IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO.

11, NOVEMBER 2010

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Feedback-Feedforward PI-Type Iterative Learning Control Strategy for Hybrid Active Power Filter With Injection Circuit
An Luo, Senior Member, IEEE, Xianyong Xu, Lu Fang, Houhui Fang, Jingbing Wu, and Chuanping Wu
AbstractIn this paper, the conguration characteristic of Hybrid active power lter (APF) with injection circuit (IHAPF) is analyzed, as well as its current closed-loop control model is established. Because of the character of reperiod of current harmonics in steady-load power system, the iterative learning control algorithm based on the PI-type learning law is presented. The systemic robustness is enhanced by using a forgetting factor. In order to improve the dynamic performance of a control system, a feedforward based on the D-type learning law of referenced current error by fuzzy reasoning is proposed. The system of the IHAPF with the proposed control strategy has been applied in a steel plant in Guangxi, China. Simulation and industrial application results show that the IHAPF with the proposed control method is not only easy to calculate and implement but also very effective in improving the performance of the lter. Meanwhile, IHAPF shows great promise in reducing harmonics and improving power factor with a relatively low capacity of APF. Index TermsD-type learning law, forgetting factor, fuzzy adjustor, hybrid active power lter (APF), PI-type iterative learning control.

I. I NTRODUCTION ECAUSE nonlinear loads are widely used in industrial applications and transmission systems, harmonic interference problem is becoming increasingly serious [1][4]. Conventionally, a passive power lter (PPF) composed of tuned LC lters has been broadly used to suppress harmonic current because of its low initial cost and high efciency [5], [6]. However, a passive lter has many disadvantages such as large size, parallel and series resonance with load, and utility impedances [7]. With a remarkable progress in speed and capacity of semiconductor switching devices, an active power lter (APF) is a powerful tool for compensation not only of current harmonics produced by distorting loads but also of reactive power and unbalance of nonlinear and uctuating loads. In some industrial applications, to complement or enhance the performance of the

Manuscript received June 26, 2009; revised December 11, 2009; accepted December 31, 2009. Date of publication February 8, 2010; date of current version October 13, 2010. This work was supported in part by the National Natural Science Foundation of China (No. 60774043), by the National Basic Research Program of China (973 Program) (No.2009CB219706), and by the Scientic Research Plan of Hunan Provincial Science and Technology Department of China (2008SK1004, 2010CK3017 and 2010fj3033). The authors are with the College of Electrical and Information Engineering, Hunan University, Changsha 410082, China (e-mail: an_luo@126.com; 5xxy@ 163.com; 2001xxy@163.com; fanghouhui@163.com; wujingbing820411@ 163.com; jandom@126.com). Digital Object Identier 10.1109/TIE.2010.2040567

APF or PPF, different combinations of several types of lters are proposed. Reference [8] shows a combination of a series active lter and a shunt passive lter. In this type, the series active lter overcomes the resonance between the grid and the passive lter, but the cost of the active lter is higher compared with that of the passive lter; moreover, the electrical insulation of the active lter is more difcult. Akagi [9] proposed a new topology of series active lter together with parallel active lter. The parallel active lter acted as a current source to compensate the harmonic current of nonlinear load, while the series active lter worked as a kind of harmonic isolator between the source and the nonlinear load. It provided high impedance for the harmonics and zero impedance for the fundamental wave, but the capacity of active lters is restricted to high-capacity semiconductor components. Reference [10] proposed a new HAPF topology in which the APF is connected in series with a C-type PPF to reduce its capacity. To avoid the resonance between the grid and the thyristor switched lter (TSF) and to improve the harmonic compensation performance of TSF, Yang et al. [11] proposed a new system of an APF in series with the TSF. However, the APF in these two topologies needs to endure the fundamental wave voltage. Among these congurations, the active lter in series with a parallel passive lter, also known as the hybrid APF, is more widely discussed in literatures for its good performance in harmonic suppression. Particularly, hybrid APF with injection circuit (IHAPF) becomes the hotspots of technological research, because it does not have to bear a fundamental wave voltage and is suitable for application in high-voltage grid to reduce harmonics and improve power factor [12][16]. Because harmonic current control is the key to the performance of APF, many control methods have been proposed. Reference [17] studied a one-cycle control (OCC) method for a three-phase APF. Its experimental results show that the sinusoidal output currents of the APF can be realized with the OCC method, whether the three-phase input voltages and/or the nonlinear loads are balanced or unbalanced. However, it needs an extra hardware circuit to realize the OCC method. Under unbalanced utility or load, reference [18] proposed the control method of integrators for sinusoidal signals with reduced computation complexity, by which the zero steady-state error of the reference harmonic current is realized. This control method can suppress all order harmonics in theory, but it can only suppress particular order harmonics in fact. Besides the aforementioned control methods, linear current control such

