energies

Article
An Adaptive Frequency Phase-Locked Loop Based on
a Third Order Generalized Integral
Heng Du, Qiuye Sun *, Qifu Cheng, Dazhong Ma and Xu Wang
College of Information Science and Engineering, Northeastern University, Shenyang 110004, China;
duheng_0430@163.com (H.D.); lowkeycheng@163.com (Q.C.); madazhong@ise.neu.edu.cn (D.M.);
wangxu@ise.neu.edu.cn (X.W.)
* Correspondence: sunqiuye@ise.neu.edu.cn; Tel.: +86-139-9881-1006




Received: 19 December 2018; Accepted: 15 January 2019; Published: 19 January 2019


Abstract: In this paper, the basic principle and characteristics of a phase-locked loop (PLL) in
a single phase grid-connected system are analyzed, and this paper introduces one type virtual
orthogonal voltage vector method based on a third order generalized integrator (TOGI) to construct
an alpha and beta static coordinate system. The TOGI structure can eliminate the DC offset in
a voltage signal or zero offset in the sampling process, and ensure the amplitude of the virtual
orthogonal signal is consistent. At the same time, the adaptive frequency estimation unit is introduced,
which can effectively deal with the power grid voltage frequency changes and ensure the accuracy
of PLL. MATLAB (R2012a, MathWorks, Natick, MA, USA) is used to simulate the variation of
power grid voltage frequency, DC component injection, harmonics injection and other parameters,
and the performance of PLL is adequately verified. In addition, a 5kW single-phase energy router
experimental platform is built to verify the proposed PLL. The experimental results show that the
PLL can well track the frequency change of the grid voltage and eliminate the DC offset, so as to
achieve accurate phase tracking.

Keywords: single phase PLL; third order generalized integral (TOGI); DC offset elimination;
adaptive frequency

1. Introduction
With the introduction of the Energy Internet and the continuous development of power electronics
technology, the architecture, theory, technology and application research of the next generation of
smart power distribution networks with key equipment power routers have become more and
more a hot topic in the field of renewable energy [1,2]. With the application of power electronic
equipment in distribution networks, there are still many practical problems that need to be solved.
The Future Renewable Electric Energy Delivery and Management (FREEDM) system puts forward the
concept of energy router [3]. Reference [4] summarizes the Energy Internet architecture and technical
framework, in addition, it analyses the key problems and challenges of information technology in
the Energy Internet development process. Reference [5] discussed the implementation model of the
Energy Internet with energy routers as the core exchange device, and illustrated that in the research
directions in this field, there is an urgent need of breakthroughs based on the existing research results.
Reference [6] puts forward the advanced energy and information interaction technology to realize the
Energy Internet, and analyzes and discusses the scientific issues involved in various key technologies.
All the above articles introduce the power energy router from the power system perspective, without
considering the control application from a power electronics perspective.
Phase-locked loop (PLL) is a common method to obtain phase information of a power grid.
With the rapid development of renewable energy technology, PLL has begun to be widely applied

Energies 2019, 12, 309; doi:10.3390/en12020309 www.mdpi.com/journal/energies

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Energies 2018, 11, x FOR PEER REVIEW 2 of 21

in future energy systems [7]. The structure of a single-phase PLL is shown in Figure 1. The PLL is
realized based on the instantaneous reactive power theory and the beta-axis vector control of the
45 realized based on the instantaneous reactive power theory and the beta-axis vector control of the
grid voltage under the rotating coordinate system is set to 0, so as to realize the tracking of the
46 grid voltage under the rotating coordinate system is set to 0, so as to realize the tracking of the
voltage phase of the grid. However, due to the insufficient phase number of grid voltage signals
47 voltage phase of the grid. However, due to the insufficient phase number of grid voltage signals in
in single-phase grid-connected converter, Clark/Park transformation cannot be carried out directly,
48 single-phase grid-connected converter, Clark/Park transformation cannot be carried out directly, so
so virtual orthogonal vectors need to be constructed by special units.
49 virtual orthogonal vectors need to be constructed by special units.

