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IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO.

6, JUNE 2010 1365

A Transformerless Hybrid Active Filter Using a


Three-Level Pulsewidth Modulation (PWM)
Converter for a Medium-Voltage Motor Drive
Hirofumi Akagi, Fellow, IEEE, and Ryota Kondo

Abstract—This paper presents a transformerless hybrid active Comprehensive research has been conducted on hybrid active
filter integrated into a medium-voltage motor drive for energy filters for harmonic filtering, harmonic damping, harmonic iso-
savings. This hybrid filter is intended for line harmonic-current lation, and/or harmonic termination. It has ranged from a basic
mitigation of the three-phase diode rectifier used as the front end
of the motor drive. It is based on direct connection of a passive filter research stage [3]–[6] to a practical development stage [7]–[9].
tuned to the seventh-harmonic frequency in series with an active These hybrid active filters are characterized by the combination
filter using a three-level pulsewidth modulated (PWM) converter. of a single or multiple PWM converter(s) with passive compo-
This paper provides a theoretical discussion on voltage-balancing nents such as capacitors, inductors, and/or resistors.
control of two split dc capacitors of the active filter. The 400-V Pereira, Zenkner, and Oliveira presented a hybrid active filter
15-kW motor drive system is designed, constructed, and tested,
which can be considered as a downscaled model from a medium- for the 660-MW undersea and underground high-voltage direct
voltage motor drive without regenerative braking. Experimental current (HVDC) transmission system [10]. It was installed in
results verify that the hybrid filter has the capability of satisfac- the 375-kV 60-Hz switchyard of the Duffy Avenue converter
tory harmonic filtering and stable voltage balancing in all the load station in Nassau Country, USA. The hybrid filter is based on
conditions. direct connection of a complicated triple-tuned passive filter
Index Terms—Active filters, harmonic mitigation, hybrid filters, consisting of three sets of capacitors, inductors and resistors
motor drives, passive filters. in each phase in series with an active filter using a multilevel
PWM converter. However, neither did the authors of [10] make
I. INTRODUCTION any description of harmonic-filtering performance, nor did they
have any discussion on how well the hybrid filter complied with
MEDIUM-VOLTAGE adjustable-speed motor drive for
A energy savings requires neither fast motor speed control
nor regenerative braking when it is applied to fans, blowers,
the harmonic requirements of the HVDC converter station.
Another hybrid active filter has been proposed on the basis
of the combination of a simple single-tuned passive filter with
pumps, and compressors [1]. This allows a manufacturer to use an active filter using a traditional three-phase two-level PWM
three sets of three-phase diode rectifiers and phase-shifted line- converter [11]. The passive and active filters are connected in
frequency transformers at the front end of the 7-kV 25-MW mo- series without transformers. Experimental results have verified
tor drive [2]. Moreover, the use of a three-phase diode rectifier that the hybrid filter provides good filtering performance and dc-
has the possibility of eliminating a heavy, bulky and costly line- link voltage regulation not only in steady-state conditions but
frequency transformer from the medium-voltage motor drive. also in transient-state conditions including sudden load changes
The so-called “pulsewidth modulated (PWM) rectifier” or [12]. It would be more attractive in harmonic filtering than a
“active front end” is capable of drawing three-phase sinusoidal traditional pure active filter from both viability and economical
currents from the ac mains, so that it may be preferable to the points of view, particularly for medium-voltage applications.
diode rectifier in specific low-voltage applications. However, Fig. 1 shows a feasible system configuration of the 6.6-kV mo-
the diode rectifier is much more efficient and reliable as well as tor drive equipped with a hybrid active filter at the line side [13].
much less expensive than the PWM rectifier in medium-voltage The 6.6-kV motor can be driven by a three-level NPC (neutral-
motor drives without regenerative braking. Nevertheless, the point-clamped) PWM inverter [14] with a dc-link voltage of
diode rectifier brings a large amount of harmonic current to 9 kV. Each of the 12 insulated-gate bipolar transistors (IGBTs)
the ac mains, and therefore it does not comply with harmonic used in the three-level inverter should be formed by a string of
guidelines or regulations. either two 4.5-kV IGBTs or three 3.3-kV IGBTs connected in
series. If a five-level diode-clamped PWM inverter were intro-
Manuscript received October 8, 2009; revised December 16, 2009. Current
version published May 7, 2010. Recommended for publication by Associate duced into Fig. 1, a single 4.5-kV IGBT would make the inverter
Editor B. Wu. free from simultaneous switching of two 4.5-kV or three 3.3-kV
H. Akagi is with the Department of Electrical and Electronic Engineer- IGBTs connected in series [15]. It is also possible to replace the
ing, Tokyo Institute of Technology, Tokyo 152-8552, Japan (e-mail: akagi@
ee.titech.ac.jp). three-level inverter with a modular multilevel inverter using 1.2
R. Kondo was with the Department of Electrical and Electronic Engi- or 1.7-kV IGBTs [16].
neering, Tokyo Institute of Technology, Tokyo 152-8552, Japan. He is now The hybrid active filter sitting in Fig. 1 consists of a simple
with the Mitsubishi Electric Corporation, Amagasaki 661-8661, Japan (e-mail:
kondo.ryota@db.MitsubishiElectric.co.jp). passive filter tuned to the seventh-harmonic frequency and an
Digital Object Identifier 10.1109/TPEL.2009.2040002 active filter using a three-level NPC PWM converter [17]. The

