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Control of an Active Power Filter Based on Input-Output Linearization

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

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=I
fl dii d&
-L
L
0 -y ud -rid +@Liq-ed = L--L-
dt dt
di8 dFq
-r f 2 (3) u q - r i q - u L i d - e q =L--L-
O -L - L dt dt
d(?ic dzdc
fdid + f q i g = c--- ,it
c-
dt
or
Equation 3 represents the system dynamics in system
coordinates.

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

0-7803-4503-7/98/$10.00 1998 IEEE 457


by the PWM voltage inverter are given by: additionlsubtraction must be realized as fast as possible.
..* The PWM technique used is programmed in a EPROM -
ed = Ud - rid + @Liq - Kiid
- dld
- L- sub-system B. For a given I,, and 6x0,,,,the firing signals of
dt the converter semiconductors devices are defined through
-
di* the PWM technique. The PWM technique used in this case
eq = uq - ri, - wLid - Kiiq - L A is described in [16]. Other PWM techniques can be used,
dt (13) including the selective harmonic elimination or the
or: distortion minimization techniques. The rectangular to
polar transformation described in (9), is realized in sub-
- di: system D. This is done with two EPROM's. Subsystem E is
Ud -rid +wLiq - Kiid - L- realized with two analog to digital converters. Thus the
dt
fd = PWM control system input variables f, and f, are analog
edc
* (14) signals.
- di,
The control law given by (14) is sensitive to the
uq - ri, -@Lid - Kiiq - L-
dt parameters uncertainty. Fig. 4 shows the simulation result
fq=
edc considering perfect knowledge of the parameters. In the
time instant t=.0025s a step on the q reference current is
The inputs A, and f , are the PWM control system input
applied from 0 to 5A. In the time instant t=.Ols a step on
variables in Park's coordinates, Fig. 2. The PWM control
the d reference current is applied from 0 to -5A. The
system is presented in Fig.3.
response obtained is the expected response. A typical first
In sub-system A, Fig. 3, a binary variable at with 14 bits
order response with the time constant given by (12). The
that represents the angular position of the AC mains
parameters used are R=. 1; L=.002H, Edc=400V U,=70Vef.
voltages is generated. This sub-system is implemented
Fig. 5 shows the same response considering that are
with an inexpensive PLL circuit. The PLL phase
comparator output must correspond to a zero phase error
Ideal Wq step responses
relatively to phase I mains voltage. This is achieved with
an appropriate controller. Because the PLL circuit is I
working always in steady state, its time response is not
essential for the good dynamic performance of the whole
system.
The angular position of the AC converter voltages U,, is
obtained by adding the input phase angle 6 to at - sub- 'U
0 0.005 0.01 0.01 5 0.02
system C. As the angular position of the AC converter
voltages at(,, is always varying in time, the binary

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

Fig. 2. Voltage converter connected to the ac mains.


-6 ,
0 0.005 0.01 0.015 0.02

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.

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dt
ri +L-=uq-wl,id-eq
dig =hq
dt

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,

h, = k p ( i ; -iq)+ki [(i; -iq)dt


errors on the parameters R and L (R=1.2R and L=.8L).
The response is slightly different in Fig. 6 where an error It is possible to control independently the Parks
of 3% (u,=1.03ud) On the is considered* It is coordinates converter ac currents id and ig by acting upon
clear that the controller is very sensitive to errors on the
the decoupled input variables hd and hq. Because the
parameter U<,.
decoupling is achieved, see (16), it is a simple task to
Second current control loop synthesize a required controller. Low overshoot and fait
response are the design criteria when P.I. controllers are
To avoid the problems discussed in the previous sub- used. The kp and ki parameters are tuned by the
section, a second approach is presented. Equation 5 can be equations:
written in the form: 2
kp=2(%L-r , ki=LQ, (19)
did
rid + L- = ud + wLiq - ed
dt Where the optimal value of 5 is $ / 2 and % depends
ri +L-=uq-wLid-eq
diq (15) on the specified time response.
dt Fig. 7 shows the plant and its control system. The
C-=
dedc fdid + fqiq variables Im is the modulation index and 6 is the power
dt angle defined as the phase difference between the three-
Defining: phase voltages and the first harmonic three-phase system
of the ac PWM voltage converter. These variables are
obtained by a transformation of f , , & from rectangular
coordinates to polar coordinates. Subsystem B implements

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.