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Fig. 1. Topology of a hybrid APF with injection circuit.

as ramp comparison control [19], sinusoidal internal model control [20], synchronous-frame PI control [21], [22], and nonlinear current control, such as hysteretic control [23] and predictive control [24], are proposed. Ramp comparison control using a PI regulator is a conventional control method, and it has a steady-state error if the reference current is a harmonic signal [19]. The sinusoidal internal model control is presented in [20]. It has good control performance and tracking precision, but its controller parameters are not to be tuned online, and its robustness should be improved. In [21], [22], a synchronousframe PI controller is proposed to guarantee a zero steady-state error. If the harmonic current expected to be compensated is multiple order, it needs several PI regulators. The controller needs more hardware or software for signicant computation. Hysteretic control has the attraction of simplicity but leads to a widely varying switching frequency. This limitation has been improved with variable hysteresis band-switching strategies, but it requires a complex controller to achieve a satisfactory performance [23]. Predictive current control offers the best potential for precise current control; however, implementation of a practical system can be difcult and complex [24]. In this paper, a feedback-feedforward PI-type iterative learning control strategy is proposed for a hybrid APF with injection branch. The topology and operation principle of IHAPF are described in Section II. Section III establishes a current closedloop control model of the IHAPF. To simplify the closed-loop control model, the disturbance effects of the harmonic voltage of the power grid and the harmonic current of the load are not considered. Meanwhile, to improve the dynamic performance and enhance the robustness of the whole control system, a feedforward based on the D-type learning law of referenced current error by fuzzy reasoning is constructed. The simulation results have been shown to verify the proposed controller in Section IV. Experimental and industrial application results have been shown to conrm the effectiveness of IHAPF with the proposed control strategy in Section V. Finally, the conclusion is given in Section VI.

Fig. 2.

Single-phase equivalent circuit of the injection circuit.

II. M AIN C IRCUIT AND P RINCIPLE OF IHAPF A. Topology of IHAPF Applied to High-Voltage Grid The conguration of the hybrid APF used in this paper is shown in Fig. 1. This topology is composed of a group of PPFs and an APF based on voltage source inverter (VSI). The APF used in the IHAPF is a voltage source PWM inverter with a large capacitor at the direct current side and an output lter for eliminating the high-frequency ripples at the output side. The L1 C1 branch is tuned at the fundamental frequency and then composes the injection branch with CF . The APF, shunted to the fundamental resonance circuit, is directly connected in series with a matching transformer, thus forming the IHAPF. Moreover, the dc-side voltage of IHAPF is supported by an uncontrolled rectier. PPF sustains the main grid voltage and compensates the constant reactive power. The single-phase equivalent circuit of the injection circuit is shown in Fig. 2. U 1 is the voltage endured by the fundamental series branch. ZR stands for the impedance of the fundamental wave resonance circuit. The L1 C1 branch is tuned at the fundamental frequency, so it can get the following equations: 0 L1 = 1 0 C1 1 + R1 = R1 j0 C1 (1) (2)