0885-8993/$26.00 © 2010 IEEE


1366 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 6, JUNE 2010

II. FOUR HUNDRED VOLT 15-W EXPERIMENTAL SYSTEM


Fig. 2 shows the experimental system rated at 400 V and
15 kW. Table I summarizes the specifications and circuit pa-
rameters. This system is designed as a downscaled model of
the 6.6-kV 1-MW motor drive shown in Fig. 1. Note that LS
[=0.6 mH (1.8%)] is an equivalent inductance seen upstream of
the point of installation of the hybrid filter. This inductance in-
cludes the leakage inductance of the voltage step-up transformer
from 200 to 400 V. The system consists of a diode rectifier, a
three-level NPC PWM inverter with the so-called “volt-per-hertz
control,” and an induction motor rated at 380 V and 15 kW. An
induction generator rated at 190 V and 15 kW is mechanically
coupled with the induction motor. The generator is connected to
a back-to-back (BTB) system consisting of the generator-side
two-level PWM rectifier and the line-side two-level PWM in-
Fig. 1. Feasible system configuration of the 6.6-kV 1-MW motor drive verter. This BTB system devotes itself to regenerating electric
equipped with the hybrid active filter at the line side. power from the generator to the 200-V 50-Hz ac mains with
three-phase sinusoidal currents at both the generator and line
sides. The so-called “vector control” or “field-oriented control”
passive filter and the active filter are directly connected in se- is applied to the generator, thus making it possible to adjust an
ries without transformer. Thus, the hybrid filter is well suited instantaneous torque loaded on the motor. The active filter is
to the 6.6-kV motor drive for energy conservation because the characterized by using a three-level NPC PWM converter with
motor drive does not require any line-frequency transformer. a dc-link voltage of 80 V, that is, only 20% of 400 V. Note that,
This passive filter has an additional function of power-factor no auxiliary circuit is connected to the two split dc capacitors
correction for other inductive loads connected on the same except for two dc voltage sensors. Twelve 600-V IGBTs are
6.6-kV industrial power distribution system. The combination used in the three-level PWM inverter for the 380-V 15-kW in-
with the passive filter allows the active filter (the three-level duction motor drive, and other twelve 600-V IGBTs are utilized
PWM converter) to have a dc-link voltage as low as 1.32 kV in the BTB system for the 190-V 15-kW induction generator
(20% of 6.6 kV). This allows the active filter to use 1.2-kV drive. Twelve 100-V MOSFETs are employed in the three-level
IGBTs that are currently available from the market at PWM converter used as the active filter.
reasonable cost.
A concern stemming from introducing the three-level NPC
PWM converter into a pure or hybrid active filter is voltage im-
balance of the two split dc capacitors. Some technical papers III. CONTROL SYSTEM
have been published on the voltage balancing of three-level NPC Figs. 3 and 4 show the control block diagram of the ac-
PWM converters and inverters intended for grid connections and tive filter using a three-level PWM converter. The fully digital
motor drives [18]–[24], as well as static synchronous compen- controller used in this experiment consists mainly of a digital
sators (STATCOMs) [25]. These three-level PWM converters or signal processor (DSP) and field programmable gate arrays (FP-
inverters are controlled to draw three-phase sinusoidal currents GAs). The hardware configuration of the digital controller is the
from the ac mains or to inject them to the ac motors. However, same as that in [26]. The authors of [11] have already made a
few papers have been presented on the voltage balancing of a detailed description of the control system of the active filter us-
three-level PWM converter for the pure or hybrid active filter ing a traditional two-level PWM converter with triangle-carrier
that is controlled to draw three-phase non-sinusoidal currents modulation. The main difference in triangle-carrier modulation
from the ac mains. The authors of [17] have made a graphical between the three-level and two-level converters is that the three-
explanation of the voltage-balancing mechanism and control of level converter requires two sets of triangle-carrier signals with
the three-level PWM converter for a hybrid active filter. the same frequency but different dc bias levels [17]. The control
This paper presents an experimental system rated at 400 V system in Figs. 3 and 4 assigned the triangle-carrier frequency
and 15 kW, following the previous paper [17]. This system as 10 kHz. This means that the actual switching frequency of
is a downscaled model from the 6.6-kV 1-MW motor drive each MOSFET is 5 kHz, that is, a half of the triangle-carrier
shown in Fig. 1. Theoretical analysis is conducted with reason- frequency.
able approximations and the associated discussions. This results The dc-voltage control regulates the mean dc voltage of the
in justifying the voltage-balancing control injecting a common dc-link voltage or the total dc capacitor voltage vD (= vD P +
six-harmonic zero-sequence voltage and/or three-phase second- vD N ) to be 80 V [17]. The voltage-balancing control keeps equal
harmonic negative-sequence voltages into the three-phase ac- the mean dc voltages of the two dc capacitor voltages vD P and
tive filter voltages. Both experiment and analysis confirm that vD N . Note that the u-phase voltage with respect to the neutral
the hybrid filter provides satisfactory filtering and balancing on the three-phase reference frames is in alliance with the d-axis
performance in all the load conditions. voltage on the d–q reference frames.
AKAGI AND KONDO: TRANSFORMERLESS HYBRID ACTIVE FILTER USING A THREE-LEVEL PULSEWIDTH MODULATION CONVERTER 1367

