A Control Strategy for Unified Power Quality Conditioner

Luis F.C. Monteiro, Student member. IEEE, Mauricio Aredes, Member. IEEE, mid J o b A. Moor Net0
COPPE/UFRJ, Electrical Engineering Program P.0.Box 68503. Rio de Janeiro. Brazil E-mail: Ifcni@coe.ufrj.br
Abstrucf- This paper presents a control strategy for a Unified

Power Quality Conditioner. This control strategy is used in three-phase three-wire systems. The UPQC device combines a shunt-active tilter together with a series-active filter in a hackto-back configuration, to simultaneously compensate the supply voltage and the load current. Previous works presented a control strategy for shunt-active filter that guarantees sinusoidal, balanced and minimized source currents even if under unbalanced and / or distorted system voltages, also known as Sinusoidal Fryze Currents. Then, this control strategy was extended to develop a dual control strategy for series-active filter. Now, this paper develops the integration principles of shunt current compensation and series voltages compensation, both based on instantaneous active and non-active powers, directly calculated from a-b-c phase voltages and line currents. Simulation results are presented to validate the proposed UPQC control strategy.
1~tde.x TermActive Filters. Active Power Line Conditioners, Instantaneous Active and Reactive Power. Sinusoidal Fryze Currents, Sinusoidal Fryze Voltages.

1. INTRODUCTION NE of the serious problems in electrical systems is the increasing number of electronic components of devices that are used by industry as well as residences. These dcvices, which need high-quality energy to work properly, at the same time, are the most responsible ones for injections of harmonics in the distribution system. Therefore. devices that soften this drawback have been developed. One

of them is the unified power quality conditioner (UPQC), as shown in Fig. 1. It consists of a shunt-active filter together with a series-active filter. This combination allows a siinultaneous compensation of the load currents and the supply voltages, so that compensated current drawn from the network and the compensated supply voltage delivered to the load are sinusoidal, balanced and minimized. The seriesand shunt-active filters are connected in a back-to-back configuration, in which the shunt converter is responsible for regulating the coinmon DC-link voltage. In the 30s of the last century. Fryze [ l ] proposed a set of active and non-active (reactive) power definitions in the time domain. From these concepts, Tenti et a1 [2] developed a control strategy for shunt-active filters that guarantees compensated currents in the network that are sinusoidal even if the system voltage at the point of coinmon coupling (PCC) already contains harmonics. However, this control strategy does not guarantee balanced compensated currents if the system voltage itself is unbalanced (i.e. it contains a fundamental negative-sequence component). In [3]. this drawback was overcome, by the addition of a positivesequence voltage detector in the shunt-active filter controller. This control circuit determines the phase angle, frequency and magilitude of the fundamental positivesequence voltage component. This new control strategy has been denominated as the Siniisoidul F q z e Ciirrenrs con-

Fig. I . General configuration of the Unified Power Quality Conditioner - UPQC.

0-7803-7912-8/03/$17.00 C 2003 IEEE

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trol strategy. This work exploits the use of that positive-sequence voltage detector to develop a new control strategy for series-active filter. It is based on a dual minimization method for voltage compensation, together with a synchronizing circuit (PLL circuit). The synchronizing circuit is responsible to detect the fundamental frequency, as well as the phase angle of the positive-sequence voltage component. The dual minimization method is responsible to accurately determine the magnitude of this voltage component. This control strategy is denominated here as the "Sinirsoidal FrFze Voltages control strategy. Further, this paper presents the integration the "Sinztsoidal F q z e Ciir.rents ' * and the "Siniuoidal F q z e Jroltages '' control strategies into an UPQC controller. Additionally, the proposed UPQC controller includes an algorithm that provides damping in harmonic voltage propagation and hinders load harmonic currents to flow into the network. A complete model of the UPQC approach is implemented in a digital simulator and results is presented to validate the proposed control strategy.
"

