A COMPARATIVE STUDY OF THREE-PHASE AND SINGLE-PHASE PLL

ALGORITHMS FOR GRID-CONNECTED SYSTEMS

Rubens Marcos dos Santos Filho Paulo F. Seixas, Porfírio C. Cortizo

Centro Federal de Educação Tecnológica - CEFET-MG Universidade Federal de Minas Gerais - UFMG
Coord. Eletrônica - Av. Amazonas 5253 EE.UFMG-DELT - Av. Antônio Carlos 6627
Belo Horizonte - MG - CEP. 30.480-000 - BRASIL Belo Horizonte - MG - CEP. 31.270-901 - BRASIL
Fax: +55.31 3319.5135 - e-mail: [email protected] Fax: +55.31 3499.5480 - e-mail: [email protected]

Abstract – This work presents a comparative study of II. THREE-PHASE PLLS

two three-phase and five single-phase PLL structures. It
is shown through analytical and simulation results that In the following subsections the block diagrams and
the three-phase SRF PLL and the instantaneous power equations of the phase detector of the two three-phase PLL
based three-phase PLL behave exactly equal, what is structures will be shown.
corroborated by tests of voltage and frequency
disturbances, harmonic injection and line unbalance. A. Three-Phase SRF PLL (dqPLL)
However, the power PLL algorithm is more efficient The block diagram of the dqPLL is shown in Fig. 1 [1].
since it requires fewer computations in its phase detector. The grid voltage samples are va, vb and vc. Comparing this
The five different types of single-phase PLL structures diagram to the conventional PLL used in telecommu-
are briefly reviewed and their performances are nications, it can be seen that the PI controller is analogous to
evaluated under several line disturbances. the low pass filter, the integrator is analogous to the voltage
controlled oscillator, and the SRF transformation blocks
Index terms – Phase-locked loop (PLL), synchronous scheme is analogous to the phase detector. Its working
reference frame (SRF), adaptive linear combiner (ALC). principle relies on regulating to zero the direct component of
the rotating frame. This component is calculated using the
I. INTRODUCTION
estimated phase angle θˆ , closing the loop.
The correct phase angle is a very important information in
grid-connected systems such as UPS, controlled rectifiers, kp
active filters, dynamic voltage restorers and also in the ωff
emerging distributed generation systems such as eolic and
+ ki + + 1 θ̂
photo-voltaic. To estimate the phase angle open loop and
closed loop methods are available [7]. The closed loop Vd* = 0 - s + + s
methods are commonly known as Phase-Locked Loops or
PLLs. The figures of merit of a PLL are the steady state Vd
dq
phase angle error, speed of response to phase, frequency and
voltage amplitude disturbances, harmonic rejection and line Vq αβ
unbalance in the case of three-phase systems. Vα Vβ
Generally, the line frequency varies within a limited range va
abc
even in isolated systems, and its rate of change is limited by vb
generators’ mechanical inertia. But when (unbalanced) grid vc αβ
faults occur, equipments are subjected to phase angle jumps
Fig. 1. Three-Phase SRF PLL
and voltage sags [13]. The unbalanced situation may last for
several cycles before the fault is cleared.
Assuming balanced and harmonic free input voltages, the
Thus, the development of robust synchronizing algorithms
expression of the d-axis component which is feed to the PI
is needed for the growing performance requirements of
controller is:
modern grid-connected equipments. In recent years, several
PLL algorithms have been developed and presented in the Vd = Vα sinθˆ + Vβ cosθˆ (1)
literature [1]-[15].
The main objective of this work is to briefly review and or
evaluate some PLL algorithms for grid-connected systems Vd = V cos θ sin θˆ − V sin θ cosθˆ (2)
under diverse line disturbances. In Section II, analytical leading to:
results of the three-phase synchronous reference frame PLL
structure (dqPLL) [1] and three-phase instantaneous power Vd = − V sin(θ − θˆ ) (3)
based PLL (pPLL) [2]-[4], will be presented. Section III will where: Vd is the phase detector output signal;
present five different single-phase structures. The first two V is the amplitude of the input voltages;
are based on the SRF method, the third is based on the θ is the angle of phase A;
instantaneous power PLL, and the two later are based on
adaptive filter theory. θ̂ is the estimated angle.
 Using the same procedure for the q-axis component Vq, The kp and ki gains determine the speed of response and
we find its amplitude: disturbance rejection of the PLL in a direct relation.
However, there is a trade off between noise, harmonic and
Vq = V cos(θ − θˆ ) (4)
voltage unbalance rejection and speed of response. The
When θ̂ approximates θ , Vd in (3) will approximate zero higher the gains, the worse the noise, harmonic and line
and the PLL will be locked. In this situation, according to unbalance rejection. The adequate bandwidth will depend on
(4), Vq will be equal to the input voltage amplitude. the application purposes.
The following simulation results have been obtained for
B. Instantaneous Power Three-Phase PLL (pPLL) the discretized three-phase dqPLL and pPLL. There have
been used 64 samples per line period or 3840Hz. The input
The block diagram of the three-phase pPLL is shown in voltages amplitude and frequency were normalized at
Fig. 2 [2]-[4]. The working principle of its phase detector is 1p.u./60Hz. The same PI gains were set for both PLLs:
based on regulating to zero the fictitious instantaneous three- kp=200V-1s-1, ki=20,000 V-1s-2. The PI gains were adjusted
phase power. This power is calculated using the voltages such that a suitable settling time and damping and an
samples and the fictitious currents ia and ic depicted in Fig. 2 acceptable harmonic rejection were obtained. The 3/2 factor
and generated through the estimated angle θ̂ . has been included in the dqPLL.

