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CN102305886A - Fundamental voltage synchronous signal detection method during harmonic distortion and unbalance of network voltage - Google Patents

Fundamental voltage synchronous signal detection method during harmonic distortion and unbalance of network voltage Download PDF

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CN102305886A
CN102305886A CN201110142921A CN201110142921A CN102305886A CN 102305886 A CN102305886 A CN 102305886A CN 201110142921 A CN201110142921 A CN 201110142921A CN 201110142921 A CN201110142921 A CN 201110142921A CN 102305886 A CN102305886 A CN 102305886A
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CN102305886B (en
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徐海亮
贺益康
周鹏
章玮
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Zhejiang University ZJU
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Abstract

本发明公开了一种电网电压谐波畸变及不平衡时基波电压同步信号检测方法。通过采用新型谐振式PLL，可快速补偿各类电网故障引起的相位跟踪误差，有效抑制电网电压中负序及谐波分量引起的频率波动、相位抖动，实现畸变电网中基波电压同步信号的准确检测。本发明方法不仅可以满足理想电网条件下电压频率、幅值和相位的检测要求，尤其适合电网电压跌落、不平衡或谐波污染等严重瞬态、稳态电网故障下基波电压同步信号的捕获，并能实现电压中基波正序、负序与谐波分量的快速提取。本发明具有检测精度高、实时性好的特点，可为各种风力发电机组、太阳能光伏并网装置、可逆调速传动系统及动态无功补偿器等并网电力设备的运行控制提供准确的控制基准。

Figure 201110142921

The invention discloses a method for detecting the synchronous signal of the fundamental wave voltage when the grid voltage is harmonically distorted and unbalanced. By adopting a new type of resonant PLL, it can quickly compensate the phase tracking error caused by various grid faults, effectively suppress the frequency fluctuation and phase jitter caused by the negative sequence and harmonic components in the grid voltage, and realize the accuracy of the fundamental voltage synchronization signal in the distorted grid. detection. The method of the present invention can not only meet the detection requirements of voltage frequency, amplitude and phase under ideal power grid conditions, but is especially suitable for the capture of fundamental voltage synchronous signals under serious transient and steady-state power grid faults such as power grid voltage drop, imbalance or harmonic pollution. , and can quickly extract the positive sequence, negative sequence and harmonic components of the fundamental wave in the voltage. The invention has the characteristics of high detection accuracy and good real-time performance, and can provide accurate control for the operation control of grid-connected power equipment such as various wind power generators, solar photovoltaic grid-connected devices, reversible speed-adjustable transmission systems, and dynamic reactive power compensators. benchmark.

Figure 201110142921

Description

电网电压谐波畸变及不平衡时基波电压同步信号检测方法Detection Method of Fundamental Voltage Synchronization Signal in Grid Voltage Harmonic Distortion and Unbalance

技术领域 technical field

本发明涉及一种电网电压谐波畸变及不平衡时基波电压同步信号检测方法，适用于并网型逆变器、无功补偿器、不间断电源等电力设备控制中基准信号的检测，尤其适合于非理想电网条件下风力发电机组增强运行能力控制，以及四象限可逆交流调速传动系统高性能控制所需的电网基波电压相位、幅值和频率的快速获取。 The invention relates to a method for detecting the fundamental wave voltage synchronous signal when the grid voltage is harmonically distorted and unbalanced. It is suitable for the enhanced operation capability control of wind turbines under non-ideal grid conditions, and the rapid acquisition of the grid fundamental wave voltage phase, amplitude and frequency required for high-performance control of four-quadrant reversible AC speed control drive systems.

背景技术 Background technique

近年来，随着不可控整流器、不可逆交流调速传动系统、无功补偿装置、太阳能光伏发电并网逆变器及单相供电的电力机车等电力电子设备在电力系统中的广泛应用，电网电压谐波污染及三相不平衡问题日趋严重，造成电网电压、电流波形畸变和负序分量的生成，影响所接其他负载的安全运行。特别是在分布式发电系统（风力发电、太阳能光伏发电等）大规模并网的地区，各种电力电子设备的集中使用，使得局部电网电压波形畸变十分严重。与此同时，这些地区的电网往往处于偏远的电力系统末端，系统的稳定性较差，易发生各类电网故障，引起电网电压骤降、相位跳变、三相电压不对称等问题，影响到用作控制基准的电网基波电压频率、相位和幅值的准确检测，恶化了控制系统、特别是矢量控制系统的运行性能，给各种电力电子设备的运行控制带来困难。因此，在电网发生故障导致电压波形畸变及三相不平衡时，对电压基波同步信号的快速准确检测就成为各种电力电子设备实现有效运行控制的前提和关键。 In recent years, with the wide application of power electronic equipment such as uncontrolled rectifiers, irreversible AC speed-adjusting transmission systems, reactive power compensation devices, solar photovoltaic power generation grid-connected inverters, and single-phase electric locomotives, the grid voltage Harmonic pollution and three-phase unbalance problems are becoming more and more serious, resulting in grid voltage and current waveform distortion and the generation of negative sequence components, affecting the safe operation of other connected loads. Especially in areas where distributed power generation systems (wind power generation, solar photovoltaic power generation, etc.) are connected to the grid on a large scale, the centralized use of various power electronic equipment makes the voltage waveform distortion of the local grid very serious. At the same time, the power grids in these areas are often at the end of the remote power system, the stability of the system is poor, and various grid faults are prone to occur, causing problems such as grid voltage sags, phase jumps, and three-phase voltage asymmetry, which affect the The accurate detection of the frequency, phase and amplitude of the fundamental voltage of the power grid used as a control reference deteriorates the operating performance of the control system, especially the vector control system, and brings difficulties to the operation and control of various power electronic equipment. Therefore, when a fault occurs in the power grid and the voltage waveform is distorted and the three-phase imbalance is caused, the rapid and accurate detection of the voltage fundamental wave synchronization signal becomes the premise and key to the effective operation and control of various power electronic equipment.

正常电网条件下电网中只存在基波正序电压，采用传统的电压过零检测或锁相环(Phase-locked loop, PLL)技术即可方便地获得电压同步信号作为控制基准。但是当电网电压含有低次谐波及三相不平衡时，因传统锁相环不能抑制谐波及负序分量的干扰，使故障电网电压的过零点并非其基波的过零点，产生了检测误差。一种简单的处理办法是将畸变电压实行信号滤波并作相位补偿后作为基波电压来使用，但这将导致响应速度变慢且电压幅值检测存在较大误差。     Under normal grid conditions, only the fundamental positive sequence voltage exists in the grid, and the voltage synchronization signal can be easily obtained as a control reference by using traditional voltage zero-crossing detection or phase-locked loop (PLL) technology. However, when the grid voltage contains low-order harmonics and three-phase unbalance, because the traditional phase-locked loop cannot suppress the interference of harmonics and negative sequence components, the zero-crossing point of the faulty grid voltage is not the zero-crossing point of its fundamental wave, resulting in detection error. A simple solution is to use the distorted voltage as the fundamental voltage after signal filtering and phase compensation, but this will lead to slower response speed and larger errors in voltage amplitude detection. 

现有改进传统PLL检测方法可以归纳为三类： The existing improved traditional PLL detection methods can be classified into three categories:

1. 采用滤波器的方法。为了排除谐波和负序分量对基波电压正序分量频率和相位检测的影响，通常采用低通滤波器或者陷波器滤除                                                

Figure 2011101429218100002DEST_PATH_IMAGE001
轴电网电压中的交流分量来保持
Figure 845472DEST_PATH_IMAGE002
为直流量，以满足PI控制器的有效工作条件并维持其输出（电网电压频率
Figure 2011101429218100002DEST_PATH_IMAGE003
）的稳定。这种方法可以有效滤除谐波和负序分量的干扰，但因在控制闭环中引入了滤波器而严重影响PLL的动态响应速度，导致对基波电压正序分量频率、相位和幅值检测的滞后。 1. The method of using a filter. In order to eliminate the influence of harmonics and negative sequence components on the frequency and phase detection of positive sequence components of the fundamental voltage, low-pass filters or notch filters are usually used to filter out
Figure 2011101429218100002DEST_PATH_IMAGE001
AC component in the grid voltage to maintain
Figure 845472DEST_PATH_IMAGE002
is a DC flow to meet the effective working conditions of the PI controller and maintain its output (grid voltage frequency
Figure 2011101429218100002DEST_PATH_IMAGE003
) of the stability. This method can effectively filter the interference of harmonics and negative sequence components, but the introduction of a filter in the control closed loop seriously affects the dynamic response speed of the PLL, resulting in the detection of the frequency, phase and amplitude of the positive sequence components of the fundamental voltage lag.

