High Performance Current Controller for Selective Harmonic Compensation in Active Power Filters

Cristian Lascu*, Lucian Asiminoaei**, Student Member, IEEE, Ion Boldea*, Fellow, IEEE, Frede Blaabjerg**, Fellow, IEEE
*

University Politehnica of Timioara, Faculty of Electrical Engineering, Timioara, Romania, Phone/Fax: +40-256-204402, cristi@et.upt.ro, boldea@lselinux.upt.ro ** Aalborg University, Institute of Energy Technology, Aalborg East, Denmark, Phone/Fax: +45-96359254, las@iet.aau.dk, fbl@iet.aau.dk

AbstractA new current control scheme for selective harmonic compensation is proposed for shunt active power filters. The method employs an array of resonant current controllers, one for the fundamental, and one for each harmonic, implemented in fundamental reference frame in order to reduce the overall computational effort. The proposed controller design method is based on the pole-zero cancellation technique, taking into account the load transfer function at each harmonic frequency. Two design methods are provided, which give controller transfer functions with superior frequency response. The complete current controller is realized as the superposition of all individual harmonic controllers. The frequency response of the entire closed loop control is optimal with respect to filtering objectives, i.e. the system provides good overall stability and excellent selectivity for interesting harmonics. This conclusion is supported by experimental results on a 7.6 kVA laboratory filter, indicating a reduction in current THD factor from 34 % to 2 %, while the highest harmonic compensated is the 37th harmonic current. Index Termsactive power filters, current control, harmonic compensation, selective controller.

I. INTRODUCTION Power quality has become a research topic in power distribution systems due to a significant increase of harmonic pollution caused by proliferation of nonlinear loads, such as rectifiers, switching power supplies and other types of line connected power converters. Harmonic pollution in electrical networks causes voltage distortion, additional losses and heating in the electrical equipment, perturbing torque, vibrations and noise in motors, malfunction and failures of the sensitive equipments, resonances and interference with electronic equipment, premature ageing. Active power filters (APF) are power electronic devices operated in power systems for conditioning purposes. In most of the cases, APFs are primary designed for current or voltage harmonic compensation or isolation. Additional features, such as reactive power compensation or voltage regulation may be performed by some topologies. The APF compensation principles were proposed in 1970, and the significant development of

power electronics technology has allowed engineers to make the APF a practical reality today [1]-[3]. Two fundamental configurations of stand-alone filters, either active or passive, have evolved: the series and the parallel filter. Combinations of one active and one passive filter in different configurations are known as hybrid filters [4]. The parallel APF is recognized as a cost effective solution for harmonic compensation in low and medium power systems. It has simple structure and construction, similar to a PWM voltage source inverter, with a large dc link capacitor, and connected to the line by means of an inductor. The control of parallel APF is a challenging task, due to the non-sinusoidal current that has to be generated. In general, the APF control involves three stages: signal measurement and conditioning, harmonic detection, and control. A multitude of solutions have been developed for APF control. Most of these approach the control by means of filter current control implemented in various reference frames: stationary, fundamental, or harmonic frame. The stationary reference frame current control includes: hysteresis control [5, 6], dead-beat control [7], and linear equivalent-PI control with selective harmonic compensation [9]. Current control in fundamental frame includes: linear PI current control [5], and sliding mode control [8]. A comparison of several controllers in [5] reveals the superiority of the hysteresis controller over the dead-beat controller, realized in stationary frame, and over the PI controller, in fundamental frame. Selective APF control in harmonics reference frames, where each harmonic is detected and controlled in its own reference frame, seems to be the most performant method. The method is computation-time expensive, but results in good control performance. Controllers may be realized in harmonics reference frames, in stationary frame using stationary frame generalized integrators [9] or repetitivebased control [10], or in fundamental frame using equivalent PI controllers [11], [12]. This paper develops on the APF selective harmonic control implemented in fundamental reference frame. Apart from existing solutions, which assume that the PI controller, in harmonic frame is the best choice [12], the

