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Alfonso Gil, 2015
Alfonso Gil, 2015
distortion in the filter output current. On another level, other Dealing with Se1 , it can be divided according to (5) by using
authors present in [16] a selective compensation using the IEEE the Fortescue transformation. Therefore, it is formed by its
Std. 1459 [17] to identify each of the nonefficient power terms positive-sequence component (S1+ ) and a second component
to be compensated. The authors use in that work a proportional including not only the negative and the zero sequences but also
current regulator and an SVPWM modulation, keeping con- the crossed products of the fundamental currents and voltages
stant, in that way, the switching frequency of the filter. Also, in of any sequence, (SU 1 ). The latter is usually associated to the
[18], the same authors propose another selective compensation unbalance of the system and is called unbalance power
strategy, but in this case, they generate the compensation cur- 2
rent references using the method of the equivalent conductance.
2
Se1 = S1+ + SU2 1 . (5)
Both strategies proposed in [16] and [18] perform an individual
or a combined compensation of the nonefficient powers, but In the same way, the term S1+ contains another two terms: a
none of them take into account the limitations of power that phase and a quadrature one, as shown in (6). These correspond
the filter can experience during compensation. to the fundamental positive-sequence active power (P1+ ), which
This paper proposes an optimization algorithm based on represents the transference of the actual useful energy, and to
linear matrix inequalities (LMIs) which, using the IEEE Std. the fundamental positive-sequence reactive power (Q+ 1 ), which
1459 to identify the different power terms, enables a selective represents the bidirectional energy flow due to the phase shift
compensation of the various nonefficient powers existing in between voltages and currents
2
the grid without exceeding the nominal power of the SAPF. 2
Moreover, this paper presents a proportional feedforward cur- S1+ = P1+ + Q+ 1 . (6)
rent regulator designed to control the selected and defined Moreover, some authors propose the decomposition of SU 1
compensation currents while keeping constant the switching into three different terms [19]. In order to derive these new
frequency of SAPF. terms, Ve1 and Ie1 , both introduced in (2), are divided according
This paper is organized as follows. Section II introduces to (7) and (8), respectively,
the theoretical foundations of the algorithm used to analyze
2
nonefficient phenomena. In Section III, the reference current 2
Ve1 = V1+ + (VU 1 )2 (7)
generation using the LMI strategy is described. Then, the SAPF 2
+ 2 2
Ie1 = I1 + IU 1 (8)
characteristics and the controller design are presented in Sec-
tion IV. Section V is devoted to presenting some compensation where V1+ and I1+ are the fundamental positive-sequence volt-
results. Finally, some conclusions are stated in Section VI. age and current and VU 1 and IU 1 are the fundamental unbalance
voltage and current, respectively. From (5) and taking into
II. T HEORETICAL B ASIS FOR THE G ENERATION account that S1+ can be expressed by the product of I1+ and
OF THE C OMPENSATION C URRENTS
V1+ , (9) is deduced
2
A. Breakdown of Power Terms According to IEEE SU2 1 = Se1
2
3V1+ I1+ . (9)
Std. 1459
Then, if I1+ and V1+ are isolated in (7) and (8) and substituted
The correct identification of the different power terms form- in (9), the latter can be rewritten as
ing the apparent power flowing through a line is the basis to 2 2
perform an optimal compensation of the nonefficient powers. SU2 1 = Se1
2
9 Ve1 VU21 Ie1 IU2 1 . (10)
The IEEE Std. 1459 defines the effective apparent power (Se )
as in (1), where Ve1 and Ie1 are the fundamental components Setting Se1 as a function of Ve1 and Ie1 , (11) is obtained
of the effective voltage and current and VeH and IeH are