2. 采用相序分离的方法。为了消除电网电压中所含的谐波及负序分量，锁相环中采用基于对称分量法的相序分离方法或改进相序分离方法来提取所需要的基波电压信号。虽然这种方法也会引入正、负序分离的时延，但由于相序分离处理位于PLL控制环之外，因而对PLL动态性能无影响。这类方法的缺陷是相序分离计算复杂且对电网频率扰动极为敏感。 2. Adopt the method of phase sequence separation. In order to eliminate the harmonic and negative sequence components contained in the grid voltage, the phase sequence separation method based on the symmetrical component method or the improved phase sequence separation method is used in the phase locked loop to extract the required fundamental voltage signal. Although this method will also introduce time delay for positive and negative sequence separation, since the phase sequence separation process is located outside the PLL control loop, it has no impact on the dynamic performance of the PLL. The disadvantage of this kind of method is that the calculation of phase sequence separation is complicated and it is extremely sensitive to grid frequency disturbance.

3. 改进控制器的方法。为了克服上述两类检测方法的缺陷，改进传统PLL中的PI控制器成为锁相环研究的热点。比较典型的是采用超前/滞后控制器（Lag/lead controller）取代PI调节器对

Figure 256731DEST_PATH_IMAGE002
进行调节。这种改进调节器采取增大控制系统带宽以提高动态响应速度，同时还具有滤除中的二倍频（负序）和指定次数谐波的能力。但这类控制器的设计需解决系统稳定性与动态响应速度之间的矛盾，系统控制参数设计较为复杂。 3. A method for improving the controller. In order to overcome the shortcomings of the above two types of detection methods, improving the PI controller in the traditional PLL has become a hot spot in the research of phase-locked loops. It is typical to use a lead/lag controller (Lag/lead controller) to replace the PI regulator pair
Figure 256731DEST_PATH_IMAGE002
Make adjustments. This improved regulator increases the bandwidth of the control system to improve the dynamic response speed, and also has the ability to filter out the double frequency (negative sequence) and harmonics of the specified order. However, the design of this type of controller needs to solve the contradiction between system stability and dynamic response speed, and the design of system control parameters is relatively complicated.

通过以上分析可见，现有电网电压谐波畸变及三相不平衡时基波电压同步信号的检测方法的核心内容是力图克服电网电压中谐波和负序分量对PI控制器的影响。这是因为当电网谐波畸变及三相不平衡时，正转同步旋转坐标系中表达的电网电压dq轴分量均含有6倍频（300Hz）和2倍频（100Hz）脉动分量。传统PLL所采用的PI控制器受调节带宽和增益裕度的限制难以实现对交流分量的有效调节，导致同步旋转坐标系中输出电压幅值、频率的波动和锁相角的抖动，严重影响了检测效果。 From the above analysis, it can be seen that the core content of the existing grid voltage harmonic distortion and three-phase unbalanced time fundamental voltage synchronization signal detection method is to try to overcome the influence of harmonics and negative sequence components in the grid voltage on the PI controller. This is because when the power grid is harmonically distorted and the three-phase is unbalanced, the grid voltage dq axis components expressed in the forward synchronous rotating coordinate system all contain 6 times frequency (300Hz) and 2 times frequency (100Hz) pulsating components. The PI controller used in the traditional PLL is limited by the adjustment bandwidth and gain margin, and it is difficult to effectively adjust the AC component, which leads to the fluctuation of the output voltage amplitude and frequency and the jitter of the phase lock angle in the synchronous rotating coordinate system, which seriously affects the Detection effect.

发明内容 Contents of the invention

本发明的目的在于针对现有技术的不足，提供一种电网电压谐波畸变及不平衡时基波电压同步信号的检测方法。 The object of the present invention is to provide a method for detecting the synchronous signal of the fundamental wave voltage when the grid voltage is harmonically distorted and unbalanced.

本发明的电网电压谐波畸变及不平衡时基波电压同步信号检测方法，包含以下步骤： The grid voltage harmonic distortion and unbalanced time fundamental wave voltage synchronous signal detection method of the present invention comprises the following steps:

1. 利用一组（三个）电压霍尔传感器采集三相电网电压信号

Figure 2011101429218100002DEST_PATH_IMAGE005
；  1. Use a group (three) voltage hall sensors to collect three-phase grid voltage signals
Figure 2011101429218100002DEST_PATH_IMAGE005
;

2. 将采集到的定子电压信号

Figure 442862DEST_PATH_IMAGE005
经过静止三相/两相坐标变换，得到包含电压谐波及正、负序分量的电网电压综合矢量； 2. The collected stator voltage signal
Figure 442862DEST_PATH_IMAGE005
After static three-phase/two-phase coordinate transformation, the grid voltage comprehensive vector including voltage harmonics and positive and negative sequence components is obtained ;

3. 利用相位角

Figure DEST_PATH_IMAGE009
对所得到的静止坐标系中电网电压综合矢量作正转同步速旋转坐标变换，得到正转同步速旋转坐标系中的电网电压综合矢量
Figure 2011101429218100002DEST_PATH_IMAGE012
； 3. Using the phase angle
Figure DEST_PATH_IMAGE009
For the obtained grid voltage comprehensive vector in the static coordinate system Perform forward rotation synchronous speed rotation coordinate transformation to obtain the grid voltage comprehensive vector in the forward rotation synchronous speed rotation coordinate system
Figure 2011101429218100002DEST_PATH_IMAGE012
;

4. 将步骤3所获得的电网电压综合矢量

Figure 101114DEST_PATH_IMAGE012
的q轴信号送入所设计的PI控制器进行调节，获得电网正序基波电压的频率
Figure 2011101429218100002DEST_PATH_IMAGE014
，则电网频率
Figure 700591DEST_PATH_IMAGE016
；对获得的正序基波电压的频率
Figure DEST_PATH_IMAGE017
进行积分运算，即可获得电网正序基波电压的相位角
Figure 915541DEST_PATH_IMAGE019
； 4. The grid voltage integrated vector obtained in step 3
Figure 101114DEST_PATH_IMAGE012
The q-axis signal is sent to the designed PI controller for adjustment, and the frequency of the positive-sequence fundamental voltage of the power grid is obtained
Figure 2011101429218100002DEST_PATH_IMAGE014
, then the grid frequency
Figure 700591DEST_PATH_IMAGE016
;For the frequency of the obtained positive sequence fundamental voltage
Figure DEST_PATH_IMAGE017
The phase angle of the positive-sequence fundamental voltage of the power grid can be obtained by performing the integral operation
Figure 915541DEST_PATH_IMAGE019
;

5. 将步骤3所获得的电网电压综合矢量

Figure 97124DEST_PATH_IMAGE012
的q轴信号送入所设计的谐振式PLL进行调节，获得电网电压的真实相位，具体步骤为： 5. The grid voltage integrated vector obtained in step 3
Figure 97124DEST_PATH_IMAGE012
The q-axis signal is sent to the designed resonant PLL for adjustment to obtain the real phase of the grid voltage , the specific steps are:

5.1 利用谐振式PLL输出的反馈相位信号

Figure 2011101429218100002DEST_PATH_IMAGE020
对
Figure 373570DEST_PATH_IMAGE021
进行正转同步速旋转坐标变换，得到正转同步速旋转坐标系中含有直流分量与2倍频、6倍频交流量之和的电压综合矢量
Figure 1997DEST_PATH_IMAGE012
； 5.1 Feedback phase signal using resonant PLL output
Figure 2011101429218100002DEST_PATH_IMAGE020
right
Figure 373570DEST_PATH_IMAGE021
Perform forward rotation synchronous speed rotation coordinate transformation to obtain the voltage comprehensive vector containing the sum of DC component and 2 times frequency and 6 times frequency AC in the forward rotation synchronous speed rotation coordinate system
Figure 1997DEST_PATH_IMAGE012
;

