Comparative Study of Switching Signal Generation Techniques for Three-Phase Four-Wire Shunt Active Power Filter

Heli Golwala, R. Chudamani

Electrical Engineering Department, Sardar Vallabhbhai National Institute of Technology, Surat, Gujarat, India heligolwala@gmail.com, rc@eed.svnit.ac.in
Abstract In this paper the performance of three switching signal generation techniques for three phase four wire shunt active power filters are compared for balanced and unbalanced load conditions. The techniques which are considered for comparative study are (i) Traditional Hysteresis Current Control Method, (ii) Three Dimensional space vector modulation with null vector, (iii) Three dimensional space vector modulation without null vector. Comparison is done using simulation studies carried out in MATLAB / SIMULINK environment. It is shown through simulation studies that switching losses in the voltage source inverter of active power filter are reduced in three dimensional space vector modulation without null vector as the number of switches controlled at any instant of time is six out of eight. Keywords-3-D SVM, Null Vector, Hysteresis Current Control, Active power filter, Switching Losses

I.

INTRODUCTION

he distortion of Utility supply arising out of widespread use of nonlinear loads is a cause of great concern. Adjustable speed drives, electric arc furnaces, switched mode power supplies, and power converters which employ thyristors, are typical cases. Conventionally, these problems were addressed by using conventional passive LC filters. The main drawback of these filters is that they provide fixed compensation. Moreover, the values of these components require fine-tuning, and they also suffer from the problems of large size and ageing. An effective solution to these problems is to use active power filters. These equipment use power electronics to inject suitable anti-phase harmonics in a manner that the utility sees an effective linear load. Generation of gating control signals for these power electronics devices is a very important part of the Active Power filter controller. In this paper, we confine ourselves to the methods used for generation of gating signals and their control on the filter behavior. In many commercial and industrial installations power is distributed through a there phase four wire system. This type of system has a unique problem. If nonlinear single phase loads are present or the three phase load is unbalanced, line currents are unbalanced and neutral currents flow. These neutral currents contain both fundamental and triplen harmonic components. In severe cases, the neutral currents are potentially damaging to both the neutral conductor and the transformer to which it is connected. Three phase three wire shunt active power filters cannot effectively reduce or eliminate line harmonics in this situation [4]. Three phase four

wire active power filters have been proposed by researchers as an effective solution to these problems [2, 4]. Several methods have been proposed for generating switching signals for active power filter. In many papers the authors use hysteresis current control method to obtain the switching signals for voltage source converter of active power filter. While simple, the method suffers from the problem of variation in switching frequency over a wide range. Hysteresis current controller generates PWM pulses for each phase individually. This problem is overcome in space vector switching technique using null vector and also the switching losses are reduced to some extent. In the modified 3 D SVM i.e. without null vector, the switching losses are further reduced. In this method the frequency varies over a small range. This paper presents a comparative study of the switching signal generation techniques based on the performance of the three phase four wire shunt active power filter. The switching algorithms that are considered for comparative study are (i) Hysteresis Current Control Method, (ii) Three dimensional Space Vector Modulation with Null Vector and (iii) Three Dimensional Space Vector Modulation without Null Vector. A brief description of each algorithm with necessary equations is provided in section II. In section III the simulation results are presented and a comparative analysis is made based on the simulation results. A shunt active power filter (threephase, four-wire) is used for testing the efficacy of these algorithms. An active power filter consists of four essential parts namely, (i) the signal conditioning circuit; (ii) the reference current generation circuit, (iii) the control circuit, and (iv) the power converter. The signal conditioning circuit acquires the essential voltage and current signals to provide accurate system information. The reference current generation circuit generates the required harmonic currents to be amplified and injected into the lines, at the point where the load is connected. The control circuit compares the reference currents (i a *, i b *, i c *, i n *) and the injected currents (i a , i b , i c , i n ) and generates the gating signals for the devices used in the power converter. The simulation study is carried out using MATLAB / SIMULINK. II.
DESCRIPTION OF DIFFERENT SWITCHING TECHNIQUES

