PQ, DQ and CPT Control Methods for Shunt
Active Compensators A Comparative Study
Ali Mortezaei, Christopher Lute, M. Godoy Simes
Electrical Engineering and Computer Science
Colorado School of Mines
Golden, CO, USA
AbstractThis paper investigates three different control
techniques for controlling shunt active compensators for
harmonic, reactive power and unbalance compensation. The
considered methods were the instantaneous real and imaginary
power theory (PQ), the Conservative Power Theory (CPT) and
the synchronous reference frame method (DQ). So, the major
goal is to explore the main similarities and differences in terms
of steady state performance, dynamic response and
computational complexity of each compensation method.
Additionally, the paper also discusses how to achieve selective
compensation by means of every technique, by means of
suitable power and current decompositions. A three-phase grid
with unbalanced non-linear load and non-negligible line
impedance was used for comparing the approaches under ideal
and deteriorated voltage conditions.
I. INTRODUCTION
Electronic devices, including numerous nonlinear loads,
have been prevalent since the advent of power electronics.
Such devices have brought more efficiency and flexibility to
a wide range of applications, such as AC and DC power
drives. However, harmonic pollution created by excessive
number of these switching devices over the grid and its
associated problems have become an issue of great concern.
For the purpose of harmonic, reactive and unbalanced
current compensation, several authors have been working on
the proposal of power conditioner topologies [1] and their
control strategies. Such equipment is generally known as
active power filters [2], passive power filters [3] and hybrid
power filter [4]. Regarding to the control strategies, a great
number of possibilities have been addressed [5], [6],
highlighting the important contributions based on the PQ
Theory [7], [8], [9], DQ control method [10], [11] and CPT
[12], [13]. The PQ theory and DQ control algorithm have
been widely implemented in power conditioning
applications, especially in the last two decades. The
Conservative Power Theory is considered as a novel and
alternative way to design and control shunt active
compensators [14].
Moreover, considering that the effects of nonlinear and/or
unbalanced load can be even more significant in modern
The authors are grateful to FAPESP (proc. 2012/14014-0), Fundunesp and
CNPq (proc. 487471/2012) for the support provided to this research.
978-1-4799-5776-7/14/$31.00 2014 IEEE
Fernando P. Marafo, Alessandro Boglia
Control and Automation Engineering
UNESP Univ Estadual Paulista
Sorocaba, SP, Brazil
micro-grids (typically weak) and assuming that most of the
switching power interfaces tied to such grids can also operate
as shunt compensators [15], [16], the goal of this paper is to
investigate and compare the performance and complexity of
applying the mentioned compensation methods for
controlling a shunt active compensator, under different
compensation strategies [8], [11], [13].
Thus, in addition to analyzing the compensation steady
state results, the dynamic response and the computational
complexity regarding to the mathematical formulation from
each control method have been also examined. Simulation
results for three main cases were discussed and compared in
order to point out the major similarities and discrepancies
under different voltage conditions.
II. PQ, CPT AND DQ CONTROL METHODS- OVERVIEW
In the next sections, an overview of PQ, CPT and DQ
theoretical formulations is presented. The authors refer to the
appropriated publications [9], [11], [14] to further details
regarding to all power and current decompositions.
A. Instantaneous power theory (PQ)
The instantaneous power theory, proposed by Akagi et
alli. [9], is usually known as PQ theory. This theory is based
on the Clarke transformation of voltages and currents from
to 0 orthogonal coordinates. Using the Clarkes
transformation, the phase voltages in the 0 coordinates
have the form:
1 1 1
2 2 2
2 1 1
1 . (1)
3 2 2
3 3
0
2 2
Similarly, the instantaneous currents can be transformed
to 0 coordinates. Three instantaneous powers: the zero
sequence power , the real power , and the imaginary
power are defined from the instantaneous phase voltages
and line currents in 0 coordinates as:
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 0 0
0 . (2)
0 1
The instantaneous real power and instantaneous zero-
sequence power , determined in 0 coordinates, can be
associated to the instantaneous three-phase active power
( ), determined in coordinates as follows:
. (3)
This can be simplified in case of three-wire systems as:
(4)
Then, the authors introduced the concept of the instantaneous
imaginary power , defined as:
(5)
According to [9], the power terms from (2) can also be
decomposed into:
& (6)
Where , and ( , represent the average and oscillating
components of ( ) and ( ). The oscillating parts of ( ) and
( ) are related to the occurrence of unbalanced and distorted
voltages and currents. Finally, after some mathematical
manipulation [9], each power term from (6) can be reflected
to a current term, which can be directly associated to the
operation of selective shunt compensators.
