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FUZZY LOGIC CONTROLLER BASED THREE PHASE SHUNT HYBRID ACTIVE FILTER FOR POWER QUALITY IMPROVEMENT

G. Jayakrishna* Department of EEE Siddharth Institute of Engg.& Technology Puttur, Chittoor(Dist), Andhrapradesh, India Email: g.jayakrishna25@gmail.com

Dr.K.S.R.Anjaneyu Professor in Electrical & Electronics Engineering Director, Research & Development Cell J N T U Anantapur Anantapur, India Email: ksralu@yahoo.co.uk

ABSTRACT This Paper presents the implementation of Fuzzy Logic Controller (FLC) based three phase Shunt Hybrid Active Filter (SHAF) topology constituted by shunt active filter (SAF) connected in parallel with tuned passive filters (TPF) for compensating current harmonics, reactive power and power factor improvement in the power System (PS) having three phase voltage source connected to a three phase nonlinear diode rectifier load (NDRL) through a distribution line. In this topology the tuned passive filter is connected in parallel with SAF to suppress selected harmonic currents, inject reactive power and to reduce the total harmonic distortion (THD) of Source Current. The Synchronous reference frame (SRF) D-Q-0 theory is adopted to extract the information about harmonic component from NDRL current and to produce reference current signals. A Fuzzy Logic Controller (FLC) is used to control the dc bus capacitor voltage and hysteresis current control pulse width modulation (HCCPWM) algorithm to generate required gating signals to high switching frequency insulated gate turn on bipolar transistors (IGBT) of three phase voltage source inverter (VSI).The principle of operation of the proposed three phase SHAF topology along with control components are discussed in detail. The performance of the proposed topology is assessed using Matlab/Simulink and the results are presented. The THD of source currents and voltages of the test power system with TPF, SAF are compared with that of SHAF. Key words: Fuzzy logic controller, Shunt hybrid active filter, Tuned passive filter, total harmonic distortion, D-Q-0 theory, hysteresis current control PWM.

I INTRODUCTION The usage of non-linear Electrical loads is increasing very drastically which is leading to power quality (PQ) problems in the PS. The non-linear loads such as rectifier equipment, adjustable speed drives switched mode power supplies, battery charges, electronic ballasts inject harmonic currents in to the supply system causing high THD in source current and harmonic voltages in the line. The current harmonics will cause additional losses and over- heating in the connected equipment, malfunctioning of protecting equipment, excessive neutral currents, light flicker, interference with telecommunication lines and error in metering devices. In a power distribution system harmonics can be suppressed using simple and less cost passive filters [1-3]. Because of dynamic loads, passive filters alone cannot compensate the harmonics since these may cause series and parallel resonance with the mains impedance thus effecting stability of power distribution system. Passive filters have fixed compensating characteristics and their filtering characteristics strongly dependent on the mains impedance and system frequency moreover they are bulky in size. Alternatively active filters are the solution to suppress harmonics, compensate reactive power and power factor improvement. The SAFs [4-6] are used to compensate harmonic currents and reactive power drawn by non-linear loads and series active filters are employed to supply voltage imperfections. However, the construction cost and power rating of active filters is too high which limits the application of active filters in the PS. The usage of hybrid filters consisting active filters and passive filters gained advantages of both passive filters and active filters and became best solution for PQ problems. Using low cost passive filters along with active filter reduces the power rating and cost of active converter in the hybrid filter and became more practical in industry applications. It also reduces the switching noise and electromagnetic interference [7]. Many topologies of Hybrid active filters are presented in the literature [8] connecting LC filters/high pass filters in parallel/series to a shunt/series active filter. The SHAF topology analyzed in this paper is shown in Fig.1 consisting a shunt active power filter (SAF) connected in parallel with the single tuned 5th and 7th harmonic passive filters to supply 5th and 7th harmonic current, reactive power demanded by the nonlinear diode rectifier load.
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The TPFs are tuned to absorb low order 5th and 7th harmonic currents of the NDRL current and the other high order harmonic currents are compensated by SAF. In this paper SRF theory is used to generate reference currents required by the SAF and FLC is used to control the dc bus capacitor voltage. HCCPWM algorithm is adopted to generate gating signals to voltage source inverter to inject required compensating current in to the distribution system to compensate load current harmonics and reactive power. The simulation results show the effectiveness of Fuzzy Logic Controller based SHAF in reducing THD, compensating reactive power and improving power factor and it is compared with the THD of source currents and voltages of the system with TPF, SAF individually. II SHAF TOPOLOGY

