Resonant Current Regulation for Transformerless Hybrid Active Filter to Suppress Harmonic Resonances in Industrial Power Systems

Tzung-Lin Lee Yen-Ching Wang Josep M. Guerrero Dept. of Electrical Engineering, National Sun Yat-sen University, Kaohsiung, TAIWAN Dept. of Automatic Control Systems and Computer Engineering, Technical University of Catalonia, Barcelona, SPAIN

AbstractSevere harmonic distortion, due to unintentional series or parallel resonance of the passive lters or power factor correction capacitors, is a signicant issue in the industrial power system. The transformerless hybrid active lter, which operates at reduced kVA rating and switching ripples, is a promising ltering solution in high-power applications. This paper presents resonant current regulation for the transformerless hybrid active lter to enhance its suppressing capability of harmonic resonances. The proposed current regulator is composed of various band-pass lters in parallel connection to resonate at harmonic frequencies for accurately controlling the active lter as variable harmonic conductance. The current tracking capability of the active lter and the associated damping performance can be improved without increasing overall gain of controller. Therefore, the harmonic resonance can be denitely avoided and the damping conductance can be dynamically adjusted to conform with the harmonics limitation. In addition, the required damping conductance to maintain the harmonic voltage at an allowable level is reduced, compared with proportional control only. Operational principles are detailed and computer simulations are provided to validate the effectiveness of the proposed approach.
Linear Load

Vs

Distribution Transformer E

Passive Filter
L

i
Vdc

K EYWORDS Hybrid active lter, active power lter, harmonic resonance I. I NTRODUCTION In contrast with active front-end converters, diode or thyristor rectiers strongly dominates in high-power applications of power electronics, such as adjustable speed drives, due to either lower component cost or less control complexity. These equipment results in a large amount of harmonic current injecting into the power system, which may cause excessive harmonic voltage distortion and even give rise to malfunction of sensitive equipment in the vicinity of the harmonic source. Multi- or single-tuned passive lter is usually installed at the secondary side of the distribution transformer in the industrial power system to draw dominant harmonic current and also provide power factor correction for inductive loads [1], [2]. However, unintentional series and/or parallel resonance, due to the passive lters and nonlinear loads and/or the utility as shown in Fig. 1, may result in excessive harmonic voltage amplication and even nullify functionality of the passive lters [3], [4]. Extra engineering work, therefore, must be consumed to maintain required ltering performances and avoid possible harmonic resonance as well.

Nonlinear Load

Hybrid active lter

Fig. 1. One-line circuit diagram of the proposed hybrid active lter in the industrial power system.

Various active ltering approaches have been presented previously to address the harmonic problem in the power system [5]. The most popular active power lters are intended for compensating the harmonic current of nonlinear loads, but they may not effectively approach the harmonic resonance issues resulting from the passive lters or the power factor correction capacitors [6]. Bhattacharya and his coworkers proposed a hybrid series active lter to isolate harmonics between power system and harmonic source [7]. Fujita and his coworkers proposed a hybrid shunt active lter to suppress the fth harmonic resonance between the utility and a capacitor bank [8]. Detjen and his coworkers proposed a hybrid lter in series with a capacitor bank by a coupling transformer to suppress harmonic resonance and compensate harmonic current [9]. These methods provide effective harmonics suppression functionality; however, extra added passive components, such as matching transformers or tuned passive lters, may become a critical issue in terms of installation space and cost. A transformerless hybrid active lter for damping the harmonic

978-1-4244-4783-1/10/$25.00 2010 IEEE

380

iabc

abc to qde

ie qd

ie qd

HPF

qde to abc

iabc,h

Resonant current controller

iabc,h Eabc,h G i abc,h vabc,h vabc

Eabc

abc to qde

e Eqd

HPF

e E qd

qde to abc

HAFU PWM

Kp
2Ki,h h s h s2 +2 s+ 2 h h

Tuning controller

vabc,f

Vdc Eabc e vq,f e vd,f

PLL

Vdc

0
PI

qde to abc

vabc,f

Fig. 2.