1) Phase Angle Jump Response – The PLL response to a

kp 30 degrees phase angle step at t=1s is shown in Fig. 3. Both
ωff PLLs behave exactly equal as pointed out by (3) and (7) with
a settling time of about 40ms and zero steady-state error.
p*=0 + ki + + 1 θ̂
- s + + s
p
ic
+ − cos (θˆ + 120 )
+
ia
− cos(θˆ )
va +
vb -
vc -
+
Fig. 2. Three-phase pPLL

Assuming balanced and harmonic free input voltages, the

expression of the phase detector output signal p which is fed
to the PI controller can be found by writing the instantaneous Fig. 3. Response of the three-phase pPLL and dqPLL to a 30-
three-phase power expression: degrees phase-angle jump in the input voltages.
p = v a i a + vb i b + vc ic (5)
2) Frequency Step Response – Fig. 4 shows the response
Since i a + i b + ic = 0 , (5) can be rewritten as: of the three-phase PLLs to a +5Hz frequency step at t=1s.
Although the line utility frequency commonly changes in a
p = ( v a − v b ) i a + ( vc − v b )i c (6) narrow range even in isolated systems and its rate of change
Substituting v a = V sin( θ ) , v b = V sin( θ − 2π / 3 ) and
v c = V sin( θ + 2π / 3 ) in (6) and making the simplifications
we obtain:
3
p = − V sin(θ − θˆ ) (7)
2

