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A new fuzzy based control strategy for three phase shunt active power filters
1.
International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME INTERNATIONAL JOURNAL OF ELECTRICAL ENGINEERING & TECHNOLOGY (IJEET) ISSN 0976 – 6545(Print) ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME: www.iaeme.com/IJEET.asp Journal Impact Factor (2014): 6.8310 (Calculated by GISI) www.jifactor.com IJEET © I A E M E A NEW FUZZY BASED CONTROL STRATEGY FOR THREE-PHASE SHUNT ACTIVE POWER FILTERS V SEETARAMANJANEYULU A1 M.Tech Student, Department of EEE, VVIT-NAMBUR. P. MAHAMOOD KHAN2 Assistant Professor, Department of EEE, VVIT-NAMBUR. Dr. P.V.RAMANA RAO3 Professor & H.O.D/E.E.E, University College of Engineering & Technology, Acharya Nagarjuna University 45 ABSTRACT In recent past the number of non linear loads in power systems is increasing dramatically. These non linear loads inject harmonic currents and voltage which makes the supply currents non-sinusoidal. These harmonics are eliminated via an Active Power Filter. In this paper, a current control scheme is proposed which does not require a harmonic detector but requires two current sensors on the supply side. In order to make the supply current sinusoidal, an effective harmonic compensation method is carried out with the aid of Fuzzy controller and vector PI controller. The accuracy of the APF is improved and the performance is not affected by the harmonic tracking process due to the absence of harmonic detector. The value of % THD is reduced in the proposed control scheme. The total implementation cost is reduced as the number of current sensors is reduced. Index Terms: Active Power Filters (APFs), Harmonic Current Compensation, Power Quality, Resonant Controllers, Fuzzy Controllers, Vector-Proportional Integral Controller. INTRODUCTION In order to improve the power quality of distribution networks as well as to meet these restriction standards, two main solutions have been introduced: LC passive filters and active power
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME filters (APFs) [1]–[2]. In contrast, shunt APFs are recognized as a flexible solution for harmonic current compensation since they are capable of compensating harmonic currents generated by many types of nonlinear loads as well as providing fast responses to load variations [3]. The traditional control scheme requires several steps such as load current measurement, harmonic current detection, reference filter current generation, and filter current control [3], [4]. Since the APF must generate non-sinusoidal currents, the design of the current controller for the APF is a challenging task. Various control methods have been developed in the literature such as proportional-integral (PI) control [3]. In recent years, several high-performance current controllers have been developed for APFs to achieve good control performance like. A PI controller plus a series of resonant controllers [7], vector PI (VPI) controller [4]. In order to avoid the use of harmonic detectors, indirect current control schemes have been introduced in [6] where the supply currents (iS,abc) are directly measured and regulated to be sinusoidal. Harmonics are generated due to introduction of non linear loads which produce non sinusoidal currents and non sinusoidal voltage drop across network impedance so that these voltages appear at the point of mains. The presence of harmonics in power lines results in distribution problem, electromagnetic interference in communication network, operational failures, protection devices, electronic equipments. It leads to overheating of lines, transformers and generators due to excessive iron losses. Due to all these problems, the quality of electrical energy delivered to the end user is an object of concern and power engineers face the challenge of solving the problem of harmonics caused by non linear loads. So to resolve the harmonic problem, various mitigation techniques are developed. In order to improve the power quality of distribution networks as well as to meet these restriction standards, two main solutions have been introduced. LC passive filters and active power filters (APFs). LC filters are not mostly preferred as they are large and heavy. Furthermore, the compensation capability of a passive filter is fixed. Hence, an active power filter (APF) is