Design, simulation and implementation of threepole/four-pole topologies for active lters

B.N. Singh, P. Rastgoufard, B. Singh, A. Chandra and K. Al-Haddad Abstract: Three-pole/four-pole topologies of current-controlled voltage source inverters (CC-VSI) used as active lter (AF) are considered. The proposed AF system employs power balance theory, which is implemented using a TMS320C31 DSP. A four-pole topology for the AF system exhibits the facility of operating it as a three-pole device. A prototype model of the AF system has been designed and tested with a non-linear load to demonstrate its effectiveness for harmonic elimination, reactive power compensation and power-factor correction. After the control scheme was veried through extensive experimental investigations on a three-pole AF system, it was applied to demonstrate the performance of a four-pole AF system through simulation with different possibilities for the non-linear loads in eld applications. Simulation and experimental results of the developed model of the AF system are given and discussed in detail.

Introduction

The ever-increasing use of non-linear loads invites problems of harmonics and reactive power in power distribution networks. In general, single-phase linear and non-linear loads are powered with a three-phase four-wire supply system. Often it is found that a single-phase load on a threephase supply system creates a problem of load unbalancing. Moreover, three-phase and single-phase non-linear loads are the main cause of current harmonics in the supply system. A harmonic current passing through the supply impedance creates problems of voltage harmonics and voltage unbalance at the point of common coupling (PCC). Since inception of the novel concept, which is harmonic current cancellation by an active lter [1], there have been numerous advances in the eld of harmonic elimination using various types of multipulse converters [2]. The advances in harmonic and reactive power compensation technology can be categorised in terms of control algorithms [310], topologies of power electronics converters [1, 2, 11], methods of implementation [3, 5], and placement of power electronics converters in the systems [1, 212]. Researchers have carried out simulation [13, 14] and experimental [15] investigations on four-pole active lters, which are emerging out to be good candidates for three-phase, four-wire systems. However, owing to continuous developments in the eld of power quality control converters and methods of implementation, the technology has been steered towards a standard topology of converter
r IEE, 2004 IEE Proceedings online no. 20040209 doi:10.1049/ip-epa:20040209 Paper rst received 11th June 2003 and in revised form 9th December 2003. Originally published online: 26th March 2004 B.N. Singh and P. Rastgoufard are with the Department of Electrical Engineering and Computer Science, Tulane University, New Orleans, LA, 70118, USA B. Singh is with the Department of Electrical Engineering, Indian Institute of Technology, New Delhi 110016, India A. Chandra and K. Al-Haddad are with the GREPCI, Department of Electrical ! ! rieure, Universite ! du Que ! bec, 1100 rue Engineering, Ecole de technologie supe ! al, Que ! bec H3C 1K3, Canada Notre-Dame Ouest, Montre IEE Proc.-Electr. Power Appl., Vol. 151, No. 4, July 2004

working as an AF and a standard method of implementation, which is to employ digital signal processors. However, as far as control techniques are concerned, various types of control techniques are in vogue. In this paper a three-pole AF system working with the three-phase/single-phase loads is investigated. The AF system employs power-balance theory for controlling the ow of real power from the supply to the load, and harmonics and reactive power from the AF to the load. This ensures sinusoidal shaping of the supply current for balanced and unbalanced loads in steady-state and transient operating conditions. The evolved mathematical formulation for the power-balance theory is extended to a four-pole AF system. Therefore, the developed prototype model of the AF system has the facility to operate in two modes; three-pole device and four-pole device. However, conguration of the load is very different for a three-pole AF system as compared to a four-pole AF system. Detailed simulation and experimental results on the developed AF systems are given and discussed to demonstrate their capability for harmonic elimination, reactive power compensation and load balancing. 2 System conguration

The AF system and the load arrangement is shown in Fig. 1. With the presence of switch SW, the AF system has the facility of being operated as a three-pole device or a four-pole device. In Fig. 1, non-linear load is a three-phase, three-wire system. Figure 2 shows a typical load the arrangement for a four-pole AF system. Although there may be several other arrangements of the loads, the arrangement shown in Fig. 2 covers a wide variety of possible loads. It can be considered that a three-phase fourwire system can feed three single-phase loads. These singlephase loads may or may not be of the same types that cause load unbalance, load current harmonics and excessive current in the neutral conductor. The four-pole AF system shown in Fig. 2 is capable of compensating for harmonics and reactive power, and balancing the three single-phase loads. The four-pole AF system is also capable of compensating for neutral current, thereby relieving the need for a neutral conductor with an excessive rating. The
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AF systems shown in Figs. 1 and 2 are current-controlled voltage source inverters connected in parallel with the nonlinear loads. As shown in Figs. 1 and 2, the non-linear load may be three-phase/single-phase, balanced/unbalanced load, requiring harmonic elimination, reactive power compensation, power-factor correction, and load balancing. The basic function of the AF system is to eliminate harmonics and to meet reactive power requirements for the load locally so that the AC supply system feeds only sinusoidal unity power factor currents. For the supply system, the AF and the load combined together behave as a balanced three-phase resistive load. The AF system connected in shunt with the load also enhances the system efciency, as the supply system does not process harmonic and reactive power. 3 Control scheme

