2522
4, OCTOBER 2008
A New Control Philosophy for a Unified Power
Quality Conditioner (UPQC) to Coordinate
Load-Reactive Power Demand Between
Shunt and Series Inverters
Vinod Khadkikar, Student Member, IEEE, and Ambrish Chandra, Senior Member, IEEE
Abstract—This paper presents a novel philosophy to compen-
sate the load-reactive power demand through a three-phase unified
power quality conditioner (UPQC). Most of the UPQC-based ap-
plications show the dependency on shunt inverter for load-reactive
power compensation, whereas the series inverter is always looked
as controlled voltage source to handle all voltage-related problems.
This paper proposes a new functionality of UPQC in which both
the shunt and series APFs supply the load-reactive power demand.
This feature not only helps to share the load-reactive power de-
mand, but also helps to reduce the shunt APF rating, and hence,
the overall cost of UPQC. This results in better utilization of the ex-
isting series inverter. The theory and complete mathematical anal-
ysis termed as “power angle control (PAC)” is presented. The sim-
ulation results based on MATLAB/Simulink are discussed in detail
to support the concept developed in the paper. The proposed ap-
proach is also validated through experimental study.
Index Terms—Active power filter (APF), power angle control,
power quality, reactive power compensation, unified power quality
conditioner (UPQC).
NOMENCLATURE
, Source voltage and current.
, Load voltage and current.
, Series-injected voltage and shunt compensating
current.
Phase angle of load current with respective to (w.
r. t.) load voltage.
Phase angle of series-injected voltage w. r. t.
source voltage.
Phase angle of shunt injected current w. r. t. load
voltage.
, Resultant load voltage and current with power
angle control (PAC) approach.
Injected shunt current with PAC approach.
Power angle between resultant load voltage and
source voltage.
Phase angle of resultant load current w. r. t.
source voltage with PAC approach.
Manuscript received October 30, 2006; revised November 27, 2007. First
published April 3, 2008; current version published September 24, 2008. This
work was supported by the Natural Sciences and Engineering Research Council
of Canada. Paper no. TPWRD-00679-2006.
The authors are with the Department of Electrical Engineering, École de
Technologie Supérieure, Montréal H3C 1K3, QC, Canada (e-mail: v_khad-
kikar@yahoo.com; ambrish.chandra@etsmtl.ca).
Digital Object Identifier 10.1109/TPWRD.2008.921146
0885-8977/$25.00 © 2008 IEEE
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IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO.
Phase angle of shunt injected current w. r. t.
source voltage with PAC approach.
Phase angle of shunt injected current w. r. t.
resultant load voltage with PAC approach.
I. INTRODUCTION
HE term “power quality” (PQ) has gained significant at-
T tention in the past few years. The advancement in the
semiconductor device technology has made it possible to realize
most of the power electronics based devices/prototypes at com-
mercial platform. As a rule of thumb in all areas of engineering,
the proper utilization of the resources that we have in the most
efficient way has lead to great development and is the major con-
cern for most engineers in their respective fields.
Reactive power compensation is one of the common yet very
important issues for power system engineers at transmission as
well as at distribution level. It is a well-known fact that a typical
distribution network consist of distribution transformer, motor
loads, etc., demands reactive power. This load-reactive power
demand level is mainly affected by the type of loads present
on the network. The capacitor banks have been used to com-
pensate the load-reactive power demand. It is the simplest and
under certain conditions, is a very effective way to compensate
the load-reactive power demand. This traditional way has cer-
tain major disadvantages, such as fixed compensation, possible
occurrence of resonance condition with nearby loads, switching
transient, bulky size, aging effect, etc.
The power processing at source, load, and for reactive and
harmonic compensation by means of power electronic devices
is becoming more prevalent due to the vast advantages offered
by them. The shunt active power filter (APF) is usually con-
nected across the loads to compensate for all current-related
problems such as the reactive power compensation, power factor
improvement, current harmonic compensation, and load unbal-
ance compensation [1], [2], whereas the series APF is connected
in a series with a line through series transformer. It acts as con-
trolled voltage source and can compensate all voltage-related
problems, such as voltage harmonics, voltage sag, voltage swell,
flicker, etc. [1], [2].
A unified power quality conditioner (UPQC)[1], [2], [4]–[9],
is another mitigating device that is similar in construction to a
unified power flow controller (UPFC) [3]. A UPFC is employed
in power transmission system where as a UPQC is employed
in a power distribution system, to perform the shunt and series
KHADKIKAR AND CHANDRA: NEW CONTROL PHILOSOPHY FOR UPQC
Fig. 1. Basic UPQC-based system configuration.
compensation simultaneously. But a UPFC only needs to pro-
vide balance shunt and/or series compensation, since a power
transmission system generally operates with balanced, distor-
tion free environment. The primary objective of a UPFC is to
control the flow of power at fundamental frequency only. On the
other hand, a power distribution system may contain dc compo-
nents, distortion, and unbalance. Therefore, a UPQC must op-
erate under these environments while performing shunt and/or
series compensation. The basic configuration of UPQC-based
system is shown in Fig. 1. It consists of two voltage source in-
verters (VSIs) connected back to back, sharing a common dc
link in between. One inverter acts as a shunt APF, whereas the
other as a series APF.
The load-reactive power compensation in most of the UPQC-
based power quality compensation application is done by shunt
APF, whereas, the series APF is generally utilized to compen-
sate voltage related problems [1], [2], [4]–[9]. In a typical dis-
tribution system the voltage sag and/or swell, flicker, unbal-
ance, etc. are short duration power quality problems. On the
other hand current harmonics, load-reactive power demand etc.
are load dependant issues and are constant for a particular type
of load. Therefore the utilization factor of shunt APF is much
higher then that of series APF during normal steady-state oper-
ation. Also, the rating of shunt APF is significantly affected by
the reactive power needs [9]. This paper is an attempt to make
the use of existing series inverter to compensate load-reactive
power by introducing a power angle difference between source
and load voltage, keeping both of the voltage’s magnitude same.
It will eventually result in better utilization of series inverter.
This new reactive power sharing feature between both the in-
verters would help to reduce the burden on shunt inverter and
ultimately results in reduction of shunt inverter rating by certain
percentage. This concept is termed as the “PAC of the UPQC”.
The PAC concept is discussed in Section II. The mathemat-
ical analysis and all necessary relationships are computed in
Section III. Section IV discusses the total active and reactive
power flow through both APFs with PAC approach. Section V
shows the simple way to realize the controller for UPQC based
on the theory developed. The SIMPOWERSYSTEM (SPS)
Matlab/Simulink-based simulation results are discussed in
Section VI. The experimental validation of PAC of UPQC is
reported in Section VII, and finally, Section IX concludes this
paper.
II. POWER ANGLE CONTROL CONCEPT
The voltage sag on the distribution network can be effec-
tively compensated by reactive [8], as well as the active power
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2523
Fig. 2. Power angle control (PAC) concept: phasor representation.
[9] approaches through UPQC. With the reactive power con-
trol approach the load-reactive power can be compensated by
certain percentage along with the voltage sag compensation. In
such an approach, the series voltage is injected in such a way
that it maintains the quadrature relationship with source current,
i.e., no active power involvement. But this approach is effec-
tive only during voltage sag on the system. If we inject a se-
ries voltage in such a way, not necessarily at the quadrature of
source current, that it causes a phase angle difference between
the source voltage and load voltage but without changing the
resultant load voltage magnitude, then a certain amount of reac-
tive as well as active power would flow through series inverter.
This paper proves that with proper control of the power angle
difference between the source and load voltage, the series APF
can also help in compensating the load-reactive power demand
without putting extra active power burden on the source during
the normal steady-state operating condition.
The per-phase phasor representation of the PAC scheme is
shown in Fig. 2. Considering the source voltage as the ref-
erence phasor, during normal working conditions the source
voltage (at the plant input) and the load voltage will be at same
magnitude and in-phase (the line impedance is neglected since
the UPQC is suppose to be installed at plant vicinity, very close
to the loads, and for simplicity assuming balanced, harmonic
free source voltages without any sag and/or swell condition), as
represented by and , respectively. Now in order to have
a phase angle difference between both the voltages, the series
APF should inject the voltage such that the resultant load
voltage will be at the desired load voltage magnitude giving
2524 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008