Fig. 2. 400-V volt 15-kW experimental system in which the hybrid active filter is integrated into the motor drive system.

TABLE I
SPECIFICATIONS AND PARAMETERS OF THE 400-V, 15-KW
EXPERIMENTAL SYSTEM

Fig. 4. Control block diagram of the voltage-balancing control. (a) Com-


mon sixth-harmonic zero-sequence voltage injection. (b) Three-phase second-
harmonic negative-sequence voltages injection.

Fig. 5. Seamless transition between the two voltage-injecting methods.

Fig. 4 presents the detailed voltage-balancing control consist-


ing of the following two voltage-injection methods:
1) injecting a common sixth-harmonic zero-sequence voltage
[17], which is active in a range of pL from 1.5 to 15 kW;
2) injecting three-phase second-harmonic negative-sequence
voltages [25], which is active in a range of pL from 0 to
2 kW.
Fig. 5 shows a seamless switchover technique between the
two voltage-injecting methods, where the switchover is done by
a magnitude of pL . Adding a dc component Id to ĩd1 in Fig. 4
makes the active filter yield a fundamental-frequency line-to-
Fig. 3. Control block diagram of the active filter. neutral voltage that lags by 90◦ the filter current iF [27], [28].
1368 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 6, JUNE 2010

The magnitude of Id is controlled to be proportional to pL up the u-phase, along with the ac mains line-to-neutral voltage in
to 40%, where 100% means that the peak value of the line-to- the u-phase, can be defined as follows:
neutral voltage reaches a half of the dc-link voltage, that is, 40 V 1) the ac mains line-to-neutral voltage
in the experimental system shown in Fig. 2. √
vS u O = 2 V sin(ω1 t) (4)
To achieve smoother transition, both the sixth-harmonic volt-
age and the second-harmonic voltages are injected in a range of 2) the filter current
pL from 1.5 to 2 kW. This simultaneous injection produces no √ √
iF u = 2 IF 1 cos(ω1 t) + 2 IF 5 cos(5ω1 t − θ5 ) (5)
bad effect on voltage balancing, or rather it has a synergy effect.
3) the fifth-harmonic active filter voltage
IV. ANALYSIS OF THE COMMON SIXTH-HARMONIC √
vA F 5u = 2 VA F 5 sin(5ω1 t − φ5 ) (6)
ZERO-SEQUENCE VOLTAGE INJECTION
4) the sixth-harmonic active filter voltage injected
This section achieves theoretical analysis with reasonable √
approximations, which gains a practical insight into the sixth- vA F 6u = 2 VA F 6 sin(6ω1 t − φ6 ). (7)
harmonic voltage injection.
Note that θ5 , φ5 , and φ6 are the initial phases of iF u , vA F 5u ,
and vA F 6u at the time origin t = 0, respectively. The u-phase
A. Duty Factor Concerning Midpoint Current active filter voltage vA F u with respect to the midpoint M is
The duty factor concerning the midpoint current in a phase given as the sum of (6) and (7).
is defined by the ratio of a time interval, during which the filter √ √
vA F u = 2 VA F 5 sin(5ω1 t − φ5 ) + 2 VA F 6 sin(6ω1 t − φ6 )
current iF flows through a clamping diode into, or out of, the
midpoint M, with respect to the period of a line cycle (20 ms (8)
at 50 Hz). In order for an active filter to have the capability of
satisfactory harmonic filtering, the triangle-carrier frequency for C. Derivation of īM u With Approximations
PWM should be much higher than the frequencies of dominant Equation (8) can be changed into the following equation. (See
harmonic currents that the active filter mitigates. This allows the Appendix.)
one to assume the duty factor D as a function of the active filter
voltage vA F as follows [19]: vA F u = A(t) sin(5ω1 t − φ5 + φ(t)) (9)
 where A(t) and φ(t) are given as
1 + 2vA F /VD (−VD /2 ≤ vA F < 0) 
D= (1)
1 − 2vA F /VD (0 ≤ vA F ≤ VD /2). A(t) = 2(VA2F 5 + VA2F 6 )

