CN105790272B - Multiple-rotating coordinate phaselocked loop and control method for electric automobile battery charger - Google Patents

Multiple-rotating coordinate phaselocked loop and control method for electric automobile battery charger Download PDF

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Publication number
CN105790272B
CN105790272B CN201610254689.XA CN201610254689A CN105790272B CN 105790272 B CN105790272 B CN 105790272B CN 201610254689 A CN201610254689 A CN 201610254689A CN 105790272 B CN105790272 B CN 105790272B
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module
phase
output
multiplier
filter
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CN105790272A (en
Inventor
全书海
杨康
黄亮
谢长君
曾春年
叶麦克
全欢
陈启宏
石英
张立炎
邓坚
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Wuhan University of Technology WUT
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Wuhan University of Technology WUT
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Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J3/00—Circuit arrangements for ac mains or ac distribution networks
    • H02J3/01—Arrangements for reducing harmonics or ripples
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
    • H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
    • H02J7/02—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries for charging batteries from ac mains by converters
    • H—ELECTRICITY
    • H03—ELECTRONIC CIRCUITRY
    • H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION, OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
    • H03L7/00—Automatic control of frequency or phase; Synchronisation
    • H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
    • H03L7/08—Details of the phase-locked loop
    • H03L7/085—Details of the phase-locked loop concerning mainly the frequency- or phase-detection arrangement including the filtering or amplification of its output signal
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
    • Y02E40/40—Arrangements for reducing harmonics

Abstract

The present invention relates to a kind of multiple-rotating coordinate phaselocked loops and control method for electric automobile battery charger.It uses novel filter structure, this filter structure that can quickly filter out the arbitrary order harmonic components in network voltage, effectively prevents the influence that the non-positive sequence fundametal compoment of network voltage exports digital phase-locked loop angular frequency and phase information；In terms of calculating network voltage angular frequency and phase information, it uses completely new design, almost can export network voltage angular frequency and phase information no-delayly, greatly improves the locking phase speed and locking phase precision of entire digital phase-locked loop.The present invention for electric automobile battery charger multiple-rotating coordinate phaselocked loop and control method locking phase speed is fast, precision is high, the electric vehicle DC charging motor being suitable under various network voltage environment, be suitble to use in the various field of power electronics for being related to PFC controls.

Description

Multiple-rotating coordinate phaselocked loop and control method for electric automobile battery charger
Technical field
This patent belongs to a kind of multiple-rotating coordinate phaselocked loop and control method applied to electric automobile battery charger.Use this The electric vehicle DC charging motor of new digital PHASE-LOCKED LOOP PLL TECHNIQUE, current on line side harmonic content THD is lower, net side power factor Higher, the dynamic responding speed of system faster, and can allow direct current drive charger for automobile adapt to Various Complex power grid environment.
Background technology
With the continuous reduction of non-renewable energy resources, the fast development of new energy is pushed to have become the task of top priority, in vapour In turner industry, electric vehicle comes into being, it is as a kind of green traffic tool that development prospect is wide, spreading speed from now on Can be abnormal swift and violent, following market prospects are also abnormal huge.And as the important auxiliary facility of electric vehicle, electric vehicle DC charging motor is increasingly paid much attention to by society and country.
Charging device of electric automobile can totally be divided into vehicle-mounted charging device and off-board charging unit.Vehicle-mounted charging device Refer to the device to charge to battery pack using land-based AC power grid and vehicle power supply being mounted on electric vehicle, including vehicle-mounted Charger, vehicle-mounted charge generating set and operation energy regenerating charging unit are straight by an ac power cable with plug It patches and charges a battery in the charging socket of electric vehicle.Vehicle-mounted charging device is usually using simple structure, convenient control Contact type charger, can also be induction electricity charger.It is designed fully according to the type of Vehicular accumulator cell, specific aim compared with By force.Off-board charging unit, i.e. ground charging unit include mainly special charging machine, special charging station, general battery charger, public affairs Place charging station etc. altogether, it can meet the various charging modes of various batteries.Off-board charging unit is equivalent to automobile and adds Petrol station, it needs the electric vehicle to charge to provide charging service to any one.
To any Vehicular charger and off-board charger, takes electricity from three phase network and carry out PFC PFCs, carry All be very important link for steady dc voltage source, this link be directly related to net side power quality, power factor, Overall efficiency, calorific value, security and reliability etc..And the phase and frequency letter of the calculated three-phase power grid voltage of digital phase-locked loop Breath has most direct, most important influence to the actual effect of the parts three-phase PFC.
