CN110308326A - A method of open loop can be improved and surveys phase algorithm noiseproof feature - Google Patents
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Abstract
The invention discloses a kind of methods that open loop can be improved and survey phase algorithm noiseproof feature, can effectively improve voltage-phase detection accuracy.Quantitative analysis is carried out to the noiseproof feature of the open loop phase-lock technique based on dq coordinate transform first, derives phase-measurement accuracy by noise jamming the smallest dq rotating coordinate system position: voltage vector and d overlapping of axles.It proposes that the angle by voltage vector and d axis is fed back in synchronous rotation transformation matrix, realizes the purpose of adjustment dq co-ordinate system location in real time.The angle for passing through floating voltage vector and d axis again, is arranged Rule of judgment, meets Rule of judgment then output voltage synchronous phase angle.Ensure in dq coordinate system, voltage vector is almost overlapped with d axis, effectively increases the detection accuracy of voltage synchronous phase.Compared with conventional open-loop phase-lock technique, the present invention can reduce system to the bandwidth requirement of filter, help to reduce the dynamic response time in phase locking process, facilitate the parameter designing of filter in subsequent survey phase scheme.
Description
Technical Field
The invention belongs to the field of power grid voltage synchronous phase detection, and particularly relates to a quick open-loop phase measurement method for improving voltage synchronous phase detection precision under high-frequency noise interference.
Background
In the distributed energy grid connection, a voltage reference phase needs to be provided for a converter control system, and the synchronous detection effect of the voltage phase directly influences the performance of a system control strategy. Therefore, the method for rapidly and accurately acquiring the voltage phase information is particularly critical for improving the control performance of the grid-connected converter. In recent years, as more and more power electronic devices are put into operation, the collected power grid voltage signals contain high-frequency random noise. The noise can generate great interference on the accurate detection of the voltage synchronous phase, and becomes a negative factor for realizing the high-performance control of the grid-connected inverter. Therefore, the phase-locking method is required to have good noise immunity to suppress the interference of noise on the phase-locking result.
The existing phase locking technology can be divided into two schemes of open-loop phase locking and closed-loop phase locking, the open-loop phase locking method eliminates the closed-loop PI regulation process of the closed-loop phase locking, overcomes the defect of insufficient real-time performance of the closed-loop phase locking, can realize the rapid detection of the voltage synchronous phase, and is often applied to occasions with better power grid environment and low phase measurement precision requirement.
The distributed power generation system power grid synchronous phase locking technology [ J ] reported in China Motor engineering, wherein the proposed zero-crossing phase discrimination method is the most commonly used open-loop phase locking method at present, and the basic principle is to calculate the phase angle of each moment of a voltage signal in real time by taking the zero-crossing point of the detected voltage signal as a reference point. However, when the power grid contains high-frequency noise interference, accurate detection of a zero crossing point is affected, and therefore phase detection errors occur. Research on a quick acquisition method of synchronous phases of single-phase power signals, such as ursolic acid pines and the like, in the Chinese Motor engineering report, an open-loop phase-locking method based on dq synchronous coordinate transformation is proposed, voltage signals are substituted into a synchronous rotating coordinate system to be transformed into voltage direct-current components, and the synchronous phases of the single-phase voltage signals can be quickly acquired through simple calculation. The single-phase voltage signal at least needs two-phase orthogonal signals for completing the rotation coordinate transformation, but the high-frequency noise is further amplified in the construction process of the virtual orthogonal voltage signal, so that the phase locking result generates a steady-state error. The literature develops research on rapid open-loop detection of unbalanced three-phase power grid phases, and the detection of voltage synchronous phases is completed by extracting positive and negative sequence components of unbalanced voltages and carrying out dq coordinate transformation on the components, so that the detection speed of the asymmetric voltage phases is remarkably improved. The method can realize the rapid detection of the three-phase voltage synchronous phase, ensure the real-time performance of voltage phase information, deal with the problems of frequency and phase jump and the like, and still have no anti-noise performance of a quantitative analysis open-loop algorithm.