B. Conservative power theory
The Conservative Power Theory, presented by Tenti et
alli. [14], proposes power and current decompositions in the
stationary frame, according to terms directly related to
electrical characteristics, such as: average power transfer,
reactive energy, unbalanced loads and nonlinearities.
Assuming a generic poly-phase circuit under periodic
operation period ), where ( ) and ( ) are, respectively, the
voltage and current vectors measured at a given network port
(phase variables are indicated with subscript ), the
following terms were defined:
Instantaneous active power:
. (7)
Instantaneous reactive energy:
. (8)
The corresponding average values of (7) and (8) are the
Active Power:
1 .
, (9)
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and Reactive Energy:
, . (10)
Where ( ) is the unbiased integral of the voltage vector.
Based on the above definitions the phase currents are
decomposed into three basic current components:
Active phase currents are defined by:
,
, (11)
where ( ) is the equivalent phase conductance.
Reactive phase currents are given by:
,
, (12)
where ( ) is the equivalent phase reactivity.
Void phase currents are the remaining current terms:
, (13)
which do not convey any active power or reactive energy.
The active and reactive phase currents can be further
decomposed into balanced and unbalanced terms.
The balanced active currents have been defined as:
,
. (14)
These currents represent the minimum portion of the phase
currents, which could be associated with a balanced
equivalent circuit, responsible for conveying the total active
power ( ) in the circuit, under certain voltage conditions.
The balanced reactive currents have been defined as:
,
. (15)
They represent the minimum portion of the phase currents,
which could be associated with a balanced equivalent circuit,
responsible for conveying the total reactive energy ( ) in
the circuit.
The unbalanced active currents are calculated by difference
between (11) and (14):
. (16)
In the same way, the unbalanced reactive currents are
. (17)
Thus, the total unbalance phase currents are defined as in
(18):
(18)
Therefore, the measured current vector can be split as:
 . (19) sequence. The fundamental negative sequence rotates with
the same angular frequency as fundamental positive
By definition, all the previous current components are
sequence, but in opposite direction. Using in equation
orthogonal to each other, so that their RMS value results:
(21) makes the fundamental negative sequence component
constant in frame, which can be easily extracted by low
. (20)
pass filters. Finally, by using equation (22) with , those
components are transferred from fame to the frame.
C. DQ control strategy In this frame ( ) is used to represent the load current
fundamental positive sequence.
In this method, the load currents are transformed from the
stationary reference frame to the synchronous The oscillatory part of load currents ( ), typically related
reference frame in order to separate the fundamental positive to harmonic currents, can be determined by subtracting the
and negative sequence components of instantaneous currents fundamental negative and positive sequence from the total
, [11]. The transformation to translate load currents from load currents, as follow:
the frame to the frame is given by:
2 2 . (23)
2 cos cos
3
cos
3 . (21)
3 2 2
sin sin sin
3 3
The inverse transformation to transfer the currents from III. ANALYSIS OF DIFFERENT COMPENSATION
the frame to the frame is given by STRATEGIES BY MEANS OF SIMULATION RESULTS
This section illustrates the application of possible
cos sin selective compensation strategies for a shunt active filter, on
cos sin . (22) compensating the undesirable currents from an unbalanced
nonlinear load. Such strategies are found on PQ, DQ and
cos sin CPT approaches. The main goal is to investigate the
The synchronization angle is a time variant performance of the shunt compensator, controlled by means
angle that represents the angular position of the of each control method, to compensate harmonic, unbalanced
synchronous reference frame. This frame is rotating at and reactive currents. Fig. 2 demonstrates the power circuit
constant speed in synchronism with the three-phase AC corresponding to a three phase sinusoidal voltage source
voltages. Fig. 1 illustrates the detecting principle of connected to three unbalanced non-linear single-phase loads,
fundamental components by using method. via line impedances. In this condition, the load currents
create distorted and unbalanced voltage drops over the line
impedances (weak grid). Table I depicts the details regarding
to the line impedances, grid voltages and load specifications.
In this paper, both symmetrical and asymmetrical voltage
source have been considered to improve the understanding of
the APF performance, under different voltage conditions and
assuming each mentioned control method. It is worth
mention that the APF has been simulated by means of ideal
current source models, in order to avoid the influence of
current controllers and switching frequency when comparing
the control strategies.
Figure 1. Detecting principle of the fundamental positive and negative
A. Symmetrical and Sinusoidal Voltage Source
sequence of load current using method.
