Voltage sensor-less position detection in an active front end

• US 10,295,581 B2
• Filed: 03/08/2018
• Issued: 05/21/2019
• Est. Priority Date: 10/13/2017
• Status: Active Grant

• Current Assignee: Deere & Company
• Original Assignee: Deere & Company
• Inventors: Fu, Tianjun, Wu, Long, Wanner, Kent, Dickherber, Jason, Tremel, Chris J.
• Primary Examiner(s): Dole, Timothy J.
• Assistant Examiner(s): Kyaw, Htet Z
• Application Number:
  US15/915,553
• Publication Number:
  US 20190113553A1
• Time in Patent Office: 439 Days
• Field of Search: 363132, 290 44, 290 43, 290 54, 290 55
• CPC Class Codes: G01R 19/2503 for measuring voltage only, e.g. digital volt meters (DVM's) G01R19/2506 - G01R19/257 take precedence
• CPC Class Codes: G01R 25/005 Circuits for comparing several input signals and for indicating the result of this comparison, e.g. equal, different, greater, smaller, or for passing one of the input signals as output signal
• CPC Class Codes: G01R 25/02 in circuits having distributed constants
• CPC Class Codes: G05B 6/02 electric
• CPC Class Codes: H02M 1/0003 Details of control, feedback or regulation circuits
• CPC Class Codes: H02M 1/08 Circuits specially adapted for the generation of control voltages for semiconductor devices incorporated in static converters
• CPC Class Codes: H02M 5/4585 having a rectifier with controlled elements
• CPC Class Codes: H02M 7/5395 by pulse-width modulation
• CPC Class Codes: H02M 7/797 using semiconductor devices only

Abstract

A controller including a memory having computer-readable instructions stored therein; and a processor configured to execute the computer-readable instructions to: estimate a synthesized grid voltage vector angle at a terminal of an alternating current (AC) grid based on at least an adjusted angle, to generate Pulse Width Modulation (PWM) signals to control power switches of the AFE inverter based on at least the synthesized grid voltage vector angle, and to control the AFE inverter to exchange power between the AC grid and a load based on the PWM signals.

Claims

1. A controller comprising:

a memory having computer-readable instructions stored therein; and

a processor configured to execute the computer-readable instructions to;

estimate a synthesized grid voltage vector angle at a terminal of an alternating current (AC) grid by,

calculating an adjusted angle based on a d-axis voltage and a q-axis voltage, the adjusted angle representing a difference between an Active Front End (AFE) inverter terminal voltage vector angle at a terminal of an AFE inverter and the synthesized grid voltage vector angle due to a voltage drop across an impedance of a filter between the terminal of the AFE inverter and the terminal of the AC grid, the d-axis voltage and the q-axis voltage representing a projection of the AFE inverter terminal voltage vector along a rotating dq-axis, the rotating dq-axis having a d-axis aligned with the synthesized grid voltage vector angle, and

estimating the synthesized grid voltage vector angle at the terminal of the AC grid based on at least the adjusted angle such that the controller estimates the synthesized grid voltage vector angle to compensate for the voltage drop across the impedance of the filter, the synthesized grid voltage vector angle being an angle associated with a voltage vector of the terminal of the AC grid;

generate Pulse Width Modulation (PWM) signals to control power switches of the AFE inverter based on at least the synthesized grid voltage vector angle; and

control the AFE inverter to exchange power between the AC grid and a load based on the PWM signals.

2. The controller of claim 1, wherein the processor is configured to estimate the synthesized grid voltage vector angle at the terminal of the AC grid without using physical voltage sensors.

3. The controller of claim 1, wherein the processor is configured to calculate the adjusted angle by calculating an inverse tangent value of a quotient obtained by dividing the q-axis voltage over the d-axis voltage.

4. The controller of claim 3, wherein the filter is a line filter, and the processor is configured to calculate the d-axis voltage and the q-axis voltage based on a magnitude of grid voltage vector of the terminal of the AC grid, an intermediate angle, parameters of the line filter and a signed magnitude of an inverter phase current reference vector, the inverter phase current reference vector being constructed by a d-axis current reference and a q-axis current reference.