Fig. 3. Determination of V and ' .

power angle difference. This causes the load current phasor ad-
vancement from to maintaining the same load phase angle
Fig. 4. PAC: current phasor representation.
relationship with load voltage. Therefore, the effective load
phase angle with respective source voltage boosts from to ,
resulting in reduced reactive power handled by the shunt APF.
From Isosceles (Fig. 3)
In other words, with power angle lead between the source and
load voltages, the series APF now generates certain amount of (4)
reactive power. Thus, both the inverters of UPQC now take part
(5)
in load-reactive power compensation. The reactive power shared
by both the inverters depends on certain factors and are ana- (6)
lyzed in Sections III-A–C. The rating of series inverter is first From (Fig. 3)
defined based on the sensitive load requirements. Based on the
series APF rating, the maximum possible power angle lead (7)
that could be achieved, without affecting its rating, is computed. (8)
This gives the maximum amount of reactive power that
the series APF can share. Thus, this analysis promises NO addi- (9)
tional burden on series inverter rating. This results in a better uti-
(10)
lization of the existing series inverter at reduced shunt inverter
rating, i.e., a reduction in overall UPQC cost and better device (11)
utilization. (12)
Now
III. MATHEMATICAL COMPUTATION
(13)
In order to implement the Power Angle Control approach
in practical application it is necessary to estimate the power (14)
angle between source and load voltages, based on load-re-
active power demand, but in instantaneous manner. This paper
(15)
proposes an instantaneous angle determination based on in-
stantaneous load-active and -reactive power extraction. At first, (16)
it has been considered that PAC gives a power angle difference .
The instantaneous determination and the boundary condition Equations (12) and (16) give the required magnitude and
for maximum lead that can be achieved with PAC, without phase angle at which the series voltage should be injected in
affecting series APF rating, are presented later in the paper. order to achieve power angle lead, respectively; such that the
amplitude of will be at desired value. For a definite value
A. Series APF Parameter Estimation of , the series-injected voltage only depends on the power
Fig. 3 shows the detailed phasor representation for required angle .
series voltage injection estimation, where represents the rms
B. Shunt APF Parameter Estimation
value of the desired load voltage, which is a known quantity.
From (Fig. 3) Fig. 4 represents the phasor diagram for different currents due
to the power angle advancement. Without PAC, the load-reac-
(1) tive power demand is fulfilled by shunt APF alone by injecting
the shunt compensating current . With PAC, the load cur-
(2) rent phasor shifted to . The effective phase angle between
(3) source voltage and load current suggests that the reactive power

