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Advances in Electrical and Computer Engineering
Hysteresis Current Control of the Single-Phase
Voltage Source Inverter Using eMEGAsim
Real-Time Simulator
Aurel BOTEZAN1, Radu TIRNOVAN1, Radu MUNTEANU1, Adrian GRAUR2, Dan RAFIROIU1
1
Technical University of Cluj-Napoca, 400114, Romania
2
Stefan cel Mare University of Suceava, 720229, Romania
aurel.botezan@enm.utcluj.ro
1
Abstract—The paper presents the hysteresis current control
of the voltage source inverter. The eMEGAsim real-time
simulator is developed by OPAL-RT. Real-time simulation is
used in many cases because it allows the behavior of the
industrial processes operation to be determined. Two research
directions are developed in this case, Rapid Control
Prototyping and Hardware-In-the-Loop. Using eMEGAsim
simulator allows implementing the command and control
strategy of a single-phase voltage source inverter. At this stage,
the real-time behavior of operation is monitored, because the
voltage source inverter will be the part of a single-phase shunt
active filter. In order to command and control the voltage
source inverter, the current and voltage signals are acquired,
since these signals are necessary to estimate reference signal.
Extension of the Instantaneous Reactive Power Theorem is
used because this theorem is suitable for single-phase active
filter control. To test the real-time command and control
strategy implemented, it was used a low power single-phase
voltage source inverter (full bridge).
Index Terms—hysteresis current control, voltage source
inverter, real-time simulation, rapid control prototyping.
I. INTRODUCTION
Power quality is a responsibility for both, the electricity
provider and the consumer. In most cases, the consumer of
electricity is responsible for altering the power quality in the
point of common coupling (PCC). Regarding power quality
issues, harmonics have a significant importance, because
many of the industrial consumers (over 60% of installed
power at industrial consumers) contain non-linear loads,
electric motor and static power converter systems [1-3]. One
of the harmonics mitigation methods is to use active filter,
which has a static frequency converter component. So, the
use of static converters in variable speed drives, on the one
hand, leads to harmonics, but on the other hand, these
devices are used for harmonics mitigation.
The power static converters used within the active
systems for harmonics mitigation [4], can be either current
source inverter type (Fig. 1, a) or voltage source inverter
type (Fig. 1, b).
In the first case, the supplying DC bus bar is current
source type and voltage source type in the second case.
Due to the inductivity of the distribution system and to
the energy storage element, on the output side of the current
source inverter capacitors are installed in order to obtain
1
This paper was supported by the Post-Doctoral Programme
POSDRU/159/1.5/S/137516, project co-funded from European Social Fund
through the Human Resources Sectorial Operational Program 2007-2013.
Digital Object Identifier 10.4316/AECE.2015.03014
1582-7445 © 2015 AECE
Volume 15, Number 3, 2015
current pulses.
Due to complicated control circuits, coil size and losses
this configuration (Fig. 1, a) is less used in practical
applications, mainly for applications including energy
storage systems based on superconducting materials
(Superconducting Magnet Energy Storage Systems -
SMECS).
a) b)
Figure 1. Schematic diagram of the static power converters: a) current
source inverter, b) voltage source inverter
Specific to the circuit in Fig. 1, b is the voltage source
which supplies the static converter. The voltage source type
is given by an important capacitor connected on the DC bus.
The switches of the converter are bidirectional ones,
obtained by reverse parallel connecting a power electronic
device (IGBT, GTO, MOSFET etc.) and a switching diode.
The structure shown in Fig. 1, b is the most often used in
practical applications.
II. STRATEGIES FOR COMMAND AND CONTROL
The aim of active filters control is to generate signals for
switching power devices in accordance with the estimated
reference signal. Active filter performances are significantly
influenced by the choice of control techniques. For active
filter applications, a variety of control techniques can be
specified: linear control [5-8], hysteresis control [9-12],
digital deadbeat control [13-17] etc.
A. Linear control technique
Linear control is accomplished using a negative feedback
system as shown in Fig. 2. The compensation signals current
i f or voltage u f , are compared with their estimated reference
signal, current i f,ref , or voltage u f,ref respectively. The
comparison is performed by the compensated error amplifier
which generates the control signal. The resulting control
signal is then compared with a saw-tooth signal within the
PWM controller which finally generates the firing signals of
power switching devices [5-8]. The frequency of the saw-
tooth signal determines the switching frequency. This
frequency is maintained constant. As can be seen from Fig.
3, firing signals of the power switching devices are set to
high (switch is ON) when the value of the control signal is
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Advances in Electrical and Computer Engineering
greater than the saw-tooth signal and vice versa.
To determine the compensation of the desired feedback
loop and to obtain desired transient and steady response,
Nyquist's stability criterion and Bode diagrams are used.
Figure 2. Block diagram of linear control technique: ECA - the error
correction amplifier, AF – active filter
sawtooth control
signal signal
t For the harmonic compensation by using active systems,
command
signal
 
