CN110175401A - The decoupling normalization frequency locking ring modeling method of source - Google Patents
The decoupling normalization frequency locking ring modeling method of source Download PDFInfo
- Publication number
- CN110175401A CN110175401A CN201910446784.3A CN201910446784A CN110175401A CN 110175401 A CN110175401 A CN 110175401A CN 201910446784 A CN201910446784 A CN 201910446784A CN 110175401 A CN110175401 A CN 110175401A
- Authority
- CN
- China
- Prior art keywords
- frequency
- source
- locking ring
- normalization
- angular frequency
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F30/00—Computer-aided design [CAD]
- G06F30/20—Design optimisation, verification or simulation
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Computer Hardware Design (AREA)
- Evolutionary Computation (AREA)
- Geometry (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Filters That Use Time-Delay Elements (AREA)
Abstract
The invention discloses a kind of decoupling normalization frequency locking ring modeling methods of source, are related to signal processing technology field.Described method includes following steps: average normalized estimation angular frequency, obtains the average estimation angular frequency of the sef-adapting filter based on internal model principle；By the average estimation angular frequency of the sef-adapting filter based on internal model principle, the mathematical model of normalization frequency locking ring tracking timeconstantτ is obtained；By by frequency locking ring track timeconstantτ and source operating status it is decoupling, obtain the uncoupled dynamic normalization factor sigma of sourceallMathematical model；Pass through the uncoupled dynamic normalization factor sigma of sourceallMathematical model obtains the decoupling normalization frequency locking ring mathematical model of source.The method is by being added normalization coefficient σall, decouple the responsive time constant τ of FLL and the correlation of tested source parameter, to improve the rapidity and anti-interference of FLL.
Description
Technical field
The present invention relates to signal processing technology field more particularly to a kind of decoupling normalization frequency locking ring modeling sides of source
Method.
Background technique
The estimation frequency of frequency locking ringDetermine the centre frequency ω of the sef-adapting filter based on internal model principle0Whether can
Accurately, upper actual angular frequency ω is quickly tracked, to directly affect the filter effect and precision of sef-adapting filter.And measured source
The dynamic change at end parameter (e.g., the voltage magnitude of system, frequency) can all influence the tracking performance of frequency locking ring.Isolated power system
Or in the operational process of isolated power network, system voltage is other than it can generate distortion, caused by also generating as loading active fluctuation
Frequency fluctuation or offset.Therefore, the response speed and tested source Decoupled for making frequency locking ring are closed, and will be effectively improved frequency locking ring and are resisted
The robustness of source end system fluctuation.
Summary of the invention
The technical problem to be solved by the present invention is to how provide a kind of responsive time constant and quilt that can make frequency locking ring
The correlation decoupling for surveying source parameter, to improve the rapidity of frequency locking ring and the method for anti-interference.
In order to solve the above technical problems, the technical solution used in the present invention is: a kind of decoupling normalization frequency locking of source
Ring modeling method, it is characterised in that include the following steps:
Average normalized estimation angular frequency obtains the average estimation angular frequency of the sef-adapting filter based on internal model principle；
By the average estimation angular frequency of the sef-adapting filter based on internal model principle, when obtaining normalization frequency locking ring tracking
Between constant, τ mathematical model；
By by frequency locking ring track timeconstantτ and source operating status it is decoupling, obtain the uncoupled dynamic of source and return
One changes factor sigmaallMathematical model；
Pass through the uncoupled dynamic normalization factor sigma of sourceallMathematical model obtains the decoupling normalization frequency locking number of rings of source
Learn model.
A further technical solution lies in the average estimation angular frequencys for obtaining the sef-adapting filter based on internal model principle
The method of rate is as follows:
In sef-adapting filter IMAF, the expression formula of the estimation angular frequency of frequency locking ring are as follows:
WhereinFor to estimation angular frequencyFirst derivative is sought, Γ is control coefrficient (Γ > 0), εuIt (t) is error originated from input, u2
It (t) is filter output signal, then the sef-adapting filter frequency locking ring estimation angular frequency obtained on α, β, γ axis is respectively as follows:
It is averaged to gained estimation frequency is calculated on α β γ axis, and takes normalization, obtained based on the adaptive of internal model principle
The average estimation angular frequency that should be filtered:
In formula, σ is the normalization coefficient of frequency locking ring.