A . The Positive-Sequence Voltage Detector- (V-J

A positive-sequence voltage detector [V-, voltagedetector block in Fig. 2(a)] in terms of "minimized voltages" is developed. A dual principle for voltage minimization is employed, together with a phase-lockedloop circuit (PLL circuit), as shown in Fig. 3. The used PLL circuit is detailed in the next section. In fact, this dual principle of voltage minimization is used here for extracting "instantaneously" the fundamental positive-sequence component ( in phasor notation, or vel, lib,> vCl as instantaneous values, as the outputs of Fig. 3) from a generic three-phase voItage. The distorted and unbalanced voltages vu,>, v, of the v&. power supply are measured and given as inputs to the PLL circuit. As shown in the next section. it determines the signals i , / , i h / . i,.,, which are in phase with the fundamental positive-sequence component ( V+I ) contained in vu>. I:.,. vhs. Thus, only the magnitude of V+I is missing. The fundamental characteristic of the used PLL allows the use of a dual expression for deteimining active voltages in the form

11. T H E UPQC CONTROLLER

Fig. 2 shows the complete functional block diagram of the UPQC controller. The part shown in Fig. 2(a) is responsible to determine the compensating current references for PWM control of the UPQC shunt converter, whereas the other part shown in Fig.2(b) generates the compensating voltage references for PWM series converter. Next, each functional block of Fig. 2 will be detailed.

0.
.
'a/

'b/

.
*d

as an artifice to extract the J'+l component fi-om vas, q,,, vc,. The reason is that the signals io/, i h / , icl are three symmetric sinus functions with unity amplitude, which correspond to an auxiliary fundamental positive-sequence current i + i that is in phase with I'+l. Hence, the average value of the "three-phase instantaneous power", 3 V ~ l Z + I c o sis ,maxi~ mum (would be zero if V+l and Z+I are orthogonal), and the average signal &,,- in Fig. 3 comprises the total amplitude of J'+I . Therefore, it is possible to guarantee that the signals vu], ij,/? are sinusoidal and have the same magnivc1 tude and phase angle of the fundamental positive-sequence component of the measured system voltage.

0
""I

i
'hI "cl

Fig. 2. The functional block diagram of the UPQC controller for ( a ) shunt UPQC converter and (b) series UPQC converter.

Fig. 3. The V., voltage detector diagram block

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I ) The PLL Circuit

The used PLL circuit (Fig. 4) can operate satisfactorily under high distorted and unbalanced system voltages. The inputs are vu/,= v',~ vb,v and vc/, = vcr- Vhr. The outputs of the PLL circuit are io/, iblr icI. The algorithm is based on the instantaneous active three-phase power expression y30 = vu& + i;.l,ir. The current feedback signals i,,(wt) = sin(wr) and ic(wt) = siri(wf - 2d3) are built up by the PLL circuit, just using the time integral of output w of the PI-Controller. Note that they have unity amplitude and iJwr) leads 120" i,(wt). Thus, they represent a feedback from a positivesequence component at frequency@. The PLL circuit can reach a stable point of operation only if the inputpj, of the PI-Controller has a zero average value ( P j g = 0 ) and has minimized low-frequency oscillating portions in P 3 m ( ,936 = + p"30 ). Once the circuit is stabilized, the averis age value 0fp.3~ zero and. with this, the phase angle of the positive-sequence system voltage at fundamental frequency is reached. At this condition, the auxiliary currents i,(U) and i<.((d) sin(m- 2d3), becomes orthogonal to = the fundamental positive-sequence component of the measured voltages vu.,. vcA respectively. Therefore, i,I(m) = sin(U - d 2 ) is in phase with the fundamental positive-sequence component contained in v".,.