vq* =0 ω0

vα vq ε ω θ
v αβ 
vβ vd 1
dq 2π
f

50
Figure 1. The structure of a single phase phase-locked loop (PLL).
51 Figure 1. The structure of a single phase phase-locked loop (PLL).
There are two difficult existing issues in the PLL structure: firstly, there is direct current (DC)
52 offsetThere
due to arethetwo amplifier
difficultand voltage
existing sensor
issues induring
the PLL thestructure:
samplingfirstly,process. Secondary,
there is directthe frequency
current (DC)
53 of
offset due to the amplifier and voltage sensor during the sampling process. Secondary,can’t
the voltage is not a constant 50 Hz and when there is frequency fluctuation, the traditional PLL the
54 track the grid
frequency of voltage
the voltage frequency
is notimmediately
a constant because
50 Hz and the reference
when there frequency
is frequencyis constant. This paper
fluctuation, the
55 provides
traditional a new
PLL approach
can’t tracktothe solve
grid the above frequency
voltage issue through a high performance
immediately because the single phasefrequency
reference PLL.
56 is constant. This paper provides a new approach to solve the above issue throughadopted
In a three-phase system, a synchronous reference frame PLL (SRF-PLL) is usually a high
57 for PLL [8]. In
performance order
single to apply
phase PLL. SRF-PLL mode to single-phase PLL, a orthogonal signal generator
58 (OSG) In needs to be constructed
a three-phase system, a [9]. The single-phase
synchronous reference voltage
frame input signal constitutes
PLL (SRF-PLL) is usually theadopted
two-phase for
59 orthogonal
PLL [8]. In order signaltothrough the orthogonal
apply SRF-PLL mode tosignal generator,
single-phase PLL,and then the Park
a orthogonal signaltransform
generatorcan (OSG) be
60 used
needstotoobtain the phase error
be constructed [9]. The signal with high accuracy,
single-phase voltage input so as to solveconstitutes
signal the problem theof two-phase
quadratic
61 frequency
orthogonaldouble harmonics
signal through the[10]. However,
orthogonal signalwhen the orthogonal
generator, and thensignalthe Park is implemented
transform canby bedelay,
used
62 it
towill not be
obtain theable to adapt
phase errortosignal
the rapidwithchange of frequency.
high accuracy, so Currently,
as to solve orthogonal
the problem signal ofrealization
quadratic
63 methods
frequencycommonly
double harmonics used Hilbert transform when
[10]. However, (HT) [11], inverse Park
the orthogonal transform
signal [12], adaptive
is implemented by delay,notch it
64 filter (ANF) [13], and second order generalized integrator (SOGI)
will not be able to adapt to the rapid change of frequency. Currently, orthogonal signal realization [14]. Differential PLL (DPLL) [15]
65 is a kind of
methods differential
commonly usedmethod
Hilbert totransform
construct the (HT)structure
[11], inverseof thePark virtual orthogonal
transform [12], signal,
adaptive through
notch
◦ . Hilbert Transform
66 the power grid voltage signal differential can get a signal with a
filter (ANF) [13], and second order generalized integrator (SOGI) [14]. Differential PLL (DPLL) [15]difference of 90
67 PLL (HT-PLL)
is a kind [16] is a method
of differential method to to construct
construct virtual orthogonal
the structure of thevectors
virtual through
orthogonal Hilbert
signal, transform,
through
68 which
the poweris generally realized signal
grid voltage by Finite Impulse Response
differential can get (FIR) HT orwith
a signal Infinite Impulse Response
a difference of 90°. (IIR) HT.
Hilbert
69 However, it has two disadvantages: the phase deviation caused
Transform PLL (HT-PLL) [16] is a method to construct virtual orthogonal vectors through Hilbert by delayed links and he amplitude
70 inconsistency
transform, which of orthogonal
is generally signals.
realized Finite Impulse
by Finite Response
Impulse PLL (SDFT-PLL)
Response (FIR) HT or [17]Infinite
is a methodImpulse to
71 construct virtual orthogonal vectors through a discrete Fourier
Response (IIR) HT. However, it has two disadvantages: the phase deviation caused by delayed transform. The difficulty of this method
72 lies
linksin how
and toheenhance amplitude the stability of PLL in of
inconsistency long-term
orthogonaloperation by controlling
signals. Finite Impulse rounding deviation PLL
Response and
73 adjust bias and
(SDFT-PLL) [17] resonance
is a method error to through adaptive
construct virtualsampling
orthogonal frequency.
vectors In athrough
word, itaisdiscrete
a PLL structure
Fourier
74 with excellent effect. Enhanced PLL (EPLL) [18] is a special OSG-PLL
transform. The difficulty of this method lies in how to enhance the stability of PLL in long-term structure, but its research is also
75 very extensive.
operation The control
by controlling effect is deviation
rounding very goodand when the grid
adjust bias voltage frequency
and resonance errorremains
through unchanged,
adaptive
76 but there frequency.
sampling will be phase In adeviation
word, it iswhen a PLLthe frequency
structure withfluctuates.
excellent effect.A kind of EPLLPLL
Enhanced structure
(EPLL)with [18]
77 harmonic elimination and DC elimination is proposed in [19]. The
is a special OSG-PLL structure, but its research is also very extensive. The control effect is very SOGI [20] appliance has excellent
78 dynamic
good when performance
the grid voltage and canfrequency
effectivelyremains
suppressunchanged,
noise, but inbut thethere
generation
will beprocess
phase of its orthogonal
deviation when
79 signals, frequency signal feedback is needed as the natural
the frequency fluctuates. A kind of EPLL structure with harmonic elimination and DC eliminationoscillation frequency. Considering the
80 DC offset, harmonic distortion and frequency mutation, the phase
is proposed in [19]. The SOGI [20] appliance has excellent dynamic performance and can effectively locking precision of SOGI based
81 single
suppress PLL is still
noise, butinsufficient. Reference
in the generation [21] of
process hasitsstudied
orthogonal the introduction
signals, frequency of frequency estimation
signal feedback is
82 units in three-phase SOGI PLL, but these units are too complex.
needed as the natural oscillation frequency. Considering the DC offset, harmonic distortion and Reference [22] studied the frequency
83 estimation
frequency unit in the PLL
mutation, the of
phasesingle-phase
locking SOGIprecisionstructure
of SOGI to realize
based frequency
single PLL adaptive.
is stillReference [23]
insufficient.
84 adopted
Referencethe [21]unit hasofstudied
frequency the correction
introduction to solve the problem
of frequency of phase
estimation unitslocking misalignment
in three-phase SOGIunderPLL,
85 frequency
but these unitsfluctuation.
are tooReferences [24] and [25]
complex. Reference [22]involve
studiedthe theFLL to estimate
frequency the reference
estimation unit in frequency
the PLL in of
86 single-phase SOGI structure to realize frequency adaptive. Reference [23] adopted the unit of
87 frequency correction to solve the problem of phase locking misalignment under frequency
88 fluctuation. References [24] and [25] involve the FLL to estimate the reference frequency in the
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89 structure of the SOGI, and SOGI-FLL is proposed to tracking frequency in the case of mutation of
90 thefrequency,
the structure ofhowever,
the SOGI, it and
still SOGI-FLL
can’t deal with is proposed
the DC to tracking
offset issue.frequency
Referencein[26] the proposed
case of mutation a PLL
91 structure of cascaded SOGI, which could eliminate DC components in the input signal,a PLL
of the frequency, however, it still can’t deal with the DC offset issue. Reference [26] proposed but
92 structure of two
introduced cascaded
sets SOGI,
of SOGI which could eliminate
structures DC components
to increase the delay inofthethe input signal,Reference
system. but introduced [27]
93 two sets of SOGI
summarizes structures
a variety of DC to increase
elimination the delay
PLL of the system.
methods based Reference [27] summarizes
on an improved SOGI astructure,
variety of
94 DC elimination PLL methods based on an improved SOGI
whose essence is to introduce filtering units. Although DC elimination can be achieved, the structure, whose essence is to introduce
95 filtering units.
dynamic AlthoughofDC
characteristics theelimination
system arecan be achieved,
greatly reduced. theThedynamic characteristics
traditional digital signal of theprocess
system
96 are greatly
technique ofreduced.
a KalmanThe filtertraditional
is applieddigital signalthe
to eliminate process technique
DC offset of a Kalman
in literature [28], but filter is applied
the approach
97 tothe
of eliminate
Kalman theis DC offset in literature
so complicated with the [28],discretization
but the approach of thealso
equation, Kalmanadding is so
to complicated
the computation with
98 the discretization
load of DSP. In [29], equation,
a cascaded also adding
double to the computation
SOGI is proposed to load of DSP. the
eliminate In [29],
DC aoffset
cascaded of the double
grid
99 SOGI is proposed
voltage, and it achieves to eliminate
high the lowDC passoffset of the
filter grid voltage,
performance, but andtheit achieves
transfer high functionlow passis upfilter
to
100 performance,itbut
fourth-order, the transfer
involves complex function is up to and
discretization fourth-order,
affects theitsystem
involves complex
stability. In discretization
summary, [28,29] and
101 affectshave
don’t the system
frequency stability.
tracking In summary,
functions [28,29]
during don’t have frequency
the mutation tracking
of frequency. The functions
above papersduringhas the
102 mutation of frequency. The above papers has done sufficient and
done sufficient and detailed work in the study of PLL, but for the practical engineering field, the detailed work in the study of PLL,
103 butoffor
use the practical
multi-stage engineering
filters increases the field, the unit
delay use of of multi-stage
the system, and filters
hasincreases
an impact theondelay unit of the
the integrity of
104 system,
the signal.and Athasthe ansameimpact
time,on inthetheintegrity of theSignal
actual Digital signal.Processor
At the same (DSP) time, in the actual Digital
or Field-Programmable
105 Signal
Gate Processor
Array (FPGA) (DSP) or Field-Programmable
programming, the algorithm GateisArray (FPGA) programming,
too complex to implement the andalgorithm
increasesisthe too
106 complex to implement
computational burden. and increases the
In addition, the computational
frequency variation burden.and In addition,
DC components the frequency in thevariation
actual
107 and DC
power components
system are notinconsidered
the actual simultaneously,
power system are not considered
which can only solve simultaneously,
a single problem which and can only
has
108 solve a effect
limited singleinproblem
practical and has limited effect in practical application.
application.
109 Based on the
Based theproblems
problems in the
in above
the abovepaperspapers
and considering its application
and considering in practicalin
its application engineering,
practical
110 a frequency-adaptive
engineering, phase-locked
a frequency-adaptive ring structure
phase-locked ringbased on the
structure TOGI
based on isthe proposed
TOGI is in this paper.
proposed in
111 Thepaper.
this main innovations are as follows:
The main innovations are asTOGI can effectively
follows: eliminate the
TOGI can effectively zero drift
eliminate theorzero
griddriftvoltage DC
or grid
112 offset caused
voltage DC offset by the sampling
caused by theprocess
sampling or process
another or cause. At the
another same
cause. Attime,
the sameit cantime,
achieve
it can frequency
achieve
113 adaptive tracking
frequency adaptiveintracking
the casein ofthe
the case
frequency
of the fluctuation of the power
frequency fluctuation ofgrid voltage,grid
the power andvoltage,
improveand the
114 tracking precision
improve the tracking and precision
adaptability andof adaptability
the PLL. Finally of the a MATLAB
PLL. Finally simulation
a MATLAB and experiments
simulationforand the
115 proposed PLL based on TOGI structure are verified.
experiments for the proposed PLL based on TOGI structure are verified.
116 Thecontent
The contentstructure
structureofofthis thispaper
paperisisas asfollows:
follows:the thestructure
structureof ofadaptive
adaptivefrequency
frequencyTOGI TOGIwas was
117 introducedin
introduced inSection
Section1.1.The Thetransfer
transferfunction
functionbode bodeof ofTOGI
TOGIanalysis
analysisin inSection
Section2.2.The Thediscretization
discretization
118 ofTOGI
of TOGIwith withaatrapezoidal
trapezoidalmethod methodisisintroduced
introducedin inSection
Section4.4.In Inaddition,
addition,the theproposed
proposedTOGI TOGIwas was
119 verifiedby
verified byaaMATLAB
MATLAB simulation
simulationin in comparison
comparisonto toSOGI
SOGIin inSection
Section5.5.Finally,
Finally,the theTOGI
TOGIPLL PLLwaswas
120 further validated in
further in aabidirectional
bidirectionalenergy energy router
routerexperimental
experimental platform
platformwhich was developed
which was developed based
121 on TMS320F28335
based on TMS320F28335 DSP and DSPXilinx FPGAFPGA
and Xilinx Spartan6 LX9 inLX9
Spartan6 Section 6.
in Section 6.

122 2.2.PLL
PLLBased
Basedon
onSOGI
SOGIStructure
Structure

123 Themost
The mostpopular
popularPLLPLLfor
forthe
thesingle
singlephase
phasegrid
gridconnected
connectedconverter
converterisisbased
basedon
onSOGI,
SOGI,and
anditit
124 transformsthe
transforms thesingle
singlephase
phasealternative
alternative current
current (AC)
(AC) signal
signal into
into an an orthogonal
orthogonal oneone without
without delay,
delay, as
125 as well, it filters the high frequency of the input signal. The corresponding block diagram is
well, it filters the high frequency of the input signal. The corresponding block diagram is shown in shown in
126 Figure
Figure 2.2.

ug − u+ 1 vα
⊗ ⊗ ×
+ − s
ω0
1
×
s vβ
127
128 Theblock
Figure2.2.The
Figure blockdiagram
diagramofofthe
thesecond
secondorder
ordergeneralized
generalizedintegrator
integrator(SOGI).
(SOGI).

