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Research Article
Adnan Tan1 , Kamil Çağatay Bayındır2, Mehmet Uğraş Cuma3, Mehmet Tümay3
1Department of Electrical and Electronics Engineering, Çukurova University, Adana, Turkey
2Department of Energy Systems Engineering, Yıldırım Beyazıt University, Ankara, Turkey
3Department of Electrical and Electronics Engineering, Adana Science and Technology University, Adana, Turkey
E-mail: atan@cu.edu.tr
Abstract: This study presents a multiple harmonic elimination-based feedback controller for shunt hybrid active power filter
(SHAPF) to perform an effective harmonic compensation performance in a wide harmonic frequency band. The conventional
control methods presented for SHAPF cannot perform an adequate performance, because of the disturbances such as phase
delays caused by controller methods and measurement circuitries, tolerances of passive filter components and supply voltage
harmonics. In the proposed controller, the conventional feedback controller is improved by using supply side individual current
harmonics which are extracted by the synchronous reference frame method. To prevent the performance degradation effects of
disturbances, proportional–integral controllers are applied to each d and q components of individual current harmonics. The
compensation performance of the proposed method is compared with conventional methods both theoretically and
experimentally. The experimental results verify the advanced harmonic compensation performance of the proposed control
method.
∗
V A, fb = KiSh (1)
compared with the conventional controllers both theoretically and frame which rotates at the angular frequency of the 5th harmonic,
experimentally. The performance and stability of the proposed ω5. Finally, the reference compensation voltage of feedforward
control method are verified with a 400 V laboratory prototype of controller are transformed into three-phase quantities and added
SHAPF which compensates the harmonics and reactive power of a with the reference compensation voltage generated by the
load group formed from 15 kW three-phase rectifiers and 10 kVAr feedforward controller to calculate the final reference
inductive loads. compensation voltage [6]
This paper is organised as follows: Section 2 introduces the
power circuit topology of SHAPF. In Section 3, the conventional VA = Z F iLdq5(dc) (2)
dq5 5
feedback and the feedback plus feedforward controllers are
described and the compensation performances of these controllers 1
are presented with the theoretical analysis. In Section 4, the Z F = RF + jω5LF + (3)
5 jω5CF
proposed control method is presented in detail and the
compensation performance of the proposed controller is
investigated with theoretical analysis. In Section 5, the proposed The dc-link voltage controller is necessary for providing and
controller is compared with the conventional controllers by means keeping the required dc-link voltage in constant level to achieve
of experimental results and the effective compensation compensation. The dc-link voltage control of APF is provided by
performance of the proposed controller is verified. Section 6 gives controlling the active power flow between ac and dc sides of
the discussion of the theoretical and the experimental results of the converter. If APF generates a fundamental output voltage in phase
conventional and the proposed controllers. Finally, Section 7 with the fundamental leading current of PF, the active power flow
summarises the main results and the significant contributions of is achieved and the dc-link capacitor is supplied. Thus, the dc-link
this paper. control signal generated by PI controller is added to the q-
component instead of the d-component [5, 6].
The characteristic of feedback + 5th harmonic feedforward
2 Power circuit configuration of SHAPF control can be explained using a single line equivalent circuit of
The power circuit topology of SHAPF is formed from the series SHAPF as shown in Fig. 2b. APF is assumed as an ideal
connection of a single-tuned PF and an APF as shown in Fig. 1. controllable voltage source which generates compensation voltage,
Single-tuned PF is generally tuned to low-order harmonic VA. The load is represented as an ideal current source which
frequencies to filter a part of dominant harmonic currents of the generates load currents, IL in a wide harmonic spectrum. The grid
load. Additionally, it supplies a capacitive reactive power for the is represented as an ideal voltage source with a series inductive
reactive power demand of load. APF consists of a voltage source impedance ZS. The compensation voltage generated by APF, VA
converter (VSC) and a dc-link capacitor bank. VSC is the main becomes as
part of SHAPF that generates voltage across its terminals to
compensate harmonics. The dc-link capacitor bank is used as V A(s) = KH FB(s)I Sh(s) + Z F H FF(s)iLh(s) (4)
5
energy storage element to maintain harmonic compensation.
