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AbstractThe paper proposes the concepts of integrators for deemed a viable solution [6]. While the hysteresis controller is
sinusoidal signals. A proportional-integral (PI) current controller simple and robust, it has major drawbacks in variable switching
using stationary-frame generalized integrators is applied for cur- rate, current error of twice the hysteresis band, and high-fre-
rent control of active power filters. Zero steady-state error for the
concerned current harmonics is realized, with reduced computa- quency limit-cycle operation [1]. Performance of the predictive
tion, under unbalanced utility or load conditions. Designing of the controller, on the other hand, is subject to accuracy of the plant
PI constants, digital realization of the generalized integrators, as model as well as accuracy of the reference current prediction
well as compensation of the computation delay are studied. Exten- [7], [8].
sive test results from a 10-kW prototype are demonstrated.
Recent contributions have been applying the synchronous-
Index TermsActive power filter, current control, generalized frame PI controller for current control of active power filters [9],
integrator, resonator.
[10]. The limitation consists of significant computation arising
from the need for multiple reference frames. To deal with unbal-
I. INTRODUCTION anced conditions, the number of reference frames and therefore
the computation must be doubled.
R ESEARCH on current control for power converters has
been one of the most intensive activities recently [1].
When the reference current is a direct signal, as in the dc
Revisiting the adaptive filter technique [11], which was re-
cently introduced to converter control [12], [13], the core of the
motor drive, zero steady-state error can be secured by using filter is really an indirectly implemented integrator for a single
a conventional proportional-integral (PI) controller. When the sinusoidal signal. Direct realization of the integrator allowing
reference current is a sinusoidal signal, as in the ac motor for reduction of computation was already detailed in [14]. The
drive, however, straightforward use of the conventional PI direct realization was also used in [15] for reference current
controller would lead to steady-state error due to finite gain at prediction in a synchronous frame dead-beat controlled active
the operating frequency. A synchronous-frame PI controller power filter.
was then proposed which guarantees zero steady-state error in From the stationary-frame equivalent transfer matrix given in
a balanced system [2], [3]. For an unbalanced system, a second [2], a synchronous-frame PI controller, without regard to the PI,
reference frame rotating in the opposite direction would also be can be deemed an indirectly implemented integrator, however,
needed [4], [5] in order that the negative sequence component only for a positive sequence sinusoidal signal. Directly imple-
is tracked with zero steady-state error. menting the transfer matrix shall reduce the computation. The
When the reference current is a nonsinusoidal signal, as in present paper will further prove that, without the cross-coupling
active power filters, a hysteresis or predictive controller is often terms [16][18], the new transfer matrix will represent an inte-
grator for either balanced or unbalanced sinusoidal signals.
The paper proposes the concept of integrators for sinusoidal
Paper IPCSD01-081, presented at the 2000 Industry Applications Society An-
nual Meeting, Rome, Italy, October 812, and approved for publication in the signals. The concepts of ideal integrator for a single sinusoidal
IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Industrial Power Con- signal and a stationary-frame ideal integrator for positive or neg-
verter Committee of the IEEE Industry Applications Society. Manuscript sub- ative sequence sinusoidal signals are explored. The concepts
mitted for review April 1, 2000 and released for publication November 13, 2001.
X. Yuan is with General Electric Corporate R&D-Shanghai, 200233 of generalized integrator for a single sinusoidal signal and sta-
Shanghai, China (e-mail: xiaoming.yuan@geahk.ge.com). tionary-frame generalized integrator for balanced or unbalanced
W. Merk is with the Electrical Engineering Department, Burgdorf School of sinusoidal signal are also clarified.
Engineering, University of Applied Sciences Bern, 3400 Burgdorf, Switzerland
(e-mail: willi.merk@isburg.ch). The paper will further report a PI current controller using
H. Stemmler and J. Allmeling are with the Power Electronics and the stationary-frame generalized integrators for current control
Electrometrology Laboratory, Swiss Federal Institute of Technology of active power filters. Designing the PI constants, digital re-
Zurich, ETH-Zentrum/ETL, CH-8092 Zurich, Switzerland (e-mail:
stemmler@lem.ee.ethz.ch). alization of the generalized integrators, as well as compensa-
Publisher Item Identifier S 0093-9994(02)02666-X. tion of the computation delay will be studied. The instanta-
0096-9994/02$17.00 2002 IEEE
524 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 2, MARCH/APRIL 2002
(1)
(2)
(3)
Fig. 3. (a) Positive sequence ideal integrator equivalent and (c) negative
sequence ideal integrator equivalent in the counter-clockwise (!) rotating
reference frame. (b) Negative sequence ideal integrator equivalent and (d)
0
positive sequence ideal integrator equivalent in the clockwise ( ! ) rotating
reference frame.