Fig. 1 Circuit configuration of the shunt hybrid active filter

In this topology a three phase NDRL with R-L load on dc side is connected to a three phase ac source through a distribution line. A voltage source inverter is used as SAF connected to the distribution system in parallel through a coupling inductor Lf and filtering capacitor Cf used to filter ripples in the compensating current. Fast switching IGBTs are used as switching devices in the voltage source inverter. Conventionally SAF is controlled in such a way as to inject harmonic and reactive currents based on calculated reference currents which are meant to cancel the harmonic and reactive currents drawn by the nonlinear loads, thus the resulting total current drawn from ac mains is sinusoidal and in phase with source voltage. The nonlinear load current for phase A (ILa) can be written as sum of the fundamental current component ILa1 and harmonic current ILah. ILa = ILa1 + ILah. (1)

If the compensating current of SAF is equal and in phase opposition to load harmonic current ILh then the current to be supplied by the source (Isa) is only fundamental component of load current ILa1. Isa = ILa ILah = ILa1. (2)

For improving filtering performance, and to attain the advantages of active filters and passive filters, TPFs are connected in parallel with the SAF to absorb 5th, 7th harmonic currents. This decreases the rating and cost of SAF. TPF offers very low impedance to selected harmonic current and divert their path from the source and offers very high impedance to other harmonic currents. III TUNED PASSIVE FILTER DESIGN The common types of passive harmonic filters include single tuned, double tuned, first order, second order, third order and C-type damped filters. However for simplicity single tuned L-C filters are considered in this paper. The basic shunt passive filtering principle is to trap harmonic currents in LC circuits, tuned up to the harmonic filtering frequency, and to eliminate from power system.In single-tuned passive filter, the reactance of inductor is equal to that of capacitor at resonant frequency fn. Cn = 1/Ln(2fn)2
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The relationship among L, C, R, Q values are: (3)

Rn=Ln(2 fn)/Q where fn = frequency of harmonic component, Rn=Resistance,Ln=inductance

(4) n = order of harmonic, Q = Quality factor,

In the proposed hybrid filter the shunt passive filters are tuned to absorb 5th and 7th harmonic currents and other higher order harmonics are to be suppressed by SAF. Hence burden on SAF is reduced resulting in reduced rating of SAF and effective filtering of higher order harmonics. Suppose ILa1, ILa3, ILa5, ILa7, ILan are fundamental, 3th , 5th,7th and other higher order harmonic components of phase A load current(ILa) respectively. ILa = ILa1 + ILa3+ ILa5+ ILa7+ ILan Passive filter compensating current Ipa=ILa5+ILa7 ILa = ILa1 + ILa3+ ILaP+ ILan SAF compensating current IAf = ILa3+ ILan and therefore Source current Isa = ILa1. (5) (6) (7) (8) (9)

Therefore source needs to supply only fundamental component of load current. IV CONTROL STRATEGY The control strategy for SHAF is implemented in three stages. In the first stage the essential voltage signals and current signals are measured to gather the system information. In the second stage reference currents are derived based on SRF theory. In the third stage gating signals of solid state devices are generated by adopting HCCPWM technique and for maintaining dc bus capacitor voltage constant FLC based controller is employed. IV- I REFERENCE SOURCE CURRENT GENERATION SHAF control system makes use of a reference current signal which is obtained by subtracting fundamental component from the load current. P-Q theory, D-Q-0 theory [9], multiplication with sine function, I cos algorithm, Fourier transform are some of the methods introduced in the literature. In this paper D-Q-0 theory is employed to obtain reference current
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signal as shown in Fig. 2, since it deals with mainly dc quantities and computation is instantaneous.

