IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 37, NO.

6, NOVEMBER/DECEMBER 2001 1855

Dynamic Voltage Restorer Based on

Voltage-Space-Vector PWM Control
Changjiang Zhan, Vigna Kumaran Ramachandaramurthy, Atputharajah Arulampalam, Chris Fitzer,
Stylianos Kromlidis, Mike Barnes, and Nicholas Jenkins

AbstractA dynamic voltage restorer (DVR) based on the
voltage-space-vector pulsewidth-modulation algorithm is pre-
sented. Phase-jump compensation is achieved using a software
phase-locked loop and a lead-acid battery energy store. A bat-
tery-charging control technique using the DVR itself is also
described. To validate the control of the DVR, a three-phase
prototype with a power rating of 10 kVA has been successfully
developed. Simulation and experimental results are shown to
validate the control methods.
Index TermsBattery-charging control, dynamic voltage
restorer, pulsewidth modulation, voltage space vectors.
The fundamental control concept proposed by Gyugyi [7]
is a reactive power compensation technique where the injected
voltage ( ) is in quadrature with the load current and, there-
fore, no active power is provided by the DVR. The load power
factor plays a significant role and the compensation ability is
limited. Under the assumption of quadrature injected voltage
, the minimum supply voltage that can be boosted to
a given load voltage is

where is the power factor of the load. If the injection voltage

I. INTRODUCTION is limited to a magnitude of , the minimum supply
voltage that can be boosted to is
P OWER QUALITY problems encompass a wide range of
disturbances such as voltage sags/swells, flicker, harmonic
distortion, impulse transients , and interruptions [1]. Although
the impact of these disturbances causes minimal financial im-
where is the power factor angle arccos . The voltage in-
pact in residential areas, this is not the case for industries that
jection capability is a function of the turns ratio of the series
are heavily automated. A brief disturbance in the form of voltage
injection transformer and the rating of the pulsewidth modula-
sag can cause the failure or malfunction of a continuous process
tion (PWM) inverters.
and heavy financial losses may then incur.
In [8][10], active and reactive power compensation methods
Voltage sags last until network faults are cleared and typi-
are used to compensate for magnitude dips and phase jumps.
cally range from a few milliseconds to several seconds [2]. One
These methods use reference phase voltages for compensating
approach to overcome voltage sags is to use dynamic voltage re-
the difference between sagged and presag voltages. Comparing
storers (DVRs) with energy storage [3]. A DVR with lead-acid
reference phase voltages with a fixed-frequency triangular
batteries is an attractive way to provide dynamic voltage com-
waveform generates the gate signals of the inverter [5], [7],
pensation capability as well as being economical when com-
[9]. Thus, the dc-link voltage utilization ratio is rather low and
pared to shunt-connected devices.
this PWM method is only suitable for single-phase inverters or
The DVR is a custom power device that is connected in se-
a three-phase inverter whose series injection transformers are
ries with the distribution system as shown in Fig. 1. The DVR
connected to the distribution line with a star/open winding.
uses semiconductor devices such as insulated gate bipolar tran-
In this paper, the following apply.
sistors (IGBTs) and maintains the voltage applied to the load by
injecting three single-phase output voltages whose magnitude, The DVR is implemented using a three-phase PWM
phase, and frequency can be controlled [4]. These three single- voltage-source inverter (VSI) with lead-acid batteries to
phase voltages are injected in synchronism with the voltages provide real power. Based on the voltage-space-vector
in the distribution system. DVRs using integrated gate com- PWM (VSVPWM) method and software phase-locked
mutated thyristors (IGCTs) and cryo-MOSFETs have been pro- loop (SPLL), the DVR can compensate for voltage
posed in [5] and [6], respectively. sags/swells, thus keeping the load voltages at 1.0 p.u.
Using the self-charging control (SCC) technique, the DVR
can recharge the battery bank during standby without an
Paper IPCSD 01026, presented at the 2001 IEEE Applied Power Electronics external battery charger. A short-term discharge model
Conference and Exposition, Anaheim, CA, March 48, and approved for publi-
cation in the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Industrial based on the Thevein battery model for the lead-acid
Power Converter Committee of the IEEE Industry Applications Society. Man- battery is adopted for the investigation of the DVR [11].
uscript submitted for review December 16, 2000 and released for publication
August 8, 2001.
The authors are with the Manchester Centre for Electrical Energy, Univer- II. POWER CIRCUIT OF DVR
sity of Manchester Institute of Science and Technology, Manchester, M60 1QD,
U.K. (e-mail: mike.barnes@umist.ac.uk; n.jenkins@umist.ac.uk;) The power circuit of the DVR in Fig. 1 can be divided into
Publisher Item Identifier S 0093-9994(01)09698-0. four parts shown in Fig. 2: AVSI; Bthree single-phase
00939994/01$10.00 2001 IEEE
1856 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 37, NO. 6, NOVEMBER/DECEMBER 2001
Fig. 1. Schematic power circuit diagram of a DVR.
Fig. 2. DVR using a three-phase PWM VSI.
injection transformers; Cpassive filters; and Denergy
storage.
A. VSI
The PWM VSI inverter rating is relatively low in voltage and
high in current due to the use of step-up injection transformers.
There is generally no need for extensive multilevel structures
seen in a flexible ac transmission system (FACTS). The most
common inverter connections use either a three-level inverter or
a conventional three-phase Graetz bridge inverter.
B. Injection Transformers
The three single-phase transformers can be connected to
the distribution line with star/open winding or delta/open
winding. The star/open winding allows the injection of pos-
itive-, negative-, and zero-sequence voltages, whereas the
delta/open winding only allows the injection of positive- and
negative-sequence voltages. However, the delta/open winding
maximizes the use of the dc-link voltage of the inverter when
compared to the star/open winding.
The choice of injection transformer winding greatly depends
on the manner in which the distribution circuit (e.g., 11
kV/0.415 kV) step-down transformer is connected. If a -Y
with the neutral grounded is used, zero-sequence currents
will not propagate through the transformer when unbalanced
faults occur on the high-voltage level. Therefore, there is no
need to compensate for zero-sequence voltages. In a 415-V
system as shown in Fig. 2, a delta/open injection winding using
three single-phase injection transformers is adopted. For a
0.5-p.u. single-phase dip compensation, the DVR connection
transformer turns ratio is set to 1 : 2 when the average
dc voltage of battery units is around 100 V. The leakage induc-
tance in each single transformer was designed to be 0.01 p.u.
ZHAN et al.: DVR BASED ON VSVPWM CONTROL 1857

