}, {54, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {4.95, 37.9}, {4.95, 35.9}, {18.1, 35.9}}, color = {28, 108, 200})); + connect(pwLine2.p, pwLine1.p) annotation ( + Line(points = {{10.6, -64}, {2, -64}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(pwLine2.n, pwLine1.n) annotation ( + Line(points = {{21.4, -64}, {30, -64}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(pwLine4.p, pwLinewithOpening1.p) annotation ( + Line(points = {{50.6, -40}, {44, -40}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine4.n, pwLinewithOpening1.n) annotation ( + Line(points = {{61.4, -40}, {68, -40}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -76}, {2, -76}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLine1.n) annotation ( + Line(points = {{36, -76}, {30, -76}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -76}, {40, -76}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine3.p, pwLinewithOpening1.p) annotation ( + Line(points = {{52.6, -90}, {40, -90}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -52}, {84, -52}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -52}, {68, -52}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -90}, {84, -90}, {84, -90.2889}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -90}, {63.4, -90}, {76, -90}}, color = {0, 0, 255})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points = {{41, 10}, {36, 10}, {32, 10}, {32, 25.8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarizationGenIPSL; diff --git a/OpenHPL/Tests/HPLiniarizationGenIPSLKP.mo b/OpenHPL/Tests/HPLiniarizationGenIPSLKP.mo new file mode 100644 index 0000000..79fe086 --- /dev/null +++ b/OpenHPL/Tests/HPLiniarizationGenIPSLKP.mo @@ -0,0 +1,153 @@ +within OpenHPL.Tests; +model HPLiniarizationGenIPSLKP "Synergy with OpenIPSL library(generator + governor)" + extends Modelica.Icons.Example; + input Real u = 0.574; + output Real w, dotV, P; + //, P; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,46}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23, V_dot0=18.536) annotation (Placement(visible=true, transformation(extent={{-76,36},{-56,56}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=18.5359) annotation (Placement(visible=true, transformation(extent={{50,38},{70,58}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={92,52}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=69.9695) annotation (Placement(visible=true, transformation( + origin={-36,50}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + WaterCompress=false, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y=1.2, + r_v=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={26,42}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, P_0 = 16.0352698692006 * 5, Q_0 = 11.859436505981 * 5, Sn = 20 * 5, Vn = 400, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(visible = true, transformation(extent = {{8, 0}, {28, 20}}, rotation = 0))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(visible = true, transformation(origin = {-9, 3}, extent = {{-7, -7}, {7, 7}}, rotation = 0))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(visible = true, transformation(origin = {46, 28}, extent = {{-8, -8}, {8, 8}}, rotation = 180))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(visible = true, transformation(extent = {{-100, 0}, {-76, 20}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -40}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(G = 0, R = 0.01, X = 0.1, opening = 1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -12}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -16}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -38}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -2}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0 = 8 * 5, Q_0 = 6 * 5, V_0 = 1, angle_0 = 0) annotation ( + Placement(visible = true, transformation(origin = {90, -6}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2(P_0 = 8 * 5, Q_0 = 6 * 5, V_0 = 1, angle_0 = 0, dP1 = 1, dP2 = 0, dQ1 = 0, dQ2 = 0, t_end_1 = 1.1e10, t_end_2 = 1e10, t_start_1 = 1e10, t_start_2 = 1e10) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -38.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(visible = true, transformation(extent = {{-14, -38}, {6, -18}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(visible = true, transformation(extent = {{26, -38}, {46, -18}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus2(displayPF = true) annotation ( + Placement(visible = true, transformation(extent = {{66, -16}, {86, 4}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(visible = true, transformation(extent = {{66, -48}, {86, -28}}, rotation = 0))); + OpenIPSL.Electrical.Buses.InfiniteBus infiniteBus annotation ( + Placement(visible = true, transformation(extent = {{-54, -38}, {-34, -18}}, rotation = 0))); + OpenHPL.Waterway.PenstockKP penstockKP( + D_i=3, + D_o=3, + H=428.5, + N=10, + PipeElasticity=true, + V_dot0={18.5285,18.5251,18.5216,18.5181,18.5147,18.5112,18.5077,18.5043,18.5008,18.4973}, + h_s0=69.9694, + p_p0={9.93615,14.0954,18.2545,22.4134,26.5723,30.7309,34.8895,39.0479,43.2061,47.3643}*1e5) annotation (Placement(visible=true, transformation( + origin={-4,42}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{6, 15}, {2, 15}, {2, 15}, {-2, 15}, {-2, 24}, {10, 24}, {10, 22.5}, {10, 22.5}, {10, 21}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{29, 19}, {60, 19}, {60, 28}, {56, 28}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{-1.3, 3}, {7.7, 3}, {7.7, 5}, {6, 5}}, color = {0, 0, 127})); + connect(order2_1.p, bus.p) annotation ( + Line(points = {{28, 10}, {42, 10}, {42, -6}, {28, -6}, {28, -12}, {-12, -12}, {-12, -28}, {-4, -28}}, color = {0, 0, 255})); + connect(infiniteBus.p, bus.p) annotation ( + Line(points = {{-34, -28}, {-4, -28}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -38}, {78, -38}, {78, -38}, {80, -38}, {80, -38}, {84, -38}, {84, -38.2889}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -38}, {63.4, -38}, {63.4, -38}, {63.4, -38}, {63.4, -38}, {63.4, -38}, {63.4, -38}, {63.4, -38}, {69.7, -38}, {69.7, -38}, {72.85, -38}, {72.85, -38}, {76, -38}}, color = {0, 0, 255})); + connect(pwLine3.p, bus1.p) annotation ( + Line(points = {{53, -38}, {42, -38}, {42, -28}, {36, -28}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -6}, {84, -6}}, color = {0, 0, 255})); + connect(pwLinewithOpening1.n, bus2.p) annotation ( + Line(points = {{61.4, -12}, {67.4, -12}, {67.4, -6}, {76, -6}}, color = {0, 0, 255})); + connect(pwLine4.p, pwLinewithOpening1.p) annotation ( + Line(points = {{50, -2}, {48, -2}, {48, -12}, {50, -12}, {50, -12}}, color = {0, 0, 255})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -28}, {42, -28}, {42, -8}, {48, -8}, {48, -12}, {50, -12}, {50, -12}}, color = {0, 0, 255})); + connect(bus1.p, pwLine1.n) annotation ( + Line(points = {{36, -28}, {34.5, -28}, {34.5, -28}, {35, -28}, {35, -28}, {32, -28}, {32, -40}, {27.7, -40}, {27.7, -40}, {23.55, -40}, {23.55, -40}, {21.4, -40}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -28}, {-3.25, -28}, {-3.25, -28}, {-2.5, -28}, {-2.5, -28}, {-1, -28}, {-1, -28}, {2, -28}, {2, -40}, {6.3, -40}, {6.3, -40}, {8.45, -40}, {8.45, -40}, {9.525, -40}, {9.525, -40}, {10.6, -40}}, color = {0, 0, 255})); + connect(pwLinewithOpening1.n, pwLine4.n) annotation ( + Line(points = {{61.4, -12}, {67.4, -12}, {67.4, -2}, {61.4, -2}, {61.4, -2}, {61.4, -2}, {61.4, -2}}, color = {0, 0, 255})); + connect(pwLine2.n, pwLine1.n) annotation ( + Line(points = {{21.4, -16}, {21.9375, -16}, {21.9375, -16}, {24.475, -16}, {24.475, -16}, {25.55, -16}, {25.55, -16}, {27.7, -16}, {27.7, -16}, {30, -16}, {30, -40}, {27.7, -40}, {27.7, -40}, {23.55, -40}, {23.55, -40}, {21.4, -40}}, color = {0, 0, 255})); + connect(pwLine2.p, pwLine1.p) annotation ( + Line(points = {{10.6, -16}, {9.525, -16}, {9.525, -16}, {10.45, -16}, {10.45, -16}, {8.3, -16}, {8.3, -16}, {2, -16}, {2, -40}, {8.3, -40}, {8.3, -40}, {10.45, -40}, {10.45, -40}, {9.525, -40}, {9.525, -40}, {10.6, -40}}, color = {0, 0, 255})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points = {{-17, 3}, {-28, 3}, {-28, 28}, {22, 28}, {22, 31}}, color = {0, 0, 127})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points = {{37, 28}, {30, 28}, {30, 32}}, color = {0, 0, 127})); + connect(surgeTank.p, intake.n) annotation ( + Line(points = {{-45.9, 49.9}, {-46.95, 49.9}, {-46.95, 47.9}, {-48, 47.9}, {-48, 45.9}, {-55.9, 45.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP.p) annotation ( + Line(points = {{-26, 50}, {-14, 50}, {-14, 41.9}, {-13.9, 41.9}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 45.9}, {-78, 45.9}, {-75.9, 45.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{82, 52}, {76, 52}, {76, 48}, {70, 48}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{36, 42}, {43, 42}, {43, 48}, {50, 48}}, color = {28, 108, 200})); + connect(penstockKP.n, turbine.p) annotation ( + Line(points = {{6.1, 41.9}, {16, 41.9}, {16, 42}}, color = {28, 108, 200})); + turbine.u_t = u; + dotV = turbine.V_dot; + P = order2_1.P; + w = turbine.w; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.08)); +end HPLiniarizationGenIPSLKP; diff --git a/OpenHPL/Tests/HPLiniarizationKP.mo b/OpenHPL/Tests/HPLiniarizationKP.mo new file mode 100644 index 0000000..7acb880 --- /dev/null +++ b/OpenHPL/Tests/HPLiniarizationKP.mo @@ -0,0 +1,59 @@ +within OpenHPL.Tests; +model HPLiniarizationKP "HP system model for liniarization with elastic penstock (KP)" + extends Modelica.Icons.Example; + input Real u(start = 0.7493); + output Real dotV; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe intake(H=23, V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={72,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.PenstockKP penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + N=10, + PipeElasticity=true, + V_dot0=19.0777*ones(10), + h_s0=69, + p_p0=997*9.81*(69 + 428.5/10/2):997*9.81*428.5/10:997*9.81*(69 + 428.5/10*(10 - 1/2))) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.908) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7, WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(discharge.n, tail.n) annotation ( + Line(points={{50,34},{56.05,34},{56.05,40},{62,40}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,62},{-77.95,62},{-77.95,60},{-72,60}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-52,60},{-45.95,60},{-45.95,66},{-40,66}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-20,66},{-15.95,66},{-15.95,58},{-10,58}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{-10,38},{-10,34},{0,34}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{20,34},{25.05,34},{30,34}}, color = {28, 108, 200})); + turbine.u_t = u; + dotV = turbine.V_dot; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarizationKP; diff --git a/OpenHPL/Tests/HPLiniarizationKPFran.mo b/OpenHPL/Tests/HPLiniarizationKPFran.mo new file mode 100644 index 0000000..85b7b84 --- /dev/null +++ b/OpenHPL/Tests/HPLiniarizationKPFran.mo @@ -0,0 +1,73 @@ +within OpenHPL.Tests; +model HPLiniarizationKPFran "HP system model for liniarization with elastic penstock (KP) + Francis turbine + generator" + extends Modelica.Icons.Example; + input Real u; + output Real P, f; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe intake(H=23, V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=19.0777) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.PenstockKP penstock( + D_i=3, + D_o=3, + H=428.5, + L=600, + N=10, + h_s0=69, + V_dot0=19.0777*ones(10), + p_p0=997*9.81*(69 + 428.5/10/2):997*9.81*428.5/10:997*9.81*(69 + 428.5/10*(10 - 1/2))) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.908) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Francis turbine annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Generators.SynchGen generator( + SelfInitialization=true, + EEd_0=-7207.13, + EEq_0=18005.2, + Ef_0=38110.4, + Vstabilizer_0=0, + DELTA_0=0.65703268757177, + w_0=52.3599) annotation (Placement(transformation(extent={{0,-2},{20,18}}))); +equation + connect(generator.w_out, turbine.w_in) annotation ( + Line(points = {{16, 18}, {14, 18}, {14, 24}, {14, 24}}, color = {0, 0, 127})); + connect(generator.w_out, turbine.w_in) annotation ( + Line(points = {{16, 18}, {14, 18}, {14, 24}, {14, 24}}, color = {0, 0, 127})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points = {{6, 24}, {4, 24}, {4, 20}, {4, 20}, {4, 18}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-77.95, 61.9}, {-77.95, 59.9}, {-71.9, 59.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-51.9, 59.9}, {-45.95, 59.9}, {-45.95, 65.9}, {-39.9, 65.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-19.9, 65.9}, {-15.95, 65.9}, {-15.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{50.1, 33.9}, {62.05, 33.9}, {62.05, 39.9}, {83.9, 39.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {-10.1, 33.9}, {0.1, 33.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{20.1, 33.9}, {25.05, 33.9}, {30.1, 33.9}}, color = {28, 108, 200})); + turbine.u_t = u; + P = generator.Pe; + f = generator.f; + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPLiniarizationKPFran; diff --git a/OpenHPL/Tests/HPModel.mo b/OpenHPL/Tests/HPModel.mo new file mode 100644 index 0000000..43c27d0 --- /dev/null +++ b/OpenHPL/Tests/HPModel.mo @@ -0,0 +1,34 @@ +within OpenHPL.Tests; +model HPModel + inner OpenHPL.Constants Const; + import Modelica.Constants.pi; + parameter Real H_r = 48, H_i = 23, H_p = 428.5, H_s = 120, H_d = 0.5, H_t = 5; + parameter Real L_i = 6600, L_p = 600, L_s = 140, L_d = 600; + parameter Real D_i = 5.8, D_p = 3, D_s = 3.4, D_d = 5.8; + parameter Real C_v = 3.7, fD = 0.043; + parameter Real h_s0 = 69.6998, Vdot_s0 = 0.0, Vdot_p0 = 19.0768; + input Real u(start = 0.7493); + Real A_i = D_i ^ 2 * pi / 4, A_p = D_p ^ 2 * pi / 4, A_s = D_s ^ 2 * pi / 4, A_d = D_d ^ 2 * pi / 4; + Real cos_theta_i = H_i / L_i, cos_theta_p = H_p / L_p, cos_theta_s = H_s / L_s, cos_theta_d = H_d / L_d; + Real p_r = Const.p_a + Const.g * Const.rho * H_r, p_t = Const.p_a + Const.g * Const.rho * H_t; + Real Z_i = A_i / L_i, Z_p = A_p / L_p, Z_s = A_s / l_s, Z_d = A_d / L_d; + Real B_i = D_i / A_i ^ 2, B_p = D_p / A_p ^ 2, B_s = D_s / A_s ^ 2, B_d = D_d / A_d ^ 2; + Real fD_i = fD, fD_p = fD, fD_s = fD, fD_d = fD; + Real p_tr1, p_n, K_dp, K_p, K_z, K_pd, K_pdz; + Real h_s, Vdot_s, Vdot_p, Vdot_i = Vdot_s + Vdot_p, l_s = h_s / cos_theta_s; +initial equation + h_s = h_s0; + Vdot_s = Vdot_s0; + Vdot_p = Vdot_p0; +equation + K_dp = Z_d / (Z_d + Z_p); + K_z = K_dp / Z_d; + K_p = Z_i * Z_d / (Z_i * Z_d + Z_s * Z_d + Z_p * Z_d - Z_p ^ 2 * K_dp); + K_pd = Z_p * K_dp / Z_d; + K_pdz = Z_p * K_dp; + p_n = K_p / Z_i * (Z_i * p_r + Z_s * Const.p_a + Z_p * K_dp * (Vdot_p ^ 2 * Const.p_a / (C_v ^ 2 * u ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p * (K_pd - 1) - K_pd * A_d * cos_theta_d + A_s * cos_theta_s + A_i * cos_theta_i) + 1 / 8 * pi * Const.rho * (fD_s * B_s * Vdot_s * abs(Vdot_s) + (fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * Vdot_p * abs(Vdot_p) - fD_i * B_i * Vdot_i * abs(Vdot_i))); + p_tr1 = K_z * (Z_p * p_n + Z_d * (Vdot_p ^ 2 * Const.p_a / (C_v ^ 2 * u ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p - A_d * cos_theta_d) + 1 / 8 * pi * Const.rho * Vdot_p * abs(Vdot_p) * (fD_d * B_d - fD_p * B_p)); + der(h_s) = Vdot_s * cos_theta_s / A_s; + der(Vdot_s) = Z_s / Const.rho * (p_n - Const.p_a) - A_s * Const.g * cos_theta_s - 1 / 8 * pi * fD_s * B_s * Vdot_s * abs(Vdot_s); + der(Vdot_p) = Z_p / Const.rho * (p_n - p_tr1) + A_p * Const.g * cos_theta_p - 1 / 8 * pi * fD_p * B_p * Vdot_p * abs(Vdot_p); +end HPModel; diff --git a/OpenHPL/Tests/HPModelDEA.mo b/OpenHPL/Tests/HPModelDEA.mo new file mode 100644 index 0000000..dd41dee --- /dev/null +++ b/OpenHPL/Tests/HPModelDEA.mo @@ -0,0 +1,30 @@ +within OpenHPL.Tests; +model HPModelDEA + inner OpenHPL.Constants Const; + import Modelica.Constants.pi; + parameter Real H_r = 48, H_i = 23, H_p = 428.5, H_s = 120, H_d = 0.5, H_t = 5; + parameter Real L_i = 6600, L_p = 600, L_s = 140, L_d = 600; + parameter Real D_i = 5.8, D_p = 3, D_s = 3.4, D_d = 5.8; + parameter Real C_v = 3.7, fD = 0.043; + input Real u_v = 0.7493; + Real A_i = D_i ^ 2 * pi / 4, A_p = D_p ^ 2 * pi / 4, A_s = D_s ^ 2 * pi / 4, A_d = D_d ^ 2 * pi / 4; + Real cos_theta_i = H_i / L_i, cos_theta_p = H_p / L_p, cos_theta_s = H_s / L_s, cos_theta_d = H_d / L_d; + Real p_r = Const.p_a + Const.g * Const.rho * H_r, p_t = Const.p_a + Const.g * Const.rho * H_t; + Real Z_i = A_i / L_i, Z_p = A_p / L_p, Z_s = A_s / l_s, Z_d = A_d / L_d; + Real B_i = D_i / A_i ^ 2, B_p = D_p / A_p ^ 2, B_s = D_s / A_s ^ 2, B_d = D_d / A_d ^ 2; + Real fD_i = fD, fD_p = fD, fD_s = fD, fD_d = fD; + Real p_tr1, p_n, p_tr2; + Real h_s, Vdot_s, Vdot_p, Vdot_i = Vdot_s + Vdot_p, l_s = h_s / cos_theta_s; +initial equation + h_s = 69.9; + Vdot_s = 0; + Vdot_p = 19.077; +equation + Const.rho * L_i * der(Vdot_i) = A_i * (p_r - p_n) + Const.rho * L_i * A_i * Const.g * cos_theta_i - 1 / 8 * pi * L_i * fD_i * Const.rho * B_i * Vdot_i * abs(Vdot_i); + Const.rho * A_s / cos_theta_s * der(h_s) = Const.rho * Vdot_s; + Const.rho / cos_theta_s * der(h_s * Vdot_s) = Const.rho * Vdot_s ^ 2 / A_s + A_s * (p_n - Const.p_a) - Const.rho * A_s * h_s * Const.g - 1 / 8 * pi * fD_s * Const.rho * l_s * B_s * Vdot_s * abs(Vdot_s); + Const.rho * L_p * der(Vdot_p) = A_p * (p_n - p_tr1) + Const.rho * L_p * A_p * Const.g * cos_theta_p - 1 / 8 * pi * fD_p * Const.rho * L_p * B_p * Vdot_p * abs(Vdot_p); + Vdot_p = C_v * u_v * sqrt((p_tr1 - p_tr2) / Const.p_a); + //p_tr1 - p_tr2 = Vdot_p^2 * Const.p_a/(C_v*u_v)^ 2; + Const.rho * L_d * der(Vdot_p) = A_d * (p_tr2 - p_t) + Const.rho * L_d * A_d * Const.g * cos_theta_d - 1 / 8 * pi * fD_d * Const.rho * L_d * B_d * Vdot_p * abs(Vdot_p); +end HPModelDEA; diff --git a/OpenHPL/Tests/HPModelKPLin.mo b/OpenHPL/Tests/HPModelKPLin.mo new file mode 100644 index 0000000..9a9c454 --- /dev/null +++ b/OpenHPL/Tests/HPModelKPLin.mo @@ -0,0 +1,21 @@ +within OpenHPL.Tests; +model HPModelKPLin + parameter Integer n = 24; + // states + parameter Integer k = 1; + // top-level inputs + parameter Integer l = 1; + // top-level outputs + parameter Real x0[24] = {992883.289524717, 1408615.924274521, 1824332.096601278, 2240035.212738176, 2655723.668014717, 3071397.894367104, 3487057.05338595, 3902700.583697127, 4318331.137879058, 4733948.8193478, 19059.21032479101, 19059.2294580422, 19059.28066128324, 19059.33055236392, 19059.37895675784, 19059.41769211072, 19059.43803782915, 19059.43604833334, 19059.41697346472, 19059.36501028928, 3647704893.790293, 3.833941085834154e-005, 738231.8616973314, 262866589.5593565}; + parameter Real u0 = 0.7493; + parameter Real A[24, 24] = [-16.08439026907414, 15.86292760442456, -4.794393543600575, 0.3011297796144339, 0, 0, 0, 0, 0, 0, 2188.559966173648, -2314.193716402733, 169.493858252066, -42.37346456301649, 7.402878769272996e-015, 0, 0, 0, 0, 0, 1.567153511469892e-005, -183.3864295134294, 4.21509388076372, 0; 4.168167842729975, -10.42053917969667, 8.336574804532114, -2.084203479028384, 0, 0, 0, 0, 0, 0, 2122.861322710982, -1239.860505712094, -1177.334420838401, 294.3336052096002, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; -2.084203479524912, 8.337052903895106, -12.5059378308296, 8.337530874422105, -2.084442465054391, 0, 0, 0, 0, 0, -767.3357814221653, 2537.314910450359, -297.5151423987605, -1766.797802929313, 294.3338151761125, 0, 0, 0, 0, 0, 0, 0, 0, 0; 0, -2.084442464823843, 8.338008721745783, -12.5073713779712, 8.338486447316516, -2.084681327441733, 0, 0, 0, 0, 0, -295.1289370152623, 1769.97829035952, -2.384735796900835, -1766.798642407185, 294.3340250271784, 0, 0, 0, 0, 0, 0, 0, 0; 0, 0, -2.084681327504803, 8.338964047758481, -12.50880417768666, 8.339441523458587, -2.084920065299463, 0, 0, 0, 0, 0, -295.1287271223586, 1769.97745093536, 291.9507575560861, -2532.068491438651, 765.2690102092555, 0, 0, 0, 0, 0, 0, 0; 0, 0, 0, -2.084920065181, 8.339918873750815, -12.51023623091876, 8.340396100586061, -2.085158678403219, 0, 0, 0, 0, 0, -295.1285174187467, 1180.514069674987, 1824.554835822752, -2709.94038779626, 0, 0, 0, 0, 0, 0, 0; 0, 0, 0, 0, -2.085158678326279, 8.340873200302626, -12.51166753186883, 8.341350173085219, -2.085397165020682, 0, 0, 0, 0, 0, 0, 413.179630588721, -1.111114578572111, -412.0685166606934, 0, 0, 0, 0, 0, 0; 0, 0, 0, 0, 0, -2.085397165400728, 8.341827024754881, -12.51309807921205, 8.342303749490215, -2.085635528160546, 0, 0, 0, 0, 0, 0, 2713.114999205013, -2301.046188621637, -412.0688109738587, 0, 0, 0, 0, 0; 0, 0, 0, 0, 0, 0, -2.08563552817265, 8.342780352912506, -10.4286541249092, 4.171509292868229, 0, 0, 0, 0, 0, 0, -767.3325070394367, 3480.446666071489, -2124.444009216493, -588.6701504947939, 0, 0, 0, 0; 0, 0, 0, 0, 0, 0, 0.4648693157161499, -6.269293279834859, 19.96673987447301, -16.93848668072003, 0, 0, 0, 0, 0, 0, 171.1055975833029, -1716.901645469861, 4333.166137996929, -1398.740070444036, 0, 0, 0, 0.0004888870995462002; 0.03349447058525149, -0.06455160773185904, -0.004471687688911441, 0.002132750452394769, 0, 0, 0, 0, 0, 0, 1.344613064293004, -2.275267967984701, 1.200439569039228, -0.3001098922598071, 5.243085909472713e-017, 0, 0, 0, 0, 0, 1.10993584388731e-007, -1.298833649095132, 0.02985338544927606, 0; 0.05902588289657602, 0.01466154432942627, -0.08842311557761337, 0.01473167638255253, 0, 0, 0, 0, 0, 0, 4.249612493222614, -10.50934525646588, 8.291868946992661, -2.072967236748165, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; -0.01477149400629437, 0.08859589992217727, -0.0001031640495938163, -0.08846365467600036, 0.01473843269475015, 0, 0, 0, 0, 0, -5.44822222013016, 13.85283973256269, -14.64232078941463, 8.270106269852134, -2.073210860905721, 0, 0, 0, 0, 0, 0, 0, 0, 0; 0, -0.01477824751444726, 0.08863641976388749, -0.0001031361401604561, -0.08850416969936603, 0.01474518499831691, 0, 0, 0, 0, 0, -2.095704410518916, 8.405545390902315, -12.54826087872316, 8.271089679051151, -2.073454356969451, 0, 0, 0, 0, 0, 0, 0, 0; 0, 0, -0.01478499701134827, 0.08867691551946535, -0.0001031081395734883, -0.08854466065682946, 0.0147519332956893, 0, 0, 0, 0, 0, -2.095938609732372, 8.406472767731195, -14.62336804918776, 13.66368666985718, -5.391614090380772, 0, 0, 0, 0, 0, 0, 0; 0, 0, 0, -0.01479174247575537, 0.08871738710462698, -0.00010308006059185, -0.08858512758031897, 0.01475867759467838, 0, 0, 0, 0, 0, -2.096172685771156, 8.384690743084622, -14.56597681475787, 8.236720752045791, 0, 0, 0, 0, 0, 0, 0; 0, 0, 0, 0, -0.01479848390591617, 0.08875783449672599, -0.0001030517771802353, -0.08862557044123512, 0.01476541789204345, 0, 0, 0, 0, 0, 0, 2.934969285282572, -5.879541666524696, 2.903857761092998, 0, 0, 0, 0, 0, 0; 0, 0, 0, 0, 0, -0.01480522127838294, 0.08879825762278153, -0.0001030234412715021, -0.088665989336792, 0.01477215420688555, 0, 0, 0, 0, 0, 0, 8.445555805603728, -11.39044508536888, 2.904197983285988, 0, 0, 0, 0, 0; 0, 0, 0, 0, 0, 0, -0.01481195461720632, 0.0888386566422107, -0.01488188161274545, -0.05914861119676303, 0, 0, 0, 0, 0, 0, -5.451872731693405, 13.89833866605086, -12.63647389474842, 4.149340070385929, 0, 0, 0, 0; 0, 0, 0, 0, 0, 0, -0.003294827433872963, 0.01483189719198888, 0.03610530131727136, -0.0279696253825127, 0, 0, 0, 0, 0, 0, -1.212735274080617, 1.277730315488761, 5.358193366035733, -15.305945749619, 0, 0, 0, -3.465056894903684e-006; 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0; -2.006946570338033e-005, 0.0001008453303547595, -3.63111738390832e-005, 4.0341861259126e-006, 0, 0, 0, 0, 0, 0, 9.791739439189312e-005, -0.001781012078079036, 0.002270681339664842, -0.0005676703349162106, -8.244914809464768e-020, 0, 0, 0, 0, 0, 2.099489781861486e-010, -0.002459268912785462, -4.694537225848162e-005, 0; 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 997, 0, 0; 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]; + parameter Real B[24, 1] = [0; 0; 0; 0; 0; 0; 0; 0; 0; -35379147.78627282; 0; 0; 0; 0; 0; 0; 0; 0; 0; 250754.7449839309; 0; 0; 0; 0]; + parameter Real C[1, 24] = [0, 0, 0, 0, 0, 0, -4.771649985545624e-010, 4.294069962565973e-009, -1.193018801645569e-008, 2.397726670543185e-009, 0, 0, 0, 0, 0, 0, -1.756312999444499e-007, 9.746855769994258e-007, -0.0005010485766950694, 0.001499653183721549, 0, 0, 0, -5.018180470546436e-013]; + parameter Real D[1, 1] = [0.03631491783081359]; + Real x[24](start = x0); + input Real u(start = u0); + output Real y[1]; +equation + der(x) = A * x + B * u * ones(1); + y = C * x + D * u * ones(1); +end HPModelKPLin; diff --git a/OpenHPL/Tests/HPModelKPLinPI.mo b/OpenHPL/Tests/HPModelKPLinPI.mo new file mode 100644 index 0000000..9d2cd53 --- /dev/null +++ b/OpenHPL/Tests/HPModelKPLinPI.mo @@ -0,0 +1,19 @@ +within OpenHPL.Tests; +model HPModelKPLinPI + HPLiniarizationKP hpKP; + parameter Real Kp = 0.1; + parameter Real Ki = 2.5; + parameter Real ref0 = 19.0777; + Real err1, u1(start = 0.7493, fixed = true), xi1; + input Real ref(start = ref0); + output Real dotVp2, dotVs2; + output Real ms2; +equation + hpKP.u = u1; + err1 = ref - hpKP.dotV; + der(xi1) = Ki * err1; + u1 = min(1.0, Kp * err1 + xi1); + dotVp2 = hpKP.dotV; + dotVs2 = hpKP.surgeTank.V_dot; + ms2 = hpKP.surgeTank.m; +end HPModelKPLinPI; diff --git a/OpenHPL/Tests/HPModelLin.mo b/OpenHPL/Tests/HPModelLin.mo new file mode 100644 index 0000000..047e26c --- /dev/null +++ b/OpenHPL/Tests/HPModelLin.mo @@ -0,0 +1,25 @@ +within OpenHPL.Tests; +model HPModelLin + parameter Integer n = 5; + // states + parameter Integer k = 1; + // top-level inputs + parameter Integer l = 1; + // top-level outputs + parameter Real x0[5] = {19.07770613835895, 3647704893.790293, -1.382604290163798e-012, 738276.1017810429, 262866589.5593565}; + parameter Real u0 = 0.7493; + parameter Real A[5, 5] = [-4.369275046060409, 2.86762571735772e-011, -0.0003348869487959686, 7.712465197971124e-006, -1.525905087339035e-009; 0, 0, 0, 0, 0; 4.213269644367345, 3.434623621803183e-010, -0.004013447140924721, -1.103427849131888e-005, 1.472936995891803e-009; 0, 0, 997, 0, 0; 0, 0, 0, 0, 0]; + parameter Real B[5, 1] = [110.454438012516; 0; -106.6202802906867; 0; 0]; + parameter Real C[1, 5] = [1, 0, 0, 0, 0]; + parameter Real D[1, 1] = [0]; + Real A_[3, 3], B_[3, 1], x_[3, 1](start = [x0[1]; x0[3]; x0[4]]); + Real x[5](start = x0); + input Real u(start = u0); + output Real y[1]; +equation + der(x) = A * x + B * u * ones(1); + A_ = [A[1, 1], A[1, 3], A[1, 4]; A[3, 1], A[3, 3], A[3, 4]; A[4, 1], A[4, 3], A[4, 4]]; + B_ = [B[1, 1]; B[3, 1]; B[4, 1]]; + der(x_) = A_ * x_ + B_ * u; + y = C * x + D * u * ones(1); +end HPModelLin; diff --git a/OpenHPL/Tests/HPModelLinPI.mo b/OpenHPL/Tests/HPModelLinPI.mo new file mode 100644 index 0000000..40e182b --- /dev/null +++ b/OpenHPL/Tests/HPModelLinPI.mo @@ -0,0 +1,27 @@ +within OpenHPL.Tests; +model HPModelLinPI + HPModelLin hplin; + HPLiniarization hp; + parameter Real Kp = 0.3; + parameter Real Ki = 1.5; + parameter Real ref0 = 19.0777; + Real err, err1, u(start = 0.7493, fixed = true), u1(start = 0.7493, fixed = true), xi, xi1; + input Real ref(start = ref0); + output Real dotVp1, dotVs1, dotVp2, dotVs2; + output Real ms1, ms2; +equation + hplin.u = u; + hp.u = u1; + err = ref - hplin.y[1]; + err1 = ref - hp.dotV; + der(xi) = Ki * err; + der(xi1) = Ki * err1; + u = Kp * err + xi; + u1 = min(1.0, Kp * err1 + xi1); + dotVp1 = hplin.y[1]; + dotVs1 = hplin.x[3]; + ms1 = hplin.x[4]; + dotVp2 = hp.dotV; + dotVs2 = hp.surgeTank.V_dot; + ms2 = hp.surgeTank.m; +end HPModelLinPI; diff --git a/OpenHPL/Tests/HPModelManLin.mo b/OpenHPL/Tests/HPModelManLin.mo new file mode 100644 index 0000000..cc27b38 --- /dev/null +++ b/OpenHPL/Tests/HPModelManLin.mo @@ -0,0 +1,99 @@ +within OpenHPL.Tests; +model HPModelManLin + inner OpenHPL.Constants Const; + import Modelica.Constants.pi; + parameter Real H_r = 48, H_i = 23, H_p = 428.5, H_s = 120, H_d = 0.5, H_t = 5; + parameter Real L_i = 6600, L_p = 600, L_s = 140, L_d = 600; + parameter Real D_i = 5.8, D_p = 3, D_s = 3.4, D_d = 5.8; + parameter Real C_v = 3.7, fD = 0.043; + parameter Real h_s0 = 69.6998, Vdot_s0 = 0, Vdot_p0 = 19.0768, Vdot_i0 = 19.0768; + input Real u_v; + Real A_i = D_i ^ 2 * pi / 4, A_p = D_p ^ 2 * pi / 4, A_s = D_s ^ 2 * pi / 4, A_d = D_d ^ 2 * pi / 4; + Real cos_theta_i = H_i / L_i, cos_theta_p = H_p / L_p, cos_theta_s = H_s / L_s, cos_theta_d = H_d / L_d; + Real p_r = Const.p_a + Const.g * Const.rho * H_r, p_t = Const.p_a + Const.g * Const.rho * H_t; + Real Z_i = A_i / L_i, Z_p = A_p / L_p, Z_s = A_s * cos_theta_s / h_s, Z_d = A_d / L_d; + Real B_i = D_i / A_i ^ 2, B_p = D_p / A_p ^ 2, B_s = D_s / A_s ^ 2, B_d = D_d / A_d ^ 2; + Real fD_i = fD, fD_p = fD, fD_s = fD, fD_d = fD; + Real p_tr1, p_n, K_dp, K_p, K_z, K_pd, K_pdz, K_pp, Z_ss; + Real h_s, Vdot_s, Vdot_p, Vdot_i; + Real dpndVp, dpndVi2, dpndVs, dpndhs, dptr1dVp, dKpdhs, dpndu, dptr1du, dpndVp1, dpndVp2, dpndVs1, dpndVi1; + Real dVpdVp, dVpdVs, dVpdhs, dVpdVi2, dVsdVp, dVsdVs, dVsdhs, dhsdVp, dhsdVs, dhsdhs, dhsdVi, dVidhs, dVpdu, dVsdu, dhsdu, dVidu, dVpdVp1, dVpdVp2, dVpdVs1, dVpdVi1, dVsdVp1, dVsdVs1, dVsdVi1, dVidVp1, dVidVp2, dVidVs1, dVidVi1, dVidVi2, dhsdVp2, dhsdVi2; + Real A[3, 3], B[3, 1], x[3, 1], xx, A2[3, 3], B2[3, 1], x2[3, 1], xx2, A1[4, 4], B1[4, 1], x1[4, 1]; +initial equation + h_s = h_s0; + Vdot_s = Vdot_s0; + Vdot_p = Vdot_p0; + Vdot_i = Vdot_i0; + x = [Vdot_p0; Vdot_s0; h_s0]; + x1 = [Vdot_p0; Vdot_s0; h_s0; Vdot_i0]; + x2 = [Vdot_p0; h_s0; Vdot_i0]; +equation + //Vdot_i = Vdot_s + Vdot_p; + K_dp = Z_d / (Z_d + Z_p); + K_z = K_dp / Z_d; + K_p = 1 / (Z_i + Z_s + K_pdz); + K_pd = Z_p * K_dp / Z_d; + K_pdz = Z_p * K_dp; + p_n = K_p * (Z_i * p_r + Z_s * Const.p_a + K_pdz * (Vdot_p ^ 2 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p * (K_pd - 1) - K_pd * A_d * cos_theta_d + A_s * cos_theta_s + A_i * cos_theta_i) + 1 / 8 * pi * Const.rho * (fD_s * B_s * Vdot_s * abs(Vdot_s) + (fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * Vdot_p * abs(Vdot_p) - fD_i * B_i * Vdot_i * abs(Vdot_i))); + p_tr1 = K_z * (Z_p * p_n + Z_d * (Vdot_p ^ 2 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p - A_d * cos_theta_d) + 1 / 8 * pi * Const.rho * Vdot_p * abs(Vdot_p) * (fD_d * B_d - fD_p * B_p)); + der(h_s) = Vdot_s * cos_theta_s / A_s; + der(Vdot_s) = Z_s / Const.rho * (p_n - Const.p_a) - A_s * Const.g * cos_theta_s - 1 / 8 * pi * fD_s * B_s * Vdot_s * abs(Vdot_s); + der(Vdot_p) = Z_p / Const.rho * (p_n - p_tr1) + A_p * Const.g * cos_theta_p - 1 / 8 * pi * fD_p * B_p * Vdot_p * abs(Vdot_p); + der(Vdot_i) = Z_i / Const.rho * (p_r - p_n) + A_i * Const.g * cos_theta_i - 1 / 8 * pi * fD_i * B_i * Vdot_i * abs(Vdot_i); + x[2, 1] = xx - x[1, 1]; + //x1[4,1] = x1[2,1] + x1[1,1]; + x2[3, 1] = xx2 + x2[1, 1]; + K_pp = 1 / (Z_i + Z_ss + K_pdz); + Z_ss = A_s * cos_theta_s / h_s0; + A = [dVpdVp, dVpdVs, dVpdhs; dVsdVp, dVsdVs, dVsdhs; dhsdVp, dhsdVs, dhsdhs]; + A1 = [dVpdVp1, dVpdVs1, dVpdhs, dVpdVi1; dVsdVp1, dVsdVs1, dVsdhs, dVsdVi1; dhsdVp, dhsdVs, dhsdhs, dhsdVi; dVidVp1, dVidVs1, dVidhs, dVidVi1]; + A2 = [dVpdVp2, dVpdhs, dVpdVi2; dhsdVp2, dhsdhs, dhsdVi2; dVidVp2, dVidhs, dVidVi2]; + B = [dVpdu; dVsdu; dhsdu]; + B1 = [dVpdu; dVsdu; dhsdu; dVidu]; + B2 = [dVpdu; dhsdu; dVidu]; + dVpdVp = Z_p / Const.rho * (dpndVp - dptr1dVp) - 1 / 4 * pi * fD_p * B_p * abs(Vdot_p0); + dVpdVp1 = Z_p / Const.rho * (dpndVp1 - dptr1dVp) - 1 / 4 * pi * fD_p * B_p * abs(Vdot_p0); + dVpdVp2 = Z_p / Const.rho * (dpndVp2 - dptr1dVp) - 1 / 4 * pi * fD_p * B_p * abs(Vdot_p0); + dVpdVs = Z_p / Const.rho * (1 - K_z * Z_p) * dpndVs; + dVpdVs1 = Z_p / Const.rho * (1 - K_z * Z_p) * dpndVs1; + dVpdhs = Z_p / Const.rho * (1 - K_z * Z_p) * dpndhs; + dVpdVi2 = Z_p / Const.rho * (1 - K_z * Z_p) * dpndVi2; + dVpdVi1 = Z_p / Const.rho * (1 - K_z * Z_p) * dpndVi1; + dVsdVp = Z_ss / Const.rho * dpndVp; + dVsdVp1 = Z_ss / Const.rho * dpndVp1; + dVsdVs = Z_ss / Const.rho * dpndVs - 1 / 4 * pi * fD_s * B_s * abs(Vdot_s0); + dVsdVs1 = Z_ss / Const.rho * dpndVs1 - 1 / 4 * pi * fD_s * B_s * abs(Vdot_s0); + dVsdhs = A_s * cos_theta_s / Const.rho / h_s0 * (1 / h_s0 * (Const.p_a - p_n) + dpndhs); + dVsdVi1 = Z_ss / Const.rho * dpndVi1; + dhsdVp = 0; + dhsdVp2 = -cos_theta_s / A_s; + dhsdVs = cos_theta_s / A_s; + dhsdhs = 0; + dhsdVi = 0; + dhsdVi2 = cos_theta_s / A_s; + dVidVp1 = -Z_i / Const.rho * dpndVp1; + dVidVp2 = -Z_i / Const.rho * dpndVp2; + dVidVs1 = -Z_i / Const.rho * dpndVs1; + dVidhs = -Z_i / Const.rho * dpndhs; + dVidVi1 = (-Z_i / Const.rho * dpndVi1) - 1 / 4 * pi * fD_i * B_i * abs(Vdot_i0); + dVidVi2 = (-Z_i / Const.rho * dpndVi2) - 1 / 4 * pi * fD_i * B_i * abs(Vdot_i0); + dptr1dVp = K_z * Z_p * dpndVp + K_dp * 2 * Vdot_p0 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + 1 / 4 * pi * Const.rho * K_z * abs(Vdot_p0) * (fD_d * B_d - fD_p * B_p); + dpndVp = K_pp * (K_pdz * 2 * Vdot_p0 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + 1 / 4 * pi * Const.rho * ((fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * abs(Vdot_p0) - fD_i * B_i * abs(Vdot_i0))); + dpndVp1 = K_pp * (K_pdz * 2 * Vdot_p0 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + 1 / 4 * pi * Const.rho * ((fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * abs(Vdot_p0))); + dpndVp2 = K_pp * (K_pdz * 2 * Vdot_p0 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + 1 / 4 * pi * Const.rho * ((fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * abs(Vdot_p0) + fD_s * B_s * abs(Vdot_s0))); + dpndVs = K_pp * (1 / 4 * pi * Const.rho * (fD_s * B_s * abs(Vdot_s0) - fD_i * B_i * abs(Vdot_i0))); + dpndVs1 = K_pp * (1 / 4 * pi * Const.rho * (fD_s * B_s * abs(Vdot_s0))); + dpndVi1 = K_pp * (-1 / 4 * pi * Const.rho * (fD_i * B_i * abs(Vdot_i0))); + dpndVi2 = K_pp * (-1 / 4 * pi * Const.rho * (fD_i * B_i * abs(Vdot_i0) + fD_s * B_s * abs(Vdot_s0))); + dpndhs = (Z_i * p_r + Z_ss * Const.p_a + K_pdz * (Vdot_p0 ^ 2 * Const.p_a / (C_v ^ 2 * u_v ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p * (K_pd - 1) - K_pd * A_d * cos_theta_d + A_s * cos_theta_s + A_i * cos_theta_i) + 1 / 8 * pi * Const.rho * (fD_s * B_s * Vdot_s0 * abs(Vdot_s0) + (fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * Vdot_p0 * abs(Vdot_p0) - fD_i * B_i * Vdot_i0 * abs(Vdot_i0))) * dKpdhs - K_pp * A_s * cos_theta_s / h_s0 ^ 2 * Const.p_a; + dKpdhs = A_s * cos_theta_s * K_pp ^ 2 / h_s0 ^ 2; + dVpdu = Z_p / Const.rho * (dpndu - dptr1du); + dVsdu = A_s * cos_theta_s / Const.rho / h_s0 * dpndu; + dhsdu = 0; + dVidu = -Z_i / Const.rho * dpndu; + dpndu = -2 * K_pp * K_pdz * Vdot_p0 ^ 2 * Const.p_a / (C_v ^ 2 * u_v ^ 3); + dptr1du = K_z * (Z_p * dpndu - 2 * Z_d * Vdot_p0 ^ 2 * Const.p_a / (C_v ^ 2 * u_v ^ 3)); + der(x) = A * x + B * u_v; + der(x1) = A1 * x1 + B1 * u_v; + der(x2) = A2 * x2 + B2 * u_v; +end HPModelManLin; diff --git a/OpenHPL/Tests/HPModelObserv.mo b/OpenHPL/Tests/HPModelObserv.mo new file mode 100644 index 0000000..b8718c7 --- /dev/null +++ b/OpenHPL/Tests/HPModelObserv.mo @@ -0,0 +1,38 @@ +within OpenHPL.Tests; +model HPModelObserv + inner OpenHPL.Constants Const; + import Modelica.Constants.pi; + parameter Real H_r = 48, H_i = 23, H_p = 428.5, H_s = 120, H_d = 0.5, H_t = 5; + parameter Real L_i = 6600, L_p = 600, L_s = 140, L_d = 600; + parameter Real D_i = 5.8, D_p = 3, D_s = 3.4, D_d = 5.8; + parameter Real C_v = 3.7, fD = 0.043; + parameter Real L3 = -10; + parameter Real L1 = 5; + parameter Real z_2 = -670; + parameter Real L1uweight = 0; + input Real u; + input Real x1, x3; + Real A_i = D_i ^ 2 * pi / 4, A_p = D_p ^ 2 * pi / 4, A_s = D_s ^ 2 * pi / 4, A_d = D_d ^ 2 * pi / 4; + Real cos_theta_i = H_i / L_i, cos_theta_p = H_p / L_p, cos_theta_s = H_s / L_s, cos_theta_d = H_d / L_d; + Real p_r = Const.p_a + Const.g * Const.rho * H_r, p_t = Const.p_a + Const.g * Const.rho * H_t; + Real Z_i = A_i / L_i, Z_p = A_p / L_p, Z_s = A_s * cos_theta_s / x3, Z_d = A_d / L_d; + Real B_i = D_i / A_i ^ 2, B_p = D_p / A_p ^ 2, B_s = D_s / A_s ^ 2, B_d = D_d / A_d ^ 2; + Real fD_i = fD, fD_p = fD, fD_s = fD, fD_d = fD; + Real phat_tr1, phat_n, K_dp, K_p, K_z, K_pd; + Real xhat_2, zhat_2; + Real L1u, L1l, L11; +initial equation + zhat_2 = z_2; +equation + K_dp = Z_d / (Z_d + Z_p); + K_z = K_dp / Z_d; + K_p = Z_i * Z_d / (Z_i * Z_d + Z_s * Z_d + Z_p * Z_d - Z_p ^ 2 * K_dp); + K_pd = Z_p * K_dp / Z_d; + xhat_2 = zhat_2 - L11 * x1 - L3 * x3; + der(zhat_2) = A_s * cos_theta_s / Const.rho / x3 * (phat_n - Const.p_a) - A_s * Const.g * cos_theta_s - 1 / 8 * pi * fD_s * B_s * xhat_2 * abs(xhat_2) + L11 * (Z_p / Const.rho * (phat_n - phat_tr1) + A_p * Const.g * cos_theta_p - 1 / 8 * pi * fD_p * B_p * x1 * abs(x1)) + L3 * (xhat_2 * cos_theta_s / A_s); + phat_n = K_p / Z_i * (Z_i * p_r + Z_s * Const.p_a + Z_p * K_dp * (x1 ^ 2 * Const.p_a / (C_v ^ 2 * u ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p * (K_pd - 1) - K_pd * A_d * cos_theta_d + A_s * cos_theta_s + A_i * cos_theta_i) + 1 / 8 * pi * Const.rho * (fD_s * B_s * xhat_2 * abs(xhat_2) + (fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * x1 * abs(x1) - fD_i * B_i * (x1 + xhat_2) * abs(x1 + xhat_2))); + phat_tr1 = K_z * (Z_p * phat_n + Z_d * (x1 ^ 2 * Const.p_a / (C_v ^ 2 * u ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p - A_d * cos_theta_d) + 1 / 8 * pi * Const.rho * x1 * abs(x1) * (fD_d * B_d - fD_p * B_p)); + L1u = A_s * cos_theta_s / x3 / Z_p / (1 - K_z * Z_p); + L1l = L1u - Z_i / Z_p / K_p / (1 - K_z * Z_p); + L11 = L1 + L1u * L1uweight; +end HPModelObserv; diff --git a/OpenHPL/Tests/HPModelObservSim.mo b/OpenHPL/Tests/HPModelObservSim.mo new file mode 100644 index 0000000..6c55a8b --- /dev/null +++ b/OpenHPL/Tests/HPModelObservSim.mo @@ -0,0 +1,53 @@ +within OpenHPL.Tests; +model HPModelObservSim + inner OpenHPL.Constants Const; + //HPModel hpmod; + //HPLiniarization hpreal; + HPLiniarizationKP hprealkp; + import Modelica.Constants.pi; + parameter Real H_r = 48, H_i = 23, H_p = 428.5, H_s = 120, H_d = 0.5, H_t = 5; + parameter Real L_i = 6600, L_p = 600, L_s = 140, L_d = 600; + parameter Real D_i = 5.8, D_p = 3, D_s = 3.4, D_d = 5.8; + parameter Real C_v = 3.7, fD = 0.043; + parameter Real L3 = -10; + parameter Real L1 = 1.5; + parameter Real x_2 = 1; + parameter Real L1uweight = 0; + Real u; + Real x1, x3; + Real A_i = D_i ^ 2 * pi / 4, A_p = D_p ^ 2 * pi / 4, A_s = D_s ^ 2 * pi / 4, A_d = D_d ^ 2 * pi / 4; + Real cos_theta_i = H_i / L_i, cos_theta_p = H_p / L_p, cos_theta_s = H_s / L_s, cos_theta_d = H_d / L_d; + Real p_r = Const.p_a + Const.g * Const.rho * H_r, p_t = Const.p_a + Const.g * Const.rho * H_t; + Real Z_i = A_i / L_i, Z_p = A_p / L_p, Z_s = A_s * cos_theta_s / x3, Z_d = A_d / L_d; + Real B_i = D_i / A_i ^ 2, B_p = D_p / A_p ^ 2, B_s = D_s / A_s ^ 2, B_d = D_d / A_d ^ 2; + Real fD_i = fD, fD_p = fD, fD_s = fD, fD_d = fD; + Real phat_tr1, phat_n, K_dp, K_p, K_z, K_pd; + Real xhat_2(start = x_2, fixed = true), zhat_2, x2_real; + Real L1u, L1l, L11; +equation + u = if time < 100 then 0.7493 else 0.6493; + //if time < 20.0 then 0.7493 else 0.7393; + //hpmod.u = u; + //x1 = hpmod.Vdot_p; + //x3 = hpmod.h_s; + //x2_real = hpmod.Vdot_s; + //hpreal.u = u; + //x1 = hpreal.turbine.V_dot; + //x3 = hpreal.surgeTank.h; + //x2_real = hpreal.surgeTank.V_dot; + hprealkp.u = u; + x1 = hprealkp.turbine.V_dot; + x3 = hprealkp.surgeTank.h; + x2_real = hprealkp.surgeTank.V_dot; + K_dp = Z_d / (Z_d + Z_p); + K_z = K_dp / Z_d; + K_p = Z_i * Z_d / (Z_i * Z_d + Z_s * Z_d + Z_p * Z_d - Z_p ^ 2 * K_dp); + K_pd = Z_p * K_dp / Z_d; + xhat_2 = zhat_2 - L11 * x1 - L3 * x3; + der(zhat_2) = A_s * cos_theta_s / Const.rho / x3 * (phat_n - Const.p_a) - A_s * Const.g * cos_theta_s - 1 / 8 * pi * fD_s * B_s * xhat_2 * abs(xhat_2) + L11 * (Z_p / Const.rho * (phat_n - phat_tr1) + A_p * Const.g * cos_theta_p - 1 / 8 * pi * fD_p * B_p * x1 * abs(x1)) + L3 * (xhat_2 * cos_theta_s / A_s); + phat_n = K_p / Z_i * (Z_i * p_r + Z_s * Const.p_a + Z_p * K_dp * (x1 ^ 2 * Const.p_a / (C_v ^ 2 * u ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p * (K_pd - 1) - K_pd * A_d * cos_theta_d + A_s * cos_theta_s + A_i * cos_theta_i) + 1 / 8 * pi * Const.rho * (fD_s * B_s * xhat_2 * abs(xhat_2) + (fD_d * B_d * K_pd + fD_p * B_p * (1 - K_pd)) * x1 * abs(x1) - fD_i * B_i * (x1 + xhat_2) * abs(x1 + xhat_2))); + phat_tr1 = K_z * (Z_p * phat_n + Z_d * (x1 ^ 2 * Const.p_a / (C_v ^ 2 * u ^ 2) + p_t) + Const.rho * Const.g * (A_p * cos_theta_p - A_d * cos_theta_d) + 1 / 8 * pi * Const.rho * x1 * abs(x1) * (fD_d * B_d - fD_p * B_p)); + L1u = A_s * cos_theta_s / x3 / Z_p / (1 - K_z * Z_p); + L1l = L1u - Z_i / Z_p / K_p / (1 - K_z * Z_p); + L11 = L1 + L1u * L1uweight; +end HPModelObservSim; diff --git a/OpenHPL/Tests/HPSimpleElasticPenstock.mo b/OpenHPL/Tests/HPSimpleElasticPenstock.mo new file mode 100644 index 0000000..c9e34bd --- /dev/null +++ b/OpenHPL/Tests/HPSimpleElasticPenstock.mo @@ -0,0 +1,63 @@ +within OpenHPL.Tests; +model HPSimpleElasticPenstock "Model of HP system with elastic penctock (StagardGrid), but simplified models for turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-90,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {10, 84}))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake( + H=23, + SteadyState=false, + V_dot0=19.06) annotation (Placement(visible=true, transformation(extent={{-66,52},{-46,72}}, rotation=0))); + Waterway.Pipe discharge( + H=0.5, + L=600, + SteadyState=false, + V_dot0=19.06) annotation (Placement(visible=true, transformation(extent={{54,26},{74,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(transformation( + extent={{-10,10},{10,-10}}, + rotation=180, + origin={92,42}))); + Waterway.SurgeTank surgeTank1(SteadyState=false, h_0=71) annotation (Placement(visible=true, transformation( + origin={-26,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Penstock penstock( + D_i=3, + D_o=3, + H=428.5, + N=10, + V_dot0=19.06) annotation (Placement(visible=true, transformation( + origin={0,54}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=3.7, WaterCompress=true) annotation (Placement(visible=true, transformation(extent={{20,26},{40,46}}, rotation=0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-10, -4}, {10, 16}}, rotation = 0))); + OpenHPL.ElectroMech.Generators.SimpleGen aggregate annotation (Placement(visible=true, transformation(extent={{20,-4},{40,16}}, rotation=0))); +equation + connect(load.y, aggregate.u) annotation ( + Line(points = {{11, 6}, {20, 6}}, color = {0, 0, 127})); + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{26, 25}, {26, 16}}, color = {0, 0, 127})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{40, 36}, {48.1, 36}, {48.1, 35.9}, {54.1, 35.