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CascadedMultilevelVoltageSourceInverterbasedactivepowerfilterfor HarmonicsandReactivepowercompensation
1 2 1 KaruppananP ,RajasekarS , KamalaKantaMahapatra 1 NationalInstituteofTechnologyRourkela,India769008 2 MotilalNehruNationalInstituteofTechnologyAllahabad,India karuppanan1982@gmail.com
ABSTRACT ThispaperpresentsacascadedmultilevelVoltageSourceInverter(VSI)basedshuntActive PowerFilter(APF)forcurrentharmonicsandreactivepowercompensationduetononlinear loads. The proposed approach comprises Low Pass Filter (LPF) in conjunction with ProportionalIntegral(PI)controllerwhichisusedtoestimatethepeakreferencecurrentand maintaintheDCbuscapacitorvoltageofthecascadedinverternearlyconstant.Thecascaded multilevel active filter switching signals are derived from Triangularcarrier Current Controller (TCC),Periodical Sampling Current Controller (PSCC) andproposed Triangular Periodical Current Controller (TPCC). It gives better dynamic performance under transient and steady state operating conditions. The APF system is validated through extensive simulation under steady state and transient condition with different nonlinear loads. Comparative assessments of different current controllers are carried out. These simulation results reveal that the cascaded active filter effectively compensates the current harmonics andreactivevoltamperestoimprovethepowerquality. IndexTermsActivePowerfilter(APF),Proportional(PI)controller,Triangularperiodical currentcontroller,Harmonics,Powerquality 1.Introduction Power quality and custom power have become topics of research interest because of widespreaduseofnonlinearloadssuchasdiode/thyristorrectifiers,SMPS,UPS,induction motordrivesetc (Alexander,1993).These nonlinear loads effect in harmonic ordistortion currentandreactivepowerproblems(Joseph,1990).Theharmonicsinducemalfunctions in sensitiveequipment,overvoltagebyresonance,increasedheatingintheconductor,harmonic voltagedropacrossthenetworkimpedanceandaffecttheothercustomerloadsatthepointof common coupling (W.M.Grady, 1990). Traditionally passive filters have been used to compensate the harmonic distortion and the reactive powerbut passive filters are large in size, have aging and tuning problems and resonate with the supply impedance (F.Barrerro, 2000). Recently Active Power Line Conditioners (APLC) or Active Power Filters (APF) overcome these problems and are used for compensating the currentharmonics and suppressingthereactivepowersimultaneouslyduetofluctuatingloads(BhimSingh,1999). Thecontrolleristhemostimportantpartoftheactivepowerfilterandlotofresearchisbeing conducted in this area (H.Akagi et.al., 1982). Conventional PI and Proportional Integral Derivative (PID) controllers have been used to estimate the peak reference currents and control the dcside capacitor voltage of the inverter (A.Chaouhi, 2007). Most of the active filter systems use PIcontroller for maintaining the dcside capacitor voltage. When the source supplies a nonlinear or reactive load, it is expected to supply only the active
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fundamental component of the load current and the compensator supplies the harmonic/reactivecomponent(Helderet.al.,,2008).Theoutercapacitorvoltageloopwilltry tomaintainthecapacitorvoltagenearlyconstantwhichisalsoamandatoryconditionforthe successfuloperationoftheAPF.ThelowpassfilterdesignfollowedPIcontrollerisproposed for controlling the capacitor voltage and estimate the required reference current (Helder et.al.,,2008). The effectiveness of active power filter depends on the design and characteristics of current controller (D.M.Brod, 1985) . Most of the current controller techniquesusedinactivefilterisbasedonPulseWidthModulation(PWM)controlstrategies. There is various PWM current control strategies proposed for active power filter (H.Akagi et.al., 2007). Threedifferent methods such as triangularcarrier, periodical sampling and proposed triangular periodical current controllers are discussed for active power filter (J.Dixonet.al.,1996). Thispaperpresentsaproportionalintegralcontrollerbasedcascadedmultilevelshuntactive power filter for the harmonics and reactive power mitigation of the nonlinear loads. The cascaded multilevel Hbridge active power filters have been widely used for power quality applications due to increase in the number of voltage levels, low switching losses, low electromagnetic compatibility for hybridfilters and higher order