C. Simulation Results and Performance Comparison

The phase detector expressions of both three-phase PLLs
depend on input voltage amplitude and phase. Equations (3)
and (7) are similar, except for the factor 3/2 in (7). As they
were obtained for balanced and harmonic free grid voltages,
the following tests will evaluate the PLLs’ behavior under
non ideal and transient situations.
Fig. 4. Response of the three-phase PLLs to a +5Hz frequency step.
is limited due to the generators’ inertia, the frequency step The inability of the dqPLL to accurately track unbalanced
test intends to give an idea of systems’ speed and adaptivity. line voltages is well known in the literature. Several schemes
The overlap of both responses can be seen again. The PLLs have been proposed in order to improve the unbalance
achieve zero error in steady-state after the frequency change. rejection of the dqPLL [7],[11],[14]. Those schemes usually
compute the instantaneous positive sequence component of
3) Harmonic Rejection – The presence of harmonics in the
the input voltages and feed them to the dqPLL. The
line voltages leads to oscillating phase angle errors at PLLs’
simulation and analytical results obtained suggest that such
output with near to zero average value. The test was
schemes are also applicable to the three-phase pPLL and
performed applying one harmonic at a time. The peak phase
would produce the same results.
angle error obtained for both PLLs as a function of harmonic
order and amplitude is shown in Fig. 5. As stated before, 5) Computational Load – Table I displays the number of
both PLLs behave equally. It can be seen that higher computations needed in the phase detector stages of the
harmonic frequencies lead to lower errors. three-phase dqPLL and pPLL. The PI and the integrator were
not included because they are equal in both PLLs. As can be
seen, the phase detector of the three-phase pPLL is more
efficient since it requires fewer computations. Actually,
effective computational load of the PLLs algorithms will
depend on used processor’s architecture.
Table I
Computational Load of Three-Phase Algorithms
Number of Operations in the Phase Detector
Algorithm Mult. Addition Trigon. Total
dqPLL 7 4 2 13 100%
pPLL 2 3 2 7 54%

III. SINGLE-PHASE PLLS

Fig. 5. Peak phase angle error of the three-phase PLL in the Five different single-phase PLL structures have been
presence of harmonic distortion in input voltages. studied: two single-phase versions of the three-phase dqPLL
(PLL-dqFIFO and PLL-dq-Park) [5],[6]; one single-phase
4) Phase Unbalance Response – This test has been version of the three-phase pPLL (pPLL) [15]; the enhanced
performed using the ANSI/IEEE standard 141-1986 which PLL (EPLL) [7],[8]; and finally one PLL which employs an
quantifies the three-phase unbalance as the relative adaptive filter to estimate line phase angle (PLL-ALC) [12].
maximum individual line rms voltage deviation in relation to
the average rms value of the three phases: A. Single-phase Transport Delay PLL (PLL-dq-FIFO)

Unbalance% =
(a ,b ,c
max |VRMS − VRMS | )
× 100% (8)
Fig. 7 shows the block diagram of the PLL-dq-FIFO
VRMS [5],[6]. Its working principle is the same of its three-phase
version. It uses a first-in-first-out register to build the
where VRMS is the average rms value of the three phases. quadrature component to the dq transformation. Due to the
fixed length delay, it is not able to adjust to input voltage
Fig. 6 shows the peak and average phase angle errors of
frequency deviations, leading to phase angle errors as will be
both PLLs as a consequence of line unbalance, which has
shown in the simulation results. Other alternative to generate
been calculated through (8).
the quadrature component is the Hilbert transformer, but it is
very difficult to implement in low frequency (50/60Hz).

kp
ωff

+ ki + + 1 θ̂
Vd* = 0 - s + + s

Vd
dq
Vq
αβ

Vβ
PLL input Delay
1/4 Cycle
(FIFO) Vα
Fig. 6. Peak and average phase angle errors of the three-phase
PLLs as a function of input voltage unbalance. Fig. 7. Single-phase transport delay PLL
B. Single-phase Inverse Park PLL (PLL-dq-Park)
kp
ωff
Fig. 8 displays the block diagram of the single-phase dq PLL input
inverse Park based PLL [5],[6]. It is also based on frame u + e ki
+ + ˆ&
θ 1 θ̂
orientation. The quadrature component Vα is build through - s + + s
the inverse Park transformation. ^
A K x1
sin
kp s
ωff
cos
θ̂ x2
+ ki + + 1
Vd* = 0 - s + + s Fig. 10. Single-phase Enhanced PLL

