CN105743109A - Phase-locked loop applicable to power grid voltage unbalance and distortion states - Google Patents
Phase-locked loop applicable to power grid voltage unbalance and distortion states Download PDFInfo
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Abstract
The invention discloses a phase-locked loop applicable to power grid voltage unbalance and distortion states, and belongs to the related technical fields of power grid voltage phase signal detection and power grid load harmonic current extraction. The phase-locked loop provided by the invention aims to solve the problem as follows: the conventional synchronous rotating reference frame based three-phase digital phase-locked loop cannot accurately detect the phase value of the three-phase voltage fundamental wave positive-sequence component under power grid voltage unbalance and distortion states; consequently, the precision of a related harmonic current extraction algorithm is lowered, and the compensation effect of a harmonic compensation apparatus is weakened. The phase-locked loop provided by the invention improves the conventional three-phase digital phase-locked loop, and a repetition controller is introduced; the repetition controller is connected with a proportional integral controller in parallel to form a new controller, so that the excellent steady-state performance of the repetition controller is combined with the excellent dynamic performance of the proportional integral controller; and therefore, the phase-locked loop has the advantages of high dynamic response, high detection precision and the like. The phase-locked loop is mainly applied to voltage phase detection under power grid voltage unbalance and distortion states.
Description
Technical field
The present invention relates to electric network voltage phase signal detection and network load harmonic current extracts correlative technology field, particularly relate to a kind of phaselocked loop suitable in unbalanced source voltage and distortion state.
Background technology
PHASE-LOCKED LOOP PLL TECHNIQUE is widely used in the field such as power electronics and power system.Common phaselocked loop includes single-phase phase-locked loop and three-phase phase-locked loop, and single-phase phase-locked loop is commonly used in monophase system and three-phase voltage balance system, and when imbalance of three-phase voltage and distortion, single-phase phase-locked loop cannot obtain the phase value of three-phase voltage fundamental positive sequence.Three-phase phase-locked loop can comprehensive three-phase voltage information, utilize the technological means such as coordinate transform, it is thus achieved that phase signal.
Traditional three-phase digital phaselocked loop based on synchronous rotating frame balances at three-phase voltage, undistorted time can be good at obtaining phase information, but when imbalance of three-phase voltage, distortion, there is certain difference in the phase angle of the phase angle of its acquisition and the fundamental positive sequence of three-phase voltage.To this, Chinese scholars has carried out big quantity research, propose multiple solution, postpone to eliminate phaselocked loop etc. including the phaselocked loop based on double; two synchronous rotating frame decouplings, the phaselocked loop based on sliding window mean filter, the phaselocked loop based on the elimination of broad sense signal delay and the cascade signal based on synchronous rotating frame.Voltage characteristic based on the double; two synchronous rotating frame of phaselocked loop utilization of double; two synchronous rotating frame decouplings, by increasing Decoupling network in traditional three-phase phase-locked loop, separation voltage positive-sequence component and negative sequence component, it is thus possible to detect the phase value of voltage fundamental positive-sequence component when unbalanced source voltage and distortion, the Decoupling network of the method is complicated, amount of calculation is relatively big, takies resource many in practical application.Based on the phaselocked loop of sliding window mean filter by increasing sliding window mean filter, the high fdrequency component in filtered signal in traditional three-phase phase-locked loop, it is achieved voltage fundamental positive-sequence component phase-locked.The phaselocked loop eliminated based on broad sense signal delay utilizes non-self-adapting broad sense signal delay to eliminate the controller prefilter as conventional three-phase rotating coordinate system, and when correcting non-specified mains frequency by phase error compensation device and amplitude error compensator, non-self-adapting broad sense signal delay eliminates phase offset and the amplitude attenuation that controller causes.Both approaches all owing to introducing wave filter to filter less desirable signal, inevitably results in phase-locked response time elongated.Cascade signal delay elimination phaselocked loop based on synchronous rotating frame utilizes low-pass first order filter to be similar to the dynamic process of the cascade signal delay elimination controller based on synchronous rotating frame, and the method that have employed symmetrical optimization, therefore there is adaptability widely.But owing to have employed nonideal sample frequency, the method is likely to result in phase-locked result and there is discretization error.