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KHADKIKAR AND CHANDRA: NEW CONTROL PHILOSOPHY FOR UPQC 2525

Net reduction in shunt APF kVA rating

(33)

(34)

Net reduction in shunt APF kVA rating as % of full load

kVA rating
Fig. 5. Determination of I and ' .

demand seen from the source side gets reduce. The shunt APF (35)
should now inject the compensating current in such a way
that NO extra active power should be taken from the source
Equation (35) gives the net reduction in kVA rating of shunt APF
during this operating period, i.e., the source current , should
as % of full load kVA rating with PAC scheme, without affecting
be same as that of without PAC. Fig. 5 represents the detailed
the existing series APF rating, discussed in Section III-C. Equa-
phasor representation to determine the shunt compensating cur-
tions (12), (16), (26), and (31) are performance equations of
rent and its phase angle with respect to resultant
PAC approach. The effectiveness of this approach is completely
load voltage
governed by proper reference signal generation based on these
quantities but in real time without delay in computation. For a
(17) particular load condition, the load parameters and are
constant; hence, these equations show that PAC approach is
From (Fig. 5) independent of other network parameters, resulting very robust
and parameter insensitive approach to compensate reactive
power demand of the load by utilizing both the shunt and series
(18) inverters simultaneously.
(19)
(20) C. Boundary Condition for Maximum
(21) The rating of series part of UPQC is mainly governed by
percentages of sag need to be compensated. If the maximum
(22)
voltage that can be injected through series APF is denoted by
(23) and the percentage of this maximum voltage limit in
(24) terms of desired load voltage by factor , then we can write

(36)
(25)
From (37)
(26)
(38)
(27) (39)

(28) (40)

(29) For a particular application for which UPQC is supposed to be

installed, the series APF rating is known. Utilizing (40), we can
(30)
calculate the maximum power angle that can be achieved
(31) without affecting the existing series APF rating. Thus,
limit will guarantee the reactive power sharing feature without
Equations (26) and (31) give the required magnitude and overloading the series inverter and hence no extra series APF
phase angle of shunt compensating current in order to achieve cost addition.
the desired operation.
From Figs. 4 and 5 IV. ACTIVE AND REACTIVE POWER FLOW
This section gives the per-phase active and reactive power
(32) flow between shunt and series APF.

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2526 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008

A. Without Power Angle Control For a shunt APF

For series APF
(56)
(41) (57)
(42) (58)

For shunt APF C. Power Angle Determination

Let be the maximum load-reactive power demand
(43)
that UPQC should supply. This load-reactive power demand
(44) will be shared by series and shunt APFs. Therefore, we can fix
the reactive power handled by shunt APF, as , based on
The shunt APF supplies all the load-reactive power demand maximum reactive power that could be handled by series APF,
by injecting 90 leading shunt compensating current

(45) (59)
(46) (60)

