Course:

Smart Grids—Reti Elettriche Intelligenti

Representation of Three-Phase Variables and

Applications
A.A. 2016-2017
Tommaso Caldognetto
tommaso.caldognetto@dei.unipd.it
24 March 2017

1
 Summary

• This set of slides aims at introducing the modeling of three-phase

quantities by means of the !"# (natural) reference frame, the $%&
(stationary) reference frame and the '(0 (rotating) reference frame. These
spaces are useful for the modeling of three-phase quantities and in the
implementation of controllers. These representation techniques are
applied to the implementation of a phase-locked loop and the various
controllers that can be found in converters operating connected to the grid.

2
 Three-Phase Circuits - Source

Y-connection Δ-connection

3-phase 4-wire

3
 Three-Phase Circuits - Loads

Y-connection Δ-connection

3-phase 4-wire

4
 Three-Phase Variables
Y-connection ∆-connection
! !
*+, = *+. − *,.
1+ *0+ *+, 1+
*+. *,0 = *,. − *0. 1+,
*0+ = *0. − *+.
*0. *,. 10+ *0,
4 1+ = 1+, − 10+ "
"
1, = 1,0 − 10+
1,0 1,
1, 10 = 10+ − 1,0
# #

10 10
Applying Kirchhoff current and voltage laws:

1+ + 1, + 10 = 0 1+ + 1, + 10 = 0
*+, + *,0 + *0+ = 0 *+, + *,0 + *0+ = 0
*+. + *,. + *0. ≠ 0 homopolar components 1+, + 1,0 + 10+ ≠ 0

5
Relationship between Line-to-Line and
Phase Currents
1+

1+, 1, 1+ = 1+, − 10+

1, = 1,0 − 10+
10+
10 = 10+ − 1,0
1,0
10

1+ − 1, = 1+, − 10+ − 1,0 − 1+, = 21+, − 10+ + 1,0 = 31+,

Assume 1+, + 1,0 + 10+ = 0

With the same procedure (or by analogy):

1 1 1
1+, = (1+ − 1, ) 1,0 = (1, − 10 ) 10+ = (10 − 1+ )
3 3 3

6
 Sinusoidal, Symmetrical, Homopolar
Component

*+ (<) => cos(B< + C+ )

Sinusoidal ; = *, (<) = => cos(B< + C, )
*0 (<) => cos(B< + C0 )

*+ (<) *D (<)
; = *, (<) = *D (< − E/3)
Symmetrical *0 (<) *D (< − 2E/3)

E is the line period

Homopolar *G = H *+ (<) + *, (<) + *0 (<) ,

Component (HC) (H is a real number)

7
 Sinusoidal, Symmetrical, without
Homopolar Component
*+ *, *0
100

*+ + *, + *0
[V]

-100
0 180 360 540 720
θ [degree] 8
 Non-Sinusoidal, Symmetrical, without
Homopolar Component
*+ *, *0
100

*+ + *, + *0
[V]

-100
0 180 360 540 720
θ [degree]
9
 Non-Sinusoidal, Symmetrical, with
Homopolar Component
*+ *, *0
100

*+ + *, + *0
[V]

-100
0 180 360 540 720
θ [degree] 10
 Non-sinusoidal, Asymmetrical, without
Homopolar Component
*+ *, *0
100

*+ + *, + *0
[V]

-100
0 180 360 540 720
θ [degree] 11
 Non-Sinusoidal, Asymmetrical, with
Homopolar Component
*+ *, *0
100

*+ + *, + *0
[V]

-100
0 180 360 540 720
θ [degree] 12
Vector Representation of the Three-Phase
Variables

• Euclid vector representations

*+ (<) 1+ (<)
; < = *, (<) J < = 1, (<)
*0 (<) 10 (<)

• Euclid space
#
*0 ;
1 0 0
K+ = 0 K, = 1 K0 = 0 "
0 0 1 *,

*+ !

