CN107271772A - A kind of mains frequency quick determination method of high accuracy and anti-noise jamming - Google Patents
A kind of mains frequency quick determination method of high accuracy and anti-noise jamming Download PDFInfo
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Abstract
本发明公开了一种高精度且抗噪声干扰的电网频率快速检测方法，包括电网同步相位快速开环检测环节、差频相位计算环节和频率闭环检测环节，将检测到的电网电压信号经电网同步相位快速开环检测环节即可实时获得电网的同步相位，通过差频相位计算环节提取出电网同步相位中的差频相位，并将差频相位信息输入频率闭环检测环节以获得电网的实时频率。本发明有效地提高了电网实时频率的检测能力，测量精度高、响应速度快，抗干扰性能好，能解决闭环测相、测频方法在弱电网环境下的稳定性问题，具有良好的应用价值。
The invention discloses a high-precision and anti-noise interference fast detection method for power grid frequency, which includes a fast open-loop detection link of grid synchronous phase, a phase difference phase calculation link and a frequency closed-loop detection link, and the detected grid voltage signal is synchronized through the grid The phase fast open-loop detection link can obtain the synchronous phase of the power grid in real time, and the difference frequency phase in the power grid synchronous phase is extracted through the difference frequency phase calculation link, and the difference frequency phase information is input into the frequency closed-loop detection link to obtain the real-time frequency of the power grid. The invention effectively improves the detection ability of the real-time frequency of the power grid, has high measurement accuracy, fast response speed, good anti-interference performance, can solve the stability problem of the closed-loop phase measurement and frequency measurement method in the weak power grid environment, and has good application value .
Description
技术领域：Technical field:
本发明属于电网频率检测技术领域，特别涉及一种高精度且抗噪声干扰的电网频率快速检测方法。The invention belongs to the technical field of grid frequency detection, in particular to a high-precision and noise-resistant grid frequency rapid detection method.
背景技术：Background technique:
频率是电能生产、消费必须具备的质量检验指标，也是衡量电力系统运行状态的重要参数，可再生能源大规模接入电网对电网频率检测的精度和实时性提出了更高的要求。现有的频率检测方法必须依赖锁相环，也称软锁相环(software phase-locked loop，SPLL)。典型的SPLL主要有3种：单同步坐标系SPLL(single synchronous reference frame SPLL，SSRF-SPLL)、基于对称分量法的SSRF-SPLL、基于双同步坐标系的解耦SPLL(decoupleddouble SRF-SPLL，DDSRF- SPLL)。其中，SSRF-SPLL 能有效地应用于电网平衡时的幅值、频率与相位检测，其动态、稳态响应性能均较好。但是，当电网不平衡时，SSRF-SPLL输出的频率中存在谐波，因此稳态性能不好。改进SSRF-SPLL利用对称分量法来分离正序电压分量，并将其送入闭环调节器之后即可获得不平衡电网的频率。然而，该方法使用了固定参数的全通滤波器，当电网发生频率漂移时，频率检测的准确性较差。DDSRF-SPLL则采用了基于正、负序的双同步坐标系结构，实现了正负序的解耦，有效解决了三相不对称时的频率检测问题。然而，由于双同步坐标系结构的使用以及PI调节器与4个低通滤波器间的耦合作用，使得该方法的动态过程十分复杂，其较长的响应时间无法满足频率检测对快速性的要求。此外，SPLL的环路滤波器几乎都采用了PI调节器，因此其动态响应时间主要决定于调节器的特性。当电网环境较恶劣时，调节器参数很难进行优化设计，且调节器的动态过程耗时较长，现有的 SPLL的响应时间几乎都大于1个工频周期，无法满足快速准确检测频率的要求。消除闭环调节过程则可显著提高频率检测速度，这也是开环检测的出发点，然而电网电压存在高频噪声信号时，对开环方法检测的相位进行微分运算会放大噪声信号，导致频率检测存在较大的误差。Frequency is a necessary quality inspection index for electric energy production and consumption, and is also an important parameter to measure the operation status of the power system. The large-scale access of renewable energy to the power grid puts forward higher requirements for the accuracy and real-time performance of power grid frequency detection. Existing frequency detection methods must rely on a phase-locked loop, also known as a software phase-locked loop (SPLL). There are three typical SPLLs: single synchronous reference frame SPLL (single synchronous reference frame SPLL, SSRF-SPLL), SSRF-SPLL based on symmetric component method, decoupled SPLL based on double synchronous coordinate system (decoupled double SRF-SPLL, DDSRF - SPLL). Among