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{10.1, 53.9}, {10.1, 43.95}, {20, 43.95}, {20, 36}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{21, 84}, {30, 84}, {30, 47}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-79.9, 61.9}, {-72.95, 61.9}, {-72.95, 61.9}, {-65.9, 61.9}}, color = {28, 108, 200})); + connect(intake.n, surgeTank1.p) annotation ( + Line(points = {{-45.9, 61.9}, {-40.95, 61.9}, {-40.95, 61.9}, {-35.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank1.n, penstock.p) annotation ( + Line(points = {{-15.9, 61.9}, {-11.95, 61.9}, {-9.9, 61.9}, {-9.9, 53.9}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{74.1, 35.9}, {78.05, 35.9}, {78.05, 41.9}, {81.9, 41.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimpleElasticPenstock; diff --git a/OpenHPL/Tests/HPSimpleElasticPenstockWithoutSurge.mo b/OpenHPL/Tests/HPSimpleElasticPenstockWithoutSurge.mo new file mode 100644 index 0000000..37d66cf --- /dev/null +++ b/OpenHPL/Tests/HPSimpleElasticPenstockWithoutSurge.mo @@ -0,0 +1,51 @@ +within OpenHPL.Tests; +model HPSimpleElasticPenstockWithoutSurge "Model of HP system without surge tank and with elastic penctock (StagardGrid), but simplified models for turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-90,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.03, offset = 0.5, startTime = 500) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {10, 84}))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(V_dot0=20.6) annotation (Placement(visible=true, transformation(extent={{-58,52},{-38,72}}, rotation=0))); + Waterway.Pipe discharge( + H=5, + L=600, + V_dot0=20.6) annotation (Placement(visible=true, transformation(extent={{48,26},{68,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(transformation( + extent={{-10,10},{10,-10}}, + rotation=180, + origin={92,42}))); + Waterway.Penstock penstock1(N=10, V_dot0=20.6) annotation (Placement(visible=true, transformation( + origin={-6,48}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine1(WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={24,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-16, 0}, {4, 20}}, rotation = 0))); + OpenHPL.ElectroMech.Generators.SimpleGen aggregate annotation (Placement(visible=true, transformation(extent={{14,2},{34,22}}, rotation=0))); +equation + connect(load.y, aggregate.u) annotation ( + Line(points = {{5, 10}, {9.5, 10}, {9.5, 12}, {14, 12}}, color = {0, 0, 127})); + connect(turbine1.P_out, aggregate.P_in) annotation ( + Line(points = {{20, 25}, {20, 22}}, color = {0, 0, 127})); + connect(turbine1.u_t, control.y) annotation ( + Line(points = {{24, 46.8}, {27, 46.8}, {27, 48.8}, {24, 48.8}, {24, 84}, {21, 84}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-79.9, 61.9}, {-68, 61.9}, {-68, 61.9}, {-57.9, 61.9}}, color = {28, 108, 200})); + connect(penstock1.p, intake.n) annotation ( + Line(points = {{-15.9, 47.9}, {-26, 47.9}, {-26, 61.9}, {-37.9, 61.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{81.9, 41.9}, {76, 41.9}, {76, 35.9}, {68.1, 35.9}}, color = {28, 108, 200})); + connect(turbine1.n, discharge.p) annotation ( + Line(points = {{34.1, 35.9}, {40, 35.9}, {48.1, 35.9}}, color = {28, 108, 200})); + connect(turbine1.p, penstock1.n) annotation ( + Line(points = {{14.1, 35.9}, {10, 35.9}, {10, 47.9}, {4.1, 47.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 1000, StartTime = 0, Tolerance = 0.0001, Interval = 2)); +end HPSimpleElasticPenstockWithoutSurge; diff --git a/OpenHPL/Tests/HPSimplePenstock.mo b/OpenHPL/Tests/HPSimplePenstock.mo new file mode 100644 index 0000000..410af6d --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstock.mo @@ -0,0 +1,73 @@ +within OpenHPL.Tests; +model HPSimplePenstock "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {-16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,50},{-56,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{42,22},{62,42}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={80,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={-16,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation( + origin={-36,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + //Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation( + // Placement(visible = true, transformation(extent = {{-40, -6}, {-20, 14}}, rotation = 0))); + //OpenHPL.HydroPower.Aggregate aggregate annotation( + // Placement(visible = true, transformation(extent = {{-4, -6}, {16, 14}}, rotation = 0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={6,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe pipe1( + D_i=1.55, + D_o=1.83, + H=2.3, + L=0.1) annotation (Placement(visible=true, transformation(extent={{16,14},{36,34}}, rotation=0))); + OpenHPL.Waterway.Pipe pipe2( + D_i=1.83, + D_o=2.8, + H=0.1, + L=7.75) annotation (Placement(visible=true, transformation(extent={{22,40},{42,60}}, rotation=0))); +equation + connect(discharge.p, pipe2.n) annotation ( + Line(points = {{42, 32}, {42, 32}, {42, 50}, {42, 50}}, color = {28, 108, 200})); + connect(pipe1.n, pipe2.p) annotation ( + Line(points = {{36, 24}, {36, 40}, {22, 40}, {22, 50}}, color = {28, 108, 200})); + connect(turbine.n, pipe1.p) annotation ( + Line(points = {{16, 34}, {16, 34}, {16, 24}, {16, 24}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points={{62,32},{62,36.95},{70,36.95},{70,40}}, color = {28, 108, 200})); + //connect(turbine.P_out, aggregate.P_in) annotation( + // Line(points = {{-3.8, 34}, {2, 34}, {2, 14}, {2, 14}}, color = {0, 0, 127})); + //connect(load.y, aggregate.u) annotation( + // Line(points = {{-19, 4}, {-12.5, 4}, {-12.5, 4}, {-4, 4}}, color = {0, 0, 127})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{-5,86},{6,86},{6,46}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{-16,40},{-11.05,40},{-11.05,34},{-4,34}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-76,60}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-56,60},{-50.95,60},{-50.95,64},{-46,64}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-26,64},{-21.95,64},{-21.95,60},{-16,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstock; diff --git a/OpenHPL/Tests/HPSimplePenstockAutoRefGate.mo b/OpenHPL/Tests/HPSimplePenstockAutoRefGate.mo new file mode 100644 index 0000000..ca49816 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockAutoRefGate.mo @@ -0,0 +1,72 @@ +within OpenHPL.Tests; +model HPSimplePenstockAutoRefGate + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -3e6, offset = 80e6, startTime = 1200) annotation ( + Placement(visible = true, transformation(extent = {{-12, -4}, {8, 16}}, rotation = 0))); + Waterway.Pipe intake(V_dot0=19) annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge( + H=5, + L=600, + V_dot0=19) annotation (Placement(visible=true, transformation(extent={{48,26},{68,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={90,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SimpleGen aggregate(w_0=52.4) annotation (Placement(visible=true, transformation(extent={{16,-4},{36,16}}, rotation=0))); + Waterway.Pipe penstock( + H=420, + L=600, + D_i=3.3, + D_o=3.3, + V_dot0=19) annotation (Placement(visible=true, transformation( + origin={-2,46}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={26,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Math.Gain gain(k = 9.21104e-09) annotation ( + Placement(transformation(extent = {{20, -28}, {40, -8}}))); + Modelica.Blocks.Math.Add add annotation ( + Placement(transformation(extent = {{58, -34}, {78, -14}}))); + Modelica.Blocks.Sources.Constant const1(k = 0.0124905) annotation ( + Placement(transformation(extent = {{20, -56}, {40, -36}}))); +equation + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{26, 26}, {26, 26}, {26, 16}, {26, 16}}, color = {0, 0, 127})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{36.1, 35.9}, {48.1, 35.9}})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{16.1, 35.9}, {-2.1, 35.9}})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{68.1, 35.9}, {76, 35.9}, {76, 41.9}, {79.9, 41.9}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-63.9, 61.9}, {-66, 61.9}, {-66, 62}, {-67.9, 62}, {-67.9, 61.9}, {-81.9, 61.9}})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-43.9, 61.9}, {-40, 61.9}, {-40, 65.9}, {-31.9, 65.9}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-11.9, 65.9}, {-2.1, 65.9}, {-2.1, 55.9}})); + connect(gain.y, add.u1) annotation ( + Line(points = {{41, -18}, {56, -18}}, color = {0, 0, 127})); + connect(add.u2, const1.y) annotation ( + Line(points = {{56, -30}, {48, -30}, {48, -46}, {41, -46}}, color = {0, 0, 127})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{9, 6}, {12.5, 6}, {16, 6}}, color = {0, 0, 127})); + connect(gain.u, aggregate.u) annotation ( + Line(points = {{18, -18}, {12, -18}, {12, 6}, {16, 6}}, color = {0, 0, 127})); + connect(add.y, turbine.u_t) annotation ( + Line(points = {{79, -24}, {88, -24}, {100, -24}, {100, 56}, {26, 56}, {26, 46.8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 4)); +end HPSimplePenstockAutoRefGate; diff --git a/OpenHPL/Tests/HPSimplePenstockControl.mo b/OpenHPL/Tests/HPSimplePenstockControl.mo new file mode 100644 index 0000000..2112d1b --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockControl.mo @@ -0,0 +1,62 @@ +within OpenHPL.Tests; +model HPSimplePenstockControl "Model of HP system with governor" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge(H=5, L=600) annotation (Placement(visible=true, transformation(extent={{48,26},{68,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={86,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + H=420, + L=600, + D_i=3.3, + D_o=3.3) annotation (Placement(visible=true, transformation( + origin={-2,46}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.SurgeTank surgeTank annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={26,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Controllers.Governor govenor annotation (Placement(visible = true, transformation(origin = {44, 84}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -3e6, offset = 80e6, startTime = 4000) annotation ( + Placement(visible = true, transformation(extent = {{-16, -10}, {4, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Generators.SimpleGen simpleGen annotation ( + Placement(visible = true, transformation(origin = {26, 8}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(simpleGen.f, govenor.f) annotation ( + Line(points = {{38, 8}, {98, 8}, {98, 80}, {56, 80}, {56, 80}, {56, 80}}, color = {0, 0, 127})); + connect(load.y, simpleGen.u) annotation ( + Line(points = {{6, 0}, {10, 0}, {10, 8}, {16, 8}, {16, 8}}, color = {0, 0, 127})); + connect(turbine.P_out, simpleGen.P_in) annotation ( + Line(points = {{26, 26}, {26, 26}, {26, 20}, {26, 20}}, color = {0, 0, 127})); + connect(load.y, govenor.P_ref) annotation ( + Line(points = {{6, 0}, {100, 0}, {100, 88}, {56, 88}}, color = {0, 0, 127})); + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points = {{33, 84}, {26, 84}, {26, 48}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{68, 36}, {72, 36}, {72, 42}, {76, 42}})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{36, 36}, {42.1, 36}, {48, 36}})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{16, 36}, {12, 36}, {12, 46}, {8, 46}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-64, 62}, {-66, 62}, {-66, 62}, {-67.9, 62}, {-67.9, 62}, {-82, 62}})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-44, 62}, {-40, 62}, {-40, 66}, {-32, 66}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-12, 66}, {-12, 66}, {-12, 46}})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockControl; diff --git a/OpenHPL/Tests/HPSimplePenstockFrancis.mo b/OpenHPL/Tests/HPSimplePenstockFrancis.mo new file mode 100644 index 0000000..9e7bee5 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockFrancis.mo @@ -0,0 +1,81 @@ +within OpenHPL.Tests; +model HPSimplePenstockFrancis "HP system model with Francis turbine" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 10, height = -0.0287, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {10, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Ramp load(offset = 103e6, height = -13e6, duration = 10, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-14, -4}, {6, 16}}, rotation = 0))); + Waterway.Pipe intake annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge(H=5, L=600) annotation (Placement(visible=true, transformation(extent={{46,26},{66,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={92,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SimpleGen aggregate(SteadyState=false, k_b=0) annotation (Placement(visible=true, transformation(extent={{18,-4},{38,16}}, rotation=0))); + Waterway.Pipe penstock( + H=420, + L=600, + D_i=3.3, + D_o=3.3) annotation (Placement(visible=true, transformation( + origin={-2,46}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y=1.2, + r_v=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,38}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(aggregate.w_out, turbine.w_in) annotation ( + Line(points = {{32, 16}, {32, 16}, {32, 28}, {32, 28}}, color = {0, 0, 127})); + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{24, 28}, {24, 28}, {24, 16}, {24, 16}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{66.1, 35.9}, {76, 35.9}, {76, 41.9}, {81.9, 41.9}})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 37.9}, {38.1, 35.9}, {46.1, 35.9}})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{18.1, 37.9}, {18.1, 35.9}, {-2.1, 35.9}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-63.9, 61.9}, {-66, 61.9}, {-66, 62}, {-67.9, 62}, {-67.9, 61.9}, {-81.9, 61.9}})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-43.9, 61.9}, {-40, 61.9}, {-40, 65.9}, {-31.9, 65.9}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-11.9, 65.9}, {-2.1, 65.9}, {-2.1, 55.9}})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{7, 6}, {7, 6}, {18, 6}}, color = {0, 0, 127})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{21, 86}, {28, 86}, {28, 48.8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockFrancis; diff --git a/OpenHPL/Tests/HPSimplePenstockFrancis2.mo b/OpenHPL/Tests/HPSimplePenstockFrancis2.mo new file mode 100644 index 0000000..4add3c6 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockFrancis2.mo @@ -0,0 +1,79 @@ +within OpenHPL.Tests; +model HPSimplePenstockFrancis2 "HP system model with Francis turbine and generator" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1980, height = 0.87, offset = 0.09, startTime = 10) annotation ( + Placement(visible = true, transformation(origin = {10, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,52},{-56,72}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{54,30},{74,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,44}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SynchGen generator(P_op=100e6, UseFrequencyOutput=false) annotation (Placement(visible=true, transformation(extent={{16,-4},{40,20}}, rotation=0))); + Waterway.Pipe penstock( + L=600, + H=428.5, + D_i=3, + D_o=3) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=71) annotation (Placement(visible=true, transformation( + origin={-36,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.54) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Fitting fitting(D_1=3, D_2=1.63) annotation (Placement(transformation(extent={{-4,20},{16,40}}))); +equation + connect(generator.w_out, turbine.w_in) annotation ( + Line(points = {{36, 20}, {32, 20}, {32, 26}, {32, 26}}, color = {0, 0, 127})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points = {{24, 26}, {22, 26}, {22, 20}, {20, 20}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-78, 61.9}, {-78, 61.9}, {-75.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points = {{-45.9, 65.9}, {-48, 65.9}, {-48, 61.9}, {-55.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-25.9, 65.9}, {-16.95, 65.9}, {-16.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 35.9}, {48, 35.9}, {48, 39.9}, {54.1, 39.9}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{21, 84}, {28, 84}, {28, 46.8}}, color = {0, 0, 127})); + connect(turbine.p, fitting.n) annotation ( + Line(points = {{18.1, 35.9}, {18.1, 29.9}, {16.1, 29.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{83.9, 43.9}, {83.9, 41.95}, {80, 41.95}, {80, 39.9}, {74.1, 39.9}}, color = {28, 108, 200})); + connect(penstock.n, fitting.p) annotation ( + Line(points = {{-10.1, 37.9}, {-6, 37.9}, {-6, 29.9}, {-3.9, 29.9}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4), + Diagram); +end HPSimplePenstockFrancis2; diff --git a/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSL.mo b/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSL.mo new file mode 100644 index 0000000..88a7629 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSL.mo @@ -0,0 +1,150 @@ +within OpenHPL.Tests; +model HPSimplePenstockFrancisGenIPSL "Synergy with OpenIPSL library(generator)" + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-48,48}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-34,38},{-14,58}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{50,22},{70,42}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={86,28}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.PenstockKP penstock( + L=600, + H=428.5, + D_i=3, + D_o=3) annotation (Placement(visible=true, transformation( + origin={12,40}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.939) annotation (Placement(visible=true, transformation( + origin={0,54}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,28}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, P_0 = 16.0352698692006, Q_0 = 11.859436505981, Sn = 20, Vn = 400, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(visible = true, transformation(extent = {{-14, -20}, {6, 0}}, rotation = 0))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(visible = true, transformation(origin = {-33, -15}, extent = {{-7, -7}, {7, 7}}, rotation = 0))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(visible = true, transformation(origin = {49, 11}, extent = {{-7, -7}, {7, 7}}, rotation = 180))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(visible = true, transformation(extent = {{-60, -60}, {-36, -40}}, rotation = 0))); + OpenHPL.Controllers.Governor govenor annotation (Placement(visible=true, transformation(extent={{54,42},{34,62}}, rotation=0))); + //(a = 7.862E-25, c = 1.108E-08, d = -5.344E-02, b = -1.010E-16) + Modelica.Blocks.Math.Gain Frequency(k = 50) annotation ( + Placement(visible = true, transformation(origin = {60, 70}, extent = {{-8, -8}, {8, 8}}, rotation = 180))); + Modelica.Blocks.Sources.Ramp power(duration = 1, height = +1e6, offset = 12e6, startTime = 15000) annotation ( + Placement(visible = true, transformation(origin = {78, 52}, extent = {{8, -8}, {-8, 8}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -58}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(B = 0.0005, G = 0, R = 0.01, X = 0.1, opening = 1, t1 = 600, t2 = 600.15) annotation ( + Placement(visible = true, transformation(origin = {56, -34}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {14, -34}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -60}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -10}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(V_0 = 1, angle_0 = 0, P_0 = 8, Q_0 = 6) annotation ( + Placement(visible = true, transformation(origin = {90, -22}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2(V_0 = 1, angle_0 = 0, P_0 = 8, Q_0 = 6, dQ1 = 0, t_start_2 = 1e10, t_end_2 = 1e10, dP2 = 0, dQ2 = 0, t_start_1 = 1e3, t_end_1 = 1.1e3, dP1 = 1) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -60.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(visible = true, transformation(extent = {{-14, -56}, {6, -36}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(visible = true, transformation(extent = {{26, -56}, {46, -36}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus2 annotation ( + Placement(visible = true, transformation(extent = {{66, -32}, {86, -12}}, rotation = 0))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(visible = true, transformation(extent = {{66, -70}, {86, -50}}, rotation = 0))); +equation + connect(pwLine2.p, bus.p) annotation ( + Line(points = {{9, -34}, {2, -34}, {2, -46}, {-4, -46}}, color = {0, 0, 255})); + connect(pwLine2.n, bus1.p) annotation ( + Line(points = {{19, -34}, {30, -34}, {30, -46}, {36, -46}}, color = {0, 0, 255})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{10.1, 53.9}, {12.1, 53.9}, {12.1, 49.9}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points = {{-9.9, 53.9}, {-11.8, 53.9}, {-11.8, 48}, {-14, 48}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{12, 30}, {12.85, 30}, {12.85, 27.8}, {18, 27.8}}, color = {28, 108, 200})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-37.9, 47.9}, {-36.8, 47.9}, {-36.8, 47.8}, {-33.8, 47.8}}, color = {28, 108, 200})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -46}, {40, -46}, {40, -22}, {44, -22}, {44, -34}, {50.6, -34}}, color = {0, 0, 255})); + connect(pwLine4.p, bus1.p) annotation ( + Line(points = {{50, -10}, {44, -10}, {44, -22}, {40, -22}, {40, -46}, {36, -46}}, color = {0, 0, 255})); + connect(pwLine3.p, bus1.p) annotation ( + Line(points = {{52, -60}, {40, -60}, {40, -46}, {36, -46}, {36, -46}}, color = {0, 0, 255})); + connect(pwLine1.n, bus1.p) annotation ( + Line(points = {{22, -58}, {30, -58}, {30, -46}, {34, -46}, {34, -46}, {36, -46}}, color = {0, 0, 255})); + connect(pwLine4.n, bus2.p) annotation ( + Line(points = {{62, -10}, {68, -10}, {68, -22}, {76, -22}, {76, -22}}, color = {0, 0, 255})); + connect(order2_1.p, bus.p) annotation ( + Line(points = {{6, -10}, {10, -10}, {10, -26}, {-10, -26}, {-10, -46}, {-4, -46}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -60}, {76, -60}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -60}, {80, -60}, {80, -60}, {84, -60}, {84, -59.1445}, {84, -59.1445}, {84, -60.2889}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -22}, {74, -22}, {74, -22}, {72, -22}, {72, -22}, {68, -22}, {68, -34}, {61.4, -34}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -22}, {84, -22}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -46}, {-2.5, -46}, {-2.5, -46}, {-1, -46}, {-1, -46}, {2, -46}, {2, -58}, {6.3, -58}, {6.3, -58}, {8.45, -58}, {8.45, -58}, {10.6, -58}}, color = {0, 0, 255})); + connect(Frequency.u, RealizerAng.u) annotation ( + Line(points = {{70, 70}, {100, 70}, {100, 0}, {72, 0}, {72, 11}, {57, 11}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{7, -1}, {72, -1}, {72, 11}, {57, 11}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points = {{-41, -15}, {-48, -15}, {-48, 12}, {24, 12}, {24, 17}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{-25.3, -15}, {-16.3, -15}}, color = {0, 0, 127})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{-16, -5}, {-24, -5}, {-24, 4}, {-12, 4}, {-12, 1}}, color = {0, 0, 127})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points = {{41, 11}, {32, 11}, {32, 18}}, color = {0, 0, 127})); + connect(Frequency.y, govenor.f) annotation ( + Line(points = {{51, 70}, {44, 70}, {44, 62}}, color = {0, 0, 127})); + connect(govenor.P_ref, power.y) annotation ( + Line(points = {{54, 52}, {69, 52}}, color = {0, 0, 127})); + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points = {{34, 52}, {28, 52}, {28, 39}}, color = {0, 0, 127})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 27.9}, {41.05, 27.9}, {41.05, 27.9}, {44, 27.9}, {44, 31.9}, {50.1, 31.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{75.9, 27.9}, {75.9, 31.8}, {72.95, 31.8}, {72.95, 31.8}, {70, 31.8}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockFrancisGenIPSL; diff --git a/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSLGov.mo b/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSLGov.mo new file mode 100644 index 0000000..6ec702b --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSLGov.mo @@ -0,0 +1,146 @@ +within OpenHPL.Tests; +model HPSimplePenstockFrancisGenIPSLGov "Synergy with OpenIPSL library(generator + governor)" + //input Real u; + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-88,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,52},{-52,72}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{50,30},{70,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,36}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.9392) annotation (Placement(visible=true, transformation( + origin={-32,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + u_end_=2.36, + u_start_=2.23, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49671) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, P_0 = 16.0352698692006, Q_0 = 11.859436505981, Sn = 20 * 5, Vn = 400, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(transformation(extent = {{26, -30}, {46, -10}}))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(transformation(extent = {{-12, -36}, {8, -16}}))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {52, 10}))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(visible = true, transformation(extent = {{-96, -100}, {-72, -80}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -88}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(G = 0, R = 0.01, X = 0.1, opening = 1, B = 0.0005, t1 = 600, t2 = 600.15) annotation ( + Placement(visible = true, transformation(origin = {56, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -90}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -40}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0 = 8, Q_0 = 6, V_0 = 1, angle_0 = 0) annotation ( + Placement(visible = true, transformation(origin = {90, -52}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2(P_0 = 8, Q_0 = 6, V_0 = 1, angle_0 = 0, dP1 = 1, dP2 = 0, dQ1 = 0, dQ2 = 0, t_end_1 = 1100, t_end_2 = 1e10, t_start_1 = 1000, t_start_2 = 1e10) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -90.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(transformation(extent = {{-14, -86}, {6, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(transformation(extent = {{26, -86}, {46, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus2 annotation ( + Placement(transformation(extent = {{66, -62}, {86, -42}}))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(transformation(extent = {{66, -100}, {86, -80}}))); + OpenIPSL.Electrical.Controls.PSAT.TG.TGTypeI tGTypeI(R = 0.1, T3 = 0.04, T4 = 5, T5 = 0.04, Tc = 1, Ts = 0.1, pmax = 1, pmin = 0, pref = 0.1537, wref = 1) annotation ( + Placement(transformation(extent = {{100, 62}, {34, 106}}))); +equation + connect(order2_1.p, bus.p) annotation ( + Line(points = {{46, -20}, {52, -20}, {52, -38}, {14, -38}, {14, -58}, {-14, -58}, {-14, -76}, {-4, -76}, {-4, -76}, {-4, -76}}, color = {0, 0, 255})); + connect(tGTypeI.pm, turbine.u_t) annotation ( + Line(points = {{38, 86}, {28, 86}, {28, 46}, {28, 46}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points = {{-14, -26}, {-20, -26}, {-20, 12}, {24, 12}, {24, 25.4}}, color = {0, 0, 127})); + //turbine.u_t = u; + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-80, 62}, {-72, 62}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points = {{-42, 66}, {-48, 66}, {-48, 62}, {-54, 62}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-24, 66}, {-16.95, 66}, {-16.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 35.9}, {44, 35.9}, {44, 39.9}, {50.1, 39.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{79.9, 35.9}, {79.9, 39.95}, {80, 39.95}, {80, 39.9}, {70.1, 39.9}}, color = {28, 108, 200})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{24, -15}, {16, -15}, {16, -6}, {28, -6}, {28, -9}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{9, -26}, {24, -26}, {24, -25}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{47, -11}, {54, -11}, {54, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {4.95, 37.9}, {4.95, 35.9}, {18.1, 35.9}}, color = {28, 108, 200})); + connect(pwLine2.p, pwLine1.p) annotation ( + Line(points = {{10.6, -64}, {2, -64}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(pwLine2.n, pwLine1.n) annotation ( + Line(points = {{21.4, -64}, {30, -64}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(pwLine4.p, pwLinewithOpening1.p) annotation ( + Line(points = {{50.6, -40}, {44, -40}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine4.n, pwLinewithOpening1.n) annotation ( + Line(points = {{61.4, -40}, {68, -40}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -76}, {2, -76}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLine1.n) annotation ( + Line(points = {{36, -76}, {30, -76}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -76}, {40, -76}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine3.p, pwLinewithOpening1.p) annotation ( + Line(points = {{52.6, -90}, {40, -90}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -52}, {84, -52}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -52}, {68, -52}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -90}, {84, -90}, {84, -90.2889}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -90}, {63.4, -90}, {76, -90}}, color = {0, 0, 255})); + connect(tGTypeI.w, order2_1.w) annotation ( + Line(points = {{93.675, 87.3}, {98, 87.3}, {98, 88}, {100, 88}, {100, -11}, {47, -11}}, color = {0, 0, 127})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points = {{41, 10}, {36, 10}, {32, 10}, {32, 25.8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockFrancisGenIPSLGov; diff --git a/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSLInfBus.mo b/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSLInfBus.mo new file mode 100644 index 0000000..720561a --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockFrancisGenIPSLInfBus.mo @@ -0,0 +1,153 @@ +within OpenHPL.Tests; +model HPSimplePenstockFrancisGenIPSLInfBus "Synergy with OpenIPSL library(generator + infinitBus)" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-76,52},{-56,72}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{50,30},{70,50}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,36}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank(h_0=70.939) annotation (Placement(visible=true, transformation( + origin={-36,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + GivenServoData=false, + Given_losses=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y_=1.2, + r_v_=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 4.49) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenIPSL.Electrical.Machines.PSAT.Order2 order2_1(D = 0, M = 10, P_0 = 16.0352698692006, Q_0 = 11.859436505981, Sn = 20, Vn = 400, ra = 0.001, w(fixed = true), x1d = 0.302) annotation ( + Placement(transformation(extent = {{26, -30}, {46, -10}}))); + Modelica.Blocks.Math.Gain Normilizer(k = 1 / 100e6) annotation ( + Placement(transformation(extent = {{-12, -36}, {8, -16}}))); + Modelica.Blocks.Math.Gain RealizerAng(k = 50 * Modelica.Constants.pi / 3) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {52, 10}))); + inner OpenIPSL.Electrical.SystemBase SysData annotation ( + Placement(transformation(extent = {{-100, -100}, {-76, -80}}))); + Controllers.Governor govenor(droop=0.2) annotation (Placement(transformation(extent={{54,62},{34,82}}))); + Modelica.Blocks.Math.Gain Frequency(k = 50) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 180, origin = {60, 86}))); + Modelica.Blocks.Sources.Ramp power(duration = 1, height = 1.3e6, offset = 12e6, startTime = 1500) annotation ( + Placement(transformation(extent = {{10, -10}, {-10, 10}}, rotation = 0, origin = {86, 70}))); + OpenIPSL.Electrical.Branches.PwLine pwLine1(X = 0.1, R = 0.01, G = 0, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -88}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLinewithOpening1(G = 0, R = 0.01, X = 0.1, opening = 1, B = 0.0005, t1 = 600, t2 = 600.15) annotation ( + Placement(visible = true, transformation(origin = {56, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine2(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {16, -64}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine3(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {58, -90}, extent = {{-6, -6}, {6, 6}}, rotation = 0))); + OpenIPSL.Electrical.Branches.PwLine pwLine4(G = 0, R = 0.01, X = 0.1, B = 0.0005) annotation ( + Placement(visible = true, transformation(origin = {56, -40}, extent = {{-5.99999, -5.99998}, {5.99999, 6}}, rotation = 0))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ pwLoadPQ1(P_0 = 8, Q_0 = 6, V_0 = 1, angle_0 = 0) annotation ( + Placement(visible = true, transformation(origin = {90, -52}, extent = {{-6, -6}, {6, 6}}, rotation = 90))); + OpenIPSL.Electrical.Loads.PSAT.LOADPQ_variation pwLoadPQ2(P_0 = 8, Q_0 = 6, V_0 = 1, angle_0 = 0, dP1 = 1, dP2 = 0, dQ1 = 0, dQ2 = 0, t_end_1 = 1.1e3, t_end_2 = 1e10, t_start_1 = 1e3, t_start_2 = 1e10) annotation ( + Placement(visible = true, transformation(origin = {90.0335, -90.2889}, extent = {{-6.2889, -6.0335}, {6.2889, 6.0335}}, rotation = 90))); + OpenIPSL.Electrical.Buses.Bus bus annotation ( + Placement(transformation(extent = {{-14, -86}, {6, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus1 annotation ( + Placement(transformation(extent = {{26, -86}, {46, -66}}))); + OpenIPSL.Electrical.Buses.Bus bus2(displayPF = true) annotation ( + Placement(transformation(extent = {{66, -62}, {86, -42}}))); + OpenIPSL.Electrical.Buses.Bus bus3 annotation ( + Placement(transformation(extent = {{66, -100}, {86, -80}}))); + OpenIPSL.Electrical.Buses.InfiniteBus infiniteBus annotation ( + Placement(visible = true, transformation(extent = {{-62, -64}, {-42, -44}}, rotation = 0))); +equation + connect(infiniteBus.p, bus.p) annotation ( + Line(points = {{-42, -54}, {-28, -54}, {-28, -76}, {-4, -76}}, color = {0, 0, 255})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-81.9, 61.9}, {-78, 61.9}, {-75.