proposed scheme determines the control structure based on pole-zero cancellation design, taking into account the load transfer function which has complex coefficients. A new and better, controller transfer function is obtained in this way. Realized in fundamental frame, the controller provides for the control loop the frequency response of a resonant band-pass filter, with very good selectivity and significant attenuation outside its pass-band. The paper presents two design methods for the current controller, and performs the frequency response analysis. The solution is validated by experiments for a 7.6 kVA APF with two types of load. Using this strategy, the total harmonic distortion (THD) factor of the line current has been reduced from 34% to less than 2%, with the highest compensated harmonic current of 37th order. II. APF CURRENT CONTROL STRATEGY A. Structure of APF control The parallel APF has the structure of a three-phase PWM power converter connected to the line by an inductance rated at about 5% of the filter power. The dc link storage component is a capacitor, usually of larger value than in a standard power inverter. The filter acts as a harmonic current source, injecting into the line harmonic currents with the same amplitude and opposite phase to the loads harmonic current. The nonlinear load under consideration is the typical front-end three-phase rectifier used in industrial ac drives with either current source or voltage source dc-link circuits. Only three-wire systems are assumed in this paper. This type of load generates nonsinusoidal currents with typical THD factors from 30%, for current source loads, up to 130%, for voltage source loads. Typical for this type of current is the fact that its harmonic spectrum contains only sidebands of the multiples of six of the fundamental frequency, i.e. its harmonic spectrum contains only harmonics of orders k = 6n1, n=1, 2, where the k+ = 6n+1 harmonics are of positive sequence, and the k = 6n1 harmonics are of negative sequence. The block diagram proposed for APF control is shown in Fig. 1. This scheme uses the line current measurement to detect the harmonic current to be compensated, and the filter current measurement to control the filter current. This topology is known as the feedforward topology, as opposed to the feedback topology which uses the load current measurement.
AC Line Load

Both feedforward and feedback schemes were tested and the feeforward scheme was preferred because of its good stability and simplicity. However, similar results have been obtained with the feedback scheme also. For line synchronization purposes, the line voltage e is measured, and its frequency e and phase e are extracted by means of a PLL-based frequency observer. The control system contains a dc voltage control loop, and an array of fundamental and harmonic current controllers realized in fundamental reference frame, synchronous with the line voltage. The current control is divided into two distinct paths: fundamental current control that receives its reference from the output of the dc voltage controller (lower signal-path in Fig. 1); harmonic current control that receives as reference the harmonic content of the line current (upper signal-path in Fig. 1). The APF reference voltage is the sum of all current controller outputs, and is realized by a Space Vector Modulation (SVM) unit. The dc voltage controller is a proportional-integral (PI) unit which receives as input the reference Vdc* and the measured dc voltage Vdc, and outputs the reference fundamental active current, i*F1d, in synchronous frame.

1 * * iF1d = ( K pdc + K idc )(Vdc Vdc ) s

(1)

Controller gains are constant, Kpdc = 0.1 and Kidc = 1, tuned for slow dynamic response, which is desirable in order to avoid interference between the current and voltage controllers. The dc voltage reference is constant, Vdc* = 700 V. B. Fundamental current control Current control for the APF is realized by separate control of each harmonic, including the fundamental, followed by the superposition of commands produced by all controllers. All controllers are implemented in the fundamental reference frame rotating at angular speed e. Vector model of the line inductor, in synchronous fundamental frame, is
v F e dq = Ri F + L diF + j e Li F dt

(2)

iLa

iLb

ea High * pass iFh filter (Eq.16) Harmonic * current vFh control (Eq. 12) iF PLL

eb L iFa iFb

e -je
e

iLdq

e -je

Vdc*

Voltage control (Eq. 1) Vdc

iF1*

Fundamental

current control (Eq. 3)

vF1*

vF*

Sa,b,c SVM

where R and L are the resistance and inductance of the line inductor, vF is the filter voltage, iF is the filter current, and edq = ee-je is the line voltage vector. The fundamental current controller is a feedback controller, which provides pole-zero cancellation for the R-L plant. This is a complex-coefficient PI controller, with decoupling of the cross-coupling and with line voltage feedforward compensation (3) [13].
1 v * 1 = ( K p + ( K i + je K p ) )(i * 1 i F ) + e dq F s F

(3)

Vdc

Fig. 1. Block diagram of APF control.

