Active Filter Control Methods Based on Different Power Theories
Viktor Valouch
Institute of Electrical Engineering
Academy of Sciences of the Czech Republic
DolejSkova 5, (32-18202 Prague, Czech Republic
valouch @ iee.cas.cz
Abstract - A few different power theories are presented and
used in the control strategies of the shunt active filter in case
of the unsymmetrical supply voltage system. The time
responses of the currents, instantaneous powers and losses,
obtained by the simulation, are shown and compared.
Although for the symmetrical voltage system with only the
fundamental harmonic different power theories provide
effectively the same results, those may differ substantially for
unsymmetrical supply systems with harmonics.
The results, summarised in the table, show that the applied
power theories influence substantially the basic performance
criteria: the shapes of the supply currents, instantaneous
powers, and losses. With regard to the purpose of the use of a
device for power quality improvement an appropriate control
strategy must be implemented.
I. INTRODUCTION
The power analysis in multiphase systems has belonged
among the most discussed topics in power engineering for
many years. Nowadays, the huge boom of the power
electronics brings about the use of different non-linear
loads, for example single-phase loads, arc furnaces, diode
and thyristor rectifiers, etc. These loads are often
characterised by dynamic or stochastic changes in the
consumption of energy in terms of active and reactive
powers, and by the large spectrum of voltage or current
high harmonics. The development of power analysis
methods has been provoked by demands to model power
systems, measure and display consumed electrical energy,
filter high harmonics, and especially lately, this
development has been inspired by the research of active
filters and power quality conditioners used for the
compensation of voltage and current components andor
lagging power factor in the mains.
Conventional power theories have been based on the
ideas valid for single-phase systems and for integral
values, and have been gradually extended to the field of
three-phase systems where unsynimetrical and unbalanced
systems must be also considered. let alone dfferences
between three- and four-wire (generally ni- and (m+l)-
wire) three-phase (m-phase) systems.
With regard to the wide voltage and current harmonic
spectra in dynamic systems with power converters and, at
the same time, with possibilities to compensate for
undesirable phenomena actively, the attention has been
recently focused on the methodology of the so-called
“instantaneous” powers. Questions of the so-called wattles
(imaginary, reactive, non-active or passive) powers, which
increase losses and lower performance criteria of apparatus
and distribution networks without providing loads with
active powers, are broadly discussed [I]. The aim of the
methods, being developed, is the effective compensation of
the harmonics and reactive powers in places of their
sources or at coupling points of distribution networks. Two
0-7803-5662-4/99/$10.00 01999 IEEE 521
main classes of the methods may be viewed: an analysis in
the time or frequency domain, respectively. Both the
principles exhibit some lines of contact. The use of both an
algebraic and geometrical approach to the mathematical
foundations of the instantaneous power concepts has been
reported. In spite of an intensive research in the field, some
questions still remain open or some confusions
disseminated in papers.
Apparatus for the improvement of power quality are
mainly based on pulse width modulated (PWM) voltage-
or current-type inverters and may be used for the
compensation of hgh harmonics and/or laggng power
factor (active filters, power quality conditioners), as
voltage stabilisers or power flow controllers [2]. The
voltage-type PWM inverters are preferred to current-type
inverters because of their better efficiency and dynamics.
The active filters are connected in parallel or series with
loads. They can be used standing alone as well as with
conventional passive filters in hybrid configurations.
Together with the type of the active (hybrid) filter and its
internal control strategy, the way. of the generation of its
reference voltages or currents determines main
performance indexes of the filter.
In the power flow controllers, the reference phase
currents are calculated to deliver demanded active and
reactive powers from the PWM rectifier to the mains.
The reference phase currents for the voltage stabilisers
are determined to stabilise the supply voltage in the
coupling point by changing the reactive component of the
current produced by the stabiliser.
Different modifications of the power theories have just
been used for calculating the reference variables.
A few power theories applied to the control of a shunt
active filter are reported in the paper. The function of the
active filter in case of unsymmetrical supply voltage and
load current systems with high harmonics was studied by
the siniulation. Although for the symmetrical voltage
system with only the fundamental harmonic different
power theories provide effectively the same results, those
may differ substantially for unsymmetrical supply systems
with harmonics.
11. POWER THEORIES
As a case of study, we shall consider the shunt active
filter depicted in Fig. 1. The active filter delivers to the
point of coupling such a compensating current i, in order
that the mains current i may be free of harmonics and with
demanded power factor, no matter how shaped is the load
current iL. Power conditions may be characterised by the
values of the instantaneous active p and reaclive q power.
The supply voltage as well as load current system is
unsymmetrical with high liarmonics. We shall consider
three-phase four-wire system in the simulation.
ISIE’99 - Bled, Slovenia