13
 Vector Space
• A linear vector space L is a set of elements, called vectors,
defined over a scalar number field M , which satisfies the
following conditions:
1. L is an Abelian group with respect to addition (+):
• Closure: N, P ∈ L ⇒ N + P ∈ L
• Associative: N + P + S = N + P + S ∀N, P, S ∈ L
• Identity element: ∃V ∈ L ∶ N + V = V + N = N
• Inverse element: ∀N ∈ L ∃ P ∈ L ∶ +P = P + N = V
• Commutative (Abelian): N + P = P + N, N, P ∈ L
2. L satisfies with respect to multiplication by scalar:
• Closure: N ∈ L, ! ∈ M ⇒ ! ⋅ N ∈ L
• Associativity: ! ⋅ " ⋅ N = ! ⋅ " ⋅ N, N ∈ L and !, " ∈ M
• Identity element: ∃\ ∈ L ∶ \ ⋅ N = N ⋅ \ = N, ∀N ∈ L
3. Multiplication by scalars is distributive, N, P ∈ L !, " ∈ M:
! + " ⋅ N = ! ⋅ N + " ⋅ N ! ⋅ N + P = ! ⋅ N + ! ⋅ P
14
 Norm and Scalar Product

• Be L a linear vector space, a norm is a function ] ↦ ] from L to ℝ such

that:
• ] ≠ 0 ⇒ ] > 0,
• !] = ! ] , ∀! ∈ M, ∀] ∈ L,
• ] + a ≤ ] + a , ∀], a ∈ L.
• (L, ⋅ ) is called normed vector space.

• Be L a linear vector space, a function ⋅,⋅ ∶ L×L → M is called a scalar

product in L if:
• $] + %a, e = $ ], e + % a, e , ∀ $, % ∈ M, ∀ ], a ∈ L
• ], a = a, ] ∗ , ∀ ], a ∈ L
• ] ≠ 0 ⇒ ], ] > 0

15
 Norm and Scalar Product
.
; is a scalar product.
;, o = ;p o = op ; = q *r sr
o rtu

n u
.

; = ;, ; v = q *rv = *uv + *vv + ⋯ + *.v is a norm.

rtu

• In an Eucledian space, the inner and outer products can be calculated as:

;, o = ; o cos n ;×o = ; o sin n

• The induced norm of a matrix is defined as: jN D

j D = sup
∀~G N D
• In the case of p = 2, the induced matrix norm is the spectral norm:

j := j v = max eig(jjp )

• eig(jjE ) are the eigenvalues of jjE [i.e., the solutions of det jjE − lm = 0].
16
Phase Variables and Line-to-Line Variables
• Relations between line-to-line and phase voltages:

*+, 1 −1 0 *+ 1 −1 0
;ÄÅÄ = *,0 = 0 1 −1 *, = 0 1 −1 ;DÇ
*0+ −1 0 1 *0 −1 0 1

*+, 1 −1 0 *+
;ÄÅÄ = *,0 = 0 1 −1 *, =
*0+ −1 0 1 *0

1 −1 0
= 0 1 −1 ;DÇ = 3 ;DÇ
−1 0 1

That is: ;ÄÅÄ = 3 ;DÇ

17
 Balanced Three-Phase Voltages in !"#
Frame
*+
*0 *+ (<)
*, *, (<) =
*0 (<)
*0
=> cos(B<)
2
=> cos(B< − É)
3
4
=> cos(B< − É) *,
3

*0 *DÇ *0

*ÄÅÄ

*, *+
*+ 18
Introduction to the $%& Transformation

19
 Introduction to the $%& Transformation

• Balanced three-phase voltages, i.e.,

*+ < + *, < + *0 < = 0
can still be represented in a two-dimensional space.

