POWER QUALITY ISSUES, CAUSES AND

MITIGATION DEVICES IN POWER SYSTEM

Dr. Mahesh Kumar

Electrical Engineering Department
Indian Institute of Technology, Madras

EE IIT Madras
 INDIAN INSTITUTE OF TECHNOLOGY MADRAS
Research Directions: Power Quality Research
Laboratory

THEORETICAL ASPECTS

Control Algorithms
(Generation of
Reference Quantities)

Topological: VSI Topologies

Switching Control Design and Implementation

Strategies Algorithms Issues

EE IIT Madras
 INDIAN INSTITUTE OF TECHNOLOGY
MADRAS

Team Work: If I have seen further than others, it is by

standing upon the shoulders of giants Sir Isaac Newton
My Research Team: Power Quality Potential (PQP)

Ph.D. Researchers

karthikeyan vincent_george sasitharan koti_electrical ganjikuntask

@ee.iitm.ac.in @yahoo.com @smail.iitm.ac.in @yahoo.com @gmail.com

M.S. Researchers

linashpk srikanthan123 harsha.vugadi balu_karanki anil.ramakuru ee08s004

@ee.iitm.ac.in @yahoo.co.in @gmail.com @yahoo.com @gmail.com @smail.iitm.ac.in

M.Techs

EE IIT Madras
praveen.239
@gmail.com
haimuralimail
@gmail.com
 INDIAN INSTITUTE OF TECHNOLOGY
MADRAS

Projects (Completed)
1. Power Quality Improvement using
Active Power Filters
2. Mitigation of unbalance and harmonics in power distribution
system using Static Var Compensators

Projects (Ongoing)

Load Compensation and Voltage Regulation

with Non-stiff and Unbalanced voltage source

Future
Projects (Future)
1. Design and development of dedicated Custom Power Park driven by
innovative control algorithm with proper coordination of its devices
2. Development of Integrated Renewable Energy
Power Park with Coordinated Control and Embedded Power Quality Aspects
EE IIT Madras
 INDIAN INSTITUTE OF TECHNOLOGY
MADRAS

Our Financial Support

Centre for Industrial Consultancy &

Sponsored Research (IC&SR), IITM

MHRD, Government of India

Department of Science and Technology

EE IIT Madras
Power quality has a different meaning to different people. For
instance:
For Genco people it means that generator is not overrated in
terms of real and reactive power, it is not over heated etc.
For Transmission people, it means that more transmission
efficiency, less outage, proper flow of active and reactive power,
balanced and sinusoidal quantities over the transmission network
For Distribution people it means proper voltage of distribution
bus, load harmonics and power factor should not create threat to
utility etc.

However in general, we can say the power quality means balanced

and sinusoidal waveforms of voltage in power generation,
transmission and distribution network. However the power quality
has many aspects. The following parameters of power system
network are taken into consideration while taking power quality
issues.
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Broad Classification

Transients
Short Duration Variations <=> RMS variations
Long Duration Variations
Voltage Unbalance
Waveform Distortions
Voltage fluctuations
Power Frequency Variations

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 TRANSIENTS
TRANSIENTS in power system refer events
which are undesirable and momentary in nature.

gAnother definition describes transient as the part of

the variable that disappears during transition from one
steady state to another.
gUtility engineers view transients as surge from
lightening strokes for what surge arresters are used
for protection.
gEnd users view transient anything unusual that might
be observed on the power supply ranging from voltage
sags, swells to interruptions.

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TRANSIENTS CLASSIFICATION
Waveform Classification

gIMPULSIVE TRANSIENTS
g Lightning
gOSCILLATORY TRANSIENTS
g Capacitor Energization
g Restrike during Capacitor de-energization
g Line or Cable Energization
gMULTIPLE TRANSIENTS
g Current chopping
g Multiple strikes
g Repetitive switching actions
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 IMPULSIVE TRANSIENT
gIt is sudden and non-power frequency change in the
steady state condition of voltage or current or both that
is unidirectional in polarity either positive or negative
g It is characterized by the rise and decay times which
can be revealed by dominant frequency in their
spectral content. For example 1.250s 2000V
impulsive transient means that the transient rises from
zero to its peak of 2000V in 1.2 s and then decays to
its half value in 50s.
gThey are damped quickly by the resistive circuit
elements and do not propagate far from their source.
gThe most common cause for the impulsive transient
is lightening EE IIT Madras
 IMPULSIVE TRANSIENT

The shape of Impulsive transient vary based on network

components and viewed differently at different points of
the network. Impulsive transient can travel over some
distance along the utility lines and can excite the
natural frequency of the power system and produce
oscillatory transient response.
EE IIT Madras
 OSCILLATORY TRANSIENTS
ItIt is
is sudden
sudden and
and non-power
non-power frequency
frequency change
change inin the
the
steady
steady state
state condition
condition of
of voltage
voltage or
or current
current or
or both
both
that
that Includes
Includes both
both positive
positive and
and negative
negative values.
values.
Oscillatory
Oscillatory transients
transients are
are natural
natural transients
transients and
and
therefore
therefore frequently
frequently occur
occur than
than impulsive
impulsive transients
transients
Based
Based on
on the
the oscillatory
oscillatory frequency
frequency components,
components,
the
the oscillatory
oscillatory transient
transient can
can be
be classified
classified into
into three
three
categories
categories

1.
1. High
High frequency
frequency oscillatory
oscillatory transient
transient

2.
2. Medium
Medium frequency
frequency oscillatory
oscillatory transient
transient

3.
3. Low
Low frequency
frequency oscillatory
oscillatory transient
transient
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 reessuulltt
Offtteenn r al
O
Oscillatory Transients
ooffllooccal
ssyysstteem
m
e
rreesspponsse
o n

primary frequency component > 500 kHz

High Frequency Oscillating Transients

5 kHz < primary frequency component < 500 kHz

Medium Frequency Oscillating Transients

primary frequency component < 5 kHz

Low Frequency Oscillating Transients

r
apaaccititoor
DDuueettooccapizattioionn
erg iza
bbaannkkeennerguennccyy
q e
wwitithh freequ andd
f r
Hz an
330000--900 H2z.0 ppuu
90 0
ituddee 2.0
mmaaggnnitu

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SHORT DURATION VOLTAGE VARIATIONS
RMS VARIATIONS
Short duration voltage variations encompasses
voltage dips and short interruptions.
Short duration voltage variations are caused by
fault conditions in the network
the energization of large loads which require high
starting current
intermittent loose connections in the power wiring.