ZR = j0 L1 +

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where 0 is the fundamental frequency and R1 is the internal resistance of L1 . is the ratio of the harmonic current owing into the grid and into the fundamental series resonance circuit. When the proposed IHAPF works, part of the compensating current will ow into the fundamental series resonance circuit. Therefore, the harmonic current injection ratio becomes an important characteristic of the IHAPF. If the injection circuit resonances at the nth order frequency, when the mth harmonic current is generated, ZR and the impedance of the injection capacitance ZC should be |ZC | = 1 (n2 1)100L1 = mCF m (m2 1)100L1 m n2 1 m2 1 (3)
Fig. 3. Single-phase equivalent circuit.

|ZR | = |ZL1 ZC1 | = ZC = ZR =

(n2 1)100L1 m (m2 1)100L1 m

(4)

(5)

ZC IAPFh n2 1 = = 2 IRh ZR m 1

(6)
Fig. 4. Single equivalent circuit just considering ILh .

where IAPFh and IRh , respectively, stand for the currents of the injection branch and the fundamental wave resonance circuit. The ratio will increase as the harmonic frequency increases; therefore, most harmonic currents produced by APF can be injected into the grid. When only the base frequency of 50 Hz is considered, from Fig. 2 and (1), we can further see that U1 = IRh ZR = IRh R1 . (7)

and current theorem, the following equations can be obtained: USh = ULh + ISh ZSh IP F h ZP F = ULh IAPFh ZC + I1h Z1h = ULh (8) IL0h n2 ZL0 = I1h Z1h nUF h I1h + IL0h = IAPFh ISh = IAPFh + IP F h + ILh . Hence, ISh can be calculated out from (9), shown at the bottom of the next page, where K1 = K2 =
Z1h Z1h +n2 ZL0 2 n Z1h ZL0 Z1h +n2 ZL0 .

As R1 is very small, U1 will be a low voltage. The system voltage is all applied across the injection capacitor CF and does not appear on the inverter output terminals, which greatly reduces the voltage requirements of the VSI of IHAPF and reduces the rating of the semiconductor switching device. B. Principle of Harmonic Elimination In order to clarify the compensation principle, a singlephase equivalent circuit is shown in Fig. 2. The active part is controlled as a controllable voltage source UF h . The denitions and vector reference directions of other variables are shown in Fig. 3. IP F h , IAPFh , IL0h , and ILh , respectively, stand for the current of the parallel passive branch, the injection branch, the output lter inductor branch, and the load harmonic current. I1h is equal to the sum of the output lter capacitance current Ic0h and the fundamental wave resonance circuit current IRh . ZSh , ZP F , ZC , ZR , ZC0 , and ZL0 stand for the impedance of the power grid, the passive lter, the injection capacitance, the fundamental wave resonance circuit, the output lter capacitor branch, and the output lter inductance branch, respectively. The transformation ratio of the coupling transformer is n. In Fig. 3, assuming that Z1h represents the parallel impedance of n2 ZC0 and ZR , according to the Kirchhoff voltage

(10)

When APF is considered as a controlled voltage source UF h = K ILh (11)

where K is the controlled gain of ILh . From (9), shown at the bottom of the next page, and (11), the supply harmonic current should be ISh = ZP F (ZC +K2 nK1 K)ILh +(ZC +ZP F +K2 )USh . ZSh (ZC +ZP F +K2 )+ZP F (ZC +K2 ) (12)

According to (12), Fig. 3 can be simplied to an equivalent circuit shown in Fig. 4. In Fig. 4, where Z = ZP F (ZC + K2 )/(ZC + K2 + ZP F ), it can be seen that the characteristic of PPFs is optimized as a regulable harmonic impedance (nKK1 Z /(Zc + K2 ))(), which is connected in series with PPFs. Meanwhile, a regulable harmonic impedance (nKK1 Z /(Zc + K2 ))() is connected in series with ZSh .