A. Hysteresis Current Control Technique Hysteresis based current control is a common pulse width modulation control used in voltage fed converters to force

these converters to behave as controlled ac current source to the power system. It is basically an instantaneous feedback current control method of PWM where the actual current continually tracks the command current within a hysteresis band. Fig. 1 explains the operation principle of hysteresis-band PWM for a half-bridge inverter. The control circuit generated the sine reference current wave of desired magnitude and frequency and it is compared with the injected current wave.

reference vector on the - plane, V and V , six prisms in the 3-D space can be identified and numbered as Prisms I through VI. Within the selected prism, there are six non zero switching state vectors and two zero switching state vectors. Fig. 2 shows the physical positions of the switching state vectors in 0-- coordinate system.
V14 V12 V6 V10 V = 1.1547Vdc V = 1.7321Vdc

V4 V8 V = 0.5774Vdc V2

V = 0

V13 V7 V11 V = -0.5774Vdc

V5 V9 V = -1.1547Vdc

Figure 1: Principle of Hysteresis Band Current Control

V3 V1

The conditions of switching devices are: Upper switch on: (1) Lower switch on: (2) The hysteresis-band PWM has been very popular because of its simple implementation, fast transient response, direct limiting of device peak current. However, there are a few drawbacks of this method. It can be seen that the PWM frequency is not constant (varies within a band) and, as a result, the magnitude spectrum spreads over a wider range. This poses practical difficulty in the design of interfacing inductor. B. Three Dimensional Space Vector Modulation with Null Vector The major advantage of a four-leg inverter is that the DC bus utilization can be improved by using a 3-D space vector modulation. In 3D-SVM, there are 16 possible switching vectors: fourteen active nonzero vectors and two null vectors. The entire 3- D Space is divided into 6 prisms and 24 tetrahedrons. Each prism consists of four tetrahedrons. An instantaneous reference input vector may lie in any of these tetrahedrons at any point of time. The 3 D SVM is implemented in the following sequence: 1. Identification of prism 2. Identification of tetrahedron; 3. Duty cycle calculation and PWM waveform generation. 1) Prism Identification The prism identification is very similar to the sector identification for 2-D SVM. Based on the projections of the

V = -1.7321Vdc

Figure 2: Physical Position of Switching State Vector

The identification of prism is based on the value of the switching vectors expressed in 0-- reference frame. An algorithm for prism identification is explained with the help of a flowchart. Fig. 3 shows the logic flow in prism identification.
Start

Yes

0.57735|V| > |V|

No

Yes

V > 0

No

Yes

V > 0

No

Yes

V > 0

No Yes

V < 0

No

II

III

IV

VI

Figure 3: Sequence of Operations in Prism Identification

2) Tetrahedron Identification Once the prism information is obtained the next step is to identify the tetrahedron in which the reference vector is present. To do this each prism is further subdivided into four tetrahedrons - thus leading to a total of 24 tetrahedrons. Each tetrahedron is formed by three non-zero switching state vectors and two zero switching state vectors. The line-to-neutral voltage polarities produced by each non zero switching state vectors are indicated as + or - or 0. It is important to notice that within each tetrahedron, all the non zero switching