Depending upon the fault conditions and the system conditions,

the faults can cause
Temporary voltage drops (voltage sag)
Temporary voltage rises (voltage swell)
Temporary loss of voltage (voltage interruptions)
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 VOLTAGE SAG
Voltage sag can be defined as a decrease in voltage
between 0.1 to 0.9 pu. at the power frequency for
durations from 0.5 cycles to one minute.
It is usually caused by energization of heavy
loads, starting of large rating motors etc.

Voltage sag due to SLG fault EE IIT Madras Voltage sag motor starting
 AN EXAMPLE ON VOLTAGE SAG
Consider a 50 hp induction motor with a
full load current of 60 A at 480 V ac . It is 4.16kV
connected to 480 V bus through a 480V
transformer of rating 100 kVA, 4.16 kV /
480 V, 5 % leakage reactance as shown in

Current Rating 60 A
50 hp 3-phase IM
figure. 100 kVA, 120 A
5% reactance
It is found that during first half of the
cycle current attains a peak of 860 A. The
voltage sag caused by starting of this
induction motor is computed as follows.

Full load current of the 100 kVA transformer at 480 V

=(100/3)/(480/(3))=0.120 kA=120 A
Voltage drop due to the starting inrush current=5.0*860/(1202) = 25.3%

Source:
Source: A
A book
book on
on Power
Power Quality
IIT Madrasby
Quality
EE by Sankaran
Sankaran CRC
CRC Press
Press ))
 VOLTAGE SWELL-I
A swell is defined as an increase between 1.1 pu and 1.8 pu in
rms voltage or current at the power frequency for durations from
0.5 cycle to one minute. They are not as common as voltage sag.
It is usually caused by fault conditions, switching off heavy
loads and energization of capacitor banks.
Swells are characterized by their magnitudes and durations.
The severity of voltage swell during fault condition depends on
fault location, system impedance, grounding.

EE IIT Madras

Voltage swell due to SLG fault

 VOLTAGE SWELL-II

Ungrounded system are more susceptible to over

voltages than grounded system. For example, for
ungrounded system line to ground voltage SLG
fault reaches to 3=1.73 pu, while as in grounded
system, there will be little or no voltage rise on
un-faulted phases due to low impedance path
provided by sub-station transformer.

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 VOLTAGE INTERRUPTION-I

An interruption occurs when the supply

voltage or load current decreases to less than
0.1 pu for a period of time not exceeding 1
minute. Interruptions are usually measured by
their durations since magnitude is always less
than 0.1 pu.
It is usually caused by power system
faults, equipments failures and control mal-
functioning.
Interruptions are usually measured by their
durations since magnitude is always less than
0.1 pu.
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 VOLTAGE INTERRUPTION-II
For example, a fault takes place in system and protection device
operates. The duration of an interruption depends on operations
time of utility devices. Instantaneous re-closing generally limit the
interruption to less than 30 cycles.

Delayed re-closing of
protective device may cause
momentary or temporary
interruptions.

Some interruptions may be

preceded by voltage sag when
these interruptions are due to
faults on the source system.
Voltage sag occurs between
the time a fault initiates and
the protective device operates. Voltage interruption due to fault and
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subsequent enclosures operation

SHORT DURATION VOLTAGE VARIATIONS
RMS VARIATIONS
Short duration voltage variations can be further
classified into three categories, i.e. instantaneous,
momentary and temporary .

Source:
Source: Power
Power Quality
Quality Studies
Studies in
in Distribution
Distribution Systems
Systems Involving
EE IIT Madras Involving Spectral
Spectral Decomposition
Decomposition A A
Ph.D.
Ph.D. Dissertation
Dissertation zur
zur Erlangung
Erlangung desdes akademischen
akademischen Grades
Grades Doktoringenieur
Doktoringenieur (Dr.-Ing.)
(Dr.-Ing.)
 LONG DURATION VOLTAGE
VARIATIONS-I
Long Duration Variations encompass rms deviations of
voltage longer than one minute. Long duration
variations generally results of system faults but are
caused by load variations on the system and system
switching operations.

Like short term variations, these can be

classified as,
Under Voltages
Over Voltages
Sustained Interruptions

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 LONG DURATION VOLTAGE
VARIATIONS-II
Over Voltage: An over-voltage is an increase in the rms
ac voltage greater than 110% at the power frequency for a duration
longer than 1 minute. These are result of load switching (e.g.,
switching off a large load), or energizing a capacitor bank), poor
voltage regulation, incorrect tap settings on transformers.

Under Voltage: An under-voltage is a decrease in the

rms ac voltage to less than 90% at the power frequency for a
duration longer than 1 minute. Under-voltages may result from a
large load switching on or from a capacitor bank switching off.

Long Interruptions: When the supply voltage has been

zero for a period of time in excess of 1 minute, the long duration
voltage variation is considered a sustained interruption. Voltage
interruptions longer than one minute are often permanent and
require human intervention to repair the system for restoration.
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 VOLTAGE IMBALANCE-I

Voltage unbalances occur in electrical power

supply systems due to the asymmetry of load
currents. The geometric arrangement of
transmission lines and different mutual interactions
between phases, also leads to voltage imbalances.

The major source of voltage imbalance is single-

phase loads on a three-phase circuit. Arc furnaces,
resistance melting furnaces, traction supplies and
heavy current test systems also contribute to
voltage unbalances.