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank.p, intake.n) annotation ( + Line(points = {{-45.9, 65.9}, {-48, 65.9}, {-48, 61.9}, {-55.9, 61.9}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-25.9, 65.9}, {-16.95, 65.9}, {-16.95, 57.9}, {-10.1, 57.9}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 35.9}, {44, 35.9}, {44, 39.9}, {50.1, 39.9}}, color = {28, 108, 200})); + connect(tail.n, discharge.n) annotation ( + Line(points = {{79.9, 35.9}, {79.9, 39.95}, {80, 39.95}, {80, 39.9}, {70.1, 39.9}}, color = {28, 108, 200})); + connect(order2_1.vf, order2_1.vf0) annotation ( + Line(points = {{24, -15}, {16, -15}, {16, -6}, {28, -6}, {28, -9}}, color = {0, 0, 127})); + connect(Normilizer.u, turbine.P_out) annotation ( + Line(points = {{-14, -26}, {-20, -26}, {-20, 8}, {-20, 12}, {24, 12}, {24, 26}, {24, 25.4}}, color = {0, 0, 127})); + connect(Normilizer.y, order2_1.pm) annotation ( + Line(points = {{9, -26}, {24, -26}, {24, -25}}, color = {0, 0, 127})); + connect(order2_1.w, RealizerAng.u) annotation ( + Line(points = {{47, -11}, {54, -11}, {54, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points = {{34, 72}, {34, 72}, {28, 72}, {28, 46.8}}, color = {0, 0, 127})); + connect(Frequency.y, govenor.f) annotation ( + Line(points = {{49, 86}, {49, 86}, {44, 86}, {44, 82}}, color = {0, 0, 127})); + connect(Frequency.u, RealizerAng.u) annotation ( + Line(points = {{72, 86}, {100, 86}, {100, -8}, {72, -8}, {72, 10}, {64, 10}}, color = {0, 0, 127})); + connect(govenor.P_ref, power.y) annotation ( + Line(points = {{54, 72}, {64, 72}, {64, 70}, {75, 70}}, color = {0, 0, 127})); + connect(penstock.n, turbine.p) annotation ( + Line(points = {{-10.1, 37.9}, {4.95, 37.9}, {4.95, 35.9}, {18.1, 35.9}}, color = {28, 108, 200})); + connect(pwLine2.p, pwLine1.p) annotation ( + Line(points = {{10.6, -64}, {2, -64}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(pwLine2.n, pwLine1.n) annotation ( + Line(points = {{21.4, -64}, {30, -64}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(pwLine4.p, pwLinewithOpening1.p) annotation ( + Line(points = {{50.6, -40}, {44, -40}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine4.n, pwLinewithOpening1.n) annotation ( + Line(points = {{61.4, -40}, {68, -40}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus.p, pwLine1.p) annotation ( + Line(points = {{-4, -76}, {2, -76}, {2, -88}, {10.6, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLine1.n) annotation ( + Line(points = {{36, -76}, {30, -76}, {30, -88}, {21.4, -88}}, color = {0, 0, 255})); + connect(bus1.p, pwLinewithOpening1.p) annotation ( + Line(points = {{36, -76}, {40, -76}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(pwLine3.p, pwLinewithOpening1.p) annotation ( + Line(points = {{52.6, -90}, {40, -90}, {40, -56}, {44, -56}, {44, -64}, {50.6, -64}}, color = {0, 0, 255})); + connect(bus2.p, pwLoadPQ1.p) annotation ( + Line(points = {{76, -52}, {84, -52}}, color = {0, 0, 255})); + connect(bus2.p, pwLinewithOpening1.n) annotation ( + Line(points = {{76, -52}, {68, -52}, {68, -64}, {61.4, -64}}, color = {0, 0, 255})); + connect(bus3.p, pwLoadPQ2.p) annotation ( + Line(points = {{76, -90}, {84, -90}, {84, -90.2889}}, color = {0, 0, 255})); + connect(pwLine3.n, bus3.p) annotation ( + Line(points = {{63.4, -90}, {63.4, -90}, {76, -90}}, color = {0, 0, 255})); + connect(order2_1.p, bus.p) annotation ( + Line(points = {{46, -20}, {62, -20}, {62, -36}, {36, -36}, {36, -58}, {-12, -58}, {-12, -76}, {-4, -76}}, color = {0, 0, 255})); + connect(RealizerAng.y, turbine.w_in) annotation ( + Line(points = {{41, 10}, {32, 10}, {32, 25.8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockFrancisGenIPSLInfBus; diff --git a/OpenHPL/Tests/HPSimplePenstockFrancisGener.mo b/OpenHPL/Tests/HPSimplePenstockFrancisGener.mo new file mode 100644 index 0000000..4ba51ce --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockFrancisGener.mo @@ -0,0 +1,79 @@ +within OpenHPL.Tests; +model HPSimplePenstockFrancisGener "HP system model with Francis turbine and generator" + extends Modelica.Icons.Example; + Real coef; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 100, height = -0.0287, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {10, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge(H=5, L=600) annotation (Placement(visible=true, transformation(extent={{46,26},{66,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={92,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SynchGen aggregate(UseFrequencyOutput=true) annotation (Placement(visible=true, transformation(extent={{18,-4},{38,16}}, rotation=0))); + Waterway.Pipe penstock( + H=420, + L=600, + D_i=3.3, + D_o=3.3) annotation (Placement(visible=true, transformation( + origin={-2,46}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Francis turbine( + D_i=1.632, + GivenData=true, + H_n=460, + P_n=103e6, + R_1_=2.63/2, + R_2_=1.55/2, + R_v_=2.89/2, + Reduction=0.1, + V_dot_n=24.3, + beta1_=110, + beta2_=162.5, + dp_v_condition=false, + k_ft1_=7e5, + k_ft2_=0e3, + k_ft3_=1.63e4, + k_fv=0e3, + n_n=500, + r_Y=1.2, + r_v=1.1, + w_1_=0.2, + w_v_=0.2) annotation (Placement(visible=true, transformation( + origin={28,38}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(aggregate.w_out, turbine.w_in) annotation ( + Line(points = {{34, 16}, {32, 16}, {32, 28}, {32, 28}}, color = {0, 0, 127})); + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{24, 28}, {22, 28}, {22, 16}, {22, 16}}, color = {0, 0, 127})); + coef = turbine.W_s_dot / (495 * 997 * 9.81 * turbine.V_dot - (intake.F_f + discharge.F_f + penstock.F_f)); + connect(discharge.n, tail.n) annotation ( + Line(points = {{66.1, 35.9}, {76, 35.9}, {76, 41.9}, {81.9, 41.9}})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 37.9}, {38.1, 35.9}, {46.1, 35.9}})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{18.1, 37.9}, {18.1, 35.9}, {-2.1, 35.9}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-63.9, 61.9}, {-66, 61.9}, {-66, 62}, {-67.9, 62}, {-67.9, 61.9}, {-81.9, 61.9}})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-43.9, 61.9}, {-40, 61.9}, {-40, 65.9}, {-31.9, 65.9}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-11.9, 65.9}, {-2.1, 65.9}, {-2.1, 55.9}})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{21, 86}, {28, 86}, {28, 48.8}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockFrancisGener; diff --git a/OpenHPL/Tests/HPSimplePenstockGeneratorTest.mo b/OpenHPL/Tests/HPSimplePenstockGeneratorTest.mo new file mode 100644 index 0000000..bd98186 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockGeneratorTest.mo @@ -0,0 +1,71 @@ +within OpenHPL.Tests; +model HPSimplePenstockGeneratorTest "Generator testing for HP" + extends Modelica.Icons.Example; + import Modelica.Constants.pi; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(startTime = 600, duration = 1, height = -0.14615, offset = 0.6493) annotation ( + Placement(visible = true, transformation(origin = {12, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Ramp load(offset = 80e6, height = -40e6, startTime = 600, duration = 1) annotation ( + Placement(visible = true, transformation(extent = {{52, -28}, {72, -8}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge(L=600, H=0.5) annotation (Placement(visible=true, transformation(extent={{46,26},{66,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={92,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.PenstockKP penstock( + L=600, + H=428.5, + D_i=3, + D_o=3, + N=10) annotation (Placement(visible=true, transformation( + origin={0,46}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=71) annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={26,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Generators.SynchGen generator(k_b=1000, J=850000) annotation (Placement(transformation(extent={{18,-4},{38,16}}))); + Controllers.Governor govenor( + delta=0.04, + droop=0.1, + T_g=0.2, + T_r=1.75) annotation (Placement(transformation(extent={{64,96},{44,76}}))); + Modelica.Blocks.Sources.RealExpression frequency(y = generator.w * generator.np / 4 / pi) annotation ( + Placement(transformation(extent = {{84, 54}, {64, 74}}))); + Modelica.Blocks.Sources.RealExpression Power(y = generator.Pe) annotation ( + Placement(transformation(extent = {{92, 70}, {72, 90}}))); +equation + connect(govenor.Y_gv, turbine.u_t) annotation ( + Line(points = {{44, 86}, {36, 86}, {36, 78}, {26, 78}, {26, 47}}, color = {0, 0, 127})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{16, 36}, {9, 36}, {9, 35.9}, {-0.1, 35.9}})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{36, 36}, {42.1, 36}, {42.1, 35.9}, {46.1, 35.9}})); + connect(turbine.P_out, generator.P_in) annotation ( + Line(points = {{22, 25}, {22, 16}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{66.1, 35.9}, {76, 35.9}, {76, 41.9}, {81.9, 41.9}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-63.9, 61.9}, {-66, 61.9}, {-66, 62}, {-67.9, 62}, {-67.9, 61.9}, {-81.9, 61.9}})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-43.9, 61.9}, {-40, 61.9}, {-40, 65.9}, {-31.9, 65.9}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-11.9, 65.9}, {-0.1, 65.9}, {-0.1, 55.9}})); + connect(govenor.P_ref, load.y) annotation ( + Line(points = {{64, 86}, {82, 86}, {100, 86}, {100, -18}, {73, -18}}, color = {0, 0, 127})); + connect(govenor.f, frequency.y) annotation ( + Line(points = {{54, 76}, {54, 64}, {63, 64}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockGeneratorTest; diff --git a/OpenHPL/Tests/HPSimplePenstockOpenChannel.mo b/OpenHPL/Tests/HPSimplePenstockOpenChannel.mo new file mode 100644 index 0000000..94f4bfd --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockOpenChannel.mo @@ -0,0 +1,71 @@ +within OpenHPL.Tests; +model HPSimplePenstockOpenChannel "testing open channel" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-90,44}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, + startTime=60000) annotation ( + Placement(visible = true, transformation(origin={-38,86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe discharge( L=600, H=-5) + annotation (Placement(visible=true, transformation(extent={{6,0},{ + 26,20}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={90,10}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3.3, + D_o=3.3, + H=420, + L=600) annotation (Placement(visible=true, transformation( + origin={-30,26}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={-12,14}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0=18.9979) + annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe pipe annotation (Placement(transformation(extent={{-74,34}, + {-54,54}}))); + Waterway.OpenChannel openChannel( + N=100, + w=50, + h0=vector([ones(68)*0.30417; 0.3045; 0.3089; 0.33; 0.398; linspace( + 0.519, + 5.00164, + 28)])) annotation (Placement(transformation(extent={{30,2},{ + 50,22}}))); + Waterway.Pipe pipe1(H=0, L=10) + annotation (Placement(transformation(extent={{54,-2}, + {74,18}}))); + Waterway.SurgeTank surgeTank(h_0=73.9171) + annotation (Placement(transformation(extent={{-52,38},{-32,58}}))); +equation + connect(turbine.p, penstock.n) annotation ( + Line(points={{-22,14},{-30,14},{-30,16}})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{-27,86},{-12,86},{-12,26}}, color = {0, 0, 127})); + connect(reservoir.n, pipe.p) annotation ( + Line(points={{-80,44},{-74,44}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) + annotation (Line(points={{-2,14},{6,14},{6,10}}, color={28,108,200})); + connect(discharge.n, openChannel.p) + annotation (Line(points={{26,10},{28,10},{28,12},{30,12}}, + color={28,108,200})); + connect(openChannel.n, pipe1.p) annotation (Line(points={{50,12},{52,12},{52, + 8},{54,8}}, + color={28,108,200})); + connect(tail.n, pipe1.n) annotation (Line(points={{80,10},{78,10},{78,8},{74, + 8}}, color={28,108,200})); + connect(pipe.n, surgeTank.p) + annotation (Line(points={{-54,44},{-54,48},{-52,48}}, color={28,108,200})); + connect(penstock.p, surgeTank.n) + annotation (Line(points={{-30,36},{-32,36},{-32,48}}, color={28,108,200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockOpenChannel; diff --git a/OpenHPL/Tests/HPSimplePenstockPelton.mo b/OpenHPL/Tests/HPSimplePenstockPelton.mo new file mode 100644 index 0000000..7410d53 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockPelton.mo @@ -0,0 +1,59 @@ +within OpenHPL.Tests; +model HPSimplePenstockPelton "HP system model with Pelton turbine" + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, offset = 0.015, startTime = 600, height = 0.01) annotation ( + Placement(visible = true, transformation(origin = {-10, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-72,50},{-52,70}}, rotation=0))); + Waterway.Pipe discharge( + H=0.5, + L=600, + V_dot0=0) annotation (Placement(visible=true, transformation(extent={{30,24},{50,44}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,40}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=610, + L=700) annotation (Placement(visible=true, transformation( + origin={-10,48}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation( + origin={-30,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + ElectroMech.Turbines.Pelton turbine(R=1.74/2, D_0=1) annotation (Placement(visible=true, transformation( + origin={10,34}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Generators.SynchGen aggregate(np=5) annotation (Placement(visible=true, transformation(extent={{0,-4},{20,16}}, rotation=0))); +equation + connect(aggregate.P_in, turbine.P_out) annotation ( + Line(points={{4,16},{4,19},{10,19},{10,23}}, color = {0, 0, 127})); + connect(aggregate.w_out, turbine.w_in) annotation ( + Line(points={{16,16},{16,20},{14,20},{14,23.8}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points={{-82,62},{-77.95,62},{-77.95,60},{-72,60}}, color = {28, 108, 200})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-52,60},{-45.95,60},{-45.95,66},{-40,66}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{-20,66},{-15.95,66},{-15.95,58},{-10,58}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{-10,38},{-10,34},{0,34}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points={{50,34},{62.05,34},{62.05,40},{84,40}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{20,34},{20,34},{30,34}}, color = {28, 108, 200})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{1,84},{10,84},{10,46}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockPelton; diff --git a/OpenHPL/Tests/HPSimplePenstockPowerControl.mo b/OpenHPL/Tests/HPSimplePenstockPowerControl.mo new file mode 100644 index 0000000..7cdce72 --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockPowerControl.mo @@ -0,0 +1,69 @@ +within OpenHPL.Tests; +model HPSimplePenstockPowerControl + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(V_dot0=19) annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge( + H=5, + L=600, + V_dot0=19) annotation (Placement(visible=true, transformation(extent={{48,26},{68,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={86,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SimpleGen aggregate(w_0=52.4, J=1.25e5) annotation (Placement(visible=true, transformation(extent={{16,-4},{36,16}}, rotation=0))); + Waterway.Pipe penstock( + H=420, + L=600, + D_i=3.3, + D_o=3.3, + V_dot0=19) annotation (Placement(visible=true, transformation( + origin={-2,46}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.SurgeTank surgeTank annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={26,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -3e6, offset = 80e6, startTime = 400) annotation ( + Placement(visible = true, transformation(extent = {{-20, -4}, {0, 16}}, rotation = 0))); + Controllers.GovernorPower govenorPower annotation (Placement(transformation(extent={{56,86},{36,66}}))); + Modelica.Blocks.Sources.RealExpression realExpression(y = aggregate.W_ts_dot) annotation ( + Placement(transformation(extent = {{92, 72}, {72, 92}}))); +equation + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{26, 26}, {26, 26}, {26, 16}, {26, 16}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{68.1, 35.9}, {72, 35.9}, {72, 41.9}, {75.9, 41.9}})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{36.1, 35.9}, {42.1, 35.9}, {48.1, 35.9}})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{16.1, 35.9}, {12, 35.9}, {12, 45.9}, {8.1, 45.9}})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-63.9, 61.9}, {-66, 61.9}, {-66, 62}, {-67.9, 62}, {-67.9, 61.9}, {-81.9, 61.9}})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-43.9, 61.9}, {-40, 61.9}, {-40, 65.9}, {-31.9, 65.9}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-11.9, 65.9}, {-11.9, 65.9}, {-11.9, 45.9}})); + connect(aggregate.u, load.y) annotation ( + Line(points = {{16, 6}, {10, 6}, {1, 6}}, color = {0, 0, 127})); + connect(govenorPower.Y_gv, turbine.u_t) annotation ( + Line(points = {{36, 76}, {30, 76}, {30, 78}, {26, 78}, {26, 46.8}}, color = {0, 0, 127})); + connect(govenorPower.f, aggregate.f) annotation ( + Line(points = {{46, 66}, {46, 66}, {46, 16}, {46, 6}, {36, 6}}, color = {0, 0, 127})); + connect(govenorPower.P_ref, load.y) annotation ( + Line(points = {{56, 76}, {96, 76}, {96, -12}, {6, -12}, {6, 6}, {1, 6}}, color = {0, 0, 127})); + connect(govenorPower.P, realExpression.y) annotation ( + Line(points = {{56, 82}, {71, 82}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockPowerControl; diff --git a/OpenHPL/Tests/HPSimplePenstockResKP.mo b/OpenHPL/Tests/HPSimplePenstockResKP.mo new file mode 100644 index 0000000..677416c --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockResKP.mo @@ -0,0 +1,58 @@ +within OpenHPL.Tests; +model HPSimplePenstockResKP "Model of HP system with using reservoir model based on open channel" + extends Modelica.Icons.Example; + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, offset = 0.7493, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {10, 84}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-12, -4}, {8, 16}}, rotation = 0))); + Waterway.Pipe intake annotation (Placement(visible=true, transformation(extent={{-64,52},{-44,72}}, rotation=0))); + Waterway.Pipe discharge(H=5, L=600) annotation (Placement(visible=true, transformation(extent={{46,26},{66,46}}, rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={92,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + ElectroMech.Generators.SimpleGen aggregate annotation (Placement(visible=true, transformation(extent={{18,-4},{38,16}}, rotation=0))); + Waterway.Pipe penstock( + D_i=3.3, + D_o=3.3, + H=420, + L=600) annotation (Placement(visible=true, transformation( + origin={-2,46}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank annotation (Placement(visible=true, transformation( + origin={-22,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={28,36}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.ReservoirChannel reservoir( + N=20, + w=1000, + SteadyState=true) annotation (Placement(transformation(extent={{-102,52},{-82,72}}))); +equation + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{28, 26}, {28, 26}, {28, 16}, {28, 16}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{66.1, 35.9}, {76, 35.9}, {76, 41.9}, {81.9, 41.9}})); + connect(turbine.n, discharge.p) annotation ( + Line(points = {{38.1, 35.9}, {43.1, 35.9}, {46.1, 35.9}})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{18.1, 35.9}, {-2.1, 35.9}})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{9, 6}, {9, 6}, {18, 6}}, color = {0, 0, 127})); + connect(intake.n, surgeTank.p) annotation ( + Line(points = {{-43.9, 61.9}, {-40, 61.9}, {-40, 65.9}, {-31.9, 65.9}})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points = {{-11.9, 65.9}, {-2.1, 65.9}, {-2.1, 55.9}})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{21, 84}, {28, 84}, {28, 46.8}}, color = {0, 0, 127})); + connect(intake.p, reservoir.n) annotation ( + Line(points = {{-63.9, 61.9}, {-72, 61.9}, {-72, 62.1}, {-81.9, 62.1}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockResKP; diff --git a/OpenHPL/Tests/HPSimplePenstockWithoutSurge.mo b/OpenHPL/Tests/HPSimplePenstockWithoutSurge.mo new file mode 100644 index 0000000..3fd3b1d --- /dev/null +++ b/OpenHPL/Tests/HPSimplePenstockWithoutSurge.mo @@ -0,0 +1,52 @@ +within OpenHPL.Tests; +model HPSimplePenstockWithoutSurge "Model of HP system without surge tank and with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir(H_r=48) annotation (Placement(visible=true, transformation( + origin={-54,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = 0.2, offset = 0.7493, startTime = 600) annotation ( + Placement(transformation(extent = {{-10, -10}, {10, 10}}, rotation = 0, origin = {10, 84}))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-34,56},{-14,76}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=2000) annotation (Placement(visible=true, transformation(extent={{50,28},{70,48}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,42}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={0,52}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + ElectroMech.Turbines.Turbine turbine1(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={28,42}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{-12, 0}, {8, 20}}, rotation = 0))); + ElectroMech.Generators.SimpleGen aggregate(UseFrequencyOutput=true) annotation (Placement(visible=true, transformation(extent={{18,0},{38,20}}, rotation=0))); +equation + connect(turbine1.P_out, aggregate.P_in) annotation ( + Line(points = {{28, 32}, {28, 32}, {28, 20}, {28, 20}}, color = {0, 0, 127})); + connect(turbine1.u_t, control.y) annotation ( + Line(points = {{28, 52.8}, {28, 84}, {21, 84}}, color = {0, 0, 127})); + connect(reservoir.n, intake.p) annotation ( + Line(points = {{-43.9, 65.9}, {-38.95, 65.9}, {-33.9, 65.9}}, color = {28, 108, 200})); + connect(intake.n, penstock.p) annotation ( + Line(points = {{-13.9, 65.9}, {-5.95, 65.9}, {-5.95, 61.9}, {-0.1, 61.9}}, color = {28, 108, 200})); + connect(penstock.n, turbine1.p) annotation ( + Line(points = {{-0.1, 41.9}, {9.95, 41.9}, {18.1, 41.9}}, color = {28, 108, 200})); + connect(turbine1.n, discharge.p) annotation ( + Line(points = {{38.1, 41.9}, {44.05, 41.9}, {44.05, 37.9}, {50.1, 37.9}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{70.1, 37.9}, {77.05, 37.9}, {77.05, 41.9}, {83.9, 41.9}}, color = {28, 108, 200})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{9, 10}, {9, 10}, {18, 10}}, color = {0, 0, 127})); + annotation ( + experiment(StopTime = 2000, StartTime = 0, Tolerance = 0.0001, Interval = 0.4)); +end HPSimplePenstockWithoutSurge; diff --git a/OpenHPL/Tests/HydroCordModeKPlFrancisDraftTube.mo b/OpenHPL/Tests/HydroCordModeKPlFrancisDraftTube.mo new file mode 100644 index 0000000..085e817 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModeKPlFrancisDraftTube.mo @@ -0,0 +1,183 @@ +within OpenHPL.Tests; +model HydroCordModeKPlFrancisDraftTube "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.00001, startTime = 6000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5, + eps=0.1) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601, + eps=0.075) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.5, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.0058466) annotation ( + Placement(visible = true, transformation(origin = {-86, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020, + eps=0.5) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.PenstockKP penstock1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + eps=0.0005, + h_s0=62.5) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstock2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + eps=0.0005, + h_s0=62.5 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis Francis( + GivenData=false, + GivenServoData=false, + Given_losses=true, + H_n=371, + P_n=130, + R_Y_=3.2, + V_dot_n=37, + k_ft1_=2e5, + k_ft2_=1e2, + k_ft3_=8e3, + k_ft4=1.2e6, + n_n=375, + r_Y_=1.4, + r_v_=1.3, + u_end_=2.44, + u_start_=2.28832) annotation (Placement(visible=true, transformation( + origin={32,0}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Constant const1(k = 375 * Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {56, -34}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-82, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable rotation(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Rotation.txt", tableName = "rotation", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-80, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain rot_gain(k = Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {-46, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-18, -72}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.01) annotation ( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe draftTube( + D_i=2.2, + D_o=3.04, + H=12, + L=draftTube.H, + eps=0.001) annotation (Placement(visible=true, transformation(extent={{44,4},{64,24}}, rotation=0))); +equation + connect(penstock2.n, Francis.p) annotation ( + Line(points={{18,4},{20,4},{20,0},{22,0}}, + color = {28, 108, 200})); + connect(rot_gain.y, Francis.w_in) annotation ( + Line(points={{-35,-42},{20,-42},{20,-8}}, color = {0, 0, 127})); + connect(per_gain.y, Francis.u_t) annotation ( + Line(points={{-7,-72},{38,-72},{38,14},{32,14},{32,12}}, color = {0, 0, 127})); + connect(Francis.n, draftTube.p) annotation ( + Line(points = {{42, 0}, {42, 14}, {44, 14}}, color = {28, 108, 200})); + connect(draftTube.n, discharge1.p) annotation ( + Line(points = {{64, 14}, {64, 14}, {64, 0}, {44, 0}, {44, -14}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{88,-33},{88,5},{106,5}}, color = {0, 0, 127})); + connect(rotation.y[1], rot_gain.u) annotation ( + Line(points = {{-69, -44}, {-63, -44}, {-63, -42}, {-58, -42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-71,-68},{-69,-68},{-69,-68},{-67,-68},{-67,-70},{-61,-70}, + {-61,-71},{-62,-71},{-62,-70}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-39,-70},{-35,-70},{-35,-72},{-29,-72},{-29,-72},{-30,-72}, + {-30,-72}}, color = {0, 0, 127})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,4},{-2,4}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{28,52},{13.9,52},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points={{6,66},{8,66},{8,52}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1)); +end HydroCordModeKPlFrancisDraftTube; diff --git a/OpenHPL/Tests/HydroCordModel.mo b/OpenHPL/Tests/HydroCordModel.mo new file mode 100644 index 0000000..18d2e16 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModel.mo @@ -0,0 +1,147 @@ +within OpenHPL.Tests; +model HydroCordModel "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=418.5 - 372, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.00001, startTime = 60000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=372 - 363, + L=81.5, + eps=0.05) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=17.5 - 14, + L=601, + eps=0.05) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail( + Input_level=true, + H_r=24.5 - 22.6, + UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=356 - 123, + L=363, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={10,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=431.5 - 356, + L=87, + h_0=62.5, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=6.5, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=363 - 365, + L=395, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=365 - 356, + L=4020, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1( + D_1=4.7, + D_2=3.3, + fit_type=OpenHPL.Functions.Fitting.FittingType.SquareReduction) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=123 - 20.5 + 2.5, + L=145, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=14 - 22.6, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 0.00040045) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(turbine.n, discharge1.p) annotation ( + Line(points = {{42, -6}, {44, -6}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44}}, color = {0, 0, 127})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,20},{32,20},{32,6}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-72,-40},{-72,-42},{-66,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(turbine.p, penstock2.n) annotation ( + Line(points = {{22, -6}, {22, 0}, {18, 0}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{10,40},{13.9,40},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {10, 66}, {10, 60}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1), + Diagram(graphics={ Rectangle(origin = {17, 10}, extent = {{1, -2}, {-1, 2}})})); +end HydroCordModel; diff --git a/OpenHPL/Tests/HydroCordModel2.mo b/OpenHPL/Tests/HydroCordModel2.mo new file mode 100644 index 0000000..ba777c0 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModel2.mo @@ -0,0 +1,141 @@ +within OpenHPL.Tests; +model HydroCordModel2 "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=418.5 - 372, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.00001, startTime = 60000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=372 - 363, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=17.5 - 14, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail( + H_r=24.5 - 22.6, + UseInFlow=false, + Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=356 - 123, + L=363) annotation (Placement(visible=true, transformation( + origin={10,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=431.5 - 356, + L=87, + h_0=62.4956) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=6.5, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=363 - 365, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=365 - 356, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1( + D_1=4.7, + D_2=3.3, + fit_type=OpenHPL.Functions.Fitting.FittingType.SquareReduction) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=123 - 20.5 + 2.5, + L=145) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=14 - 22.6, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos_short.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level_short.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 1.82225) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + //turbine.u_t = 4.54929515955115/100; + //tail.Level_in = 24.65206211-22.6; + connect(turbine.n, discharge1.p) annotation ( + Line(points = {{42, -6}, {44, -6}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44}}, color = {0, 0, 127})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,20},{32,20},{32,6}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-72,-40},{-72,-42},{-66,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(turbine.p, penstock2.n) annotation ( + Line(points = {{22, -6}, {22, 0}, {18, 0}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{10,40},{13.9,40},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {10, 66}, {10, 60}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1), + Diagram(graphics={ Rectangle(origin = {17, 10}, extent = {{1, -2}, {-1, 2}})})); +end HydroCordModel2; diff --git a/OpenHPL/Tests/HydroCordModelDraftTube.mo b/OpenHPL/Tests/HydroCordModelDraftTube.mo new file mode 100644 index 0000000..9205865 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelDraftTube.mo @@ -0,0 +1,152 @@ +within OpenHPL.Tests; +model HydroCordModelDraftTube "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=418.5 - 372, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=372 - 363, + L=81.5, + eps=0.1) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=17.5 - 14, + L=601, + eps=0.075) annotation (Placement(visible=true, transformation(extent={{60,-20},{80,0}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail( + H_r=24.5 - 22.6, + UseInFlow=false, + Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,14}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=356 - 123, + L=363, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={8,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=431.5 - 356, + L=87, + eps=0.1, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=6.5, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=363 - 365, + L=395, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=365 - 356, + L=4020, + eps=0.5) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1( + D_1=4.7, + D_2=3.3, + fit_type=OpenHPL.Functions.Fitting.FittingType.SquareReduction) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=123 - 20.5 + 2.5, + L=145, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=14 - 22.6, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={72,6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {86, 80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {48, -38}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {30, 80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {58, 80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {76, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {26, -50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 0.00040045) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe draftTube( + D_i=2.2, + D_o=3.04, + H=12, + L=draftTube.H, + eps=0.001) annotation (Placement(visible=true, transformation(extent={{38,-28},{58,-8}}, rotation=0))); +equation + connect(const_level.y, add1.u2) annotation ( + Line(points = {{37, -50}, {64, -50}}, color = {0, 0, 127})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{87,-44},{106,-44},{106,19}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points = {{59, -38}, {64, -38}}, color = {0, 0, 127}, thickness = 0.5)); + connect(discharge2.n, tail.n) annotation ( + Line(points = {{82, 6}, {82, 12.9}, {84, 12.9}, {84, 14}}, color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{80, -10}, {80, -3}, {62, -3}, {62, 6}}, color = {28, 108, 200})); + connect(draftTube.n, discharge1.p) annotation ( + Line(points = {{58, -18}, {58, -14}, {60, -14}, {60, -10}}, color = {28, 108, 200})); + connect(turbine.n, draftTube.p) annotation ( + Line(points = {{42, -6}, {42, -12}, {38, -12}, {38, -18}}, color = {28, 108, 200})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points = {{75, 80}, {70, 80}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points = {{47, 80}, {42, 80}}, color = {0, 0, 127})); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{19,80},{12,80},{12,60},{32,60},{32,6}}, color = {0, 0, 127})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 60}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{8,40},{11.9,40},{11.9,40},{14,40}}, color = {28, 108, 200})); + connect(turbine.p, penstock2.n) annotation ( + Line(points = {{22, -6}, {22, 0}, {18, 0}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1), + Diagram(graphics={ Rectangle(origin = {17, 10}, extent = {{1, -2}, {-1, 2}})})); +end HydroCordModelDraftTube; diff --git a/OpenHPL/Tests/HydroCordModelDraftTube2.mo b/OpenHPL/Tests/HydroCordModelDraftTube2.mo new file mode 100644 index 0000000..3e2dedf --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelDraftTube2.mo @@ -0,0 +1,146 @@ +within OpenHPL.Tests; +model HydroCordModelDraftTube2 "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=418.5 - 372, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.00001, startTime = 60000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=372 - 363, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=17.5 - 14, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail( + H_r=24.5 - 22.6, + UseInFlow=false, + Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=356 - 123, + L=363) annotation (Placement(visible=true, transformation( + origin={10,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=431.5 - 356, + L=87, + h_0=62.4956) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=6.5, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=363 - 365, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=365 - 356, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1( + D_1=4.7, + D_2=3.3, + fit_type=OpenHPL.Functions.Fitting.FittingType.SquareReduction) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=123 - 20.5 + 2.5, + L=145) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=14 - 22.6, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos_short.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level_short.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 1.82225) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe pipe1( + D_i=2.2, + D_o=3.04, + H=12, + L=1.0) annotation (Placement(visible=true, transformation(extent={{44,4},{64,24}}, rotation=0))); +equation + connect(discharge1.p, pipe1.n) annotation ( + Line(points = {{44, -14}, {46, -14}, {46, 2}, {64, 2}, {64, 14}, {64, 14}}, color = {28, 108, 200})); + connect(turbine.n, pipe1.p) annotation ( + Line(points = {{42, -6}, {44, -6}, {44, 14}, {44, 14}}, color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44}}, color = {0, 0, 127})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,20},{32,20},{32,6}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-72,-40},{-72,-42},{-66,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(turbine.p, penstock2.n) annotation ( + Line(points = {{22, -6}, {22, 0}, {18, 0}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{10,40},{13.9,40},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {10, 66}, {10, 60}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 1794, StartTime = 0, Tolerance = 0.0001, Interval = 1), + Diagram(graphics={ Rectangle(origin = {17, 10}, extent = {{1, -2}, {-1, 2}})})); +end HydroCordModelDraftTube2; diff --git a/OpenHPL/Tests/HydroCordModelDraftTube3.mo b/OpenHPL/Tests/HydroCordModelDraftTube3.mo new file mode 100644 index 0000000..5882a35 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelDraftTube3.mo @@ -0,0 +1,152 @@ +within OpenHPL.Tests; +model HydroCordModelDraftTube3 "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=418.5 - 372, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=372 - 363, + L=81.5, + eps=0.1) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=17.5 - 14, + L=601, + eps=0.075) annotation (Placement(visible=true, transformation(extent={{60,-20},{80,0}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail( + H_r=24.5 - 22.6, + UseInFlow=false, + Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,14}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=356 - 123, + L=363, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={8,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=431.5 - 356, + L=87, + eps=0.1, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine(C_v=6.5, ConstEfficiency=false) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=363 - 365, + L=395, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=365 - 356, + L=4020, + eps=0.5) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1( + D_1=4.7, + D_2=3.3, + fit_type=OpenHPL.Functions.Fitting.FittingType.SquareReduction) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=123 - 20.5 + 2.5, + L=145, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=14 - 22.6, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={72,6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {86, 80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {48, -38}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {30, 80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {58, 80}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {76, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {26, -50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + inner OpenHPL.Constants Const(V_0 = 0.00040045) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe draftTube( + D_i=2.2, + D_o=3.04, + H=12, + L=draftTube.H, + eps=0.001) annotation (Placement(visible=true, transformation(extent={{38,-28},{58,-8}}, rotation=0))); +equation + connect(const_level.y, add1.u2) annotation ( + Line(points = {{37, -50}, {64, -50}}, color = {0, 0, 127})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{87,-44},{106,-44},{106,19}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points = {{59, -38}, {64, -38}}, color = {0, 0, 127}, thickness = 0.5)); + connect(discharge2.n, tail.n) annotation ( + Line(points = {{82, 6}, {82, 12.9}, {84, 12.9}, {84, 14}}, color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{80, -10}, {80, -3}, {62, -3}, {62, 6}}, color = {28, 108, 200})); + connect(draftTube.n, discharge1.p) annotation ( + Line(points = {{58, -18}, {58, -14}, {60, -14}, {60, -10}}, color = {28, 108, 200})); + connect(turbine.n, draftTube.p) annotation ( + Line(points = {{42, -6}, {42, -12}, {38, -12}, {38, -18}}, color = {28, 108, 200})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points = {{75, 80}, {70, 80}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points = {{47, 80}, {42, 80}}, color = {0, 0, 127})); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{19,80},{12,80},{12,60},{32,60},{32,6}}, color = {0, 0, 127})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 60}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{8,40},{11.9,40},{11.9,40},{14,40}}, color = {28, 108, 200})); + connect(turbine.p, penstock2.n) annotation ( + Line(points = {{22, -6}, {22, 0}, {18, 0}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1), + Diagram(graphics={ Rectangle(origin = {17, 10}, extent = {{1, -2}, {-1, 2}})})); +end HydroCordModelDraftTube3; diff --git a/OpenHPL/Tests/HydroCordModelFrancis.mo b/OpenHPL/Tests/HydroCordModelFrancis.mo new file mode 100644 index 0000000..8f59cc5 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelFrancis.mo @@ -0,0 +1,159 @@ +within OpenHPL.Tests; +model HydroCordModelFrancis "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.00001, startTime = 6000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=233, + L=363) annotation (Placement(visible=true, transformation( + origin={10,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.00618496) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis Francis( + GivenData=false, + GivenServoData=false, + H_n=371, + P_n=130, + R_Y_=3.2, + V_dot_n=37, + k_ft1_=2e5, + k_ft2_=1e2, + k_ft3_=8e3, + k_ft4=1.1e6, + n_n=375, + r_Y_=1.4, + r_v_=1.3, + u_end_=2.44, + u_start_=2.28832) annotation (Placement(visible=true, transformation( + origin={32,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Constant const1(k = 375 * Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {56, -34}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-82, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable rotation(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Rotation.txt", tableName = "rotation", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-80, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain rot_gain(k = Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {-46, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-18, -72}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.01) annotation ( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{88,-33},{88,5},{106,5}}, color = {0, 0, 127})); + connect(rotation.y[1], rot_gain.u) annotation ( + Line(points = {{-69, -44}, {-63, -44}, {-63, -42}, {-58, -42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, Francis.u_t) annotation ( + Line(points={{-7,-72},{38,-72},{38,14},{32,14},{32,4},{32,4}}, color = {0, 0, 127})); + connect(rot_gain.y, Francis.w_in) annotation ( + Line(points={{-35,-42},{36,-42},{36,-16},{20,-16}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-71,-68},{-69,-68},{-69,-68},{-67,-68},{-67,-70},{-61,-70}, + {-61,-71},{-62,-71},{-62,-70}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-39,-70},{-35,-70},{-35,-72},{-29,-72},{-29,-72},{-30,-72}, + {-30,-72}}, color = {0, 0, 127})); + connect(Francis.n, discharge1.p) annotation ( + Line(points = {{42, -8}, {44, -8}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(penstock2.n, Francis.p) annotation ( + Line(points = {{18, 0}, {18, 0}, {18, -8}, {22, -8}, {22, -8}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{10,40},{13.9,40},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {10, 66}, {10, 60}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1)); +end HydroCordModelFrancis; diff --git a/OpenHPL/Tests/HydroCordModelFrancis2.mo b/OpenHPL/Tests/HydroCordModelFrancis2.mo new file mode 100644 index 0000000..41baac7 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelFrancis2.mo @@ -0,0 +1,177 @@ +within OpenHPL.Tests; +model HydroCordModelFrancis2 "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.045493, startTime = 6000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5, + eps=0.1) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601, + eps=0.075) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={10,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + eps=0.1, + h_0=62.4882) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 1.925) annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020, + eps=0.5) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis Francis( + GivenData=false, + GivenServoData=false, + H_n=371, + P_n=130, + R_Y_=3.2, + V_dot_n=37, + k_ft1_=2e5, + k_ft2_=1e2, + k_ft3_=8e3, + n_n=375, + r_Y_=1.4, + r_v_=1.3, + u_end_=2.44, + u_start_=2.28832) annotation (Placement(visible=true, transformation( + origin={32,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Constant const1(k = 375 * Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {56, -34}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos_short.