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Design and Control of An LCL-Filter-Based Three-Phase Active Rectifier
Design and Control of An LCL-Filter-Based Three-Phase Active Rectifier
Abstract—This paper proposes a step-by-step procedure for An alternative and attractive solution to this problem is to use
designing the LCL filter of a front-end three-phase active rectifier. an LCL filter as shown in Fig. 1. With this solution, optimum
The primary goal is to reduce the switching frequency ripple at a results can be obtained in the range of power levels up to hun-
reasonable cost, while at the same time achieving a high-perfor-
mance front-end rectifier (as characterized by a rapid dynamic dreds of kilovoltamperes, still using quite small values of induc-
response and good stability margin). An example LCL filter design tors and capacitors [6], [7].
is reported and a filter has been built and tested using the values A further issue for a VSC is high-frequency electromagnetic
obtained from this design. The experimental results demonstrate interference (EMI) (differential mode and common mode) [8],
the performance of the design procedure both for the LCL filter which needs specific filters (passive [9], [10] or active [11])
and for the rectifier controller. The system is stable and the grid
current harmonic content is low both in the low- and high-fre- in frequency ranges above 150 kHz and rated at lower power
quency ranges. Moreover, the good agreement that was obtained levels. Of course, an LCL filter that is effective in the reduc-
between simulation and experimental results validates the pro- tion of switching frequency harmonics may also be effective
posed approach. Hence, the design procedure and the simulation for differential mode EMI if the filter inductors are built using
model provide a powerful tool to design an LCL-filter-based active chokes that can mitigate high frequency (using ferrite cores,
rectifier while avoiding trial-and-error procedures that can result
in having to build several filter prototypes. for example). Similarly, for common-mode EMI, a common-
mode inductor could be included in the differential-mode filter
Index Terms—Cascade control, LCL filter, rectifier, stability, as suggested in [12]. However, conducted EMI is a very com-
voltage-source converter (VSC).
plex problem: depending on the frequency range it needs dif-
ferent solutions and specifically designed filters. Hence, even if
I. INTRODUCTION filter integration is feasible in some cases, the use of one filter
over a wide frequency range is often too expensive since the
T HE voltage-source converter (VSC) may be used as an
active rectifier, with the advantages of its potential for
full control of both dc-link voltage and power factor, and its
same reactive element must be designed to work over different
frequency ranges and at different power levels.
ability to work in rectifying and regenerating mode [1]. More- It should be noted that European standards in the frequency
over, the use of pulsewdith modulation (PWM) in conjunction range 2–150 kHz are incomplete and still under discussion and,
with closed-loop current control allows a sinusoidal input hence, grid filters are often designed to work at frequencies
current to be achieved with a total harmonic distortion (THD) higher than 150 kHz [13]. However, IEEE 519-1992 recom-
below 5%, even if grid voltage or current sensors are not used mends that harmonics higher than the 35th should be limited
[2]–[5]. However, typical power device switching frequencies and switching current ripple reduction is also explicitly required
of between 2–15 kHz can cause high-order harmonics that can for equipment with high safety issues (such as cranes and ele-
disturb other sensitive loads/equipment on the grid, and can vators). Hence, the design of an LCL filter to limit switching
also produce losses [6]. frequency ripple injection into the grid in the range of 2–150
To reduce the current harmonics around the switching fre- kHz is often specifically required.
quency a high value of input inductance should be used. How- A good criterion to choose LCL filter parameters is to limit the
ever, for applications above several kilowatts, it becomes quite size of the installed reactive elements (these can result in a poor
expensive to realize higher value filter reactors. Moreover, the power factor [14]) and the LCL filter power losses (due to the
system dynamic response may become poorer. passive damping required to avoid resonance). Some issues have
been explored in the literature: criteria for parameter choices
[15], [16], active damping of the filter [7], [17], and state feed-
Paper IPCSD-05-045, presented at the 2001 Industry Applications Society back control using state observers [15], [16], [18]–[21]. Tech-
Annual Meeting, Chicago, IL, September 30–October 5, and approved for pub- niques for current control have also been compared taking into
lication in the IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS by the Indus-
trial Power Converter Committee of the IEEE Industry Applications Society. account the LCL filter design [22]. However, the design of an
Manuscript submitted for review July 1, 2003 and released for publication June LCL filter, and how it might be optimized, has not been analyt-
2, 2005. ically studied to date.
