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Lus Guilherme B. ROLIM, Member, IEEE, Diogo R. COSTA, Jr., and Maurcio AREDES, Member, IEEE

Federal University of Rio de Janeiro (UFRJ), Electrical Engineering (COPPE and POLI) P.O.Box 68504, 21945-970 Rio de Janeiro Brazil e-mail: [rolim | diogo | aredes]@coe.ufrj.br

AbstractThis paper presents the analysis and software implementation of a robust synchronizing circuit PLL circuit designed for using in the controller of active power line conditioners. The basic problem consists in designing a PLL circuit that can track accurately and continuously the positive-sequence component at the fundamental frequency and its phase angle, even when the system voltage of the bus, to which the active power line conditioner is connected, is distorted and/or unbalanced. The fundaments of the PLL circuit are discussed. It is shown that the PLL can fail in tracking the system voltage during the startup, under some adverse conditions. Moreover, it is shown that oscillations caused by the presence of subharmonics can be very critical and can pull the stable point of operation synchronized to that sub-harmonic frequency. Oscillations at the reference input are also discussed, and the solution of this problem is presented. Finally, experimental and simulation results are shown and compared.

I. INTRODUCTION

Most applications of static converters connected to the utility power grid require synchronization between the grid voltage and the voltage or current synthesized by the converter. As examples of such applications can be pointed out: converters that inject energy coming from alternative supplies into the grid; Active Power Line Conditioners, FACTS and Custom Power devices (e.g. DVR, STATCOM, active filters [1]-[3]). In many cases, the reference signal obtained from the grid voltage is contaminated by harmonics, which may have been produced by the power converter itself or generated elsewhere. Additionally, the voltages in a three-phase system may contain unbalances from negativeand/or zero-sequence components, which could cause improper synchronization between converter and grid. The most widely accepted solution to provide synchronization between time-varying signals is the use of a phase-locked-loop (PLL) system [4] that can be described by the basic structure shown in block diagram form in Fig. 1. This simplified PLL structure comprises a phase detector (PD), a loop filter (LF) and a controlled oscillator (VCO), each of which can be implemented in several different forms. If the signal to be tracked (reference input) is an analog signal, then the most suitable type of PD to be used is the product-type one. The use of a product-type PD plus a linear LF causes the PLL to behave linearly for small variations on input,

reference input u 1(t)

II. FUNDAMENTALS OF THE THREE-PHASE PLL CIRCUIT

In the case of three-phase input signals, traditional (single input) PLL system analysis [4] can still be applied if small modifications are introduced in the simplified structure of Fig. 1. In view of that, in this work, the reference input is represented by a space vector, as well as the VCO output: u1 (t ) = U 1e j ( w1t +1 ) and u 2 (t ) = U 2 e j ( w2t +2 ) (1)

In stationary () reference frame, both signals can be written in the form u(t) = u + ju , where the and components are u(t)=Ucos(t+) and u(t)=Usin(t+). Three-phase input signals can be easily converted to this form through the Clarke Transformation. Alternatively, these signals can be represented in a synchronously rotating reference frame (through the Park Transformation) as shown in [5], with similar results. The angular frequency 2 of the VCO output signal is related to its input uf(t) by: 2 = 0 + uf(t) , where 0 is called the center frequency. The phase detectors operation is based on the product of both space vectors u1(t) and u2(t). For this reason it is often called a vector-product phase detector (VP-PD). Its output can be obtained from the operation: ud(t) = u1(t) . u2(t)* = U1U2 ej(1-2)t ej(1-2), (3) (2)

where the asterisk denotes the complex conjugate. Alternatively, the phase error signal can be expressed in rectangular form as ud(t) = (u1 u2+ u1 u2) + j(u1 u2 - u1 u2). (4)