B. With Power Angle Control
With PAC, both active as well as reactive power will flow
through the series APF
(47)
(48)
(49)
(50)
(51)
The negative sign in (51) implies that during PAC of UPQC,
the series APF consumes certain amount of active power. Due
to this active power the dc link voltage can be increased. To
maintain the dc link voltage at constant level the shunt APF
should now inject the compensating current in such a way that
the extra active power should fed be back to supply side (i.e., it
should circulate between series and shunt active filters through
the dc link). Thus, for ideal condition, without any losses, the
active power consumed by series APF should be equal to the
active power fed back by the shunt APF and hence, the source
current would be at constant level. In actual practice there can
be a slight increase in source current due to losses associated
with both the inverters, dc link, coupling inductances, and series
transformer
(52)
(53)
(54)
(55)
From (55), the reactive power generated by series APF mainly
depends on the power angle . The higher the value of , the
higher will be the reactive power compensation through series
APF, but at the same time higher will be the magnitude of series-
injected voltage by (12).
Thus, with (40), (59), and (60), the maximum reactive power
burden on shunt APF can be reduced and fixed to
based on series APF rating, without disturbing the other basic
functions of both series and shunt APFs. If the load-reactive
power demand is less than , the shunt APF should com-
pensate this reactive power demand alone. In such cases se-
ries APF should not take part in reactive power compensation.
If the load-reactive power demand increases above
limit, the series APF should take part in load-reactive power
compensation
At any condition,
(61)
In the above equation, is a constant value as fixed by
(60) and is computed instantaneously
(62)
(63)
(64)
The source should supply only load-active power demand
as the load-reactive power demand will be shared by both the
APFs. Thus, from (61)–(64), if we could extract the load-active
as well as -reactive power demands instantaneously, can be
estimated instantaneously.
V. UPQC CONTROLLER DEVELOPMENT
This section describes how to generate the reference signals
for both series and shunt part of UPQC.
A. Instantaneous Determination
The load on a particular plant where UPQC is supposed to
be installed may not be constant all the time. The load-reactive
power demand, therefore, can vary based on the plant load vari-
ations. As discussed in the previous section, when the load-re-
active power demand is well within the shunt APF compensa-

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KHADKIKAR AND CHANDRA: NEW CONTROL PHILOSOPHY FOR UPQC 2527

Fig. 6. Instantaneous  determination.

tion limits, the series APF should not act during such condi- where and represent the dc components that are respon-
tions (i.e., ). Now, if the plant load changes such that sible for fundamental load-active and -reactive power, whereas,
the load-reactive power demand exceeds the shunt APF max- and represent the AC components that are responsible for
imum limit, the series APF should act immediately to take over harmonic powers.
the additional load-reactive power demand. Therefore, the per- The per-phase fundamental instantaneous load-active and
formance of PAC approach solely depends on the extraction of fundamental instantaneous load-reactive power can be extracted
power angle in real time. In this paper the instantaneous de- from and by using a low-pass filter (LPF), respectively.
termination is proposed by extracting instantaneous load-active Once these quantities are known, the instantaneous power
as well as instantaneous load-reactive power demand utilizing angle can be determined very easily by using (64). The in-
single phase - theory [10], [11]. For a balanced three-phase stantaneous determination block diagram is shown in Fig. 6.
system, this theory results into less computation time, since only Here, the care is taken to sense power angle only when
one phase instantaneous load-active and instantaneous load-re- , not shown in the figure.
active power extraction is enough.
In single-phase - theory, each phase voltages and currents B. Reference Voltage Signal Generation for Series APF
of original system are defined as a pseudo two-phase system Fig. 7 shows the series-injected voltage reference signals
by giving lead. Thus, the resultant two-phase system can generation utilizing determined instantaneous . With standard
be represented in coordinates. The actual load voltage mathematical computation the required series-injected voltage
and load current are considered as —axis quantities, whereas magnitude and its phase angle are calculated as given by (12)
the lead load voltage and lead load current are con- and (16) respectively. These computations are based on RMS
sidered as —axis quantities. This paper assumes a balanced values. To generate time varying, 60-Hz sinusoidal signal with
three-phase system, hence, considering for only one phase, here estimated phase angle , the Matlab -function blocks are
phase- . used. The and signals, at unity magnitude, from the
Phase-a load voltage representation in coordinates by phase-locked loop (PLL) are used to maintain the synchro-
lead to nization between the generated reference signal and the supply
voltage. This signal multiplied with computed series voltage
(65) magnitude gives the required series-injected voltage signal
with desired phase angle shift. Similarly, with phase
angle difference the reference signals for other two phases are
Similarly, for Phase- load current
generated. These three reference series-injected voltages are
compared with sensed three-phase series-injected voltages and
the errors are then processed by hysteresis controller to generate
(66)
the required switching signals for series inverter switches.
The per-phase instantaneous load-active and instantaneous C. Reference Current Signal Generation for Shunt APF
load-reactive power can be represented by
The shunt APF is used to compensate the current harmonics,
reactive current and to maintain the dc link voltage at constant
level. Instead of calculating the shunt injected current magni-
(67)
tude and its phase angle, an alternative approach is used for
shunt part. In this approach reference source currents are gener-
where and can be expressed as ated directly. This indirect control of shunt compensating cur-
rents also helps to compensate the harmonics generated by the
(68) loads, if any. Therefore there is no need of load harmonic con-
(69) tent extraction. The other reason behind this consideration is to

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2528 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008

Fig. 7. Reference voltage signal generation for series APF based on PAC approach.

utilize the already calculated parameters for instantaneous de-

termination such as , , and , and hence to reduce
the overall computation time. Thus, the reference source current
signals can be generated by utilizing the instantaneous load-ac-
tive power as discussed below.
Taking the inverse of (67)

(70)

