WO2017177585A1 - 同步旋转坐标系锁相环及其测试方法、装置 - Google Patents
同步旋转坐标系锁相环及其测试方法、装置 Download PDFInfo
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- 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
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
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- G05B13/0265—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric the criterion being a learning criterion
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Definitions
- the present application relates to, but is not limited to, the field of phase locking technology in the grid connection of a renewable energy distributed power generation system, in particular to a synchronous rotating coordinate system phase locked loop and a testing method and device thereof.
- the genlock strategy is divided into two categories according to the control method: open-loop methods and closed-loop methods.
- Typical open-loop control strategies include zero-crossing detection (ZCD) of grid voltage, filtering methods, etc.
- ZCD zero-crossing detection
- the principle is simple and easy to implement, but the system uses open-loop control to lock the phase. Frequency fluctuations, voltage distortions, three-phase voltage imbalances, etc. are sensitive, and the control response is slow. It is often used in applications where the grid voltage waveform is good, and is not suitable for industrial environments with harsh environments.
- Phase-locked loop (PLL) technology is a typical closed-loop control synchronization strategy, which is mainly used in single-phase applications. Synchronous rotating frame-based phase-locked loop (SRF-PLL) technology is widely used.
- PSF Positive sequence filter
- Doub double second-order universal integrator
- DSOGI Le second-order generalized integrator
- FFF-PLL mixed-reference-frame PLL
- the present application provides a synchronous rotating coordinate system phase-locked loop and a testing method and device thereof, which are used to solve the related art, and the response speed of the synchronous rotating coordinate system phase-locked loop needs to be dependent on the bandwidth design, and is not applicable to the grid phase and frequency fluctuation. Problems with application scenarios.
- a synchronous rotating coordinate system phase locked loop including: a coordinate transformation module, a fuzzy adaptive control module, and a phase locked tracking loop;
- the coordinate transformation module is configured to convert the received grid voltage signal to the dq coordinate system according to the phase angle of the phase-locked tracking loop feedback, and obtain the q-axis voltage error according to the preset q-axis voltage reference value. ;
- the fuzzy adaptive control module is configured to take the q-axis voltage error and/or a parameter reflecting the q-axis voltage error characteristic as an input quantity, and obtain a control of the controller of the phase-locked tracking loop by using a fuzzy control algorithm. Parameter adjustment amount and output to the controller;
- the phase-locked tracking loop is configured to take the q-axis voltage error as an input, and track the phase of the power grid under the control of the controller whose control parameter is adjusted in real time with the output of the fuzzy adaptive control module And feeding back the obtained phase angle to the coordinate transformation module.
- a method for testing a phase-locked loop of a synchronous rotating coordinate system including:
- the basic phase-locked loop is the phase-locked loop under the closed function of the fuzzy adaptive module
- the fuzzy adaptive phase-locked loop is a fuzzy adaptive module function Opening the phase locked loop
- the tracking phase signal output by the fuzzy adaptive phase-locked loop the input of the fuzzy adaptive control module in the fuzzy adaptive phase-locked loop, and the control parameters of the controller in the phase-locked tracking loop Determine the performance index of the fuzzy adaptive phase-locked loop;
- the performance index of the basic phase-locked loop and the fuzzy adaptive phase-locked loop are compared.
- the performance index of the fuzzy adaptive phase-locked loop is better than the performance index of the basic phase-locked loop, the test is passed, when the fuzzy adaptive phase-locking If the performance index of the ring is not better than the performance index of the basic phase-locked loop, it is judged as failing.
- the application further provides a computer readable storage medium storing computer executable instructions that are implemented when the computer executable instructions are executed.
- test apparatus for a synchronous rotating coordinate system phase locked loop comprising:
- a disturbance module configured to apply a disturbance to the grid voltage signal used for testing, and output the same to the basic phase-locked loop;
- the basic phase-locked loop is the phase-locked loop under the fuzzy adaptive module function closure;
- a data uploading module configured to acquire a phase signal of the grid voltage after the disturbance is applied and a tracking phase signal output by the basic phase locked loop, and upload the data to the data analysis module;
- a data analysis module configured to determine a performance index of the basic phase locked loop according to the data uploaded by the data uploading module
- the test decision module is configured to detect whether the performance index of the basic phase-locked loop meets the set design requirement, and when satisfied, trigger the disturbance module to output the disturbed grid voltage signal to the fuzzy adaptive phase-locked loop;
- the adaptive phase-locked loop is the phase-locked loop that is turned on by the fuzzy adaptive module function;
- the data uploading module is further configured to acquire a phase signal of the grid voltage after the disturbance is applied, a tracking phase signal output by the fuzzy adaptive phase-locked loop, an input of the fuzzy adaptive control module in the fuzzy adaptive phase-locked loop, and phase locking Tracking the control parameters of the controller in the loop and uploading it to the data analysis module;
- the data analysis module is further configured to determine a performance indicator of the fuzzy adaptive phase-locked loop according to the data uploaded by the data uploading module;
- the test decision module is further configured to compare performance indexes of the basic phase-locked loop and the fuzzy adaptive phase-locked loop. When the performance index of the fuzzy adaptive phase-locked loop is better than the performance index of the basic phase-locked loop, the determination is The test passes, and when the performance index of the fuzzy adaptive phase-locked loop is not better than the performance index of the basic phase-locked loop, it is judged as failing.
- the synchronous rotating coordinate system phase-locked loop proposed in this application is a phase-locked loop combined with fuzzy adaptive control. It realizes fast and accurate grid phase tracking by fuzzy adaptive control of the phase-locked loop controller.
- the phase-locked loop described in the present application not only improves the response speed, but also reduces the overshoot and eliminates the steady-state error, so that it can be applied to the phase and frequency fluctuation of the power grid.
- Nonlinear process
- control process of the phase-locked loop described in the present application does not require a large amount of mathematical operations, and occupies less memory, which can meet the requirements of real-time control.
- this application also introduces a test method based on fuzzy control for phase-locked loop, which realizes the test of considerable controllable phase-locked loop.
- FIG. 1 is a frame of a synchronous rotating coordinate system phase-locked loop based on fuzzy adaptive control provided by the present application.
- FIG. 2 is a block diagram of a distributed energy grid-connected power generation system with a synchronous rotating coordinate system phase-locked loop
- FIG. 3 is a structural diagram of a three-phase synchronous rotating coordinate system phase-locked loop based on fuzzy adaptive control
- FIG. 4 is a diagram of the membership function involved in the present application.
- FIG. 5 is a graph showing a comparison between a conventional phase-locked loop and a phase-locked loop control effect of the present application
- FIG. 6 is a flow chart of a method for testing a phase locked loop provided by the present application.
- FIG. 7 is a block diagram of a testing device for a phase locked loop provided by the present application.
- the embodiment of the present invention provides a synchronous rotating coordinate system phase-locked loop based on fuzzy adaptive control, as shown in FIG. 1, comprising: a coordinate transformation module 110, a fuzzy adaptive control module 120, and a phase-locked tracking loop 130;
- the coordinate transformation module 110 is configured to convert the received grid voltage signal to the dq coordinate system according to the phase angle fed back by the phase lock tracking loop 130, and obtain a q-axis voltage error according to the preset q-axis voltage reference value;
- the fuzzy adaptive control module 120 is configured to take the q-axis voltage error and/or the parameter reflecting the q-axis voltage error characteristic as an input quantity, and use the fuzzy control algorithm to obtain the control parameter adjustment of the controller of the phase-locked tracking loop 130. And output it to the controller;
- the phase-locked tracking loop 130 is configured to take the q-axis voltage error as an input, and track the phase of the power grid under the control of the controller whose control parameter is adjusted in real time with the output of the fuzzy adaptive control module 120, and The tracked phase angle is fed back to the coordinate transformation module.
- the present application introduces a fuzzy adaptive control module in a synchronous rotating coordinate system phase-locked loop, and the fuzzy adaptive control module cooperates with a controller in the phase-locked tracking loop to form a fuzzy controller.
- the phase tracking speed and accuracy are improved, and the synchronous rotating coordinate system phase-locked loop is applied to nonlinear processes such as grid phase and frequency fluctuation, and the response speed of the phase-locked loop is also improved. Reduces the amount of overshoot and eliminates the steady state error.
