Estimation of Single-Phase Grid Voltage Fundamental

Parameters Using Fixed Frequency Tuned SecondOrder Generalized Integrator Based Technique
Md. Shamim Reza, Student Member, IEEE, Mihai Ciobotaru, Member, IEEE, and Vassilios G. Agelidis, Senior
Member, IEEE
Australian Energy Research Institute & School of Electrical Engineering and Telecommunications
The University of New South Wales, Kensington, Sydney, NSW 2052, Australia
E-mail: m.reza@student.unsw.edu.au, mihai.ciobotaru@unsw.edu.au, vassilios.agelidis@unsw.edu.au

Abstract-This paper proposes a robust technique for accurate

estimation of single-phase grid voltage fundamental amplitude
and frequency under harmonics. The proposed technique relies
on a quadrature signal generator based on a fixed frequency
tuned second-order generalized integrator. A differentiation
filter is used to estimate the fundamental frequency from the
instantaneous phase angle derived from the generated orthogonal
voltage systems. The estimated fundamental frequency is then
used to obtain the actual fundamental voltage amplitude from the
orthogonal voltage systems. The proposed technique does not rely
on interdependent loops offering stability and easy tuning
process. The technique can reject the negative effects caused by
the presence of the harmonics. Experimental results are provided
to validate the performance of the proposed technique.
Keywords-Parameter estimation, quadrature signal generator,
second-order generalized integrator, and single-phase voltage
systems.

I. INTRODUCTION
The estimation of grid voltage fundamental parameters
from a periodic waveform is relatively an easy task [1].
However, the parameters variation and harmonic pollution are
commonly observed problems [2, 3] and hence the parameters
estimation from a distorted non-periodic grid voltage
waveform becomes relatively a difficult task. Therefore, it is
necessary to have a suitable digital signal processing (DSP)
technique to extract the accurate fundamental amplitude and
frequency from a distorted non-periodic grid voltage
waveform.
The phase-locked loop (PLL) is an efficient DSP technique
for the estimation of single-phase grid voltage fundamental
parameters [4-6]. However, there is less information in singlephase systems than in three-phase systems for generating the
orthogonal voltage waveforms required for the single-phase
PLL [7]. The PLL estimated parameters contain ripples due to
the presence of the DC offset and harmonics [8-11]. The inloop filters can be used to reject the ripples from the estimated
parameters at the expense of lower bandwidth, thus leading to
a slower dynamic response [12]. The tuning of the PLL
controller parameters is complex due to the presence of the
interdependent loops. Another drawback of the PLL is that a
large frequency overshoot/undershoot is observed in the
estimation during phase jumps and are reflected back on the

phase estimation and hence causes delay in the process of

synchronization
[13].
The
large
frequency
overshoot/undershoot can be reduced by means of a
frequency-locked loop (FLL) [14] based on a quadrature
signal generator relying on a second-order generalized
integrator (QSG-SOGI) [15]. The QSG-SOGI has filtering
capability to reject harmonics but the lower order harmonics
can introduce significant ripples into the estimated
fundamental parameters [16, 17]. Moreover, due to the lowpass filter (LPF) behaviour of the in-quadrature component,
the performance of the QSG-SOGI is sensitive to the presence
of the DC offset [11, 18, 19]. To avoid the interdependent
loops, the separate frequency estimation algorithms can be
used to adaptively tune the QSG-SOGI [20, 21].
The technical literature shows that the FLL/PLL
techniques based on the frequency adaptive tuned QSG-SOGI
(SOGI-FLL/SOGI-PLL) require proper tuning of the
controller parameters in order to achieve a trade-off between
good dynamic performance and estimation accuracy.
Moreover, there are interdependent loops influencing one
another at the same time and hence the tuning is sensitive, thus
reducing stability margins.
The objective of this paper is to propose a robust technique
for the estimation of fundamental amplitude and frequency of
the non-periodic single-phase grid voltage waveform. The
proposed technique relies on a fixed frequency tuned QSGSOGI and a finite-impulse-response based differentiation
filter. The proposed technique does not include interdependent
loops, thus offering stability and easy tuning process. The
technique can estimate the fundamental voltage amplitude and
frequency accurately and can also reject the negative effects
caused by harmonics.
The rest of the paper is organized as follows. The proposed
technique is described in section II. Section III contains the
real-time experimental performance of the proposed technique
Finally, the conclusions are summarized in section IV.
II. PROPOSED FIXED FREQUENCY TUNED QSG-SOGI BASED
TECHNIQUE
The grid voltage fundamental amplitude and frequency can
be estimated using the frequency adaptive tuned QSG-SOGI