used to suppress the harmonics generated. The basic principle behind generation of compensating current by the active power filter is to generate a current equal and opposite in polarity to harmonic currents drawn by load and inject it to the point of common coupling, thereby forcing the current to be purely sinusoidal. The three phase diode bridge rectifier feeding resistive and inductive loads behaves as a non linear load in the power system. An instantaneous reactive power theory (PQ method) is used for harmonic detection to calculate the reference currents for the active power filter. The design of APF is a challenging task as it has to produce non-sinusoidal currents. The various control methods that have been developed to control the APF’s are dead beat control, hysteresis control and proportional integral control. PI controllers are not suitable for certain applications with high frequency signals due to the limitation of control bandwidth. In order to overcome these disadvantages, several high-performance current controllers have been developed for APFs. These current controllers consists of a proportional controller plus multiple sinusoidal signal integrators, a PI controller plus a series of resonant controllers, or vector PI (VPI) controllers .The VPI controller is used as an alternate to resonant controller and it has superior and robust characteristics. The high-pass, low-pass, adaptive filters are used mostly as harmonic detector. Due to the harmonic tracking performance by the harmonic detector, it is difficult to achieve the steady state performance. The PI plus VPI controllers have some limitation on the control bandwidth and are not able to regulate high frequency signals. Assuming the supply currents to be sinusoidal, the reference currents are given. This paper proposes an advanced current control strategy with the absence of harmonic detector. The supply currents are measured directly and made sinusoidal by a harmonic compensator based on fuzzy plus VPI controller. The absence of harmonic detector improves the accuracy of the system as it is not affected by the harmonic tracking process. 46
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME II. GENERATION OF REFERENCE CURRENTS Fig.1: Basic block diagram of shunt APF Fig.1 shows the basic compensation principle of shunt active power filter. The supply current is drawn and an equal and opposite compensating current(ic) is generated and given at the point of common coupling which cancels out the harmonics and make the supply currents to be sinusoidal. The instantaneous p-q theory is used for the generation of reference currents. Equation (1-2) indicates the transformation of the phase voltages Va, Vb, Vc and load currents from a, b, c coordinates to – coordinates. 47
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME Small high pass filter is used in the system to avoid high frequency between the source impedance. Equation (3) describes the power calculation. Each power comprises of two components, ac power component and dc power component. For harmonic compensation both the powers are used as reference powers. The reference currents in coordinates are given by equation (4). PLL (Phase locked loop) employed in shunt filter tracks automatically, the system frequency and fundamental positive–sequence component of three phase generic input signal. Proper operation of the shunt filter under distorted and unbalanced voltage conditions is made by proper and exact design of PLL. The id-iq currents obtained after transformation is given into two low pass filters respectively. The filter to which the id current is given filter outs the positive ripples and the filter to which the iq current is given filters out the negative ripples. The main advantage of this method is that the angle is calculated from the main voltages. 48 III. PI-VPI CONTROL STRATEGY [3] Fig. 2: Typical control scheme of a shunt APF Three-phase diode rectifiers are widely used as the front-ends of industrial ac drives [3]–[5]. These types of loads introduce harmonic currents into the networks, which have odd orders: 6n ± 1(n = 1, 2, 3 . . .) of the fundamental frequency. Since these harmonic currents cause serious problems and deteriorate the power quality of the distribution networks, the shunt APF was developed to compensate those harmonic currents and consequently to improve the power quality.