Figure 3. Control signal generation using a linear controller
By using analogue PWM circuits, the implementation
method is relatively simple and the response is fast [18].
However, due to inherent problems of analog circuits, linear
control techniques have poor performances in applications
specific to harmonic compensation. This is due mainly to
the limitation of the bandwidth, technically feasible, of the
error correction amplifier [19].
B. Hysteresis control technique
Hysteresis technique [9-12], [20] assumes instantaneous
control of the current i f or voltage u f between two limits
around the reference signals (i f, ref or u f, ref ). The deviation is
imposed by the choice of hysteresis bandwidth. Control
principle is illustrated by block diagram in Fig. 4.
+H/2
if,ref or uf, ref error gate signal
Σ
-H/2
HR
Figure 4. Block diagram of hysteresis control technique: RH-hysteresis
relay, AF – active filter
This control technique requires a deviation H of a
reference signal i f,ref or u f,ref which determines the upper and
lower limits of the hysteresis band. Output signals, i f or u f ,
are measured and compared with their reference value i f,ref
or u f,ref , the resulting error being applied to a controller with
a hysteresis relay characteristic. This generates firing signals
for power switching devices when the lower (estimated
reference – H/2) or upper (estimated value of reference +
H/2) limit are achieved. As long as the error is within the
hysteresis band, the power switching devices will not be
switched. Switching occurs when the error reaches the
hysteresis band. Active filter is controlled so that the peak-
to-peak value of the compensation signal, current or voltage
is limited to the specified hysteresis band H.
The proposed scheme is implemented with hysteresis
current controller with fixed band H. To obtain a
compensated current i f with a current ripple as low as
100
Volume 15, Number 3, 2015
possible, the value of H should be as small as possible. This
will lead to high variable switching frequencies with effects
on the switching losses which dramatically increase.
Advantages of using the hysteresis current control are
related to the excellent dynamic performance and to the
ability to control the peak-to-peak value of the current ripple
within the specified hysteresis band [18, 19], [21].
Implementation of this control technique is simple thanks to
the controller structure in Fig. 4.
However, the hysteresis control has several unsatisfactory
features. The main disadvantage is that it results in a
variable switching frequency. On the other hand, irregular
switching may affect the efficiency and reliability of active
filter [19].
III. REFERENCE SIGNAL ESTIMATION
the shunt active filter, made with a voltage source inverter,
is the solution which currently meets most of the advantages
and has the fewest disadvantages. Considering the block
diagram shown in Fig. 5, the relationship between the
currents in PCC can be written:
is  iL  i f . (1)
The goal of an active filter is to obtain a sinusoidal
current drawn from the source [22-25], based on (1).
iS iL
~
Ls if
Gs NL
Lf
C
G1
Figure 5. Block diagram of active filter with voltage source inverter
Nonlinear load input current can be expressed taking into
if or uf
account of the fundamental current component i L,1 and the
harmonic current components i L,h :
i L  i L ,1  i L, h . (2)
AF
The current which will be compensated is represented by
the sum of the harmonic components of the load current,
without the fundamental sinusoidal component. Thus, one
can express the current which will be generated by the
active filter:
i f  i L,h . (3)
The current drawn from the power supply by the
nonlinear load when the active filter operates will result:
i s  i L  i f  i L,1  i L,h  i L, h  i L ,1 , (4)
which is only the fundamental of the load current [25].
Reference current estimation, can be achieved by using
the harmonic analysis in frequency or time domain. If in the
first case the Fourier Transform can be used for harmonic
analysis, in the second case, the Instantaneous Reactive
Power Theory developed by Akagi can be successfully used
[26-29].
When the active filter is used in single-phase grids, e.g. in
systems where energy is supplied by a low power
photovoltaic systems, the estimation of the reference current
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Advances in Electrical and Computer Engineering Volume 15, Number 3, 2015

is accomplished using the extension of instantaneous q L  U PCC  I L,1  sin( U  1 ) 

reactive power theory. Thus, in the case of nonlinear loads ; (14)
supplied from a single-phase grid, the load input current can  U PCC  I L,1  sin( 2    t   U  1 )
be expressed as: 