SU2 1 = (3Ve1 IU 1 )2 + (3VU 1 Ie1 )2 (3VU 1 IU 1 )2 . (11)
the nonfundamental components of the effective voltage and
current, respectively. Thus, according to it, Se includes all the The aforementioned terms can be expressed by means of
power terms concerning efficient and nonefficient phenomena their symmetrical components. Hence, by using the Fortescue
that could be required by a generic three-phase load transformation, Ie1 is formed by the currents in
2
Se2 = (3Ve1 Ie1 )2 +(3Ve1 IeH )2 +(3VeH Ie1 )2 +(3VeH IeH )2 . 2
I1+ + I1 + 4 (I10 )
2
Ie1 = (12)
(1)
The first term belongs to the fundamental effective apparent where I1 and I10 are the fundamental negative- and zero-
power (Se1 ), defined as in (2), while the other terms belong to sequence components of current. On the other hand, using (8)
the nonfundamental effective apparent power (SeN ), defined as and (12), the currents included in IU 1 are defined in
in (3). Hence, (1) can be expressed as in (4) 2 2
IU2 1 = I1 + 4 I10 . (13)
2
Se1 = (3Ve1 Ie1 )2 (2)
Therefore, with (11) and (13), one can write the terms in SU 1
SeN = 9Ve1 2 I 2 + 9V 2 I 2 + 9V 2 I 2 (3)
eH eH e1 eH eH as in
2 2 0 2
Se2 = Se1
2 2
+ SeN . (4) SU2 1 = 9VU21 I1+ + 9Ve1 2
I1 + 36Ve1 2
I1 . (14)
ALFONSO-GIL et al.: OPTIMIZATION ALGORITHM FOR SELECTIVE COMPENSATION IN SAPF 3353
min r0 subject to :
Fig. 2. Resolution of the Se used to obtain the compensation currents x
of SAPF. 1
Pi x
> 0, i = 0 . . . p. (22)
xT ri
Regarding the nonfundamental effective apparent power
(SeN ), it is also divided into three terms: the current distortion Thus, this optimization problem is resolvable using well-
effective power (DeI ), the voltage distortion effective power known LMI solving tools such as Yalmip [22] or Sedumi [23].
(DeV ), and the harmonic effective apparent power (SeH ).
These are defined in (15)(17), respectively,
III. R EFERENCE C URRENT G ENERATION
DeI = 3Ve1 IeH (15) The generation of reference currents to introduce in the
SAPF is determined by the magnitude of the various nonef-
DeV = 3VeH Ie1 (16)
ficient powers that would be desirable to cancel but is also
SeH = 3VeH IeH . (17) limited by the nominal power of the SAPF itself. Measuring
the load currents and using the power definitions provided by
Thereupon, SeN quantifies the harmonic effective power the IEEE Std. 1459, the reference currents are calculated so as
consumed by the loads, which can be also quantified by to selectively compensate the different nonefficient phenomena
without exceeding the maximum rated current of the SAPF. To
IeH do this, a cost index to be minimized is formulated. This index
T HDeI = . (18)
Ie1 contains all the power terms to be compensated and assigns a
relative weight to each of them. It also takes into account the
Finally, Fig. 2 summarizes the different terms obtained from power limitation of SAPF. For the proper calculation of this
the Se decomposition. index, it is necessary to correctly identify the grid, the load, and
The selective compensation developed in this paper intends the SAPF phase currents.
to cancel the different nonefficient power terms (Q+1 , Su1 , and In this sense, (23) defines each of the SAPF phase currents
SeN ) separately or even a combination of them. (k = a, b, c) in rectangular coordinates, where the subscripts r
and i denote the real and the imaginary part, respectively
B. Quadratically Constrained QP Ik1 SAPF = Ik1r SAPF + jIk1i SAPF . (23)
Once the various nonefficient power terms are identified,
some tool is required in order to generate the optimal com- On the other hand, (24) defines the rms value of the SAPF
pensation current references to introduce in the SAPF. In this phase currents
case, this work uses the quadratically constrained quadratic
programming (QP) and, more precisely, the transformation of Ik2 SAPF = Ik1
2 2
SAPF + IkH SAPF (24)
an optimization problem into a LMI problem, which is an
where Ik SAPF is the rms value of the total current for each of
efficient and elegant way of solving this type of challenges.
