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DOI 10.1007/s00202-009-0135-9
ORIGINAL PAPER
Received: 28 November 2007 / Accepted: 22 October 2009 / Published online: 13 November 2009
Springer-Verlag 2009
1 Introduction
In recent years, static power converters have received more
and more attention because their usefulness for a wide range
of industrial and utility systems applications. These converters produce current and voltage distorted waveforms.
The resulted harmonic pollution causes losses in power
equipment, poor power factor, and electromagnetic inference.
S. Barkat (B)
Laboratoire dAnalyse des Signaux et Systmes (LASS),
Msila University, Ichbillia Road, Msila 28000, Algeria
e-mail: sa_barkati@yahoo.fr
E. M. Berkouk M. S. Boucherit
Laboratoire de Commande des Processus (LCP),
Ecole Nationale Suprieure Polytechnique,
10 Hassen Badi Avenue, 16200 El Harrach, Algiers, Algeria
e-mail: emberkouk@yahoo.fr
M. S. Boucherit
e-mail: boucherit@yahoo.fr
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Vdc
n 1
Vdc
n 1
Dck(n2)
Dck(n3)
Tk(n1)
Dk(n1)
Tk(n2)
Dk(n2)
Dck2
Dck1 Tk2
Tk1
Vdc
Dck(n2)
Tk1
Dk2
a
Tk2
Dck(n3)
ia
Dk1
Dk1
Dk2
Dck2
Vdc
n 1
Vdc
n 1
T
Dck1k(n2)
1)
Tk(n
Dk(n2)
Dk(n1)
Switch state
Tk1
Tk2
Tk(n2)
Tk(n1)
Vdc /2
Vdc (n 3)/2(n 1)
..
.
..
.
..
.
..
.
..
.
Vdc (n 3)/2(n 1)
Vdc /2
If the neutral point O is considered as the output phase voltage reference point, then the circuit generates n output voltage levels, where n is assumed an odd number greater than
three. This can be possible by connecting in series (n 1) dc
sources to ac side via (n 1) power switches. The maximum
resulting output voltage Vao swings from Vdc /2 to Vdc /2
[20,21].
Assuming that all dc sources have the same voltage
Vdc /(n 1), different switching states provide different output voltages. The lower group switches requires the complementary gating pulses of the upper group of the same number.
is Off. Table 1 lists the voltThat means if Tki is On, Tk(ni)
age output levels possible for one phase of an n-level DCMI.
State condition 1 means that the switch is On, and 0 means
that the switch is Off.
3 Fourier analysis
The DCMI can produce a general quarter-wave symmetric
stepped voltage waveform synthesized by (n 1) equal dc
voltage sources such as the one depicted in Fig. 2.
223
Vao
Harmonic elimination problem is converted in optimization problem and can be stated formally as follows:
Let Fitness(i ) the objective function, which can be
written as:
Minimize
Vdc
2
n 3
Vdc
2(n1)
Vdc
n1
0
1 2 n1
V
dc
n1
n2
Vdc
2(n1)
3
2
Fitness (i ; i = 1, . . . , (n 1)/2) = w1 V1 (n 1)M/2
M=
n1
2
4Vdc
=
cos (2k + 1) i
(2k + 1) (n 1)
(2)
i=1
2
4
=
cos (2k + 1) i
(2k + 1)
(3)
i=1
2V ref
(n 1)Vdc
(6)
V2k+1
(5)
(1)
k=0
V2k+1
w j V j
(n1)/2
j=2
V
dc
2
Vao (t) =
(4)
(7)
Where
vi (k) is the current velocity of particle i at iteration k;
pi (k) is the current position of particle i at iteration k.
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224
Personnel best
performance
Global best
performance
Current
position
New position
Current velocity
Fig. 3 Concept of modification of searching points
(8)
(0)
Initialize the position i (0) = i1 (0) i2 (0) i n1
2
of each particle with random angles that respect the constraints (4);
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Initialize
the velocity vi (0) = v i1(0)v i2(0) vi
n1
2 (0) of each particle to random values;
Initialize the best fitness Fitness_ pbesti of particle i.
