Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to redaced inserter rating

ASIMINOAEI L.

ASIMINOAEI L.

Control strategies of active filters in the context of power conditioning

Stan George Dan*, Doniga Daniel Benjamin, R. Magureanu* L. Asiminoaei*, R. Teodorescu , F. Blaabjerg
*Departament of Electrical Engineering from Politechnic University of Bucharest, Romania E-mails: sgd_21@yahoo.com, donigad@yahoo.com, r.magureanu@amotion.pub.ro **Institute of Energy Technology, Aalborg University, Denmark E-mails: las@iet.auc.dk, ret@iet.auc.dk, fbl@iet.auc.dk

Active filter, power conditioning, passive filter. Active Power Filters have been intensively explored in the past decade. Various topologies and control schemes have been documented aiming at reducing the cost and improving the performance of the compensation system. Hybrid active filters inherit the efficiency of passive filters and the improved performance of active filters, and thus constitute a viable improved approach for harmonic compensation. In this paper a parallel hybrid filter is studied for current harmonic compensation. The hybrid filter is formed by a single tuned LC filter per phase and a small-rated power three-phase active filter, which are directly connected in series without any matching transformer. The required rating of the active filter is much smaller than a conventional standalone active filter would be. No additional switching-ripple filter is required for the hybrid filter because the LC filter functions not only as a harmonic filter but also as a switching-ripple filter around 10 kHz. Simulation results and experimental results obtained in laboratory confirmed the validity and effectiveness of the control.
I.

Keywords

Abstract

Introduction

The existence of nonlinear loads in the utility has been increasing at an unprecedented pace in recent years. Industries have adopted adjustable speed drives, dc power supplies to improve efficiency and productivity. Most of the equipment uses a rectifier front end to convert ac power from the utility to dc power. The rectifier front ends inject harmonic current into the utility due to their nonlinear nature and cause many problems, such as overheating of utility transformers, harmonic resonances in the utility, and increased losses. Traditionally, LC tuned passive filters have been used to absorb harmonic currents generated by nonlinear loads. Their main advantage is high reliability and low cost. However they have several drawbacks: * Mistuning occurs due to component tolerances of the inductors and capacitors, typically 10% from the nominal values. . Filtering performance is affected by the variation of source impedance, variation of the system frequency, and variation of component values due to temperature change. * In the presence of "stiff' utility sharp tuning of the LC filter is required [1], [2]. . The LC passive filter may form series and parallel resonances with the utility, which will result in amplification of harmonic currents in the supply [3], [4]. * The LC tuned filter may also attract harmonic currents from ambient harmonic loads that may cause overloading. Several active filter topologies have been proposed in the literature [5], [6], [7]. For high-power applications, particularly 10 MVAR and above, the active filter topologies are not cost effective due to their large rating and high switching-frequency requirement of the PWM inverter. Therefore, LC tuned passive filters are usually used for harmonic filtering of such large nonlinear loads. However, as discussed above, passive filters have several drawbacks, which may cause harmonic interaction problems with the utility system, and may not meet the specified IEEE 519 harmonic current limits.
cost effective and can meet the IEEE 519 recommended standard for high-power nonlinear loads. This paper studies a transformerless hybrid filter for power conversion systems, as three-phase six-

This provides

the

motivation

for investigation

of

an active filter topology, which is practically viable,

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rating leading strategy hybrid Control strategy for hybrid active filters leading to rechiced inserter rating
Control for active filters
to reduced inverter

ASIMINOAEI L.

ASIMINOAEI L.

pulse diode rectifier and adjustable speed drives (Fig. 1). Hybrid filters combining an active filter with passive components such as transformers, capacitors and reactors have been proposed mainly for reducing the required voltage and ratings of the active filter. However, these hybrid filters might not be preferable in terms of size and weight because of many passive components and/or transformers.

