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8, AUGUST 2009
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I. I NTRODUCTION
OWADAYS, active filters are widely used in industrial applications in order to meet the international power quality
standards. By compensating for load harmonics, unbalances,
reactive power, and utility voltage unbalances, these filters
ensure that the input currents have a near-sinusoidal shape and
are in phase with the mains voltage. Currently, there is a large
variety of such filters available; however, the three-phase threewire shunt active filter (SAF) is the most used topology [1], [2].
Active filters are now directly integrated in power conversion
processes at both generation and distribution levels [3], [4] and
also integrated to motor control conversion schemes [5].
The linear control of SAF was applied in [6] because of
its simplicity to investigate direct and indirect current controls
Manuscript received July 31, 2007; revised August 27, 2008. First published
October 31, 2008; current version published July 24, 2009. This work was
supported by the Canadian Research Chair in Electric Energy Conversion and
Power Electronics.
The authors are with the Electrical Engineering Department and the Canada
Research Chair in Electric Energy Conversion and Power Electronics, cole
de Technologie Suprieure, Montreal, QC H3C 1K3, Canada (e-mail: bachir.
kedjar@ens.etsmtl.ca; kamal@ele.etsmtl.ca).
Digital Object Identifier 10.1109/TIE.2008.2006027
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Fig. 1.
[ vd
[ id
[ dd
vq
R
dd
1
did
= id + iq vdc + vd
dt
L
L
L
diq
R
dq
1
= id iq vdc + vq
dt
L
L
L
3
dvdc
=
(dd id + dq iq )
dt
2C
(1.b)
vo ]T = K[ va
(1.d)
vb
iq
io ] = K[ ia
ib
dq
do ]T = K[ da
db
vc ]T
(1.a)
(1.c)
(1.f)
dc ]T
(1.g)
ic ]
4
sin t sin t 2
sin
t
3
3
2
. (1.h)
K = cos t cos t 2
cos t 4
3
3
3
3
3
3
2
KEDJAR AND AL-HADDAD: DSP-BASED IMPLEMENTATION OF LQR WITH INTEGRAL ACTION FOR POWER FILTER
(3)
where
x = [ id
vdc ]T
iq
u = [ dd
dq ]
v = [ vd
(3.a)
T
vq ] .
(3.b)
DLd
L
D
(3.c)
Lq
A = R
L
3D
3Dd
q
0
2C
2C
Vdc
L
0
0
L
VLdc E = 0 L1 .
B= 0
(3.d)
3Iq
3Id
0 0
2C
2C
(4)
(4.a)
(4.b)
The LQR control law essentially gives a multivariable proportional regulator. Integral action has been added to the controller in order to cancel the steady-state errors. Two new states
[(5)] are then added to the small-signal model [(3)]. These new
state variables are the integrals of the state variables iq and vdc
dxa
= Aa xa + Ba u + Ea v
dt
(5)
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where
xa = [ id
u = [ dd
iq
vdc
dq ]T
iq
v = [ vd
vdc ]T
(5.a)
vq ]T .
(5.b)
DLd 0 0
D
R q 0 0
L
L
3Dq
3D
(5.c)
Aa =
0
0 0
2Cd
2C
0
1
0
0 0
0
0
1
0 0
Vdc
1
L
0
0
L
Vdc
1
0
L
0 L
3Iq
3Id
E
Ba =
=
(5.d)
0 0 .
a
2C
2C
0
0 0
0
0 0
0
0
Let us define the output equation by
y = Cxa
(6)
1 0 0 0 0
C = 0 1 0 0 0.
(6.a)
0 0 1 0 0
Different weighting factors Qid , Qiq , Qvdc , Q
iq
, and Q
vdc
are used for each variable, and the state weighting matrix Q is
given as follows:
Qid
0
0
0
0
0
0
0
0
Qiq
0
0
0
0
Qvdc
(7)
Q=
.
0
0
0
0
Q iq
0
0
0
0
Q
vdc
(9)
(10)
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Iq 0.
V 2
Dd
Dq 0.
Vdc
(11)
(12)
K11
K21
K12
K22
K14
K24
K15
K25
K13
K23
.
(14)
KEDJAR AND AL-HADDAD: DSP-BASED IMPLEMENTATION OF LQR WITH INTEGRAL ACTION FOR POWER FILTER
period for balanced load and 1/2 for unbalanced load. The
same principle is also applied to filter out the dc bus voltage.
