Harmonics Extraction Algorithms for Shunt Active Power Filter Control based on Power Definition Theory

Awan Uji Krismanto1, Prof Takashi Hiyama2 Electrical Engineering Department, Institut Teknologi Nasional, Malang, Indonesia 2 Electrical Engineering Department, GSST, Kumamoto University, Kumamoto, Japan
1

Abstract- Nonlinear loads usage introduces harmonics current component to the system. The development of harmonics distortion gives poor contribution to power flow in the power system. Harmonics current cause oscillating real and reactive power hence network losses will increase. Harmonics extraction algorithms based on active and reactive power calculation shows satisfied performances to separate harmonics and fundamental current component. Three algorithms; p-q theory for constant instantaneous power control strategy, minimization Fryze current compensation and sinusoidal Fryze current control method are analyzed. Simulation results are presented to validate the harmonics extraction algorithms. Key Words- harmonics extraction, p-q theory, Fryze compensation

I. INTRODUCTION

ignificant increase of nonlinear load usage such as power electronic equipment for voltage and current conversion, motor drives, switching power supplies and other electronics devices cause development of harmonics component contained in voltage and current waveform. Harmonics become serious problem to power system and deteriorate the power quality. Presence of harmonics gives poor contribution to power flow in the power system network because it causes non-sinusoidal and distorted condition to the power system. Basically, real and imaginary powers flowing in the system consist of two parts; average power and oscillating power[1]. The average real power represents the energy flowing per time unity in one direction, average imaginary power corresponds to the conventional reactive power and doesnt contribute to energy transfer. The oscillating real power represents the oscillating energy flow per unit time unity, which naturally produces a zero average value, oscillating imaginary power corresponds also to a power that is being exchanged among the phases. Both oscillating real and imaginary powers are related to the presence of harmonics exclusively in the load current. The increment of harmonics current component will cause the amplification of oscillating power which can increase the power system losses. Shunt Active Power Filter (SAPF) is the most compensator used for harmonics current mitigation purpose. SAPF is suitable to compensate harmonics component in various nonlinear load. Identification and extraction of harmonics current components must be done accurately hence SAPF can work properly for harmonics compensation purpose. One of the powerful methods to extract harmonics current component is harmonics extraction method based on power identification and calculation method. Instantaneous p-q theory is the first voltage and current identification method based on power definition. The p-q theory identifies and extracts harmonics current component based on instantaneous real and imaginary power measured in the system. This theory defines power flowing in the system in the time domain. Since no restrictions are imposed on voltage and current behaviors, it is applicable to three-

phase systems with or without neutral conductor. Thus, it is valid not only in steady states, but also during transient states[1]. The p-q theory gives satisfied result for extracting harmonics current component both under sinusoidal balanced and distorted unbalanced condition. However, it requires the use of the 0 transformation hence an extra calculation effort appears in this algorithm. To simplify the algorithm and calculation process, Fryze proposed minimization harmonics extraction method. Mauricio and Monterio developed sinusoidal Fryze current control method to improve performance of generalized minimization Fryze current control method. This paper presents harmonics current extraction method based on power definition theory i.e. instantaneous p-q theory, minimization Fryze theory and sinusoidal Fryze theory under both balanced and unbalanced condition. MATLAB Simulink used in order to verify the proposed algorithms. II. CONSTANT POWER COMPENSATION CURRENT CONTROL STRATEGY BASED ON INSTANTANEOUS P-Q
THEORY

In constant power compensation control strategy, oscillating real power and reactive power were the power parts which must be compensated. The compensated source current will become sinusoidal, produces a constant real power and doesnt generate any reactive power. Through this method, source current has a minimum rms value that transfer the average real power only. Measured voltage and current are transformed into - coordinates. Zero sequence components are involved in this method in order to accommodate unbalanced condition in this system. The transformation from abc to - coordinates associated are as follows: 2 3 1 2 1 0 1 2 1 2 3 2 1 2 v a 1 v b 2 3 v c 2

v0 v = v

(1)

1 1 1 2 2 i a i0 2 2 1 1 (2) i = 3 1 2 2 i b i ic 3 3 0 2 2 Power calculation based on - coordinates which included zero sequence components can be stated as follows:

 p 0 v 0 p=0 q 0

0 v v

0 i0 v i v i

(3)