Vd This PLL is based on adaptive filter theory. Basically, it

dq reconstructs in real time the fundamental component of the
Vq
αβ input signal by estimating its amplitude, phase and frequency
through the steepest descent algorithm. In other words, this
1 1 Vα
Vβ PLL has a non-linear phase detector. The gain K controls the
ps + 1 ps + 1 convergence speed of the estimated amplitude  .
PLL input
αβ Roughly speaking, the adaptive filter theory is based on
the idea that an output signal y(t) of a system can be
dq
reconstructed (or estimated) modifying the gains of a linear
Fig. 8. Single-phase inverse Park PLL combiner as a function of an error e(t), which in turn is the
difference between the estimated signal ŷ(t) and the
C. Single-phase Power PLL (pPLL) system’s output (the desired signal), as depicted in Fig. 11. In
the PLL context, the desired signal y(t) is the grid voltage.
Fig. 9 displays the block diagram of the single-phase pPLL
[15]. As its three-phase version, it is also based on annulling The estimated signal ŷ(t) is built with the estimated phase-
the fictitious instantaneous power. Assuming purely angle, as well as the inputs x(t) to the filter.
sinusoidal input voltage in the form V sinθ , the expression
of the phase detector output signal is:
ŷ(t) (estimated signal)
p = −V sinθ cosθˆ (9) Adaptive Filter
+
or e(t)
-
V V
p = − sin(θ − θˆ ) − sin(θ + θˆ ) (10) x(t)
System
y(t)
2 2
(desired signal)

As pointed out by (10), there is a strong drawback to this Fig. 11. Adaptive filter structure
structure: the product of input voltage and “virtual” current
has a second harmonic component which has to be filtered E. Single-phase Adaptive Linear Combiner PLL (PLL-ALC)
out. Thus, a low pass filter with low cutoff frequency is
Fig. 12 displays the block diagram of the PLL-ALC, which
needed, slowing down system’s speed. The adopted approach
is also based on adaptive filter theory [12].
in the performed simulations was to use the state feedback
technique to allocate closed loop poles and hence system’s
kp
dynamics, as presented in [15]. ωff
+ + ˆ&
ωff + ki θ 1 θ̂
x1 x2 W 2* = 0
- s + + s
+ ω̂ θ̂
+ e State Fbk. 2nd order 1 W2
p*=0
Controller filter + s W12 + W22
- x3
x1
W1 sin
+
u(t) is(t)
− cos(θˆ ) + x2
PLL input W2 cos
Fig. 9. Single-phase power PLL
PLL input - Adaptation Algorithm
e
D. Single-phase Enhanced PLL (EPLL) u
+

Fig. 10 displays the block diagram of the EPLL [7],[8]. Fig. 12. Single-phase Adaptive Linear Combiner PLL
 The filter inputs x1 and x2 are built with the estimated 2) Phase-Angle Jump Response – Fig. 14 shows the
phase angle θ̂ , what is analogous to the EPLL scheme in Fig. results for this test, and Table III shows the ISE of all five
10. The linear combiner gains W1 and W2 are updated on-line responses. The pPLL has the slowest response due to its filter
using the delta rule. The PI controller regulates the gain W2 with small cutoff frequency. PLL-dq-FIFO has the smallest
to zero. Thus the W1 gain becomes equal to the input voltage undershoot, and PLL-dq-Park has the smallest settling time.
amplitude when θ̂ equals θ. The normalizing block which
computes W12 + W22 improves transient response to voltage
disturbances but it is not essential.

F. Simulation Results and Performance Comparison

All single-phase PLL were discretized with a sample rate
of 64 samples per 60Hz cycle or 3840Hz. The same PI gains
were set to the PLL-dq-FIFO, PLL-dq_Park, and EPLL:
kp=200V-1s-1, ki=20,000V-1s-2. Half this value had to be set to
the PLL-ALC PI controller due to stability issues. The EPLL
gain K was set to 200. The pPLL filter was implemented by
two cascaded first order filters with cutoff frequency of
24Hz, resulting in 28dB of attenuation at 120Hz. The state
feedback gains were set so that the closed loop poles were at
15Hz and 20Hz with optimum damping factor. In the dq-
PLL-Park the cutoff frequencies of the two first order filters
were set to 120Hz. In the PLL-ALC the convergence gain α
Fig. 14. Single-phase PLLs responses to a phase-angle jump of 30
of the adaptation algorithm was set to 0.25. degrees
1) Voltage Sag Response – Fig. 13 shows the simulation
results for this test. It can be seen that the PLL-dq-FIFO has
the best response to voltage disturbances. The closed loop Table III
poles chosen to the pPLL led to a noticeable oscillation in the Phase-Angle Jump Test ISE – Single-Phase Algorithms
phase angle error in steady state, though smaller than 0.5 ISE – Integral of Square Phase-Angle Error
degree peak-to-peak. The PLL-dq-Park presented the highest
Algorithm PLL-dq-FIFO PLL-dq-Park pPLL EPLL PLL-ALC
overshoot with the shortest settling time. Table II shows a
ISE 3.96 3.18 16.96 5.19 7.10
more objective comparison criterion of all five responses
through the ISE – integral of square error index. 23.3% 18.7% 100% 30.6% 41.8%