- the controller may be, but is not limited to, a proportional integral PI controller.
- its control parameters include: a proportional coefficient and/or an integral coefficient.
- the parameters reflecting the q-axis voltage error characteristics include, but are not limited to, a q-axis error rate of change and/or a q-axis error integral amount.
- the phase-locked loop of the embodiment of the present invention further includes: a differentiator;
- the differentiator is configured to acquire a q-axis voltage error from the coordinate transformation module 110, perform differential processing thereon, obtain a q-axis error change rate, and use the q-axis error change rate as an input of the fuzzy adaptive control module 120. The amount is sent to the fuzzy adaptive control module 120.
- the phase-locked loop according to the embodiment of the present invention further includes: an integrator;
- the integrator is configured to acquire a q-axis voltage error from the coordinate transformation module 110, perform integral processing thereof, obtain a q-axis error integration amount, and use the q-axis error integration amount as an input of the fuzzy adaptive control module 120. The amount is sent to the fuzzy adaptive control module 120.
- the fuzzy adaptive control module 120 includes:
- the fuzzification interface unit is configured to define each quantity of linguistic variables on each input quantity and each control quantity domain, set a basic domain of each linguistic variable, define a language value of each linguistic variable, determine a quantization factor, and a scale factor , defining membership functions for each language value, and determining fuzzy rules;
- the fuzzy inference unit is configured to quantize the actual input quantity by using the quantization factor, convert each input quantity of the quantization process into a fuzzy input according to the defined membership function, and perform the fuzzy input according to the fuzzy input and the determined fuzzy rule. Fuzzy reasoning to obtain fuzzy values;
- De-fuzzing interface unit set to use the set defuzzification algorithm to obtain the fuzzy inference unit
- the fuzzy value is subjected to defuzzification processing to obtain an accurate output amount
- the scaled factor is used to convert the accurate output amount into an adjustment amount of the control parameter.
- the coordinate transformation module 110 includes:
- a first-order coordinate transformation unit configured to convert a grid voltage signal to an ⁇ coordinate system
- the second-order coordinate transformation unit is configured to convert the voltage in the ⁇ coordinate system obtained by the first-order coordinate transformation unit to the dq coordinate system according to the phase angle fed back by the phase-locked tracking loop, and according to the preset q-axis voltage reference Value, find the q-axis voltage error.
- the first-order coordinate transformation unit is configured to: when the grid voltage signal is a three-phase voltage signal, obtain a voltage vector in the ⁇ coordinate system by using a Clark transform; when the grid voltage signal is a single-phase voltage signal The acquired single-phase voltage signal v is equal to the voltage vector of the ⁇ direction, and the acquired v is delayed by 90 degrees to obtain a voltage vector of the ⁇ direction.
- the two-level coordinate transformation unit preferably converts the ⁇ coordinate system to the dq coordinate system by Park transformation.
- FIG. 2 it is a distributed energy grid-connected power generation system with a phase-locked loop.
- 1 is the energy source, which is the energy production unit of the system, specifically one of various new energy forms such as solar photovoltaic modules, wind turbines, ocean energy, biomass energy, or diesel generator sets.
- the energy source 1 is connected to the power conversion device 4 via output cables 2, 3.
- the type of the power conversion device 4 is related to the energy form of the energy source 1, and the power conversion device 4 is an energy conversion that outputs an alternating current that satisfies the grid connection condition. If the output form of the energy source 1 is direct current, the optional form of 4 includes DC-AC conversion and DC-DC-AC conversion, and the alternative DC-DC-AC form can also be added to the energy storage system in the DC-DC link;
- the output form of the energy source 1 is alternating current, and the output cable can be connected in single phase or in two phases as shown in the figure, or can be connected in three phases, and the power conversion device 4 is in the form of AC-DC-AC conversion.
- the power conversion device 4 is connected by a cable 7 and an optional transformer 12, which may be connected in seven phases as shown in the figure, or may be connected in a single phase.
- the optional transformer 12 is connected to the grid 14 via a cable 13 which may be connected in a three-phase connection as shown in the figure or in a single phase.
- a voltage sensor 9 is placed between the power conversion device 4 and the optional transformer 12 to effect acquisition of the grid voltage.
- 10 represents a voltage acquisition signal transmission path, and the voltage sensor 9 sends the voltage acquisition signal to the synchronous rotating coordinate system phase locked loop 11 for analysis.
- the synchronous rotating coordinate system phase-locked loop 11 sends the phase angle obtained by the phase-locked phase to the main control module 6 of the power conversion device, so that the power conversion device 4 effectively follows the phase of the power grid and connects the power to the Internet.
- 8 represents the phase angle signal
- 5 represents the power conversion device system control signal issued by the main control module 6.
- FIG. 3 it is a three-phase synchronous rotating coordinate system phase-locked loop based on fuzzy adaptive control, corresponding to the phase-locked loop 11 in FIG.
- the three-phase voltage signal 10 is passed through a Clarke transform unit 16, which converts the voltage vector from a Cartesian coordinate system to an [alpha][beta] coordinate system to obtain a voltage representation 17 in the [alpha][beta] coordinate system.
- the Clarke transform includes a magnitude of the phase voltage to be acquired and a phase angle of the phase a;
- the voltage expression 17 in the ⁇ coordinate system is combined with the phase angle feedback amount 23 through the Park transform unit 18, and the Park transform unit 18 converts the voltage vector from the ⁇ coordinate system to the dq coordinate system to obtain a voltage expression in the dq coordinate system, including the d-axis component. 19 and q-axis components, then, based on the obtained q-axis component and the preset q-axis voltage reference value, the q-axis voltage error 20 is obtained.
- the q-axis voltage error 20 participates in the loop control through two control paths, one of which is the conventional controller 24.
- the embodiment of the present invention is convenient for selecting a proportional-integral (PI) controller, but is not limited to the PI controller, and emphasizes the fuzzy controller.
- the output is an increment of the control constant of the phase locked loop controller and is an incremental control; the second is for the fuzzy adaptive control module 30 of the controller 24.
- the fuzzy adaptive control module 30 has two inputs 20 and 22 with two outputs 26 and 27.
- 21 is a differentiator that performs differential processing on the input 20, outputs 22, 22 to reflect the rate of change of the q-axis voltage error
- 26 and 27 represent the scale factor adjustment amount and the integral coefficient adjustment amount of the PI controller, respectively.
- the input of the fuzzy adaptive control module 30 can be replaced with a first-order error input (ie, q-axis voltage error) or a third-order error, error integral amount.
- the error rate of change input or other combination of input and input quantities that can reflect the error characteristics, the output of the fuzzy adaptive control module 30 should be adjusted following the type of controller 24.
- the controller 24 processes the input q-axis voltage error 20 to obtain an output amount 25 (angular velocity adjustment amount).
- the sum of the output amount 25 and the given angular velocity 28 is an angular velocity estimation value 29, and the angular velocity estimation value 29 passes through the integrator 31. Processing (ie For the angular velocity estimate, the output is the phase angle of the set tracking phase.
- the fuzzy adaptive control module 30 performs fuzzy control with 20 and 22 as input quantities, and outputs two control quantities 26 and 27 (proportional coefficient adjustment amount and integral coefficient adjustment amount respectively).
- the implementation process is as follows:
- Step 1 Initialize.
- the fuzzy linguistic variables defining the error e, the error rate ec and the control amount ⁇ k p (proportional coefficient adjustment amount), ⁇ k i (integral coefficient adjustment amount) are E, EC and ⁇ K p , ⁇ K i , and setting e, ec and The basic domain of ⁇ k p , ⁇ k i , e ⁇ [-x e , x e ]; ec ⁇ [-x ec , x ec ]; ⁇ k p ⁇ [-y p , y p ]; ⁇ k i ⁇ [-y i , y i ], and the language value that defines each language variable.
- the language values of the fuzzy subsets E, EC, ⁇ K p, and ⁇ K i are defined as ⁇ NB, NS, ZE, PS, PB ⁇ (NB, NS, ZE, PS, PB represent negative large, negative small, zero, respectively). Fuzzy concept such as Zhengxiao, Zhengda, etc.) If the domain is [-4, 4] (for the description, the expression of the membership function graph is determined), the quantization factors K e , K ec and the scale factor K up can be determined. , K ui ,
- Step 2 Determine the fuzzy rules.