The product of the u-phase duty factor Du and the u-phase filter 2VA F 5 VA F 6
current iF u yields the midpoint current in the u-phase, iM u as × 1+ 2 cos(ω1 t + φ5 − φ6 ) (10)
VA F 5 + VA2F 6
follows:
 
−1 VA F 6 sin(ω1 t + φ5 − φ6 )
iM u = Du iF u . (2) φ(t) = tan . (11)
VA F 6 cos(ω1 t + φ5 − φ6 ) + VA F 5
Note that the positive direction of iM is defined when the current An approximation of VA F 5  VA F 6 yields the following in-
is flowing into the midpoint, as shown in Fig. 2. Let the mean equality1 :
dc midpoint current over the line-cycle period T be īM u , which
2VA F 5 VA F 6
is given by 1 cos(ω1 t + φ5 − φ6 ). (12)
 VA2 F 5 + VA2F 6
1 T
īM u = Du iF u dt. (3) Substituting (12) and an approximation of VA F 5  VA F 6 into
T 0 (10) and (11) results in the following simpler equations:
The effectiveness of the voltage-balancing control depends on 
the mean dc midpoint current. Thus, the quality of the voltage- A(t) ∼
= 2(VA2F 5 + VA2F 6 )
balancing control can be evaluated by the magnitude of īM u .  
VA F 5 VA F 6
× 1+ 2 cos(ω 1 t + φ 5 − φ 6 ) (13)
VA F 5 + VA2F 6
B. Simplified Model for Analysis of īM u
φ(t) ∼
= 0. (14)
According to the previous paper [17], the fifth-harmonic volt-
age vA F 5 is the most dominant component in the active filter Substituting (9) into (1), along with considering (13) and
voltage vA F . The fundamental and fifth-harmonic currents iF 1 (14), yields the u-phase duty factor Du (t). Note that Du (t)
and iF 5 are the dominant components in the filter current iF . includes the tenth-harmonic and higher-order harmonic com-
For the sake of simplicity, the following analysis of īM pays ponents stemming from the absolute value of sin(5ω1 t − φ5 ).
attention to the u-phase because the theory of superposition is
applicable to the three mean dc midpoint currents īM u , īM v , and 1 The measured value of V
A F 6 /V A F 5 at 15 kW (the full load) was 0.02, and
īM w , respectively. Thus, the dominant voltages and currents in that at 3 kW was 0.08.
AKAGI AND KONDO: TRANSFORMERLESS HYBRID ACTIVE FILTER USING A THREE-LEVEL PULSEWIDTH MODULATION CONVERTER 1369

produce any bad effect on voltage-balancing performance even


if the initial phase φ6 is always zero.

V. DISCUSSION ON THE THREE-PHASE SECOND-HARMONIC


NEGATIVE-SEQUENCE VOLTAGES INJECTION
This section compares the three-phase second-harmonic
negative-sequence voltages injection with the common sixth-
harmonic zero-sequence voltage injection in terms of voltage-
Fig. 6. The u-phase duty factor D u (t) and its approximated duty factor D̄ u (t)
when v A F u is given by (8).
balancing performance at a no-load condition.

A. Operating Principle
When it is assumed that φ5 is constant, a mean dc value of
When iL = 0, no fifth-harmonic voltage is generated by the
|sin(5ω1 t − φ5 )| over a period of T /10 is given by
active filter, that is, vA F 5 = 0. Equation (17) indicates that
2 the sixth-harmonic voltage injection makes no contribution.
| sin(5ω1 t − φ5 )| ∼
= . (15)
π To overcome this problem, the second-harmonic voltages are
Eliminating the tenth-harmonic and higher order harmonic injected into the three-phase active filter voltages. Moreover,
components from Du (t) leads to the sum of the dc and the active filter intentionally produces a line-frequency volt-
fundamental-frequency components as D̄u (t). age being in phase with the ac mains line-to-neutral voltage in
√  each phase. Mutual interference between the injected second-
2 22 harmonic voltage and the intentionally produced line-frequency
D̄u (t) = 1 − VA2F 5 + VA2 F 6
VD π (fundamental-frequency) voltage can bring a fundamental-
 frequency component to the duty factor. In sequence, mutual
VA F 5 VA F 6 cos(ω1 t + φ5 − φ6 ) interaction between the fundamental-frequency duty factor and
+  .
VA2F 5 + VA2F 6 the fundamental-frequency filter current results in a mean dc
midpoint current.
(16)
Fig. 6 illustrates the u-phase duty factor Du (t) that is calcu- B. Voltage-Balancing Performance Under No-Load and Light-
lated from (1) to (11), and its approximated duty factor D̄u (t) Load Conditions
that is given by (16), assuming that φ(t) = φ5 = φ6 = 0. This Attention is paid to the u-phase, like the previous section.
assumption relies on (14) and (18), where (18) will come soon. Equation (17) suggests that the intentionally produced line-
The occurrence of īM u is caused by mutual interaction between frequency voltage vA F 1u , the injected second-harmonic voltage
the fundamental-frequency component existing in D̄u (t) and the vA F 2u , and the injected sixth-harmonic voltage vA F 6u should
fundamental-frequency component present in iF u . This insight be in phase with the ac mains line-to-neutral voltage vS u O that
into the essence of the mean dc midpoint current allows one to is given by (4)
replace the duty factor Du (t) with the approximate
√ duty factor √
D̄u (t). Finally, substituting (16) and iF u = 2 IF 1 cos(ω1 t) vA F 1u = 2 VA F 1 sin(ω1 t) (19)