state vectors produce nonconflicting line-to-neutral voltages, and thus they are adjacent vectors. Synthesizing the reference vector by using the adjacent non zero switching state vectors of a tetrahedron leads to minimal circulating energy and current ripple. Table I shows how these tetrahedrons could be identified based on the sign of required phase voltages at the output of the inverter.
TABLE I: TETRAHEDRON IDENTIFICATION PRISM 1 TETRAHEDRON P 1 _T 1 P 1 _T 2 P 1 _T 3 P 1 _T 4 P 2 _T 1 P 2 _T 2 P 2 _T 3 P 2 _T 4 P 3 _T 1 P 3 _T 2 P 3 _T 3 P 3 _T 4 P 4 _T 1 P 4 _T 2 P 4 _T 3 P 4 _T 4 P 5 _T 1 P 5 _T 2 P 5 _T 3 P 5 _T 4 P 6 _T 1 P 6 _T 2 P 6 _T 3 P 6 _T 4 ACTIVE VECTORS V 8 ,V 9 ,V 13 V 8 ,V 12 ,V 13 V 1 ,V 9 ,V 13 V 8 ,V 12 ,V 14 V 4 ,V 12 ,V 13 V 4 ,V 5 ,V 13 V 1 ,V 5 ,V 13 V 4 ,V 12 ,V 14 V 4 ,V 5 ,V 7 V 4 ,V 6 ,V 7 V 1 ,V 5 ,V 7 V 4 ,V 6 ,V 14 V 2 ,V 6 ,V 7 V 2 ,V 3 ,V 7 V 1 ,V 3 ,V 7 V 2 ,V 6 ,V 14 V 2 ,V 3 ,V 11 V 2 ,V 10 ,V 11 V 1 ,V 3 ,V 11 V 2 ,V 10 ,V 14 V 8 ,V 10 ,V 11 V 8 ,V 9 ,V 11 V 1 ,V 9 ,V 11 V 8 ,V 10 ,V 14 CONDITION V af > 0, V bf < 0, V cf < 0 V af > 0, V bf > 0, V cf < 0 V af < 0,V bf < 0, V cf < 0 V af > 0, V bf > 0, V cf > 0 Vaf > 0, V bf > 0, V cf < 0 V af < 0, V bf > 0, V cf < 0 V af < 0, V bf < 0, V cf < 0 V af > 0, V bf > 0, V cf > 0 V af < 0, V bf > 0, V cf < 0 V af < 0, V bf > 0, V cf > 0 V af < 0, V bf < 0, V cf < 0 V af > 0, V bf > 0, V cf > 0 V af < 0, V bf > 0, V cf > 0 V af < 0, V bf < 0, V cf > 0 V af < 0, V bf < 0, V cf < 0 V af > 0, V bf > 0, V cf > 0 V af < 0, V bf < 0, V cf > 0 V af > 0, V bf < 0, V cf > 0 V af < 0, V bf < 0, V cf < 0 V af f > 0, V bf > 0, V cf > 0 V af > 0, V bf < 0, V cf > 0 V af > 0, V bf < 0, V cf < 0 V af < 0, V bf < 0, V cf < 0 V af > 0, V bf > 0, V cf > 0

elements of matrix X t and the switching signals S a , S b , S c , and S f would be different for different tetrahedrons.

Xt =

= 2 * At

(5)

At Xc Xb Xf Xa

Sa

Sb

Sc

Sf

Ts/2

Figure 4: Principle of PWM waveform Generation

3) Duty cycle Calculation and Waveform Generation The computation of the duty cycles is based on calculation of geometric projection of the reference vector along the three non-zero switching state vectors which form the edges of the given tetrahedron at a given instant. For each tetrahedron we can find a 3x3 projection matrix: S t . The reference vector in 0-- reference frame at any given time is denoted by a 3x1 column matrix S r . Then at any given instant, the duty cycle matrix D can be computed from the simple matrix equation: D= = S t -1 * S r (3)

C. Three Dimensional Space Vector Modulation without Null Vector In the proposed method the prism and tetrahedron identification are done as described in the earlier method. In 3D-SVM with null vector, there are 16 possible switching vectors: fourteen active nonzero vectors and two null vectors whereas in the proposed method two null vectors are not considered. The computation of the duty cycles is based on calculation of geometric projection of the reference vector along the three non-zero switching state vectors which form the edges of the given tetrahedron at a given instant. For each tetrahedron we can find a 3x3 projection matrix: S t . The reference vector in 0- reference frame at any given time is denoted by a 3x1 column matrix S r . Then at any given instant, the duty cycle matrix D can be computed from the simple matrix equation: D= = S t -1 * S r (6)