Fig. 2 D-Q-0 theory based reference current generator In this control strategy three phase load currents are sensed and transformed from a-b-c reference frame to synchronous reference frame d-q coordinates which convert it to ac and dc components. Passing these components through two low pass filters, the low frequency

fundamental components only will be passed through and harmonic component is stopped. By subtracting fundamental component from non-filtered signal will result in harmonic component in load current in d-q reference frame. By transforming these ac components in d-q reference to a-b-c reference frame, the information about harmonic current component in a-b-c reference frame is obtained. The dc bus capacitor voltage is measured, compared with reference dc bus voltage and error signal with its derivative are fed to fuzzy logic based controller. The controller output signal is added to reference current signal to maintain dc bus capacitor voltage constant as shown Fig. 1.Suppose the three phase source currents are Isa, Isb, Isc, the nonlinear load currents are ILa, ILb, ILc and active filter compensating currents are Ifa, Ifb, Ifc for phases A,B,C respectively. The load currents in synchronous reference frame theory can be represented as ( (

[ ]= [

( (

][

(10)

These currents can be decomposed into fundamental and harmonic components as shown in equations (11) and (12). Id =Iddc + Idh
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(11)

Iq = Iqdc + Iqh

(12)

The fundamental component of load current will appear as dc quantity in d-q reference frame. Therefore Iddc = Id1 and Iqdc = Iq1 (13)

The harmonic component of load current is obtained by subtracting high frequency harmonic current signal from total load current. Idh = IL-LPF ( Id) Iqh = IL-LPF (Iq) (14) (15)

These reference currents are transformed into a-b-c coordinates by applying Inverse Parks transformation to obtain reference currents in a-b-c coordinates.

]= [

( (

) )

( (

)] [ )

(17)

These reference currents are applied to hysteresis current controller which produces required gating pulses to switching devices of SAF to inject compensating filter currents to compensate load harmonics. IV-II HYSTERISIS CURRENT CONTROLLER The concept of Hysteresis band current control technique imposes a bang-bang type instantaneous control that forces the APF compensation current or voltage signal to follow its estimated reference signal within a certain tolerance band [10]. The block diagram and operation of this technique is shown in Fig. 3.In this control scheme a signal deviation (H) is imposed on current or voltage reference to form the upper and lower limits of hysteresis band.

(a)

(b)

Fig. 3 Gating signal generation by hysteresis controller (a) circuit configuration (b) operating principle The reference current or voltage signal is compared with filter current or voltage and the resulting error is subjected to a hysteresis controller for determining gating signals to voltage source inverter. As long as the error is within the hysteresis band no switching action takes place. Switching occurs only when error hits the hysteresis band. If the measured filter current is greater than the reference it is necessary to commute corresponding power switches to decrease the output current on the other band if measured filter current is less than the reference value the switches commute to increase the filter current. As a result the output current will be in a band around the reference current as shown in Fig. 3(b). For phase- a the switching pattern is given as If Ifa< I*fa H Then the upper switch is OFF and the lower switch is ON. If Ifa> I*fa +H Then the upper switch is ON and the lower switch is OFF,where H is hysteresis band. Switching pattern for other phases is determined similarly. Hysteresis current controller with fixed hysteresis band (H) is more popularly implemented. To obtain compensation current with negligible switching ripples the value of hysteresis band (H) is to be reduced which results in higher switching frequency and thus more switching losses in the switching devices. The advantages of this controller are its excellent dynamic performance, controllability of peak current ripple within a specified hysteresis band and simple to implement. However this control scheme causes uneven switching frequency and increased switching losses. But this

