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G. D. Marques P. Verdelho
SecqBo de MBquinas ElCctricas e Electr6nica de Pot&ncia Secqgo de MBquinas Eltctricas e Electr6nica de Pot&ncia
IST, AV.Rovisco Pais, 1096 IST, AV. Rovisco Pais, 1096
Lisboa, Portugal Lisboa, Portugal
gmarques @alfa.ist.utl.pt pcverdelho 0alfa.ist.utl.pt
Abstract - In this paper the input-output linearization voltage with a non-PWM technique, thus producing either
technique is used to synthesize a control system for a shunt leading or lagging reactive power [ 121.
active power filter. This control system is composed of two This paper is devoted to the control of voltage source
control loops connected in cascade. The inner loop, the rectifiers or inverters connected to the ac network working
current control loop, is realized in a synchronous reference as active power filters. The main circuit contains a three-
frame where it is easier to get the reference compensating
phase diode bridge rectifier with six power transistors anti-
currents. The outer control loop maintains the dc voltage in a
required level. This second loop is required to be more
paralleling the diodes, Fig. 1. The converter is connected
slowly. As there are only two input control functions and to the three-phase supply through three inductors of value
three output state variables to be controlled, the d component L. A capacitor C is connected to the dc side of the
of the ac reference current is added with the required current converter. The inductors L perform the voltage boost
to control the dc voltage. As the first synthesized current operation in combination with the capacitor C and at the
control loop is very dependent on parameters, a second same time act as a low pass filter for the ac line current.
current control loop was developed based on the PI This paper is organized as follows. Section 2 presents
controllers. the system modeling. System coordinates and Park's
coordinates are used to model the system. The model that
I. INTRODUCTION uses Park's coordinates will be used to control the system.
The input-output linearization method is used to synthesize
Harmonic current pollution of electrical networks is an a controller for the system in section 3. Current controllers
area that is receiving increasing attention [ l ] to [12]. This and dc voltage controller are synthesized. The results are
is due to the fact that nonlinear loads are a large portion of presented in section 4 and the conclusion is presented in
the total connected load in a typical industrial network. section 5
Traditional six pulse ac-dc converters are among the
nonlinear loads that are polluting the mains voltages. 11. MODELING
A way to minimize harmonic pollution originated from
this type of converters is to use active power filters [lo], A. System coordinates
[ 111. The shunt active power filters can be implemented
with the PWM voltage converter connected in parallel with The system modeling is presented in [lo]. To simplify
the mains, Fig. 1. the exposition a brief summary is presented.
The converter input currents should be controlled so that On the model adopted, the system is seen as a three-
the system injects the harmonic currents to be phase RLE circuit with constant R,L parameters. The ac E
compensated on the mains. voltage is dependent of the e& voltage and the PWM
Voltage source converters can also be used to technique used. The PWM technique is represented by
compensate reactive power. In this case, the amplitude of switching functions f i ,f2 and f3. The relation between the
the converter ac voltage should be adjusted using pulse-
ac three-phase voltages and the edc voltage is given by:
width modulation (PWM) or by controlling the dc bus
el=fl edc ; eZ'f2edc ; e3=f3edc (1)
The dc current can be put in the form:
idc"f1 il +f2 i2+f3 i3 (2)
The switching functions fi,j j and f3 assume the values
O,? 113 and f 213.
The introduction of the three-inductor equations of the
ac side and the capacitor equation of the dc side gives the
state model, (3).In this model only the two independent ac
currents are needed, because the zero sequence component
1 1 I
is nil.
I-0
-
Fig. 1. Voltage Source Inverter
B. Park's coordinate:
(9)
The state model of the PWM voltage converter
connected to the AC mains in Park's coordinates is
obtained applying the transformation of variables given by
(4) to the ac part of equation (3).
Equation (9) is a linear time dependent differential
equation. To synthesize a controller using input-output
linearization techniques, let's define the control law [ 141:
dii
L--ud +rid -wLiq +ed =-Kiid
-
dt
di *
L A - uq + riq + mLi,,j + eq = -Ki&
dt
In (4) the variables x refers to currents, voltages or
switching functions and 8 is the Park's transformation
angle. To simplify the analysis, this angle is determined by Introducing (10) into (9), (1 1) is derived.
the angular position of the mains voltages first harmonic
positive-sequence system.
The state model in Park's coordinates is presented in
(5).
did
Ud =rid +L--wLi +ed
dt
dig
u9 =rig + L-++Lid +eq (51
dt Equation (1 1) represents the dynamics of the system in
dedc fdid + fqiq
C-= closed loop with the control action given by (10). It is a
dt first order set of linear homogeneous equations and so the
Where fd, f q are control inputs functions. These &
errors, & , and vanishes with time constants:
functions are determined with the application of the
transformation defined in (4) to the switching functions f i ,
f 2 and f3. The voltages e<,and eqare related to e,,, by:
So, the system with the control law given by (10) will be
controlled appropriately because the error will be zero as
fast as wanted, depending on the constants Kt and KdC.
Unfortunately, (10) introduces three constraints and
there are only two functions f,and f, that can be calculated
111. INPUT-OUTPUT LINEARIZATION to satisfy the constraints;. The system is uncontrollable. To
* * overcome this difficulty, an inner current loop is
Let's consider the references i d , iq and eic and its errors synthesized with the two first equations (IO). The third
condition will be introduced on the reference i, current. It
i d , iq and .
will be shown that in steady state the current needed to
.* 7 . .* - 7Z q maintain the e<,'voltage in a required level is null.
id = Id - I d l4 = l4 e& = C?ic - (7)
Synthesis of the current control loop
The model, ( 5 ) can take the form:
The control law is given by (10). The voltages imposed
AC
Mains
Voltage
Converter
ellc
-2
0
' 0.005 0.01 0.015
I
0.02
Time [SI
Fig. 4. Response to steps on the reference currents with ideal
knowledge of the parameters.
System Id/h step responses with errors on Rand L
rect. to
I"
-s
L?
___.__._._.______.____
-5
0 0.005 0.01 0.015 0.02
Time [SI
Fig. 3. PWM control system Fig. 5. Response with errors on the parameters R and L.
I
The& and& functions can be obtained by:
0 0.005 0.01 0.015 0.02
hd - U d - WLiq
fd = e&
h, - uq +@Lid
fq=
edc
The id and iy currents can be controlled using PI current
-c controllers. In this case, (18) is derived:
0 0.005 0.01 0.015 0.02
Time [SI
hd = k p ( i i -id)i-kj [(i; -id)dt
Fig. 6 . Step response with an error of 3% on U,
Fig. 7.Control circuits of the PWM voltage converter connected to the ac mains. A-coupled control system. B-decoupled control
system. C-current controllers. D-DC voltage controller. E-Parksunbalanced and harmonics currents injection system.
V. RESULTS