them, SSRF-SPLL can be effectively applied to amplitude, frequency and phase detection when the power grid is balanced, and its dynamic and steady-state response performance are good. However, when the power grid is unbalanced, there are harmonics in the frequency output by the SSRF-SPLL, so the steady-state performance is not good. The improved SSRF-SPLL uses the symmetrical component method to separate the positive sequence voltage component, and after sending it to the closed-loop regulator, the frequency of the unbalanced power grid can be obtained. However, this method uses an all-pass filter with fixed parameters, and the accuracy of frequency detection is poor when the frequency drift occurs in the power grid. DDSRF-SPLL adopts a dual synchronous coordinate system structure based on positive and negative sequences, which realizes the decoupling of positive and negative sequences, and effectively solves the problem of frequency detection when the three phases are asymmetrical. However, due to the use of the double synchronous coordinate system structure and the coupling between the PI regulator and the four low-pass filters, the dynamic process of this method is very complicated, and its long response time cannot meet the rapidity requirements of frequency detection. . In addition, the loop filter of SPLL almost all adopts PI regulator, so its dynamic response time is mainly determined by the characteristics of the regulator. When the power grid environment is harsh, it is difficult to optimize the design of the regulator parameters, and the dynamic process of the regulator takes a long time. The response time of the existing SPLL is almost greater than one power frequency cycle, which cannot meet the requirements of fast and accurate frequency detection. Require. Eliminating the closed-loop adjustment process can significantly improve the frequency detection speed, which is also the starting point of the open-loop detection. However, when there is a high-frequency noise signal in the power grid voltage, the differential operation of the phase detected by the open-loop method will amplify the noise signal, resulting in the frequency detection. big error.
上述的方法都存在一些明显的不足，理想的电网频率检测技术应同时满足准确性、快速性、抗噪声干扰性要求，此外检测方法还应当简单易行，以便于在嵌入式控制器中实现。The above-mentioned methods all have some obvious deficiencies. The ideal power grid frequency detection technology should meet the requirements of accuracy, rapidity, and anti-noise interference at the same time. In addition, the detection method should be simple and easy to implement in the embedded controller.
发明内容：Invention content:
针对现有的电网频率检测必须依靠锁相环来实现，弱电网环境下锁相环存在的固有的负阻尼特性会导致局域电力系统发生低频振荡，无法准确获得电网频率信息，本发明公开了一种高精度且抗噪声干扰的电网频率快速检测方法，该方法基于开环检测到的准确实时相位信息，通过提取其中的差频相位，并经差频闭环检测环节即可获得准确电网的频率信息。In view of the fact that the existing power grid frequency detection must rely on the phase-locked loop, the inherent negative damping characteristics of the phase-locked loop in the weak grid environment will cause low-frequency oscillations in the local power system, and the grid frequency information cannot be accurately obtained. The invention discloses A fast grid frequency detection method with high precision and anti-noise interference. This method is based on the accurate real-time phase information detected by the open loop. By extracting the difference frequency phase, and through the difference frequency closed-loop detection link, the accurate grid frequency can be obtained. information.