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Dening that GC (S) K3 (ZSh ZP F +ZC ZP F +ZC ZSh +ZR ZP F +ZR ZSh ) = (K +Z )(Z Z +Z Z +Z Z )+K4 ZR (ZSh +ZP F ) G (S) 3 R Sh P F C P F C Sh
Z Z = (K3 +ZR )(ZSh ZP F +ZC ZP P F R ZSh )+K4 ZR (ZSh +ZP F ) F +ZC G (S) L ZSh ZP F ZR = (K3 +ZR )(ZSh ZP F +ZC ZP F +ZC ZSh )+K4 ZR (ZSh +ZP F ) . (17) S

Fig. 5. Single-phase control equivalent circuit of the IHAPF.

If |nKK1 Z /(Zc + K2 )| |ZSh |, all the harmonic currents produced by the load would sink into the lter branch.

III. PI-T YPE I TERATIVE L EARNING C URRENT C ONTROLLER FOR IHAPF A. Mathematic Model of IHAPF The single-phase control equivalent circuit of IHAPF in harmonic domain is shown in Fig. 5. IC represents the current of the output lter. According to the Kirchhoff voltage and current theorem, the following equations can be obtained: nUF h IRh ZR IRh ZR 2Z 2 IC = C0 U = I n L0 + I n Z Z Sh ZSh Sh PFh PF IAPFh ZC + IRh ZR = IP F h ZP F I = I Sh APFh + IP F h + ILh IC = IRh IAPFh .

Consequently, according to (16), the closed-loop control functional block diagram of the harmonic current of the IHAPF is shown in Fig. 6. In Fig. 6, Gcon (S) denotes the transfer function of the PI-type iterative learning controller, and Ginv (S) denotes the transfer function of VSI. IC (S) denotes the reference current of IHAPF. Due to the nonlinear characteristic of VSI, it is very difcult to attain an enough accurate transfer function of VSI just by theoretical analysis. Many scholars consider that the approximate transfer function of three-phase VSI is one order inertial link, as shown in Ginv (S) = Kinv Tinv S + 1 (18)

(13)

Hence, IC can be calculated out from (14), shown at the bottom of the page, where K3 = K4 =
nZC0 ZC0 +ZL0 2 n ZC0 ZL0 ZC0 +ZL0 .

(15)

In the frequency domain, (14), shown at the bottom of the page, can be re-expressed as IC (S) = GC (S)UF h (S) GS (S)USh (S) + GL (S)ILh (S) (16) where UF h (S) represents the controlled quantity and USh (S) and ILh (S) can be regarded as periodic disturbances.

where Kinv is the gain constant and Tinv is the time constant. According to [25], in industrial applications, the amplitudes of GS (S) and GL (S) are very small in the fundamental wave and low-order harmonics current given out by VSI. Therefore, the disturbance is also very small to the controlled current IC (S), which is caused by the harmonic voltage of the power grid USh (S) and harmonic current of the load ILh (S). Meanwhile, the closed-loop control functional block diagram of the harmonic current of the IHAPF can be predigested as Fig. 7. According to Fig. 7 and the superposition principle, the closed-loop transfer function of current IC (S) can be derived as Gclose (S) = Gcon (S)Ginv (S)GC (S) IC (S) = . IC (S) 1 + Gcon (S)Ginv (S)GC (S) (19)

In order to get an ideal control effect, it is necessary to design a reasonable controller which has a fast response speed and a good tracking precision.

ISh =

(ZC ZP F + K2 ZP F ) ILh + (ZC + ZP F + K2 )USh nK1 ZP F UF h ZC ZP F + ZSh ZC + ZSh ZP F + K2 (ZP F + ZSh )

(9)

IC =

ZSh ZP F ZR ILh ZP F ZR USh + K3 (ZSh ZP F + ZC ZP F + ZC ZSh + ZR ZP F + ZR ZSh )UF h (K3 + ZR )(ZSh ZP F + ZC ZP F + ZC ZSh ) + K4 ZR (ZSh + ZP F )

(14)

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Fig. 6.