It is evident from (4) that the real and imaginary components of ud(t) have, respectively, the same form as the p and q power components from Akagis instantaneous power theory [7],[8]. Hereafter, two different approaches can be adopted: if the real part of ud(t) is used as feedback error signal, then we have the so-called p-type PLL system, or p-PLL for short. Using the imaginary part of ud(t) yields the so-called q-PLL [9]. The latter approach will be used in the analysis presented next, but the results are applicable to p-PLL systems as well. Now, considering that 1 = 2 = 0 (i.e. the PLL is nearly locked at the center frequency), then the phase error signal given by (3) can be further simplified to ud(t) = Im{U1U2 ej(1-2)}, which yields: ud(t) = U1U2.sin(1 - 2) , (5)

For small phase deviations, this relationship can be approximated linearly by: ud(t) Kd.e(t) , where Kd = U1U2 and e(t) = 1(t) 2(t). If the amplitudes U1 and U2 are both normalized to unity, then (6) further simplifies to ud(t) e(t). As a result, the linearized behavior of the PLL can be described by the simplified block diagram shown in Fig. 2. In the block diagram shown in Fig. 2, the center frequency appears as a term added to the output of the PI loop filter. This produces the same effect as a non-zero initial condition at the integrators output. For a proportional plus integral (PI-type) loop filter, as the one shown in Fig. 2, the linearized loop transfer function between 1(t) and 2(t) is given by: (6)

0 1(t) +e(t)

2(t)

K KP + i s

loop filter

uf

1 s

VCO

2(t)

H ( s) =

K s + Ki 2 ( s) = 2 P . 1 ( s) s + K P s + K i

(7)

2 2 n s + n 2 s 2 + 2 n s + n

(8)

where n = K i and =

KP 2 Ki

Well-designed PLL systems should meet the following design criteria: 0.7 for optimum transient response (ITAE sense); narrow bandwith (low n) for improved noise rejection, in order to produce a purely sinusoidal output signal even in the presence of input harmonics. The PLL lock range is defined as the maximum initial frequency deviation between reference

f(Hz)

f(Hz)

80 70 60 50 40 30 20 10 0 -10 0

80 70 60 50 40 30 20 10 0 -10 0

0.5

1.5

2.5

3.5 t(s)

0.5

1.5

2.5

3.5 t(s)

(a)

(b)

Fig. 3 Simulation results for sub-harmonic disturbances at 1Hz: (a) 7% in magnitude and (b) 10% in magnitude

input and VCO output, which will still cause the PLL to get locked in a single beat. It can be shown to be approximately equal to the natural frequency n: L n. (9)

Thus, a narrow-bandwith PLL may fail to lock at some desired frequency during the start-up transient, if following conditions are met: the input signal contains harmonic components; the initial PI output is more distant from the desired frequency than the lock range; the initial PI output (or the center frequency) is close to some harmonic.

It is however very difficult to predict the behavior of the PLL under the above conditions, because it depends on the relative amplitude of the harmonic components. Sub-harmonic oscillations at the reference input can cause the PLL to lock at the lower sub-harmonic frequency, even if the relative magnitude is very low. This fact is illustrated by the simulation results presented in Fig. 3a and Fig. 3b. For both simulations, the frequency of interest is 60Hz (with normalized amplitude of 1 p.u.) and a disturbance at 1Hz has been added. The initial condition at the PI loop filter output is zero, what means that the VCO starts from zero frequency or DC conditions. If the disturbance is slightly increased beyond 7% of the main component, the PLL fails to lock at the desired center frequency of 60Hz. Fig. 3a shows a critical situation where 7% of disturbance at 1Hz is introduced and the PLL still locks at the center frequency (60Hz). However, it locks at 1Hz instead, as shown in Fig. 3b, if the disturbance is increased to 10% at 1Hz. As the frequency of interest for grid-connected applications is essentially constant (50Hz or 60Hz), an obvious solution to the above problem would be tuning the PLL by adjusting its center frequency to the nominal grid frequency. However, an even safer solution is the introduction of limits to the PI output, so that the VCO frequency variation is confined to the center

frequency (chosen equal to the grid frequency) plus or minus the lock range. A potential risk introduced by this approach is the chance of occurring so-called reset windup problems in the controller [6], which can lead to undesired oscillations, numerical overflow problems and even to instability. To avoid these difficulties, some anti windup strategy should be used for implementation of the control algorithms. This solution has been implemented by software in a TMS320LF2407 DSP. Some implementation details are given in the next section.