of harmonic elimination (K.Corzine, 2002). The cascade Mlevel inverter consists of (M1)/2 Hbridges and each bridge has separate dc source (S.J.Huang and J.C.Wu, 1999). The cascaded inverter gate switchingsignalsaregeneratedusingTCC,PSCCandproposedtriangularperiodicalcurrent controllers. It provides a dynamic performance under transient and steady state operating conditions.Thecompensationprocessisbasedonsensingmaincurrentsandmultiplieswith estimatedpeakreferencecurrentusingproportionalintegralcontrollerbycontrollingtheDC side capacitor voltage of the cascaded inverter. The shunt APF system is validatedthrough extensivesimulationanditisinvestigatedintermsofharmonicsandVDC settlingtimeunder steadystateandtransientconditionwithdifferentnonlinearloads.Comparativeassessments ofthreedifferentcurrentcontrollersaredisclosed. 2.DesignofShuntAPFsystem Cascaded active filter for power line conditioning system is connected in the distribution networkatthepointofcommoncouplingthroughfilterinductancesandoperatesinaclosed loop. The three phase active power filter comprises of 24power transistors with freewheelingdiodes,eachphaseconsistoftwoHbridgesincascadedconnectionandevery Hbridgeshavingadccapacitor.TheshuntAPLCsystemcontainsacascadedinverter,RL filters, a compensation controller (unit current vector with proportional integral controller) and switching signal generator (TCC or PSCC or TPCC) as shown in the Figure 1. The instantaneous source current is i ( )=i ( )- i ( ) and the instantaneous source voltage s t L t c t isvs (t)=V sinwt . m
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NonsinusoidalLoad iLa,iLb,iLc RL LL
CascadedVSI Current Sensor isa,isb,isc 24 TCCorPSCCorTPCC Unitcurrentvector isa*,isb*,isc* Referencecurrentgenerator ProportionalIntegral (PI)Controller CDC VdcSensor VDC,re f
Figure1:shuntactivepowerlineconditionerssystem The nonlinear load current contains the fundamental and harmonic current components, whichcanberepresentedas
iL( )= t
I sin(nwt+ F
n n= 1
n)
( ) 1
Theinstantaneousloadpowercanbecomputedfromthesourcevoltageandloadcurrentand thecalculationisgiven as
p ( )= i ( )*v ( ) L t s t s t = V sin2wt*cosf1 + V I sinwt*coswt*sinf1 m m 1 + V sinwt* Insin( wt+ F n) n m n= 2 = pf ( )+ p ( )+ p ( ) t r t h t
( ) 2
This loadpower contains fundamental (active power),reactive power and harmonicpower. Fromthisequation(2),thereal(fundamental)powerdrawnfromtheloadis
pf ( )= V I sin2w *cosf1 = v ( )*i ( ) t t m 1 s t s t ( ) 3
If the active power filter provides the total reactive and harmonic power, i (t)will be in a s phase with the utility voltage and will be sinusoidal. At the time, the active filter must provide the compensation currenti ( )=i ( )- i ( ) The Current harmonics is achieved by c t L t s t injectingequalbutoppositecurrentdistortioncomponentsatthepointofcommoncoupling,
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there by canceling the original harmonic and make sinusoidal in the supply source that improvingthepowerqualityontheconnectedpowerdistributedsystem. 2.1.PowerConverter AcascadedmultilevelactivepowerinverterisconstructedbytheconventionalofHbridges. The three phase active filter comprises of 24power transistors and each phase consists of twoHbridgesincascadedmethodfor5leveloutputvoltage,showninFig2.EachHbridge is connected a separate dcside capacitor and it serves as an energy storage elements to supply a real power difference between load and source during the transient period. The capacitorvoltageismaintainedconstantusingPIcontroller.EachHbridgecanproducethree different voltage levels +Vdc,0 - Vdc by fourswitching operations. The acoutput of the , eachHbridgeisconnectedinseriessuchthatthesynthesizedoutputvoltagewaveformisthe sumofalltheindividualHbridges.
A B
Cdc
Cdc
Figure 2: Designofcascadedmultilevelactivepowerfilter The 24IGBT switching operations are performed using proposed triangular carrier current modulator and harmonics it is achieved by injecting equal but opposite current harmonic componentsatapointofcommoncoupling. 3.ProposedControlStrategies The block diagram of the proposed control system is shown in Figure 3it consists oftwo sections.Oneisreferencecurrentcontrolstrategy usingunitcurrentvectorwithPIcontroller. Anotheristriangularcurrentcontroller,periodicalcurrentcontrollerandproposedtriangular carriercurrentmodulatorforswitchingsignalsofcascadedmultiplevoltagesourceinverter. Acomparativeassessmentof thesethreedifferentcurrentcontrollersiscarriedout.
