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PEDS2009

A Comparative Study of Two High Performance Current Control Techniques


for Three-Phase Shunt Active Power Filters

Wanchak Lenwari Milijana Odavic


Dept. of Control System and Instrumentation Dept. of Electrical and Electronic Engineering
Engineering The University of Nottingham
King Mongkut’s University of Technology Thonburi Nottingham, United Kingdom
Bangkok, Thailand milijana.odavic@nottingham.ac.uk
wanchak.len@kmutt.ac.th

Abstract -- In recent years, the increase of non-linear loads in loads. This paper will focus on the control of shunt active
electrical power system has sparked the research in power power filters which has been widely used to improve power
quality issue. The shunt active power filter (SAPF) is a power quality. The performance of active filter is dependent on two
electronic device which has been developed to improve power parts: the harmonic reference generation and current control
quality. The current control of shunt power filters is critical system.
since poor control can reinforce existing harmonic problems.
Various control strategies have been proposed by many A vast variety of current control methods for active power
researchers. In this paper, a comparative evaluation of the filters has been introduced by many researchers in order to
performance of two current control techniques, resonant and track the reference currents with the lowest possible error
predictive controller, is presented with identical system which is the main target for all harmonic compensations [1]-
specification. The design procedure and principle of both [3]. These methods are hysteresis control [4], predictive
current control methods are also presented in detail. Simulation control [5]-[11], resonant control [12]-[15], instantaneous
results show the comparison of transient response, steady state reactive power theory [16], and repetitive control [17]-[18].
control and performance in the presence of variation of supply
impedance between two control techniques. Among current control techniques, resonant based
compensator and predictive based compensator appear to be
Index Terms--active filters; power quality; power system suitable for active filter control as both provide precise
harmonics; current control; resonant controller; predictive control and good speed of response. This leads to the main
controller objective of this paper which aims to evaluate and compare
both current control schemes. This paper presents the
comparative performance evaluation of these two high
I. INTRODUCTION performance current control strategies: resonant based
There are two types of loads in electrical power systems, compensator and predictive based compensator. Comparison
linear and non-linear loads. A linear element in a power criteria considered here is based on the control performance.
system is a component in which the current is proportional to The design procedures and principles of two control
the voltage. On the other hand, the current shape of a non- techniques are discussed here. The simulation results of the
linear load is not the same as the voltage. Nowadays, non- comparison are presented, which is done according to the
linear loads are a major source of harmonic generation for identical system parameter.
most power networks and can cause resonance problems and
degrade the power quality, in particular, rectifiers which are II. CONTROL OF SHUNT ACTIVE POWER FILTER
commonly used in switched mode power supplies for many
domestic appliances. In addition, rectifiers are extensively The standard shunt active filter has the structure illustrated
used as interface circuits for power electronics system in in Fig. 1 where control structure consists of two control loops,
industry. The conventional method to filter out the harmonics dc voltage control (outer loop) and current control (inner
is to use tuned passive filters but active power filters have loop) which mainly determines the filtering performance. The
superior in filtering performance. output voltage of the inverter, Vpwm, is controlled with respect
to the voltage at the point of common coupling, Vpcc, to force
An active power filter has two main configurations: 1) the output current (iF) to match harmonic reference values
Shunt configuration which the filter is connected in parallel obtained from harmonic current extraction methods. The
with harmonic loads and 2) Series configuration which the voltage loop has a bandwidth which is much smaller than that
filter is connected in series with the loads. Considering of current control hence it can cause no interference to current
harmonic cancellation basic idea, shunt active filter injects controller performance investigated in this paper. Resonant
current to directly cancel polluting current while series active based compensator and predictive based compensator are
filter compensate the voltage distortion caused by non-linear discussed as follows.