5.2 将正转同步速旋转坐标系中电压综合矢量

Figure 365983DEST_PATH_IMAGE012
的q轴分量
Figure DEST_PATH_IMAGE023
送入PI调节器，获得三相电网电压正序分量的角频率
Figure 851191DEST_PATH_IMAGE014
； 5.2 The voltage synthesis vector in the forward rotation synchronous speed rotating coordinate system
Figure 365983DEST_PATH_IMAGE012
The q-axis component of
Figure DEST_PATH_IMAGE023
Send it to the PI regulator to obtain the angular frequency of the positive sequence component of the three-phase grid voltage
Figure 851191DEST_PATH_IMAGE014
;

5.3 将步骤5.2得到的三相电网电压角频率进行积分，获得三相电网电压正序分量的相位角

Figure DEST_PATH_IMAGE025
； 5.3 The angular frequency of the three-phase grid voltage obtained in step 5.2 Integrate to obtain the phase angle of the positive sequence component of the three-phase grid voltage
Figure DEST_PATH_IMAGE025
;

5.4 采用如5.2相同的步骤将电压综合矢量

Figure 795062DEST_PATH_IMAGE012
的q轴分量
Figure 747974DEST_PATH_IMAGE023
送入谐振补偿器，得到三相电网电压相位跟踪补偿相位角
Figure DEST_PATH_IMAGE027
； 5.4 Use the same steps as 5.2 to integrate the voltage vector
Figure 795062DEST_PATH_IMAGE012
The q-axis component of
Figure 747974DEST_PATH_IMAGE023
Send it into the resonant compensator to get the three-phase grid voltage phase tracking compensation phase angle
Figure DEST_PATH_IMAGE027
;

5.5 将步骤5.3得到的电网电压相位角

Figure 669663DEST_PATH_IMAGE025
与步骤5.4得到的补偿相位信号
Figure 2011101429218100002DEST_PATH_IMAGE028
进行加法运算，即可获得真实相位信号，即，进而构成闭环控制； 5.5 The grid voltage phase angle obtained in step 5.3
Figure 669663DEST_PATH_IMAGE025
with the compensated phase signal obtained in step 5.4
Figure 2011101429218100002DEST_PATH_IMAGE028
Addition operation, you can get the real phase signal ,Right now , thus forming a closed-loop control;

6. 对步骤2所获得的电网电压综合矢量

Figure 787013DEST_PATH_IMAGE021
根据步骤5得到的相位
Figure 860011DEST_PATH_IMAGE025
重新进行正转同步旋转坐标变换，得到电网电压综合矢量
Figure 2011101429218100002DEST_PATH_IMAGE032
； 6. For the grid voltage integrated vector obtained in step 2
Figure 787013DEST_PATH_IMAGE021
According to the phase obtained in step 5
Figure 860011DEST_PATH_IMAGE025
Carry out the forward synchronous rotation coordinate transformation again to obtain the comprehensive vector of the grid voltage
Figure 2011101429218100002DEST_PATH_IMAGE032
;

7. 将步骤6得到的正转同步速旋转坐标系中电压综合矢量送入所设计的相序分离模块，得到电网电压正序基频分量、负序基频分量

Figure 822654DEST_PATH_IMAGE036
和n次谐波分量
Figure 2011101429218100002DEST_PATH_IMAGE038
，具体步骤是： 7. Combine the voltage synthesis vector in the forward rotation synchronous speed rotating coordinate system obtained in step 6 Send it into the designed phase sequence separation module to get the positive sequence fundamental frequency component of the grid voltage , negative sequence fundamental frequency component
Figure 822654DEST_PATH_IMAGE036
and the nth harmonic component
Figure 2011101429218100002DEST_PATH_IMAGE038
, the specific steps are:

7.1 将正转同步速旋转坐标系中电压综合矢量

Figure 812476DEST_PATH_IMAGE012
送入所设计的相序分离模块，经过前后两级截止频率分别为300Hz和100Hz的陷波器可直接获得电网电压的正序基频分量
Figure 13650DEST_PATH_IMAGE034
； 7.1 The voltage synthesis vector in the forward rotation synchronous speed rotating coordinate system
Figure 812476DEST_PATH_IMAGE012
Sending it into the designed phase sequence separation module, the positive sequence fundamental frequency component of the grid voltage can be directly obtained through the front and rear notch filters with cut-off frequencies of 300Hz and 100Hz respectively
Figure 13650DEST_PATH_IMAGE034
;

7.2 将经过前级陷波器与后级陷波器滤波的电压信号相减，即可获得负序电压分量

Figure 659395DEST_PATH_IMAGE036
； 7.2 Subtract the voltage signal filtered by the pre-stage notch filter and the post-stage notch filter to obtain the negative sequence voltage component
Figure 659395DEST_PATH_IMAGE036
;

7.3 将输入信号与经过前级陷波器滤波的信号相减，即可获得n次谐波分量

Figure 971427DEST_PATH_IMAGE038
；步骤4获取的电网频率、相位角
Figure 81335DEST_PATH_IMAGE041
和步骤7获取的电网电压的正序基波分量
Figure 453410DEST_PATH_IMAGE034
共同构成了本发明所需要检测的电网电压谐波畸变及不平衡时基波电压的同步信号。 7.3 Subtract the input signal from the signal filtered by the previous notch filter to obtain the nth harmonic component
Figure 971427DEST_PATH_IMAGE038
;Grid frequency obtained in step 4 , phase angle
Figure 81335DEST_PATH_IMAGE041
and the positive-sequence fundamental component of the grid voltage obtained in step 7
Figure 453410DEST_PATH_IMAGE034
Together they constitute the synchronous signal of the grid voltage harmonic distortion and unbalanced fundamental wave voltage that need to be detected in the present invention.

本发明的有益效果是，本发明电网电压谐波畸变及不平衡时基波电压同步信号检测方法能够快速、准确获得基波同步信号的相位、频率和幅值等信息，无需采用大量滤波器进行滤波处理，也无需复杂的坐标旋转计算，且不受频率波动的影响，硬件要求低，算法简单，易于工程实现，能够为并网风电机组和其他并网电力电子设备在非理想电网条件下的运行提供可靠控制基准。 The beneficial effect of the present invention is that the detection method of the fundamental wave voltage synchronous signal during grid voltage harmonic distortion and unbalance can quickly and accurately obtain information such as the phase, frequency and amplitude of the fundamental synchronous signal without using a large number of filters Filtering processing does not require complex coordinate rotation calculations, and is not affected by frequency fluctuations. The hardware requirements are low, the algorithm is simple, and it is easy to implement in engineering. It can provide grid-connected wind turbines and other grid-connected power electronic equipment under non-ideal grid conditions Operation provides a basis for reliable control.

附图说明 Description of drawings

图1表示本发明中的电网电压谐波畸变及三相不平衡时基波同步电压信号的检测方法原理图。 Fig. 1 shows the schematic diagram of the detection method of the grid voltage harmonic distortion and three-phase unbalanced time fundamental synchronous voltage signal in the present invention.

图2表示本发明中相序分离模块的结构示意图； Fig. 2 represents the structural representation of phase sequence separation module in the present invention;

图3表示锁相得到的电网电压矢量

Figure 586451DEST_PATH_IMAGE043
与实际电网相矢量
Figure 702175DEST_PATH_IMAGE045
之间的空间位置关系图。 Figure 3 shows the grid voltage vector obtained by phase locking
Figure 586451DEST_PATH_IMAGE043
Phase vector with actual grid
Figure 702175DEST_PATH_IMAGE045
map of the spatial relationship between them.

图4表示传统PLL锁相环原理性结构图。 FIG. 4 shows a schematic structural diagram of a traditional PLL phase-locked loop.

图5表示电网发生谐波畸变及瞬时三相不平衡故障时采用传统PLL锁相方法得到的仿真波形图，图中，t = 0.25s时刻因突加非线性负载导致电网电压发生谐波畸变及三相不平衡， t = 0.35s时刻非线性负载切除；图中（a）~（d）分别代表电网三相电压、电网频率、相位角和电压dq轴分量。 Figure 5 shows the simulation waveform diagram obtained by using the traditional PLL phase-locking method when harmonic distortion and instantaneous three-phase unbalanced faults occur in the power grid. In the figure, at t = 0.25s, the harmonic distortion and Three-phase unbalanced, nonlinear load cut off at t = 0.35s; (a)~(d) in the figure respectively represent the three-phase voltage of the power grid, the frequency of the power grid, the phase angle and the dq axis components of the voltage.