Figure 3 shows the proposed control scheme of the threepole AF system. The AF system behaves as a controllednon-linear load three-phase RS four-Wire AC mains RS RS LS LS LS isn Ln Rn icn LC RC icc LC RC icb LC RC ica Vdc1 a b c n Vdc 2 Cdc 2 SW
three-pole or four-pole active filter

current source and operates on the principle of pulse-width modulation (PWM) current control. To generate the three phase reference supply currents (i sa ;isb , and isc ), seven signals, including three-phase supply voltages (vsa, vsb and vsc) at PCC, three-phase load currents (iLa, iLb, and iLc), and the AF DC bus voltage (vdc), are sensed and processed in the TMS320C31 DSP system. The three-phase reference supply currents (i sa ;isb , and isc ) are output through the digital-to-analogue converters (DAC) to be compared with the sensed three-phase supply currents (isa, isb, and isc) in a PWM current controller. The PWM current controller generates switching signals for six switches used in the AF power circuit and it operates on the principle of feedback control and exhibits knowledge of instantaneous shape and value of the supply currents. Therefore, the three-phase supply currents (isa, isb and isc) are sinusoidally shaped, in phase with the supply voltages (vsa, vsb and vsc) and are free from switching ripples during the instants the step wave load current changes from one step to other step. 4 Analysis, modelling and design

LL isa isb isc iLa iLb iLc a b c RL

IL

VL

Cdc1

First a three-phase, three-wire system was modelled using power-balance theory controlling the AF. Having derived the system model, mathematical formulation of powerbalance theory was extended to control a four-pole AF system in three-phase four-wire system. Initially, the system consisted of a three-phase three-wire AC supply, non-linear load, the three-pole AF (switch SW in Fig. 1 was open) and DSP based controller. Various components of the system were analysed separately and integrated to develop the necessary equations for digital implementation of the three-pole AF system. Some of the system equations used to implement the algorithm were realised in the DSP and the remaining part of the algorithm was realised using external hardware.

4.1

Sensing of three-phase supply voltages

Fig. 1 Schematic of active lter with three-pole or four-pole arrangement and three-phase three-wire non-linear load

The three-phase voltages were sensed at the PCC, which are also load terminals. The sensed voltages were passed through the analogue bandpass lter (BPF) to avoid any

three-phase four-Wire AC mains

RS RS RS

LS LS

isa isb

iLa iLb iLc iLn

a phase a b c n phase b phase c three-phase and single-phase non-linear loads

LS isn

isc

Ln Rn

LC RC

LC RC

LC RC

icn

icc

icb

ica a b c

Vdc 1 Cdc 1

n Vdc 2 Cdc 2

four-pole active filter

Fig. 2
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Schematic of active lter with four-pole arrangement and three-phase four-wire non-linear load
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vsa
* Vdc * compute component of Ismd peak supply current for + self-supporting DC bus of AF + * Ism

vsb BPF

vsc BPF

BPF

vdc

LPF

iLa iLb iLc

TMS 320C31 DSP board compute DC component of load real power to obtain component of peak supply current to feed real power ofthe load * Ismp

compute reference supply currents

* isa * isb

* isc

isa isb isc carrier-based PWM current controller gating signals 6

BPF

BPF

BPF Cdc Vdc AF ica Rs Rs Ls Ls Ls isa isb isc iLa iLb iLc balanced/unbalanced non-linear load Rc Lc icb Rc Lc icc Rc Lc

vsa LPF = lowpass filter BPF = bandpass filter

vsb

vsc

three-phase AC mains

Rs

Fig. 3

DSP-based control scheme of three-pole AF system with three-phase three-wire load

distortion. The outputs of the BPF were fed to the digital signal processor (DSP) system through the analogue todigital converter (ADC). The three-phase voltages fed to the DSP can be expressed as: 9 vsa Vsm sinot = vsb Vsm sinot 2p=3 1 ; vsc Vsm sinot 2p=3 In (1), Vsm and o are the voltage amplitude and angular frequency, respectively, of the system voltage at PCC.

4.3 Computation of DC component of load real power

The instantaneous real power (pL) of a three-phase load can be expressed as: pL vsa iLa vsb iLb vsc iLc 3 The quantity pL can be separated into two components:  L , which is the DC component of load real power, and p ~ L , which is the AC component of load real power. The p ~ L constitutes the load harmonic power along component p with ~ qL , which is the AC component of the load reactive power. The DC component of the load reactive power is denoted as  qL . To obtain unity power factor sinusoidal shaped supply currents, the AF system should feed a sum ~ ~ of  qp q, which is the load harmonics and reactive power. The supply system should feed only the DC  : To separate component of the load real power p instantaneous real power of the load into two components (AC and DC) a lowpass lter (LPF) was used. The Butterworth LPF was realised in the DSP using discrete equations. The Butterworth LPF was designed using bilinear transformation and the necessary equations of the LPF are derived in the Appendix.