A further technical solution lies in the method for calculating normalization frequency locking ring tracking timeconstantτ is as follows:
α β γ shaft voltage is expressed as the sum of positive-sequence component, negative sequence component and zero-sequence component:
Wherein, V+、V-、V0Respectively voltage is positive and negative, amplitude of zero-sequence component,For the phase of negative sequence component,It is zero
Order components phase；ω is actual angular frequency；
The transmission function of known sef-adapting filter IMAF is as follows:
Wherein u is input signal, u1、u2For output signal, and u1It is orthogonal to u2,To estimate angular frequency, ξ1、ξ2For error
Control parameter；
Order estimates that the relationship of angular frequency and actual angular frequency is?
Wherein, subscript x=α, β, γ represent tri- axis of α β γ；
If frequency varies less, that is, m ≈ 1 then has Gdx≈Gqx=G can be obtained
Above formula is substituted into formula (3), is obtained
?Place linearizes above formula, enables avgT0[f (x)] is to function f (x) in cycle T0It is inside averaged, obtains
The average value of its angular frequency derivativeAre as follows:
Formula (6) are substituted into, m ≈ 1 is taken, obtain unified normalization frequency locking ring mathematical model:
It can be obtained from formula (10) and estimate angular frequency in frequency locking ringTo the tracking timeconstantτ of actual angular frequency ω
Expression formula are as follows:
A further technical solution lies in obtain the uncoupled dynamic normalization factor sigma of sourceallThe method of mathematical model
It is as follows:
The response speed of known frequency locking ring FLL is determined that formula (11) shows timeconstantτ by tracking timeconstantτ, is removed
With parameter ξ1、ξ2, Γ it is related, while also with source operating status (tested source frequencyAnd tested source voltage terminal is positive and negative
Zero sequence amplitude V+、V-、V0) related；
Common normalization coefficient σ generally takes constant, in order to make the response speed and source operating status solution of frequency locking ring FLL
Coupling, that is, by τ withV+、V-、V0Decoupling, according to formula (11), is set as dynamic parameter for frequency locking ring normalizing factor sigma, by correlated source
Hold state parameterV+、V-、V0Feed-in normalizes process, obtains the uncoupled dynamic normalization factor sigma of sourceallExpression formula
Are as follows:
Wherein, being tested source frequency can be usedFeedforward, voltage magnitude V+、V-、V0It can be calculated by the separation of positive and negative zero sequence
Module obtains；
Formula (12) are substituted into formula (10), thus obtain the uncoupled normalization frequency locking ring mathematical model expression formula of source are as follows:
The beneficial effects of adopting the technical scheme are that the source for the model established by the method carries decoupling
Normalization coefficient σallTwo dynamic parameters of tested source are introduced simultaneously, make the frequency-tracking performance and source frequency of frequency locking ring
It fluctuates and decouples with voltage magnitude, to improve the rapidity and robustness of PLL (phaselocked loop).
Detailed description of the invention
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 is the filter graph architecture in the embodiment of the present invention based on internal model principle；
Fig. 2 is the internal model principle filter construction that frequency tracking module is added in the embodiment of the present invention；
Fig. 3 is the sef-adapting filter structure chart in the embodiment of the present invention based on internal model principle；
Fig. 4 is the structure chart of SOGI in the embodiment of the present invention；
Fig. 5 is the G of IMAF and SOGI in the embodiment of the present inventiond(s) width phase-frequency characteristic compares figure；
Fig. 6 is the G of IMAF and SOGI in the embodiment of the present inventionq(s) width phase-frequency characteristic compares figure；
Fig. 7 is the width phase-frequency characteristic figure of E (s) in the embodiment of the present invention；
Fig. 8 is the three-phase and four-line IMAF-PLL structure chart based on SRF-PLL；
Fig. 9 is that positive and negative zero sequence separation calculates PNZSC structure chart；
Figure 10 is the flow chart of the method for the embodiment of the present invention.
Specific embodiment
With reference to the attached drawing in the embodiment of the present invention, technical solution in the embodiment of the present invention carries out clear, complete
Ground description, it is clear that described embodiment is only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, but the present invention can be with
Implemented using other than the one described here other way, those skilled in the art can be without prejudice to intension of the present invention
In the case of do similar popularization, therefore the present invention is not limited by the specific embodiments disclosed below.
Internal model principle is that the kinetic model implant controller of external action signal is constituted high-precision feedback control system
A kind of design principle of system.The core of principle is: it is required that a feedback control system can well offset external disturbance, or with
Track reference-input signal, feedback loop must include a kinetic model identical with external input signal, inside this
Model is known as " internal model ".
