CN106410858A - Software digital phase-locking method based on dual dq coordination conversion - Google Patents
Software digital phase-locking method based on dual dq coordination conversion Download PDFInfo
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- 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
- H02J3/38—Arrangements for parallely feeding a single network by two or more generators, converters or transformers
- H02J3/40—Synchronising a generator for connection to a network or to another generator
- H02J3/44—Synchronising a generator for connection to a network or to another generator with means for ensuring correct phase sequence
Abstract
The invention discloses a software digital phase-locking method based on dual dq coordinate conversion, and relates to the technical field of power grid fundamental frequency and phase detection, and the technical problems that the prior art cannot automatically adapt to single-phase and three-phase power supplies, and cannot accurately and fast detect the voltage frequency and phase when the unbalanced voltage, frequency saltation, voltage dip and harmonic interference are existent are solved. The method mainly comprises the following steps: sampling an input voltage signal wave to acquire a voltage signal; respectively performing dq coordination conversion on the voltage signal to respectively acquire the corresponding positive sequence dq signal and negative sequence dq signal; respectively operating the decoupling operation on the positive sequence dq signal and the negative sequence dq signal to obtain a first decoupling component signal and a second decoupling component signal; acquiring a phase-locking angle and numerical value relation of a first effective decoupling component signal or a second effective decoupling component signal; and performing the phase-locking computation by use of a transfer function to acquire a voltage phase of the input voltage signal wave.
Description
Technical field
The present invention relates to electrical network fundamental frequency and phase detection techniques field are and in particular to a kind of be based on double dq coordinate transforms
Software digital phase-lock technique.
Background technology
With non-linear electrical equipment in power system, the especially extensive application of power electronic equipment, in power system
Quality of power supply pollution problem also increasingly severe, and most of power electronic equipment power factor is relatively low, also brings to electrical network
Added burden, and affect power supply quality, the power equipment improving power grid quality emerges in multitude.
In addition, with the continuous progress of the renewable energy power generation technology such as solar energy, wind energy, renewable energy system
Must be grid-connected with existing power network, its effect could be played to greatest extent, renewable energy system typically passes through electric power
Changer is connected to the grid, and wherein solar electrical energy generation is divided into single-phase and three-phase grid different modes.The grid-connected need of regenerative resource
Energy-storage system is wanted to be adjusted, energy storage device is similarly divided into single-phase and three-phase system.
Above-mentioned these based on the power converter of Power Electronic Technique have the characteristics that one common, they directly or by
The equipment such as transformator, reactor and electrical network in parallel or series, and rely on supply voltage and electrical network holding synchronous operation.Realize simultaneously
Net transformation device is run simultaneously it may first have to detect frequency and the phase place of line voltage with electrical network, and to control changer with this,
Make itself and line voltage keep synchronous, typically use phaselocked loop (Phase-Locked Loop, PLL) to obtain electric network voltage phase
Angle, its basic function is used to lock the phase place of single-phase voltage or the phase place of three-phase power grid voltage positive-sequence component, but have
In the case of it is also required to provide frequency and amplitude information, these output informations of phase-locked system have been involved in the control of power converter
Process, thus whether fine or not its performance is plays very important effect in electric converting system, phase-locked loop performance good
The bad quality determining systematic function to a certain extent.
The invention discloses a kind of general software Phase-Lock, can automatically adapt to single-phase and three-phase power supply occasion.
Content of the invention
For above-mentioned prior art, present invention aim at providing a kind of general software Phase-Lock, solve existing skill
Art can not adapt to single-phase, three phase supply power supply automatically, and in Voltage unbalance, frequency discontinuity, voltage die and has harmonic wave to do
It is impossible to enough accurately and rapidly detect electric voltage frequency and the technical problems such as phase place when disturbing.
For reaching above-mentioned purpose, the technical solution used in the present invention is as follows：
A kind of software digital phase-lock technique based on double dq coordinate transforms, comprises the steps,
Step 1, input voltage signal ripple is sampled, obtain voltage signal；
Step 2, the coordinate transform of positive sequence dq and the coordinate transform of negative phase-sequence dq are carried out respectively to voltage signal, obtain corresponding respectively
Positive sequence dq signal and negative phase-sequence dq signal；
Step 3, positive sequence dq signal and negative phase-sequence dq signal are carried out respectively decouple computing, corresponding positive sequence d+q+Coordinate and negative phase-sequence
d-q-Coordinate respectively obtains the first decoupling component signal and the second decoupling component signal, and its frequency information is all input voltage signal
The fundamental frequency information of ripple；
Step 4, judge the first decoupling component signal or the effectiveness of the second decoupling component signal, obtain and there is effectiveness the
The lock phase angle of one decoupling component signal or the second decoupling component signal and numerical relation；
Step 5, by numerical relation, lock phase angle and input voltage signal wave voltage phase place, build the biography of closed loop pi regulator
Delivery function, is mutually calculated using transferring function by lock, obtains the voltage-phase of input voltage signal ripple.