in order to reduce the voltage drop it produces. Moreover, to

avoid saturation under all conditions, the injection transformer
must be sized to handle at least twice the normal steady-state
flux requirement at maximum rms injection voltage without
saturation.

C. Passive Filters
The filtering scheme in a DVR can be placed either on the
high-voltage side or the inverter side of the series injection trans- Fig. 3. Equivalent electrical circuit diagram of the DVR.
former. The advantage of the inverter-side filter is that it is on
the low-voltage side of the series transformer and is closer to
the harmonic source. Using this scheme, the high-order har-
monic currents are prevented from penetrating into the series
transformer, thus reducing the voltage stress on the transformer.
However, the introduction of the filter inductor causes a voltage
drop and phase-angle shift in the fundamental component of the
inverter output. This can affect the control scheme of the DVR.
While a high-voltage-side filter avoids these problems, high-
order harmonic currents then do penetrate into the series trans-
former, thus necessitating a higher rating of the transformer.
However, the leakage reactance of the transformer can be used
to aid the filtering characteristic. In Fig. 2, three simple RC filter
branches ( and F) are located on the
high-voltage side of the series transformers and three 50- H Fig. 4. Operation principle of SPLL.
inductors are connected directly at the output terminals of the
PWM VSI. windings and reflected in the secondary windings of the
series insertion transformer. For line currents exceeding
D. Energy Storage the inverter rating, a bypass scheme is incorporated to
Energy storage is required to provide real power to the protect the power electronics.
load when large voltage sags take place. Examples of energy
storage are lead-acid batteries, flywheel, superconducting III. SPLL
magnetic energy storage (SMES), etc. For SMES, batteries and When voltage sags take place in a three-phase power system,
capacitors, which are dc devices, solid-state inverters are used they cause a voltage unbalance by generating negative- and
in the power conversion system to accept and deliver power. zero-sequence voltages. Accurate phase-angle and frequency
For flywheels, which have rotating components, ac-to-ac information of the utility voltage is critical for the control of
conversion is performed. The energy storage devices used the DVR, which has to operate under distorted and unbalanced
for this study are lead-acid batteries. Batteries provide rapid conditions. The voltage unbalance will cause an oscillation
response for either charge or discharge, but the discharge rate is error in the measurement of the phase angle using conventional
limited by chemical reaction rates so that the available energy methods. A modified SPLL method was used to track the basic
depends on the discharge rate. Generally, the DVR has several positive component of the utility voltages in [12].
operating states.
If we define a voltage vector of the instantaneous source
1) When a voltage sag/swell occurs on the line, the DVR phase voltages , , as
responds by injecting three single-phase voltages in syn-
chronism with the network voltages. Each phase of the (1)
injected voltages can be controlled independently or to-
gether in magnitude and phase. The DVR draws active where , , then
power from batteries and supplies this together with reac-
tive power to the load.
2) When the voltage supply is operating under normal con- (2)
ditions, the DVR operates in a standby mode if the battery
is fully charged; or the DVR operates in the self-charging
control mode if the batteries need to be recharged. Other voltage vectors, such as the injected voltage vector
3) In the event of a fault or short circuit downstream, the , the load voltage vector , and the load current vector
DVR (specifically, the VSI) must be protected against (Fig. 3) can be defined in the same way as .
overcurrent flowing through the power semiconductor The SPLL gives an output of angle , which can also be rep-
switches. The rating of the DVR inverters is the lim- resented by a nominal unity vector rotating with angular
iting factor for normal load current seen in the primary speed , Fig. 4. A small phase shift angle between the actual
1858 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 37, NO. 6, NOVEMBER/DECEMBER 2001