qv1'
(a)
v1

Frequency
A1 -Locked
Loop

Fixed Frequency
Tuned
QSG-SOGI

v1

r =
v1'

qv1'
(c)

v1'
Frequency
Adaptive Tuned (.)
QSG-SOGI
qv1'

(.)2

PhaseA1 Locked
Loop

v1'

A1

v1, qv1' is the estimated in-quadrature component of v1, A1 is

the estimated fundamental voltage amplitude, and is the
estimated fundamental angular frequency. As it can be seen,
the estimated frequency is feedback (r ) to tune the QSGSOGI adaptively in both SOGI-FLL and SOGI-PLL
techniques. The presence of the interdependent loops makes
the tuning process complex and reduces the stability margin.
The proposed fixed frequency tuned QSG-SOGI based
technique for the estimation of fundamental voltage amplitude
and frequency is shown in Fig. 1(c). As it can be noticed, the
proposed technique does not include interdependent loops,
thus makes the tuning process easy and increases the stability
margin as compared to QSG-SOGI based technique including
interdependent loops.
A. QSG-SOGI
The QSG-SOGI to track the orthogonal waveforms of a
single-phase voltage system is shown in Fig. 2, where ev is the
1

error signal of the grid voltage fundamental component. The

transfer functions of the SOGI, in-phase and in-quadrature
components of the QSG-SOGI can be expressed by (1), (2)
and (3), respectively [7, 14, 16, 17, 20].
v1' s
s
2 r 2
ev1 s
s r

(1)

Ti s

v1' s
r s
2
v1 s
s r s r2

Tq s

qv1' s
r2
2
v1 s
s r s r2

ev1

based techniques such as SOGI-FLL [16, 17] and SOGI-PLL

[6, 7], as shown by the block diagrams in Figs. 1(a) and 1(b),
respectively, where v1 is the input fundamental voltage
waveform, r is the tuning frequency of the SOGI, is the
gain of the SOGI, v1' is the estimated in-phase component of

(b)
Amplitude &
Frequency
Estimation

Fig. 1. Single-phase grid voltage fundamental amplitude and frequency

estimation using (a) Frequency adaptive tuned QSG-SOGI relying on FLL. (b)
Frequency adaptive tuned QSG-SOGI relying on PLL. (c) Proposed fixed
frequency tuned QSG-SOGI based technique.

SOGI s

v1

(2)

(3)

The Bode plots of the transfer functions (2) and (3) are
shown in Figs. 3(a) and 3(b), respectively, where the tuning
frequency is constant (r=250 rad/s) and the gain is varied
(=0.5, 1.0 and 1.5, respectively). As it can be seen, the
transfer functions, as given by (2) and (3), behave like a bandpass filter (BPF) and a LPF, respectively. The tuning
frequency sets the resonance frequency of the SOGI and the
gain determines the bandwidth of the in-phase component and
the static gain of the in-quadrature component [7, 14, 16, 17].

qv1'

v1'

SOGI

Fig. 2. QSG-SOGI to track the orthogonal waveforms of the single-phase grid

voltage fundamental component.
10
0

Magnitude (dB)

(.)2 (.)2

-10
-20
-30

1.5
1.0
0.5

-40
90

Phase (deg)

v1

v1'

45
0
-45
-90
0
10

10

10

10

Frequency (Hz)

(a)
10
0

Magnitude (dB)

r =

Frequency
Adaptive Tuned
QSG-SOGI

-10
-20
-30
-40

1.5
1.0
0.5

-50
0

Phase (deg)

v1

-45
-90
-135
-180 0
10

10

10

10

Frequency (Hz)

(b)
Fig.3. (a) Bode plots of the in-phase transfer function {Ti(s)} of the QSGSOGI for r=250 rad/s and different values of . (b) Bode plots of the inquadrature transfer function {Tq(s)} of the QSG-SOGI for r=250 rad/s and
different values of .

It can also be noticed that a trade-off is required between good

dynamics and harmonics rejection capability when choosing
the value of , where =2 and represents the damping factor
of the QSG-SOGI. The Bode plots of the transfer functions (2)
and (3) for constant gain (=1) and different values of tuning
frequency (r=250 rad/s, 260 rad/s and 270 rad/s,
respectively) are also shown in Figs. 4(a) and 4(b),
respectively. As it can be noticed, the higher tuning frequency
increases the bandwidth of the in-quadrature component.
However, the harmonics rejection capability of both
orthogonal components is reduced for higher tuning
frequency. It can also be seen that the amplitudes of the
orthogonal waveforms are different and unequal to the input
voltage amplitude when the tuning frequency is not equal to
the input frequency. Moreover, the tuning at higher or lower

2
2
n
Ti j n tan 1 r

n r

Magnitude (dB)

10
0

It can be observed from (4) and (5) that the estimated in-phase
component ( v1' ) always leads the estimated in-quadrature

-10
-20

Phase (deg)

component ( qv1' ) by 90o irrespective of the gain and tuning

frequency. For the condition r=, it can be seen from (4) and
(5) that Ti j n 1 and Ti j n 0, then the amplitude

-30

r =2 50
r =2 60
r =2 70

-40
90

and phase angle of (4) and (5) are equal to the input amplitude
and phase angle, respectively. However, for r, the
amplitudes and phase angles of both (4) and (5) are not equal
to the input voltage amplitude and phase angle, respectively. If
the grid voltage fundamental frequency is known, the
fundamental voltage amplitude can also be estimated from (4)
and (5), respectively, and is given by

45
0
-45
-90
0
10

10

10

10

Frequency (Hz)

(a)
Magnitude (dB)

10

A1 n

0
-10
-20

Ti j n

v1' 2 n

2 n ' 2
qv1 n
r2

(6)

The settling time (Tset) of the QSG-SOGI under dynamic

conditions can be expressed by [16, 17, 22]

-30
-40

r =2 50
r =2 60
r =2 70

-50
0

Phase (deg)

Tset

-45
-90
-135
-180
0
10

10

10

10

Frequency (Hz)

(b)
Fig.4. (a) Bode plots of the in-phase transfer function {Ti(s)} of the QSGSOGI for =1 and different values of r. (b) Bode plots of the in-quadrature
transfer function {Tq(s)} of the QSG-SOGI for =1 and different values of r.

frequency than the input frequency will introduce a leading or

lagging phase angle, respectively, in both orthogonal
waveforms, as can be seen in Figs. 4(a) and 4(b), respectively.
If the grid voltage fundamental component, v1(n)=
A1(n)sin{(n)nTs+1}, at the nth sampling instant is used as the
input of the QSG-SOGI, where A1, , Ts and 1 are amplitude,
angular frequency, sampling time period and initial phase
angle, respectively, the steady-state expressions of the
orthogonal waveforms obtained by the QSG-SOGI can be
expressed by (4) and (5), respectively [14, 16, 17].

v1' n A1 n Ti j n sin n nTs 1 Ti j n (4)

qv1' n A1 n Ti j n r .
n

cos n nTs 1 Ti j n (5)

where

Ti j n

n r

n n
2

2
r

10

(7)

It can be seen from (7) that the settling time depends on the
value of and r. Based on a constant value of i.e. for a
constant damping factor, the higher value of r can reduce the
settling time. Therefore, the tuning at a fixed frequency higher
than the grid frequency (r>) can improve the settling time
as compared to the frequency adaptive tuning (r=) of the
QSG-SOGI [23]. The change of the settling time for fixed
frequency tuning with respect to the frequency adaptive tuning
can be obtained by
Change of settling time % =

Tset Tset
r

Tset

100

(8)

where Tset and Tset are the settling times of the QSGr

SOGI at tuning frequency r and r=, respectively. The

percentage change of the settling time for different fixed
frequency tuning with respect to the adaptive tuning at grid
frequency is shown in Fig. 5, where =250 rad/s. As it can
be seen, the settling time of the QSG-SOGI decreases as the
tuning frequency is higher than the grid frequency. The
settling time is reduced by 50% when the tuning frequency is
two times of the grid frequency. On the other hand, the settling
time increases if the SOGI is tuned by a frequency less than
the grid frequency. It can be observed from Fig. 5 that the
settling time increases 100% when the tuning frequency is half
of the grid frequency.
Let us assume that a grid voltage waveform contains only
fundamental component at frequency =250 rad/s and +20%
amplitude step is occurred. Fig. 6 shows the estimation of
fundamental voltage amplitude using (6) under r=250 rad/s
and r=275 rad/s tuning conditions, respectively, where =1.

1.25

r =
100

50

r =
0

r =2

r =1.5 =2 75

Actual

1.15

1.1

1.05

-50

-100
0

r = =2 50

1.2

Fundamental Voltage
Amplitude (p.u.)

150

50

100

150

Tuning Frequency (Hz)

200

250

Fig. 5. Percentage change of the settling time of the QSG-SOGI for different
fixed frequency tuning with respect to the adaptive tuning at grid frequency,
where =250 rad/s.

As it can be seen, the tuning of the SOGI at higher frequency

(r=275 rad/s, =250 rad/s) provides faster amplitude
estimation as compared to the tuning at grid frequency
(r==250 rad/s). Therefore, based on the same gain i.e.
same damping factor, the faster amplitude estimation can be
achieved by tuning the SOGI at a higher frequency than the
adaptive tuning at grid frequency.
B. Estimation of Fundamental Frequency
The grid voltage fundamental frequency is not always
constant. It varies mainly due to the mismatch between the
power generation and load demand. The actual fundamental
frequency needs to be tracked for accurate estimation of the
fundamental voltage amplitude using (6). In the proposed
technique, the actual fundamental frequency is estimated by

n 0 n

(9)

where 0 and are the nominal and deviation of

fundamental angular frequency, respectively. The frequency
deviation can be estimated by differentiating the instantaneous
phase angle deviation and is given by [24-26]
t

d
1(t )
dt

0.995

1.005

1.01

1.015

1.02

1.025

1.03

1.035

1.04

Time (s)
Fig. 6. Fundamental voltage amplitude estimation using (6) for r=250 rad/s
and r=275 rad/s, respectively, where =1 and =250 rad/s.

respectively. Due to the differentiation operation, the

estimation frequency error (T ) introduced by Ti j can
i

be expressed by
d
Ti j t
dt
0

2
r t r2

2 2
2
2
2
t r t r

T
i

for r

d
t
dt

for r

(11)

It can be seen from (11) that T is zero for frequency

i

adaptive tuning i.e. for r=. On the other hand, the plots of
T for r and different input frequency variation cases are
i

shown in Fig. 7. As it can be seen, T is also zero when

i

=constant i.e. the rate of the fundamental frequency change

is zero. However, the continuous variation of input
fundamental frequency will introduce an error whose
magnitude depends on the rate of the fundamental frequency
change. The grid fundamental frequency varies slowly and
hence the estimated frequency error introduced by Ti j is
small and can be neglected.

(10)

where
1 (t ) t 1 0t

1(t) is instantaneous phase angle deviation, t denotes

continuous time and is discretized by t=nTs. However, due to
the condition r, the instantaneous phase angle estimated
from the orthogonal waveforms generated by the QSG-SOGI
will contain two kinds of phase angle error i.e. an error
introduced by Ti j and an estimation error occurs due to

the factor r/. Moreover, the presence of the lower order

harmonics will introduce significant harmonic distortions into
the estimated phase angle.
B-1. Error introduced by Ti j
The plots of Ti j for different values of and r are
shown in the phase responses of Figs. 3(a) and 4(a),

0.95
0.99

B-2. Error introduced by the factor r/

The relation, as expressed by (12), can be obtained from
the orthogonal voltage waveforms as given by (4) and (5),
respectively.
0.05

Frequency Change Rate= -10 Hz/s

Frequency Change Rate= -5 Hz/s
Frequency Change Rate= 0 Hz/s
Frequency Change Rate= +5 Hz/s
Frequency Change Rate= +10 Hz/s

0.04
0.03
0.02

Frequency Error
(Hz)

Change of Settling Time (%)

200

0.01
0

-0.01
-0.02
-0.03
-0.04
-0.05
45

46

47

48

49

50

51

52

53

54

55

Frequency (Hz)
Fig. 7. Frequency error caused by Ti j for different input frequency
variation cases, where =1 and r=275 rad/s.

v1' n

qv n
'
1

n
tan n nTs 1 Ti j n

30

(12)

r =0.50

r =0.75

The estimated instantaneous phase angle using (4) and (5) can
also be expressed by
v1' n

'
qv1 n

n nTs 1 Ti j n error tan 1

(13)

n
tan n nTs 1 Ti j n

r =1.50

10

-20

-30
0

0.005

0.01

0.015

0.02

Time (s)

0.025

0.03

0.035

0.04

Fig. 8. Phase angle error (error) introduced by the factor (r/), where =1,
=250 rad/s and 1=0.

tan n nTs 1 Ti j n error (14)

For calculating the estimated phase angle error error,

expression (14) can be simplified using the following
trigonometric function relation

angle deviation and is expressed by

m 1

n 1 n l l

where
l

where x n nTs 1 Ti j n and y=error. After some

mathematical calculations, error can be expressed by
error

n
0.5
1 sin 2 n nTs 21 2Ti j n

1
tan
n
1 0.5
1 1 cos 2 n nTs 21 2Ti j n

(15)
The plots of error for different values of r are shown in Fig.
8, where =1, =250 rad/s and 1=0. As it can be seen, error
is zero when r=. On the other hand, error is a second
harmonic oscillation when r. The value of Ti j
determines the phase angle difference among the error plots
different for different values of r}, as can be

observed in Fig. 8. Therefore, a LPF or an adaptive notch filter

(ANF) is required to reject the second harmonic oscillation
generated by the factor r/ from the estimated instantaneous
phase angle.
B-3. Frequency estimation using differentiation filter
In the proposed technique, the fundamental frequency
deviation is estimated by differentiating the instantaneous
phase angle deviation. However, the frequency estimation
using differentiation operation is sensitive to the high
frequency disturbances present in the instantaneous phase
angle [26]. Therefore, a LPF will be required to combine with
a differentiation filter (DF) in order to reject the high
frequency disturbances from the instantaneous phase angle. A
finite-impulse-response (FIR) based DF relying on a
modulating function (DF-MF) is reported in [27] to track the
fundamental frequency deviation from the instantaneous phase

(16)

l 0

tan( x) tan( y)
tan x y
1 tan( x) tan( y)

r =1.25

-10

where error is the estimated phase angle error introduced by

the factor r/. The following relation can be obtained from
(12) and (13).

T j is

r =

20

Phase Angle Error

(deg)

K1 m 1 l
m 1

r
r 0

0
K

st

l=0,1,2,,m-1, K is the 1 order derivative of a spline type

modulating function (K) with maximum derivative order K2,
m=Tw/Ts=number of coefficients of the DF-MF, and
Tw=window size of the modulating function. The ith derivative
of the spline function { K i l , i=0,1,2,,K-1} with
characteristics time Tc=Tw/K can be expressed by [21, 28-30]
K
jK
j 0 1 g ji lTs jTc , i =0,1,...,K -1

j
Ki l
jK
K
j 0 1 j lTs jTc , i =K

(17)

where
1
K i 1

, lTs jTc , Tw
K i 1 ! lTs jTc
g ji lTs jTc

0,
otherwise

and (lTs) is the Dirac delta function. The frequency response

of the DF-MF is shown in Fig. 9. As it can be seen, the DFMF has notch characteristics at the nominal values of
fundamental and harmonic frequencies. The position of the
notch frequencies are determined by the inverse of the
characteristics time Tc (1/Tc=1/0.02=50 Hz for Fig. 9) [27].
As it can be noticed from Fig. 9, the notches are observed at
the multiples of 1/Tc Hz. Moreover, the high frequency
disturbance rejection capability is improved as the value of m
is increased [27]. However, the high value of m will degrade
the dynamic response and also increase the computational
burden of the DF-MF. The DF-MF can be used to reject the
unwanted fundamental and harmonic oscillations present in
the instantaneous phase angle. However, the ripples of the
estimated frequency due to fundamental and harmonics

TABLE I
PARAMETERS OF THE PROPOSED TECHNIQUE

100

=1.0

50

Magnitude (dB)

-50
Ideal DF
DF-MF(Tc =20ms, m=400, Tw =40ms, K =2)
DF-MF(Tc =20ms, m=600, Tw =60ms, K =3)
DF-MF(Tc =20ms, m=800, Tw =80ms, K =4)

-150

-200 -1
10

10

10

10

10

Frequency (Hz)

Fig. 9: Magnitude responses of the ideal DF and DF-MF for constant value of
Tc and different values of m, where K and Tw are varied simultaneously.

oscillations into the instantaneous phase angle increases as the

deviation of frequency increases from the nominal values.
The implementation of the proposed fixed frequency tuned
QSG-SOGI based technique is shown in Fig. 10. As it can be
seen, the fundamental frequency deviation is estimated by
differentiating the unwrapped instantaneous phase angle
deviation and is then added with the nominal frequency to
obtain the actual frequency. The estimated frequency is also
used to obtain the actual fundamental voltage amplitude using
(6), as can be noticed in Fig. 10. The estimated fundamental
voltage amplitude is also filtered by a moving average filter
(MAF) in order to reject harmonic ripples. Moreover, the
window size of the MAF is updated using the estimated
fundamental frequency. It can be seen from Fig. 10 that the
proposed technique is open loop system based and hence
increases the overall stability and eases the tuning process.
III. EXPERIMENTAL RESULTS
In this section, the performance of the proposed technique
is tested on a real-time experimental setup. The laboratory
setup, as shown in Fig. 11, consists of hardware and software
parts. The hardware part contains a programmable AC power
supply, a voltage sensor, a dSPACE1103 (DS1103) control
board and a personal computer (PC). The programmable AC
power supply is used to emulate the real-time single-phase
grid voltage (vLN, subscript LN indicates line-to-neutral) under
different conditions such as harmonics, frequency step,
frequency sweep, amplitude step and amplitude excursions.
The voltage sensor measures the emulated grid voltage and

v1 n

Fixed Frequency
Tuned
QSG-SOGI

v1' n
qv n
'
1

Tw =40ms

Tc=20ms

The performance of the proposed technique is carried out

under the following real-time case studies:
i.
ii.
iii.
iv.
v.

Steady-state with harmonics (Case-1)

Frequency step and harmonics (Case-2)
Frequency sweep and harmonics (Case-3)
Amplitude step and harmonics (Case-4)
Amplitude excursions and harmonics (Case-5)

The nominal grid voltage fundamental frequency and

sampling frequency are chosen as 50 Hz and 10 kHz,
respectively. The fundamental component of the grid voltage
waveforms presented in all the case studies are distorted by
5% of 3rd, 4% of 5th, 3% of 7th and 2% of 9th harmonic, leading
to a total harmonic distortion (THD) of =7.35%.
Case-1: Steady-State with Harmonics
A real-time distorted grid voltage waveform including
7.35% THD is shown in Fig. 12(a). The steady-state
estimations of the real-time fundamental voltage amplitude
and frequency are depicted in Figs. 12(b) and 12(c),
respectively. As it can be seen, the proposed fixed frequency
tuned QSG-SOGI (tuned at 75Hz) based technique can track
the actual amplitude and frequency accurately. Moreover, the
estimated parameters do not contain ripples under harmonic
condition.
Case-2: Frequency Step and Harmonics
In this case, a +1Hz step change of fundamental frequency
is introduced into the distorted grid voltage waveform
containing 7.35% THD. The real-time estimations of the
fundamental voltage amplitude and frequency step using the
proposed technique are shown in Fig. 13. As it can be
observed, the proposed technique can track the fundamental
voltage amplitude and frequency step accurately and also not
disturbed by the presence of the harmonic content.

1/r

v'
tan 1 1 '
qv1

DF-MF
m=400
K=2

sends it to the 16 bit analog-to-digital converter of the DS1103

control board. On the other hand, the software part contains
MATLAB/Simulink, DS1103 Real-Time Interface (RTI) and
Control Desk Interface. The proposed technique is
implemented in Simulink with the parameters given in Table I
and is uploaded to the DS1103 control board using automatic
code generation. The Control Desk Interface running on the
PC is used to control the parameters in real-time and also to
monitor the estimated values.

-100

QSG-SOGI
r=275 rad/s

Phase
Unwrapping

1 n

1 n

0 nTs

Differentiation Filter n n
Based on

Modulating Function

Ti j n

A1 n Moving
Average
Filter

A1 n

Fig. 10. Proposed fixed frequency tuned QSG-SOGI based technique for the estimation of single-phase grid voltage fundamental amplitude and frequency.

vLN

Electrical
Grid

Programmable AC
Power Supply

dSPACE
1103

Voltage
Sensor

Personal
Computer

1.05

1
0.5
0
-0.5
-1

Fundamental Voltage
Amplitude (p.u.)

1.01

1.02

1.03

1.04

1.05

1.06

(a)

1.05

Proposed

Actual

Fundamental Voltage
Amplitude (p.u.)

Grid Voltage
Waveform (p.u.)

Fig. 11. Laboratory setup for real-time experiment.

0.8

0.82

0.84

0.86

0.88

0.9

0.92

0.94

0.96

0.98

(a)

50.2

Proposed

Actual

0.95
1

1.01

1.02

1.04

1.05

1.06

(b)

50.2

Fundamental
Frequency (Hz)

1.03

Proposed

Actual

50.1
50

Fundamental
Frequency (Hz)

50

49.6
49.4
49.2
49

49.8
1

48.8
0.78

1.01

1.02

1.03

1.04

1.05

1.06

Proposed

2.62

2.64

2.66

2.68

2.7

2.72

(a)
Proposed

Actual

0.86

Fundamental
Frequency (Hz)

50.8
50.6
50.4
50.2
50
2.64

2.66

(b)
Time (s)

0.9

0.92

0.94

0.96

Proposed

0.98

2.68

2.7

2.72

Actual

1.15
1.1
1.05
1
2.91

2.92

2.93

2.94

2.95

2.96

2.97

2.98

2.99

(a)

50.2

2.62

0.88

1.2

0.95
2.9

51

49.8
2.6

0.84

1.25

Actual

0.95
2.6

0.82

Fig. 14. Case-3: Frequency sweep and harmonics. (a) Fundamental voltage
amplitude. (b) Fundamental frequency.