disadvantage is not ever critical and current controllers based on this method are popularly used in APF schemes. IV-III FUZZY LOGIC BASED DC BUS VOLTAGE CONTROLLER Table. 1 Fuzzy rule representation

e de NB NM NS ZE PS PM PB NB NB NB NB NB NM NS ZE NM NB NM NM NM NS ZE PS NS NB NM NS NS ZE PS PM ZE NB NM NS ZE PS PM PB PS NM NS ZE PS PS PM PB PM NS ZE PS PM PM PM PB PB ZE PS PM PB PB PB PB

If the dc bus voltage is not maintained at a constant value the source current will vary and lapse from sinusoidal waveform. Many methods such as PI control, Neuro control and fuzzy control are available in literature. Since the fuzzy control rules are derived from a heuristic knowledge of the system behavior, neither precise mathematical model nor complex computations are needed and is based on human like linguistic terms in the form of IF-THEN rules to capture the non-linear system dynamics [11].Hence this technique is adopted to control dc bus capacitor voltage in this paper. The block diagram of fuzzy logic controller which is used to regulate the dc bus capacitor voltage of SHAF is shown in the Fig. 1.The dc bus capacitor voltage (Vdc) is compared with a reference voltage (Vdcref).Error and its derivative are the two inputs to the fuzzy logic controller and output is current command signal. The two inputs and the output use seven triangular membership functions. The membership values are shown in the Fig.
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4. Each input has seven linguistic variables, there will be 49 input label pairs. A rule table relating each one of 49 input label pairs to respective output label is given in Table 1. The type of fuzzy inference engine used is mamdani and the centroid method is used for defuzzyfication.

(a)

(b)

(c) Fig. 4 The degree of membership for (a) the error (b) the derivative of error and (c) the output signal. V SIMULATION RESULTS AND DISCUSSION This section presents the details of the simulation carried out to demonstrate the effectiveness of the proposed control strategy for the SHAPF to reduce the harmonics at NDRL. The test power system consists of a three phase voltage source, and an uncontrolled rectifier with RL load. The active filter is connected to the test system through an inductor Lf and Capacitor Cf 5th and 7th order TPFs are connected in parallel with SAF. The values of the circuit elements used in the simulation are listed in Table. 2. The MatLab/simulink is used to simulate the test power system with TPF, SAF and proposed SHAF separately and the THDs of source voltages and currents are compared.
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Table. 2 Simulation parameters Source Voltage Vs(Peak value) Source frequency (fs) Source inductance (Ls) DC bus capacitor(Cdc) Dc bus reference voltage (Vdcref) Filter inductor( Lf) Filter capacitor (Cf) 2828 Volts 50Hz 15mH 4600F 4750V 2mH 100F 0.2021,6.8926mH,30F,75 Impedance of RL Load 20 , 0.1 mH

Passive filter R5, L5,C5 R7,L7,C7,Q 0.2829, 13.5094mH,30F

V-I PS WITHOUT SHAF USING NON-LINEAR LOADS Fig. 5(a) shows severely distorted three phase load currents of power system without SHAF. It can be seen that the harmonic pollution is severely affected source currents due to reactive power generated by NDRL. Due to this the source currents are also distorted as shown in Fig. 5 (b). Fig. 5(c) shows distorted load voltages due to NDRL and source current is out of phase with the source voltage as shown in Fig.5(d). Fig. 6 shows the harmonic spectrum of phasea source current of test power system without any compensating filter. It could be observed that the THD for proposed test power system without any compensating filter is 12.4%.
300

300 200

200

Load current(Amp)

Source current(Amp)
0 0.02 0.04 0.06 Time(sec) 0.08 0.1

100 0 -100 -200 -300

100

-100

-200

-300

0.02

0.04 0.06 Time(sec)

0.08

0.1

(a)
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(b)

3000

3000

source voltage& source current

2000

2000

Load Voltage(Volts)

1000

1000

-1000

-1000

-2000

-2000

-3000

0.01

0.02

0.03

0.04

0.05 0.06 Tme(sec)

0.07

0.08

0.09

0.1

-3000

0.02

0.04 0.06 Time(sec)

0.08

0.1

(c)

(d)

Fig. 5 Waveforms of PS without SHAF (a) three phase nonlinear load currents (b) three phase source currents (c) three phase load voltages (d) out of phase source voltage and source current.