3 phase AC
Supply

<3L,

DC Bits Capacitor

Fig. 1. Hybrid filter for power conversion system

A single LC passive filter per phase and a small-rated active filter using a three-phase inverter are directly connected in series without any matching transformer, thus forming the shunt hybrid filter. The LC filter absorbs harmonic currents produced by the rectifier, the filtering characteristics of the LC filter are improved by the active filter. Due to the presence of the LC filter, the required rating of the active filter is much smaller than that of a stand alone active filter would be. No additional switching ripple filter is required for the hybrid filter because the LC filter acts not only as a harmonic filter but also as a filter for the switching-ripple.
II.

Filter

Topology of the hybrid filter

The power scheme of the hybrid filter is presented below. The scheme contains the three-phase supply voltage, three-phase diode rectifier and the active filter connected to the system through the LC passive filter.

Fig. 2. System configuration of hybrid active filter

The values used in achieving the simulations and the experiments are presented in Table I:

[Supply phase voltage

Table I. The values of the system components

Supply/line inductance

[Rectifier front-end inductance

[ Loadcapacitance [ Loadresistance [Passive filter inductance

[ 1[ 1[ 1[ ][ 1

-=V, =V =220Vrms L6 - =L- =1.6 mH

L
l =

L-C

23 mH

CZ 50 ptF RI -78 QI LJ, Lb = LJ

14mH

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leading rating strategy hybrid Control strategy for hybrid active filters leading to redaced inserter rating
Control for active filters
to reduced inverter

ASIMINOAEI L

ASIMINOAEI L.

Passive filter capacitance Inverter dc-bus capacitance

Cib = CJ = 24 pF C|CLC = 4500 piF

The supply is a three-phase three-wire source with V,,=220 V phase to neutral. Ls is simulating the line inductance. The ac inductance LI is designed to be much larger that the supply inductance LS, in order to keep a fault current, flowing through the rectifier and/or the dc load. This inductance is needed, also, because the rectifier introduces high order harmonics in the supply current and they can hardly be suppressed by passive or active filters. An inductance and a capacitor, which are series connected, form the passive filter. A single LC passive filter per phase and a small-rated active filter using a three-phase PWM inverter are directly connected in series without any matching transformer forming the hybrid filter. The active filter consist of a single three-phase voltage source PWM inverter using six IGBTs. A capacitor of 4500 iF is set in the dc-bus of the inverter.

B. Compensation principle Fig. 2. can be simplified for one phase as shown in Fig. 3. Where Z, is the source impedance and Zf is the total impedance of the passive filter. The active filter is considered as a voltage source VAF and when the active filter is not working VAF= 0 and the supply harmonic current is:

*i

SLS + ZF

ZF

(1)

Fig. 3. Single phase equivalent circuit for the hybrid filter and load
When the active filter is connected is acting as a resistor k, see Fig. 4, and it helps the passive filter to that a small amount of harmonic current can flow to the absorb the load harmonic current ILhi supply. In addition, the active filter can damp out the harmonic resonance.
so

LS

Vth
i Fh

Ish

ZFh

Fig. 4. Equivalent circuit when the active filter is connected in the system
After the active filter is connected, the supply harmonic current is decreasing according to eq. (2).
*
ZF

k + SLS + ZF

(2)

Shortly, the principle is to increase Zs and decrease ZF simultaneously.

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Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to redaced inserter raring

ASIMINOAEI L.

ASIMINOAEI L.

III.

Control system

The diagram showed in Fig.7 is used for simulations and for experiments, in the final of the paper it will be seen that similar results are obtained in both situations. The scheme in Fig. 5, shows the connection of the 5 sensors needed for the control diagram. The three-phase supply currents are sensed and used for feedback loop. Phase Locked Loop (PLL) is used to transform the three-phase supply currents into Synchronous Reference Frame (SRF), and for that the supply phase voltage is used. The capacitor voltage is measured in order to maintain it fixed at a desired value, needed for the control.