In the above matrix, the -axis reference current represents the

instantaneous fundamental load-active current, since, -axis
quantities belong to the original system under consideration.
Whereas the -axis instantaneous fundamental load-active
current represents the current that is at lead with respect to
the original system. In (70), is the precise amount of active
power that should be taken from the source in order to maintain
the dc link voltage at constant level and to overcome the losses Fig. 8. Reference voltage signal generation for shunt APF based on the PAC
approach.
associated with UPQC.
Therefore
should be equal to the power given in (72). Now, if we replace
(71) the load voltage signals in (72) with actual source voltage sig-
nals, since, both the voltages are having same magnitude, the
(72) reference signals for source currents can be determined easily

(73) (74)

Equation (72) gives the reference fundamental load-active cur-
rent signal that supplies the fundamental load-active power de-
mand and the losses associated with UPQC. As we have dis-
cussed, the PAC approach gives a power angle boost between
resultant load voltage and source voltage, maintaining the same
voltage magnitudes. The load phase angle between and
, and and is constant, but, the phase angle
between the resultant load current with respect to source
voltage is now boosted to , as viewed from Fig. 4. Therefore,
in order to supply only required fundamental active power (load
losses), the active power demand seen from the source side
The above equation gives the reference source current signals
that would supply only fundamental load-active power demand
and losses associated with UPQC. The block diagram for refer-
ence source current signals generation is shown in the Fig. 8. For
an imbalanced system, each phase should be tackled separately;
hence, the reference source current signal extraction would be
based on each phase fundamental active power demand sepa-
rately. These reference signals are then compared with sensed
three-phase source currents and the errors are processed by hys-
teresis controller to generate the required switching signals for
shunt inverter switches.

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KHADKIKAR AND CHANDRA: NEW CONTROL PHILOSOPHY FOR UPQC
Fig. 9. Simulation Results: load reactive power compensation without PAC of UPQC. (a) Source voltage (v (t)). (b) Load voltage (v (t)). (c) Series injected
voltage (v (t)). (d) DC link voltage (v ). (e) Source current (i (t)). (f) Load current (i (t)). (g) Shunt compensating current (i (t)). (h) Scaled source and
load voltage relationship ( ).
VI. SIMULATION RESULTS
The reactive power sharing feature of both the inverters of
UPQC has been evaluated by digital simulation. SIMPOW-
ERSYSTEM Block Sets of MATLAB/SIMULINK have been
used as a simulation tool. To analyze the performance of UPQC
during PAC approach certain assumptions are made, such as,
the source is assumed to be a pure sinusoidal and at rated value
(i.e., no sag and/or swell) and the load is assumed to be highly
inductive to have better visualization of results. The other major
functions of UPQC are not affected by this approach but are not
addressed in this paper (i.e., current unbalance compensation,
voltage sag and swell compensation, etc.)
The supply voltage which is available at UPQC terminal is
considered as three-phase, 60 Hz, 600 V (line to line) with the
maximum load power demand of 15 kW (load
power factor angle of 0.707 lagging). The maximum voltage
that can be injected by the series APF is assumed to be 40%
of the input voltage . This gives the
by (40). With the given maximum load-active power demand
(15 kW, rms) and by (59), the maximum reactive
power that series APF can injects, without affecting its rating,
is approximately 1.96 kVARs per phase or 5.8 kVARs of max-
imum load kVARs. Here, the maximum kVAR that the series
APF should compensate is considered as 5.7 kVAR, therefore,
the maximum kVAR compensation limit for shunt APF is con-
sidered as 9.3 kVARs of maximum load kVAR demand, by (60).
Initially, the reactive power compensation feature of UPQC is
discussed without the Power Angle Control approach (i.e., the
basic UPQC operation).
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2529
A. Load-Reactive Power Compensation Without Power Angle
Control Approach
Fig. 9(a)–(h) shows the simulation results during normal
working condition without PAC approach. At start, only a pure
resistive load (15 kW) is considered on the system. At time
, the shunt APF is put into the operation. The
dc link feedback controller acts immediately forcing dc link
voltage to settle down at set reference voltage, here 725 V.
Fundamental input current is drawn from the source. Within
a cycle, the dc link voltage is maintained at constant level, as
shown in the Fig. 9(d). At time , the series APF
is put into operation such that both series and shunt APFs are
now operating together as UPQC.
During this time interval, since there is no reactive load on the
network, the shunt APF does not inject any compensating cur-
rent. At time , the maximum plant load (i.e., 15 kW
) is switched ON. The shunt APF now injects a
90 leading compensating current and supplies the load VARs,
making the input power factor close to unity, Fig. 9(a) and (e).
The source current waveform and the shunt compensating cur-
rent waveform are shown in Fig. 9(e) and (g), respectively. In
spite of increase in load-reactive power, source current still re-
mains the same.
B. Load Reactive Power Compensation With Proposed Power
Angle Control Approach
The simulation results during proposed PAC of UPQC are
shown in Figs. 10 and 11. There are four different operating con-
ditions to visualize the effectiveness of the proposed approach.
2530 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008

Fig. 10. Simulation results: load reactive power compensation with PAC of UPQC. (a) Source voltage (v (t)). (b) Load voltage (v (t)). (c) Series Injected
Voltage (v (t)). (d) DC link voltage (v ). (e) Source current (i (t)). (f) Load current (i (t)). (g) Shunt compensating current (i (t)). (h) Scaled source and
load voltage relationship ( ).