- the error E and the error change EC are used to analyze the motion characteristics of the system.
- the proportional link reflects the deviation of the system. Once the deviation occurs, the controller immediately generates an action to reduce the deviation; the integral link is set to eliminate the static error and improve the system's indifference.
- Table 1 the ⁇ K p fuzzy control rule table and Table 2, the ⁇ K i fuzzy control rule table:
- Step 3 Create a membership function.
- the triangle function is selected as the membership function of the fuzzy set.
- the mathematical expression and operation are simple, occupying a small memory space, and the control effect is not greatly different.
- the membership functions of ⁇ K p and ⁇ K i are output.
- Step 4 Obfuscation.
- the quantization factor the actual input quantity is quantized, and each input quantity of the quantization process is converted into a fuzzy input according to the created membership function, and according to the fuzzy input Incorporating and determining fuzzy rules, performing fuzzy reasoning to obtain fuzzy values;
- Step 5 Unambiguous.
- the fuzzy value obtained by the fuzzy inference is defuzzified to obtain an accurate output, and the precise output is converted into the adjustment amount of the control parameter by using a preset scale factor.
- the deblurring algorithm preferably adopts the center of gravity method.
- Fig. 5 it is a comparison curve of the control effect of the phase locked loop.
- the horizontal axis is time, and the vertical axis is the ratio of the real-time phase angle to the target phase angle, which characterizes the control error. When the ratio is 1, it means that no static tracking is achieved, and the grid lock is completed.
- the dotted line in the figure is the tracking effect of the traditional PI controller.
- the proportional coefficient and integral coefficient of the PI controller are preset values, which are constant during the control process; the solid line represents the tracking effect of the fuzzy adaptive control phase-locked loop proposed in this application.
- the proportional and integral coefficients of the PI controller are not constant during the control process and are related to the output of the fuzzy controller.
- the phase-locked loop is a necessary part of applying phase-locked loops for tracking control.
- the traditional phase-locked loop based on classical control theory can visually analyze the controller performance by using the open-loop system model and the closed-loop system model, and assist the oscilloscope to visualize the controller response waveform to complete the phase-locked loop test process.
- the test method is not applicable to the phase-locked loop proposed by the present application. Therefore, the embodiment of the present invention further provides a test method for the phase-locked loop of the present application. As shown in FIG. 6, the method includes the following steps:
- Step S601 applying a disturbance to the grid voltage signal used for testing, and outputting it to the basic phase-locked loop;
- the basic phase-locked loop is the phase-locked loop under the function of the fuzzy adaptive module function;
- Step S602 determining a performance index of the basic phase-locked loop according to the phase signal of the grid voltage after the disturbance is applied and the tracking phase signal output by the basic phase-locked loop;
- Step S603 detecting whether the performance index of the basic phase-locked loop meets the set design requirement, and when satisfied, outputting the disturbed grid voltage signal to the fuzzy adaptive phase-locked loop;
- the fuzzy adaptive phase-locked loop is fuzzy Adapting the phase locked loop under the function of the module;
- Step S604 determining fuzzy adaptation according to the phase signal of the grid voltage after the disturbance is applied, the tracking phase signal output by the fuzzy adaptive phase-locked loop, and the input and output of the fuzzy adaptive control module in the fuzzy adaptive phase-locked loop. Performance index of the phase locked loop;
- Step S605 comparing the performance indexes of the basic phase-locked loop and the fuzzy adaptive phase-locked loop.
- the determination is that the test passes, when the fuzzy self
- the performance index of the phase-locked loop is not better than the performance index of the basic phase-locked loop, it is judged as failing.
- the determining the performance index of the basic phase locked loop comprises: drawing a response graph according to the phase signal of the grid voltage after the disturbance is applied and the tracking phase signal output by the basic phase locked loop, and according to the Calculate the performance index of the basic phase-locked loop by using the response graph;
- the step of determining the performance index of the fuzzy adaptive phase-locked loop comprises: a phase signal according to the applied grid voltage after the disturbance, a tracking phase signal output by the fuzzy adaptive phase-locked loop, and fuzzy adaptation.
- the input and output of the fuzzy adaptive control module in the phase-locked loop are plotted, and the response graph is drawn. According to the response graph, the performance index of the fuzzy adaptive phase-locked loop is calculated.
- the method further includes: when detecting that the performance index of the basic phase-locked loop does not meet the set design requirement, drawing a Bode diagram of the open-loop transfer function of the basic phase-locked loop system As a reference data for redesigning the phase-locked tracking loop in the basic phase-locked loop;
- the performance indicator includes one or more of the following parameters: overshoot, adjustment time, and steady state error.
- the present application provides a test method suitable for the phase locked loop proposed by the present application, which can not only test the phase locked loop proposed by the present application, but also provide a reference for redesigning the phase locked loop.
- the embodiment of the invention further provides a test device for a phase locked loop, as shown in FIG. 7 , comprising:
- the disturbance module 710 is configured to apply a disturbance to the grid voltage signal for testing and output it to the base phase-locked loop;
- the basic phase-locked loop is the phase-locked loop under the function of the fuzzy adaptive module;
- the data uploading module 720 is configured to acquire a phase signal of the grid voltage after the disturbance is applied and a tracking phase signal output by the basic phase locked loop, and upload the data to the data analysis module;
- the data analysis module 730 is configured to determine performance indicators of the basic phase locked loop according to the data uploaded by the data uploading module 720;
- the test decision module 740 is configured to detect whether the performance index of the basic phase-locked loop meets the set design requirement, and when satisfied, the triggering disturbance module 710 outputs the disturbed grid voltage signal to the fuzzy adaptive phase-locked loop;
- the adaptive phase-locked loop is the phase-locked loop that is turned on by the fuzzy adaptive module function;
- the data uploading module 720 is further configured to acquire a phase signal of the grid voltage after the disturbance is applied, a tracking phase signal output by the fuzzy adaptive phase-locked loop, and an input and an output of the fuzzy adaptive control module in the fuzzy adaptive phase-locked loop. And uploading it to the data analysis module 730;
- the data analysis module 730 is further configured to determine a performance indicator of the fuzzy adaptive phase-locked loop according to the data uploaded by the data uploading module 720;
- the test decision module 740 is further configured to compare the performance indexes of the basic phase-locked loop and the fuzzy adaptive phase-locked loop. When the performance index of the fuzzy adaptive phase-locked loop is better than the performance index of the basic phase-locked loop, the test is determined as a test. Therefore, when the performance index of the fuzzy adaptive phase-locked loop is not superior to the performance index of the basic phase-locked loop, it is determined to be unsuccessful.
- the data analysis module 730 is configured to draw a response graph according to the phase signal of the applied grid voltage and the tracking phase signal output by the basic phase-locked loop, and calculate according to the response graph.
- the performance index of the basic phase-locked loop; and the phase signal according to the grid voltage after the disturbance is applied, the tracking phase signal output by the fuzzy adaptive phase-locked loop, and the input and output of the fuzzy adaptive control module in the fuzzy adaptive phase-locked loop The amount is plotted, and the response graph is plotted, and the performance index of the fuzzy adaptive phase-locked loop is calculated according to the response graph.
- the data analysis module 730 is further configured to draw a Bode diagram of the open-loop transfer function of the basic phase-locked loop system when the performance index of the basic phase-locked loop does not meet the set design requirements. , as a reference data for redesigning the phase-locked tracking loop in the basic phase-locked loop; and/or, when the test decision module determines that the test fails, drawing an open-loop transfer function of the fuzzy adaptive phase-locked loop system Figure, and the horizontal axis is the time, the vertical axis is the input of the fuzzy adaptive control module and the first monitoring diagram of the controller's control parameters, as a redesigned fuzzy adaptive phase-locked loop Reference data of the fuzzy adaptive control module.
- Step 1 The disturbance module applies a disturbance to the grid voltage signal, and the disturbance includes one or more of a phase disturbance, a frequency disturbance, and an amplitude disturbance;
- Step 2 the basic phase-locked loop test.
- the basic phase locked loop includes a voltage signal Clarke transform unit, a Park transform unit, and a PI phase lock tracking loop.