129 The transfer functions of the SOGI are defined as:

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Energies 2018, 11, x FOR PEER REVIEW 4 of 21

 are defined
The transfer functions of the SOGI vα as: kω0 s
  H vd ( s ) = u ( s ) = s 2 + kω s + ω 2
 Hvd (s) = vgα (s) = 2 kω00 s 2 0
 u s +kω0 s+ (1)
vvβg kω 22 0
ω
(1)
 HHvqvq ((ss)) =
= uβ ((ss)) == 22 kω00 2 2
 ugg kω00ss++ωω
s s ++kω
 0
0

With the assumption that the grid frequency ω0 is 314rad/sec, we can draw the Bode diagram of
130 With the assumption that the grid frequency ω0 is 314rad/sec, we can draw the Bode diagram
the closed-loop of SOGI at different values of gain k (0.5, 1.0, 2.0), as shown in Figure 3.
131 of the closed-loop of SOGI at different values of gain k (0.5, 1.0, 2.0), as shown in Figure 3.
H vd ( s )

132
H vq ( s )

133
134 Figure 3.
Figure The Bode
3. The Bode diagram
diagram for
for the
the SOGI
SOGI structure.
structure.

According to the transfer function and Bode diagram, we see that H (s) is equivalent to a
135 According to the transfer function and Bode diagram, we see that Hvdvd( s ) is equivalent to a
band-pass filter, and it can extract the fundamental signal from a complex signal including the high
136 band-pass filter, and and
frequency harmonics it can
DCextract
offset.the fundamental
From signaldiagram,
the phase Bode from a complex signaldelay
the total phase including
of thethe high
SOGI is
137 frequency harmonics and DC offset. From the phase Bode diagram, the total phase delay
close to zero. The transfer function Hvq (s) is equivalent to a low-pass filter, which can perfectly extract of the
138 SOGI is close to signal
the fundamental zero. and
The attenuate
transfer function Hvq ( s ) is signal
the high-frequency equivalent to acomplex
from the low-pass filter,
signal which can
including the
139 perfectly extractharmonics
high frequency the fundamental signal But
and DC offset. andthe
attenuate
DC offset thewill
high-frequency
pass the SOGIsignal
to makefrom thedifference
a DC complex
140 signal including the high frequency harmonics and DC offset. But the DC offset will pass the SOGI
 Energies 2019, 12, 309 5 of 20

in the magnitude of the orthogonal vectors. Therefore, in the OSG structure, Hvq (s) is also expected to
present the characteristics of the band-pass filter and retain the information of the baseband signal.
Although the SOGI achieves high reliability to synchronize the fundamental signal of the power
grid, and track the phase angle, it has the drawback that limits its application in practice. For instance,
when the A/D circuit sampling has a DC offset because of some inherent feature of the amplifier,
the SOGI cannot eliminate the DC signal because its performance is low pass filer. Moreover, the other
important disadvantage of the ω0 of SOGI is a fixed parameter, not a variable parameter. Based on the
above analysis, we need to reconstruct the conventional SOGI to eliminate the DC signal and generate
an adaptive frequency reference.
Energies 2018, 11, x FOR PEER REVIEW 5 of 21
As shown in Figure 4, a frequency locked loop (FLL) was introduced into the SOGI structure
141 in
to[30],
make which
a DC candifference
track the power
in thegrid frequencyof
magnitude and realize
the adaptivevectors.
orthogonal frequency. However,
Therefore, inaccording
the OSG
142 structure, Hvq ( s ) is also expected to present the characteristics of the band-pass filter and
to the transfer function of Equation (2), it can still be seen that the difference between the transfer
retain
function of SOGI-FLL structure and the transfer function of SOGI structure is the fixed frequency value
143 the information of the baseband signal.
ω0 and the adaptive frequency value ω 0 . Therefore, the PLL based on SOGI-FLL structure achieves
144 Although the SOGI achieves high reliability to synchronize the fundamental signal of the
frequency adaptation, but it cannot realize the DC offset elimination, so a PLL based on a novel OSG
145 power grid, and track the phase angle, it has the drawback that limits its application in practice. For
structure should be studied and it is significant.
146 instance, when the A/D circuit sampling has a DC offset because of some inherent feature of the
147 amplifier, the SOGI cannot eliminate  Hvd (the DC signal because its performance is low pass filer.

kω 0 s
s) = uvαg (s) = s2 +kω 0 s+ω 0 2
148 Moreover, the other important disadvantage of the ω 0 0 2 of SOGI is a fixed parameter, not(2)a
 Hvq (s) = uv β (s) = 2 kω
s +kω 0 s+ω 0 2
149 variable parameter. Based on the above analysis, g
we need to reconstruct the conventional SOGI to
150 eliminate the DC signal and generate an adaptive frequency reference.

−
ug + u+ 1 vα
⊗ ⊗ ×
− s

1 ω'
× ⊗
×
1
s s
ω0 vβ
151
152 Figure4.4.The
Figure Theblock
blockdiagram
diagramof
ofSOGI
SOGIwith
withFLL.
FLL.

153 3. Adaptive
As shown Frequency
in FigurePLL
4, aBased on TOGI
frequency locked loop (FLL) was introduced into the SOGI structure in
154 [30],To
which
solvecan
thetrack the power
accuracy grid
issue of frequency SOGI
conventional and realize
PLL inadaptive
the case frequency. However,
of grid power according
and its sampling
155 to the transfer function of Equation (2), it can still be seen that the difference between the
system with the DC offset and flexibility input reference, this paper presents a new adaptive frequency transfer
156 function
PLL of SOGI-FLL
approach based onstructure
the TOGI.andThe
theblock
transfer function
diagram of SOGI
is shown instructure
Figure 5.isCompared
the fixed frequency
to SOGI,
157 itvalue ω0 and
involves two the
newadaptive
blocks to frequency
improve the value ω ' . Therefore,
drawback the which
of the SOGI, PLL based on elimination
are a DC SOGI-FLL structure
unit and
158 aachieves
frequency estimation
frequency unit.
adaptation, but it cannot realize the DC offset elimination, so a PLL based on a
159 The
novel detailed
OSG functions
structure shouldofbethe addedand
studied twoitunits are described as follows:
is significant.

(1) 
The DC elimination unit eliminates v offset which
the DC kω ' s is generated by the A/D sampling
 H vd ( s ) = α ( s ) = 2
deviation, and it makes sure the only the s + kωpasses
u g AC signal '
s + ω '2 to the TOGI. The amplitude of

orthogonal signals is equal without the DCv offset, and phase (2)
of signals has a difference of 90 deg.
H (s) = β (s) = kω '2
 vq
(2) The frequency estimation unit involving the adaptive
ug
frequency unit can extract the frequency
s 2 + kω ' s + ω '2

accurately during a disturbance of the power grid frequency. Furthermore, the resonant frequency
of TOGI is guaranteed to change with the grid frequency in real time, and the grid voltage
160 orthogonal
3. Adaptive signal isPLL
Frequency constructed
Based onaccurately.
TOGI
161 To solve
The the accuracy
DC elimination issue
unit and of
theconventional SOGI PLLunit
frequency estimation in the
willcase of grid power
be explained and in
in details its
162 sampling
Sections 3.1system
and 3.2,with the DC offset and flexibility input reference, this paper presents a new
respectively.
163 adaptive frequency PLL approach based on the TOGI. The block diagram is shown in Figure 5.
164 Compared to SOGI, it involves two new blocks to improve the drawback of the SOGI, which are a
165 DC elimination unit and a frequency estimation unit.
166 The detailed functions of the added two units are described as follows:
167 1) The DC elimination unit eliminates the DC offset which is generated by the A/D sampling
 Energies 2018, 11, x FOR PEER REVIEW 6 of 21

174 Energies
The2019,
DC 12, 309
elimination 6 of 20
unit and the frequency estimation unit will be explained in details in
175 sections 3.1 and 3.2, respectively.

ug + u+ 1 vα
⊗ ⊗ ×
− − s

1
1 ×
⊗ s
s
1
× ⊗
ω0 s
vβ

×
176
Figure 5. The block diagram of the adaptive frequency PLL based on a TOGI structure.
177 Figure 5. The block diagram of the adaptive frequency PLL based on a TOGI structure.
3.1. DC Offset Elimination Unit Based on TOGI
178 3.1 DC Offset Elimination Unit Based on TOGI
The TOGI transfer function is shown below based on Figure 5:
179 The TOGI transfer function is shown below based on Figure 5:
0
0 ( s ) = vα ( s ) = kω 0 s2