Fig. 11. Simulation results: load reactive power compensation with PAC of UPQC. (a) Instantaneous power angle ( ). (b) Instantaneous series injected voltage
phase angle (' ). (c) Instantaneous Series injected voltage magnitude (jv j). (d) Instantaneous reference active power (p + p ). (e) Instantaneous source
active-reactive powers (p q ). (f) Instantaneous load-active-reactive powers (p q ). (g) Instantaneous series APF active-reactive powers (p q ). (h) Instan-
taneous shunt APF active-reactive powers (p ; q ).

Further, for better understanding, the load-active power demand
is kept constant during all operating conditions at 15 kW and
only reactive power demand is changed.
At time and both shunt and series
APF are put ON, respectively, with a pure resistive load (15 kW)
on the system. During time t2 to t3, the UPQC is not doing any
compensation due to the presence of resistive load. This can be
noticed from Fig. 10(c) and (g), where both shunt and series APFs
do not inject any compensating current and voltage, respectively.
At time , the load on the system is changed to 15 kW
. Since the load-reactive power demand is well
within the shunt APF VAR compensation limits (9.3 kVAR),
the shunt APF should now acts immediately to compensate
the load-reactive power alone. As viewed form Fig. 10(g),
the shunt APF starts compensating the load-reactive power
demand by injecting 90 leading current. The series APF does
not take part in load-reactive power compensation as noticed
from Fig. 10(c).

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KHADKIKAR AND CHANDRA: NEW CONTROL PHILOSOPHY FOR UPQC
TABLE I
DIFFERENT PARAMETER VALUES
At time , the load on the system is increased to 15 kW
. The series APF should now share the part of the
load-reactive power demand, since, it is more than the shunt
APF compensation limit. The series APF starts compensating
the load-reactive power (2.7 kVAR) by injecting appropriate
voltage (61V) through series transformers at proper phase angle
as calculated by controller, as shown in Fig. 10(c). This causes
9.7 power angle advancement in load voltage with respect to
the source voltage without changing the resultant load voltage
magnitude as seen from Fig. 10(b). The 9.7 power angle dif-
ference between these two voltages can be noticed from scaled
Fig. 10(h). During this condition the shunt APF compensate
the load-reactive power up to its maximum limit. Thus, both
the shunt (9.3 kVAR) and series (2.7 kVAR) APFs shares the
load-reactive power demand effectively.
At time , the system is loaded up to its maximum
rated condition (i.e., 15 kW ). During this condi-
tion, the series APF injects required voltage (140V) to compen-
sate the increased load-reactive power demand. This causes fur-
ther increase in power angle from 9.7 to 21.5 between both
the source and load voltages, as discussed in the theory and can
be noticed from the Fig. 10(h). Here, the shunt APF compen-
sates 9.3 kVAR, while series APF compensates 5.7 kVAR of
the total load-reactive power demand.
The source current, as shown in Fig. 10(e), is strictly at con-
stant value during all of the above conditions. The load cur-
rent profile for all conditions is shown in Fig. 10(f). Thus, from
Fig. 10(e) and (f), the source delivers only the load-active power
demand all the time (i.e., in other words, PAC approach does not
put any extra active power burden on the source). The dc link
voltage profile is shown in Fig. 10(d). The slight variation in dc
link voltage is acceptable since the dc link feedback control loop
is kept slower as the reference current signal extraction is based
on load-active power demand. Fig. 11(a)–(h) shows the instan-
taneous phase angle and different active and reactive powers.
All these values are based on per-phase calculation.
Fig. 11(a) shows the instantaneous phase angle extraction
using proposed determination approach. The power angle is
almost zero till time t4, since, the load-reactive power demand is
handled by shunt APF alone. At time t4 and t5, the load-reactive
power demands are changed such that the series APF also take
part in load-reactive power compensation. The change in power
angle is instantaneous without much delay in the operation.
The power angle is solely determined by the instantaneous
load-active and instantaneous load-reactive power demand.
The extracted instantaneous series-injected voltage phase angle
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2531
and its magnitude are shown in Fig. 11(b) and (c),
respectively. The extracted total instantaneous active power as
needed in (73) is shown in Fig. 11(d). The instantaneous active
and reactive powers supplied by the source and demanded by
the load are shown in Fig. 11(e) and (f), respectively, whereas
the instantaneous active and reactive power flow through series
and shunt APFs are shown in Fig. 11(g) and (h), respectively.
The different parameters during all mentioned conditions are
shown in Table I. All the current and the voltage values are men-
tioned on the per-phase basis and are represented as peak am-
plitude. As noticed from Table I(e) and Fig. 9(g), with the full
load on the network, without considering the PAC control ap-
proach, the required shunt APF compensating current in order
to compensate the load-reactive power demand is 29 A. From
Table I(d) and Fig. 10(g), the proposed PAC approach results
in considerable reduction in shunt APF current magnitude from
29 A to 18.5 A. Thus, with proposed approach the shunt APF
current can be reduced by 10.5 A. In other words, with PAC the
shunt APF kVA rating get reduced to 25.6% of total load kVA
rating by (35). The source current magnitude is almost constant
during all the operating conditions at unity power factor, since,
the active power demand on the load is kept constant during all
the conditions.
C. UPQC Performance Under Different Operating Conditions
The performance of UPQC under different operating condi-
tions is tested in this section. At time , the active
power demanded by the load is increased from 15 to 20kW. As
the load-active power demand increases, with constant reactive
power demand, the load power factor angle reduces. Therefore,
the power angle also reduces, as given by (64). This interesting
observation can be noticed from the Fig. 12(c), where, the se-
ries-injected voltage magnitude reduces accordingly, by (12).
At time , distortion in supply voltage is intro-
duced. The supply voltage has THD of 12.5% with dominant 5th
and 7th harmonics of 10%, and 7.5%, respectively. For better
visualization of transition of UPQC from PAC to voltage con-
trol mode the load on the system changed to 15 kW ,
such that the series APF acts as voltage harmonics compensator.
As noticed from the Fig. 12(b), after time t7, the load voltage
(2% THD) is maintained at desired value by injecting appro-
priate voltage through series APF as shown in Fig. 12(c). The
voltage harmonics present in the source are determined by using
the PLL-based approach, as given in [7], and then added to ref-
erence signal generated for PAC approach. At time ,
the load is changed from linear RL to a nonlinear load. The load
2532 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 23, NO. 4, OCTOBER 2008