Control block diagram of the proposed HAFU.

resonance in distribution power systems was presented [10]. Since the series capacitor sustains the fundamental component of the grid voltage, the active lter can be operated with a very low dc bus voltage compared with the pure shunt active lter, which is the signicant advantage of reducing both the rated kVA capacity and the switching ripples. However, the damping performance is impeded due to limited bandwidth of the proportional current control. Distributed active lters with voltage detection feature were proposed to cope with the harmonic resonance on the capacitor bank, but a droopcontrolled algorithm is required to coordinate the operation of multiple active lters [11]. This paper proposes resonant current regulation to enhance the damping performances of the transformerless hybrid active lter to suppress the harmonic resonance in industrial power system [12], [13]. The harmonic regulator, which is composed of various band-pass lters in parallel connection, is tuned to resonate at harmonic frequencies for accurately controlling the active lter as variable harmonic conductance. Based on this algorithm, the resonances resulting from the passive lters or the power factor correction capacitors can be denitely avoided, and also the damping conductance can be dynamically adjusted to maintain harmonic voltage distortion conforming with the harmonics limitation, such as IEEE std. 519-1992 [14]. Compared with the proportional current control, the proposed resonant regulator introduces additional gain at specic harmonic frequencies to enhance the current tracking capability of the active lter and the associated damping performance without increasing overall gain of controller. The required damping conductance to maintain the harmonic voltage at an allowable level is also reduced. II. O PERATION P RINCIPLES Fig. 1 shows a simplied one-line diagram of the proposed hybrid active lter. The hybrid active lter unit (HAFU) is composed of a conventional three-phase voltage source

inverter and a power factor correction capacitor C in series connection at the secondary side of the distribution transformer in industrial power system. The HAFU operates as variable conductance at harmonic frequencies as given,
i abc,h = G Eabc,h

(1)

where i abc,h represents the harmonic current command and Eabc,h is the harmonic voltage component at the installation point of the HAFU. The conductance command G is dened as a variable gain to determine the harmonic current to be drawn from the grid for suppressing voltage harmonics. The control algorithm of Fig.2, which includes harmonic detection, resonant current regulation, and conductance tuning control, is detailed as follows. A. Harmonic detection Both the harmonic voltage component Eabc,h at the installation location of the HAFU and the harmonic current component iabc,h of the HAFU can be determined by using the synchronous reference frame (SRF) transformation [7] as shown in Fig.2, where phase-locked loop (PLL) is required for grid synchronization. In the SRF, the fundamental component becomes a dc value , whereas the harmonic component is a e and ac value. Therefore, the harmonic voltage component E qd e the harmonic current component iqd in the SRF can be simply extracted by using high-pass lters (HPFs). After applying the inverse SRF transformation, Eabc,h and iabc,h in the threephase system are derived. Subsequently, the harmonic current command i abc,h is generated by multiplying the voltage harmonics Eabc,h and the conductance command G , which is dynamically adjusted by the tuning controller. B. Resonant current regulation The resonant harmonic control (RHC) in Fig. 2 is proposed to enhance current tracking capability of the hybrid active

381

lter. The RHC is dened as follows [13]: RHC (s) = kp +

h

C. Conductance tuning control (2) Fig. 4 shows the conductance tuning control of the HAFU. The conductance command G is determined according to the voltage THD at the HAFU installation point Eabc . The derivation of THD can be approximately evaluated by using two low-pass lters (LPFs) with cutoff frequency f , which are to lter out ripple components in the calculation. The error between the allowable THD and the measured THD is then fed into the PI regulator to adjust G . Based on this control, the damping capability of the HAFU can be dynamically tuned to provide effective damping capability and maintain harmonic voltage distortion at an allowable level based on the harmonic voltage limit in IEEE std. 519-1992.
Ls Rs Eh

s2

2Ki,h h s 2 + 2h s + h

where h represents the order of the harmonic frequency, kp is the proportional gain, and ki,h is the integral gain for each harmonic frequency. The RHC is tuned to resonate at harmonic frequencies h with damping ratio . Therefore, various narrow gain peaks centered at harmonic frequencies are introduced to improve current tracking performance, which will be further discussed in the frequency domain analysis of the next section.
(s) Ih

RHC (s)

esT

es 2
T

1 1 sL+ sC +Rf

Ghd (s)

Ih (s)

Ih (s)

Current Computational Controller Delay

PWM

sLs + Rs Plant

Harmonic Detection

is,h

Fig. 3.