In said method, described step 1, wherein,
Digital sample is carried out to input voltage signal ripple by analog-to-digital conversion module, more low-pass filtered module obtains voltage
Signal.
In said method, described step 3, comprise the steps,
Step 3.1, positive sequence dq signal and negative phase-sequence dq signal are synchronized rotating coordinate transformation respectively；
Step 3.2.1, corresponding positive sequence d+q+Coordinate, the first component of positive sequence dq signal is transformed to the first DC component signal,
First component of negative phase-sequence dq signal is transformed to the first AC compounent signal of its double frequency；
Step 3.2.2, corresponding negative phase-sequence d-q-Coordinate, the second component of positive sequence dq signal is transformed to the second of its double frequency
AC compounent signal, the second component of negative phase-sequence dq signal is transformed to the second DC component signal, the first DC component signal and
Two AC compounent signals constitute the first decoupling component signal, and the first AC compounent signal and the second DC component signal constitute second
Decoupling component signal；
The frequency information of step 3.3, acquisition first decoupling component signal and the second decoupling component signal, is expressed as input electricity
The fundamental frequency information of pressure signal wave.
In said method, described step 4, wherein, judge the first decoupling component signal or the second decoupling component signal
Effectiveness, if the first decoupling component signal or the second decoupling component signal do not have effectiveness, jumps to step 1.
In said method, described step 5, in conjunction with positive sequence d+q+Coordinate components signal definition, by the first decoupling component signal
Numerical relation, lock phase angle error and input voltage signal wave voltage phase place, build the transmission function of closed loop pi regulator, wherein
Pi regulator bandwidth range is 100 hertz to 500 hertz.
Compared with prior art, beneficial effects of the present invention：
Using three phase mains fundamental wave positive and negative sequence component and lock phase angle and virtual voltage phase place between mathematical relationship, automatically
Adapting to input power is single phase poaer supply or three phase mains, or three-phase symmetrical and the various power supply feelings such as asymmetric, three phase distortions
Condition, all can detect single phase poaer supply, the fundamental frequency of three phase mains and phase place exactly；It is not required to, with other additional algorithm, carry
High computational efficiency, calculates real-time, its dynamic process depends on the parameter of soft phase-locked loop pi regulator.
Brief description
Fig. 1 is the flow chart of the present invention；
Fig. 2 is the dual d-q transformation SPLL model schematic block diagram of the present invention；
Fig. 3 is the transmission function SPLL block diagram of the present invention；
Fig. 4 is gatherer process analogous diagram of the present invention；
Fig. 5 is voltage signal of the present invention in d+q+Positive-sequence component and zero-sequence component computing analogous diagram in coordinate system；
Fig. 6 is voltage signal of the present invention in d-q-Negative sequence component and zero-sequence component computing analogous diagram in coordinate system；
Fig. 7 is the d of the present invention+q+Positive-sequence component and zero-sequence component and d in coordinate system-q-In coordinate system negative sequence component with
Zero-sequence component carries out decoupling computing and Filtering Processing analogous diagram；
Fig. 8 is that lock phase PI of the present invention adjusts computing analogous diagram.
Specific embodiment
All features disclosed in this specification, or disclosed all methods or during step, except mutually exclusive
Feature and/or step beyond, all can combine by any way.
The present invention will be further described below in conjunction with the accompanying drawings：
Embodiment 1
Technical solution of the present invention includes three parts.Single-phase or three-phase power grid voltage A/D sampling unit, by high pressure step-down
Volt circuit, A/D sample circuit, voltage sensor three part forms；Part II is microprocessor TMS320F28335.3rd
Dividing is output pwm signal hardware processing element, and the lock phase zero cross signal according to master controller is sent out pwm pulse signal.