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-82, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable rotation(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Rotation_short.txt", tableName = "rotation", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-80, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level_short.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain rot_gain(k = Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {-46, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-18, -72}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {74, -28}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe draftTube( + D_i=2.2, + D_o=3.04, + H=12, + L=draftTube.H, + eps=0.001) annotation (Placement(visible=true, transformation(extent={{44,2},{64,22}}, rotation=0))); +equation + connect(per_gain.y, Francis.u_t) annotation ( + Line(points={{-7,-72},{40,-72},{40,16},{32,16},{32,4},{32,4}}, color = {0, 0, 127})); + connect(draftTube.n, discharge1.p) annotation ( + Line(points = {{64, 12}, {64, 12}, {64, 0}, {44, 0}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(Francis.n, draftTube.p) annotation ( + Line(points = {{42, -8}, {42, -8}, {42, 12}, {44, 12}, {44, 12}}, color = {28, 108, 200})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{68,-64},{68,-40}}, color = {0, 0, 127}, thickness = 0.5)); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{80,-88},{80,-40}}, color = {0, 0, 127})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{74,-17},{106,-17},{106,5}}, color = {0, 0, 127})); + //Francis.u_t = 4.54929515955115/100; + //Francis.w_in = 375.12178419695*Modelica.Constants.pi/30; + //tail.Level_in = 24.65206211-22.6; + connect(rotation.y[1], rot_gain.u) annotation ( + Line(points = {{-69, -44}, {-63, -44}, {-63, -42}, {-58, -42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(rot_gain.y, Francis.w_in) annotation ( + Line(points={{-35,-42},{36,-42},{36,-16},{20,-16}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-71,-68},{-69,-68},{-69,-68},{-67,-68},{-67,-70},{-61,-70}, + {-61,-71},{-62,-71},{-62,-70}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-39,-70},{-35,-70},{-35,-72},{-29,-72},{-29,-72},{-30,-72}, + {-30,-72}}, color = {0, 0, 127})); + connect(penstock2.n, Francis.p) annotation ( + Line(points = {{18, 0}, {18, 0}, {18, -8}, {22, -8}, {22, -8}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{10,40},{13.9,40},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {10, 66}, {10, 60}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 1794, StartTime = 0, Tolerance = 0.0001, Interval = 1)); +end HydroCordModelFrancis2; diff --git a/OpenHPL/Tests/HydroCordModelFrancisDraftTube.mo b/OpenHPL/Tests/HydroCordModelFrancisDraftTube.mo new file mode 100644 index 0000000..2cc23b5 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelFrancisDraftTube.mo @@ -0,0 +1,174 @@ +within OpenHPL.Tests; +model HydroCordModelFrancisDraftTube "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.00001, startTime = 6000) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5, + eps=0.1) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601, + eps=0.075) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.Pipe penstock1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={10,50}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.5, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.0058466) annotation ( + Placement(visible = true, transformation(origin = {-86, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020, + eps=0.5) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={14,30}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe penstock2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + eps=0.0005) annotation (Placement(visible=true, transformation( + origin={18,10}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.ElectroMech.Turbines.Francis Francis( + GivenData=false, + GivenServoData=false, + Given_losses=true, + H_n=371, + P_n=130, + R_Y_=3.2, + V_dot_n=37, + k_ft1_=2e5, + k_ft2_=1e2, + k_ft3_=8e3, + k_ft4=1.2e6, + n_n=375, + r_Y_=1.4, + r_v_=1.3, + u_end_=2.44, + u_start_=2.28832) annotation (Placement(visible=true, transformation( + origin={32,0}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Constant const1(k = 375 * Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {56, -34}, extent = {{10, -10}, {-10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-82, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable rotation(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Rotation.txt", tableName = "rotation", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-80, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain rot_gain(k = Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {-46, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-18, -72}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.01) annotation ( + Placement(visible = true, transformation(origin = {-50, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe draftTube( + D_i=2.2, + D_o=3.04, + H=12, + L=draftTube.H, + eps=0.001) annotation (Placement(visible=true, transformation(extent={{44,4},{64,24}}, rotation=0))); +equation + connect(penstock2.n, Francis.p) annotation ( + Line(points = {{18, 0}, {22, 0}}, color = {28, 108, 200})); + connect(rot_gain.y, Francis.w_in) annotation ( + Line(points={{-35,-42},{20,-42},{20,-8}}, color = {0, 0, 127})); + connect(per_gain.y, Francis.u_t) annotation ( + Line(points={{-7,-72},{38,-72},{38,14},{32,14},{32,12}}, color = {0, 0, 127})); + connect(Francis.n, draftTube.p) annotation ( + Line(points = {{42, 0}, {42, 14}, {44, 14}}, color = {28, 108, 200})); + connect(draftTube.n, discharge1.p) annotation ( + Line(points = {{64, 14}, {64, 14}, {64, 0}, {44, 0}, {44, -14}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{88,-33},{88,5},{106,5}}, color = {0, 0, 127})); + connect(rotation.y[1], rot_gain.u) annotation ( + Line(points = {{-69, -44}, {-63, -44}, {-63, -42}, {-58, -42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-71,-68},{-69,-68},{-69,-68},{-67,-68},{-67,-70},{-61,-70},{-61,-71},{-62,-71},{-62,-70}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-39,-70},{-35,-70},{-35,-72},{-29,-72},{-29,-72},{-30,-72},{-30,-72}}, color = {0, 0, 127})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(fitting1.n, penstock2.p) annotation ( + Line(points={{14,20},{17.9,20},{17.9,20},{18,20}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points={{10,40},{13.9,40},{13.9,40},{14,40}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {10, 66}, {10, 60}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1)); +end HydroCordModelFrancisDraftTube; diff --git a/OpenHPL/Tests/HydroCordModelKP.mo b/OpenHPL/Tests/HydroCordModelKP.mo new file mode 100644 index 0000000..0723226 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelKP.mo @@ -0,0 +1,141 @@ +within OpenHPL.Tests; +model HydroCordModelKP "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.000400824, beta_total = 1 / 997 / 1422 ^ 2) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine( + C_v=6.5, + ConstEfficiency=false, + WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={10,26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + h_s0=62.5) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + h_s0=62.5 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,14},{32,14},{32,6},{32,6}}, color = {0, 0, 127})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44},{-34,-44}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-68,-40},{-68,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(fitting1.n, penstockKP2.p) annotation ( + Line(points = {{20, 26}, {26, 26}, {26, 16}, {-10, 16}, {-10, 4}, {-2, 4}, {-2, 4}, {-2, 4}}, color = {28, 108, 200})); + connect(penstockKP1.n, fitting1.p) annotation ( + Line(points = {{28, 52}, {30, 52}, {30, 40}, {-4, 40}, {-4, 26}, {0, 26}, {0, 26}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 52}, {8, 52}}, color = {28, 108, 200})); + connect(penstockKP2.n, turbine.p) annotation ( + Line(points = {{18, 4}, {22, 4}, {22, -6}, {22, -6}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(turbine.n, discharge1.p) annotation ( + Line(points={{42,-6},{44.1,-6},{44.1,-10.1},{44.1,-14},{44,-14}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1.0)); +end HydroCordModelKP; diff --git a/OpenHPL/Tests/HydroCordModelKP2.mo b/OpenHPL/Tests/HydroCordModelKP2.mo new file mode 100644 index 0000000..2edbddf --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelKP2.mo @@ -0,0 +1,143 @@ +within OpenHPL.Tests; +model HydroCordModelKP2 "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.4956) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 1.82328) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine( + C_v=6.5, + ConstEfficiency=false, + WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={10,26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + h_s0=62.4956) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + h_s0=62.4956 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos_short.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level_short.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + //turbine.u_t = 4.54929515955115/100; + //tail.Level_in = 24.65206211-22.6; + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,14},{32,14},{32,6},{32,6}}, color = {0, 0, 127})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44},{-34,-44}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-68,-40},{-68,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(fitting1.n, penstockKP2.p) annotation ( + Line(points = {{20, 26}, {26, 26}, {26, 16}, {-10, 16}, {-10, 4}, {-2, 4}, {-2, 4}, {-2, 4}}, color = {28, 108, 200})); + connect(penstockKP1.n, fitting1.p) annotation ( + Line(points = {{28, 52}, {30, 52}, {30, 40}, {-4, 40}, {-4, 26}, {0, 26}, {0, 26}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 52}, {8, 52}}, color = {28, 108, 200})); + connect(penstockKP2.n, turbine.p) annotation ( + Line(points = {{18, 4}, {22, 4}, {22, -6}, {22, -6}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(turbine.n, discharge1.p) annotation ( + Line(points={{42,-6},{44.1,-6},{44.1,-10.1},{44.1,-14},{44,-14}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 1794, StartTime = 0, Tolerance = 0.0001, Interval = 1.0)); +end HydroCordModelKP2; diff --git a/OpenHPL/Tests/HydroCordModelKPDraftTube.mo b/OpenHPL/Tests/HydroCordModelKPDraftTube.mo new file mode 100644 index 0000000..e015418 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelKPDraftTube.mo @@ -0,0 +1,157 @@ +within OpenHPL.Tests; +model HydroCordModelKPDraftTube "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5, + eps=0.1) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601, + eps=0.075) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + eps=0.1, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.000400824, beta_total = 1 / 997 / 1422 ^ 2) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine( + C_v=6.5, + ConstEfficiency=false, + WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395, + eps=0.1) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020, + eps=0.5) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={10,26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21, + eps=0.05) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstock1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + eps=0.0005, + h_s0=62.5) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstock2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + eps=0.0005, + h_s0=62.5 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe draftTube( + D_i=2.2, + D_o=3.04, + H=12, + L=draftTube.H, + eps=0.001) annotation (Placement(visible=true, transformation(extent={{44,0},{64,20}}, rotation=0))); +equation + connect(draftTube.n, discharge1.p) annotation ( + Line(points = {{64, 10}, {64, 10}, {64, 0}, {44, 0}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(turbine.n, draftTube.p) annotation ( + Line(points = {{42, -6}, {42, -6}, {42, 10}, {44, 10}}, color = {28, 108, 200})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,14},{32,14},{32,6},{32,6}}, color = {0, 0, 127})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44},{-34,-44}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-68,-40},{-68,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(fitting1.n, penstock2.p) annotation ( + Line(points = {{20, 26}, {26, 26}, {26, 16}, {-10, 16}, {-10, 4}, {-2, 4}, {-2, 4}, {-2, 4}}, color = {28, 108, 200})); + connect(penstock1.n, fitting1.p) annotation ( + Line(points = {{28, 52}, {30, 52}, {30, 40}, {-4, 40}, {-4, 26}, {0, 26}, {0, 26}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 52}, {8, 52}}, color = {28, 108, 200})); + connect(penstock2.n, turbine.p) annotation ( + Line(points = {{18, 4}, {22, 4}, {22, -6}, {22, -6}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1.0)); +end HydroCordModelKPDraftTube; diff --git a/OpenHPL/Tests/HydroCordModelKPFran.mo b/OpenHPL/Tests/HydroCordModelKPFran.mo new file mode 100644 index 0000000..826606f --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelKPFran.mo @@ -0,0 +1,162 @@ +within OpenHPL.Tests; +model HydroCordModelKPFran "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.00618434) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={10,26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + h_s0=62.5) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + h_s0=62.5 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-84, -66}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable rotation(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Rotation.txt", tableName = "rotation", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-84, -38}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain rot_gain(k = Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {-50, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-20, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.01) annotation ( + Placement(visible = true, transformation(origin = {-52, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Francis francis1( + GivenData=false, + GivenServoData=false, + H_n=371, + P_n=130, + R_Y_=3.2, + V_dot_n=37, + WaterCompress=true, + k_ft1_=2e5, + k_ft2_=1e2, + k_ft3_=8e3, + k_ft4=1.1e6, + n_n=375, + r_Y_=1.4, + r_v_=1.3, + u_end_=2.44, + u_start_=2.28832) annotation (Placement(visible=true, transformation( + origin={30,-4}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(per_gain.y, francis1.u_t) annotation ( + Line(points={{-9,-70},{40,-70},{40,14},{30,14},{30,8},{30,8}}, color = {0, 0, 127})); + connect(rotation.y[1], rot_gain.u) annotation ( + Line(points={{-73,-38},{-68,-38},{-68,-36},{-62,-36},{-62,-36}}, color = {0, 0, 127}, thickness = 0.5)); + connect(rot_gain.y, francis1.w_in) annotation ( + Line(points={{-39,-36},{6,-36},{6,-12},{18,-12}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-73,-66},{-67,-66},{-67,-68},{-64,-68}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-41,-68},{-40,-68},{-40,-68},{-39,-68},{-39,-70},{-33,-70},{-33,-73},{-33,-70},{-32,-70}}, color = {0, 0, 127})); + connect(francis1.n, discharge1.p) annotation ( + Line(points = {{40, -4}, {44, -4}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(penstockKP2.n, francis1.p) annotation ( + Line(points = {{18, 4}, {20, 4}, {20, -4}, {20, -4}}, color = {28, 108, 200})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(fitting1.n, penstockKP2.p) annotation ( + Line(points = {{20, 26}, {26, 26}, {26, 16}, {-10, 16}, {-10, 4}, {-2, 4}, {-2, 4}, {-2, 4}}, color = {28, 108, 200})); + connect(penstockKP1.n, fitting1.p) annotation ( + Line(points = {{28, 52}, {30, 52}, {30, 40}, {-4, 40}, {-4, 26}, {0, 26}, {0, 26}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 52}, {8, 52}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1.0)); +end HydroCordModelKPFran; diff --git a/OpenHPL/Tests/HydroCordModelKPFran2.mo b/OpenHPL/Tests/HydroCordModelKPFran2.mo new file mode 100644 index 0000000..8b2a3cf --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelKPFran2.mo @@ -0,0 +1,166 @@ +within OpenHPL.Tests; +model HydroCordModelKPFran2 "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir(H_r=46.5, UseInFlow=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Pipe discharge1( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601) annotation (Placement(visible=true, transformation(extent={{44,-24},{64,-4}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.4945) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 2.044) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020) annotation (Placement(visible=true, transformation( + origin={-26,60}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={10,26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + h_s0=62.4945) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + h_s0=62.4945 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos_short.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-84, -66}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level_short.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable rotation(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Rotation_short.txt", tableName = "rotation", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-84, -38}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain rot_gain(k = Modelica.Constants.pi / 30) annotation ( + Placement(visible = true, transformation(origin = {-50, -36}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-20, -70}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.01) annotation ( + Placement(visible = true, transformation(origin = {-52, -68}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Francis francis1( + GivenData=false, + GivenServoData=false, + H_n=371, + P_n=130, + R_Y_=3.2, + V_dot_n=37, + WaterCompress=true, + k_ft1_=2e5, + k_ft2_=1e2, + k_ft3_=8e3, + k_ft4=1.1e6, + n_n=375, + r_Y_=1.4, + r_v_=1.3, + u_end_=2.44, + u_start_=2.28832) annotation (Placement(visible=true, transformation( + origin={30,-4}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + //francis1.u_t = 4.54929515955115/100; + //francis1.w_in = 375.12178419695*Modelica.Constants.pi/30; + //tail.Level_in = 24.65206211-22.6; + connect(per_gain.y, francis1.u_t) annotation ( + Line(points={{-9,-70},{40,-70},{40,14},{30,14},{30,8},{30,8}}, color = {0, 0, 127})); + connect(rotation.y[1], rot_gain.u) annotation ( + Line(points={{-73,-38},{-68,-38},{-68,-36},{-62,-36},{-62,-36}}, color = {0, 0, 127}, thickness = 0.5)); + connect(rot_gain.y, francis1.w_in) annotation ( + Line(points={{-39,-36},{4,-36},{4,-12},{18,-12}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-73,-66},{-67,-66},{-67,-68},{-64,-68}}, color = {0, 0, 127}, thickness = 0.5)); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-41,-68},{-40,-68},{-40,-68},{-39,-68},{-39,-70},{-33,-70}, + {-33,-73},{-33,-70},{-32,-70}}, color = {0, 0, 127})); + connect(francis1.n, discharge1.p) annotation ( + Line(points = {{40, -4}, {44, -4}, {44, -14}, {44, -14}}, color = {28, 108, 200})); + connect(penstockKP2.n, francis1.p) annotation ( + Line(points = {{18, 4}, {20, 4}, {20, -4}, {20, -4}}, color = {28, 108, 200})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(fitting1.n, penstockKP2.p) annotation ( + Line(points = {{20, 26}, {26, 26}, {26, 16}, {-10, 16}, {-10, 4}, {-2, 4}, {-2, 4}, {-2, 4}}, color = {28, 108, 200})); + connect(penstockKP1.n, fitting1.p) annotation ( + Line(points = {{28, 52}, {30, 52}, {30, 40}, {-4, 40}, {-4, 26}, {0, 26}, {0, 26}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 52}, {8, 52}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(discharge1.n, discharge2.p) annotation ( + Line(points = {{64, -14}, {64, -14}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(intake3.n, surgeTank.p) annotation ( + Line(points={{-16,60},{-14,60},{-14,66}}, color = {28, 108, 200})); + connect(intake2.n, intake3.p) annotation ( + Line(points={{-38,66},{-36,66},{-36,60}}, color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 1794, StartTime = 0, Tolerance = 0.0001, Interval = 1.0)); +end HydroCordModelKPFran2; diff --git a/OpenHPL/Tests/HydroCordModelKPall.mo b/OpenHPL/Tests/HydroCordModelKPall.mo new file mode 100644 index 0000000..434f887 --- /dev/null +++ b/OpenHPL/Tests/HydroCordModelKPall.mo @@ -0,0 +1,157 @@ +within OpenHPL.Tests; +model HydroCordModelKPall "Model of HP system with simplified models for penstock, turbine, etc." + extends Modelica.Icons.Example; + OpenHPL.Waterway.Reservoir reservoir( + H_r=46.5, + UseInFlow=false, + Input_level=false) annotation (Placement(visible=true, transformation( + origin={-94,64}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.05, offset = 0.9, startTime = 600) annotation ( + Placement(visible = true, transformation(origin = {16, 86}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.Pipe intake1( + D_i=6.3, + D_o=6.3, + H=9, + L=81.5) annotation (Placement(visible=true, transformation(extent={{-80,50},{-60,70}}, rotation=0))); + OpenHPL.Waterway.Reservoir tail(H_r=2, Input_level=true) annotation (Placement(visible=true, transformation( + origin={94,0}, + extent={{-10,10},{10,-10}}, + rotation=180))); + OpenHPL.Waterway.SurgeTank surgeTank( + D=3.4, + H=75.5, + L=87, + h_0=62.5) annotation (Placement(visible=true, transformation( + origin={-4,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const(V_0 = 0.000429934) annotation ( + Placement(visible = true, transformation(origin = {-90, 90}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.ElectroMech.Turbines.Turbine turbine( + C_v=7.0, + ConstEfficiency=false, + WaterCompress=true) annotation (Placement(visible=true, transformation( + origin={32,-6}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe intake2( + D_i=6.3, + D_o=6.3, + H=-2, + L=395) annotation (Placement(visible=true, transformation( + origin={-48,66}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Fitting fitting1(D_1=4.7, D_2=3.3) annotation (Placement(visible=true, transformation( + origin={10,26}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.Pipe discharge2( + D_i=6.3, + D_o=6.3, + H=-8.5, + L=21) annotation (Placement(visible=true, transformation( + origin={74,-8}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP1( + D_i=4.7, + D_o=4.7, + H=233, + L=363, + N=5, + PipeElasticity=false, + h_s0=62.5) annotation (Placement(visible=true, transformation( + origin={18,52}, + extent={{-10,-10},{10,10}}, + rotation=0))); + OpenHPL.Waterway.PenstockKP penstockKP2( + D_i=3.3, + D_o=3.3, + H=102.5 + 2.5, + L=145, + N=5, + PipeElasticity=false, + h_s0=62.5 + 233) annotation (Placement(visible=true, transformation( + origin={8,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Modelica.Blocks.Sources.CombiTimeTable servo_pos(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Servo_pos.txt", tableName = "position", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {-86, -40}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Sources.CombiTimeTable tail_level(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Tail_level.txt", tableName = "level", tableOnFile = true) annotation ( + Placement(visible = true, transformation(origin = {58, -64}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Gain per_gain(k = 1 / 100) annotation ( + Placement(visible = true, transformation(origin = {-22, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Nonlinear.Limiter limiter1(limitsAtInit = true, uMax = 100, uMin = 0.001) annotation ( + Placement(visible = true, transformation(origin = {-54, -42}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Modelica.Blocks.Math.Add add1(k2 = -1) annotation ( + Placement(visible = true, transformation(origin = {90, -44}, extent = {{-10, -10}, {10, 10}}, rotation = 90))); + Modelica.Blocks.Sources.Constant const_level(k = 22.6) annotation ( + Placement(visible = true, transformation(origin = {58, -88}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.PenstockKP penstockKP3( + D_i=6.3, + D_o=6.3, + H=9, + L=4020, + N=40, + PipeElasticity=false, + h_s0=53.5) annotation (Placement(visible=true, transformation( + origin={-26,62}, + extent={{-10,-10},{10,10}}, + rotation=0))); + //OpenHPL.HydroPower.PenstockKP penstockKP4(D_i = 6.3, D_o = 6.3, H = -2, L = 395, N = 5, PipeElasticity = false, h_s0 = 55.5) annotation( + // Placement(visible = true, transformation(origin = {-48, 46}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + //OpenHPL.HydroPower.PenstockKP penstockKP5(D_i = 6.3, D_o = 6.3, H = 9, L = 81.5, N = 5, PipeElasticity = false, h_s0 = 46.5) annotation( + // Placement(visible = true, transformation(origin = {-72, 44}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + OpenHPL.Waterway.PenstockKP penstockKP4( + D_i=6.3, + D_o=6.3, + H=3.5, + L=601, + N=10, + PipeElasticity=false, + h_s0=7.3) annotation (Placement(visible=true, transformation( + origin={56,4}, + extent={{-10,-10},{10,10}}, + rotation=0))); +equation + connect(penstockKP4.n, discharge2.p) annotation ( + Line(points = {{66, 4}, {64, 4}, {64, -8}, {64, -8}}, color = {28, 108, 200})); + connect(turbine.n, penstockKP4.p) annotation ( + Line(points = {{42, -6}, {46, -6}, {46, 4}, {46, 4}}, color = {28, 108, 200})); + connect(surgeTank.p, penstockKP3.n) annotation ( + Line(points = {{-14, 66}, {-16, 66}, {-16, 62}, {-16, 62}}, color = {28, 108, 200})); + connect(intake2.n, penstockKP3.p) annotation ( + Line(points = {{-38, 66}, {-36, 66}, {-36, 62}, {-36, 62}}, color = {28, 108, 200})); + connect(add1.y, tail.Level_in) annotation ( + Line(points={{90,-33},{90,-33},{90,5},{106,5}}, color = {0, 0, 127})); + connect(const_level.y, add1.u2) annotation ( + Line(points={{69,-88},{96,-88},{96,-56},{96,-56}}, color = {0, 0, 127})); + connect(tail_level.y[1], add1.u1) annotation ( + Line(points={{69,-64},{84,-64},{84,-56},{84,-56}}, color = {0, 0, 127}, thickness = 0.5)); + connect(per_gain.y, turbine.u_t) annotation ( + Line(points={{-11,-44},{40,-44},{40,14},{32,14},{32,6},{32,6}}, color = {0, 0, 127})); + connect(limiter1.y, per_gain.u) annotation ( + Line(points={{-43,-42},{-40,-42},{-40,-44},{-34,-44},{-34,-44}}, color = {0, 0, 127})); + connect(servo_pos.y[1], limiter1.u) annotation ( + Line(points={{-75,-40},{-68,-40},{-68,-42},{-66,-42}}, color = {0, 0, 127}, thickness = 0.5)); + connect(fitting1.n, penstockKP2.p) annotation ( + Line(points = {{20, 26}, {26, 26}, {26, 16}, {-10, 16}, {-10, 4}, {-2, 4}, {-2, 4}, {-2, 4}}, color = {28, 108, 200})); + connect(penstockKP1.n, fitting1.p) annotation ( + Line(points = {{28, 52}, {30, 52}, {30, 40}, {-4, 40}, {-4, 26}, {0, 26}, {0, 26}}, color = {28, 108, 200})); + connect(surgeTank.n, penstockKP1.p) annotation ( + Line(points = {{6, 66}, {8, 66}, {8, 52}, {8, 52}}, color = {28, 108, 200})); + connect(penstockKP2.n, turbine.p) annotation ( + Line(points = {{18, 4}, {22, 4}, {22, -6}, {22, -6}}, color = {28, 108, 200})); + connect(discharge2.n, tail.n) annotation ( + Line(points={{84,-8},{84,6.66134e-16}}, + color = {28, 108, 200})); + connect(intake1.n, intake2.p) annotation ( + Line(points={{-60,60},{-58,60},{-58,66}}, color = {28, 108, 200})); + connect(reservoir.n, intake1.p) annotation ( + Line(points={{-84,64},{-79.95,64},{-79.95,60},{-80,60}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 3600, StartTime = 0, Tolerance = 0.0001, Interval = 1.0)); +end HydroCordModelKPall; diff --git a/OpenHPL/Tests/TestFitingSimpleHP.mo b/OpenHPL/Tests/TestFitingSimpleHP.mo new file mode 100644 index 0000000..352655c --- /dev/null +++ b/OpenHPL/Tests/TestFitingSimpleHP.mo @@ -0,0 +1,72 @@ +within OpenHPL.Tests; +model TestFitingSimpleHP "Model of HP system with pipe fitting" + extends Modelica.Icons.Example; + Waterway.Pipe conduit( + H=25, + L=6600, + V_dot0=19.06) annotation (Placement(visible=true, transformation( + origin={-66,14}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Reservoir reservoir annotation (Placement(visible=true, transformation( + origin={-92,14}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Pipe discharge( + H=5, + L=600, + V_dot0=19.06) annotation (Placement(visible=true, transformation( + origin={64,-30}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={40,-14}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.Reservoir tail(H_r=10) annotation (Placement(visible=true, transformation( + origin={92,-30}, + extent={{10,-10},{-10,10}}, + rotation=0))); + Modelica.Blocks.Sources.Ramp control(duration = 1, startTime = 500, height = -0.04615, offset = 0.7493) annotation ( + Placement(visible = true, transformation(origin = {16, 50}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Fitting fitting( + D_1=conduit.D_o, + D_2=penstock.D_i, + theta(displayUnit="deg")) annotation (Placement(transformation(extent={{-24,4},{-4,24}}))); + Waterway.Pipe penstock( + H=420, + L=600, + D_i=3.3, + D_o=3.3, + V_dot0=19.06) annotation (Placement(visible=true, transformation( + origin={10,-4}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.SurgeTank surgeTank annotation (Placement(transformation(extent={{-50,4},{-30,24}}))); + Modelica.Blocks.Sources.Ramp load(duration = 1, height = -5e6, offset = 80e6, startTime = 600) annotation ( + Placement(visible = true, transformation(extent = {{0, -50}, {20, -30}}, rotation = 0))); + ElectroMech.Generators.SimpleGen aggregate(SteadyState=false) annotation (Placement(visible=true, transformation(extent={{30,-50},{50,-30}}, rotation=0))); +equation + connect(turbine.P_out, aggregate.P_in) annotation ( + Line(points = {{40, -24}, {40, -24}, {40, -30}, {40, -30}}, color = {0, 0, 127})); + connect(control.y, turbine.u_t) annotation ( + Line(points = {{27, 50}, {39, 50}, {39, -3.2}, {40, -3.2}}, color = {0, 0, 127})); + connect(discharge.n, tail.n) annotation ( + Line(points = {{74.1, -30.1}, {78, -30.1}, {78, -30.1}, {81.9, -30.1}})); + connect(discharge.p, turbine.n) annotation ( + Line(points = {{54.1, -30.1}, {54.1, -22.1}, {54.1, -14.1}, {52.1, -14.1}, {50.1, -14.1}})); + connect(fitting.n, penstock.p) annotation ( + Line(points = {{-3.9, 13.9}, {-4, 13.9}, {-4, -4}, {0, -4}, {0, -4.1}, {0.1, -4.1}}, color = {28, 108, 200})); + connect(turbine.p, penstock.n) annotation ( + Line(points = {{30.1, -14.1}, {26, -14.1}, {26, -4.1}, {20.1, -4.1}}, color = {28, 108, 200})); + connect(fitting.p, surgeTank.n) annotation ( + Line(points = {{-23.9, 13.9}, {-28, 13.9}, {-29.9, 13.9}}, color = {28, 108, 200})); + connect(conduit.n, surgeTank.p) annotation ( + Line(points = {{-55.9, 13.9}, {-48, 13.9}, {-49.9, 13.9}}, color = {28, 108, 200})); + connect(conduit.p, reservoir.n) annotation ( + Line(points = {{-75.9, 13.9}, {-75.95, 13.9}, {-75.95, 13.9}, {-81.9, 13.9}}, color = {28, 108, 200})); + connect(load.y, aggregate.u) annotation ( + Line(points = {{21, -40}, {21, -40}, {30, -40}}, color = {0, 0, 127})); + annotation ( + experiment(StartTime = 0, StopTime = 1000, Tolerance = 1e-06, Interval = 2)); +end TestFitingSimpleHP; diff --git a/OpenHPL/Tests/TestRunoff.mo b/OpenHPL/Tests/TestRunoff.mo new file mode 100644 index 0000000..2dba660 --- /dev/null +++ b/OpenHPL/Tests/TestRunoff.mo @@ -0,0 +1,58 @@ +within OpenHPL.Tests; +model TestRunoff + extends Modelica.Icons.Example; + Waterway.Reservoir reservoir1( + H_r=48, + L=5000, + UseInFlow=true, + w=1000) annotation (Placement(visible=true, transformation( + origin={-58,40}, + extent={{-10,-10},{10,10}}, + rotation=0))); + Waterway.RunOff_zones runOff annotation (Placement(transformation(extent={{-102,40},{-82,60}}))); + Modelica.Blocks.Sources.Ramp control(duration = 1, height = -0.04615, startTime = 600 * 1e10, offset = 0.3493) annotation ( + Placement(visible = true, transformation(origin = {24, 62}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); + Waterway.Pipe intake(H=23) annotation (Placement(visible=true, transformation(extent={{-36,26},{-16,46}}, rotation=0))); + Waterway.Pipe discharge(H=0.5, L=600) annotation (Placement(visible=true, transformation(extent={{56,-2},{76,18}}, rotation=0))); + Waterway.Reservoir tail(H_r=5) annotation (Placement(visible=true, transformation( + origin={94,16}, + extent={{-10,10},{10,-10}}, + rotation=180))); + Waterway.Pipe penstock( + D_i=3, + D_o=3, + H=428.5, + L=600) annotation (Placement(visible=true, transformation( + origin={24,26}, + extent={{-10,-10},{10,10}}, + rotation=-90))); + Waterway.SurgeTank surgeTank(h_0=69.9) annotation (Placement(visible=true, transformation( + origin={2,42}, + extent={{-10,-10},{10,10}}, + rotation=0))); + ElectroMech.Turbines.Turbine turbine(C_v=3.7) annotation (Placement(visible=true, transformation( + origin={40,12}, + extent={{-10,-10},{10,10}}, + rotation=0))); + inner OpenHPL.Constants Const annotation ( + Placement(visible = true, transformation(origin = {-90, 92}, extent = {{-10, -10}, {10, 10}}, rotation = 0))); +equation + connect(reservoir1.V_in, runOff.V_dot_runoff) annotation ( + Line(points = {{-68, 40}, {-76, 40}, {-76, 50}, {-82, 50}}, color = {0, 0, 127})); + connect(control.y, turbine.u_t) annotation ( + Line(points={{35,62},{40,62},{40,24}}, color = {0, 0, 127})); + connect(intake.n, surgeTank.p) annotation ( + Line(points={{-16,36},{-10.95,36},{-10.95,42},{-8,42}}, color = {28, 108, 200})); + connect(surgeTank.n, penstock.p) annotation ( + Line(points={{12,42},{18,42},{18,36},{20,36},{20,36},{24,36}}, color = {28, 108, 200})); + connect(turbine.n, discharge.p) annotation ( + Line(points={{50,12},{50,12},{56,12},{56,8}}, color = {28, 108, 200})); + connect(discharge.n, tail.n) annotation ( + Line(points={{76,8},{76,12.95},{84,12.95},{84,16}}, color = {28, 108, 200})); + connect(penstock.n, turbine.p) annotation ( + Line(points={{24,16},{28.95,16},{28.95,12},{30,12}}, color = {28, 108, 200})); + connect(reservoir1.n, intake.p) annotation ( + Line(points={{-48,40},{-42,40},{-42,36},{-36,36}}, color = {28, 108, 200})); + annotation ( + experiment(StopTime = 8.64e+006, Interval = 86400)); +end TestRunoff; diff --git a/OpenHPL/Tests/package.mo b/OpenHPL/Tests/package.mo new file mode 100644 index 0000000..08a144b --- /dev/null +++ b/OpenHPL/Tests/package.mo @@ -0,0 +1,6 @@ +within OpenHPL; +package Tests "Some test of using library for hydro power (HP) system" + extends Modelica.Icons.ExamplesPackage; + + extends Modelica.Icons.UnderConstruction; +end Tests; diff --git a/OpenHPL/Tests/package.order b/OpenHPL/Tests/package.order new file mode 100644 index 0000000..fededb8 --- /dev/null +++ b/OpenHPL/Tests/package.order @@ -0,0 +1,63 @@ +HPSimplePenstock +HPSimplePenstockWithoutSurge +HPSimpleElasticPenstock +HPSimpleElasticPenstockWithoutSurge +HPElasticKPPenstock +HPElasticKPPenstockCompres +HPElasticKPPenstockWithoutSurge +HPElasticKPPenstockANDIntake +HPElasticKPPenstockHalfSurgeD +TestFitingSimpleHP +HPSimplePenstockControl +HPSimplePenstockAutoRefGate +HPSimplePenstockPowerControl +HPSimplePenstockResKP +HPSimplePenstockOpenChannel +HPSimplePenstockGeneratorTest +HPSimplePenstockFrancis +HPSimplePenstockFrancisGener +HPSimplePenstockFrancis2 +CaseStudingValentynasCase +HPSimplePenstockPelton +TestRunoff +HPElasticKPPenstockFrancis +HPElasticKPPenstockFrancisGov +HPLiniarization +HPLiniarizationKP +HPLiniarizationFranGen +HPLiniarizationKPFran +HPLinTest +HPSimplePenstockFrancisGenIPSL +HPSimplePenstockFrancisGenIPSLGov +HPSimplePenstockFrancisGenIPSLInfBus +HPLiniarizationGenIPSL +HPLiniarizationGenIPSLKP +HPModel +HPModelDEA +HPBjarneBorresen +HPModelLin +HPModelLinPI +HPModelKPLin +HPModelObserv +HPModelKPLinPI +HPModelObservSim +HPLiniarization2 +HPModelManLin +HPLiniarization3 +HPLiniarization4 +HydroCordModel +HydroCordModelKP +HydroCordModelFrancis +HydroCordModelKPall +HydroCordModelFrancis2 +HydroCordModelKP2 +HydroCordModel2 +HydroCordModelKPFran +HydroCordModelKPFran2 +var_plot +HydroCordModelDraftTube +HydroCordModelDraftTube2 +HydroCordModelKPDraftTube +HydroCordModelFrancisDraftTube +HydroCordModeKPlFrancisDraftTube +HydroCordModelDraftTube3 diff --git a/OpenHPL/Tests/var_plot.mo b/OpenHPL/Tests/var_plot.mo new file mode 100644 index 0000000..61830e5 --- /dev/null +++ b/OpenHPL/Tests/var_plot.mo @@ -0,0 +1,6 @@ +within OpenHPL.Tests; +model var_plot + Modelica.Blocks.Sources.CombiTimeTable turbine_pressure1(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Pressure_in.txt", tableName = "pressure", tableOnFile = true); + Modelica.Blocks.Sources.CombiTimeTable turbine_pressure2(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Pressure_out.txt", tableName = "pressure", tableOnFile = true); + Modelica.Blocks.Sources.CombiTimeTable turbine_flow(columns = {2}, fileName = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroCord/Turbine_flow.txt", tableName = "flow", tableOnFile = true); +end var_plot; diff --git a/OpenHPL/UsersGuide/ReleaseNotes/Version_1_0_0.mo b/OpenHPL/UsersGuide/ReleaseNotes/Version_1_0_0.mo new file mode 100644 index 0000000..134f053 --- /dev/null +++ b/OpenHPL/UsersGuide/ReleaseNotes/Version_1_0_0.mo @@ -0,0 +1,7 @@ +within OpenHPL.UsersGuide.ReleaseNotes; +class Version_1_0_0 "Version 1.0.0 (2019-09-06)" + extends Modelica.Icons.ReleaseNotes; + annotation (Documentation(info=" +