ACTIVE
FILTER
C
Fig. 1 . Circuit diagram ofthe implemenlalion of an active filter
A . Instantaneous Reactive Power (IRP) theory (Pq theory)
-Review
The phase voltages and currents may be transformed
into the stationary reference frame with the axes a (real), p
(imaginary). Holding the principle of power invariance, the
transformation matrix is as follows
where, for a simplification, the zero-sequence component
is not considered. For the transformations holds
In addition to the instantaneous (active) power of the 3-
phase system
p = v , i , +v,i, +v,ic =v,i, +vaia =Re{vi*}
where v, i are space vectors, the instantaneous reactive
power was introduced
q = -v,ig +v,i, = Im{vi *>
Contrary to [3], we define that q is positive for the lagging
current. The implementation of the instantaneous power po
= voioof the zero-sequence components into the IRP theory
is quite easy [3].
On the ground of egs. (3), (4), currents i,, i p may be
expressed in the form
;:[=I I,:: [;I= -1
where ,i iap are instantaneous active components of i,, i p
while ,i ips are instantaneous reactive (passive)
components.
In case of the symmetrical voltage system without high
harmonics in steady states the instantaneous power p is
equal P and instantaneous reactive power q equals Q.
The IRP theory may be also used without the three-
phase to quadrature transformation of phase voltages and
currents [4]. Using (9, the following equations may be
deduced
(7)
and for the so-called instantaneous complex power it holds
If we substitute instantaneous powers p, q in (6), (7) by
the common average values P, Q, we obtain dc current
components
(9)
The differences between ip and iP; i, and i,- respectively
are then ac (fluctuating) components
. . - &. , .1 - = 1 . - 1 -. (1 0)
P P 4 4 4
These components may be just compensated for by using
appropriate active filters. The components ip-,iQ represent
the reference current vectors, which should be followed by
the actual currents (vector ic in Fig. 1). As we can observe
in egs. (6), (7), (9), (lo), both instantaneous powers p , q of
p=p-P,q =q-Q
- (11)
(3)
the load and their average values P, Q must be calculated.
Instead of using (lo), the components
may be calculated and then ip', i,l directly determined by
similar relations as (6), (7).
(4) It is evident that in case of the symmetrical voltage
system of only fundamental harmonics, we can derive from
(6),(7) the phase currents
4
,i (t)= -v (t - 72/24 ) (13)
ly12
and by the same way the equations for other phases or
components according to (9), (10).
If the reactive power Q of the load should be also
compensated for, not only i; (4-), but the total current i,(q)
must be injected by the filter into the point of coupling.
The IRP theory has been widely used in many
applications. Nevertheless, if the supply voltage system is
unsymmetrical, the use of the IRP concept leads to that the
mains current become non-sinusoidal in spite of the
522
compensation of p-, q-. Therefore some modifications or
extensions of the IRP have been searched for to overcome
this disadvantage.
B. ModGed IRP theories
A possible extension of the IRP theory has been
suggested in [ 5 ] , [6]. It is based on a different definition of
4 ib (t)= -v, (t)
q = v,’i, +vb’ib+ v,’i, = (vaf- vc’)i,+ (v,’ - vc’)ib (14)
where v,’, vb’, v,’ lag v,, vb, v, respectively by 90 degrees.
If the instantaneous power p is also expressed through
phase currents and line-to-line voltages, the reference
compensating currents may be expressed, contrary to the
paragraph A, directly in phase quantities without any
transformation
D’= (v, - v, [v,’ - vc’) - (vat- v.’) (v, - v,)
It is proved in [6] that both the theories IRP, 161 give the
same results if the following relations hold
(16)
which is true only in symmetrical voltage systems. Thus,
the IRP theory may be viewed as a particular case of this
extended theory. The use of the extended pq theory (15)
preserves the sinusoidal supply currents also in
unsymmetrical voltage systems. Also the extended p q
theory may be applied in three-phase four-wire systems.
If the original IRP theory is used and we need to preserve
the supply currents sinusoidal also in unsymmetrical
systems, another option is viable. The reference
compensating currents i;, i; (and corresponding phase
ones) may be calculated as follows
where the positive-sequence symmetrical component vI is
used instead of the whole supply voltage v as in (6), (10).
C. Synchronous Detection (SO) methods
The SD method has been recently developed to
overcome disadvantages of the original IRP theory if it is
applied to unsymmetrical voltage systems 171. Three
different strateges have been formulated: equal power SD
(PSD) method, equal current SD (CSD) method and equal