• In particular it is possible to associate to (*+ , *, , *0 ) the complex number:

vâ ä ãâ ä
;Ö = *+ < + *, < Ü Åá à + *0 < Ü Åá à

• Then, *Ö can be expressed as:

2É 4É
1 cos − cos − *+ <
;Ö < = 1 å 3 3 *, <
2É 4É
0 sin − sin − *0 <
3 3

20
 $%& Transformation
• Based on this procedure, we define the transformation:

u u
1 − −
*ç (<) v v *+ (<)
v à à
;çéè < = *é (<) = 0 − *, (<) = êçéè/+,0 ;+,0 <
à v v
*è (<) u u u *0 (<)
v v v

• Which has the following properties:

• The matrix êçéè/+,0 is orthogonal, then: êÅu p

çéè/+,0 = êçéè/+,0 .

• The transformation is power invariant, that is ]+,0 , a+,0 =

]çéè , açéè (due to the orthogonality of êçéè/+,0 ).

• The transformation does not alter the norm of vectors (indeed

;çéè = êçéè/+,0 ;+,0 = êçéè/+,0 ;+,0 = 1 ;+,0 ).

21
 Representations of *ç , *é , *è Components
*é • Example of transformation of the following
balanced three-phase voltages:
*ç

=> cos(B<)
*è
*+ (<) 2
=
*, (<) = > cos(B< − É)
3
*0 (<) 4
=> cos(B< − É)
3

• *è component is null, because the

homopolar component *+ + *, + *0 is
*è null.
• Therefore, in the three-dimensional
space, any point (*ç (<), *é (<), *è (<)) lies
on the plane *ç , *é .

*é
*ç 22
 '( Transformation
% % B
(
;Ö ;Ö
*é *é
'
*í *ë
$ n $
*ç *ç

• A rotating vector in $%& can be a constant vector in a rotating space.

• By rotating the $%& components at the angular frequency of the three-
phase system, a constant vector can be obtained:
ö
*ë cos n sin n *ç
= n = ò B ô d ô + n 0
*í − sin n cos n *é G
êìî/ïñó

• B is the rotating speed of the three-phase system

23
 '( Transformation

• Preserve the same third axis, that is 0-axis is the same as &-axis:

*ë cos n sin n 0 *ç
*í = −sin n cos n 0 *é
*G 0 0 1 *è

• Therefore:

cos n sin n 0 êëíG/çéè = 1

êëíG/çéè = −sin n cos n 0 Åu p
0 0 1 ê çéè/ëíG = ê ëíG/çéè = ê ëíG/çéè

24
 $%& + '(0 ∶ The Park’s Transformation
• The transformation can be composed as:

;ëíG = êëíG/çéè ;çéè = EëíG/çéè Eçéè/+,0 ;+,0

• Therefore
;ëíG = êëíG/+,0 ;+,0
• where
1 1
1 − −
2 2
2 cos n −sin n 0 3 3
êëíG/+,0 = êëíG/çéè êçéè/+,0 = sin n cos n 0 0 − =
3 0 0 1 2 2
1 1 1
2 2 2
vä vä
cos n cos(n − ) cos(n + ) êëíG/+,0 =1
à à
v vä vä
= −sin n −sin(n − ) −sin(n + ) ê+,0/ëíG = êÅu p
à à à ëíG/+,0 = êëíG/+,0
u u u
v v v êëíG/+,0 is the Park’s Transformation

25
 Phase-Locked Loop based on the
Synchronous Reference Frame
• The synchronous reference frame transformation can be conveniently
used to implement a phase-locked loop (PLL).
• A PLL is a system able to estimate the frequency and phase of a given
periodic signal.