the SAPF phases and IkH SAPF is the rms value of the total
To do that, note the simplification of a generic quadratically
harmonic content existing in those phase currents.
constrained QP problem introduced in [20] and defined in
In the same way, (25)(28) define the fundamental and the
rms currents for both load and grid phases, respectively
min xT P0 x subject to
x
Ik1 load = Ik1r load + jIk1i load (25)
xT Pi x ri , i = 1 . . . p. (19)
Ik2 load = Ik1
2 2
load + IkH load (26)
If the different Pi matrices are positive definite, the Schur
complement [21], which allows transforming the quadratic con- Ik1 s = Ik1r s + jIk1i s (27)
straints into LMIs, can be applied. This transformation yields
1 Ik2 s = Ik1
2 2
s + IkH s . (28)
Pi x
ri x Pi x > 0
T
>0 (20)
xT ri According to the sign criteria defined in Fig. 1, the resulting
current at the PCC can be written as in
where the inequality sign indicates that the matrix is positive
definite. The same transformation can be applied to the cost Ik1 load = Ik1 SAPF + Ik1 s . (29)
3354 IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, VOL. 62, NO. 6, JUNE 2015
Finally, it is to be noted that, provided that all the harmonic D. Apparent Power Due to Current Harmonics
currents have been included within a single term, it makes no
The current harmonic evaluation is global, i.e., without dis-
sense to operate with current phasors and it is preferable to use
tinguishing the harmonic order, as defined in the IEEE Std.
the rms values instead.
1459. Therefore, taking again into account the current signs
defined in Fig. 1 at the PCC, (33) can be written
A. Constraints
ikH load (t) = ikH SAPF (t) + ikH s (t). (33)
Once the different phase currents have been defined, the
constraints of the problem have to be set. In this paper, the main To the same extent, (34) defines the value of the harmonics
constraint introduced is associated to the limitation in the rms introduced by the SAPF as a ratio of the load harmonics
total phase-current value defined for the SAPF, i.e.,
ikH SAPF (t) = ikH load (t) (34)
Ik SAPF Imax where is a variable defined between 0 and 1 which will
determine the harmonic compensation level for each of the
where Imax is usually defined as the rms SAPF nominal current. phases. In this way, it can be guaranteed that the effective
This inequality can also be rewritten as in harmonic current value will be as in
2
Ik1r 2 2
SAPF + Ik1i SAPF + IkH SAPF Imax
2
. (30) IeH SAPF = IeH load . (35)
where a = e(2/3)j . One can observe how this problem con- E. Active Power Delivered by the SAPF
tains complex variables and quadratic constraints that require
some treatment to become a resolvable LMI problem using the Finally, the SAPF could also control the active power ex-
tools introduced in Section II-B. This transformation is detailed changed with the grid. This power is set to a null value if the dc
in the coming sections. bus of the SAPF is formed by capacitors, given that any active
power exchange would modify the bus voltage dramatically.
Conversely, if the dc bus is formed by an energy storage sys-
C. Fundamental and Positive-Sequence Reactive Power tem presenting a significant energy capacity (batteries, super-
caps, etc.), some control strategies can be implemented in the
To improve the power factor of the system, the fundamental SAPF to also manage the fundamental active power exchange
and positive-sequence reactive power can be calculated as in (Pref SAPF ). This power can be written as a function of the
optimization variables as in
Q+ + I+ .
1 = 3 Im V1 1 (32)
Pk1 SAPF = Re Vk1 s Ik1 SAPF (40)
Therefore, if the unique goal of the SAPF was, in this case, Pa1 SAPF + Pb1 SAPF + Pc1 SAPF = Pref (41)
SAPF
to minimize this power, Q+ 1 , a new optimization problem that
used the same constraints as that in (31), could be defined, but where Vk1 s is the fundamental voltage for each of the grid
this would incorporate (Q+ 2
1 ) as the cost index instead. phases.
