A Control Strategy Based on Extended p-q Theory Usable in Parallel
Active Filters
M. TARAFADR HAQUE
Ahar Azad Universit
Ahar. Iran
Tel./Fax.:(98)-41 1-3300819
e-mail: tarafdara&,tabrizu.ac.ir
Abstract - The combination of extended p-q theory
and quasi-instantaneous positive sequence extraction of
utility voltages for controlling of parallel active filters
(PAFs) is presented. The implementation of this method
is ver easy and it does not need phase lock loop (PLL).
Operation of PAF using this method compensates for
reactive power, current harmonics and imbalance
currents of a non-linear load in three-phase three-wire
harmonic polluted and/or imbalance utility voltage case.
Problem of generating three phase balanced reference
currents of extended p-q theory has been solved.
Analvtical calculations have been used to explain the
dynamic response of presented control strategy and
simulation and experimental results have been used to
confirm the validity of its operation.
Index Terms -extended pq theory, parallel active filter,
reactive power, harmonics, imbalance
I. INTRODUCTION
Distribution electrical systems suffer from increasing of
imbalance and non-linear loads. Using these loads results in
excessive current hanmonics, reactive power burden and
current imbalance in the utilitx. It is possible using parallel
active filters (PAFs) to suppress these problems. The
efficiency of operation of PAFs in solving the above
mentioned power qualitv related subjects could be
increased using suitable control strategy. The most
important feature of these control strategies is generating of
reference compensating currents of PAF. Different control
strategies have been presented for controlling of these
systems but most of them are based on considering
balanced and sinusoidal utility. voltage case [1-2J. This
subject is valid even about p-q theory, which is the most
popular control metlhod of active filters [31.
On the other hand in distribution systems. voltage
imbalance and voltage harmonics usuall exist and they
influence the performance of control strategy of PAFs.
There are some valuable researches on presentation of
extelnsion p-q theory to make it more general than before
such as [4] and [5]. Operation of PAF according to this
theory results in compensation of instantaneous reactive
power and current harmonics of a nonlinear load in
imbalance and /or distorted utility voltage. The most
important deficiency of this method is generating non-
0-7803-8304-4/04/$20.00 @02004 IEEE 791
balanced reference source side currents in non-balanced
utility side voltage case.
This paper presents a nex- control strateg- for PAFs that
is based on combination of extended p-q theory and
instantaneous positive sequence extracting of supply
voltages. The presented method can be used in a harmonic
polluted and/or imbalance supply voltage case for
suppressing of current lhannonics and reactive power,
successfully. This method does not need phase lock loop
(PLL) and guarantees generation of balanced three-phase
currents in the utility side. too.
II. EXPLANATION OF CONTROL STRATEGY
Fig. 1 shows the presented control circuit. The basic idea
is similar to [4] except than using quasi-instantaneous
positive sequence of utilitNp voltages instead of "'utilitv
voltages" by, control circuit. The terms of ia(t) and ib(t) are
the load side currents in the phases a and b, respectively.
va(t). vb(t) and v7(t) are the utility side voltages in the
phases a. b and c. respectively. vla(t). vlb(t) and v71c(t) are
the instantaneous positive sequence of fundamental
frequency of the utility side voltages in the phases a. b and
c. respectively and N la(t)* 1lb(t) and v'1(t) lags from vNa(t),
X lb(t) and vl,(t) b,+ g/2, respectively. p(t) and P show the
instantaneous active power and its DC value, respectively.
isoa (t) alld 'soub(t) are the source side currents in the
phases "'a" and "'b", respectively. iconmpa (t)0 'compb (t) and
icompc(t) shows the reference compensating currents of
PAF in the phases a, b and c, respectivelv. The first part of
circuit. generate positive sequence of fundamental
frequency of the utility, side voltages. instantaneouslv.
Using the control blocks of "22t/3 phase lead/lag" is similar
to the operation of operator of " a " that is defined by the
following equation in syimmetrical component theonr.
'r
(1)
Using low pass filter (LPF) results in rejection of voltage
harmonics. In this way. it is enough considering only- the
fundamental frequency of utility side voltages in the
operation of control circuit. Following sections explains the
operation of "2X/3 phase lead/lag" and LPF control blocks.
respectively.
 a
Fig. 1. Extension p-q theor, based control strategy of PAF
HII. 2i/3 PHASE LEAD/LAG CONTROL BLOCKS
The operation of "'2n/3 Phase Lag" and "27t/3 Phase
Lead"' control blocks of Fig. 1 result in 27X/3 phase lag and
phase lead of Vb and vx in quasi-instantaneous manner.
respectively. Fig. 2 slhows the operation of 'i2 /3 phase
lead" control blocks of Fig. 1 in detail. The terms of v-(t)
and vo+(t) are as input and output functions of this block.
The magnitudes of K and T are - 7/2 and 1/c1
respectively. The tenr of c1 shows the fundamental
angular frequencv.
Fig. 2. Explanation of 2 i /3 phase lead control block
The relation between vi(t) and vN+(t) in the time domain
can be explained using eq. (2) (see APPENDIX I for
details).
vo+(t)= ( 22 ) vi(t)
-vw1e- at vi(T).e 1dt
0
The first term of tlins equation is a proportional term
wlile the second tenn slhos a damping transient case.
respectively. Eq. (3) explains the relation between input and
output functions of -2 /f /3 plhase lag" blocks of Fig. 2. This
equation is obtained in a similar manner as eq. (2) by
changing the value of K to .3/2. The term of vo-(t) stands
for the output of 2 7 /3 phase lag control block.
vo-(t)= - v (t)2+V e v-(T).e"Id- (3)
Using eq. (2). eq. (3). Fig. 1 and considering the
operation of low pass filter (LPF) in rejection of all of
hanmonics: it is possible to obtain eq. (4). It should be
noticed that the base frequency of LPF is set on
fundamental frequenc- of utilitv side voltage.
Via(t)= [ Va(t) + Vb+(t) -2 vC(t) +
2
43 co,e t J(v2c-}r) - Vb+ (T)) e lr dt] (4)
o
The last term of eq. (4) shows a damping transient case
with the time constant of I/o 1 and this is the reason of
using the term of quasi-instantaneous in this paper. Of
(2) course, considering the value of fundamental frequency (i.e.
50-60 Hz). show that this term diminishes in half cycle of
fundamental frequency to less than 5% of its initial value.
792
Eq. (4) can be used to explain the operation of presented
method in the transient and/or steady state cases. It is easy
showing that the operation of this part of control circuit
results in rejection of instantaneous zero and negative
sequence of utility side voltages [6-8].
IV. EXPLANATION OF OPERATION OF LOW PASS
FILTER (LPF)
The control block of LPF that is shown in Fig. 1 consists
of series connection of four LPFs bv itself. This circuit is
shown in Fig. 3 in detail.
This equation shows that the fundamental frequenc+ of
input signal of LPF passes through filter without any phase
shift and magnitude change. Of course this operation need a
small transient term that is shown by the second term of eq.
(9).
V. OBTAINING THIE COMPENSATING VOLTAGES
USING EXTENDED p-q THEORY
It is possible writing the following equations using
extended p-q theoryr. These equations are similar to [5].
p(t)= vla(t) ia(t) + A) b(t) ib(t) + vIc(t) ic(t) (10)