The parts PFC of electric vehicle DC charging motor currently on the market are all often using most common based on single synchronous The three-phase software phase-lock loop (SRF-PLL) or most basic zero passage phaselocked loop of rotating coordinate system are electric to three phase network to realize The capture of phase and frequency, these phaselocked loops is pressed to be difficult to inhibit the shadow of the interference such as direct current biasing, harmonic wave in mains voltage signal It rings, causes the phase and frequency precision of output not high, lead to that current on line side harmonic wave THD is big, power factor is low, inefficient, most The actual performance of the parts direct current drive charger for automobile PFC is influenced eventually.Importantly, common software phase-lock loop is such as based on The three-phase software phase-lock loop (SRF-PLL) or most basic zero passage phaselocked loop of single synchronous rotating frame, in severe Network voltage environment in when, be unable to ensure and effectively inhibit mains by harmonics, direct current biasing and while negative phase-sequence fundametal compoment, keep Quick dynamic responding speed, this makes the current on line side of entire electric vehicle DC charging motor be contaminated in network voltage When, cannot not only quickly again accurately output three-phase power grid voltage positive sequence fundametal compoment phase, to reduce current on line side Quality greatly improves the harmonic content THD of current on line side, affects the normal work of electric vehicle DC charging motor and makes Use range.
Digital Phase-Locked Loop Technology applied to the parts three-phase PFC there has been significant progress these years, but with new energy The appearance of new equipment still has many problems that need to further research and solve, and is especially suitable for the three of electric vehicle DC charging motor Phase software phlase locking loop technique is badly in need of research and development.
Invention content
The object of the present invention is to provide a kind of dedicated for the multiple-rotating coordinate phaselocked loop of electric automobile battery charger and control Method.The Three phase Digital Phase-Locked Loop Technology converts filter module group based on the multi-coordinate that multiple-rotating coordinate system filters, can The angular frequency and phase information for quickly and accurately exporting network voltage are locked with this three-phase digital based on novel filter module Phase ring can make the current on line side harmonic content THD of direct current charger for automobile lower, net side power factor higher, the transient state of system Response speed faster, and can allow direct current drive charger for automobile adapt to Various Complex power grid environment.
To achieve the goals above, the technical solution adopted in the present invention is：
A kind of multiple-rotating coordinate phaselocked loop for electric automobile battery charger, including：Three-phase power grid voltage passes through input terminal I-1 is connected with power converter module (100), the output end U of power converter module (100)dc+、Udc-Pass through output end O-1, O- 2 are connected with input terminal I-2, I-3 of electric automobile power battery group (110), and electric automobile power battery group (110) passes through CAN is connected with DSP main control modules (130), and A/D acquisition modules (120) acquire three-phase power grid voltage value and current value, and will adopt Set value is sent into DSP main control modules (130), DSP main control module output valves eα、eβPass through output end O-3, O-4 and multi-coordinate phaselocked loop Input terminal I-4, I-5 of multi-coordinate transformation filter module group (140) be connected, multi-coordinate converts filter module group (140) Output valve eαn、eβnPass through input terminal I-6, I-7 phase of output end O-5, O-6 and angular frequency/phase information computing module (150) Connection, the output valve ω of angular frequency/phase information computing module (150), It is connected with input terminal I-8, I-9, I-10 of DSP main control modules (130) by output end O-7, O-8, O-9.