Current closed-loop control of the IHAPF.

Fig. 7.

Simplied closed-loop control diagram. TABLE I RULE OF k (t)s F UZZY C ONTROL

B. Proposed Feedback-Feedforward PI-Type Iterative Learning Control Method The character of the harmonic current of the steady power grid has a fundamental wave period. The period of the fundamental wave is T . The subscript k = 0, 1, . . . represents the repeatable operating times. In the time domain, IC (t), ICk (t), fb ff uk (t), uk (t), and uk (t), respectively, stand for the expected tracking current, output current, output signal of the controller, feedback signal, and feedforward signal in the Kth iterative time. ICk (t) is the periodic quantity between the time interval [0, kT]. The whole control systems output signal uk+1 (t) can be expressed as uk+1 (t) = uf b (t) + uf f (t). k+1 k+1 (20)

TABLE II S IMULATION PARAMETERS OF IHAPF

The whole control systems input signal current error ek (t) can be expressed as
ek (t) = IC (t) ICk (t).

(21)

The output signal of the PI-type iterative learning controller uf b (t) can be expressed as k+1
t

the systemic robustness, an initial correction term u0 (t) is introduced into (22). Therefore, the (22) can be re-expressed as
t

uf b (t) = uf b (t) + Lek (t) + k+1 k

0

ek (t)d

(22) uf b (t) = (1)uf b (t)+u0 (t)+Lek (t)+ k+1 k

0

ek (t)d. (23)

where L and are steady gains. In order to reduce the systemic initial tracking offset, to accelerate the speed of iterative convergence and to improve

where is the forgetting factor.

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Fig. 8. Simulation results of the dynamic response characteristics with different control strategies. (a) Simulation results with the conventional PI control strategy. (b) Simulation results with the proposed control strategy.

The purpose of introducing is to ensure the convergence of iterative learning and reduce the inuence produced by the initial correction term u0 (t) as the iterative time is increased. When the systemic tracking accuracy is enough (|ek (t)| < |emin |), is attenuated to zero. On the effect of the feedback controller, the feedforward D-type learning law is introduced to correct the feedback control signal uf b (t), so the controller can realize the complete k+1 tracking task quickly. The feedforward signal uf f (t) can be k expressed as uf f (t) = k (t)ek (t) k+1 (24)

From (23) and (24), (20) can be re-expressed as uk+1 (t) = (1 )uk (t) + uo (t) + Lek (t)
t

+
0

ek (t)d + k (t)ek (t).

(25)

The sample period is h. In the mth sample period, the discrete expression of (25) can be written as uk+1 (m) = (1 )uk (m) + u0 (m) + Lek (m)
m

where k (t) is obtained by fuzzy inference rules. Fuzzy inference mechanism can real-timely determine k (t) according to the calculation of ek (t) and its change rate eck (t) = [ek (t) ek1 (t)]. Assuming the fuzzy sets of e and ec, both are {NB,NS,ZO,PS,PB}, and the fuzzy set of k (t) is {NVB,NB,NM,NS,ZO,PS,PM,PB,PVB}. The membership functions of e, ec, and k (t) all obey normal distribution. The k (t)s fuzzy control rule is shown in Table I.

+
j=0

ek (j) + k (m) (ek (m + 1) ek (m))

(26)

where m = 0, 1, . . . , T /h 1. If |ek (m)| is less than |emin |, the best control u (m) can be chosen after m times iterative k learning under the effect of (26). The iterative learning does not stop until the expected tracking current IC (t) is not changed.

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Fig. 9. Simulation results of the steady-state performance with different control strategies. (a) Simulation current waves and spectrum with the conventional PI control strategy. (b) Simulation current waves and spectrum with the proposed control strategy.