In order to suppress the interference of noise to the phase measurement accuracy, the above document adds a low-pass filter to attenuate high-frequency random noise, and reduces the bandwidth of the filter to suppress the interference of high-frequency noise, but at the same time, the dynamic performance of the system is limited. Document LEE KJ, LEE J P, SHIN D S, et al.A. novel grid synchronization PLL method applied low-pass filter for grid-connected PCS [ J ]. IEEE Transactions on Industrial Electronics, document SONG H S, NAM K.Instantamount phase-analysis algorithm under balanced voltage-sampling conditions [ C ]// Proceedings of IEEE Generation Transmission and Distribution, Seattle, USA: IEEE, and the documents SVENSSON J.synchronization methods for grid-connected voltage sources generators [ C ]// Proceedings of IEEE Generation, Transmission and distribution.Seattle, USA: IEEE, improving the parameter design of low-pass filters for certain specific grid conditions, such as open-loop phase-locking methods based on weighted least squares estimation, phase detectors based on low-pass filtering transformations, etc. However, the use of filters is not sufficient to completely suppress the interference of high frequency noise on the phase measurement result and can sacrifice the dynamic performance of the system. There is a few literature on quantitative analysis of the anti-noise performance of the phase-locked loop method, so it is necessary to deeply research the influence factors of the anti-noise performance of the phase-locked loop method, and improve the algorithm itself to improve the anti-noise performance of the algorithm itself.
Disclosure of Invention
The invention aims to provide an open-loop phase-locking method for improving voltage phase measurement precision under noise interference on the basis of ensuring rapidity of the open-loop phase measurement method as much as possible, and the detection precision of a voltage synchronous phase can be improved under the noise interference only by adjusting the position of a dq coordinate system.
In order to achieve the technical purpose, the technical scheme adopted by the invention is as follows: a method capable of improving the anti-noise performance of an open-loop phase measurement algorithm aims at improving the voltage phase detection precision under the noise interference, and comprises a voltage detection module, a synchronous rotation coordinate transformation module, a voltage synchronous phase calculation module and an included angle feedback module. Firstly, the voltage U ═ U is obtained through a phase calculation modulea Ub Uc]Under noise interference, three phase pairsMeasuring value theta of initial phase angle of voltagedThe angle feedback module inputs the angle feedback data into the synchronous rotation coordinate transformation module to increase the synchronous rotation angle of the dq coordinate system by thetadIf the set judgment condition is met, the voltage synchronization phase angle is calculated by using the phase calculation module, so that the detection precision of the voltage phase can be improved.
The basic principle of the dq coordinate transformation-based open-loop phase-locking method and the detailed steps of the method are described below. The three-phase symmetrical network voltage signal U can be described using the following equation:
in the formula of UmOmega and theta are the amplitude, synchronous frequency and initial phase angle actual value of the power grid voltage respectively; u shapea、Ub、UcVoltage vectors corresponding to three-phase symmetrical voltages a, b and c are respectively; u shapemThe amplitudes of the three-phase voltages a, b and c.
And (3) performing synchronous rotation coordinate transformation on the voltage U to obtain a voltage direct-current component expression, wherein the voltage synchronous phase angle is as follows:
Ud、Uqand the three-phase symmetrical voltage is converted by a synchronous rotating coordinate module and then is converted into voltage direct-current components corresponding to d and q axes in a dq coordinate system. Setting an initial phase angle theta epsilon [0, 2 pi ] of the three-phase power grid voltage), and solving theta epsilon [ pi ] [ -pi/2, pi/2]Therefore, the phase compensation angle theta needs to be increasedexSo that the phase satisfies theta epsilon [0, 2 pi ]. The judgment conditions are as follows:
under the condition of ideal power grid voltage without considering harmonic wave and noise interference, the synchronous phase angle of the three-phase symmetrical power grid voltage can be quickly and accurately detected by substituting the three-phase symmetrical power grid voltage signals into the formula.