C. Cui-rentMinimization
Fig. 6 shows in details that functional block named "Current Minimization" in Fig. 2(a). It detemlines the instantaneous compensating current references, which should be synthesized by the shunt PWM converter of the UPQC. It has the same kernel as the Generalized F r y e Currents methods widely used, like in [4], [ 5 ] and [6]. The inputs of the controller are the load currents iuI, i , / . the control ihl. voltages vol. vh/, v,., determined by the V-, detector. and the DC voltage regulator signal GI,,,,. The conductance G is determined i n Fig. 6 corresponds to the active current of the load. In other words. it coinprises all current components that can producc active power with the voltages vczI. vCI. A low-pass lift11 order Burvh/, te/woor-th filter is used to extract the avcrasc \slue of G, which is denominated as Gh<,,..Now, since i',,). I', comI,;,,. prises only the J>+l component, Ghor must cori-eqmnd to the active portion of the fundamental positive-xyuciicc component ( i + i ) of the load current. The control signiil G,,,,,,,-r,I is the sum of Gh,,. and GI,,,, which, together \\.it11 ~ l i c control voltages vu/,vhl, v,), are used to determine the currents i,,,,, . . io,,, I,-,,,. These control signals are pure sinuxiihl \\'a\'cs i n phase with veil, vhI, v,,/ and include the magiiirutle o f the positive-sequence load current (proportion;il to (ii,,,, and ) the active current (proportional to Cl,,,,) tliat i.G nc'cebNary to compensate for losses in the UPQC. Since the shunt active filter of the UPQC' coinpensates the difference between the calculated acii\ c' ctiri.c'nt and the measured load current, it is possible to ~ I ~ I I - ~ Itlxit I the I ~ ~ C

B. The DC voltage regiilafoiThe dc voltage regulator is used to generate a control signal GI,,,, as shown in Fig. 2(a). This signal forces the shunt active filter to draw additional active current from the network, to compensate for losses in the power circuit of the UPQC. Additionally, it corrects dc voltage variations caused by abnormal operation and transient compensation errors. This point is clarified later, where simulation results are discussed. Fig. 5 shows the dc voltage regulator circuit. It consists only of a PI-Controller [G(s) = K, + Kl/s], where, for normalized inputs, K, = 0.50 and K, = 80.

0
Fig. I: The Synchronizing Circuit - PLL Circuit.

"nc

Fig. 5 : The DC voltage regulator.

Fig. 6. Thc Currcnt Minimization control algcirirhm

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compensated currents i,,, ihs, drawn from the network are i,, always sinusoidal, balanced and in phase with the positivesequence system voltages. This characteristic represents a great improvement done at the "Generalized F y z e Currents " control strategy.

where,

D. The Dnriipiiig Control Algoritlirii

In a UPQC configuration, instability problems due to resonance phenomena may occur. 111 order to enhance the overall system stability, an auxiliary circuit can be added to the controller of the series active filter. The basic idea consists in increasing harmonic damping, as a series resistance, but effective only in harmonic frequencies. others than the fundamental one. This damping principle was first proposed by Peng [ 7 ] , in terms of Components defined in the p q Tlieorli and used by Aredes [SI and Fujita [9]. The damping control algorithm, now developed in terms of ahc variables (in the phase mode), can be seen in Fig. 7. The inputs to the damping circuit are the source currents . . z,,~, i/,,\, i,, (compensated currents), which are flowing through the series transformers of the UPQC, and the voltages determined by the V,, voltage detector v,/, v h / , vcI. The active and non-active instantaneous powers are determined by using the equations ( 2 ) and (3);

Note that the voltages v,,, vbyr vCy are achieved from the fundamental positive-sequence voltages vQl, v h / , Therefore. it is possible to guarantee that the voltages vny,v h y , vCy are still sinusoidal and lag 90" the voltages vnl, q,),vel, respectively. A conductance G and a susceptance B are determined from the calculated active and non-active instantaneous powers, as shown in Fig. 7. Then, high-pass, fifth order Butterworth filters are used to extract the oscillating parts of that conductance and susceptance. The auxiliary currents i. i/,J,,, and i,,,, ihc/, , are de, i & termined as follows:

VUY = (l'b,

- V,] 1/ 6

Vl,,

= (%>?,- V a l ) /

47

(3)

V ,'

= ( V U l -\>/,I

i,

= GlJK."a1
. "bl
' VCl

ihp = o '. w

(4)

,i = Go,,

'

= V a1 ' a s + ' 1 1 1' + v c I ic.s I n

vaqius

Q=

(2)

+ vhq'bs + v c q i c s

Damping signals (harmonic components still present in the source currents) are determined as described in (6). . .

i"'/ = Bo,,.