The reference for fundamental current controller is i*F1 = i*F1d+ji*F1q. The active current i*F1d is the output of the voltage controller, while the reactive current i*F1q is set nonzero only when reactive power compensation is realized. Otherwise i*F1q = 0. The filter current vector, iF, is measured and then is transformed to fundamental frame. The PI gains Kp and Ki are selected so as Kp/Ki = L/R, with Kp small, so that the controller has relatively slow response, which does not interfere with the harmonic current controllers. The current control loop must be designed faster than the voltage loop, which is the slowest component of the system. This simplifies the PI controllers design and makes easier the tuning. A block diagram of the fundamental current control loop, including the controller (3) and the RL plant (line inductor) model (2), in fundamental reference frame, is shown in Fig. 2. Considering an ideal inverter, vF = vF1*, the transfer function of this current control loop is
H1 = iF i* 1 F = K p s + K i + je K p Ls 2 + ( K p + R + je L) s + K i + je K p

Fig. 3. Frequency response of fundamental current control in stationary frame for Ki=Kp R/L, Kp=1 and 5.

(4)

III. HARMONIC CURRENT CONTROL FOR SELECTIVE HARMONIC COMPENSATION Selective harmonic compensation is a feature which offers two important advantages in terms of flexibility, compared to a non-selective approach. First, in the case of harmonic currents larger than the APF capability, the control system has the ability to selectively compensate only the most harmful harmonics, maintaining the overload protection of the APF. The second advantage is related to control robustness in face of parameter uncertainties. The inductor parameters may change with frequency, and these changes can be easily taken into account when tuning the individual controllers for each particular frequency. The overall stability of the system may be improved in this way. This approach is not possible when one controller, with one set of gains, is used for compensation, as in the case of non-selective control. The main drawback of selective control is the increased computational burden placed on the digital control system. The harmonic current control has the task to generate harmonic currents with the same magnitude and opposite phase to the load current harmonics. The controller is realized as superposition of individual controllers, each designed for one pair k=6n1 of positive and negative sequence harmonics. In order to realize selective compensation, each individual unit may be individually enabled or disabled. All controllers are implemented in fundamental reference frame rotating at frequency e. Since coordinate rotation provides a frequency shift of e, in fundamental frame, harmonic orders k=6n1 become k=6n, where n assumes integer values. Consequently, in this frame, the positive and negative sequence harmonics of one pair result of the same order, and both can be simultaneously controlled by a single real-coefficient controller tuned for that frequency. The harmonic controller design may be carried out either in fundamental frame, where each controller regulates currents of frequency ke, k=6n, n integer, or in harmonic reference frame, where each controller regulates dc quantities. Both approaches are described next.

Assuming Kp/Ki = L/R, the controllers zero cancels the plant pole and the transfer function becomes that of a first-order low-pass filter with time constant T=L/Kp.
H1 = iF i* 1 F = Kp Ls + K p

(5)

Frequency response of H1 in stationary frame is represented in Fig. 3 for both positive and negative frequencies, on linear scales, and for two selected values of Kp, 1 and 5. Since the fundamental controller attempts to realize sinusoidal current, it is important to maintain its bandwidth (bw=Kp/L) relatively low. The reference for this controller (the voltage controller output) must be limited at a low value, corresponding to the maximum expected fundamental current, which is significantly lower than the APF capability. Notably, the loop provides unity gain for the positive sequence fundamental frequency only, and significant attenuation for all other frequencies, including the dc. The controller is able to perform reactive power compensation when nonzero reactive current reference is provided. In the case when unbalanced load compensation is desired, an additional negative sequence controller with similar topology must be implemented.
edq
RL plant model

Kp
iF1*

Ki jeKp
edq

vF
1/R L/R

iF

je

F ig. 2. Fundamental current control loop in fundamental frame.