The invention provides a method for adjusting the rotating angle of a dq coordinate system under noise interference, which comprises the following steps:
1) the voltage detection module is used for detecting three-phase symmetrical power grid voltage U ═ in the power grid under the interference of high-frequency noiseaUbUc]。
2) Inputting the three-phase symmetrical network voltage detected by the voltage detection module into the synchronous rotation coordinate conversion module, converting the alternating voltage into a direct current component Ud、Uq。
3) The voltage synchronous phase calculation module collects the voltage direct-current component output by the synchronous rotation coordinate transformation module in real time, and calculates the real-time detection value of the three-phase symmetrical voltage initial phase angle through the phase calculation module: thetadThe value is the angle between the voltage vector and the d-axis.
4) The included angle feedback module collects the initial phase detection value output by the voltage synchronous phase calculation module in real time and outputs the initial phase detection value to the synchronous rotation coordinate transformation module.
5) And the synchronous rotating coordinate transformation module executes adjustment of the rotating angle of the dq coordinate system according to the acquired included angle information between the voltage vector and the d axis and meeting the judgment condition: and increasing the rotation angle of the dq coordinate system by theta d, and ensuring that the included angle between the voltage vector and the d axis is close to 0, so that the detection precision of the voltage phase under noise interference is improved, and if the judgment condition is not met, repeating the step 4).
6) And outputting synchronous phase angle information of three-phase symmetrical voltage by a phase calculation module.
The adjustment of the rotation angle of the dq coordinate system in the above step 5) will be explained in detail:
by analyzing the anti-noise performance of the open-loop phase measurement method based on dq coordinate transformation, when a voltage vector U is superposed with a d axis, interference of high-frequency noise to the phase measurement precision of the open-loop phase measurement method is minimum, included angle information acquired by a synchronous coordinate transformation module is input into a dq coordinate transformation matrix, and a rotation angle of a dq coordinate system is increased, so that the voltage vector U is almost superposed with the d axis all the time.
Taking into account the high-frequency noise valuesThe machine changes, is difficult to keep d axle and voltage vector coincidence all the time, sets up the judgement condition of d axle and voltage vector contained angle: θ d0<0.1 thetad. Namely: if d is adjusted based on the included angle information feedback0q0In the coordinate system, the voltage vector and d0Angle of axis thetad0The included angle theta between the voltage vector and the d axis in the last adjusting period is less than 0.1 timedIf yes, the judgment condition is satisfied.
The invention has the following beneficial effects:
on the premise of not using a filter to suppress noise, an algorithm of an open-loop phase measurement method based on dq coordinate transformation is improved, and the voltage vector and the d axis are always kept almost coincident by adjusting the rotating angle of a dq coordinate system in real time. Therefore, the detection precision of the voltage synchronous phase under noise interference is improved, and the anti-noise performance of the open-loop phase measurement algorithm is enhanced. The interference of high-frequency noise in the voltage signal to the phase detection result can be effectively inhibited, the bandwidth requirement of a system on a low-pass filter can be reduced, and the parameter design process of a subsequent filter is facilitated to be simplified.
Drawings
FIG. 1 is an OPL-SRF voltage vector diagram based on dq coordinate transformation;
FIG. 2 adjusts the rotation angle of the dq coordinate system in real time;
FIG. 3 is a flow chart of an improved open-loop phasor measurement algorithm;
FIG. 4 is a voltage phase open loop detection algorithm that adjusts dq coordinate systems in real time;
FIG. 5 is an initial phase angle response process using a modified algorithm;
FIG. 6 illustrates a voltage phase angle response waveform using the improved algorithm of the present invention;
FIG. 7 shows the voltage phase angle response process after the filter is added to filter out noise.
Detailed Description
The present invention is described in further detail below with reference to the attached drawings.
The invention discloses a scheme for improving voltage phase measurement precision based on a dq coordinate transformation open-loop phase locking method under high-frequency random noise interference. The basic principle of this will be explained first.
The three-phase symmetrical network voltage signal U can be described using the following equation:
in the formula of Umω, θ are the amplitude, the synchronous frequency and the initial phase angle of the grid voltage, respectively.