Summary of the invention
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
The invention provides a kind of phaselocked loop suitable in unbalanced source voltage and distortion state, the unbalanced source voltage phaselocked loop with the distortion state sine and cosine computing unit by the Clarke transform of three-phase power grid voltage, based on the park transforms of biphase synchronous rotating frame, pi controller, repetitive controller, integral element 1/s and phase-locked result θ should be applicable to form, three-phase power grid voltage is connected to the input of Clarke transform, the outfan of Clarke transform is connected with the input of park transforms, the U of park transforms outfanqIt is connected with the input of pi controller and the input of repetitive controller respectively, the outfan of pi controller, the outfan of repetitive controller and natural frequency ωfBeing connected to the input of integral element 1/s after addition, the outfan of integral element 1/s exports phase-locked result θ, and the outfan of integral element 1/s is connected with sine and cosine computing unit simultaneously, and the output of sine and cosine computing unit is connected with the input of park transforms.
Wherein, three-phase power grid voltage obtains the voltage U under biphase rest frame after Clarke transformαAnd Uβ, park transforms utilizes the sine and cosine value of phase-locked result will to obtain voltage U under the voltage transformation under biphase rest frame to biphase synchronous rotating framedAnd Uq, proportion of utilization integral controller and repetitive controller are simultaneously to component of voltage UqIt is controlled, by both result of calculation phase adductions and natural frequency ωfIt is added, obtains the control variable quantity of phase error signal, by integral element 1/s to its integration, obtain the PGC demodulation result θ of three-phase voltage.
Wherein, the pi controller and the repetitive controller that control for phase signal are parallel relationship, form composite controller, when the dynamic case such as voltage jump, SPA sudden phase anomalies occurs, pi controller plays Main Function, ensure the dynamic property of phaselocked loop, in steady-state process, repetitive controller plays Main Function, guarantee the steady-state behaviour of phaselocked loop, the excellent dynamic property of pi controller and the steady-state behaviour that repetitive controller is outstanding can be played, make this phaselocked loop have concurrently dynamic response is fast and accuracy of detection is high advantage simultaneously.
Wherein, the composite controller that pi controller and repetitive controller parallel connection are formed controls three-phase power grid voltage component of voltage U under synchronous rotating frameq=0, phaselocked loop output phase angle and actual electric network voltage vector phase angle close to time, utilize three-phase power grid voltage that Clarke transform and park transforms the obtain component of voltage U under synchronous rotating frameqIt is being proportional relationship after approximate processing with phase error signal, is only differing from a coefficient each other, making three-phase power grid voltage component of voltage U under synchronous rotating frame by controlqRemain zero, it is achieved electric network voltage phase locks.
Wherein, this digital phase-locked loop utilizes the controller such as digital signal processor and single-chip microcomputer to realize, or realizes with the PLD such as field programmable gate array and CPLD.
Beneficial effect: by traditional based on the basis of the three-phase digital phaselocked loop of synchronous rotating frame on introduce repetitive controller, form the three-phase digital phaselocked loop based on Repetitive controller, voltage phase angle can be accurately detected when unbalanced source voltage and distortion, phase-detection error is minimum, it is negligible, be in parallel composition composite controller by repetitive controller and pi controller, it is applied in three-phase phase-locked loop, for controlling line voltage q axle component U under synchronous rotating frameqThe advantage that can merge repetitive controller and pi controller, when Network Voltage Stability, Repetitive controller ensure that the steady-state behaviour of phaselocked loop, when voltage ripple of power network, pi controller ensure that the dynamic property of phaselocked loop, the advantage that steady-state error is little so that phaselocked loop has, dynamic response rate is fast, it is ensured that electric network voltage phase angle timely, accurately detect.
Accompanying drawing explanation
Fig. 1 is basic three-phase phase-locked loop schematic diagram.
Fig. 2 is the line voltage vectogram under synchronous rotating frame.
Fig. 3 is based on the three-phase digital principle of phase lock loop figure of Repetitive controller.
Fig. 4 is repetitive controller structured flowchart.
Fig. 5 is phase-locked result when unbalanced source voltage and distortion.
Fig. 6 is phase-locked result during electric network voltage phase sudden change.
Detailed description of the invention
For the technical scheme making to present invention solves the technical problem that, adopting and the technique effect reached clearly, below in conjunction with drawings and Examples, the present invention is described in further detail.It is understood that specific embodiment described herein is used only for explaining the present invention, but not limitation of the invention.It also should be noted that, for the ease of describing, accompanying drawing illustrate only part related to the present invention but not full content.
For traditional three-phase digital phaselocked loop based on synchronous rotating frame when unbalanced source voltage and distortion, cannot accurately detect the phase value of three-phase voltage fundamental positive sequence, in order to overcome the deficiencies in the prior art, the present invention provides a kind of phaselocked loop suitable in unbalanced source voltage and distortion state.
