Electrical Power and Energy Systems 33 (2011) 11091117

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Electrical Power and Energy Systems

journal homepage: www.elsevier.com/locate/ijepes

New control approach for capacitor supported DSTATCOM in three-phase four wire distribution system under non-ideal supply voltage conditions based on synchronous reference frame theory
Bhim Singh a, P. Jayaprakash b,, D.P. Kothari c
a b c

Department of Electrical Engineering, Indian Institute of Technology, Delhi, Hauz-Khas, New Delhi 110 016, India Centre for Energy Studies, Indian Institute of Technology, Delhi, Hauz-Khas, New Delhi 110 016, India Vellur Institute of Technology, Vellur, Tamil Nadu, India

a r t i c l e

i n f o

a b s t r a c t
A large number of single-phase linear and non-linear loads may be supplied from three phase ac mains with neutral conductor. They cause excessive neutral current, harmonics and reactive power burden and unbalance. A four wire DSTATCOM (distribution static compensator) is used for neutral current compensation along with reactive power compensation, harmonics elimination and load balancing. A novel control approach is proposed for the control of four wire DSTATCOM under non-ideal supply voltage conditions. A four-leg voltagesource converter (VSC) with a dc capacitor is used as a four wire DSTATCOM. The proposed control approach is based on synchronous reference frame (SRF) theory and an indirect current control technique. The switching signals for the voltagesource converter (VSC) of the DSTATCOM are derived from the estimated reference supply currents. The load balancing, harmonics elimination and the neutral current compensation are demonstrated along with unity power factor (UPF) and zero voltage regulation (ZVR) modes of operation. Simulation results based on MATLAB software with its Simulink and power system blockset (PSB) toolboxes are presented to validate the control strategy. The DSTATCOM is able to maintain the self-supported dc bus under various disturbances. 2011 Elsevier Ltd. All rights reserved.

Article history: Received 13 February 2008 Accepted 5 December 2010 Available online 12 March 2011 Keywords: Power quality Custom power devices Four wire DSTATCOM Neutral current compensation

1. Introduction The distribution systems are facing severe power quality problems due to the proliferation of different types of linear and non-linear loads such as solid-state controllers, which draw harmonics and reactive currents from ac mains [13]. Similarly, the single-phase linear and non-linear loads in the three-phase four wire distribution systems may lead to unbalance and excessive neutral current resulting in low power factor and increased loss [3]. Moreover, it may lead to poor power quality at AC source such as sag, swell, notch, icker, unbalance, etc. Because of such severity of power quality problems, several standards have been developed and are being enforced on consumers and utilities [4]. The remedial options reported for these problems include distribution static compensators (DSTATCOM), dynamic voltage restorer (DVR) and unied power quality conditioner (UPQC) and are called under the generic name of custom power devices [2].

Corresponding author. Tel.: +91 09497609509, +91 011 26591045; fax: +91 011 26581606. E-mail addresses: bsingh@ee.iitd.ac.in (B. Singh), jayaprakashpee@gmail.com (P. Jayaprakash), dpk0710@yahoo.com (D.P. Kothari).
0142-0615/$ - see front matter 2011 Elsevier Ltd. All rights reserved. doi:10.1016/j.ijepes.2010.12.006

The DSTATCOM is connected in shunt and is used for mitigating the power quality problems in the current and the DVR, which is connected in series, compensates the power quality problems of supply voltage at the point of common coupling (PCC). The UPQC is a combination of both DSTATCOM and DVR and it provides solution for power quality problems for both current and voltage. A three phase active device can provide an added feature of regulating the voltage at the PCC [5]. Though three-phase three-wire systems of DSTATCOM without neutral conductor have been successfully developed and commercial installations are reported [6], three-phase four-wire DSTATCOM is still under investigation [723]. The different topologies such as a VSC with four leg, three single phase VSC based and VSC with three leg and a split capacitor of DSTATCOM are reported in the literature [710]. Some researchers select the four-leg converter topology [8] as the best alternative compared to others considering number of switching devices, complexity of control, etc. There are different control techniques reported for deriving the reference control signals for the DSTATCOM. The instantaneous reactive power theory (pq theory) [3], synchronous reference frame (SRF) theory [19], power balance theory [11], SVPWM [22], etc. have been proposed to control DSTATCOM for three-phase four wire systems. The control of three-phase four-wire compensation