% B
(
;Ö
*é
'
*í *ë
n $
*ç

• A PLL is a fundamental block for monitoring or control in AC power

systems. In many practical applications it allows: accurate active and
reactive power injection, smooth connections to the grid, harmonic
compensation, islanding detection.
26
 Phase-Locked Loop based on the
Synchronous Reference Frame

% B
(
;Ö
*é
'
*í *ë
n $
*ç
27
 Phase-Locked Loop based on the
Synchronous Reference Frame
• The block regulator is
typically implemented by
means of a proportional-
integral (PI) regulator.
• Clearly, the choice of the PI
regulator must be done on
the basis of the small-signal
analysis of the control loop. 3⁄2 =>
*é
*+ =>
*0 *ç
*,

*è

28
 Phase-Locked Loop based on the
Synchronous Reference Frame
*é
*ç

*è

*ë cos n sin n 0 *ç • *í < = −sin nû ⋅ *ç < + cos nû ⋅ *é <

*í = −sin n cos n 0 *é
*G 0 0 1 *è • Therefore:
⇒
• *í < = 3⁄2 => sin(Bú < + ù − nû(<))
*ç < = 3⁄2 => cos(Bú < + ù)
*é < = 3⁄2 => sin(Bú < + ù)

29
 Phase-Locked Loop based on the
Synchronous Reference Frame
*é
*ç

*è

• *( < = 3⁄2 =ü sin(B† < + ù − nû (<))

• Note that *( < ≃ 3⁄2 =ü [B† < + ù − nû (<)],
*ë cos n sin n 0 *ç §*†
*í = −sin n cos n 0 *é specifically: = − 3⁄2 =ü ⇒ a minus sign
§nû
1 *è
*G •¶ß
0 0 (*í − *í ) is already present in the process
⇒ to be controlled. Hence the plus here
*ç < = 3⁄2 => cos(Bú < + ù) • The regulator has to be designed
*é < = 3⁄2 => sin(Bú < + ù) considering the open-loop transfer function:
3⁄2 =ü
E®©© l =
l 30
 Regulator Design
• Target crossover frequency B0 = 2É10 Hz , target phase margin ù¨ = 60 ° .
• By using an approximated design procedure we can set the proportional gain
ä
to B0 /( 3⁄2 => ) and the integral gain B0 Ø∞ tan( − ù¨ ).
v
• The approximated design procedure of the PI regulator mentioned above
assumes that the crossover frequency is not affected by the value of the
integral gain. In this way it is possible to design the proportional gain just
looking at the target crossover frequency and the analytical description of the
plant, that is, in this case, the transfer function of the PLL (E∞±± ).

• Once the regulator is obtained, it is

possible to evaluate numerically
the crossover frequency and phase
margin of the loop gain
E∞±± (l)(Ø∞ + Ø≤ /l) that are actually
obtained.

31
 Small-Signal Behavior

• The modeling and design can be verified in simulation, by perturbing the

control loop with a tone at the expected crossover frequency (i.e., the one
numerically evaluated).
• If the perturbation tone is located at the crossover frequency of the loop,
Nr. and N≥¥ö have (by definition) the same magnitude and they show a
phase shift that is equal to the phase margin.

32
 Example of Simulink Implementation
Generation of three- !"# to $%& Feedforward of the
$%& to '(0
phase quantities nominal grid
frequency
PI regulator

ùû¨

Tool to verify the phase

margin and the
crossover frequency

33
 Phase Measurement Block

J. Morroni, R. Zane and D. Maksimovic, "An online phase margin monitor for digitally controlled switched-
mode power supplies," 2008 IEEE Power Electronics Specialists Conference, Rhodes, 2008, pp. 859-865.
34
Step Response of the Designed Regulator

• First test: response to a step change of the frequency from 300 to 310
rad/s.

35
 Verification of Small-Signal Behavior
• The results obtained in simulation Nr. and N≥¥ö have the same
match those expected during the amplitude at BD = 70.6 rad/s
design phase, which verifies the
correctness of the modeling, the
design, and the models implemented in
simulation. Nr. , N≥¥ö

E∞±± (l)(Ø∞ + Ø≤ /l)

ùû¨

The phase shift between Nr.

and N≥¥ö is equal to the
desired ù¨

36