Filter design based on internal model principle:
Known input signal u is AC signal, and characteristic mathematical operator is cos or sin, and requires output signal uα、uβPhase
Mutual orthogonal, i.e. uα⊥uβ.It is found that input signal u expression formula is cos (ω t) or sin (ω t), Laplace (Laplce) become
Change (transmission function) are as follows:
Above formula is target transfer function G0(s)。
According to internal model principle, as long as the control system transmission function G (s) and G that design0(s) very close to then can inhibit each
Influence of the kind interference to system, realizes the error free tracking of control system.
Due to G0(s) it is difficult to realize, but optional and its similar control structure, therefore the filter construction designed is as schemed
Shown in 1.
Wherein, u (t) is input signal, u1(t)、u2(t) be output signal, ω be system angular frequency (hereinafter will to its into
Row self-adaptive processing),For differential operator, ξ1、ξ2For control errors parameter.The transmission function of the Structure Filter are as follows:
Compare G (s) and G0(s), in addition to denominator contains single subitem ξ2Outside ω s, rest part is all similar, simultaneously as point
Subitem is itemized from denominator single respectively by different parameter ξ1、ξ2Control, then can be by individually reducing parameter ξ2, meet G (s)
Nearly G0(s)。
The mathematic(al) representation of the filter model is obtained according to formula (2) are as follows:
System angular frequency it is adaptive:
By model transfer function, i.e., the bode figure of formula (2) is as can be seen that the centre frequency of the filter is ω, theoretically
ω should be real system frequency, but real system frequency can not be obtained really, which is chosen for one by Conventional filters
Constant, i.e. ω0=2 π × 50Hz=100 π rad/s, but such the problem of choosing, is, when system frequency shifts or fluctuates
When, i.e., real system frequencies omega deviates ω0When, it will lead to filter effect degradation.Therefore, the method designs a frequency
Tracking module, is used to calculate in real time or tracking real system frequency, the angular frequency which calculates in real time are usedIt indicates, then
To the sef-adapting filter structure based on internal model principle as shown in Fig. 2, real-time estimation angular frequencyHave filter centre frequency
There are adaptive ability, the vibration frequency of energy automatic following system, so that filter be made still to have while limiting bandwidth well
Response speed.
The design of frequency tracking module mathematical model:
To make to estimate angular frequencyThe fluctuation of actual frequency ω can be followed and fluctuated, therefore enable its expression formula are as follows:
The formula has unique local equilibrium's point, that is, whenWhen,ThenIn increase tendency；WhenWhen,ThenIn reduction trend.As it can be seen thatActual angular frequency ω is always followed to move, until converging to
According to the existing parameter input signal u (t) of filter model, output signal u1(t) and output signal u2(t) it designs
The f (t) of frequency tracking module: using estimation angular frequencyIt is actual angular frequency ω, according to fig. 2 can be obtained:
Know εu(t) very little, therefore have:
It can be obtained according to formula (3):
Formula (6) are substituted into formula (7), can be obtained:
Again by formula (8) multiplied by output signal u2(t), and a control coefrficient Γ (Γ > 0) is added, and enables it beThus
Construct the mathematic(al) representation of frequency-tracking model are as follows:
Meet the requirement of formula (4).
Thus the sef-adapting filter structure for obtaining internal model principle is as shown in Figure 3, wherein gives frequency according to formula (9)
The structure of tracking module.
The mathematical model of sef-adapting filter based on internal model principle:
As a result, by designed filter centre frequency with frequency tracking module real-time estimation angular frequencyTo replace, that is,
Angular frequency in formula (3) is by estimation angular frequencyIt replaces, finally obtains the sef-adapting filter based on internal model principle
The mathematical model of (Internal Model Adaptive Filter, IMAF) is as follows:
Wherein, error originated from input εu(t) and frequency error εω(t) it is
Wherein,
Estimate frequency differential expression formula are as follows:
Wherein ,-Γ is control parameter, is analyzed for convenience, and frequency-tracking part uses single-phase frequency locking ring (Single-
Phase Frequency Locked Loop, SFLL) expression,For the estimation angular frequency of input signal u (t).