本发明所采用的技术方案是：一种高精度且抗噪声干扰的电网频率的快速检测方法，包括电网同步相位快速开环检测环节、差频相位计算环节和频率闭环检测环节，将电网电压信号U a、U b、U c经电网同步相位快速开环检测环节以后即可获得电网的同步相位，通过差频信号计算环节即可提取出电网同步相位信号中的差频相位，将此差频相位信号输入至频率闭环检测环节之后即可获得电网的实时频率f。The technical solution adopted in the present invention is: a high-precision and anti-noise interference fast detection method for the power grid frequency, including a fast open-loop detection link of the synchronous phase of the grid, a phase difference calculation link and a closed-loop frequency detection link, and the grid voltage signal U a , U b , U c can obtain the synchronous phase of the power grid after the fast open-loop detection link of the synchronous phase of the power grid, and the difference frequency phase in the synchronous phase signal of the power grid can be extracted through the step of calculating the difference frequency signal, and the difference frequency The real-time frequency f of the power grid can be obtained after the phase signal is input to the frequency closed-loop detection link.
以下内容将对电网同步相位快速开环检测方法的基本原理进行详细说明：The following content will describe in detail the basic principle of the grid synchronous phase fast open-loop detection method:
三相电网电压可用如下表达式描述：The three-phase grid voltage can be described by the following expression:
(1) (1)
电网电压经旋转坐标变换后得U d、U q如下：After the grid voltage is transformed by rotating coordinates, U d and U q are obtained as follows:
假设初始相位θ∈(0,2π)，根据附加角θ ex选取规则可得电网的同步相位如下：Assuming the initial phase θ ∈ (0,2π), according to the selection rules of the additional angle θ ex , the synchronous phase of the power grid can be obtained as follows:
(3) (3)
其中，arctan(U q/U d)+ θ ex 即为差频相位。Among them, arctan( U q / U d )+ θ ex is the difference frequency phase.
频率捕获方法如下：The frequency capture method is as follows:
（1）通过电压传感器采集电网电压信号U a、U b、U c；(1) Collect grid voltage signals U a , U b , U c through voltage sensors;
（2）将采集到的电网电压信号通过同步旋转坐标变换模块进行同步旋转坐标变换，得到两相旋转坐标系下的电压信号U d 、U q；(2) Perform synchronous rotation coordinate transformation on the collected power grid voltage signal through the synchronous rotation coordinate transformation module to obtain voltage signals U d and U q in the two-phase rotating coordinate system;
（3）若采集到的电网电压信号中存在高频噪声或者谐波成分，则需要在同步旋转坐标变换模块之后增加滤波器模块，对步骤（2）中的输出信号进行滤波，以消除噪声、谐波的影响；(3) If there are high-frequency noise or harmonic components in the collected grid voltage signal, it is necessary to add a filter module after the synchronous rotation coordinate transformation module to filter the output signal in step (2) to eliminate noise, The influence of harmonics;
（4）根据步骤（3）得到的U d、U q，由判断条件选择正确的θ ex，判断条件如下：若U d>0且U q>0，则θ ex=0；若U d<0，则θ ex=π；若U d>0且U q<0，则θ ex=2π；(4) According to the U d and U q obtained in step (3), select the correct θ ex according to the judgment conditions. The judgment conditions are as follows: if U d >0 and U q >0, then θ ex =0; if U d < 0, then θ ex =π; if U d >0 and U q <0, then θ ex =2π;
（5）根据步骤（3）、（4）得到的参数U d 、U q 、θ ex，结合本发明公开的幅值、相位公式计算电网电压的实时幅值与相位；其中，幅值计算公式为：，相位计算公式为：；其中，ω s t即为工频相位；arctan(U q/U d)+θ ex即为差频相位。(5) Calculate the real-time amplitude and phase of the grid voltage according to the parameters U d , U q , and θ ex obtained in steps (3) and (4) in combination with the amplitude and phase formulas disclosed in the present invention; among them, the amplitude calculation formula for: , the phase calculation formula is: ; Among them, ω s t is the power frequency phase; arctan ( U q / U d ) + θ ex is the difference frequency phase.