Fig. 5. Main control diagram of the hybrid filter

B. Feedback control Fig. 6 shows the block diagram of the SRF-based controller implemented for reducing the harmonics with hybrid active filter system. The SRF controller achieves harmonic isolation by using closed-loop control of the supply current. Three-phase supply currents iSA, iSB, and isc are measured and transformed into synchronous reference frame (d-q axes) rotating at fundamental angular speed. The fundamental component of the supply current is transformed into dc quantities in the (d-q) axes, and extracted by the subsequent high-pass filters. The obtained idh and iqh are then compared to virtual zero references, in order to achieve harmonic isolation. The errors are fed into the proportional plus integral (P1) regulators to generate the required voltage command for the active filter inverter. A d,q to a,bc transformation is applied to convert the inverter voltage command back to three-phase quantities. The sine/triangle modulation generates square wave switching commands to achieve harmonic isolation and dc-bus power balancing of the active filter inverter.
Al

I0

_h

v*A V*Bh

Fig. 6. Control diagram of the active filter using a PLL

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Control strategy for hybrid active filters leading to reduced inverter rating

Con[rol strategy for hybrid active filters leading to reduced inverter rating

ASIMINOAEI L.

ASIMINOAEI L.

C. DC-bus

voltage

control
the dc

capacitor voltage by itself without any external power supply. When produce a fundamental voltage being in phase with the fundamental leading current of the passive filter, an active power formed by the leading current and the fundamental voltage is delivered to the dc capacitor. A proportional plus integral PI control is used for the control algorithm.
The active filter
the active filter is controlled to

regulates

IV. Simulations

Computer
The

simulation verifies the in

viability

and effectiveness of the

proposed hybrid
I,

filter.
are

diagram presented presented below.

As it
can
a

Fig.

5 with the values from the Table

is simulated and the results

be seen, the

introduces

small fraction of

supply voltage contains a voltage harmonics as

small

showed in

quantity Fig.

of harmonics. The diode rectifier

7
a.

The most dominant

5thorder

voltage

harmonic is 1.2 % from the fundamental and the

voltage

THD is under 2 %.

supl

oltai e, fitr ni]t connected

4ClD

Suply voits

s filter- onn-cted
---------

KC

-410C

I------

C10[ 01[I 2 00104 0.000 [0.008 [l[

Finds ELi
V =31 1:

1~[F10114 COl01
s

[0[010 [2 l.C

4010

[0 [10

1-Il

2 Cl. Cl 4 Cl.

Ii[1

I~~~~~t r-ie

-Fundamei
5-311

M5

--r ---i
-1 -P ---t

ID [ FI

21CI

'30I

40[I 500 firequenc:

[Hz]

[,--C

7D

[ 00 I[

O~ 101OI

~
domain:

T'
a)
without the

il

or

iHi

a)

Fig.

7.

Supply voltage

in time domain and

frequency

b) filter; b) with the filter.

The most dominant current harmonic

can

th7th9th and

be noticed

(see Fig.
t order.
or

a)

that the

generated by the significant current

nonlinear load is the harmonics

5thorder

harmonic. It
are

generated by

diode rectifier,

Without

passive

active filters in the system, the current total harmonic distortion is 23.5 %. To

comply
can

with recommended IEEE 519 harmonic

standard, the

THD must be decreased below 5 %. This

be achieved

by connecting

the

hybrid

filter to the system.

supply4C cui-ent file
con

1cte

LI-1--

--I

-II-

-L
-

1.002

C04 C 'I.CCE

[0

[00
H e

10
8;

[Il0

[1014

C 01

[Ii0

[102

1o1.IO
7.66 A

irric eo

~~0.46 A

I ~~~~8f

[A

0 .45
---------C-----H-

a)

b)

Fig.

8.

Supply

current:

a)

without the

filter; b)

with the filter.

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Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to redaced inserter raring

ASIMINOAEI L.

ASIMINOAEI L.

The calculation of total harmonic distortion is made according to eq. (3), where I3,1I5....,I25 are

harmonic currents and I, is the fundamental current.