III. IMPLEMENTATION DETAILS

The proposed PLL system was implemented with fixed-point arithmetic in the TMS320LF2407 DSP, using a 10 kHz sampling frequency. The algorithm is executed as an interrupt service routine (ISR), which is triggered by one of the general-purpose timer circuits available on-chip. The same timer also triggers the acquisition of input signals, simultaneously with the interrupts. As the on-chip A/D converters are fast (approximately 500ns conversion time), input data is made available at the beginning of the ISR with negligible time delay. A simplified block-diagram representation of the implemented algorithm is shown in Fig. 4 (compare to the block diagram of Fig. 1). The line voltages vab and vbc are converted to the reference frame through the Clarke Transformation, immediately after A/D conversion. The feedback signals corresponding to VCO output (labeled i and i in Fig. 4) are generated in

i vab vbc

- Transf.

sin(t)

v

X

p3

v

X

PI Controller

1 s

cos(t) i

Fig. 4 Block-diagram representation of the implemented algorithm

real time by table interpolations, which give the sine and the cosine of the output angle t. The vector product between the reference input signals and VCO outputs (v + j v and i + j i respectively) is calculated as the sum of products of the individual components. The resulting quantity can be also interpreted as the real power, according to Akagis pq theory ([7],[8]) and it is the input error signal for the PI-Controller. Hence, in this case a p-type PLL has been implemented. The output signal produced by its phase detector (VP-PD) is called p3 and can be written as: p3 = 3.V.I.cos(1 - 2) , for the PLL in the locked state at the center frequency. In steady state, the VCO outputs (i + j i) lead the reference input signals (v + jv) by 90. This fundamental characteristic should be reminded when the PLL circuit is applied.

IV. EXPERIMENTAL RESULTS

(10)

The experimental results obtained by the PLL algorithm, which has been implemented with fixed point arithmetic in the TMS320LF2407 DSP, were compared with simulations carried out in MATLAB. The input signals used in the simulations were the same ones acquired during the experimental tests. The sampling frequency used in the simulations was also 10 kHz. The chosen LF parameters were kP = 50 and kI = 5000, yielding a lock range of approximately n = 70rad/s (11Hz) and a damping coeficient of nearly = 0.35. A. Unbalanced input signals In this case, in all experimental tests, as well as in the simulations, the PI output values were limited to a minimum of 0.5 (corresponding to 30Hz) and a maximum of 1.5 (corresponding to 90Hz), since the center frequency (60Hz) was normalized to 1 p.u.

Six test cases have been carried out, with different initial conditions at the PIs output and different input signals (balanced and with negative-sequence unbalance). In the first test case, balanced input signals were applied and the initial value for the PIs output was set equal to one (i.e. the resulting initial frequency deviation is inside the lock range). In the second test case, unbalanced input signals were applied, containing 12.5% of negative-sequence component at the fundamental frequency, and the initial value for the PIs output was also equal to one. The results of these cases are shown in Fig. 5 and Fig. 6 respectively, where the dynamic response of the PLL circuit can be observed. In both cases, where the PIs output was initial-

error

0.05

0.1

0.15

0.2

0.25 t(s)

0.3

(a)

f(pu) 1.3 1.2 1.1 1 0.9

Simulation Experimental

0.05

0.1

0.15

0.2

0.25 t(s)

0.3

(b)