Fig. 12. Simulation Results: UPQC performance under different operating conditions—(a) Source Voltage (v (t)). (b) Load voltage (v (t)). (c) Series-injected
voltage (v (t)). (d) Source current (i (t)). (e) Load current (i (t)). (f) Shunt compensating current (i (t)).

current has a THD of 26.3% with dominant 5th, 7th, and 11th
harmonics of 22%, 9.96%, and 7.4%, respectively. As viewed
from Fig. 12(d), after time t8, the shunt APF compensates the
harmonic generated by nonlinear load by injecting appropriate
compensating current.

VII. EXPERIMENTAL VALIDATION

A scaled UPQC prototype is designed and developed in
laboratory to validate the theory proposed in the paper. The
DS1104 DSP of dSAPCE is used to implement the proposed
PAC approach in real-time. The master microcontroller unit
which houses Motorola Power PPC 603e processor is utilized
to carry out analog to digital (A/D) conversions, digital to
analog (D/A) conversions, and real-time computations. The
different voltages are sensed using proper analog circuitry,
whereas, all the currents are sensed using Hall-Effect current
sensors, LEM LA-55P. All the sensed signals are isolated using
isolation amplifiers, AD202, before sending to host PC through
ADC channels of DS1104. The series and shunt inverters are
built using IGBT switches. To keep switching frequency , execute the proposed PAC in real-time. Initially, the load on
of both the inverters, independent of the sampling frequency
, the DS1104 is solely used to generate reference current
and voltage signals, which indeed helps to reduce the compu-
tational time, and thus improves overall system performance.
The generated reference signals are taken out of DS1104 with
the help of DAC channels, which are then used in the external
Hysteresis/PWM controller circuitry. The Hysteresis/PWM
controllers are built with the help of analog circuitry, using
operational amplifier ICs AD844. The shunt inverter uses the
variable frequency hysteresis current controller. The average
switching frequency at which the shunt inverter works is be-
tween 5 to 7 kHz. The series inverter uses triangular carrier
signal-based fixed switching frequency PWM. The series in-
verter switching frequency is 5 kHz. The proposed algorithm
requires sampling time of 75 s to execute the Matlab/Simulink
generated C-codes in real-time. The experimental results for
proposed PAC of UPQC are shown in Figs. 13–15.
Fig. 13. Experimental results: real-time instantaneous p and q computation.
Fig. 13 shows the computed real-time instantaneous load-
active and reactive powers. These quantities are essential to
the system is simple resistive load. After certain time, a highly
inductive load is switched ON, and connected in parallel with
resistive load. As noticed from the Fig. 13, the developed con-
trol algorithm takes less than 2 cycles to compute change in
the load-active and reactive powers. The performance of PAC
of UPQC is given in Fig. 14. The experimental results for load
and source voltage-current, when UPQC is in OFF state, are
shown in Fig. 14(a). The load current lags the load voltage by
a power factor angle of 52.14 (0.61 lagging power factor).
To demonstrate the effectiveness of PAC approach, the series
inverter is turned ON first. The experimental results during
this condition are shown in Fig. 14(b). The power angle in
this case is 20 . The close view of Fig. 14(b) suggests that
20 phase angle shift between load and source voltages boost
the power factor angle between source voltage and source cur-
rent from 52.14 lagging to 32.14 lagging. In other words
the source side power factor improves from 0.61 lagging to