First order butterworth low pass filter with 5Hz cut off p frequency separates oscillating real power ~ from total real power. Cut off frequency bellow fundamental frequency is chosen because of transient time of low pass filter. All dc components will be separated and filter will work at fundamental frequency 50 Hz precisely. The oscillating real power and reactive power should be compensated to provide optimal power flow to the source. In unbalanced condition, zero sequence real power p 0 will appear hence the power that should be compensated consist of oscillating real power, zero sequence real power and reactive power. Compensation current in - coordinates can be determined through equation as follows i 1 i = 2 2 v + v v v v ~ + p0 p v q (4)

Inverse Clark transform is implemented to obtain compensation current in abc coordinates through equations: 1 2 i Ca 2 1 i = Cb 3 2 iCc 1 2 The algorithm of shown in figure 1. 0 i0 1 3 (5) i 2 2 i 1 3 2 2 constant power compensation method is 1

III. GENERALIZED FRYZE CURRENT CONTROL STRATEGY Generalized Fryze current control strategy determines instantaneously the active part of a load current. A minimized, instantaneous, active current component is determined with the constraint that it should transfer the same amount of energy as the uncompensated load current. The difference between the instantaneous original current and the calculated instantaneous active current is the instantaneous nonactive current. These current is part of the original current that has to be compensated hence the source only supplied the active current portion. The minimization method forces the active current and the original current to produce the same three phase instantaneous active power when multiplied by their respective phase voltage. Controller for shunt active filter that guarantee compensated currents proportional to the supply voltage can be implemented by using the concepts of the current minimization method. In this case, if the supply voltage is sinusoidal and balanced, the compensated source current will be also sinusoidal and balanced. The current compensated by means of the generalized Fryze current method presents a minimum rms value to draw the same three phase average real power from the source as the original load current[1]. An advantage of generalized Fryze current control is less calculation effort needed, since it works directly with the abc phase voltages and line currents. This control algorithm avoids Clark transformation hence the calculation process become simple. Equivalent conductance Ge can be determined from ratio of three phase instantaneous power and the squared instantaneous aggregate voltage that is Ge = v a i a + v b ib + v c i c
2 2 2 v a + vb + vc

(6)

Low pass filter implemented in order to obtain the average conductance G e from instantaneous conductance Ge. The instantaneous active current part; i w a , i w b , i w c of the load current are directly obtained by multiplying average conductance G e and phase voltage respectively iw a va i = G v e b wb iw c vc

Va b c Ia b c

abc p to 0 T ra n s f o rm & P ow er C a lc u l a t i o n

Ic a LP F
q

~ p

c u rr e n t re f e r e n c e

p0 i0

i 1 i = 2 2 v + v

v v ~ + p 0 p v v q

abc to Ic b 0 T ra n s f o r m

Ic c

(7)

Fig.1. Constant power compensation algorithm

The algorithm proposed above assuming that there are no losses in the compensator and the dc side capacitor is high enough hence dc voltage is constant. In the system with balanced condition, zero sequence current is not flowing hence the zero sequence power will be zero and the compensation algorithm will be simpler. For this case, the zero sequence current of the load is completely compensated without need for energy balance inside the compensator i.e. shunt active power filter.

Nonactive current determined from difference between original current and average active current, that is i Ca i a i w a i = i i (8) Cb b w b iCc i c i w c Ignoring the losses in the shunt active power filter and assuming that dc side voltage has constant value, the diagram block of generalized Fryze current control strategy is shown in figure 2.

