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Tsurugi Yoshii, Shigenori Inoue, Student Member, IEEE, and Hirofumi Akagi, Fellow, IEEE
Department of Electrical and Electronic Engineering
Tokyo Institute of Technology, Tokyo, Japan
E-mail: akagi@ee.titech.ac.jp
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1-4244-0365-0/06/$20.00 (c) 2006 IEEE
6.6 kV, 50 Hz
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TABLE I Voltage sensors
CIRCUIT PARAMETERS IN FIG. 2
-
VCui1
voltage sensor is installed on the dc side. For example, a cluster another, and sampling timing.
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+ K5 VBqum + Vu
DC voltage Vcu 1-sT VBum
reference vc
VCum coswt from Fig. 6
+ K5 VBqvm + Vv
Vcv 1+T VBvm
i7it-t
id d Decoupling Vd Inv. V* vCwm cos(wt + 2wF/3) from Fig. 6
i
d-q
rans.
current control
(Eq. 10) Vq
d-q
trans.
} urnV*
V
V*wm
Fig. 7. Individual balancing control between three cascaded converters inside
each cluster, paying attention to the mth-converter.
Fig. 5. Control block diagram for the 200-V STATCOM.
sin(wt + 2wF/3) The d-axis current reference i, and the q-axis current
reference i* are determined by
Fig. 6. Clustered balancing control between the u-phase, the v-phase and
the w-phase clusters, considering each of the three clusters as a single-phase KidK(v0C-vc) (8)
H-bridge converter using four IGBTs. q*
VSd
(9)
This control method is characterized by easy expansion into The d-axis voltage reference vd, and the q-axis voltage refer-
the STATCOM with a cascade number higher than four. ence v* are given by
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capacitor voltage reference v0, the dc mean capacitor voltage 200-
of the u-phase cluster, vcu and the d-axis current id as follows: vsu0 IV] 0
-200E
VBdau =-K4 { K3 (vc- C , id } sin wt. ( 11) 30
Note that vc, vcu and id are not ac but dc signals. This makes i [A] 0
it possible to form a minor current loop of id, as if on the d-q
reference frames. This minor current loop on the dc reference -30 46 V
frame makes a significant contribution to improving stability. 50 , MCI was turned on
Multiplying the dc signal obtained from the minor current loop
by "sin wt" implies to achieve dc-to-ac transformation, as if the vc [V] 100 ms
inverse d-q transformation were applied. The signals "sin(t-
27w/3)" and "sin(wt + 27w/3)" from the PLL circuit take the 00 200 400
place of "sin wt" in the v-phase and w-phase clusters. (a) -20 ms < t <400 ms
( I- -
vc IV] 60 :46 V
when q* = 0. The following practical limitation is imposed v
c
50 Al, 20 ms
on this experimental system.
40
1.5 1.64
<q* <10 [kVA] (b) 1.47 s < t < 1.64 s
VI. EXPERIMENTAL RESULTS Fig. 8. Experimental waveforms when the STATCOM was started.
A. Start-up Procedure
A specially-designed start-up circuit consists of two three- capacitor voltage reference v0 with a slow ramp function3.
phase magnetic contactors MCI and MC2, and a current- This enables to gradually build up all the dc mean voltages
limiting resistor R in each phase, as shown in Fig. 2. from 46 V to its reference voltage of 60 V. Then, the reactive-
Fig. 8 shows experimental waveforms of the three-phase power reference q* was controlled with a ramp function from
ac currents itu, iv and i , and the nine dc capacitor voltages 1 to 10 kVA to prevent overvoltage from appearing across each
from vcul to vC,3 when the 200-V STATCOM was started. dc capacitor.
Unfortunately, it is difficult to distinguish the waveforms of the
nine dc capacitor voltages. The STATCOM takes the following B. Experimental Waveforms
start-up procedure.
At the time of t = 0, MCI was turned on, while MC2 Fig. 9 shows experimental waveforms in a transient state
remained switched off. An amount of ac current, lower than from inductive to capacitive operation with a ramp change
the rated current of 30 A, in each phase started to flow into in q* from -10 kVA to 10 kVA. Although vc represents the
the dc capacitors through a resistor of R = 10 Q. Thus, each nine dc capacitor voltages, it is difficult to distinguish the nine
dc capacitor voltage was charged up with a time constant of waveforms from Fig. 9. The voltage reference was controlled
R x C/3 = 55 ms. At the time of t = 400 ms, no current in a range between 60 V and 70 V, being synchronized with
flowed, and the nine dc capacitors were equally charged up the ramp change in q* [kVA] as follows:
to a constant dc voltage of 46 V. At the time of t = 1.0 s, V0 = 65 + q*/2 [V]. (13)
MC2 was turned on, but no current flowed, so that no voltage
change occurred in the nine dc capacitors. This phenomenon The above equation means that capacitive operation at q* =
was not included in Fig. 8. At the time of t = 1.5 s, the 10 kVA takes the maximal voltage reference of 70 V, and
STATCOM control came into operation, and started to draw a
3Both clustered balancing control and individual balancing control were
small amount of active power and a capacitive reactive power also put into operation at the time of t = 1.5 s, thus keeping all the nine dc
of 1 kVA from the three-phase utility grid, controlling the dc capacitor voltage balanced well, as shown in Fig. 8 (b).
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200 300
Vsu,
-200) VW Vw V< V< \V VJ V \j' un [V] 0
60
i [A] 0\A v vVI-/v
i[OV An 4vnA
v v v t
-300
500
-60
q VUV [V] 0
V| V r ~~~~~~5
ms
15
'I ItkVA]'] 0OL
a L- ' ' /U
1 I I -500
-15 Fig. 11. Experimental waveforms when the STATCOM was put into inductive
80 operation at 10 kVA with vC 60 V.
vc [V] 70
-R9-
60 _9 50 ms_ 300
50
-500
-300
500- Fig. 12. Experimental waveforms when the STATCOM was put into inductive
5 ms
operation at 10 kVA with vC = 70 V.
[V] 00 Izz Iz ,,.I
-500
balancing control was intentionally disabled for two seconds,
Fig. 10. Experimental waveforms when the STATCOM was put into
and then it was enabled again. Both the dc-voltage control
capacitive operation at 10 kVA with v* = 70 V.
based on (8) and (10), and the individual balancing control in
Fig. 14 remained active through this experiment.
inductive operation at q* = -10 kVA takes the minimal While the clustered balancing control was disabled, some
voltage reference of 60 V. Each dc voltage contains a 100-Hz waveforms of the nine dc capacitor voltages overlapped with
component inherent in a single-phase H-bridge converter. The others, thus making vc look like three waveforms in Fig. 13.
100-Hz component is superimposed on the dc mean voltage. This means that three dc capacitor voltages in each cluster
Each dc mean voltage was kept balanced and controlled, even were well balanced because the individual balancing control
in the transient state. The u-phase ac current flowing into the remained active. As a result, the voltage imbalance occurred
STATCOM, itu was slightly distorted with a current THD (total between the three clusters. As soon as the clustered balancing
harmonic distortion) of 3.7%. The reason is discussed in the control was enabled, each dc mean voltage of the nine dc
next section. capacitors started to converge at its reference voltage, and
Fig. 10 shows experimental waveforms in capacitive op- finally reached 70 V in 70 ms.
eration at q* = 10 kVA with v0 = 70 V, while Fig. 11 Fig. 14 shows experimental waveforms confirming the effec-
shows experimental waveforms in inductive operation at q* tiveness of the individual balancing control during capacitive
-10 kVA with v0 = 60 V. The u-phase cluster voltage with operation at 10 kVA with v0 = 70 V. The individual balancing
respect to the neutral point, vu, is a seven-level waveform, control was intentionally disabled for ten seconds, and then it
and the u-phase cluster voltage with respect to v-phase cluster was enabled again. Both the dc-voltage control and the cluster
voltage, vuv is a 13-level voltage waveform in both figures, as balancing control remained active through this experiment.
expected. Whether the individual balancing control was disabled or
Fig. 12 shows experimental waveforms in an inductive enabled produced little effect on the waveform of itu. However,
operation of q* =-10 kVA with v0 70 V. Note that Vun is voltage imbalance occurred in the nine dc capacitors while the
=
a seven-level waveform, but vuv looks like a nine-level voltage individual balancing function was disabled. As soon as it was
waveform. The reason is that Fig. 12 has a smaller modulation enabled, each dc mean voltage of the nine dc capacitors started
factor than Fig. 11. to converge at its reference voltage, and finally reached 70 V
Fig. 13 shows experimental waveforms of the u-phase ac in 150 ms.
current itu and the nine dc capacitor voltages, confirming Figs. 9, 13 and 14 conclude that the control method pro-
the effectiveness of the clustered balancing control. During posed in this paper has the capability, not only to control
capacitive operation at 10 kVA with v0 = 70 V, the clustered reactive power, but also to balance the nine dc mean voltages.
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TABLE II
HARMONIC COMPONENTS AND THD OF AC CURRENT WITH CAPACITIVE OPERATION AT 10 KVA, EXPRESSES AS [%].
Harmonic order 2nd 3rd 4th 5th 6th 7th 8th 9th 10th 11th 12th 13th 15th THD
Experiment (Fig. 15) 1.1 1.4 0.5 1.9 0.3 2.3 0.5 0.6 0.4 0.8 0.1 0.5 0.0 3.7
Simulation I (Fig. 16) 0.0 0.0 0.0 2.0 0.0 2.7 0.1 0.0 0.1 1.6 0.0 1.1 0.0 3.9
Simulation II (Fig. 17) 0.0 0.1 0.0 0.7 0.0 0.6 0.0 0.0 0.0 0.4 0.0 0.3 0.0 1.1
Simulation I takes into account VCE(Sat) = VF = 1.5 V, and Simulation II takes into account VCE(Sat) = VF = 0.17 V(= 0.25% of 70 V).
200/ 200
vsu [V] 0 A A
200t vsuo [V] 0
60
-200 10 ms
iu [A] 0 60
_
-2001 10
vsuo [V] 0 Ms
60 i.,
iu [A] 0i-
-60
90 *- Individual balancing control was enabled
Fig. 16. Simulated waveforms when the STATCOM was put into capacitive
operation at 10 kVA with v* = 70 V, taking into account VCE(Sat)
vc [V] 70 VF = 1.5 V.
50
Fig. 16 shows simulated waveforms of vs,, and i,, under the
Fig. 14. Experimental waveforms confirming the effectiveness of the
individual balancing control when the STATCOM was put into capacitive same operating conditions as Fig. 15. This simulation assumed
operation at 10 kVA with vC = 70 V. The dc-voltage control and the cluster a pair of the IGBT and the diode as an ideal switch, except
balancing control remained active in this experiment. for taking into account a constant saturation/forward voltage
of VCE(Sat) = VF = 1.5 V. In addition, it takes into account
the followings:
VII. DISCUSSIONS ON CURRENT DISTORTION * a sampling delay of 167 ,us,
Fig. 15 shows experimental waveforms of vsu, and it' * a dead time of 2 ,us, and
during capacitive operation at 10 kVA. Note that both wave- * a background system inductance of Ls = 48 ,uH.
forms are time-expanded waveforms of vsu, and it from These considerations enable to simulate more precise behavior
Fig. 9 during the steady-state capacitive operation at 10 kVA. in the digital controller and the nine single-phase H-bride
The waveform of itu looks slightly distorted, so that its THD converters. As a result, the waveform of i,, in Fig. 16 is very
reaches 3.7%. similar to that in Fig. 15.
The 36 IGBTs rated at 600 V and 150 A were used in As described in section II, the 6.6-kV STATCOM has the
this experiment, and each IGBT was integrated with a free- cascade number of N = 6, and each H-bridge converter
wheeling diode. However, the saturation voltage of the IGBT, consisting of four 1.7-kV IGBTs and a dc capacitor was
VCE(Sat) and the forward voltage of the diode, VF produce designed to have a dc mean voltage of 1,000 V. When
a bad effect on current-control performance because the dc the saturation/forward voltage of the 1.7-kV IGBT/diode is
mean voltage of each single-phase H-bridge converter is as assumed as 2.5 V, it is only 0.25% of the dc mean voltage of
low as 70 V. 1,000 V. This discussion indicates that the saturation/forward
1722
200 [5] J. D. Ainsworth, M. Davies, P. J. Hitz, K. E. Owen, and D. R. Trainer,
/1-
"Static var compensator (STATCOM) based on single-phase chain circuit
vsuoM [V] 0 A \ / \ /~~~~~~~~~
converters," IEE Proc.-Gener. Transm. Distrib., vol. 145, no. 4, pp. 381-
386, 1998.
[6] F. Z. Peng, J. W. McKeever, and D. J. Adams "A power line conditioner
-200 10 ms using multilevel inverters for distribution systems," IEEE Trans. Ind.
Appl., vol. 34, no. 6, pp. 1293-1298, 1998.
60
[7] L. M. Tolbert, F. Z. Peng, and T. G, Habetler "Multilevel converters for
iu [A] 0 I I I I large electric drives," IEEE Trans. Ind. Appl., vol. 35, no. 1, pp. 36-44,
1999.
[8] Y Liang, and C. 0. Nwankpa, "A new type of STATCOM based on
-60L cascading voltage-source inverters with phase-shifted unipolar SPWM,"
IEEE Trans. Ind. Appl., vol. 35, no. 5, pp. 1118-1123, 1999.
[9] M. D. Manjrekar, P. K. Steimer, and T. A. Lipo, "Hybrid multilevel power
Fig. 17. Simulated waveforms when the STATCOM was put into capacitive conversion system: A competitive solution for high-power applications,"
operation at 10 kVA with v* = 70 V, taking into account VCE(Sat) IEEE Trans. Ind. Appl., vol. 36, no. 3, pp. 834-841, 2000.
VF = 0.17 V (= 0.25% of 70 V). [10] L. M. Tolbert, F. Z. Peng, and T. G, Habetler "Multilevel PWM methods
at low modulation indices," IEEE Trans. Power Electronics, vol. 15, no.
4, pp. 719-725, 2000.
[11] J. Rodrigues, J. S. Lai, and F. Z. Peng, "Multilevel Inverters: A survey
voltage corresponds to 0.17 V in a dc mean voltage of 70 V. of topologies, controls, and applications," IEEE Trans. Ind. Electron., vol.
Fig. 17 shows simulated waveforms under the same op- 49, no. 4, pp. 724-738, 2002.
erating conditions as Fig. 16 except for taking into account [12] ofM.a Lopez, L. Moran, J. Espinoza, and J. Dixon, "Performance analysis
hybrid asymmetric multilevel inverter for high-voltage active power
the saturation/forward voltage of VCE(Sat) = VF = 0.17 V filter applications," in Conf. Rec. IEEE-IES IECON, 2003, pp. 1050-1055.
(= 0.25% of 70 V). The waveform of i,, is almost sinusoidal [13] A. M. Massound, S. J. Finney, and B. W. Williams, "Seven-level active
power filter," in Conf Rec. IEEE International Conference on Harmonics
with much less distortion than that in Fig. 16. and Quality of Power, 2004, pp. 136-141.
Table II summarizes harmonic components and THD (total [14] L. A. Silva, S. P. Pimentel, and J. A. Pomilio, "Nineteen-level active filter
harmonic distortion) of i,, with respect to the fundamental system using asymmetrical cascaded converter with dc voltage control,"
in Conf Rec. IEEE-PELS PESC, 2005, pp. 303-308.
current. Their values were based on the waveforms obtained [15] K. Fujii, U. Schwarzer, and R. W. De Doncker, "Comparison of
from Fig. 15 (experiment), Fig. 16 (simulation I), and Fig. 17 hard-switched multi-level inverter topologies for STATCOM by loss-
(simulation II). Each THD value counts up to the 40th- implemented simulation and cost estimation," in Conf. Rec. IEEE-PELS
PESC, 2005, pp. 340-346.
harmonic current. [16] L. A. Silva, S. P. Pimentel, and J. A. Pomilio, "Analysis and proposal
These considerations on Figs. 15, 16 and 17, along with of capacitor voltage control for an asymmetrical cascaded inverter," in
Table II, conclude that the distortion of i,, in Fig. 15 results Conf Rec. IEEE-PELS PESC, 2005, pp. 809-815.
[17] D. Soto, and T. C. Green, "A dc link capacitor voltage control strategy
from the saturation/forward voltage of the 600-V IGBT/diode. of a PWM cascade STATCOM," in Conf Rec. IEEE-PELS PESC, 2005,
Therefore, the saturation/forward voltage produces little effect pp. 2251-2256.
on the waveform of it, in the actual 6.6-kV STATCOM. [18] K. Fujii, R. W. De Doncker, and S. Konishi, "A novel dc-link voltage
control of PWM-switched cascade cell multi-level inverter applied to
STATCOM," in Conf. Rec. IEEE-IAS Ann. Meeting, 2005, pp. 961-967.
VIII. CONCLUSION [19] A. Nabae, I. Takahashi, and H. Akagi, "A new neutral-point-clamped
PWM inverter," IEEE Trans. Ind. Appl., vol. 17, no. 5, pp. 518-523,
This paper has addressed a transformerless star-configured 1981.
[20] H. Akagi, H. Fujita, S Yonetani, and Y Kondo, "A 6.6-kV transformer-
cascade PWM STATCOM operated at a carrier frequency of less STATCOM based on a five-level diode-clamped PWM converter:
1 kHz. A control method has been proposed for voltage- System design and experimentation of a 200-V, 10-kVA laboratory
balancing of the multiple isolated and split dc capacitors. It is model," in Conf Rec. IEEE-IAS Ann. Meeting, 2005, pp. 557-564.
characterized by fast and stable voltage-balancing performance [21] dcH.voltage-controlled
Fujita, S. Tominaga, and H. Akagi, "Analysis and design of a
static var compensator using quad-series voltage-
and easy expansion into a higher number of levels. This leads source inverters," IEEE Trans. Ind. Appl., vol. 32, no. 4, pp. 970-978,
to the 6.6-kV cascade PWM STATCOM using the 1.7-kV 1996.
[22] H. Akagi, Y. Kanazawa, and A. Nabae, "Instantaneous reactive power
IGBTs that are now available from the market at reasonable compensators comprising switching devices without energy storage com-
cost. Experimental waveforms obtained from a 200-V, 10-kVA ponents," IEEE Trans. Ind. Appl., vol. 20, no. 3, pp. 625-630, 1984.
down-scaled STATCOM with a cascade number of N = 3
have confirmed the viability and effectiveness of the control
method.
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