H

 vd ug s 3 +( k + k ) ω 0 s2 + ω 02 s + k ω 03
'
vα v0β dc
kω ' 0s22 dc


 HH '
( s ) = ( s ) =

0 = ug (s) s= kω s
vd
vq ( s ) u 3
+s(3 +( k dc))ω
k +k+kdc ω 0ss2 ++ωω
' 2
s k+dckωdc03ω '3
02's2+ (3)
 g
 H 0 (s) =' vdc (s) =
 0 s2 + ω 02

 k dc ω ( )
 ' dc vβ u g s3 +(k +k dc )kωω0 s2 +
'2
s ω 02 s+kdc ω 03

 vq ( )
H s = ( ) 3
s = (3)
ug s + ( k + kdc ) ω s + ω ' 2 s + kdcω '3
' 2

Equation (3) representsthe transfer function of the fundamental voltage signal for the power grid,

its corresponding orthogonal  Hsignal andvdc DC offset. It found kdcω ' ( that
s2 + ωthe) three transfer functions have same
'2
'
( s ) =
 dcin Equation ( s ) =
characteristic equation, shown
 ug (4):s 3 + ( k + kdc ) ω ' s 2 + ω ' 2 s + kdcω '3

180 ∆(s)transfer
Equation (3) represents the (k + k dc )ωof0 sthe
= s3 + function 2
+ω 02
s + k dc ω 03 voltage signal for the power
fundamental (4)
181 grid, its corresponding orthogonal signal and DC offset. It found that the three transfer functions
182 haveIn order
same to analyze equation,
characteristic the TOGIshownstructure of the Bode
in Equation (4): diagram, we need to select a reasonable
proportional coefficient k and k dc . According to [31], the characteristic equation has the same resonance
Δ ( s ) = s3 + ( k + kdc ) ω ' s 2 + ω ' 2 s + kdcω '3 (4)
frequency, and assuming that they have the same real part, the characteristic equation can be expressed
183 as follows:
In order to analyze the TOGI structure of the Bode diagram, we need to select a reasonable
∆ s = s + α)(s + α + jβ)(s + α − jβ) (5)
184 proportional coefficient k and( k) dc .(According to [31], the characteristic equation has the same
185 Hence,frequency,
resonance the proportional coefficient
and assuming k and
that theyk dchave
can be
theobtained
same real as part,
follows:
the characteristic equation
186 can be expressed as follows:  
k3dc + 3kk2dc + 3k2 + 9 k dc + k3 − 4.5k = 0 (6)
Δ ( s ) = ( s + α )( s + α + j β )( s + α − j β ) (5)
According to the √ analysiscoefficient
results of the Routh, we draw the Equation (3) Bode diagram based on
187 Hence, the proportional k
the coefficients k = 2 and k dc = 0.221. k and dc can be obtained as follows:
0 ( s2) and H ( s3 ) demonstrate that both Bode diagrams
In Figure 6, the Bode diagrams k dc3 of kk dc2 H
+ 3the ( 3k + 9 ) k dc +vdk − 4.5k = 0
+ vd (6)
have same amplitude and phase characteristics in the high frequency domain. In the low frequency
188 domain, the TOGI
According hasanalysis
to the more attenuation
results of the than the SOGI,
Routh, we draw so the
it can filter the
Equation (3)low
Bodefrequency noise.
diagram based
0 point, the amplitude gain is 0 dB, and phase shift is 0 deg, hence v0 is the optimal
189 on the coefficients k = 2 and kdc = 0.221.
At frequency ω α
point to extract the synchronization the u g of the power grid.
According to the Hvq 0 ( s ) and H ( s ) amplitude Bode diagrams in Figure 7, the analysis results is
vq
the same as the Bode diagram of Hvd 0 ( s ) and H ( s ), so based on the above analysis, the TOGI not only
vd
can provide the orthogonal signal, but also have band pass filter performance.
 Energies 2019, 12, 309 7 of 20
Energies 2018, 11, x FOR PEER REVIEW 7 of 21
190

191 Figure 6. The Bode diagram of Hvd ( s ) and Hvd ( s ) .

'

192 In Figure 6, the Bode diagrams of the Hvd ( s ) and Hvd ( s ) demonstrate that both Bode
'

193 diagrams have same amplitude and phase characteristics in the high frequency domain. In the low
194 frequency domain, the TOGI has more attenuation than the SOGI, so it can filter the low frequency
'
195 noise. At frequency ω ' point, the amplitude gain is 0 dB, and phase shift is 0 deg, hence vα is the
196 optimal point to extract the synchronization the ug of the power grid.
197 According to the Hvq ( s ) and H vq ( s ) amplitude Bode diagrams in Figure 7, the analysis
'

190
198 results is the same as the Bode diagram of Hvd ( s ) and Hvd ( s ) , so based on the above analysis, the
'

0
vd ( s ) and Hvd ( s ) .
199
191 Figure
TOGI not only can provideFigure 6. The Bode diagram
the orthogonal
6. The Bodesignal,
diagrambutofH
of also
(s) and
H' vdhave band s). filter performance.
Hvd (pass

192 In Figure 6, the Bode diagrams of the Hvd ( s ) and Hvd ( s ) demonstrate that both Bode
'

193 diagrams have same amplitude and phase characteristics in the high frequency domain. In the low
194 frequency domain, the TOGI has more attenuation than the SOGI, so it can filter the low frequency
'
195 noise. At frequency ω ' point, the amplitude gain is 0 dB, and phase shift is 0 deg, hence vα is the
196 optimal point to extract the synchronization the ug of the power grid.
197 According to the Hvq ( s ) and H vq ( s ) amplitude Bode diagrams in Figure 7, the analysis
'

198 results is the same as the Bode diagram of Hvd ( s ) and Hvd ( s ) , so based on the above analysis, the
'

199 TOGI not only can provide the orthogonal signal, but also have band pass filter performance.
200
H(vqs)( .s ) .
0
201 Figure
Figure 7. The
7. The Bode
Bode of ofHHvq' vq((ss)) and
diagram
diagram andHvq

In Figure 8, the bode diagram of Hdc 0 ( s ) has a low-pass filter performance, and filters the high
202 H dc ( sthe
) has
'
In Figure
frequency 8, the
signals, bode diagram
especially, it can of extract DC asignal
low-pass filter performance,
completely and filters
with 0 deg phase shift. the high
As well,
203 there is high
frequency attenuation
signals, especially, 0
at theitωcan frequency.
extract the Hence, we add
DC signal the DC unit
completely with 0
Hdc0(sdeg
) asphase
the feedback
shift. Asunit of
well,
at the ω frequency. Hence, we add the DC unit H dc' ( s ) as the feedback
the TOGI to eliminate the DC part ' of the grid voltage.
204 there is2018,
Energies high11,attenuation
x FOR PEER REVIEW 8 of 21

205 unit of the TOGI to eliminate the DC part of the grid voltage.
206 In signal processing, high-pass filters (HBFs) are widely used for filtering out low-frequency
207 signals (including DC signals). Considering this, it is feasible to apply a high-pass filter to eliminate
Gain dB

208
200 the DC component in PLL, which is also mentioned by a large number of scholars. In general, HBF
209 adopts a first-order high-pass filter (FOHBF) or second-order high-pass filter (SOHBF). As shown in
201
210 Figure 9, the DC offset can be eliminated
Figure 7. The Bodeby adding
diagram of an '
H HBF
vq
( s )after
and the ( s) . of the SOGI structure.
Hvqoutput
211 This paper focuses on analyzing the effect of using an HBF structure and a TOGI structure to
212
202 construct orthogonal signals of H ' ( s ) has a low-pass filter performance, and filters the high
in detail.
phase deg

In Figure 8, the bode diagram dc

203 frequency signals, especially, it can extract the DC signal completely with 0 deg phase shift. As well,
204 there is high attenuation at the ω' frequency. Hence, we add the DC unit H dc' ( s ) as the feedback
213
205 unit of the TOGI to eliminate the DC part of the grid voltage.
206 In signal processing, high-pass filters
Figure (HBFs)
8. The are widely
Bode diagram 0used
of H'dc (s). for filtering out low-frequency
214
207 Figure 8. The Bode diagram
signals (including DC signals). Considering this, it is feasible to of H ( s).
dc apply a high-pass filter to eliminate

