Beruflich Dokumente
Kultur Dokumente
Abstract
Control strategies for extracting the three-phase reference currents for shunt active power filters are com-
pared, evaluating their performance under different source conditions with PI and Fuzzy Controllers in
MATLAB/Simulink environment When the supply voltages are balanced and sinusoidal, the two control
strategies are converge to the same compensation characteristics; However, the supply voltages are distorted
and/or un-balanced sinusoidal, these control strategies result in different degrees of compensation in har-
monics. The compensation capabilities are not equivalent, with p-q control strategy unable to yield an ade-
quate solution when source voltages are not ideal. Extensive simulations are carried out with PI controller
and also with Fuzzy controller for both p-q and id-iq control strategies under different main voltages. Exten-
sive Simulations are carried out with PI as well as fuzzy controller for both p-q and id-iq control strategies by
considering different voltage conditions and adequate results were presented. On owing id-iq method with
fuzzy logic controller gives away an out-standing performance under any voltage conditions (balanced,
un-balanced, balanced and non-sinusoidal).
Keywords: Harmonic Compensation, Shunt Active Filter (SHAF), p-q Control Strategy, id-iq Control
Strategy, PI Controller and Fuzzy Controller
Ploss
p0
1 1 va
V 2 1 2
2
V vb
3
3 0 3
- v
2 2 c
p v v i
1 1 iLa q v - v i
i 2 1 -
2
-
2
iLb
3
i 3 0
3
- i
2 2 Lc
1 0
ic * 1 v v -Pc* ica *
i * = 2 3 ic *
-v q*c
2 1
c v + v 2 v icb * =
3 2 2 ic *
icc * 1 3
2 - 2
Figure 4. Control method for Shunt current compensation based on p-q theory.
shunt filter tracks automatically, the system frequency iLd iLd 1h iLdnh
and fundamental positive-sequence component of three
phase generic input signal. Appropriate design of PLL iLq iLqih iLqnh
allows proper operation under distorted and unbalanced i
iLd sin wt cos wt 1 1 2 1 2 La
voltage conditions. Controller includes small changes in iLb
positive sequence detector as harmonic compensation is iLq cos wt sin wt 0 3 2 3 2
iLc
mainly concentrated on three phase four wire [9]. As we
know in three-phase three wire, va , vb , vc are used in (9)
transformations which resemble absence of zero se- The currents iLdnh and iLqnh along with id1h are utilized
quence component and it is given in Equation (7). Thus to generate reference filter currents icd* and icq* in d-q
in three phase four wire it was modified as v , v and coordinates, followed by inverse Park transformation
it is given in Equation (8). giving away the compensation currents ica*, icb*, icc* and
icn* in the four wires as described in (10) and (11).
1 0 ica
*
sin wt cos wt 1 icd
*
va * *
v 2 1 3 v icb sin wt 2 3 cos wt 2 3 1 icq (10)
b (7)
3 2 2 v icc* sin wt 2 3 cos wt 2 3 1 ic*0
vc
1 3
2 2 ica icb icc*
* * *
icn (11)
Figure 6. Instantaneous voltage and current vectors. reference compensating currents. These estimated refer-
ence currents (Isa*, Isb*, Isc*) and sensed actual currents
lems with unbalanced and distorted conditions of main (Isa, Isb, Isc) are compared at a hysteresis band, which
voltages are also evaded. Thus id-iq achieves large fre- gives the error signal for the modulation technique. This
quency operating limit essentially by the cut-off fre- error signal decides the operation of the converter
quency of voltage source inverter (VSI) [11]. switches. In this current control circuit configuration, the
Figures 5 and 6 show the control diagram for shunt source/supply currents Isabc are made to follow the sinu-
active filter and harmonic injection circuit. On owing soidal reference current Iabc, within a fixed hysteretic
load currents id and iq are obtained from park transforma- band. The width of hysteresis window determines the
tion then they are allowed to pass through the high pass source current pattern, its harmonic spectrum and the
filter to eliminate dc components in the nonlinear load switching frequency of the devices.
currents. Filters used in the circuit are Butterworth type The DC link capacitor voltage is kept constant through-
and to reduce the influence of high pass filter an alterna- out the operating range of the converter. In this scheme,
tive high pass filter (AHPF) can be used in the circuit. It each phase of the converter is controlled independently. To
can be obtained through the low pass filter (LPF) of increase the current of a particular phase, the lower switch
same order and cut-off frequency simply difference be- of the converter associated with that particular phase is
tween the input signal and the filtered one, which is turned on while to decrease the current the upper switch of
clearly shown in Figure 5. Butterworth filters used in the respective converter phase is turned on. With this one
harmonic injecting circuit have cut-off frequency equal can realize, potential and feasibility of PI controller.
to one half of the main frequency (fc = f/2), with this a
small phase shift in harmonics and sufficiently high tran- 6. Construction of Fuzzy Controller
sient response can be obtained.