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IV. S IMULATION R ESULTS To conrm the effectiveness of the proposed IHAPF and to testify the superiority of the feedback-feedforward PI-type iterative learning control strategy proposed in this paper, simulation results of a 10-kV system have been carried out with software PSIM6.0. The main frequency of the power system is 50 Hz. The system parameters are listed in Table II. The PPFs are turned at 11th and 13th, respectively. The injection circuit is turned at sixth. In this simulation, ideal harmonic current sources are applied. The control signal of switching is obtained through pulsewidth modulation, taking a triangle wave as the carrier wave whose amplitude and frequency are 12 +12 V and 12.8 kHz, respectively. In the simulation, in order to avoid the impact of the oscillating high voltage which is brought in when the injection circuit is connected into the power grids, the PPFs are put into the power grids rst. Then, after 0.2 s, the APF is switched into the power grids. The simulation results with the conventional PI controller and the proposed current controller are shown in Figs. 8 and 9. i_La, i_Sa, i_Ca, and Error represent the A phase load current, A phase supply current, current through APF, and the error between the output harmonic current of the APF and the reference current. A. Dynamic Response Characteristics Fig. 8 shows the dynamic response characteristics of IHAPF when different control strategies are adopted. After the IHAPF is adopted, the supply current i_Sa has already approximated to a sinusoidal wave. When the conventional PI control strategy is used, the Error can be reduced from 120 to 100 A at 0.2 s. At 0.3 s, the Error can be reduced to 70 A, and then, the Error is reduced from 70 to 20 A in 0.22 s. However, there is an obvious steady-state error at 1.0 s all the same. When the proposed control strategy is used, the Error can be reduced from 120 to 20 A at 0.2 s, and the Error is reduced to 15 A in 0.1 s. It is observed that, compared to the conventional PI control strategy, the proposed feedback-feedforward PI-type iterative learning control strategy has a better dynamic response characteristics. B. Steady-State Performance Fig. 9 shows the steady-state performance of IHAPF at a period of 0.961 s when different control strategies are adopted. From Fig. 9 and Table III, it can be seen that, after the IHAPF with the conventional PI control strategy is run, the tracking error of the harmonic current is between 0.5 and 0.7 A. Meanwhile, the current total harmonic distortion (THD) reduces to 3.6% from 19.7%. When the proposed control strategy is used, the tracking error of the harmonic current is between 0 and 0.3 A. The current THD reduces to 2.1% from 19.7%, and the power factor is increased from 0.64 to 0.93. Therefore, it can be observed that the proposed feedback-feedforward PItype iterative learning control strategy exhibits a much better steady-state performance than the conventional PI control strategy.

TABLE III S PECTRUM DATA OF THE T RACKING H ARMONIC C URRENT E RROR IN F IG . 9

V. E XPERIMENTAL AND I NDUSTRIAL A PPLICATION R ESULTS A. Experimental Results To conrm the effectiveness of IHAPF with the proposed control strategy, some experiments have been made, employing a laboratory test system. The specications of the laboratory test system and the parameters of the simulated LC lter are listed in Table II. The PPFs are composed of 11th and 13th order LC lters, and a voltage-source IGBT inverter is used as the main circuit of the APF. Fig. 10 shows the local experiment equipments of IHAPF, which consists of active and passive parts. Fig. 11 shows the waveform of the supply current IS using different control strategies when the load current IL of A phase is increased from 40 to 60 A suddenly. Comparing Fig. 11(a) with Fig. 11(b), it can be seen that the supply current IS achieved the steady state in 30 ms under the conventional PI control strategy. However, when the proposed control strategy is adopted, the supply current IS achieved the steady state in 10 ms, and its waveform is approximately a perfect sinusoidal wave. Fig. 12 shows the current tracking Error under different control strategies when the load current IL is 40 A. Comparing Fig. 12(a) with Fig. 12(b), it can be seen that the Error is 10 A under the conventional PI control strategy. When the proposed control strategy is adopted, the Error is only 5 A. From the experimental results, it can be seen that the iterative learning control method is better than the conventional PI control method. It can be analyzed from the following aspects. 1) Steady Characteristics: IC is composed of multiharmonics. The conventional PI controller has different frequency responding to different harmonic waves, respectively, so it is hard to realize zero steady-state error control with all frequency waves. The PI-type iterative learning control method uses the repeatability of the load current and accumulates to correct the control signal. This method can eliminate the inuence of repeated load harmonic current, and when the system is stable, the static error is zero, and the feedforward link also enhances the tracking accuracy. The results show that the waveforms have better sinusoidal characteristics under the PI-type iterative learning control. 2) Systemic Robustness: A linear regulator can only control in a certain extent. If the load is changed greatly, the control capability of a linear regulator will be decreased signicantly. The PI-type iterative learning control method admits greater control mode mismatch, so when the load is changed greatly or other factors are affected, the controller also has effectively control robustness. As shown in Figs. 11 and 12, the conventional PI controller has a good effect when the load current is unchanged. The supply current has a good sinusoidal characteristic. When