Based on the multiple-rotating coordinate phaselocked loop for electric automobile battery charger, control method is：Using based on rotation Turn the multi-coordinate transformation filter module group (140) of coordinate system filtering, the filter that module group is identical by multiple structures but parameter is different Wave block coupled in series forms, the output e of previous filter moduleαxAnd eβxIt is sent into the rotating coordinate system computing module of n times filter module Rotating coordinate system computing module n and rest frame computing module n is sent into the output of n, n times of fundamental wave angular frequency cycle timers, The output e of rotating coordinate system computing module ndnAnd eqnIt is respectively fed to multiplier n-A and multiplier n-C；Filter constant n-1's is defeated Go out while being sent into multiplier n-A and multiplier n-C, the output of filter constant n-2 is sent into multiplier n-B and multiplier n-D simultaneously； The output y0 of data memory module n-1 be sent into simultaneously multiplier n-B and subtracter n-C-number end, data memory module n-2's Output y0 simultaneously be sent into multiplier n-D and subtracter n-D-number end；The output feeding subtracter n-A of multiplier n-A+number It holds, the output feeding subtracter n-A of multiplier n-B-number end, the output feeding subtracter n-B of multiplier n-C+number end, multiply The output feeding subtracter n-B of musical instruments used in a Buddhist or Taoist mass n-D-number end；The output of subtracter n-A while the y1 for being sent into data memory module n-1 End and subtracter n-C+number end, the output of subtracter n-B while being sent into the ends y1 and the subtracter n-D of data memory module n-2 + number end；The output v of subtracter n-CdnSimultaneously be sent into multiplier n-E one end and adder n-E+number end；Correction constant n It is sent into one end of the other end and multiplier n-F of multiplier n-E, the output v of subtracter n-D simultaneouslyqnIt is sent into multiplier n-F simultaneously The other end and subtracter n-F+number end；The output feeding subtracter n-F of multiplier n-E-number end, multiplier n-F's is defeated Go out to be sent into adder n-E another+number end, the output of adder n_E is sent into one end of rest frame computing module n, The other end of rest frame computing module n is sent into the output of subtracter n-F.The n outputs of rest frame computing module filter out n times Network voltage component e after harmonic waveαnAnd eβn。
As the e containing nth harmonicαxAnd eβxAfter component is sent into rotating coordinate system computing module n, n times of fundamental wave angular frequency week Under the operation angular speed coordinate system of phase timer, nth harmonic has been converted into DC component, passes through multiplier n-A, multiplier n- B, multiplier n-C, multiplier n-D, filter constant n-1, filter constant n-2, subtracter n-A, subtracter n-B, subtracter n-C, Subtracter n-D, data memory module n-1 and data memory module n-2 are combined into high-pass filter, filter out and exist with DC component Nth harmonic component, then phase is formed by multiplier n-E, multiplier n-F, adder n-E, subtracter n-F and correction constant n Correction link corrects the phase offset of network voltage positive sequence fundametal compoment caused by high-pass filter, finally by static coordinate It is that the mains voltage signal under rotating coordinate system is reverted back signal under rest frame by computing module n, facilitates rear class operation. Wherein, the constant selection formula of n times filter module is as follows：
Filter constant n_1=2/ (2+k*Ts*ω)；
Filter constant n_2=(k*Ts*ω-2)/(2+k*Ts*ω)；
Correction constant n=k/ (1-n)；
Wherein, k represents high-pass filtering coefficient, and k is bigger, and high-pass filtering inhibits the degree of DC component stronger, general value 0.1~0.2；TsRepresent the discrete time of DSP main control modules (130)；ω represents three-phase power grid voltage fundamental wave angular frequency, generally 314rad/s；N represents overtone order；
Due to entire filtering part not use time delay process and high-pass filter it is very big to the decaying of DC component, so This filter module filtering speed based on rotating coordinate system is faster and harmonic suppression effect is more thorough.
In said program, in angular frequency/phase information computing module (150), eαnAnd eβnIt is sent into normalization module (151), It normalizes module (151) and exports network voltage sinusoidal quantity unit signal It is sent into cam combination computing module simultaneously (154) and derivative module (152), normalization module (151) export network voltage cosine amount unit signalTogether When be sent into division arithmetic module (153) and cam combination computing module (154), phase pushing figure θ feeding cam combination operation moulds Block (154), cam combination computing module (154) export two-way electric network voltage phase signal, be respectively with phase pushing figure θ just String unit signalWith cosine unit signalThe output of derivative module (152) is sent Enter division arithmetic module (153), division arithmetic module (153) exports current electric grid voltage angular frequency.Normalize module (151) The mains voltage signal amplitude of input is limited in unit quantity 1, derivative module (152) is by sinusoidal signalAsk micro- Point, obtain the amount containing frequency value information WithPass through division Computing module (153) exports current electric grid voltage angular frequency；Cam combination computing module (154) willθ merges, network voltage positive sequence fundametal compoment phase of the output with phase pushing figure θ Sinusoidal quantity and cosine amountWith
Corresponding filter is arranged in filter module needed for being flexibly arranged according to actual demand, the harmonic wave filtered out according to actual needs Wave module, after starting charging equipment, DSP main control modules (130) export the mains voltage signal e under one group of rest frameα And eβTo multi-coordinate transformation filter module group (140), eαAnd eβEach concatenated filter module is passed sequentially through, each filtering mould Block will all filter out the interference signal of specific secondary frequencies, and multi-coordinate converts filter module group (140) by the power grid without interference signal Voltage positive sequence fundametal compoment eαnAnd eβnIt is sent into angular frequency/phase information computing module (150), is calculated in angular frequency/phase information In module (150), module (151) is normalized by eαnAnd eβnAmplitude adjust unit quantity 1, and output unit unit signalWithDerivative module (151) is rightIt differentiates, obtains differential AmountBy micro componentWithDivision arithmetic is carried out, is obtained out current Network voltage actual angular frequency ω, cam combination computing module (154) is to input quantity Trigonometric function operation is carried out with θ, Cam combination computing module (154) output can be free Adjust the amount of the sine value and cosine value at electric network voltage phase angle WithAnd by its It is sent into DSP main control modules and carries out PFC controls, if without advanced or lag electric network voltage phase, θ is set to 0.