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3.1.Referencecurrentgenerator
Vdc,ref Proportional Integral controller
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isa* isb*
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Figure 3:Blockdiagramoftheproposedcontrolstrategy
The source currents are converted into the unit sine current(s) while corresponding phase anglesaremaintained.Theunitcurrentvectorsisdefinedas,
i =sinwt , a
0 i = sin( t- 120 ) and w b 0 i = sin( t+ 120 ) w c
( ) 4
The amplitude of the sine current is unity (united) in steady state and in the transient condition it may increase or decrease according to the loads the frequency is in the phase withthesourcevoltages.Thisunitcurrentmultipliedwithpeakvalueofestimatedreference currentbyPIcontrollergeneratesthedesiredreferencecurrent.
Vdc,ref
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Figure 4: PIControllerblockdiagram Figure4showstheblockdiagramoftheproportionalintegralcontrolschemefortheactive powerfilter.TheDCsidecapacitorvoltageissensedandcomparedwithadesiredreference voltage.Thevoltageerror e =Vdc,ref - V atthe nth samplinginstantisusedasaninputforPI dc controller.TheerrorsignalpassesthroughButterworthLowPassFilter(LPF).TheLPFfilter hascutofffrequencyat50Hzthatcansuppressthe higherordercomponentsandpassonly fundamental components. The PIcontroller estimates the magnitude of peak reference
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current Imax and controls the dcside capacitor voltage of cascaded multilevel inverter. It transferredbythefunctionwhichisrepresentedas,
H(s =KP + KI /s ) ( ) 5
Where, [KP=0.7] is the proportional constant that determines the dynamic response of the DCsidevoltagecontroland[KI =23]istheintegrationconstantthatdeterminesitssettling time.TheproportionalintegralcontrolleriseliminatingthesteadystateerrorintheDCside voltage. The PI controller is estimated the magnitude of peak reference currentImax and current Imax takes response of theactive powerdemandofthe nonlinear load and lossesin thedistributionsystem.Thepeakreferencecurrentmultiplywithoutputofunitcurrentvector andhasdeterminedthedesiredreferencecurrent. 3.2.CurrentController Theeffectivenessofanactivepowerfilterbasicallydependsonthedesigncharacteristicsof the current controller. Mostof the current control techniquesused in active power filters is based on Pulse Width Modulation (PWM) strategies. In this section, periodical sampling current controller, triangularcarrier current controller, and triangular periodical current controllermethodsareanalyzedandexecutethefeatures,simplicityandeffectivenessofthe eachcontrollerforactivepowerconverterapplications. 3.2.1.TriangularcarrierCurrentController(TCC) Thetriangularcarriercurrentcontrollerisoneofthefamiliarmethodsforactivepowerfilter applications to generate gate control switching pulses of the voltage source inverter. To determinetheswitchingtransitionsbymeanstheerrorcurrent[desiredreferencecurrent(ia*) comparedwiththeactualsourcecurrent(ia)]ismultipliedwithproportionalgain(Kp).The outputsignaloftheproportionalgainiscomparedwithtriangularcarriersignal.
0.5 NOT 0 0.5 Isa* Kp Isa 0 NOT 0 0.5 NOT G1 G2 G1 G2 G1 NOT G2
G1 G2
Figure 5(a): Triangularcarriercurrentcontroller The four triangular signals are generated same frequency with different amplitude for cascaded multilevel inverter, because each phase in one converter does not overlap other phaseshowninFigure5(a). Thustheswitchingfrequencyofthepowertransistorisequalto thefrequencyofthetriangularcarriersignal. 666
3.2.2.PeriodicalSamplingCurrentController(PSCC) Theperiodicalsamplingcurrentcontrolmethodisusedtogenerategatecontrolpulsesofthe active power converter. In each transition, a comparison between actual current (ia) and reference current (ia*) is made. Then, multiplies with proportional gain (Kp) for better dynamicperformanceundertransientconditions.
