def clear_fault(self, is_time: np.ndarray):
"""Clear fault and restore pre-fault bus voltages."""
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
self.uf.v[i] = 0
self.system.dae.y[self.system.Bus.v.a] = self._vstore
tqdm.write(
f'<Fault {i}>: Clearing fault on {self.bus.v[i]} at {self.tc.v[i]}.'
)
return True
return False
def init(self):
"""
Initialize the status, storage and values for TDS.
Returns
-------
array-like
The initial values of xy.
"""
t0, _ = elapsed()
system = self.system
if self.initialized:
return system.dae.xy
self._reset()
self._load_pert()
# Note:
# calling `set_address` on `system.exist.pflow_tds` will point all variables
# to the new array after extending `dae.y`
system.set_address(models=system.exist.pflow_tds)
system.set_dae_names(models=system.exist.tds)
system.dae.clear_ts()
system.store_sparse_pattern(models=system.exist.pflow_tds)
system.store_adder_setter(models=system.exist.pflow_tds)
system.vars_to_models()
# Initialize `system.exist.tds` only to avoid Bus overwriting power flow solutions
system.init(system.exist.tds)
system.store_switch_times(system.exist.tds)
# Build mass matrix into `self.Teye`
self.Teye = spdiag(system.dae.Tf.tolist())
self.qg = np.zeros(system.dae.n + system.dae.m)
self.initialized = self.test_init()
# if `dae.n == 1`, `calc_h_first` depends on new `dae.gy`
self.calc_h()
_, s1 = elapsed(t0)
if self.initialized is True:
logger.info(f"Initialization was successful in {s1}.")
else:
logger.error(f"Initialization failed in {s1}.")
if system.dae.n == 0:
tqdm.write('No dynamic component loaded.')
return system.dae.xy
def apply_fault(self, is_time: np.ndarray):
"""Apply fault and store pre-fault bus voltages to ``self._vstore``."""
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
self.uf.v[i] = 1
self._vstore = np.array(self.system.Bus.v.v)
tqdm.write(
f'<Fault {i}>: Applying fault on {self.bus.v[i]} at {self.tf.v[i]}.'
)
return True
return False
def _u_switch(self, is_time: np.ndarray):
action = False
for i in range(self.n):
if (is_time[i] == 0) or (self.u.v[i] == 0):
continue
instance = self.system.__dict__[self.model.v[i]]
u0 = instance.get(src='u', attr='v', idx=self.dev.v[i])
instance.set(src='u', attr='v', idx=self.dev.v[i], value=1 - u0)
action = True
tqdm.write(f'<Toggle {self.idx.v[i]}>: '
f'{self.model.v[i]}.{self.dev.v[i]} status '
f'changed to {1-u0:g} at t={self.t.v[i]} sec.')
return action
def clear_fault(self, is_time: np.ndarray):
"""
Clear fault and restore pre-fault bus algebraic variables (voltages and
others).
"""
action = False
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
self.uf.v[i] = 0
if self.config.restore:
if self.config.mode == 1:
self.system.dae.y[
self.system.Bus.
n:] = self._vstore * self.config.scale
logger.debug(
"All algebraic variables restored after fault clearance at t=%.6f",
self.system.dae.t)
# TODO: neither mode 2 or 3 works. Pending further investigation.
elif self.config.mode == 2:
v_addr = self.system.Bus.get(src='v',
idx=self.bus.v[i],
attr='a')
bus_uid = self.system.Bus.idx2uid(self.bus.v[i])
self.system.dae.y[
v_addr] = self._vstore[bus_uid] * self.config.scale
logger.debug(
"Voltage on bus %s restored after fault clearance at t=%.6f",
self.bus.v[i], self.system.dae.t)
elif self.config.mode == 3:
nbus = self.system.Bus.n
self.system.dae.y[
nbus:2 *
nbus] = self._vstore[:nbus] * self.config.scale
logger.debug(
"All bus voltages restored after fault clearance at t=%.6f",
self.system.dae.t)
else:
logger.error(
"Unsupport fault voltage restoration mode")
tqdm.write(
f'<Fault {self.idx.v[i]}>: '
f'Clearing fault on Bus (idx={self.bus.v[i]}) at t={self.tc.v[i]} sec.'
)
action = True
return action
def _u_switch(self, is_time: np.ndarray):
action = False
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
instance = self.system.__dict__[self.model.v[i]]
u0 = instance.get(src='u', attr='v', idx=self.dev.v[i])
instance.set(src='u',
attr='v',
idx=self.dev.v[i],
value=1 - u0)
action = True
tqdm.write(
f'<Toggle {i}>: Status of {self.model.v[i]}.{self.dev.v[i]} changed to {1-u0}.'