Principles of the invention:
A kind of phaselocked loop suitable in unbalanced source voltage and distortion state, this three-phase digital phaselocked loop sine and cosine computing unit by the Clarke transform of three-phase power grid voltage, based on the park transforms of biphase synchronous rotating frame, pi controller, repetitive controller, integral element 1/s and phase-locked result θ forms, three-phase power grid voltage is connected to the input of Clarke transform, the outfan of Clarke transform is connected with the input of park transforms, the U of park transforms outfanqAll it is connected with the input of the input of pi controller and repetitive controller, the outfan of pi controller, the outfan of repetitive controller and natural frequency ωfBeing connected to the input of integral element 1/s after addition, the outfan of integral element 1/s exports phase-locked result θ, and the outfan of integral element is connected with sine and cosine computing unit simultaneously, and the output of sine and cosine computing unit is connected with the input of park transforms.
Traditional three-phase digital phaselocked loop proportion of utilization integral controller based on synchronous rotating frame realizes the function of loop filter, the weak effect when unbalanced source voltage and distortion, needs make improvements, by introducing repetitive controller, take the method that repetitive controller is in parallel with pi controller, form composite controller, play two kinds of advantages controlled simultaneously, correctly detect the purpose of electric network voltage phase when reaching unbalanced source voltage and distortion, implement step as follows:
(1) basic structure of three-phase digital phaselocked loop
Phaselocked loop generally comprises phase discriminator, loop filter and voltage controlled oscillator three part.Phase discriminator converts input voltage signal and the phase contrast controlling internal system synchronizing signal to voltage signal, radio-frequency component in this voltage signal is filtered by loop filter, then voltage controlled oscillator is controlled, so that the frequency of phaselocked loop inner synchronousing signal and phase place are Tong Bu with input voltage signal, it is achieved phase-locked function.The phase discriminator of three-phase digital phaselocked loop needs the phase contrast by three-phase input voltage signal Yu phaselocked loop inner synchronousing signal to be converted to voltage signal, by loop filter, the radio-frequency component in this voltage signal is filtered, then voltage controlled oscillator is controlled, so that the frequency of phaselocked loop inner synchronousing signal and phase place are Tong Bu with input voltage signal, complete phase-locked.Based in the three-phase digital phaselocked loop of synchronous rotating frame, three-phase voltage synchronous rotating angle is equivalent to phase discriminator, and pi controller plays the effect of loop filter, and integral element completes the function of voltage controlled oscillator.
Three-phase digital phaselocked loop utilizes dq conversion to obtain the phase signal needed for loop filter.Dq conversion is actual includes two conversion, i.e. Clarke transform and park transforms.
If three-phase input voltage expression formula is:
Wherein, U is the virtual value of phase voltage.
Utilize Clarke transform that from three-phase static coordinate system, three-phase input voltage is transformed to biphase rest frame:
Wherein, C32For the transformation matrix of Clarke transform, during the amplitude transformation such as employing,
Under biphase rest frame, line voltage vector is into θ angle with orthogonal reference coordinate system, and rotates with angular frequency, utilizes park transforms, the voltage vector under biphase rest frame is transformed to biphase rotating coordinate system:
Wherein, θ is the phase angle of phaselocked loop output, CdqFor the transformation matrix of Park conversion, its expression formula is
When phaselocked loop output phase angle and actual electric network voltage vector phase angle close to time, say, that (ω t-θ) is very little or close to zero, sin (ω t-θ) can be approximately (ω t-θ).Therefore, when phase lock loop locks, line voltage vector q axle component under synchronous rotating frame is by vanishing.By feedback control, make Uq=0, integral element 1/s is to the output valve of controller and natural frequency ωfSum is integrated obtaining phase angle θ, reaches the purpose of PGC demodulation.
(2) based on the three-phase digital phaselocked loop of Repetitive controller
When unbalanced source voltage and distortion, cannot accurately extract the phase value of three-phase voltage fundamental positive sequence based on the three-phase digital phaselocked loop of synchronous rotating frame.Introducing Repetitive controller on the basis based on the three-phase digital phaselocked loop of synchronous rotating frame, the steady-state behaviour utilizing Repetitive controller excellent accurately extracts the phase value of voltage fundamental positive-sequence component when realizing three-phase power grid voltage imbalance and distortion.
Three-phase digital phaselocked loop based on Repetitive controller is one repetitive controller of increase on the basis based on the three-phase digital phaselocked loop of synchronous rotating frame, this repetitive controller and original pi controller is in parallel.When three-phase input voltage fluctuates, pi controller plays a major role, and when three-phase input voltage is stablized, repetitive controller plays Main Function.So, pi controller can ensure that the dynamic property of phaselocked loop, and repetitive controller ensure that the stable state accuracy of phaselocked loop.