resistance SD (RSD) method. It was found that the RSD
results in minimum supply line losses, although for most
conditions, the use of the RSD and CSD methods results in
very close line losses. All the methods are intended for
four-wiresystems to achieve the sinusoidal supply currents
(if voltages are sinusoidal), in phase with supply voltages.
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The equal current SD (CSD) method is based on the
assumption that all supply phase currents after
compensation should be equal in amplitudes Iam=Ibm=
=I,= I,. For demanded compensated supply currents the
following relations may be derived
P
i, (t)= -vu (t), I , = &P / V,
VTa‘
P
VT Vb
P
i, (t)= -v, (t)
T‘ ‘c
where V, = V, + Vb + V, is the sum of the RMS values of
the phase voltages.
In case of the equal resistance SD (RSD) method, the
amplitudes of the compensated phase currents will be Imj=
=42PV, /(V: + V: + V:), j = a, b, c instead of those in
(18).
The reference compensating currents are determined as
follows
j = a,b,c
ijc(t)=iJL(t)-ij(t), (1 9)
It is evident that in addition to the calculation 01 the
average value P of the load consumption, the RMS (or
maximum) values of the supply phase voltages must be
detected. Note that i, + ib + i, f 0 if the voltage system is
not symmetrical (vu+ vb + v, f 0), so the zero-sequence
current component io exists, which restricts the use of the
SD methods to four-wire systems.
The CSD method presented in [7] can be modified to be
applicable also in three-phase three-wire systems. The
modification is based on the additional two assumptions
(besides lorn = l b m = I , = Im): i) the phase currents are
sinusoidal, ii) the angles among all three currents amount
to 120 degrees. In addition to that, let us admit llial a
certain angle (pl between the current i and the positive-
sequence symmetrical voltage v1 is possible, not to say
even demanded. Instead of (18) the following equations
hold
i, (t)= -io (t)- i, (t)
Note that as a pilot for the demanded compensated current
system serves the original phase voltage vu.Nevertheless,
the amplitude VI of the positive-sequence voltage system
must be calculated for the determination of V,
If the time courses of the compensated currents are to
be derived exactly from the positive-sequence voltage
system, which is the case of very unsymmetrical voltage
systems, the smtegy (20) must be modified as follows
i,(t)= &qJ(t -pi /mi), j = a,b,c ( 21)
VI
where vI,,j = a, b, c are the time responses of the phase
voltages of the positive-sequence system, which must be
estimated now. The strategy (21) is the same as that
described in the vector notation (9), while the voltage v is
substituted by vl as in (17) for the compensating currents.
The reference compensating currents for (20) or (21) are
again calculated by (19).
111. SIMULATION AND RESULTS
Figs. 2 - 6 show the time responses of the main
variables of the system in Fig. 1: the supply phase voltages
and currents, instantaneous powers p, q and Joule losses dp
in the individual phases and their total values, the
trajectories of the vectors of filtered supply voltages v and
currents i as well as of the compensating currents io The
following strategies are considered: i) the IRP theory (9) -
(10); ii) the extended IRP theory (15); iii) the modification
(17) based on the IRP theory; iv) the RSD method
(modified (18) and (19); v) the modification (20) of the
CSD method (for the three-wire system).
The supply voltage system is supposed unsymmetrical
..................................................
Fig. 2. The IRP-theory (9)-(IO)is used in the control strategy ofthe active filter.
wa. 750 300 . 130 . '00
............
m.n.0 -,oo '-3.0 ' -3.30
(vu = 200 v,
= 0'; v b = 220 v , (pb = 140"; v,= 210 v,
(po
cpc = -135'). At the time 0.22 s of the simulation the
reference angle (pl is changed from 0" to 45O, and at the
time 0.26 s the 5* and 7* harmonics are imposed on the
supply voltages. The instants of the changes are indicated
by the symbol V. Also the load currents involve the 3d, 5*
and 7' harmonics and are not symmetrical (35A, 0"; 45A,
110"; 25A, 130" for the fundamental harmonics). The
losses are calculated for the resistance Rs = 0.02 0 of the
feeding line.
The Czarnecki's concept of the Running Values [SI is
used for the calculation of the positive-sequence voltage
symmetrical components and average values P, Q of p, q.
In addition to the compensation of the load current
harmonics, the consumption of 5000 W from the dc side of
the P W M inverter is assumed. The effects of the P W are
not considered in the figures: all actual currents are
supposed to be same as the related references.
- II _-.I
1
_...__.- 3
524
 01
.......................... 1