)
return action
def clear_fault(self, is_time: np.ndarray):
"""
Clear fault and restore pre-fault bus algebraic variables (voltages and others).
"""
action = False
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
self.uf.v[i] = 0
self.system.dae.y[self.system.Bus.n:] = self._vstore
tqdm.write(
f'<Fault {self.idx.v[i]}>: '
f'Clearing fault on Bus (idx={self.bus.v[i]}) at t={self.tc.v[i]}sec.'
)
action = True
return action
def apply_fault(self, is_time: np.ndarray):
"""
Apply fault and store pre-fault algebraic variables (voltages and other algebs) to `self._vstore`.
"""
action = False
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
self.uf.v[i] = 1
self._vstore = np.array(self.system.dae.y[self.system.Bus.n:])
tqdm.write(
f'<Fault {self.idx.v[i]}>: '
f'Applying fault on Bus (idx={self.bus.v[i]}) at t={self.tf.v[i]}sec.'
)
action = True
return action
def apply_exact(self, t):
"""
Apply the timeseries data at the exact time.
Parameters
----------
t : float
the current time
"""
# convert from numpy scalar to float
t = t.tolist()
for ii in range(self.n):
# skip offline devices
if self.u.v[ii] == 0:
continue
# check mode
if self.SW.s1[ii] != 1:
continue
idx = self.idx.v[ii]
df = self._data[idx]
tkey = self.tkey.v[ii]
# check if current time is a valid time stamp
if t not in df[tkey].values:
continue
print("here 2")
fields = self.fields.v[ii]
dests = self.dests.v[ii]
model = self.model.v[ii]
dev_idx = self.dev.v[ii]
# apply the value change
for field, dest in zip(fields, dests):
value = df.loc[df[tkey] == t, field].values
if len(value) == 0:
continue
value = value[0]
self.system.__dict__[model].set(dest, dev_idx, 'v', value)
if not self.config.silent:
tqdm.write("<TimeSeries %s> set %s=%g for %s.%s at t=%g" %
(idx, dest, value, model, dev_idx, t))
def init(self):
"""
Initialize the status, storage and values for TDS.
Returns
-------
array-like
The initial values of xy.
"""
t0, _ = elapsed()
system = self.system
if self.initialized:
return system.dae.xy
self._reset()
self._load_pert()
system.set_address(models=system.exist.tds)
system.set_dae_names(models=system.exist.tds)
system.dae.clear_ts()
system.store_sparse_pattern(models=system.exist.pflow_tds)
system.store_adder_setter(models=system.exist.pflow_tds)
system.vars_to_models()
system.init(system.exist.tds)
system.store_switch_times(system.exist.tds)
self.eye = spdiag([1] * system.dae.n)
self.Teye = spdiag(system.dae.Tf.tolist()) * self.eye
self.qg = np.zeros(system.dae.n + system.dae.m)
self.calc_h()
self.initialized = self.test_init()
_, s1 = elapsed(t0)
if self.initialized is True:
logger.info(f"Initialization was successful in {s1}.")
else:
logger.error(f"Initialization failed in {s1}.")
if system.dae.n == 0:
tqdm.write('No dynamic component loaded.')
return system.dae.xy
def clear_fault(self, is_time: np.ndarray):
"""
Clear fault and restore pre-fault bus algebraic variables (voltages and others).
"""
action = False
for i in range(self.n):
if is_time[i] and (self.u.v[i] == 1):
self.uf.v[i] = 0
if self.config.restore:
self.system.dae.y[self.system.Bus.
n:] = self._vstore * self.config.scale
logger.debug(
f"Voltage restored after fault clearance at t={self.system.dae.t:.6f}"
)
tqdm.write(
f'<Fault {self.idx.v[i]}>: '
f'Clearing fault on Bus (idx={self.bus.v[i]}) at t={self.tc.v[i]} sec.'
)
action = True
return action
def init(self):
"""
Initialize the status, storage and values for TDS.
Returns
-------
array-like
The initial values of xy.