Fig. 3 presents the waveforms of voltages and currents at
As it is illustrated in Fig 1, first is detected by a Phase the PCC (Point of Common Coupling), prior to
Locked Loop (PLL) and then, the load currents are compensation, with symmetrical voltage source as listed in
transferred to frame using equation (21). The load Table I. As previously mentioned, the voltage and current
currents in frame pass though low-pass filter to extract its waveforms were unbalanced and distorted at the PCC.
constant part representing the fundamental positive sequence Following, the undesirable currents compensation is
components of load currents in frame. Finally by using discussed considering the three mentioned control techniques
equation (22), those components are transferred from (PQ, DQ and CPT), under possible different compensation
frame to the frame. In this frame, ( ) is used to strategies applied to the shunt active filter.
represent the fundamental positive sequence load current.
If the negative angle instead of is used in Fig. 1, the
resulting currents represent the fundamental negative

2996
 b) Void currents compensation : Fig. 5 shows the
case on which the active filter was set to compensate just the
void (non linear) current components. Now the resulting
compensated currents are practically sinusoidal, but they are
not balanced and nor were they in phase with the voltages. It
can also be observed that the resultant PCC voltages were
unbalanced, but sinusoidal after the current compensation.
This was because the harmonics from the loads were
compensated.
c) Unbalanced and void currents compensation
: This compensation strategy eliminates both the
unbalanced and harmonic (void) currents. The currents after
compensation were sinusoidal and balanced, but not in phase
with voltage as illustrated in Fig. 6. The compensation of
Figure 2. Three-phase three-wire circuit with nonlinear and unbalanced
load.
reactive power was not considered in this case. The phase
voltages at the load side became sinusoidal and balanced
TABLE I - SOURCE VOLTAGES, LINE IMPEDANCE AND LOAD PARAMETERS. after compensation.
Sinusoidal and Symmetrical voltage sources
Va (Vrms) Vb (Vrms) Vc (Vrms)
127<0 127<-120 127<120
Sinusoidal and Asymmetrical voltage sources
Va (Vrms) Vb (Vrms) Vc (Vrms)
98<0 112<-120 127<120
Non sinusoidal and Symmetrical voltage sources
127 VRMS plus 3rd, 5th, 7th and 9th harmonics, each with
5% of fundamental voltage.
Line Impedaces
La = Lb = Lc = 1H
Ra = Rb = Rc = 0,4 Figure 3. PCC voltages and currents before compensation with balanced
RC for rectifer between phases A and B and sinusoidal voltage sources.
R1 = 3 C1 = 500F
RC for rectifer between phases B and C
R2 = 5 C2 = 150F
RC for rectifer between phases C and A
R3 = 15 C3 = 220F

B. Symmetrical and Sinusoidal Voltage Source

Fig. 3 presents the waveforms of voltages and currents at
the PCC (Point of Common Coupling), prior to
compensation, with symmetrical voltage source as listed in
Table I. As previously mentioned, the voltage and current Figure 4. Unbalanced currents compensation using CPT.
waveforms were unbalanced and distorted at the PCC.
Following, the undesirable currents compensation is
discussed considering the three mentioned control techniques
(PQ, DQ and CPT), under possible different compensation
strategies applied to the shunt active filter.
1) Compensation of unbalanced, void and reactive currents
based on CPT
a) Unbalanced currents compensation
: In this case the goal was to compensate only the
Figure 5. Void currents compensation using CPT.
unbalanced current components. Fig. 4 shows the source
currents after compensation. Note that the currents remained
distorted, but their magnitudes were nearly identical.

2997

Figure 6. Unbalanced and void currents compensation using CPT.
d) Non active currents compensation
: In this case the objective was to compensate
all the undesirable characteristics of the load current
(reactive, unbalances and harmonics). The compensated
currents were practically sinusoidal, balanced and in phase
with the voltages, such as in the case of an equivalent
balanced resistive load, given that the non-active currents
were compensated as illustrated in Fig. 7. Moreover, it can
be noticed that the disturbances associated with the phase
voltages were also compensated, because they were imposed
by the load.
Figure 7. Non active currents compensation using CPT.