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PEDS2009

iS Vpcc iL
Vsa
Vsb Non-linear
Loads
Vsc

Contactor

Vdc*+ iS* + iF* iF


Voltage Current
- Control Control
Vpwm
Vdc ih*

Control +
C
-
} Vdc
Scheme
Gate
Harmonic Current Signals
Extraction i h* Inverter

Fig. 1. The structure of three-phase shunt active filter

A. Design of Resonant Based Current Control 35


30
The resonant compensator was developed to accurately
Magnitude (dB)

control the signal at resonant frequency, whilst rejecting all 25

other frequencies. The basic controller is given in (1) [12]- 20


[13]. 15
10
5
K .s
C ( s ) = K p + ∑ 2 ih
0 1
(1) 10 10
2
10
3 4
10 10
5

h s + (ω .h)
2
Frequency (rad/sec)

Fig. 2. Bode plot of resonant controller having two resonant frequencies at


The compensator provides a very high gain at the tuned 300 Hz and 600 Hz
resonance frequencies thus zero or quasi-zero steady state
error can be achieved. Another advantage of this control
scheme is the ability to eliminate the signal having the same
az − b
frequency as the tuned resonance frequencies which act as Computation PWM Active
external disturbance to the current control system. In order to idq_ref (n)
z − cz + d
2
Delay Inverter Filter
+ cz − d + + 1 Idq (t)
precisely design a controller, the modified transfer function of _ + z −1 ZOH Ls + R
resonant controller is proposed in [14]-[15] as expressed in idq (n) z 2 − ez + f
(2) where Kp and Krh are the gain of proportional term and KP
each resonant term respectively while Q is a quality factor of Ts
resonant term.
Fig. 3. z-domain current control loop in dq frame of reference

K rh ω h .s In this paper, the design was undertaken in the discrete


C ( s) = K p + ∑ (2) domain by the discrete root locus of the closed-loop system
h s + (ω h / Qh ) s + (ω h ) 2
2
considering one computation delay as shown in Fig. 3. The
PWM inverter was represented by a zero-order hold.
It is obviously seen that the control parameters in (2) In addition, the continuous time is discretized by using a
require a complicated design procedure particularly when forward rectangular approximation to obtain all discrete
many harmonics are compensated by a controller. The use of model including the plant. The choosing of controller
dq frame of reference alleviates this complication since two parameters in Fig. 3 requires a complicated procedure and in
pairs of harmonics are seen as the same frequency (i.e. 5th and this paper, the criteria are based on a similar principle as
7th harmonics both appear at 300 Hz) however with a different presented in [15]. As all designed controller parameters
sign of q-axis component. Therefore, four main harmonics determine the control performance therefore a compromise
(5th, 7th , 11th , and 13th) can be controlled by one controller between control accuracy, speed of response, stability and
having two resonant frequencies at 300 Hz and 600 Hz as
presented by the bode plot in Fig. 2.

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PEDS2009

robustness must be taken into account in the design in where ai (i = 0 to n) are the coefficients of the n-order
particular where the power system impedance is varied. extrapolation. In this work to determine the extrapolation
coefficients, the interpolation polynomial in the Lagrange
B. Design of Predictive Based Control form [10] is used with the advantage that the sampling
The predictive current controller [10] is designed to be frequency is constant. However, when a step change occurs a
able to work even though the microprocessor incurs a large error is introduced to the prediction for the next few
processing time delay. The employed current control sampling instants depending on the order of the extrapolation
approach is based on the following discrete linear model of used. To decrease this effect, when a reference change is
the system [5]: detected the prediction over the next few sampling instants
can be frozen; the current reference value at the instant of
change can be used instead.
i (k + 1) = i (k ) ⋅ a + ( E (k ) − V (k )) ⋅ b
R⋅Ts (3) V
/
− R⋅Ts R 1− e L
T i
a=e L
≈ 1 − ⋅ Ts , b = ≈ s Vk
L R L Vk+1
i*k+1
where a and b are the coefficients approximated by a Taylor i*k
series. The time constant of the ac side of the SAPF is ik
denoted by L/R. The SAPF current at time instants k and k+1 ik+1
ik i*k+2
are denoted by i(k) and i(k +1) respectively. In order to design ik+2
two-steps ahead predictive current controller the discrete
SAPF model for the sample period between the time instances t
k+1 and k+2 can be rewritten from (3) in the following form: tk Ts tk+1 Ts tk+2
Fig. 4. Predictive controller principal
i ( k + 2) = i ( k + 1) ⋅ a + ( E (k + 1) − V (k + 1)) ⋅ b (4)
The SAPF current prediction can be defined as [10]:
The SAPF reference voltage (6) can be calculated from
(4) by introducing (5). The aim of the controller proposed in i p (k + 1) = i (k ) + (i p (k + 1) − i * (k )) + Δi (k + 1)
*

