Advanced design and control of active power filters

E n g in e e r in g T o o l s , T e c h n iq u e s a n d T a b l e s

A d v a n c e d D e sig n

AND C o n t r o l o f A c t iv e

P o w e r Fil te r s

E n g i n e e r i n g T o o l s, T e c h n i q u e s

AND T a b l e s

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E n g in e e r in g T o o l s , T e c h n iq u e s a n d T a b l e s

A d v a n c e d D e sig n

AND Co n t r o l o f A c t iv e

P o w e r Filt e r s

JUNTAO FEI

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Library of Congress Cataloging-in-Publication Data

Advanced design and conlrol of active power filters / editor; Juntao Fei (College of Computer and

Information. Hohai University. Changzhou, P.R. China),

pages cm

Includes bibliographical references and index.

ISBN: 978-1-62417-847-4 (soft cover)

1. Electric power systems—Control. 2. Electric fillers. A ciive-Design and consiruction. I. Fei.

Juntao.

TKI007.A38 2013

621.317-dc23

2013009428

C o p y rig h t © 2013 by N o v a S cien ce P u b lish ers, Inc.

Published by Nova Science Publishers. Inc. f New York

C o n t e n t s

Acknowledgments vil

Chapter 1 Introduction 1

Chapter 2 N ovel Sliding M ode Control o f Active Pow er Filter 5

Chapter 3 Feedback Linearization Based Sliding M ode Control

o f A ctive Pow er Filter 21

Chapter 4 A daptive Control of Active Pow er Filter Using

PI-Fuzzy Com pensator 35

Chapter 5 A daptive Sliding M ode Control o f Active

Pow er Filter 57

Chapter 6 A daptive Fuzzy Control with Supervisory

Com pensator o f Active Pow er Filter 79

Chapter 7 A daptive Control with Fuzzy Sliding Com pensator

o f A ctive Pow er Filter 95

Chapter 8 A daptive Neural N etwork Control of Active Pow er

Filter 113

Chapter 9 Conclusion 127

References 131

Index 135

A c k n o w l e d g m e n t s

W e wish to gratefully acknow ledge the valuable help rendered by

institutions and individuals in our conducting the research presented in this

book.

This research was partially supported by the National Science Foundation

of C hina (2011 -2017), Natural Science Foundation o f Jiangsu Province (2011 -

2016), The Scientific Research Foundation o f High-Level Innovation and

Entrepreneurship Plan o f Jiangsu Province, The Fundam ental Research Funds

for the Central U niversities. W e would like to thank their financial support that

made this research possible.

I am also thankful to Hohai U niversity, U niversity o f Akron, and the

University o f L ouisiana at Lafayette for a pleasant and supportive environm ent

to do my research.

1 w ould like to express my thanks to Mr. Tianhua Li for his contribution to

Chapter 2 and C hapter 3, Mr. Kaiqi M a for his contribution to C hapter 4, Mr.

Shenglei Zhang for his contribution to C hapter 4 and Chapter 5, Mr. Shixi Hou

for his contribution to C hapter 6 and C hapter 7, and Mr. Zhe W ang for his

contribution to Chapter 8.

Finally, I am especially grateful to my family for the support to research

my work, which m ade this project possible.

Chapter 1

In t r o d u c t io n

In recent years there has been a substantial increase in the dem and for

controllable reactive pow er sources which can com pensate for nonlinear loads.

These requirem ents involve precise and continuous reactive pow er control

with fast response tim e and avoidance o f harm onic line current generation.

Active pow er filter (APF) can be used for harmonic elim ination, reactive

current com pensation and clean delivery o f power. The basic principle o f APF

is to produce com pensation current which is o f the same am plitude and

opposite phase with the harmonic currents to elim inate the unexpected

harmonic currents. The shunt APF could com pensate the harm onics generated

by the load current through injecting com pensation current to the grid. W ith

the advantages o f high controllability and fast response, it not only can

compensate harm onics, but also can inhibit the flicker and com pensate

reactive power. Therefore, it is an effective approach to suppress the harmonic

pollution. The dynam ic m odels of A PF can be established using various

methods, and the behavior o f reference current tracking can be improved using

advanced control approaches.

This book system atically studies the sliding mode control, feedback

linearization, adaptive control, and intelligent control with application to

active pow er filters, thereby significantly reducing A PF’s sensitivity to the

nonlinear load and disturbance and improving the robust perform ance. The

APF control system s are designed based on sliding mode control, adaptive

control, and intelligent control. The Lyapunov stability theory makes the

com pensation cuư ent track the comm and current signal in real-tim e, thereby

elim inating the harmonics, improving pow er quality, and enhancing the

security of power transm ission and distribution.

Juntao Fei

The developm ent o f new sem iconductor pow er com ponents and advances

in m odem control theory have made this book possible for m odem design

engineers. This book begins with an overview o f concepts from advanced

control o f active pow er filters. It then presents a com prehensive treatm ent of

this analysis, and advanced control design o f active pow er filters for the

problem of harmonic elim ination. The dynamical m odeling procedure is

introduced first, and then advanced control system design moves from sliding

mode control of A PF to robust adaptive sliding m ode control o f APF; a

progression culm inating in robust adaptive fuzzy control and adaptive neural

control hierarchy. M ain advanced control system s are presented: novel sliding

mode control o f indirect cuư ent control, feedback linearization based sliding

mode control, adaptive control, adaptive sliding mode control, robust adaptive

fuzzy control, adaptive fuzzy control with fuzzy sliding com pensator, and

adaptive neural network conứol. These m ethods generate solutions o f guaranteed

perfonnance for problem s o f robustness and Lyapunov stability and param eter

convergence. Case studies address application issues in the im plem entation of

advanced control in active pow er filters. Exam ples, sim ulations, and

comparative studies to the fundam ental issues, illustrate the technical

approaches and verify the perfonnance o f the various advanced control

designs.

