International Journal of Robotics and Automation (IJRA)

Vol.8, No.4, December 2019, pp. 301~312

ISSN: 2089-4856, DOI: 10.11591/ijra.v8i4.pp301-312  301

Control shunt active filter based on dq frame using current

model prediction

Chi Nguyen Van, Hoang Dang Danh

Thai Nguyen University of Technology, Vietnam

Article Info ABSTRACT

Article history: The nonlinear loads present more in the power systems in the practice today
by developing of electronic technology and using the small distributed power
Received Apr 26, 2019 sources (solar power, wind power etc.), this causes the increasing the high
Revised Sep 20, 2019 frequency switch devices etc. in the power network. Nonlinear loads cause
Accepted Oct 6, 2019 non-sinusoidal currents and voltages with harmonic components, increasing
the reactive power, overload of power lines and electrical devices, low power
factor and affecting badly to the networks. Shunt active filters (SAF) with
Keywords: current controlled voltage source inverters (CCVSI) are used effectively
to reduce the harmonics and to balance the phases sinusoidal source currents
Active power filter by generating the currents to compensate the harmonic currents caused by
CCVSI the nonlinear loads. In this paper we suppose a control strategy to generate
Pi controller the compensation currents of SAF by using the current model predictive
Power quality engineering. This method is better than the control strategy using PI
Total harmonic distortion controller in term of transient time. The desired compensation currents can
track exactly the reference compensation currents on the dq frame.
The simulation results implemented on the nonlinear load, a full bridge
rectifier and 3 phase unbalance load, show that the transient period decrease
from 0.1s to 0.02s in comparing with PI controller. The experimental results
proof that the THD of source currents decrease from 24.8% to 5.4% when
using the proposed method.
Copyright © 2019 Institute of Advanced Engineering and Science.
All rights reserved.

Corresponding Author:
Chi Nguyen Van,
Department of Control Engineering and Instruments,
Thai Nguyen University of Technology,
3/2 street, Thai Nguyen City, Viet Nam.
Email: [email protected]

1. INTRODUCTION
The developing quickly of the electrical engineering technology makes the power systems to be
more complex in which the industrial, commercial loads and data center loads are increasing rapidly. The
industrial loads include the motor driven by high frequency switch inverters, high frequency electrical
furnaces, saturated motors, the commercial loads in the buildings are organized by saturated motors, HAVC
load, LED, computers, data storage systems, special electronics devices, etc. All loads described as above are
called by nonlinear loads and they are the causes generating some issues about the quality of the power
systems [1]. Some of the major issues related to current harmonics include generator burnouts, vibration in
motors while operating, computer network failures etc. To measure the harmonics distortion present, the
index THD is used, THD is defined as the summation of all the harmonics components of the current
waveform compared against the fundamental component of the current waveform. By the IEEE std. 519, the
THD of the source current should be less than 5%.
To reduce the harmonics, owing to the advancement in power electronic switches the SAF is used
widely nowadays. The SAF is connected in parallel with nonlinear load to compensate the higher order

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harmonics currents based on CCVSI. The position in the power system and the typical structure of SAF is
depicted respectively in the Figure 1a and 1b [2].

Figure 1. a) The position of SAF on the power system; b) The typical structure of SAF using the CCVSI

To implement the control outer loop, generating the desired compensation currents, we need the
extra control loop, that determines the active power loss ploss used to calculate the i cref . The active power
loss normally is determined by PI controller in Oder to maintain the constant voltage DC across on the
capacitor, it is shown in Figure 2. The transfer function of the plan for this extra control loop is as follows:

kex
Gex (s )  (1)
ex s  1

where k ex  R / 2Vco ,  ex  2 / RC , R is the resistance parallel to the capacitor SAF, Vco is the reference
capacitor voltage, C is the rated capacitance. The role of outer loop is to measure the load currents, source
voltages, and then calculates the reactive power, reference active power that needs to be compensated. All
calculations are implemented on the dq frame as described on the Figure 3.
Suppose that the load current distorted by harmonics i L , SAF measures the i L and then calculates
the compensation currents injecting to the power system i C such that the source currents i S  i L  i C
maintain the sinusoidal waveform. It means that the harmonic currents caused by the nonlinear load are
compensated completely by the compensation currents i C . The control strategy of SAF includes two control
loop: the outer loop and the inner loop. The outer loop is used to calculate the reference compensation
currents i Cref based on the load currents measured i L , the inner loop makes the compensation current i C
tracking the reference currents by controlling the CCVSI using IGBT.

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Figure 2. The structure of control loops of SAF

Figure 3. The structure of outer control loop

Firstly, 3 phases load currents iL = [𝑖𝐿𝑎 𝑖𝐿𝑏 𝑖𝐿𝑐 ]𝑇 , 3 phases source voltages 𝑣𝑠 = [𝑣𝑠𝑎 𝑣𝑠𝑏 𝑣𝑠𝑐 ]𝑇 are
transformed to the  frame by using the Clarke transformation with transitiosn matrix F

v  2 i  2  1 1 / 2  1 / 2 
v s   s   Fv s , i L   L   Fi with F  


 (1)
vs   3 i
 L  3 L  0 3 / 2  3 / 2


We obtain the currents iL , iL and voltages vs , vs  on the  frame. Secondly, the currents and voltages
on the  frame are used to calculate the instantaneous active power and instantaneous reactive power that
can be described in term of two parts: the low frequency and high frequencies as follow,

p  vsiL  vs  iL  p  p
(2)
q  vsiL  vs  iL  q  q

in which p, p are the low frequency and the high frequency components of instantaneous active power, and
q , q are the low frequency and the high frequency components of instantaneous reactive power. The
instantaneous active power is passed through a low pass filter (LPF) to filter out the high frequency
components p , the output of LPF is the p . The compensation active power and reactive power are
calculated by the equations as follow,

pr  p  p  p  ploss  p  ploss

(3)
qr  q  q

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The compensation currents on the  icref   [ icra icr  ]T are obtained by using the following relation:

1 v vs    pr 
icref    s
v vs  qr 
(4)
vs2  vs2  s   

The outer control loop calculating the equations (1)-(4) described as Figure 3 is implemented
completely by the analog circuits that guarantes well the requirements of the transient time. The extra control
loop using the PI controller has good performance. Recently, there are some methods developed to improve
the responses of the outer control loop by focusing on the choice LPF’s parameters [3]. The methods for
turning better of the PI’parameters are presented on the materials [4, 5] by determining exactly the values R,
Vco and C of SAF, by considering the offset of the parameters, by using the adaptive methods.
Beside, using the PI controller, the using neural networks Error! Reference source not found.,
fuzzy technics [9] and wavelet [10] are developed recently to control the outer loop. To improves
the performance of the outer control loop there are some turning PI controller’s parameters, example the
using of the optimal method PSO [11]. When consider the non-ideal mains voltage, in [12] presents the
compensation engineering by using two LPFs for two source voltages on the dq frame. The inner loop’s role
is to control IGBT of SAF to generate the compensation currents injected to the power network such that it
can track quickly the currents icr  , icr  .
There are many methods to design inner loop’s controller as PI control, known as fixed frequency
control or hysteric current control [13]; the control engineering SFX-ADF [14, 15]; Delta modulation technic
[16-18] or Dead-Bead [19, 20]. The control problem of inner control loop is most interesting research topics
and this topic has attracted a great deal of attention from scholars to improve the dynamic characteristic,
compensate completely the harmonics, reduce the THD, minimize the oscillation of power networks caused
by nonlinear loads etc. Today, the applying neural network [21], fuzzy engineer control to the inner loop can
improve the dynamic characteristic but implement hardly in practice due to the speed of microprocessor and
calculation amount, so that so that this methods are currently theories [22-24].
The PI controllers have some advantages such as quickly response, easily setup and turning by
analog circuits, however, the dynamics of the PI controller are inadequate because of the limited bandwidth
of the controller. As a result, the SAF may not give the required performance when the loads have a high
degree of non-linearity [5, 25].
This paper presents a control method for the inner loop of SAF by using the current model predictive
on the dq frame. The method’s advantage is that the transient period shorter than method using PI controller.
The desired compensation currents can track exactly the reference compensation currents on the dq frame.
The simulation results implemented on the nonlinear load, a full bridge rectifier and 3 phase unbalance load,
show that the transient period decrease from 0.1s to 0.02s in comparing with PI controller. The experimental
results proof that the THD of source currents decrease from 24.8% to 5.4% when using the proposed method.
The rest of the paper is organized as follows: Section II describes the Controller design of inner loop for SAF
based on current model prediction on dq frame. Section III illustrates simulation and experiment results.
Finally, Section IV concludes the paper.