208 In signal
the DC processing,
component in PLL,high-pass filters
which is also (HBFs) are
mentioned bywidely
a large used
number for of
filtering outInlow-frequency
scholars. general, HBF
209 signals (including DC signals). Considering this, it is feasible to apply a
adopts a first-order high-pass filter (FOHBF) or second-order high-pass filter (SOHBF). As high-pass filter to eliminate
shown in
210 the DC9,
Figure component
the DC offset u g which
in PLL,
can be −eliminated
is also mentioned
u+ by adding by
an1aHBF
large number
after the of
output
vα scholars.
of the In
SOGIgeneral, HBF
structure.
211 adopts a first-order
This paper focuses high-pass ⊗filter the
on analyzing (FOHBF) ⊗ or
effect of ×
second-order
using an HBFhigh-pass
structurefilter
and(SOHBF).
a TOGI As shown in
structure to
+ − s
212 construct orthogonal signals in detail. ω 0

1 vβ
×
s
215
 phase deg
Energies 2019, 12, 309 8 of 20

213 Figure 9, the DC offset can be eliminated by adding an HBF after the output of the SOGI structure.
This paper focuses on analyzing the effect of using an HBF structure and a TOGI structure to construct
214 Figure 8. The Bode diagram of H dc ( s ) .
'
orthogonal signals in detail.

ug − u+ 1 vα
⊗ ⊗ ×
+ − s
ω0
1 vβ
×
s
215
Figure 9. The block diagram of SOGI with a high-pass filter (HBF).
216 Figure 9. The block diagram of SOGI with a high-pass filter (HBF).
Referring to Equation (1), the transfer function of the OSG structure adopting SOGI-FOHBF can
217 Referring to Equation (1), the transfer function of the OSG structure adopting SOGI-FOHBF
be explained as follows:
218 can be explained as follows:   Hvd1 (s) = vα (s) = 2 kω0 s 2 s
ug s +kω0 s+ω0 s+ωh
ω00s2 (7)
 H (s) = ug((ss))== s2 +kkω
v vβ kω s s
vd 1 ( s ) =
α
 Hvq1 ug
2
0 s + ω0 2s + ωh
s + kω0 s + ω0 s + ωh
2

The transfer function of OSG  structure adopting SOGI-SOHBF can be expressed as: (7)
 H ( s ) = vβ ( s ) = k ω0 2 s
 vq1 2
+ k0 sω0 s + ω0 2 ss2+ ωh
 (s) = vα u(sg ) = 2 s kω

 Hvd2
ug s +kω0 s+ω0 2 s2 +ξωh s+ωh 2
vβ kω0 2 s2
(8)
219 The transfer function of
OSGHvq2structure s) = s2 +kω
(s) = ug (adopting SOGI-SOHBF
s+ω 2 s2 +ξω s+
0 0
can
ω 2be expressed as:
h h

 DC offset vα kωeffects
0s
2
s the TOGI, SOGI-FOHBF and
In order to compare the  H vd 2 ( s ) = elimination
(s) = 2 between
SOGI-SOHBF, by selecting the  cutoff frequencyu g s + k ω s + ω 2
s 2
of the0 HBF0 as 0.1 Hz, + ξω 1ωHz
hs + h
2
and 10 Hz, the beta-axis
 (8)
v
DC offset elimination effects through theβBode diagrams kω0 are compared
2 2
s and analyzed in Figures 10–12,
H vq 2 ( s ) = ( s ) = 2
respectively. In the figures, the red line, ublue + kω
lines and 0 s + ω0 s + ξωh s + ωh
green 2
line 2
represent the 2
Bode curves of the TOGI
 g
structure, SOGI-FOHBF structure and SOGI-SOHBF structure, respectively.
220 In order10toshows
Figure comparethe the DC offset analysis
comparative elimination effects
of the between
high-pass theatTOGI、SOGI-FOHBF
filter 0.1 Hz cut-off frequency.and
221 SOGI-SOHBF,
According byamplitude-frequency
to the selecting the cutoff frequency
characteristics,of the HBFbeasseen
it can 0.1 Hz,
that 1theHzlow-frequency
and 10 Hz, the beta-axis
attenuation
222 DC offset elimination effects through the Bode diagrams are compared
ability of the TOGI structure is very strong, but the low-frequency attenuation abilities of the and analyzed in Figure 10,
223 Figure 11 and Figure 12, respectively. In the figures, the red line, blue
SOGI-FOHBF structure and SOGI-SOHBF structure are not obvious and cannot eliminate the DC offset line and green line represent
224 the Bode
of the curves
beta axis of the
output TOGI
signal. structure,
Meanwhile, SOGI-FOHBF
it can be seen fromstructure
the phaseand SOGI-SOHBF
frequency structure,
characteristic curve
225 respectively.
at the grid frequency ω0 , that the phase shift of the TOGI structure is −90 deg, but the phase shift of the
226 Figure 10 structure
SOGI-FOHBF shows the comparative
and SOGI-SOHBF analysis of the
structure are high-pass
greater than filter
−90atdeg,0.1 and
Hz cut-off
almost −frequency.
89.8 deg.
227 According toshows
Figure 11 the amplitude-frequency
the comparative analysis characteristics,
of the high-passitfilter canat be
1 Hzseen
cut-off that the low-frequency
frequency. According to
228 attenuation ability of the characteristics,
the amplitude-frequency TOGI structureit iscan verybe strong,
seen that butlow-frequency
the low-frequency attenuation
attenuation abilitiesabilities
of the
229 of the SOGI-FOHBF
SOGI-FOHBF structure
structure and SOGI-SOHBF
and SOGI-SOHBF structure structure
are pretty are not obvious
good, and cannot eliminate
but the low-frequency the
attenuation
230 DC offset of the beta axis output signal. Meanwhile, it can be seen from
ability of the TOGI structure is better. Meanwhile, it can be seen from the phase frequency characteristic the phase frequency
231 curve at the grid
characteristic frequency
curve ω0 , that
at the grid frequency ω0 ,shift
the phase thatof thephase
the TOGIshift
structure still −90
of theisTOGI deg, butisthe
structure −90phase
deg,
shifts of the SOGI-FOHBF structure and the SOGI-SOHBF structure are almost −88.9 deg and −89.2 deg,
respectively. They are unable to generate standard orthogonal signals with a 90 deg phase difference.
Figure 12 shows the comparative analysis of the high-pass filter at 10 Hz cut-off frequency.
According to the amplitude-frequency characteristics, it can be seen that the SOGI-FOHBF structure
and TOGI structure have similar low frequency attenuation ability, and the low frequency attenuation
ability of the SOGI-SOHBF structure is better than that of the TOGI structure. Meanwhile, it can be
seen from the phase frequency characteristic curve at the grid frequency ω0 , that the phase shift of
the SOGI-FOHBF structure and SOGI-SOHBF structure are almost −79 deg and −82 deg, respectively.
This is unacceptable for constructing orthogonal signals with a 90 deg phase difference.
244 and TOGI structure have similar low frequency attenuation ability, and the low frequency
245 attenuation ability of the SOGI-SOHBF structure is better than that of the TOGI structure.
246 Meanwhile, it can be seen from the phase frequency characteristic curve at the grid frequency ω0 ,
247 that the phase shift of the SOGI-FOHBF structure and SOGI-SOHBF structure are almost −79 deg
Energies 2019, 12, 309 9 of 20
248 and −82 deg, respectively. This is unacceptable for constructing orthogonal signals with a 90 deg
249 phase difference.

250
251 Energies 2018, Figure 10.PEER
11, x FOR
Figure The
The comparison
comparison of
REVIEW of Bode
Bode diagrams
diagrams between
between TOGI and SOGI-HBF at 0.1 Hz. 10 of 21

Bode Diagram
50
TOGI
SOGI-FHBF
SOGI-SHBF
0

-50

-100 0 1 2 3 4 5
10 10 10 10 10 10
200
TOGI
SOGI-FHBF
100 SOGI-SHBF

-100

-200 0 1 2 3 4 5
10 10 10 10 10 10
-87
TOGI
-88 SOGI-FHBF
SOGI-SHBF
88.9°
-89
89.2°
-90 90°

-91

-92
310 311 312 313 314 315 316 317 318 319 320
252 Frequency(rad/sec)

253 11. The comparison of

Figure 11.
Figure of Bode
Bode diagrams
diagrams between
between TOGI
TOGI and
and SOGI-HBF
SOGI-HBF at
at 11 Hz.
Hz.
 89.2°
-90 90°

-91

-92
310 311 312 313 314 315 316 317 318 319 320
252 Energies 2019, 12, 309
Frequency(rad/sec)
10 of 20
253 Figure 11. The comparison of Bode diagrams between TOGI and SOGI-HBF at 1 Hz.

254
255 Figure 12.
Figure 12. The
The comparison
comparison of
of Bode
Bode diagrams
diagrams between
between TOGI
TOGIand
andSOGI-HBF
SOGI-HBFat
at10
10Hz.
Hz.