I T 1±T I q(t)==N,`ja(t) ia(t)+ V'lb(t) 'b(t)+ V.IJO ic(t) (1 1)

Fig 3. The control blocks of LPF
In tlhese equations p(t) and q(t) are the instantaneous
The cutoff frequency of all of individual filters is set on active and reactive powers. respectively. Considering the
fundamental frequency. This subject results in -Tt/4 phase Kirchhoff Current Law (KCL) in three-plhase three-wire
N1ff
shift and 1/ amplitude clhange of fundamental frequencv system. it is possible to write the following equation:
at the output of each of individual LPFs. In this wavy the
operation of overall circuit results in -7x plhase shift and 1/4 p(t) I.
lo (t)
vIC (t) lb (t) "'I c (t)
J.
io (t) (12)
magnitude clhange of fundamental frequencv. Considering q(t) 1?'I, (t) (t) '.'Ib (t) (t) ib (t)
the gain of finial LPF equal with -4, compensates for these
problems and makes it possible to extract the fundamental It is possible to write eq. (12) in every pait of svstem.
frequency without any phase shift or magnitude clhange. Eq. Writing this equation in the source side and re-arranging it
(5) shows the transfer function of overall low pass filter resulted in eq. (13)
(LPF):
-4 Eisc (t) I
H(s) = (5) 4