First public release of the OpenHPL.

+")); +end Version_1_0_0; diff --git a/OpenHPL/UsersGuide/ReleaseNotes/package.mo b/OpenHPL/UsersGuide/ReleaseNotes/package.mo new file mode 100644 index 0000000..c53bc67 --- /dev/null +++ b/OpenHPL/UsersGuide/ReleaseNotes/package.mo @@ -0,0 +1,8 @@ +within OpenHPL.UsersGuide; +package ReleaseNotes "Release Notes" + extends Modelica.Icons.ReleaseNotes; + +annotation (Documentation(info=" +

List of releases of the library.

+")); +end ReleaseNotes; diff --git a/OpenHPL/UsersGuide/ReleaseNotes/package.order b/OpenHPL/UsersGuide/ReleaseNotes/package.order new file mode 100644 index 0000000..ea0dd8a --- /dev/null +++ b/OpenHPL/UsersGuide/ReleaseNotes/package.order @@ -0,0 +1 @@ +Version_1_0_0 diff --git a/OpenHPL/UsersGuide/package.mo b/OpenHPL/UsersGuide/package.mo new file mode 100644 index 0000000..045076b --- /dev/null +++ b/OpenHPL/UsersGuide/package.mo @@ -0,0 +1,43 @@ +within OpenHPL; +package UsersGuide "User's Guide" + extends Modelica.Icons.Information; + + annotation (DocumentationClass=true, Documentation(info=" +