2. CONTROLLER DESIGN OF INNER LOOP FOR SAF BASED ON CURRENT MODEL

PREDICTION ON dq FRAME
The control structure of the inner loop for SAF based on current model prediction on dq frame is
shown in Figure 4.

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Figure 4. The control structure of SAF’s inner loop based on current model prediction

To obtain the current model prediction for SAF, using the equations written on the abc frame by
Kirchhoff II for SAF, with v af  [ vafa vafb vafc ]T is voltage vector of SAF, we have:

d
v af  Ri c  L i  vs (5)
dt c

where R and L are the output smoothing inductor inductance and resistance of the SAF. Transforming the
equation (5) in synchronous reference frame using transformation matrix G , we get the SAF voltages on the
dq frame as,

T 2
v sdq  vsd vsq vs 0   Gv s (6)
  3

with G is defined on the material [26, 27]. The equation (5) is now written on the dq frame as,

i 
 cq 
d
v afdq  Ri cdq  L  icd   L i cdq  v sdq (7)
  dt
 ic 0 

In order to obtain the current predictive model of SAF, discretizing equation (7) with sample time
Ts , we have:

i (k )
 cq 
L
v afdq (k )  Ri cdq (k )  L  icd (k )   i cdq (k )  i cdq (k  1)  v sdq (k ) (9)
  T
 ic 0 (k )  s

The L[ icq (k ) icd (k ) ic 0 (k ) ]T is the cross coupling term between d and q axis. Assuming a

three phase balanced power source, the v sdq (k ) term can be removed, so the equation
Error! Reference source not found. becomes

i (k )
RTs  L  cq 
L
v afdq (k )  i cdq (k )  L  icd (k )   i cdq (k  1) (10)
Ts   Ts
 ic 0 (k ) 

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The current predictive model of the SAF at the time k  1 can be obtained by solving equation
Error! Reference source not found. using the replacing k  k  1 .

i (k  1)
Ts  cq
LTs 
 i (k  1)   L
i cdq (k  1)  v afdq (k  1)    i (k ) (11)
RTs  L RTs  L  cd  RT  L cdq
 ic 0 (k  1)  s

When modeling the predictive controller, the feedback signal should take into account the drift in
the predictive model equations due to the nonlinear nature of SAF, we consider the error between real output
currents of SAF i cdqm (k ) and predictive currents i cdq (k ) calculated by model
Error! Reference source not found. at the same discrete instance as e(k )  i cdqm (k )  i cdq (k ) . Therefore, an
error e(k ) need to be added to the output predictive currents to correct, we have the corrected output
predictive currents at next discrete instance as:

ˆi (k  1)  i (k  1)  e(k ) (8)
cdq cdq

where  is the correction coefficient.