'isoub (t)] A
where: T =l/c,o. I =27cf1 and fi = fundamental IYI bl (t) ly'cl (t) - ("bi (t) vc, (0) Ps (t) (13)
frequency. It is possible obtaining eq. (6) using inverse -- (1.1 al (t) ly,cl (0) al (t) vcl (t)
JY
q, (t)

Laplacian of H(s): Wliere. A =(v+lo vI ()) ?1

)lC t ?1())

2(cote-ol'tt') (6) I'l 1la vt)-?i c (t) )( ',lb (t) I c())

In eq. (13), p5 (t) and q, (t) are the instantaneous active

Now, it is possible computing the equation of output
waveform of LPF in the time domain using the following
equation:
Vla (t) = Jva (t - r)h(r)dzT
and reactive powers in the utility side. respectively. Setting
p5 (t) =P and q5 (t) =0 results in the following equation that
guarantees the instantaneous reactive power compensation
(7) in addition to balanced and sinusoidal currents in the utility
side:

where va (t) is the input function of LPF. Combination of

L
ui
*a(t)1 1
eq. (6) and eq. (7) can be used to explain the operation of Li (t)] A
soub
LPF.
For example, considering v'a (t) Cos(ot) results in eq. (8):
=
J.q bl (t) '.'cl (t) a(ibl (t) - (t)c oP] (14)
via (t) = fCos( - wr)e- r3dr = (I"I al (t) -I" cl (0) 1) al (t) - 1'Cl (t) 0

A(oQ))e- + [B(co).Sin((coT) + C(o).Cos((o@))] (8) In eq. (14). i* (t) and i*soub (t)are the reference
source currents in the phases "a" and "b". respectively. The
The coefficients of A(o), B(o) and C(cO) are functions reference source side current in the phase "c" can be
of o. Considering o) = o1 it is possible to obtain eq. (9). obtained using eq. (15) easily:
=CO(6l}l)+(
}'la() _3ot 3 co_Qlt (9)

793
 i *souc (t) - ( i *soua (t) + i *soub (t) ) (15)
Using KCL in the point of PAF coupling to the utilitv
results in the following equation:
icornpa (t) Fi (t) i*soua (t]
Icompb (t) = b (t) - j*solIb (t) (16)
Ioip Lic (t)

VI. SIMULATION RESULTS

The operation of presented control strategy is simulated
using the power circuit of Fig. 4. This figure shows a three-
phase three-wire, 120 (V)(L-G. RMS) and 60 Hz
distribution system. This utility feeds different kinds of
loads. This circuit has five stages of operation as follows:
1-The load of utility from zero until 0.05 (s) is only the
three-phase balanced R-L load.
2-The three-plase diode rectifier is switched ON at 0.05 (s)
by the operation of three plhase static switches and ("I. Load Sd.d: Cur-cvwt
produces harmonics and increases reactive power
denmand too.
3-At 0.1 (s), a single-phase resistive load is switched ON
and generates an imbalance current case. This load is
switclhed OFF at 0.15 (s).
4-In the same instant (i. e. 0.15 (s)). until 0.2 (s), the RMS
value of voltage of phase "a" is reduced to 70 V to (d:. n.t-cts ..oo'o tS O .

generate an imbalance utilitv' voltage case.

5-From 0.2 (s) to 0.25 (s), three plhase fiftl order harmonics Fig. 5. Simulation results
with the magnitude of 16.6% of fundamental frequency
of voltage (i.e. 20 V) are added to the supply.
1 00, (L-G)
100,(L-G) 2m) 3.5(mH

< 25(H)

r 10.6(Q)

24.6(Q)

Fig. 4. Power circuit of simulated circuit

Fig. 5 shows a number of selected simulation results.
Fig.s 5(a) to 5(d) shows the utilitv voltages, instantaneous
positive sequence of utility voltages, load side currents and
source side currents, respectively. Fig. 5(c) shows that in all
of the stages, the source side currents are sinusoidal,
balanced and in phase with the instantaneous positive
sequence of utility side voltages that means the
compensation of instantaneous reactive power.
VII. EXPERIMENTAL RESULTS
Fig. 6 shows the ex-perimental circuit. The rated voltage
and frequency of utility are 100 (V)(L-G) and 60 H-z
respectivelv. A 220/220 V (L-L) A/Y transformer is used to
produce electric isolation between the utility and load. The
utility inductance Ls, is assumed to be 2 (mH).
Fig. 6. The experimental power system
The reference value of DC side voltage of active filter is
set on 430 (V). Active filter. that is basically a voltage
source inverter, uses IGBT switches with anti-parallel
diodes. The DSP of TMS 320C32 controls the switching
pattern of these switches. The values of inductances
between inTerter and utilitvy are 2.5 (mH).
A Y/A transfonner with the voltage ratio of 230/115
(V)(L-L) reduces the voltage of utility and feeds a three-
phase thyristor bridge and a resistor that is connected
between the phases "b"' and "c"'. The load of thy,ristor
bridge is series connection of a resistor and an inductor.
This thyristor bridge generates current harmonics and
exclhanges reactive power with the utihtv. Connection of a
resistor with the value of 24.6 (Q) between two plases.
results in considerable current imbalance case. Fig. 7 shows