A. Harmonic reference frame design In harmonic frame, the current control loop is designed for dc quantities since the harmonic current of interest is dc in its own rotating frame. Considering a reference frame rotating at angular speed ke, the R-L model of line inductor is
v k e = Ri k + L F F dik F + jke Li k F dt

(6)

where superscript k denotes the reference frame order. It is important to notice that this system has a single complex pole at R/L + jke, where k = 6n, n integer. A conventional PI controller with real coefficients is not sufficient to perform the compensation of the plant pole with the controllers zero, whatever its gains are. For this system, a current controller which achieves the pole-zero cancellation for harmonic ke has the complex transfer function HPIkk.
k H PIk = K pk + ( K ik + jke K pk )

Fig. 5. Frequency response of harmonic current control in stationary frame for k=6, R=1 , L=10 mH, Ki=Kp R/L, Kp=1 and 5.

1 s

(7)

In order to control both positive and negative sequence harmonics in the same time, with just one controller, the needed transfer function HPIk is the superposition of HPIk+ and HPIk.
H PIk = H PIk + + H PIk = 2 K pk s 2 + K ik s s 2 + (ke ) 2

where subscript k denotes the harmonic order. The line voltage compensation is not present in (7), since the voltage frequency is 50 Hz, assumed to be distant enough from the harmonic frequency considered, even in the most unfavorable case when k=6. The block diagram of the current control loop for harmonic k in its own reference frame is shown in Fig. 4, which depicts the R-L plant model (6) and the controller (7). Harmonic quantities only are represented. Since the positive and negative sequences have opposite rotating directions, Fig. 4 represents the control loop for one sequence only, according to the sign of ke. Taking into account that both sequences have to be simultaneously compensated, the controller (7) is transformed to stationary reference frame by taking a frequency shift of ke for positive sequences and of +ke for negative sequences. Taking the frequency shift, transfer function HPIkk becomes HPIk+ for positive sequence harmonics, and HPIk for negative sequence harmonics.

(9)

Notably, HPIk represents the transfer function of a resonant controller (harmonic integrator) tuned for frequency ke (for negative and positive sequences), which provides zero gain for the dc component. This controller is implemented in fundamental reference frame for each harmonic order k, up to a value of 36. Assuming an ideal inverter, and taking into account (2) and (9), with the line voltage as perturbation, the transfer function of the harmonic current control loop, in stationary frame, is
Hk = i Fk i* Fk = 2( K pk s 2 + K ik s ) Ls + (2 K pk + R) s 2 + (2 K ik + L(ke ) 2 ) s + R(ke ) 2
3

(10) Assuming Kp/Ki = L/R, the controllers zero cancels the plant pole and the current loop transfer function becomes that of a second-order band-pass filter tuned for frequency ke.
Hk = i Fk i* Fk = 2 K pk s Ls + 2 K pk s + L(ke ) 2
2

H PIk + =

K pk s + K ik s jke

H PIk =

K pk s + K ik s + jke

(8)

(11)

Kp
iFk*

RL plant model

Ki jkeKp

vFk
1/R L/R

iFk

jke

Fig. 4. Current control loop for harmonic k in harmonic frame proposed solution.

This transfer function provides unity gain for the frequency ke, and zero gain for the dc signals, i.e. it guarantees complete rejection of the fundamental frequency (which is dc quantity in its own frame). The frequency response of Hk in stationary frame is represented in Fig. 5 for both positive and negative frequencies, on linear scales. The response is obtained for k=6, and for two selected values of Kp, 1 and 5. Other parameters are: R=1 , L=10 mH, Ki= Kp R/L.