The present invention is suitable for the control strategy of the parts electric vehicle DC charging motor PFC, this Three phase digital phase-locking Phase ring can provide fast and accurately electric network voltage phase and frequency for the PFC PFC links of direct current charger for automobile Rate keeps direct current charger for automobile current on line side harmonic content THD smallers, net side power factor higher, reliability high.Realize the skill The microcontroller (MCU) of art can be DSP family chips, PIC family chips or various other singlechip control chips, It should all be incorporated in the scope of the present invention.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram.
Fig. 2 is the functional block diagram of n times filter module of the present invention.
Fig. 3 is the functional block diagram of angular frequency of the present invention/phase information computing module (150).
Fig. 4 is the control method flow chart of the present invention
Specific implementation mode
Below in conjunction with the accompanying drawings and example the invention will be further described, but the embodiment should not be construed as to the present invention Limitation.
In this example, three-phase power grid voltage positive sequence fundametal compoment is 380V/50Hz, and is noted into the three-phase power grid voltage Enter 20% negative phase-sequence fundametal compoment and+5 order harmonic components and into A phase network voltages inject 50V DC component.This example Agent structure is described as shown in annex Fig. 1 according to annex Fig. 1, and in this example, multi-coordinate converts filter module group and 3 filters are arranged Wave module, respectively -1 filter module, 0 filter module and+5 filter modules, k values 0.2；Dissociation constant TsValue 50us。
As shown in Figure 1, the multiple-rotating coordinate phaselocked loop of the present invention includes：Three-phase power grid voltage passes through input terminal I-1 and electricity Force transformation module (100) is connected, the output end U of power converter module (100)dc+、Udc-By output end O-1, O-2 with it is electronic Input terminal I-2, I-3 of automobile power cell group (110) are connected, and electric automobile power battery group (110) passes through CAN and DSP Main control module (130) is connected, and A/D acquisition modules (120) acquire three-phase power grid voltage value and current value, and collection value is sent into DSP main control modules (130), DSP main control module output valves eα、eβThe more of phaselocked loop are converted by output end O-3, O-4 and multi-coordinate Input terminal I-4, I-5 of coordinate transform filter module group (140) are connected, multi-coordinate convert filter module group (140) it is internal by Multiple filter modules are sequentially connected in series from low to high by harmonic wave power, in this example, as shown in annex, and DSP main control modules (130) output valve eα、eβInput terminal I-4, I-5 that filter module group (140) is converted by multi-coordinate are sent into -1 filtering mould Block, the output valve e of -1 filter moduleα-1、eβ-1It is sent into 0 filter module, the output valve e of 0 filter moduleα0、eβ0It is sent into+5 Secondary filter module, the final filter value e of output of+5 filter modulesα+5、eβ+5；Multi-coordinate converts the defeated of filter module group (140) Go out value eα+5、eβ+5It is connected with input terminal I-6, I-7 of angular frequency/phase information computing module (150) by output end O-5, O-6 It connects, the output valve ω of angular frequency/phase information computing module (150),It is logical Output end O_7, O_8, O_9 is crossed with input terminal I-8, I-9, I-10 of DSP main control modules (130) to be connected.