256 Based
Based ononthe
theabove
aboveanalysis, the SOGI-FOHBF
analysis, the SOGI-FOHBF structure and SOGI-SOHBF
structure structure
and SOGI-SOHBF can achieve
structure can
257 better
achievelow-frequency eliminationelimination
better low-frequency characteristics by adjusting the
characteristics by cutoff frequency,
adjusting but their
the cutoff phase-frequency
frequency, but their
characteristics are not very good. The essence of the OSG structure is to construct orthogonal signals with a
phase difference of 90 deg, so the phase frequency characteristic is also an important reference for selecting
an OSG structure. Therefore, this paper concludes that the SOGI-FOHBF structure and SOGI-SOHBF
structure are not suitable for the construction of OSG structures, while the TOGI structure performances
well in the aspects of both amplitude frequency and phase frequency.

3.2. Adaptive Frequency Unit Based on TOGI

In order to implement adaptive frequency of PLL, it introduces the frequency adaptive feedback
unit. When the input signal frequency disturbance, it can track frequency accurately [32]. Combine the
predict frequency part with TOGI as the reference frequency. The adaptive transfer function can be
expressed as follows:
0
ω = k f εv0β /s + ω0 . (9)

To verify adaptive frequency unit, it can use the difference ε and output v0β as the feedback control,
0
and implement reference frequency ω tracking. The transfer function of difference ε and output v0β
can be obtained as follows:
 0
 H 0 (s) = v β (s) = kω 02 s
vq ug s3 +(k +k dc )ω 0 s2 +ω 02 s+k dc ω 03 . (10)
 H 0 (s) = ε (s) = s3 + ω 02 s
ε ug s3 +(k +k )ω 0 s2 +ω 02 s+k ω 03
dc dc
  ' vβ kω s
 H vq ( s ) = ( s ) = 3
 ug s + ( k + k dc ) ω ' s 2 + ω ' 2 s + k dcω '3
 . (10)
H' s = ε s = s3 + ω ' 2 s
 ε ( ) u ( ) s 3 + ( k + k ) ω ' s 2 + ω ' 2 s + k ω '3
 g dc dc

Energies 2019, 12, 309 11 of 20

272 In Figure 13, the bode diagrams of H vq' ( s ) and H ε' ( s ) demonstrate that, when the frequency
273 power grid is lower than the TOGI resonant frequency
0 ( s ) and ( ω < ω ' ), the difference ε and output vβ'
In Figure 13, the bode diagrams of Hvq Hε0 (s) demonstrate that, when the frequency power
274 haveisthe
grid same
lower trend
than the change. On thefrequency
TOGI resonant contrary, (ωwhen
< ωthe frequency
0 ), the difference of power grid isv0higher
ε and output than the
β have the same
275 TOGI resonant frequency ( ω > ω '
), the difference ε and
trend change. On the contrary, when the frequency of power grid is higher output vβ
'
have the opposite trend.
than the TOGI resonant
276 frequency > ω 0 ), the
Hence, the(ωproduct difference
result of difference ε and
ε and output v0β have thevopposite
output '
β
trend. the
determines Hence, the product
frequency result
difference
of difference ε and output v0β determines the frequency difference signal ∆ f . When ω < ω 0 , ∆ f > 0;
277 Δf=. ωWhen
signal ω
When 0, ∆ f ω '
, Δf ω
= <0;ωWhen > 0>; ωWhen , Δf = 0 ;itWhen
ω =0;ωTherefore,
0, ∆ f < '
ω >ω
can adjust
'
Δf < 0 ; Therefore,
the, difference ω0
it can
of the ω and
to zero the
through of the ω and
the proportional ω to zero
coefficient k f which is negative feedback gain, thus implementing
'
278 adjust difference through the proportional coefficient kf which is
frequency tracking.
279 negative feedback gain, thus implementing frequency tracking.

ω < ω' ω >ω '

H ε' ( s )

H vq' ( s )

H ε' ( s )

Δf > 0 Δf < 0

H vq' ( s )

ω =ω '
280
Figure 13. The Bode diagram of H 0 (s) and Hε0 (s' ).
281 ( s ) and Hε ( s ) .
Figure 13. The Bode diagram of H vq' vq
4. Discretization of TOGI
A continuous signal model cannot be realized by programming in DSP or FPGA chips.
Therefore, discrete processing of the TOGI PLL continuous model is necessary in practical engineering.
Generally, there are three type discretization methods to implement, as shown in Table 1.

Table 1. Discretization method.

Type s is Approximated By
2 z −1
Trapezoidal TS z+1
Second order integrator 2 z2 − z
TS 3z−1
Third order integrator 12 z3 − z2
TS 23z2 −16z+5

Considering the calculation complexity and accuracy, thus we adopt the trapezoidal method to
implement the discretization of the close loop transfer function for Equation (3).
−1 in Equation (3), it can be expressed as:
Replacing the s by T2 zz+ 1 S

 2
v0α kω 0 T2 zz− 1
0 S +1
Hvd (z) = (z) =  3 2 (11)
ug
  
2 z −1 0 2 z −1 02 2 z −1
TS z +1 + ( k + k dc ) ω T z +1
S
+ ω T S z +1 + k dc ω 03

Simplifying Equation (11) gives:

0 (z) = 4kω 0 TS (z−1)2 (z+1)

Hvd 3 (12)
8( z −1) +4(k+k dc )ω TS (z−1)2 (z+1)+2ω 02 TS2 (z−1)(z+1)2 +k dc ω 03 TS3 (z+1)3
0
Energies 2019, 12, 309 12 of 20



 x = 4kω 0 TS
 y = 4 k + k ω0 T

( dc )
Making the following substitution: 0 2 2

 w = 2ω TS
v = k dc ω 03 TS3


We transform Equation (12) into a canonical form as follows:

0 x (1 − z −1 − z −2 + z −3 )
Hvd (z) = −24−y+w+3v −1 −24−y−w+3v −2 −8+ y − w + v −3
(13)
8+y+w+v1+ + +
8+ y + w + v z 8+ y + w + v z 8+ y + w + v z

x


 b0 = 8+ y + w + v

 a1 =
 −24−y+w+3v
8+ y + w + v
Substituting the equation 24−y−w+3v into Equation (13), it can be represented as


 a2 = 8+ y + w + v

 a = −8+ y − w + v
3 8+ y + w + v
follows:
0 v0α (1 − z −1 − z −2 + z −3 )
Hvd (z) = (z) = b0 (14)
ug 1 + a 1 z −1 + a 2 z −2 + a 3 z −3
The same approach applies to the discrete beta-axis, and the result is as follows:

v0β (1 + z −1 − z −2 − z −3 )
0
Hvq (z) = (z) = b0 (15)
ug 1 + a 1 z −1 + a 2 z −2 + a 3 z −3

5. Simulation
In order to verify the frequency adaptive frequency PLL based on the TOGI structure proposed in
this paper, the following comparative simulation experiments are carried out. The MATLAB simulation
parameters are shown in Table 2.

Table 2. PLL simulation parameters.

Parameters Values
Fundamental grid voltage 311 V/peak
Frequency loop coefficient kf −20
TOGI parameter k 1.414
TOGI coefficient kdc 0.21
Refer angular frequency ω0 314.15
PI parameter k p = 5, k i = 0.01

5.1. Simulation of DC Offset Elimination

The conditions of the first simulation are about a larger DC offset and smaller AC signal harmonic:
grid voltage signal that contains the fundamental signal amplitude (311 V), a three order harmonic
(amplitude 5 V) and a DC component (+30 V). In order to prove the TOGI structure has the ability to
filter out the DC component, the simulation results are compared as shown in the following Figure 14.
The conditions of the second simulation concern a smaller DC offset and larger AC signal
harmonic; the grid voltage signal contains a fundamental wave signal amplitude (311 V), three
harmonic (amplitude 30 V), five harmonics (amplitude 20 V), nine harmonic (amplitude 5 V) and a DC
component (+5 V). In order to prove the TOGI structure has the ability to filter out the DC component
and extract the fundamental AC signal, the simulation results are compared as shown in Figure 15:

(1) In both the SOGI structure and TOGI structure, the synchronous signal vα and signal v0α accurately
extract the voltage signal of the power grid, but still contains a small amount of harmonics.
 Fundamental grid voltage 311 V/peak
Frequency loop coefficient kf −20
TOGI parameter k 1.414
TOGI coefficient kdc 0.21
Energies 2019, 12, 309
Refer angular frequency ω0 314.15 13 of 20