Fig. 5 Experimental and simulation results for signal balanced and the initial value for the PIs output equal to 1: (a) error (b)PI output

error 0.5

-0.5

-1

(a)

f(pu) 1.2 1.1 1 0.9 0.8

Simulation Experimental

0.05

0.1

0.15

0.2

0.25 t(s)

0.3

(b)

Fig. 6 Experimental and simulation results for signal unbalanced and the initial value for the PIs output equal to 1:(a) error (b)PI output

ized with 1.0, the PLL circuit locks to the desired frequency in approximately 170ms. The expected settling time would lie between approximately four to five units divided by the product n (i.e. 160200ms). In the second test, the output frequency presents ripples smaller than two percent. The third test case comprises balanced input signals and the PI initial value is equal to 0.5 (i.e. outside the lock range). The results are shown in Fig. 7. In the fourth test case, input signals with 12.5% negative-sequence imbalance at the fundamental frequency were used, and the initial value for the PIs output was set to 0.5. The results of this test case are shown in Fig. 8.

1 error 0.5 0 -0.5 -1 Simulation Experimental

0.05

0.1

0.15

0.2

0.25 t(s)

0.3

(a)

f(pu) 1.4 1.2 1 0.8 0.6 0.4 0 0.05 0.1 0.15 0.2 0.25

Simulation Experimental

0.3 t(s)

(b)

Fig. 7 Experimental and simulation results for signal balanced and the initial value for the PIs output equal to 0.5: (a) error (b)PI output

error 1 0.5 0 -0.5 -1 Simulation Experimental

0.1

0.2

0.3

0.4

0.5 t(s)

0.6

(a)

f(pu) 1.4 1.2 1 0.8 0.6 0.4 0 0.1 0.2 0.3 0.4 0.5

Simulation Experimental

0.6 t(s)

(b)

Fig. 8 Experimental and simulation results for signal unbalanced and the initial value for the PIs output equal to 0.5: (a) error (b)PI output

In these cases, where the PIs output is initialized to 0.5, the PLL takes more time to lock in the desired frequency (~250ms for balanced signals and ~430ms for unbalanced signals) than the previous ones. This occurs because the initial frequency deviation is well outside the lock range. The ripple presents in the output frequency in the fourth test is smaller than three percent. The fifth test case has balanced input signals and the initial value for the PIs output is equal to 1.5 (also outside the lock range). The results are shown in Fig. 9. The sixth test uses input signals unbalanced by 12.5% of negative-sequence component at the fundamental frequency

1 error 0.5 0 -0.5 -1 Simulation Experimental

0.05

0.1

0.15

0.2

0.25 t(s)

0.3

(a)

f(pu) 1.6 1.4 1.2 1 0.8 0.6 0 0.05 0.1 0.15 0.2 0.25

Simulation Experimental

0.3 t(s)

(b)

Fig. 9 Experimental and simulation results for signal balanced and the initial value for the PIs output equal to 1.5: (a) error (b)PI output

1 error 0.5 0 -0.5 -1 Simulation Experimental

0.1

0.2

0.3

0.4

0.5 t(s)

0.6

(a)

f(pu) 1.6 1.4 1.2 1 0.8

Simulation Experimental

0.1

0.2

0.3

0.4

0.5 t(s)

0.6

(b)

Fig. 10 Experimental and simulation results for signal unbalanced and the initial value for the PIs output equal to 1.5: (a) error (b)PI output

and the initial value for the PIs output is equal to 1.5. The results are shown in Fig. 10. For the PIs output initialized to 1.5, the time the PLL takes to lock to the desired frequency is approximated the same one as when the PIs output is initialized to 0.5. The frequency ripple present in the sixth test is smaller than two percent. In all of the above tests, the PLL algorithm has successfully locked to the desired frequency, even in the presence of strong negative-sequence unbalances in the input voltages. With more than 10% of negative-sequence unbalance, the frequency jitter caused by this same unbalance remains around 1%. Based on the results obtained from the tests presented above, it can be

error 1 0.5 0 -0.5 -1 0 1.5 1 0.5 0 -0.5 0 Simulation Experimental 0.5 1 1.5 Simulation Experimental