+OpenHPL is an open-source hydropower library that consists of hydropower unit models +and is encoded in Modelica. Modelica is a multi-domain as well as a component-oriented +modelling language that is suitable for complex system modelling. In order to develop +the library, OpenModelica has been used as an open-source Modelica-based modelling +and simulation environment. +

+

+This hydropower library, OpenHPL, provides the capability for the modelling of hydro- +power systems of different complexity. The library includes the following units: +

+
    +
  1. Various waterway units are modelled based on the mass and momentum balances, +i.e., reservoirs, conduits, surge tank, fittings. A modern method for solving more +detailed models (PDEs) is implemented in the library, and enables the modelling of +the waterway with elastic walls and compressible water as well as open channel. +
    2. +
  2. A hydrology model has been implemented and makes it possible to simulate the +water inflow to the reservoirs. +
    3. +
  3. Mechanistic models, as well as simple look-up table turbine models are implemented +for the Francis and Pelton turbine types. The Francis turbine model also includes +a turbine design algorithm that gives all of the needed parameters for the model, +based on the turbine’s nominal operating values. +
    4. +
  4. The capability for multiphysics connections and work with other libraries is ensured, +e.g., connecting with the Open-Instance Power System Library OpenIPSL makes it +possible to model the electrical part for the hydropower system. +
    5. +
+

+A detailed description of each hydropower unit and their uses are presented below in +the User's Guide PDF +and the PhD Thesis by Liubomyr Vytvytskyi: + http://hdl.handle.net/11250/2607645. +

+")); +end UsersGuide; diff --git a/OpenHPL/UsersGuide/package.order b/OpenHPL/UsersGuide/package.order new file mode 100644 index 0000000..0f3fe32 --- /dev/null +++ b/OpenHPL/UsersGuide/package.order @@ -0,0 +1 @@ +ReleaseNotes diff --git a/OpenHPL/Waterway/Fitting.mo b/OpenHPL/Waterway/Fitting.mo new file mode 100644 index 0000000..24e62f3 --- /dev/null +++ b/OpenHPL/Waterway/Fitting.mo @@ -0,0 +1,43 @@ +within OpenHPL.Waterway; +model Fitting "Different pipes fitting" + outer Constants Const "Using standard class with constants"; + extends OpenHPL.Icons.Fitting; + import Modelica.Constants.pi; + //// geometrical parameters for fitting + parameter Modelica.SIunits.Diameter D_1 = 5.8 "Pipe diameter from left hand side" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_2 = 3.3 "Pipe diameter from right hand side" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Conversions.NonSIunits.Angle_deg theta = 45 "Angle of teh tapered reduction/expansion" annotation ( + Dialog(group = "Geometry", enable = TaperedReduction or TaperedExpansion)); + parameter Modelica.SIunits.Length L(max = 5 * D_2) = 1 "Length of the thick orifice, condition L/D_2<=5. If condition is not stitisfied (L is longer) then use Square Reduction followed by Square Expansion" annotation ( + Dialog(group = "Geometry", enable = ThickOrifice)); + //// conditions for different fitting type + parameter Functions.Fitting.FittingType fit_type = Functions.Fitting.FittingType.SquareReduction "Type of pipe fitting" annotation ( + Dialog(group = "Type of fitting")); + //// variables + Modelica.SIunits.Velocity v "Water velocity"; + Modelica.SIunits.Area A = pi * D_1 / 4 "Cross section area"; + Modelica.SIunits.Pressure dp "Pressure drop of fitting"; + Real phi "Dimensionless factor"; + //// Conector + extends OpenHPL.Interfaces.ContactPort; +equation + //// Define velocity + v = m_dot / Const.rho / A; + //// Define dimensionless factor base on type of the fitting + phi = Functions.Fitting.FittingPhi(v, D_1, D_2, L, theta, Const.rho, Const.mu, Const.eps, fit_type); + //// Define pressure drop + dp = phi * 0.5 * Const.rho * abs(v) * v; + //// output pressure conector + n.p = p.p - dp; + annotation ( + Documentation(info = " +

Various possibilities of the fittings for the pipes with different diameters and also the orifices in the pipe. Here, the pressure drop due to these constrictions is defined.

+

Should choose only one of constrictions/fitting types. Here is presented the view of all of them:

+

+

+

+

+")); +end Fitting; diff --git a/OpenHPL/Waterway/Internal/KPOpenChannel.mo b/OpenHPL/Waterway/Internal/KPOpenChannel.mo new file mode 100644 index 0000000..c3439d5 --- /dev/null +++ b/OpenHPL/Waterway/Internal/KPOpenChannel.mo @@ -0,0 +1,91 @@ +within OpenHPL.Waterway.Internal; +model KPOpenChannel "Implementation of the KP functions for an open channel" + outer Constants Const; + parameter Integer N = 100; + parameter Modelica.SIunits.Length w = 194 "Channel width", L = 5000 "Channel length"; + parameter Modelica.SIunits.Height H[2] = {16.7, 0} "Channel height, left and right side", b[N + 1] = linspace(H[1], H[2], N + 1) "Riverbed", h0[N] = vector([ones(5) * 0.4; linspace(H[1] - 0.4 - 0.5 * (b[6] + b[7]), H[1] - 0.4 - 0.5* (b[N] + b[N + 1]), N - 5)]) "Initial depth"; + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 120 "Initial flow rate"; + parameter Real f_n = 0.04 "Manning's roughness coefficient [s/m^1/3]"; + parameter Boolean boundaryCondition[2, 2] = [false, true; false, true] "boundary conditions considiratiion [z_left, q_left; z_right, q_right]", SteadyState = false "if true - starts from Steady State"; + input Real boundaryValues[2, 2] = [h0[1] + b[1], V_dot0 / w; h0[N] + b[N + 1], V_dot0 / w] "values for the boundary conditions [z_left, q_left; z_right, q_right]"; + Modelica.SIunits.Length dx = L / N; + Modelica.SIunits.VolumeFlowRate V_dot[N]; + Modelica.SIunits.Height z[N], B[N], z_[N, 4], h_[N, 4], h[N](start = h0); + Modelica.SIunits.Velocity u_[N, 4]; + Real q0 = V_dot0 / w, q[N](start = ones(N) * V_dot0 / w), q_[N, 4], q_t; + Real S_[2 * N], theta = 1.3, F_[2 * N, 4], lam1[N, 4], lam2[N, 4], F_f[N]; + Real U[2 * N], U_[8, N], U_mp[N], U_pm[N]; +public + Functions.KP07.KPmethod KP(N = N, U = vector([h; q]), dx = dx, theta = theta, B = vector([b[1] + 3 / 2 * (b[1] - b[2]); b[1] + 1 / 2 * (b[1] - b[2]); B; b[N + 1] - 1 / 2 * (b[N] - b[N+1]); b[N + 1] - 3 / 2 * (b[N] - b[N+1])]), S_ = S_, F_ = F_, lam1 = lam1, lam2 = lam2, boundary = boundaryValues, boundaryCon = boundaryCondition); + // specify all variables which is needed for using KP method for solve PDE +initial equation + if SteadyState == true then + der(U) = zeros(2 * N); + else + q = ones(N) * q0; + h = h0; + end if; +equation + /// disturbance + if time < 1200 then + q_t = q0; + elseif time < 1300 then + q_t = q0 + 10 / w; + else + q_t = q0; + end if; + //boundaryValues = [h0[1] + b[1], q_t; h0[N] + b[N + 1], q0]; + /// centered riverbed + B = (b[1:N] + b[2:N + 1]) / 2; + /// z vector + z = h + B; + /// q vector + q = V_dot / w; + /// U vector + U = vector([z; q]); + /// piece wise linear reconstruction of vector U + U_ = KP.U_; + /// positivity preserving + for i in 1:N loop + if U_[1, i] < b[i + 1] then + U_mp[i] = h[i] + b[i + 1]; + else + U_mp[i] = U_[1, i]; + end if; + if U_[7, i] < b[i] then + U_pm[i] = h[i] + b[i]; + else + U_pm[i] = U_[7, i]; + end if; + end for; + /// decompose states + z_ = [U_mp, transpose(matrix(U_[3:2:5, :])), U_pm]; + h_ = z_ - [b[2:N + 1], b[2:N + 1], b[1:N], b[1:N]]; + q_ = transpose(matrix(U_[2:2:8, :])); + /// desingularization + for i in 1:N loop + u_[i, 1] = 2 * h_[i, 1] * q_[i, 1] / (h_[i, 1] ^ 2 + max(h_[i, 1] ^ 2, 1e-10)); + u_[i, 2] = 2 * h_[i, 2] * q_[i, 2] / (h_[i, 2] ^ 2 + max(h_[i, 2] ^ 2, 1e-10)); + u_[i, 3] = 2 * h_[i, 3] * q_[i, 3] / (h_[i, 3] ^ 2 + max(h_[i, 3] ^ 2, 1e-10)); + u_[i, 4] = 2 * h_[i, 4] * q_[i, 4] / (h_[i, 4] ^ 2 + max(h_[i, 4] ^ 2, 1e-10)); + end for; + /// eigenvalues + lam1 = u_ + sqrt(h_ * Const.g); + lam2 = u_ - sqrt(h_ * Const.g); + /// F vector + F_ = [q_; q_ .* q_ ./ h_ + Const.g * h_ .* h_ / 2]; + /// source term of friction and gravity forces + for i in 1:N loop + F_f[i] = (-Const.g * h[i] * (b[i + 1] - b[i]) / dx) - f_n ^ 2 * Const.g * q[i] * abs(q[i]) * (w + 2 * h[i] ^ (4 / 3)) / w ^ (4 / 3) * (2 * h[i] / (h[i] ^ 2 + max(h_[i, 4] ^ 2, 1e-10))) ^ (7 / 3); + end for; + S_[1:N] = zeros(N); + S_[N + 1:2 * N] = F_f; + /// diff. equation + der(U) = KP.diff_eq; + annotation ( + experiment(StopTime = 5000), + Documentation(info = " +

Here is example of using the KP function to solve hyperbolic PDE (here, model for openchannel is used).

+

All calculation of the variables that is used for defining eigenvalues, source term S and vector F are implemented inside this model.

+")); +end KPOpenChannel; diff --git a/OpenHPL/Waterway/Internal/package.mo b/OpenHPL/Waterway/Internal/package.mo new file mode 100644 index 0000000..0acf72d --- /dev/null +++ b/OpenHPL/Waterway/Internal/package.mo @@ -0,0 +1,4 @@ +within OpenHPL.Waterway; +package Internal "Package for internal models not suitable for direct use." +extends Modelica.Icons.InternalPackage; +end Internal; diff --git a/OpenHPL/Waterway/Internal/package.order b/OpenHPL/Waterway/Internal/package.order new file mode 100644 index 0000000..a5761da --- /dev/null +++ b/OpenHPL/Waterway/Internal/package.order @@ -0,0 +1 @@ +KPOpenChannel diff --git a/OpenHPL/Waterway/OpenChannel.mo b/OpenHPL/Waterway/OpenChannel.mo new file mode 100644 index 0000000..f137ec6 --- /dev/null +++ b/OpenHPL/Waterway/OpenChannel.mo @@ -0,0 +1,65 @@ +within OpenHPL.Waterway; +model OpenChannel "Open channel model (use KP scheme)" + outer Constants Const "using standart class with constants"; + extends OpenHPL.Icons.OpenChannel; + //// geometrical parameters of the open channel + parameter Integer N = 100 "Number of discretization units" annotation (Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length w = 180 "Channel width" annotation (Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 5000 "Channel length" annotation (Dialog(group = "Geometry")); + parameter Modelica.SIunits.Height H[2] = {17.5, 0} "Channel bed geometry, height from the left and right sides" annotation (Dialog(group = "Geometry")); + parameter Real f_n = 0.04 "Manning's roughness coefficient [s/m^1/3]" annotation (Dialog(group = "Geometry")); + parameter Boolean SteadyState = Const.Steady "if true - starts from Steady State" annotation (Dialog(group = "Initialization")); + parameter Modelica.SIunits.Height h0[N] = ones(N)*5 "Initial depth" annotation (Dialog(group = "Initialization")); + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = Const.V_0 "Initial flow rate" annotation (Dialog(group = "Initialization")); + parameter Boolean BoundaryCondition[2,2] = [false, true; false, true] "Boundary conditions. Choose options for the boundaries in a matrix table, i.e., if the matrix element = true, this element is used as boundary. The element represent the following quantities: [inlet depth, inlet flow; outlet depth, outlet flow]" annotation (Dialog(group = "Boundary condition")); + //// variables + Modelica.SIunits.VolumeFlowRate V_out "outlet flow", V_in "inlet flow"; + Modelica.SIunits.Height h[N] "Water depth in each unit of the chanel"; + //// conector + extends OpenHPL.Interfaces.TwoContact; + //// using open channel example from KP method class + Internal.KPOpenChannel openChannel( + N=N, + w=w, + L=L, + V_dot0=V_dot0, + f_n=f_n, + h0=h0, + boundaryValues=[h0[1] + H[1],V_in/w; h0[N] + H[2],V_out/w], + boundaryCondition=BoundaryCondition, + SteadyState=SteadyState) annotation (Placement(transformation(extent={{-10,-8},{10,12}}))); +equation +//// define a vector of the water depth in the channel + h = openChannel.h; +//// flow rate boundaries + p.m_dot = V_in * Const.rho; + n.m_dot = -V_out*Const.rho; +//// presurre boundaries + p.p = h[1] * Const.g * Const.rho + Const.p_a; + n.p = h[N]*Const.g*Const.rho + Const.p_a; + annotation ( + Documentation(info=" +

+This is a model for the open channel (river). +Could be used for modelling of run-of-river hydropower plants. +

+

+In this model it is assumed that the channel has the inlet and +outlet from the bottom of the left and right sides, respectevely. +

+

+That is why this open channel should be connected from both sides to the +Pipe elements. +Connectors hold information about the inlet/outlet flow rate and the pressures + that is defined as sum of atmospheric pressure and pressure of the water (depends on depth). +

+

+As boundary conditions, at least two of the four quentities +(inlet flow or depth and outlet flow or depth) should be used. +

+

Perhaps, this structure is not really useful and some modification should be done. +This is still under discussion and has not been tested properly. +

+
References
+

More info about the original model can be found in: http://www.mic-journal.no/ABS/MIC-2015-4-4.asp

")); +end OpenChannel; diff --git a/OpenHPL/Waterway/Penstock.mo b/OpenHPL/Waterway/Penstock.mo new file mode 100644 index 0000000..e5ad159 --- /dev/null +++ b/OpenHPL/Waterway/Penstock.mo @@ -0,0 +1,92 @@ +within OpenHPL.Waterway; +model Penstock "Model of the penstock with elastic walls and compressible water. Simple Staggered grid scheme" + extends Modelica.Icons.UnderConstruction; + outer Constants Const; + extends OpenHPL.Icons.Pipe( vertical=true); + import Modelica.Constants.pi; + // Penstock + parameter Modelica.SIunits.Height H = 420 "Height over which water fall in the pipe, m" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 600 "length of the pipe, m" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_i = 3.3 "Diametr from the input side of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_o = D_i "Diametr from the output side of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 20 "initial flow rate in the pipe, m3/s" annotation ( + Dialog(group = "Initialization")); + parameter Integer N = 20 "Number of segments" annotation ( + Dialog(group = "Discretization")); + Modelica.SIunits.Diameter dD = 0.5 * (D_i + D_o), D[N] = linspace(D_i + dD / 2, D_o - dD / 2, N), D_[N + 1] = linspace(D_i, D_o, N + 1); + Modelica.SIunits.Area A[N] = D .^ 2 * pi / 4, A_[N + 1] = D_ .^ 2 * pi / 4, A_m[N - 2], A_m_end, A_m_first; + Modelica.SIunits.Pressure p_1, p_2, p_[N - 1], dp = Const.rho * Const.g * H / N, p_m[N - 2]; + Modelica.SIunits.Length dx = L / N, Per_m[N - 2]; + Modelica.SIunits.MassFlowRate m_dot_R, m_dot_V, m_dot[N - 2], m_exp[N]; + Real F_ap[N - 1], F_m[N - 2], F_exp[N], eps_m[N - 2], Ap_m[3, N - 2], F_m_end, F_m_first; + Modelica.SIunits.Force F_g[N - 2], F_p[N - 2]; + Modelica.SIunits.Density rho_m[N - 2], rho_m_end, rho_m_first; + Modelica.SIunits.Velocity v_exp[N]; + Modelica.SIunits.VolumeFlowRate V_p_out[N - 2], V_p_out_end; + extends OpenHPL.Interfaces.TwoContact; +initial equation + m_dot_R = Const.rho * V_dot0; + m_dot_V = Const.rho * V_dot0; + m_dot = Const.rho * V_dot0 * ones(N - 2); + p_ = p_1 + dp:dp:p_1 + dp * (N - 1); +equation + // Pipe flow rate + m_dot_R = p.m_dot; + m_dot_V = -n.m_dot; + // pipe presurre + p_1 = p.p; + p_2 = n.p; + // momentum balance for the first and last segment + F_m_first = Const.rho * A[1] * (1 + Const.beta_total * ((p_[1] + p_1) / 2 - Const.p_a)); + rho_m_first = Const.rho * (1 + Const.beta * ((p_[1] + p_1) / 2 - Const.p_a)); + A_m_first = F_m_first / rho_m_first; + dx * der(m_dot_R) = A_m_first * (p_1 - p_[1]) + F_m_first * Const.g * dx * H / L - Functions.DarcyFriction.Friction(v_exp[1], 2 * sqrt(A_m_first / pi), dx, rho_m_first, Const.mu, Const.eps); + F_m_end = Const.rho * A[N] * (1 + Const.beta_total * ((p_[N - 1] + p_2) / 2 - Const.p_a)); + rho_m_end = Const.rho * (1 + Const.beta * ((p_[N - 1] + p_2) / 2 - Const.p_a)); + A_m_end = F_m_end / rho_m_end; + dx * der(m_dot_V) = (-A_m_end * (p_2 - p_[N - 1])) + F_m_end * Const.g * dx * H / L - Functions.DarcyFriction.Friction(v_exp[N], 2 * sqrt(A_m_end / pi), dx, rho_m_end, Const.mu, Const.eps); + // mass flow rate vectore with all segments + m_exp[1] = m_dot_R; + m_exp[2:N - 1] = m_dot[:]; + m_exp[N] = m_dot_V; + // mass balance for pressure + dx * Const.rho * A_[2:N] .* Const.beta_total .* der(p_) = m_exp[1:N - 1] - m_exp[2:N]; + // define middle pressures, densities and areas + F_ap = Const.rho * A_[2:N] .* (ones(N - 1) + Const.beta_total * (p_ - Const.p_a * ones(N - 1))); + F_m = (F_ap[1:N - 2] + F_ap[2:N - 1]) / 2; + F_exp[1] = Const.rho * A_[1] * (1 + Const.beta_total * (p_1 - Const.p_a)); + //F_m_first; + F_exp[2:N - 1] = F_m[:]; + F_exp[N] = Const.rho * A_[N + 1] * (1 + Const.beta_total * (p_2 - Const.p_a)); + //F_m_end; + v_exp = m_exp ./ F_exp; + p_m = (p_[1:N - 2] + p_[2:N - 1]) / 2; + rho_m = Const.rho * (ones(N - 2) + Const.beta * (p_m - Const.p_a * ones(N - 2))); + A_m = F_m ./ rho_m; + Per_m = sqrt(4 * pi * A_m); + // gravity and pressure drop forces + F_g = dx * Const.g * H / L * F_exp[2:N - 1]; + F_p = A_m .* (p_[1:N - 2] - p_[2:N - 1]); + // friction and other coefficients + for i in 1:N - 2 loop + eps_m[i] = -Functions.DarcyFriction.Friction(v_exp[i + 1], 2 * sqrt(A_m[i] / pi), dx, rho_m[i], Const.mu, Const.eps) / v_exp[i + 1]; + Ap_m[1, i] = -((m_exp[i] - m_exp[i + 2]) / 4 - eps_m[i]); + Ap_m[2, i] = (m_exp[i] + m_exp[i + 1]) / 4; + Ap_m[3, i] = -(m_exp[i + 1] + m_exp[i + 2]) / 4; + end for; + // momentum balance + dx * der(m_dot) = Ap_m[1, :] .* v_exp[2:N - 1] + Ap_m[2, :] .* v_exp[1:N - 2] + Ap_m[3, :] .* v_exp[3:N] + F_g + F_p; + // volumetric flow rates for all cells + V_p_out = m_dot ./ rho_m; + V_p_out_end = m_dot_V / (Const.rho * (1 + Const.beta * (p_2 - Const.p_a))); + annotation ( + Documentation(info = "

This is a more detaied model of the pipe that can be use for proper modeling of penstock. (This model does not work well. Instead PenstockKP model can be used.)

The model for the penstock with the elastic walls and compressible water with simple discretization method (Staggered grid). The geometry of the penstock is described due to figure:

+

+

Conservation laws are usually solved by Finite-volume methods. With the Finite volume method, we divide the grid into small control volumes or control cells and then apply the conservation laws. The discretization method is based on Staggered grid scheme, where the penstock is divided in N segments, with input and output pressure as a boundary conditions. Can be describe as the follow figure:

+

+")); +end Penstock; diff --git a/OpenHPL/Waterway/PenstockKP.mo b/OpenHPL/Waterway/PenstockKP.mo new file mode 100644 index 0000000..c69124e --- /dev/null +++ b/OpenHPL/Waterway/PenstockKP.mo @@ -0,0 +1,128 @@ +within OpenHPL.Waterway; +model PenstockKP "Detailed model of the pipe. Could have elastic walls and compressible water. KP scheme" + outer OpenHPL.Constants Const "using standart class with constants"; + extends OpenHPL.Icons.Pipe( vertical=true); + import Modelica.Constants.pi; + //// geometrical parameters of the pipe + parameter Modelica.SIunits.Height H = 420 "Height difference from the inlet to the outlet of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 600 "length of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_i = 3.3 "Diametr from the inlet side of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_o = D_i "Diametr from the outlet side of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Height eps = Const.eps "Pipe roughness height" annotation ( + Dialog(group = "Geometry")); + //// condition of steady state + parameter Boolean SteadyState = Const.Steady "if true - starts from Steady State" annotation ( + Dialog(group = "Initialization")); + //// staedy state values for flow rate in all segments of the pipe + parameter Modelica.SIunits.VolumeFlowRate V_dot0[N] = Const.V_0 * ones(N) "Initial flow rate in the pipe vector, m3/s" annotation ( + Dialog(group = "Initialization")); + //// staedy state values for pressure in all segments of the pipe + parameter Modelica.SIunits.Height h_s0 = 69 "Initial water head before the pipe, m" annotation ( + Dialog(group = "Initialization")); + parameter Modelica.SIunits.Pressure p_p0[N]= 1.013e5 + 997 * 9.81 * (h_s0 + H / N / 2):997 * 9.81 * H / N:1.013e5 + 997 * 9.81 * (h_s0 + H / N * (N - 1 / 2)) "Initial presure vector, bar" annotation ( + Dialog(group = "Initialization")); + //// segmentation of the pipe + parameter Integer N = 10 "Number of segments" annotation ( + Dialog(group = "Discretization")); + //// condition for elasticity + parameter Boolean PipeElasticity = true "if checked - include pipe elasticity to the model" annotation ( + choices(checkBox = true), + Dialog(group = "Properties")); + //// variables + Modelica.SIunits.Diameter dD = (D_i - D_o) / N "step in diameter change", D[N] = linspace(D_i + dD / 2, D_o - dD / 2, N) "centered diameter vector in atm. p.", D_[N + 1] = linspace(D_i, D_o, N + 1) "boundary diameter vector in atm. p."; + Modelica.SIunits.Area A_atm[N] = D .* D * pi / 4 "centered cross are vector in atm. p.", A_atm_[N + 1] = D_ .* D_ * pi / 4 "boundary cross are vector in atm. p.", A[N] "centered cross are vector", A_[N, 4] "boundary cross are vector", _A_atm[N, 4] "boundary cross are matrix in atm. p."; + Modelica.SIunits.Pressure p_p[N] "centered pressure", dp = Const.rho * Const.g * H / N "initial p. step", p_1 "left bound p.", p_2 "right bound p.", p_[N, 4] "boundary p. matrix"; + Modelica.SIunits.Length dx = L / N "length step", dh = H / N "height step"; + Modelica.SIunits.MassFlowRate m_dot[N](start = Const.rho * V_dot0) "centered mass flow", m_dot_R "left bound m_dot", m_dot_V "right bound m_dot", m_dot_[N, 4] "boundary m_dot matrix"; + Real U[2 * N] "centered states", U_[8, N] "boundary states", F_ap[N] "centered A*rho", F_ap_[N, 4] "bounddary A*rho", S_[2 * N] "source term", F_[2 * N, 4] "F matrix", lam1[N, 4] "eigenvalue '+'", lam2[N, 4] "eigenvalue '-'"; + Modelica.SIunits.Density rho[N] "centered density", rho_[N, 4] "boundary density"; + Modelica.SIunits.Velocity v_[N, 4] "bounds velocity", v[N] "centered velocity"; + Modelica.SIunits.VolumeFlowRate V_dot[N] "centered volumetric flow"; + Modelica.SIunits.Force F_f[N] "centered friction force vector"; + Real theta = 1.3 "parameter for slope limiter"; + extends OpenHPL.Interfaces.TwoContact; +public + Functions.KP07.KPmethod KP(N = N, U = U, dx = dx, theta = theta, B = zeros(N + 4), S_ = S_, F_ = F_, lam1 = lam1, lam2 = lam2, boundary = [p_1, 0; p_2, 0], boundaryCon = [true, false; true, false]); + // specify all variables which is needed for using KP method for solve PDE +initial equation + if SteadyState == true then + der(U[1:N]) = zeros(N); + der(U[N + 2:2 * N - 1]) = zeros(N - 2); + else + m_dot[2:N - 1] = Const.rho * V_dot0[2:N - 1]; + p_p = p_p0; + end if; +equation + //// Pipe flow rate + m_dot_R = p.m_dot; + m_dot_V = -n.m_dot; + //// pipe presurre + p_1 = p.p; + p_2 = n.p; + //// state vector + U[1:N] = p_p[:]; + U[N + 1:2 * N] = m_dot[:]; + //// Define variables, which are going to be used for souce term S_ + if PipeElasticity == true then + F_ap = Const.rho * A_atm .* (ones(N) + Const.beta_total * (p_p - Const.p_a * ones(N))); + else + F_ap = Const.rho * A_atm .* (ones(N) + Const.beta * (p_p - Const.p_a * ones(N))); + end if; + v = m_dot ./ F_ap; + rho = Const.rho * (ones(N) + Const.beta * (p_p - Const.p_a * ones(N))); + A = F_ap ./ rho; + V_dot = m_dot ./ rho; + //// piece wise linear reconstruction of vector U + U_ = KP.U_; + U_[6, 1] = m_dot_R; + U_[4, N] = m_dot_V; + //// presure states + p_ = transpose(matrix(U_[1:2:8, :])); + //// mass flow rate states + m_dot_ = transpose(matrix(U_[2:2:8, :])); + //// define variables, which are going to be used for F matrix and eigenvalues + _A_atm = [A_atm_[2:N + 1], A_atm_[2:N + 1], A_atm_[1:N], A_atm_[1:N]]; + rho_ = Const.rho * (ones(N, 4) + Const.beta * (p_ - Const.p_a * ones(N, 4))); + if PipeElasticity == true then + F_ap_ = Const.rho * _A_atm .* (ones(N, 4) + Const.beta_total * (p_ - Const.p_a * ones(N, 4))); + else + F_ap_ = Const.rho * _A_atm .* (ones(N, 4) + Const.beta * (p_ - Const.p_a * ones(N, 4))); + end if; + A_ = F_ap_ ./ rho_; + v_ = m_dot_ ./ F_ap_; + //// eigenvalues + if PipeElasticity == true then + lam1 = (v_ + sqrt(v_ .* v_ + 4 * A_ / Const.rho ./ _A_atm / Const.beta_total)) / 2; + lam2 = (v_ - sqrt(v_ .* v_ + 4 * A_ / Const.rho ./ _A_atm / Const.beta_total)) / 2; + else + lam1 = (v_ + sqrt(v_ .* v_ + 4 * A_ / Const.rho ./ _A_atm / Const.beta)) / 2; + lam2 = (v_ - sqrt(v_ .* v_ + 4 * A_ / Const.rho ./ _A_atm / Const.beta)) / 2; + end if; + //// F vector + if PipeElasticity == true then + F_ = [m_dot_ ./ Const.rho ./ _A_atm ./ Const.beta_total; m_dot_ .* v_ + A_ .* p_]; + else + F_ = [m_dot_ ./ Const.rho ./ _A_atm ./ Const.beta; m_dot_ .* v_ + A_ .* p_]; + end if; + //// define friction force in each segment using Darcy friction factor + for i in 1:N loop + F_f[i] = Functions.DarcyFriction.Friction(v[i], 2 * sqrt(A[i] / pi), dx, rho[i], Const.mu, eps); + end for; + //// source term of friction and gravity forces + S_[1:N] = zeros(N); + S_[N + 1:2 * N] = F_ap * Const.g * H / L - F_f / dx; + //// diff. equation + der(U) = KP.diff_eq; + annotation ( + Documentation(info = "

This is a more detailed model fof the pipe that mostly can be used for proper modelling of the penstock or other conduits.