4.2

Sensing of three-phase load currents

The three-phase currents of non-linear load were sensed using Hall effect current sensors and fed to the DSP system through ADC. The sensed load currents may be expressed as: 9 1 P > an sinfnot Fg > iLa IL sinot F > > > n 2 > > > bn cosfnot Fg > > > > > iLb IL sinot F 2p=3 > > 1 > P > = an sinfnot F 2p=3g 2 n 2 > > bn cosfnot F 2p=3g > > > > iLc IL sinot F 2p=3 > > 1 > P > > > an sinfnot F 2p=3g > > > n 2 > > ; bn cosfnot F 2p=3g In (2), the rst part relates to the fundamental component for each phase and the second part relates to harmonic component of the load current in each phase. The quantities an and bn are the amplitudes of the sinusoidal and cosinusoidal harmonic components, respectively, present in the load currents.
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4.4 Computation of energy required for self-supporting DC bus of AF

To have proper current control of the AF system, it is essential to maintain the DC bus voltage of the AF system . The DC bus voltage of the AF close to a desired value Vdc system was sensed and fed to the DSP through the ADC. An AD202 isolation amplier was used to sense the DC bus voltage of the AF system. The sensed voltage was passed through a lowpass lter to eliminate switching noise present in the sensed DC bus voltage. The output of the LPF is denoted as vdc . The energy difference corresponding to Vdc and vdc over the interval Tx is expressed as: h i 1 2 2 Dedc e 4 dc edc Cdc Vdc Vdc 2
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where Dedc is the energy required to sustain the DC bus voltage Vdc of the AF system close to the set reference . value Vdc

4.5 Computation of amplitude of reference supply currents

The amplitude of the supply current has two components; , which relates to the DC component of load real power, Ismp , which corresponds to the differential energy Dedc and Ismd needed for a self-supporting DC bus voltage for the AF system and to feed losses in the AF power circuit. The is expressed [6, 7] as: component Ismp   L 2 P 5 Ismp 3 Vsm
is expressed [6, 7] as: The component Ismd   2 Dedc Ismd 3 Vsm Tx

in the load current, such as a stepped wave current drawn by a diode-fed RL load. Also, originally developed for a three-pole AF system but as demonstrated through simulations and experimentations, the proposed scheme is scalable for a four-pole AF system. The four-pole AF system proposed in this paper could nd potential applications to eliminate power-quality problems caused by a variety of single-phase/three-phase balanced/unbalanced loads operating in a three-phase, four-wire supply system.

4.7

Design of AF power circuit

where the interval Tx Ts =6, and Ts 1=fs , and fs frequency of the supply voltage at the PCC. is expressed as: The amplitude of the supply current Ism
Ism Ismp Ismd

4.6 Computation of reference supply currents

Harmonic-free unity-power-factor three-phase reference supply currents were computed using unit current templates (usa, usb, and usc) in phase with the supply voltages (vsa, vsb and vsc). The unit current templates are expressed as below: vsa vsb vsc usa ; usb and usc 8 Vsm Vsm Vsm The peak amplitude of the supply voltage (Vsm) was computed using three-phase voltages (vsa, vsb and vsc) sensed at PCC: r 2 2 2 vsa v2 Vsm 9 sb vsc 3 The three-phase reference supply currents are expressed as: 9 i sa Ism usa = i 10 sb Ism usb ; isc Ism usc From the discussion in Sections 4.5 and 4.6, it is clear that the control scheme proposed in this paper is based on computation of instantaneous power using three-phase supply voltages (vsa, vsb and vsc) at the PCC and three-phase load currents (iLa, iLb and iLc). The computed instantaneous ) of the power is used to calculate a component (Ismp amplitude (Ism ) of the reference supply current. A similar approach to compute amplitude of reference supply currents is proposed in [16, 17]. However, owing to lack ), the AF system needed a battery pack of components (Ismd to support the DC bus voltage. The method proposed in [16, 17] is based on ab transformation of the load currents and the system voltages to compute load power. The preprocessing of the systems currents and voltages in the ab transformation blocks reduces computation time. However, because of the emergence of faster DSPs, computation time is not a critical issue for the scheme proposed in this paper. Unlike the method proposed in [16, 17], the method proposed here provides an instantaneous compensation for the load harmonics and reactive power and does not need time window control to eliminate sharp changes/distortions
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The power circuit of the three-pole system is shown in Fig. 1. The power rating of the AF circuit is based on the total harmonics distortion (THD) present in the load current. In general, THD in an RL non-linear load current varies between 20 and 50% for a load changing from rated condition to 10% of the rated value. The 5 kVA non-linear load considered in this investigation has approximately 30% THD. For a 5 kVA load operating with a 60 V AC system, the IGBTs of the AF system are rated at 50 A, which includes a tolerance factor of approximately 2. This tolerance allows the AF power circuit to withstand occurrence of overcurrent conditions. It is also desirable that the AF system should have at least twice the boost in the DC bus voltage with respect to the amplitude of the AC phase voltage at the PCC. This is an important condition to avoid violation of current distortion and current control limits [18]. Therefore, the energy storage capability of the DC bus of the AF should be sufcient to sustain disturbances arising from the load perturbation. Upon load perturbation, a desired increase or decrease in amplitude of the reference supply currents may not be instantaneously available to the current controller, thereby necessitating an energy exchange between the AF system and the load. In practice, the AF system should have energy storage and exchange capabilities as it ensures local energy management without disturbing the supply system during transient operating conditions of the load. It can be assumed that the AF transient response time is 200 ms, which is equal to the DSP processing time required to generate new commands in sampling interval of 200 ms. Therefore, energy exchange Dedc between the AF and the load in one sampling interval is 200 ms multiplied by the load power in watts. This is equal to 1.0 J for a 5 kVA load operating at close to unity power factor. The differential energy of the DC bus capacitor of the AF system is computed from (4), and is: h i 1 2 Vdc 2 Dedc Cdc Vdc 2 1 Vdc Vdc Vdc 11 Cdc Vdc 2 In the DSP-based control scheme of the AF system, on setting Vdc 2Vsm 170 V. For Dedc 1:0 J and for a proper current control [18] of the AF system, Vdc is . Therefore, during controlled to within 710% around Vdc transient conditions such as warranted by load perturbation requiring energy exchange between the AF and the load the DC bus voltage of the AF (Vdc) exhibits two extreme possible values, one corresponding to a load application , and the other relating to load withdrawal with Vdc 0:9Vdc with Vdc 1:1Vdc . Therefore, on substituting Vdc 170 V, Vdc 0:9Vdc and Dedc 1:0 J, (11) results in Cdc 364 mF. On the other hand, for Vdc 1:1Vdc , Cdc is to be 330 mF. The AF system can also be used for load balancing. With a single-phase load on the system, a dominant secondIEE Proc.-Electr. Power Appl., Vol. 151, No. 4, July 2004