The three-phase or single-phase sampled voltage signal after filter filtering enters double DQ rotational coordinates and carries out dq rotation seat
Mark conversion, the signal after conversion is positive sequence d+Axis signal, positive sequence q+Axis signal, positive sequence zero sequence signal；Negative phase-sequence d-Axis signal, negative phase-sequence
q-Axis signal, negative phase-sequence zero sequence signal.Positive sequence d+q+Coordinate system and negative phase-sequence d-q-The signal of coordinate system carries out decoupling computing.In positive sequence d+
q+Under coordinate system, the positive-sequence component of output voltage becomes DC quantity, and negative sequence component is then changed into the AC compounent of 2 ω frequencies；?
Negative phase-sequence d-q-Under coordinate system, the negative sequence component of output voltage is DC quantity, and positive-sequence component is the of ac of 2 ω frequencies, after decoupling
Positive sequence d+q+Under coordinate system, negative sequence component enters horizontal lock by pi regulator.
After single-phase voltage or three-phase power grid voltage are sampled by TMS320F28335, first by single order lowpass digital filter
Process, according to symmetrical component method, asymmetrical three-phase electricity can be analyzed to three-phase positive phase-sequence symmetrical component to the signal after process, three-phase is born
Ordered pair weighs and zero-sequence component.Dual d-q transformation SPLL passes through positive sequence rotating coordinate transformation and negative phase-sequence rotating coordinate transformation, respectively
Will be same to the positive sequence being rotated forward with rotational speed omega to the three-phase positive phase-sequence symmetrical component in line voltage, three-phase negative/positive symmetrical component transformation
Step rotation d+q+Coordinate system and the negative phase-sequence synchronous rotary d being reversely rotated with rotating speed-ω-q-In coordinate system, SPLL passes through lock and mutually realizes
By positive sequence synchronous rotary d+q+The d of coordinate+Axle and US +Overlap, make θ=θ ', realize positive-sequence component and the decoupling of negative sequence component, obtain
The amplitude of positive-sequence component and negative sequence component, frequency and phase information.
If three-phase voltage is
Theoretical according to synchronous rotating angle, three-phase voltage is converted into the positive sequence conversion square of positive sequence synchronously rotating reference frame
Battle array be
The negative phase-sequence transformation matrix that three-phase voltage is converted into negative phase-sequence synchronously rotating reference frame is
The lock phase angle that in formula, θ ' calculates for SPLL.θ '=ω ' t, makes θ=ω t, and Δ θ=θ '-θ is lock phase angle error.
Aiming at of SPLL makes Δ θ=0 for three-phase PWM Voltage type converter, does not typically contain zero-sequence component, therefore three-phase voltage is divided
It is not converted into positive and negative sequence synchronously rotating reference frame with formula (2), formula (3), can obtain
Matrix M4×4Element be respectively
M21=-M12, M22=M11, M23=-M14, M24=M13；
M31=-M13, M32=M14, M33=-M11, M34=M12；
M41=M14, M42=M13, M43=M12, M44=M11.
After three phase mains phase place is pinned by SPLL, there is θ '=θ, therefore formula (4) can be reduced to formula (5), whereinIt is respectively positive-sequence component and the negative sequence component of three-phase voltage fundamental wave.
Obtain the available information of ω ' by formula (5)：
According to positive sequence synchronous rotary d+q+The definition of coordinate system, Ying YouTherefore can be built by this formula and close
Ring pi regulator obtains ω ', the actual space vector of voltage phase place for three-phase voltage fundamental positive sequence of therefore ω '.
The SPLL model based on dual d-q transformation can be drawn according to (5), as shown in Figure 2.In figure LPF is wave digital lowpass filter
Can be obtained according to (5)：
Therefore
The transmission function of SPLL is as follows：
WillBring into, obtain final product：
ωnDetermine the bandwidth of pi regulator.According to control theory, desirable ζ=0.707, ωnDesirable 200 π rad/s to 1000
Between π rad/s, you can Preliminary design goes out the PI parameter of SPLL in Fig. 3.