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under non-sinusoidal supply condition is veried to be satisfactory in [23] and the method is based on pq theory. The instantaneous active and reactive powers are calculated after ltering out the harmonics in voltage and the theory is evaluated for three phase four-wire four-leg VSC based system. However, SRF theory is considered superior than p-q theory in the three-wire system due to reduced computation and directly using the currents only. In this paper, a control approach based on synchronous reference frame (SRF) theory is used under non-sinusoidal supply conditions for the three phase four-wire four-leg VSC based DSTATCOM system. Moreover, the control scheme for nonsinusoidal supply conditions is implemented using an indirect current control method. The estimated reference supply current is used for generating the gate pulses for the four-leg VSC of the DSTATCOM. The DSTATCOM features the following characteristics. (a) Operation under non-sinusoidal supply conditions. (b) Neutral current compensation during linear and non-linear loads. (c) Harmonic current compensation. (d) Load balancing. (e) Reactive current compensation for unity power factor (UPF) or the zero voltage regulation (ZVR) at the point of common coupling (PCC). (f) Indirect current control. (g) Capacitor supported operation of DSTATCOM. 2. Principle of four wire DSTATCOM Fig. 1a shows single line diagram of a three-phase distribution line, which represents complete distribution system. The three-phase voltage source corresponds to secondary voltage of step-down transformers. An inductor, Ls corresponds to a leakage inductance of a distribution transformer and line inductance and the effective resistance of the distribution transformer and line is the resistor, Rs. The capacitor, Cf and Rf represent ripple capacitor and resistance respectively installed for ltering the high frequency signals of voltage at PCC. The effective resistance of the distribution transformer and line is the resistor, Rs. The DSTATCOM is installed at the end bus of the distribution line, as shown in Fig. 1a. The installation of the active device is one of the most effective solutions to eliminate harmonics in the distribution line [5]. Fig. 1b shows the phasor diagram of the system for unity power factor (UPF) operation. The reactive current (Ic) injected by the

DSTATCOM is to cancel the reactive component of the load current so that the source current is reduced to real current component only as Is. These currents are adjusted dynamically to maintain unity power factor under variable load conditions. Fig. 1c shows the phasor diagram for zero voltage regulation (ZVR) operation. In this mode, DSTATCOM injects a current Ic, such that the load voltage, VL and source voltage, Vs are in the locus of same circle. Fig. 2 shows the power circuit of a four wire DSTATCOM connected distribution system. The three-phase four-wire supply system is realized by using three voltage sources connected in star and a ground point. Three phase balanced and unbalanced loads are connected at the PCC along with the three-phase four wire DSTATCOM. The DSTATCOM consists of a 4-leg pulse width modulated (PWM) voltage source converter using eight insulated-gate bipolar transistors (IGBTs), four interface inductors, and a dc capacitor. In order to control the switching transients of the DSTATCOM, a ripple lter, which consists of a capacitor in series with a small resistance, is connected at the PCC. The DSTATCOM on the end bus provides neutral current compensation, harmonics elimination and load balancing along with power factor correction or line voltage regulation. 3. Control of three-phase four wire DSTATCOM The control of DSTATCOM has two parts. (a) Derivation of reference signals using the required feedback signals. (b) Generation of the gate signals using PWM current controller by comparing the sensed and reference signals. In this case, the proposed control technique for deriving the reference supply current is based on the synchronous reference frame (SRF) theory. The sensed load current is converted to rotating reference frame using sine and cosine signals, with unity magnitude, generated by a PLL in-phase with the load voltage. Hence the inuence of the disturbance of the electrical network is eliminated in the voltage waveform. 3.1. Reference signal estimation The reference supply current is estimated using the sensed load current and voltage at PCC. The UPF and ZVR strategies of reactive power compensation are mutually independent and the estimation

Is Vs

Zs Ls Rs Rf Cf Ic Cdc
DSTATCOM

IL

Equivalant Load

Ic Is

(a)

Vs ZsIs VL Ic Is

Vs

ZsIs VL

IL

(b)

IL

(c)

Fig. 1. (a) Single line diagram of DSTATCOM system. (b) Phasor diagram for UPF operation. (c) ZVR operation.