0.5

1.5

2.5

(a)

f(pu)

3.5 t(s)

(b)

2.5

3.5 t(s)

Fig. 11 Experimental and simulation results for 7% of sub-harmonic disturbance at 1Hz and the initial value for the PIs output equal to zero: (a) error (b)PI output.

error 0.25 0 -0.25 -0.5 0 1.1 1.05 1 0.95 0.9 0 Simulation Experimental 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 t(s) 1 Simulation Experimental

(a)

f(pu)

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

0.9 t(s)

(b)

Fig. 12 Experimental and simulation results for 7% of sub-harmonic disturbance at 1Hz and the PIs output is limited: (a) error (b)PI output

said that the implemented PLL algorithm is very robust against negative-sequence unbalances coming from the three-phase input signals, up to an amount of 12.5% at least. The resulting VCO output signal will then always lock to the positive-sequence component of the input signals, thus indicating that this very algorithm can be used as a positive-sequence voltage or current detector.

error

1 0.5 0 -0.5 -1 0 0.2 0.1 0 -0.1 -0.2 0 Simulation Experimental Simulation Experimental

0.5

1.5

2.5

(a)

f(pu)

3.5 t(s)

0.5

1.5

(b)

2.5

3.5 t(s)

Fig. 13 Experimental and simulation results for 10% of subharmonic disturbance at 1Hz and the initial value for the PIs output equal to zero: (a) error (b)PI output

error 1 0.5 0 -0.5 -1 0 f(pu) 1.4 Simulation Experimental 1.2 Simulation Experimental

0.1

0.2

0.3

0.4

0.5

0.6

0.7

0.8

(a)

0.9 t(s)

0.8 0

0.1

0.2

0.3

0.4

(b)

0.5

0.6

0.7

0.8

0.9 1 t(s)

Fig. 14 Experimental and simulation results for 10% of subharmonic disturbance at 1Hz and the PIs output is limited: (a) error (b)PI output

B. Sub-harmonics Four tests have been carried out to verify the performance of the PLL control software in the presence of sub-harmonic oscillations at very low frequency (1Hz), under different initial conditions and limiting or not the PI controllers output. The results of these tests are shown from Fig. 11 to Fig. 14. Fig. 11 and Fig. 12 show the results of the tests, which have used 7% of sub-harmonic disturbance at 1Hz. In Fig. 11, the system starts from zero initial condition and the PIs output is not limited. In Fig. 12, the PIs output is limited and the initial value is within the limits. Simulation and experiments show that the PLL locks to the desired frequency in both cases. For the test results presented in Fig. 13 and Fig. 14, the sub-harmonic disturbance was 10% at 1Hz. In Fig. 13 the initial value for PIs output is zero and the output is not limited. In this case, the PLL fails to lock. This problem can be corrected if limits are introduced to the PIs output, as shown in Fig. 14. The PLL output frequency then locks to the desired frequency, with only a few percent of frequency ripple.

error

Simulation Experimental

f(pu)

(a)

0.25

t(s)

0.3

Simulation Experimental

(b)

0.15

0.2

0.25

t(s)

0.3

Fig. 15 Experimental and simulation results for harmonic disturbance and the PIs output is limited: (a) error (b)PI output

C. Harmonics This test was accomplished to verify the performance of the PLL circuit in the presence of harmonic distortion. In this case, the line voltage signals were acquired from a common bus, to which a three-phase, full-bridge rectifier is also connected. These signals were contaminated by a fifth-order harmonic component of approximately 10% and an eleventh-order harmonic component of nearly 5%. The THD is approximately of 15% and the waveform of this voltage

vab,ref

vab,gen

can be seen in Fig. 16 with the label of vab,ref. Fig. 15 shows the simulation and the experimental results obtained from the present test. In this case, the PIs output is limited and the initial value for its output is equal to 1.0. The experimental results agree very well to the simulation results. The application of this PLL circuit in the control of a power electronics device was also demonstrated in this test, with the correct switching of a PWM inverter supplying a resistive load.