Substituting the voltage signal U into the synchronous rotating coordinate transformation module, namely:
wherein,
Tabc/dqthe (ω t) is a transformation matrix for performing synchronous rotation coordinate transformation on three-phase symmetrical ac voltages, and transforms ac voltages into dc voltages.
Fig. 1 is a vector diagram of a voltage vector U in a dq synchronous rotating coordinate system, an included angle between a voltage signal U and a d-axis is an initial phase angle of a three-phase voltage signal, and a voltage direct-current component expression and a three-phase voltage synchronous phase angle of the voltage signal in the dq rotating coordinate system are as follows:
setting an initial phase angle theta epsilon [0, 2 pi ] of the three-phase power grid voltage), and solving theta epsilon [ pi ] [ -pi/2, pi/2]Therefore, the phase compensation angle theta needs to be increasedexSo that the phase satisfies theta epsilon [0, 2 pi ]. The judgment conditions are as follows:
the invention discloses a method for improving the anti-noise performance of an open-loop phase measurement algorithm, which comprises the following specific improvement steps:
1) the voltage detection module is used for detecting three-phase symmetrical power grid voltage U ═ in the power grid under the interference of high-frequency noisea UbUc]。
2) Three-phase symmetrical voltage detected by the voltage detection module is input to the synchronous rotation coordinate conversion module, and the alternating voltage is converted into a direct current component Ud、Uq。
3) The voltage synchronous phase calculation module collects the voltage direct-current component output by the synchronous rotating coordinate transformation module in real time and calculates the synchronous phase angle real-time detection value theta of the three-phase symmetrical voltage in real timedThe value is the angle between the voltage vector and the d-axis.
4) The included angle feedback module collects the initial phase detection value theta output by the voltage synchronization phase angle calculation module in real timedAnd outputting the data to a synchronous rotating coordinate transformation module.
5) According to included angle detection information theta output by an included angle feedback moduledAnd adjusting the rotation angle of the dq coordinate system, as shown in fig. 2, wherein the adjusted synchronous coordinate rotation matrix is:
in the formula: omega is the synchronous frequency; thetadA detected value that is a voltage phase angle captured by a voltage phase calculation module;
Tabc/dq(ωt+θd) In order to rotate the dq coordinate system counterclockwise according to the voltage phase detection value, the rotation angle is ω t + θd。
6) After the rotation angle of the dq coordinate system is adjusted, the expression of the voltage signal U shown in step 1) in the synchronous dq coordinate system is as follows:
in the formula: theta is an initial phase angle actual value; u shaped0、Uq0And the three-phase voltage vectors are voltage direct-current component values corresponding to the d axis and the q axis in the dq coordinate after synchronous rotating coordinate transformation.
7) And the synchronous rotating coordinate transformation module executes adjustment of the rotating angle of the dq coordinate system according to the acquired included angle information between the voltage vector and the d axis and when the judgment condition is met, and executes the step 8). The rotation angle of the dq coordinate system is increased by θ d. The included angle between the voltage vector and the d axis is close to 0, so that the detection precision of the voltage phase under noise interference is improved; if the judgment condition is not met, the step 5) is repeated.
8) The phase calculation module outputs three-phase voltage synchronous phase angle information:
the modified open-loop phase measurement method is shown in fig. 4.
The phase tracking process in step 5) is shown in fig. 3, and the determination conditions are as follows: θ d0<0.1 thetad. Namely: if d is adjusted based on the included angle information feedback0q0In the coordinate system, the voltage vector and d0Angle of axis thetad0And if the included angle theta d between the voltage vector and the d axis in the last adjusting period is less than 0.1 time, the judgment condition is met, and the next command execution can be carried out.
Fig. 5 and fig. 6 respectively show waveforms detected by the voltage initial phase angle and the voltage synchronization phase angle under the interference of high-frequency noise after the method is adopted, and simulation results show that the algorithm of the invention can effectively improve the detection precision of the voltage phase.