THDQ1

100 [5l%]

(3)

The current flowing through the inverter (Fig. 9) has a high amount of 5th harmonic which hybrid filter compensates for 5th order harmonic according to the realized control.
Current thriclugh actfie filter

B. Results after the connection of the hybrid filter Comparing the harmonic spectrum of the supply voltage, before (Fig. 7 a) and after the connection of the filter (Fig. 7 b.), can be noticed that the 5th order voltage harmonic is decreasing from 4.2 V to 0.3 V. This decrease of the voltage THD is derived from the compensation of the current harmonics.
proves

that the

-4
Cl 13 01- I-2
1 -l OCI,0 Cl l I01

C1 I-I

1: I-1 114 1- C

1-.

11 1-0 2

Hai-rnit-iric:

ApFIecter

21 1 2.3 A

:CI

1- .8 A

11I

1LI c r0 y:1 [Hz]

Fig. 9. The current through the active filter after the connection to the system.
The amplitude of 5th harmonic from the current flowing through the active filter (Fig. 9) is almost the same value as the 5th order current harmonic from the load current. This means that the hybrid filter absorbs the most part of 5th order harmonic current, flowing from the nonlinear load. The voltage on the dc side of the inverter is regulated by PI controller from the control diagram (see Fig. 6.). If the voltage on the capacitor is big, then the losses will be bigger because the inverter has to draw more reactive power from the system. On the other hand if the voltage on the dc capacitor, is too low, then the filter can not compensate all the amount of harmonics due to inverter switching losses. As it can be seen in Fig. 10, after the connection of the filter, the load currents have the same amount of harmonics as before of the filter connection (Fig. 8 a). This means that the filter only makes a separation of harmonics between load and grid, and is not compensating the harmonics from the load
currents.
IU
5
-------------

LoDad c-urrenzt, filter coinnected

rZ X

.N
X

_5
10

tire Hairinc 1s ;ece

I,

.02I

114 Ol-llE OOlS l-lCIS

8.26 A

1HI75A

~~0.66
O 10O S

CI0

Fig. IO. The load current spectrum, after the connection of the filter.

frequeniln [Hz]

300

40i-i

501-1

EIOO

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Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to redaced inserter rating

ASIMINOAEI L

ASIMINOAEI L.

The harmonic spectrum of the supply current is shown in Fig. 16 b), and proves that the hybrid filter is able to compensate the 5th and 7th order current harmonics. Therefore, the hybrid filter isolates the load harmonics, which means that the filter is absorbing the harmonics generated by nonlinear load. The total harmonic distortion of supply current, is decreasing from 23.5 % to 4.5 % thus, meeting the IEEE 519 recommended harmonic standard. In Table II the harmonic content of the three most important currents from the system are presented. Note that due to passive filter tuning for 5th order harmonic, the hybrid filter does not compensate for
high order harmonics like, 1 3th, 1 7th and 1 9th.
Table II. The content of harmonics in the three main system currents, obtained in simulations.

WD

1.75 1.8

0.66 1.25

0.272 0.037

0.146 0.034

0.079 0.017

0.049 0.019

23.5 90

0.45

0.46

0.25

0.167

0.085

0.054

4.5

The most important three-phase currents from the system are shown in Fig. 11. In Fig. 11 (a), the load currents are shown. They have almost an rectangular shape because of the high content of harmonics. The three-phase currents from inverter are shown in Fig. 11 (b), note that the magnitude of inverter currents is half of the load currents and the big content of 5th order harmonic current is present. Finally in Fig. 11 c), the supply currents can be seen; notice the difference between the load currents with a THD = 23.5 % and the supply currents with THD = 4.5 %.
q:
ct.:

1.4
J

140I

.1

.1
II

14 5 4

,,4'-

1.44

1.4

1 .4CI-35

1.41

1.41

1.42

1.425
ur-rt

1 4:--i

4:--5

1 .44

II~~~~~~~~~~Ir-ele

Fi.1 connectin turrhentse f Fig. I11. Currents form the system, after the connection of the filter; (a) load currents; (b) currents through inverter; (c) supply currents.

1.4

1.40'

1.41

1.415

1.42

1.425

.4--l

4-35

1.44

V. Experimental system
A. System specifications A 380-V 3-kVA laboratory system has been designed and constructed to confirm the viability of the proposed control. Fig. 5 shows the system configuration of the active filter used in the experiment. Its specifications are shown in Table I. The active filter is rated at 5 % from the load, with a dc-bus voltage as low as 32 V.