- the data uploading module uploads the disturbed grid voltage phase signal and the tracking phase signal output by the basic phase locked loop to the data analysis module;
- the data analysis module draws a response graph and calculates performance indicators based on the response graph.
- the horizontal axis of the response graph is time and the vertical axis is data volume
- the data amount includes a voltage phase signal and a tracking phase signal output by the basic phase-locked loop
- the performance indicators include overshoot, adjustment time, and steady state error.
- the overshoot amount, the adjustment time, and the steady state error are respectively a first overshoot amount, a first adjustment time, and a first steady state error.
- the test decision module makes decisions about performance metrics.
- Step 3 is performed; when the first overshoot is greater than the first set value, or the first adjustment time is greater than the second set value, or the first steady state error is greater than the third set value, the PI lock is to be re-adjusted
- step 2 is performed again until the performance of the basic phase-locked loop meets the design requirements; optionally, when the performance index of the basic phase-locked loop does not meet the set design requirements, the method further includes: drawing the basic phase lock The open-loop transfer function of the ring system, as a reference data for redesigning the phase-locked loop in the basic phase-locked loop (exactly the controller in the loop);
- Step 3 Fuzzy adaptive phase-locked loop test.
- the fuzzy adaptive phase-locked loop includes a voltage signal Clarke transform unit, a Park transform unit, a PI phase-locked tracking loop, and a fuzzy adaptive control module.
- the data uploading module uploads the grid voltage phase signal, the tracking phase signal output by the fuzzy adaptive phase-locked loop, the q-axis voltage error signal, the q-axis voltage error variation signal, and the fuzzy adaptive PI control parameter to the data analysis module.
- the fuzzy adaptive PI control parameter includes a proportional coefficient And integral coefficient Where k is the coefficient symbol, p is the proportional link symbol, i is the integral link symbol, and n is the nth time.
- the data analysis module draws a response graph, and calculates a performance index according to the response graph.
- the horizontal axis of the response graph is time and the vertical axis is data volume, and the data volume includes a voltage phase signal and a tracking phase of the fuzzy adaptive phase-locked loop output. signal.
- the performance indicators include overshoot, adjustment time, and steady state error.
- the overshoot amount, the adjustment time, and the steady state error are respectively a second overshoot amount, a second adjustment time, and a second steady state error;
- the test decision module makes decisions about performance metrics.
- the decision fuzzy adaptive phase-locked loop satisfies the optimization requirement;
- the second overshoot is not less than the first overshoot, or the second adjustment time is not less than the first adjustment time, or the second steady state error is not less than the first steady state error, and step 4 is performed until the fuzzy adaptive phase-locked loop performance The indicator meets the optimization requirements;
- Step 4 the data analysis module draws the first monitoring map, the horizontal axis is time, the vertical axis controller related data amount, including the q-axis voltage error signal, the q-axis voltage error variation signal, the fuzzy adaptive PI control parameter; the data The analysis module draws a second monitoring map, the second monitoring graph is an open loop transfer function Bode diagram; the first monitoring graph and the second monitoring graph function to assist the redesign of the fuzzy adaptive control module. Perform step 3 after redesigning.
- Embodiments of the present invention further provide a computer readable storage medium storing computer executable instructions that are implemented when the computer executable instructions are executed.