Fig. 6 FFT window and frequency spectrum of source current of PS without SHAF.

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V-II PS WITH SHAF USING NON-LINEAR LOADS Fig.7 (a) shows three phase load currents for the compensated test power system in the presence of SHAF with non-linear load. It can be seen that load currents have slight deviations in phase angle and are distorted. Fig.7 (b) shows the three phase source currents in which it is clearly found that the waveform shape of the source currents are almost pure sinusoidal for SHAF with non-linear load. The source voltages shown in Fig.7(c) are purely sinusoidal without any distortions. The compensating currents injected by SHAF are shown in Fig.7 (d).The source current is in phase with source voltage leading to near unity power factor with nonlinear load as shown in Fig. 7(e). Fig.7(f) shows the DC bus capacitor voltage maintained constant using FLC.
400

400

200 100 0 -100 -200 -300 -400 0 0.02 0.04 0.06 Time(sec) 0.08 0.1

3 phase source currents(Amp)

300

3 phase load currents(Amp)

200

-200

-400

0.02

0.04 0.06 Time(sec)

0.08

0.1

(a)
3000

(b)
400

3 phase source voltages(volts)

2000

Filter current(amp)

200 0 -200

1000 0 -1000 -2000 -3000

0.02

0.04 0.06 Time(sec)

0.08

0.1

-400

0.02

0.04 0.06 Time(sec)

0.08

0.1

(c)

(d)

13

3000

5000

source voltage&source current

Capacitor voltage (Volts)

2000 Source voltage 1000 0 -1000 -2000 -3000 source current

4000 3000 2000 1000 0

0.02

0.04 0.06 Time(sec)

0.08

0.1

0.5

1 Time(Sec)

1.5

(e)

(f)

Fig. 7 Wave forms obtained with SHAF connected to power system with NDRL (a) three phase nonlinear diode rectifier load currents (b) three phase source currents (c) three phase source voltages (d) three phase active filter currents (e) source voltage and source current (f)DC bus capacitor voltage. Fig.8(a) shows the harmonic spectrum analysis of the source current in phase-a waveform of the test power system with TPF using non-linear load. Fig. 8(b) and Fig. 8(c) are showing the FFT analysis of source currents of test power system with SAF and SHAF respectively.

(a)

(b)

(c)

Fig. 8 FFT window and frequency spectrum of source current with (a) TPF (b) SAF (c) SHAF
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The percentage THD of source currents and source voltages for test power system with nonlinear diode rectifier load with TPF, SAF and SHAF individually are given in Table. 3. ` Table. 3 THD analysis of test power system. THD (%) Compensator With NDRL only With TPF With SAF With SHAF Isa 12.4 13.7 3 2.03 1.63 Isb 12.4 4.93 1.86 1.41 Isc 12.4 19.71 1.96 1.55 Vsa 22.7 0.318 0.318 0.23 Vsb 22.7 0.318 0.318 0.23 Vsc 22.7 0.31 8 0.31 8 0.23