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Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to redaced inserter raring

ASIMINOAEI L.

ASIMINOAEI L.

A Danfoss brand inverter, with 6 IGBTs, was used as an active filter and its control realized with a Texas Instruments DSP. Using embedded target for eZdsp F2812 from Simulink/Matlab, the C code for the DSP was made implementing the diagram from Fig. 6. in fixed point. The switching frequency of the active filter is 10 kHz. The dc capacitor of the active filter is 4500

gF.

B. Experimental results Experiments were carried out to confirm the operating principle. The dc load is composing from a capacitor of 50 gF and a resistance of 78 Q, parallel connected. Fig. 12 shows experimental waveforms when the designed control is applied to the active filter.
Tek Runn
Tr ig'd

-,
v < 1

CycRMS ~~~~~~~~Ch3
4 .3 6

(a}

1lg

(b) Chl CycRMS

1.08

= - | ~~~~~~~Ch2 CyCRMSqE

ClI

Ch3[.u5AQ:k]

Al
20. 60

400mA
1

Fig. 12. Main system currents after the connection of the filter, a) load current; b) inverter current; c) supply current.
The 5th harmonic order from the load current is 1.62 A, as shown in Fig. 13. The high order harmonics are insignificant comparing to 5th harmonic; 7th harmonic is 0.3 A and 11th harmonic is 0.2 A. The content of harmonics from the load currents is the same before and after the connection of the active filter.
10

08:21:33

Apr 2004

clladS lc:ijrren-t, filter connil-ected

Ii

I.I

-----[-

O1

-O.102 L-l 01-14 1-l1.0106 Cl1O0O08 O 01 001-l2A- 0.014 001 1.1E, I---- Ll0:2 L-l O lE --

Harrnontir -: p]ecter l

i1=6.64
C1.
0 L4

---0

a
-----

A F-i0 iti.3 ~

i13-14 A

iA1 0.Z
E6l00l
wf

111CIIO

g, , 429 4CIlD 5CICI :21DCI :-00C

frequenc: [Hz]

Fig. 13. The load current after the connection of the hybrid filter

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Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to reduced inverter rating

ASIMINOAEI L. ASIMINOAEI L.

ci

rrerit

ig

t hroiugh inverter

Cl
0-1

Oil0

O CI]4 C1 01
-224A

1l Cl[C ID

[1O
-----

C0 6 C 1
--I

D2

s---

I--

I-

5=.84

freuen

Hz]

Fig.
The current

14.

ThL-He

current

injected by

the

hybrid

filter

and

injected into the system by the hybrid filter (Fig. 14), has almost the 7horder harmonics as the load current (Fig. 13). The 5hharmonic is 1.82 A
means

same

and

quantity of 5th 7hharmonic is

0.28 A. This

that, the active filter is injecting in the system the

same

quantity

of harmonics that

is in the load currents but with

opposite sign.
--

---

-----

--------

--------

--

-------

Supply current obtained after the biggest harmonic is the 5tIh

the connection of the hybrid filter is presented in Fig. 15. Notice that I] IX -1 012 11 01:1 4 0.01061 0.-1001-3 4C is 112CIl- :1 14 :1 0 6 form M order harmonic andll. ID decreasing1 1:0ll13 110 1.62 A to 0.22 A. The total

harmonic distortion calculated with eq.

(3),

is under 4.5 %.

ycurrent, filt

ir

connecte

t i rr-{-:
rr

inic

ectf bpy
:ill1=0. 195 A

O2A

cid
Ei 1 DID

1=6.2? ------t

(Fig. 13). 1T5th

Aj

1o

is 1.82 A

Fig.
So
can

15

The

fHz] supply current after the hybrid filter is

fire uenci
of the
I

20EC

lJ--ID

40CI

-iD

KID

711-ID

connected
%

by using the hybrid filter the THD

seen

supply

current

is decreasing from 23.5

to

4.5 %

as

be

in the Table

II.