Figure 8 shows the internal structure of the control cir-
5. Construction of PI Controller cuit. The control scheme consists of Fuzzy controller,
limiter, and three phase sine wave generator for reference
Figure 7 shows the internal structure of the control cir- current generation and generation of switching signals.
cuit. The control scheme consists of PI controller, limiter, The peak value of reference currents [13] is estimated by
and three phase sine wave generator for reference current regulating the DC link voltage. The actual capacitor
generation and generation of switching signals [12]. The voltage is compared with a set reference value. The error
peak value of reference currents is estimated by regulat- signal is then processed through a Fuzzy controller,
ing the DC link voltage. The actual capacitor voltage is which contributes to zero steady error in tracking the
compared with a set reference value. reference current signal.
The error signal is then processed through a PI con- A fuzzy controller [14] converts a linguistic control
troller, which contributes to zero steady error in tracking strategy into an automatic control strategy, and fuzzy
the reference current signal. The output of the PI con- rules are constructed by expert experience or knowledge
troller is considered as peak value of the supply current database. Firstly, input voltage Vdc and the input refer-
(Imax), which is composed of two components: a) funda- ence voltage Vdc-ref have been placed of the angular ve-
mental active power component of load current, and b) locity to be the input variables of the fuzzy logic con-
loss component of APF; to maintain the average capaci- troller. Then the output variable of the fuzzy logic con-
tor voltage to a constant value. Peak value of the current troller is presented by the control Current Imax. To con-
(Imax) so obtained, is multiplied by the unit sine vectors in vert these numerical variables into linguistic variables,
phase with the respective source voltages to obtain the the following seven fuzzy levels or sets are chosen as:
NB (negative big), NM (negative medium), NS (negative De-fuzzification: the rules of FLC generate required
small), ZE (zero), PS (positive small), PM (positive me- output in a linguistic variable (Fuzzy Number), accord-
dium), and PB (positive big) as shown in Figure 9. ing to real world requirements, linguistic variables have
The fuzzy controller is characterized as follows: to be transformed to crisp output (Real number).
1) Seven fuzzy sets for each input and output; Database: the Database stores the definition of the
2) Fuzzification using continuous universe of dis- membership Function required by fuzzifier and defuzzifier.
course; Rule Base: the elements of this rule base table are de-
3) Implication using Mamdani's min operator; termined based on the theory that in the transient state,
4) De-fuzzification using the centroid method. large errors need coarse control, which requires coarse in-
Fuzzification: the process of converting a numerical put/output variables; in the steady state, small errors need
variable (real number) convert to a linguistic variable fine control, which requires fine input/output variables.
(fuzzy number) is called fuzzification. Based on this the elements of the rule table are obtained as
shown in Table 1, withVdc and Vdc-ref as inputs.
(b) Vde-ref
NB NM NS Z PS PM PB
Vde
NB NB NB NB NB NM NS Z
NM NB NB NB NM NS Z PS
NS NB NB NM NS Z PS PM
Z NB NM NS Z PS PM PB
(c) PS NM NS Z PS PM PB PB
3ph 4w Bal Sin p-q with PI Controller 3ph 4w Bal Sin p-q with Fuzzy Controller
400 400
300 300
200 200
100 100
0 0
-100 -100
-200 -200
-300 -300
-400 -400
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
40 40
30 30
Load Current (Amps)
10 10
0 0
-10 -10
-20 -20
-30 -30
-40 -40
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
Filter Current (Amps)
Filter Current (Amps)
50 50
0 0
-50 -50
-100 -100
-150
-150 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Amps) Time (Sec)
150 150
100 100
Source Current (Amps)
50 50
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
1000 1000
DC Link Voltage (Volts)
800 800
600 600
400 400
200 200
0 0
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
Mag (% of Fundamental)
1 1
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Harmonic order Harmonic order
(a) (b)
3ph 4w Bal Sin id-iq with PI Controller 3ph 4w Bal Sin id-iq with Fuzzy Controller
400 400
300 300
200 200
100 100
0 0
-100 -100
-200 -200
-300 -300
-400 -400
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
40 40
30 30
20 20
10 10
0 0
-10 -10
-20 -20
-30 -30
-40 -40
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) 150 Time (Sec)
150
100
50
50
0
0
-50
-50
-100
-100
-150
-150 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 Time (Sec)
Time (Sec) 150
150
100
Source Current (Amps)
100
Source Current (Amps)
50
50
0
0
-50
-50
-100
-100
-150
-150 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 Time (Sec)
Time (Sec)
1000
1000
DC Link Voltage (Volts)
800
DC Link Voltage (Volts)
800
600
600
400
400
200
200
0 0
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (sec)
1 1
0.8 0.8
0.6 0.6
0.4 0.4
0.2 0.2
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Harmonic order Harmonic order
(c) (d)
Figure 10. Shunt active power filter response under balanced sinusoidal voltage conditions for (a) p-q method with PI; (b) p-q
method with Fuzzy; (c) id-iq method with PI; (d) id-iq method with Fuzzy Controller.