harmonic voltage appears in the AF DC bus voltage. Therefore, under unbalanced load conditions, the AF system operates as a two-pulse converter and the ripple voltage with the 120 Hz frequency appears on the AF DC bus. The ripple voltage is expressed [19] in terms of instantaneous charging/discharging current (idc) as follows: Z 1 Idc Vdc;ripple idc dt sin 2ot 12 Cdc 2oCdc where Idc =2oCdc is the amplitude of the second-harmonic ripple voltage in the AF DC bus. It is observed from the experimental set-up of the AF system that, under unbalanced conditions (one phase out of service due to fault), a three-phase 5 kVA load effectively becomes 2.7 kVA. Therefore, in (12), the charging/discharging current Idc corresponds to 0.86 power factor load operating at 2.7 kVA. For 170 V on the AF DC bus, the current Idc is 4.1 A for a load with the 30% THD. Considering that the second-harmonic ripple content in the AF DC bus voltage due to unbalanced load is approximately 77.5%, (for peak-to-peak ripple). Therefore, Vdc;ripple 0:15Vdc from (12), Cdc 426 mF.
PM 3394, FLUKE & PHILIPS ch1 1 ch2 ch3 ch4 3 i La 2 i sa V sa

In this investigation, the AF DC bus capacitor is chosen to be 175 mF because the prototype of the AF system is tested at 1.25 kVA load. The inductors (RC and LC) of the AF system are designed with information of carrier signal frequency and hysteresis bandwidth of the AF current. It is observed that, when instantaneous supply voltage is around its peak value, the switching frequency is maximum and the hysteresis band of the AF current is minimum. However, when the instantaneous supply voltage is around its zero crossing points, the switching frequency is minimum and the hysteresis band of the AF current is maximum. In this work, the AF inductor was designed at 500 mA hysteresis bandwidth of the AF current and at a switching frequency of 3 kHz, which is the frequency of the carrier signal. The equation governing the dynamics of the AF power circuit is: dic v f vs 13 dt where vf is the PWM voltage at the inverter pole point and vs is the instantaneous voltage at the PCC. When the R C i c LC
PM 3394, FLUKE & PHILIPS ch1 ch2 ch3 ch4 2 3 i sa 1 V dc 2 V dc 1

i ca

i La time, 5 ms/div b

time, 5 ms/div a PM 3394, FLUKE & PHILIPS ch1 ch2 i sa ch3 ch4 i sb 3 1 2

PM 3394, FLUKE & PHILIPS V dc

ch1 1 ch2 ch3 ch4 3 2

V sa

i ca

i cb

i cc 4 i sc 4

time, 5 ms/div c

time, 5 ms/div d

Fig. 4

Switch IN response of three-pole AF system at 1.13 kW three-phase three-wire load

a vsa 60 V RMS, isa 6.97 A RMS, iLa 6.25 A RMS and ica 1.71 A RMS THD in load current 29.7% THD in supply current 4.5% b Vdc1 Vdc2 73 V, isa 6.97 A RMS and iLa 6.25 A RMS THD in load current 29.7% THD in supply current 4.5% c vsa 60 V RMS, isa isb isc 6.97 A RMS d vdc 146 V RMS, ica icb icc 1.71 A RMS
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instantaneous voltage (vs) at the PCC is passing through the peak value (i.e. vs Vsm) and during a switching interval of the AF power circuit, it can be assumed that vf is very close to the supply voltage. Let us assume that vf 1:1Vsm . RC is very small and can be neglected; therefore, (13) can be rewritten as: Lc dic vf vs 1:1Vsm Vsm dt p 0:160 2 14

Experimental performance of AF system

The prototype of AF system was designed, developed and implemented using a TMS320C31 DSP system [20] for its control algorithm. Extensive experimental investigation has been carried out [5] on the three-pole structure of the AF system, and therefore, only selected experimental test results are given here. The experimental results are discussed in the following Sections.