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1111

za vSa iSa zb vSb iSb zc vSc iSc iSn iCc iCa Lr iCb

iLa Three phase non - linear /reactive /unbalanced Loads iLn iCn Cf vdc Rf Cdc Ripple filter

iLb

iLc

Fig. 2. Schematic diagram of four-wire DSTATCOM connected distribution system.

methods are different, which are explained in the following section. 3.1.1. UPF operation The SRF method is also known as IdIq method. A set of voltages and currents can be transformed into ab0 axis using the following transformation.

Kid are the proportional and the integral gains of the dc bus voltage PI controller. The reference source current is therefore as,

id iddc iloss

1 r p v0 2 2B 6 7 B1 4 va 5 C 3@ vb 0

1 p 2 1 2 p 3 2

2 1 p 2 C C6 1 2 A4 p 23

va vb 7 5 vc

3 1

The reference source current must be in-phase with the voltage at the PCC but with no zero-sequence component. It is therefore obtained by the following reverse transformation.

0 12 3 3 is0 0 1 0 0 C6 7 6 i 7 B i 0 cos h sin h A4 d 5 4 sa 5 @ isb 0 sin h cos h 0 2

12 3 0 1 1 1 p p r p ia 2 2 2 C 2B 6 7 7 B 1 1 1 C6 i 4 ia 5 C 4 b5 2 2 A 3@ p p 3 ib ic 0 23 2 2 i0 3

The reference source current in the abc frame is obtained by reverse transformation of the above current vector:

The reference dq (d-direct axis, q-quadrature axis) frame is determined by the angle h with respect to the ab frame and the angle is obtained using a PLL. The transformation from ab0 frame to dq0 frame is given by

0 12 3 3 0 r 0 1 is0 isa p 2B 6 7 1 3 C6 7 0 4 isb 5 @ 2 2 A4 isa 5 p 3 3 isb isc 0 1 2 2

i0 i0 1 0 0 C6 7 6 7 B 4 id 5 @ 0 cos h sin h A4 ia 5 iq ib 0 sin h cos h

12

3 3

Each current component has an average value or dc component and an oscillating value or ac component as

id idd c ida c iq iqd c iqa c

4 5

3.1.2. ZVR operation The compensating strategy for ZVR operation considers that the source must deliver the same direct-axis component, id as mentioned in Eq. (7) along with the sum of quadrature axis current (iqdc) and the component obtained from the PI controller (iqr) used for regulating the voltage at PCC. The amplitude of ac terminal voltage (vLt) at the PCC is controlled to its reference voltage v Lt using the PI controller. The output of PI controller is considered as the reactive component of current (iqr) for zero voltage regulation of ac voltage at PCC. The amplitude of ac terminal voltage (vt) at PCC is calculated from the ac voltages (vsa, vsb, vsc) as,
2 2 v Lt 2=31=2 v 2 sa v sb v sc

The compensating strategy for reactive power compensation for UPF operation considers that the source must deliver the mean value of the direct-axis component of the load current along with the active power component current for maintaining the dc bus and meeting the losses (iloss) in DSTATCOM. The output of PI (proportionalintegral) controller at the dc bus voltage of DSTATCOM is considered as the current (iloss) for meeting its losses.

1=2

10 11

iqrn iqrn1 K pq v ten v ten1 K iq v ten

ilossn ilossn1 K pd v den v den1 K id v den

where v ten v Lt v Lt n denotes the error between reference v Lt and actual (vLt) terminal voltage amplitudes at the nth sampling instant. Kpq and Kiq are the proportional and the integral gains of the dc bus voltage PI controller. The reference supply quadrature axis current will therefore be

where v de n v dc v dcn is the error between the reference v dc and sensed (vdc) dc voltage at the nth sampling instant. Kpd and

iq iqdc iqr

12

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The reference source current will not be in-phase with the voltage at the PCC but with no zero-sequence component. It is therefore obtained by the following reverse transformation.