图6表示电网发生谐波畸变及瞬时三相不平衡故障时采用本发明检测方法得到的仿真波形图，图中，t = 0.25s时刻因突加非线性负载导致电网电压发生谐波畸变及三相不平衡， t = 0.35s时刻非线性负载切除。图中（a）~（g）分别代表电网三相电压、电网频率、相位角、综合电压dq轴分量、基波电压正序dq分量、基波电压负序dq分量、电压谐波dq分量。 Fig. 6 shows the simulation wave diagram obtained by adopting the detection method of the present invention when harmonic distortion and instantaneous three-phase unbalanced fault occur in the power grid. Phase imbalance, nonlinear load shedding at t = 0.35s. (a)~(g) in the figure respectively represent the three-phase voltage of the power grid, the frequency of the power grid, the phase angle, the dq axis component of the comprehensive voltage, the positive sequence dq component of the fundamental voltage, the negative sequence dq component of the fundamental voltage, and the dq component of the voltage harmonic.

图7表示电网发生谐波畸变及瞬时三相不平衡故障时采用传统PLL锁相方法得到的频率、相位实验波形图；图中

Figure DEST_PATH_IMAGE047
、、
Figure DEST_PATH_IMAGE049
和
Figure 271882DEST_PATH_IMAGE051
分别表示电网三相电压、电网频率、电压相位和故障起止时间标志位。 Figure 7 shows the frequency and phase experimental waveforms obtained by using the traditional PLL phase-locking method when harmonic distortion and instantaneous three-phase unbalanced faults occur in the power grid;
Figure DEST_PATH_IMAGE047
, ,
Figure DEST_PATH_IMAGE049
and
Figure 271882DEST_PATH_IMAGE051
Respectively represent the grid three-phase voltage, grid frequency, voltage phase and fault start and stop time flag bits.

图8表示电网发生谐波畸变及瞬时三相不平衡故障时采用传统PLL锁相方法得到的基波电压实验波形图；图中

Figure 626640DEST_PATH_IMAGE047
、
Figure 546055DEST_PATH_IMAGE053
、
Figure 302658DEST_PATH_IMAGE055
和
Figure 78853DEST_PATH_IMAGE051
分别表示电网三相电压、正转同步坐标系下基波电压d、q轴分量和故障起止时间标志位。 Fig. 8 shows the fundamental wave voltage experimental waveform obtained by using the traditional PLL phase-locking method when harmonic distortion and instantaneous three-phase unbalanced faults occur in the power grid;
Figure 626640DEST_PATH_IMAGE047
,
Figure 546055DEST_PATH_IMAGE053
,
Figure 302658DEST_PATH_IMAGE055
and
Figure 78853DEST_PATH_IMAGE051
Respectively represent the three-phase voltage of the power grid, the fundamental voltage d and q-axis components in the forward synchronous coordinate system, and the flag bits of the start and end time of the fault.

图9表示电网发生谐波畸变及瞬时三相不平衡故障时采用本发明检测方法得到的频率、相位实验波形图；图中

Figure 186487DEST_PATH_IMAGE047
、
Figure 706330DEST_PATH_IMAGE040
、和
Figure 405481DEST_PATH_IMAGE051
和分别表示电网三相电压、电网频率、电压相位和故障起止时间标志位。 Fig. 9 shows the frequency, the phase experiment waveform figure that adopts the detection method of the present invention to obtain when harmonic distortion and instantaneous three-phase unbalanced fault take place in power grid; Among the figure
Figure 186487DEST_PATH_IMAGE047
,
Figure 706330DEST_PATH_IMAGE040
, and
Figure 405481DEST_PATH_IMAGE051
and represent the grid three-phase voltage, grid frequency, voltage phase, and fault start and stop time flag bits respectively.

图10表示电网发生谐波畸变及瞬时三相不平衡故障时采用本发明检测方法得到的基波正序电压实验波形图；图中

Figure 734831DEST_PATH_IMAGE047
、
Figure 996048DEST_PATH_IMAGE057
、和
Figure 523982DEST_PATH_IMAGE051
分别表示电网三相电压、正转同步坐标系下基波电压正序d、q轴分量和故障起止时间标志位。 Fig. 10 represents the fundamental wave positive sequence voltage experiment wave diagram that adopts the detection method of the present invention to obtain when harmonic distortion and instantaneous three-phase unbalance fault take place in power grid; Among the figure
Figure 734831DEST_PATH_IMAGE047
,
Figure 996048DEST_PATH_IMAGE057
, and
Figure 523982DEST_PATH_IMAGE051
Respectively represent the three-phase voltage of the power grid, the positive sequence d and q axis components of the fundamental voltage in the forward synchronous coordinate system, and the flag bits of the start and end time of the fault.

图11表示电网发生谐波畸变及瞬时三相不平衡故障时采用本发明检测方法得到的基波负序电压实验波形图；图中

Figure 845242DEST_PATH_IMAGE047
、、和
Figure 786522DEST_PATH_IMAGE051
分别表示电网三相电压、正转同步坐标系下基波电压负序d、q轴分量和故障起止时间标志位。 Fig. 11 shows the fundamental wave negative sequence voltage experimental wave diagram that adopts the detection method of the present invention to obtain when harmonic distortion and instantaneous three-phase unbalance fault take place in power grid; Among the figure
Figure 845242DEST_PATH_IMAGE047
, , and
Figure 786522DEST_PATH_IMAGE051
Respectively represent the three-phase voltage of the power grid, the negative sequence d and q-axis components of the fundamental voltage in the forward synchronous coordinate system, and the flag bits of the start and end time of the fault.

图12表示电网发生谐波畸变及瞬时三相不平衡故障时采用本发明检测方法得到的谐波电压实验波形图；图中

Figure 585850DEST_PATH_IMAGE047
、
Figure DEST_PATH_IMAGE065
、
Figure DEST_PATH_IMAGE067
和
Figure 296186DEST_PATH_IMAGE051
分别表示电网三相电压、正转同步坐标系下谐波电压d、q轴分量和故障起止时间标志位。 Fig. 12 represents the harmonic voltage experiment waveform figure that adopts the detection method of the present invention to obtain when harmonic distortion and instantaneous three-phase unbalanced fault take place in power grid; Among the figure
Figure 585850DEST_PATH_IMAGE047
,
Figure DEST_PATH_IMAGE065
,
Figure DEST_PATH_IMAGE067
and
Figure 296186DEST_PATH_IMAGE051
Respectively represent the three-phase voltage of the power grid, the harmonic voltage d and q axis components in the forward synchronous coordinate system, and the flag bits of the start and end time of the fault.

具体实施方式 Detailed ways

本发明提供一种工程实现较为简单的电网电压谐波畸变及不平衡时基波电压同步信号的检测方法，该方法只需要在常规PLL中增加两个谐振频率分别为2倍、6倍电网频率的谐振补偿器即可有效减轻电网电压谐波及负序分量对基波电压频率、相位、幅值检测的影响。同时，三相电网电压对称时所加入的谐振补偿器输出为零，不会对PLL的稳态性能产生影响，不会妨碍正常电网条件下的检测效果，因而具有较强的鲁棒性。此外，本发明还提供了一种基于多频陷波器的相序分解方法，必要时可准确分离出电网电压基波正序、负序分量及谐波分量，并且因其处于锁相环之外，故不会引起相位检测时延和控制误差。 The present invention provides a detection method for grid voltage harmonic distortion and unbalanced time fundamental voltage synchronization signal which is relatively simple in engineering implementation. The method only needs to add two resonant frequencies to the conventional PLL, which are 2 times and 6 times the grid frequency respectively. The resonant compensator can effectively reduce the influence of grid voltage harmonics and negative sequence components on fundamental voltage frequency, phase and amplitude detection. At the same time, when the three-phase grid voltage is symmetrical, the output of the added resonant compensator is zero, which will not affect the steady-state performance of the PLL and will not hinder the detection effect under normal grid conditions, so it has strong robustness. In addition, the present invention also provides a phase sequence decomposition method based on a multi-frequency notch filter, which can accurately separate the positive sequence, negative sequence components and harmonic components of the grid voltage fundamental wave when necessary, and because it is in the In addition, it will not cause phase detection delay and control error.

下面结合附图和实施案例对本发明作进一步说明。 The present invention will be further described below in conjunction with accompanying drawings and examples of implementation.