The one switching period is based on the selected carrier signal frequency, which is equivalent to dt (1/3 kHz) 0.33 ms. Therefore, for a 500 mA hysteresis bandwidth dic 500 mA, the AF inductance LC can be expressed as; p 0:160 2 0:33 ms 5:6 mH 15 LC 500 mA In this work an available inductor with a nearby value of 3.94 mH is used in the AF power circuit, which is closed to the designed value.
PM 3394 , FLUKE & PHILIPS

5.1 Switch IN response of three-pole AF system

The results shown in Fig. 4 are based on AF system shown in Fig. 1, in which a three-phase diode-bridge rectier-fed RL load is considered. It is found from Fig. 4 that the AF system feeds harmonics and reactive power of the nonlinear load locally and exhibits a self-supporting DC bus. The supply system feeds the DC component of the load real power as the well as required energy loss in the AF circuit to have a self-supporting DC bus of the AF system. The supply system feeds three-phase unity power factor
PM 3394 , FLUKE & PHILIPS ch1 ch2 ch3 1

ch1 1 ch2 ch3 2 ch4

V sa

i sa ch4 2

i La

i ca

time, 5 ms/div time, 5 ms/div a b

PM 3394 , FLUKE & PHILIPS ch1 1 i sa ch2 ch3 2 ch4

PM 3394 , FLUKE & PHILIPS

ch1 ch2 ch3 ch4 i sb

V dc

i ca

3 3 i sc i sn = i cn 4

i cb

i cc

time, 5 ms/div c

time, 5 ms/div d

Fig. 5

Switch IN response of four-pole AF system at 1.13 kW three-phase three-wire load

a vsa 60 V RMS, isa 6.97 A RMS, iLa 6.25 A RMS and ica 1.71 A RMS THD in load current 29.7% THD in supply current 4.9% b Vdc1 Vdc2 73 V, isa 6.97 A RMS and iLa 6.25 A RMS THD in load current 29.7% THD in supply current 4.9% c isa isb isc 6.97 A RMS, isa ica 0.5 A RMS d vdc 152 V, ica icb icc 1.71 A RMS
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sinusoidal currents needed for the in-phase component of the fundamental load currents. The AF system feeds harmonics and reactive power currents of the load. The values of all the quantities shown in Fig. 4 are shown.

5.2 Response of AF system with return neutral conductor

In Fig. 1, a three-phase load is connected at the PCC in parallel with the AF system. The fourth pole (center point of two equal halves of the DC bus capacitor) of the AF system is connected to the neutral point of the three-phase four-wire supply system through the inductor (Rn and Ln). Therefore, a return path is made between the centre tapped DC capacitor of the AF system and the neutral point of the supply system. In this conguration the AF system behaves as a four-pole device. The response of a four-pole AF system with three-phase three-wire load is shown in Fig. 5. It is observed from this Figure that, as soon as AF system is switched into the system, the stepped wave shaped supply
24 20 value of harmonic, % 16 12 8 4 0 3 5 7 11 13 17 19 23 25 29 31 order of harmonic Without any compensation: Load current with 29.7% THD With 3-pole AF system: Supply current with 4.5% THD With 4-pole AF system: Supply current with 4.9% THD

currents turn into a sinusoidal shape with unity power factor and the AF system compensates for load harmonics and reactive power. The voltages across both halves of the DC bus capacitors are found to be same. The AF system exhibits the desired self-supporting DC bus voltage. The current in the neutral conductor consists only of switching noise generated due to the PWM switching of the AF devices. With the AF system in action, the system behaves as a three-phase unity power factor balanced network on AC supply. However, owing to the presence of a fourth wire, the supply current consists of a third harmonic with the value of 2.6%. The supply current shown in Fig. 4 (results for three-pole AF system) does not consist of a third harmonic owing to the absence of a return path for cophasal harmonics. This return path is provided by a physical connection between the centre-tapped DC bus capacitor of the AF system and the neutral point of the three-phase four-wire supply system. Therefore, it can be observed that the four-pole AF system operates as a return path for co-phasal harmonics and that is the reason for the appearance of a third harmonic in the frequency spectrum of the supply current. The values of all the quantities shown in Fig. 5 are shown. Figure 6 shows the harmonic spectrum of supply and load current with the AF as a three-pole device (switch SW open in Fig. 1) and with the AF as a four-pole device (switch SW closed in Fig. 1). It was found that, under steady operating conditions of load, the THD in the supply current is below 5% for 29.7% THD in the load current. The THD in the supply current for a four-pole AF (switch SW closed in Fig. 1) is a little higher. This is due to the presence of a return path for co-phasal harmonics.