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 VOLTAGE IMBALANCE-II
Symmetrical component theory is used to determine positive,
negative and zero sequence components as per the following
equation.
v sa 0 (t ) 1 1 1 v sa (t )
v (t ) = 1 1 a a 2 v sb (t )
sa1 3
v sa 2 (t ) 1 a 2 a v sc (t )
t1 +T
2 j ( wt / 2 )
V sa 012 =
T sa 012
v (t ) e dt
tt

Vsa0 = Vsa0 Vsa0

V sa1 = V sa1 V sa1

V sa 2 = V sa 2 V sa 2

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 VOLTAGE IMBALANCE-III
Finally ,Voltage Imbalance can be defined as the ratio of
either the negative- or zero sequence component to the
positive sequence component to specify the percent
unbalance as given below.

KU0=Va0 / Va1
Ku2=Va2 / Va1
Figure shows an example of these two ratios for a one week
trend of imbalance on a residential feeder.

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 WAVEFORM DISTORTION
Waveform distortion is defined as a steady state deviation from
an ideal sine wave of power frequency principally characterized
by the spectral content of the deviation. It can be broadly
classified into five categories

DC Offset
Harmonics
Inter-harmonics
Notching
Noise

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 WAVEFORM DISTORT. Contd

DC OFFSET

The presence of a dc voltage or current in an ac power

system is termed dc offset. This can occur as the result of
a geomagnetic disturbance at higher latitude or due to the
effect of half-wave rectification. This also introduces even
harmonics due to half wave rectification.

Direct current in alternating current networks can have a

detrimental effect by biasing transformer cores so they
saturate in normal operation. This causes additional
heating and loss of transformer life. DC may also cause
the electrolytic erosion of grounding electrodes and other
connectors.

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 WAVEFORM DISTORT. Contd
Harmonics
Harmonics are sinusoidal voltages or currents having
frequencies that are integer multiples of the frequency at
which the supply system is designed to operate. Harmonics
are major threat to healthy operation of power system.
Harmonic distortion originates in the nonlinear
characteristics of devices and loads on the power system.
Harmonic distortion levels are described by the complete
harmonic spectrum with magnitudes and phase angles of
each individual harmonic component.
Sometimes it is common to use a single quantity, the Total
Harmonic Distortion (THD), as a measure of the effective
value of harmonic distortion.

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 WAVEFORM DISTORT. Contd

Source of Harmonics
General categories of harmonic sources:
1. Saturable devices
Saturable devices produce harmonics due to mainly
iron saturation in transformers, machines etc.
Operating electrical devices around knee point
creates flatness in voltage with 3rd harmonic approx.
30% of fundamental
2. Power electronic based converters/devices
Power electronic based loads draw power only during
portions of the applied voltage waveform. These
include power electronic converters, UPS, SMPS,
Computers monitors, TVs, printers etc.

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 WAVEFORM DISTORT. Contd

Harmonics-illustration

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 WAVEFORM DISTORT. Contd

Harmonics-illustration

The
.. figure shows severe voltage distortion (6-8% THD) on
the secondary bus of a customer that has a large
amount of nonlinear (UPS) loads
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 WAVEFORM DISTORT. Contd

EFFECT OF HARMONICS

Effect of harmonics are many as listed below.

Neutral conductor over-heating.

Effect on transformers/machines
Over-stressing of power factor
correction capacitors (PFC)
Skin effect
Losses in the motor- Eddy currents
- Harmonics fields in
the stator-causes motor to rotate at various
forward and backward speeds
Effect on meters

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 WAVEFORM DISTORT. Contd

HARMONICS: ILLUSTRATION
Neutral Conductor Overheating
Neutral overloading appears to be most
common problems in commercial buildings.
In a 3-, 4-w system, the sum of three phase
currents flow through neutral conductor.
I ao = ( I a + Ib + I c ) / 3 = I n
Using, Symmetrical
I a1 = ( I a + a Ib + a I c ) / 3
2
component theory
(Fundamental, harmonics)
I a 2 = ( I a + a Ib + a I c ) / 3
2
Over loaded neutral

Positive and negative sequence components sum to zero, but zero

sequence components add to neutral wire. Triplen harmonics
directly add to give large neutral current.

The example is shown for PC load which draws 80% of 3rd har.
Which amounts to 240% almost 3 times of power conductor rating
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 WAVEFORM DISTORT. Contd

Quantification of Harmonics
1. THD: Total Harmonic Distortion:

1/ 2 1/ 2

2
2
It is defined as, I n I n
THDI = n = 2 THDV = n = 2
I1 I1

PF = P = (1 + PH P1 ) PF1
S 2 2 2 2
1 + THDV +THDI +THDV *THDI

Where, Pn = Vn In cos n
n=1
1/ 2

2
2. TDD: Total Demand Distortion: I n
THDI = n = 2
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 WAVEFORM DISTORT. Contd

Control of Harmonics
1. Tuned LC filters: Traps the
harmonic component for which a
filter is designed

2. Active power filters: These are

generalized filter which are adaptive
in nature and compensates load
dynamically

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 WAVEFORM DISTORT. Contd

Interharmonics

Voltages or currents having frequency components

that are not integer multiples of the frequency at
which the supply system is designed to operate
(e.g., 50 Hz or 60 Hz) are called inter-harmonics.
They can appear as discrete frequencies or as a
wide-band spectrum.

The main sources of inter-harmonic waveform

distortion are static frequency converters, cyclo-
converters, induction motors and arcing devices.

The effects of inter-harmonics are not well known.

They induce visual flicker in display devices such
as CRTs.

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 WAVEFORM DISTORT. Contd
Notching
Notching is a periodic voltage disturbance caused by the normal
operation of power electronics devices when current is commutated
from one phase to another. The notches may come sufficiently
close to zero introduces errors in instruments and control systems
that rely on zero crossings to derive frequency or time.
For example of voltage notching
from a three- phase converter
that produce continuous dc
current. The notches occur
when the current commutates
from one phase to another.
During this period, there is a
momentary short circuit
between two phases pulling the
voltage as close to zero as
permitted by system
impedances.