Current control block diagram of the proposed HAFU.

vs,h

L Rf

Fig. 3 shows current control block diagram of the proposed HAFU, where both line resistance Rs and lter resistance Rf are included. Computational delay of digital signal processing is equal to one sampling delay T and PWM delay approximates to half sampling delay T 2 . Since the high-pass lter of the harmonic detection in the SRF is equivalent to the bandreject lter in the stationary frame, its transfer function can be expressed as: Ghd (s) = (s jf un )Th 1 + (s jf un )Th (3)

Passive Filter

iL,h

(a) The HAFU is off.

Ls Rs Eh

is,h

where f un is the fundamental frequency and Th is time constant of the high-pass lter. Hence, system stability and current tracking capability are simply evaluated from both open-loop and closed-loop gains. Based on the harmonic current command i abc,h , the measured harmonic current iabc,h , the harmonic voltage command can be derived. Since the series capacitor draws the vabc,h fundamental reactive current from the grid, the dc voltage of the HAFU can be regulated by using a proportional-integral e (PI) controller to adjust the fundamental reactive voltage vabc,f of the HAFU. According to the voltage command vabc , the space vector PWM is employed to synthesize the required output voltage of the inverter.
Ea,h Eb,h Ec,h THD Ea Eb Ec f s + f THD SQRT PI G f s + f SQRT

L vs,h Rf

HAFU

iL,h

iaf =Eh G

(b) The HAFU is on.

Ls Rs Eh

is,h

vs,h

HAFU

iL,h

(c) The simplied circuit of Fig. 5(b) assuming the HAFU as ideal conductance G. Fig. 5. Simplied single-phase equivalent circuit of the HAFU at harmonic frequencies in the industrial power system.

Fig. 4.

Conductance tuning control.

382

Eh = is,h

(Rs 2 (Ls Rf + LRs ) + j ( 3 Ls LC + Ls + CRs Rf ))iL,h (1 2 LC + jRf C )vs,h + 1 2 (Ls + L)C + j (Rf + Rs )C 1 2 (Ls + L)C + j (Rf + Rs )C 2 (1 LC + jRf C )iL,h vs,h + = 1 2 (Ls + L)C + jRf C 1 2 (Ls + L)C + jRf C

(4)

D. Damping performance analysis A simplied single-phase equivalent circuit of the HAFU at harmonic frequencies is shown in Fig. 5. vs,h and iL,h represent the background harmonic voltage of the power system and the harmonic current producing by nonlinear loads, respectively. Line resistance Rs and lter resistance Rf are also included in this model. Note that linear loadings are omitted due to worst-case consideration of harmonic resonances. =0, the passive lter is directly When the HAFU is off, i.e. vabc connected to the load bus as in Fig.5(a). The harmonic voltage Eh and the harmonic current is,h can be expressed as (4), where the resonant frequency is fres = 1 2 (Ls + L)C . (5)

Assuming the HAFU is controlled as ideal harmonic conductance as given in (1), the equivalent circuit in Fig. 5(b) can be simplied as Fig. 5(c) after the HAFU is in operation. The harmonic voltage Eh and the harmonic current is,h , therefore, can be expressed as follows, Eh = is,h jLs iL,h + vs,h 1 + jLs G + Rs G iL,h Gvs,h . = 1 + jLs G + Rs G