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME As illustrated in Fig. 2, a shunt APF is basically a three phase voltage source inverter (VSI) connected in parallel with a nonlinear load at the point of common coupling through an inductor LF. The energy storage of the APF is a large capacitor located at the dc-link side of the inverter. The nonlinear load can be presented as a RL or RLC load connected to the power supply through a three-phase diode rectifier as shown in Fig. 2. As stated earlier, the APF must generate the harmonic currents to compensate harmonics produced by the nonlinear load and to make the supply currents sinusoidal. To fulfil these demands, the traditional control scheme requires a harmonic detector and current controller where both loops must be designed properly to achieve good control performance. However, it may cause excessive complexity in the design process. Fig. 3: Structure of the PI-VPI control scheme for three-phase shunt APF In order to simplify the control scheme and to enhance the accuracy of the APF, an advanced control strategy is pi-vpi control is applied, as shown in Fig. 3. In Fig. 3, the pi-vpi control scheme is implemented by using only the supply current (iSa and iSb) without detecting the load current (iL,abc) and filter current (iF,abc). Thereby, the load current sensors and filter current sensors in the typical shunt APF shown in Fig. 2 can be eliminated. And also, the harmonic current detection is omitted. Due to the absence of harmonic detection, the pi-vpi control scheme can be implemented with only two loops: the outer voltage control and the inner current control. The outer loop aims to keep dc-link voltage of the APF constant through a PI controller, which helps the APF deal with load variations. The output of this control loop is the reference active current in the fundamental reference frame (i*Sd). Meanwhile, the reference reactive current (i*Sq) is simply set to be zero, which ensures the reactive power provided by the power supply to be zero. And, the reactive power caused by loads is supplied by the shunt APF. The inner loop is then used to regulate the supply current in the fundamental reference frame (iS,dq) by using the PI-VPI current controller. The output of this loop becomes the control signal (v*F,ab) applied to the four-switch APF which is implemented by the FSTPI. Since the current control is executed without the harmonic detector, the control performance of the APF only relies on the current controller. In the next section, the analysis and design of the proposed current controller will be presented. 49
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME IV. PROPOSED CONTROL STRATEGY TO IMPROVE THE PERFORMANCE OF SHUNT ACTIVE POWER FILTER The proposed control strategy makes the use of fuzzy-VPI controller to improve the performance of shunt active power filter. The structure of proposed control scheme is shown in figure 4 below. Fig. 4: Structure of the proposed control scheme for three-phase shunt APF 50 Fuzzy Logic Controller Fuzzy logic controllers (FLC) are suitable for systems that are structurally difficult to model due to naturally existing non linearity’s and other model complexities. The main drawback of using repetitive current control is, there is no control action, to avoid the distortion from the grid voltage. In-order to overcome this drawback, it needs to design a good fuzzy logic controller. The database, consisting of membership functions. Basically membership value should lies between 0 to 1. The operations performed are fuzzification, interference mechanism and defuzzification. The interference mechanism uses a collection of linguistic rules to convert the input conditions into a fuzzified output. Finally defuzzification is used to convert the fuzzy outputs into required crisp signals. As shown in fig5. Fig.5: Fuzzy controller block diagram
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME 51 A. Fuzzification Fuzzification is an important concept in the fuzzy logic theory. Fuzzification is the process where the crisp quantities are converted to fuzzy (crisp to fuzzy). By identifying some of the uncertainties present in the crisp values, we form the fuzzy values. The conversion of fuzzy values is represented by the membership functions. B. Defuzzification Defuzzification means the fuzzy to crisp conversions. The fuzzy results generated cannot be used as such to the applications; hence it is necessary to convert the fuzzy quantities into crisp quantities for further processing. C. FLC Design Methodology Design of fuzzy logic controller comprises the following steps. 1. Identifying the input signals to FLC. 2. Determining the number of membership function, and 3. Decide upon the type of membership function. D. Membership function The number of membership function determines the quality of control which can be achieved using fuzzy logic controller (FLC). As the number of membership function increase, the quality of control improves at the cost of increased computational time and computer memory. Investigations are carried out considering seven membership function for each input and output signal. As shown in fig6 fig7 [9] Fig.6: Membership functions for input variables (e,de). Fig.7: Membership functions for output variable ( dvc) E. Rule Base: The elements of this rule base table are determined based on the theory that in the transient state, large errors need coarse control, which requires coarse in-put/output variables; in the steady state, small errors need fine control, which requires fine input/output variables. Based on this the elements of the rule table are obtained as shown in Table 1.
