01 Lecture - Modelling and Simulation IES - Presentation 2024-02-19

Modelling and simulation of integrated
energy systems
Edmund Widl, Peter Palensky, Jan Sören Schwarz

ERIGrid 2.0 / SINERGY / RESili8 Online Training Lecture Part 1
© The ERIGrid 2.0 Consortium

EU H2020 Programme GA No. 870620
Outline
• Part A: Introduction to co-simulation

→ What is co-simulation?
→ Why is co-simulation relevant for the assessment of future energy systems?
• Part B: Co-simulation with mosaik

→ Basics of using mosaik for co-simulation
• Part C: Example multi-energy network application

→ Assessment of a coupled thermo-electrical network

Part A: Introduction to co-simulation

Decarbonization of our Energy System
control, roles,
stability
operations stakeholders, relations
€€

The Future Energy Systems Digital
Decarbonized,
renewable
Integrated
Distributed
EU H2020 Programme GA No. 870620 ERIGrid 2.0 MOOC: Multi-Energy Networks - Part I DD.MM.YYYY 5
Planning and operations
▪ Complex and large systems

▪ Difficult Decisions
⚫ Multi-disciplinary
⚫ Uncertainty
⚫ Complexity vs. time constraints
⚫ Multi-stakeholder
⚫ “Back-of-an-envelope”...?
EU H2020 Programme GA No. 870620 ERIGrid 2.0 MOOC: Multi-Energy Networks - Part I Image: NREL
DD.MM.YYYY 6
Support by numerical models
Digital Twin
⚫ During design phase
operate System Description
− Dimensioning MGMT
− Stability Data handling
− Interoperability check
Application environmental process
⚫ Support of operations data measurement
− Sanity/safety check
Environment
− Digital Twins act
Real System
⚫ Post-mortem forensics perceive

EU H2020 Programme GA No. 870620 MGMT: Management
Describing the future Energy Network(s)
physical world roles/behavior

continuous models game theory models
energy generation, transport, distribution, agents acting on behalf of a
consumption, etc. customer, market players, etc.
cyber-
physical
energy
information technology
system aggregate/stochastic
discrete models statistical models
controllers, communication infrastructure, weather, macro-view of many
software, etc. individual elements, etc.

Future Energy System is...
⚫ Cyber-physical (discrete+continuous)
⚫ Multi-physical (heat, power, gas,…)
⚫ Multi-timescale (power electronics, hydraulics,…)
⚫ Complex (hidden states, emerging behavior)
⚫ Probabilistic (rare high impact events)
Good question, Einstein ...

→ how to model…?

Options to model/simulate
⚫ (1) Squeeze all submodels into one tool, language,
solver, method
− n-1 submodels in wrong language
− Tedious, Error prone
− Brutal simplifications
⚫ (2) Universal tool
− Universal language, solver, etc.
− Performance problems
⚫ (3) Combine specialized languages, solvers, tools?

Connecting models/tools!
Simulated system
Energy Market Simulator
⚫ Combine numerical
models and run solvers Car
Usage Communication
Network
Distribution
Grid
Simulator
concurrently Simulator Simulator
Power
⚫ Solve collaboratively Battery
Simulator
Electronics/
Controls
Simulator
⚫ Multi-disciplinary,
connected problems and
teams possible
⚫ “Co-Simulation”
© The ERIGrid 2.0 Consortium Real system

Real-time Co-Simulation
⚫ Run in real-time (not faster,

not slower)
⚫ Implicit synchronization
⚫ Coupled (physical) variables
⚫ In the loop
− Controller
− Power HW
− People
− Software

Source: RTDS Technologies, “Real time digital simulation: Modelling renewable energy applications,” Feb. 2018.
RT: Ancillary Services from Hydrolyzers
EMT system model
North Netherlands (year 2030)

Non-real time: Co-Simulation Algorithm
⚫ Initialize simulators Sim 1 Sim 2 Sim 3 Sim 4
Solver
S S S
⚫ Exchange variables Model M M M
⚫ Sync time stepping

stepping variables
⚫ User interaction Co-Simulation Algorithm
parameters, start/stop results
User interface

