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CHAPTER 2
CONSTANT FREQUENCY HYSTERESIS CURRENT
CONTROL OF SHUNT ACTIVE FILTER
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2.1
Figure 2.1
Voltages Va, Vb, Vc and current Ia, Ib, Ic indicate the phase voltages
and currents at the load side respectively. The active filter is connected in
parallel with the load to suppress the harmonics. The
shunt
active
filter
generates the compensating currents Ifa, Ifb, Ifc to compensate the load currents
Ia, Ib, Ic so as to make the current drawn from the source as sinusoidal and
balanced. The performance of the active filter mainly depends on the
technique used to compute the reference current and the control strategy
followed to inject the desired compensation current into the line (Pericle
Zanchetta et al 2009). In this work, the instantaneous p-q theory is used to
determine the current references (Ifa*, Ifb*, Ifc*).
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filter control. The time domain methods are mainly used due to its speed with
less calculation compared to the frequency domain methods. Instantaneous
p-d theory (Joao Afonso et al 2000), one of the time domain methods is
followed in this work. The details of instantaneous p-q theory are presented
here.
The p-q theory is based on the
the Clarke Transformation. It transforms the three phase voltage and current
into
V
V
I
I
2
3
2
3
1
0
1
0
1
2
3
2
1
2
3
2
1
2
3
2
1
2
3
2
Va
Vb
(2.1)
Vc
Ia
Ib
Ic
(2.2)
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(2.3)
where
(2.4)
exchanged between the source and load and p is the average real power.
The alternating (AC) value of instantaneous real power is calculated
back to a-b-c frame which represents the harmonic distortion, given as
reference for the current controller.
instantaneous real power is usually the only desirable power component. The
other quantities have to be compensated using the shunt active filter. To
calculate the reference compensation currents in the
coordinates, the
ic
ic
V
V
V
V
p
q
(2.5)
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where
exchanged between the source and load and q is the instantaneous imaginary
power corresponding to the power that is exchanged between the phases of
the load.
In order to obtain the reference compensation currents in the a-b-c
coordinates the inverse of the transformation is applied to eqn 2.2 and is given
as
i ca
i cb
i cc
1
2
3
2
1
2
3
2
ic
ic
(2.6)
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through the inductor exceeds the upper hysteresis limit, a negative voltage is
applied by the inverter to the inductor. This causes the current through the
inductor to decrease. Once the current reaches the lower hysteresis limit, a
positive voltage is applied by the inverter through the inductor and this causes
the current to increase and the cycle repeats. The current controllers of the
three phases are designed to operate independently. They determine the
switching signals to the respective phase of the inverter.
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2.1.3
DC Voltage Control
In shunt Active power filter, the output voltage of the inverter is
V 2 cref
Vc2
(2.7)
Figure 2.3 shows the block diagram of the proposed PI Controller. In this
work, the value of K p and K i are tuned by Zicholar Nihols method. The real
power requirement for voltage regulation is directly proportional to the square
of the dc voltage. Hence, square of the dc voltage is considered for calculating
the required real power to maintain constant voltage across the dc bus.
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2.2
is proposed in this work for the current control of voltage source inverter. The
switching time for the inverter is determined by referring the method used by
Carl Ngai-Man Ho et al (2009). The proposed current control strategy is
explained through the circuit diagram shown in Figure 2.4. As shown in
figure, the active filter consists of three phase VSI which is needed to
compensate the three phase currents. Higher order harmonic current generated
by the switching of the power semiconductor devices of the inverter is filtered
by using the inductance Lf. Figure 2.5 shows the output waveform from the
inverter in one switching cycle for phase A. In this figure, i *fa is the reference
current for phase A and i fa is the actual current which flows through the
coupling inductance Lf. The current controller guides the inductor current to
track the reference current. The conventional hysteresis control technique uses
the current ripple band to limit the inductor current between
i fa , upper
and i fa , lower . When the inductor current reaches the upper band, a turn-OFF
command is given to switch S1. Similarly, when the inductor current reaches
the lower band, a turn-ON command is given.
In the CFHCC strategy proposed in this work, no physical band is
involved to limit the increasing or decreasing inductor current. The CFHCC
predicts the values of the two current signals, namely, i *f and i f in the
inverter, based on the circuit parameters, namely coupling inductance, dc
voltage, and instantaneous feedback signals to determine the switching
actions.
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Figure 2.4
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As shown in Figure 2.5, the current waveform has been divided into
two sections namely, positive half cycle (t0t2) and negative half cycle (t2t4),
in one switching period. The controller determines the time for turn-ON and
turn-OFF actions to achieve the desired half switching period, T/2, in positive
and negative sections. At the same time, the controller predicts the value of
i *f as well. The system is operated with bipolar pulse width modulation
difa
Vdc Lf ( )ON Va 0
dt
(2.8)
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difa
dt
)ON
Vdc Va
Lf
(2.9)
Figure 2.6 (b) shows the equivalent circuit of the inverter when the switch S4
and S5 are in turn-ON condition. In this case the loop equation can be written
as,
difa
Vdc Lf ( )OFF Va 0
dt
(2.10)
difa
dt
Vdc Va
Lf
)OFF
(2.11)
where Vdc is the dc link voltage, Va is the instantaneous grid voltage, and Lf is
the output inductance. The voltage drop across internal resistance of the
coupling inductor is neglected. To predict the value of i *fa an assumption has
to be made that is i *fa changes linearly over one switching cycle. Then, the
controller can predict the crossover point by considering the instantaneous
slope of i *fa .