In this present embodiment, based on the multi-coordinate transformation filter module group (140) of rotating coordinate system filtering, DSP master control moulds Block (130) is by three-phase power grid voltage value e under rest frameαAnd eβIt is sent into -1 filter of multi-coordinate transformation filter module group (140) Wave module, in -1 filter module, eαAnd eβIt is sent into rotating coordinate system computing module -1 of -1 filter module, -1 times of fundamental wave Rotating coordinate system computing module -1 and rest frame computing module -1 are sent into the output of angular frequency cycle timer；Rotational coordinates It is the output e of computing module -1d-1And eq-1It is respectively fed to multiplier -1-A and multiplier -1-C；The output of filter constant -1_1 is same When be sent into multiplier -1-A and multiplier -1-C, the output of filter constant -1-2 is sent into multiplier -1-B and multiplier -1- simultaneously D；The output y0 of data memory module -1-1 be sent into simultaneously multiplier -1-B and subtracter -1-C-number end, data memory module - The output y0 of 1-2 be sent into simultaneously multiplier -1-D and subtracter -1-D-number end；Subtracter-is sent into the output of multiplier -1-A 1-A+number end, the output feeding subtracter -1-A of multiplier -1-B-number end, the output feeding subtracter-of multiplier -1-C 1-B+number end, the output feeding subtracter -1-B of multiplier -1-D-number end；The output of subtracter -1-A is sent into data simultaneously The ends y1 of memory module -1-1 and subtracter -1-C+number end, the output of subtracter -1-B is sent into data memory module -1- simultaneously 2 ends y1 and subtracter -1-D+number end；The output v of subtracter -1-CdnIt is sent into one end and the addition of multiplier -1-E simultaneously Device -1-E+number end；Correction constant -1 is sent into one end of the other end and multiplier -1-F of multiplier -1-E, subtracter-simultaneously The output v of 1-DqnSimultaneously be sent into multiplier -1-F the other end and subtracter -1-F+number end；The output of multiplier -1-E is sent into Subtracter -1-F-number end, the output of multiplier -1-F be sent into adder -1-E another+number end, adder -1-E's One end of rest frame computing module -1 is sent into output, and rest frame computing module -1 is sent into the output of subtracter -1-F The other end.The output of rest frame computing module -1 filters out the network voltage component e after negative phase-sequence fundametal compomentα-1And eβ-1。
As the e containing -1 subharmonicαAnd eβAfter component is sent into rotating coordinate system computing module -1 simultaneously, at -1 times of fundamental wave angle Under the operation angular speed coordinate system of frequency cycle timer, -1 subharmonic has been converted into DC component, by multiplier -1-A, Multiplier -1-B, multiplier -1-C, multiplier -1-D, filter constant -1-1, filter constant -1-2, subtracter -1-A, subtracter - 1-B, subtracter -1-C, subtracter -1-D, data memory module -1_1 and data memory module -1-2 are combined into high-pass filter, It filters out with -1 order harmonic components existing for DC component, then by multiplier -1-E, multiplier -1-F, adder -1-E, subtracter - 1-F and correction constant -1 form phasing link, correct the phase of network voltage positive sequence fundametal compoment caused by high-pass filter Position offset, static coordinate is reverted back finally by rest frame computing module -1 by the mains voltage signal under rotating coordinate system Signal e under systemα-1And eβ-1And it is sent to 0 filter module；Similarly, mains voltage signal by 0 filter module and+ After 5 filter modules, negative phase-sequence fundametal compoment ,+5 order harmonic components and the DC component of script, which are all converted by multi-coordinate, filters Wave module group (140) filters out.
In the present embodiment, each parameter value is as follows：
Filter constant -1-1=0.998；
Filter constant -1-2=-0.997；
Correction constant+1=0.1；
Filter constant 0-1=0.998；
Filter constant 0-2=-0.997；
Correction constant 0=0.2；
Filter constant+5-1=0.998；
Filter constant+5-2=-0.997；
Correction constant+5=-0.2；
In the present embodiment, multi-coordinate converts filter module group (140) by the e without harmonic signalα+5And eβ+5It is sent into angle Normalization module (151) in frequency/phase information computational module (150), it is sinusoidal that normalization module (151) exports network voltage Measure unit signalIt is sent into cam combination computing module (154) all the way, is sent into derivative module (152), normalizing all the way Change module (151) and exports network voltage cosine amount unit signalIt is sent into division arithmetic module (153) all the way, It is sent into cam combination computing module (154) all the way, phase pushing figure θ is sent into cam combination computing module (154), cam combination fortune It calculates module (154) and exports two-way electric network voltage phase signal, be sinusoidal unit signal respectivelyWith cosine unit SignalDivision arithmetic module (153) is sent into the output of derivative module (152), and division arithmetic module (153) is defeated Go out current electric grid voltage angular frequency.The mains voltage signal amplitude of input is limited in unit quantity 1 by normalization module (151), Derivative module (152) is by sinusoidal signalIt differentiates, obtains the amount containing frequency value informationWith By division arithmetic module (153), current electricity is exported Net voltage angular frequency；Cam combination computing module (154) willθ merges, output electricity The adjustable sinusoidal and cosine amount of net voltage phase angleWith
