Professional Documents
Culture Documents
ISA Transactions
journal homepage: www.elsevier.com/locate/isatrans
PI and fuzzy logic controllers for shunt active power filter — A report
Karuppanan P ∗ , Kamala Kanta Mahapatra
Department of Electronics and Communication, National Institute of Technology, Rourkela-769 008, India
Shunt APF is connected in the distribution-grid at PCC through i∗sc = Imax sin(ωt + 120°). (8)
filter inductance that is shown in Fig. 1. The filter inductance This peak value of the reference current Imax is estimated by
suppresses the harmonics caused by the switching operation of the regulating the DC-bus capacitor voltage of the inverter using PI or
power inverter. The current harmonic compensation is achieved by fuzzy logic controller.
injecting equal but opposite current harmonic components at PCC,
there by canceling the original distortion and improving the power 3. Control strategies
quality on the connected power distribution system [8].
The instantaneous source current is represented as The block diagram of the proposed control system is shown in
is (t ) = iL (t ) − ic (t ). (1) Fig. 2 that consists of two parts. One is reference current extraction
controller using unit current vector along with PI or fuzzy logic
The instantaneous source voltage is controller. Another is PWM-current controlled voltage source
vs (t ) = Vm sin ωt . (2) inverter switching control method using fixed-HCC or adaptive-
HCC or adaptive-fuzzy-HCC.
The nonlinear load current contains the fundamental component
and harmonic current components, which is represented as [20] 3.1. Reference current extraction controller
∞
−
iL (t ) = In sin(nωt + Φn ) The reference current is extracted from distorted line-current
n=1 using unit current vector with PI or FLC. Conventional PI and PID
∞
controllers have been used to estimate the required reference
current, and to control the dc-bus capacitor voltage of the
−
= I1 sin(ωt + Φ1 ) + In sin(nωt + Φn ) . (3)
n =2
inverter [18,19]. When load is non-linear or reactive, it is
K. P, K.K. Mahapatra / ISA Transactions 51 (2012) 163–169 165
expected that the supply will supply only the active fundamental
component of the load current and the compensator would supply
the harmonic/reactive component. The outer voltage loop will
try to maintain the capacitor voltage nearly constant which is
also a mandatory condition for the successful operation of the
APF. The system losses are provided by the source in steady
state. The compensator supplies the harmonic power, which
manifests itself only on the reactive component of power. In
the transient conditions the load changes are reflected in the dc
capacitor voltage as an increase (or decrease) as capacitor absorbs
(or delivers) the excess (or deficit) power. This conservation
of energy philosophy is used to obtain the reference current
for compensator in this method. The perturbations in the
capacitor voltage are related to the perturbations in the average Fig. 3. Fuzzy logic controller.
power drawn by the non-linear load. This property is utilized
which facilitates extracting compensator reference and maintains Table 1
capacitor voltage nearly constant. This control algorithm is based Rule base table.
on sensing source current only (no need to sense load currents and e(n) ce(n)
compensation currents) that reduces sensors and complexity. NB NM NS ZE PS PM PB
NB NB NB NB NB NM NS ZE
3.1.1. Unit current vector NM NB NB NB NM NS ZE PS
NS NB NB NM NS ZE PS PM
The source currents are sensed and converted into the unit sine ZE NB NM NS ZE PS PM PB
current(s) while corresponding phase angles are maintained. The PS NM NS ZE PS PM PB PB
unit current vectors templates are represented as [21] PM NS ZE PS PM PB PB PB
PB ZE PS PM PB PB PB PB
ia = sin ωt ,
ib = sin(ωt − 120°) and (9) a closed loop, the dc-bus capacitor voltage is sensed and compared
ic = sin(ωt + 120°). with the desired reference value. This computed error signal (e =
VDC −ref − VDC ) is passed through a LPF. The error signal e(n) and
The amplitude of the sine current is unity in steady state and in
integration of error signal or change of error signal ce(n) are used
the transient condition it may increase or decrease according to
as inputs for fuzzy processing as shown in Fig. 3.
the loads. The unit currents should be in phase with the source
Fuzzy logic is characterized by (1) Seven fuzzy sets (NB, NM, NS,
voltages. These unit currents are multiplied with peak-amplitude
ZE, PS, PM, PB) for each input and output variables. (2) Triangular
of the estimated reference current (using PI or FLC) which is used
membership function is used for the simplicity. (3) Implication
to generate the desired reference currents.
using Mamdani-type min-operator. (4) Defuzzification using the
height method.