Repetitive controller is based on internal model principle and derives, and is the external input signal of T for a primitive period, and its internal mold expression formula is:
If the sampling number that system is a primitive period is N, formula (4) is carried out sliding-model control, can obtain:
Formula (5) is desirable internal mold expression formula, and its stability is generally poor, in order to improve the stability of system, adds coefficient Q (z), thus obtaining imperfect internal mold expression formula in desirable internal mold expression formula:
Wherein, Q (z) is the low-frequency range amplitude low pass filter less than 1.
By the above mathematical model analyzed and can obtain the repetitive controller that the present invention adopts, and then obtain the three-phase digital phaselocked loop based on Repetitive controller.
Embodiment 1
Fig. 1 is basic three-phase phase-locked loop schematic diagram, utilizes Clarke transform that three-phase power grid voltage transforms to biphase rest frame, obtains line voltage voltage U under biphase rest frameαAnd Uβ, then utilize park transforms by line voltage voltage values under biphase rest frame to biphase rotating coordinate system, obtain line voltage voltage U under biphase rotating coordinate systemdAnd Uq, wherein line voltage at the component of q axle is:
When phaselocked loop output phase angle θ and actual electric network voltage vector phase angle ω t close to time, say, that (ω t-θ) is very little or close to zero, sin (ω t-θ) can be approximately (ω t-θ).Therefore, when phase lock loop locks, line voltage vector q axle component under synchronous rotating frame is by vanishing.
Fig. 2 is the line voltage vectogram under synchronous rotating frame, Fig. 2 can find out intuitively very much, line voltage vector UsAt q axle component UqReflect voltage vector UsWith the phase relation of q axle, voltage vector UsAt d axle component UdReflect voltage vector UsAmplitude information.As voltage vector UsAt q axle component UqWhen=0, voltage vector and d axle same phase.Therefore, by feedback control, make Uq=0, integral element 1/s is to the output valve of controller and natural frequency ωfSum is integrated obtaining electric network voltage phase angle θ.
Fig. 3 is based on the three-phase digital principle of phase lock loop figure of Repetitive controller, and the Clarke transform including three-phase power grid voltage, the sine and cosine based on the park transforms of biphase synchronous rotating frame, pi controller, repetitive controller, integral element 1/s and phase-locked result θ calculate.Three-phase power grid voltage is connected to the input of Clarke transform, and the outfan of Clarke transform is connected with the input of park transforms, the U of park transforms outfanqAll it is connected with the input of the input of pi controller and repetitive controller, the outfan of pi controller, the outfan of repetitive controller and natural frequency ωfBeing connected to the input of integral element 1/s after addition, the outfan of integral element exports phase-locked result θ, and the outfan of integral element is connected with sine and cosine computing unit simultaneously, and the output of sine and cosine computing unit is connected with the input of park transforms.
By increasing a repetitive controller on the basis of basic three-phase phase-locked loop, this repetitive controller and original pi controller are in parallel.When three-phase input voltage fluctuates, pi controller plays a major role, and when three-phase input voltage is stablized, repetitive controller plays Main Function.So, pi controller can ensure that the dynamic property of phaselocked loop, and repetitive controller ensure that the stable state accuracy of phaselocked loop.
Fig. 4 is the structured flowchart of the repetitive controller in Fig. 3, and the positive feedback part before it is internal mold；KrzkS (z) is calm compensator, for phase compensation and amplitude compensation, KrFor the gain of repetitive controller, zkFor differentiation element, being used for compensating delayed phase, S (z) is low pass filter, is used for filtering radio-frequency component, and the function of calm compensator is to make control object in the gain of medium and low frequency section close to 1, and suppresses the signal of high band, improves system stability；Differentiation element zkReality cannot realize, therefore increase the delay link z of a primitive period in the front end of calm compensator-N, it is ensured that differentiation element zkCan realize smoothly.
The parameter of repetitive controller generally according in, low frequency offset, the principle of high frequency attenuation is designed, to ensure the stability of system.Q (z) is generally the amplitude low pass filter less than 1 or the constant less than 1, takes Q (z)=0.98 here.N is the sampling number of a power frequency period, it is possible to is calculated by power frequency period and sample frequency and obtains, for the three-phase system of 50Hz, if sample frequency is 20kHz, then N=400.KrGenerally take the constant less than 1, in conjunction with other parameter, it is contemplated that the stability of system, select K herer=0.9.Differentiation element zkFor phase compensation, by analysis, k=5 is taken here comparatively suitable.S (z) is generally second-order low-pass filter, and its transmission function in s territory is:
In formula, ωnFor break angular frequency, ξ is damping ratio.