vab,ref

vab,gen

In Fig. 16, the distorted signal labeled vab,ref is the reference signal for the PLL circuit and the voltage labeled vab,gen is the (filtered) voltage generated by PWM switching of the inverter. The PLL circuit has successfully locked, and the inverter is synchronized with the fundamental component of the line voltage.

V. CONCLUSIONS

This paper describes a robust synchronizing PLL circuit, which has been analyzed and implement by software. The experimental results obtained from several tests have been com-

vab,ref

vab,gen

Fig. 16 Experimental results for harmonic disturbance of the switching of an inverter PWM

pared to MATLAB simulations, showing good agreement. Some aspects related to the systems ability to maintain synchronism in the presence of sub-harmonics, harmonics and negative-sequence unbalances have been investigated, and the implemented algorithm revealed to be robust even under such circumstances. When the input signals are contaminated with negative-sequence components, the implemented PLL is able to produce output signals locked to the positive sequence components only. This makes this PLL circuit suitable for positivesequence detection of voltages and/or currents in power electronics equipment.

VI. ACKNOWLEDGEMENTS

The authors are grateful to Brazilian Research Council (CNPq) for the financial support.

VII. REFERENCES

[1] L.N. Arruda, S.M. Silva and B.J.C. Filho, PLL structure for utility connected systems, Conference Record of the Thirty-Sixth IEEE-IAS Annual Meeting (2001), Volume 4, Page(s): 2655-2660. [2] C. Zhan, C. Fitzer, V.K. Ramachandaramurthy, A. Arulampalam, M. Barnes and N. Jenkins, Software phase-locked loop applied to dynamic voltage restore (DVR), IEEE Power Engineering Society Winter Meeting, 2001, Volume 3, Page(s): 1033-1038. [3] S. Chung, A phase tracking system for three phase utility interface inverters, IEEE Transactions on Power Electronics, Volume 15 Issue 3, May 2000 Page(s): 431-438. [4] R.E. Best, Phase Locked Loops Theory, Design and Applications, ISBN 0-07-0050503, McGraw-Hill, 1984. [5] V. Kaura and V. Blasko, Operation of a phase locked loop system under distorted utility conditions, IEEE Transactions on Industry Applications, Volume 33 Issue 1, Jan.-Feb. 1997 Page(s): 5863.

[6] K.J. strm and B. Wittenmark, Computer-Controlled Systems Theory and Design, 3rd Edition, ISBN 0-13-314899-8, Prentice-Hall, 1984 [7] H. Akagi, Y. Kanagawa e A. Nabae, Instantaneous Reactive Power Compensator Comprising Switching Devices Without Energy Storage Components, IEEE Trans. Industry Applications, vol. IA-20, May-June, 1984. [8] E.H. Watanabe, R.M. Stephan e M. Aredes, New Concepts of Instantaneous Active and Reactive Powers in Electrical Systems with Generic Loads, IEEE Trans. Power Delivery, vol. 8, No. 2, April 1993, pp. 697-703. [9] E.M. Sasso, G.G. Sotelo, A.A. Ferreira, E.H. Watanabe, M. Aredes, P.G. Barbosa, Investigao dos Modelos de Circuitos de Sincronismo Trifsicos Baseados na Teoria das Potncias Real e Imaginria Instantneas (p-PLL e q-PLL), Proceedings of the XV CBA, Natal-RN, Brazil, September 2002, pp. 480-485 (in portuguese).

