A Method for Extracting the Fundamental

Frequency Positive-Sequence Voltage Vector Based

on Simple Mathematical Transformations
F. Bradaschia, J. P. Arruda, H. E. P. Souza, G. M. S. Azevedo, F. A. S. Neves, M. C. Cavalcanti
Universidade Federal de Pernambuco/Departamento de Engenharia Eletrica e Sistemas de Potencia, Recife - PE, Brazil
AbstractIn this paper a novel scheme for obtaining the
fundamental-frequency positive-sequence grid voltage is proposed. The method is based on four simple mathematical
transformations, two of them in the stationary reference frame,
which are able to eliminate odd harmonics from the original
signals. The other two transformations are implemented in a
synchronously rotating reference frame in order to eliminate even
harmonics. The output of the last transformation block is input to
a synchronous reference frame phase locked loop for detecting
frequency and position of the positive-sequence voltage vector.
The proposed algorithm was veried through simulations and
experiments by applying distorted and unbalanced signals, containing positive and negative-sequence components. The results
are in agreement with those theoretically predicted and indicate
that the proposed scheme has a great potential for using in grid
connected converters synchronization algorithms.

I. I NTRODUCTION
Voltage oriented control (VOC) is one of the most used
techniques for the operation and control of any equipment
connected to the grid through a DC-AC controlled converter,
such as a distributed power generation system, uninterruptible power supply or active lter. The correct value of
the fundamental-frequency positive-sequence voltage vector
of the electric grid is essential for achieving good control
performance when using VOC. This information is usually
obtained by using a phase locked loop (PLL). The PLL must
be capable of following the fundamental-frequency positivesequence voltage vector as fast as possible for eliminating the
impacts of the grid signal imperfections, even during voltage
sags or if the grid voltages are distorted and unbalanced [1][2].
The synchronous reference frame PLL (SRF-PLL) is frequently used in three-phase systems and for balanced undistorted grid conditions, good results can be reached [3]. The
SRF-PLL can also operate correctly if only high order harmonics are present in the grid voltages, by reducing its bandwidth
to attenuate these harmonics [4]. However, under unbalanced
conditions, the second harmonic content of the dq voltage
vector, caused by the negative-sequence components, makes
the reduction of the bandwidth an inefcient solution, since
the dynamics of the PLL would become very slow for such
a narrow bandwidth. A better performance under unbalanced
conditions can be achieved by separating the positive and
negative-sequence components of the voltage vector. This is
made by the double synchronous reference frame PLL (DSRFPLL) that uses a decoupling cell to isolate the positive and

978-1-4244-1668-4/08/$25.00 2008 IEEE

negative-sequence components [5]. A cell for obtaining any

other harmonic component may be implemented and then
that component may be subtracted from the original voltages.
However, the computational cost greatly increases if many
harmonic components should be attenuated.
An alternative technique uses an enhanced PLL (EPLL)
[6] for each phase. The phase voltages and their respective
values delayed by 900 detected by the EPLL are used for
obtaining the positive-sequence voltages of the three-phase
system using the instantaneous symmetrical components (ISC)
method. Finally, a fourth EPLL is applied to the output of
the ISC method to estimate the positive-sequence voltage
phase angle. The fundamental-frequency negative-sequence
components of the grid voltages are eliminated by the EPLL
calculator. However, some harmonics will pass through the
EPLL and may be present in its output.
In the so called delayed signal cancellation method [7],
[8], the positive- and negative-sequence components of the
grid voltage are determined based on the voltage vector in a
stationary () reference frame and also on that voltage vector
delayed by a quarter of cycle. The method is suitable for unbalanced undistorted grid voltages, but the calculated positiveand negative-sequence voltages are sensitive to harmonics in
the grid voltages.
The PLL using a dual second order generalized integrator
(DSOGI) [9] is based on the ISC method in the stationary
() domain. The grid voltages are transformed to the
reference frame and the and components delayed by
900 are obtained by the DSOGI-QSG, where QSG means
quadrature signals generation. These signals are used as the
inputs of a positive-sequence calculator (PSC). After that, a
SRF-PLL is used to obtain the angle, frequency and position of
the fundamental-frequency positive-sequence voltage vector.
This frequency is used to feedback the DSOGI-QSG.
A fast instantaneous method for sequence extraction from
a three-phase signal was proposed in [10]. It was shown that
the phase voltages can be manipulated through mathematical transformations to eliminate specic harmonics from the
original signals without using lters. The signal is passed
through some cascaded mathematical transformations in order
to eliminate odd harmonics. The even harmonic components
are not eliminated, although some of them may be attenuated.
This paper presents an original scheme that employs
only simple calculations to extract the fundamental-frequency