Because the useful component in phaselocked loop is mainly DC component, therefore take corner frequency fn=20Hz, i.e. ωn=40 π (unit rad/s), take damping ratio ξ=0.707 here.
Therefore the expression that can obtain S (s) is:
When sample frequency is 20kHz, formula S (s) being carried out sliding-model control, can obtain the S (z) in repetitive controller is:
So far, the design of the three-phase digital phaselocked loop based on Repetitive controller is completed.
Fig. 5 is phase-locked result when unbalanced source voltage and distortion, and component of voltage contained by line voltage is in Table 1.As shown in Figure 5, this three-phase digital phaselocked loop can effectively follow the tracks of the real-time phase of three-phase input voltage fundamental positive sequence, and phase-locked error is only 0.19 °, illustrate this phaselocked loop can stable state accuracy when unbalanced source voltage and distortion high.
Contained component of voltage when table 1 unbalanced source voltage and distortion
Fig. 6 is phase-locked result during electric network voltage phase sudden change, and the component of voltage that line voltage comprises includes in table 1WithWhen 0.06s, the SPA sudden phase anomalies of three-phase input voltage fundamental positive sequence+40 °, it will be appreciated from fig. 6 that after about 11ms, phaselocked loop just can be normally phase-locked, illustrates that the dynamic response rate of this phaselocked loop is fast.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；Although the present invention being described in detail with reference to foregoing embodiments, it will be understood by those within the art that: the technical scheme described in foregoing embodiments is modified by it, or wherein some or all of technical characteristic is carried out equivalent replacement, does not make the essence of appropriate technical solution depart from the scope of various embodiments of the present invention technical scheme.
Claims (5)
1. the phaselocked loop being applicable to unbalanced source voltage and distortion state, it is characterized in that: the unbalanced source voltage phaselocked loop with the distortion state sine and cosine computing unit by the Clarke transform of three-phase power grid voltage, based on the park transforms of biphase synchronous rotating frame, pi controller, repetitive controller, integral element 1/s and phase-locked result θ should be applicable to and form, three-phase power grid voltage is connected to the input of Clarke transform, the outfan of Clarke transform is connected with the input of park transforms, the U of park transforms outfanqIt is connected with the input of pi controller and the input of repetitive controller respectively, the outfan of pi controller, the outfan of repetitive controller and natural frequency ωfBeing connected to the input of integral element 1/s after addition, the outfan of integral element 1/s exports phase-locked result θ, and the outfan of integral element 1/s is connected with sine and cosine computing unit simultaneously, and the output of sine and cosine computing unit is connected with the input of park transforms.
2. a kind of phaselocked loop suitable in unbalanced source voltage and distortion state according to claim 1, it is characterised in that: three-phase power grid voltage obtains the voltage U under biphase rest frame after Clarke transformαAnd Uβ, park transforms utilizes the sine and cosine value of phase-locked result will to obtain voltage U under the voltage transformation under biphase rest frame to biphase synchronous rotating framedAnd Uq, proportion of utilization integral controller and repetitive controller are simultaneously to component of voltage UqIt is controlled, by both result of calculation phase adductions and natural frequency ωfIt is added, obtains the control variable quantity of phase error signal, by integral element 1/s to its integration, obtain the PGC demodulation result θ of three-phase voltage.
3. a kind of phaselocked loop suitable in unbalanced source voltage and distortion state according to claim 1, it is characterised in that: the pi controller and the repetitive controller that control for phase signal are parallel relationship, form composite controller.
4. a kind of phaselocked loop suitable in unbalanced source voltage and distortion state according to Claims 2 or 3, it is characterised in that: the composite controller that pi controller and repetitive controller parallel connection are formed controls three-phase power grid voltage component of voltage U under synchronous rotating frameq=0, phaselocked loop output phase angle and actual electric network voltage vector phase angle close to time, utilize three-phase power grid voltage that Clarke transform and park transforms the obtain component of voltage U under synchronous rotating frameqIt is being proportional relationship after approximate processing with phase error signal, is only differing from a coefficient each other, making three-phase power grid voltage component of voltage U under synchronous rotating frame by controlqRemain zero, it is achieved electric network voltage phase locks.
5. a kind of phaselocked loop suitable in unbalanced source voltage and distortion state according to claim 2, it is characterized in that: this digital phase-locked loop utilizes the controller such as digital signal processor and single-chip microcomputer to realize, or realize with the PLD such as field programmable gate array and CPLD.
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| CN114137306A (en) * | 2021-11-26 | 2022-03-04 | 王智峰 | Grid-connected converter voltage phase detection method and system |
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