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME Table 1: Fuzzy rule Base 52 F. Fuzzy control scheme for APF In the fuzzy logic control algorithm for APF two inputs are required. The inputs are error and change in error. The two inputs are related by member functions. Basically forty nine rules are there. Based on the operation each rule will be used. The membership functions are expressed as negative large (NL), negative medium (NM), negative small (NS), zero(ZE), positive small(PS), positive medium(PM) and positive large(PL). Actual voltage is compared with the reference voltage, based on that error will be produced. It can be compensated by using fuzzy logic controller. Actual current is compared with the reference current, and error is compensated by fuzzy controller. Fuzzy sets support a flexible sense of membership functions. The block diagram of the fuzzy logic controller (FLC) for proposed converter is shown in fig8.[8] Fig.8: Block diagram of the Fuzzy Logic Controller (FLC) for proposed converter A triangular membership function has the advantage of simplicity and easy implementation and is adopted in the application. Fuzzy inference is the process of formulating the mapping from a given input to an output using fuzzy logic. The centroid method of defuzzification is generally used, but the disadvantage of this method is, it is computationally difficult for complex membership functions. Here bisector method of defuzzification is used. The advantages of bisector method are, it is fast and generally produces good results.
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME 53 V. SIMULATION RESULTS Simulations are performed to show the effectiveness of the APF, by means of PI controller in series with VPI controller and fuzzy controller in series with VPI controller with RL loads. This can control the THD and improve Power factor. The simulation model of the shunt active power filter with VPI controller (RL-load) is shown in Fig.9. Fig.9: Matlab/Simulink Model of PI-VPI controller Fig.9 shows the Matlab/Simulink Model of Proposed fuzzy- VPI Four Switch APF Operated under Several Control Strategies to Enhance PQ Features using Matlab/Simulink Environment. Case 1: UNDER PI-VPI CONTROLLER Fig.10: Source Voltage, Source Current, Load Current, Compensation Current Fig.10 shows the Source Voltage, Source Current, Load Current, and Compensation Current of APF operating under PI-VPI Controller
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME Fig.11: FFT Analysis of Source Current with PI-VPI Controller Fig.11 shows the FFT Analysis of Source Current with Four Switch APF with PI-VPI control 54 strategy, the THD value is 1.99%. Case 2: Proposed Four Switch APF Operated Under Fuzzy Controller Fig.12: Source Voltage, Source Current, Load Current, Compensation Current Fig.12 shows the Source Voltage, Source Current, Load Current, and Compensation Current of proposed Four Switch APF operating under Fuzzy Controller.
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME Fig.13: FFT Analysis of Source Current with Proposed Compensator Fig.13 shows the FFT Analysis of Source Current with Proposed Four Switch APF with Fuzzy 55 –VPI control strategy, the THD value is 1.70%. V. CONCLUSIONS In this paper, an fuzzy based advanced control strategy for the three-phase shunt APF is proposed. The effectiveness of the proposed control strategy is verified through various simulation tests, The proposed control strategy presented good steady-state performance with nonlinear RL load as well as good dynamic response against load variations. The supply current is almost perfect sinusoidal and in-phase with the supply voltage even under the distorted voltage condition. The simulation results prove that the absence of a harmonic detector results in faster transient responses as well as assures notches free in steady-state performances of the supply current In all of the results, THD factor of the supply current is reduced to less than 2% by using fuzzy-VPI controller, which completely comply with the IEEE-519 and IEC-61000-3-2 standards. REFERENCES [1] H. Akagi, “New trends in active filters for power conditioning,” IEEE Trans. Ind. Appl., vol. 32, no. 2, pp. 1312–1332, Nov./Dec. 1996. [2] F. Z. Peng, “Application issues of active power filters,” IEEE Ind. Appl. Mag., vol. 4, no. 5, pp. 21–30, Sep./Oct. 1998. [3] S. Buso, L. Malesani, and P. Mattavelli, “Comparison of current control techniques for active filters applications,” IEEE Trans. Ind. Electron., vol. 45, no. 5, pp. 722–729, Oct. 1998. [4] C. Lascu, L. Asiminoaei, I. Boldea, and F. Blaabjerg, “High performance current controller for selective harmonic compensation in active power filters,” IEEE Trans. Power Electron., vol. 22, no. 5, pp. 1826–1835, Sep. 2007. [5] Quoc-Nam Trinh and Hong-Hee Lee, Senior Member, IEEE” An Advanced Current Control Strategy for Three-Phase Shunt Active Power Filters” IEEE Transactions on Industrial Electronics, Vol. 60, No. 12, December 2013.