794
 the experimental results in hiarmonic polluted utility' voltage
case. In this case, fifthi order hanrnonic with 5% of
fundamental frequency is added to the utility' voltages. This
figure shows these voltages, their positive sequence of
fundamental frequency, load side currents. source side (a.) Utitt' tv volu es t ')
",

currents and instantaneous acti-ve, reactive and A that is

defined in eq. (13). Except than current hiannonics due to
commutation effect of diode bridge and h-igh swA-itching
harmonics of active filter, these figures show acceptable
operation of active filter and control strategy in (b I rseo*as Pesnive sequonce aritdty voltars (V)
com-pensation for reactive power, current han-nonics and
current imbalance. Reactive power burden of passive filter
hias resulted in smiall phiase lead of source side currents
respect with the positive sequence of fundamiental
frequency of source side voltages. a ~~~~~~~~~~~~~~~~~~~~~~~~......1
Fig. 8 shows the result of operation of active filter and ...

control strategyT in imnbalance utility voltage case. The nnis

value of utilitv voltage of phiase "'a" is reduced to 80 (V) to
generate magnitude imbalance case in the utility side
voltages. This figure shiows that the operation of activ,,e
filter not only, comnpensates for currenit imbalance and .. 4.~~~~~~~~...

current harmonics but also the reactive power of load too. Jl

c. ~I A
~fi~AII~W V A ~AtV R .A 7

~~~~~~1 .4 .~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~.44' -~~~~~~~~~~~~~~~~~.. ...

Jta) Utifity Voltags

.........
iv

......-
'N ...... -X ............. ..........

Fig. 8. Ex-perimental results in imbalanced utility voltage case

~~~~v \ A .4i\-~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ ...., VIIIL CONCLUSION

.........

The comibination of quasi-instantaneous positive

sequenice of utilitxr voltages and extended p-q theory7 hias
tc).uite Si-d Cunmi-A. (A) been used for generation of reference compensating
currents of a parallel active filter (PAF), successfullv. The
analyvtical calculations hiave been used to explain the
4...-.-~~~~~~~~~~~~~.....
operation of presented control strategy in detail. Siimulation
and experimental results have been used to verify the
validity of presented control strategy. These results show a
..'......
valuable operation of control method in compensation for
current hannonics. current imbalance anid reactive power of
{d)Lod idCurrents 44PA(A)
a non-linear load in a hannonic polluted and/or imbalance
utility voltage case. Using quasi-instantaneous positive
.. . sequence of utility voltages as input signals of extended p-q
theory has solved the problem of this theory~in generation
balanced reference currents in the utilitvy side.

..
...K
APPENDIX I.
ANALYTICAL ANALYSIS OF OPERATION OF 27L/3
J(4) q(t vvar).L 4V
VAph PHASE LEAD/LAG CONTROL BLOCK
Fig. 7. E-xperimental results in harmonic polluted utility voltage case Considering Fig. 2 it is possible writing the following
equation:
v0+(t) = LU1 [v1(s).H(s)] (A-1)

795
 Where. v'i(s) and H(s) show the Laplacian of vi(t) and the
In this equation. N>-(t) shows the output of 27r phase lag
-

transfer function of -23 phase lead control

control block. As an example, considering vi(t) as a
respectively. The operator of L 1 shows inverse Lap] sinusoidal waveform that is defined by eq. (A-12) and using
Eq. (A-1) is equal with the following integration: eq. (A-10) results in eq. (A-13) as follows:

Vo+(t)= L I[vi(s).H(s)1= v1(t).h(t- t)d'r Jjit) = Sin(ac it)