(4) The fourth step is to choose an appropriate switching scheme and to generate the four PWM waveforms for the top switches of the inverter. The four duty-cycle values d 0 , d 1 , d 2 and d 3 are already known prior to this step. The PWM waveforms are generated by comparing the four signals X 1 , X 2 , X 3 , and X 4 with a triangular waveform of switching frequency equals to the sampling frequency of the modulator, where sampling frequency of modulator is given by T s . Let X 1 , X 2 , X 3 and X 4 be the four signals calculated from the duty cycles d 0 , d 1 , d 2 , and d 3 as given in the following matrix equation. Fig. 4 shows the set of signals derived for tetrahedron P1_T1. In (5), A t is the peak value of the triangular waveform. The period of this waveform is T s , which decides the switching frequency of the inverter. The relation between the As the null vector is eliminated the duration for each switching period varies. The switching period is determined by (d 1 + d 2 + d 3 ) * T s where T s is the sampling period if the null vectors were considered. This results in variable switching frequency operation. Though the frequency of operation is not constant it varies over a small range only. This is evident from the plot of (d 1 + d 2 + d 3 ) as a function of time as shown in Fig. 5. It is observed from Fig. 3 that the switching frequency to i.e. 14 kHz to 28 kHz. This plot is varies from obtained with a reference vector derived from harmonic voltage source. When reference vector is pure sine wave the switching frequency variation is 14kHz to 16 kHz. The next step is to choose an appropriate switching scheme and to generate the four PWM waveforms for the top switches of the inverter. The three duty-cycle values d 1 , d 2 and d 3 are

already known prior to this step. The PWM waveforms are generated by comparing the four signals X 1 , X 2 , X 3 , and X 4 with a triangular waveform of switching frequency equals to the sampling frequency of the modulator, where sampling frequency of modulator is given by (d 1 +d 2 +d 3 ) * Ts. Let X 1 , X 2 , X 3 and X 4 are the four signals calculated from the duty cycles d 1 , d 2 , and d 3 as given in the following matrix equation. Xt = = 2 * At X4 = 1 X1 = 0
0.8 0.7

TABLE II: PULSE ASSIGNMENT FOR EACH TETRAHEDRON PRISM TETRAHEDRON P 1 _T 1 P 1 _T 2 P 1 _T 3 P 1 _T 4 P 2 _T 1 P 2 _T 2 P 2 _T 3 P 2 _T 4 P 3 _T 1 P 3 _T 2 P 3 _T 3 P 3 _T 4 P 4 _T 1 P 4 _T 2 P 4 _T 3 P 4 _T 4 P 5 _T 1 P 5 _T 2 P 5 _T 3 P 5 _T 4 P 6 _T 1 P 6 _T 2 P 6 _T 3 P 6 _T 4

X4 = 1

(7) (8) (9)

d1+d2+d3

0.6 0.5 0.4

6
0 0.005 0.01 0.015 0.02 0.025 Time (ms) 0.03 0.035 0.04

NON ZERO SWITCHING STATE VECTORS V 8 ,V 9 ,V 13 V 8 ,V 12 ,V 13 V 1 ,V 9 ,V 13 V 8 ,V 12 ,V 14 V 4 ,V 12 ,V 13 V 4 ,V 5 ,V 13 V 1 ,V 5 ,V 13 V 4 ,V 12 ,V 14 V 4 ,V 5 ,V 7 V 4 ,V 6 ,V 7 V 1 ,V 5 ,V 7 V 4 ,V 6 ,V 14 V 2 ,V 6 ,V 7 V 2 ,V 3 ,V 7 V 1 ,V 3 ,V 7 V 2 ,V 6 ,V 14 V 2 ,V 3 ,V 11 V 2 ,V 10 ,V 11 V 1 ,V 3 ,V 11 V 2 ,V 10 ,V 14 V 8 ,V 10 ,V 11 V 8 ,V 9 ,V 11 V 1 ,V 9 ,V 11 V 8 ,V 10 ,V 14