Co(upled) Simulation Workflow
Scenario Optimizer
⚫ Multiple simulators Initial states

create
Strategy
Parameters
Utility function
⚫ Multiple models u time series
− Coupled DAEs Scripting

Engine
⚫ How to link/sync? init result
⚫ Scenario Handling? Co-Simulation

y u
Solver Solver
FMU u y FMU
⚫ Interfaces? Model Model
y u y u
y u
Solver
FMU
u Model y

Synchronization
⚫ Sync points = Simulator 1
Macro steps t
⚫ Exchange
variables
Simulator 2 t
Macro Micro
time step time step Data exchange

Coupling principles
⚫ Explicit coupling exchanges data

at every external step once
⚫ Implicit coupling iterates each
external step until the system
converges
⚫ # external steps determines
error

Co-Simulation Bottom Line
⚫ Coupled, coordinated simulators

⚫ Multi-everything possible...
⚫ RT co-sim vs. non-RT co-sim
⚫ Scenario handling?
⚫ Performance?

Part B: Co-simulation with mosaik

Co-simulation framework mosaik
▪ Main features
– Integration and re-use of
heterogeneous simulation
components
– Specification of simulation scenarios
– Coordination of data exchange and
scheduling
– Discrete time and discrete event
simulation
▪ Open source (LGPL): gitlab.com/mosaik
▪ Documentation: mosaik.readthedocs.io
EU H2020 Programme GA No. 870620 20
Mosaik ecosystem
▪ Simulation models
▪ Interfaces for simulation tools
(e.g., pandapower, PowerFactory)
▪ Wrappers for programming
languages (e.g., Java)
▪ Wrappers for standard interface
(e.g., fmi or OPC UA)
▪ Visualization and data storage
(e.g., HDF5, Influx+Grafana)

Mosaik architecture
Part of mosaik
Provided by user
TCP
Connection Component/ Implemented
by
Sim-API
Simulator
User-defined
Sim- Component Connection
Model
Mosaik Core
Manager Interface
New integrated
Calls simulator
Scheduler
Executable co-
simulation setup
Calls
Scenario
Scenario-API
Implements Script

Component API of mosaik
• Low-level API: Every tool

supporting TCP-sockets and JSON
• High-level API: Several easier

solutions for specific tools
• E.g., create a subclass of
mosaik_api.Simulator

23

Meta data returned by init()
{ Simulator’s type:
'api_version': 'x.y‘,
• Time-based: Traditional mosaik 2 simulator with
'type': 'time-based'|'event-based'|'hybrid', self-stepping and persistent data
'models': {
• Event-based: Triggered by all attributes and non-
'ModelName': { persistent data
'params': ['param_1', ...],
• Hybrid: Attribute lists within ‘trigger’ and ‘non-
'attrs': ['attr_1', ...], persistent’ specify the behavior
'trigger': ['attr_1', ...],
'non-persistent': ['attr_2', ...],
Triggering attributes (optional):
}, • simulator will be stepped automatically as soon as
there’s new data available for this attribute
...
}, Non-persistent or transient attributes (optional):
} • data of these attributes is only valid for a single
time step

Scheduling/Synchronization
▪ Time-based
self-stepping
Persistent output Superdense time / Same time loop:
▪ Event-based / hybrid
Triggered by
available data Data for future
time step

Mosaik architecture
Part of mosaik
Provided by user
TCP
Connection Component/ Implemented
by
Sim-API
Simulator
User-defined
Sim- Component Connection
Model
Mosaik Core
Manager Interface
New integrated
Calls simulator
Scheduler
Executable co-
simulation setup
Calls
Scenario
Scenario-API
Implements Script

Scenario API
▪ 1. Provide addresses of simulators to mosaik

import mosaik • Executable Python script
sims = {grid: Python, • Presented in pseudo code

house: Java,
PV: MATLAB,
control: Python}
world = mosaik.World(sims)