into (3) results in vA F 2u = 2 VA F 2 sin(2ω1 t) (20)
4IF 1 VA F 5 VA F 6 cos(φ5 − φ6 ) √
īM u = −  . (17) vA F 6u = 2 VA F 6 sin(6ω1 t). (21)
πVD VA2F 5 + VA2 F 6
At a no-load condition of iL = 0, the filter current iF u is given
Equation (17) suggests that īM u depends on the initial phases as

φ5 and φ6 . When φ6 = φ5 ± π/2, the magnitude of īM u is iF u = 2 IF cos(ω1 t). (22)
always zero, so that the voltage-balancing control makes no
contribution. On the other hand, īM u takes the maximal value Fig. 7(a)–(c) illustrates key waveforms when the second-
when φ6 = φ5 , thus making the voltage-balancing control the harmonic voltages are injected to the u-, v-, and w-phases,
most effective and efficient. Strictly speaking, the initial phase respectively. Fig. 8 describes those waveforms when the sixth-
φ5 depends on the ac input power to the diode rectifier, pL , harmonic voltage is injected to the u-phase. Note that the princi-
and the ac inductance Lac . It was confirmed by experiment and ple of the sixth-harmonic zero-sequence voltage injection makes
simulation in Fig. 2 that φ5 increased slightly from −0.17 to equal the amplitudes of īM u , īM v , and īM w although the wave-
0.03 rad as pL increased from 1.5 to 15 kW by a factor of ten. forms of īM v and īM w are excluded from Fig. 8.
Hence, assuming that φ5 = 0 assigns φ6 as zero, that is In Fig. 7, the u-phase active filter voltage vA F u is defined as

φ6 = φ5 = 0. (18) vA F u = vA F 1u + vA F 2u . (23)
In Fig. 8, it is defined as
When φ5 = −0.17 rad and φ6 = 0, cos(φ5 − φ5 ) = 0.985. This
is so close to unity that the difference of ±0.17 rad does not vA F u = vA F 1u + vA F 6u . (24)
1370 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 6, JUNE 2010

Fig. 8. Waveforms obtained from numerical analysis when the sixth-harmonic


zero-sequence voltage is injected to the u-phase.

1) In Fig. 7, īM u , īM v , and īM w are the same in polar-


ity and amplitude. In other words, injecting the three-
phase second-harmonic negative-sequence voltages into
the three-phase active filter voltages yields the same mean
dc midpoint current in the u-, v-, and w-phases.
2) The amplitude of īM u in Fig. 7 is larger than that in Fig. 8.
The two findings conclude that the second-harmonic volt-
ages injection is more effective than the sixth-harmonic voltage
injection. This can be explained from the principle of voltage
injection as follows: Mutual interference between vA F 1u and
vA F 2u is stronger than that between vA F 1u and vA F 6u because
the second-harmonic frequency (100 Hz) is much closer to the
fundamental frequency (50 Hz) than the six-harmonic frequency
(300 Hz).
The intentionally produced active filter voltage vA F 1u in (19)
lags by 90◦ the filter current iF u in (22), so that the product of
vA F 1u and iF u does not form any active power. In other words,
the mean value of the product over the period of a line cycle is
always zero. This implies that the intentionally produced active
filter voltage has no effect on the dc-link voltage or the total dc
voltage control of vD (= vD P + vD N ).

VI. EXPERIMENTAL RESULTS


A. Overview
Fig. 9 gives an overview of experimental waveforms obtained
from Fig. 2. The 380-V 15-kW motor was at a standstill from
t = 0 to 4 s. The two dc capacitor voltages started building up
from zero volts at t = 1 s. The motor was rotating from t = 4 to
Fig. 7. Waveforms obtained from numerical analysis when the three-phase 24 s, being loaded with a constant torque. Note that the motor
second-harmonic negative-sequence voltages are injected (a) to the u-phase, speed ωm , the ac input power to the three-phase diode rectifier,
(b) to the v-phase, and (c) to the w-phase.
pL , and the positive and negative dc capacitor voltages vD P and
vD N were observed to verify the effectiveness of the voltage-
The waveforms of Du , iM u , and īM u in Figs. 7 and 8, respec- balancing control. The waveform of ωm was similar to that of pL
tively, are obtained from the numerical analysis based on (1)–(3) because a constant torque was loaded on the motor, independent
with the same parameters as VA F 1 , VA F 2 , VA F 6 , and IF . of the motor rotating speed. The waveforms of vD P and vD N
Carefully looking into the waveforms of Figs. 7 and 8 leads indicate that the voltage-balancing control combining the six-
to the following findings. harmonic voltage injection with the second-harmonic voltages
AKAGI AND KONDO: TRANSFORMERLESS HYBRID ACTIVE FILTER USING A THREE-LEVEL PULSEWIDTH MODULATION CONVERTER 1371

Fig. 9. Experimental waveforms of the rotating speed ω m , the ac input power


p L and the two dc capacitor voltages v D P and v D N during starting and
adjustable-speed operation with a constant torque.