~
 q L    2  U PCC  I L , N 
. (15)
i L t    2  I L , N sin N    t   N  , (5) N 2
N 1  sin(  t   U )  sin( N    t   N )
where φ N is the phase angle of the Nth harmonic component The load current components, active iL , p , imaginary iL, q
of the load current.
In normal conditions, the supply voltage is sinusoidal and harmonic iL, h can be computed by using (16), (17) and

uPCC t   2  U PCC  sin t  U  , (6) (18) respectively:

where φ U is the phase angle of supply voltage. pL
i L , p (t )  2   sin(  t ) ; (16)
Therefore the instantaneous active power on the load side U PCC
[5] can be expressed as: qL
pL t   u PCC t   iL t   pL  ~ pL . (7) iL , q (t )  2 
U PCC
 sin(  t  900 ) ; (17)
The instantaneous imaginary power on the load side is:
i L , h (t )  i L (t )  i L , p (t )  i L , q (t ) . (18)
qL t   u PCC ' t   iL t   qL  q~L , (8)
~ ~ The reference value of the compensation current is then
where p , q and p , q are the DC components and AC
L L L L
computed as:
components respectively of the instantaneous powers and i f , ref  iL, q  iL, h  I C 2  sin   t  , (19)
'
u PCC t  is the supply voltage in PCC delayed by 900:
where I C 2 is the RMS value of the DC bus capacitor

u ' PCC t   2U PCC sin t   U  90 0 . (9)  charging current.
Substituting (5) and (6) in (7) instantaneous active power
can be written: IV. THE EXPERIMENTAL MODEL
p L  2  U PCC  sin(  t   U )  Real-time simulation is a procedure which can be used for
 { 2  I L ,1  sin(  t  1 )  validation of designed system, before the physical execution

of an experimental model. In this stage the prototype is
  2  I L, N  sin( N    t   N )}  , (10) tested to obtain the real-time behavior of the model, so that
the testing operations and any adjustments will be made to
N 2
 2  U PCC  sin(  t   U )  I L ,1  sin(  t  1 )  the model of the prototype. Thus, important amount of time

and money can be saved. With the real-time simulator
  2 U PCC  I L, N  sin(  t  U )  sin( N    t   N ) eMEGAsim developed by OPAL-RT, the real-time behavior
of the model developed in Matlab-Simulink shall be tested.
N 2
where the two components, DC and AC are on the right side Schematic diagram of the experimental model is shown in
of the last equality. After transformation of sine functions, Fig. 6.
we obtain the following relations:
p L  U PCC  I L ,1  cos( U  1 ) 
; (11)
 U PCC  I L ,1  cos(2    t   U  1 )

 2 U PCC  I L, N 
~
pL 
N 2 . (12)
 sin(  t   U )  sin( N    t   N )
By considering (5) and (9), the instantaneous imaginary
power on load side (8) can be expressed:
q L  2  U PCC  sin(  t   U  90 0 ) 
 { 2  I L ,1  sin(  t  1 ) 

  2  I L, N  sin( N    t   N )}  , (13)
N 2
 2  U PCC  cos(  t   U )  I L,1  sin(  t  1 )  Figure 6. Schematic diagram of low power active filter: A1 - OPAL-RT
platform; D – MOSFET’s drivers; G1 – voltage source inverter; G2 -

rectifier; PC – personal computer; U1, U3, U6 – voltage transducers; U2,
  2 U PCC  I L, N  sin(  t  U )  sin( N    t   N ) U4, U5 – current transducers; V5 – integrated circuit for MOSFET’s
N 2 current protection; Z1...Z6 – low – pass filters
consequently, DC and AC components are (14) and (15)
respectively, The main parts of the schematic diagrams are the power
supply, consisting in a 230/24 V transformer, the nonlinear
load fed by the rectifier G2, voltage and current transducers

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Advances in Electrical and Computer Engineering Volume 15, Number 3, 2015