Next, use the objective function as:

2
J   ˆi cdq (k  1)  i crefdq (k  1)   v afdq (k  1) (9)
 

where ,  are the weighting coefficient of the predictive error and the predictive control variable,
respectively. It is noted that the control variable of SAF is voltages v afdq . Substitution the i cdq (k  1) on the
equation (11), we have:

J   ˆi cdq 2 (k  1)  2ˆi cdq (k  1)i crefdq (k  1)  i crefdq 2 (k  1)   v afdq (k  1)

 
 
=  i cdq (k  1)  e(k )  2i cdq (k  1)i crefdq (k  1)  i crefdq 2 (k  1)
2
ˆ (10)
 
  v afdq (k  1)

The optimal control variable can be obtained by differentiating the object function J with respect to
the voltage and equating that to zero dJ / dt  0 , the optimal control voltage variable can be found to be:

Ts  RTs  L  
i L 
v afdq (k  1)  (k  1)  i (k )  e(k )  (11)
 crefdq
 RTs  L   T 2   RTs  L cdq 
2
s

The block diagram of the optimal control voltage variable for simulation and practical
implementation is shown in Figure 5.

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Figure 5. The diagram for inner controller of SAF based on current predictive model
The control law for the inner control loop of SAF established by equation (11) has the simple
structure, the control action for the next discrete instance is the control voltage sending to the space vector
modulation block to drive IGBT bridge generating the desired compensation currents.
The control law (11) take into account the predictive compensation currents on the discrete instance
k  1 , i cdq (k  1) , in order to get the demand such as the error between the output predictive current of SAF
and SAF’s desired output current i crefdq (k  1) is minimize at the next discrete instance, so J reach to
minimum. The cost function J includes two terms: the output current error ˆi cdq (k  1)  i crefdq (k  1) and
control voltage v afdq (k  1) with two adjustment parameters  and  .

3. THE SIMULATION AND EXPERIMENTAL RESULTS

The simulation parameters: The nonlinear load consist of two loads connected in parallel: the full
bridge rectifier supplying voltage for the DC load with Rt  10 , and the 3 phase unbalanced load with
RLA  2, RLB  4, RLC  6 . The resistance and inductance of load wire is RLr  0.001, LLr  1e  6H ,
respectively. Three phase voltage source has U d  380V , f  50Hz , the source resistance and source
inductance are RLn  0.001, LLn  1e  8H . The resistance and inductance of the wire from source to load
are respectively Rgl  0.001, Lgl  1e  6H . The SAF has IGBT with snubber resistance Rs  10000, ,
snubber capacitance C s  (F ), the ON resistance Ron  104  , the forward voltages are 1 V,
Tf  106 s,Tt  2  106 s . The smooth inductance is Lck  1.2  103 H . The extra PI controller has
K p  0.1; K i  1 , U dc  1000V . The sample time is Ts  5e  6H , the ode45 (dormand-Prince) is used to
solve the discrete differential equations. The simulation results are shown in Figure 6 to 16. The Figure 6
shows the source voltage, Figure 7 represents the load currents or source currents in the case not using SAF.
The Figure 8 illustrates the source currents when using SAF. The Figure 9 demonstrates the compensation
currents determined by the outer control loop and the real compensation currents made by inner loop to inject
to the network, which caused by the control law (11). The Figure 10 and Figure 11 depict the harmonic
analysis of the source and load currents when using SAF. The Figure 12 introduced the varying of the voltage
across capacitor. The desired compensation currents and real currents on the d frame are figured out in the
Figure 13, the control voltage of SAF on the d frame is painted in the Figure 14. The Figure 15 and Figure 16
show the space modulation control voltage on the abc frame and IGBT control voltages, respectively.