12 3 3 0 0 is0 1 0 0 C6 i 7 6 7 B i 0 cos h sin h A4 d 5 4 sa 5 @ iq isb 0 sin h cos h 2

13

The reference source current in the abc frame is obtained from Eq. (9). 3.2. Neutral current reference signal The reference supply neutral current should be zero for compensating the neutral current of the load. 3.3. Current-controlled PWM for generating gating pulses In a current controller, the sensed and reference supply currents are compared and a proportional controller is used for amplifying current error in each phase before comparing with a triangular carrier signal to generate the gating signals for six switches. The gating signals for the other two switches in the fourth leg of VSC of the DSTATCOM are obtained from the error signal by comparing sensed (isn) and reference isn neutral currents. The reference isn and estimated (isn) signals of neutral current are obtained as,

kept at its reference value. In the case, when the load is an inductive, the DSTATCOM operates as a capacitor. Along with reactive current control, the control of DSTATCOM consists of the following control functions: harmonic elimination, load balancing and neutral current compensation. The MATLAB software with its Simulink and power system blockset (PSB) toolboxes is used to model the three-phase four wire DSTATCOM connected distribution system. The power circuit is modeled as shown in Fig. 4 and the control scheme is modeled as shown in Fig. 5. The source consists of three phase ac voltages with neutral and linear and non-linear loads are connected at PCC. The DSTATCOM is coupled in parallel to the system through interfacing inductances.

5. Results and discussion The performance of the DSTATCOM is demonstrated for power factor correction and voltage regulation along with harmonic reduction, load balancing and neutral current compensation. The model is analysed under varying loads and distorted supply conditions. 5.1. Performance of DSTATCOM with distorted supply and linear lagging power factor load (UPF operation) The performance of the DSTATCOM during the distorted supply voltage condition is depicted in Fig. 6. The DSTATCOM is able to achieve the supply side power factor to unity where as it is 0.707 lag at the load side. The load currents (iL), converter currents (iC) and supply currents (iS) are also shown in Fig. 6. At 0.2 s, the supply voltage is distorted, with the terminal voltage THD as 7.45% (Fig. 7a). But due to the effective control of DSTATCOM, the supply current THD is 3.08% as shown in Fig. 7b and this validates the performance of the DSTATCOM. 5.2. Performance of DSTATCOM with linear load for neutral current compensation, load balancing and UPF operation The dynamic performance of the DSTATCOM under linear lagging power factor unbalanced load condition is shown in Fig. 8.

isn 0 isn isa isb isc

14 15

4. Modeling of DSTATCOM A block diagram of the control scheme equipped with the function of voltage regulation is shown in Fig. 3. Two PI controllers are used for the purpose of control of dc bus voltage of DSTATCOM and ac voltage at PCC. The compensation current should lead or lag by 90 from the voltage. The DSTATCOM draws a lagging current to reduce the line-voltage amplitude, when the load injects capacitive reactive power. In other words, the DSTATCOM acts as an inductor. The compensating current produces a voltage drop and then, the line-voltage amplitude is

Vdc* vdc iLa iLb iLc abc d-q-0 LPF id

iloss iddc ++ ++ iqr id* d-q-0 iqdc i q* 2 0 isa* abc isb* isc*

LPF LPF 2

iq

Three phase PLL vLt vsa v vsc sb Amplitude vLt*

(cos,sin)

PI controller

Fig. 3. Control algorithm for the operation of DSTATCOM in a three phase four-wire system.

+ -1 isn*

+ PI - controller

++

isn

isc

isb

isa

Current controlled PWM Controller

Gate Pulses for 4-leg VSC

B. Singh et al. / Electrical Power and Energy Systems 33 (2011) 11091117

1113

Fig. 4. MATLAB based model of the three phase four-wire DSTATCOM system.

Fig. 5. MATLAB based model of the control scheme for the three phase four-wire DSTATCOM.

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Fig. 6. Performance of DSTATCOM for reactive current compensation in UPF mode under distorted supply voltage.

Fig. 7. Waveform and harmonic spectrum of: (a) voltage at PCC (b) supply current.