Scenario API
▪ 2. Start simulator processes

gsim = world.start(grid) Simulator: Programm which
controls models of a specific
hsim = world.start(house) type or acts as an interface
to external tools (e.g.
pvsim = world.start(PV)
pandapower, HDF5, …)
csim = world.start(control)

Scenario API
▪ 3. Instantiate model entities & parameterize

grid =
gsim.create(gridmodel,
param=topology)
houses =
hsim.create(housemodel, 4)
pvs =
pvsim.create(pvmodel, 2,
param=size)
ctrl =
csim.create(MAScontrol)

Scenario API
▪ 4. Connect models via dataflow

connect(houses, grid,
‘active power’)
connect(pvs, grid,
‘active power’)
connect(ctrl[1&2],
houses[1&2],
‘setpoint’)
connect(ctrl[3&4], pvs,
‘setpoint’)
world.run(3600) Execute!

Demo
▪ Tutorials as JupyterLab:
https://gitlab.com/mosaik/examples/mosaik-tutorials-on-binder
▪ Tutorials in Documentation:
https://mosaik.readthedocs.io/en/latest/tutorials
▪ More Demos:
https://gitlab.com/mosaik/examples

Summary
▪ Integration and re-use of heterogeneous
simulation components
▪ Flexible specification of simulation scenarios
Code:
▪ Coordination of data exchange and
https://gitlab.com/mosaik
scheduling
▪ Discrete time and discrete event simulation Documentation:
▪ Open source (LGPL) https://mosaik.readthedocs.io/
▪ Extensive ecosystem of models, interfaces Get in contact:

and wrappers Mailing List: mosaik-users@lists.offis.de
Direct mail: mosaik@offis.de
Open issues in GitLab
Part C: Example multi-energy network application

Example Multi-Energy Network Application (1/5)
▪ system configuration overview:

– electrical network heat pump tank consumer
– thermal network e heat control voltage control

consumer
– consumers e t.
heat
– generation units grid
e t.
– power-to-heat facility power

grid
▪ simple on purpose: focus on

concept and use of co-simulation
for multi-energy systems
EU H2020 Programme GA No. 870620 ERIGrid 2.0 MOOC: Multi-Energy Networks - Part III 36
▪ electrical network:
– 2 consecutive lines (0.3 km each) heat pump tank consumer
consumer
e heat control voltage control
– connected to external grid

e t.
heat
grid
▪ thermal network: e t.
power
grid
– 3 main consecutive pipes (supply
and return, 0.5 km each)
– connected to external grid

▪ consumers:
– 2 consumers connected to both heat pump tank consumer
consumer
networks e heat control voltage control
– aggregated loads (electrical and e t.

heat
thermal) of an urban quarter grid
e t.
power
grid
▪ generation units:
– 2 PV systems with 150 kWel, peak
and 50 kWel, peak

▪ power-to-heat facility
– heat pump and hot water storage tank
heat pump tank consumer
– couples both networks e heat control voltage control
consumer
▪ flex heat controller operates the e t.

heat
power-to-heat facility: grid
e t.
→ heat supply is covered entirely through power
grid
the external grid
or
→ power-to-heat facility supports by
discharging the tank

▪ voltage controller uses power-

to-heat facility as controllable
heat pump tank consumer
load e heat control voltage control
consumer
– voltage is monitored e t.
heat
grid
– the power consumption setpoint
e t.
of the heat pump is adjusted power
grid
– when activated, the heat pump is

used to charge the tank with hot
water

Detailed View of Electrical Network
voltage
control

Detailed View of Thermal Network
e ternal
heat grid
heat
pump
evaporator
condenser
e consumer consumer bypass
heat
control tank

Voltage Controller
▪ voltage at bus_1 is monitored

▪ power consumption setpoint of heat pump is adjusted to keep voltage
within acceptable limits
ea a step o trol
opera o al
() d ()
p o strai ts ()
bus H
bus
()
pro ess