ALFONSO-GIL et al.: OPTIMIZATION ALGORITHM FOR SELECTIVE COMPENSATION IN SAPF 3355
Fig. 3. Schema of connection of the complete experimental system. Fig. 5. Block diagram of the feedforward current regulator.
1
B. Current Controller 1 + P GoL (s) = 1 + P kP W M = 0 (55)
R k + Lk s
A current regulator quick enough to correctly track the cur-
rent references and thus properly perform the nonefficient phe- |Rk + Lk s|
|P | = = 11.6. (56)
nomenon compensation has been designed and implemented. kP W M s=4/tst
ALFONSO-GIL et al.: OPTIMIZATION ALGORITHM FOR SELECTIVE COMPENSATION IN SAPF 3357
Fig. 6. Grid and SAPF neutral current transient during the connection
Fig. 7. Grid and SAPF neutral current transient during the connection
of the SAPF for a global compensation (simulated results).
of the SAPF for a global compensation (experimental results).
Fig. 8. Grid currents after compensation with KU = KQ = KH = 1. Fig. 10. Grid currents after compensation with KU = 1000, KQ =
1000, and KH = 1.
TABLE II
P OWER T ERMS OF THE G RID C URRENTS A FTER S ELECTIVE
C OMPENSATION (SAPF O UTPUT C URRENT L IMITED TO 1.4 A RMS )
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vol. 60, no. 7, pp. 27212730, Jul. 2013. Jos Carlos Alfonso-Gil received the M.E.
[4] F. Briz, P. Garcia, M. W. Degner, D. Diaz-Reigosa, and J. M. Guerrero, degree in automation and industrial electronics
Dynamic behavior of current controllers for selective harmonic compen- engineering from the Universidad Politcnica de
sation in three-phase active power filters, IEEE Trans. Ind. Appl., vol. 49, Valencia, Spain, in 2004 and the Ph.D. degree
no. 3, pp. 14111420, May/Jun. 2013. in electronics engineering in 2010.
[5] J. He, Y. W. Li, and F. Blaabjerg, Flexible microgrid power quality Since 2007, he has been an Assistant Profes-
enhancement using adaptive hybrid voltage and current controller, IEEE sor in the Electrical Engineering Area at the Uni-
Trans. Ind. Electron., vol. 61, no. 6, pp. 27842794, Jun. 2014. versitat Jaume I, Castellon de la Plana, Spain.
[6] S. Orts-Grau et al., Improved shunt active power compensator for IEEE His major fields of interest are active power
Standard 1459 compliance, IEEE Trans. Power Del., vol. 25, no. 4, filters, control of power converters, renewable
pp. 26922701, Oct. 2010. energy systems, and microgrids.
ALFONSO-GIL et al.: OPTIMIZATION ALGORITHM FOR SELECTIVE COMPENSATION IN SAPF 3361
Emilio Prez received the M.Sc. degree in in- Hector Beltran received the M.Sc. degree in in-
dustrial engineering from the Universitat Jaume dustrial engineering from the Universitat Jaume
I (UJI), Castellon de la Plana, Spain, in 2002 I (UJI), Castellon de la Plana, Spain, in 2004
and the Ph.D. degree in control engineering and the Ph.D. degree in electrical engineer-
from the Universidad Politcnica de Valencia ing from the Technical University of Catalonia
(UPV), Spain, in 2011. (UPC), Spain, in 2011.
From 2002 to 2006, he worked with the Pre- In 2003, he worked at the European Cen-
dictive Control and Heuristic Optimization group tre for Nuclear Research (CERN), Geneva,
at UPV. Since 2006, he has been with the Switzerland. From 2004 to 2006, he worked
Electrical Engineering Area at UJI, where he at the Institute of Energy Technology, Valencia,
is currently an Assistant Professor. His current Spain. Since 2006, he has been an Assistant
research interests include model predictive control, convex optimization, Professor in the Electrical Engineering Area at UJI. His current research
control of PV plants with energy storage, and active power filters. interests include massive PV integration into the electric power system,
energy storage systems, and microgrids.