5.3

Investigation of four-pole AF system

Fig. 6 Harmonic spectrum of load and supply currents with threepole and four-pole structure of AF system

After an extensive experimental investigation on the threepole AF system had been made and the signicance of the return path through the fourth wire in a three-phase four-

vsa
* Vdc

vsb BPF

vsc BPF

vdc

LPF

compute component of peak supply current for selfsupporting DC bus of AF TMS 320C31 DSP board

* Ismd

BPF + +
* Ism

iLa iLb iLc compute DC component ofload real power to obtain component of peak supply current to feed real power of the load

compute reference supply currents

* ica * icb * icc

* Ismp isa isb isc

carrier-based PWM current controller gating signals 6

BPF vsa

BPF vsb

BP F Cdc 1 vsc Cdc 2 ica icb Rc Lc Vdc AF icc Rc Lc

LPF = lowpass filter BPF = bandpass filter

isn isa Rs Ls isb isc

Rn Ln

Rc Lc

three-phase four-Wire AC mains

iLn

iLa

iLb

iLc

balanced/unbalanced nonlinear load

Fig. 7

DSP-based control scheme of four-pole AF system with three-phase four-wire load

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wire supply system had been established, it was necessary to demonstrate the usefulness of the four-pole topology of the AF system for non-linear loads in a three-phase four-wire supply system. The control scheme of the four-pole AF system for three single-phase loads connected on a threephase four-wire supply system is given in Fig. 7. In practice it may happen that a three-phase four-wire supply system needs to feed different types of single-phase loads connected between phases and neutral. This arrangement is shown in Fig. 2. For this system a simulation model using mathematical formulation of power-balance theory was developed. Once again the objective is that the supply system should only feed the DC component of load real power plus small losses in the AF system and the rest of the power, which is harmonics and reactive power of the load, should be supplied from the AF system. Therefore, the supply system is relieved and does not feed harmonics and reactive power currents of the non-linear unbalanced loads. The harmonic power of the load consists of two components, namely, the AC component of the load real power and the AC component of the load reactive power, whereas reactive power supplied by the AF system is equivalent to the DC component of load reactive power. The simulation model of the four-pole AF system was developed in the power electronics simulation software SIMCAD to test it with a balanced load consisting of three identical single-phase non-linear loads and with unbalanced loads, consisting of three non-identical non-linear singlephase loads. Figure 8 shows the response of the four-pole AF system with the three single-phase loads of identical characteristics. The design of the AF system is based on balanced operating conditions and the AF system shapes the three-phase supply currents to be sinusoidal and in phase with the supply voltages. From Fig. 9 it is clear that the neutral wire of the supply has co-phasal harmonics. However, the AF system compensates for all these harmonics and makes the supply neutral conductor free from co-phasal harmonics. From Fig. 8 it is clear that, during load change from a lower value to a higher value, the AF system experiences a sag in its DC bus voltage resulting in loss of current control. Therefore, during load change the supply currents are distorted because of insufcient DC bus voltage, and the neutral conductor also has co-phasal harmonics. However, as soon as transient operating conditions due to load perturbation are over, the AF system recovers the above-mentioned voltage sag in its DC bus and current in the supply neutral conductor disappears. On the other hand if it is desired

to have zero current in the supply neutral conductor even during transient conditions of load increase, the AF DC bus ) should be set at a higher value voltage reference (Vdc leading to higher losses and voltage stresses in the AF power circuit. Figure 10 shows the response of the four-pole AF system under the three single-phase loads having different characteristics. Phase a has RL non-linear load, phase b has linear load in combination with RC non-linear load, and phase c has RC non-linear load. The AF system has been found to be capable of compensating for current in the supply neutral conductor as well as shaping the three-phase supply currents to be sinusoidal and in phase with the supply voltages. The harmonic spectrum of the supply as well as the neutral current is shown in Fig. 11. It is found from this Figure that the THD in the load current varies

100 value of harmonics, % 90 80 70 60 50 40 30 20 10 0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 order of harmonics a harmonic spectrum without compensation, THD 36.6 % harmonic spectrum with compensation, THD 0.8 %

100 90 80 70 60 50 40 30 20 10 0

harmonic spectrum without compensation, THD 373.6 % harmonic spectrum with compensation, THD 0.7 %

value of harmonics, %

11 13 15 17 19 21 23 25 27 29 31 order of harmonics b

Fig. 9 Harmonic spectrum of steady state supply, load and neutral currents with four-pole active lter operating with three identical single-phase loads
a Harmonic spectrum of load and supply current b Harmonic spectrum of neutral current

sa

Vdc isa ica

Vdc isa iLa ica
sa

iLa

sb

isb

iLb icb
sc

sb

isa iLb icb

isc iLc icc ins time, 15 ms/div

icc ins iLc

sc

isc

Fig. 8 Response of four-pole active lter with three identical single-phase loads
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Fig. 10 Response of four-pole active lter with three non-identical single-phase loads
IEE Proc.-Electr. Power Appl., Vol. 151, No. 4, July 2004

100 90 value of harmonics, % 80 70 60 50 40 30 20 10 0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 order of harmonics a harmonic spectrum without compensation, THD 30.9 % value of harmonics, % harmonic spectrum with compensation, THD 0.6 %