In conventional APF topology, the dc-link voltage must be kept
higher than the peak value of supply voltage in order to control the where HFB is the transfer function of the harmonic extraction
active and reactive power flows and inject harmonic currents to method in the feedback control as given in (5) and HFF is the
transfer function of the harmonic extraction method in the harmonics feedforward controller can be investigated. Also, the
feedforward control as given in (6) compensation characteristic of supply harmonic current caused by
the supply voltage harmonics can be investigated by considering no
s − jω1 load current harmonics (ILh = 0). To simplify the analysis, HFB and
H FB(s) = (5)
s − jω1 + ωc HFF are assumed as ideal harmonic extraction methods. With this
assumption, HFB is equal to 1 in all harmonic frequencies, HFF is
ωc equal to 1 in only the 5th harmonic frequency and it is equal to 0 in
H FF(s) = (6) other harmonic frequencies.
s − jω5 + ωc
When the load current harmonic filtering characteristic of
The first term in (4) is the reference compensation voltage SHAPF is investigated from (7), the feedback controller makes
generated by the feedback controller and the second term in (4) is APF act as a pure resistor with K which is connected series with ZS
the reference compensation voltage generated by the feedforward as shown in Fig. 2c. This resistor increases the filtering
controller. If the equivalent circuit in Fig. 2b is analysed for performance of PF and damps the parallel resonance between ZS
harmonic frequencies, the following equation is obtained for ISh: and ZF. In addition, the feedforward controller makes APF act as a
controlled current source which is connected in parallel with PF as
Z F(s) − Z F H FF(s) I Lh(s) shown in Fig. 2c. Its value is equal to (Z F /Z F)/I Lh in only the 5th
5
5
I Sh(s) = harmonic frequency. In other harmonic frequencies, its value is
Z S(s) + Z F(s) + KH FB(s)
(7) equal to zero. By means of the feedforward controller, APF
V Sh(s) generates compensation current to eliminate the 5th harmonic load
+ currents in Point of Common Coupling (PCC).
Z S(s) + Z F(s) + KH FB(s)
When the compensation characteristic of supply harmonic
The compensation characteristic of the feedback + 5th current caused by the supply voltage harmonics is examined from
harmonics feedforward controller can be analysed from (7). By (7), the feedback controller makes APF act as a pure resistor K
assuming the supply voltage as pure sinusoidal (VSh = 0), the series with PF as illustrated in Fig. 2d to suppress series resonance
caused by supply voltage harmonics and keep PF from
current harmonic filtering characteristic of the feedback + 5th
overloading. Unfortunately, though the feedforward controller has
significant contribution on the current harmonic filtering The damping characteristics of SHAPF for supply current
characteristic, it has no effect on the supply voltage harmonics. harmonics caused by supply voltage harmonics are demonstrated
The theoretical compensation characteristic of SHAPF which for positive and negative sequence harmonics in Figs. 3c and d.
has the 7th harmonic tuned PF is demonstrated in Fig. 3. The When K is equal to 0, supply voltage harmonics cause the
compensation characteristics are presented separately for the amplification of supply current harmonics because of the series
feedback controller and the feedback + 5th harmonic feedforward resonance. For the higher values of K, the series resonance caused
controller to show the effects of each controller. The current by supply voltage harmonics can be damped by the feedback
harmonic filtering performance of SHAPF is presented for the controller. The feedforward controller has no effect on the
positive and negative sequence harmonics in Figs. 3a and b, suppression of the harmonic supply current caused by the supply
respectively. When the feedback gain, K is equal to zero, PF voltage, so the feedback + 5th harmonic feedforward controller
performs a limited filtering performance and causes harmonic almost shows the same damping characteristic with the feedback
amplification under its cut-off frequency. When K is larger than 0, controller for supply current harmonics caused by supply voltage
the feedback controller prevents the resonance phenomenon of PF harmonics.