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 WAVEFORM DISTORT. Contd

Noise
Noise is defined as unwanted electrical signals with broadband
spectral content lower than 200 kHz superimposed upon the
power system voltage or current in phase conductors, or found
on neutral conductors or signal lines.

Noise in power systems can be caused by power

electronic devices, control circuits, arcing
equipment, loads with solid-state rectifiers, and
switching power supplies.

The problem can be mitigated by using filters,

isolation transformers, and line conditioners.

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 VOLTAGE FLUCTUATIONS
Flicker can be defined as small amplitude changes in
voltage levels i.e. 0.9 pu to 0.1 pu occurring at frequencies
less then 25 Hertz (25Hz). Flicker is caused by large,
rapidly fluctuating loads such as arc furnaces and electric
welders

Small voltage flicker may not be harmful to electronic

equipment, but is more of a nuisance because it causes
annoying, noticeable changes in lighting levels.
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 POWER FREQUENCY VARIATIONS
Power Frequency Variations are defined as the deviation
of the power system fundamental frequency from it
specified nominal value (e.g. 50 Hz or 60 Hz).

On large interconnected utility systems, frequency is

generally stable and deviations are rarely a problem until
there are faults on the bulk power transmission system, a
large block of load being disconnected, or a large source
of generation going off- line.

However, on smaller power systems, especially those

supplied by on-site generators, frequency deviations can
cause electronic equipment to malfunction and affect the
speed of motor driven clocks.

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 CUSTOM POWER DEVICES
Like FACTs devices, Custom Power Devices are also
power electronic based controllers in medium voltage
distribution systems for the purpose of supplying a level of
reliability and/or power quality that is needed by electric
power customers sensitive to power quality variations.

Custom power devices, or controllers, include static

switches, inverters, converters, injection transformers,
master control modules, and/or energy storage modules
that have the ability to perform current interruption and
voltage regulation functions in a distribution system to
improve reliability and/or power quality.

Custom power devices are also known as DSTATCOM,

active power filters/conditioners. A DVR called dynamic
voltage restorer is a series compensation device and used
for regulation of bus connected to the sensitive loads

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MITIGATION USING CUSTOM POWER DEVICES
Once PQ problems are known, the next step is to mitigate them. In
the following sections, the various strategies/techniques of PQ
problems mitigation will be highlighted. The ultimate aim of any
power quality investigation is to solve/mitigate the power quality
problem. The PQ problems mitigation using custom power devices
involves the following.

Power factor correction

Harmonics elimination
Unbalance load mitigation
Voltage sag/swell and interruption
mitigation

Voltage transient mitigation

Flicker mitigation
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CUSTOM POWER DEVICES CLASSIFICATION
In a broad sense custom power devices can be classified into three
categories:

Shunt devices; generally called as DSTATCOM in current

control mode or shunt active power filter. The main objective is to
inject the current at the point of common coupling in order to
provide:
9 Load balancing
9 Power factor correction
9 Harmonic elimination
9 Voltage regulation
Series devices; generally called as series active power
filter or DSTATCOM in voltage control mode. These are also
known as Dynamic Voltage Restorer (DVR). Their main objective
is to inject the voltage in series with feeder in order to provide the
following:

9 Voltage regulation (sag/swell)

9 Elimination of voltage harmonics

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 DSTATCOM STRUCTURE

Schematic of DSTATCOM (a) Conventional (b) Power converter based

DSTATCOM consists of

9 Power converter (voltage or current source inverter)

9 DC storage capacitors to support converter operation
9 Interfacing inductors through which DSTATCOM is
connected to the point of common coupling
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 POWER CONVERTER TOPOLOGIES
Using voltage source inverters
g VSIs are lighter, cheaper
g Energy storage of capacitive
elements is more efficient
g easily expandable to multi-level versions

Using current source inverters Voltage source inverter

g CSIs are more reliable and fault tolerant

g well suited for accurate control
Disadvantages
g Higher losses, higher initial cost

VSIs are however preferred over CSIs,

because of the VSIs are more efficient,
lower in initial cost than the EE
CSIs
IIT Madras Current source inverter
 Classification of Active Power Filters

g Supply systems influence the choice of filter topology

Two wire supply
Three phase three wire supply
Delta- connected load
Star-connected load
3-phase, 4-wire supply
g Active power filter topology
Shunt active power filter
Series active power filter
Series active and shunt passive power filter (Hybrid filters)
Unified power quality conditioner (UPQC)
g Implementation uses following types of converters
Voltage source inverters (VSIs)
Current source inverters (CSIs)
Active power filter with hybrid
energy source EE IIT Madras
Shunt active power filter [Akagi 94]: TOPOLOGIES
The aim of the compensator is to inject the
harmonic currents to cancel out the harmonic
currents of the load. vs is il
mainly used at load distribution centres. if
LOAD

widely used configuration to eliminate the

harmonics in currents due to nonlinear loads

Series active power filter [DVR] :

The compensator is connected before the
load in series with the mains through a vc
matching transformer.
vs
used to eliminate the voltage distortions and to is _ Vf il
balance and regulate the terminal voltage.
+ LOAD

The Dynamic Voltage Restorer is a

particular implementation for eliminating
voltage swells and sags on sensitive equipment.