. "U,

ih, = Bo.,,. . 1'hq

41,

(5)

= B O . > , . "a/

Finally, the multiplication between the damping signals iollr ihh, ic.I2and a gain K determines the damping voltages v~,,,, v/,/,,vClr. that will be added to the compensating voltage references of the series active filter of the UPQC, as will be explained in the next section. Thus, the gain K acts as a harmonic resistance to damp resonance phenomena.

Ia/i = l u y + i u p

.
.

lh/i

lch

= L, i, +

= Ihy + ihp .

(6)

E. Coriipensating Voltoges Calcirlution

The block diagram that determines the compensating voltages vac,vbr., vL.<[Fig. 2(b)], which is synthesized by the series PWM converter, is shown in Fig. 8. The inputs are the control voltages determined by the V+l voltage detector: vel, I>,,/, x i c r , the source voltages: vu,, vhsr vCs, and the daniping voltages: vu/], Vbh, vCh.The compensating voltage are:

y; '

f t "'<, @ t
'bq

Fig 7 Damping control algorithm in temis of obc banables

Ideally, the compensated voltages delivered to the critical load will comprise only the fundamental positive-sequence component ( i s u l , v h / . v,./) of the supply voltage 1's. The damping voltages wil I improve stability and provide harmonic isolation.

vu,

= Val - (% + V d ?1 = I'hl - ('b.7

"hc

vh/l

'

(7)

v,, = vc,- (VCS + V C h )

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0
@
'' l a
" I / /

04

c'

'

-1

vah

'h h

'ch

1
+I'hn)

' = l',, L -(11',$ Itlx = I,,,, v,, = V < - (V(,

__f

02 00 -002
-0 04

'*I

04

VO5
Vbr
-004

4- V h b )

+ Vh' )

d \'c'

04

,A L

0
Fig. 8. Compensating volbages calculation

0.10012

0.14 0.16 0.18

0.20

0.22

0.24

0.26

0.28

Fig. 9: Load current. current of the shunt active filter and source current.

As conclusion, the proposed UPQC control strategy provides compensated voltages and currents that are sinusoidal. balanced and minimized (in phase). Therefore, the power factor is ideal. the voltages delivered to the load are sinusoidal and balanced, and it is possible to guarantee that the source currents will be sinusoidal, balanced and minimized even if under unbalanced and / or distorted system voltages.
111. SlMULATION RESULTS

A test case was mounted to investigate the performance of the UPQC filter through digital simulations, in the Saber DesignerT". Per unit (pu) quantities cannot be used directly in this simulator. Thus, I V (phase to ground) and IA (line current) were used as the basis of the system. A balanced, 1 V, three-phase, voltage source is used. A three-phase sixpulse thyristor rectifier, with 0.2 A DC-current (20%), is used as a non-linear load. The shunt-active filter and the series-active filter start its operation in 0.2s. The total simulation time is 0.8s. The thyristor rectifier is connected at t = 0.1 s. An inductor and a resistor, whose values correspond to 0.1 % of the system base impedance, compose the source impedance. In this case: the short-circuit power at the load terminal is equal to I O p.u. The small high-pass filters to mitigate switching fiequency harmonics at the series and shunt PWM converters are R=0.6 Q and C = 170 pF. Although it seams a high capacitor, it corresponds to 5% of the system baseimpedance. A capacitor of 2400pF is used at the DC link of the UPQC. The reference voltage is equal to 4.5 V. To give an idea of the capacitor's dimension, the unit capacitor constant (UCC) is calculated, by the following equation:

that the source currents take to reach the steady state is pretty small. This demonstrates that the proportional and integral gains of the DC voltage regulator are well dimensioned. Fig. 10 shows the supply voltage (uncompensated, left side of the UPQC), the compensating voltage vac of the UPQC, and compensated voltage v,,,., delivered to the critical load, before and after the start of the series active filter. The source voltage has 10% of negative-sequence component at the fundamental frequency, plus 5% of a 5Ih harmonic and 5% of a 7'" harmonic. The vu,, voltage, after the start of the series active filter, becomes almost sinusoidal. Fig. I 1 shows the DC Link Voltage i'Dc'and the losses in the UPQC, represented by the GI,,, signal. The reference value at the terminals of the DC-link is equal to 4.5 volts. It niay be noticed, that the ripple at the DC-link voltage is very small, in the order of 0.4% of the reference value during a short transient period, after the start of the UPQC, and less than 0.1 %, in steady-state operation. The switching losses of the inverters may not represent the reality, since ideal models of switches in the digital simulator are used. This condition is needed in the proposed system, because a basis of 1V and 1A was chosen. Fig. 12 shows the source currents i,,,, ib,,, i,.,, the compensated voltages I,"),.. vh,,, v,,,, and the current i,, together with voltage I!,,,,. repeated in a separated graphic. before and after
1 2 ~ ~

