838

A Three-phase Active Power Filter for Harmonic and Reactive Power Compensation
Department of Electrical Engg. Indian Institute of Technology, Delhi H n Khas, New Delhi az

Bhim Singh

Ambrish Chandra and Kainal Al-Haddad

DepaFment of Electrical Engg., GREPCI Ecole de technologie siupkieure 4750, av. Henri-Julien, Monltrkal (Qukbec)

110016 INDIA
ABSTRACT - In this paper, a 3-phase active power filter ('APF)is presented to eliminate harmonics and to compensate the reactive power of an uncontrolled rectifier with mpacitive loading taken as non-linear load. Ai? APF is realized using 3-phase voltage source inverter (VSI) with dc bus capacitor. Reference source currents are estimated using P-I control over ak bus voltage and 3-phase riource voltages. Command currents of the APF are obtained with reference source currents and load currents. A hysteresis based carrierless PWM current control over the conzmand currents of the APF is used to derive gating signals to the devices of APF. Modeling and perforrioance characteristics of an I 8 kW APF to meet the IEEE-SI9 standards are presented.

H2T2C8 CANADA
currents are generated in phase with source voltage to provide unity power factor of the source using P-I controller over voltage of ithe dc bus. APF command currents are derived using estimated source currents and sensed load currents. A hysteresis carrierless PWM current controller [SI is used to generate gating signals to the devices of the APF using command currents and sensed currents of the APF. In response to these gating signals, APF impresses 3-phase PWM voltages to meet harmonic and reactive power components of load currents locally and it results in unity power factor of the mains.

H. System Description and Control Scheme

Figure 1 shows the fundamental building block of the f APF. The APF consists o standard 3-phase voltage source inverter (VSI) with a capacitor c d c on the dc bus. The non-linear load is a 3-phase diode bridge rectifier with an capacitive-resistive CL,RL input impedance (L, and R:;) load. It draws pulsating current from ac source rich in harmonic and reactive components along with active power. The main objective of the use of A P F is to eliminate harmonics and 1.0 meet the reactive power requirements of the load. Thus ac source feeds only fundamental active component balanced currents.

I. Introduction
Solid state control of ac power using diodes, thyristors and traics is widely used to feed controlled ac power to variety of electrical loads such as adjustable speed drives (ASD) and static power supplies. These electrical loads employing solid state controllers draw harmonic and reactive power components of current along with active power component of current from ac mains and thus called non-linear loads. These injected harmonics and reactive power burden on ac source cause low efficiency, low power factor, poor utilization of distribution system, reduced life of other equipments, disturbance to other consumers and interference to communication networks. Conventionally passive L-C filters were employed to reduce harmonics and capacitors were used to improve the power factor of the loads. But passive filters have the demeiits of fixed compensation, large size and resonance. In last two decades, extensive efforts are made [l-IO] on the development of active power filter (APF) to give an effective solution for elimination of harmonics and reactive power compensation of the ac mains. Many configurations of APF [l-101 have appeared in last two decades such as hybrid filter [3,7, 91, multi PWM converters based APF [2], shunt APF [SI and unified power quality conditioners [6, 101. Many control concepts are reported such as notch filter [lo], synchronous reference frame d-q theory [S-91 and theolry of instantaneous powers [4]. This paper is also aimed to investigate a simple 3phase shunt APF for reactive power and haimonic compensation of the non-linear loads. The proposed APF shown in Figure 1 consists of 3-phase voltage source inverter (VSI) with dc bus capacitor. Reference source

t2 I
q$v'ower

Load Active Filter

Vdc

DC bus

Figure 1 Fundamental Building Block of the Active Power Filter

Figure 2 shows the control scheme of the APF. Peak magnitude of source current (Iim)is estimated employing P-I (proportional-integral) voltage control using average voltage of the APF dc bus and its desired reference value. The instantaneous refference source currents * * (isa,isb and izc) are computed using their peak value

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(I:m) and unit current templates currents of the APF (ia,.izb instantenous reference used over reference the gating pulses of the devices.
I
I I I I I I I

(U,,,

Estimation of Peak Source Current

Peak value of the source current (I:,) is estimated using P-I voltage controller of the APF dc bus. The dc voltage is sensed using a voltage sensor and averaged over the one sixth period of ac source frequency. The averaged dc bus voltage (vdc) is compared with its set reference value (v:,). The resulting voltage error v ~ ( at )nth ~ sample instant is expressed as :
*
'e(n) = Vdc(n) - Vdc(n)
1

The output of the P-I voltage controller v ~ ( at the nth ~ ) sampling instant is expressed as :
I I
I I

Vo(n) = vo(n-1)+ Kp {ve(n) - Ve(n- I) 1 + Ki Ve(n)

(2)

I I I I I I I I
I I

I I I
I I I I I I I

Where K, and Ki are proportional and integral gain - 1 constants of the voltage controller. v0+1) and ~ ~ ( ~ are ) the output of voltage controller and voltage error at (n-1) th sampling instant. This output v ~ ( of ) the voltage ~ controller is taken as peak value of source current (I;,). Estimation of Instantaneous Reference Source Currents Harmonic free unity power factor, 3-phase source currents may be estimated using unit current templates in phase with source voltages and their peak values. The unit current templates are derived as :

I
I

I I
I I

I
I

L--------' d c d

as,
APF

I I

I,
AC Source

The 3-phase source voltages may be expressed as :

vsa = V,, sin wt Vsb = V,, sin (wt - 2 x/3) vsc = V,, sin (wt + 2 d 3 ) (4)

Figure 2 Control Scheme of the 4PF

a
Non-Linear Load

Where V,, is the peak value of source voltage and w is the ac source frequency. The instantaneous reference source currents may be computed as : 'sa = Ism %a;

.*

III. Analysis and Modeling

'sb = Ism %b; lsc = Ism

.*

.*

(5)

Computation of Reference APF Currents

The 3-Phase APF reference currents may be computed * .* using reference source currents (isa,isb and izc) and sensed load currents as :
~

the behavior of the system.

3.1 Control Scheme

sequence.

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Hysteresis Current Controller The current controller contributes the switching pattenns to the devices of the APF. The switching logic is formulated as :

The capacitive load charging;/ discharging equation is : p V L = (id - iR) /CL (13)

- if ica c (ii, - hb) upper switch is OFF and lower

switch is ON of the phase "a" leg of the APF,

- if iCa7 (ir, + hb) upper switch is ON and lower switch is OFF of phase "a" leg of the APF.
Similarly other two-phases ("b" and "c") switches are made ON and OFF based on current control. Where hb is the width of the hysteresis band around the reference currents. In this fashion, the APF currents (i,,, icb and icc) are regulated in close hysteresis band of their reference values (iEa,iEb and i;,).
3.2 State Space Equations of the APF

The A P F is a 3-phase VSI having 3-phase ac source voltages impressed through inductances on ac side (input) and a dc bus capacitor on its output. The APF is operated in cunent controlled mode and modeled by the following state space equations :

Where R, and Ls are the resistance and inductance of the input impedance of diode rectifier. CL is the load capacitance on dc side and VL is the instantaneous voltage across it. Current id is the charging current flowing from ac source through diode pair to the capacitor CL and iR in the resistive load current (VLRL). The vsl is the ac source line voltage segments (Vsab,. Vsbc, VSca, vsba Vscb and V ) depending upon which diode , pair is conducting. The load currents in 3-phases off ac source (iLa, iLb and iLc) are achieved using the magnitude of id and their signs are decided by the respective conducting diode pair. Moreover, the angle of overlap (commutation mode) is also considered if id is continuous and accordingly segments of source voltages and load currents are modified. When none of diode pair is conducting then id and its derivative are zero. However, the charged capacitor CL will be discharged through load resistor RL and equation (1 3) is modified accordingly. The set of first order differential equations (7)-(10) and (12), (13) along with 'other expressions defines the dynamic model of the APF system. These equations are solved using fourth order Runge-Kutta method to analyze the transient and steady statle behavior of the APF system. A standard FFT package is used to compute harmonic spectrum and THD of the ac load and ac source currents.

IV. Performance Characteristicsof the APF

Where p is the differential operator (d/dt). SA, SB and SC are the switching functions stating ON/OFF positions of the 3-phase legs of the APF devices. The vca, Vcb itnd vcc are the 3-phase PWM voltages reflected on ac input side of

Performance of the APF system is demonstrated through Figures 3-4. The essential parameters of the system are given in the Appendix. From these results, the following observations are made.

the APF may be expressed in terms of instantaneous dc bus voltage (Vdc) and switching functions of the APF as :

3.3 Non-LinearLoad
A 3-phase diode bridge with input impedance and

-200 - - - . - - A L 0 50 100 150

IO0
h

200

- 0 3
-1uu~

capacitive-resistive loading on dc bus is a non-linear load commonly used in practice. It has two operating modes i.e. when diodes are in conducting or nonconducting states. When diodes are conducting, the ac source (line-line voltage) is connected to the load and basic circuit equations are as :
2 R, id + 2 Ls p & i- VL = V,I

50

I00

150

200

-1ooL----

500

50

100

150

200

4000'
(12)

1 ' -

50

100 150 Time (mSec)

200

which may be modified as :

p id = (vsl - VL- 2 R, i&2 L,)

Figure 3 Performance of the APF System under Load Change from 8 kW to 18 kW and 18 kW to 8 kW

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841

320

240L
VI. Acknowledgements
0
10
20

The authors wish to thank Hydro-Qukbec, the Natural Sciences and Engineering Research Council of Canada and FCAR for their financial support. The first author also I, wishes to thank to I T N.Delhi, India, for granting him long leave during the course of action of this work.

30

40

Order K

VII. References
H. Akagi, Y. Kanazawa and A. Nabae, "Instantaneous Reactive Power Compensators Comprising Switching Devices without Energy Storage Components", IEEE Transactions on Industry Applications, Vol. IA-20, No. 3, May-June 1984, pp. 625-630. H. Akagi, A. Nabae and S. Atoh, "Control Strategy of Active Power Filters using Multiple Voltage-Source PWM Converters", IEEE Transactions on Industry Applications, Vol. 22, No. 3, May-June 1986, pp. 460-465. F.Z. Peng, H. Akagi and A. Nabae, "Compensation Characteristics of the Combined System of Shunt Passive and Series Active Filters", IEEE Transactions on Industry Applications, Vol. LA-29, No. 1, Jan.Feb. 1993, pp. 144-152. T. Furuhashi, S. Okuma and Y. Uchikawa, "A Study on the Theory of Instantaneous Reactive Power", IEEE Transactions on Industrial Electronics, Vol. 37, No. 1, February 1990, pp. 86-90. W.M. Grady, M.J. Samotyj and A.H.Noyola, "Survey of Active Power Line Conditioning Methodologies", IEEE Transactions on Power Delivery, Vol. 5, No. 3, July 1990, pp. 1536-1542. A. Van Zyl, J.H.R. Enslin, W.H. Steyn and R. Spee, "A New Unified Approach to Power Quality Management", IEEE-PESC Conference Record 1995, pp. 183-188. M. Rastogi, N. Mohan and A.A. Edris, "HydridActive Filtering of Harmonic Currents in Power Systems", IEEE Transactions on Power Delivery, Vol. 10, No. 4, October 1995, pp. 1994-2000. S. Bhattacharya, A. Veltman, D.M. Divan and R.D. Lorenz, "Flux Based Active Filter Controller", IEEEIAS Annual Meeting Record, 1995, pp. 2483-2491. S. Bhattacharya and D. Divan, "Synchronous Frame Based Controller Implementation for a Hybrid Series Active Filter System", IEEE-IAS Annual Meeting Record, 1995, pp. 2531-2540. [IO] H. Akagi, * * N i w Trends in Active Filters for Improving Power Quality", EEE-PEDES Conference Record, 1996, pp. 417-425.

10

20 Order K

30

40

Figure 4

Harmonic Spectrum of (a) Load Current; (b) Source Current at 18 kW Load

Figure 3 shows source voltage (v,), load current (Il),3phase supply current (Is), APF current (I,) and dc bus voltage (v&) for the addition of 10 kW load (from 8 kW to 18 kW) after two cycles and removal of part load (same 10 kW) after seventh cycle. Three phase source currents settle to steady state values very quickly well within a cycle under both conditions of load addition and removal. Load current increases and becomes continuous at addition of load while it remains discontinuous at low values of load. APF current is more peaky at light load compared to heavy load condition. It is because that it filters spikes of the load current which are more pronounce at light load. DC bus capacitor voltage dips to 405 V at load addition and rises to 495 V at load removal and settled down within a cycle. These changes in dc bus voltage are due to sudden exchange of energy by the APF current to meet abrupt change in load without much distorting the source currents. Source currents always remain less than load current in all operating conditions. Figure 4 shows the harmonic spectrum of load and source currents at heavy load (1 8 kW). It may be observed that the harmonics are drastically reduced in source current compared to load current. The THD of source is reduced to 3.62 % from 63.08 % of the load current which is well below the specific limit of 5 % of standard IEEE-519.
V. Conclusions

Performance of the APF is observed quite satisfactory and it reduces harmonics and reactive power components of load current resulting in sinusoidal and unity power factor source currents under transient and steady state conditions. It is also observed that the source currents remain always below load currents even during transient conditions. The APF is able to reduce THD of supply current well below 5 % and meets IEEE-5 19 standard.

VIII. Appendix
V,(rms/phase) = 127 V, F = 60 Hz, R, = 0.1 ohms, L, = 0.3 mH, CL = 330 pF, Rs = 0.01 ohms, L, = 0.25 mH, Cdc = 3000 pF, K, = 0.76, Ki = 0.0067, RL = 5.0 ohms and 15.0 ohms.

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