Enabling two state variables in IMAF algorithm is x1(t), x2(t), x (t)=[x1(t)x2(t)]T, write out its state side
Formula:
The equation meets the existence and uniqeness condition of solution.Using the elimination, above formula is written as:
Solve its state variable x (t)=[x1(t) x2(t)]T, y=x1(t), the characteristic root for obtaining the differential equation is
If initial value x (0)=[x of state variable10 x20]T, analyze three kinds of situations of the homogeneous solution of the differential equation:
(1) work as ξ2When=2, haveThen its homogeneous solution are as follows:
(2) work as ξ2When > 2, enableHave:
Wherein,
(3) work as ξ2When < 2, enableHave:
Wherein,
From formula (15)~(17) as can be seen that working as ξ2> 0, the algorithm homogeneous solution consistent asymptotic stability, it is ensured that x (t) is to refer to
Number rule decays to particular solution, and increases parameter ξ1And ξ2, the rate of decay of x (t) transient process can be accelerated.
Known input u (t) is sinusoidal signal, if its are as follows:
Obtain particular solution are as follows:
Wherein,Therefore above formula can
It is written as:
It can be seen that when stable state, x1(t) and x2(t) orthogonal, x2(t) advanced x1(t) 90 phase angle；And work asWhen, have:
Filtered output signals:
As it can be seen that input signal u (t) is mutually orthogonal by IMAF output u ' (t) and qu ' (t), that is, have,
Then have:
Work as ξ1=ξ2When, the filter pairSinusoidal ac signal can realize the tracking of no static error, this be by
In being based on internal model principle, the Laplace transformation of the filter construction is identical as the Laplace mapped structure of sin signal, works as ξ1>ξ2
When, the effect that there is enhancing to pass through the signal.
The analysis of SFLL frequency tracking error:
The centre frequency ω of IMAF0Automatically the estimation angular frequency of single-phase frequency locking ring SFLL is followedBelow to the frequency of SFLL
Tracking error is analyzed.
WhenWhen deviateing actual frequency ω, (14) are substituted into (13), can be obtained:
(10) substitution (11) is obtained into εu(t), it then (11) is substituted into obtains the steady-state error of frequency tracking module are as follows:
(24) are substituted into (25) again, are obtained:
Obtain frequence estimation tracking equations:
The formula has unique local equilibrium's point, that is, whenWhen,ThenIn increase tendency；WhenWhen,ThenIn reduction trend.As it can be seen thatActual angular frequency ω is always followed to move, until converging to
As it can be seen that IMAF frequency sef-adapting filter stable structure and convergence, centre frequencyIt can adaptive tracing reality
The dynamic change of angular frequency, filter bandwidht can not be influenced by tested frequency fluctuation as a result, performance and parameter ξ1、ξ2Have
It closes.
Compared with the performance of SOGI:
Double second order improper integral phaselocked loop DSOGI_PLL (Second Order Generalized Integrator-
PLL the Second Order Generalized Integrator SOGI in) is also a sef-adapting filter, as shown in figure 4, same using the frequency calculated in real time
RateCentered on frequency.For IMAF algorithm compared with SOGI algorithm structure, the processing of input error signal is different, below will be to two
Person's transmission function and performance, which are made, to be compared.
The transmission function of IMAF filtered output signals u ' (t), qu ' (t) and input signal u (t) is obtained according to Fig. 3, and
SOGI filter output signal x1(t)、x2(t) with the transmission function of u (t) are as follows:
The two error εu(t) it is respectively for the transmission function for inputting u (t)
Compared with SOGI, the performance of IMAF and 2 parameter ξ1、ξ2It is related, and SOGI only has 1 parameter k, especially works as ξ1=
ξ2When=k, IMAF is identical as SOGI performance.Compare the filtering performance of the two, following Fig. 5-below by width phase-frequency characteristic figure
Shown in Fig. 6.
It can be seen that
1) IMAF algorithm and SOGI algorithm all show the characteristic of second-order bandpass filter and second-order low-pass filter, and withFor center frequency, all there is frequency adaptive ability；
2) the two is with parameter value (IMAF: ξ1、ξ2；SOGI:k reduction), frequency-selecting performance must be better；
3) SOGI algorithm existsThe gain at place is always 1, unrelated with parameter k；IMAF algorithm works as ξ1>ξ2When,Place's ratio
SOGI has higher gain,Near, it can more rapidly decay than SOGI, therefore there is better frequency-selecting effect；
4) the magnitude margin Gm and phase margin Pm of the two are calculated:
IMAF(ξ1=0.05, ξ2=0.01): Gmd=Inf, Pmd=24.1 °；Gmq=Inf, Pmq=113.5 °
SOGI (k=0.05): Gmd=Inf, Pmd=-90 °；Gmq=Inf, Pmq=-180 °
As it can be seen that SOGI phase margin is insufficient, easily vibrated in state switching；And IMAF has more sufficient phase abundant
Degree, stability are more preferable.