0-7803-4503-7/98/$10.00 1998 IEEE 459


The only parameter K<,ccan be computed using (12) with
the desired time constant. The control system, with a
detailed block D, Fig. 7, is presented in Fig 8.

V. RESULTS

A. Current controllers performance

Fig. 9 presents two experimental results for step changes


in the reference values of the direct and quadrature Park's
currents id* and iq* respectively, with a nil value for the
other component. As in steady state id* and iq* are
Fig.8 Control system for the E , voltage constant, the converter currents are first harmonic positive
sequence systems. In the result shown in Fig. 9a the
(17). It is a decoupling system. The input-output converter currents are in phase with the mains voltage
linearization is preformed in this block. This controller was positive first harmonic system and in the Fig. 9b result
presented in [9] and [ 101 obtained with physical reasoning. they are in quadrature. This can be observed by the
In this paper the same controller is obtained using the displacement between i l and wt13, the most significant bit
input-output linearization method. Subsystem C of Fig. 7 of the angular position of the phase 1 mains voltage.
presents the P.I. Park's current controllers.
The nonlinear load current harmonics and unbalances Step on the dc reference voltage
are determined in Parks coordinates (sub-system E) and
injected by the active power filter. Its fundamental Figure 10 shows the response to a step on the dc
components in the dq referential constitute dc components reference voltage. The step is set on the instant t=.Ols from
that should be preserved in the mains. All other current 250 to 300V.
harmonics constitute oscillating currents in the Park's This Fig. shows that the DC voltage is increasing with a
referential. These oscillating components must be injected time constant equal to the time constant that was calculated
by the active power filter. So high band pass filters are
used, subsystem E of fig. 7 to obtain the active power filter
reference currents in the Park's referential. 12Aldiv
Sub-system D is the dc voltage controller outer loop that
will be synthesized in the next subsection.
12Aldiv
Synthesis of the outer loop

Using (10) and considering that the current controller is


1QAldiv
ideal, the reference i, current necessary to maintain the
voltage in a required level is given by:
20VIdiv
0 ms 50 ms
a) Step in the reference values of the direct Park's current id*

Multiplying both sides by e, and considering (6),


12AJdiv
*
Cede -- e,
dedc
,*
Id =
dt 12Aldiv
0
-d
With normal parameters, the voltage e', is practically
constant and equal to U,. The e, variable is practically null.
Having in mind these two simplifications, the control 1OAIdiv
system synthesis is done using equation
* 20VIdiv
dedc
-* cede dt-t Kdcedcddc 0 ms 50 ms
id = (22)
Ud b) Step in the reference values of quadrature Park's current iq*
Equation (22) gives the controller for the dc voltage. Fig. 9. Experimental results showing id, iq il and at13 - most
significant bit of the mains voltage angular position.

0-7803-4503-7/98/$10.00 1998 IEEE 460


[SI Wu, R. ,Dewan, S.B, and Slemon, G.R. Analysis of
an AC to DC voltage Source converter using PWM
with phase and amplitude control IEEE Trans. Ind.
Applicat., vol.IA.-27, n3, Mar./Apr. 1991, pp355-364.

[6] Sugimoto, H. Morimoto, S., and Yano, M. A high


Performance Control Method of a Voltage Type PWM
Converter PESC88 Power Electronics Specialists
Conference April 1988, pp.360-368.