Figure 5(b):Periodicalsamplingcurrentcontroller TheoutputsignaloftheproportionalgainissampledandheldDLatchataregularinterval Ts synchronizedwiththeclockoffrequency.The4externalclockappliedtoeachconverter and Ts is set as30 ns,because each phase in one converter doesnotoverlapotherphase, as showninFigure(b).ThegatecontrolswitchingpulsesofONandOFFdependsonthefalling and rising edge of the clock. This type of control is very simple to implement: only a comparatorandaDflipflopareneededperphase.Themainadvantageofthismethodisthat the minimum time between switching transitions is limited to the period of the sampling clock. 3.2.3.TriangularPeriodicalCurrentController(TPCC) Theproposedtriangularperiodicalcurrentcontrollerforactivepowerfilterlinecurrentscan beexecutedin ordertogeneratetheswitchingpatternofthecascadedvoltagesourceinverter. These inverters provide features like quick current controllability, the suppression of the harmonics induced due to switching operation. The average switching frequency of each inverter is equal and unconditioned stability. The fivelevel inverter systems of the current controllerareutilizedindependentlyforeachphase.Eachcurrentcontrollerdirectlygenerates the switching signal of the three A, B, C phases. The Aphase actual source current representedasIsaandreferencecurrentrepresentasisa*asshowninFigure5(c),similarly derivedtheBandCphasecurrents.Todeterminetheswitchingfrequencybymeanstheerror currentismultipliedproportionalgain(Kp)andcomparedwithtriangularcarriersignal.The four triangular signals are generated same frequency with different amplitude for cascaded inverter.Thustheswitchingfrequencyofthepowertransistorisequaltothefrequencyofthe triangular carrier signal. Then, the output signal of the comparator is sampled and held D Latch at a regular interval Ts synchronized with the clock of frequency equal to /Ts. Note 1 that 4external clock applied to each converter and Ts is set as 30 ns,because eachphase in
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Figure 5(c): Triangularperiodicalcurrentcontroller 4.ResultandAnalysis TheperformanceofthePIcontrollerbasedcascadedactivepowerfilterisevaluatedthrough extensive simulation using Matlab/Sim power tools in order to model and test the system. Thecascadedmultilevelvoltagesourceinverterisconstructedbythe24powertransistorsfor 5level output voltage. The 24transistor switching pulses are generated using triangular carrier, periodical sampling and proposed triangularperiodical current modulator. These three different current controllers are simulated and investigated. The system parameters valuesarein Table1. Table1:Systemparameters Parameters Values Linetolinesourcevoltage(Vm) 440V Systemfrequency(f) 50Hz Sourceimpedance: Sourceresistor(RS) 1 Sourceinductor(LS) 0.5mH NonLinearLoad:Dioderectifier 6diode Loadresistor(RL) 20 Loadinductor(LL) 100mH Filter:Inductor(LF) 1mH Resistor(RF) 1 DCsidecapacitance(CDC) 2100F Referencevoltage(VDC,ref) 150V PowerConverter 24IGBTs/diodes
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Case1:Steadystate Thedioderectifierloadconnectedintheacgridandcascadedactivefilterjointinwhichits parallel at PCC for inject the current harmonics. The rectifier RL load current or source current before compensation is shown in Figure 6 (a). PIcontroller is used estimate the magnitude of peak reference current Imax by controlling dcside capacitor voltage of the cascadedinverter.Thepeakreferencecurrentismultipliedwithaunitcurrentvectoroutput anddeterminedthereferencecurrentthatisshowninfigure6(b).
80
80
iLa
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40 20 0
40 20 0 20 40 60 80 0.02
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Figure 6: Simulationresults(a)sourcecurrentsbeforecompensationorloadcurrent(b) extractedreferencecurrent. The effectiveness of an APF basically depends on the design characteristics of the current controller.TCC,PSCCandTPCCmethodsare usedandexecutedforactivepowerconverter. The harmonic currents are reduced as if the switching frequency was increased. The switchingfrequencyoftheeachcontrollerisalmostsame.TPCCisgivingbetterperformance thanTCCandPSCCintermsoftransientresponseandharmoniccontents.Fig7isshownthe gatecontrolpulsesofTCC,PSCCandTPCCmethods.
1 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 0 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
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Figure 7: (a)TCCgatepulses(b) PSCCgatepulsesand(c)TPCCgatepulses Thesegatecontrolpulsesapplytoactivefilterforcompensationcurrentorharmoniccurrent as shown in Fig 8(a). Consequently current harmonics is achieved by injecting equal but opposite current harmonic componentsat the PCC by canceling theoriginal distortion. The simulationresultofsourcecurrentaftercompensationispresentedinFig8(b)thatindicates thecurrentissinusoidal.Wehaveadditionallyachievedpowerfactorcorrectionasshownin Fig 8(c)thatresultindicateaphasevoltageisinphasewithaphasecurrent.
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ISSN 09764259
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Case2Transientcondition The threephase 6pulse diode rectifier (nonlinear) load current or source current before compensationisshown inFigure9(a)thatindicatethe sourcecurrentisdistortedorhaving harmoniccurrents.Theharmoniccompensationisachievedbycascadedactivepowerfilter, injecting equal but opposite current harmonic components at PCC. The threephase source currentaftercompensationisshownin Figure9(b)thisindicatesthecurrentissinusoidal.