By the error originated from input transmission function E (s) and G of IMAFq(s) it is drawn into in a series of phase-frequency characteristic figures, such as Fig. 7 institute
Show.
As can be seen that working asWhen, εuWith the same phase of qu ', whenWhen, εuWith qu ' reverse phase, therefore formula (11) define εω=
εu×qu'.As it can be seen that working asWhen,WhenWhen,ThusActual angular frequency ω is always followed to transport
It is dynamic, until converging toThis is consistent with the conclusion of the above frequency error as obtained by mathematical derivation analysis.
Positive and negative zero sequence separation calculates:
For the PL-EPS of three-phase four-wire system, the three-phase and four-line phaselocked loop IMAF-PLL based on the design of SRF-PLL structure is such as
Shown in lower Fig. 8.
As can be seen that the transformed rest frame voltage u of Clark in figureαβγ, after adaptive-filtering IMAF link
Fundamental voltage component is obtained, but includes simultaneously still therefore positive sequence, negative phase-sequence and zero-sequence component also need to carry out it in the component
The separation of positive and negative zero sequence calculates (Positive Negative Zero Sequence Calculation, PNZSC), below it is right
PNZSC calculation method is derived.
Known three-phase four-wire system voltage uabcIt can be analyzed to positive sequence u+ abc, negative phase-sequence u- abcWith residual voltage u0 abc, under can passing through
Formula obtains
Wherein, operator a=ej(2π/3)Represent 120 ° of Phase advance.Three-phase abc coordinate system is converted to static α β γ coordinate system:
It is hereby achieved that the decomposition computation formula PNZSC of positive and negative residual voltage is
It can be seen that u '+ γ=0, u '- γ=0, u '0 α=0, u '0 β=0, zero-sequence component is not involved in the meter of positive and negative order components
It calculates, and positive-negative sequence then intercouples.Meanwhile positive and negative residual voltage amplitude can be obtained according to formula (23) and be respectively
PNZSC calculates structure as shown in figure 9, wherein positive sequence voltage u '+ α、u’+ βThe d shaft voltage converted via Clark
ud0As fundamental positive sequence voltage.
As it can be observed in the picture that single-phase frequency locking ring SFLL estimation frequencyDetermine the centre frequency ω of IMAF0Whether can be accurate, fast
Speed tracks upper actual angular frequency ω, but in fact, the dynamic of tested source parameter (e.g., the voltage magnitude of PL_EPS, frequency) becomes
Change the performance that can all influence SFLL.
The method improves the phaselocked loop in Fig. 8, designs the improvement decoupled based on source and normalizes frequency locking ring
(Source Uncoupled Normalization FLL, SUN-FLL) makes the response of FLL by the way that normalization coefficient σ is added
Timeconstantτ and the correlation of tested source parameter decouple, to improve the rapidity and anti-interference of FLL.
Therefore, as shown in Figure 10, the embodiment of the invention discloses a kind of decoupling normalization frequency locking ring modeling method of source,
Include the following steps:
Average normalized estimation angular frequency obtains the average estimation angular frequency of the sef-adapting filter based on internal model principle；
By the average estimation angular frequency of the sef-adapting filter based on internal model principle, when obtaining normalization frequency locking ring tracking
Between constant, τ mathematical model；
By by frequency locking ring track timeconstantτ and source operating status it is decoupling, obtain the uncoupled dynamic of source and return
One changes factor sigmaallMathematical model；
Pass through the uncoupled dynamic normalization factor sigma of sourceallMathematical model obtains the decoupling normalization frequency locking number of rings of source
Learn model.
In sef-adapting filter IMAF, the expression formula of the estimation angular frequency of frequency locking ring are as follows:
WhereinFor to estimation angular frequencyFirst derivative is sought, Γ is control coefrficient (Γ > 0), εuIt (t) is error originated from input,
u2It (t) is filter output signal, then the sef-adapting filter frequency locking ring estimation angular frequency obtained on α β γ axis is respectively as follows:
It is averaged to gained estimation frequency is calculated on α β γ axis, and takes normalization, obtained based on the adaptive of internal model principle
The average estimation angular frequency that should be filtered:
In formula, σ is the normalization coefficient of frequency locking ring；
Three-phase and four-line voltage is expressed as the sum of three-phase positive-sequence component, negative sequence component and zero-sequence component:
Wherein, V+、V-、V0Respectively voltage is positive and negative, amplitude of zero-sequence component,For the phase of negative sequence component,It is zero
Order components phase；ω is actual angular frequency；
The transmission function of known IMAF is as follows:
Wherein u is input signal, u1、u2For output signal, and u1It is orthogonal to u2,To estimate angular frequency, ξ1、ξ2For error
Control parameter.