2) Compensation of oscillatory and imaginary powers
based on PQ theory
a) Compensation of oscillatory real power : Fig. 8 shows
the compensation of the oscillatory real power absorbed by
the load. In this case, the currents flowing between the
source and the PCC included distortions related to the
nonlinear and unbalanced loads. These distorted currents
produced distorted voltage drops in the line impedances
causing deteriorated load voltages.
b) Compensation of oscillatory imaginary power : The
same considerations from the previous case are applicable
here. Fig. 9 shows that after compensation of the oscillatory
imaginary power, the load current was still highly disturbed
and, consequently, so were the load voltages.
c) Compensation of oscillatory real and imaginary
power : This kind of compensation is applicable
when harmonics and unbalanced current elimination are the
most important issues. Now the resulting compensated
currents were sinusoidal and balanced, but not in phase with
the voltages making the power factor lower than unity. The
load currents and voltages after compensation were the same
as those in unbalanced and void currents compensation
strategy using CPT control method (Fig. 6).
2998
d) Compensation of the load oscillatory real power and the
whole imaginary power : The resulting compensated
currents were sinusoidal, balanced and in phase with the
voltages, such as in the case of linear, purely resistive load.
In this strategy, the resulting currents and voltages after
compensation were equal to those in non-active currents
compensation using the CPT (Fig. 7).
Figure 8. Load oscillatory real power compensation using PQ.
Figure 9. Load oscillatory imaginary power compensation using PQ.
3) Compensation of current harmonics, current
imbalance and reactive current based on DQ method
a) Compensation of load current harmonics : In
this strategy the resulting source currents present both,
fundamental positive and negative sequences of the load
current. Thus, the compensated currents were sinusoidal, but
unbalanced. The resulting supply currents were the same as
those in void current compensation from CPT (Fig. 5).
b) Compensation of the fundamental negative sequence and
load current harmonics : In this case the
goal was to ensure that the resulting source currents were
equal to the fundamental positive sequence of the load
current, which is sinusoidal and balanced. The supply
currents resulted the same as those under the strategy of
unbalanced and void compensation using the CPT, as it is
illustrated in Fig. 6.
c) Compensation of the fundamental negative sequence,
harmonics and reactive current :
In this case the aim was to compensate all the undesirable
characteristics of the load current and the results were equal
to non-active currents compensation using the CPT (Fig. 7).
 The previous subsections clearly demonstrated that even
choosing one of the considered control methods (PQ, CPT
and DQ), the compensated currents could be substantially
different if using different selective compensation strategies.
On the other hand, similar results could be obtained by
means proper choice of the compensation strategy,
independently on which control technique is applied. For
example, the results of applying or
respectively from CPT and PQ methods, were the same.
C. Asymmetrical and Sinusoidal Voltage Source
Assuming the asymmetrical voltage condition from Table
I, Fig. 10 depicts the voltages and currents before
compensation. Under such condition, if the CPT is applied to
compensate the non-active currents, the resulting currents are
sinusoidal, unbalanced and in phase with their corresponding
unbalanced voltages (as in Fig. 11). On the other hand, if
using the PQ theory for compensating the load oscillatory
real power and the total imaginary power, the resulting
compensated currents are distorted, in order to absorb
constant real power from the source. In this condition, the
load voltages would result distorted due to the voltage drop
through the line impedances, as it is shown in Fig. 12. So, it
is noticeable that the PQ method, with constant real power
strategy, is not suitable for asymmetrical voltages [9].
On the other hand, as indicated in Fig. 13, the resulting
currents from the application of the DQ method, with
compensation of fundamental negative sequence, harmonics
and reactive terms, are sinusoidal, balanced and in phase
with their corresponding unbalanced voltages. However, it
should be mentioned that the accuracy of DQ method is
highly dependent on the PLL, especially under unbalanced
and distorted voltages [17].
Figure 10. PCC voltages and currents before compensation with
unbalanced voltage source.
Figure 11. Non active currents compensation (CPT).
,
Figure 12. Compensation of oscillatory real power and the total imaginary
power (PQ).
Figure 13. Compensation of the fundamental negative sequence,
harmonics and reactive load current (DQ).
This case showed that under asymmetrical voltages the
results from PQ, CPT and DQ were different, even if
considering the compensation of all disturbing components
from each method. The compensated currents using the CPT
were sinusoidal and in phase with the voltages; however,
they were unbalanced. It happens because the resulting
currents follow the measured voltages. If using the PQ
theory, the resulting currents were distorted and unbalanced
in order to keep constant power flow. On the other hand, if
using the DQ method, the resulting currents were ideally
sinusoidal, balanced and in phase with voltages.
D. Symmetrical and Non-sinusoidal Voltage Source
Assuming a symmetrical and non-sinusoidal voltage
source (Table I), Fig. 14 presents the PCC voltages and
currents prior to compensation. Under such condition, if the
CPT were used for non-active currents compensation, a
significant improvement in the PCC voltages could be
observed, as illustrated in Fig. 15. The remaining
deterioration is only due to the imposed voltage distortion.