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KHADKIKAR AND CHANDRA: NEW CONTROL PHILOSOPHY FOR UPQC 2533

Fig. 14. Experimental results: load-reactive power compensation with PAC of UPQC. (a) Source and load voltage-current (UPQC OFF). (b) Source voltage-current
(only series APF ON). (c) Source voltage-current (UPQC ON). (d) Source and load voltage profile.

Fig. 15. Experimental results: shunt APF performance comparison with and without PAC of UPQC. (a) Shunt APF performance with PAC. (b) Shunt APF per-
formance without PAC of UPQC.

0.846 lagging. Fig. 14(c) shows the experimental results when
both the inverters are in operation i.e., UPQC ON. As seen
from Fig. 14(c), the shunt APF now compensate the remaining
load-reactive power, thus making the unity power factor source
current. The power angle between load and source voltages can
be viewed from Fig. 14(d). Thus, this experimental investiga-
tion shows that the reactive power sharing feature of UPQC,
by appropriate control of both series and shunt inverters, can
be done effectively.
The performance of shunt APF with, and without
PAC of UPQC is compared in Fig. 15. As noticed from
Fig. 15(a) and (b), the shunt current profiles suggest the
reduction in compensating current magnitude. In other words,
the PAC of UPQC thus helps to reduce the reactive power
burden on shunt inverter and eventually its rating.
VIII. CONCLUSION
This paper proposes a new functionality of UPQC in which
both the shunt and series APFs share the load-reactive power
demand, termed as PAC of UPQC. The complete mathematical
analysis is presented in this paper. The proposed approach is val-
idated through extensive simulation and experimental studies.
The major key points of PAC approach, for load-reactive power
compensation, are as follows.
1) Based on the given system, load and UPQC constraints,
the maximum series APF VAR compensation can be esti-
mated. This helps to fix the maximum shunt APF compen-
sation limit. Thus, results in the reduced shunt APF rating,
without affecting the existing series APF rating and, hence,
the overall cost of UPQC. The simulation results for full

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2534
load of 15 kW show that the shunt APF kVA
rating can be reduced up to 25.6%, by utilizing proposed
PAC approach.
2) The shunt APF has always the priority to compensate the
load-reactive power demand up to its maximum limit. This
assures the full utilization of shunt APF for load-reactive
power compensation.
3) When the load-reactive power increases above the shunt
APF limits, the series APF comes into the role to compen-
sate the remaining load-reactive power demand with in a
short period of time. The half-cycle delay in the series APF
compensation is due to the delay in computation time to ex-
tract the change in load-reactive power demand.
4) The shunt and series APF operates in coordination to
achieve the common task—the load-reactive power com-
pensation. Thus, better utilization of existing series APF
can be done during normal operating condition.
5) A power angle difference occurs between source and load
voltage, but the resultant load voltage magnitude is main-
tained constant at desired value.
6) The proposed approach does not put any extra active power
burden on the supply system for its operation.
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Vinod Khadkikar (S’06) was born in Aurangabad,
India, in 1978. He received the B.E. degree in elec-
trical engineering from the Government College of
Engineering, Dr. Babasaheb Ambedkar Marathwada
University, Aurangabad, in 2000 and the Master of
Technology degree in power electronics from the
Indian Institute of Technology, New Delhi, India, in
2002. He is currently pursuing the Ph.D. degree in
the Department of Electrical Engineering, École de
Technologie Supérieure, Montréal, QC, Canada.
His research includes the application of power
electronics in distribution systems, power quality, and active power filters.
Ambrish Chandra (SM’99) was born in India
in 1955. He received the B.E. degree from the
University of Roorkee [presently the Indian Institute
of Technology (IIT)], Roorkee, India, the M.Tech.
degree form IIT, New Delhi, India, and the Ph.D.
degree from the University of Calgary, Calgary, AB,
Canada, in 1977, 1980, and 1987, respectively.
He worked as a Lecturer and later as a Reader at
the University of Roorkee. Since 1994, he has been a
Professor in the Electrical Engineering Department,
École de Technologie Supérieure, Universié du
Québec, Montreal, QC, Canada. His main research interests are power quality,
active filters, static reactive power compensation, flexible ac transmission
systems (FACTS), and renewable energy resources.
Dr. Chandra is a member of the Ordre des Ingénieurs du Québec, Canada.