5. The controller of claim 4, wherein the AFE inverter is connected to the load via a DC bus, and the d-axis current reference is generated based on a difference between an actual DC bus voltage of the DC bus and a reference DC bus voltage, and the q-axis current reference is generated based on a AC grid terminal reference power factor.

6. The controller of claim 5, wherein the controller is configured to,

calculate the d-axis current reference by comparing, using a proportional-integral (PI) controller, the actual DC bus voltage of the DC bus and the reference DC bus voltage;

calculate the q-axis current reference to achieve the AC grid terminal reference power factor at the terminal of the AC grid based on the d-axis current reference; and

construct the inverter phase current reference vector based on the d-axis current reference and the q-axis current reference.

7. The controller of claim 5, wherein the parameters are impedance parameters of the line filter.

8. The controller of claim 7, wherein the processor is configured to calculate the intermediate angle based on a power factor angle, the impedance parameters of the line filter, and a polarity and a magnitude of the AC grid terminal reference power factor.

9. The controller of claim 8, wherein the processor is configured to calculate the power factor angle by calculating an inverse cosine value of an absolute value of the magnitude of the AC grid terminal reference power factor.

10. The controller of claim 1, wherein:

the AFE inverter terminal voltage vector angle includes a first AFE inverter terminal voltage vector angle and a second AFE inverter terminal voltage vector angle, the first AFE inverter terminal voltage vector angle being an angle associated with the voltage vector of the terminal of the AFE inverter at an initial time and the second AFE inverter terminal voltage vector angle being an angle associated with the voltage vector of the terminal of the AFE inverter at a second time subsequent to the initial time; and

the processor is configured to estimate the synthesized grid voltage vector angle by;

estimating the first AFE inverter terminal voltage vector angle when the AFE inverter is disabled;

estimating a terminal voltage of the AFE inverter when the AFE inverter is enabled, the terminal voltage of the AFE inverter being a voltage of the terminal of the AFE inverter;

determining the second AFE inverter terminal voltage vector angle when the AFE inverter is enabled; and

estimating the synthesized grid voltage vector angle based on the adjusted angle and the second AFE inverter terminal voltage vector angle.

11. The controller of claim 10, wherein the processor is configured to estimate the second AFE inverter terminal voltage vector angle by:

initializing a phase locking loop (PLL) using the first AFE inverter terminal voltage vector angle when the AFE inverter is disabled; and

running the phase locking loop (PLL) using 3-phase line-to-neutral voltages of the terminal of the AFE inverter when the AFE inverter is enabled.

12. The controller of claim 11, wherein the processor is configured to estimate the second AFE inverter terminal voltage vector angle by running the PLL to align the second AFE inverter terminal voltage vector angle with the d-axis of the rotating dq-axis associated with the PLL.

13. The controller of claim 12, wherein, when the AFE inverter is enabled, the processor is configured to estimate the second AFE inverter terminal voltage vector angle by running the PLL to:

calculate a position error between the second AFE inverter terminal voltage vector angle and the d-axis associated with the PLL;

calculate an angular frequency of the second AFE inverter terminal voltage vector angle by using a PI controller to regulate the position error; and

estimate the second AFE inverter terminal voltage vector angle by integrating the angular frequency.

14. The controller of claim 1, wherein the processor is configured to compensate for the synthesized grid voltage vector angle by compensating for a time delay associated with digital processing to generate a compensated synthesized grid voltage vector angle, wherein

the controller is configured to generate the PWM signals to control the power switches of the AFE inverter based on the compensated synthesized grid voltage vector angle.

15. The controller of claim 1, wherein the controller is configured to control the AFE inverter by defining the rotating dq reference frame based on the synthesized grid voltage vector angle such that the d-axis of the rotating dq reference frame is aligned with the synthesized grid voltage vector angle.