1<'I

20

10 00 -1 0

-20
10 05 00 -05 -1.0

............................
VJ"

i.c.r? 2 !. lycc=L=
P

240op .(4.$
3.1.1

= X.1ni.s

(8)

-IO

s n . ..........................................

....................

Fig. 9 shows the load. shunt and source currents iul, i,., i,,,: before, and after the start of the shunt-active filter. After the start of the shunt active filter, the source current becomes almost sinusoidal. It may be noticed, that the time

00 -1 0
-2U

-.

010

012

014

016

018

020

022

024

026

028

Fig I O Supply Loltage. compensating Toltagc and the compensated voltage delneied to the critical load

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the UPQC energization. It may be seen that, when the UPQC start its operation the source currents, as well the compensated voltages become almost sinusoidal and balanced. The source current i,? and the compensated voltage vu,&are almost in phase after the start of the UPQC. It confirms that the control strategy proposed is useful in a threephase three-wire system, where the system voltages are unbalanced and distorted and the load currents with high contents of harmonics. IV. C o N C L U s l o N s
A control strategy for Unified Power Quality Conditioner - the UPQC - is proposed. Simulation results have validated the proposed control strategy, for the use in three-phase three-wire systems. In case of using in threephase four-wire systems, there is the necessity of compensating the neutral current. In this case, three-phase fourwire PWM converter is necessary. The computational efforts to develop the proposed control strategy is reduced, if compared with pq-Theor?>-based controllers, since tlie a-p-0 transformation is avoided. For three-phase three-wire systems, the performance of the proposed approach is comparable with those based on the p q Theory, without loss of robustness even if operating under distorted and unbalanced system voltage conditions. Presently, the authors are working on tlie possibility of extending the proposed control strategy for the use in threephase four-wire systems. V. REFERENCES
S. Fryze. "Wirk-. Blind- und Scheinleistung in elektrischen Stromkainseii init nicht-sinusfoniigen Verlauf voii Stroin und Spannung." ETZ-Arch. Elektrotech.. vol. 53. 1932, pp. 596-599. 625-627. 700-702. L. Malesani. L. Rosseto. P. Tenti. "Active Filter for Reactive Power and Harmonics Compensation", IEEE - PESC 1986. pp. 321-330. Luis F.C. Monteiro, M. Aredes. "A Comparative Analysis . b o n g Different Control Strategies for Shunt Active Filters." Proc. (CDROM) of the V INDUSCON - Conferencia de Aplicaq6es Industriais. Salvador. Brazil, July 2002. pp.345-350. T. Furuhashi, S . Okuma. Y. Uchikawa, "A Study on the Theory of Instantaneous Reactive Power," IEEE Truns. or? hidirslr.irrl Elecrwfiics. vol. 37. no. 1. pp. 86-90. Feb. 1990. L. Rossetto, P. Tenti. "Evaluation of Instantaneous Power Terms in Multi-Phase Systems: Techniques and Application t o PouerConditioning Equipments." ETEP - fir.. T ~ U J IElect. P o n w E q 5 . S. vol. 4. no. 6. pp. 469475, Nov./Dec. 1993. M. Depenbrock. D. A. Marshall. J. D. van Wyk. "Fomiulating Requirements for a Universally .Applicable Power Theory as Control Elccr. Algorithm in Power Compensators." ETEP - E w . TVUJIS. Poiwr Etig., \d.no. 6. pp. 445-3S5, Nov.iDec. 1994. 4. F.Z. Peng. H. Akagi. A. Nabae. "A New Approach to Hannonic Compensation in Power Systems - .4 Combined System of Shunt Passive and Series Active Filters." ZEEE T r u m hid. .4ppl . ~ol.26. 110.6. Nov./Dec. 1990. pp. 983-990. M. Aredes, J. Hafner. K. Heuniann. '' A Combined Series and Shunt Active Power Filter." /E/KTH Stuckllolrii Power. T w h Cor!$. vol. Power Electronics. pp. 237-242. Stockholm, Sweden. June 1995. H. Fujita. H. Akagi, "The Unified Power Quality Conditioner: The Integration of Series aiid Shunt Active Filters." IEEE T ~ U J IOJ? S. Poii;erNecrronics. vol. 13. No.2. March 1998.