It also helps in damping out the the harmonic

propagation caused by resonance with the line vc
impedance and passive shunt filters
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 TOPOLOGIES
Hybrid Power Active Filter
The required rating of the series active filter is
considerably smaller than that of conventional one vs il
is _ Vf
+
mainly used at load distribution centres. LOAD

widely used configuration to eliminate the Shunt passive

harmonics in currents due to nonlinear loads filter

Unified Power Quality Conditioner vc

vs Hybrid
Combination of both active shunt and active is _ Vf il
series filter
+ LOAD
if

shares single common capacitor ( inductor)

However they are expensive and their
control is rather complex because of large vc
number of switching devices and the Series active
filter
Shunt active
filter
coordination between the twoEEmodes
IIT Madras UPQC
 CONTROL ALGORITHMS FOR ACTIVE SHUNT
POWER COMPENSATOR (FILTER)

) Averaging and sampling techniques

) The FFT techniques
) The capacitor error voltage and PI controller
) Instantaneous reactive power theory(p-q theory)
) Generalized reactive power theory
) Theory of instantaneous symmetrical components

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1. Averaging and Sampling Control Algorithms
Techniques [Gyugyi 78, 79], [Miller] v sa i sa
i fab
v sb i sb ilab Bca
Bab
1 1 T
Bab = ( vbc ia + v ca ib v ab ic ) dt
3 3V 2 T 0 v sc i sc ilbc ilca
1 1 T
Bbc = ( vbc ia + v ca ib + v ab ic ) dt
3 3V 2 T 0
Bbc

1 1 T
Bca = ( vbc ia v ca ib + v ab ic ) dt
3 3V 2 T 0 (a)
C

Bab =
1 1
i
3 2 V T a
v sa = 0
dv sa dt > 0
+ ib v sb = 0
dv sb dt > 0
ic v sc = 0
dv sc dt > 0


B M1

1 1 L/2 M2 L / 2
Bbc = ia v sa = 0 + ib v sb = 0 + ic v sc =0 (b)
3 2V T dv sa dt > 0 dv sb dt > 0 dv sc dt > 0

Averaging and sampling techniques
1 1
Bca = ia v sa = 0 ib v sb = 0 + ic v sc =0
3 2V T dv sa dt > 0 dv sb dt > 0 dv sc dt > 0

However the above techniques can eliminate only

fundamental reactive power in the steady state
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 Control Algorithms
3. Capacitor Error Voltage and PI controller
[Torrey 95, Jou 96, KKM 96, 97]

voltage Sine wave

g An error is formed using e = vc ref vc sensor generator

sin t Load current
Vc ref
g The sine waveform is generated in vc + error k k sin t +
voltage PI
sensor controller
phase with the source voltage and its if
magnitude is k = K p e + K i e dt VSI with
current control

g The reference current is then if

il
generated i*f = il k sin t vs is
LOAD

Drawbacks
(a) It has a very slow response.
(b) If by any chance the value of K becomes
negative, the inverter will supply both the source
and the load.
EE IIT Madras
 Control Algorithms
4. PQ theory [Akagi 83, 84]
P-q theory can eliminate all unbalances and harmonics caused
by non-linear, time varying loads, provided source voltages
are balanced and the power converter has infinite bandwidth.

For a 3-phase, 4-wire system , if vsa ,v sb , vsc and isa ,i sb , isc be

source voltages and supply currents in phase a, b, c respectively.
Using o transformation
io 1 / 2 1/ 2 1 / 2 ila
vo 1/ 2 1/ 2 1/ 2 va
2 i = 2 1 1/ 2 1 / 2 ilb
v =
3 1 1 / 2 1 / 2 vb 3
v 0 3 2 3 2 v i 0 3/ 2 3 / 2 ilc

/ / c
po vo 0 0 io
p = 0
The power matrix : v v i
q 0
v v i

p3 (t ) = va ia + bbib + vcic
Total 3-phase power:
= v i + v i + voio
EE IIT Madras = p (t ) + po (t )
 Control Algorithms
P-q theory (Contd)
q
ia
a vc
ib
~ ~ b
Furthermore p = p + p po = p o + po q = q + q~ c
ic vb
va
io
o
p + po
From power matrix

q: Circulating energy between phases

if v v ~
= 1
p + p p+po: Instantaneous 3-phase active power
v
i v2 + v2 v
f q
pl

o
p = p o + p loss po
P ~
Source p+~
po
q
C

Compensator
EE IIT Madras
Power flow related to o reference frame
 P-q theory (Contd) Control Algorithms
Finally we, generate, reference currents in 3-phase
system, by inverse o transformation
va isa ila
ifa vb
L
0 io
isb
1/ 2 1 Source isc O

i = 2 1/ 2 1/ 2 A
vc
fb 3 / 2 i f For compensated system io = 0 i fa
D
3 i fc
i 1/ 2 1/ 2 3 / 2
i f vc ref vc
fc Voltage Voltage source
regulator inverter
g P-q theory is however is ploss
ia ifa
challenged when the source Active filter Dynamic
i fa
ib hysteresis i fb
voltages are unbalanced ic
controller
ifc current control i fc
ifb
g It needs large number of
va vb vc
transducers for measurements
and intensive computation 3-phase 4-wire active power filter

Few schemes are also available in literature [ CL Haung 93,

Aredes 97, Haung 99], which claims to apply modified p-q
theory in unbalanced source voltage conditions.
EE IIT Madras
5. Theory of Instantaneous Symmetrical Components
[Layon, GJ 98A, 98B, 99]

It has following features

g It is much simpler than p-q theory
g It does not require complex transformation of currents
and voltages
g It does not require many definitions of various powers

This theory provides a simple algorithm, which makes

compensation for any kind of unbalance and harmonics in the
load, provided we have balanced voltage source and high band
width current source.