The supply currents are balanced, sinusoidal and in-phase with the supply voltages at all conditions. At 0.3 s, the load is changed to two-phase load and again to single-phase load at 0.4 s. The loads are applied again at 0.5 s and 0.6 s respectively. The neutral current of the load resulting from the unbalanced load, compensator and supply neutral currents are also depicted in Fig. 8. The supply neutral current is observed as nearly zero and this veries the proper compensation. It is also observed that the dc bus voltage of DSTAT-

COM is able to maintain close to the reference value under all disturbances. 5.3. Performance of DSTATCOM with non-linear load for harmonic compensation, load balancing and UPF operation The dynamic performance of the DSTATCOM with non-linear and unbalanced load is given in Fig. 9. It is observed that the

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1115

Fig. 8. Performance of DSTATCOM for neutral current compensation and load balancing in UPF mode.

harmonic current is compensated and the supply currents are balanced, sinusoidal and in-phase with the supply phase voltage (UPF). At 0.3 s, the three-phase load is changed to two-phase load. The supply currents are still balanced and sinusoidal even when the current in a phase is zero. The dc bus voltage of DSTATCOM is maintained at nearly to its reference value under all disturbances.

5.4. Performance of DSTATCOM with linear load for neutral current compensation, load balancing and ZVR operation The dynamic performance of the DSTATCOM during linear lagging power factor unbalanced load condition is depicted in Fig. 10. The reactive power is compensated for voltage regulation and the

Fig. 9. Performance of DSTATCOM for harmonic current compensation in UPF mode.

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Fig. 10. Performance of DSTATCOM for neutral current compensation and load balancing in ZVR mode.

supply currents are balanced and sinusoidal. At 0.3 s, the load is changed to two-phase load and again to single-phase load at 0.4 s and the neutral current of the load resulting from the unbalanced load, compensator and supply neutral currents are also shown in Fig. 10. The supply neutral current is nearly zero and it veries the

proper compensation. The amplitude of terminal voltage (vLt) is also shown in Fig. 10 and it shows that the terminal voltage is maintained to the reference voltage by adjusting the reactive power injection. It is also observed that the dc bus voltage of DSTATCOM is maintained at the reference value under all disturbances.

Fig. 11. Performance of DSTATCOM for harmonic current compensation in ZVR mode.

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5.5. Performance of DSTATCOM with non-linear load for harmonic compensation, load balancing and ZVR operation The dynamic performance of the DSTATCOM during non-linear, unbalanced load condition is shown in Fig. 11. The supply currents are observed as balanced and sinusoidal under all conditions. At 0.3 s, the balanced three-phase load is reduced to two-phase load. The supply currents (iS), compensator currents (iC) and load currents (iL) are also given in Fig. 11. The supply current is made balanced and sinusoidal along with regulating the voltage amplitude to the reference (vLt) value. The amplitude is maintained at the reference value under all load disturbances. The reactive power injection is evident from the leading supply current with the phase voltage. The dc bus voltage of DSTATCOM is maintained at the reference value under all disturbances through proper control. 6. Conclusion A new control scheme based on synchronous reference frame (SRF) theory has been used for the four leg DSTATCOM for threephase four wire distribution system to improve the performance under non-ideal supply voltage condition. Moreover, the following objectives have been successfully achieved, even if the supply voltage is non-sinusoidal. (a) Neutral current compensation during linear and non-linear load. (b) Harmonic current compensation. (c) Load balancing. (d) Reactive current compensation for unity power factor (UPF) or the zero voltage regulation (ZVR) at the point of common coupling (PCC). (e) Indirect current control. (f) Capacitor supported operation of DSTATCOM. The four leg DSTATCOM has been found to meet IEEE 519-1992 standard recommendations on harmonic levels during non-ideal supply voltage conditions. The control approach has compensated the neutral and harmonic currents, reactive power as well as unbalanced load and the dc bus voltage of DSTATCOM is almost maintained to the reference value under all disturbances. Appendix A

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Line impedance Load, linear Non-linear Ripple lter DC bus capacitance DC bus voltage AC line voltage PWM switching frequency

Rs = 0.01 X, Ls = 2 mH 2000 kVA, 0.707 pf lag Three-phase bridge rectier and series RL load with R = 50 X and L = 1 mH Rf = 5 X, Cf = 5 lF 3000 lF 680 V 415 V, 50 Hz 10 kHz