1115

positive-sequence grid voltages, eliminating odd and even

harmonics. The method is based on different ways of obtaining
the positive- and negative-sequence components of the grid
voltage, by applying the symmetric components theory to
the dq voltage vector transformed into different reference
frames ( and synchronous with the fundamental positivesequence voltage). It is shown how these transformations
affect each harmonic component of the grid voltage. The
extracted positive-sequence voltage is the input to a SRF-PLL
for detecting the frequency and the position of the desired
voltage vector.

[s+ ] =


A1 = C1 =


A3 = C3 =

1

120
1 120
1

[M ]

1

 
Sa
120

Sb
1 120
1

 Sc

a
S
S = 1
b
3
c
S

1
1 60
1 60

1 60
1
1 60

1 60
1 60
1

[M ]

a+
S
S+ = 1
b
3
c+
S

1
1 60
1 60

1 60
1
1 60

[s ] =

[s60 ] =

a
S
b
S
c
S
(2)

1 60

1 60
1

[M+ ]

 
Sa
Sb .

 Sc
(3)

As demonstrated in [10], operations (2) and (3) can be

written in different ways for obtaining the same responses
if the phase signals contain only fundamental- frequency
components. However, if the harmonics present in the original signals are differently modied by each operation for
obtaining the positive- or negative-sequence component. Four
of these transformations are used in the time domain (using
the instantaneous symmetrical components theory [12]), two
for obtaining the positive-sequence and two for the negativesequence components:
1
[s ] = {A1 [s] + A2 [s60 ] + A3 [s60 ]}
3

(4)

1
[s ] = {B1 [s] + B2 [s90 ]}
3

(5)

1
[s+ ] = {C1 [s] + C2 [s60 ] + C3 [s60 ]}
3

(6)

(1)

and

0
1
0

0
1
0
0
0
1

B2 = D2 =

The negative- and positive-sequence components can be

extracted in abc from:

1
0
0

Using the method of symmetrical coordinates (1), it is

possible to obtain the symmetrical components (S+ , S and
S0 ) of a three-phase signal (current, voltage or ux: Sa , Sb
and Sc ) [11].


+
S
1
1
S =
1
3
1
0
S

(7)

where

II. T RANSFORMATIONS TO E XTRACT O DD H ARMONICS

1
{D1 [s] + D2 [s90 ]} ,
3

s
a
s
b
s
c

sa60
sb60
sc60

1
0
0
0

23
3
2

0
0
1


, A2 = C2 =

1
2
1
2

, B1 = D1 =

3
2


+

, [s ] =


, [s90 ] =

1
0
0
1
2

3
2

, [s] =

0
s+
a
s+
b
s+
c

sa90
sb90
sc90

1
sa
sb
sc

, [s60 ] =

sa60
sb60
sc60


, [s90 ] =

0
1
0
1
2
1
2

1
2

23

3
2

0
0
1


,


,

sa90
sb90
sc90


.