EE IIT Madras
 Control Algorithms
Instantaneous Symm.Comp.Theory (Contd..)
Compensation of Star-connected load
According to this theory, the
reference currents for 3-phase,
4-wire distribution systems are...

vsa + (vsb vsc )

i fa = ila (Plavg + Ploss )
2
vsi
i =a ,b,c

vba + (v sc v sa )
i fb = ilb (Plavg + Ploss )
v si2
i = a ,b , c

v sc + (v sa v sc )

i fc = ilc (Plavg + Ploss ) 3-phase, 4-wire distribution system
2
v si
i = a ,b ,c

Plav = Average load power

Ploss = Losses in the inverterEE IIT Madras where = tan 3
 Control Algorithms
Instantaneous Symm. Comp. Theory (Contd..)
Compensation of Delta-connected load
The reference currents are... v sa i sa
i *fab i *fca
v sb i sb ilab

v sab v sc
i fab = ilab ( Plavg + Ploss )
*
v sc i sc
ilbc ilca

v sbc v sa
i fbc = ilbc ( Plavg + Ploss )
*
i *fbc

v sca v sb
i fca = ilca ( Plavg + Ploss )
*
Delta-connected load

Where vsab = vsa vsb = vsab

2 + v2 + v2
sbc sca

EE IIT Madras
 6. GENERALIZED INSTANTANEOUS REACTIVE
POWER THEORY

va ia
L
3- vb ib O
phase
Definitions of Powers: Source vc ic A
D
For the instantaneous space vectors
and are, v t = [va vb vc ]
and i t = [ia ib ic ] the
following terms are defined Three phase systems in reference to
definitions of powers
Instantaneous active power: p = v i = va ia + vbib + vcic
qa T
vb vc vc va va vb
Instantaneous reactive power: q = v i = qb =
ib ic ic ia ia ib
qc

def p def q v
i p = [iap ibp icp ]
T
= v iq = [iaq ibq icq ]T
=
v v v v
def def
Instantaneous apparent power s = v i and power factor = p
s
EE IIT Madras
 REFERENCE CURRENT GENERATION
The compensated source current in vector form in terms
of desired source active and reactive power is given as
qs v s ps v s
i s = i sq + i sp = +
vs vs vs vs
Therefore, reference compensator current is given as
i *f = il i s
Converting above vector form to time domain expressions

1
i*fa = ila isa = ila ( ps vsa + qsb vsc qsc vsb )
vsj2
j = a ,b ,c
1
i*fb = ilb isb = ilb ( ps vsb + qsc vsa qsa vsc )
vsj2
j = a ,b , c
1
i*fc = ilc isc = ilc ( ps vsc + qsa vsb qsb vsa )
vsj2
j = a ,b ,c

EE IIT Madras
 REALIZATION OF DSTATCOM
(Three Phase DSTATCOM Topologies)

EE IIT Madras
 SOME IMPORTANT
Three -Phase DSTATCOM Topologies

3-phase, 4-wire compensated distribution

system with generalized active power filter

EE IIT Madras
 Three-phase, three-leg topology
with 3 dc storage capacitors
T0 PCC
a b c

S1a S3a

vc1 +
- S4a
S1a

S1b S3b

vc2 +
- S4b
S1b

S1c S3c

vc3 + n'
- S4c
S1c

Drawbacks
(a) It uses three capacitors and it is very difficult to regulate
the capacitor voltages

(b) It uses 12 power switches.

EE IIT Madras
 Three Independent Single-phase VSI supplied
from a common dc storage capacitor
Each VSI is connected to the network through a transformer
It contains three H-bridge VSIs that are connected to a common
dc storage capacitor
The purpose of including the transformers is to provide isolation between
the inverter legs. This prevents the dc storage capacitor from being shorted
through switches in different inverters

ila
LOAD
isa PCC
The topology however is not LOAD
suitable for compensation of
loads containing dc components in LOAD

addition to ac components in the vsc i fa

load current. The presence of
isolation transformers does not
allow the dc component of the C dc VSIs

load current to be compensated

EE IIT Madras
 THREE-PHASE, THREE-LEG TOPOLOGY

ila
LOAD
isa PCC
The structure consists of LOAD
three-phase VSI connected to
common dc capacitor LOAD

v sc isc i fa
The topology is not suitable
for loads containing zero
sequence currents as zero C
sequence currents through the CSIs
path N-n.

EE IIT Madras
 NEUTRAL CLAMPED INVERTER TOPOLOGY

vsa i sa ila
LOAD

It uses two identical N vsb isb ilb

n
capacitors and the neutral of
LOAD
vsc isc ilc
source and load is clamped at the VSI
LOAD

common point of the capacitor. i1 i fa i fb i fc

+
The topology does not use the C1
vc1
S1 S3 S5 Rf
io
isolation transformer hence it - a Lf

can be used so dc offset in the Lch

n'
+
b c
S2
load current can be compensated, v c2
S4 S6

provided the two capacitors -

C2
i2
voltage are at their reference
value.

EE IIT Madras
 3-PHASE 4-LEG TOPOLGY

When the compensator is working,

zero sequence current is routed to path
n-n containing switching frequency
harmonics.
Using fourth leg of the inverter, this
current is tracked to prevent any
current to flow in the supply current.
How the current in path n-n contains
unbalance, harmonics and also the
switching frequencies of the inverter.
So tracking this current is extremely
difficult. It needs a inverter of very
high bandwidth. This not only increases
then cost but also the switching losses
in the inverter.

EE IIT Madras
 NEUTRAL CLAMPED INVERTER
CHOPPER TOPOLOGY
This topology was proposed as a
part of my research work and called
as neutral clamped inverter chopper
topology. vsa ila
isa
It can compensate the unbalance,
LOAD

N vsb isb ilb

harmonics and dc offsets in load LOAD n
vsc
currents. isc ilc
LOAD

Chopper VSI
Due to dc offset current in load i1 i fa i fb i fc
currents, the dc currents also pass + Rf
S7 S1 S3 S5
through the dc capacitors. The D7 C1
vc1 io
voltage across capacitors is - a Lf
n' c
maintained constant by separate PI Rch ich Lch
+
b
S2
D8 S4 S6
control loop. But due to DC offset S8
vc2

current the voltage of individual -

C2
i2
capacitors drift.
Voltage drift problem of
capacitors is solved using chopper
circuit. EE IIT Madras
EE IIT Madras
 DESIGN AND DEVELOPMENT OF
DSTATCOM-I
HC8 isa HC1
PCC ila
a vsa HC9 HV1
isb HC2
ilb Three
400 V b vsb HV2 Phase
HC10 isc HC3
50 Hz ilc
Load
c vsc HC4 i0 n
HV3
N inn '
3-phase variac ifa ifb ifc
HC7
0-270 V, 15 A HC11