Fig. 2. (a) Positive sequence signal passing through a positive sequence ideal
integrator. (b) Negative sequence signal passing through a negative sequence
ideal integrator. (c) Positive sequence signal passing through a negative
sequence ideal integrator. (d) Negative sequence signal passing through a
positive sequence ideal integrator.
III. CURRENT CONTROL OF ACTIVE POWER FILTERS USING Fig. 4. (a) The generalized integrator for a single sinusoidal signal
STATIONARY-FRAME GENERALIZED INTEGRATORS [17]. (b) The corresponding stationary-frame generalized integrator. The
stationary-frame generalized integrator works without regard to the sequence
A. PI Current Controller for Active Power Filters Using the between the -axis signal and the -axis signal.
Stationary-Frame Generalized Integrators
In the case of current control for active power filters, the current harmonics. For each current harmonic of concern, a
current error signal is nonsinusoidal which contains multiple corresponding stationary-frame generalized integrator must be
526 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 38, NO. 2, MARCH/APRIL 2002
Fig. 5. (a) Typical converter current control system using the stationary frame generalized integrator. (b) Stationary-frame positive sequence signal system
decomposition with the original input. (c) Stationary-frame negative sequence signal system decomposition with the original input. (d) Stationary-frame positive
sequence signal system decomposition with the positive sequence input. (e) Stationary-frame negative sequence signal system decomposition with the negative
sequence input. (f) Stationary-frame positive sequence signal system equivalent in the counter-clockwise rotating reference frame. (g) Stationary-frame negative
sequence signal system equivalent in the clockwise rotating reference frame.
YUAN et al.: STATIONARY-FRAME GENERALIZED INTEGRATORS FOR CURRENT CONTROL OF ACTIVE POWER FILTERS 527
Fig. 7. (a) Typical shunt active filter system with a ripple filter. (b) Current
control system using the proposed PI current controller.
Fig. 6. PI current controller for active power filters using the stationary-frame
generalized integrators.
(4)
Fig. 11. Experimental waveforms (phase B) of the PCC voltage, load current, inverter current, and utility current as well as the utility current spectrum in the
cases of: (a), (b) no integrators is used; (c), (d) 1st, 5th, and 7th integrators are used; (e), (f) 1st, 5th, 7th, 11th, and 13th integrators are used; and (g), (h) 1st, 5th,
7th, 11th, 13th, 17th, and 19th integrators are used.
- -
(7)
Fig. 12. Experimental waveforms (phase B) of the PCC voltage, load current,
inverter current, and utility current when R = 39
. The sequence filter is not
- - used.
(8)
REFERENCES
Xiaoming Yuan (S97M99SM01) received the Herbert Stemmler received the Dipl.-Ing. degree
B.Eng. degree from Shandong University, China, in automation from the Techniche Hochschule
the M.Eng. degree from Zhejiang University, China, in Darmsdadt, Germany, in 1961 and the Ph.D.
and the Ph.D. degree from Federal University of degree in power electronics from the Technische
Santa Catarina, Brazil, in 1986, 1993, and 1998 Hochschule in Aachen, Germany, in 1971.
respectively, all in electrical engineering. He worked with Brown Bovery and ASEA-Brown
He was with Qilu Petrochemical Corporation, Bovery in Baden, Switzerland, from 1961 to 1991,
China, from 1986 to 1990, where he was involved in the field of power electronics. From 1971 to 1991,
in the commissioning and testing of relaying and au- he was head of the department for development, engi-
tomation devices in power systems, adjustable speed neering, test, and commissioning of large power elec-
drives, and high-power UPS systems. From 1998 to tronics systems. In 1987 he was appointed Vice-Pres-
2001, he was a Project Engineer at the Swiss Federal Institute of Technology ident of this department. During these years, he worked with converter and in-
Zurich, Switzerland, where he worked on flexible-ac-transmission-systems verter locomotives, 5016 2/3 Hz interties, all kinds of large ac drives, reactive
(FACTS) and power quality. Since February 2001, he has been with GE Cor- power compensators, HVDC transmissions, low-power electronics, and stan-
porate R&D and is Manager of the Low Power Electronics Laboratory based dardized and tailor-made electronic control units. Since 1991, he has been Pro-
in Shanghai, China. His research interests are power electronics converters, fessor of Power Electronics at the Swiss Federal Institute of Technology Zurich,
controls, and the applications. Switzerland, and Head of the Power Electronics and Electrometrology Labo-
Dr. Yuan received the first prize paper award from the Industrial Power Con- ratory. At the time of this writing, 15 doctoral projects have been completed
verter Committee of the IEEE Industry Applications Society in 1999. and 7 projects ongoing in traction, motor drives, flexible-ac-transmission-sys-
tems (FACTS), solar energy systems, uninterruptable power supplies, matrix
converters, and fuel cell vehicles.