（6）提取电网同步相位中的差频相位记为x，将其延迟一个采样周期记为y，将周期计数器n的初值设置为0，该部分的相位信息经差频相位计算环节调整后输出，记为phase，其中phase=x+2*π*n；(6) Extract the difference frequency phase in the synchronous phase of the power grid and record it as x , delay it by one sampling period and record it as y, set the initial value of the cycle counter n to 0, and the phase information of this part is adjusted by the difference frequency phase calculation link Output, denoted as phase, where phase= x +2*π* n ;
（7）将步骤（6）的输出延迟一个采样周期后记为θ，作为闭环调节的输入，闭环调节的输出经积分后作为反馈信号θ feedback，两者的差值经PI调节后作为闭环调节的输出，将其除以2π得到差频Δf。(7) Delay the output of step (6) by one sampling period and record it as θ as the input of the closed-loop adjustment. The output of the closed-loop adjustment is integrated as the feedback signal θ feedback , and the difference between the two is adjusted by PI as the closed-loop adjustment. output, divide it by 2π to get the difference frequency Δ f .
（8）将差频Δf与工频(中国为50Hz)叠加即可得到电网的真实频率f。(8) The real frequency f of the power grid can be obtained by superimposing the difference frequency Δf and the power frequency (50Hz in China).
此外，通过搭建高精度且抗噪声干扰的电网频率快速检测方法的仿真模型，对这种频率检测方法进行仿真验证，仿真结果也同时证实了该方案的正确性和有效性。In addition, by building a simulation model of a fast grid frequency detection method with high precision and anti-noise interference, the frequency detection method is simulated and verified, and the simulation results also confirm the correctness and effectiveness of the scheme.
通过上述技术方案，本发明的有益效果为：与现有的频率检测方法相比，本发明公开的电网频率检测方法是基于准确的实时相位信息，实时相位信息可以准确获取，不存在闭环测相系统固有的稳定性问题；基于实时准确相位信息的闭环测频方法避免了对相位信息进行差分运算，因此抗噪声干扰能力强，可以获取高精度的电网频率信息。Through the above technical solution, the beneficial effects of the present invention are: compared with the existing frequency detection method, the power grid frequency detection method disclosed in the present invention is based on accurate real-time phase information, real-time phase information can be accurately obtained, and there is no closed-loop phase detection The inherent stability problem of the system; the closed-loop frequency measurement method based on real-time and accurate phase information avoids differential calculation of phase information, so it has strong anti-noise ability and can obtain high-precision power grid frequency information.
附图说明：Description of drawings:
图1是本发明中电网同步相位快速开环检测环节的原理图；Fig. 1 is the schematic diagram of the fast open-loop detection link of grid synchronous phase in the present invention;
图2是本发明中差频相位计算环节的原理图；Fig. 2 is the schematic diagram of the difference frequency phase calculation link in the present invention;
图3是本发明中频率闭环检测环节的原理图；Fig. 3 is a schematic diagram of the frequency closed-loop detection link in the present invention;
图4是含噪声的三相电网电压波形；Figure 4 is a noise-containing three-phase grid voltage waveform;
图5有高频噪声时电网频率突变前后的仿真波形对比图。Figure 5 is a comparison of simulation waveforms before and after sudden changes in grid frequency when there is high-frequency noise.
具体实施方式：detailed description:
下面结合附图对本发明做进一步详细描述。The present invention will be described in further detail below in conjunction with the accompanying drawings.
图1-3为本发明频率捕获原理图，包括：三相电网电压信号U a、U b、U c，电网同步相位快速开环检测环节、差频相位计算环节、频率闭环检测环节。Figures 1-3 are schematic diagrams of frequency capture in the present invention, including: three-phase grid voltage signals U a , U b , U c , grid synchronous phase fast open-loop detection link, difference frequency phase calculation link, and frequency closed-loop detection link.