Va b c Ia b c

In s ta n ta ne o u s C onduc tanc e C a lc u la t io n
Ge = v a i a + vb ib + v c ic
2 v a + v b2 + v c2

A c t iv e C u rre n t C a lc u la t io n
Ge

C o m p e n s a t in g Ica C u rre n t C a lc u la tio n

current. Fundamental positive sequence load current gained by multiplied G e with auxiliary phase voltages. i pa vNa i pb = Ge vNb i pc vNc

LP F

Ge

iwa va i = G v wb e b i w c v c

iC a i = C b iC c

ia iw a i i b wb ic i w c

Icb Ic c

(11)

Fig.2. Generalized Fryze current control algorithm

IV. SINUSOIDAL FRYZE MINIMIZATION CURRENT CONTROL STRATEGY Sinusoidal Fryze minimization method was developed by Mauricio and Monterio. This method is the improvement of generalized Fryze method. The proposed control algorithm has the same objective i.e. to compensate harmonics current and to improve power factor. After compensated, the current drawn from the source becomes sinusoidal and balanced, even under distorted and/or unbalanced system. This method proposed many advantages compare with generalized Fryze current control strategy[2]. The number of measurement sensor is reduced since voltage measurement is not needed, only information about current required. Calculation effort becomes simple since there is no transformation process between abc phase coordinates and reference frame coordinates. Synchronizing PLL circuit combined with sinusoidal Fryze minimization method in order to provide information about positive sequence component of measured parameter. The PLL circuit tracks continuously the fundamental frequency of load current. The design of PLL circuit should allow proper operation under high distorted and unbalanced load current. This synchronizing circuit determines quickly the frequency and phase angle of the fundamental positive-sequence component of measured load current. In this method, PLL used to determine voltage positive sequence component virtually from measured line to line current. It is assumed that the conductance G e corresponds to the amplitude of fundamental positive sequence component of load current. Value of G e is determined by ratio of three phase instantaneous power and squared aggregate of auxiliary phase voltage; v Na , v Nb , v Nc generated by PLL circuit. Because auxiliary phase voltages have pure sinusoidal and balanced condition, the squared aggregate of phase voltage is a constant value that is 2 3 2 2 2 (9) v Nabc = v a + v b + v c = 2 From equation 9, the instantaneous conductance equation becomes as follows

Fundamental positive sequence and actual load current used to determine reference current for shunt active power filter. The difference between fundamental positive sequence and original load current comprise all those components of the load current that should be compensated through equation bellows i Ca i a i pa i = i i Cb b pb iCc i c i pc

(12)

Figure 3 shows diagram block of sinusoidal Fryze minimization current control strategy with neglecting losses power in compensator and fluctuation of dc side voltage capacitor.
F undam ental p o s it if C u rr e n t C a lc u la t io n
Ge

Ia b c

PLL

VN a b c

In s ta n ta n e o u s C o n d u c ta n c e C a lc u la t io n
Ge = 2 ( v N ai a + v N bib + v N cic ) Ge 3

C o m p e n s a t in g C u rr e n t C a lc u la t io n i C a i = C b iC c i a i p a i i b p b ic i p c

Ic a Ic b Icc

LPF

i p a v N a i p b = G e v N b i p c v N c

Fig.3. Sinusoidal Fryze current control algorithm

2 ( v Na i a + v Nb ib + v Nc ) (10) 3 Average value G e of instantaneous conductance G e obtained by using low pass filter. The average conductance G e represents amplitude of fundamental positive sequence Ge =

V. SIMULATION AND RESULT Balanced and unbalanced condition will be simulated using MATLAB Simulink to verify three harmonics extraction method explained before. Three phase voltage source 220 V, 50 Hz with sinusoidal and balanced condition supplied balanced and unbalanced nonlinear load. Distorted source current, harmonics current component and theoretical source current after compensated indicated the performances of these harmonics extraction algorithm. In order to justify whether these harmonics extraction algorithm have done well to extract harmonics current component, Total Harmonics Distortion (THD) value of source current from distorted shape and compensated shape would be analyzed. Single phase uncontrolled rectifier supplied inductive load (100 and 1 H) connected in every phase to perform balanced condition of the system. Figure 4 shows distorted source current under balanced condition. Each phase source current has same magnitude with phase angle 120o degree between each other and contains high harmonics current component and 44.29% THD value.