"""
t0, _ = elapsed()
system = self.system
if self.initialized:
return system.dae.xy
self.reset()
self._load_pert()
# restore power flow solutions
system.dae.x[:len(system.PFlow.x_sol)] = system.PFlow.x_sol
system.dae.y[:len(system.PFlow.y_sol)] = system.PFlow.y_sol
# Note:
# calling `set_address` on `system.exist.pflow_tds` will point all variables
# to the new array after extending `dae.y`.
system.set_address(models=system.exist.pflow_tds)
system.set_dae_names(models=system.exist.tds)
system.dae.clear_ts()
system.store_sparse_pattern(models=system.exist.pflow_tds)
system.store_adder_setter(models=system.exist.pflow_tds)
system.store_no_check_init(models=system.exist.pflow_tds)
system.vars_to_models()
system.init(system.exist.tds, routine='tds')
# only store switch times when not replaying CSV data
if self.data_csv is None:
system.store_switch_times(system.exist.tds)
# Build mass matrix into `self.Teye`
self.Teye = spdiag(system.dae.Tf.tolist())
self.qg = np.zeros(system.dae.n + system.dae.m)
self.initialized = True
# test if residuals are close enough to zero
if self.config.test_init:
self.test_ok = self.test_init()
# discard initialized values and use that from CSV if provided
if self.data_csv is not None:
system.dae.x[:] = self.data_csv[0, 1:system.dae.n + 1]
system.dae.y[:] = self.data_csv[0, system.dae.n + 1:system.dae.n + system.dae.m + 1]
system.vars_to_models()
# connect to data streaming server
if system.streaming.dimec is None:
system.streaming.connect()
if system.config.dime_enabled:
# send out system data using DiME
self.streaming_init()
self.streaming_step()
# if `dae.n == 1`, `calc_h_first` depends on new `dae.gy`
self.calc_h()
# allocate for internal variables
self.x0 = np.zeros_like(system.dae.x)
self.y0 = np.zeros_like(system.dae.y)
self.f0 = np.zeros_like(system.dae.f)
_, s1 = elapsed(t0)
logger.info("Initialization for dynamics completed in %s.", s1)
if self.test_ok is True:
logger.info("Initialization was successful.")
elif self.test_ok is False:
logger.error("Initialization failed!!")
else:
logger.warning("Initialization results were not verified.")
if system.dae.n == 0:
tqdm.write('No differential equation detected.')
return system.dae.xy
def _itm_step(self):
"""
Integrate with Implicit Trapezoidal Method (ITM) to the current time.
This function has an internal Newton-Raphson loop for algebraized semi-explicit DAE.
The function returns the convergence status when done but does NOT progress simulation time.
Returns
-------
bool
Convergence status in ``self.converged``.
"""
system = self.system
dae = self.system.dae
self.mis = 1
self.niter = 0
self.converged = False
self.x0 = np.array(dae.x)
self.y0 = np.array(dae.y)
self.f0 = np.array(dae.f)
while True:
self._fg_update(models=system.exist.pflow_tds)
# lazy Jacobian update
if dae.t == 0 or \
self.config.honest or \
self.custom_event or \
not self.last_converged or \
self.niter > 4 or \
(dae.t - self._last_switch_t < 0.1):
system.j_update(models=system.exist.pflow_tds)
# set flag in `solver.worker.factorize`, not `solver.factorize`.
self.solver.worker.factorize = True
# `Tf` should remain constant throughout the simulation, even if the corresponding diff. var.
# is pegged by the anti-windup limiters.
# solve implicit trapezoidal method (ITM) integration
self.Ac = sparse([[self.Teye - self.h * 0.5 * dae.fx, dae.gx],
[-self.h * 0.5 * dae.fy, dae.gy]], 'd')
# equation `self.qg[:dae.n] = 0` is the implicit form of differential equations using ITM
self.qg[:dae.n] = dae.Tf * (dae.x - self.x0) - self.h * 0.5 * (dae.f + self.f0)
# reset the corresponding q elements for pegged anti-windup limiter
for item in system.antiwindups:
for key, _, eqval in item.x_set:
np.put(self.qg, key, eqval)
self.qg[dae.n:] = dae.g
if not self.config.linsolve:
inc = self.solver.solve(self.Ac, matrix(self.qg))
else:
inc = self.solver.linsolve(self.Ac, matrix(self.qg))
# check for np.nan first
if np.isnan(inc).any():
self.err_msg = 'NaN found in solution. Convergence is not likely'
self.niter = self.config.max_iter + 1
self.busted = True
break
# reset small values to reduce chattering
inc[np.where(np.abs(inc) < self.tol_zero)] = 0
# set new values
dae.x -= inc[:dae.n].ravel()
dae.y -= inc[dae.n: dae.n + dae.m].ravel()
# store `inc` to self for debugging
self.inc = inc
system.vars_to_models()
# calculate correction
mis = np.max(np.abs(inc))
# store initial maximum mismatch
if self.niter == 0:
self.mis = mis
self.niter += 1
# converged
if mis <= self.config.tol:
self.converged = True
break
# non-convergence cases
if self.niter > self.config.max_iter:
tqdm.write(f'* Max. iter. {self.config.max_iter} reached for t={dae.t:.6f}, '
f'h={self.h:.6f}, mis={mis:.4g} ')
# debug helpers
g_max = np.argmax(abs(dae.g))
inc_max = np.argmax(abs(inc))
self._debug_g(g_max)
self._debug_ac(inc_max)
break
if mis > 1e6 and (mis > 1e6 * self.mis):
self.err_msg = 'Error increased too quickly. Convergence not likely.'
