Predictive Transient-Following Control of Shunt and Series Active Power Filters
Predictive Transient-Following Control of Shunt and Series Active Power Filters
Predictive Transient-Following Control of Shunt and Series Active Power Filters
Fig. 1. Three-phase rectifier with inductive dc link filter and shunt APF.
I. INTRODUCTION
DC link smoothing filter determines the type of harmonic distortion produced. In turn, the type of distortion determines the
type of APF required [1]. Fig. 1 shows a shunt APF used to
cancel harmonic current distortion. Fig. 2 shows a series APF
used to cancel harmonic voltage distortion. These two situations are duals of each other. Both are considered in this paper.
Throughout the paper the shunt-APF/current-distortion case is
the main description with the series case following in parentheses.
II. CONVENTIONAL APF CONTROL
Manuscript received November 23, 2000; revised May 1, 2001. Recommended by Associate Editor J. H. R. Enslin.
The authors are with the Imperial College of Science, Technology and
Medicine, Department of Electrical and Electronic Engineering, London SW7
2BT, U.K. (e-mail: [email protected]; [email protected]).
Publisher Item Identifier 10.1109/TPEL.2002.800970.
Fig. 3 shows an example of a shunt APF. The correction current that will cancel the harmonic content of the load current
is supplied by a voltage source inverter (VSI). There are three
main tasks for the controller.
Fig. 4.
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(1)
The relationship between the dc link current and the peak
fundamental component of the ac input current is derived by
Fourier analysis of the load current waveform
(2)
The relationship between the dc link current and the mean
-axis input currents is derived by substituting (2) into (1)
(3)
B. Voltage Rectifier
Fig. 6 shows normalized ideal phase voltage waveforms for
a single phase of a three-phase rectifier with capacitive dc link
filter and series APF (Fig. 2).
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Fig. 5. Normalized ideal current waveforms for inductive rectifier with shunt APF.
(6)
(4)
The relationship between the dc link voltage and the peak
fundamental component of the ac input phase voltage is derived
by Fourier analysis of the load phase voltage waveform
(5)
Fig. 6.
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Normalized ideal phase voltage waveforms for capacitive rectifier with series APF.
Fig. 8. PSpice simulation of rectifier with inductive dc filter and voltage source
input.
TABLE I
PARAMETERS USED FOR SHUNT APF SIMULATION
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Fig. 9.
Simulated load, estimated fundamental, and cancellation reference currents for conventional shunt APF.
[14], [15] to update the ANN weight and bias values. The
ANN performance is judged according to the mean squared
error (MSE) between the actual ANN output and the target
outputs. All training is carried out off-line in the MATLAB
environment.
B. Calculation of Target Data
To generate the target output data for training the contemporary mean of the -axis rectifier distorted input current
(voltage) is calculated using a noncausal moving average filter.
Equation (7) is the linear difference equation representing the
filter. This technique is chosen as it provides the best possible
transient response. The filter uses both past and future data.
This method can, therefore, only be used on data processed
off-line
(7)
A. Predictor Training
The network is trained by presenting it with a large set of
steady-state experimental input and target output data. The
training is accomplished using the LevenbergMarquardt (LM)
back-propagation method [14], [15], in conjunction with the
gradient descent with momentum (GDM) learning method
where
index of the present sample;
period of the input, in number of samples;
mean value of the input at a specific sample
index ;
Fig. 10.
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Simulated load, estimated fundamental, and cancellation reference currents for predictive shunt APF.
TABLE II
PARAMETERS USED FOR SERIES APF SIMULATION
Fig. 11. PSpice simulation of rectifier with capacitive dc filter and current
source input.
V. SIMULATION
In order to test the operation of the predictor models, several
three-phase rectifiers were simulated in PSpice. Training and
validation data was acquired for processing in MATLAB.
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Fig. 12.
Simulated load, estimated fundamental, and cancellation reference phase voltages for conventional series APF.
the rectifier input currents are very near sinusoidal. As with the
previous simulation parasitic resistance is referenced the dc link
to the ac side to ensure convergence under starting conditions.
Table II shows the parameters used.
Fig. 12 shows the performance of the conventional harmonic
identifier for a series APF under transient conditions. There is
a clear tracking delay in the estimated fundamental frequency
component of the load phase voltage. This leads to a residual
fundamental component in the cancellation reference voltage,
which in turn causes a large real power flow in the APF.
Fig. 13 shows the performance of the predictive series APF
identifier over the same transient. The predictive identifier
tracks the changing fundamental frequency component of the
load phase voltage without delay and with negligible residual
harmonic distortion. The cancellation reference is therefore
accurate and gives no average power flow in the APF.
Fig. 13.
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Simulated load, estimated fundamental, and cancellation reference phase voltages for conventional shunt APF.
A. Three-Phase PLL
ii) the quantization of the ANN and the look-up tables of the
activation functions are acceptable approximations;
iii) that the predictor can work in nonideal circumstances
with overlap in commutation, line voltage distortion and
rectifier dc-side current ripple.
The results concentrate on the harmonic identifier and do not
include the functioning of the APF.
The test system consisted of a three-phase diode bridge
rectifier with a 230 mH dc-side inductance and variable
resistance. The rectifier was connected to a 415 V 50 Hz
supply via a VARIAC. Real-time processing is provided by a
50 MHz TMS320C44 digital signal processor. Analogue input
is achieved by means of 12-b ADCs. The DSP board is housed
in a Pentium 200MMX IBM compatible PC host with 128 MB
of RAM. The setup offers fast bidirectional data exchange
between PC and DSP platforms via dual-port RAM.
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Fig. 15. Distorted phase voltage input to PLL and estimated reference angle. ABC phase voltages,
Timebase 5 ms/div.
V ,V ,V
Fig. 16. Conventional harmonic identifier experimental results. Rectifier current, I , estimated fundamental current, I and cancellation current, I (5 A/div).
APF power, P (750 W/div). Timebase 20 ms/div.
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Fig. 17. Predictive harmonic identifier experimental results. Rectifier current, I , estimated fundamental current, I and cancellation current, I (5 A/div). APF
power, P (750 W/div). Timebase 20 ms/div.
cial neural network to predict the mean -axis input to an uncontrolled diode bridge rectifier. It was adapted for both series
and shunt APF configurations.
A relationship between the dc link current (voltage) and mean
-axis current (voltage) of an uncontrolled three-phase diode
bridge rectifier was derived for ideal conditions in order to validate the basis for predicting the mean -axis current (voltage)
from its instantaneous DC counterpart.
Simulation results with PSpice and MATLAB showed good
steady-state performance for both series and shunt predictive
harmonic identifiers. The conventional identifier exhibited poor
transient response, due to the delays incurred in the filtering
process. This in turn led to a fundamental frequency component
appearing in the cancellation reference and would consequently
result in real power flow in the APF. The predictive identifier
exhibited no delay in tracking the fundamental and showed negligible residual harmonic distortion. This resulted in an accurate
cancellation reference and zero average real power flow in the
APF.
An experimental system was implemented in order to validate the results of the predictive identifier for a shunt APF. The
identifier showed good steady-state and excellent transient response. The agreement between simulation and experimental
results was very good. This demonstrates that
a) it is realistic to run an ANN in real time at the sample rates
required
b) the quantization of the network activation function
look-up tables is not a problem
c) the ANN trained on simulation data can generalize to a
real case with nonideal features such as commutation
overlap and mains voltage distortion.
The implications of improved transient response of an APF
identifier are reduced power rating, energy storage component
size and control system bandwidth. This results in reduced implementation cost of an APF.
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