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Figure 9:(a)SourceVoltage(b)Sourcecurrentafteractivefilterand(c)Loadcurrents The Fast Fourier Transform (FFT) is used to measure the order of harmonics with the fundamentalfrequency50Hzatthesource.Theseordersoftheharmonicsareplottedunder steadystateconditionsinthedistributionsupplycurrent.Theorderoftheharmonicsplotted th th th th inFigure10(a),withoutactivepowerfilteritindicate5 7 11 and17 orderofharmonics whichispresentedandlowerorderharmonicsareabsent.Theorderoftheharmonicsplotted with active power filter, is shown in Figure 10 (b) this evidence proof indicates cascaded activepowerfilteriscompensationtheharmonicsuptownlessthan5%.
M ag nitudebas edon"B ase P ea k"P a ram eter
M agnitudebas edon"B ase P eak " P ara me ter
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(b) (a) Figure 10: Orderofharmonics(a)thesourcecurrentwithoutactivefilter(THD=25.17%), (b)withactivepowerfilter(THD=2.76%) TheTotalHarmonicDistortion(THD)measuredfromthesourcecurrentonthedistribution system. The proportional integral controller based compensator filter made linear source current to the supply. The total harmonic distortion measured and compared is shown in Table2. Table2: THDmeasuredwithoutAPFandwithAPF THD withoutAPF TCC Steadystate 25.17% Transient 26.14% Powerfactor 0.8767 3.51% 3.95% 0.9731 withAPF PSCC 3.11% 3.79% 0.9797
8 10 OrderofHarmonic
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The simulation is done in various nonlinear load conditions. The proportional integral controlbasedcompensatingcascadedactivefiltermadebalanceresponsibilityevenwhenthe system is nonlinear load. FFT analysis of the active filter brings the THD of the source currentlessthan5%intoadoptedwithIEEE5191992andIEC610003standardsharmonic undernonlinearand/orunbalancedloadconditions. 5.Conclusions This paper demonstrates that the cascade inverter based active power filter is suitable for power line conditioning of power distribution systems. The cascaded PWMvoltage source inverter provides lower costs, higher performance and higher efficiency for power line conditioning applications. A novel method comprising low pass filter in conjunction with proportional integralcontrolschemehasbeenadoptedforcontrollingtheDCsidecapacitor voltage of the cascaded inverter and estimating the required reference current. The APLC system including the proposed control method is validated through extensive simulation under steady state and transient with different nonlinear loads. These simulation results revealthatthecascadedactivepowerfiltereffectivelyfilterstheharmonicsandcompensates reactive volt amperes. The measured total harmonic distortion of the source currents is 2.59%thatisincompliancewithIEEE5191992andIEC610003standardsforharmonics. References 1. AlexanderE.Emanuel,JohnA.Orr,DavidCyganskiandEdwardM.Gulachenski,1993, ASurveyofHarmonicVoltagesandCurrentsattheCustomersBus,IEEETransactions onPowerDelivery,8(1),pp.411421. 2. Joseph S. Subjak, JR and John S. Mcquilkin, 1990, Harmonics Causes, Effects, Measurements,andAnalysis:AnUpdate.IEEETransonIndustryAppl,26(6),pp.1034 1042. 3. ChristopherK.DuffeyandRay.P.Stratford,1989,UpdateofHarmonicStandardIEEE 519: IEEE Recommended Practices and Requirements for Harmonic Control in Electric PowerSystems,IEEETransonIndustryAppl,25(6),pp.10251034. 4. W.M.Grady,M.J.Samotyj,A.H.Noyola,1990,SurveyofActivePowerLineConditioning Methodologies,IEEETransonPowerDelivery,5(3),pp.15361542 5. Zainal Salam, Tan Perng Cheng and Awang Jusoh, 1990, Harmonic Mitigation using ActivePowerFilterATechnicalReview, ELEKTRIKA,8(2),pp.1726 6. Fermin Barrero, Salvador Martinez, Fernando Yeves and Pedro M. Martinez, 2000, ActivePowerFiltersforLineConditioning:ACriticalEvaluation.IEEETransonPower Delivery,15(1),pp.319325 7. BhimSingh,KamalAlHaddad&AmbrishChandra,1999,AReviewofActiveFilterfor PowerQualityImprovements,IEEETransonIndustrialElectronics,46(5),pp.960970
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