Sa 0 0 X2 0 X2 X3 X3 X2 1 1 1 X3 1 1 1 X3 X3 X2 X3 X2 0 0 X2 0

Sb X3 X2 X3 X2 0 0 X2 0 0 0 X2 0 X2 X3 X3 X2 1 1 1 X3 1 1 1 X3

Sc 1 1 1 X3 1 1 1 X3 X3 X2 X3 X2 0 0 X2 0 0 0 X2 0 X2 X3 X3 X2

Sf X2 X3 0 1 X3 X2 0 1 X2 X3 0 1 X3 X2 0 1 X2 X3 0 1 X3 X2 0 1

Figure 5: Plot of (d 1 +d 2 +d 3 ) with Reference vector derived from balanced three phase sinusoidal voltages

In (7), A t is the peak value of the triangular waveform. The period of this waveform is (d 1 +d 2 +d 3 ) * T s , which decides the switching frequency of the inverter. The relation between the elements of matrix X t and the switching signals S a , S b , S c , and S f would be different for different tetrahedrons. The assignment of the pulses generated by the comparator is given in table II. Fig. 6 shows the set of signals derived for tetrahedron P4_T3. It is seen from the table that one device remains ON and one device remains OFF throughout the switching period. 1) Reference Voltage Generation The voltage references for the 3D-SVM without null vector and with null vector are derived from a Forward Eulers Integration Algorithm.The Forward Euler method is based on the forward difference approximation and written as (10) Where h = step size By using this equation, equations for reference voltage generation can be written as below: (11) The injected current is expected to follow the reference current. Therefore it is assumed that (12) (13) (14) Thus we can derive voltage references for all three phases using the above equation.

X3

X2

X1 = 0

Sa

Sb

Sc

Sf d1/2 d2/2 d3/2 d3/2 d2/2 d1/2

(d1+d2+d3)*Ts /2

Figure 6: Principle of PWM waveform Generation

III.

SIMULATION RESULTS AND DISCUSSION

Using MATLAB / SIMULINK environment the behavior of the three-phase four-wire shunt Active Power Filter shown in Fig. 7 is studied for the three algorithms. The three phase four wire shunt active power filter used here consists of a four-leg inverter connected at the PCC to a three-phase four-wire grid through the interface inductances. The power system neutral wire is tied to the fourth leg of the inverter. The switch control signals are derived from three different switching techniques which are used for comparative study. The active filter reference currents are calculated using synchronous reference frame theory from the sensed load three-phase loads connected to the grid.

Rs, Ls
Vsa

RL

LL
3 phase and single phase nonlinear balanced and unbalanced loads

500 0 -500 0.1 100 0 -100 0.1 200 0 -200 0.1 20 0 -20 0.1 0.12 0.14 Time (s) 0.16 0.18
ins

Vsc Vsa Vsb

(i)

Vsb

0.12

0.14

0.16

0.18

0.2
isc isa isb

Vsc

(ii)

iLa iLb iLc

0.12

0.14

0.16

0.18

0.2
iLc iLa iLb

ica icb icc

Switching Signal Generation

Switching Pulses

iaref ibref icref

Reference Current Generator

(iii)

0.12

0.14

0.16

0.18

0.2 (iv) 0.2

S1

S3

S5

S7

Ri, Li

ica icb icc icn S4 S6 S2 S8

Cdc

Figure 8: Simulation results with proposed switching technique with unbalanced Load (i) Voltages at PCC (ii) Phase Currents after compensation (iii) Phase Currents before compensation (iv) Neutral Current after compensation

Figure 7: Schematic Diagram of 3 - Phase 4 - Wire Shunt APF

A combination of linear and nonlinear; balanced and unbalanced load is connected at the PCC. The load specifications are as shown in Table III. The system parameters considered for simulation are given in table IV.
TABLE III: LOAD SPECIFICATIONS Three phase diode bridge rectifier with R L = 30 connected across the DC terminals Three phase diode bridge rectifier with R L = Combination of balanced and 10 and L L = 20mH and Two single phase Unbalanced Load diode bridge rectifier With R L = 15 and L L = 1mH C = 470F TABLE IV: SYSTEM PARAMETERS FOR SIMULATION Non linear Balanced Load Parameter Source voltage R s , Ls R n, L n V dc Sampling Time T s (3-D SVM with null vector) Sampling Time (Forward Euler Method) T SFEM R i , Li DC Link Capacitor Value 327 V 10 m, 1.2 mH 20 m, 3 mH 800 V 100 s 20 s 0.02 , 2.4 mH 4700 F