参照图1，本发明所描述的电网电压谐波畸变及不平衡时基波电压同步信号的检测方法包括以下步骤： With reference to Fig. 1, the detection method of grid voltage harmonic distortion described in the present invention and unbalanced time fundamental wave voltage synchronous signal comprises the following steps:

1. 利用一组（三个）电压霍尔传感器采集电网三相电压信号

Figure 788348DEST_PATH_IMAGE005
；  1. Use a group (three) voltage hall sensors to collect three-phase voltage signals of the power grid
Figure 788348DEST_PATH_IMAGE005
;

2. 将采集到的电网电压信号

Figure 826711DEST_PATH_IMAGE005
经静止三相/两相坐标变换（1），得到静止坐标系中包含谐波及正、负序分量的电网电压综合矢量。 2. Collect the grid voltage signal
Figure 826711DEST_PATH_IMAGE005
After static three-phase/two-phase coordinate transformation (1), the grid voltage comprehensive vector including harmonics and positive and negative sequence components in the static coordinate system is obtained .

静止三相/两相坐标变换表达式如下所示： The expression of stationary three-phase/two-phase coordinate transformation is as follows:

Figure DEST_PATH_IMAGE069
。
Figure DEST_PATH_IMAGE069
.

其中

Figure DEST_PATH_IMAGE071
、
Figure DEST_PATH_IMAGE073
分别表示电压综合矢量在静止坐标系下的、
Figure DEST_PATH_IMAGE077
轴分量；、
Figure DEST_PATH_IMAGE081
、
Figure 509420DEST_PATH_IMAGE083
分别代表电网电压a相、b相、c相电压。 in
Figure DEST_PATH_IMAGE071
,
Figure DEST_PATH_IMAGE073
Respectively represent the voltage integrated vector in the static coordinate system ,
Figure DEST_PATH_IMAGE077
axis component; ,
Figure DEST_PATH_IMAGE081
,
Figure 509420DEST_PATH_IMAGE083
Respectively represent grid voltage a-phase, b-phase, c-phase voltage.

3. 利用相位角

Figure 2011101429218100002DEST_PATH_IMAGE084
对得到的静止坐标系中电网电压综合矢量作正转同步速旋转坐标变换（2），得到正转同步速旋转坐标系中的电网电压综合矢量。 3. Using the phase angle
Figure 2011101429218100002DEST_PATH_IMAGE084
For the obtained grid voltage integrated vector in the static coordinate system Perform forward rotation synchronous speed rotation coordinate transformation (2) to obtain the grid voltage comprehensive vector in the forward rotation synchronous speed rotation coordinate system .

此分量中既含有300Hz的脉动分量（由电网电压5次、7次谐波引起），又含有100Hz的脉动分量（由三相电压不平衡引起）；正转同步速旋转坐标变换关系为： This component contains both 300Hz pulsating components (caused by the 5th and 7th harmonics of the grid voltage) and 100Hz pulsating components (caused by three-phase voltage unbalance); the coordinate transformation relationship of forward synchronous speed rotation is:

Figure 2011101429218100002DEST_PATH_IMAGE086
；
Figure 2011101429218100002DEST_PATH_IMAGE086
;

其中

Figure 963907DEST_PATH_IMAGE053
、
Figure 524201DEST_PATH_IMAGE055
分别正转同步速旋转坐标系中的电网电压综合矢量的d、q轴分量。 in
Figure 963907DEST_PATH_IMAGE053
,
Figure 524201DEST_PATH_IMAGE055
The d and q axis components of the grid voltage comprehensive vector in the synchronous speed rotating coordinate system are forward respectively.

4. 将步骤3所获得的电网电压综合矢量

Figure 92585DEST_PATH_IMAGE012
的q轴分量
Figure 371120DEST_PATH_IMAGE023
送入PI控制器（4），获得正序基波电压的角频率
Figure 315942DEST_PATH_IMAGE014
，则电网频率
Figure 793060DEST_PATH_IMAGE016
；对获得的正序基波电压的频率
Figure 821363DEST_PATH_IMAGE024
进行积分（5）运算，即可获得电网正序基波电压的相位角
Figure 321614DEST_PATH_IMAGE019
； 4. The grid voltage integrated vector obtained in step 3
Figure 92585DEST_PATH_IMAGE012
The q-axis component of
Figure 371120DEST_PATH_IMAGE023
Send it to the PI controller (4) to obtain the angular frequency of the positive sequence fundamental wave voltage
Figure 315942DEST_PATH_IMAGE014
, then the grid frequency
Figure 793060DEST_PATH_IMAGE016
;For the frequency of the obtained positive sequence fundamental voltage
Figure 821363DEST_PATH_IMAGE024
Perform the integral (5) operation to obtain the phase angle of the positive sequence fundamental wave voltage of the power grid
Figure 321614DEST_PATH_IMAGE019
;

5. 将步骤3所获得的电网电压综合矢量

Figure 804548DEST_PATH_IMAGE012
的q轴信号送入所设计的谐振式PLL（3）进行调节，获得电网电压的真实相位
Figure 339435DEST_PATH_IMAGE009
，具体步骤为： 5. The grid voltage integrated vector obtained in step 3
Figure 804548DEST_PATH_IMAGE012
The q-axis signal is sent to the designed resonant PLL (3) for adjustment to obtain the real phase of the grid voltage
Figure 339435DEST_PATH_IMAGE009
, the specific steps are:

5.1 利用谐振式PLL输出的反馈相位信号

Figure 249622DEST_PATH_IMAGE020
对进行正转同步速旋转坐标变换（2），得到正转同步速旋转坐标系中含有直流分量与2倍频、6倍频交流量之和的电压综合矢量
Figure 523794DEST_PATH_IMAGE012
； 5.1 Feedback phase signal using resonant PLL output
Figure 249622DEST_PATH_IMAGE020
right Carry out forward rotation synchronous speed rotation coordinate transformation (2) to obtain the voltage comprehensive vector containing the sum of DC component and 2 times frequency and 6 times frequency AC in the forward rotation synchronous speed rotation coordinate system
Figure 523794DEST_PATH_IMAGE012
;

5.2 将正转同步速旋转坐标系中电压综合矢量

Figure 913187DEST_PATH_IMAGE012
的q轴分量
Figure 322172DEST_PATH_IMAGE023
送入PI调节器（4），获得三相电网电压正序分量的角频率
Figure 797015DEST_PATH_IMAGE014
； 5.2 The voltage synthesis vector in the forward rotation synchronous speed rotating coordinate system
Figure 913187DEST_PATH_IMAGE012
The q-axis component of
Figure 322172DEST_PATH_IMAGE023
Send it to the PI regulator (4) to obtain the angular frequency of the positive sequence component of the three-phase grid voltage
Figure 797015DEST_PATH_IMAGE014
;

5.3 将步骤5.2得到的三相电网电压角频率

Figure 621752DEST_PATH_IMAGE024
进行积分运算（5），获得三相电网电压正序分量的相位角
Figure 865652DEST_PATH_IMAGE025
； 5.3 The angular frequency of the three-phase grid voltage obtained in step 5.2
Figure 621752DEST_PATH_IMAGE024
Perform integral operation (5) to obtain the phase angle of the positive sequence component of the three-phase grid voltage
Figure 865652DEST_PATH_IMAGE025
;

5.4 采用如5.2相同的步骤将电压综合矢量

Figure 383221DEST_PATH_IMAGE012
的q轴分量
Figure 345360DEST_PATH_IMAGE023
送入谐振补偿器（6），得到三相电网电压相位跟踪补偿相位角
Figure 973788DEST_PATH_IMAGE087
； 5.4 Use the same steps as 5.2 to integrate the voltage vector
Figure 383221DEST_PATH_IMAGE012
The q-axis component of
Figure 345360DEST_PATH_IMAGE023
Send it into the resonant compensator (6) to get the three-phase grid voltage phase tracking compensation phase angle
Figure 973788DEST_PATH_IMAGE087
;

谐振补偿器由两个截止频率分别为100Hz、300Hz的谐振调节器并联组成，其时域传递函数为： The resonant compensator is composed of two resonant regulators with cut-off frequencies of 100Hz and 300Hz connected in parallel, and its time domain transfer function is:

Figure 9877DEST_PATH_IMAGE089
；
Figure 9877DEST_PATH_IMAGE089
;

其中，

Figure 698347DEST_PATH_IMAGE091
、
Figure 147783DEST_PATH_IMAGE093
分别为两个谐振调节器的比例系数，用以决定系统动态响应速度；
Figure 314322DEST_PATH_IMAGE095
、
Figure 532814DEST_PATH_IMAGE097
分别为两个谐振调节器的截止频率，用以增加系统带宽，降低谐振补偿器对频率扰动的敏感程度，实际系统中其典型值为5~15rad/s。 in,
Figure 698347DEST_PATH_IMAGE091
,
Figure 147783DEST_PATH_IMAGE093
are the proportional coefficients of the two resonant regulators, which are used to determine the dynamic response speed of the system;
Figure 314322DEST_PATH_IMAGE095
,
Figure 532814DEST_PATH_IMAGE097
They are the cut-off frequencies of the two resonant regulators, which are used to increase the system bandwidth and reduce the sensitivity of the resonant compensator to frequency disturbance. The typical value in the actual system is 5~15rad/s.