Embodiment 2
Single-phase or three-phase sampled voltage signal Vabc_grid is that 690HZ low pass filter is filtered by cut-off frequency
Signal enters double DQ rotational coordinates and carries out dq rotating coordinate transformation, and the signal after conversion is positive sequence d+Axis signal, positive sequence q+Axle is believed
Number, positive sequence zero sequence signal；Negative phase-sequence d-Axis signal, negative phase-sequence q-Axis signal, negative phase-sequence zero sequence signal.Positive sequence d+q+Coordinate system and negative phase-sequence d-q-
The signal of coordinate system carries out decoupling computing.Positive sequence d after decoupling+q+The output signal of coordinate system is Vd_P_grid, and Vq_P_grid solves
Negative phase-sequence d after coupling-q-The output signal of coordinate system is Vd_N_grid, and Vq_N_grid is in positive sequence d+q+Under coordinate system, output voltage
d+Axle and q+Axle component becomes DC quantity, in negative phase-sequence d-q-Under coordinate system, the d of output voltage-Axle and q-Axle component is 2 ω frequencies
Of ac, positive sequence d after decoupling+q+Q under coordinate system+Axle component enters horizontal lock by pi regulator.Locking the angle after phase is
Angle_Vgrid.See Fig. 4.
Single-phase or three-phase sampled voltage signal Vabc_grid is that 690HZ low pass filter is filtered by cut-off frequency
The signal that signal enters that double DQ rotational coordinates carry out after dq rotating coordinate transformation conversion is:
Positive sequence d+Axis signal Vd_0=2/3* (u [1] * u [4]+u [2] * u [6]+u [3] * u [8])
Positive sequence q+Axis signal Vq_0=2/3* (u [1] * u [5]+u [2] * u [7]+u [3] * u [9])
Positive sequence zero sequence signal Vdq_0=1/3* (u [1]+u [2]+u [3]).
U [1]=U*cos (ω t), u [2]=U*cos (ω t-120),
U [3]=U*cos (ω t+120), u [4]=sin (ω t),
U [5]=cos (ω t), u [6]=sin (ω t-120),
U [7]=cos (ω t-120), u [8]=sin (ω t+120),
U [9]=cos (ω t+120), is shown in Fig. 5.
Single-phase or three-phase sampled voltage signal Vabc_grid is that 690HZ low pass filter is filtered by cut-off frequency
The signal that signal enters that double DQ rotational coordinates carry out after dq rotating coordinate transformation conversion is:
Negative phase-sequence d-Axis signal Vd_n=2/3* (u [1] * u [4]+u [2] * u [6]+u [3] * u [8])
Negative phase-sequence q-Axis signal Vq_n=2/3* (u [1] * u [5]+u [2] * u [7]+u [3] * u [9])
Negative phase-sequence zero sequence signal Vdq_n=1/3* (u [1]+u [2]+u [3]).
U [1]=U*cos (ω t), u [2]=U*cos (ω t-120),
U [3]=U*cos (ω t+120), u [4]=sin (- ω t),
U [5]=cos (- ω t), u [6]=sin (- ω t-120),
U [7]=cos (- ω t-120), u [8]=sin (- ω t+120),
U [9]=cos (- ω t+120), is shown in Fig. 6.
Lock phase angle Angle_Vgrid and positive sequence d+Axis signal Vd_0, positive sequence q+Axis signal Vq_0 decouples and is
Vd_P_grid=u [2]-u [4] * cos (2*u [1])-u (5) * sin (2*u [1])
Vq_P_grid=u [3]+u [4] * sin (2*u [1])-u (5) * cos (2*u [1])
Lock phase angle Angle_Vgrid and negative phase-sequence d-Axis signal Vd_n, negative phase-sequence q-Axis signal Vq_n decouples and is
Vd_N_grid=u [2]-u [4] * cos (2*u [1])+u (5) * sin (2*u [1])
Vq_N_grid=u [3]-u [4] * sin (2*u [1])-u (5) * cos (2*u [1])
U [1]=Angle_Vgrid, u [2]=Vd_0, u [3]=Vq_0
U [6]=Vd_n, u [7]=Vq_n, are shown in Fig. 7.
Vq_P_grid signal enters horizontal lock by pi regulator.Angle after lock phase is Angle_Vgrid, sees Fig. 8.
The above, the only specific embodiment of the present invention, but protection scope of the present invention is not limited thereto, and any
Belong to those skilled in the art the invention discloses technical scope in, the change or replacement that can readily occur in, all answer
It is included within the scope of the present invention.