Source C urrent before C ompensated 2 Current(A) 1 0 -1 -2 0 0.05 0.1 0.15 H armonics C urrent C omponent 2 1 0 -1 -2 0 0.05 0.1 0.15 0.2 0.25 0.3 0.2 0.25 0.3

1 .5

0 .5 current (A)

-0 .5

-1

Current(A)

Source C urrent after C ompensated 2 1 0 -1 -2 0 0.05 0.1 0.15 time (s) 0.2 0.25 0.3

-1 .5

-2

0 5 .0 tim (s) e

0 .1

0 5 .1

Fig.4. Distorted source current under balanced load condition

Figure 5 shows distorted current of phase A and harmonics current component IcA1, IcA2 and IcA3. These harmonics current component resulted from instantaneous p-q theory method, generalized Fryze and sinusoidal Fryze harmonics extraction algorithms respectively.
2 0 -2 0 2 0 -2 0 2 0 -2 0 2 0 -2 0

Fig.6. Phase A distorted current, harmonics current and fundamental current based on instantaneous p-q theory

The harmonics extraction algorithms are tested with unbalanced load condition. Each phases connected with single phase uncontrolled rectifier which supplied different load to perform unbalanced condition. Table 1 shows load parameter to perform unbalanced condition. Phase A B C Nonlinear load uncontrolled rectifier uncontrolled rectifier uncontrolled rectifier Supplied load 50 and 0.5 H 75 and 0.8 H 100 and 2 H

IL A

0 .0 5

0 .1

0 .1 5

0 .2

0 .2 5

0 .3

Ic A 1

0 .0 5

0 .1

0 .1 5

0 .2

0 .2 5

0 .3

Table 1 Load parameters under unbalanced condition.

0 .0 5 0 .1 0 .1 5 0 .2 0 .2 5 0 .3

Ic A 2

0 .0 5

0 .1

0 .1 5 t im e ( s )

0 .2

0 .2 5

0 .3

Fig.5. Phase A distorted current and harmonics current component from each harmonics extraction algorithms

Figure 7 shows distorted source current under unbalanced condition. Source current of each phase have different magnitude hence harmonic current component generated by harmonics extraction algorithm would be different too. THD value are 44.24% for phase a, 44.27% for phase b and 44.25% for phase c.
3

The difference between distorted current and harmonics current component is fundamental current with sinusoidal waveform. Instantaneous p-q theory resulted fundamental current with 0.36% THD value, generalized Fryze method resulted fundamental current with 0.38% THD value and sinusoidal Fryze method resulted fundamental current with 0.37% THD value. This result indicated that all of harmonics extraction algorithms have good performance to extract harmonics current component from distorted current. Figure 6 shows phase A distorted source current before compensated, harmonics current component and source current after compensated based on instantaneous p-q theory method. Generalized Fryze and sinusoidal Fryze method show similar result too. After compensated, source current improved become sinusoidal shape and have balanced magnitude.

Ic A 3

Current(A)
current (A)

05 .0 tim ( ) es

0 .1

05 .1

Fig.7. Distorted source current under unbalanced load condition

Because of unbalanced condition, zero sequence current components appear in the system. Three algorithms mentioned before required not only extract harmonics current component from its distorted current, but also improve source current hence the source current become balanced and

sinusoidal. Figure 8 shows compensation current from each phase of three different harmonics extraction algorithm.
2 Ica

current. Figure 9 shows source current before compensated, harmonics current component from each extraction algorithms and source current after compensated.
S o u r c e c u r r e n t b e fo r e c o m p e n s a t e d 4 2 0 -2 -4 4 2 0 -2 -4 4 2 0 -2 -4 4 2 0 -2 -4 4 2 0 -2 -4

0 -2 0 0 2 .0 0 4 .0 0 6 .0 0 8 .0 0 .1 0 2 .1 0 4 .1 0 6 .1 0 8 .1 0 .2

Is a bc

0 .0 5 0.1 0 .1 5 0 .2 0 .2 5 0 .3 H a rm o n ic s c u rre n t c o m p o n e n t b a s e d o n in s t a n t a n e o u s p -q t h e o ry

2 0 -2 0 0 2 .0 0 4 .0 0 6 .0 0 8 .0 0 .1 0 2 .1 0 4 .1 0 6 .1 0 8 .1 0 .2

Ic a bc 1

Icb

0 .0 5 0.1 0 .1 5 0 .2 0 .2 5 0 .3 H a r m o n i c s c u r r e n t c o m p o n e n t b a s e d o n m i n im z a t i o n F r y z e m e t h o d