The passive lter, which is tuned at seventh harmonic frequency with quality factor 20, provides power factor improvement for both linear and nonlinear loads. Lf =1.5 mH(23 %), Cf =100 F (9 %). Linear and nonlinear loads are rated at 3 kVA pf =0.66, 6.7 kVA pf =0.533, respectively. The AFU is implemented by conventional three-phase voltage source inverter with the switching frequency 10 kHz and the reference dc bus voltage 50 V. The OFF state of the HAFU corresponds to turning on three upper switches, but turning off three lower switches. The reference voltage THD is set as 3% based on the individual harmonic voltage limit of IEEE std. 519-1992. The RHC is implemented with four resonant frequencies (5th , 7th , 11th , 13th ). Parameters are kp =5, ki,5 =10, ki,7 =2, ki,11 =5, ki,13 =5, =0.01.

A. Time domain analysis Before the HAFU is started, i.e. in the OFF state, the resonance frequency (fres =318 Hz) between the passive lter and the utility causes large fth harmonic current circulating between the source current is and the lter current i, as shown in Fig. 7(a). The voltage THD of E exceeds 8%. This result shows the passive lter loses its ltering functionality and even causes excessive harmonic amplication. Fig. 7(b) shows the operation of the proposed HAFU, in which the voltage THD of E is signicantly improved and maintained at 3.0% with the conductance command G =0.281 . The harmonic resonance and the circulating harmonic current no longer occur. Fig. 8 illustrates the harmonic components of is , i, iL , E , respectively. Fifth harmonic current of is is reduced from 5.3A to 1.6A, and fth harmonic voltage of E is reduced from 10V to 3V. Since the inverter is simply operated at Vdc =50V, the HAFU consumes about 250 VA, which is approximately 1.25% of the system rating. This is a signicant advantage of the HAFU, in terms of reduction of both the active lter kVA capacity and the associated switching ripples. Fig. 9 shows the conductance command and the voltage THD in case of increasing nonlinear loading from 6.7 kVA to 9.7 kVA at 3s. Since voltage distortion is enlarged, G is raised to 0.531 for maintaining the voltage THD at 3%. The steady-state waveforms of E , is , iL , and i in Fig. 10 also verify the effectiveness of the proposed HAFU as the nonlinear load increases . B. Frequency domain analysis Fig. 11(a) shows the open-loop gain of the current control. The RHC (s) produces four resonant peaks at 5th, 7th, 11th, and 13th harmonic frequencies without affecting both

(6)

Obviously, the resonances of both Eh and is,h in (4) no longer occur, and their magnitudes can be reduced by increasing conductance G.
3 kVA pf =0.66
10 220 V 60 Hz 20 kVA 30 mH

6.7 kVA pf =0.533

is iL 5 mH 20

1.0 mH

50 m E 100 F 20 m

Vdc

1.5 mH

20 mF

Fig. 6.

Simulation circuit.

III. S IMULATION R ESULTS Fig. 6 shows the simulation circuit and the associated circuit parameters are given as follows.

Power system: 220 V(line-to-line), Ls =1.0 mH(16 %), Rs =0.05 (2 %).

60 Hz,

20 kVA,

383

20
300 150

AFU OFF AFU ON 15

is

150 300 0.4 60 30 0.41 0.42 0.43 0.44 0.45

10

is

0 30 60 0.4 60 30 0.41 0.42 0.43 0.44 0.45

0
F un 5th 7th 11th 13th

(a) Source current components.

20 AFU OFF AFU ON 15
i

iL

30 60 0.4 60 30 0.41 0.42 0.43 0.44 0.45

10

0 30 60 0.4 0.41 0.42 Time (s) 0.43 0.44 0.45

0
F un 5th 7th 11th 13th

(b) HAFU current components.

20 AFU OFF AFU ON 15

(a) The HAFU is off.

300 150

iL 10

150 300 1.4 60 30 1.41 1.42 1.43 1.44 1.45

0
F un 5th 7th 11th 13th

is 0
30 60 1.4 60 30 1.41 1.42 1.43 1.44 1.45

(c) Load current components.