500

4 75 450 4 25

4w
02
01

00
-0 1
-0 2

01

02

03

04

05

06

Fig. 1 1. DC link voltage signal ijlr and DC voltage regul:iior signal Gf,,,,

20
1.0

0.0
-1 0 -2 0

0 18

0.20

0.22

0.24

0 26

0 28

0 30

Fig. 12. Source currents, compensated voltages :id liiL,i.tmipi'iizatcd voltage I',,,,. together with the source cui Icni I

VI. BIOGRAPHIES
W Luis Fernando CorrPa Monteiro was born iii K i l s IIC 1.i1i;ii~~ I I C on March 1975. He received the B. Sc. Degree l i c m I c ~ l c t . t l i i i i \ c ~ \ i i ! of Rio de Janeiro in 2003. He is enrolled in M S c . ;it C ( )l'I'l i I K.1 111 hnver Electronics where is developing control strategic. fiu . t L . r t \ i IiIrLn and devices to improve the power quality in the elrctrrc,il .\,iciii 1113 hlain research areas of interest are Custom Power and I \ ( ' I > I lic rmyineer Luis F. C. Monteiro is a student member ofthe l31.;1/i11.111 l?mL,i I lcctronics Society (SOBRAEP), Intemational Electrical :ind I ILYII~W~L~.r I n~inee ing (IEEE). andcouncil on Large Electric Systrniz I( 11 11<1 i

Mauricio Aredcs 6'94. M'97) was born in %I I'.IIIL~ \I.I~L'. 111:1/11. o n August 13. 1961. He received the B.Sc. degree lrom I Iriiiiiiiiii.c I:cderal University. Rio de Janeiro State in 1984. the h1.k d i y i i . ~ .t i i I Icctrical Engineering from Federal University of Rio de .):iiiL,its, 111 l * J OI . :tiid the Dr.-lng. Degree (friogrlucifm IuiiilLI) from Techniach~~iii\ CI \ii.ii I h d i i i i n I 1996. From 1985 to 198s he worked at the I t a i p r i I I \ I)( .I r.iii\irii\siciii i'{n\er System and from 1988 to 1991 in the SCAD:\ I ' r o i ~ ~$ i5 1 II,~I~II Plant. From 1996 to 1997 he worked \vithin C'EPI'I. ( (1: i'Lwiiii>as de Energia Eletrica, Rio dr Janeiro. as R&D Enyiicci 111 I ' J \ J - . Iic ti.umi. an Associate Professor at the Fcderal Uni\wsit? (11 S I C .I.IIICII~~. 1<1<$ \\lici-c he teaches Power Electronics. His main research x c , i iiiL~iud:. I I\ I)( and FACTS systems. active filters. Custom Powel- arid Po\\ L'I Oii.ilii! 1 ~ ~ ~ s . Dr. Aredes is il meniber of the Brazilian Socici? liu \ r t i o i i i ~ i i l , oritrol and the Brazilian Power Electronics Society.
t'tiiit1

Joio A. Moor Neto was born in Rio de Janeiro Statc (NI l $ J ( 1 5I l c rscei\ed . the BSc. Degree from UCP-RJ in 1991. aiid M.Sc. Iron1 I LYILXII Liii\.ersity of ltajubi in 1995. He is enrolled in D.Sc. at C'OI'I'I I I l R I ti1 Po\ver Electronics since 2002. In 199s he became a i'roli',soi ;it 1. SLIUI-RS. where he teaches Power System. His niaiii rescarcli :II~:I. Iiiicr-cIt arc (>I FACTS and Custoni Power.

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