Fig. 11. Experimental waveforms at 15 kW.

Fig. 10. Experimental waveforms before and after starting the active filter at
a no-load condition of iL = 0.

injection worked properly and stably in all the load conditions


with seamless transition.
All the experimental waveforms from Figs. 9 to 14 were taken
in a personal computer (PC) through the YOKOGAWA WE7000
PC-based data acquisition system with different sampling rates.
Fig. 9 had a sampling rate of 400 S/s, whereas Figs. 10–14 had
a sampling rate of 1 MS/s.

B. Starting Performance
Fig. 10 shows the detailed experimental waveforms before
and after the active filter was started at t = 1 s. In other words,
these were the time-expanded waveforms of Fig. 9 around Fig. 12. Experimental waveforms at 10 kW.
t = 1 s. The waveform of vA F −M was observed as the active
filter voltage with respect to the midpoint M. The waveform
of ṽA F −M was taken from the waveform of vA F −M through a diode in each phase. Which inner MOSFET and clamping diode
first-order digital low-pass filter. The PC-based data acquisition the u-phase filter current iF u flowed through depended on the
system is equipped with the digital low-pass filter. polarity of iF u . As a result, the u-phase active filter voltage
Before the active filter was started, it was on the follow- vA F u M with respect to the midpoint remained zero volts. This
ing resting mode: The six inner MOSFETs in the three-level means that the passive filter tuned to the seventh-harmonic fre-
converter remained turned ON while the six outer MOSFETs quency were operated alone before the active filter was started.
remained turned OFF. This means that all the three ac termi- Note that non-negligible harmonic currents were included in the
nals of the active filter remained clamped to the midpoint of the waveform of iS u . The reason is that the so-called “background”
two dc capacitors through an inner MOSFET and a clamping harmonic voltages existing upstream of the point of installation
1372 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 6, JUNE 2010

Fig. 15. Measured THD values and harmonic-current contents of iS as a


function of ac input power p L .

C. Filtering Performance
Figs. 11–14 show experimental waveforms observed under
different load conditions. These experimental waveforms indi-
Fig. 13. Experimental waveforms at 2 kW.
cate that the hybrid filter can compensate for the harmonic cur-
rents contained in the waveform of iL u in all the load conditions
from the no load (0 kW) and the full load (15 kW).
Fig. 11 verifies that the waveform of iS u was in phase with
that of vS u O at the full-load condition. This means that the motor
drive system was operated at unity power factor. The reason is
that the lagging reactive current included in iL u was cancelled
out by the leading reactive current included in iF u .
Figs. 12–14 verifies that the leading power factor at the line
side got worse and worse as the motor load got light and light,
because the lagging reactive current decreased while the leading
reactive current did not change. However, it would be practical
and effective that the motor drive system can achieve unity-
power-factor operation at the full-load condition. Note that the
three-level PWM inverter was completely shut down to result in
iL u = 0, so that the motor was at a standstill in Fig. 14.
The active filter is changed from the operating mode to the
resting mode as soon as it detects either an overvoltage across the
dc link or an imbalance voltage between the two dc capacitors.
This voltage protection method would allow the active filter to
use the 1.2-kV IGBTs for the 6.6-kV system in Fig. 1.
Fig. 15 shows the measured harmonic current contents and
total harmonic distortion (THD) values of iS when the ac input
power to the diode rectifier, pL was adjusted. The harmonic
Fig. 14. Experimental waveforms at a no-load condition.
current content IS hc is defined by


40


IS hc = IS2 n . (25)
of the hybrid filter made the passive filter sink the non-negligible n =2

harmonic currents from the ac mains.