图4为含噪声的三相电网电压波形，电压初始幅值为1p.u，2.5s时变为1.5p.u.。Figure 4 shows the voltage waveform of a three-phase grid with noise. The initial amplitude of the voltage is 1p.u, and it becomes 1.5p.u. in 2.5s.
图5是在有高频噪声的情况下，电网频率突变前后仿真波形对比图，电网电压初始频率为60Hz，在2.5s时，频率突变为50Hz。Figure 5 is a comparison of simulation waveforms before and after the power grid frequency mutation in the presence of high-frequency noise. The initial frequency of the grid voltage is 60 Hz, and the frequency suddenly changes to 50 Hz at 2.5 s.
如图1-3所示，一种高精度且抗噪声干扰的电网频率的快速检测方法，包括电网同步相位快速开环检测环节、差频相位计算环节和频率闭环检测环节，如图1所示将电网电压信号U a、U b、U c经电网同步相位快速开环检测环节以后即可获得电网的同步相位，通过差频信号计算环节即可提取出电网同步相位信号中的差频相位，将此差频相位信号输入至频率闭环检测环节之后即可获得电网的实时频率f。As shown in Figure 1-3, a fast detection method of grid frequency with high precision and anti-noise interference, including grid synchronous phase fast open-loop detection link, difference frequency phase calculation link and frequency closed-loop detection link, as shown in Figure 1 After the power grid voltage signals U a , U b , U c go through the fast open-loop detection link of the grid synchronous phase, the synchronous phase of the power grid can be obtained, and the difference frequency phase in the power grid synchronous phase signal can be extracted through the calculation link of the difference frequency signal. The real-time frequency f of the power grid can be obtained after the difference frequency phase signal is input to the frequency closed-loop detection link.
以下内容将对电网同步相位快速开环检测方法的基本原理进行详细说明：The following content will describe in detail the basic principle of the grid synchronous phase fast open-loop detection method:
三相电网电压可用如下表达式描述：The three-phase grid voltage can be described by the following expression:
(1) (1)
电网电压经旋转坐标变换后得U d、U q如下：After the grid voltage is transformed by rotating coordinates, U d and U q are obtained as follows:
假设初始相位θ∈(0,2π)，根据附加角θ ex选取规则可得电网的同步相位如下：Assuming the initial phase θ ∈ (0,2π), according to the selection rules of the additional angle θ ex , the synchronous phase of the power grid can be obtained as follows:
(3) (3)
其中，arctan(U q/U d)+ θ ex 即为差频相位。Among them, arctan( U q / U d )+ θ ex is the difference frequency phase.