- a program to instruct related hardware eg, a processor
- a computer readable storage medium such as a read only memory, a disk, or CD, etc.
- all or part of the steps of the described embodiments may also be implemented using one or more integrated circuits.
- each module/unit in the embodiment may be implemented in the form of hardware, such as an integrated circuit to implement its corresponding function, or may be implemented in the form of a software function module, for example, executed by a processor and stored in a memory.
- Embodiments of the invention are not limited to any specific form of combination of hardware and software.
- the storage medium may include: a ROM, a RAM, a magnetic disk, or an optical disk.
- the synchronous rotating coordinate system phase-locked loop proposed in this application is a phase-locked loop combined with fuzzy adaptive control. It realizes fast and accurate grid phase tracking by fuzzy adaptive control of the phase-locked loop controller. Compared with the existing phase-locked loop of the same type, the phase-locked loop described in the present application not only improves the response speed, but also reduces the overshoot and eliminates the steady-state error, so that it can be applied to the phase and frequency fluctuation of the power grid. Nonlinear process.
Abstract
公开了一种同步旋转坐标系锁相环及其测试方法、装置，所述锁相环包括：坐标变换模块，设置为根据锁相跟踪环路反馈的相角，将接收的电网电压信号转换到dq坐标系下，并根据预设q轴电压参考值，求取q轴电压误差；模糊自适应控制模块，设置为以q轴电压误差和/或反映q轴电压误差特性的参数为输入量，利用模糊控制算法，得到锁相跟踪环路的控制器的控制参数调整量，并将其输出至所述控制器；锁相跟踪环路，设置为以q轴电压误差为输入，在所述控制器的控制下，对电网相位进行跟踪，并将跟踪得到的相角反馈至坐标变换模块。锁相环为结合了模糊自适应控制的锁相环，其通过模糊自适应控制锁相环的控制器，实现了快速准确的电网相位跟踪。
Description
本申请涉及但不限于可再生能源分布式发电系统并网中的锁相技术领域，特别是一种同步旋转坐标系锁相环及其测试方法、装置。
基于太阳能、风能等可再生能源的分布式发电与微电网技术已经受到全世界的高度重视，电网同步锁相是并网运行需要解决的关键问题之一。
同步锁相策略按控制方法分为两大类：开环控制(open-loop methods)和闭环控制(closed-loop methods)。典型的开环控制策略包括电网电压的过零点检测技术(zero crossing detection,简称ZCD)、电网电压滤波理论(filtering methods)等，其原理简单，实现方便，但采用开环控制锁相的系统对频率波动、电压畸变、三相电压不平衡等现象较为敏感，控制响应缓慢，常应用在电网电压波形良好的场合，不适用于环境恶劣的工业现场。锁相环(phase-locked loop,PLL)技术是典型的闭环控制同步策略，主要应用在单相场合；基于同步坐标系的锁相环(synchronous rotating frame-PLL,简称SRF-PLL)技术广泛应用在三相场合，但其动态响应速度与带宽设计息息相关；为解决电网畸变和频率波动带来的带宽设计问题，提出了基于谐振因子的二阶通用积分器锁相环(second-order generalized integrator-PLL,简称SOGI-PLL)和正弦跟踪理论(sinusoidal tracking algorithm,简称STA)，也称为加强型锁相环(enhanced PLL,简称EPLL)技术，获得了广泛关注；在三相电压不平衡的场合，针对传统PLL输出中包含的二阶谐波，提出一系列控制方法能够准确提取正序分量，包括解耦双同步旋转坐标系锁相环(decoupled double synchronously rotating reference frame PLL,简称DDSRF-PLL)、基于通用积分器的正序滤波器(positive sequence filter,简称PSF)、双二阶通用积分器(double second-order generalized integrator,简称DSOGI)以及混合坐标系锁相环(fixed-reference-frame PLL,简称FRF-PLL)等。除此之外，还有一些频率检测方面的理论方法，如傅里叶变换理论(Fourier
transform methods)、空间矢量离散傅里叶变换理论(Space-vector discrete Fourier transform methods)等，这些方法需要大的存储容量和计算资源，并不适用于实时控制应用场合。
发明内容
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。
本申请提供一种同步旋转坐标系锁相环及其测试方法、装置，用以解决相关技术中同步旋转坐标系锁相环的响应速度需要依赖于带宽设计、以及不适用于电网相位、频率波动等应用场景的问题。
依据本申请的一个方面，提供一种同步旋转坐标系锁相环，包括：坐标变换模块、模糊自适应控制模块和锁相跟踪环路；
所述坐标变换模块，设置为根据所述锁相跟踪环路反馈的相角，将接收的电网电压信号转换到dq坐标系下，并根据预设q轴电压参考值，求取q轴电压误差；
所述模糊自适应控制模块，设置为以所述q轴电压误差和/或反映q轴电压误差特性的参数为输入量，利用模糊控制算法，得到所述锁相跟踪环路的控制器的控制参数调整量，并将其输出至所述控制器；
所述锁相跟踪环路，设置为以所述q轴电压误差为输入，在控制参数随所述模糊自适应控制模块的输出而实时调整的所述控制器的控制下，对电网相位进行跟踪，并将跟踪得到的相角反馈至所述坐标变换模块。
依据本申请的另一个方面，还提供一种同步旋转坐标系锁相环的测试方法，包括：
对用于测试的电网电压信号施加扰动，并将其输出到基础锁相环；所述基础锁相环为模糊自适应模块功能关闭下的所述锁相环；
根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，确定基础锁相环的性能指标；
检测基础锁相环的性能指标是否满足设定的设计要求，当满足时，将施加扰动的电网电压信号输出到模糊自适应锁相环；所述模糊自适应锁相环为模糊自适应模块功能开启下的所述锁相环；
根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、模糊自适应锁相环中模糊自适应控制模块的输入量以及锁相跟踪环路中控制器的控制参数，确定模糊自适应锁相环的性能指标；
将基础锁相环和模糊自适应锁相环的性能指标进行比较，当模糊自适应锁相环的性能指标优于基础锁相环的性能指标时，判定为测试通过，当模糊自适应锁相环的性能指标并不优于基础锁相环的性能指标时，判定为未通过。
本申请另外提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令被执行时实现所述方法。
依据本申请的第三个方面，还提供一种同步旋转坐标系锁相环的测试装置，包括：
扰动模块，设置为对用于测试的电网电压信号施加扰动，并将其输出到基础锁相环；所述基础锁相环为模糊自适应模块功能关闭下的所述锁相环；
数据上传模块，设置为获取施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，并将其上传至数据分析模块；
数据分析模块，设置为根据所述数据上传模块上传的数据，确定基础锁相环的性能指标；
测试决策模块，设置为检测基础锁相环的性能指标是否满足设定的设计要求，当满足时，触发所述扰动模块将施加扰动的电网电压信号输出到模糊自适应锁相环；所述模糊自适应锁相环为模糊自适应模块功能开启下的所述锁相环；
所述数据上传模块，还设置为获取施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、模糊自适应锁相环中模糊自适应控制模块的输入量以及锁相跟踪环路中控制器的控制参数，并将其上传至数据分析模块；