Here, IS n is the rms value of the nth harmonic component of iS ,
After the active filter was started, both vD P and vD N were
and IS hc is counted up to the 40th harmonic current, according
gradually rising up with balancing. Finally, they reached 40 V
to the Japanese harmonic guidelines. The THD value of iS is
(vD = 80 V) in 120 ms, so that the waveform of iS u got si-
given by
nusoidal. This means that the active filter can prevent the har-
monic currents caused by the background harmonic voltages IS hc
from flowing into the passive filter from the ac mains. THD(%) = × 100. (26)
IS 1
AKAGI AND KONDO: TRANSFORMERLESS HYBRID ACTIVE FILTER USING A THREE-LEVEL PULSEWIDTH MODULATION CONVERTER 1373

TABLE II
√ √
MEASURED HARMONIC SPECTRA AND THD VALUES OF iS u AND iL u AT THE
= 2 VA F 5 sin(5ω1 t − φ5 ) + 2VA F 6
FULL LOAD (15 KW), EXPRESSED AS HARMONIC-TO-FUNDAMENTAL
CURRENT RATIO [%]
× sin {(5ω1 t − φ5 ) + (ω1 t + φ5 − φ6 )}

= 2 {VA F 6 cos(ω1 t + φ5 − φ6 ) + VA F 5 }

× sin(5ω1 t − φ5 ) + 2 VA F 6 sin(ω1 t + φ5 − φ6 )
× cos(5ω1 t − φ5 ). (27)
The following variables are introduced to (27):

a = 2 {VA F 6 cos(ω1 t + φ5 − φ6 ) + VA F 5 } (28)
The harmonic current contents when connecting the hybrid ac- √
tive filter were always less than those when disconnecting it. b = 2 VA F 6 sin(ω1 t + φ5 − φ6 ). (29)
This means that the hybrid filter has the function of achieving
Equation (27) results in
harmonic mitigation of iS in all the load conditions. As the
ac input power to the diode rectifier decreased, the THD value vA F = a sin(5ω1 t − φ5 ) + b cos(5ω1 t − φ5 )
increased whereas the harmonic current content decreased.   
−1 b
Table II summarizes harmonic spectra of iS u and iL u , which = a + b cos 5ω1 t − φ5 + tan
2 2
a
correspond to the experimental waveforms of iS u and iL u in
Fig. 11. The THD value of iS u was reduced from 31% to 3.8%, = A(t) sin(5ω1 t − φ5 + φ(t)). (30)
and each harmonic component was less than 2%. These har-
Finally, A(t) and φ(t) are given by
monic spectra and THD values were measured by means of

the YOKOGAWA WT210 digital power meter with a sampling A(t) = a2 + b2
rate of 25.6 kS/s. Thus, the motor drive system shown in Fig. 2 
complies completely with the Japanese harmonic guidelines. = 2VA2F 5 + 2VA2F 6 + 4VA F 5 VA F 6 cos(ω1 t + φ5 − φ6 )