The loop provides unity gain for the frequency of interest (300 Hz in Fig. 5) for both sequences regardless of the value of Kp. It has significant attenuation for all other frequencies. The gain Kp controls the selectivity, lower values making the controller more selective and also less responsive during transients. The steady-state performance and the selectivity are more important in this case, and Kp was selected small. Finally, the total harmonic current controller is realized as the superposition of individual controllers given by (9). The complete harmonic controller is:
H PI =

These facts, which have an overall negative impact on the filtering performance, have been identified as the main obstacles in compensating even higher order harmonics.

n =1

K pk s 2 + K ik s s 2 + (ke ) 2

, k = 6n

(12)

Block diagram of the harmonic controller, together with the harmonic filter are represented in Fig. 6. Controller gains are selected so as Kp/Ki = L/R, and Kp of small value (around 1 in the actual experiments) in order to avoid overlapping of neighboring controllers. Since the inductor parameters are not exactly known, and may change with frequency, the transfer function (12) was practically realized with gains Kpk and Kik separately tunable for each harmonic order k. In this way it is easy to select the harmonics that are to be compensated. A specific harmonic pair may be left uncompensated by simply making its controller gains zero. The number of harmonic pairs which can be compensated in this way can be selected based on the available computational resources and on the sampling and switching frequency. In the actual experiments, up to six harmonic pairs are compensated, i.e. n = 1, 2, 3, , 6, with a switching frequency of 12.5 kHz. For high frequencies, the computation delay of one sampling period becomes significant compared to the harmonic period, which causes significant phase shift. Also, the number of samples in a period is very low (about seven samples in a period, for k=36), which degrades the precision of control.
iLh*=0 iLdq
2 s 2 + 2s + 2
2

B. Fundamental reference frame design Fundamental reference frame design is an alternate method, which takes the opposite approach to controller design. It starts with the desired transfer function of the closed-loop system and determines the controller that realizes that function. The desired closed-loop behavior may be specified either analytically, or as a frequency response, similar to that in Fig. 5. In fundamental reference frame, the current control loop is designed for the frequency pairs ke, k=6n, n integer. For each harmonic k, positive and negative, the loop must provide unity gain. For all other frequencies zero or very low gain is desired. In other words, the frequency response of the current loop transfer function must resemble the plot in Fig. 5, which is characteristic for a band pass filter. The simplest transfer function, which has this type of frequency response, is the second order band-pass filter given by (13).
Hk = i Fk i* Fk = Ks s + Ks + ( ke ) 2
2

(13)

Taking into account the RL model of the line inductor in stationary frame, with line voltage as perturbation, the transfer function HPIk of harmonic current controller needed to realize the loop transfer function (13) is

H PIk =

Ks ( Ls + R) s 2 + (ke ) 2

(14)

iFh*

K p6s 2 + Ki6 s s + (6e )

2 2

vF6*

vFh*

K p12 s 2 + K i12 s vF12 s 2 + (12e ) 2

HPF

* K p18 s 2 + K i18 s vF18

s 2 + (18e ) 2
* K p 24 s 2 + K i 24 s vF24

Not surprisingly, (14) is similar to (9) since (13) was selected similar to (11). However, this design method offers the possibility to obtain different controllers if (13) is selected of a different form, e.g. of higher order. Due to the fact that a controller like (14) is applied for each harmonic pair of order k, it is preferable to maintain it relatively simple, in order to reduce the computational complexity of DSP implementation. In general, if Hk is the desired closed-loop transfer function, the controller function will be H PIk = Hk H RL (1 H k ) (15)

s + (24e )

* K p 30 s 2 + K i 30 s vF30

s 2 + (30e ) 2
* K p 36 s 2 + K i 36 s vF36

s 2 + (36e ) 2

Fig. 6. The harmonic current controller and the HPF implemented in fundamental reference frame.

where HRL = 1/(Ls+R) is the RL model. For controller (14), the only tunable parameter is the gain K, provided that the R, L parameters are known. As before, K is selected small for selectivity reasons. The high pass filter in Fig. 6 outputs the harmonic current to be produced by the filter. This is a fourth order filter implemented in fundamental frame, which removes the fundamental current.