PI parameter k p = 5, k i = 0 .0 1

(2) In the SOGI structure, the orthogonal signal v β contains a large number of DC components,
301 5.1 Simulation
and the DCof DC Offset Elimination
components content in the grid voltage signal is significantly obvious; however, in the
TOGI structure, the DC components in the grid voltage signal are almost completely filtered out
302 The conditions of the first simulation are about a larger DC offset and smaller AC signal
in the orthogonal signal v0β , and only a small number of DC components remain.
303 harmonic: grid voltage signal that contains the fundamental signal amplitude (311 V), a three order
(3) Through simulation comparison, without changing ac signal filtering effect of the SOGI structure,
304 harmonic (amplitude 5 V) and a DC component (+30 V). In order to prove the TOGI structure has
the TOGI structure increases the DC signal filtering effect in the orthogonal signal, so as to achieve
305 the ability to phase
accurate filter out the DC
tracking when component, the simulation
DC components results
are included in aare compared
power as shown
grid voltage signal.in the
306 following Figure 14.

vβ
ug
vα

vβ'
ug

vα'
Energies 2018, 11, x FOR PEER REVIEW 14 of 21

312
307 DC component (+5 V). In order to prove the TOGI structure has the ability to filter out the DC
313
308 component and extract
Figure thecomparison
14. The
The fundamental AC signal,signal
ofinput/output
input/output the simulation results are compared1. as shown
Figure 14. comparison of signal for
for SOGI and
SOGI and TOGI in
TOGI in condition
condition 1.
314 in Figure 15:
309 The conditions of the second simulation concern a smaller DC offset and larger AC signal
vβ '

310 harmonic; the grid voltage

vβ signal contains a fundamental wave signal amplitude (311 V), three
311 harmonic (amplitude 30 V), five harmonics (amplitude 20 V), nine harmonic (amplitude 5 V) and a

315
316 Figure 15.
Figure The comparison
15. The comparison of
of input/output
input/outputsignals
signalsfor
forSOGI
SOGIand
andTOGI
TOGIin
incondition
condition2.2.

5.2. Simulation of TOGI PLL

317 1) In both the SOGI structure and TOGI structure, the synchronous signal vα and signal vα'
318 Simulation
accurately conditions:
extract Thesignal
the voltage reference fundamental
of the frequency
power grid, is 50
but still Hz. At 0.5
contains s, the amount
a small power grid
of
319 voltage
harmonics.frequency jumps from 50 Hz to 52 Hz. In order to facilitate the analysis in the same figure and
reduce the voltage signal of the power grid to a certain extent, the simulation waveform is shown in
320 2) In the SOGI structure, the orthogonal signal vβ contains a large number of DC components,
Figure 16.
321 and the DC components content in the grid voltage signal is significantly obvious; however, in the
322 TOGI structure, the DC components in the grid voltage signal are almost completely filtered out in
323 the orthogonal signal vβ' , and only a small number of DC components remain.
324 3) Through simulation comparison, without changing ac signal filtering effect of the SOGI
325 structure, the TOGI structure increases the DC signal filtering effect in the orthogonal signal, so as
326 to achieve accurate phase tracking when DC components are included in a power grid voltage
327 signal.

328 5.2 Simulation of TOGI PLL

329 Simulation conditions: The reference fundamental frequency is 50 Hz. At 0.5 s, the power grid
330 voltage frequency jumps from 50 Hz to 52 Hz. In order to facilitate the analysis in the same figure
331 and reduce the voltage signal of the power grid to a certain extent, the simulation waveform is
328 5.2 Simulation of TOGI PLL

329 Simulation conditions: The reference fundamental frequency is 50 Hz. At 0.5 s, the power grid
330 voltage frequency jumps from 50 Hz to 52 Hz. In order to facilitate the analysis in the same figure
331 Energies 2019, 12,the
and reduce 309 voltage 14 of 20
signal of the power grid to a certain extent, the simulation waveform is
332 shown in Figure 16.

333
334 Figure 16. Simulation result of PLL based on TOGI structure
structure and
and SOGI
SOGI structure.
structure.

The analysis results are as follows:

(1) When the power grid frequency is 50 Hz, both the SOGI PLL and TOGI PLL can complete the power
grid voltage phase and frequency locking, and the synchronization result of the two approaches are
almost same and equally accurate (refer to the detailed waveform from 0.3 s–0.34 s).
(2) When the grid voltage frequency jumps from the 50 Hz to 52 Hz, the SOGI PLL can’t synchronize
the grid voltage frequency and has an angular difference, but the TOGI can track the grid voltage
frequency. However, the overshoot and adjusting time of the TOGI PLL is less than SOGI PLL.
In the detailed waveform from 0.8 s–0.84 s, the SOGI PLL has a small vibration in the zoom-in
area, but the TOGI PLL tracks the new frequency well.
(3) For the frequency estimation unit in the PLL structure, both the SOGI structure and TOGI
structure can achieve accurate frequency estimation at 50 Hz, but the overshoot and adjustment
time in the dynamic response process of the traditional SOGI structure are much larger than
those of the TOGI structure. When the voltage signal of the power grid suddenly changes to 52
Hz, the frequency estimation result of the SOGI structure shows serious oscillations, while the
frequency estimation effect of the TOGI structure is much better than that of SOGI structure due
to the introduction of the frequency adaptive unit.
To summarize the above analysis, the adaptive frequency PLL based on the TOGI structure is
proposed to solve the issue of grid voltage signals with direct current components, as well as to track
the frequency in the case of frequency change. In summary, the advantage of TOGI compared to
traditional SOGI was verified by the effectiveness of the simulation results and practicability of the
single-phase PLL design.

6. Experimental Results
In this section, the adaptive frequency PLL based on TOGI is verified by an experimental test
platform, which is a single-phase 5-kW bidirectional energy router equipment unit based on main
control by a TMS320F28335 DSP and Xilinx FPGA Spartan6 LX9.
As shown in Figure 17, the 5-kW single-phase bidirectional energy router is a three-stage power
electronic converter, consisting of AC/DC converter, DAB converter, and DC/AC converter. At the
same time, two DC power interfaces and two AC power interfaces can be derived to realize the access
to distributed ac devices and distributed DC devices. The bidirectional power energy router can realize
bidirectional power flow and energy exchange between the distribution network and the microgrid.
361 power electronic converter, consisting of AC/DC converter, DAB converter, and DC/AC converter.
362 At the same time, two DC power interfaces and two AC power interfaces can be derived to realize
363 the access to distributed ac devices and distributed DC devices. The bidirectional power energy
364 router can realize bidirectional power flow and energy exchange between the distribution network
Energies 2019, 12, 309 15 of 20
365 and the microgrid.
366

367 Energies 2018, 11, x FOR PEER REVIEW 16 of 21

368 Figure 17. 5-kW single-phase bidirectional energy router.
router.
369 Since this experiment is mainly to verify the validity of PLL, only the controller structure of
370 AC/DC Since this experiment
converter is given. is
Bymainly to verify
using the controlthe validity
strategy of of
DC PLL, onlyouter
voltage the controller
loop and structure of
AC current
AC/DC converter is given. By using the control strategy of DC voltage outer loop and AC current
371 inner loop, the DC voltage stability and AC side current control can be controlled effectively.
inner loop, the DC voltage stability and AC side current control can be controlled effectively.
372 The structure of
The structure ofthe
theAC/DC
AC/DCcontroller
controllerisisshown
shown in in Figure
Figure 18.18.
TheThe AC/DC
AC/DC controller
controller includes
includes the
373 the DC voltage outer loop of and the AC current inner loop. Meanwhile, the phase
DC voltage outer loop of and the AC current inner loop. Meanwhile, the phase of the grid voltage of the grid
374 is tracked
voltage is in real time
tracked through
in real time the TOGI the
through PLL. The PLL
TOGI PLL. parameters are same asare
The PLL parameters with simulation
same as with
375 parameters; Moreover, the hardware parameters and controller parameters
simulation parameters; Moreover, the hardware parameters and controller parameters of of the energy router
the
experimental platform are shown in Table 3.
376 energy router experimental platform are shown in Table 3.

vq* =0 ω0
*
igd
vα'
vq ε ω
ug αβ
vβ' vd
dq
*
i gq
θ θ 

377
378 Figure 18. The control block diagram of energy router.

379 Figure 18. The control block diagram of energy router.

380 Table 3. Hardware parameters of experimental platform

Parameters Values
Converter power： 5 kW
Rated grid voltage： 220 V/RMS
Grid frequency： 50 Hz
DC bus voltage： 400 V
Filter inductance Lr： 2.5 mH
Filter resistance Rr： 0.01 ohm
DC bus capacitance： 1 mF
 Energies 2019, 12, 309 16 of 20

Table 3. Hardware parameters of experimental platform.