The control method of the present embodiment is：It is connected in equipment and after the power is turned on, DSP main control modules (130) exports static seat The lower three-phase power grid voltage value e of mark systemαAnd eβ, and the signal is sent into multi-coordinate transformation filter module group (140), the signal is successively - 1 filter module, 0 filter module and+5 filter modules of filter module group (140) internal series-connection are converted by multi-coordinate Afterwards, negative phase-sequence fundametal compoment, DC component and+5 order harmonic components in positive sequence fundametal compoment, multi-coordinate transformation filtering mould have been filtered out Block group (140) is by the network voltage positive sequence fundametal compoment e without interference signalα+5And eβ+5Angular frequency/phase information is sent into calculate Module (150) normalizes module (151) by e in angular frequency/phase information computing module (150)α+5And eβ+5Amplitude it is whole Surely unit quantity 1, and output unit signal are arrivedWithDerivative module (152) is rightIt differentiates, obtains micro componentBy micro componentWithDivision arithmetic is carried out, obtains current electric grid voltage actual angular frequency ω, cam combination computing module (154) is to defeated Enter amount Trigonometric function operation is carried out with θ, Cam combination computing module (154) exports the sine value and cosine that can freely adjust electric network voltage phase angle The amount of valueWithAnd it is sent to DSP main control modules (130) and carries out PFC controls. The size of control θ can freely change the three-phase digital phaselocked loop output phase and actual electric network voltage positive sequence fundametal compoment phase Relationship, θ is set to 0 in this example, then the phaselocked loop output phase and actual electric network voltage positive sequence fundametal compoment phase coincidence.It has Body implementation steps are as shown in Figure 4：
S100：Modules carry out initial configuration；
S110:DSP main control modules (130) detect value e of the three-phase power grid voltage under rest frameαAnd eβ, and given Enter multi-coordinate transformation filter module group (140)；
S120：In -1 filter module, -1 times of fundamental wave angular frequency cycle timer output -1*314rad/s arrives rotational coordinates It is computing module -1, rotating coordinate system computing module -1 is by eαAnd eβNegative phase-sequence fundametal compoment in signal is converted to DC component, and DC component is filtered out by high-pass filtering link, phasing link phase calibration finally utilizes rest frame computing module- Mains voltage signal without negative phase-sequence fundametal compoment is reduced to e by 1α-1And eβ-1；
S130：In 0 filter module, rotating coordinate system computing module 0 is arrived in 0 times of fundamental wave angular frequency cycle timer output 0, I.e. rotating coordinate system computing module 0 does not work, and filters out DC component by high-pass filtering link, phasing link corrects phase Position, is finally reduced to e using rest frame computing module 0 by the mains voltage signal without DC componentα0And eβ0；
S140：In+5 filter modules ,+5 times of fundamental wave angular frequency cycle timer output+5*314rad/s arrive rotational coordinates It is computing module+5, rotating coordinate system computing module+5 is by eα0And eβ0+ 5 order harmonic components in signal are converted to DC component, Filter out DC component by high-pass filtering link, phasing link phase calibration, finally utilize rest frame computing module+ Mains voltage signal without+5 order harmonic components is reduced to e by 5α+5And eβ+5；
S150：In angular frequency/phase information computing module (150), module (151) is normalized by eα+5And eβ+5Amplitude it is whole Determine to 1, exportsWith
S151:Derivative module (152) is rightIt differentiates, exports
S152：Division arithmetic module (153) willWithDivision arithmetic is done, is exported Network voltage angular frequency；
S153：Cam combination computing module (154) is rightTrigonometric function is done with θ Operation is exported in phase pushing figure θ input network voltage sinusoidal quantities and cosine amountWith
S160：Electric automobile power battery group (110) is communicated by CAN and charger, judges whether charging voltage reaches Otherwise setting value returns to S110；
S170：DSP main control modules (130) receive network voltage angular frequency and phase information WithAnd start PFC and charge function accordingly；
S180：Electric automobile power battery group (110) is communicated by CAN with charger, is judged whether charge volume reaches and is wanted It asks, otherwise returns to S110；
S190：DSP main control modules (130) no longer receive phaselocked loop output data, and execute and shut down procedure；
S200：Terminate.
It is last it should be noted that the implementation of the present embodiment is merely to illustrate patent formula of the present invention and it is unrestricted.All are not departed from The modification and replacement of the spirit and scope of patent formula of the present invention, the right that should all be incorporated in patent of the present invention are worked as In.The content not being described in detail in this specification belongs to the prior art well known to this professional domain technical staff.