3.1.2. PI-controller
Fuzzification: Fuzzy logic uses linguistic variables instead of
The DC-side capacitor voltage is sensed and compared with
numerical variables. In a control system, the error between
a reference voltage. The comparison result of the voltage error
reference signal and output signal can be assigned as Negative
e = Vdc ,ref − Vdc at the nth sampling instant is used as an input
Big (NB), Negative Medium (NM), Negative Small (NS), Zero (ZE),
for Proportional Integral (PI)-controller. The error signal passes
Positive Small (PS), Positive Medium (PM), Positive Big (PB).
through Low Pass Filter (LPF) to filter the higher order components
The processes of fuzzification convert numerical variables (real
and passes only the fundamental. It transfer function is defined
number) convert to linguistic variables (fuzzy number).
as [18],
Rule elevator: Conventional controllers like PI and PID have control
H (s) = KP + KI /s. (10) gains which are combination of numerical values. In case of fuzzy
The proportional gain is derived using KP = 2ζ ωnv C [KP = 0.7] logic controller uses linguistic variables instead of the numerical.
that determines the dynamic response of the DC-side voltage. The The basic fuzzy logic operations required for evaluation of fuzzy set
√ rules are AND (∩), OR (∪) and NOT (−) for intersection, union and
damping factor ζ = 2 / 2 and natural frequency ωnv should
be chosen as the supply fundamental frequency. Similarly, the complement functions respectively, it is define as
integral gain is derived using KI = C ωn2v [KI = 23] that determines AND—Intersection µA∩B = min[µA (X ), µB (x)]
settling time and eliminates steady state error in the DC-side OR—Union µA∪B = max[µA (X ), µB (x)]
capacitor voltage. This controller estimates the magnitude of peak NOT —Complement: µA = 1 − µA (x).
reference current Imax and controls the dc-side capacitor. This Defuzzification: The rules of fuzzy logic generate required output
estimated magnitude of peak current multiplies with output of unit in linguistic variables, according to real time requirements. The
current vector, which generates the required reference currents to linguistic variables have to be transformed to crisp number.
compensate the harmonic components. This selection of strategy is compromise between accuracy and
computational intensity.
3.1.3. Fuzzy logic controller Data and rule base: The database stores the definition of the
Fuzzy logic control is deduced from fuzzy set theory; it was triangular membership function, which is required by fuzzifier and
introduced by Zadeh in 1965 [22]. In fuzzy set theory develops the defuzzifier. The rule-base stores the linguistic control rules which
transitions between membership and non-membership function. are used by rule evaluator (decision making logic). The 49-rules are
Therefore, limitation or boundaries of fuzzy sets can be undefined used in this proposed controller as given in Table 1.
and ambiguous and useful for approximate systems design. In The output of the fuzzy controller estimates the magnitude of
order to implement the fuzzy logic control algorithm of an APF in peak reference current Imax . This current Imax takes response of the
166 K. P, K.K. Mahapatra / ISA Transactions 51 (2012) 163–169
3.2. PWM–VSI current controller following equations can be written in the switching intervals t1
and t2 [27,28]
The effectiveness of active power filter depends on the design
and characteristics of the current controller. There is various PWM- di+ 1
current control strategies proposed for APF applications. But in
a
= (0.5Vdc − Vs ) (12)
dt L
terms of quick current controllability and easy implementation,
di− 1
HCC has highest rating among other methods such as sinusoidal- a
= − (0.5Vdc + Vs ) (13)
PWM and triangular current controller [24,25]. This section dt L
describes the fixed-HCC, adaptive-HCC and adaptive-fuzzy-HCC where L = phase inductance; (i+a ) and (ia ) are the respective rising
−
for active power filter. and falling current segments. From the geometry of Fig. 5, we can
write
3.2.1. Fixed-hysteresis current controller
di+
a di∗a
The fixed-hysteresis current controller is utilized indepen- t1 − t1 = 2HB′ (14)
dt dt
dently for each phase and directly generates the switching patterns
for the PWM-voltage source inverter [26]. It imposes a bang–bang di−
a di∗a
t2 − t2 = −2HB′ (15)