Fig. 9 shows the magnitude spectrum for source currents before and after compensation. It is observed from the Fig.9 that the harmonic components are reduced after compensation, THD is 2.21% which is within prescribed IEEE standard and load balancing is achieved.
60 40 20 0 0 100 50 0 0 Magnitude Spectrum of Source Currents before Compensation 100 100 50 50

0 0 1000 2000 0 1000 2000 1000 2000 0 Magnitude Spectrum of Source Currents after Compensation 100 100 50 0 0 50 0 0

1000

2000

1000

2000

1000

2000

Figure 9: Magnitude Spectrum of Source Currents before and after compensation (Unbalanced Load) for proposed method

Fig. 8 shows the simulation results obtained with unbalanced load condition and sinusoidal supply voltages. It is clear from Fig. 8 (ii) that after compensation the source currents are balanced and have become almost sinusoidal. Also the neutral current is in the range of 5A which is 5% of the neutral current before compensation as well as hysteresis band. The simulation results are tabulated in Table V.

Fig. 10 shows the switching signals to the top switch in all four phases using all switching schemes in three phase four wire shunt active power filter. It can be seen from Fig. 10 that each device is gated only for 260 in a cycle unlike the traditional hysteresis current controller and 3 D SVPWM with null vector. Thus switching losses get reduced in the proposed switching scheme.

TABLE V: SIMULATION RESULTS Hysteresis Current Control 3 D SVM with Null Vector Phases Quantity Vpcc (Fundamental, Peak) (V) Vpcc (THD) (%) I_source (Fundamental, Peak) (A) I_source (THD) (%) I_load (Fundamental, Peak) (A) I_load (THD) (%) a Phase 326.7 1.55 73.4 2.3 53.41 18.65 b Phase 326 1.47 73.3 2.25 87.49 50.18 c - Phase 326.5 1.73 73.26 2.43 88.26 36.23 a Phase 326.7 1.55 73.6 2.13 53.41 18.65 b Phase 326 1.47 73.5 2.2 87.49 50.18 c - Phase 326.5 1.73 73.23 2.4 88.26 36.23 a Phase 326.7 1.55 73.24 2.21 53.41 18.65

Proposed Method b Phase 326 1.47 73.41 2.13 87.49 50.18 c - Phase 326.5 1.73 72.95 2.34 88.26 36.23

(i)

(ii)

(iii)

Hysteresis Current Control

3 D SVM with Null Vector Figure 10: Switching Pulses (i) a Phase (ii) b Phase (iii) c Phase

Proposed Method

500 450 400 350 300 250 0.065 0.07 0.075

Losses Hysteresis Current Control Losses 3 D SVM with Null Vector Losses 3 D SVM without Null Vector

Average Losses

dimensional space vector modulations with null vector. From the results obtained it is seen that switching losses are reduced in the proposed switching technique as at any instant of time three out of four switches are to be controlled. Though the switching frequency is not constant it varies only within a narrow range unlike the hysteresis control wherein the frequency varies over a wide range. REFERENCES

0.085 0.08 Time (ms)

0.09

0.095

0.1

[1] [2]

Figure 11: Average Losses for all three methods

Fig. 11 shows the average losses for all three methods. It is clearly seen from Fig. 11 that average switching losses are reduced in proposed switching method. Average losses for load are 4.7 kw. Percentage loss reduction is shown with respect to losses in load in Table VI.
TABLE VI: COMPARATIVE ANALYSIS OF PERCENTAGE LOSS REDUCTION FOR THREE SWITCHING TECHNIQUES Method Parmeter APF loss as a % of average load power Hysteresis Current Control 12.86% 3 D SVM with Null Vector 8.76% Proposed Method 7.43%

[3] [4]

[5] [6] [7]

IV.

CONCLUSION

[8]

In this paper the proposed switching technique is compared with traditional hysteresis current control method and three

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