BIOGRAPHIES

Diogo Rodrigues da Costa Junior was born in Rio de Janeiro State, Brazil, on June 12, 1980. He received the B.Sc. degree from Federal University of Rio de Janeiro, in 2003. He is involved in research projects of the Power Electronic Laboratory from the COPPE/UFRJ, since 2001. He is enrolled in M.Sc. at COPPE/UFRJ in Power Electronics and, with Dr. Rolim and Dr. Aredes, is developing the digital control of a prototype of a Dynamic Voltage Restorer. Lus Guilherme Barbosa Rolim was born in Niteri, Brazil, in 1966. He received the B.S. and M.S. degrees from the Federal University of Rio de Janeiro (UFRJ), Rio de Janeiro, Brazil, and the Dr.-Ing. degree from the Technical University Berlin, Berlin, Germany, in 1989, 1993, and 1997, respectively, all in electrical engineering. Since 1990, he has been a Faculty Member of the Electrical Engineering Department, Escola Politcnica, UFRJ, where he teaches and conducts research on power electronics, drives, and microprocessor control. He is a member of the Power Electronics Research Group at COPPE/UFRJ and has authored more than 20 papers published in brazilian and international conference proceedings and technical journals. Maurcio Aredes (S94, M97) was born in So Paulo State, Brazil, on August 14, 1961. He received the B.Sc. degree from Fluminense Federal University, Rio de Janeiro State in 1984, the M.Sc. degree in Electrical Engineering from Federal University of Rio de Janeiro in 1991, and the Dr.-Ing. Degree (magna cum laude) from Technische Universitt Berlin in 1996. From 1985 to 1988 he worked at the Itaipu HVDC Transmission System and from 1988 to 1991 in the SCADA Project of Itaipu Power Plant. From 1996 to 1997 he worked within CEPEL Centro de Pesquisas de Energia Eltrica, Rio de Janeiro, as R&D Engineer. In 1997, he became an Associate Professor at the Federal University of Rio de Janeiro, where he teaches Power Electronics. His main research area includes HVDC and FACTS systems, active filters, Custom Power and Power Quality Issues. Dr. Aredes is a member of the Brazilian Society for Automatic Control and the Brazilian Power Electronics Society.

Fig. 1 Block diagram of basic PLL structure Fig. 2 Small-signal block diagram. Fig. 3 Simulation results for sub-harmonic disturbances at 1Hz: Fig. 4 Block-diagram representation of the implemented algorithm Fig. 5 Experimental and simulation results for signal balanced and the initial value for the PIs output equal to 1: (a) error (b)PI output Fig. 6 Experimental and simulation results for signal unbalanced and the initial value for the PIs output equal to 1:(a) error (b)PI output Fig. 7 Experimental and simulation results for signal balanced and the initial value for the PIs output equal to 0.5: (a) error (b)PI output Fig. 8 Experimental and simulation results for signal unbalanced and the initial value for the PIs output equal to 0.5: (a) error (b)PI output Fig. 9 Experimental and simulation results for signal balanced and the initial value for the PIs output equal to 1.5: (a) error (b)PI output Fig. 10 Experimental and simulation results for signal unbalanced and the initial value for the PIs output equal to 1.5: (a) error (b)PI output Fig. 11 Experimental and simulation results for 7% of sub-harmonic disturbance at 1Hz and the initial value for the PIs output equal to zero: (a) error (b)PI output. Fig. 12 Experimental and simulation results for 7% of sub-harmonic disturbance at 1Hz and the PIs output is limited: (a) error (b)PI output Fig. 13 Experimental and simulation results for 10% of sub-harmonic disturbance at 1Hz and the initial value for the PIs output equal to zero: (a) error (b)PI output Fig. 14 Experimental and simulation results for 10% of sub-harmonic disturbance at 1Hz and the PIs output is limited: (a) error (b)PI output Fig. 15 Experimental and simulation results for harmonic disturbance and the PIs output is limited: (a) error (b)PI output Fig. 16 Experimental results for harmonic disturbance of the switching of an inverter PWM

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