Flex Heat Controller
▪ regulate heat supply for thermal network

▪ operate power-to-heat facility to supply additional heat from the tank
▪ if required, heat pump is used to charge the tank, respecting the power
consumption threshold from the voltage controller
grid supply, hp off grid supply, hp on
H on
o e o e
o e o e
H o
grid tank supply, hp off grid tank supply, hp on

Simulation Benchmark
▪ example application has been

published as simulation
benchmark:
– detailed documentation
– 2 reference implementations of the

simulation setup
– available at:
https://github.com/ERIGrid2/benchmark-model-multi-energy-networks/tree/mooc-demo

Simulated Subsystems
▪ use co-simulation for simulating
lectrical etworkSim
oltage trlSim
multi-energy systems: bus
bus
– different domains (power, heat,

control) are covered by domain- hp
pump tank
specific simulation tools
ower oHeatSim
Fle Heat trlSim

pump cond
tank
– partitioning of system under test into

hp
pump tank hp hp
subsystems, each implemented by

dedicated simulators
pipe tank supply unc on tank return pipe return
hermal etworkSim
measurement signal
control signal
electrical connec on
thermal connec on

Simulated Subsystems
▪ use the mosaik co-simulation
lectrical etworkSim
oltage trlSim
framework: bus
bus
– pandapower for the electrical

subsystem hp
pump tank
ower oHeatSim
Fle Heat trlSim

pump cond
– standalone implementations of the tank
controllers’ logic in ython

hp
pump tank hp hp
– pandapipes / DisHeatLib for the pipe tank supply unc on tank return pipe return
hermal etworkSim
thermal domain measurement signal
control signal
electrical connec on
thermal connec on

Thermal Network Simulators
▪ simulation benchmarks provides 2 reference implementations using

different approaches for modelling thermal networks:
– Python package pandapipes

• developed at the Fraunhofer Institute for Energy Economics
and Energy System Technology (IEE) and the University of
Kassel
– Modelica library DisHeatLib

• developed at the AIT Austrian Institute of Technology

Comparison of Modeling Approaches (1/2)
pandapipes DisHeatLib
▪ implements pipe flow calculations ▪ implements plug flow calculations

(compare to load flow for electrical (with non-linear pressure drop
grids) relation)
– static or quasi-static analysis of – analysis of thermo-hydraulic
balanced fluid systems transients in fluid systems
– computation of temperature, – flow reversals & time-delayed
pressure and velocity distributions propagation of fluid properties in
in pipe networks the pipe system

Comparison of Modeling Approaches (2/2)

Comparison of Tool Coupling Capabilities
▪ so-called “controllers” implement the ▪ models can be exported as standalone

coupling points executable models according to the
– read values from one network Functional Mock-up Interface (FMI)
specification
– apply efficiency factors and unit
conversions ▪ enables a straightforward coupling
– write the results to another with any other FMI-compliant
network simulation tool
▪ for more advanced use cases,
pandapipes’ A I can be used for tool
coupling in Python
Comparison of Availability
▪ publicly available open-source Python ▪ publicly available open-source

package Modelica library
▪ since Python is also a publicly available ▪ for compiling models created from the
open-source tool, pandapipes can be DisHeatLib to an executable, the
used without a commercial license proprietary Dymola tool is required
▪ in the future, a complete open-source
tool support through OpenModelica is
expected

DisHeatLib: Thermal Network Model
external grid connection consumers
pipe junctions
pipes (return & supply line)

DisHeatLib: Power-to-Heat Facility Model
storage tank
supply line
hydraulic loop:
hydraulic loop: • storage tank
• heat pump condenser • pump
• pump • supply line (feed hot water)
• storage tank • return line (draw cold water)
return line
heat pump

DisHeatLib: Thermal System Model
▪ thermal system model is exported as standalone executable binary (Functional Mock-up Unit, FMU)
tank temperature
(upper & lower layer)
heat pump
thermal system model
power consumption
PID controller
mass flow through heat
pump condenser setpoints from
flex heat controller

Hands-on Demo
available online via Binder:

https://mybinder.org/v2/gh/ERIGrid2/benchmark-model-multi-energy-networks/
mooc-demo?labpath=Welcome.ipynb
… or click
“launch binder”
on Github page

Hands-on Demo
Things you can explore when working with the online demo:
▪ Run the implementation based on pandapipes:
– compare results with the DisHeatLib implementation
▪ Take a look at the source code (advanced):
– How are Python-based simulators (pandapower,
pandapipes, controllers) integrated into mosaik?
– How is the FMU containing the DisHeatLib model
integrated into mosaik?