Fig. 5. Function block diagram of SPLL.

vector (normalized vector of the source voltage

vector ) and which tracks it can be described as

(3)

This phase shift may be eliminated by using a lag/lead con-

troller or loop filters. Under locked conditions, the argument of
the nominal unity vector is equal to the argument of the fun-
damental positive-sequence vector of the utility voltages. The
simulation implementation is shown in Fig. 5. In Fig. 5, the
components of are normalized using

Fig. 6. Compensation strategy of the DVR for voltage sags with a phase
(4) jumpinitial condition.

Then, and are converted into and

in the synchronous rotating frame (SRF) by using
the output angle of the SPLL in (3)

(5)

When the utility voltages are ideal and balanced, the com-
ponents of the source voltage vector appear as dc values. By
regulating , the SPLL can track the accurate argu-
ment of the positive-sequence space vector of .

IV. DVR CONTROL ALGORITHM Fig. 7. Vector diagram for DVR voltage sag compensation in the steady state.

A. Compensation Strategy
Sags are often asymmetrical and accompanied by a phase
jump. Some sensitive loads, such as adjustable-speed drives
(ASDs), must be protected from them [2]. Therefore, the
compensation strategy adopted should be able to compensate
for any type of voltage sags and also consider the limitations of
the DVR itself.
Here, a continuous tracking strategy using the SPLL is used.
Through a suitable choice of the time constant of the SPLL
block, the DVR restores the instantaneous voltage waveform
in the sensitive load side to the same phase and magnitude as
the initial presag voltage (Fig. 6). In Fig. 6, the source voltage
vector during the presag stage is represented as on
the axis in the SRF, in which the rotating phase angle
is derived from the SPLL. Initially, the load voltage vector
is the same as and is assumed to be 1.0 p.u. if
the voltage drops across the series transformers are neglected.
When voltage sags occur, the actual source voltage vector
will be moved to for example, which has a phase shift
with . To restore the load voltage vector , an in-
jected voltage vector should be provided by the DVR. The
SPLL tracks the phase information of the source voltages
and gradually reduces the phase shift angle . As a result, the
DVR will gradually change the injected voltages and restore the
voltage vector close to the axis in the steady-state
condition, shown in Fig. 7 results.
This compensation strategy can be implemented using either
feedforward or feedback control techniques. The feedforward
method was adopted because it simplifies the control system.
ZHAN et al.: DVR BASED ON VSVPWM CONTROL 1859

Fig. 8. Function block diagram of the control system.

Fig. 10. Short-term Thevenin discharge battery model.

Fig. 9. VSVPWM selection method.

However, the voltage drop across the transformers and any pas-
sive components used for filtering together with the switching
losses have to be considered when determining the magnitude
of the reference voltage. A feedforward control block diagram
of the DVR is shown in Fig. 8.