(A-9-) (A-12)

Where. h(t) is the inverse Laplacian of H(s). The ] H(S)is

0
vo-+(t)=( )Sin((ojt)-V3 )
cte I

equal with the following equation:

H(s) = -0.5 + 1 sT (A-3) .[Sin(ojTl). e""1 dT (A-13)
1 + sT
Using some manipulations related with eq. (A-13), it is
Where. K=- possible to write the following equation:
2
170+ Sin(w1t) + 1Cos(colt) J e-0lt (A-14)
And. T °1-.
co
(co,= 2;zf. f =60 (Hz)) v0±(t)= ~~2 2
The first term of eq. (A-14) shows a sinusoidal
The inverse Laplacian of H(s) can be computed as fol waveform with - plase lead conmpared with v1(t). The
H (s)=h(t)
second tenm of this equation shiows a transient case that
= L-1 [-0.5j+KX- -=_. 59(t) + K L-[ ] depends on the value of o9 (tlhat is proportional to
I+sT- ~~~1+ sT reciprocal of "T"). This equation shows that, it takes less
Substituting the equations (A-4) and (A-5) in (A-( than one cycle of fundamental frequency for diminisliing of
using some inverse Laplacian theorems results in eq. this term to near zero.
h1(t) = -O.5a(t)-.l [o,2e -8(t)] IX. REFERENCES
It is possible to rewrite the eq. (A-7) as eq. (A-8):
[1] J. Doval et al.. "Shunt Active Power Filter with Harmonic Current
Control Strategy." PESC' 98. 1998. pp. 1631-1635.
h(t)=-i ct)e -Olt+( E 2 ) 8(t) (A-8) [2] P. Jintakosonwit. H. Fujita and H. Akagi. "Perfornmance of a DSP-
Controlled Shunt Active Filter for Harmonic Damping on a Power
Substituting the eq. (A-8) in eq. (A-2) results in the Distribution System". Proc. of IPEC-Tokvo 2000, pp. 27-32.
following equation: [3] H. Akagi?, Y. Kanazawa and a. Nabae. "instantanieous Reactive Power
Compensator Comprising Switching Devices without Energy Storage
x'o+(t)= Iv'(T).[ we
co, -ei( r)+ Components." IEEE Trans. on Ind. Appl.. Vol. 20, pp. 625-630.
March 1984.
[4] Y. Komatsu and T. Kawabata. "A Control Method of Active Power
Filter Where System Voltage Contains Negative-Phase-sequenice
( -) (t -r)]d- (A-9) Component or Zero-Phase-Sequence Component"', Proc. of PEDS
2 Conf 95. 1995. Vol. 2, pp. 583-586.
It is possible to rewrite eq. (A-9) as follows: [5] Y. Komatsu and T. Kawabata. ""A Control Method of Active Power
Filter in Unsymmetrical and Distorted Voltage System", Proc. of
PCC -Nagaoka' 97. pp. 161-168.
v0+(t) = ( ) vi(t) -_ w,e clt Vi(T). e Tr d' (A-10) [6] M. Tarafdar Haque. T. ISE and S. H. Hosseini, "A Novel Control
2 Strategy for Active Filters Usable in Harmonic Polluted and/or
Imbalance Utility Voltage Case of 3-Phase 4-Wire Distribution
Eq. (A-10) can be used to explain the dynamic and Systems." Proc. of 9'th Intl. Conf on Harmonics and Quality of
2ff Power- ICHQP' 2000, Vol. 1, pp. 239-244.
steady state operation of - phase lead control block of [7] M. Tarafdar Haque. T. ISE and S. H. Hosseini, "A Novel Control
Strategy for Active Filters Usable in Harmonic Polluted and/or
Fig. 2. Eq. (A-il) shows the operation of 2y phase lag Imbalance Utility Voltage Case." Journal. of Japan Society for Power
Electronics. 2000, V"ol. 26. No. 1. pp. 86-94.
.[8] M. Tarafdar Haque, T. ISE and S. H. Hosseini. "A Control Strategy
control block which is obtained in a similar manner as eq. for Parallel Active Filters Using Extended p-q Theorv and Quasi-
(A-0). Instantaneous Positive Sequence Extraction Method." Proc. of
International Symposium on Industrial Electronics, ISIE 2001. Pusan
VO-(t)= - + vi(t)+ w13oee J vi(T).eolT d' (A-i1) Korea. in press'
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