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International Journal of
Electrical Engineering and Technology (IJEET), ISSN 0976 – 6545(Print), ISSN 0976 – 6553(Online) Volume 5, Issue 9, September (2014), pp. 45-56 © IAEME [6] B. N. Singh, B. Singh, A. Chandra, P. Rastgoufard, and K. Al-Haddad, “An improved control algorithm for active filters,” IEEE Trans. Power Del., vol. 22, no. 2, pp. 1009–1020, Apr. 2007. [7] C. Lascu, L. Asiminoaei, I. Boldea, and F. Blaabjerg, “Frequency response analysis of current controllers for selective harmonic compensation in active power filters,” IEEE Trans. Ind. Electron., vol. 56, no. 2, pp. 337– 347, Feb. 2009. [8] Suresh Mikkili and Anup Kumar Panda “PI and Fuzzy Logic Controller Based 3-Phase 4- Wire Shunt Active Filters for the Mitigation of Current Harmonics with the Id-Iq Control Strategy” Journal of Power Electronics, Vol. 11, No. 6, November 2011. [9] K.Sarasvathi, R.Rajalakshmi, Member, IEEE “Performance Analysis of Shunt Active Filter Using Different Controllers” International Journal of Engineering Trends and Technology (IJETT) – Volume 4, Issue 5- May 2013. [10] Ch.Ravi Kumar, Dr.P.V.Ramana Rao, “Application of Hybrid Neuro Fuzzy Controller for Automatic Generation Control of Three Area Power System Considering Parametric Uncertainties”, International Journal of Electrical Engineering Technology (IJEET), Volume 4, Issue 5, pp. 104-114, 2013. ISSN Print: 0976-6545, ISSN Online: 0976-6553. [11] Narayan G. Apte and Dr. Vishram N. Bapat, “Indirect Current Controlled Single Phase Shunt Active Filter”, International Journal of Electrical Engineering Technology (IJEET), Volume 4, Issue 4, pp. 264 - 273, 2013. ISSN Print: 0976-6545, ISSN Online: 0976-6553. [12] R.J.Motiyani and A.P.Desai, “Three Phase Shunt Active Filter with Constant Instantaneous Power Control Strategy”, International Journal of Electrical Engineering Technology (IJEET), Volume 4, Issue 4, pp. 245 - 254, 2013. ISSN Print: 0976-6545, ISSN Online: 0976-6553. 56 BIOGRAPHY V SEE TARAMANJANEYULU A was born in India in 1983; He received the B.Tech degree in Electrical and Electronics Engineering from JNTUH Hyderabad, India in 2012. Currently he is pursuing M.Tech in Power Electronics and Electrical Drives (PEED) in Vasireddy Venkatadri Institute of Technology, Nambur, and Andhra Pradesh India. P. MAHAMOOD KHAN obtained his B.Tech from JNTUH and M.E From Anna University. He is working as an Assistant professor at Vasireddy Venkatadri institute of technology, Nambur. His research interest areas include power systems and Non conventional energy Sources. Dr. P.V.RAMANA RAO was born in India in 1946; He received the B.Tech degree in Electrical and Electronics Engineering from IIT Madras, India in 1967 and M.Tech degree from IIT Kharagpur, India in 1969. He received Ph.D from R.E.C Warangal in 1980. Total teaching experience 41 years at NIT Warangal out of which 12 years as Professor of Electrical Department. Currently Professor of Electrical Department in University college of Engineering and Technology, Acharya Nagarjuna University, Andhra Pradesh, India. His fields of interests are Power system operation and control, Power System Stability, HVDC and FACTS, Power System Protection, Application of DSP techniques and Application of Intelligent control techniques to Power systems.
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