However, if the standard limits for current distortion were
applied, this technique could lead to possible charges to the
consumers, if the voltage deterioration were significant.
Moreover, the compensated system draws active power from
the system at non-fundamental frequencies (those imposed
by the voltages Table I).
Using the PQ theory to compensate the load oscillatory
real power and the total imaginary power, the resulting
compensated currents were almost the same as those in non-
active currents compensation using CPT (Fig. 15). However,
if the source voltages THD is bigger than 10%, the resulting
compensated currents, using the same PQ strategy, are no
longer proportional to the shape of the voltage source.
2999
Therefore, some other harmonics would appear in the
compensated currents, besides those in the voltage source.
Fig. 16 and 17 illustrate the compensated currents for
both CPT and PQ, respectively, with the above mentioned
compensation strategies, when the magnitude of each
harmonics in Table I was increased to 15% of the
fundamental component. It can be clearly seen that the
compensated currents using CPT behaved as resistive load.
However, the compensated currents for PQ control method
included more harmonics compared to its corresponding Figure 16. Non active currents compensation (CPT).
voltage source, making the load voltages more distorted due
to the voltage drop through the line impedances.
The DQ control method, with compensation of the
fundamental negative sequence, harmonics and reactive
current is shown in Fig. 18. In this case the compensated
currents were sinusoidal, balanced and in phase with the
fundamental frequency of their corresponding voltages. The
magnitude of the load voltage harmonics in this case was the
same as source voltage due to the non-distorted voltage drop
through the line impedances. However, having the pure
Figure 17. Compensation of oscillatory real power and the total imaginary
sinusoidal currents, in the presence of disturbed voltages, power (PQ).
force the system to sense the load solely at the fundamental
frequency. At other frequencies the load behaves as infinite
impedance, because no current can flow at these frequencies.
In the very common case of power factor correction
capacitors connected near to the active filter, at least one
resonant frequency would be defined. Thus, the lack of
damping at this frequency may lead to a dangerous condition
concerning to PCC voltage resonance. Moreover, as
mentioned before, the DQ method is highly dependent on the
PLL performance under distorted voltages.
Figure 18. Compensation of the fundamental negative sequence,
harmonics and reactive load current (DQ).

IV. COMPUTATIONAL COMPLEXITY AND DYNAMIC

Figure 14. PCC voltages and currents before compensation with
symmetrical non-sinusoidal voltage sources.
Figure 15. Non active currents compensation (CPT).
RESPONSE FOR EACH CONTROL METHOD
In this section the number of math operations for each
control method is estimated to allow a better understanding
of each technique in terms of computational complexity.
This could help choosing an appropriate microcontroller for
a particular application, or a control method and strategy for
situations where processing resources are limited. Table II
depicts the math estimates and also the dynamic response
using each method. The estimate of the number of
instructions was based on a commercial digital signal
processor from Texas Instruments (F2812). The highest
number of math operations occurs with CPT while PQ has
less operations. Different selective strategies with ame
control method may result in different number of operations;
for example, using CPT the number of instructions can vary
from 100 to 507 if non active or void current compensation
were applied. All low pass filters for PQ, CPT or DQ were
implemented as moving average filters with 200 positions.
Regarding to the dynamic response, the analysis was
based on increasing (double) the load in Table I at certain

3000
time, where the expected source current was subtracted from
the resulting current term after compensation. This
subtraction has a transient response, which represents the
dynamic response prior stabilizing to zero error. The interval
before the error reduces below 5A was used as the reference
point for comparison. Table II shows the faster dynamic
response belongs to DQ control method and the slower to PQ
method.
V. CONCLUSION
This made a comparative study for three main techniques
used for shunt active filters, aiming to decide when to use
each technique for a specific power quality problem. The
studied techniques (PQ, CPT and DQ) showed that selective
compensation is an important issue and may be very
attractive for designing power conditioners or any other grid-
tied switching power interface for modern grids. Under
symmetrical and sinusoidal voltage conditions, similar
TABLE II. REQUIRED MATHEMATICAL OPERATIONS AND DYNAMIC RESPONSE FOR EACH CONTROL METHOD.
Compensation CPT CPT CPT CPT PQ
Strategy
Total Number of
461 507 215 100 49
Instructions
Dynamic
Response 0.07 0.104 0.104 0.094 0.14
(seconds)
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