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Fig. 10. Local experiment equipments of the IHAPF. (a) Active part of the IHAPF. (b) PPF of the IHAPF.

Fig. 12. Current tracking Error with different control strategies when the load current IL is kept invariant. (a) Current tracking Error with the conventional PI control strategy. (b) Current tracking Error with the proposed control strategy. TABLE IV PARAMETERS OF THE IHAPF

Fig. 11. Supply current IS with different control strategies when the load current IL is increased. (a) Supply current IS with the conventional PI control strategy. (b) Supply current IS with the proposed control strategy.

the load current is changed, the supply current loses the sinusoidal characteristics. However, the PI-type iterative learning controller has a good sinusoidal characteristic no matter if the load current is changed or not.

3) Dynamic Response Characteristics: In (25), uk (t) is accumulated in the last K cycles, and it is obtained in Kth iteration to correct uk+1 (t). The PI-type iterative learning control can feedback current information and summarize the former control experience. The feedforward control loop based on D-type learning regulation can accelerate the response speed

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Fig. 13. Industrial wiring diagram of the IHAPF.

of the controller, so its dynamic response speed is more quick than that of the conventional PI controller. B. Industrial Application Results The control strategy proposed in this paper has been applied in an IHAPF of a steel plant in Guangxi, China. The PPFs are composed of 7th and 11th order LC lters. Parameters of

the IHAPF system are shown in Table IV. A 16-b xed-point TMS320 F240 is used on the controller board to implement the feedback-feedforward PI-type iterative learning control strategy in industrial applications. Fig. 13 shows the industrial wiring diagram of the IHAPF. The load current, supply current, and their spectrums are shown in Fig. 14. From Fig. 14(a), it can be seen that the distortion of the 5th, 7th, 11th, 13th, and 17th of the load current

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Fig. 14. (Continued.) Industrial application results. (c) Supply current and spectrum when the IHAPF is adopted.

after the whole IHAPF is adopted, from Fig. 14(c), it can be seen that they are decreased to 1.28%, 1.21%, 1.14%, 1.12%, and 1.03%, respectively. The power factor is increased from 0.46 to 0.94. Moreover, the supply current waveform has already approximated to a sinusoidal wave. In conclusion, all the application results have validated the practicability of IHAPF with the proposed feedback-feedforward PI-type iterative learning control strategy. VI. C ONCLUSION Because a fundamental resonance circuit has a small fundamental impedance, the active part of IHAPF does not have to bear the fundamental voltage, which reduces the required capability of the active part greatly and makes the device more efcient in high-voltage systems. Since the reference current signal of IHAPF is a reperiodic quantity in steady-load power system which is superposed with different multifrequency harmonic waves, the conventional PI will generate a steady-state error. Therefore, the iterative learning control algorithm based on the PI-type learning law is proposed in this paper. This method can enhance systemic robustness by using a forgetting factor. Meanwhile, the proposed control method constructs a feedforward based on the D-type learning law of referenced current error by fuzzy reasoning to improve the dynamic performance of the whole control system. It is implemented in an IHAPF system in a steel plant in Guangxi, China, and it demonstrates a good performance for harmonic elimination. Simulation, experimental, and industrial application results proved the feasibility and validity of IHAPF and the proposed control method.