One can also notice that the integral action is not added to the
d component because of the aforementioned assumption. By
doing so, the SAFs d component will automatically not only
adjust to its reference obtained from the load currents but also
to that required to compensate for losses. Since the active filter
has to compensate for all load q components in order to achieve
unity power factor at the PCC, the q component reference iq is
set at the opposite of load currents (iqL ). The errors obtained
from comparing the two SAF current component references to
their measured values are then put through the LQRI regulator
and divided by the dc bus voltage to obtain the duty cycles in the
dq reference frame. These duty cycles are transformed to the
a, b, and c quantities using the inverse Parks transformation and
serve as inputs to the slave DSP to generate the gating signals
of the IGBTs.
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Fig. 3. (ch1) Phase to neutral source voltage, (ch2) source current, (ch3) load
current, and (ch4) SAF current waveforms in steady-state operation.
V. E XPERIMENTAL R ESULTS
The systems steady-state operation and dynamic response,
as obtained on the prototypes DSP-based control algorithm, are
presented in this section. The weighting matrix Q and weight
W have been set to values that guarantee satisfactory response.
It is important to point out that increasing the weight for a
variable leads to speed up its response and vice versa. Weights
Q and W are chosen to get a settling time between one and
two cycles of the supply mains and duty cycles, between zero
and one. These values are first generated by simulation-based
examination responses obtained using Matlabs Sim Power
Systems and Simulink
TABLE I
PHASE VOLTAGES AND LINE AND LOAD CURRENT
CHARACTERISTICS FOR BALANCED LOAD
Qid = 10 c.u./A2
Qiq = 10 c.u./A2
Qvdc = 103 c.u./V2
Q iq = 103 c.u./A2
Q
vdc
= 105 c.u./V2
W = 1 c.u.
A. Compensation of Harmonics and Reactive Power
1) Steady-State Operation: Fig. 3 shows from top to bottom
the phase voltage va , line current isa , load current iLa , and
active filter current ia in steady-state operation, respectively,
when the switch S is open (only the three-phase nonlinear load
is connected and RL1 = 13.3 ).
The measured characteristics of phase voltages and line and
load currents are summarized in Table I.
The source currents measured THD equals 4.6% while those
of the source voltage and load currents equal 4.2% and 22.7%,
respectively. This demonstrates the acceptable compensation
for harmonics by the SAF.
Fig. 4 shows the dq components of reference and measured
current of SAF in steady-state operation.
One can observe the periodicity of variables id and iq which
is 1/6 of that of the mains for a balanced load. As expected, the
tracking of the d component shows an offset between reference
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Fig. 6. Phase a (ch1) source voltage, (ch2) source current, (ch3) load current,
and (ch4) SAF current (ch4) waveforms in steady-state operation.
Fig. 5. (a) (ch1) DC bus voltage, (ch2) source current, (ch3) load current,
and (ch4) SAF current waveforms for load power variation from 100% to 50%.
(b) (ch1) DC bus voltage, (ch2) source current, (ch3) load current, and (ch4)
SAF current waveforms for load power variation from 50% to 100%.
line current isa , load current iLa , and active filter current
ia , respectively, when a sudden variation of the three-phase
nonlinear load occurs. The power transmitted to the load has
been decreased from 100% to 50% and back to its initial value
(RL1 is switched from 13.3 to 26.6 and back to 13.3 ).
Compensation is achieved before and after load changes. The
controller ensures tracking of the dc bus voltage, and the steadystate error is zero. A small overshoot (5%) and a short settling
time of the dc bus voltage (one and a half cycle of the mains)
for these load power variations can be noticed. Also, one can
observe that the harmonic content, as well as the compensation,
is kept under control.
Fig. 7. Phase b (ch1) source voltage, (ch2) source current, (ch3) load current,
and (ch4) SAF current waveforms in steady-state operation.
Fig. 8. Phase c (ch1) source voltage, (ch2) source current, (ch3) load current,
and (ch4) SAF current waveforms in steady-state operation.
KEDJAR AND AL-HADDAD: DSP-BASED IMPLEMENTATION OF LQR WITH INTEGRAL ACTION FOR POWER FILTER
2827
TABLE II
PHASE VOLTAGES AND LINE AND LOAD CURRENT
CHARACTERISTICS FOR UNBALANCED LOAD
Fig. 10. (Top) SAFs reference component id and the latter id and
(bottom) SAFs reference component iq and the latter iq for unbalanced load.