Table

The content of harmonics in the three main

system currents, obtained in experiments.

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Control strategy for hybrid active filters leading to reduced inverter rating

Control strategy for hybrid active filters leading to redaced inserter rating

ASIMINOAEI L.

ASIMINOAEI L.

Comparing the experimental results with the simulations, can be seen that the results regarding the are nearly the same. This confirm the accuracy of the realized simulations and the validity of the control. As an observation, the experimental system proved to be more unstable than in the simulations, being sensitive to grid configuration, meaning the background distortions caused by other consumers connected to the grid.
current harmonic content,

VI. Conclusions
The hybrid filter, draw the harmonic currents coming from the nonlinear load, so the harmonics are not flowing into the grid. Though the load draws non-sinusoidal current and supply current remains

sinusoidal this means that the hybrid filter is achieving a separation between load and supply, regarding the harmonic currents. The passive filter is off-tuned to 5.6th order harmonic, but the active filter performs the right tuning of the passive filter for 5th, 7th, 11th and 13th order harmonics. There is no need of additional filter for switching-ripple because this is achieved by the passive filter. The rating of the active filter is only 5 % from the load rate, due to hybrid topology. The hybrid filter does not require any supply voltage on dc side of the inverter. The voltage on capacitor from dc side of the inverter is maintained constant 32 V, from the applied control. The same control and the same power system, were tested for a supply of U1-S = 110 V. The experiments, confirmed that the same control works for this supply too, with the same good results. The goal of this paper has been fulfilled by decreasing the total harmonic distortion, of the supply currents, from 23.5 %, under 5 %, in physical experiments and, also, in the simulations, thus meeting the IEEE 519 recommended harmonic standard.

VII. References
[1] S. Bhattacharya, D. Divan, and B. Banerjee, "Control and reduction of terminal voltage total harmonic distortion in a hybrid series active and parallel passive filter system", in Proc. IEEEPESC'93, 1993, pp. 779-786. [2] S. Bhattacharya, D. Divan, "Synchronous frame based controller implementation for a hybrid series active filter system", in Conf Rec. IEEE-IASAnnu. Meeting, 1995, pp. 2531-2540. [3] S. Bhattacharya, P. T. Cheng and D. Divan, "Hybrid solutions for improving passive filter performance in high power applications ", IEEE Trans. Ind. Applicat. vol. 33, pp. 732-747, May/June 1997. [4] F.Z. Peng, H. Akagi and A. Nabae, "A new approach to harmonic compensation in power systems A combined system of sunt passive and series active filters", IEEE Trans. Ind. Applicat., vol. 26, pp. 983 990, Nov./Dec. 1990. [5] H. Fujita and H. Akagi, "An approach to harmonic-free ac/dc power conversion for large industrial loads: The integration of a series ac tive filter with a double-series diode rectifier," IEEE Trans. Ind. Applicat., vol. 33, pp. 1233-1240, Sept./Oct. 1997. [6] L. Gyugyi and E. C. Strycula, "Active power filters," in Contf Rec.IEEE-IAS Annu. Meeting, 1976, pp. 529535. [7] H. Akagi, 'New trends in active filters for power conditioning," IEEE Trans. Ind. Applicat., vol. 32, pp. 1312-1322, Nov./Dec. 1996. [8] Sunt Srianthumrong and Hirofumi Akagi, "A medium-voltage transformerless AC/DC power conversion system consisting of a diode rectifier and a shunt hybrid filter", IEEE Transactions on industry applications, VOL. 39, NO. 3, May/June 2003 [9] Fang Zheng Peng, George W. Ott, Jr., and Donald J. Adams: "Harmonic and Reactive Power Compensation Based on the Generalized Instantaneous Reactive Power Theory for Three-Phase Four-Wire Systems", IEEE Transactions on Power Electronics, Vol.13, No.6, November 1998. [10] S. Bhattacharya, T.M. Frank, D.M. Divan, B. Banerjee: "Active Filter Implementation" IEEE Industry Applications Magazine, September/October 1998
,

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