Enable estimation angular frequency:
Wherein, subscript x=α, β, γ represent tri- axis of α β γ；
If frequency varies less, that is, m ≈ 1 then has Gdx≈Gqx=G can be obtained
Above formula is substituted into formula (36), is obtained:
?Place linearizes above formula, enables avgT0[f (x)] is to function f (x) in cycle T0It is inside averaged, obtains
The average value of its angular frequency derivative are as follows:
Formula (39) are substituted into, m ≈ 1 is taken, obtain unified normalization frequency locking ring mathematical model:
Analytical formula (43), in available FLLIt is to the actual angular frequency ω time constant tracked
As can be seen that for reflect FLL to the timeconstantτ of the tracking velocity of actual frequency ω, in addition to parameter ξ1、ξ2、
Γ is related, at the same also with tested source frequencyAnd the tested positive and negative zero sequence amplitude V of source voltage terminal+、V-、V0It is related.
Normalization coefficient σ is generally constant, in order to decouple the response speed of FLL and source operating status, according to formula
(11), frequency locking ring normalizing factor sigma is set as dynamic parameter, by related source state parameterV+、V-、V0Feed-in normalized
Journey obtains:
Wherein, being tested source frequency can be usedFeedforward, voltage magnitude V+、V-、V0It can be calculated by the separation of positive and negative zero sequence
Module obtains.
Formula (45) are substituted into formula (43), thus obtain the uncoupled normalization frequency locking ring expression formula of source are as follows:
Formula (45) shows FLL to the tracking velocity and parameter ξ of actual frequency ω1、ξ2, Γ it is related, while also and measured source
Hold frequencyAnd the positive and negative zero sequence amplitude V of source voltage terminal+、V-、V0It is related.It can be seen that:
1)ξ1/ξ2Although increasing the frequency-selecting gain at ω, harmonic suppression effect is improved, also increases response simultaneously
Therefore timeconstantτ need to weigh parameter ξ1/ξ2Selection；
2) source frequency generates fluctuation in PL-EPS, and τ changes with the dynamic change of source angular frequency；
3) under Voltage unbalance state, V+、V-、V0Dynamic change it is also very big, also will affect frequency response speed；
To sum up, the frequency response timeconstantτ of FLL is closely related with tested source frequency, voltage magnitude, can be by counting
Source dynamic parameter is introduced in formula, releases the coupled relation of the two, reaches the anti-interference ability for improving FLL.
As it can be seen that the source of the method carries decoupling normalization (SUN, Source Uncoupled Normalization) coefficient
σallTwo dynamic parameters of tested source are introduced simultaneously, fluctuate the frequency-tracking performance of FLL with source frequency and voltage magnitude
Decoupling, to improve the rapidity and robustness of PLL.
Claims (4)
1. a kind of decoupling normalization frequency locking ring modeling method of source, it is characterised in that include the following steps:
Average normalized estimation angular frequency obtains the average estimation angular frequency of the sef-adapting filter based on internal model principle；
By the average estimation angular frequency of the sef-adapting filter based on internal model principle, it is normal to obtain the normalization frequency locking ring tracking time
The mathematical model of number τ；
By by frequency locking ring track timeconstantτ and source operating status it is decoupling, obtain the uncoupled dynamic normalization of source
Factor sigmaallMathematical model；
Pass through the uncoupled dynamic normalization factor sigma of sourceallMathematical model obtains the decoupling normalization frequency locking ring mathematical modulo of source
Type.
2. the decoupling normalization frequency locking ring modeling method of source as described in claim 1, it is characterised in that described to be based on
The method of the average estimation angular frequency of the sef-adapting filter of internal model principle is as follows:
In sef-adapting filter IMAF, the expression formula of the estimation angular frequency of frequency locking ring are as follows:
WhereinFor to estimation angular frequencyFirst derivative is sought, Γ is control coefrficient (Γ > 0), εuIt (t) is error originated from input, u2(t)
For filter output signal, then the sef-adapting filter frequency locking ring estimation angular frequency obtained on α, β, γ axis is respectively as follows:
It is averaged to gained estimation frequency is calculated on α β γ axis, and takes normalization, obtain the adaptive filter based on internal model principle
The average estimation angular frequency of wave:
In formula, σ is the normalization coefficient of frequency locking ring.