Claims (3)

1. a kind of multiple-rotating coordinate phaselocked loop for electric automobile battery charger, the multiple-rotating coordinate phaselocked loop include：Three-phase Network voltage is connected by input terminal I-1 with power converter module (100), the output end U of power converter module (100)dc+、 Udc-It is connected with input terminal I-2, I-3 of electric automobile power battery group (110) by output end O-1, O-2, electric vehicle is dynamic Power battery pack (110) is connected by CAN with DSP main control modules (130), and A/D acquisition modules (120) acquire three-phase power grid voltage Value and current value, and collection value is sent into DSP main control modules (130), DSP main control module output valves eα、eβBy output end O-3, O-4 is connected with input terminal I-4, I-5 of the multi-coordinate transformation filter module group (140) that multi-coordinate converts phaselocked loop, multi-coordinate Convert the output valve e of filter module group (140)αn、eβnPass through output end O-5, O-6 and angular frequency/phase information computing module (150) input terminal I-6, I-7 is connected, the output valve ω of angular frequency/phase information computing module (150),Pass through the defeated of output end O-7, O-8, O-9 and DSP main control module (130) Enter I-8, I-9, I-10 is held to be connected, it is characterised in that：Filter module is converted using the multi-coordinate filtered based on rotating coordinate system Group (140), the filter module that module group is identical by multiple structures but parameter is different are connected in series, and n times filter module is：Before The output e of one filter moduleαxAnd eβxIt is sent into the rotating coordinate system computing module n of n times filter module, n times of fundamental wave angular frequency week Rotating coordinate system computing module n and rest frame computing module n is sent into the output of phase timer；Rotating coordinate system computing module The output e of ndnAnd eqnIt is respectively fed to multiplier n-A and multiplier n-C；The output of filter constant n-1 is sent into multiplier n-A simultaneously Output with multiplier n-C, filter constant n-2 is sent into multiplier n-B and multiplier n-D simultaneously；Data memory module n-1's is defeated Go out y0 at the same be sent into multiplier n-B and subtracter n-C-number end, the output y0 of data memory module n-2 is sent into multiplier simultaneously N-D and subtracter n-D-number end；The output feeding subtracter n-A of multiplier n-A+number end, the output feeding of multiplier n-B Subtracter n-A-number end, the output feeding subtracter n-B of multiplier n-C+number end, the output feeding subtraction of multiplier n-D Device n-B-number end；Subtracter n-A output simultaneously be sent into data memory module n-1 the ends y1 and subtracter n-C+number hold, Subtracter n-B output simultaneously be sent into data memory module n-2 the ends y1 and subtracter n-D+number hold；Subtracter n-C's is defeated Go out vdnSimultaneously be sent into multiplier n-E one end and adder n-E+number end；Correction constant n is sent into the another of multiplier n-E simultaneously One end of one end and multiplier n-F, the output v of subtracter n-DqnIt is sent into the other end and subtracter n-F of multiplier n-F simultaneously + number end；The output feeding subtracter n-F of multiplier n-E-number end, the output feeding adder n-E of multiplier n-F is in addition + No. one holds, and one end of rest frame computing module n is sent into the output of adder n-E, and the output feeding of subtracter n-F is quiet The only other end of coordinate system computing module n, the n outputs of rest frame computing module filter out the network voltage component after nth harmonic eαnAnd eβn；
As the e containing nth harmonicαxAnd eβxIt is fixed n times of fundamental wave angular frequency period after component is sent into rotating coordinate system computing module n When device operation angular speed coordinate system under, nth harmonic has been converted into DC component, by multiplier n-A, multiplier n-B, multiplies Musical instruments used in a Buddhist or Taoist mass n-C, multiplier n-D, filter constant n-1, filter constant n-2, subtracter n-A, subtracter n-B, subtracter n-C, subtraction Device n-D, data memory module n-1 and data memory module n-2 are combined into high-pass filter, filter out and exist in the form of DC component Nth harmonic component, then phase is formed by multiplier n-E, multiplier n-F, adder n-E, subtracter n-F and correction constant n Correction link corrects the phase offset of network voltage positive sequence fundametal compoment caused by high-pass filter, finally by static coordinate It is that the mains voltage signal under rotating coordinate system is reverted back signal under rest frame by computing module n, facilitates rear class operation, Wherein, the constant selection formula of n times filter module is as follows：
Filter constant n-1=2/ (2+k*Ts*ω)；
Filter constant n-2=(k*Ts*ω-2)/(2+k*Ts*ω)；
Correction constant n=k/ (1-n)；
Wherein, k represents high-pass filtering coefficient, and k is bigger, and high-pass filtering inhibits the degree of DC component stronger, and general value 0.1~ 0.2；TsRepresent the discrete time of DSP main control modules (130)；ω represents three-phase power grid voltage fundamental wave angular frequency, generally 314rad/s；N represents overtone order；
Due to entire filtering part not use time delay process and high-pass filter it is very big to the decaying of DC component, so this Filter module filtering speed based on rotating coordinate system is faster and harmonic suppression effect is more thorough；
The eα、eβIndicate the network voltage component signal under rest frame；
The eαn、eβnExpression filters out the network voltage component signal after nth harmonic；
The eαxAnd eβxIndicate the network voltage component signal containing nth harmonic under rest frame；
The ednAnd eqnIndicate the network voltage positive sequence fundametal compoment without interference signal.