self.busted = True
break
if not self.converged:
dae.x[:] = np.array(self.x0)
dae.y[:] = np.array(self.y0)
dae.f[:] = np.array(self.f0)
system.vars_to_models()
self.last_converged = self.converged
return self.converged
def step(tds):
"""
Integrate with Implicit Trapezoidal Method (ITM) to the current time.
This function has an internal Newton-Raphson loop for algebraized semi-explicit DAE.
The function returns the convergence status when done but does NOT progress simulation time.
Returns
-------
bool
Convergence status in ``tds.converged``.
"""
system = tds.system
dae = tds.system.dae
if tds.h == 0:
logger.error(
"Current step size is zero. Integration is not permitted.")
return False
tds.mis = [1, 1]
tds.niter = 0
tds.converged = False
tds.x0[:] = dae.x
tds.y0[:] = dae.y
tds.f0[:] = dae.f
while True:
tds.fg_update(models=system.exist.pflow_tds)
# lazy Jacobian update
reason = ''
if dae.t == 0:
reason = 't=0'
elif tds.config.honest:
reason = 'using honest method'
elif tds.custom_event:
reason = 'custom event set'
elif not tds.last_converged:
reason = 'non-convergence in the last step'
elif tds.niter > 4 and (tds.niter + 1) % 3 == 0:
reason = 'every 3 iterations beyond 4 iterations'
elif dae.t - tds._last_switch_t < 0.1:
reason = 'within 0.1s of event'
if reason:
system.j_update(models=system.exist.pflow_tds, info=reason)
# set flag in `solver.worker.factorize`, not `solver.factorize`.
tds.solver.worker.factorize = True
# `Tf` should remain constant throughout the simulation, even if the corresponding diff. var.
# is pegged by the anti-windup limiters.
# solve implicit trapezoidal method (ITM) integration
if tds.config.g_scale > 0:
gxs = tds.config.g_scale * tds.h * dae.gx
gys = tds.config.g_scale * tds.h * dae.gy
else:
gxs = dae.gx
gys = dae.gy
# calculate complete Jacobian matrix ``Ac```
tds.Ac = tds.method.calc_jac(tds, gxs, gys)
# equation `tds.qg[:dae.n] = 0` is the implicit form of differential equations using ITM
tds.qg[:dae.n] = tds.method.calc_q(dae.x, dae.f, dae.Tf, tds.h,
tds.x0, tds.f0)
# reset the corresponding q elements for pegged anti-windup limiter
for item in system.antiwindups:
for key, _, eqval in item.x_set:
np.put(tds.qg, key, eqval)
# set or scale the algebraic residuals
if tds.config.g_scale > 0:
tds.qg[dae.n:] = tds.config.g_scale * tds.h * dae.g
else:
tds.qg[dae.n:] = dae.g
# calculate variable corrections
if not tds.config.linsolve:
inc = tds.solver.solve(tds.Ac, matrix(tds.qg))
else:
inc = tds.solver.linsolve(tds.Ac, matrix(tds.qg))
# check for np.nan first
if np.isnan(inc).any():
tds.err_msg = 'NaN found in solution. Convergence is not likely'
tds.niter = tds.config.max_iter + 1
tds.busted = True
break
# reset tiny values to reduce chattering
if tds.config.reset_tiny:
inc[np.where(np.abs(inc) < tds.tol_zero)] = 0
# set new values
dae.x -= inc[:dae.n].ravel()
dae.y -= inc[dae.n:dae.n + dae.m].ravel()
# synchronize solutions to model internal storage
system.vars_to_models()
# store `inc` to tds for debugging
tds.inc = inc
mis = np.max(np.abs(inc))
# store initial maximum mismatch
if tds.niter == 0:
tds.mis[0] = mis
else:
tds.mis[-1] = mis
tds.niter += 1
# converged
if mis <= tds.config.tol:
tds.converged = True
break
# non-convergence cases
if tds.niter > tds.config.max_iter:
if system.options.get("verbose", 20) <= 10:
tqdm.write(
f'* Max. iter. {tds.config.max_iter} reached for t={dae.t:.6f}s, '
f'h={tds.h:.6f}s, max inc={mis:.4g} ')
# debug helpers
g_max = np.argmax(abs(dae.g))
inc_max = np.argmax(abs(inc))
tds._debug_g(g_max)
tds._debug_ac(inc_max)
break
if (mis > 1e6) and (mis > 1e6 * tds.mis[0]):
tds.err_msg = 'Error increased too quickly.'