2.2.1
Turn-OFF Criteria
i fa (t1 )
di fa
dt
t
ON
,ON
i fa (t o )
(2.12)
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di* fa
t
i fa (t1)
dt
*
i fa (to )
,ON
(2.13)
di* fa
dt
difa
dt
i fa (to ) i fa (to )
(2.14)
ON
i fa (to ) i fa (to )
(2.15)
di*fa
di*fa
dt
dt
t ,ON
ON
,OFF
(2.16)
i fa (t2 )
difa
dt
,OFF
i fa (t1 )
(2.17)
OFF
di* fa
*
i (t )
t ,OFF ifa (t1)
dt
*
fa 2
(2.18)
i fa (t1 ) i fa (t1 ) t
,OFF
di* fa
dt
difa
dt
i fa (t2 ) i fa (t 2 )
OFF
(2.19)
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i fa (t2) i fa (t2)
t
i *fa ( t1 )
, OFF
i fa ( t 1 )
(2.20)
( di *fa / dt )]
[( di fa / dt ) OFF
2Vdc
1
*
[Lf (i fa (t1) i fa (t1)] t ,ON
,OFF
(2.21)
,OFF
,ON
T
and
2
i fa i *fa
(2.22)
where T is the switching period. Based on eqns (2.20) and (2.21), the
controller can determine the turn-OFF action at the most suitable time.
2.2.2
Turn-ON Criteria
In the negative section (t 2 t 4 ) , the instantaneous slope of i *fa is
given by
di fa
dt
*
f
i *fa (t 3 ) i fa (t 3 )
di fa
dt
OFF
,OFF
(2.23)
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,ON
is predicted as
i *fa (t3 ) i fa (t 3 )
,ON
[(di fa / dt )ON
(2.24)
(di *fa / dt )]
2Vdc
*
[ L f (i fa (t 3 ) i fa (t 3 )]
,ON
1
t
(2.25)
,OFF
,OFF
,ON
T
2
and
i fa
i *fa
(2.26)
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The switching function (g3 g6 and g2 g5) for the other two legs of
the inverter is derived by calculating the ON/OFF time using the reference
currents i *fb and i *fc respectively.
2.3
SIMULATION RESULTS
This section presents the details of the simulation carried out on a
test system. The test system consists of a three phase voltage source, and an
uncontrolled rectifier with RL loads connected through circuit breakers
(CB1 and CB2) as shown in Figure 2.8. The active filter with proposed
control strategy is connected to the test system through an inductor Lf. The
values of the circuit elements used in the simulation are given in Table 2.1.
The design steps to determine system parameters are given in Appendix 2.
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35
415 V (rms), 50 Hz
70 , 50
37 mH, 3mH
3 mH, 0.5
1mF
Vdc (reference)
700V
Sampling Time
2 10 6 sec
Switching Frequency
16 kHz
A.
Specification
1mH
10000
First the system is simulated without the filter. In this case the
circuit breaker 1 is closed and circuit breaker 2 is opened. The three phase
source current waveform in this case is shown in Figure 2.9(a). Figure 2.9(b)
shows the harmonic spectrum of the distorted waveform. The total harmonic
distortion of the distorted line current is 26.34%. The methodology of
calculating THD is given in Appendix 1. From the harmonic spectrum, it is
evident that, the source current is distorted due to the dominancy of fifth and
seventh harmonic spectral components.
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THD = 26.34%
37
current
filtering
with
proposed
CFHCC
38
39
Without
Filter with
Filter with
Order
Filter
FHBCC
CFHCC
Current
Voltage
Current
Voltage
Current
0.01
0.5
0.03
23
0.12
1.5
0.11
1.27
12
0.12
1.52
0.13
1.03
0.01
0.12
0.01
0.07
11
0.3
1.61
0.28
1.34
13
0.23
1.45
0.23
1.1
15
0.02
0.26
0.01
0.15
17
0.39
1.33
0.39
1.0
19
0.25
0.9
0.25
0.2
THD(%)
26.34
3.3
4.1
2.91
3.89
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41
42
Transient Performance
43
constant switching frequency after the transient period. But at transient time
(at 3 sec) there is a big current dip before the current returns to steady state as
shown in Figure 2.18. The reason for this is that the CFHCC predicts the
crossover point in each half switching period based on the instantaneous
current reference signal. When the current reference change occurs before the
command, the controller estimates incorrect turn-ON time since the initial
values of reference and actual current are same at the initial condition of the
timer.
Figure 2.17 Load and Source current waveform during step change in
load
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current (A)
Reference
Current
Actual Current
Time(sec)
CONCLUSION
This chapter has presented a Constant frequency hysteresis Current
Control Technique for developing the active filter. Instantaneous p-q theory
was employed for effectively computing the reference. The active filter was
simulated using MATLAB/ SIMULINK and the performance was analyzed in
a sample power system with a source and non-linear loads. The shunt active
filter is found to be effective to meet IEEE 519-1992 standard
recommendation on harmonic levels under ideal source voltage condition
with constant switching frequency. The proposed control technique has fast
dynamic response similar to conventional hysteresis control but it overcomes
the drawback of having variable switching frequency.