3. the decoupling normalization frequency locking ring modeling method of source as claimed in claim 2, which is characterized in that calculate normalization lock
The method that frequency ring tracks timeconstantτ is as follows:
α β γ shaft voltage is expressed as the sum of positive-sequence component, negative sequence component and zero-sequence component:
Wherein, V+、V-、V0Respectively voltage is positive and negative, amplitude of zero-sequence component,For the phase of negative sequence component,For zero sequence point
Measure phase；ω is actual angular frequency；
The transmission function of known sef-adapting filter IMAF is as follows:
Wherein u is input signal, u1、u2For output signal, and u1It is orthogonal to u2,To estimate angular frequency, ξ1、ξ2For control errors
Parameter；
Order estimates that the relationship of angular frequency and actual angular frequency is?
Wherein, subscript x=α, β, γ represent tri- axis of α β γ；
If frequency varies less, that is, m ≈ 1 then has Gdx≈Gqx=G can be obtained
Above formula is substituted into formula (3), is obtained
?Place linearizes above formula, enables avgT0[f (x)] is to function f (x) in cycle T0It is inside averaged, obtains its angular frequency
The average value of rate derivativeAre as follows:
Formula (6) are substituted into, m ≈ 1 is taken, obtain unified normalization frequency locking ring mathematical model:
It can be obtained from formula (10) and estimate angular frequency in frequency locking ringTo the table of the tracking timeconstantτ of actual angular frequency ω
Up to formula are as follows:
4. the decoupling normalization frequency locking ring modeling method of source as claimed in claim 3, which is characterized in that obtain source decoupling
The dynamic normalization factor sigma of conjunctionallThe method of mathematical model is as follows:
According to formula (11), frequency locking ring normalizing factor sigma is set as dynamic parameter, by related source state parameterV+、V-、V0Feedback
Enter normalization process, obtains the uncoupled dynamic normalization factor sigma of sourceallExpression formula are as follows:
Wherein, being tested source frequency can be usedFeedforward, voltage magnitude V+、V-、V0The separation computing module of positive and negative zero sequence can be passed through
It obtains；
Formula (12) are substituted into formula (10), thus obtain the uncoupled normalization frequency locking ring mathematical model expression formula of source are as follows:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446784.3A CN110175401B (en) | 2019-05-27 | 2019-05-27 | Source-end decoupling normalized frequency-locked loop modeling method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910446784.3A CN110175401B (en) | 2019-05-27 | 2019-05-27 | Source-end decoupling normalized frequency-locked loop modeling method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110175401A true CN110175401A (en) | 2019-08-27 |
| CN110175401B CN110175401B (en) | 2022-12-13 |
Family
ID=67696215
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910446784.3A Active CN110175401B (en) | 2019-05-27 | 2019-05-27 | Source-end decoupling normalized frequency-locked loop modeling method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110175401B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075181A (en) * | 2009-11-24 | 2011-05-25 | 无锡爱睿芯电子有限公司 | Frequency synthesizer and frequency-locked loop |
| CN105449718A (en) * | 2015-11-05 | 2016-03-30 | 山东大学 | Grid-connected synchronous phase-lock method based on improved series signal delay cancellation algorithm |
| CN105629766A (en) * | 2016-03-16 | 2016-06-01 | 北京化工大学 | Multivariable time-delay system identification method based on step test |
| US20180070870A1 (en) * | 2016-09-09 | 2018-03-15 | The Board Of Trustees Of The Leland Stanford Junior University | Autonomous Sweat Extraction and Analysis Using a Fully-Integrated Wearable Platform |
| CN108152588A (en) * | 2017-12-22 | 2018-06-12 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of grid phase detecting system and method |
| CN108448660A (en) * | 2018-03-22 | 2018-08-24 | 太原理工大学 | Alternating current-direct current mixing micro-capacitance sensor parallel inverter circulation inhibition method based on hierarchical control |
| CN108763724A (en) * | 2018-05-23 | 2018-11-06 | 上海电力学院 | A kind of phase-lock technique in frequency adaptive delay period |
| CN109546874A (en) * | 2018-11-21 | 2019-03-29 | 中国人民解放军陆军工程大学 | The source of the isolated power system of tape pulse load carries decoupling model modelling approach |