Claims (5)
1. a kind of software digital phase-lock technique based on double dq coordinate transforms is it is characterised in that comprise the steps,
Step 1, input voltage signal ripple is sampled, obtain voltage signal；
Step 2, the coordinate transform of positive sequence dq and the coordinate transform of negative phase-sequence dq are carried out respectively to voltage signal, obtain corresponding positive sequence respectively
Dq signal and negative phase-sequence dq signal；
Step 3, positive sequence dq signal and negative phase-sequence dq signal are carried out respectively decouple computing, corresponding positive sequence d+q+Coordinate and negative phase-sequence d-q-Sit
Mark respectively obtains the first decoupling component signal and the second decoupling component signal, and its frequency information is all the base of input voltage signal ripple
Wave frequency information；
Step 4, judge the first decoupling component signal or the effectiveness of the second decoupling component signal, obtain and there is effectiveness first solve
The lock phase angle of coupling component signal or the second decoupling component signal and numerical relation；
Step 5, by numerical relation, lock phase angle and input voltage signal wave voltage phase place, build the transmission letter of closed loop pi regulator
Number, is mutually calculated using transferring function by lock, obtains the voltage-phase of input voltage signal ripple.
2. a kind of software digital phase-lock technique based on double dq coordinate transforms according to claim 1 is it is characterised in that institute
The step 1 stated, wherein,
Digital sample is carried out to input voltage signal ripple by analog-to-digital conversion module, more low-pass filtered module obtains voltage letter
Number.
3. a kind of software digital phase-lock technique based on double dq coordinate transforms according to claim 1 is it is characterised in that institute
The step 3 stated, comprises the steps,
Step 3.1, positive sequence dq signal and negative phase-sequence dq signal are synchronized rotating coordinate transformation respectively；
Step 3.2.1, corresponding positive sequence d+q+Coordinate, the first component of positive sequence dq signal is transformed to the first DC component signal, negative phase-sequence
First component of dq signal is transformed to the first AC compounent signal of its double frequency；
Step 3.2.2, corresponding negative phase-sequence d-q-Coordinate, the second component of positive sequence dq signal is transformed to the second exchange of its double frequency
Component signal, the second component of negative phase-sequence dq signal is transformed to the second DC component signal, the first DC component signal and the second friendship
Flow component signal constitutes the first decoupling component signal, and the first AC compounent signal and the second DC component signal constitute the second decoupling
Component signal；
The frequency information of step 3.3, acquisition first decoupling component signal and the second decoupling component signal, is expressed as input voltage letter
The fundamental frequency information of number ripple.
4. a kind of software digital phase-lock technique based on double dq coordinate transforms according to claim 1 is it is characterised in that institute
The step 4 stated, wherein, judges the first decoupling component signal or the effectiveness of the second decoupling component signal, if the first decoupling component
Signal or the second decoupling component signal do not have effectiveness, then jump to step 1.
5. a kind of software digital phase-lock technique based on double dq coordinate transforms according to claim 3 is it is characterised in that institute
The step 5 stated, in conjunction with positive sequence d+q+Coordinate components signal definition, by the numerical relation of the first decoupling component signal, lock phase angle error
With input voltage signal wave voltage phase place, build the transmission function of closed loop pi regulator, wherein pi regulator bandwidth range is 100
Hertz is to 500 hertz.
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| CN107607784A (en) * | 2017-07-28 | 2018-01-19 | 中国农业大学 | A kind of open loop synchronous method |
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| CN109991844A (en) * | 2019-04-22 | 2019-07-09 | 福州大学 | A kind of d-q Decoupling Controller Design method using embedded decoupling synchronous reference coordinate transform |
| CN112532071A (en) * | 2020-11-30 | 2021-03-19 | 哈尔滨理工大学 | Control method for three-phase-locked loop to accurately lock phase of UPS system based on double dq conversion decoupling |
| CN114389501A (en) * | 2021-03-25 | 2022-04-22 | 南京航空航天大学 | Coordinate transformation-based single-Hall rotor position detection scheme for bearingless sheet motor |
| CN114389501B (en) * | 2021-03-25 | 2023-10-24 | 南京航空航天大学 | Single Hall rotor position detection method of bearingless sheet motor based on coordinate transformation |
| CN113625066A (en) * | 2021-08-03 | 2021-11-09 | 国网北京市电力公司 | Distribution transformer phase unbalance detection method, system, device and storage medium |
| CN113625066B (en) * | 2021-08-03 | 2023-11-21 | 国网北京市电力公司 | Distribution transformer phase unbalance detection method, system, device and storage medium |
| CN113804958A (en) * | 2021-10-09 | 2021-12-17 | 陕西航空电气有限责任公司 | Alternating current electric quantity positive and negative sequence component extraction method suitable for variable frequency power supply system |
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Application publication date: 20170215 |