Parameters Values
Converter power: 5 kW
Rated grid voltage: 220 V/RMS
Grid frequency: 50 Hz
DC bus voltage: 400 V
Filter inductance Lr : 2.5 mH
Filter resistance Rr : 0.01 ohm
DC bus capacitance: 1 mF
Sampling frequency: 19.2 kHz
AC current inner loop PI k ip = 38.61, k ii = 128.7
DC voltage outer loop PI k up = 0.0265, k ui = 16.642

According to [33], the ac voltage control-loop bandwidth is around five times lower than
the inner-loop current controller and that satisfies the standard bandwidth ratio design criterion.
Therefore, the system is expected to operate stably. Meanwhile, the inner-loop current controller is
tuned at 4 + 800/s and the close-loop control bandwidth is 160 Hz, and inner-loop voltage controller is
Energies 2018, 11, x FOR PEER REVIEW
tuned at 1 + 3/s and the control bandwidth is 7.2 Hz in this section. Thus, the stability of the17inner
of 21

current and outer voltage loop can be ensured.

387 Figure 19 shows that SOGI and TOGI output signals from the sample data. In order to
Figure 19 shows that SOGI and TOGI output signals from the sample data. In order to demonstrate
388 demonstrate
the test result,the wetest
addresult,
a 20 VweDC
add a 20in
offset V the
DC grid
offset in the grid
voltage, voltage,
and the peakand theofpeak
value valuevoltage
the grid of the
389 is −306
grid voltage
V andis 346
−306V.VFigure
and 346
19aV. Figure
is the SOGI19(a) is the SOGI
orthogonal orthogonal
output output
signal, and signal,
it can and
extract theit grid
can
390 voltage sine wave, but the peak voltage values are − 306 V and 346 V, which means it includes
extract the grid voltage sine wave, but the peak voltage values are −306 V and 346 V, which means the DC
offset. Figure 19b is the TOGI orthogonal output signal, and it can extract the grid voltage sine wave
391 it includes the DC offset. Figure 19b is the TOGI orthogonal output signal, and it can extract the
as well, but the peak voltage values are −330 V and 330 V, which means there is no DC offset in the
392 grid voltage sine wave as well, but the peak voltage values are −330 V and 330 V, which means
TOGI output.
393 there is no DC offset in the TOGI output.

(a)SOGI PLL sampling waveform

394 (b)TOGI PLL Sampling waveform

395 Figure 19.

Figure The grid
19. The grid voltage
voltage signal
signal and
and orthogonal
orthogonal voltage
voltage signal.
signal.

Figure 20 shows at fundamental grid voltage and grid angle comparison between the SOGI
396 Figure 20 shows at fundamental grid voltage and grid angle comparison between the SOGI
scheme and the TOGI scheme. Figure 20a is the SOGI PLL output, and it is obvious that there is
397 scheme and
zero-cross the TOGI
deviation scheme.
between theFigure 20a is the
grid voltage and SOGI PLL extraction.
PLL angle output, andFigure
it is obvious that
20b is the there
TOGI PLLis
398 zero-cross
output, anddeviation
it showsbetween the grid
that the grid voltage
voltage and PLL
zero-cross angle
point extraction.
is almost sameFigure
PLL 020b is In
deg. thebrief,
TOGIinPLL
the
399 case of the
output, andgrid voltage
it shows with
that theDC offset,
grid the zero-cross
voltage TOGI can track
point the grid voltage
is almost angle
same PLL without
0 deg. deviation.
In brief, in the
400 case of the grid voltage with DC offset, the TOGI can track the grid voltage angle without deviation.
396 Figure 20 shows at fundamental grid voltage and grid angle comparison between the SOGI
397 scheme and the TOGI scheme. Figure 20a is the SOGI PLL output, and it is obvious that there is
398 zero-cross deviation between the grid voltage and PLL angle extraction. Figure 20b is the TOGI PLL
Energies 2019, 12, 309 17 of 20
399 output, and it shows that the grid voltage zero-cross point is almost same PLL 0 deg. In brief, in the
400 case of the grid voltage with DC offset, the TOGI can track the grid voltage angle without deviation.

(a)SOGI-PLL output angle waveforms

401 (b)TOGI-PLL outptu angle waveforms

402 Figure
Figure 20.
20. The
The fundamental
fundamental grid
grid voltage
voltage and
and grid
grid voltage
voltage phase.

403 Figure 21
Figure 21 shows
shows grid
grid connection
connection current
current and
and voltage
voltage waveform.
waveform. Figure
Figure 21a
21a shows
shows SOGI
SOGI PLL
PLL
404 grid connection
grid connection waveforms,
waveforms, and and itit has
has deviation
deviation of
of the
the zero-cross
zero-cross point
point between
between the
the current
current and
405 Energies 2018,
voltage. 11, x FOR
Figure
Figure 21b PEER
21b shows
shows REVIEW
TOGI PLL
TOGI PLL grid
grid connection
connection waveforms,
waveforms, and
and the
the zero-cross
zero-cross point
point is 18 of 21
is almost
almost
same. The practice test results demonstrate that TOGI with DC elimination and adaptive frequency
406 same.
trackingThe practiceimprove
function test results demonstrate of
the performance that
theTOGI
PLL. with DCaccomplish
Finally, elimination and
the adaptive
unit frequency
power factor grid
407 tracking
connecting function improve
and energy the performance of the PLL. Finally, accomplish the unit power factor
transfer.
408 grid connecting and energy transfer.

(a)SOGI PLL-Grid connection current and voltage

409 (b)TOGI PLL-Grid connection current and voltage

Figure 21. Waveform of grid connected converter.

410 Figure 21. Waveform of grid connected converter.

In order to express the power factor of grid-connected converter more clearly, the power factor
411 In order to express the power factor of grid-connected converter more clearly, the power factor
(PF) of two groups of grid-connected current was analyzed by a FLUKE power quality analyzer.
412 (PF) of two groups of grid-connected current was analyzed by a FLUKE power quality analyzer. As
As shown in Figure 22, the PF based on SOGI PLL structure is 0.94, while the PF based on TOGI PLL is
413 shown in Figure 22, the PF based on SOGI PLL structure is 0.94, while the PF based on TOGI PLL is
0.99. It can be seen from the comparison that the grid-connected converter based on TOGI PLL can
414 0.99. It can be seen from the comparison that the grid-connected converter based on TOGI PLL can
realize the operation of close to unit PF.
415 realize the operation of close to unit PF.
410 Figure 21. Waveform of grid connected converter.

411 In order to express the power factor of grid-connected converter more clearly, the power factor
412 (PF) of two groups of grid-connected current was analyzed by a FLUKE power quality analyzer. As
413 shown in Figure 22, the PF based on SOGI PLL structure is 0.94, while the PF based on TOGI PLL is
Energies 2019, 12, 309 18 of 20
414 0.99. It can be seen from the comparison that the grid-connected converter based on TOGI PLL can
415 realize the operation of close to unit PF.

416
Figure 22. Power factor analysis of grid connected converter.
417 Figure 22. Power factor analysis of grid connected converter.
In addition, through measuring the harmonics of the grid voltage and grid-connected current
with the FLUKE power analyzer, it is proved that the TOGI PLL has better harmonic elimination effects.
The specific Total Harmonic Distortion (THD) analysis as shown in Table 4.

Table 4. Total Harmonic Distortion (THD) analysis of grid voltage and current based on TOGI PLL and
SOGI PLL.

Grid Current Grid Current

Harmonic Order/% Grid Voltage
Based on TOGI Based on SOGI
THD/% 4.0 3.8 4.9
H3/% 3.7 3.4 4.5
H5/% 0.1 0.4 0.4
H7/% 0.9 0.8 0.6
H9/% 0.5 0.7 0.5
H11/% 0.6 0.6 0.7
H13/% 0.5 0.5 0.3
H15/% 0.7 0.8 0.2

7. Conclusions
The traditional SOGI PLL and its improved PLL structure have many problems in the aspects of
branch component elimination, frequency adaptation and DSP programming difficulty. This paper
presents an adaptive frequency single phase PLL based on TOGI and draws a conclusion based on
the above analysis. Compared to the SOGI structure orthogonal output, it can filter the low frequency
noise to improve the accuracy of the PLL. By introducing an adaptive frequency unit, it can adjust the
resonance frequency automatically in the case of grid voltage vibration, and enhance the sensitivity of
the PLL. In the DSP implementation process, the programming workload is not complex, and the actual
Energies 2019, 12, 309 19 of 20

operation of DSP is not large. The excellent performance of the TOGI PLL is verified by simulations
and experiments. The TOGI PLL has good application prospects in grid-connected systems.

Author Contributions: All the authors conceived and designed the study. H.D. performed the simulation and
wrote the manuscript with guidance from Q.S. and Q.C.; D.M. and X.W. reviewed the manuscript and provided
valuable suggestions.
Funding: This research received no external funding.
Conflicts of Interest: The authors declare no conflict of interest.

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