100 90 80 70 60 50 40 30 20 10 0

harmonic spectrum without compensation, THD 88.2% harmonic spectrum with compensation, THD 0.7 %

11 13 15 17 19 21 23 25 27 29 31 order of harmonics c

100 90 value of harmonics, % 80 70 60 50 40 30 20 10 0

100 harmonic spectrum without compensation, THD 56.9 % value of harmonics, % harmonic spectrum with compensation, THD 0.7 % 90 80 70 60 50 40 30 20 10 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 order of harmonics b 0 1 3 5 7 9 11 13 15 17 19 21 23 25 27 29 31 order of harmonics d harmonic spectrum without compensation, THD 147.0 % harmonic spectrum with compensation, THD 3.3 %

Fig. 11 Harmonic spectrum of steady state supply, load, and neutral currents with four-pole active lter operating with three non-identical single-phase load
a Harmonic spectrum of load and supply current for phase a b Harmonic spectrum of load and supply current for phase b c Harmonic spectrum of load and supply current for phase c d Harmonic spectrum neutral current

from one phase to another, being highest (88.2%) in phase c and lowest (30.9%) in phase a. The THD in the load neutral conductor current is 147%, which includes the dominant fundamental component along with co-phasal and odd harmonics, whereas the, THD in the supply neutral conductor current is only 3.3%, demonstrating that the AF system compensates for current in the neutral conductor. The THD of the currents in all three phases of the supply system is well below the 5% mark of the IEEE 519 standard. From Fig. 11 it is observed that, unlike phases a and b, during load perturbation the supply current in phase c experiences higher distortion. This is because the DC bus voltage requirement of the AF system is different for all three phases, with the highest for phase c, as this is the maximum distorted load. However, to prevent the reappearance of the supply neutral current and to prevent distortion in any of the supply currents, the DC bus voltage ) of the AF system must be set based on the reference (Vdc load current that has the maximum value of THD. It is also observed from Fig. 10 that the AF system is found to be capable of balancing three single-phase loads of different characteristics. 6 Conclusions

(3rd, 9th, 15th etc) harmonics. Therefore, for a load that generates third harmonics, the four-pole AF system has been found to be effective compared to a three-pole AF system. It has also been found that three single-phase balanced loads on a three-phase four-wire supply system generate a third harmonic in the neutral conductor. On the other hand, three single-phase unbalanced loads on a threephase four-wire supply system generate third harmonics, and all odd harmonics, including the fundamental current component in the neutral conductor. From the simulation study it has been found that the four-pole AF system is an ideal candidate for eliminating all harmonics in the supply neutral conductor and providing a sinusoidal shape to the three-phase supply current in phase with the supply voltage. The harmonics spectrum of the load and supply currents has been given to demonstrate the effectiveness of the AF system. 7 References

Power-balance theory has been used to obtain control commands for the AF system, which has been described, and relevant mathematical equations given. Experimental results on three-pole and four-pole AF systems with threephase three-wire load have been given to establish the effectiveness of the fourth pole in an AF to supply co-phasal
IEE Proc.-Electr. Power Appl., Vol. 151, No. 4, July 2004

1 Gyugyi, L., and Strycula, E.C.: Active AC power lters. IEEE Industry Applications Society Annual Meeting, Atlanta, Georgia, USA, 1976, pp. 529535 2 Paice, D.A.: Power electronics converter harmonics-multipulse methods for clean power, (IEEE Press, New York, USA 1996) 3 Akagi, H., Kanazawa, Y., and Nabae, A.: Instantaneous reactive power compensators comprising switching devices without energy storage components, IEEE Trans. Ind. Appl., 1984, 20, (3), pp. 625630 4 Bhattacharya, S., Veltman, A., Divan, D., and Lorenz, R.D.: Flux based active lter controller. IEEE Industry Application Society Annual Meeting, Orlando, Florida, USA, 1995, pp. 24832491 5 Singh, B., Singh, B.N., Chandra, A., and Al-Haddad, K.: DSP-based implementation of an improved control algorithm of a three-phase 475