| CN109682526A (en) * | 2019-03-04 | 2019-04-26 | 合肥工业大学 | A kind of dynamic decoupling method of multi-dimension force sensor |
-
2019
- 2019-05-27 CN CN201910446784.3A patent/CN110175401B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102075181A (en) * | 2009-11-24 | 2011-05-25 | 无锡爱睿芯电子有限公司 | Frequency synthesizer and frequency-locked loop |
| CN105449718A (en) * | 2015-11-05 | 2016-03-30 | 山东大学 | Grid-connected synchronous phase-lock method based on improved series signal delay cancellation algorithm |
| CN105629766A (en) * | 2016-03-16 | 2016-06-01 | 北京化工大学 | Multivariable time-delay system identification method based on step test |
| US20180070870A1 (en) * | 2016-09-09 | 2018-03-15 | The Board Of Trustees Of The Leland Stanford Junior University | Autonomous Sweat Extraction and Analysis Using a Fully-Integrated Wearable Platform |
| CN108152588A (en) * | 2017-12-22 | 2018-06-12 | 武汉船用电力推进装置研究所（中国船舶重工集团公司第七二研究所） | A kind of grid phase detecting system and method |
| CN108448660A (en) * | 2018-03-22 | 2018-08-24 | 太原理工大学 | Alternating current-direct current mixing micro-capacitance sensor parallel inverter circulation inhibition method based on hierarchical control |
| CN108763724A (en) * | 2018-05-23 | 2018-11-06 | 上海电力学院 | A kind of phase-lock technique in frequency adaptive delay period |
| CN109546874A (en) * | 2018-11-21 | 2019-03-29 | 中国人民解放军陆军工程大学 | The source of the isolated power system of tape pulse load carries decoupling model modelling approach |
| CN109682526A (en) * | 2019-03-04 | 2019-04-26 | 合肥工业大学 | A kind of dynamic decoupling method of multi-dimension force sensor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110175401B (en) | 2022-12-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110011312A (en) | Frequency adaptive phase locked loop modeling method based on internal model | |
| Wang et al. | Fully distributed consensus control for a class of disturbed second-order multi-agent systems with directed networks | |
| Dorfler et al. | Synchronization and transient stability in power networks and nonuniform Kuramoto oscillators | |
| CN105743109B (en) | A kind of phaselocked loop suitable for unbalanced source voltage and the state that distorts | |
| CN107706929B (en) | Minimum variance filtering-based adaptive phase-locked loop method and system | |
| CN111082804B (en) | Method for realizing frequency compensation type digital phase-locked loop | |
| CN101964655B (en) | Balance error elimination type high-precision digital phase locking method | |
| Feng et al. | Super-twisting sliding mode control for micro gyroscope based on RBF neural network | |
| CN105785788A (en) | Rapid three-phase voltage phase-locked loop method and dynamic response performance analyzing method thereof | |
| CN109861296B (en) | Inertia and damping identification method for island virtual synchronous generator system | |
| CN105425011A (en) | Non-linear amplitude phase detection method suitable for single-phase distortion power grid | |
| CN106842953B (en) | A kind of adaptive lower order controller of unmanned helicopter | |
| Lima et al. | A phase-locked loop algorithm for single-phase systems with inherent disturbance rejection | |
| CN111969597A (en) | Dynamic surface integral sliding mode controller with SVC (static Var compensator) for multi-machine infinite power system | |
| CN109218073B (en) | Dynamic state estimation method considering network attack and parameter uncertainty | |
| CN103425883B (en) | A kind of transregional interconnected power grid people having the same aspiration and interest discrimination method based on projection pursuit | |
| CN108155643A (en) | A kind of robust estimation method of the single-phase mains voltage parameter based on sliding mode observer | |
| CN103425516B (en) | A kind of phaselocked loop implementation method | |
| CN108181617A (en) | A kind of filtering method of the nonlinear frequency modulation system based on the transformation of tensor product model | |
| CN111327075A (en) | Two-stage type photovoltaic grid-connected system low voltage ride through dynamic evaluation method and system | |
| Hou et al. | Robust forecasting-aided state estimation considering uncertainty in distribution system | |
| CN106227040A (en) | Servosystem input offset method based on limiting control | |
| CN113567734B (en) | Method for detecting power grid voltage signal parameters | |
| CN110175401A (en) | The decoupling normalization frequency locking ring modeling method of source | |
| CN110165675A (en) | Frequency modeling adaptive filter method based on internal model |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |