Self Tuning Filter
Self Tuning Filter
Self Tuning Filter
Groupe de Recherche en Electrotechnique et Electronique de Nancy (GREEN), CNRS UMR 7037, France
Laboratoire dInstrumentation Electronique de Nancy (LIEN), EA 3440, Universit Henri Poincar Nancy Universit, B.P. 239, 54506 Vandoeuvre ls Nancy Cedex, France
a r t i c l e
i n f o
Article history:
Received 21 December 2007
Received in revised form 30 July 2008
Accepted 13 October 2008
Available online 19 December 2008
Keywords:
Active lter
Harmonics isolator
Distorted voltage conditions
Self-tuning lter
Modulated hysteresis current control
a b s t r a c t
In this paper, a new reference current computation method suitable for shunt active power lter control
under distorted voltage conditions is proposed. The active power lter control is based on the use of selftuning lters (STF) for the reference current generation and on a modulated hysteresis current controller.
This active lter is intended for harmonic compensation of a diode rectier feeding a RL load under
distorted voltage conditions. The study of the active lter control is divided in two parts. The rst one
deals with the harmonic isolator which generates the harmonic reference currents and is experimentally
implemented in a DS1104 card of a DSPACE prototyping system. The second part focuses on the generation
of the switching pattern of the inverter by using a modulated hysteresis current controller, implemented in
an analogue card. The use of STF instead of classical extraction lters allows extracting directly the voltage
and current fundamental components in the axis without phase locked loop (PLL). The performances
are good even under distorted voltage conditions. First, the effectiveness of the new proposed method is
mathematically studied and veried by computer simulation. Then, experimental results are presented
using a DSPACE system associated with the analogue current controller for a real shunt active power lter.
2008 Elsevier B.V. All rights reserved.
1. Introduction
Generally, harmonic currents are mostly generated by the AC/DC
power conversion units and the power electronic equipments, used
in domestic and industry applications. The harmonic currents are
the source of adverse effects for many types of equipments such
as heating in distribution transformer, perturbation of sensitive
control equipments and resonances with the grid.
Many solutions are proposed and studied in the literature to
compensate the harmonics such as ltering (passive, active, and
hybrid) with various topologies (shunt, series) for two-wire singlephase, three-wire three-phase and four-wire three-phase systems
[1]. These solutions have been proposed using current and voltage
source inverters to improve the mains power quality.
The passive ltering is a simple way to eliminate the harmonic
currents. However, it does not allow to completely eliminate all of
them and has many drawbacks such as series or parallel resonance
with the system impedance. Moreover, the compensation performances depend on the mains impedance. The active lters (series
and shunt) were also developed and widely used to overcome the
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3. Control strategy
In this paper, we validated the STF performances in a real shunt
active power lter. A theoretical and experimental study of a threephase parallel active lter for harmonic compensation (Fig. 1) is
presented. Improved harmonic isolator based on STF and threephase modulated hysteresis current control are used. In Section 2,
the system conguration is presented. Then, in Section 3, the lter control strategy is discussed. We used STF instead of classical
harmonic extraction based on high pass lters (HPF) or low pass
lters (LPF). A focus is made on the STF performances by mathematical analysis under distorted voltage conditions. The current
controller is also presented [7]. In Sections 4 and 5, simulation and
experimental results are presented, respectively.
2. System conguration
Fig. 1 presents the shunt active lter topology based on a threephase voltage source inverter, using IGBT switches, connected in
parallel with the AC three-phase three-wire system through three
inductors LF . The capacitor C is used in the DC side to smooth the
DC terminal voltage. The non-linear load is a three-phase diode
rectier supplying a RL load. This load generates harmonic currents
in the supply system.
The proposed control strategy can be divided in two parts. The
rst part is the harmonic isolator (reference current generation). It
consists in generating the harmonic current references and uses STF
instead of HPF or LPF usually used in the pq theory rst proposed
by Akagi et al. [8]. This harmonic isolator will be implemented
into a DSPACE system (DS1104 card) in the experimental study. The
second part is the current control of the power converter. This controller generates the suited switching pattern to drive the IGBTs of
the inverter by using a modulated hysteresis current controller. In
the experimental study, this controller is implemented into an analogue card. Fig. 2 shows the schematic diagram of the active power
lter system.
Vxy (t) = e
jt
(1)
where Uxy and Vxy are the instantaneous signals, respectively before
and after integration in the synchronous reference frame. The previous equation can be expressed by the following transfer function
after Laplace transformation:
H(s) =
Vxy (s)
s + j
= 2
Uxy (s)
s + 2
(2)
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sation. One can see that small value of K increases lter selectivity.
Dynamic response consideration is studied in the following section.
Thus, by using a STF, the fundamental component can be extracted
from distorted electrical signals (voltage or current) without any
phase delay and amplitude changing.
3.2.2. Dynamic response of the STF under distorted conditions
A three-phase distorted electrical signal x(t) can be expressed in
Fourier series by Eqs. (8a)(8c) as follows:
xa (t) = X1 sin(t + 1 ) +
n
Xh sin(ht + h )
(8a)
h=2
Vxy (s)
(s + K) + jc
=K
Uxy (s)
(s + K)2 + 2
x (s) =
K(s + K)
(s + K)2 + c2
Kc
2
(s + K) + c2
x (s)
x (s) +
Kc
(s + K)2 + c2
K(s + K)
2
(s + K) + c2
x (s)
(4)
x (s)
(5)
n
Xh sin ht + h
2
3
(8b)
2
3
n
Xh sin ht + h +
2
3
(8c)
h=2
x
x
1
2 1
2
=
3
3
2
2
3
xa
xb
xc
(9)
x (t) =
3
X1 sin(t + 1 ) +
2
x (t) =
3
X1 cos(t + 1 )
2
3
Xh sin(ht + h )
2
(10)
h=2
3
Xh cos(ht + h )
2
n
(11)
h=2
K
c
[x (s) x (s)]
x (s)
s
s
(6)
K
c
x (s) = [x (s) x (s)] +
x (s)
s
s
(7)
x (s) =
(3)
2
3
h=2
xc (t)=X1 sin t + 1 +
By introducing the parameter K in H(s), the transfer function magnitude is limited and more particularly equal to one for = c .
Moreover, the phase delay is equal to zero for the cut-off frequency
c . By replacing the input signals Uxy (s) by x (s) and the output
signals Vxy (s) by x (s), the following expressions can be obtained:
x (s) =
xb (t) = X1 sin t + 1
x (t) =
3
X1 (1 eKt ) sin(t + 1 ) +
2
3
X
h
2
1+A
n
h=2
x (t) =
3
X1 (1 eKt )cos(t + 1 )
2
3
X
h
2
1+A
n
h=2
Fig. 4. Bode diagram for the STF versus pulsation for different values of the parameter K (fc = 50 Hz).
with Ah = (1 h)/K.
From the analytical Eqs. (12) and (13), we examined the dynamic
response and the inuence of the parameter K on the STF performances. The time constant of the STF is equal to1/K. Therefore, the
transient time is increased when K is decreased. Additionally, the
STF is stable for any positive value of the parameter K.
Also, the phase delay for the fundamental component is zero and
is approximately equal to 90 for the other harmonics. Moreover,
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1 + Ah 2
for h 1
K 2 + (1 h) 2
(14)
The load currents, iLa , iLb and iLc of the three-phase three-wire
system are transformed into the axis (see Fig. 5) as follows:
i
i
1
2 1
2
=
3
3
2
2
3
iLa
iLb
(15)
iLc
(16)
Then, the STF extracts the fundamental components at the pulsation c directly from the currents in the axis. After that, the
harmonic components of the load currents are computed by
subtracting the STF input signals from the corresponding outputs
(see Fig. 3). The resulting signals are the AC components, i and i ,
which correspond to the harmonic components of the load currents
iLa , iLb and iLc in the stationary reference frame.
For the source voltage, the three voltages vsa , vsb and vsc are
transformed to the reference frame as follows:
v
v
1
2 1
2
=
3
3
2
2
3
vsa
vsb
vsc
(17)
Then, we applied self-tuning ltering to these voltage components. This lter allows suppressing of any harmonic component
of the distorted mains voltages and consequently leads to improve
the harmonic isolator performance.
After computation of the fundamental component v and the
harmonic currents i , we calculate the p and q powers as follows:
p = i v + i v
(18)
(19)
where
p = p + p
q = q + q
(20)
q = i v i v
p
q
v v
v v
i
i
(21)
=
i
=
i
v
v 2
2
+ v
v
v 2 + v 2
(p + pc )
(p + pc ) +
(22)
v
q
v 2 + v 2
(23)
v 2
+ v
i
= i +
= i +
i
v
v 2
+ v
v
v 2 + v 2
pc
(24)
pc
(25)
Current references obtained from Eqs. (24) and (25) include two
terms, the rst term contains the harmonic current components
and the second one is a fundamental current component in phase
with the supply voltage. Consequently, a small amount of active
power is absorbed from or released to the DC capacitor so as to
regulate the DC bus voltage. Then, the lter reference currents in
the abc coordinates are dened by
ifa
ifb
ifc
1
1
2
3 2
1
0
3
2
i
.
i
(26)
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and period (T). The carrier frequency is chosen equal to the desired
switching frequency for the voltage inverter. The resulting signal
(H) constitutes then the new reference of a classical hysteresis controller with a bandwidth of 2Bh . The outputs of the hysteresis block
are the switching pattern.
In order to set the switching frequency in steady state, it
should exist during each switching period T, only two intersections
between the error X and the triangular signal: the rst one with the
higher limit of the hysteresis controller and the second one with its
lower limit (Fig. 7).
To control the active lter at xed switching frequency, the triangular signal amplitude Atr and the hysteresis bandwidth Bh for the
modulated hysteresis current controller must be carefully selected.
If these parameters are not well chosen, the effective switching frequency would be either higher or lower than the desired one set by
the triangular signal as illustrated in Fig. 8.
Shamsi et al. investigated a high frequency average model of the
controller to dene the suited parameters [10]. Thanks to a limit
orbit analysis, they demonstrated that with appropriate values of
Atr and Bh , irregular orbits can be avoided. For any value of the
load parameters, it has been shown that the current waveform is
Fig. 8. Examples of bad design of control parameters leading to: (a) switching frequency larger than the desired one; (b) switching frequency lower than the desired one.
Fig. 9. Simulation results for the phase 1 under sinusoidal voltage conditions: (a) load current; (b) supply current after compensation.
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Table 1
Power system parameters.
System frequency
System voltage
Inductor: LF
Inductor: LC
DC bus voltage
Capacitor: Cd
Resistor: Rd
Inductor: Ld
50 Hz
130 Vmax
3 mH
0.8 mH
400 V
1100 F
48.6
40 mH
Fig. 11. Experimental waveforms for the harmonic reference currents ifa
, ifb
and ifc
(5 A/div, 10 ms/div).
4. Simulation results
Fig. 9 shows the simulation results for the system depicted in
Fig. 2 under sinusoidal voltage conditions. The simulation parameters are dened in Table 1. They correspond to the experimental
parameters. The total harmonic distortion (THD) of the load current
is equal to 28.08%. The THD of the supply currents is reduced to 2.3%
(K = 80 for the STF) after compensation. A difference can be noticed
in Fig. 9 between the fundamental component of the load current
and the supply current. It is justied by the fundamental component of the lter current in phase with the supply voltage to regulate
the DC bus voltage. Fig. 10 illustrates the simulation results under
distorted voltage conditions. In this case the supply voltage is not
sinusoidal and includes a 5th harmonic component (THD = 9.96%).
The THD of the supply current under this condition is equal to 2.4%
after ltering. The simulation results verify the effectiveness and
performances of the proposed harmonic isolation under distorted
voltage conditions.
5. Experimental results
The experimental active lter was realized according to Fig. 2.
It consists in a three-phase source voltage inverter based on IGBT
power semiconductors. The harmonic isolator uses STFs and was
Fig. 12. Experimental results for the phase a, from top to bottom: load current iL
(A), lter current iF (A) and source current iS (A) (5 A/div, 10 ms/div).
Fig. 10. Simulation results for the phase 1 under distorted voltage conditions: (a) supply voltage; (b) supply current after compensation.
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Fig. 13. Harmonic spectrum of the source current: (a) before compensation; (b) after compensation.