and shows an effective filtering characteristic around the cut-off
frequency of PF. However, the feedback controller cannot perform 4 Proposed control method
adequate filtering performance in the most dominant the 5th
harmonic frequency. Moreover, the filtering performance of the In the proposed control method, a multiple individual harmonic
feedback controller is limited in the high-frequency dominant elimination-based feedback control method is applied in order to
harmonics. When the filtering characteristic of the feedback + 5th increase the compensation performance of SHAPF. The block
harmonic feedforward controller is investigated, it shows almost diagram of the proposed method is presented in Fig. 4a. In this
the same positive sequence filtering characteristic with the control method, the conventional feedback controller is improved
feedback controller, but the feedforward controller significantly with the feedback loops which are applied for individual current
improves the filtering characteristic of SHAPF in the 5th harmonic harmonics using PI controllers. The individual current harmonics
negative sequence component [6, 7]. are extracted up to 25th harmonics from the supply current using
synchronous individual harmonic reference frame. The extracted d for the compensation of individual current harmonics are summed
and q components of individual current harmonics are applied to PI with the reference voltage generated by the conventional feedback
controllers separately. The PI controllers generate the d and q controller to generate the reference voltage for the compensation of
components of the reference voltage required for the compensation current harmonics. The dc-link voltage control is provided with the
of individual harmonics with (8) and (9) as same method applied in the conventional control method as
mentioned in Section 3. To generate switching signals, the space-
1 vector modulation method (SVPWM) which has significant
V Adn, ref = K pnI Sdn(dc) + K inI Sdn(dc) (8)
s − jωn advantages in dc-link voltage utilisation and output waveform
quality is preferred [21].
1 The characteristic of the proposed controller can be analysed
V Aqn, ref = K pnI Sqn(dc) + K inI Sqn(dc) (9) using the single line equivalent circuit as shown in Fig. 4b by
s − jωn
assuming the APF is an ideal voltage source. The compensation
voltage generated by APF, VA is equal to
where n = 6p ∓ 1, p = 1, 2, 3, 4.
The reference voltages in the dq reference frame are
transformed into αβ reference frame. Finally, the reference voltages V A(s) = KH FB(s)I Sh(s) + ∑ CPIn(s)H IFBn(s)I Sh(s) (10)
the dynamic performances of these controllers, the THD trends of DSP and the averaged computation load results are summarised in
the supply and load current waveforms are demonstrated in Fig. 9. Table 3. The control programmes are written in C language of
The THD trends of these current waveforms are computed from the MCU. The results are taken by counting the instruction cycles of
captured data of Fig. 8 using MATLAB. The THD trends are MCU using the software development environment of MCU
calculated using the sliding window fast Fourier transform (FFT) named Code Composer Studio. While the results are taken, MCU
technique by counting current harmonics up to 50th harmonics. is operated in 150 MHz, the other auxiliary programme part such
If the dynamic responses of controllers are investigated, it is as protection and monitoring programmes of system is disabled. In
shown from the FFT trends that the feedback + 5th harmonic addition, all trigonometric calculations in the compared methods
feedforward controller reaches the steady-state condition are calculated by DSP of MCU. When the instruction periods of
approximately in 90 ms after the load increase. The proposed controllers are compared, it is clearly shown that the proposed
controller reaches the steady-state condition nearly in 168 ms, methods have much more computational burden than the
because of the response of PI controllers. However, it decreases the conventional method. However, the instruction period of the
supply current THD under the level provided with the feedback + proposed method is quite lower than the selected sample time.
5th harmonic feedforward controller in 126 ms by the help of the
existing conventional feedback loop. During the transient period, 6 Discussion of theoretical and experimental
the conventional feedback loop shows dominant effect on the
generated reference signal with the proportional gain. It suppresses
results
the drawback of PI controllers until they reach the steady-state The performance of the conventional feedback controller is directly
condition. proportional to the value of the feedback gain, K. According to the
The computational loads of the feedback + 5th harmonic theoretical analysis, if the value of K goes to the infinity, SHAPF
feedforward controller and the proposed controller are compared eliminates all of the load current harmonics at the supply side.
using the TMS320F28335MCU which has 32 bit floating point However, the increase of K is limited to a certain level in real
SHAPF if the controller is formed from only the individual preferred. The instruction period of the proposed controller is
harmonic feedback controllers. However, the proposed controller is measured below 50 μs. This value is fairly lower than the selected
designed by keeping the conventional feedback controller. The sample time of 100 μs.
conventional feedback controller shows dominant effect during the
dynamic response until the settling time of PI controllers. Thus, 7 Conclusion
this drawback of PI controllers is eliminated by the conventional
feedback loop of the proposed controller. In addition, the This paper presents a novel controller for SHAPF. In the proposed
computational load of the proposed controller can be easily controller, the conventional feedback controller is improved with
handled with today's technology. In this paper, the multiple individual harmonic elimination-based feedback
TMS320F28335DSP-based MCU whose clock rate is 150 MHz is controllers. In this approach, PI controllers are applied to the d and
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