3) Frequency Step Response – Fig. 15 shows the

simulation results for this test. As can be seen, PLL-dq-FIFO
can not deal with frequency deviations due to its fixed delay,
which have been adjusted to the line nominal frequency.
Again, the pPLL presented the slowest response but zero
steady state error. The best response was achieved by the
PLL-dq-Park, as indicated in Table IV.

Fig. 13. Single-phase PLLs responses to a voltage sag of 30%

Table II
Voltage Sag Test ISE – Single-Phase Algorithms
ISE – Integral of Square Phase-Angle Error
Algorithm PLL-dq-FIFO PLL-dq-Park pPLL EPLL PLL-ALC
ISE 0.12 1.12 0.04 0.28 0.63
10.7% 100% 3.5% 25% 56.2% Fig. 15. Single-phase PLLs responses to a frequency step of +5Hz
 Table IV Table V
Frequency Step Test ISE – Single-Phase Algorithms Computational Load of the Single-Phase Algorithms
ISE – Integral of Square Phase-Angle Error Total Number of Operations
Algorithm PLL-dq-FIFO PLL-dq-Park pPLL EPLL PLL-ALC Algorithm Mult Add. Trig. Div Shift Total %
ISE 5.53 0.62 53.5 1.85 2.25 PLL-dq-FIFO 2 2 2 0 2 8 36%
10.3% 1.2% 100% 3.5% 4.2% PLL-dq-Park 13 7 2 0 0 22 100%
pPLL 9 7 1 0 0 17 77%
4) Harmonics Response – Fig. 16 shows the time response
EPLL 4 3 2 0 0 9 41%
to 5% 3rd harmonic injection in the line input voltage. In
some responses there is a dc error superimposed to the PLL-ALC 14 7 2 2 0 38* 172%
oscillating phase-angle error. * Division has been weighted by a factor of 10.

IV. CONCLUSIONS

In this work, it was shown that the phase detector stage of

the two main three-phase PLL structures for grid-connected
systems found in the literature have practically the same
equation, leading to identical behavior under line
disturbances, harmonics and line unbalance. Furthermore, the
three-phase power PLL algorithm is more efficient from the
computational point of view, demanding about half the
number of calculations on its phase detector stage. Although
not tested in this work, the simulation and analytical results
suggest that the positive sequence detection schemes used in
the traditional three-phase SRF PLL are also applicable to
the three-phase power PLL and would produce the same
results.
Five different types of single-phase PLLs found in the
Fig. 16. Single-phase PLLs responses to 5% 3rd harmonic injection literature have been briefly reviewed and its simulation
in the input voltage results have been presented. The single-phase power PLL
algorithm presented the slowest responses to frequency and
Fig. 17 shows how each PLL behave in presence of the
phase disturbances but it is the stiffest to voltage sags and
3rd, 5th and 7th harmonics. The PLL-ALC has the lowest
harmonics due to the low cutoff frequency of its filters. The
sensitivity (degrees of deviation per harmonic %).
transport delay PLL requires the lowest computational effort,
followed by the EPLL. The PLL-ALC is the heaviest
algorithm from processing time viewpoint, but is less
sensitive to harmonics and so fast as the EPLL and PLL-dq-
Park.

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