[7] Sukegawa, T., K:amiyama, K., Takahashi, J., Ilkimi,


T., and Matsutak.e, M. A Multiple PWM GTO Line
Side Converter For Unity Power Factor and Reduced
0
0 0.005 0.01 0.015 0.02 0.025 0.03 0.035
1
0.04
Harmonics IEEE Trans. Ind. Applicat., vol.IA-28,
n6, 1992, pp.1302-1308.
T [SI
Fig. 10. DC voltage response to a step change in its reference value.
[8] Jezernik K. Mohorko B. Variable Structure System
Control of Unity Palwer Factor Converter. PEMC96
with (12). The iy is set to zero and the controller maintains
Power Electronics and Motion Control Conference,
that current in zero.
Budapest pp312 13-312 17
IV. CONCLUSION
[9] P. Verdelho and C;. D. Marques, DC Voltage Control
and Stability Analysis of PWM Voltage Type
The input-output linearization technique was used to
Reversible Rectifiers Accepted for publication on
synthesize the ac current controllers in Parks variables.
IEEE Trans. on industrial Electronics vo1.44. no 2,
The first controller synthesized is sensible to the parameter
April 1998.
variation. To solve this problem, a new control system was
presented based on the PI controllers and system
[lo] P. Verdelho and G. D. Marques, An Active Power
decouplers.
Filter and Unbalanced Current Compensator IEEE
The dc voltage controller was synthesized based on the
Trans. on Industrial Electronics vo1.44. no 3, June
input-output linearization technique. The results obtained
1997 ~ ~ 3 2 1 - 3 2 8
are in agreement with those obtained with analytical
processes.
[ l l ] F. Peng, H. Akagi, A. Nabae, A study of active
power filters using quad-series voltage-source PWM
V. ACKNOWLEDGEMENT
converters for harmonic compensation, in IEEE
Trans. Power Elec.tronics,vo1.5, n. I , pp.9- 15, 1990.
Part of the costs related with the publication of this work
was supported by CAUTL.
[12] Fujita, H.,Tominaga, S. Akagi, H. Analysis and
Design of a DC Voltage-Controlled Static Var
VI. REFERENCES
Compensator Using Quad-Series Voltage-Source
Inverters IEEE Trans. Ind. Applicat. Vol IA-32, n4,
Zagari N. R. A performance Comparison of PWM
Jully/Aug. 1996 ~ ~ 9 7 0 - 9 7 7
Rectifiers and Synchronous Link Converters IEEE I

Trans. On Industrial Electronics vol41 No 5 , October


1131 Kazmierkowski M. P. and Tunia H., Automatic
1994 ~ ~ 5 6 0 - 5 6 2 .
control of converter fed Drives, ELSEVIER 1994
Gree, A.W., Boys, J.T., and Gates, G.F. Hysteresis
[ 141 Jean-Jacques E. Slotine, Weiping Li, Applied
current forced three phase voltage sources reversible
Nonlinear Control, Prentice Hall, 1991.
rectifier Proc. IEE, vol. 136, pt. B, n3, 1989, pp.362-370.
[ 151 G.D. Marques, F. Silva, Direct Voltage Control of a
[3] Wernekinck, E., Kawamura, A., and Hoft, R. A high
PWM ACIDC Voltage Converter European Power
frequency AC/DC converter with unity power factor
Electronics Conference EPE97 Trondheim, Norway.
and minimum harmonic distortion IEEE Trans.

Power Electron.,vol.6, n3 July 1991, pp.364-37 1.


[I61 T. Ohnishi, H. Okitsu, A Novel PWM Technique for
Three Phase Inverter/Converter, in Proc. IPEC83,
141 Dixon, J.W., and Ooi, B.T. Indirect current control
Tokyo, pp.384-395, 1983.
of a unity power factor sinusoidal boost type 3 phase
rectifier IEEE Trans. Ind. Electron, vol-IE-35.
N4,Nov. 1988, pp.508-515.

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