150 125 100
E

AFU OFF AFU ON

iL 0
30 60 1.4 60 30

75 50

1.41

1.42

1.43

1.44

1.45

25 0
F un 5th 7th 11th 13th

0 30 60 1.4 1.41 1.42 Time (s) 1.43 1.44 1.45

(d) Voltage components. Fig. 8. Harmonic components before and after the HAFU is in operation.

(b) The HAFU is on. Fig. 7. Grid voltage E , source current is , load current iL , and lter current i.

bandwidth and phase margin. The HAFU also functions like pure harmonic conductance due to the RHC (s) providing additional phase modication at harmonic frequencies. Therefore, current tracking capability is signicantly improved as illustrated in closed-loop gain of Fig. 11(b).

Damping performances based on (4) and (6) are shown in Fig. 12. The resonant peak (318 Hz), due to the line impedance and the passive lter, is located near the fth harmonic frequency. After the HAFU is in operation, the resonant phenomenon would fully disappear and the damping performance is strongly dependent on the conductance provided by the active lter. As demonstrated in Fig. 12(a) and Fig. 12(b), the magnitude of the harmonic impedance Eh iL,h and the magnitude of the harmonic current amplication
is,h iL,h

are effectively suppressed with increasing conductance

384

Bode Diagram
1 0.8 0.6

50 Magnitude (dB)
3 3.2 3.4 3.6 3.8 4

0.4 0.2 0 2.8

50 180 90 Phase (deg)

5 4 3

0 90 180

THD
2 1 0 2.8

270

10 Frequency (Hz)

10

(a) Open-loop gain.

3 3.2 3.4 Time (s) 3.6 3.8 4

Bode Diagram 20 0 Magnitude (dB) Phase (deg)

Fig. 9. Step response of conductance command and voltage THD as the nonlinear load is increased at 3s.

20 40 60 80 180 135 90 45 0 45 90

300 150

150 300 3.9 60 30 3.91 3.92 3.93 3.94 3.95

is

0 30 60 3.9 60 30 3.91 3.92 3.93 3.94 3.95

135

10 Frequency (Hz)

10

(b) Closed-loop gain. Fig. 11.

3.91 3.92 3.93 3.94 3.95

iL 0
30 60 3.9 60 30

Frequency domain analysis of current control.

IV. S UMMARY This paper presents harmonic current regulation for the transformerless hybrid active lter to enhance the harmonic suppression capability in industrial power system. The proposed current regulator is composed of parallel-connected band-pass lters tuned at various harmonic frequencies, so the active lter can be accurately operated as variable harmonic conductance based on voltage distortion of the active lter installation location. Therefore, harmonic resonances can be denitely avoided and the damping conductance can be dynamically adjusted to conform voltage quality with harmonics regulation. Design considerations based on frequency-domain analysis are detailed and time-domain simulations validate the effectiveness of the proposed approach.

i 0
30 60 3.9 3.91 3.92 Time (s) 3.93 3.94 3.95

Fig. 10. Grid voltage E , source current is , load current iL , and lter current i as the nonlinear loading is at 9.7 kVA.

command. Note that the HAFU exhibits high impedance for harmonic frequencies and the passive lter simply provides reactive power compensation at G =0.

385

30

controlling the harmonic conductance G when the harmonic resonances occur between Cemi and Ls .
Ls Rs Eh

20
is,h

10
Magnitude (dB)

0
HAFU OFF G =0 pu G*=0.5 pu
*

vs,h

HAFU

Cemi

iL,h

10

20

G*=1.0 pu G*=1.5 pu G*=2.0 pu

30 2 10

10

10
Eh . iL,h

Fig. 13. The simplied circuit of the HAFU considering the capacitive lter Cemi .

Frequency (Hz)

(a) Magnitude plot of harmonic impedance

ACKNOWLEDGMENT This research is funded by the National Science Council of TAIWAN under grant NSC 98-2221-E-110-078.