U1 … U6 , analog low-pass filters, Z1 ... Z6 (2 kHz cut-off
frequency), OPAL-RT platform, PC, the voltage source
inverter G1. This inverter is made by using an integrated
power module (L6203). The real-time simulator eMEGAsim
is used for modeling the control block of the voltage source
inverter, including the firing pulses.
The paper presents the results concerning the proper
operation of the control system but without being connected
in PCC. To the output of the voltage source inverter a 20 Ω
resistor – R is connected, in series with the inductivity L3.
In accordance with the integrated circuit L6203 data
sheet, the maximum output voltage is 60 V (peak-to-peak
value) and the maximum current is 5A. The supplying
voltage is get from the C2 capacitor. As the voltage source
inverter is not connected to the PCC, the DC bus will be
externally supplied with a 36 V voltage. Consequently, the
charging capacitor controller is not used.
relay “RT_Event_Hysteresis_Controller”. Thanks to the
particular features of the L6203 integrated circuit and for
reducing the output current ripple, three level control of the
inverter is generated. Consequently, the command is
performed different, depending on the sign of the reference
voltage. During the positive half periods, for increasing the
output current the V1 and V4 switches are ON. For
decreasing the output current during the positive half
periods of the voltage, the V3 and V1 switches are ON
(previously, the switch V4 was switched OFF). During the
negative half periods of the voltage, for decreasing the
output current, the V2 and V3 switches are ON. For
increasing the current, the V2 is switched-off and V1 is
switched-on, V3 being always ON.
1
i_ref
1 (conv)
1
i_fa_ref1
Constant RTE Conversion

The values of the circuit elements used for the 2

i_fa_ref2 IN1
Iref RTE Switch
experimental model are the ones in the Table I.
g
The model developed firstly in Matlab-Simulink was 3 Ia
Not
i_fa
adapted in accordance with the requirements of the RT-LAB Rt Event
Hysteresis Controller RTE Logical Operator
IN2

application for real-time simulation. The model used for the RTE Switch
1 (conv)
command and control of the voltage source inverter is Constant u_sync
RTE Conversion
shown in Fig. 7. 4
u_sync
ARTEMIS Guide
Discrete, VSI_control Ts = 20 us 5 EN
Ts = 2e-005 s -InitFcn … Ts = 20e-6 RTE : Off EN

Synchronization
powergui Model Initialization
Figure 8. “Hysteresis control” block
i_L i_L

u_pcc u_pcc “Synchronization” block (Fig. 9) generates the gate

i_L
Opmonitor_SM signals for the power devices (V1, V2, V3 and V4) by
u_c2 Opmonitor_SM
u_pcc converting the “RTE” signals to signals generated on the
i_ref
EN u_c2 i_ref
digital outputs of the board, synchronized with
iL_comp synchronization voltage u sync .
i_fa EN
1 States
iL_comp i_fa IN1 RTE
u_s i_fa Times
u_s RTE Switch
SM_control RTE Conversion IN1

i_s i_s
States OP 5110-5120
Opmonitor_SS Opmonitor_SS Event Generator
Times Port: D
SS_aquisition 2
IN2
SC_user_interface
3 Convert States
u_sync S Q double RTE
Hit
Figure 7. The model used for command and control of the VSI crossing Times
RTE Switch
Switch RTE Conversion IN2
TABLE I. THE VALUE USED FOR EXPERIMENTAL MODEL 4 (conv) [R] !Q
T
Electrical EN States OP 5110-5120
No. Element Symbol RTE Conversion Discrete Event Generator
characteristic Monostable Discrete Times Port: D
Bistable
1. Supply inductor L1 0,01 mH
Nonlinear load AC smoothing
2. L2 1,15 mH States
inductor RTE
Times
Interfacing inductor, for connection RTE Switch
RTE Ground RTE Conversion EN
3. in PCC of the voltage source L3 2 mH OP 5110-5120
inverter OpSync
Board index: 15 OP 5110-5120
Nonlinear load DC smoothing States
4. C1 1000 μF OP 5110-5120 OpSync Event Generator
capacitor Times Port: D
5. DC bus capacitor C2 4700 μF Figure 9. “Synchronization” block
6. Load resistor R1 20 Ω
The eMEGAsim simulator is used in HIL configuration to
The model consists of three subsystems: “SS_aquisition”, estimate the reference current and VSI command. In this
“SM_control” and “SC_user_interface” respectively. configuration it is possible to measure all the signals in real-
The mathematical model described for reference current time frame. Thus, waveforms of signals acquired in real-
estimation has been implemented in sine reference generator time operation are plotted in Fig. 10 (supply voltage in the
block and the current reference calculation blocks. PCC), Fig. 11 (the nonlinear current drawn by the load in
The firing pulses are generated by the “Hysteresis the PCC) and Fig. 12 (the current generated by the VSI).
control” block (Fig. 8). The hard consists of the bipositional Fig. 13 plots the waveform of the estimated reference