The subscripts 60 (60) and 90 (90) are used to indicate

the instantaneous signals delayed from the original ones by the
correspondent value in degrees. They can be implemented by
storing the original signals during a time interval corresponding to the desired angles at the fundamental-frequency. For
discrete-time implementation, a determined number of samples
(N ) of a fundamental period must be stored. For a delay of
90o the last N/4 samples are stored. To obtain a 90o advanced
signal, the 90o delayed signal with opposite signal is used.
The delay of 60o can be generated by saving the last N/6
samples. The advance of 60o is produced by storing the last
N/3 samples, for obtaining a delay of 120o , and multiplying
by -1.
The operations dened by (4)-(7) are called of A, B, C
and D, respectively. After applying A, B, C or D, the signals
sa , sb and sc are modied. The operations A and B keep
the fundamental-frequency negative-sequence component, but
some harmonics are modied. On the other hand, the operations C and D keep the fundamental-frequency positivesequence component, changing the characteristics of other
components. Table I, an extended version of that presented
in [10], shows the gains (absolute values and phase shiftings)
of each operation A, B, C and D. The results of the cascade
application of operations AB and CD are also shown. Even
harmonics are not canceled, being only attenuated by these
operations.
III. P ROPOSED M ETHOD
Transforming the original signals to an arbitrary dq reference frame (stationary or rotating), operations capable of
producing the same results of A, B, C and D are presented
and a way of using these transformations for eliminating odd
and even harmonics is proposed.

1116

Table I
G AINS OF THE MATHEMATICAL OPERATIONS FOR THE ODD HARMONICS

Operation
1 seq+
1 seq3 seq+
3 seq5 seq+
5 seq7 seq+
7 seq9 seq+
9 seq11 seq+
11 seq13 seq+
13 seq15 seq+
15 seq-

1 0
1 0
1 0
1 0
1 0
-

C
1 0

1 0
1 0

1 0
1 0

1 0
1 0

1 0
1 0

1

0
1 0

1 0
1 0

D
1 0

AB

1 0
1 0
1 0
-

1 0
1 0

1 0
1 0

1

0
1 0

1 0

Transformations of similarity analogous to (9) can be applied

to operations B, C and D to obtain them in any dq reference
frame, respectively:




 

CD
1 0

sd
s
q

s+
d
s+
q

1
= C1dq
3


=

cos
sin

cos( 120 )
sin( 120 )

1
2

1
2

cos( + 120 )
sin( + 120 )
1
2

A3dq = C3dq =

[s]

(8)

where is the d axis angular position and using (4) and (8), the
negative-sequence instantaneous components in an arbitrary dq
reference frame can be calculated as follows:
1
T [s ] = {T A1 [s] + T A2 [s60 ] + T A3 [s60 ]} .
3

Thus,
[s
dq ] =


1
T A1 T 1 [sdq ] + T A2 T 1 [sdq60 ] + T A3 T 1 [sdq60 ]
3
(9)

[sdq ] =


[sdq60 ] =

sd
sq
s0

sd60
sq60
s060

sd60
sq60


+

1
D2dq
2

1
+ C3dq
6

sd90
sq90

(11)

sd60
,
sq60
(12)

(13)

1
0

3
1

1
3

0
1


3
,
1


, B2dq = D2dq =

0
1

1
0


.

It is important to note that operations (10) - (13), named

Adq , Bdq , Cdq and Ddq , respectively, are identical to operations A through D regarding to the effects over the harmonic components (Table I). This is proved now. Consider
a three-phase balanced positive-sequence signal of order h
(h = 1, 2, 3, . . .):

sah = Sh cos(ht + h )
sbh = Sh cos(ht + h 120o ) .
sch = Sh cos(ht + h + 120o )

(14)

Transforming to the reference frame:



sh = Sh cos(ht + h )
,
sh = Sh sin(ht + h )

, [s
dq ] =

s
d
s
q
s
0


, [sdq60 ] =

sh + jsh = Sh ej(ht+h ) .

sd60
sq60
s060

(15)


=

1
A1dq
3

sd
sq

1
+ A2dq
6

sd60
sq60

1
+ A3dq
6

(16)

Using the signal in (15) as the input to operation

Adq in (10) and taking into account that an advance of 60o
corresponds to a delay of 120o with the opposite signal,

As T is not singular, the process of changing the reference

frame (An T An T 1 , n = 1, 2, 3) is a transformation
of similarity. Some properties are common in the similar
matrices An and T An T 1 : the same characteristic polynomial
and eingevalues, algebraic and geometrical multiplicity [13].
Disregarding the zero sequence components, operation A in
the dq reference frame can be obtained from (9):
s
d
s
q

sd90
sq90

and applying the formula of Euler in (15):

where

sd
sq

A2dq = C2dq =

2
3

1
+ C2dq
6

1
D1dq
2

1
B2dq
2

A1dq = B1dq = C1dq = D1dq =

A. Transformations in an arbitrary dq reference frame

From the Park transformation:



[sdq ] =

sd
sq

sd
sq

The transformed matrices in (10), (11), (12) and (13) are:




1 0
1 0

s+
d
s+
q

1
B1dq
2

sd60
.
sq60
(10)

Sh
=
3

s
=

Sh
3

cos(h ) 12 cos(h h120o ) + 23 sin(h h120o )+

+ 12 cos(h h60o ) + 23 sin(h h60o )

sin(
) 23 cos(h h120o ) 12 sin(h h120o )
h
3
2 cos(h h60o ) + 12 sin(h h60o ) ,
(17)

where h = ht + h . Changing (17) for the complex domain

and using the formula of Euler:

1117

j(ht+h )
s
+ js = Sh e

o
o
1
1 + ej(1+h)120 + ej(1+h)60 .
3

Then,

s
+ js = (sh + jsh )

o
o
1
1 + ej(1+h)120 + ej(1+h)60 ,
3

s
js = (sh jsh )

GA+

(18)

where GA+ is the gain of the operation Adq for positivesequence signals.
Considering a three-phase balanced negative-sequence signal of order h (h = 1, 2, 3, . . .), it can be shown that:
s

js

o
o
1
= (sh jsh )
1 + ej(1+h)120 + ej(1+h)60 , (19)
3

where GA is the gain of the operation Adq for negativesequence signals.

Using the signal in (15) as the input to operation Bdq
in (11),


 
o
=

Sh
2

cos(h ) + sin(h h90 )

sin(h ) cos(h h90o )

(20)

where h = ht + h . Changing (20) for the complex domain

and using the formula of Euler:


o

j(ht+h )
s
+ js = Sh e

1
1 + ej(1+h)90
2

s
+ js = (sh + jsh )

o
1
1 + ej(1+h)90 ,
2

Then,

(21)

GB +

where GB is the gain of the operation Bdq for positivesequence signals.

For negative-sequence signals (h = 1, 2, 3, . . .):


o

s
js = (sh jsh )

1
1 + ej(1+h)90 ,
2

(22)

GB

where GB is the gain of the operation Bdq .

Results similar to (18) and (19) can be obtained for the
operation Cdq in (12):

s
+ js = (sh + jsh )

vabc

abc
ab

Cdq

o
o
1
1 + ej(1h)60 + ej(1h)120 , (23)
3

Ddq

GC +

Adq

dq

Bdqdq

s
js = (sh jsh )

(24)

1
1 + ej(1h)90 ,
2

(25)

GD +

o
1
1 + ej(1h)90 ,
2

(26)

GD

where GD and GD are the gains of the operation Ddq for

positive and negative-sequence signals, respectively.
B. Implementation of the proposed method
After measuring the signals in abc and transforming them
into the reference frame, operations Cdq and Ddq are
applied in cascade. In this way, many odd harmonics are
canceled, but the even harmonics remain present in the signals.
The next step is to transform the output signals into a
synchronous dq reference frame. Therefore, the fundamental
component becomes constant, the second harmonic becomes
of fundamental frequency and any harmonic of positivesequence with frequency h in has its frequency decreased
by one in dq. The negative-sequence components have their
frequency increased by one, when they are transformed to the
synchronous dq reference frame. Then, the even harmonics
become odd and vice-versa. If the signals in the synchronous
dq reference frame go through the operations Adq and Bdq in
cascade, then odd harmonics of these signals (even harmonics
of the original signals) are eliminated and their constant
components contain the information about the fundamentalfrequency positive-sequence vector. The scheme is described
in the block diagram of Fig. 1.
Since the constant components do not pass integrally by the
operations Adq and Bdq , an adjustment must be made in order
to obtain the correct magnitudes of the fundamental frequency
positive-sequence signal in sd and sq . Therefore, making a DC
signal go through Adq :

MDC vd

q+

V vd + vq
2

LPF
LPF

Figure 1.

GC

s
+ js = (sh + jsh )

vq

ab

GA

where GC + and GC are the gains of the operation Cdq for

positive- and negative-sequence signals, respectively.
Results similar to (21) and (22) can be obtained for the
operation Ddq in (13):


o

s
s

o
o
1
1 + ej(1h)60 + ej(1h)120 ,
3

vd

vq

Block diagram of the proposed solution.

1118

vq* = 0
+
vabc

dq

PI

abc

q+

w+
+

wff

1
s


=

1
A1dq
3

sDC
d
sDC
q

1
A2dq
6

sDC
d
sDC
q

1
+ A3dq
6

sDC
d
sDC
q

IV. S IMULATION AND E XPERIMENTAL R ESULTS

(27)

The result goes through Bdq . Thus,

=

s
d
s
q

1
1
B1dq A3dq
2
3
1
=
6

sDC
d
sDC
q

(1 3)
(1 3)


+

1
1
B2dq A3dq
2
3

sDC
d
sDC
q

  DC 
(1 + 3)
sd
.
sDC
(1 3)
q

(28)

Then, the matrix [MDC ] that must multiply the signal coming
from the operation Bdq is:
 

1
1
6

150

(29)

(1 3)
(1 + 3)
(1 3) (1 3)



3 (1 3) (1 3)
[MDC ] =
.
(1 3)
4 (1 + 3)

[MDC ] =

(%)

abc

s
d
s
q

In order to verify the proposed algorithm effectiveness, simulations were carried out for obtaining the positive-sequence
fundamental-frequency voltages from unbalanced and distorted input signals. The fundamental-frequency of the grid is
+1
= 1 0 p.u. is the pre-fault grid
50 Hz. In all situations, vpf
voltage. In the rst case, the unbalanced and distorted grid
voltage during the fault consisted of v +1 = 0.747 14 p.u.,
v 1 = 0.163 171.37 p.u., v 5 = 0.07 60 p.u., v +7 =
0.05 30 p.u.. In the second case, v +1 = 2.5v 1 = 1 0 p.u.,
+1
v +h = v h = 0.6vh , h = 2, 3, . . . , 25. Figures 2 and 3
show the simulation results. In both gures, the rst graphic
shows the input voltages, the second graphic shows the output
voltages, the third graphic shows the voltages (vd , vq ) and the
fourth graphic shows the error.

In the proposed solution, as it can be observed in Table I, the

11th negative-sequence and the 13th positive-sequence harmonic components and the fundamental-frequency positivesequence component are not eliminated by the cascaded Cdq
and Ddq transformations. Since these components become
even after the to dq transformation, they cannot be
eliminated by the cascaded Adq and Bdq transformations and
they are present in the output signals. Analogously, the 12th
positive-sequence and the 12th negative-sequence components
are not canceled by the cascaded Cdq and Ddq transformations
and become the 11th positive-sequence and 13th negativesequence components after the to dq transformation. Thus,
as it can be seen in Table I, these components are not
eliminated. All of the other harmonic components among the
above mentioned are canceled. In general, using the equations
shown in this paper, it is concluded that the positive-sequence
harmonics of order 12h and 12h + 1 as well as the negativesequence harmonics of order 12h1 and 12h are not canceled
by the mathematical operations. However, the bandwidth of the
SRF-PLL may be reduced in such a way that the estimation
of the frequency  and the position  are barely affected by
those harmonics.
To recover correctly the three-phase signal, it is advisable
to pass the estimated signals vd+ and vq+ through lters that do
not affect the system dynamics, since they are not in the loop,
and have a high bandwidth. In this paper, lters with nite
impulse response (FIR) are used. The lters are based on the
window Hammings method of order 20 and cut-off frequency
of 300 Hz.
To avoid the problems of offsets in the measurement and
acquisition signals, the following procedure is used: each
fundamental period, the last N samples of the input signal

-150

40

80

40

80

120

160

200

240

120

160

200

240

t(ms)

100

(%)

+
abc

sDC
d
sDC
q

1
A3dq
3

-100
0

t(ms)

150
100

+
q

50

+
d

s
d
s
q

v , v (%)

0
-50

40

80

40

80

120

160

200

240

120

160

200

240

t(ms)

1
0.5

Then,

are added and the result is divided by N . The result of the

division is the offset. The offset is subtracted from the original
. signal and this solution has a very small computational effort.

s
d
s
q

= - (rad)

-0.5

Figure 2.