break
if not tds.converged:
dae.x[:] = np.array(tds.x0)
dae.y[:] = np.array(tds.y0)
dae.f[:] = np.array(tds.f0)
system.vars_to_models()
tds.last_converged = tds.converged
return tds.converged
def _alter_field(self, is_time):
"""
Actuation of the alteration.
"""
action = False
for ii in range(self.n):
if (not is_time[ii]) or (self.u.v[ii] == 0):
continue
model = self.system.__dict__[self.model.v[ii]]
idx = self.dev.v[ii]
src = self.src.v[ii]
attr = self.attr.v[ii]
amount = self.amount.v[ii]
if self.rand.v[ii] == 1:
amount = np.random.uniform(low=self.lb.v[ii],
high=self.ub.v[ii])
try:
v0 = model.get(src=src, idx=idx, attr=attr)
except KeyError as e:
tqdm.write(
"\nError: <%s %s> cannot find idx=%s or src=%s in model <%s>. "
% (
self.class_name,
self.idx.v[ii],
idx,
src,
self.model.v[ii],
))
tqdm.write("<%s %s> disabled due to %s.\n" %
(self.class_name, self.idx.v[ii], repr(e)))
self.u.v[ii] = 0
continue
vnew = v0
if self.SW.s0[ii] == 1:
vnew = v0 + amount
elif self.SW.s1[ii] == 1:
vnew = v0 - amount
elif self.SW.s2[ii] == 1:
vnew = v0 * amount
elif self.SW.s3[ii] == 1:
vnew = v0 / amount
elif self.SW.s4[ii] == 1:
vnew = amount
else:
tqdm.write(
'Error: <%s %s>: undefined method "%s". <%s, %s> disabled.'
% (self.class_name, self.idx.v[ii], self.method.v[ii],
self.class_name, self.idx.v[ii]))
self.u.v[ii] = 0
continue
model.set(src=src, idx=idx, attr=attr, value=vnew)
tqdm.write(
'<Alter %s>: set %s.%s.%s.%s=%.6g at t=%.6g. Previous value was %.6g.'
% (self.idx.v[ii], self.model.v[ii], idx, src, attr, vnew,
self.t.v[ii], v0))
action = True
return action
def init(self):
"""
Initialize the status, storage and values for TDS.
Returns
-------
array-like
The initial values of xy.
"""
t0, _ = elapsed()
system = self.system
if self.initialized:
return system.dae.xy
self.reset()
self._load_pert()
# restore power flow solutions
system.dae.x[:len(system.PFlow.x_sol)] = system.PFlow.x_sol
system.dae.y[:len(system.PFlow.y_sol)] = system.PFlow.y_sol
# Note:
# calling `set_address` on `system.exist.pflow_tds` will point all variables
# to the new array after extending `dae.y`
system.set_address(models=system.exist.pflow_tds)
system.set_dae_names(models=system.exist.tds)
system.dae.clear_ts()
system.store_sparse_pattern(models=system.exist.pflow_tds)
system.store_adder_setter(models=system.exist.pflow_tds)
system.vars_to_models()
system.init(system.exist.tds, routine='tds')
system.store_switch_times(system.exist.tds)
# Build mass matrix into `self.Teye`
self.Teye = spdiag(system.dae.Tf.tolist())
self.qg = np.zeros(system.dae.n + system.dae.m)
self.initialized = self.test_init()
# connect to dime server
if system.config.dime_enabled:
if system.streaming.dimec is None:
system.streaming.connect()
# send out system data using DiME
self.streaming_init()
self.streaming_step()
# if `dae.n == 1`, `calc_h_first` depends on new `dae.gy`
self.calc_h()
_, s1 = elapsed(t0)
if self.initialized is True:
logger.info(f"Initialization for dynamics was successful in {s1}.")
else:
logger.error(f"Initialization for dynamics failed in {s1}.")
if system.dae.n == 0:
tqdm.write('No dynamic component loaded.')
return system.dae.xy