The THD values of the line currents are less than 5.9%. The
dc bus voltage overshoot is less than 5%, with one and a half
cycles of settling time. These results are valid for all cases
tested, thereby demonstrating the good performance achieved
by the proposed controller.
VI. S YSTEM S PECIFICATIONS
RMS mains voltage
Mains frequency
Commutation inductor
DC bus voltage
Switching frequency
Boost inductors
DC bus capacitor
Load resistors
Load inductors
Fig. 9.
V = 95 V
f = 60 Hz
Lc = 1 mH
Vdc = 200 V
fsw = 10 kHz
L = 1 mH
C = 500 F
RL1 = 13.3/26.6 and RL2 = 26.6
LL1 = 10 mH and LL2 = 33 mH
are now unbalanced. However, the line currents have a nearsinusoidal shape and same magnitude and are in phase with the
corresponding supply voltages.
The measured characteristics of phase voltages and line and
load currents are summarized in Table II.
Fig. 9 shows from top to bottom the reduction levels of
harmonics and compensation of load unbalance by the SAF for
phases a, b, and c. The left column shows the characteristics of
load currents while the right column shows those of the mains.
The THD values of the measured line currents are 5.5%,
5.9%, and 5.7% for the corresponding fundamental components of 5.74, 5.62, and 5.33 A, respectively, for phases a,
b, and c. The measured THD values of the load currents are
15.3%, 17.2%, and 22.3% for the corresponding fundamental
components of 6.75, 5.89, and 3.63 A, respectively, for phases
a, b, and c. It can be observed from these results that the
source currents are balanced even though the load currents are
heavily unbalanced, thus demonstrating the ability of the SAF
to provide the required compensation for harmonics, reactive
power, and load unbalance.
Fig. 10 shows the same variables as in Fig. 4 for the unbalanced load. The periodicity of the two current components is
onehalf of that of the mains. Moreover, the same remarks hold
for id and iq tracking behaviors as for previously balanced load.
VII. C ONCLUSION
In this paper, as an extension of the other works in the linear
control of active filters, an LQR with integral action (LQRI)
is proposed and designed so as to control a three-phase threewire SAF in order to achieve unity power factor operation at
the PCC of heavily distorted and unbalanced load currents.
The controller was designed using an augmented small-signal
state-space averaged model of the converter in the rotating dq
reference frame including an integral action to complement
the standard LQR. The weighting matrices were chosen by
means of simulation-based examinations of the system transient
response to guarantee satisfactory responses. The experimental
results which were carried out for harmonics, reactive power,
and load unbalance compensation show good dynamic (small
overshoot and short settling time) as well as steady-state (low
values of THD of line currents) performance using the proposed
controller.
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Kamal Al-Haddad (S82M88SM92F07) received the B.Sc.A. and M.Sc.A. degrees from
the University of Qubec Trois-Rivires, TroisRivires, QC, Canada, and the Ph.D. degree from the
Institut National Polythechnique, Toulouse, France,
in 1982, 1984, and 1988, respectively.
From June 1987 to June 1990, he was a Professor with the Engineering Department, Universit
du Qubec Trois Rivires. Since June 1990, he
has been with the teaching staff of the Electrical Engineering Department, cole de Technologie
Suprieure (ETS), Montreal, Canada, where he was a Professor and, since
2002, has held the Canada Research Chair in Electric Energy Conversion and
Power Electronics. He has supervised more than 60 Ph.D. and M.Sc.A. students
working in the field of power electronics and was the Director of graduate study
programs at ETS from 1992 until 2003. His fields of interest are high efficient
static power converters, harmonics and reactive power control using hybrid
filters, switch mode and resonant converters including the modeling, control,
and development of prototypes for various industrial applications in electric
traction, power supply for drives, telecommunication, etc. He is a coauthor of
the Power System Blockset software of Matlab. He is a Consultant and has established very solid links with many Canadian industries working in the field of
power electronics, electric transportation, aeronautics, and telecommunications.
He is the Chief of ETSBombardier Transportation North America division,
a joint industrial research laboratory on electric traction systems and power
electronics. He coauthored more than 275 transactions and conference papers.
Dr. Al-Haddad is a fellow member of the Canadian Academy of Engineering
and a life member of the Circle of Excellence of the University of Quebec. He
was the recipient of the Outstanding Researcher Award from ETS in 2000. He
is very active in the IEEE Industrial Electronics Society, where he is the Vice
President for Publications, is an Adcom member, and serves as an Associate
Editor of the IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS and Guest
Editor of the special issue on hybrid and active filters.