3ph 4w Un-bal p-q with PI Controller 3ph 4w Un-bal p-q with Fuzzy Controller
400 400
300 300
200 200
100 100
0 0
-100
-100
-200
-200
-300
-300
-400
-400 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 Time (Sec)
Time (Sec)
40 40
30 30
20 20
10 10
0 0
-10 -10
-20 -20
-30 -30
-40 -40
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
Filter Current (Amps)
Filter Current (Amps)
50 50
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
Source Current (Amps)
50 50
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
1000 1000
DC Link Voltage (Volts)
DC Link Voltage (Volts)
800 800
600 600
400 400
200 200
0 0
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
5 1
4 0.8
3 0.6
2 0.4
1 0.2
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Harmonic order Harmonic order
(a) (b)
3ph 4w Un-bal id-iq with PI Controller 3ph 4w Un-bal id-iq with Fuzzy Controller
400 400
300 300
Source Voltage (Volts)
100 100
0 0
-100 -100
-200 -200
-300 -300
-400 -400
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
40 40
30 30
Load Current (Amps)
10 10
0 0
-10 -10
-20 -20
-30 -30
-40 -40
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
50 50
0 0
-50 -50
-100
-100
-150
-150 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec)
Time (Sec)
150 150
100 100
Source Current (Amps)
50 50
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
1000 1000
DC Link Voltage (Volts)
DC Link Voltage (Volts)
800 800
600 600
400 400
200 200
0 0
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
5 1
4 0.8
3 0.6
2 0.4
1 0.2
0 0
0 10 20 30 40 50
0 10 20 30 40 50
Harmonic order Harmonic order
(c) (d)
Figure 11. Shunt active power filter response under Un-balanced sinusoidal voltage conditions for (a) p-q method with PI; (b)
p-q method with Fuzzy; (c) id-iq method with PI; (d) id-iq method with Fuzzy Controller.
3ph 4w Non-Sin p-q with PI Controller 3ph 4w Non-Sin p-q with Fuzzy Controller
400 400
300 300
Source Voltage (Volts)
100 100
0 0
-100 -100
-200 -200
-300 -300
-400 -400
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
40 40
30 30
Load Current (Amps)
10 10
0 0
-10 -10
-20 -20
-30 -30
-40 -40
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
Filter Current (Amps)
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
Source Current (Amps)
50 50
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
1000 1000
DC Link Voltage (Volts)
800 800
600 600
400 400
200 200
0 0
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
Mag (% of Fundamental)
10 5
8 4
6 3
4 2
2 1
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Harmonic order Harmonic order
(a) (b)
3ph 4w Non-Sin id-iq with PI Controller 3ph 4w Non-Sin id-iq with Fuzzy Controller
400 400
300 300
Source Voltage (Volts)
100 100
0 0
-100 -100
-200 -200
-300 -300
-400 -400
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
40 40
30 30
Load Current (Amps)
10 10
0 0
-10 -10
-20 -20
-30 -30
-40 -40
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150 150
100 100
50 50
0 0
-50 -50
-100 -100
-150 -150
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
150
150
100
Source Current (Amps)
100
Source Current (Amps)
50
50
0
0
-50
-50
-100
-100
-150
-150 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 Time (Sec)
Time (Sec)
1000 1000
DC Link Voltage (Volts)
800
DC Link Voltage (Volts)
800
600 600
400 400
200 200
0 0
0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372 0.352 0.354 0.356 0.358 0.36 0.362 0.364 0.366 0.368 0.37 0.372
Time (Sec) Time (Sec)
Mag (% of Fundamental)
5 1
4 0.8
3 0.6
2 0.4
1 0.2
0 0
0 10 20 30 40 50 0 10 20 30 40 50
Harmonic order Harmonic order
(c) (d)
Figure 12. Shunt active power filter response under balanced non-sinusoidal voltage conditions for (a) p-q method with PI (b)
p-q method with Fuzzy; (c) id-iq method with PI; (d) id-iq method with Fuzzy Controller.
p-q with PI p-q with Fuzzy id-iq with PI id-iq with Fuzzy
Figure 13. THD for p-q and id-iq control methods with PI and Fuzzy Controllers.