VII. CONCLUSION = 2(VA2F 5 + VA2F 6 )
This paper has described a transformerless hybrid active filter 
2VA F 5 VA F 6
for line harmonic-current mitigation of the three-phase front-end × 1+ 2 cos(ω1 t + φ5 − φ6 ) (31)
diode rectifier of the 6.6-kV adjustable-speed motor drive with- VA F 5 + VA2F 6
out regenerative braking. This hybrid filter consists of a simple 
−1 b
passive filter tuned to the seventh-harmonic frequency and a φ(t) = tan
a
small-rated active filter based on a three-level PWM converter  
using 1.2-kV IGBTs. However, the three-level PWM converter VA F 6 sin(ω1 t + φ5 − φ6 )
= tan−1 . (32)
may suffer from voltage imbalance of the two dc capacitors. VA F 6 cos(ω1 t + φ5 − φ6 ) + VA F 5
Reasonable approximations have led to performing theoretical
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[12] W. Tangtheerajaroonwong, T. Hatada, K. Wada, and H. Akagi, “Design Hirofumi Akagi (M’87–SM’94–F’96) was born in
and performance of a transformerless shunt hybrid filter integrated into a Okayama, Japan, in 1951. He received the B.S. de-
three-phase diode rectifier,” IEEE Trans. Power Electron., vol. 22, no. 5, gree from Nagoya Institute of Technology, Nagoya,
pp. 1882–1889, Sep. 2007. Japan, in 1974, and the M.S. and Ph.D. degrees from
[13] H. Akagi, “Active harmonic filters,” Proc. IEEE, vol. 93, no. 12, pp. 2128– Tokyo Institute of Technology, Tokyo, Japan, in 1976
2141, Dec. 2005. and 1979, respectively, all in electrical engineering.
[14] A. Nabae, I. Takahashi, and H. Akagi, “A new neutral-point-clamped In 1979, he joined Nagaoka University of Tech-
PWM inverter,” IEEE Trans. Ind. Appl., vol. IA-17, no. 5, pp. 518–523, nology, Nagaoka, Japan, as an Assistant Professor,
Sep./Oct. 1981. where he became an Associate Professor in the De-
[15] N. Hatti, K. Hasegawa, and H. Akagi, “A 6.6-kV transformerless motor partment of Electrical Engineering. During March to
drive using a five-level diode clamped PWM inverter for energy savings August 1996, he was a Visiting Professor at the Uni-
of pumps and blowers,” IEEE Trans. Power Electron., vol. 24, no. 3, versity of Wisconsin, Madison. He was a Visiting Scientist at Massachusetts
pp. 796–803, Mar. 2009. Institute of Technology, Cambridge, for ten months during 1987. From 1991 to
[16] M. Hagiwara, K. Nishimura, and H. Akagi, “A modular multilevel PWM 1999, he was a Professor in the Department of Electrical Engineering, Okayama
inverter for medium-voltage motor drives,” in Proc. Conf. Rec. IEEE- University, Okayama. Since 2000, he has been a Professor in the Department
PELS/IAS Energy Convers. Congr. Expo. (ECCE), 2009, pp. 2557–2564. of Electrical and Electronic Engineering, Tokyo Institute of Technology. His
[17] H. Akagi and T Hatada, “Voltage balancing control for a three-level diode current research interests include power conversion systems, motor drives, ac-
clamped converter in a medium-voltage transformerless hybrid active fil- tive and passive electromagnetic interference filters, high-frequency resonant
ter,” IEEE Trans. Power Electron., vol. 24, no. 3, pp. 571–579, Mar. inverters for induction heating and corona discharge treatment processes, and
2009. utility applications of power electronics such as active filters, self-commutated
[18] S. Ogasawara and H. Akagi, “A vector control system using a neutral- back-to-back systems, and flexible ac transmission systems devices. He has
point-clamped voltage source PWM inverter,” in Proc. Conf. Rec. IEEE published more than 80 IEEE TRANSACTIONS papers and two invited papers
IAS Annu. Meeting, 1991, pp. 422–427. published in Proceedings of the IEEE in 2001 and 2004. He has made presenta-
[19] S. Ogasawara and H. Akagi, “Analysis of variation of neutral point po- tions many times as a keynote or invited Speaker internationally. According to
tential in neutral-point-clamped voltage source PWM inverters,” in Proc. Google Scholar, the total citation index for all his papers is more than 9600.
Conf. Rec. IEEE IAS Annu. Meeting, 1993, pp. 965–970. Dr. Akagi has been elected as a Distinguished Lecturer of the IEEE Power
[20] N. Celanovic and D. Boroyevich, “A comprehensive study of neutral-point Electronics and Industry Applications Societies for 1998–1999. He is the recip-
voltage balancing problem in three-level neutral-point-clamped voltage ient of the three IEEE Industry Applications Society Transactions Prize Paper
source PWM inverters,” IEEE Trans. Power Electron., vol. 15, no. 2, Awards in 1991, 2004, and 2009, and the two IEEE Power Electronics Society
pp. 242–249, Mar. 2000. Transactions Prize Paper Awards in 1999 and 2003, as well as nine IEEE Indus-
[21] H. D. T. Mouton, “Natural balancing of three-level neutral-point-clamped try Applications Society Committee Prize Paper Awards. He is also the recipient
PWM inverters,” IEEE Trans. Ind. Electron., vol. 49, no. 5, pp. 1017– of the 2001 IEEE William E. Newell Power Electronics Award, the 2004 IEEE
1024, Oct. 2002. Industry Applications Society Outstanding Achievement Award, and the 2008
[22] K. Yamanaka, A. M. Have, H. Kirino, Y. Tanaka, N. Koga, and T. Kume, “A IEEE Richard H. Kaufmann Technical Field Award. He was the President of
novel neutral point potential stabilization technique using the information the IEEE Power Electronics Society for 2007–2008, and is currently the Junior
of output current polarities and voltage vector,” IEEE Trans. Ind. Appl., Past President.
vol. 38, no. 6, pp. 1572–1580, Nov./Dec. 2002.
[23] A. K. Gupta and A. M. Khambadkone, “A simple space vector PWM
scheme to operate a three-level NPC inverter at high modulation index
including overmodulation region, with neutral point balancing,” IEEE
Trans. Ind. Appl., vol. 43, no. 3, pp. 751–760, May/Jun. 2007.
[24] J. Holtz and N. Oiknomous, “Neutral point potential balancing algorithm Ryota Kondo was born in Yokohama, Japan, in 1984.
at low modulation index for three-level inverter medium-voltage drives,” He received the B.E. degree from Tokyo Metropoli-
IEEE Trans. Ind. Appl., vol. 43, no. 3, pp. 761–768, May/Jun. 2007. tan University, Tokyo, Japan, in 2007, and the M.S.
[25] M. Matsui, “Static var compensator using neutral-point-clamped PWM degree from Tokyo Institute of Technology, Tokyo,
inverter and its control scheme,” in Proc. Conf. Rec. IPEC-Yokohama, in 2009, respectively, both in electrical engineering.
1995, pp. 488–493. Since 2009, he has been with the Mitsubishi Elec-
[26] P. Jintakosonwit, H. Fujita, and H. Akagi, “Control and performance of tric Corporation, Amagasaki, Japan.
a fully-digital-controlled shunt active filter for installation on a power
distribution system,” IEEE Trans. Power Electron., vol. 17, no. 1, pp. 132–
140, Jan. 2002.

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