Fig. 7 shows 3 voltage phase response waveforms, from top to bottom, the operating conditions are: (1) no filter is added and the algorithm provided by the invention is not adopted; (2) only a filter (cut-off frequency of 1kHz) is additionally arranged; (3) the algorithm provided by the invention is adopted and a filter (the cut-off frequency is 5kHz) is additionally arranged.
When the filter is not additionally arranged, the phase measurement error is large, and the phase waveform fluctuation is large; at 0.5s, the phase waveform can be relatively smooth and gentle only by filtering high-frequency noise by using a low-pass filter, the voltage phase measurement precision is improved, but the requirement on the bandwidth of the filter is high, and the dynamic performance of the phase measurement process is sacrificed; the algorithm provided by the invention improves the phase calculation process, realizes the attenuation of noise, and can obtain higher phase detection precision by properly increasing the cut-off frequency of the low-pass filter. The bandwidth requirement of the system on the low-pass filter is reduced, the dynamic response time in the phase locking process is reduced, and the rapidity of the subsequent open-loop phase locking process is ensured.
Claims (4)
1. A method capable of improving the anti-noise performance of an open-loop phase measurement algorithm is characterized by comprising a voltage detection module, a synchronous rotation coordinate transformation module, a voltage synchronous phase calculation module and an included angle feedback module; the method comprises the following specific steps:
(1) the voltage detection module is used for detecting three-phase symmetrical power grid voltage U ═ in the power grid under the interference of high-frequency noisea Ub Uc]；
(2) Inputting the three-phase symmetrical network voltage detected by the voltage detection module into the synchronous rotation coordinate conversion module, converting the alternating voltage into a direct current component Ud、Uq；
(3) The voltage synchronous phase calculation module collects the voltage direct-current component output by the synchronous rotating coordinate conversion module in real time and calculates the detection value theta of the initial phase angle of the three-phase symmetrical voltage in real time through a formuladThe value is the included angle between the voltage vector and the d axis;
(4) the included angle feedback module collects the initial phase detection value theta output by the voltage synchronous phase calculation module in real timedOutputting the data to a synchronous rotating coordinate transformation module;
(5) the synchronous rotation coordinate transformation module executes adjustment of the rotation angle of the dq coordinate system according to the acquired included angle information between the voltage vector and the d axis and meeting the judgment condition, and increases the rotation angle of the dq coordinate system by thetadThe included angle between the voltage vector and the d axis is close to 0, so that the detection precision of the voltage phase under noise interference is improved; if the judgment condition is not met, repeating the step (4);
(6) and outputting the three-phase voltage synchronous phase angle information.
2. The method of claim 1, wherein the method is used to improve noise immunity of open-loop phasor measurement algorithmCharacterized in that in the step (5), the judgment condition of the included angle between the d axis and the voltage vector is set as follows: thetad0<0.1θdNamely: if d is adjusted based on the included angle information feedback0q0In the coordinate system, the voltage vector and d0Angle theta of the axesd0The included angle theta between the voltage vector and the d axis in the last adjusting period is less than 0.1 timedIf yes, the judgment condition is satisfied.
3. The method for improving the noise immunity of the open-loop phase-measuring algorithm according to claim 1, wherein in the step (5), the adjusted synchronous coordinate rotation matrix is:
the expression of the voltage signal U in the synchronous dq rotation coordinate system is:
in the formula: omega and theta are respectively the synchronous frequency and the actual value of the initial phase angle; thetadA detected value of the initial phase angle of the voltage captured by the voltage phase calculation module; u shaped0、Uq0Voltage direct-current component values corresponding to the d axis and the q axis in the dq coordinate after the three-phase voltage vector is subjected to synchronous rotating coordinate transformation are respectively obtained; t isabc/dq(ωt+θd) In order to rotate the dq coordinate system counterclockwise according to the voltage phase detection value, the rotation angle is ω t + θd。
4. The method for improving the noise immunity of the open-loop phase-measuring algorithm according to claim 1, wherein in the step (6), the phase calculation module outputs three-phase voltage synchronous phase angle information:
in the formula: thetaexThe angle is compensated for phase.
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