!
........................

- ...............

Fig. 4. The modification (17) ofthe IRP theory is used in the control strategy.
.I- .................

.......... .......... ..........

Fig. 5 . The RSD method (modified (18 and (19)) is used in the control strategy.

............. ..............

I , .
"In. - 7 3 o P :

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 TABLE I
COMPARISON OF THE USE OF DIFFERENT POWER THEORIES IN THE SHUNT ACTIVE FILTER
(UNSYMMETRICAL SUPPLY VOLTAGE SYSTEM)

Supply phase
Criteria Phe q/inc

Method

ii) EIRP 1 no I yes I const

I Yes higher higher
I I I
---------It
no lower

~~)RSD
I
I no
I
I yes
I
I var 1I const Yes lower lower

Yes * *

* the items can not be compared with those above because ofthree-wire system considered here (without zero-sequence load currents)

Tab. 1 summarizes the results in terms of the shapes of REFERENCES

the supply currents (symmetrical, sinusoidal) and
insvtaneous powers p, q (constant, variable for constant
P, Q of the load), and the display of supply voltage high
harmonics in the phase currents. The average total Joule
losses dplincas well as the peak values of i, are compared
(hgher or lower) with those for the I W theory as
references. In case of symmetrical voltage systems all the
methods yield the same results.
IV. CONCLUSION
A few different power theories have been presented and
used in tlie control strategies of the shunt active filter in
case of the unsymmetrical supply voltage system. The time
responses of the currents, instantaneous powers and losses,
obtained by the simulation, have been compared.
The results, summarised in the table, show that the
applied power theories influence substantially the basic
performance criteria: the shapes of the supply currents,
instantaneous powers, losses, etc. With regard to the
purpose of the use of a device for power quality
improvement (as an active filter, voltage stabiliser, power
flow controller), an appropriate control strategy must be
implemented.
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ACKNOWLEDGEMENT
The work was supported by the Grant Agency of the
Academy of Sciences of the Czech Republic under contract
A 2057901.

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