instantaneous control method that draws the APF compensation dt dt
current to follow its reference signal within a certain band limits. t1 + t2 = Tc = 1/fc (16)
The actual current iactual (t ) is compared with iref (t ) and the result-
ing error is subjected to a hysteresis controller to determine the where t1 and t2 are the respective switching intervals, and fc is the
gating signals of the inverter as shown in Fig. 4. modulation frequency. Adding (14) and (15) and substituting (16)
If the error current exceeds the upper limit of the hysteresis we can write
band, the upper switch of the inverter arm is turned OFF and di+ di− 1 di∗a
the lower switch is turned ON. As a result, the current starts to
a
t1 − a
t2 − = 0. (17)
decay. If the error current crosses the lower limit of the band, the dt dt fc dt
lower switch is turned OFF and the upper switch is turned ON. Subtracting (15) from (14), we get
As a result, the current gets back into the hysteresis band. This
switching performance is defined as di+ di− di∗a
a
t1 − a
t2 − (t1 − t2 ) = 4HB′ . (18)
dt dt dt
OFF if iactual (t ) > iref (t ) + H
S= . (11) Substituting (17) in (18), we get
ON if iactual (t ) < iref (t ) − H
di+ di∗a
The advantages of fixed-HCC are simple design and unconditioned a
(t1 + t2 ) − (t1 − t2 ) = 4HB′ . (19)
stability. However, this control scheme exhibits several unsatis- dt dt
factory features such as uneven switching frequency, difficult to Substituting (13) in (17) and simplifying,
design the passive filters system to suppress ripples in compensat-
di∗a /dt
ing currents. This unpredictable switching function affects the APF (t1 − t2 ) = . (20)
efficiency and reliability. Adaptive-hysteresis current controller fc (di+
a /dt )
overcomes the fixed-HCC demerits. This adaptive-HCC changes the Substituting (20) in (19), it gives,
bandwidth according to instantaneous compensation current vari- 2
ation. 0.125Vdc 4L2
Vs
HB =′
1− 2
+m . (21)
fc L Vdc L
3.2.2. Adaptive-hysteresis current controller
Fig. 5 shows current and voltage waves of the PWM-voltage Here, m = di∗a /dt is the slope of reference current signals. The
source inverter for phase a. The current ia tends to cross the lower hysteresis band HB′ can be modulated at different points of funda-
hysteresis band at point 1, where the transistor Q 1 is switched mental frequency to control the switching pattern of the inverter.
ON. The linearly rising current (ia +) then touches the upper band The bandwidth HB′ is applied to the variable HCC and it created by
at point 2, where the transistor Q 4 is switched ON. The linearly s-functions in Matlab to produce switching patterns. This switch-
falling current (ia −) then touches the lower band at point 3. The ing frequency of the inverter depends on the dc-side capacitor
K. P, K.K. Mahapatra / ISA Transactions 51 (2012) 163–169 167
1
Table 2 0.9
System parameters. 0.8
0.7
Parameters Values 0.6
0.5
Line to line source voltage (Vm ) 440 V 0.4
0.3
System frequency (f ) 50 Hz 0.2
Source impedance: Source resistor (RS ) 1 0.1
0
Source inductor (LS ) 0.1 mH 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
Non-linear load: Diode rectifier 6-diode 1
Load resistor (RL ) 20 0.9
0.8
Load inductor (LL ) 100 mH 0.7
Filter:Inductor (LF ) 1 mH 0.6
0.5
Resistor (RF ) 1 0.4
DC-side capacitance (CDC ) 2100 µF 0.3
Reference voltage (VDC , ref )
0.2
400 V 0.1
Power converter MOSFETs/diodes 0
0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
1
0.9
voltage and line inductance of the APF configuration. This adaptive- 0.8
0.7
HCC is having more switching power losses due to high frequency 0.6
0.5
and this problem is mitigated by the proposed adaptive-fuzzy-HCC. 0.4
The adaptive-fuzzy-HCC calculates the bandwidth effectively with 0.3
0.2
the help of FLC and reduces the switching power losses by optimiz- 0.1
0
ing switching frequency. 0 0.002 0.004 0.006 0.008 0.01 0.012 0.014 0.016 0.018 0.02
a 60
40
a
20
0
20
40
60
b 40
30
20
10
b
0
10
20
30
c 40
80
60
40
20
0
c
20
40
60
80
0.02 0.03 0.04 0.05 0.06 0.07 0.08 0.09 0.1
d
Fig. 7. Simulation results (a) source current before compensation (b) compensation
current (c) source current after active filter compensation.
Table 3
VDC settling time under various techniques.
e
Current controller VDC -settling time
PI FLC
Table 4
Real and reactive power measured under various methods.
f
Current controller Without APF With APF
PI FLC