HC6

HC5
Lf Rf
MS-1

S1 S3 S5

HV4 + G1 G3 G5
1:2 vc1
C1 -
230 V HV6
n'
50 Hz
S4 S6
S2
+
HV5 G4 G6 G2
vc2
C2 -

Auxiliary supply

EE IIT
Circuit for 3-phase 4-wire Madras
compensated system Power
 DESIGN AND DEVELOPMENT OF
DSTATCOM-II

ila , ilb , ilc D I/O

vla , vlb , vlc
Signal DSP 2812
Conditioning Processor
i fa , i fb , i fc
circuit A I/O
vc = vc1 + vc2
Parallel
From Hall Port
Effect current
+15V-15V GND
and voltage Isolated Power Pulses
transducers Host PC Supply with
isolated
+15 V GND +5 V
supplies to
Vp Up Wp
+15V IPM
-15V
DC Power +5V Blanking Circuit Opto Isolator
230 V, 50 Hz
Supply GND For IPM

Logic GND

Overview of logic level circuitry for active power filter implementation

EE IIT Madras
 DESIGN AND DEVELOPMENT OF
DSTATCOM-II
The design and development of STATCOM using involves
three main steps:

(a) Design of power circuits, i.e.

Voltage source inverter
DC link storage system
Interface inductors
(b) Signal conditioning circuits for DSP, i.e.
Conversion of bipolar to uni-polar signals
with all necessary protection
Synchronizing circuits, Blanking and
protection circuit to IGBTs
Isolation and driver circuits
(C) Interfacing circuits, algorithm
EE IIT Madras (code) implementation to
generated switching commands to the switches pf VSI
 DESIGN AND DEVELOPMENT OF
DSTATCOM-III
The major components of DSP based static
compensators are the following:

Conversion of power quantities in the power distribution

network, i.e. voltages and currents to the low level signal
preferably within the range of 5 V.

Conversion of bipolar low level signals representing voltage

and currents at power level to 0-3 V compatible with DSP

Development of blanking circuit

Development of isolation circuit

Supply power modules for logic circuit and IPMs

Interfacing circuits to DSPs

Code implementation and running

EE IIT Madras the program
 1. CONVERSION OF POWER QUANTITIES
TO LOW LEVEL SIGNALS-I
+ HT
-15 V +15 V -15 V +15 V
Rvi
ii + ii

+ + Input
- LA 55-P
LV 25-V Input voltage io current
io
M - M
Outout
Outout Ro
Rvo voltage
voltage
GND -HT GND

Hall effect voltage sensor Hall effect current sensor

EE IIT Madras
CONVERSION OF POWER QUANTITIES TO
LOW LEVEL SIGNALS-II

Hall effect voltage sensor and current

sensor with the control card
EE IIT Madras
CONVERSION OF POWER QUANTITIES TO
LOW LEVEL SIGNALS-III

Integrated Hall effect voltage and

current transducer Module
EE IIT Madras
2. CONVERSION OF LOW LEVEL BIPOLAR
SIGNAL TO UNIPOLAR SIGNAL
3.9k
10k
12k
10k Output
Input TL064 TL064
TL064 D
ZD
-1.5V 10k

Circuit details

EE IIT Madras
PCB for signal conditioning
 BLANKING CIRCUIT-I

S1 S3 S5

+ G1 G3 G5
vc1
C1 -

n'
S4 S6
S2
+ G4 G6 G2
vc2
C2 -

EE IIT Madras
 BLANKING CIRCUIT-II
+5V

+5 V 18k 470 pF 220

Rext CL100
Cext

TO OPTO ISOLATOR
Vcc G1
Sa 1.2k
16 15 14 2 4 S a shot

MODULE
13 S a shot S a shot GND
10 12
74LS123 4
S a shot
Sa 1.2k
G4
74LS123
3 2 8 CL100
1 7408 4050
B1 A1 GND
220
CLR Sa +5V
Circuit details

Sa

EXPERIMENTAL W/V
S a shot

G1 = Sa Sa shot

G4 = Sa Sa shot

Sa

S a shot
td td
EE IIT Madras
PCB for blanking circuit
 ISOLATION CIRCUIT FOR IPM
2812 Blanking Opto-Isolation-
Processor Circuit driver Circuit

VCC(+15V)
1 8
NC

2 7
220 ohm
I/P from blanking I/P .01 micro f
circuit 360 ohm

3 6
GND O/P
O/P to IPM

4 5
NC GND

PCB for isolation circuit

Circuit details EE IIT Madras
 ISOLATION POWER SUPPLY
+15V
D1 D3 Cdc 7815
GND

D4 Cdc 7915
D2 -15V
220 / V2-0-V2
Circuit details

S1 S3 S5

+ G1 G3 G5
vc1
C1 -

n'
S4 S6
S2
+
G4 G6 G2
vc2
C2 -

EE IIT Madras
Isolated power supply module
INTERFACING CIRCUIT DETAILS -I

expansion
XTAL1/0scin

Analog
30 MHz
A/D
converter
Parallel Port JTAG
JTAG Controller
TMS320F2812

I/O expansion
IBM Compatible External
JTAG

Interfacing description

EE IIT Madras
INTERFACING CIRCUIT DETAILS -II

Interfacing various
EE IIT components
Madras to DSP
 e s sor
INTERFACING l Proc FA
Si gna 812PG
CIRCUIT i gital 20F2
D
M S3
DETAILS -III T

Level-3

INTEGRATED
u it
c
cir
SIGNAL i s ing
r on
nc h
CONDITIONING, Level-2 Sy
du le
mo
PROCESSING n ing
it io
d
con
MODULES nal
sig
ated n it
r u
FOR POWER teg ly
In p p
su
wer
QUALITY p o
dc
Level-1 ted
Integrated Signal Conditioning,
EE IITBlanking
Madras and Protection ul Module
a
g
with Synchronizing and DSP units components to DSP Re
 POWER COMPONENTS-I

vsa isa PCC ila

LOAD

vsb isb ilb

N LOAD n
vsc isc ilc
LOAD
ifa i fc
i1

S1 S3 S5 Lf
C1 G1 G3 G5
+
vc1 Rf
-
n' a
b c
i0 + G4 G6 G2 i0
vc2
C2 - i 2 S4 S6 S2