2. being used for the multiple-rotating coordinate phaselocked loop of electric automobile battery charger as described in claim 1, feature is：Angular frequency In rate/phase information computing module (150), eαnAnd eβnIt is sent into normalization module (151), normalization module (151) exports power grid Voltage sinusoidal amount unit signal It is sent into cam combination computing module (154) and derivative module (152) simultaneously, is returned One, which changes module (151), exports network voltage cosine amount unit signalIt is sent into division arithmetic module (153) simultaneously With cam combination computing module (154), phase pushing figure θ is sent into cam combination computing module (154), cam combination computing module (154) two-way electric network voltage phase signal is exported, is the sinusoidal unit signal with phase pushing figure θ respectivelyWith cosine unit signalDivision arithmetic is sent into the output of derivative module (152) Module (153), division arithmetic module (153) export current electric grid voltage angular frequency, normalize module (151) by the electricity of input Net voltage signal magnitude is limited in unit quantity 1, and derivative module (152) is by sinusoidal signalIt differentiates, is contained The amount of frequency value information WithPass through division arithmetic module (153), current electric grid voltage angular frequency is exported；Cam combination computing module (154) willθ merges, and network voltage positive sequence fundametal compoment phase of the output with phase pushing figure θ is just String amount and cosine amountWith
3. utilizing claim 1-2 any one of them for the controlling party of the multiple-rotating coordinate phaselocked loop of electric automobile battery charger Method, it is characterised in that：Filter module needed for being flexibly arranged according to actual demand, after starting charging equipment, DSP main control modules (130) the mains voltage signal e under one group of rest frame is exportedαAnd eβTo multi-coordinate transformation filter module group (140), eαWith eβEach concatenated filter module is passed sequentially through, each filter module will filter out the interference signal of specific secondary frequencies, sit more Mark converts filter module group (140) by the network voltage positive sequence fundametal compoment e without interference signalαnAnd eβnIt is sent into angular frequency/phase Position information computational module (150) normalizes module (151) by e in angular frequency/phase information computing module (150)αnAnd eβn Amplitude adjust unit quantity 1, and output unit signalWithDerivative module (151) is rightIt differentiates, obtains micro componentBy micro componentWithDivision arithmetic is carried out, obtains current electric grid voltage actual angular frequency ω, cam combination computing module (154) is to defeated Enter amount Trigonometric function operation is carried out with θ, Cam combination computing module (154) exports the sine value and cosine that can freely adjust electric network voltage phase angle The amount of valueWithAnd it is sent to DSP main control modules (130) and carries out PFC controls；
High-pass filter, which is utilized, in the control method there is extremely strong rejection ability to even completely eliminate low frequency letter low frequency signal Number ability, interference signal is transformed by direct current signal or low frequency signal by rotating coordinate system, recycles high-pass filter It is filtered out, in entire filtering, is not used phase delay link, so its filtering hardly influences to lock The transient response speed of phase ring；In angular frequency/phase information computing module (150), due to the multi-coordinate transformation filtering mould of front Block group (140) has completely inhibited the interference volume in mains voltage signal, therefore the control algolithm eliminates and utilizes loop filtering The method that device and voltage controlled oscillator calculate phase, instead directly export three-phase power grid voltage using normalization module Unit sinusoidal quantity and cosine amount, and by cam combination computing module by offset θ addition network voltage unit sinusoidal quantity Among cosine amount so that the output quantity of the digital phase-locked loop can be freely advanced or lags network voltage actual phase, by In eliminating loop filter and voltage controlled oscillator, therefore during calculating three-phase power grid voltage angular frequency and phase information, The factor that can influence the digital phase-locked loop transient response speed is less so that the response speed and lock of digital phase-locked loop entirety Phase precision higher.
CN201610254689.XA 2016-04-21 2016-04-21 Multiple-rotating coordinate phaselocked loop and control method for electric automobile battery charger Expired - Fee Related CN105790272B (en)

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