所述数据分析模块，还设置为根据所述数据上传模块上传的数据，确定模糊自适应锁相环的性能指标；
所述测试决策模块，还设置为将基础锁相环和模糊自适应锁相环的性能指标进行比较，当模糊自适应锁相环的性能指标优于基础锁相环的性能指标时，判定为测试通过，当模糊自适应锁相环的性能指标并不优于基础锁相环的性能指标时，判定为未通过。
本申请有益效果如下：
本申请提出的同步旋转坐标系锁相环为结合了模糊自适应控制的锁相环，其通过模糊自适应控制锁相环的控制器，实现了快速准确的电网相位跟踪。
本申请所述的锁相环与已有的同类型锁相环相比，既提高了响应速度，又降低了超调量、消除了稳态误差，使其可以适用于电网相位和频率波动的非线性过程。
本申请所述锁相环的控制过程无需大量数学运算，占用内存少，可以满足实时控制的需求。
同时，本申请还提了基于模糊控制的锁相环的测试方法，实现了对锁相环可观可控的测试。
上述说明仅是本申请技术方案的概述，为了能够更清楚了解本申请的技术手段，而可依照说明书的内容予以实施，并且为了让本申请的上述和其它目的、特征和优点能够更明显易懂，以下特举本申请的具体实施方式。
在阅读并理解了附图和详细描述后，可以明白其他方面。
附图概述
通过阅读下文优选实施方式的详细描述，各种其他的优点和益处对于本领域普通技术人员将变得清楚明了。附图仅用于示出优选实施方式的目的，而并不认为是对本申请的限制。而且在整个附图中，用相同的参考符号表示相同的部件。在附图中：
图1为本申请提供的基于模糊自适应控制的同步旋转坐标系锁相环的框
图；
图2为带有同步旋转坐标系锁相环的分布式能源并网发电系统框图；
图3为基于模糊自适应控制的三相同步旋转坐标系锁相环的结构图；
图4为本申请中涉及的隶属函数图；
图5为传统锁相环与本申请锁相环控制效果对比的曲线图；
图6为本申请提供的一种锁相环的测试方法的流程图；
图7为本申请提供的一种锁相环的测试装置的框图。
本发明的较佳实施方式
下面将参照附图更详细地描述本公开的示例性实施例。虽然附图中显示了本公开的示例性实施例，然而应当理解，可以以各种形式实现本公开而不应被这里阐述的实施例所限制。相反，提供这些实施例是为了能够更透彻地理解本公开，并且能够将本公开的范围完整的传达给本领域的技术人员。
本发明实施例提供一种基于模糊自适应控制的同步旋转坐标系锁相环，如图1所示，包括：坐标变换模块110、模糊自适应控制模块120和锁相跟踪环路130；
坐标变换模块110，设置为根据锁相跟踪环路130反馈的相角，将接收的电网电压信号转换到dq坐标系下，并根据预设q轴电压参考值，求取q轴电压误差；
模糊自适应控制模块120，设置为以所述q轴电压误差和/或反映q轴电压误差特性的参数为输入量，利用模糊控制算法，得到锁相跟踪环路130的控制器的控制参数调整量，并将其输出至所述控制器；
锁相跟踪环路130，设置为以所述q轴电压误差为输入，在控制参数随模糊自适应控制模块120的输出而实时调整的所述控制器的控制下，对电网相位进行跟踪，并将跟踪得到的相角反馈至所述坐标变换模块。
可见，本申请在同步旋转坐标系锁相环中引入了模糊自适应控制模块，该模糊自适应控制模块与锁相跟踪环路中的控制器相配合，构成模糊控制器，
在模糊控制器的智能控制方式下，改善了相角跟踪速度和准确度，使同步旋转坐标系锁相环适用于电网相位和频率波动等非线性过程，同时还提高了锁相环的响应速度、降低了超调量、消除了稳态误差。
基于上述结构框架及实施原理，下面给出在上述结构下的几个具体及优选实施方式，用以细化和优化本申请所述锁相环的功能，以使本申请方案的实施更方便，准确。涉及如下内容：
本发明实施例中，所述控制器可以但不限于为比例积分PI控制器。当所述控制器为PI控制器时，其控制参数包括：比例系数和/或积分系数。
在本发明的一个实施例中，反映q轴电压误差特性的参数包括但不限于为：q轴误差变化率和/或q轴误差积分量。
可选地，当反映q轴电压误差特性的参数包括q轴误差变化率时，本发明实施例所述锁相环，还包括：微分器；
所述微分器，设置为从坐标变换模块110获取q轴电压误差，对其进行微分处理，得到q轴误差变化率，并将所述q轴误差变化率作为模糊自适应控制模块120的一个输入量发送至模糊自适应控制模块120。
可选地，当反映q轴电压误差特性的参数包括q轴误差积分量时，本发明实施例所述锁相环，还包括：积分器；
所述积分器，设置为从坐标变换模块110获取q轴电压误差，对其进行积分处理，得到q轴误差积分量，并将所述q轴误差积分量作为模糊自适应控制模块120的一个输入量发送至模糊自适应控制模块120。
在本发明的一个实施例中，模糊自适应控制模块120包括：
模糊化接口单元，设置为在各输入量和各控制量的论域上定义各量的语言变量、设定各语言变量的基本论域、定义各语言变量的语言值、确定量化因子和比例因子、定义各语言值的隶属函数、以及确定模糊规则；
模糊推理单元，设置为通过所述量化因子，将实际的输入量进行量化处理，根据定义的隶属函数，将量化处理的各输入量转化为模糊输入，以及根据模糊输入和确定的模糊规则，进行模糊推理，得到模糊值；
解模糊接口单元，设置为利用设定的解模糊算法，对模糊推理单元得到
的模糊值进行解模糊处理，得到精确输出量，并利用所述比例因子将所述精确输出量转换为控制参数的调整量。
在本发明的又一个实施例中，坐标变换模块110包括：
一级坐标变换单元，设置为将电网电压信号转换到αβ坐标系下；
二级坐标变换单元，设置为根据所述锁相跟踪环路反馈的相角，将一级坐标变换单元得到的αβ坐标系下的电压转换到dq坐标系下，并根据预设q轴电压参考值，求取q轴电压误差。
可选地，一级坐标变换单元，设置为当所述电网电压信号为三相电压信号时，通过Clark变换，得到αβ坐标系下的电压向量；当所述电网电压信号为单相电压信号时，令采集到的单相电压信号v等于β向的电压向量，并将采集到的v延迟90度得到α向的电压向量。
二级坐标变换单元优选地通过Park变换，实现αβ坐标系到dq坐标系的转换。
下面给出本申请的一个应用场景，在该应用场景下给出本申请的一种具体实施方式，用以更清楚的阐述本申请的实施过程。需要指出的是，本实施例中披露的技术细节，用于解释本申请并不用于唯一限定本申请。
如图2所示，为带有锁相环的分布式能源并网发电系统。图中，1为能量源，是系统的能源产出单元，具体为太阳能光伏组件、风机、海洋能、生物质能等多种新能源形式中的一种，抑或是柴油发电机组。能量源1通过输出线缆2、3和电力变换设备4相连。
电力变换设备4的类型与能量源1的能源形式有关，电力变换设备4是实现能量变换，输出满足并网条件的交流电。如果能量源1的输出形式为直流电，4的可选形式包括直流-交流变换和直流-直流-交流变换，备选的直流-直流-交流形式也可在直流-直流环节加入储能系统；如果能量源1的输出形式为交流电，输出线缆可如图中所示的2、3单相连接，也可以三相连接，电力变换设备4的形式为交流-直流-交流变换。电力变换设备4通过线缆7和可选的变压器12连接，线缆可如图中所示的7三相连接，也可以单相连接。
可选的变压器12通过线缆13和电网14连接，线缆可如图中所示的13三相连接，也可以单相连接。
电压传感器9放置在电力变换设备4和可选的变压器12之间，实现对电网电压的采集。10代表电压采集信号传输路径，电压传感器9将电压采集信号送至同步旋转坐标系锁相环11分析。同步旋转坐标系锁相环11将锁相得到的相角送至电力变换设备主控模块6，使电力变换设备4有效跟随电网相位，将电能上网。其中8代表相角信号，5代表由主控模块6发出的电力变换设备系统控制信号。
如图3所示，是基于模糊自适应控制的三相同步旋转坐标系锁相环，对应图2中锁相环11。
三相电压信号10经过Clarke变换单元16，Clarke变换单元16将电压向量从笛卡尔坐标系转换至αβ坐标系，得到αβ坐标系下的电压表达17。其中，Clarke变换单元16在进行坐标变换时，Clarke变换式中包括待获取量相电压幅值和a相相角；
αβ坐标系下的电压表达17结合相角反馈量23经过Park变换单元18，Park变换单元18将电压向量从αβ坐标系转换至dq坐标系，得到dq坐标系下的电压表达，包括d轴分量19和q轴分量，然后，根据得到的q轴分量和预设的q轴电压参考值，求取q轴电压误差20。
q轴电压误差20经过两条控制路径参与回路控制，其一是传统的控制器24，本发明实施例为说明方便选用比例积分(PI)控制器，但不仅限于PI控制器，强调模糊控制器输出是锁相环控制器控制常数的增量，属增量式控制；其二是针对控制器24的模糊自适应控制模块30。模糊自适应控制模块30有两路输入20和22，有两路输出26和27。具体的，21是微分器，对输入20进行微分处理，输出22，22为反映q轴电压误差的变化率，26和27分别表示PI控制器的比例系数调整量和积分系数调整量。采用该方案的其他系统，可以将PI控制器替换为其他控制器，模糊自适应控制模块30的输入可以替换为一阶的误差输入(即q轴电压误差)或三阶的误差、误差积分量、误差变化率输入或其他可以反映误差特性的输入量和输入量组合，模糊自适应控制模块30的输出应当跟随控制器24的类型进行调整。控制器24对输入的q轴电压误差20进行处理，得到输出量25(角速度调节量)，输出量25和给定的角速度28的和为角速度估计值29，角速度估计值29经过积分器31的
处理(即
为角速度估计值)，输出即为设定跟踪相的相角。
另外，通过本申请所述的旋转坐标系锁相环，还可以获取电网电压的幅值(通过d轴分量19得到)、周期/频率(通过角速度估计值29得到)等信息。
本发明实施例中，模糊自适应控制模块30以20和22为输入量进行模糊控制，输出两路控制量26和27(分别为比例系数调整量和积分系数调整量)实施过程如下：
步骤1：初始化。