The model could include the elastic walls and compressible water and use discretization method based on Kurganov-Petrova central upwind scheme (KP). The geometry of the penstock is described due to figure:

+

+

Conservation laws are usually solved by Finite-volume methods. With the Finite volume method, we divide the grid into small control volumes or control cells and then apply the conservation laws. Here the pipe is divided in N segments, with input and output pressure as a boundary conditions. The given cell is denoted by j i.e. it is the j th cell. Cell average is calculated at the center of the cell and U denotes the average values of the conserved variables. The left and the right interfaces of the cell are denoted by j-1/2 and j+1/2 respectively. At each cell interface, the right(+)/left(-) point values are reconstructed. a denotes the right and the left sided local speeds of propagation at the left/right interface of the cell.

+

+

In order to determine the fluxes at the cell interface H and the source term S the KP scheme is used, which is a second order scheme which is well balanced.

+

More info about the KP pipe model: http://www.ep.liu.se/ecp/article.asp?issue=138&article=002&volume= 

+")); +end PenstockKP; diff --git a/OpenHPL/Waterway/Pipe.mo b/OpenHPL/Waterway/Pipe.mo new file mode 100644 index 0000000..2d1f36f --- /dev/null +++ b/OpenHPL/Waterway/Pipe.mo @@ -0,0 +1,97 @@ +within OpenHPL.Waterway; +model Pipe "Model of the pipe" + outer Constants Const "Using standard class with constants"; + extends OpenHPL.Icons.Pipe; + import Modelica.Constants.pi; + //// geometrical parameters of the pipe + parameter Modelica.SIunits.Length H = 25 "Height difference from the inlet to the outlet" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 6600 "Length of the pipe" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_i = 5.8 "Diameter of the inlet side" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D_o = D_i "Diameter of the outlet side" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Height eps = Const.eps "Pipe roughness height" annotation ( + Dialog(group = "Geometry")); + //// condition of steady state + parameter Boolean SteadyState = Const.Steady "if true - starts from Steady State" annotation ( + Dialog(group = "Initialization")); + //// staedy state value for flow rate + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = Const.V_0 "Initial flow rate in the pipe" annotation ( + Dialog(group = "Initialization")); + //// possible parameters for temperature variation. Not finished... + //parameter Boolean TempUse = Const.TempUse "If checked - the water temperature is not constant" annotation (Dialog(group = "Initialization")); + //parameter Modelica.SIunits.Temperature T_i = Const.T_i "Initial water temperature in the pipe" annotation (Dialog(group = "Initialization", enable = TempUse)); + //// variables + Modelica.SIunits.Diameter D_ = 0.5 * (D_i + D_o) "Average diameter"; + Modelica.SIunits.Mass m "water mass"; + Modelica.SIunits.Area A_i = D_i ^ 2 * pi / 4 "Inlet cross section area"; + Modelica.SIunits.Area A_o = D_o ^ 2 * pi / 4 "Outlet cross section area"; + Modelica.SIunits.Area A_ = D_ ^ 2 * pi / 4 "Average cross section area"; + Real cos_theta = H / L "slope ratio"; + Modelica.SIunits.Velocity v "Water velocity"; + Modelica.SIunits.Force F_f "Friction force"; + Modelica.SIunits.Momentum M "Water momentum"; + Modelica.SIunits.Pressure p_1 "Inlet pressure"; + Modelica.SIunits.Pressure p_2 "Outlet pressure"; + Modelica.SIunits.Pressure dp=p_2-p_1 "Pressure difference p_2-p_1"; + Modelica.SIunits.VolumeFlowRate V_dot(start = V_dot0) "Flow rate"; + + //// variables for temperature. Not in use for now... + //Real W_f, W_e; + //Modelica.SIunits.Temperature T( start = T_i); + //// connectors + extends OpenHPL.Interfaces.ContactPort; +initial equation + if SteadyState == true then + der(M) = 0; + //der(n.T) = 0; + else + V_dot = V_dot0; + //n.T = p.T; + end if; +equation + //// Water volumetric flow rate through the pipe + V_dot = m_dot / Const.rho; + //// Water velocity + v = V_dot / A_; + //// Momentum and mass of water + M = Const.rho * L * V_dot; + m = Const.rho * A_ * L; + //// Friction force + F_f = Functions.DarcyFriction.Friction(v, D_, L, Const.rho, Const.mu, eps); + //// momentum balance + der(M) = Const.rho * V_dot ^ 2 * (1 / A_i - 1 / A_o) + p_1 * A_i - p_2 * A_o - F_f + m * Const.g * cos_theta; + //// pipe presurre + p_1 = p.p; + p_2 = n.p; + //// possible temperature variation implementation. Not finished... + //W_f = -F_f * v; + //W_e = V_dot * (p_1 - p_2); + //if TempUse == true then + //Const.c_p * m * der(T) = V_dot * Const.rho * Const.c_p * (p.T - T) + W_e - W_f; + //0 = V_dot * Const.rho * Const.c_p * (p.T - n.T) + W_e - W_f; + //else + //der(n.T) = 0; + //end if; + //n.T = T; + //// + annotation ( + Documentation(info = "

The simple model of the pipe gives possibilities + for easy modelling of different conduit: intake race, penstock, tail race, etc.

+

This model is described by the momentum differential equation, which depends + on pressure drop through the pipe together with friction and gravity forces. + The main defined variable is volumetric flow rate V_dot.

+

+

In this pipe model, the flow rate changes simultaniusly in the whole pipe + (an information about the speed of wave propagation is not included here). + Water pressures can be shown just in the boudaries of pipe + (inlet and outlet pressure from connectors). 

+

It should be noted that this pipe model provides posibilities for modelling + of pipes with both a positive and a negative slopes (positive or negative height diference).

+

More info about the pipe model: http://www.ep.liu.se/ecp/article.asp?issue=138&article=002&volume= + and http://www.ep.liu.se/ecp/article.asp?article=049&issue=138&volume= +

+")); +end Pipe; diff --git a/OpenHPL/Waterway/Reservoir.mo b/OpenHPL/Waterway/Reservoir.mo new file mode 100644 index 0000000..d46439b --- /dev/null +++ b/OpenHPL/Waterway/Reservoir.mo @@ -0,0 +1,88 @@ +within OpenHPL.Waterway; +model Reservoir "Model of the reservoir" + outer Constants Const "using standart class with constants"; + extends OpenHPL.Icons.Reservoir; + //// constant water level in the reservoir + parameter Modelica.SIunits.Height H_r = 50 "Initial water level above intake" annotation ( + Dialog(group = "Initialization")); + //// geometrical parameters in case when the inflow to reservoir is used + parameter Modelica.SIunits.Length L = 500 "Length of the reservoir" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length w = 100 "Bed width of the reservoir" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Conversions.NonSIunits.Angle_deg alpha = 30 "The angle of the reservoir walls (zero angle corresponds to vertical walls)" annotation ( + Dialog(group = "Geometry")); + parameter Real f = 0.0008 "Friction factor of the reservoir" annotation ( + Dialog(group = "Geometry")); + //// conditions of use + parameter Boolean UseInFlow = false "If checked - the inlet/outlet flow is used" annotation ( + Dialog(group = "Structure"), + choices(checkBox = true)); + parameter Boolean Input_level = false "If checked - the input Level_in should be connected. Otherwise the constant level H_r is used" annotation ( + Dialog(group = "Structure"), + choices(checkBox = true)); + //// possible parameters for temperature variation. Not finished... + //parameter Boolean TempUse = Const.TempUse "If checked - the water temperature is not constant" annotation (Dialog(group = "Initialization")); + //parameter Modelica.SIunits.Temperature T_i = Const.T_i "Initial temperature of the water" annotation (Dialog(group = "Initialization", enable = TempUse)); + //// variables + Modelica.SIunits.Area A "vertiacal cros section"; + Modelica.SIunits.Mass m "water mass"; + Modelica.SIunits.MassFlowRate m_dot "water mass flow rate"; + Modelica.SIunits.VolumeFlowRate V_o_dot "outlet flow rate", V_i_dot "inlet flow rate", V_dot "vertical flow rate"; + Modelica.SIunits.Velocity v "water velosity"; + Modelica.SIunits.Momentum M "water momentum"; + Modelica.SIunits.Force F_f "friction force"; + Modelica.SIunits.Height H "water height"; + Modelica.SIunits.Pressure p_2 "outside pressure"; + //// conectors + OpenHPL.Interfaces.Contact n(p=p_2) "Outflow from reservoir" annotation (Placement(transformation(extent={{90,-10},{110,10}}), iconTransformation(extent={{90,-10},{110,10}}))); + Modelica.Blocks.Interfaces.RealInput V_in = V_i_dot if UseInFlow "Conditional input inflow of the reservoir" + annotation (Placement(transformation(origin={-120,0}, extent = {{-20, -20}, {20, 20}}, rotation = 0))); + Modelica.Blocks.Interfaces.RealInput Level_in = H if Input_level "Conditional input water level of the reservoir" + annotation (Placement(transformation(origin={-120,50}, extent = {{-20, -20}, {20, 20}}, rotation=0))); +initial equation + if Input_level == false then + H = H_r; + end if; +equation + //// Define vertiacal cross section of the reservoir + A = H * (w + 2 * H * Modelica.Math.tan(Modelica.SIunits.Conversions.from_deg(alpha))); + //// Define water mass + m = Const.rho * A * L; + //// Define volumetric water flow rate + V_dot = V_i_dot - V_o_dot; + //// Define mass water flow rate + m_dot = Const.rho * V_dot; + //// Define water velocity + v = m_dot / Const.rho / A; + //// Define momentrumn + M = L * m_dot; + //// Define friction term + F_f = 1 / 8 * Const.rho * f * L * (w + 2 * H / Modelica.Math.cos(alpha)) * v * abs(v); + //// condition for inflow use + if UseInFlow == false then + //// condition for constant water level, inflow = outflow + V_i_dot - V_o_dot = 0; + end if; + //// condition for input water level use + if Input_level == false then + //// define derivatives of momentum and mass + der(M) = A * (Const.p_a - p_2) + Const.g * Const.rho * A * H - F_f + Const.rho / A * (V_i_dot ^ 2 - V_o_dot ^ 2); + der(m) = m_dot; + else + //// define output pressure + p_2 = Const.p_a + Const.g * Const.rho * H; + end if; + //// output flow conector + n.m_dot = -Const.rho * V_o_dot; + //// output temperature conector + //n.T = T_i; + annotation ( + Icon(coordinateSystem(initialScale = 0.1)), + Documentation(info = "

Simple model of the reservoir, which depending on depth of the outlet from reservoir, calculate the outlet pressure.

+

+


Can also make a more complicated model and add the inflow to the reservoir and specify the reservoir geometry.

+

Also, it is possible to connect an input signal with varying water level in the reservoir.

+"), + experiment(StartTime = 0, StopTime = 3600, Tolerance = 0.0001, Interval = 1)); +end Reservoir; diff --git a/OpenHPL/Waterway/ReservoirChannel.mo b/OpenHPL/Waterway/ReservoirChannel.mo new file mode 100644 index 0000000..58d4d18 --- /dev/null +++ b/OpenHPL/Waterway/ReservoirChannel.mo @@ -0,0 +1,36 @@ +within OpenHPL.Waterway; +model ReservoirChannel "Reservoir model based on open channel model" + extends OpenHPL.Icons.Reservoir; + outer Constants Const "using standart class with constants"; + //// reservoir segmentation + parameter Integer N = 20 "Number of segments"; + //// geometrical parameters of the reservoir + parameter Modelica.SIunits.Length w = 1000 "Reservoir width"; + parameter Modelica.SIunits.Length L = 5000 "Reservoir length"; + parameter Modelica.SIunits.Height H[2] = {2, 2} "Reservoir bed height from left and right side"; + //// initialization + parameter Modelica.SIunits.Height h0 = 50 "Initial depth of the reservoir"; + //// condition of steady state + parameter Boolean SteadyState = Const.Steady "if true - starts from Steady State"; + //// variables + Real q "flow rate"; + //// conector + OpenHPL.Interfaces.Contact n annotation (Placement(transformation(extent={{90,-10},{110,10}}), iconTransformation(extent={{68,-32},{134,34}}))); + //// using the open channel exampel from the KP method class + Internal.KPOpenChannel openChannel( + N=N, + w=w, + H=H, + h0=ones(N)*h0, + boundaryValues=[h0 + H[1],q; h0 + H[2],q], + boundaryCondition=[true,true; false,true], + SteadyState=SteadyState) annotation (Placement(transformation(extent={{-10,-10},{10,10}}))); +equation + //// boundaries + n.m_dot = -q * w * Const.rho; + n.p = Const.p_a + Const.rho * Const.g * openChannel.h[N]; + annotation ( + Documentation(info="This is a model for the reservoir, based on the open channel (river) model.

+

Has not been tested properly.

+")); +end ReservoirChannel; diff --git a/OpenHPL/Waterway/RunOff.mo b/OpenHPL/Waterway/RunOff.mo new file mode 100644 index 0000000..a0d8434 --- /dev/null +++ b/OpenHPL/Waterway/RunOff.mo @@ -0,0 +1,104 @@ +within OpenHPL.Waterway; +model RunOff "Run off model (10 height zones only for snow rutine)" + extends Modelica.Icons.UnderConstruction; + parameter Integer N = 10 "# of height zones" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T_t = 1 "Threshold temperature" annotation ( + Dialog(group = "Physically-based parameters")); + parameter Modelica.SIunits.Area A[N] = ones(N) * 41.3e6 "Catchment area" annotation ( + Dialog(group = "Geometry")); + parameter Real s_T = 20e-3 "Soil zone saturation threshold, m" annotation ( + Dialog(group = "Empirical parameters")), a_1 = 0.547 / 86400 "Discharge frequency for surface runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_2 = 0.489 / 86400 "Discharge frequency for fast runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_3 = 0.0462 / 86400 "Discharge frequency for base runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_L[N] = {15.43, 3.97, 1.79, 0.81, 1.27, 1.44, 1.03, 2.32, 1.31, 0.57} .* 1e6 ./ A "Fractional area covered by lakes, -" annotation ( + Dialog(group = "Geometry")), g_T = 150e-3 "Ground saturation threshold, m" annotation ( + Dialog(group = "Physically-based parameters")), PERC = 0.6e-3 / 86400 "preccolation from soil zone to base zone, m/sec" annotation ( + Dialog(group = "Empirical parameters")), beta = 2 "Ground zone shape coefficient, -" annotation ( + Dialog(group = "Empirical parameters")), k_m = 4e-3 / 86400 "Melting factor, m/deg/sec" annotation ( + Dialog(group = "Physically-based parameters")), PCORR = 1.05 "Precipitation correction - Rainfall, -" annotation ( + Dialog(group = "Empirical parameters")), SCORR = 1.2 "Precipitation correction - Snowfall, -" annotation ( + Dialog(group = "Empirical parameters")), CE = 0.04 "Model parameter for adjusted evapotranspiration, 1/deg" annotation ( + Dialog(group = "Empirical parameters")); + //a_w = 0.03 "Saturation coeficieant, -" annotation (Dialog(group="Empirical parameters")), + //a = 0.001 "Snow surface fraction, -" annotation (Dialog(group="Empirical parameters")), + parameter String fileName_temp = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Temp_var.txt") "File with temperature variations in different height zones" annotation ( + Dialog(tab = "Temperature")); + parameter String tableName_temp = "zones_temp" "Table with temperature variations in different height zones" annotation ( + Dialog(tab = "Temperature")), fileName_prec = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Prec_var.txt") "File with precipitation variations in different height zones" annotation ( + Dialog(tab = "Precipitation")), tableName_prec = "zones_prec" "Table with precipitation variations in different height zones" annotation ( + Dialog(tab = "Precipitation")), fileName_evap = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Evap_var.txt") "File with evapotranspiration variations during the year" annotation ( + Dialog(tab = "Evapotranspiration")), tableName_evap = "evap" "Table with evapotranspiration variations during the year" annotation ( + Dialog(tab = "Evapotranspiration")), fileName_month_temp = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Month_av_temp.txt") "File with monthly average temperature for evapotranspiration calculation" annotation ( + Dialog(tab = "Evapotranspiration")), tableName_month_temp = "month_temp" "Table with monthly average temperature" annotation ( + Dialog(tab = "Evapotranspiration")), fileName_flow = "C:/Users/liubomyr/OneDrive/Documents/PhD/HydroPowerLib/Resources/Tables/Flow_var_d.txt" "File with real observed run off" annotation ( + Dialog(tab = "Real run off")), tableName_flow = "flow" "Table with real observed run off" annotation ( + Dialog(tab = "Real run off")); + parameter Integer columns_temp[:] = 2:N + 1 "Columns with temperature variations for different height zones" annotation ( + Dialog(tab = "Temperature")), columns_prec[:] = 2:N + 1 "Columns with precipitation variations for different height zones" annotation ( + Dialog(tab = "Precipitation")), columns_evap[:] = {2} "Column with evapotranspiration variations during the year" annotation ( + Dialog(tab = "Evapotranspiration")), columns_month_temp[:] = 2:N + 1 "Columns with monthly average temperature variations for different height zones" annotation ( + Dialog(tab = "Evapotranspiration")), columns_flow[:] = {2} "Column with real observed run off" annotation ( + Dialog(tab = "Real run off")); + Modelica.SIunits.Height V_s_w "Water content in soil zone", V_b_w "Water content in base zone", V_g_w "Water content in ground zone", V_s_d[N] "Dry snow"; + //V_s_s[N] "Soggy snow"; + Modelica.SIunits.VolumeFlowRate V_doT_tot "Total runoff"; + Modelica.SIunits.Velocity V_dot_s2b "Runoff rate from soil zone to base zone", V_dot_pl "Precipitation in lake", V_dot_b2br "Runoff rate from base zone t obase runoff", V_dot_l_e "Rate of evapotranspiration from lake", V_dot_g2s "Runoff rate from ground zone to soil zone", V_dot_s2sr "Runoff rate from soil zone to surface runoff", V_dot_s2fr "Runoff rate from soil zone to fast runoff", V_dot_s2g[N] "Runoff rate from snow zone to ground zone", V_dot_g_e "Evapotranspiration rate from ground zone", V_dot_p_r[N] "Precipitation in mainland in the form of snow", V_dot_d2w[N] "Melting rate from dry snow form to water snow form", V_dot_p_s[N] "Precipitation in mainland in the form of snow", V_dot_epot[N] "Evapotranspiration"; + //V_dot_w2d[N] "Freezing rate from water snow form to dry snow form"; + Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T[N] "Ambient temperature"; + Modelica.SIunits.Velocity V_dot_p[N] "Precipitation"; + Real a_e[N], a_sw, F_o, F_e, R2, err = 0.5e-3 "Smal error, m"; + Modelica.Blocks.Sources.CombiTimeTable temp_var(tableOnFile = true, columns = columns_temp, tableName = tableName_temp, fileName = fileName_temp); + Modelica.Blocks.Sources.CombiTimeTable prec_var(tableOnFile = true, fileName = fileName_prec, columns = columns_prec, tableName = tableName_prec); + Modelica.Blocks.Sources.CombiTimeTable evap_var(tableOnFile = true, fileName = fileName_evap, columns = columns_evap, tableName = tableName_evap); + Modelica.Blocks.Sources.CombiTimeTable month_temp(tableOnFile = true, fileName = fileName_month_temp, columns = columns_month_temp, tableName = tableName_month_temp); + Modelica.Blocks.Sources.CombiTimeTable flow_var(tableOnFile = true, fileName = fileName_flow, columns = columns_flow, tableName = tableName_flow); +initial equation + //V_s_s = zeros(N); + V_s_d = zeros(N); + V_g_w = 0; + V_s_w = 0; + V_b_w = 0; +equation + ///// Total runoff + //der(V_doT_tot) = if V_s_w > s_T then (a_1*(V_s_w-s_T)+a_2*V_s_w)*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w else a_2*V_s_w*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w; + V_doT_tot = V_dot_b2br + V_dot_s2sr + V_dot_s2fr; + for i in 1:N loop + ///// Snow zone (Snow rourine) + T[i] = temp_var.y[i]; + V_dot_p[i] = prec_var.y[i] * 1e-3 / 86400; + der(V_s_d[i]) = V_dot_p_s[i] - V_dot_d2w[i]; + // + V_dot_w2d[i]; + //der(V_s_s[i]) = V_dot_p_r[i] - V_dot_w2d[i] + V_dot_d2w[i] - V_dot_s2g[i]; + V_dot_p_s[i] = if T[i] <= T_t then V_dot_p[i] * PCORR * SCORR * (1 - a_L[i]) else 0; + V_dot_p_r[i] = if T[i] > T_t then V_dot_p[i] * PCORR * (1 - a_L[i]) else 0; + V_dot_d2w[i] = if T[i] > T_t and V_s_d[i] >= err * 1e-2 then k_m * (T[i] - T_t) * (1 - a_L[i]) else 0; + //V_dot_w2d[i] = if T[i]<=T_t and V_s_s[i]>=0 then k_m*(T_t-T[i]) else 0; + //V_dot_s2g[i] = if T[i]>T_t and V_s_s[i]=err and V_s_d[i]>=err then (1+a_w)*V_dot_d2w[i]+V_dot_p_r[i] else 0; + V_dot_s2g[i] = V_dot_p_r[i] + V_dot_d2w[i]; + ///// Ground zone (Soil moisure) + //der(V_g_w[i]) = V_dot_s2g[i] - V_dot_g2s[i] - (1-a)*V_dot_g_e[i]; + V_dot_epot[i] = a_e[i] * evap_var.y[1] * 1e-3 / 86400 * (1 + CE * (T[i] - month_temp.y[i])); + a_e[i] = if V_s_d[i] < err then 1 else 0; + end for; + der(V_g_w) = sum(V_dot_s2g .* A) - V_dot_g2s - V_dot_g_e; + V_dot_g2s = if V_g_w >= 0 and V_g_w < g_T * sum(A) then (V_g_w / g_T / sum(A)) ^ beta * sum(V_dot_s2g .* A) else sum(V_dot_s2g .* A); + V_dot_g_e = if V_g_w < g_T * sum(A) then V_g_w / g_T / sum(A) * sum(V_dot_epot .* A) else sum(V_dot_epot .* A); + ///// Soil zone (Upprec zone) + der(V_s_w) = V_dot_g2s - a_sw * V_dot_s2b - V_dot_s2sr - V_dot_s2fr; + V_dot_s2b = sum((ones(N) - a_L) .* PERC .* A); + V_dot_s2sr = if V_s_w > s_T * sum(A) then a_1 * (V_s_w - s_T * sum(A)) else 0; + V_dot_s2fr = a_2 * V_s_w; + a_sw = if V_dot_g2s < V_dot_s2b then 0 else 1; + ///// Basement zone (Lower zone) + der(V_b_w) = V_dot_s2b + V_dot_pl - V_dot_b2br - V_dot_l_e; + V_dot_pl = sum(a_L .* V_dot_p .* A); + V_dot_b2br = a_3 * V_b_w; + V_dot_l_e = sum(a_L .* V_dot_epot .* A); + ///// Error + F_o = (flow_var.y[1] - 17.230144) ^ 2; + F_e = (flow_var.y[1] - V_doT_tot) ^ 2; + R2 = 1 - F_e / F_o; + annotation ( + experiment(StopTime = 315360000, Interval = 86400)); +end RunOff; diff --git a/OpenHPL/Waterway/RunOff_SI.mo b/OpenHPL/Waterway/RunOff_SI.mo new file mode 100644 index 0000000..79820b4 --- /dev/null +++ b/OpenHPL/Waterway/RunOff_SI.mo @@ -0,0 +1,71 @@ +within OpenHPL.Waterway; +model RunOff_SI + extends Modelica.Icons.UnderConstruction; + parameter Integer N = 10 "# of height zones"; + parameter Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T_T = 1 "Threshold temperature"; + //, T[N] "Ambient temperature"; + parameter Modelica.SIunits.Area A[N] = ones(N) * 41.3e6 "Catchment area"; + parameter Real s_T = 20e-3 "Soil zone saturation threshold, m", a_1 = 0.547 / 86400 "Discharge frequency for surface runoff, 1/sec", a_2 = 0.489 / 86400 "Discharge frequency for fast runoff, 1/sec", a_3 = 0.0462 / 86400 "Discharge frequency for base runoff, 1/sec", a_L[N] = {15.43, 3.97, 1.79, 0.81, 1.27, 1.44, 1.03, 2.32, 1.31, 0.57} .* 1e6 ./ A "Fractional area covered by lakes, -", g_T = 150e-3 "Ground saturation threshold, m", PERC = 0.6e-3 / 86400 "Percolation from soil zone to base zone, m/sec", beta = 2 "Ground zone shape coefficient, -", k_m = 4e-3 / 86400 "Melting factor, m/deg/sec", a_w = 0.0 "Saturation coeficieant, -", a = 0.001 "Snow surface fraction, -", PCORR = 1.05 "Precipitation correction - Rainfall, -", SCORR = 1.2 "Precipitation correction - Snowfall, -", err = 0.5e-3 "Smal error, m", CE = 0.04 "Model parameter for adjusted evapotranspiration, 1/deg"; + Modelica.SIunits.Volume V_s_w[N] "Water content in soil zone", V_b_w[N] "Water content in base zone", V_g_w[N] "Water content in ground zone", V_s_d[N] "Dry snow"; + //V_s_s[N] "Soggy snow"; + Modelica.SIunits.VolumeFlowRate V_dot_tot "Total runoff", V_dot_s2b[N] "Runoff rate from soil zone to base zone", V_dot_pl[N] "Precipitation in lake", V_dot_b2br[N] "Runoff rate from base zone t obase runoff", V_dot_l_e[N] "Rate of evapotranspiration from lake", V_dot_g2s[N] "Runoff rate from ground zone to soil zone", V_dot_s2sr[N] "Runoff rate from soil zone to surface runoff", V_dot_s2fr[N] "Runoff rate from soil zone to fast runoff", V_dot_s2g[N] "Runoff rate from snow zone to ground zone", V_dot_g_e[N] "Evapotranspiration rate from ground zone", V_dot_p_r[N] "Precipitation in mainland in the form of snow", V_dot_d2w[N] "Melting rate from dry snow form to water snow form", V_dot_p_s[N] "Precipitation in mainland in the form of snow", V_dot_epot[N] "Evapotranspiration"; + //V_dot_w2d[N] "Freezing rate from water snow form to dry snow form"; + Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T[N] "Ambient temperature"; + Modelica.SIunits.Velocity V_dot_p[N] "Precipitation"; + Real a_e[N], F_o, F_e, R2; + Modelica.Blocks.Sources.CombiTimeTable temp_var(tableOnFile = true, columns = 2:11, tableName = "zones_temp", fileName = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Temp_var.txt")); + Modelica.Blocks.Sources.CombiTimeTable prec_var(tableOnFile = true, fileName = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Prec_var.txt"), columns = 2:11, tableName = "zones_prec"); + Modelica.Blocks.Sources.CombiTimeTable evap_var(tableOnFile = true, fileName = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Evap_var.txt"), columns = {2}, tableName = "evap"); + Modelica.Blocks.Sources.CombiTimeTable month_temp(tableOnFile = true, fileName = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Month_av_temp.txt"), columns = 2:11, tableName = "month_temp"); + Modelica.Blocks.Sources.CombiTimeTable flow_var(tableOnFile = true, fileName = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Flow_var_d.txt"), tableName = "flow"); +initial equation + //V_s_s = zeros(N); + V_s_d = zeros(N); + V_g_w = zeros(N); + V_s_w = zeros(N); + V_b_w = zeros(N); +equation + ///// Total runoff + //der(V_dot_tot) = if V_s_w > s_T then (a_1*(V_s_w-s_T)+a_2*V_s_w)*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w else a_2*V_s_w*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w; + V_dot_tot = sum(V_dot_b2br + V_dot_s2sr + V_dot_s2fr); + for i in 1:N loop + ///// Snow zone (Snow rourine) + T[i] = temp_var.y[i]; + V_dot_p[i] = prec_var.y[i] * 1e-3 / 86400; + der(V_s_d[i]) = V_dot_p_s[i] - V_dot_d2w[i]; + // + V_dot_w2d[i]; + //der(V_s_s[i]) = V_dot_p_r[i] - V_dot_w2d[i] + V_dot_d2w[i] - V_dot_s2g[i]; + V_dot_p_s[i] = if T[i] <= T_T then V_dot_p[i] * PCORR * SCORR * (1 - a_L[i]) * A[i] else 0; + V_dot_p_r[i] = if T[i] > T_T then V_dot_p[i] * PCORR * (1 - a_L[i]) * A[i] else 0; + V_dot_d2w[i] = if T[i] > T_T and V_s_d[i] > 0 then k_m * (T[i] - T_T) * (1 - a_L[i]) * A[i] else 0; + //V_dot_w2d[i] = if T[i]<=T_T and V_s_s[i]>=0 then k_m*(T_T-T[i])*A[i] else 0; + //V_dot_s2g[i] = if T[i]>T_T and V_s_s[i]==0 and V_s_d[i]==0 then V_dot_p_r[i] elseif V_s_s[i]<>0 and V_s_d[i]<>0 then (1-a_w)*V_dot_d2w[i]+V_dot_p_r[i] else 0; + V_dot_s2g[i] = V_dot_p_r[i] + V_dot_d2w[i]; + ///// Ground zone (Soil moisure) + //der(V_g_w[i]) = V_dot_s2g[i] - V_dot_g2s[i] - (1-a)*V_dot_g_e[i]; + der(V_g_w[i]) = V_dot_s2g[i] - V_dot_g2s[i] - a_e[i] .* V_dot_g_e[i]; + V_dot_g2s[i] = if V_g_w[i] >= 0 and V_g_w[i] / ((1 - a_L[i]) * A[i]) < g_T then (V_g_w[i] / g_T / ((1 - a_L[i]) * A[i])) ^ beta * V_dot_s2g[i] else V_dot_s2g[i]; + //V_dot_g_e[i] = if V_g_w[i] (1 - a_L[i]) * A[i] * PERC then (1 - a_L[i]) * A[i] * PERC else 0; + V_dot_s2sr[i] = if V_s_w[i] / ((1 - a_L[i]) * A[i]) > s_T then a_1 * (V_s_w[i] - s_T * (1 - a_L[i]) * A[i]) else 0; + V_dot_s2fr[i] = a_2 * V_s_w[i]; + ///// Basement zone (Lower zone) + der(V_b_w[i]) = V_dot_s2b[i] + V_dot_pl[i] - V_dot_b2br[i] - V_dot_l_e[i]; + V_dot_pl[i] = a_L[i] * A[i] * V_dot_p[i]; + V_dot_b2br[i] = a_3 * V_b_w[i]; + V_dot_l_e[i] = a_L[i] * A[i] * V_dot_epot[i]; + end for; + ///// Evaporation + //V_dot_epot = evap_var.y[1]*1e-3/86400;//V_dot_epot_month[1]*1e-3/86400;//if time<=30 then V_dot_epot_month[1] else V_dot_epot_month[2]; + ///// + F_o = (flow_var.y[1] - 17.230144) ^ 2; + F_e = (flow_var.y[1] - V_dot_tot) ^ 2; + R2 = (F_o - F_e) / F_o; + annotation ( + experiment(StopTime = 31536000, Interval = 86400)); +end RunOff_SI; diff --git a/OpenHPL/Waterway/RunOff_zones.mo b/OpenHPL/Waterway/RunOff_zones.mo new file mode 100644 index 0000000..322d2db --- /dev/null +++ b/OpenHPL/Waterway/RunOff_zones.mo @@ -0,0 +1,114 @@ +within OpenHPL.Waterway; +model RunOff_zones "Run off model. (with 10 height zones)" + extends OpenHPL.Icons.RunOff; + //// height zone segmentation + parameter Integer N = 10 "# of height zones" annotation ( + Dialog(group = "Geometry")); + //// parameters of the hydrology model + parameter Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T_t = -3.91223331e-01 "Threshold temperature" annotation ( + Dialog(group = "Physically-based parameters")); + parameter Modelica.SIunits.Area A[N] = ones(N) * 41.3e6 "Catchment area" annotation ( + Dialog(group = "Geometry")); + parameter Real s_T = 3.99187122e-02 "Soil zone saturation threshold, m" annotation ( + Dialog(group = "Empirical parameters")), a_1 = 2.31870660e-06 "Discharge frequency for surface runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_2 = 4.62497942e-06 "Discharge frequency for fast runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_3 = 1.15749393e-06 "Discharge frequency for base runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_L[N] = {15.43, 3.97, 1.79, 0.81, 1.27, 1.44, 1.03, 2.32, 1.31, 0.57} .* 1e6 ./ A "Fractional area covered by lakes, -" annotation ( + Dialog(group = "Geometry")), g_T = 1.50394570e-01 "Ground saturation threshold, m" annotation ( + Dialog(group = "Physically-based parameters")), PERC = 5.79256691e-09 "preccolation from soil zone to base zone, m/sec" annotation ( + Dialog(group = "Empirical parameters")), beta = 1.00291469e+00 "Ground zone shape coefficient, -" annotation ( + Dialog(group = "Empirical parameters")), k_m = 3.47554015e-08 "Melting factor, m/deg/sec" annotation ( + Dialog(group = "Physically-based parameters")), PCORR = 1.05 "Precipitation correction - Rainfall, -" annotation ( + Dialog(group = "Empirical parameters")), SCORR = 1.2 "Precipitation correction - Snowfall, -" annotation ( + Dialog(group = "Empirical parameters")), CE = 0.04 "Model parameter for adjusted evapotranspiration, 1/deg" annotation ( + Dialog(group = "Empirical parameters")); + //a_w = 0.03 "Saturation coeficieant, -" annotation (Dialog(group="Empirical parameters")), + //a = 0.001 "Snow surface fraction, -" annotation (Dialog(group="Empirical parameters")), + //// parameters for outsource files with data + parameter String fileName_temp = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Temp_var.txt") "File with temperature variations in different height zones" annotation ( + Dialog(tab = "Temperature")), fileName_prec = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Prec_var.txt") "File with precipitation variations in different height zones" annotation ( + Dialog(tab = "Precipitation")), fileName_evap = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Evap_var.txt") "File with evapotranspiration variations during the year" annotation ( + Dialog(tab = "Evapotranspiration")), fileName_month_temp = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Month_av_temp.txt") "File with monthly average temperature for evapotranspiration calculation" annotation ( + Dialog(tab = "Evapotranspiration")), fileName_flow = Modelica.Utilities.Files.loadResource("modelica://OpenHPL/Resources/Tables/Flow_var_d.txt") "File with real observed run off" annotation ( + Dialog(tab = "Real run off")); + parameter String tableName_temp = "zones_temp" "Table with temperature variations in different height zones" annotation ( + Dialog(tab = "Temperature")), tableName_prec = "zones_prec" "Table with precipitation variations in different height zones" annotation ( + Dialog(tab = "Precipitation")), tableName_evap = "evap" "Table with evapotranspiration variations during the year" annotation ( + Dialog(tab = "Evapotranspiration")), tableName_month_temp = "month_temp" "Table with monthly average temperature" annotation ( + Dialog(tab = "Evapotranspiration")), tableName_flow = "flow" "Table with real observed run off" annotation ( + Dialog(tab = "Real run off")); + parameter Integer columns_temp[:] = 2:N + 1 "Columns with temperature variations for different height zones" annotation ( + Dialog(tab = "Temperature")), columns_prec[:] = 2:N + 1 "Columns with precipitation variations for different height zones" annotation ( + Dialog(tab = "Precipitation")), columns_evap[:] = {2} "Column with evapotranspiration variations during the year" annotation ( + Dialog(tab = "Evapotranspiration")), columns_month_temp[:] = 2:N + 1 "Columns with monthly average temperature variations for different height zones" annotation ( + Dialog(tab = "Evapotranspiration")), columns_flow[:] = {2} "Column with real observed run off" annotation ( + Dialog(tab = "Real run off")); + //// variables + Modelica.SIunits.Height V_s_w[N] "Water content in soil zone", V_b_w[N] "Water content in base zone", V_g_w[N] "Water content in ground zone", V_s_d[N] "Dry snow"; + //V_s_s[N] "Soggy snow"; + Modelica.SIunits.VolumeFlowRate V_doT_tot "Total runoff"; + Modelica.SIunits.Velocity V_dot_s2b[N] "Runoff rate from soil zone to base zone", V_dot_pl[N] "Precipitation in lake", V_dot_b2br[N] "Runoff rate from base zone t obase runoff", V_dot_l_e[N] "Rate of evapotranspiration from lake", V_dot_g2s[N] "Runoff rate from ground zone to soil zone", V_dot_s2sr[N] "Runoff rate from soil zone to surface runoff", V_dot_s2fr[N] "Runoff rate from soil zone to fast runoff", V_dot_s2g[N] "Runoff rate from snow zone to ground zone", V_dot_g_e[N] "Evapotranspiration rate from ground zone", V_dot_p_r[N] "Precipitation in mainland in the form of snow", V_dot_d2w[N] "Melting rate from dry snow form to water snow form", V_dot_p_s[N] "Precipitation in mainland in the form of snow", V_dot_epot[N] "Evapotranspiration"; + //V_dot_w2d[N] "Freezing rate from water snow form to dry snow form"; + Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T[N] "Ambient temperature"; + Modelica.SIunits.Velocity V_dot_p[N] "Precipitation"; + Real a_e[N], a_sw[N], F_o, F_e, R2, err = 0.5e-3 "Smal error, m"; + //// using data + Modelica.Blocks.Sources.CombiTimeTable temp_var(tableOnFile = true, columns = columns_temp, tableName = tableName_temp, fileName = fileName_temp); + Modelica.Blocks.Sources.CombiTimeTable prec_var(tableOnFile = true, fileName = fileName_prec, columns = columns_prec, tableName = tableName_prec); + Modelica.Blocks.Sources.CombiTimeTable evap_var(tableOnFile = true, fileName = fileName_evap, columns = columns_evap, tableName = tableName_evap); + Modelica.Blocks.Sources.CombiTimeTable month_temp(tableOnFile = true, fileName = fileName_month_temp, columns = columns_month_temp, tableName = tableName_month_temp); + Modelica.Blocks.Sources.CombiTimeTable flow_var(tableOnFile = true, fileName = fileName_flow, columns = columns_flow, tableName = tableName_flow); + //// connector + Modelica.Blocks.Interfaces.RealOutput V_dot_runoff annotation ( + Placement(transformation(extent = {{90, -10}, {110, 10}}), iconTransformation(extent = {{80, -20}, {120, 20}}))); +initial equation + //V_s_s = zeros(N); + V_s_d = zeros(N); + V_g_w = zeros(N); + V_s_w = zeros(N); + V_b_w = zeros(N); +equation + //// Total runoff + //der(V_doT_tot) = if V_s_w > s_T then (a_1*(V_s_w-s_T)+a_2*V_s_w)*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w else a_2*V_s_w*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w; + V_doT_tot = sum(A .* (V_dot_b2br + V_dot_s2sr + V_dot_s2fr)); + for i in 1:N loop + //// Snow zone (Snow rourine) + T[i] = temp_var.y[i]; + V_dot_p[i] = prec_var.y[i] * 1e-3 / 86400; + der(V_s_d[i]) = V_dot_p_s[i] - V_dot_d2w[i]; + // + V_dot_w2d[i]; + //der(V_s_s[i]) = V_dot_p_r[i] - V_dot_w2d[i] + V_dot_d2w[i] - V_dot_s2g[i]; + V_dot_p_s[i] = if T[i] <= T_t then V_dot_p[i] * PCORR * SCORR * (1 - a_L[i]) else 0; + V_dot_p_r[i] = if T[i] > T_t then V_dot_p[i] * PCORR * (1 - a_L[i]) else 0; + V_dot_d2w[i] = if T[i] > T_t and V_s_d[i] >= err * 1e-2 then k_m * (T[i] - T_t) * (1 - a_L[i]) else 0; + //V_dot_w2d[i] = if T[i]<=T_t and V_s_s[i]>=0 then k_m*(T_t-T[i]) else 0; + //V_dot_s2g[i] = if T[i]>T_t and V_s_s[i]=err and V_s_d[i]>=err then (1+a_w)*V_dot_d2w[i]+V_dot_p_r[i] else 0; + V_dot_s2g[i] = V_dot_p_r[i] + V_dot_d2w[i]; + //// Ground zone (Soil moisure) + //der(V_g_w[i]) = V_dot_s2g[i] -V_dot_g2s[i] - (1-a)*V_dot_g_e[i]; + der(V_g_w[i]) = V_dot_s2g[i] - V_dot_g2s[i] - a_e[i] .* V_dot_g_e[i]; + V_dot_g2s[i] = if V_g_w[i] >= 0 and V_g_w[i] < g_T then (V_g_w[i] / g_T) ^ beta * V_dot_s2g[i] else V_dot_s2g[i]; + V_dot_epot[i] = evap_var.y[1] * 1e-3 / 86400 * (1 + CE * (T[i] - month_temp.y[i])); + V_dot_g_e[i] = if V_g_w[i] < g_T then V_g_w[i] / g_T * V_dot_epot[i] else V_dot_epot[i]; + a_e[i] = if V_s_d[i] < err then 1 else 0; + //// Soil zone (Upprec zone) + der(V_s_w[i]) = V_dot_g2s[i] - a_sw[i] * V_dot_s2b[i] - V_dot_s2sr[i] - V_dot_s2fr[i]; + V_dot_s2b[i] = (1 - a_L[i]) * PERC; + V_dot_s2sr[i] = if V_s_w[i] > s_T then a_1 * (V_s_w[i] - s_T) else 0; + V_dot_s2fr[i] = a_2 * V_s_w[i]; + a_sw[i] = if V_dot_g2s[i] < V_dot_s2b[i] then 0 else 1; + //// Basement zone (Lower zone) + der(V_b_w[i]) = V_dot_s2b[i] + V_dot_pl[i] - V_dot_b2br[i] - V_dot_l_e[i]; + V_dot_pl[i] = a_L[i] * V_dot_p[i]; + V_dot_b2br[i] = a_3 * V_b_w[i]; + V_dot_l_e[i] = a_L[i] * V_dot_epot[i]; + end for; + //// Error + F_o = (flow_var.y[1] - 17.230144) ^ 2; + F_e = (flow_var.y[1] - V_doT_tot) ^ 2; + R2 = 1 - F_e / F_o; + V_dot_runoff = V_doT_tot; + annotation ( + experiment(StopTime = 315360000, Interval = 86400), + Documentation(info = "This is the hydrology model that is based on the HBV hydrological model. This model can be used to define the inflow (runoff) to the reservoir.