5.5 将步骤5.3得到的电网电压相位角

Figure 392186DEST_PATH_IMAGE025
与步骤5.4得到的补偿相位信号
Figure 2011101429218100002DEST_PATH_IMAGE098
进行加法运算，即可获得真实相位信号
Figure 125655DEST_PATH_IMAGE009
，即，进而构成闭环控制； 5.5 The grid voltage phase angle obtained in step 5.3
Figure 392186DEST_PATH_IMAGE025
with the compensated phase signal obtained in step 5.4
Figure 2011101429218100002DEST_PATH_IMAGE098
Addition operation, you can get the real phase signal
Figure 125655DEST_PATH_IMAGE009
,Right now , thus forming a closed-loop control;

6. 对步骤2所获得的电网电压综合矢量

Figure 434463DEST_PATH_IMAGE010
根据步骤4得到的相位角
Figure 464736DEST_PATH_IMAGE025
重新进行正转同步旋转坐标变换，得到电网电压综合矢量
Figure DEST_PATH_IMAGE099
； 6. For the grid voltage integrated vector obtained in step 2
Figure 434463DEST_PATH_IMAGE010
According to the phase angle obtained in step 4
Figure 464736DEST_PATH_IMAGE025
Carry out the forward synchronous rotation coordinate transformation again to obtain the comprehensive vector of the grid voltage
Figure DEST_PATH_IMAGE099
;

7. 将步骤6获得的正转同步速旋转坐标系中电压综合矢量

Figure 685501DEST_PATH_IMAGE099
送入所设计的相序分离模块，电网电压正序基频分量、负序基频分量
Figure 449244DEST_PATH_IMAGE036
和n次谐波分量
Figure 650418DEST_PATH_IMAGE038
； 7. The voltage synthesis vector in the forward rotation synchronous speed rotating coordinate system obtained in step 6
Figure 685501DEST_PATH_IMAGE099
Input to the designed phase sequence separation module, the grid voltage positive sequence fundamental frequency component , negative sequence fundamental frequency component
Figure 449244DEST_PATH_IMAGE036
and the nth harmonic component
Figure 650418DEST_PATH_IMAGE038
;

图2为本发明提出的相序分离模块原理图。其输入信号为正转同步速旋转坐标系中包含直流量与

Figure 296163DEST_PATH_IMAGE101
、
Figure DEST_PATH_IMAGE103
电网频率的交流量，输出信号为正转同步速旋转坐标系中电网电压正序基波分量
Figure DEST_PATH_IMAGE105
、负序基波分量和n次谐波分量
Figure DEST_PATH_IMAGE109
。参照图2，本发明提出的相序分离方法具体实施步骤如下： Fig. 2 is a schematic diagram of the phase sequence separation module proposed by the present invention. Its input signal is the forward rotation synchronous speed rotating coordinate system including DC flow and
Figure 296163DEST_PATH_IMAGE101
,
Figure DEST_PATH_IMAGE103
The AC value of the grid frequency, the output signal is the positive sequence fundamental wave component of the grid voltage in the forward rotation synchronous speed rotating coordinate system
Figure DEST_PATH_IMAGE105
, negative sequence fundamental component and the nth harmonic component
Figure DEST_PATH_IMAGE109
. With reference to Fig. 2, the specific implementation steps of the phase sequence separation method proposed by the present invention are as follows:

7.1 将正转同步速旋转坐标系中电压综合矢量

Figure 857463DEST_PATH_IMAGE032
送入所设计的相序分离模块（8），经过前后两级截止频率分别为300Hz和100Hz的陷波器可直接获得电网电压的正序基频分量
Figure 29688DEST_PATH_IMAGE034
； 7.1 The voltage synthesis vector in the forward rotation synchronous speed rotating coordinate system
Figure 857463DEST_PATH_IMAGE032
Sending it into the designed phase sequence separation module (8), the positive sequence fundamental frequency component of the grid voltage can be directly obtained through the front and rear notch filters with cut-off frequencies of 300Hz and 100Hz respectively
Figure 29688DEST_PATH_IMAGE034
;

7.2 将经过前级陷波器与后级陷波器滤波的电压信号相减，即可获得负序电压分量

Figure 401763DEST_PATH_IMAGE036
； 7.2 Subtract the voltage signal filtered by the pre-stage notch filter and the post-stage notch filter to obtain the negative sequence voltage component
Figure 401763DEST_PATH_IMAGE036
;

7.3 将输入信号与经过前级陷波器滤波的信号相减，即可获得n次谐波分量

Figure 472487DEST_PATH_IMAGE038
。 7.3 Subtract the input signal from the signal filtered by the previous notch filter to obtain the nth harmonic component
Figure 472487DEST_PATH_IMAGE038
.

步骤4获取的电网频率

Figure 588211DEST_PATH_IMAGE040
、相位角
Figure 490308DEST_PATH_IMAGE025
和步骤7获取的电网电压的正序基波分量
Figure 33285DEST_PATH_IMAGE034
共同构成了本发明所需要检测的电网电压谐波畸变及不平衡时基波电压的同步信号。 Grid frequency obtained in step 4
Figure 588211DEST_PATH_IMAGE040
, phase angle
Figure 490308DEST_PATH_IMAGE025
and the positive-sequence fundamental component of the grid voltage obtained in step 7
Figure 33285DEST_PATH_IMAGE034
Together they constitute the synchronous signal of the grid voltage harmonic distortion and unbalanced fundamental wave voltage that need to be detected in the present invention.

图3表示传统PLL检测到的电网电压矢量

Figure 388043DEST_PATH_IMAGE043
与实际电网电压矢量
Figure 307457DEST_PATH_IMAGE045
之间的空间位置关系图。可见，当电网电压发生电压跌落等故障时，检测出的电网电压矢量
Figure 64060DEST_PATH_IMAGE043
的位置角滞后于与实际电网电压矢量的位置角，两者之间的位置角之差定义为
Figure 954208DEST_PATH_IMAGE028
。 Figure 3 shows the grid voltage vector detected by the traditional PLL
Figure 388043DEST_PATH_IMAGE043
and actual grid voltage vector
Figure 307457DEST_PATH_IMAGE045
map of the spatial relationship between them. It can be seen that when a fault such as a voltage drop occurs in the grid voltage, the detected grid voltage vector
Figure 64060DEST_PATH_IMAGE043
position angle lagging behind the actual grid voltage vector position angle , the difference in position angle between the two is defined as
Figure 954208DEST_PATH_IMAGE028
.

图4表示传统PLL的原理结构图；由于传统PLL采用PI方式调节电压角频率来跟踪误差，其动态响应较慢，且无法实现对交流分量的调节。 Figure 4 shows the schematic structure diagram of the traditional PLL; because the traditional PLL uses the PI method to adjust the voltage angular frequency to track the error, its dynamic response is slow, and the adjustment of the AC component cannot be realized.