6 7

8 9 10 11

12

13 14 15

16 17 18 19 20 21

active lter for compensation of unbalanced non-linear loads, Eur. Trans. Electr. Power Eng., 2000, 10, (1), pp. 2934 Malesani, L., Rossetto, L., and Tenti, P.: Active lter for reactive power and harmonics compensation. IEEE Power Electronics Specialists Conference, Vancouver, Canada, 1986, pp. 321330 Singh, B., Al-Haddad, K., and Chandra, A.: A new control approach to three-phase active lter for harmonics and reactive power compensation, IEEE Trans. Power Syst., 1998, 13, (1), pp. 133138 Dixon, J., Contardo, J., and Moran, L.: DC link fuzzy control for an active power lter, sensing the line current only. IEEE Power Electronics Specialists Conference, 1997, pp. 11091114 Singh, B.N., Chandra, A., and Al-Haddad, K.: DSP-based indirectcurrent-controlled STATCOM Part 1: evaluation of current control techniques, IEE Proc. Electr. Power Appl., 2000, 147, (2), pp. 107112 Singh, B.N., Chandra, A., and Al-Haddad, K.: DSP-based indirectcurrent-controlled STATCOM Part 2: multifunctional capabilities, IEE Proc. Electric Power Appl., 2000, 147, (2), pp. 113118 Bhavaraju, V.B., and Enjeti, P.: Analysis and design of an active power lter for balancing unbalanced loads. IEEE Power Electronics Specialists Conference, PESC92 Record, 1992, Vol. 2, pp. 12141220 Xu, L., Acha, E., and Agelidis, V.G.: A new synchronous framebased control strategy for a series voltage and harmonic compensator. IEEE Applied Power Electronics Conference, Anaheim, California, USA, 2001, pp. 12741280 Madtharad, C., and Premrudeepreechacharn, S.: Active power lter for three-phase four-wire electric systems using neural networks, J. Electr. Power Syst. Res., 2002, 60, pp. 179192 Singh, B., Al-Haddad, K., and Chnadra, A.: Active power lter with sliding mode control, IEE Proc., Gen. Transm. Distrib., 1997, 144, (6), pp. 564568 Quinn, C.A., Mohan, N., and Mehta, H.: A four-wire, currentcontrolled converter provides harmonic neutralization in three-phase, four-wire systems. IEEE Applied Power Electronics Conference, San Diego, California, USA, 1993, pp. 841846 Blajszczak, G.: Space vector control of a unied compensation for nonactive power, IEE Proc. Electric. Power Appl., 1994, 141, (4), pp. 207211 Blajszczak, G.: Compnesation of non-active power using time window method, Eur. Trans. Electr. Power Eng., 1992, 2, (5), pp. 285290 Ooi, B.T., Dixon, J.W., Kulkarni, A.B., and Nishimoto, M.: An integrated ac drive system using a controlled-current PWM rectier/ inverter link, IEEE Trans. Power Electron., 1988, 3, (1), pp. 6471 Mohan, N., Undeland, T.M., and Robbins, W.P.: Power electronics: converters, applications, and design, (John Wiley & Sons, Inc., New York, USA, 1995) MX31 Modular Embedded System Developers Guide, Integrated Motions Inc. California, USA, 1992 Oppenheim, A.V., Schafer, R.W., and Buck, J. R.: Discrete-time signal processing, 2 Edn. (Prentice Hall, Upper Saddle River, NJ, USA, 1999)

where T is the sampling time of the DSP used for real-time implementation of the AF control algorithm. By substituting the value of s, (16) can be further expressed as: H s y s u s 1 1
1 1z1 pfc T 1z1

pfc T 1 z1 pfc T 1 pfc T 1z1 Equation (18) can be rearranged as: y spfc T 1 y spfc T 1z1 uspfc T uspfc T z1

18

19

Equation (19) can be converted into the time domain as follows: pfc T 1y n pfc T 1y n 1 pfc T un pfc T un 1 20

To convert an s-domain equation into the time domain, y(s) is the replaced by y(n), y(s)z1 is replaced by y(n1), u(s) is replaced by u(n), and u(s)z1 is replaced by u(n1). Therefore, the output of the LPF at nth sampling instant is expressed as: y n pfc T 1 pfc T y n 1 u n pfc T 1 pfc T 1 pfc T u n 1 pfc T 1

21

Equation (21) can be rewritten as: y n where pfc T 1 y n 1 pfc T 1 pfc T u n u n 1 pfc T 1 22

8 Appendix

8.1 Parameters of test systems

Vs per phase RMS value of supply voltage 60 V; fs frequency of voltage at PCC 60 Hz; RS 0.1 O, LS 0.5 mH; RC 0.1 O; LC 3.94 mH; Cdc 175 mF with centre tap, and DSP computation time 200 ms.

y(n) output of the LPF at nth sampling instant y(n1) output of the LPF at (n1)th sampling instant u(n) input to the LPF at nth sampling instant u(n1) input to the LPF at (n1)th sampling instant For digital implementation of power balance theory in the AF control structure, T 200 ms (DSP sampling time of the AF control algorithm) and fc 10 Hz. A 10 Hz cut-off frequency for the LPF operates well as the gain of LPF ~ L signal will be zero for fc 10 Hz. for the frequency of p This ensures proper division of pL into two parts such as  p ~. pL p By substituting, T 200 ms and fc 10 Hz, the (22) can expressed as: y n 0:9877y n 1 0:0063un un 1 23 When implemented in the DSP, (23) works as a Butterworth LPF for input signal u(n) and provides ltered output y(n). For the AF system, the input signal u(n) is pL L: and the output signal y(n) of the LPF is p

8.2 Design of lowpass lter in DSP:

The Butterworth lowpass lter (LPF) is used to separate load real power into DC and AC components. The design of the LPF is as follows: The transfer function of a LPF in the frequency domain can be expressed as: y s 1 16 H s us 1 2psfc where fc is the cut-off frequency of the LPF. Using bilinear transformation [21], the s-plane can be mapped onto the z-plane by:   2 1 z1 17 s T 1 z1

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IEE Proc.-Electr. Power Appl., Vol. 151, No. 4, July 2004