定义误差e、误差变化率ec和控制量Δkp(比例系数调整量)、Δki(积分系数调整量)的模糊语言变量为E、EC和ΔKp、ΔKi，并设定e、ec和Δkp、Δki的基本论域，e∈[-xe,xe]；ec∈[-xec,xec]；Δkp∈[-yp,yp]；Δki∈[-yi,yi]，以及定义各语言变量的语言值。
举例，定义模糊子集E、EC、ΔKp和ΔKi的语言值为{NB，NS，ZE，PS，PB}(NB、NS、ZE、PS、PB分别表示负大、负小、零、正小、正大等模糊概念)，如果取论域均为[-4,4](仅为说明用，决定隶属度函数图的表述)，可以确定量化因子Ke、Kec和比例因子Kup、Kui，
步骤2：确定模糊规则。
反映系统运动的特征量很多，优选的，选用误差E和误差变化EC来分析系统运动特性。
比例环节反映系统的偏差，偏差一旦产生，控制器立刻产生动作，以减小偏差；积分环节设置为消除静态误差，提高系统的无差度。优选的，如表1，ΔKp模糊控制规则表和表2，ΔKi模糊控制规则表：
表1
表2
步骤3：创建隶属度函数。优选的，选用三角形函数作为模糊集合的隶属度函数，与其他形状的隶属度函数相比，数学表达和运算简单，占用内存空间小，控制效果无大的差别。如图4所示，为输入E和EC，输出ΔKp和ΔKi的隶属度函数。
步骤4：模糊化。通过量化因子，将实际的输入量进行量化处理，根据创建的隶属函数，将量化处理的各输入量转化为模糊输入，以及根据模糊输
入和确定的模糊规则，进行模糊推理，得到模糊值；
步骤5：解模糊。利用设定的解模糊算法，对模糊推理得到的模糊值进行解模糊处理，得到精确输出量，并利用预设的比例因子将所述精确输出量转换为控制参数的调整量。其中，解模糊算法优选的采用重心法。
如图5所示，为锁相环的控制效果对比曲线。横轴为时间，纵轴为实时相角与目标相角的比，表征控制误差。当比值为1时，说明实现了无静差跟踪，完成电网锁相。图中虚线为传统PI控制器的跟踪效果，PI控制器的比例系数和积分系数为预设值，控制过程中为常数；实线代表本申请提出的模糊自适应控制锁相环的跟踪效果，PI控制器的比例系数和积分系数在控制过程中不是常数，与模糊控制器的输出有关。通过比较可知，本申请所述锁相环的性能明显优于传统的锁相环性能。
对锁相环进行测试，以验证锁相环的综合性能，是应用锁相环进行跟踪控制的必要环节。目前，传统的基于经典控制理论的锁相环，通过利用开环系统模型和闭环系统模型就能直观分析控制器性能，辅助以示波器可视化的控制器响应波形即可完成锁相环的测试过程。然而，这种测试方式却不适用于本申请提出的所述锁相环，所以本发明实施例还提供一种本申请所述锁相环的测试方法，如图6所示，包括如下步骤：
步骤S601，对用于测试的电网电压信号施加扰动，并将其输出到基础锁相环；所述基础锁相环为模糊自适应模块功能关闭下的所述锁相环；
步骤S602，根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，确定基础锁相环的性能指标；
步骤S603，检测基础锁相环的性能指标是否满足设定的设计要求，当满足时，将施加扰动的电网电压信号输出到模糊自适应锁相环；所述模糊自适应锁相环为模糊自适应模块功能开启下的所述锁相环；
步骤S604，根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、以及模糊自适应锁相环中模糊自适应控制模块的输入量和输出量，确定模糊自适应锁相环的性能指标；
步骤S605，将基础锁相环和模糊自适应锁相环的性能指标进行比较，当模糊自适应锁相环的性能指标优于基础锁相环的性能指标时，判定为测试通过，当模糊自适应锁相环的性能指标并不优于基础锁相环的性能指标时，判定为未通过。
在本发明的一个实施例中，确定基础锁相环的性能指标的步骤包括：根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，绘制响应曲线图，并根据该响应曲线图，计算基础锁相环的性能指标；
在本发明的一个实施例中，确定模糊自适应锁相环的性能指标的步骤包括：根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、以及模糊自适应锁相环中模糊自适应控制模块的输入量和输出量，绘制响应曲线图，并根据该响应曲线图，计算模糊自适应锁相环的性能指标。
在本发明的一个可选实施例中，所述方法还包括：当检测出基础锁相环的性能指标不满足设定的设计要求时，绘制基础锁相环系统的开环传递函数伯德图，作为重新设计基础锁相环中锁相跟踪环路的参考数据；
和/或，当判定为测试未通过时，绘制模糊自适应锁相环系统的开环传递函数伯德图，以及绘制横轴为时间，纵轴为模糊自适应控制模块的输入量以及控制器的控制参数的第一监控图，作为重新设计模糊自适应锁相环中模糊自适应控制模块的参考数据。
可选地，性能指标包括如下参数中的一个或多个：超调量、调节时间和稳态误差。
可见，本申请提出了一种适用于本申请提出的所述锁相环的测试方法，不仅可以对本申请提出的锁相环进行测试，还可以为重新设计锁相环提供参考依据。
本发明实施例还提供一种锁相环的测试装置，如图7所示，包括：
扰动模块710，设置为对用于测试的电网电压信号施加扰动，并将其输出到基础锁相环；所述基础锁相环为模糊自适应模块功能关闭下的所述锁相环；
数据上传模块720，设置为获取施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，并将其上传至数据分析模块；
数据分析模块730，设置为根据数据上传模块720上传的数据，确定基础锁相环的性能指标；
测试决策模块740，设置为检测基础锁相环的性能指标是否满足设定的设计要求，当满足时，触发扰动模块710将施加扰动的电网电压信号输出到模糊自适应锁相环；所述模糊自适应锁相环为模糊自适应模块功能开启下的所述锁相环；
数据上传模块720，还设置为获取施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、以及模糊自适应锁相环中模糊自适应控制模块的输入量和输出量，并将其上传至数据分析模块730；
数据分析模块730，还设置为根据数据上传模块720上传的数据，确定模糊自适应锁相环的性能指标；
测试决策模块740，还设置为将基础锁相环和模糊自适应锁相环的性能指标进行比较，当模糊自适应锁相环的性能指标优于基础锁相环的性能指标时，判定为测试通过，当模糊自适应锁相环的性能指标并不优于基础锁相环的性能指标时，判定为未通过。
在本发明的一个实施例中，数据分析模块730，设置为根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，绘制响应曲线图，并根据该响应曲线图，计算基础锁相环的性能指标；以及根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、以及模糊自适应锁相环中模糊自适应控制模块的输入量和输出量，绘制响应曲线图，并根据该响应曲线图，计算模糊自适应锁相环的性能指标。
在本发明的一个可选实施例中，数据分析模块730，还设置为当基础锁相环的性能指标不满足设定的设计要求时，绘制基础锁相环系统的开环传递函数伯德图，作为重新设计基础锁相环中锁相跟踪环路的参考数据；和/或，当所述测试决策模块判定为测试未通过时，绘制模糊自适应锁相环系统的开环传递函数伯德图，以及绘制横轴为时间，纵轴为模糊自适应控制模块的输入量以及控制器的控制参数的第一监控图，作为重新设计模糊自适应锁相环
中模糊自适应控制模块的参考数据。
下面给出本发明的一个实施例，用以更清楚的阐述本申请所提出的测试方法和测试装置的实施过程，包括：
步骤1，由扰动模块对电网电压信号施加扰动，扰动包括相位扰动、频率扰动、幅值扰动中的一种或多种；
步骤2，基础锁相环测试。所述基础锁相环包括电压信号Clarke变换单元、Park变换单元、PI锁相跟踪环路。
数据上传模块上传施加扰动后的电网电压相位信号和基础锁相环输出的跟踪相位信号到数据分析模块；
数据分析模块绘制响应曲线图，并根据该响应曲线图计算性能指标。其中，响应曲线图横轴为时间、纵轴为数据量，所述数据量包括电压相位信号和基础锁相环输出的跟踪相位信号；所述性能指标包括超调量、调节时间、稳态误差。所述超调量、调节时间、稳态误差分别为第一超调量、第一调节时间、第一稳态误差。
测试决策模块就性能指标进行决策。当第一超调量不大于第一设定值、第一调节时间不大于第二设定值、第一稳态误差不大于第三设定值同时满足，决策基础锁相环满足设计要求，执行步骤3；当第一超调量大于第一设定值、或第一调节时间大于第二设定值、或第一稳态误差大于第三设定值时，待重新调整所述PI锁相跟踪环路后，再次执行步骤2，直至基础锁相环性能指标满足设计要求；可选地，当基础锁相环的性能指标不满足设定的设计要求时，还包括：绘制基础锁相环系统的开环传递函数伯德图，作为重新设计基础锁相环中锁相跟踪环路(确切的为环路中的控制器)的参考数据；
步骤3，模糊自适应锁相环测试。所述模糊自适应锁相环包括电压信号Clarke变换单元、Park变换单元、PI锁相跟踪环路、模糊自适应控制模块。
数据上传模块上传电网电压相位信号、模糊自适应锁相环输出的跟踪相位信号、q轴电压误差信号、q轴电压误差变化量信号、模糊自适应PI控制参数到数据分析模块。所述模糊自适应PI控制参数包括比例系数
和积分系数
其中k是系数符号，p是比例环节符号，i是积分环节符号，n是第n时刻。
数据分析模块绘制响应曲线图，并根据响应曲线图计算性能指标，响应曲线图横轴为时间、纵轴为数据量，所述数据量包括电压相位信号和模糊自适应锁相环输出的跟踪相位信号。所述性能指标包括超调量、调节时间、稳态误差。所述超调量、调节时间、稳态误差分别为第二超调量、第二调节时间、第二稳态误差；
测试决策模块就性能指标进行决策。当第二超调量小于第一超调量、第二调节时间小于第一调节时间、第二稳态误差小于第一稳态误差同时满足，决策模糊自适应锁相环满足优化要求；当第二超调量不小于第一超调量、或第二调节时间不小于第一调节时间、或第二稳态误差不小于第一稳态误差，执行步骤4，直至模糊自适应锁相环性能指标满足优化要求；
