def control(self,
currentCV: np.ndarray,
voltageCV: np.ndarray,
idq0SP: np.ndarray = np.zeros(3),
**kwargs):
"""
Performs the calculations for a discrete step of the controller
Droop-control is started if Vgrid_rms exceeds 200 V, to avoid oscillation with the grid forming inverter
:param currentCV: 1d-array with 3 entries, one for each phase. The feedback values for current
:param voltageCV: 1d-array with 3 entries, one for each phase. The feedback values for voltage
:param idq0SP: The peak current setpoints in the dq0 frame (Additional power output to droop, if == 0, than
only droop is applied
:return: Modulation indices for the current sourcing inverter in ABC
"""
# Calulate P&Q for slave
instPow = -inst_power(voltageCV, currentCV)
instQ = -inst_reactive(voltageCV, currentCV)
Vinst = inst_rms(voltageCV)
# Get current phase information from the voltage measurement
self._prev_cossine, self._prev_freq, self._prev_theta = self._pll.step(
voltageCV)
# Transform the current feedback to the DQ0 frame
self._lastIDQ = abc_to_dq0_cos_sin(currentCV, *self._prev_cossine)
droop = np.zeros(2)
if Vinst > self.lower_droop_voltage_threshold:
# Determine the droop power setpoints
droopPI = (self._PdroopController.step(self._prev_freq) /
inst_rms(voltageCV))
# Determine the droop reactive power set points
droopQI = (self._QdroopController.step(Vinst) / Vinst)
droop = np.array([
droopPI, droopQI
]) / 3 # devide by 3 due to here dq, but we want to set the e.g.
# d-setpoint in the sum of the phases abc
droop = droop * 1.4142135623730951 # RMS to Peak
droop = np.clip(droop, -self._i_limit, self._i_limit)
idq0SP = idq0SP + np.array([-droop[0], +droop[1], 0])
# Calculate the control applied to the DQ0 currents
# action space is limited to [-1,1]
MVdq0 = self._currentPI.step(idq0SP, self._lastIDQ)
# Transform the outputs from the controllers (dq0) to abc
# also divide by SQRT(2) to ensure the transform is limited to [-1,1]
MVabc = dq0_to_abc_cos_sin(MVdq0, *self._prev_cossine)
self._last_meas = [
self._prev_theta, instPow, instQ, self._prev_freq, *self._lastIDQ,
*idq0SP, *MVdq0, *MVabc
]
return MVabc
def control(self, currentCV: np.ndarray, voltageCV: np.ndarray, **kwargs):
"""
Performs the calculations for a discrete step of the controller
:param currentCV: 1d-array with 3 entries, one for each phase in abc. The feedback values for current
:param voltageCV: 1d-array with 3 entries, one for each phase in abc. The feedback values for voltage
:return: Modulation index for the inverter in abc
"""
instPow = -inst_power(voltageCV, currentCV)
freq = self._PdroopController.step(instPow)
# Get the next phase rotation angle to implement
self.phase = phase = self._phaseDDS.step(freq)
instQ = -inst_reactive(voltageCV, currentCV)
voltage = self._QdroopController.step(instQ)
# Transform the feedback to the dq0 frame
CVIdq0 = abc_to_dq0(currentCV, phase)
CVVdq0 = abc_to_dq0(voltageCV, phase)
# If available, calulate load current using observer
iabc_out_etimate = np.empty(N_PHASE)
if self._observer is None:
iabc_out_etimate = np.zeros(N_PHASE)
else:
for j in range(N_PHASE):
iabc_out_etimate[j] = self._observer[j].cal_estimate(
y=[currentCV[j], voltageCV[j]], u=self._lastMabc[j])
i_dq0_out_estimat = abc_to_dq0(iabc_out_etimate, phase)
# Voltage controller calculations
VSP = voltage
# Voltage SP in dq0 (static for the moment)
SPVdq0 = np.array([VSP, 0, 0])
SPVabc = dq0_to_abc(SPVdq0, phase)
SPIdq0 = self._voltagePI.step(SPVdq0, CVVdq0, i_dq0_out_estimat)
SPIabc = dq0_to_abc(SPIdq0, phase)
# Current controller calculations
MVdq0 = self._currentPI.step(SPIdq0, CVIdq0)
MVabc = dq0_to_abc(MVdq0,
phase) # Transform the MVs back to the abc frame
self._lastMabc = MVabc
# Add intern measurment
self._last_meas = [
phase, instPow, instQ, freq, *SPVdq0, *SPVabc, *SPIdq0, *SPIabc,
*CVVdq0, *CVIdq0, *i_dq0_out_estimat, *iabc_out_etimate, *MVdq0,
*MVabc
]
return MVabc
def calculate(self):
super().calculate()
instPow = -inst_power(self.v, self.i)
freq = self.pdroop_ctl.step(instPow)
# Get the next phase rotation angle to implement
phase = self.dds.step(freq)
instQ = -inst_reactive(self.v, self.i)
v_refd = self.qdroop_ctl.step(instQ)
v_refdq0 = np.array([v_refd, 0, 0]) * self.v_ref
return dict(i_ref=dq0_to_abc(self.i_ref, phase), v_ref=dq0_to_abc(v_refdq0, phase))
def control(self, currentCV: np.ndarray, voltageCV: np.ndarray, **kwargs):
instPow = -inst_power(voltageCV, currentCV)
freq = self._PdroopController.step(instPow)
# Get the next phase rotation angle to implement
phase = self._phaseDDS.step(freq)
instQ = -inst_reactive(voltageCV, currentCV)
voltage = self._QdroopController.step(instQ)
VSP = voltage * 1.732050807568877
# Voltage SP in dq0 (static for the moment)
SPVdq0 = np.array([VSP, 0, 0])
# Get the voltage SPs in abc vector
# print("SPVdq0: {}, phase: {}".format(SPVdq0,phase))
SPV = dq0_to_abc(SPVdq0, phase)
# print("QInst: {}, Volt {}".format(instQ,VSP))
SPI = self._voltagePI.step(SPV, voltageCV)
# Average voltages from modulation indices created by current controller
return self._currentPI.step(SPI, currentCV)
def control(self, currentCV: np.ndarray, voltageCV: np.ndarray, **kwargs):
"""
Performs the calculations for a discrete step of the controller
:param currentCV: 1d-array with 3 entries, one for each phase in abc. The feedback values for current
:param voltageCV: 1d-array with 3 entries, one for each phase in abc. The feedback values for voltage
:return: Modulation index for the inverter in abc
"""
instPow = -inst_power(voltageCV, currentCV)
freq = self._PdroopController.step(instPow)
# Get the next phase rotation angle to implement
phase = self._phaseDDS.step(freq)
instQ = -inst_reactive(voltageCV, currentCV)
voltage = self._QdroopController.step(instQ)
# Transform the feedback to the dq0 frame
CVIdq0 = abc_to_dq0(currentCV, phase)
CVVdq0 = abc_to_dq0(voltageCV, phase)
# Voltage controller calculations
VSP = voltage
# Voltage SP in dq0 (static for the moment)
SPVdq0 = np.array([VSP, 0, 0])
SPIdq0 = self._voltagePI.step(SPVdq0, CVVdq0)
# Current controller calculations
MVdq0 = self._currentPI.step(SPIdq0, CVIdq0)
# Add intern measurment
self.history.append([
phase, *SPVdq0, *SPIdq0, *CVVdq0, *CVIdq0, *MVdq0, instPow, instQ,
freq
])
# Transform the MVs back to the abc frame
return dq0_to_abc(MVdq0, phase)