-1

t(ms)

Simulation results for unbalanced signals with low distortion.

Experiments are performed using a OMICRON-CMC256

programmable source to generate the same simulated input
voltages. The signals are acquired and processed using a
Texas Instruments TMS320F2812 DSP and measured after
passing through a digital-analog converter. Figures 4 and 5
show the experimental results for the same situations tested in
simulation. In both gures, the rst graphic shows the input
voltages, the second graphic shows the output voltages and the
third graphic shows the voltages (vd , vq ) and . It can be seen

1119

(%)
abc

450
300
150
0
-150

between the tolerance range, the response times in the table

are represented by .

40

80

120

t(ms)

160

200

Table II
C OMPARISON OF THE SYNCHRONIZATION METHODS

240

THD(1)
THD(2)
response time(1)
response time(2)
response time(3)
compense offset

+
abc

(%)

100

-100
0

40

80

120

t(ms)

160

200

240

SRF
2.98%
17.67%

No

DSRF
1.16%
23.04%
49.44ms

DSOGI
1.10%
19.25%
42.78ms

36.67ms
No

42.72ms
No

Proposed
0.01%
0.24%
32.06ms
7.78ms
31.89ms
Yes

100

+
d

+
q

v , v (%)

150

0
-50

= - (rad)

V. C ONCLUSION

50

40

80

40

80

120

160

200

240

120

160

200

240

t(ms)

1
0.5
0
-0.5
-1

Figure 3.

t(ms)

Simulation results for unbalanced signals with high distortion.

a very good agreement between simulation and experiment,

showing that the theoretical assumptions used in simulations
are valid. The results illustrate the behavior of the proposed
method in two different conditions and verify its harmonic
rejection capability. In the rst case, a realistic situation with
unbalanced signals and low distortion is considered. In the
second case, it is proved that the proposed method can handle
signals with high distortion.
Table II provides a quantitative comparison of the proposed
method with three existing synchronization methods, based on
the output total harmonic distortion (THD), response time and
offset. The methods used for comparison are the SRF, DSRF
and DSOGI. In Table II, (1) means the rst case: unbalanced
signals with low distortion (Fig. 2), (2) means the second case:
unbalanced signals with high distortion (Fig. 3) and (3) means
the third case: unbalanced signals without distortion (Fig. 2
without distortion). It is considered the highest THD among
the three phases. In the rst and the second cases, the THD
of the input voltages is 14.34% and 66.71%, respectively. In
practice, the higher harmonic component of the THD that can
be calculated is equal to half of the sample frequency of the
input signals. In all simulations and experiments the sample
frequency is 18 kHz. Then, all THD results have harmonic
components up to 9 kHz.
The response time is the time necessary for that the absolute
error of stays between a tolerance range of 1.5o (0.0262 rad).
In the cases in which the method does not guarantee the error

In this paper simple mathematical transformations are

proposed for handling distorted and unbalanced three-phase
signals in order to eliminate part of the information (harmonic and unbalanced content) and keep the positive-sequence
fundamental-frequency components. Using nite impulse response lters, the components that are not eliminated by the
mathematical operations can be attenuated. These lters do
not affect the dynamic of the system since they are not in
the loop and they have a high bandwidth. Four situations
are tested to conrm the theoretical assumptions: unbalanced
signals with high distortion, unbalanced voltage sag with low
distortion, unbalanced voltage sag and balanced voltage with
offset. The results were obtained through simulations and also
using an experimental platform, showing that the proposed
scheme has a great potential for grid synchronization of power
converters, even during unbalanced faults and highly distorted
grid voltages.
R EFERENCES
[1] J. G. Nielsen, M. Newman, H. Nielsen, and F. Blaabjerg, Control
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Figure 4.

Experimental results for unbalanced signals with low distortion.

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Figure 5.

Experimental results for unbalanced signals with high distortion.

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