B. Inverter Control
When the series transformers are connected using the
delta/open configuration, the injected reference voltage vector
can be transferred to the terminal reference voltage vector on
the inverter side using
(6)
As for the inverter control, a conventional VSVPWM method
was used to generate the driving signals of IGBT devices shown
in Fig. 9.
Fig. 11. Self-charging control technique for the DVR.
V. DISCHARGE MODEL OF LEAD-ACID BATTERIES AND SCC
TECHNIQUE
A. Short-Term Discharge Model of the Lead-Acid Battery
Typically, a voltage sag lasts less than 5 s. During this
period, the discharge rate is high as the DVR draws energy
from the lead-acid battery and the self-discharge reaction
is less important and can be neglected. Therefore, an RC
electrical circuit shown in Fig. 10 is suitable to represent a
1860 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 37, NO. 6, NOVEMBER/DECEMBER 2001

(a) (b)

(c) (d)
Fig. 12. Relationship between the power flow P (p.u.) or Q (p.u.) and charging control angle ' (degree). (a) V = 1:0 p.u. (b) V = 1:0 p.u. (c) pf = 0:70
(d) pf = 0:70.

Fig. 13. DVR simulation results using the self-charging control technique with a charging control angle of ' = 26 degree.

short-term Thevenin discharge battery model. It can describe farads depending on the battery size), and represents the
the external output characteristic of the lead-acid battery with equilibrium electromotive force (EMF) of the battery under
a high degree of accuracy. In Fig. 10, represents ohmic no-load conditions. These elements are strongly nonlinear
polarization (typically 0.110 m ), represents the charge and are dependent on the discharge rate, state of charge, and
transfer losses (typical range is 0.120 m ), represents the temperature. As shown in Fig. 10, there is a sudden decrease
double-layer effect dynamics (from 1 F to several thousands of voltage because of the ohmic polarization resistance
ZHAN et al.: DVR BASED ON VSVPWM CONTROL
Fig. 14. Simulation of DVR response to a single-phase fault.
Fig. 15. Simulation of DVR response to two-phase fault.
when the discharge begins. Then, a gradual decrease
occurs in caused by chemical changes at the surface of the
active materials that can be described using an discharge
constant . When the discharge ends, the voltage
recovers in the same sequence.
B. SCC Technique
In most DVR applications, an auxiliary ac supply with a rec-
tifier and a dc/dc converter is used to charge the energy storage
unit. In this paper, a technique of self-charging control is pro-
posed and the inverter acts as a battery charger without the use of
external sources such as a diode rectifier. When no disturbance
is seen in the line, the DVR can be used to absorb active power
from the power supply to recharge the batteries, and provide si-
multaneously the reactive power to maintain the voltage level
at 1.0 p.u. at the load side. As shown in Fig. 11, there is now a
small control angle between the load voltage vector and
1861
the source voltage vector . The power factor of the sensitive
load together with this control angle will play an important role
in the recharging process of batteries as shown Fig. 12(a)(d).
VI. SIMULATION RESULTS
The DVR based on the VSVPWM method was simulated
using the PSCAD/EMTDC program for a 10-kVA load. Fig. 13
demonstrates the concept that the DVR itself can be used to
recharge the lead-acid battery. Figs. 1416 show the simulation
results during single-, two-, and three-phase sags with the pro-
posed control algorithm. The simulation illustrates that the DVR
has fast compensation abilities. All the model parameters of
lead-acid batteries were obtained using experimental data from
tests at Hawker Ltd., Swinton, Manchester, U.K. The lead-acid
battery used in this paper is their POWERSAFE VB11 (three
cells) [13].
1862
Fig. 16. Simulation of DVR response to three-phase fault.
Fig. 17. Voltages on the supply side of the 1Y distribution transformer.
Fig. 18. System voltages directly after the 1Y distribution transformer.
Fig. 19. Voltages injected by the DVR.
VII. EXPERIMENTAL RESULTS
A 10-kVA 415-V IGBT DVR laboratory prototype was suc-
cessfully built to study the dynamic response of the DVR to-
gether with behavior of the lead-acid battery. Experimental re-
sults are given in Figs. 1720 for a 3-kW load. The hardware
results are for a single-phase fault. Since the distribution-side
transformer has a Y-grounded connection, the single-phase
fault appears as a two-phase dip at the secondary side. The pro-
totype used a dual Texas Instruments C44 DSP system for con-
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 37, NO. 6, NOVEMBER/DECEMBER 2001
Fig. 20. Voltages at the load.
trol. One processor was used for the SPLL and the other calcu-
lates the IGBT switching periods.
VIII. CONCLUSION
This paper has proposed a compensation strategy based on an
SPLL algorithm for the DVR, which is applied for the dynamic
compensation of voltage sags with a phase jump. The PWM
inverter control of the DVR adopts a conventional VSVPWM
method for the maximum utilization of the dc-link voltage sup-
ported by lead-acid batteries. An SCC technique was presented
to replenish energy into the lead-acid batteries. Simulation and
experimental results demonstrated the proposed control method.
ACKNOWLEDGMENT
The authors would like to thank the Engineering and Physical
Sciences Research Council and Hawker Ltd. for their support in
this project.
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IEEE Trans. Power Delivery, vol. 14, pp. 465471, Apr. 1999.
[4] N. H. Woodley, L. Morgan, and A. Sundaram, Experience with an in-
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[10] S. Chang, S. W. Yang, and Y. S. Ho, Simulation and analysis of series
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ZHAN et al.: DVR BASED ON VSVPWM CONTROL 1863