(8)
this work is to predict the SAPF voltage reference for the next Δi (k + 1) = i *p (k + 1) −i p ( k + 1)
sampling period (between the sampling instants k+1 and k+2)
to minimise the current error at the instant k+2, as shown in
Fig. 4. The performance of the analyzed predictive current
controller, which is a model-based controller, depends on the
accuracy of the model parameters used. The pole-zero
i (k + 2) = i * (k + 2) − Δi (k + 2) placement of the closed current control loop is shown in Fig.
(5) 5. If the modeled input impedance of the system perfectly
Δi (k + 2) ≈ 0
matches the actual value, the SAPF current will follow the
reference value without introducing any delay, Fig. 5a. The
system remains stable for all underestimates of the input
V (k + 1) = E p (k + 1) −
1 *
b
[
i p (k + 2) − i p (k + 1) ⋅ a ] (6) inductance [10]. Overestimates in the input inductance are
tolerated until a 100% error is reached, Fig. 5b. This stability
analysis therefore shows the control has very good robustness
Equation (6) should be calculated during the period to parameter inaccuracy.
between samples k and k+1 and it should be noted that
current and voltage values for the next sampling period (i.e.
i(k+1) and E(k+1)) are not available and need to be predicted. 1
0.6π/T
0.5π/T
0.4π/T
1
0.6π/T
0.5π/T
0.4π/T

The predicted values of i(k+1), i*(k+2) and E(k+1) are 0.8

0.6
0.7π/T 0.10.3π/T
0.2
0.3
0.8

0.6
0.7π/T 0.10.3π/T
0.2
0.3

respectively denoted by ip(k+1), ip*(k+2) and Ep(k+1). The 0.4


0.8π/T 0.4
0.5
0.6
0.2π/T

0.4
0.8π/T 0.4
0.5
0.6
0.2π/T

current reference is predicted two-steps ahead of its


0.7 0.7
0.9π/T 0.8 0.1π/T 0.9π/T 0.8 0.1π/T
0.2 0.9 0.2 0.9

appearance using values from a few previous sampling 0


π/T
π/T
0
π/T
π/T

instants. In numerical mathematics, this process of


-0.2 -0.2
0.9π/T 0.1π/T 0.9π/T 0.1π/T
-0.4 -0.4

constructing new values outside the known set of discrete data -0.6
0.8π/T 0.2π/T
-0.6
0.8π/T 0.2π/T

is called extrapolation. Generally a two-ahead extrapolation -0.8 0.7π/T

0.6π/T 0.4π/T
0.3π/T
-0.8 0.7π/T

0.6π/T 0.4π/T
0.3π/T

of the current reference using values from n previous


0.5π/T 0.5π/T
-1 -1
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1 -1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1

sampling instants can be expressed in the following nth-order


a) ideal case b) stability boundary (100% error in
discrete form: supply impedance estimation )
Fig. 5. Poles-zeros placement for the proposed predictive controller as
i *p (k + 2) = a0 ⋅ i * (k ) + a1 ⋅ i * (k − 1) + a2 ⋅ i * (k − 2) + ... + an ⋅ i * (k − n) (7) L varies