图5表示电网电压发生谐波畸变及三相不平衡故障时采用传统PLL锁相得到的仿真波形图。可以看出当电网发生谐波畸变及存在负序分量时，受调节带宽和增益裕度的限制，传统PLL输出电网频率，即图5（b）中含有2倍频、6倍频脉动分量；相位角，即5（c）也不再是严格的三角形波；电网电压d、q轴分量，即5（d）输出也存在抖动，从而难以为并网电力设备的安全运行提供可靠控制基准。 Fig. 5 shows the simulation waveform obtained by adopting traditional PLL phase-locking when harmonic distortion and three-phase unbalanced fault occur in grid voltage. It can be seen that when harmonic distortion and negative sequence components occur in the power grid, the traditional PLL outputs the grid frequency due to the limitation of the adjustment bandwidth and gain margin, that is, in Figure 5(b), there are 2 times frequency and 6 times frequency pulsating components; The phase angle, that is, 5(c) is no longer a strict triangular wave; the d and q-axis components of the grid voltage, that is, the output of 5(d), also have jitters, making it difficult to provide a reliable control reference for the safe operation of grid-connected power equipment.

图6表示电网电压发生谐波畸变及三相不平衡故障时采用本发明方法检测获得的仿真波形。由图8（b）、（c）可见，本发明方法在电网电压谐波畸变及三相不平衡时不仅可以准确捕获基波电压同步信号，为并网电力设备提供可靠的控制基准，图8（e）~（g）表明本发明所设计的相序分离方法亦能较好地分离出电网电压的负序及谐波分量。 Fig. 6 shows the simulated waveforms detected by the method of the present invention when harmonic distortion and three-phase unbalanced faults occur in the grid voltage. It can be seen from Figure 8(b) and (c) that the method of the present invention can not only accurately capture the fundamental voltage synchronization signal when the grid voltage is harmonically distorted and unbalanced, but also provide a reliable control reference for grid-connected power equipment, as shown in Figure 8 (e)~(g) show that the phase sequence separation method designed in the present invention can also separate the negative sequence and harmonic components of the grid voltage well.

图7、图8表示电网电压发生谐波畸变及三相不平衡故障时采用传统PLL锁相得到的实验波形图。可以看出当电网发生谐波畸变及存在负序分量时，传统PLL输出电网频率，即图7中

Figure DEST_PATH_IMAGE111
含有2倍频、6倍频脉动分量；相位角，即
Figure 166883DEST_PATH_IMAGE049
也不再是严格的三角形波；电网电压d、q轴分量，即图8中
Figure 433917DEST_PATH_IMAGE053
、
Figure 429554DEST_PATH_IMAGE055
输出也存在抖动，从而难以为并网电力设备的安全运行提供可靠控制基准。 Figure 7 and Figure 8 show the experimental waveform diagrams obtained by using traditional PLL phase-locking when harmonic distortion and three-phase unbalanced faults occur in the grid voltage. It can be seen that when the grid has harmonic distortion and negative sequence components, the traditional PLL outputs the grid frequency, that is, in Figure 7
Figure DEST_PATH_IMAGE111
Contains 2 times frequency, 6 times frequency pulsation component; phase angle, that is
Figure 166883DEST_PATH_IMAGE049
It is no longer a strict triangular wave; the d and q axis components of the grid voltage, that is, the
Figure 433917DEST_PATH_IMAGE053
,
Figure 429554DEST_PATH_IMAGE055
There is also jitter in the output, which makes it difficult to provide a reliable control reference for the safe operation of grid-connected power equipment.

图9至图12表示电网电压发生谐波畸变及三相不平衡故障时采用本发明方法检测获得的实验波形图。由图9、图10可见，本发明方法在电网电压谐波畸变及三相不平衡时可以准确捕获基波电压同步信号，即频率

Figure 160750DEST_PATH_IMAGE040
、相位角
Figure 482010DEST_PATH_IMAGE049
和基波电压正序d、q轴分量
Figure 33077DEST_PATH_IMAGE112
、
Figure 160302DEST_PATH_IMAGE059
，从而为并网电力设备提供可靠的同步信号，图11、图12表明本发明所设计的相序分离方法亦能较好地分离出电网电压的负序及5次谐波分量，即、
Figure 910269DEST_PATH_IMAGE063
和
Figure DEST_PATH_IMAGE113
、
Figure 276528DEST_PATH_IMAGE067
。 Fig. 9 to Fig. 12 show the experimental waveform diagrams detected by the method of the present invention when harmonic distortion and three-phase unbalanced faults occur in the grid voltage. It can be seen from Fig. 9 and Fig. 10 that the method of the present invention can accurately capture the fundamental voltage synchronization signal, that is, the frequency
Figure 160750DEST_PATH_IMAGE040
, phase angle
Figure 482010DEST_PATH_IMAGE049
and the positive sequence d and q axis components of the fundamental voltage
Figure 33077DEST_PATH_IMAGE112
,
Figure 160302DEST_PATH_IMAGE059
, so as to provide a reliable synchronization signal for grid-connected power equipment. Figure 11 and Figure 12 show that the phase sequence separation method designed in the present invention can also separate the negative sequence and 5th harmonic components of the grid voltage well, namely ,
Figure 910269DEST_PATH_IMAGE063
and
Figure DEST_PATH_IMAGE113
,
Figure 276528DEST_PATH_IMAGE067
.

综上所述，本发明公开的电网电压谐波畸变及不平衡时基波电压同步信号的检测方法，不仅可以满足各类电网故障下控制基准的准确、快速获取，也能够实现电网电压基波正序、负序分量及谐波分量的快速分离，具有很高的检测精度和优越的动、静态特性，而且算法简单，易于工程实现，能够为风电机组、并网电力电子装置以及交流调速传动系统等各类电力设备在各类电网故障情况下提供准确的控制基准。 To sum up, the detection method of grid voltage harmonic distortion and unbalanced time fundamental wave voltage synchronization signal disclosed by the present invention can not only meet the accurate and fast acquisition of control references under various grid faults, but also realize the detection of grid voltage fundamental wave The rapid separation of positive sequence, negative sequence components and harmonic components has high detection accuracy and superior dynamic and static characteristics, and the algorithm is simple and easy to implement in engineering. It can be used for wind turbines, grid-connected power electronic devices and AC speed regulation Various types of power equipment such as transmission systems provide accurate control references under various grid fault conditions.

Claims (4)