Changjiang Zhan was born in Hubei Province, Stylianos Kromlidis received the M.Sc. degree in
China, in 1970. He received the B.Sc., M.Sc., and electrical power engineering from the University
Ph.D. degrees in power electronics from Huazhong of Manchester Institute of Science and Technology,
University of Science and Technology, Wuhan, Manchester, U.K., where he is currently working
China, in 1991, 1994, and 1997, respectively. toward the Ph.D. degree.
From 1997 to 1999, he was a Post-Doctoral
Fellow at Tsinghua University. Since 1999, he has
been with the Department of Electrical Engineering
and Electronics, University of Manchester Institute
of Science and Technology, Manchester, U.K., as a
Research Associate. His research interests include
power electronics, FACTS, power quality, and DSP control.

Vigna Kumaran Ramachandaramurthy was born

in Malaysia in 1975. He received the B.Eng. (Hons.)
degree in 1998 from the University of Manchester In-
stitute of Science and Technology, Manchester, U.K.,
where he is currently working toward the Ph.D. de-
gree in electrical engineering.
His research interests are applications of FACTS
and custom power devices, power quality, and control
using a DSP.
Mr. Ramachandaramurthy was the recipient of a
Malaysian Government Scholarship.
Atputharajah Arulampalam was born in Sri Lanka
in 1971. He received the B.Sc.Eng. (Hons.) degree
from the University of Peradeniya, Peradeniya, Sri
Lanka, in 1997. He is currently working toward the
Ph.D. degree at the University of Manchester Insti-
tute of Science and Technology, Manchester, U.K.
Since 1998, he has been a Lecturer in the Depart-
ment of Electrical and Electronic Engineering, Uni-
versity of Peradeniya. His research interests are ap-
plications of FACTS devices, power quality, and con-
verter configurations.
Chris Fitzer was born in Preston, U.K., in 1977. He
received the B.Sc. (Hons.) degree in electronics from
the University of Central Lancashire, Preston, U.K.,
in 1999. He is currently working toward the Ph.D.
degree at the University of Manchester Institute of
Science and Technology, Manchester, U.K.
His research interests are digital control of
power quality devices, dynamic voltage restorers,
transformer saturation, and hybrid filters.
Mike Barnes received the B.Eng. and Ph.D. degrees
from the University of Warwick, Conventry, U.K., in
1993 and 1998, respectively.
He was both a Research Associate working on a
DTI/LINK project on low-cost switched reluctance
drives and a Lecturer at the University of Warwick.
For the last three years, he has been a Lecturer at the
University of Manchester Institute of Science and
Technology, Manchester, U.K., where his research
interests have covered power electronics applied to
power systems, machine drives, and photovoltaics.
Nicholas Jenkins received the B.Sc. degree from
Southampton University, Southampton, U.K., the
M.Sc. degree from Reading University, Reading,
U.K., and the Ph.D. degree from Imperial College,
London, U.K., in 1974, 1975, and 1986, respectively.
His industrial experience includes periods with
Eastern Electricity, Ewbank Preece Consulting
Engineering, and BP Solar and Wind Energy Group.
In 1992, he joined the University of Manchester
Institute of Science and Technology, Manchester,
U.K., where he is currently a Professor and leader of
the Electrical Energy and Power Systems Group. His research interests include
renewable energy, embedded generation, and FACTS.