16. A method comprising:

estimating a synthesized grid voltage vector angle at a terminal of an alternating current (AC) grid by,

calculating an adjusted angle based on a d-axis voltage and a q-axis voltage, the adjusted angle representing a difference between an Active Front End (AFE) inverter terminal voltage vector angle at a terminal of an AFE inverter and the synthesized grid voltage vector angle due to a voltage drop across an impedance of a filter between the terminal of the AFE inverter and the terminal of the AC grid, the d-axis voltage and the q-axis voltage representing a projection of the AFE inverter terminal voltage vector along a rotating dq-axis, the rotating dq-axis having a d-axis aligned with the synthesized grid voltage vector angle, and

estimating the synthesized grid voltage vector angle at the terminal of the AC grid based on at least the adjusted angle such that the controller estimates the synthesized grid voltage vector angle to compensate for the voltage drop across the impedance of the filter, the synthesized grid voltage vector angle being an angle associated with a voltage vector of the terminal of the AC grid;

generating Pulse Width Modulation (PWM) signals to control power switches of the AFE inverter based on at least the synthesized grid voltage vector angle; and

controlling the AFE inverter to exchange power between the AC grid and a load based on the PWM signals.

17. The method of claim 16, wherein the estimating estimates the synthesized grid voltage vector angle at the terminal of the AC grid without using physical voltage sensors.

18. The method of claim 16, wherein:

the AFE inverter terminal voltage vector angle includes a first AFE inverter terminal voltage vector angle and a second AFE inverter terminal voltage vector angle, the first AFE inverter terminal voltage vector angle being an angle associated with the voltage vector of the terminal of the AFE inverter at an initial time and the second AFE inverter terminal voltage vector angle being an angle associated with the voltage vector of the terminal of the AFE inverter at a second time subsequent to the initial time; and

the estimating the synthesized grid voltage vector angle at the terminal of the AC grid based on at least the adjusted angle estimates the synthesized grid voltage vector angle by;

estimating the first AFE inverter terminal voltage vector angle when the AFE inverter is disabled;

estimating a terminal voltage of the AFE inverter when the AFE inverter is enabled, the terminal voltage of the AFE inverter being a voltage of the terminal of the AFE inverter;

determining the second AFE inverter terminal voltage vector angle when the AFE inverter is enabled; and

estimating the synthesized grid voltage vector angle based on the adjusted angle and the second AFE inverter terminal voltage vector angle.

19. The method of claim 16, wherein the controlling controls the AFE inverter by defining the rotating dq reference frame based on the synthesized grid voltage vector angle such that the d-axis of the rotating dq reference frame is aligned with the synthesized grid voltage vector angle.

20. A controller comprising:

a memory having computer-readable instructions stored therein; and

a processor configured to execute the computer-readable instructions to;

estimate a synthesized grid voltage vector angle at a terminal of an alternating current (AC) grid, the synthesized grid voltage vector angle being an angle associated with a voltage vector of the terminal of the AC grid, and the adjusted angle representing a shift in phase angle between an Active Front End (AFE) inverter terminal voltage vector angle at a terminal of an AFE inverter and the synthesized grid voltage vector angle, the AFE inverter terminal voltage vector angle including a first AFE inverter terminal voltage vector angle and a second AFE inverter terminal voltage vector angle, the first AFE inverter terminal voltage vector angle being an angle associated with the voltage vector of the terminal of the AFE inverter at an initial time and the second AFE inverter terminal voltage vector angle being an angle associated with the voltage vector of the terminal of the AFE inverter at a second time subsequent to the initial time, and the processor is configured to estimate the synthesized grid voltage vector angle by;

estimating the first AFE inverter terminal voltage vector angle when the AFE inverter is disabled,

estimating a terminal voltage of the AFE inverter when the AFE inverter is enabled, the terminal voltage of the AFE inverter being a voltage of the terminal of the AFE inverter,

determining the second AFE inverter terminal voltage vector angle when the AFE inverter is enabled, and

estimating the synthesized grid voltage vector angle based on the adjusted angle and the second AFE inverter terminal voltage vector angle;

generate Pulse Width Modulation (PWM) signals to control power switches of the AFE inverter based on at least the synthesized grid voltage vector angle; and

control the AFE inverter to exchange power between the AC grid and a load based on the PWM signals.