Fig. 14. Industrial application results. (a) Load current and spectrum before compensated. (b) Supply current and spectrum when only the PPFs are adopted. (c) Supply current and spectrum when the IHAPF is adopted.

are 19.02%, 12.67%, 9.52%, 7.32%, and 6.04%, respectively, before the compensation, while the THD is 26.7%. From Fig. 14(b), it can be seen that, with the use of the PPFs only, the current distortions turn out to be 18.01%, 2.93%, 3.28%, 6.83%, and 5.37%, respectively. The THD is 20.3%. Whereas

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IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 57, NO. 11, NOVEMBER 2010

R EFERENCES
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An Luo (M09SM09) was born in Changsha, China, on July 21, 1957. He received the B.S. and M.S. degrees from Hunan University, Changsha, in 1982 and 1986, respectively, and the Ph.D. degree from Zhejiang University, Hangzhou, China, in 1993. Between 1996 and 2002, he was a Professor with Central South University, Changsha. Since 2003, he has been a Professor with the College of Electrical and Information Engineering, Hunan University, Changsha. He is engaged in research on power conversion systems, harmonics suppression and reactive power compensation, and electric power saving. He has published over 100 journal and conference articles. Dr. Luo currently serves as the Associate Board Chairperson of the Hunan Society of Electrical Engineering. He also serves as the Chief of the Hunan Electric Science and Application Laboratory. He is a recipient of the 2006 National Scientic and Technological Awards of China and the 2007 Scientic and Technological Awards from Hunan, China.

Xianyong Xu was born in Henan, China, on July 30, 1981. He received the B.S. degree from the College of Electrical and Information Engineering, Hunan University, Changsha, China, in 2001, where he has been working toward the Ph.D. degree since 2005. He engaged in research on harmonics suppression and reactive power compensation for power electronic devices and active power lters, power quality of microgrid, UHV ac test system and its application for UHV ac devices, and electric power saving. He has published over ten journal and conference articles. Dr. Xu is a recipient of the 2007 Scientic and Technological Awards from the National Mechanical Industry Association of China.

Lu Fang was born in Hunan, China, on August 22, 1983. She received the B.S. degree from the College of Electrical and Information Engineering, Hunan University, Changsha, China, in 2001, where she has been working toward the Ph.D. degree since 2006. She engaged in research on harmonics suppression and reactive power compensation, power quality of microgrid, and electric power saving.

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Houhui Fang was born in Changsha, China, on May 19, 1956. He received the B.S. and M.S. degrees from Hunan University, Changsha, in 1977 and 1991, respectively. Since 2005, he has been a Professor with the College of Electrical and Information Engineering, Hunan University. He is engaged in research on building electrical and power conversion systems, harmonics suppression and reactive power compensation, and electric power saving. He has published over 30 journal and conference articles. Prof. Fang has been serving as the Associate Chairperson of the Electrical Research Society in Hunan colleges and universities since 2007. Between 2003 and 2007, he also served as the Director of the Electrical Research Society in China colleges and universities. He was a recipient of the 2005 Scientic and Technological Awards from the National Mechanical Industry Association of China and the 2005 Scientic and Technological Awards from Hunan, China.

Chuanping Wu was born in Hunan, China, on March 20, 1984. He received the B.S. degree from the College of Electrical and Information Engineering, Hunan University, Changsha, China, in 2003, where he has been working toward the M.S. degree since 2007. His research interests include harmonics suppression and reactive power compensation, and active power lters.

Jingbing Wu was born in Hubei, China, on April 11, 1982. He received the M.S. degree from the College of Mathematics and Econometrics, Hunan University, Changsha, China, in 2005, where he has been working toward the Ph.D. degree in the College of Electrical and Information Engineering since 2008. His research interests include electric power saving, reactive power compensation, and active power lters.