Figure 6. The 3 phase source voltages

Figure 7. The load currents or source currents in the case not using SAF
Control shunt active filter based on dq frameusing current... (Chi Nguyen Van)
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Figure 8. The source currents when using SAF

Figure 9. The compensation currents determined by the outer control loop and the real compensation currents
made by inner loop to inject to the network

FFT analysis

Fundamental (50Hz) = 16.04 , THD= 27.65%

100

80
Mag (% of Fundamental)

60

40

20

0
0 2 4 6 8 10 12 14 16
Harmonic order

Figure 10. The harmonic analysis of the load currents

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FFT analysis

Fundamental (50Hz) = 16.9 , THD= 4.98%

100

80

Mag (% of Fundamental)
60

40

20

0
0 2 4 6 8 10 12 14 16
Harmonic order

Figure 11. The harmonic analysis of the source when using SAF

Figure 12. The varying of the voltage across capacitor of the SAF

Figure 13. The desired compensation currents and real currents on the d frame

Figure 14. The control voltage of SAF on the d frame

Figure 15. The space modulation control voltage on the abc frame

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Figure 16. The IGBT control voltages

When not using the SAF to filter the harmonics, the harmonic current distortion are affected by the
nonlinear loads (see Figure 7) with THD is 27.65%, in which the 5th order harmonic is 22%, the 7th order
harmonic is 10%, the 10th , 11th, 13th order harmonics are 22%, when connecting the SAF to the network, the
THD of the source currents decrease rapidly to 4.98%, the fundamental current component (50Hz) is
approximately 100%, the 3, 5, 9, 11, 13th order harmonics are not reached to 1%, the 7th harmonics is 3%.
The advantage of the control law (11) is represented on the Figure 9, the real compensation currents
on the phases A, B, C track completely to the desired compensation currents by transient time 0.012s. The
real compensation current on the d axis is illustrated in the Figure 10. The transient period is shorter
appreciably in comparing with using the PI controller in the materials [28, 29] which is 0.1s. The Table 1
demonstrates the THD varying of the source currents by changing the load. THD has upward trend when the
load power is decrease and vice versa. If Rt is 10 then THD is 4.98%, however if Rt is 25 then THD is
increasingly 4.98%. The experimental result is shown in the Figure 17.

Table 1. Comparing the varying of THD by the changing of the load

3Ω 4Ω 6Ω 8Ω 10Ω 15Ω 20Ω 25Ω
24.05% 24.32% 25.21% 25.74% 27.65% 27.84% 27.84% 28.26%
4.51% 4.53% 4.61% 4.77% 4.98% 5.01% 5.07% 5.11%

Figure 17. The experimental results

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After asemblying completely the SAF electronic circuit, it is tested and we get the results as
representing in the Figure 12. The harmonic analysics results show that before and after connecting the SAF
to the network, THD of the source current is 24.8% and 5.4%, respectively. This result illustrate initially that
the SAF electronic circuit implemented properly the SAF’s function. There is slightly difference between the
simulation and experimental results that is caused by the instrument turning, curcuit’s parameters not to be
chosen properly, the parameters’s drift. The authors will continuely modify and complete in the future works.

4. CONCLUSION
The paper deals with the method for control output currents of SAF based on the dq frame using the
SAF’s current predictive model, the control action is derived by minimizing the cost function related to two
term which are the error between the SAF’s predictive currents ˆicdq (k  1) and output desired currents
i crefdq (k  1) in the next sample time, and the control voltages v afdq (k  1) . The form of the control law is
quietly simple and easily implement by analog circuits. The simulation and experimentation conducted by
using the nonlinear load including the full bridge rectifier and 3 phase unbalance load show that the quality of
the harmonic compensation meets the requirements of the IEE std 519. The THD of the source currents
decrease quickly from 27.65% to 4.98% for simulation and 26.8% to 5.4% for experimentation. The
fundamental current component (50Hz) is approximately 100%, the 3, 5, 9, 11, 13th order harmonics are not
reached to 1%, the 7th harmonics is 3%. After transient period 0.012s, the SAF’s output real compensation
currents track completely the desired compensation currents required by outer loop. The transient period gets
faster than method using the PI controller in [28, 29].

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