W ith the fast developm ent o f the pow er electronics technology, more and

more nonlinear and tim e-varying devices such as inverters, rectifiers and

sw itching power supplies are used in grid casing pow er quality problem s. The

pow er quality problem s contain low pow er factor, wave distortion, surge,

phase distortion and so on. A PF could com pensate the harm onics generated by

the load cuư ent through injecting com pensation cuư ent to the grid, having the

advantages o f high controllability and fast response. It not only can

compensate harmonics, but also can inhibit the flicker and com pensate

reactive power. Therefore, it is an effective approach to suppress the harmonic

pollution. The basic principle o f APF is to produce com pensation current

which is of the same amplitude and opposite phase with the harmonic cuưents

to elim inate the unexpected hamnonic currents. APFs are widely used in m any

applications to compensate the ham iful harm onic cuưents produced by

nonlinear loads on industrial, comm ercial and residential equipm ent such as

diode rectifiers, thyristor converters, and some electronic circuits. In an A PF

connection, it is roughly classified as in series and in parallel. The shunt A PF

is the most widely used active filter because o f its excellent perform ance

characteristics and simplicity in implementation, as com pared with the series

Introduction

A P F requiring m ore high current and voltage. Shunt A PF is an effective

device to com pensate the harmonic cuưents in pow er system.

There are m any current tracking control m ethods for APF, such as single

cycle control, hysteresis cuư ent control, space vector control, sliding mode

control [1-2], deadbeat control, repetitive control, predictive control, fuzzy

control, adaptive control, iterative learning control, and artificial neural

netw ork control. A t present, tw o traditional m ethods are m ostly used in the

cuưent control for APF, hysteresis cuưent control and triangle wave current

control. However, the fluctuating sw itching frequency, low control accuracy,

and slow response are the disadvantages for these two traditional m ethods

respectively. Feedback linearization control is an effective m ethod to establish

the model of active pow er filter [3-4]. The m odels o f active pow er filters have

been established using various methods, and the behavior o f reference signal

tracking has been im proved using advanced control approaches. Several

control m ethods and harm onic suppression approaches for A PF have been

investigated [5-16].

In actual pow er system , the supply voltage may contain some harm onics

and the param eters o f the system model may be different from the actual

value. In order to m eet the requirem ents of the com plex grid, the intelligent

adaptive dynam ic com pensation and control o f active pow er filter becom e

important research project. Adaptive control approaches have been

successfully applied in the active pow er filter [17-27]. In the last few years,

fuzzy control has been extensively applied in a wide variety of industrial

systems and consum er products because o f its m odel free approach. W ang [28]

proposed the universal approxim ation theorem and dem onstrated that an

arbitrary function o f a certain set of functions can be approxim ated with

arbitrary accuracy using fuzzy system on a com pact dom ain. In this book,

intelligent control approaches like fuzzy logic controller [29-34] and neural

network controller [39-46] will be investigated to approxim ate nonlinear

dynamic system s such as APF, since it is very hard to establish accurate

m athematical m odels of APF, and classical linear control m ethods cannot

achieve the ideal current tracking perform ance. Intelligent controllers are

proposed to improve the current tracking perform ance and guarantee the

Lyapunov stability of the closed-loop system. This book is organized into nine

chapters;

C hapter 1 - Introduction

C hapter 2- Novel Sliding Mode Control of APF

C hapter 3- Feedback Linearization Based Sliding Control o f A PF

Juntao Fei

C hapter 4- Adaptive Control o f A PF using PI-Fuzzy C om pensator

C hapter 5- A daptive Sliding M ode Control o f APF

C hapter 6- Adaptive Fuzzy Control with Supervisory Control o f A PF

Chapter 7- Adaptive Fuzzy Control with Fuzzy Sliding C om pensator o f

A PF

Chapter 8- A daptive Neural Network Control o f A PF

Chapter 9- Conclusion

Chapter 2

N o v e l Sl id in g M o d e C o n t r o l

OF A c t iv e P o w e r F ilter

A novel sliding m ode control (SM C) m ethod for indirect current

controlled three-phase parallel active pow er filter is presented in this chapter.

There are tw o designed closed-loops in the system , one is the DC voltage

controlling loop and the other is the reference cuư ent tracking loop. The first

loop with a PI regulator is used to control the DC voltage approxim ating to the

given voltage o f capacitor. The output o f the PI regulator through a low-pass

filter is applied as the input o f the pow er supply reference cuưents. The second

loop implements the tracking o f the reference currents using an integral sliding

mode controller, w hich can improve the harmonic treating perform ance.

Com pared with the direct cuư ent control technique, it is convenient to be

implemented with digital signal processing systems because o f sim pler system

structures and better ham ionic treating properties. Sim ulation results verify the

generated reference currents have the same amplitude with the load currents,

demonstrating the superior ham ionic com pensating effects with the proposed

shunt active pow er filter com pared with the hysteresis method.

2.1. In t r o d u c t io n

Sliding mode control technique, which com bines design and analysis

closely, has robustness for model uncertainty as well as external disturbance.

The sliding m ode controller is composed of an equivalent control part that

describes the behavior o f the system when the trajectories stay over the sliding

manifold, and a variable structure control part that enforces the trajectories to