DSP based
DSTATCOM-clip
EE IITPower
Intelligent Madras Modules
 7. POWER COMPONENTS OF
DSTATCOM-Neutral Clamped VSI

vsa isa PCC ila

LOAD

vsb isb ilb

N LOAD n
vsc isc ilc
LOAD
ifa i fc
i1

S1 S3 S5 Lf
C1 G1 G3 G5
+
vc1 Rf
-
n' a
b c
i0 + G4 G6 G2 i0
v
C2 - c2 S2
i 2 S4 S6

Switching
Performance Mitsubishis Intelligent Power
EE IIT Madras
Modules: PM50RVA120
 POWER COMPONENTS OF
DSTATCOM-H Bridge VSI
ila
LOAD
isa PCC
LOAD

LOAD

v sc i fa
Opto-isolation Mod
ule #1 Opto-isolation Module
C dc VSIs #2

IPM #1
IPM #2

Mitsubishis
EE IIT Madras two Intelligent Power Modules
(PM50RVA120) to form H-bridge VSI
INTEGRATED CONTROL HARDWARE
SET-UP FOR H-BRIDGE DSTATCOM
a d s
L o

ce cto rs
o u r du
l ta g e S ter ce I n
Vo Inver r fa
Inte

ff ect s
l E er
Haalnsduc
Tr

n
m mo
C o g
t o uplin
f
EE IIT Madras
n
Poi Co
POWER COMPONENTS

SEMIKRONs
EE IITtwo level VSI
Madras
 THREE-LEVEL VOLTAGE
SOURCE INVERTER
ifa ifc

S1 S3 S5 Lf
G1 G3 G5
Rf
Vdc a
b c i0
G4 G6 G2

S4 S6 S2

Mitsubishis two Intelligent Power Modules

EE IIT Madras
(PM50RVA120) to form H-bridge VSI
 COMPLETE VIEW OF THREE
LEVEL VSI BASED DSTATCOM

Signal conditioning, processing and

control modules

Power modules and transducer circuit

EE IIT Madras
OTHER FACILITIES TO CONDUCT PQ
RESEARCH EXPERIMENTAL STUDY

SEMIKRONs three level

EE IIT VSI Module
Madras
 MONITORING AND DISPLAY UNITS

Data acquisition, control, monitoring and recording

units of experimental
EE IIT Madras
setup
EE IIT Madras
HARDWARE SET-UP VIEW IN PQ
LABORATORY

EE IIT Madras
DSP DETAILS

EE IIT Madras
 DSP VERSUS DAS

(a) DSP systems are stand alone systems while DAS are
system dependent

(b) DSP systems are less costly over DAS for similar
specification

(c) DSPs have bit field structure approach giving better

accessibility and control

(d) DSPs are provided with flash memory to retain the

code even in power failure case

EE IIT Madras
 DSP FEATURES AND
SELECTION

(a) Fixed point and floating point DSP

(b) Processor speed
(C) Inbuilt analog to digital channels and sampling speed
of A/D converter
(d) Digital input and digital output port bits
(e) Memory available for different types of variables
(f) Other features like availability of timer/counters, S/H
circuits to allow simultaneous sampling od analog data
etc.

EE IIT Madras
Based on the requirements of load
compensation it is found that TMS 320F2812
is the most suitable choice. It possesses the
following features:
1.Host Plateform: TMS320F2812
2. Number of Processor: 1
3. Clock speed: 150MHz
4. External Memory: 1.0 MW
5. Expansion Options: 3 expansion connectors
6. Softwares: Driver for CCS + Full C2000 Code Composer Studio
7. USB Emulator: XDS510 USB Emulator with USB cable and
drivers
8. Necessary cables and accessories
EE IIT Madras
SEQUENCE OF STEPS TO CONFIGURE 320F2812 TO
DEVELOP SOURCE CODE
Start

Configure SCSR1,SCSR2
Disalbling Watch Dog,Configure
ADCTRL3 Powering ON ADC

Clear IMR,IFR to Disable all

interrupts

Clear End of conversion

flag and Rest Sequence
Configure Mux Control,Data
(if CONT RUN=0)
Directional Regs for
outputs

Give SOC
Reset and Configure
ADCTRL1,ADCTRL2,MAX_CONV
and CHSELSEQ Regs
ADCIN(A0-A9) RESULT(0-9)
Do Computations on Acquired
Signals
Give SOC by setting corresponding
bit in ADCTRL2

Set EOS INT Flag Generate Output pulses

No
EOS INT Flag is
NOP
set?

Yes Sequence has to be Reset

Data acquisition for Result only if
Regs to variables EE IIT Madras CONT RUN=0
DATA(0-N) RESULT(0-N)
EXPERIMENTAL
STUDY

EE IIT Madras
 EXPERIMENTAL STUDIES

Three phase source voltages with DC bus voltage

EE IIT Madras
Experimental Results Contd..

Unbalanced source
currents (load
currents) with neutral
current before
compensation

Balanced source
currents and neutral
current after
compensation without
PI Controller

EE IIT Madras
Experimental Results Contd..

Three phase filter

currents and neutral
current

EE IIT Madras
Experimental Results Contd..

Capacitor voltages
after including PI
controller with a
reference voltage of
440 Volts

EE IIT Madras
Experimental Results Contd..

THDs in three phase currents

Phase THD before THD after

S.No
Current Compensation (%) Compensation (%)

1 isa 8.81 4.19

2 isb 13.54 4.25

3 isc 6.84 5.02

EE IIT Madras
THANKS

EE IIT Madras