H HPF

2 i* 0 = Fh = 1 2 s + 2 s + 2 iL 0 0

(16)

where the cutoff frequency is 0=300 rad/s, and =0.8. IV. EXPERIMENTAL RESULTS The experimental setup is composed of a 7.6 kVA APF and a nonlinear load. The following components are parts of the test system: - Danfoss VLT 5006 standard inverter operated as APF; SN = 7.6 kVA, UN = 400 V, IN = 10 A, switching frequency fs = 12.5 kHz, Vdc = 700 V. - Danfoss line filter; UN = 400 V, IN = 7.2 A, with parameters R = 0.35 , L = 5.82 mH. - Nonlinear load: three-phase diode rectifier with RLC load that replicates a standard adjustable speed drive. - dSpace DS1103 hardware platform as the control system, with Matlab/Simulink Real Time Interface (RTI) as development interface. The proposed control algorithm is developed in Matlab/Simulink and converted for the dSpace hardware platform by means of the RTI Toolbox. All critical transfer functions and controllers are implemented in the C language as Simulink Sfunctions. For all experiments, the switching and sampling frequency was 12.5 kHz.

This setup allows two types of non-linear loads to be tested: the current source load (RL type load) with THD=24 %, shown in Fig. 7.a, and combined current and voltage source load (RLC type load) with THD=34 %, shown in Fig. 7.b. In both figures, the phase current waveform and its harmonic spectrum are represented. The first peak of the harmonic spectrum, which is out of range, is the fundamental current magnitude. The line current and its harmonic spectrum are shown in Fig 8.a for RL load, and in Fig. 8.b for RLC load. The filter was programmed to compensate the first six harmonic pairs (kmax=361), with the highest harmonic frequency compensated of 1850 Hz. Resulting THD factor is 0.5% for RL load and 1.2 % for RLC load. Filter current for the two load cases is shown in Fig. 9.a and Fig. 9.b. As expected, the filter effort is significantly higher in the case of RLC load. For each harmonic controller, the gains were individually tuned. Values used for experiments are from 0.1 to 1.0 for Kpk, with lower values for higher selectivity, and higher values for faster dynamic response. Values for Kik are from 100 to 1000. In both load situations each harmonic pair can be individually compensated and the controller for one harmonic pair has negligible influence on other harmonics as shown in Fig. 10 where selective harmonic compensation is demonstrated for RLC load.

(a)

(a)

(b) Fig. 7. Nonlinear load current and its harmonic spectrum for (a) RL load with THD=24%, and (b) RLC load with THD=34%

(b) Fig. 8. Line current and its harmonic spectrum for (a) RL load, THD=0.5%, and (b) RLC load, THD=1.2%. The first six harmonic pairs are compensated, kmax=36.

(a)

(a)

(b) Fig. 9. Filter current for (a) RL load, and (b) RLC load when the first six harmonic pairs are compensated.

(b) Fig. 10. Line current and its harmonic spectrum for selective compensation of (a) first harmonic pair (k=6), THD=6.66%, and (b) first two pairs (k=6, 12), THD=3.82%, both for RLC load.

Selective harmonic compensation for the first harmonic pair (k=61) is shown in Fig. 10.a, and for the first two harmonic pairs (k=61, 121) in Fig. 10.b. The THD factors are 6.66% in the first case and 3.82% in the second case. This experiment illustrates the situation when the filter deals with total harmonic currents larger than its rated capability, and only the most harmful harmonics are selected for compensation. V. CONCLUSION A current control scheme for selective harmonic compensation has been proposed for parallel active filters. The controller has the following main features. Each pair of harmonics k1 = (6n1)1, n=1, 2, is filtered by one controller, which results in a reduced number of controllers compared to the case when each harmonic is compensated by only one controller. Each harmonic controller acts as a resonant filter tuned for frequency k, allowing simple realization of selective harmonic compensation. Two design methods were proposed for the new harmonic controller. One method is based on the polezero compensation technique in harmonic frame, while the other is applied in fundamental frame. The proposed APF scheme provides typical resonant characteristic and robustness with respect to errors in frequency detection and to parameter changes.

The control offers very good rejection of measurement offset, of the line frequency, and of other undesired frequencies. This is not the case for existing methods. Selective compensation for harmonics of interest is easily realizable and has been demonstrated. The maximum frequency that has been successfully filtered out is 1850 Hz and the total harmonic distortion factor is reduced from 34% to less than 2%. REFERENCES
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