End for
Initialization of the best fitness Fitness_gbest of the
swarm.
Loop
{
For each particle
Step 2: Objective function evaluation
Compute the Fitenessi value of each particle i of the
swarm using the cost function given by (5);
Step 3: Personal best position updating
If Fitenessi < Fitness_ pbesti
Then Fiteness_ pbesti = Fitenessi and pbesti = i
End if
Step 4: Global best position updating
If Fitenessi < Fitness_gbest
Then Fiteness_gbest = Fitenessi and gbest = i
End if
End for
For each particle
Step 5: Position and velocity updating
vi = wvi + c1r1 ( pbesti i ) + c2 r2 (gbest i )
i = i + vi
End for
} Until a sufficiently good fitness value is reached.
7 Simulation results
The proposed PSO based method has been successfully
applied to a number of levels of diode-clamped inverter to
illustrate its feasibility. Our aim is to generate an optimal
control of multilevel inverter for a given value of the modulation index M. The parameter M is incremented in step of
0.001.
The proposed method offers the advantage that does not
require severe parameters tuning. To expedite the search for
an optimal solution, c1 and c2 are set to 1.8, the coefficient
was set to 0.75. The weighted factors: w1 is set to 10 and
wi (i = 2, . . . , (n 1)/2) are set to 1. The number of particles for PSO is 20. The dc source of each multilevel is given
by Vdc = 100(n 1)/2.
To indicate the quality of output voltage, the total line
voltage harmonic distortion is defined as follows:
THD(%) = 100
100
k=1
V1
2
V6k1
(9)
The even and third harmonic and its multiple are not computed in THD because do not appear in the line voltage.
225
Fig. 4 PSO-harmonic
elimination technique for 5-level
DCMI a Switching angles.
b Cost function c Output
voltage relatively to the middle
point O for M = 0.85 d Lowest
line voltage THD e Line output
voltage for M = 0.85
f Harmonic spectrum of line
voltage for M = 0.85
tinuous for some modulation index and there are several sets
of solutions for some other modulation index.
As seen on Figs. 4b, 5b and 6b, any solution that yields a
cost function less than 0.001 is accepted. We clearly notice
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226
Fig. 5 PSO-harmonics
elimination technique for 7-level
DCMI (a) Switching angles
(b) Cost function (c) Output
voltage relatively to the middle
point O for M = 0.85
(d) Lowest line voltage THD
(e) Line output voltage for
M = 0.85 (f) Harmonic
spectrum of line voltage
for M = 0.85
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Using the optimal switching angles calculated above, simulations have been conducted to verify that the fundamental
frequency switching can achieve high control performance.
227
Fig. 6 PSO-harmonic
elimination technique for
11-level DCMI (a) Switching
angles (b) Cost function
(c) Output voltage relatively to
the middle point O for
M = 0.85 (d) Lowest line
voltage THD (e) Line output
voltage for M = 0.85
(f) Harmonic spectrum of line
voltage for M = 0.85
The THD is different for different solution sets; therefore, the lowest THD are shown in Figs. 4d, 5d and 6d.
It can be seen that the THD is high for the low modulation index range and decreases when the number of levels
increases.
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228
Figures 4e, 5e and 6e illustrate the line voltages waveforms when modulation index is M = 0.85. Figures 4f, 5f
and 6f show the first 100 harmonics (FFT) of line voltages.
From the FFT analysis of line voltages, it is seen that all harmonics chosen to be eliminated and the third harmonic and
its multiple have been strongly eliminated as expected.
8 Conclusion
In this paper, a novel strategy to eliminate harmonics in multilevel inverters has been described which exploits the swarm
intelligence. Particle swarm optimization is used to improve
the harmonic elimination technique for multilevel inverters,
which exhibits clear advantages in term of low switching frequency and high output quality. This study has shown that the
particle swarm optimization is more suitable for multilevel
inverters optimal control design. This optimization algorithm
is simple to implement, effective and inexpensive in term of
memory and time required.
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