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Advances in Electrical and Computer Engineering Volume 15, Number 3, 2015

current. 4

For real-time operation, two time steps were tested, 20 μs 3

and 15 μs respectively. The resulted waveforms of the

2

Current [A]
reference and real current are plotted in Fig. 14 and Fig. 15. 0

Comparing Fig. 14 and Fig. 15 it can be seen that, as -1

expected, for 15 μs, the switching frequency is higher (4.1 -2

ref. current
kHz) with positive effects on the current ripple (from 1 A
-3
VSI current
-4
peak-to-peak to about 0.7 A). 0.2 0.202 0.204 0.206 0.208 0.21
Time [s]
0.212 0.214 0.216 0.218 0.22

Under these operating conditions, several overruns of Figure 15. Current generated by the VSI, against with its estimated current
computing time were recorded compared with the reference with 15 μs time step
simulation time step.
Consequently, it is not certain that obtained results
40

30
guarantees the correctness of the command and control
20 strategy in the real-time operation.
10 The results obtained with the eMEGAsim simulator were
Voltage [V]

0
compared with the waveforms acquired by a classic
-10

-20
measurement device: Fluke 196 scope. The voltage signals
-30 were directly measured, without using any transducer. The
-40
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34
current signals were acquired by using the current
Time [s]
transducers (LA25-P), the same as for eMEGAsim
Figure 10. Supply voltage in PCC
interfacing. In accordance with the current transducer data
6
sheet and calibration procedure a scaling factor of 0.85 must
4
be considered.
2
The output current of the VSI, measured by the scope (by
the way of LA25-P current transducer), when the sampling
Current [A]

0
time is 20 μs, is plotted in Fig. 16. For sampling time of 15
μs (Fig. 17), the results previously obtained are confirmed
-2

-4
by the scope measurements (higher switching frequency and
-6
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34 lower current ripple).
Time [s]
 

4
Figure 11. Nonlinear current drawn by the load in PCC Input B

2
3

2
0
1
Current [A]

0 -2
-1
2 ms/Div
-2 -4    

-3 Figure 16. Current generated by the VSI, with 20 μs time step, measured
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34
Time [s] with the oscilloscope Fluke 196
Figure 12. Current generated by the VSI  

4
Input B
3

2 2

1
Current [A]

0
0

-1
-2
-2
2 ms/Div
-3
0.2 0.22 0.24 0.26 0.28 0.3 0.32 0.34
-4  

Time [s]
Figure 17. Current generated by the VSI, with 15 μs time step, measured
Figure 13. Estimated reference current
with the oscilloscope Fluke 196

3
ref. current
2 VSI current
V. CONCLUSION
1
Real-time simulation is a procedure used to test the real-
Current [A]

time behavior of a model developed in Matlab-Simulink or

0

-1
the experimental model respectively. The real-time
-2
simulator eMEGAsim was used for testing the command
-3
0.2 0.202 0.204 0.206 0.208 0.21 0.212 0.214 0.216 0.218 0.22 and the control strategy of the VSI used as active filter. The
Time [s]

Figure 14. Current generated by the VSI, against with its estimated current
technique for estimating the reference current and the
reference with 20 μs time step current control by a hysteresis controller were implemented.
The RT-LAB software allows also the real-time

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Advances in Electrical and Computer Engineering Volume 15, Number 3, 2015

visualization of measured parameters. They were compared [14] S.I. Hamasaki, A. Kawamura, “A Novel Method for Active Filter
Current Regulation using Deadbeat Control,” Electrical Engineering
with the ones obtained by using a classic measurement in Japan, vol. 145, no. 2, pp. 67-77, Nov. 2003, doi:
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different sampling periods. For the higher value (20 μs) the [15] M. Monfrared, H. Rastegar, H.M. Kojabadi, “A Simple and Efficient
Control Strategy for Four-Switch Three-Phase Power Converters,”
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lower value of the sampling time (15 μs). 54-58, 2010. [Online]. Available:
Further research will be focused on the behavior of the http://dx.doi.org/10.4316/AECE.2010.01009
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Control Implementation with Robust Deadbeat Algorithm for Shunt
Single-Phase Voltage-Source Type Active Power Filter,” in IEE Proc.
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