频率捕获方法如下：The frequency capture method is as follows:
（1）通过电压传感器采集电网电压信号U a、U b、U c；(1) Collect grid voltage signals U a , U b , U c through voltage sensors;
（2）将采集到的电网电压信号通过同步旋转坐标变换模块进行同步旋转坐标变换，得到两相旋转坐标系下的电压信号U d 、U q；(2) Perform synchronous rotation coordinate transformation on the collected power grid voltage signal through the synchronous rotation coordinate transformation module to obtain voltage signals U d and U q in the two-phase rotating coordinate system;
（3）若采集到的电网电压信号中存在高频噪声或者谐波成分，则需要在同步旋转坐标变换模块之后增加滤波器模块，对步骤（2）中的输出信号进行滤波，以消除噪声、谐波的影响；(3) If there are high-frequency noise or harmonic components in the collected grid voltage signal, it is necessary to add a filter module after the synchronous rotation coordinate transformation module to filter the output signal in step (2) to eliminate noise, The influence of harmonics;
（4）根据步骤（3）得到的U d、U q，由判断条件选择正确的θ ex，判断条件如下：若U d>0且U q>0，则θ ex=0；若U d<0，则θ ex=π；若U d>0且U q<0，则θ ex=2π；(4) According to the U d and U q obtained in step (3), select the correct θ ex according to the judgment conditions. The judgment conditions are as follows: if U d >0 and U q >0, then θ ex =0; if U d < 0, then θ ex =π; if U d >0 and U q <0, then θ ex =2π;
（5）根据步骤（3）、（4）得到的参数U d 、U q 、θ ex，结合本发明公开的幅值、相位公式计算电网电压的实时幅值与相位；其中，幅值计算公式为：，相位计算公式为：；其中，ω s t即为工频相位；arctan(U q/U d)+θ ex即为差频相位；(5) Calculate the real-time amplitude and phase of the grid voltage according to the parameters U d , U q , and θ ex obtained in steps (3) and (4) in combination with the amplitude and phase formulas disclosed in the present invention; among them, the amplitude calculation formula for: , the phase calculation formula is: ; Among them, ω s t is the power frequency phase; arctan( U q / U d )+ θ ex is the difference frequency phase;
（6）提取电网同步相位中的差频相位记为x，将其延迟一个采样周期记为y，将周期计数器n的初值设置为0，比较x与y的大小，若(y-x)大于阈值M（M的理论值为2π，考虑到离散采样过程导致的误差，M的取值应取略小于2π，采样周期越大，阈值应越小），则周期计数器n自增1，否则不对n进行累加，该部分的相位信息经差频相位计算环节调整后输出，记为phase，其中phase=x+2*π*n；(6) Extract the difference frequency phase in the synchronous phase of the power grid and record it as x , delay it by one sampling period and record it as y, set the initial value of the cycle counter n to 0, compare the size of x and y , if ( y - x ) is greater than the threshold M (the theoretical value of M is 2π, considering the error caused by the discrete sampling process, the value of M should be slightly smaller than 2π, the larger the sampling period, the smaller the threshold should be), then the period counter n will increase by 1, otherwise No accumulation is performed on n , and the phase information of this part is output after being adjusted by the difference frequency phase calculation link, which is recorded as phase, where phase= x +2*π* n ;
（7）将步骤（6）的输出延迟一个采样周期后记为θ，作为闭环调节的输入，闭环调节的输出经积分后作为反馈信号θ feedback，两者的差值经PI调节后作为闭环调节的输出，将其除以2π得到差频Δf。(7) Delay the output of step (6) by one sampling period and record it as θ as the input of the closed-loop adjustment. The output of the closed-loop adjustment is integrated as the feedback signal θ feedback , and the difference between the two is adjusted by PI as the closed-loop adjustment. output, divide it by 2π to get the difference frequency Δ f .
（8）将差频Δf与工频(中国为50Hz)叠加即可得到电网的真实频率f。(8) The real frequency f of the power grid can be obtained by superimposing the difference frequency Δf and the power frequency (50Hz in China).
此外，通过搭建高精度且抗噪声干扰的电网频率快速检测方法的仿真模型，对这种频率检测方法进行仿真验证，仿真结果也同时证实了该方案的正确性和有效性。In addition, by building a simulation model of a fast grid frequency detection method with high precision and anti-noise interference, the frequency detection method is simulated and verified, and the simulation results also confirm the correctness and effectiveness of the scheme.
以上内容是结合具体的案例对本发明所作的进一步详细说明，不能认定本发明的具体实施方式仅限于此，对于本发明所属技术领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干简单的推演或替换，都应当视为属于本发明所提交的权利要求书确定的专利保护范围。The above content is a further detailed description of the present invention in conjunction with specific cases. It cannot be determined that the specific implementation of the present invention is limited to this. For those of ordinary skill in the technical field of the present invention, without departing from the concept of the present invention Several simple inferences or substitutions can also be made, which should all be deemed to belong to the scope of patent protection determined by the claims submitted for the present invention.
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