2 Icc 0 -2

I a bc 2

0 .0 5 0.1 0 .1 5 0 .2 0 .2 5 0 .3 H a rm o n ic s c u rre n t c o m p o n e n t b a s e d o n s in u s o id a l F ry z e m e t h o d

(a)
2 Ica 0 -2 0 02 .0 0 4 .0 0 6 .0 0 8 .0 0 .1 0 2 .1 04 .1 0 6 .1 0 8 .1 0 .2

Ic abc3

0 2 .0

0 4 .0

0 6 .0

0 8 .0

0 .1 tim (s) e

0 2 .1

0 4 .1

0 6 .1

0 8 .1

0 .2

0 .0 5

0.1 0 .1 5 0 .2 S o u r c e c u r r e n t a ft e r c o m p e n s a t e d

0 .2 5

0 .3

Is f a bc

0 .0 5

0.1

0 .1 5 t im e ( s )

0 .2

0 .2 5

0 .3

2 Icb 0 -2 0 02 .0 0 4 .0 0 6 .0 0 8 .0 0 .1 0 2 .1 04 .1 0 6 .1 0 8 .1 0 .2

VI. CONCLUSION Harmonics current extraction algorithms based on power definition theory showed a good result not only for balanced condition but also under unbalanced condition. These algorithms can separate harmonics current component from its distorted current. Even under unbalanced condition, these algorithms improve source currents from distorted with unbalanced magnitude become purely sinusoidal and balanced current. THD value of source current before compensated is around 44%. After compensated, THD value of source current is significantly decreased become around 0.36%. These result indicated that harmonics extraction algorithm are applicable for shunt active power filter control. VII. REFERENCE
[1] [2] Akagi H, Watanabe E.H, Aredes M, (2007), Instantaneous Power Theory and Application to Power Conditioning, John Wiley & Sons, Inc., Hoboken, New Jersey Aredes M, Monteiro LF.C, A Control Strategy for Shunt Active Power Filter, Federal University of Rio de Janeiro, (2008). Salam Z, Cheng P, T and Jusoh A, Harmonics Mitigation using Active Power Filter: A Technological Review, Elektrika Vol. 8 No. 2 (2006), pp 17-26. Aware M.V, Kothari A.G. and Bhat S.S, Power Factor Improvement using Active Filter for Unbalanced Three Phase Non Linear Load, Int. Journal Energy Technology and Policy, Vol.4, No. 1/2, 2006. Vardar K, Akpinar E, Surgevil T, Evaluation of Reference Current Extraction Method for DSP Implementation in Active Power Filters, Elsevier, Electric Power System Research, Vol. 79 (2009), pp 1342-1352. Dai W, Wang Y, A Novel Three Phase Active Power Filter Based on Instantaneous Reactive Power Theory, Proceeding of Workshop on Power Electronics and Intelligent Transportation System (2008), pp. 375-379. Driesen J and Belmans R, Active Power Filter Control Algorithms using Wavelet-based Power Definitions, IEEE, 2002.

2 Icc 0 -2 0 02 .0 0 4 .0 0 6 .0 0 8 .0 0 .1 tim(s e ) 0 2 .1 04 .1 0 6 .1 0 8 .1 0 .2

(b)
2 Ica 0 -2 0 02 .0 04 .0 06 .0 08 .0 0 .1 02 .1 04 .1 06 .1 08 .1 0 .2

2 Icb 0 -2 0 02 .0 04 .0 06 .0 08 .0 0 .1 02 .1 04 .1 06 .1 08 .1 0 .2

[3] [4]

2 Icc 0 -2 0 02 .0 04 .0 06 .0 08 .0 0 .1 tim( ) es 02 .1 04 .1 06 .1 08 .1 0 .2

[5]

(c) Fig.8. Extracted harmonics current under unbalanced load condition based (a) instantaneous p-q theory, (b) minimization Fryze method and (c) sinusoidal Fryze method

[6]

Source current after compensated only contain of fundamental current component. THD value of source current after compensated decreased significantly; from around 44% becomes around 0.36%. Shunt active power filter injected compensation current hence source current improved from distorted unbalanced current become balanced sinusoidal

[7]