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PEDS2009

III. COMPARISON RESULTS [7] Seung-Gi Jeong, Myung-Ho Woo, “DSP-Based Active Power Filter
with Predictive Current Control,” IEEE Trans. on Industrial
The SAPF model including the control systems were Electronics, vol. 44, no. 3, pp. 329–336, June 1997.
simulated using Matlab-Simulink and the Simpowersystem [8] Mohammad Sedighy, Shashi B. Dewan, Francis P. Dawson, “A robust
toolbox. Shunt active power filters and common parameters digital current control method for active power filters,” IEEE Trans.
used for simulation are shown in Table I. The comparison Industrial Applications, vol. 36, no.4, pp.1158-1164, July/August
2000.
results between two control techniques presented are as
follows: Fig. 6 shows steady state control of both 5th(5A) , [9] H. Abu-Rub, J. Guzinski, Z. Krzeminski and H.A.Toliyat, “Predictive
current control of voltage source inverters,” IEEE Trans. Industrial
7th(3A) , 11th(1A) and 13th(0.5A) harmonics combined. Fig. 7 Electronics, vol. 51, no.3, pp.585–593, June 2004.
shows the steady state control of 5th(5A) , 7th(3A) , 11th(1A) [10] M. Odavic, P. Zanchetta, M. Sumner, “A “Two ahead” Predictive
and 13th(0.5A) harmonics together in the presence of variation Controller for Active Shunt Power Filters,” in Proc. of 32nd Annual
of supply impedance. The transient response to a step change Conference of the IEEE Industrial Electronics Society, IECON’06,
is investigated as shown in Fig. 8 where the 5th harmonic Paris, France, pp. 4713–4718.
current reference is changed from 0A to 5A at time 0.5 [11] J. Rodriguez, J. Pontt, C. A. Silva, P. Correa, P. Lezana, P. Cortes, U.
second. Ammann, “Predictive current control of a voltage source inverter”,
IEEE Trans. Industrial Electronics, vol.54, no. 1, pp. 495-503,
February 2007.
[12] D.N. Zmood, D.G. Holmes, and G. Bode, “Frequency domain analysis
of three phase linear current regulators,” IEEE Trans. Industry
IV. CONCLUSION Application, vol. 37, no. 2, pp. 601– 610, March/April 2001.
This paper has presented the comparative study in the [13] M. Liserre, R. Teodorescu, and F. Blaabjerg, “Multiple harmonics for
control performance of the two high performance current three-phase grid converter systems with the use of PI+RES current
controller in a rotating frame,” IEEE Trans. Power Electronics, vol.
control systems for shunt active filtering. The comparison is 21, No. 3, pp. 836 – 841, May 2006.
carried out by simulating. For steady state control, results [14] W. Lenwari, M. Sumner, P. Zanchetta, and M. Culea, “A high
show excellent accurate harmonic control for both current performance harmonic current control for shunt active filters based on
control systems with very small magnitude and phase errors. resonant compensators” in Proc. of 32nd Annual Conference of the
For transient response, predictive control provides a IEEE Industrial Electronics Society, IECON’06, Paris, France, pp.
considerable error according to its algorithm used the 2109–2114.
previous data to predict signals. Techniques can be applied to [15] W. Lenwari, M. Sumner, and P. Zanchetta, “The use of genetic
algorithms for the design of resonant compensators for active filters,”
improve this poor transient behavior. For design IEEE Trans. Industrial Electronics, vol. 56, no. 8, pp. 2852 – 2861,
consideration, the performance of resonant based control is August 2009.
determined by controller parameters and to obtain these [16] R.S. Herrera, P. Salmeron, and Hyosung Kim, “Instantaneous Reactive
parameters is relatively complicated particularly when higher Power Theory Applied to Active Power Filter Compensation: Different
order harmonic compensation is required. Instead, the Approaches, Assessment, and Experimental Results,” IEEE Trans.
predictive based control is less complicated regarding the Industrial Electronics, vol. 55, no. 1, pp. 184–196, January 2008.
design procedure and can control many harmonics, not only [17] R. Grino, R. Cardoner, R. Costa-Castello, and E. Fossas, “Digital
Repetitive Control of a Three–Phase Four-Wire Shunt Active Filter,”
the selected harmonics. On-going work is looking at a IEEE Trans. Industrial Electronics, vol. 54, no. 3, pp. 1495-1503,
practical comparison and performance evaluation of more March 2007.
current controllers. [18] B. Cheowait, B. Panomruttanarug, and W. Lenwari, “Design and
Analysis of Current Control for Shunt Active Filter Based on
Repetitive Control Technique using Optimization in the Frequency
Domain” in Proc. of the IEEE International Conference on Robotic
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PEDS2009

10
Resonant Control 10 Resonant Control

5 iref 5 i ref

Current(A)
Current(A)

0 0

-5
-5 ireal
ireal
-10
-10
0.5 0.52 0.5 0.52
Time(s) Time(s)

10
10
Predictive i
real Predictive
Control
5 Control
5
Current (A)

Current (A)
0
0

-5
i ref i real -5

-10 i ref
0.5 0.52 -10
0.5 0.52
Time (s) Time (s)

Fig. 6. 5th,7th, 11th, and 13th harmonic control. Fig. 7. 5th,7th, 11th, and 13th harmonic control in the
presence of supply inductance variation(+20%)

Resonant Control
10 ireal
iref
Current(A)

-5
0.5 0.52 0.54 0.56
Time(s)

i real Predictive Control


10
i ref
Current (A)

-5
0.5 0.51 0.52 0.53 0.54 0.55 0.56
Time (s)

Fig. 8. Step response to a change in 5th harmonic reference

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