Fundamental Voltage
Amplitude (p.u.)

1.05

51.2

0.8

(b)
Time (s)

Fig. 12. Case-1: Steady-state with harmonics. (a) Grid voltage waveform. (b)
Fundamental voltage amplitude. (c) Fundamental frequency.
Fundamental Voltage
Amplitude (p.u.)

49.8

49.9

(c)
Time (s)

Fundamental
Frequency (Hz)

Actual

0.95
0.78

Proposed

Proposed

Actual

50.1
50
49.9
49.8
2.9

2.91

2.92

2.93

2.94

2.95

2.96

2.97

2.98

2.99

(b)
Time (s)

Fig. 13. Case-2: Frequency step and harmonics. (a) Fundamental voltage
amplitude. (b) Fundamental frequency.

Fig. 15. Case-4: Amplitude step and harmonics. (a) Fundamental voltage
amplitude. (b) Fundamental frequency.

Case-3: Frequency Sweep and Harmonics

The grid voltage fundamental frequency varies slowly due
to the large inertia of the rotating shaft of the power
generators. A -10Hz/s fundamental frequency variation with
duration of 0.1s is introduced in the grid voltage waveform
containing 7.35% THD. The real-time estimations of the
fundamental voltage amplitude and frequency sweep by the
proposed technique are shown in Fig. 14. As it can be noticed,
the proposed technique can estimate the fundamental
frequency sweep and amplitude accurately while not being
affected by the presence of the harmonic content.

frequency using the proposed technique are depicted in Fig.

15. As it can be observed, the proposed technique can track
the amplitude step accurately. However, the proposed
technique provides a little overshoot/undershot in the
frequency estimation under the step change of amplitude and
harmonic condition, as can be noticed in Fig. 15(b).

Case-4: Amplitude Step and Harmonics

In this case, +20% amplitude step is introduced into the
distorted grid voltage waveform containing 7.35% THD. The
estimations of fundamental voltage amplitude step and

Case-5: Amplitude Excursions and Harmonics

In this case, the grid voltage waveform contains amplitude
excursions and 7.35% THD. The frequency and the range of
the amplitude excursions are 2.5 Hz and 5%, respectively.
The real-time estimations of the fundamental voltage
amplitude excursions and frequency using the proposed
technique are shown in Fig. 16. As it can be seen, the
proposed technique can track the amplitude excursions
accurately and also not affected by the harmonics present in

Fundamental Voltage
Amplitude (p.u.)

1.1

Proposed

1.05

0.95

0.9
0.7

0.8

0.9

1.1

1.2

1.3

1.4

1.5

(a)

50.2

Fundamental
Frequency (Hz)

Actual

Proposed

Actual

50.1
50
49.9
49.8
0.7

0.8

0.9

1.1

1.2

1.3

1.4

1.5

(b)
Time (s)

Fig. 16. Case-5: Amplitude excursions and harmonics. (a) Fundamental

voltage amplitude. (b) Fundamental frequency.

the grid voltage waveform. The estimation of fundamental

frequency is also accurate under the amplitude excursion and
harmonic condition, as can be noticed in Fig. 16(b).
IV. CONCLUSIONS
A robust technique has been proposed in this paper for the
estimation of single-phase grid voltage fundamental amplitude
and frequency. The proposed technique consists of a fixed
frequency tuned quadrature signal generator based on a
second-order generalized integrator and a differentiation filter.
The estimations of the fundamental voltage amplitude and
frequency by the proposed technique are accurate and also not
affected by harmonics. Moreover, the proposed technique does
not create any interdependent loops, thus offering stability and
easy tuning process. The experimental results are presented to
verify the performance of the proposed technique for real-time
applications.
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