Conclusion
▪ co-simulation is a powerful approach for the assessment of multi-domain

energy systems
▪ the mosaik framework provides a versatile environment for co-simulation
▪ RIGrid .0’s multi-energy network benchmark provides a typical use case for
using co-simulation
– couple multiple domains: power, heat, control
– connect domain-specific simulators
– combined analysis of all domains in high detail

Links
▪ ERIGrid 2.0 multi-energy networks benchmark:

https://github.com/ERIGrid2/benchmark-model-multi-energy-networks/tree/mooc-demo
▪ ERIGrid 2.0 multi-energy networks benchmark online demo:
https://mybinder.org/v2/gh/ERIGrid2/benchmark-model-multi-energy-networks/mooc-
demo?labpath=Welcome.ipynb
▪ mosaik: https://mosaik.readthedocs.io/
▪ DisHeatLib: https://github.com/AIT-IES/DisHeatLib
▪ pandapipes: https://pandapipes.readthedocs.io
▪ pandapower: https://pandapower.readthedocs.io

Backup: Voltage Controller Implementation
▪ Python implementation
▪ straightforward procedural
implementation:
– simple calculations:
• voltage deviation
• step function residual
• power consumption setpoint for
heat pump
– simple logical comparisons:
• check deadband
• min/max of power consumption
setpoint
• ramp up/down constraints


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Modelling and simulation of integrated

Edmund Widl, Peter Palensky, Jan Sören Schwarz

© The ERIGrid 2.0 Consortium

• Part A: Introduction to co-simulation

• Part B: Co-simulation with mosaik

• Part C: Example multi-energy network application

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

▪ Complex and large systems

− Stability Data handling

© The ERIGrid 2.0 Consortium

physical world roles/behavior

© The ERIGrid 2.0 Consortium

Good question, Einstein ...

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium Real system

⚫ Run in real-time (not faster,

© The ERIGrid 2.0 Consortium

EMT system model

North Netherlands (year 2030)

© The ERIGrid 2.0 Consortium

⚫ Initialize simulators Sim 1 Sim 2 Sim 3 Sim 4

⚫ Sync time stepping

⚫ User interaction Co-Simulation Algorithm

parameters, start/stop results

© The ERIGrid 2.0 Consortium

⚫ Multiple simulators Initial states

− Coupled DAEs Scripting

⚫ Scenario Handling? Co-Simulation

© The ERIGrid 2.0 Consortium

⚫ Sync points = Simulator 1

© The ERIGrid 2.0 Consortium

⚫ Explicit coupling exchanges data

© The ERIGrid 2.0 Consortium

⚫ Coupled, coordinated simulators

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

• Low-level API: Every tool

• High-level API: Several easier

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

▪ 1. Provide addresses of simulators to mosaik

sims = {grid: Python, • Presented in pseudo code

© The ERIGrid 2.0 Consortium

▪ 2. Start simulator processes

© The ERIGrid 2.0 Consortium

▪ 3. Instantiate model entities & parameterize

© The ERIGrid 2.0 Consortium

▪ 4. Connect models via dataflow

© The ERIGrid 2.0 Consortium

© The ERIGrid 2.0 Consortium

▪ Open source (LGPL) https://mosaik.readthedocs.io/

▪ Extensive ecosystem of models, interfaces Get in contact:

© The ERIGrid 2.0 Consortium

▪ system configuration overview:

– thermal network e heat control voltage control

– generation units grid