1.一种电网电压谐波畸变及不平衡时基波电压同步信号的检测方法，其特征在于，包括以下步骤： 1. a detection method of grid voltage harmonic distortion and unbalanced time fundamental wave voltage synchronization signal, is characterized in that, comprises the following steps: （1）利用一组（三个）电压霍尔传感器采集三相电网电压信号；  (1) Use a group (three) voltage Hall sensors to collect three-phase grid voltage signals; （2）将采集到的电网电压信号                                                经过静止三相/两相坐标变换，得到包含正、负序及谐波分量在内的电网电压综合矢量
Figure 863487DEST_PATH_IMAGE002
； (2) Collect the grid voltage signal After static three-phase/two-phase coordinate transformation, the grid voltage comprehensive vector including positive, negative sequence and harmonic components is obtained
Figure 863487DEST_PATH_IMAGE002
; （3）利用相位角
Figure 705541DEST_PATH_IMAGE004
对得到的静止坐标系中电网电压综合矢量
Figure 100750DEST_PATH_IMAGE006
进行正转同步速旋转坐标变换，得到正转同步速旋转坐标系中包含负序与谐波分量的电网电压综合矢量； (3) Using the phase angle
Figure 705541DEST_PATH_IMAGE004
For the obtained grid voltage integrated vector in the static coordinate system
Figure 100750DEST_PATH_IMAGE006
Carry out forward rotation synchronous speed rotation coordinate transformation to obtain the grid voltage comprehensive vector including negative sequence and harmonic components in the forward rotation synchronous speed rotation coordinate system ; （4）将步骤（3）所获得的电网电压综合矢量
Figure 862219DEST_PATH_IMAGE008
的q轴信号送入到所设计的PI控制器进行调节，获得正序基波电压的角频率
Figure 191569DEST_PATH_IMAGE010
，则电网频率
Figure 2011101429218100001DEST_PATH_IMAGE012
；对获得的正序基波电压的频率
Figure 515103DEST_PATH_IMAGE013
进行积分运算，获得电网电压正序基波的相位角
Figure 246298DEST_PATH_IMAGE015
； (4) The integrated grid voltage vector obtained in step (3)
Figure 862219DEST_PATH_IMAGE008
The q-axis signal is sent to the designed PI controller for adjustment to obtain the angular frequency of the positive sequence fundamental voltage
Figure 191569DEST_PATH_IMAGE010
, then the grid frequency
Figure 2011101429218100001DEST_PATH_IMAGE012
;For the frequency of the obtained positive sequence fundamental voltage
Figure 515103DEST_PATH_IMAGE013
Perform integral operation to obtain the phase angle of the positive sequence fundamental wave of the grid voltage
Figure 246298DEST_PATH_IMAGE015
; （5）将步骤（3）所获得的电网电压综合矢量
Figure 426613DEST_PATH_IMAGE008
的q轴信号送入所设计的谐振式PLL进行调节，获得电网电压的真实相位角； (5) The integrated grid voltage vector obtained in step (3)
Figure 426613DEST_PATH_IMAGE008
The q-axis signal is sent to the designed resonant PLL for adjustment to obtain the real phase angle of the grid voltage ; （6）对步骤（2）所获得的电网电压综合矢量
Figure 2011101429218100001DEST_PATH_IMAGE016
利用步骤（4）得到的相位角重新进行正转同步旋转坐标变换，得到电网电压综合矢量
Figure DEST_PATH_IMAGE019
； (6) For the integrated grid voltage vector obtained in step (2)
Figure 2011101429218100001DEST_PATH_IMAGE016
Using the phase angle obtained in step (4) Carry out the forward synchronous rotation coordinate transformation again to obtain the comprehensive vector of the grid voltage
Figure DEST_PATH_IMAGE019
; （7）将步骤（6）获得的电网电压综合矢量
Figure 714045DEST_PATH_IMAGE019
送入相序分离模块，得到电网电压的基波正序分量
Figure 206206DEST_PATH_IMAGE021
、基波负序分量
Figure 510148DEST_PATH_IMAGE023
和n次（n代表5或7）谐波分量
Figure 785272DEST_PATH_IMAGE025
；步骤（4）获取的电网频率、相位角
Figure 888543DEST_PATH_IMAGE017
和步骤（7）获取的电网电压的正序基波分量
Figure 679781DEST_PATH_IMAGE021
共同构成了本发明所需要检测的电网电压谐波畸变及不平衡时基波电压的同步信号。 (7) The integrated grid voltage vector obtained in step (6)
Figure 714045DEST_PATH_IMAGE019
Send it to the phase sequence separation module to get the fundamental positive sequence component of the grid voltage
Figure 206206DEST_PATH_IMAGE021
, fundamental negative sequence component
Figure 510148DEST_PATH_IMAGE023
and n times (n stands for 5 or 7) harmonic components
Figure 785272DEST_PATH_IMAGE025
;Grid frequency obtained in step (4) , phase angle
Figure 888543DEST_PATH_IMAGE017
and the positive sequence fundamental component of the grid voltage obtained in step (7)
Figure 679781DEST_PATH_IMAGE021
Together they constitute the synchronous signal of the grid voltage harmonic distortion and unbalanced fundamental wave voltage that need to be detected in the present invention. 2.根据权利要求1所述的一种电网电压谐波畸变及三相不平衡时基波电压同步信号的检测方法，其特征在于，步骤（4）所述的电压的角频率
Figure 2011101429218100001DEST_PATH_IMAGE028
和相位角
Figure 883229DEST_PATH_IMAGE017
通过以下子步骤来获取： 2. A method for detecting harmonic distortion of power grid voltage and three-phase unbalanced time fundamental wave voltage synchronization signal according to claim 1, characterized in that the angular frequency of the voltage described in step (4)
Figure 2011101429218100001DEST_PATH_IMAGE028
and phase angle
Figure 883229DEST_PATH_IMAGE017
Get it through the following sub-steps: （ = 1 \* roman i）利用谐振式软件PLL输出反馈相位信号
Figure 443524DEST_PATH_IMAGE029
对
Figure 2011101429218100001DEST_PATH_IMAGE030
进行正转同步速旋转坐标变换，得到正转同步速旋转坐标系中包含直流分量与2倍频、6倍频交流分量之和的电压综合矢量； ( = 1 \* roman i) Use resonant software PLL to output feedback phase signal
Figure 443524DEST_PATH_IMAGE029
right
Figure 2011101429218100001DEST_PATH_IMAGE030
Carry out the forward rotation synchronous speed rotation coordinate transformation, and obtain the voltage comprehensive vector including the sum of the DC component and the 2 times frequency and 6 times frequency AC components in the forward rotation synchronous speed rotation coordinate system ; （ = 2 \* roman ii）将正转同步速旋转坐标系中电压综合矢量
Figure 290443DEST_PATH_IMAGE008
的q轴分量
Figure 235265DEST_PATH_IMAGE032
送入PI控制器，得到三相定子电压正序分量的角频率； ( = 2 \* roman ii) The voltage synthesis vector in the forward synchronous speed rotating coordinate system
Figure 290443DEST_PATH_IMAGE008
The q-axis component of
Figure 235265DEST_PATH_IMAGE032
Send it to the PI controller to get the angular frequency of the positive sequence component of the three-phase stator voltage ; （ = 3 \* roman iii）将得到的三相定子电压角频率
Figure 774700DEST_PATH_IMAGE028
进行积分运算，获得三相定子电压正序分量的相位角
Figure 2011101429218100001DEST_PATH_IMAGE034
； ( = 3 \* roman iii) will get the angular frequency of the three-phase stator voltage
Figure 774700DEST_PATH_IMAGE028
Perform integral operation to obtain the phase angle of the positive sequence component of the three-phase stator voltage
Figure 2011101429218100001DEST_PATH_IMAGE034
; （ = 4 \* roman iv）采用如（ii）相同的步骤将电压综合矢量
Figure 779565DEST_PATH_IMAGE008
的q轴分量
Figure 279816DEST_PATH_IMAGE032
送入谐振式补偿器，得到三相定子电压相位跟踪补偿相位角
Figure 2011101429218100001DEST_PATH_IMAGE036
； ( = 4 \* roman iv) Use the same steps as (ii) to integrate the voltage vector
Figure 779565DEST_PATH_IMAGE008
The q-axis component of
Figure 279816DEST_PATH_IMAGE032
Send it into the resonant compensator to get the three-phase stator voltage phase tracking compensation phase angle
Figure 2011101429218100001DEST_PATH_IMAGE036
; （ = 5 \* roman v）将步骤（ = 3 \* roman iii）得到的电网相位角与步骤（ = 4 \* roman iv）得到的补偿相位信号
Figure 422271DEST_PATH_IMAGE037
进行加法运算，即可获得反馈相位信号，即，进而构成闭环控制。 ( = 5 \* roman v) the grid phase angle obtained by step ( = 3 \* roman iii) Compensated phase signal obtained with step (= 4 \*roman iv)
Figure 422271DEST_PATH_IMAGE037
Perform addition operation to obtain the feedback phase signal ,Right now , thus forming a closed-loop control. 3.根据权利要求1所述的一种电网电压谐波畸变及三相不平衡时基波电压同步信号的检测方法，其特征在于，步骤（5）所述的谐振式PLL由传统PLL加上两个谐振频率分别为2倍、6倍电网频率的谐振补偿器（Resonant compensator，以下简称“R补偿器”）并联组成，可同时实现对电网电压5次、7次谐波分量及负序分量引起的相位扰动的有效抑制。 3. A method for detecting fundamental wave voltage synchronous signals when grid voltage harmonic distortion and three-phase unbalance according to claim 1 is characterized in that the resonant PLL described in step (5) is added by a traditional PLL Two resonant compensators (Resonant compensator, hereinafter referred to as "R compensator") whose resonant frequencies are 2 times and 6 times the grid frequency respectively are connected in parallel, which can realize the 5th and 7th harmonic components and negative sequence components of the grid voltage at the same time. Effective suppression of phase disturbances caused by 4.根据权利要求1所述的一种电网电压谐波畸变及不平衡时基波电压同步信号的检测方法，其特征在于，步骤（7）所述的相序分离模块由两组前后两级陷波频率分别为300Hz、100Hz的陷波器串联组成，通过对输入两级陷波器前后的信号分别作加减法运算获得电网电压的基频正序、负序分量以及谐波分量。 4. A method for detecting harmonic distortion and unbalanced time fundamental wave voltage synchronization signal of grid voltage according to claim 1, characterized in that the phase sequence separation module described in step (7) consists of two groups of front and back stages The notch frequency of 300Hz and 100Hz are composed of notch filters connected in series, and the positive sequence, negative sequence and harmonic components of the fundamental frequency of the grid voltage are obtained by adding and subtracting the signals before and after the two-stage notch filter.
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