From Table.3 the THD with SHAF is very low compared to that with TPF and SAF and well below the value specified by IEEE-519 standard. VI CONCLUSION The fuzzy logic controller based SHAF which uses synchronous reference frame theory for reference current generation and hysteresis current control PWM to generate gating signals and shunt connected passive filters for absorbing 5th, 7th order current harmonics is simulated using MATLAB/SIMULINK and the results are presented. The SHAF can compensate for load harmonics caused by nonlinear loads and decreases THD to a value less than that specified in IEEE-519 standard. The addition of single tuned shunt passive filters showed the effectiveness in absorbing low ordered (5th and 7th) harmonics. References [1] D.A Gonzalez and J.C McCall, Design of filters to reduce Harmonic Distortion in Industrial power Systems, IEEE Trans on Industry Applications, vol. IA-23, 1987 pp.504-512. [2] A.Ludbrook, Harmonic Filters for Notch Reduction IEEE Trans on Industry Applications, vol. 24, 1988 pp.947-954. [3] J.K.Pipps, A Transfer Function Approach to Harmonic Filter Design, IEEE Industry Application Magazine, vol.3, No.2, 1997 pp. 68-82.

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[4] F.Z. Peng, Application issues of active power filter, IEEE Industry applications magazine, 1998, September/October, pp. 21-30. [5] W.M. Grady,M.J. Samotyj and A.H. Nyola, Survey of Active Power Line Conditioning Methodologies, IEEE Transactions on Power Delivery, 1990, PD-5, (3), pp. 1536-1542. [6] H. Akagi, A. Nabae and S.Atoh, Control Strategy of Active Power Filters using Multiple Voltage Source PWM converters, IEEE Transactions on Industry Applications, IA-22, (3), 1986, pp. 460-465. [7] B. Singh, K.Al-Haddad and A. Chandra, A Review of Active Filters for Power Quality Improvement, IEEE Trans on Industrial Electronics, vol.46, no.5, 1999, pp. 960-971. [8] Zainal Salam, Tan Perng Cheng and Awang Jusoh, Harmonic Mitigation Using Active Power Filter: A Technological Review, Elektrika,Vol.8, no.2, 2006, pp. 17-26. [9] M. Saitou, N. Matsui and T. Shimizu, A. Control Strategy of Single-Phase Active Filter Using a Novel d-q Transformation, Industry Applications Conference, Salt lake city, USA, 2003, pp. 1222-1227. [10] P.L. Leow and A.A Naziha, SVM Based Hysteresis Current Controller for a Three Phase Active Power Filter, Proceedings of the IEEE National Conference on Power and Energy Conference (PECon), Kuala Lumpur, Malaysia, 2004, pp. 132-136. [11] A. Rubaai, A.R.Ofoli, L. Burge and M. Garuba, Hardware Implementations of an Adaptive Network-Based Fuzzy Controller for DC-DC converters, IEEE Trans Industry Applications, vol.41, November/December 2005, pp. 1557-1565. G.Jayakrishna received B.Tech and M.Tech degrees in Electrical Engineering from Jawaharlal Nehru Technological University, Anantapur, India in 1993and 2004 respectively, where he is pursuing Ph.D. degree. Currently he is with Department of Electrical and Electronics Engineering, Siddharth Institute of Engineering and Technology, Puttur, India. His research interests include Power Quality and Power Systems. He is Life Member of Indian Society for Technical Education LM 43502. Dr. K.S.R. Anjaneyulu has pursued his B.Tech, M.Tech and Ph.D. degrees in Electrical Engineering from Jawaharlal Nehru Technological University, Hyderabad in 1982, 1985 and 1999 respectively. He is joined in department of Electrical Engineering, Jawaharlal Nehru Technological University, Anantapur as lecturer in 1985 and worked as Assistant professor, professor &Head of the department and as Director 21st Century Gurukulam, Director Foreign affairs &Alumni matters at JNTU
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Anantapur. Currently he is professor in Electrical Engineering and Director Research and Development Cell, JNTU, Anantapur. His research interests include Power Systems and Intelligent Techniques. He is Fellow of Institution of Engineers (I) F 15899/9 E1, Life Member of ISTE LM1726, Life Member of Indian Society of Power Engineers (ISPE).

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