Here, the input data are used for the model and this data is in: Resources/Tables/...

More info about model: Resources/Report/Hydrology_model.pdf
")); +end RunOff_zones; diff --git a/OpenHPL/Waterway/RunOff_zones_input.mo b/OpenHPL/Waterway/RunOff_zones_input.mo new file mode 100644 index 0000000..966359a --- /dev/null +++ b/OpenHPL/Waterway/RunOff_zones_input.mo @@ -0,0 +1,86 @@ +within OpenHPL.Waterway; +model RunOff_zones_input "Run off model without input data (inputs could be specified in Python)" + extends OpenHPL.Icons.RunOff; + parameter Integer N = 10 "# of height zones" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T_t = 1 "Threshold temperature" annotation ( + Dialog(group = "Physically-based parameters")); + parameter Modelica.SIunits.Area A[N] = ones(N) * 41.3e6 "Catchment area" annotation ( + Dialog(group = "Geometry")); + parameter Real s_T = 20e-3 "Soil zone saturation threshold, m" annotation ( + Dialog(group = "Empirical parameters")), a_1 = 0.547 / 86400 "Discharge frequency for surface runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_2 = 0.489 / 86400 "Discharge frequency for fast runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_3 = 0.0462 / 86400 "Discharge frequency for base runoff, 1/sec" annotation ( + Dialog(group = "Empirical parameters")), a_L[N] = {15.43, 3.97, 1.79, 0.81, 1.27, 1.44, 1.03, 2.32, 1.31, 0.57} .* 1e6 ./ A "Fractional area covered by lakes, -" annotation ( + Dialog(group = "Geometry")), g_T = 150e-3 "Ground saturation threshold, m" annotation ( + Dialog(group = "Physically-based parameters")), precC = 0.6e-3 / 86400 "preccolation from soil zone to base zone, m/sec" annotation ( + Dialog(group = "Empirical parameters")), beta = 2 "Ground zone shape coefficient, -" annotation ( + Dialog(group = "Empirical parameters")), k_m = 4e-3 / 86400 "Melting factor, m/deg/sec" annotation ( + Dialog(group = "Physically-based parameters")), PCORR = 1.05 "Precipitation correction - Rainfall, -" annotation ( + Dialog(group = "Empirical parameters")), SCORR = 1.2 "Precipitation correction - Snowfall, -" annotation ( + Dialog(group = "Empirical parameters")), CE = 0.04 "Model parameter for adjusted evapotranspiration, 1/deg" annotation ( + Dialog(group = "Empirical parameters")); + input Real temp_var[N], prec_var[N], evap_var, month_temp[N], flow_var; + Modelica.SIunits.Height V_s_w[N] "Water content in soil zone", V_b_w[N] "Water content in base zone", V_g_w[N] "Water content in ground zone", V_s_d[N] "Dry snow"; + //V_s_s[N] "Soggy snow"; + Modelica.SIunits.VolumeFlowRate V_doT_tot "Total runoff"; + Modelica.SIunits.Velocity V_dot_s2b[N] "Runoff rate from soil zone to base zone", V_dot_pl[N] "Precipitation in lake", V_dot_b2br[N] "Runoff rate from base zone t obase runoff", V_dot_l_e[N] "Rate of evapotranspiration from lake", V_dot_g2s[N] "Runoff rate from ground zone to soil zone", V_dot_s2sr[N] "Runoff rate from soil zone to surface runoff", V_dot_s2fr[N] "Runoff rate from soil zone to fast runoff", V_dot_s2g[N] "Runoff rate from snow zone to ground zone", V_dot_g_e[N] "Evapotranspiration rate from ground zone", V_dot_p_r[N] "Precipitation in mainland in the form of snow", V_dot_d2w[N] "Melting rate from dry snow form to water snow form", V_dot_p_s[N] "Precipitation in mainland in the form of snow", V_dot_epot[N] "Evapotranspiration"; + //V_dot_w2d[N] "Freezing rate from water snow form to dry snow form"; + Modelica.SIunits.Conversions.NonSIunits.Temperature_degC T[N] "Ambient temperature"; + Modelica.SIunits.Velocity V_dot_p[N] "Precipitation"; + Real a_e[N], a_sw[N], F_o, F_e, R2, err = 0.5e-3 "Smal error, m"; + Modelica.Blocks.Interfaces.RealOutput V_dot_runoff annotation ( + Placement(transformation(extent = {{90, -10}, {110, 10}}), iconTransformation(extent = {{80, -20}, {120, 20}}))); +initial equation + //V_s_s = zeros(N); + V_s_d = zeros(N); + V_g_w = zeros(N); + V_s_w = zeros(N); + V_b_w = zeros(N); +equation + ///// Total runoff + //der(V_doT_tot) = if V_s_w > s_T then (a_1*(V_s_w-s_T)+a_2*V_s_w)*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w else a_2*V_s_w*(1-sum(a_L)/N)*sum(A) + sum(A)*a_3*V_b_w; + V_doT_tot = sum(A .* (V_dot_b2br + V_dot_s2sr + V_dot_s2fr)); + for i in 1:N loop + ///// Snow zone (Snow rourine) + //T[i] = temp_var.y[i]; + T[i] = temp_var[i]; + //V_dot_p[i] = prec_var.y[i] * 1e-3 / 86400; + V_dot_p[i] = prec_var[i] * 1e-3 / 86400; + der(V_s_d[i]) = V_dot_p_s[i] - V_dot_d2w[i]; + // + V_dot_w2d[i]; + //der(V_s_s[i]) = V_dot_p_r[i] - V_dot_w2d[i] + V_dot_d2w[i] - V_dot_s2g[i]; + V_dot_p_s[i] = if T[i] <= T_t then V_dot_p[i] * PCORR * SCORR * (1 - a_L[i]) else 0; + V_dot_p_r[i] = if T[i] > T_t then V_dot_p[i] * PCORR * (1 - a_L[i]) else 0; + V_dot_d2w[i] = if T[i] > T_t and V_s_d[i] >= 0 then k_m * (T[i] - T_t) * (1 - a_L[i]) else 0; + //V_dot_w2d[i] = if T[i]<=T_t and V_s_s[i]>=0 then k_m*(T_t-T[i]) else 0; + //V_dot_s2g[i] = if T[i]>T_t and V_s_s[i]=err and V_s_d[i]>=err then (1+a_w)*V_dot_d2w[i]+V_dot_p_r[i] else 0; + V_dot_s2g[i] = V_dot_p_r[i] + V_dot_d2w[i]; + ///// Ground zone (Soil moisure) + //der(V_g_w[i]) = V_dot_s2g[i] - V_dot_g2s[i] - (1-a)*V_dot_g_e[i]; + der(V_g_w[i]) = V_dot_s2g[i] - V_dot_g2s[i] - a_e[i] .* V_dot_g_e[i]; + V_dot_g2s[i] = if V_g_w[i] >= 0 and V_g_w[i] < g_T then (V_g_w[i] / g_T) ^ beta * V_dot_s2g[i] else V_dot_s2g[i]; + V_dot_epot[i] = evap_var * 1e-3 / 86400 * (1 + CE * (T[i] - month_temp[i])); + V_dot_g_e[i] = if V_g_w[i] < g_T then V_g_w[i] / g_T * V_dot_epot[i] else V_dot_epot[i]; + a_e[i] = if V_s_d[i] < err then 1 else 0; + ///// Soil zone (Upprec zone) + der(V_s_w[i]) = V_dot_g2s[i] - a_sw[i] * V_dot_s2b[i] - V_dot_s2sr[i] - V_dot_s2fr[i]; + V_dot_s2b[i] = (1 - a_L[i]) * precC; + V_dot_s2sr[i] = if V_s_w[i] > s_T then a_1 * (V_s_w[i] - s_T) else 0; + V_dot_s2fr[i] = a_2 * V_s_w[i]; + a_sw[i] = if V_dot_g2s[i] < V_dot_s2b[i] then 0 else 1; + ///// Basement zone (Lower zone) + der(V_b_w[i]) = V_dot_s2b[i] + V_dot_pl[i] - V_dot_b2br[i] - V_dot_l_e[i]; + V_dot_pl[i] = a_L[i] * V_dot_p[i]; + V_dot_b2br[i] = a_3 * V_b_w[i]; + V_dot_l_e[i] = a_L[i] * V_dot_epot[i]; + end for; + ///// Error + F_o = (flow_var - 17.230144) ^ 2; + F_e = (flow_var - V_doT_tot) ^ 2; + R2 = 1 - F_e / F_o; + V_dot_runoff = V_doT_tot; + annotation ( + experiment(StopTime = 315360000, Interval = 86400), + Documentation(info = "This is the same hydrology model that is based on the HBV hydrological model. This model can be used to define the inflow (runoff) to the reservoir.

Here the input data are not specified. 

")); +end RunOff_zones_input; diff --git a/OpenHPL/Waterway/SurgeTank.mo b/OpenHPL/Waterway/SurgeTank.mo new file mode 100644 index 0000000..5e53517 --- /dev/null +++ b/OpenHPL/Waterway/SurgeTank.mo @@ -0,0 +1,83 @@ +within OpenHPL.Waterway; +model SurgeTank "Model of the surge tank/shaft" + outer Constants Const "using standart class with constants"; + extends OpenHPL.Icons.Surge; + import Modelica.Constants.pi; + //// geometrical parameters of surge tank + parameter Modelica.SIunits.Height H = 120 "Vertical component of the length of the surge shaft" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Length L = 140 "Length of the surge shaft" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Diameter D = 3.4 "Diameter of the surge shaft" annotation ( + Dialog(group = "Geometry")); + parameter Modelica.SIunits.Height eps = Const.eps "Pipe roughness height" annotation ( + Dialog(group = "Geometry")); + //// condition for steady state + parameter Boolean SteadyState = Const.Steady "if true - starts from Steady State" annotation ( + Dialog(group = "Initialization")); + //// steady state values for flow rate and water level in surge tank + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 0 "Initial flow rate in the surge tank" annotation ( + Dialog(group = "Initialization")); + parameter Modelica.SIunits.Height h_0 = 75 "Initial water height in the surge tank" annotation ( + Dialog(group = "Initialization")); + //// output pressure in surge tank (atmpspheric pressure for open surge tank) + input Modelica.SIunits.Pressure p_2 = Const.p_a "Pressure in the top of the surge tank" annotation ( + Dialog(group = "Geometry")); + //// possible parameters for temperature variation. Not finished... + //parameter Boolean TempUse = Const.TempUse "If checked - the water temperature is not constant" annotation (Dialog(group = "Initialization")); + //parameter Modelica.SIunits.Temperature T_i = Const.T_i "Initial water temperature in the pipe" annotation (Dialog(group = "Initialization", enable = TempUse)); + //// variables + Modelica.SIunits.Mass m "water mass"; + Modelica.SIunits.Velocity v "water velocity"; + Modelica.SIunits.Area A = D ^ 2 * pi / 4 "cross section area"; + Modelica.SIunits.Length l = h / cos_theta "length of water in the surge tank"; + Real cos_theta = H / L "slope ratio"; + Modelica.SIunits.Force F_f "friction force"; + Modelica.SIunits.Momentum M "water momuntum"; + Modelica.SIunits.Height h(start = h_0) "water height in the surge tank"; + Modelica.SIunits.VolumeFlowRate V_dot(start = V_dot0) "water flow rate"; + //// variables for temperature. Not in use for now... + //Real W_f, W_e; + //// conector + extends OpenHPL.Interfaces.ContactNode; +initial equation + if SteadyState == true then + der(M) = 0; + der(m) = 0; + //der(T_n) = 0; + else + h = h_0; + V_dot = V_dot0; + //T_n = T_i; + end if; +equation + //// volumetric and mass flow rate through the surge tank + V_dot = m_dot / Const.rho; + //// mass of water in the surge tank + m = Const.rho * A * l; + //// mass balance + der(m) = m_dot; + //// velocity and momentum of the water + v = V_dot / A; + M = m * v; + //// friction force + F_f = Functions.DarcyFriction.Friction(v, D, l, Const.rho, Const.mu, eps); + //F_f = 0.5*pi*1/(2*log10(eps/3.7/D + 5.74/(Const.rho*abs(v)*D/Const.mu + 1e-3)^0.9))^2*Const.rho*l*v*abs(v)*D/4; + //// momentum balance + der(M) = Const.rho * V_dot ^ 2 / A + (p_n - p_2) * A - F_f - m * Const.g * cos_theta; + //// possible temperature variation implementation. Not finished... + //W_f = -F_f * v; + //W_e = V_dot * (p_n - p_2); + //if TempUse == true then + //Const.c_p * m * der(T_n) = V_dot * Const.rho * Const.c_p * (T_n - T_i)+ W_e - W_f; + //0 = V_dot * Const.rho * Const.c_p * (T_n - T_i)+ W_e - W_f; + //der(T_n)=0; + //else + //der(T_n)=0; + //end if; + //// + annotation ( + Documentation(info = "

The simple model of the surge tank, which described by the momentum and mass differential equations. The mass balance depends on inlet and outlet mass flow rates. The momentum balance depends on inlet momentum to and pressure dorp through the surge pipe together with gravity and friction forces. The main defined variable are V_dot_s and h_s (the flow rate and water level in the surge tank).

+

More details about the surge tank model: http://www.ep.liu.se/ecp/article.asp?article=049&issue=138&volume=

+")); +end SurgeTank; diff --git a/OpenHPL/Waterway/package.mo b/OpenHPL/Waterway/package.mo new file mode 100644 index 0000000..3dd0173 --- /dev/null +++ b/OpenHPL/Waterway/package.mo @@ -0,0 +1,26 @@ +within OpenHPL; +package Waterway "Different components of the hydropower system" + extends OpenHPL.Icons.Water; + + + + + + + + + + + + + + + + + + + annotation ( + Documentation(info = " +

Different components of hydropower system. These components can be combined to create a model for whole hydropower system.

+")); +end Waterway; diff --git a/OpenHPL/Waterway/package.order b/OpenHPL/Waterway/package.order new file mode 100644 index 0000000..1119989 --- /dev/null +++ b/OpenHPL/Waterway/package.order @@ -0,0 +1,15 @@ +Internal +Reservoir +Fitting +Pipe +SurgeTank +Penstock +PenstockKP +OpenChannel +ReservoirChannel +RunOff_zones +RunOff_zones_input +RunOff +RunOff_SI +test +testtemp diff --git a/OpenHPL/Waterway/test.mo b/OpenHPL/Waterway/test.mo new file mode 100644 index 0000000..9d63395 --- /dev/null +++ b/OpenHPL/Waterway/test.mo @@ -0,0 +1,43 @@ +within OpenHPL.Waterway; +model test + extends Modelica.Icons.UnderConstruction; + outer Constants Const; + import Modelica.Constants.pi; + parameter Modelica.SIunits.Height H = 25 "Height over which water fall in the pipe"; + parameter Modelica.SIunits.Length L = 6600 "Length of the pipe"; + parameter Modelica.SIunits.Diameter D = 5.8 "Diametr from the input side of the pipe"; + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 10 "Initial flow rate in the pipe"; + parameter Modelica.SIunits.Temperature T_i = 273 + 5 "initial temperature"; + parameter Modelica.SIunits.SpecificHeatCapacity c_p = 4200; + Modelica.SIunits.Mass m; + Modelica.SIunits.Area A = D ^ 2 * pi / 4; + Real cos_theta = H / L; + Modelica.SIunits.Velocity v; + Modelica.SIunits.Momentum M; + parameter Modelica.SIunits.Pressure p_1 = 11e5; + //, p_2 = p_1 + Const.rho * Const.g * H; + Modelica.SIunits.VolumeFlowRate V_dot; + Modelica.SIunits.Temperature T; + Real F_f, W_f, W_e, p_2, dp, C_v = 3, u_t; + //, W_v; +initial equation + der(V_dot) = 0; + der(T) = 0; +equation + u_t = if time < 20 then 2 else 1; + // Water velocity + v = V_dot / A; + // Momentum and mass of water + M = Const.rho * L * V_dot; + m = Const.rho * A * L; + // Friction force + F_f = Functions.DarcyFriction.Friction(v, D, L, Const.rho, Const.mu, Const.eps); + // momentum balance + der(M) = (p_1 - p_2) * A - F_f + m * Const.g * cos_theta; + dp = V_dot ^ 2 * Const.p_a / (C_v * u_t) ^ 2; + dp = p_2 - Const.p_a; + W_f = -F_f * v; + W_e = V_dot * (p_1 - p_2); + //// + c_p * m * der(T) = V_dot * Const.rho * c_p * (T_i - T) + W_e - W_f; +end test; diff --git a/OpenHPL/Waterway/testtemp.mo b/OpenHPL/Waterway/testtemp.mo new file mode 100644 index 0000000..4395ca3 --- /dev/null +++ b/OpenHPL/Waterway/testtemp.mo @@ -0,0 +1,56 @@ +within OpenHPL.Waterway; +model testtemp + extends Modelica.Icons.UnderConstruction; + outer Constants Const; + import Modelica.Constants.pi; + parameter Modelica.SIunits.Height H = 25 "Height over which water fall in the pipe"; + parameter Modelica.SIunits.Length L = 6600 "Length of the pipe"; + parameter Modelica.SIunits.Diameter D = 5.8 "Diametr from the input side of the pipe"; + parameter Modelica.SIunits.VolumeFlowRate V_dot0 = 10 "Initial flow rate in the pipe"; + parameter Modelica.SIunits.Temperature T_i = 273 + 5 "initial temperature"; + parameter Real c_p = 4200; + Modelica.SIunits.Mass m; + Modelica.SIunits.Area A = D ^ 2 * pi / 4; + Real cos_theta = H / L; + Modelica.SIunits.Velocity v; + Modelica.SIunits.Momentum M; + parameter Modelica.SIunits.Pressure p_1 = 11e5; + //, p_2 = p_1 + Const.rho * Const.g * H; + Modelica.SIunits.VolumeFlowRate V_dot; + Modelica.SIunits.Temperature T; + Real F_f, W_f, p_2, dp, C_v = 3, u_t = 2; + Real H_, H_i, H_o, U, p; + //, W_e + //, W_v; +initial equation + der(V_dot) = 0; + //V_dot0; + T = T_i; +equation + // Water velocity + v = V_dot / A; + // Momentum and mass of water + M = Const.rho * L * V_dot; + m = Const.rho * A * L; + // Friction force + F_f = Functions.DarcyFriction.Friction(v, D, L, Const.rho, Const.mu, Const.eps); + // momentum balance + der(M) = (p_1 - p_2) * A - F_f + m * Const.g * cos_theta; + dp = V_dot ^ 2 * Const.p_a / (C_v * u_t) ^ 2; + dp = p_2 - Const.p_a; + /////// + der(U) = H_i - H_o + W_f; + // + U = H_ - p * A * L; + // + H_ = m * (c_p * (T - T_i) + 1 / Const.rho * (p - Const.p_a)); + H_i = V_dot * Const.rho * (c_p * (T_i - T_i) + 1 / Const.rho * (p_1 - Const.p_a)); + H_o = V_dot * Const.rho * (c_p * (T - T_i) + 1 / Const.rho * (p_2 - Const.p_a)); + // + p = 0.5 * (p_1 + p_2); + // + W_f = -F_f * v; + //W_e = V_dot * (p_2 - p_1); + //// + //c_p * m * der(T) = - W_f + W_e; //V_dot* Const.rho*c_p*(T_i - T) +end testtemp; diff --git a/OpenHPL/package.mo b/OpenHPL/package.mo new file mode 100644 index 0000000..1c7cd0f --- /dev/null +++ b/OpenHPL/package.mo @@ -0,0 +1,16 @@ +package OpenHPL + extends Icons.Logo; + import C = Modelica.Constants; + + annotation ( + version="1.0.0", + versionDate="2019-09-06", + Protection(access = Access.packageDuplicate), + uses(OpenIPSL(version="2.0.0-dev"), Modelica(version="3.2.3")), + Documentation(info=" +

The OpenHPL is an open-source hydropower library that +consists of hydropower unit models and is modelled using Modelica.

+

It is developed at the University of South-Eastern Norway (USN), Campus Porsgrunn.

+

For more information see the User's Guide.

+")); +end OpenHPL; diff --git a/OpenHPL/package.order b/OpenHPL/package.order new file mode 100644 index 0000000..e238ed2 --- /dev/null +++ b/OpenHPL/package.order @@ -0,0 +1,11 @@ +Copyright +UsersGuide +Constants +Examples +Waterway +ElectroMech +Controllers +Tests +Interfaces +Functions +Icons diff --git a/README.md b/README.md new file mode 100644 index 0000000..a71210b --- /dev/null +++ b/README.md @@ -0,0 +1,26 @@ +# OpenHPL + +OpenHPL is an open-source hydropower library that consists of hydropower unit models and is modelled using Modelica. + +## Library description + +The OpenHPL makes it possible to model hydropower systems of different complexity and connect them +with models from other libraries, e.g., with models of the power system or other power generating +sources. + +More information about the library can be found in the [User's Guide](OpenHPL/Resources/Documents/UsersGuide.pdf) and the following [PhD Thesis](http://hdl.handle.net/11250/2608105). + +## Current release + +Download [OpenHPL v1.0.0 (2019-09-06)](../../releases/tag/v1.0.0) + +## License + +Copyright © 2019 +* TMCC research group at [USN](https://www.usn.no/english/) (Norway) + +This Source Code Form is subject to the terms of the [ACADEMIC PUBLIC LICENSE](LICENSE). + +## Contact + +The group can be contacted by email: [OpenHPL@simulati.no](mailto:OpenHPL@simulati.no)