步骤4，数据分析模块绘制第一监控图，横轴为时间，纵轴控制器相关数据量，包括所述q轴电压误差信号、q轴电压误差变化量信号、模糊自适应PI控制参数；数据分析模块绘制第二监控图，所述第二监控图为开环传递函数伯德图；第一监控图和第二监控图的作用是辅助模糊自适应控制模块的重新设计。待重新设计后执行步骤3。
本发明实施例另外提供一种计算机可读存储介质，存储有计算机可执行指令，所述计算机可执行指令被执行时实现所述方法。
本领域普通技术人员可以理解所述方法中的全部或部分步骤可通过程序来指令相关硬件(例如处理器)完成，所述程序可以存储于计算机可读存储介质中，如只读存储器、磁盘或光盘等。可选地，所述实施例的全部或部分步骤也可以使用一个或多个集成电路来实现。相应地，所述实施例中的各模块/单元可以采用硬件的形式实现，例如通过集成电路来实现其相应功能，也可以采用软件功能模块的形式实现，例如通过处理器执行存储于存储器中的程序/指令来实现其相应功能。本发明实施例不限制于任何特定形式的硬件和软件的结合。
本领域普通技术人员可以理解上述实施例的各种方法中的全部或部分步骤是可以通过程序来指令相关的硬件来完成，该程序可以存储于一计算机可
读存储介质中，存储介质可以包括：ROM、RAM、磁盘或光盘等。
总之，以上所述仅为本发明的较佳实施例而已，并非用于限定本申请的保护范围。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。
本申请提出的同步旋转坐标系锁相环为结合了模糊自适应控制的锁相环，其通过模糊自适应控制锁相环的控制器，实现了快速准确的电网相位跟踪。本申请所述的锁相环与已有的同类型锁相环相比，既提高了响应速度，又降低了超调量、消除了稳态误差，使其可以适用于电网相位和频率波动的非线性过程。
Claims (15)
- 一种同步旋转坐标系锁相环，包括：坐标变换模块、模糊自适应控制模块和锁相跟踪环路；所述坐标变换模块，设置为根据所述锁相跟踪环路反馈的相角，将接收的电网电压信号转换到dq坐标系下，并根据预设q轴电压参考值，求取q轴电压误差；所述模糊自适应控制模块，设置为以所述q轴电压误差和/或反映q轴电压误差特性的参数为输入量，利用模糊控制算法，得到所述锁相跟踪环路中的控制器的控制参数调整量，并将其输出至所述控制器；所述锁相跟踪环路，设置为以所述q轴电压误差为输入，在控制参数随所述模糊自适应控制模块的输出而实时调整的所述控制器的控制下，对电网相位进行跟踪，并将跟踪得到的相角反馈至所述坐标变换模块。
- 如权利要求1所述的锁相环，其中，所述反映q轴电压误差特性的参数包括：q轴误差变化率和/或q轴误差积分量。
- 如权利要求2所述的锁相环，所述锁相环还包括：微分器和/或积分器；所述微分器，设置为从所述坐标变换模块获取q轴电压误差，对其进行微分处理，得到q轴误差变化率，并将所述q轴误差变化率作为所述模糊自适应控制模块的一个输入量发送至所述模糊自适应控制模块；所述积分器，设置为从所述坐标变换模块获取q轴电压误差，对其进行积分处理，得到q轴误差积分量，并将所述q轴误差积分量作为所述模糊自适应控制模块的一个输入量发送至所述模糊自适应控制模块。
- 如权利要求1或2或3所述的锁相环，其中，所述模糊自适应控制模块包括：模糊化接口单元，设置为在各输入量和各控制量的论域上定义各量的语言变量、设定各语言变量的基本论域、定义各语言变量的语言值、确定量化因子和比例因子、定义各语言值的隶属函数、以及确定模糊规则；模糊推理单元，设置为通过所述量化因子，将实际的输入量进行量化处理，根据定义的隶属函数，将量化处理的各输入量转化为模糊输入，以及根 据模糊输入和确定的模糊规则，进行模糊推理，得到模糊值；解模糊接口单元，设置为利用设定的解模糊算法，对模糊推理单元得到的模糊值进行解模糊处理，得到精确输出量，并利用所述比例因子将所述精确输出量转换为控制参数的调整量。
- 如权利要求1所述的锁相环，其中，所述坐标变换模块包括：一级坐标变换单元，设置为将电网电压信号转换到αβ坐标系下；二级坐标变换单元，设置为根据所述锁相跟踪环路反馈的相角，将一级坐标变换单元得到的αβ坐标系下的电压转换到dq坐标系下，并根据预设q轴电压参考值，求取q轴电压误差。
- 如权利要求5所述的锁相环，其中，所述一级坐标变换单元，设置为当所述电网电压信号为三相电压信号时，通过Clark变换，得到αβ坐标系下的电压向量；当所述电网电压信号为单相电压信号时，令采集到的单相电压信号v等于β向的电压向量，并将采集到的v延迟90度得到α向的电压向量。
- 如权利要求1、2、3、5、6任意一项所述的锁相环，其中，所述控制器为比例积分PI控制器；所述控制参数包括：比例系数和/或积分系数。
- 一种权利要求1至7任意一项所述锁相环的测试方法，包括：对用于测试的电网电压信号施加扰动，并将其输出到基础锁相环；所述基础锁相环为模糊自适应模块功能关闭下的所述锁相环；根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，确定基础锁相环的性能指标；检测基础锁相环的性能指标是否满足设定的设计要求，当满足时，将施加扰动的电网电压信号输出到模糊自适应锁相环；所述模糊自适应锁相环为模糊自适应模块功能开启下的所述锁相环；根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、模糊自适应锁相环中模糊自适应控制模块的输入量以及锁相跟踪环路中控制器的控制参数，确定模糊自适应锁相环的性能指标；将基础锁相环和模糊自适应锁相环的性能指标进行比较，当模糊自适应锁相环的性能指标优于基础锁相环的性能指标时，判定为测试通过，当模糊自适应锁相环的性能指标并不优于基础锁相环的性能指标时，判定为测试未 通过。
- 如权利要求8所述的方法，其中，所述确定基础锁相环的性能指标的步骤，包括：根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，绘制响应曲线图，并根据该响应曲线图，计算基础锁相环的性能指标；所述确定模糊自适应锁相环的性能指标的步骤，包括：根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、模糊自适应锁相环中模糊自适应控制模块的输入量以及锁相跟踪环路中控制器的控制参数，绘制响应曲线图，并根据该响应曲线图，计算模糊自适应锁相环的性能指标。
- 如权利要求8所述的方法，还包括：当检测出基础锁相环的性能指标不满足设定的设计要求时，绘制基础锁相环系统的开环传递函数伯德图，作为重新设计基础锁相环中锁相跟踪环路的参考数据；和/或，当判定为测试未通过时，绘制模糊自适应锁相环系统的开环传递函数伯德图，以及绘制横轴为时间，纵轴为模糊自适应控制模块的输入量以及控制器的控制参数的第一监控图，作为重新设计模糊自适应锁相环中模糊自适应控制模块的参考数据。
- 如权利要求8至10任意一项所述的方法，其中，所述性能指标包括如下参数中的一个或多个：超调量、调节时间和稳态误差。
- 一种权利要求1至7任意一项所述锁相环的测试装置，包括：扰动模块，设置为对用于测试的电网电压信号施加扰动，并将其输出到基础锁相环；所述基础锁相环为模糊自适应模块功能关闭下的所述锁相环；数据上传模块，设置为获取施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，并将其上传至数据分析模块；数据分析模块，设置为根据所述数据上传模块上传的数据，确定基础锁相环的性能指标；测试决策模块，设置为检测基础锁相环的性能指标是否满足设定的设计要求，当满足时，触发所述扰动模块将施加扰动的电网电压信号输出到模糊 自适应锁相环；所述模糊自适应锁相环为模糊自适应模块功能开启下的所述锁相环；所述数据上传模块，还设置为获取施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、模糊自适应锁相环中模糊自适应控制模块的输入量以及锁相跟踪环路中控制器的控制参数，并将其上传至数据分析模块；所述数据分析模块，还设置为根据所述数据上传模块上传的数据，确定模糊自适应锁相环的性能指标；所述测试决策模块，还设置为将基础锁相环和模糊自适应锁相环的性能指标进行比较，当模糊自适应锁相环的性能指标优于基础锁相环的性能指标时，判定为测试通过，当模糊自适应锁相环的性能指标并不优于基础锁相环的性能指标时，判定为测试未通过。
- 如权利要求12所述的装置，其中，所述数据分析模块，设置为根据施加扰动后的电网电压的相位信号和基础锁相环输出的跟踪相位信号，绘制响应曲线图，并根据该响应曲线图，计算基础锁相环的性能指标；以及根据施加扰动后的电网电压的相位信号、模糊自适应锁相环输出的跟踪相位信号、模糊自适应锁相环中模糊自适应控制模块的输入量以及锁相跟踪环路中控制器的控制参数，绘制响应曲线图，并根据该响应曲线图，计算模糊自适应锁相环的性能指标。
- 如权利要求12所述的装置，所述数据分析模块，还设置为当基础锁相环的性能指标不满足设定的设计要求时，绘制基础锁相环系统的开环传递函数伯德图，作为重新设计基础锁相环中锁相跟踪环路的参考数据；和/或，当所述测试决策模块判定为测试未通过时，绘制模糊自适应锁相环系统的开环传递函数伯德图，以及绘制横轴为时间，纵轴为模糊自适应控制模块的输入量以及控制器的控制参数的第一监控图，作为重新设计模糊自适应锁相环中模糊自适应控制模块的参考数据。
- 如权利要求12至14任意一项所述的装置，其中，所述性能指标包括如下参数中的一个或多个：超调量、调节时间和稳态误差。
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