30 20 10
Magnitude (dB)

HAFU OFF G*=0 pu G =0.5 pu G =1.0 pu G*=1.5 pu G*=2.0 pu

* *

R EFERENCES
[1] R. L. Almonte and A. W. Ashley, Harmonics at utility industrial interface: a real world example, IEEE Trans. Ind. Appl., vol. 31, no. 6, pp. 14191426, Nov./Dec. 1995. [2] R. H. Simpson, Misapplication of power capacitors in distribution systems with nonlinear loadsthree case histories, IEEE Trans. Ind. Appl., vol. 41, no. 1, pp. 134143, Jan. 2005. [3] G. Lemieux, Power system harmonic resonance-a documented case, IEEE Trans. Ind. Appl., vol. 26, no. 3, pp. 483488, May/Jun. 1990. [4] E. J. Currence, J. E. Plizga, and H. N. Nelson, Harmonic resonance at a medium-sized industrial plant, IEEE Trans. Ind. Appl., vol. 31, no. 3, pp. 682690, May/Jun. 1995. [5] H. Akagi, Active harmonic lters, Proc. IEEE, vol. 93, no. 12, pp. 21282141, Dec. 2005. [6] F. Z. Peng, Application issues of active power lters, IEEE Ind. Appl. Mag., pp. 2130, Sep./Oct. 2001. [7] S. Bhattacharya and D. Divan, Design and implementation of a hybrid series active lter system, in IEEE 26th Annual Power Electronics Specialists Conference, 1995, pp. 189195. [8] H. Fujita, T. Yamasaki, and H. Akagi, A hybrid active lter for damping of harmonic resonance in industrial power systems, IEEE Trans. Power Electron., vol. 15, no. 2, pp. 215222, Mar. 2000. [9] D. Detjen, J. Jacobs, R. W. De Doncker, and H.-G. Mall, A new hybrid lter to dampen resonances and compensation harmonic currents in industrial power systems with power factor correction equipment, IEEE Trans. Power Electron., vol. 16, no. 6, pp. 821827, Nov. 2001. [10] R. Inzunza and H. Akagi, A 6.6-kV transformerless shunt hybrid active lter for installation on a power distribution system, IEEE Trans. Power Electron., vol. 20, no. 4, pp. 893900, July 2005. [11] S.-Y. Kuo, T.-L. Lee, C.-A. Chen, P.-T. Cheng, and C.-T. Pan, Distributed active lters for harmonic resonance suppression in industrial facilities, in Power Conversion Conference - Nagoya, 2007, pp. 391 397. [12] D. N. Zmood, D. G. Holmes, and G. H. Bode, Frequency-domain analysis of three-phase linear current regulators, IEEE Trans. Ind. Appl., vol. 37, no. 2, pp. 601610, Mar./Apr. 2001. [13] M. Castilla, J. Miret, J. Matas, L. G. De Vicuna, and J. M. Guerrero, Linear current control scheme with series resonant harmonic compensator for single-phase grid-connected photovoltaic inverters, IEEE Trans. Ind. Electron., vol. 55, no. 7, pp. 27242733, July 2008. [14] IEEE Recommended practices and requirements for harmonic control in electrical power systems, IEEE Std. 519-1992, 1993.

0 10 20 30 40 2 10

10

10
is,h . iL,h

Frequency (Hz)

(b) Magnitude plot of harmonic current amplication Fig. 12. Damping performance analysis of the HAFU.

In power electronics applications, low-pass lters or EMI lters are usually deployed at the grid side of the inverter for alleviating switching ripples into the power system. These lters may cause unintentional harmonic resonances with the leakage inductance of the power system as shown in Fig. 13, in which an equivalent capacitor Cemi is installed at the loading bus. At this situation, the harmonic voltage Eh and the harmonic current is,h can be expressed as: Eh = is,h (jLs + Rs )iL,h + vs,h 1 + Rs G 2 Ls Cemi + j (Ls G + Cemi Rs ) (7) iL,h (G + jCemi )vs,h . = 1 + Rs G 2 Ls Cemi + j (Ls G + Cemi Rs )

Obviously, both Eh and is,h can also be suppressed by

386