M. Liserre is with the Dipartimento di Elettrotecnica ed Elettronica, Politec-
nico di Bari, 70125 Bari, Italy (e-mail: liserre@ieee.org; liserre@poliba.it). This paper presents a design procedure for an LCL filter to-
F. Blaabjerg is with the Institute of Energy Technology, Aalborg University, gether with consideration of the control of an active rectifier
DK-9220 Aalborg East, Denmark (e-mail: fbl@iet.auc.dk). employing an LCL filter using proportional-plus-integral (PI)-
S. Hansen is with Danfoss Drives A/S, DK-6300 Graasten, Denmark (e-mail:
s_hansen@danfoss.com). based control strategies for the dc voltage and the ac current.
Digital Object Identifier 10.1109/TIA.2005.853373 These current regulators are typically designed in a rotating
0093-9994/$20.00 © 2005 IEEE
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1282 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO. 5, SEPTEMBER/OCTOBER 2005
frame but the use of the LCL filter requires additional investi- current sensors are on the converter side because in an industrial
gation to determine correct orientation of the frame [23]. Fur- inverter they are also used to protect the power converter and are,
thermore, stability problems should be correctly addressed by therefore, integrated in it.
considering zero/pole placements in the -plane. Finally, the The main aim is to achieve decreased switching ripple with
dynamic performance of the controlled system should be veri- only a small increase in filter hardware, and by only adapting
fied. All these topics are addressed in this paper, to provide a the parameters of the PI-based controller that is already used for
detailed and practical guideline both for the design and for the the L filter configuration. This is expected because the LC part
control of an LCL-filter-based three-phase active rectifier. of the LCL filter aims to primarily reduce the high-frequency
current ripple, and the capacitor’s influence can be neglected in
II. MODEL AND CONTROL OF THE SYSTEM the current controller design if its value is low. In fact, current
The LCL-filter-based active rectifier has been previously control, because of its bandwidth, primarily influences only the
modeled in the rotating frame [7] and state feedback controls low-order current harmonics. Thus, the upgrade to an LCL filter
have been presented to guarantee the stability of the system. is easy and effective with a little increase in overall system cost
However, these approaches require either an increased number and no new sensors required.
of sensors or increased complexity in the control algorithm Overall, a designer needs to model the system in the rotating
[15], [16], [18]–[21]. frame of the L-filter-based active rectifier (for the control), and
The purpose of this paper is to present a simple and low-cost consider the transfer function of the overall filter with damping
(both in hardware and in software) LCL-filter-based active recti- for stability and dynamic purposes.
fier. The system is shown in Fig. 2. The VSC is connected to the
grid through an LCL filter and an isolation transformer (used in A. Controller Design
the test setup for security purposes). Note that the transformer From Fig. 2, the system can be defined using the following
inductance and resistance have to be taken into ac- equation, neglecting the filter capacitor :
count in the design of the filter and the controllers. The LCL
filter is made up of three reactors with resistance and induc-
tance on the converter side, three reactors with resistance (1)
and inductance on the grid side, and three capacitors
(each of them damped with a resistor ). Fig. 2 also shows a where , , is
common-mode filter that may or may not be included in the LCL the grid voltage space vector, is the converter current space
filter [12]. The design of this filter is not treated in this paper. vector, and is the converter-side voltage space vector.
The system proposed has no additional sensors compared to Current control is developed in a frame that rotates at an
a conventional L filter configuration. It should be noted that the angular speed (note that can be zero). In this frame, two
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LISERRE et al.: DESIGN AND CONTROL OF AN LCL-FILTER-BASED THREE-PHASE ACTIVE RECTIFIER 1283
voltage equations can be written to identify the and current Fig. 4. Input filter model for active rectifier.
components
ponent reference for the converter current, to take the filter
(2) capacitor into account [24].
2) The voltage used for the -frame orientation is not the
These currents are controlled by the correct choice of the grid voltage , if a transformer is present (such as the
voltages generated by the converter. Two PI regulators com- isolation transformer used in this setup) or if the capacitor
mand a space-vector modulator to generate the voltages that voltage is sensed instead of the grid voltage for active
should control these currents. The design of the PI controllers damping purposes [7]. Thus, the voltage drop between
is done using zero/pole placement in the -domain, where as the grid voltage and the sensed voltage creates an angle
a design criterion the “technical optimum” is used with both displacement that should be taken into account. This also
plants for the current control having the same time con- results in a nonzero -reference current.
stant [7]. All processing and modulation delays Thus the component of the reference current is used for dc
should be taken into account [23], [24]. voltage control and the component of the reference is used for
For dc voltage control, once the dc load current , the dc correct orientation of the frame.
load voltage , and the converter-side current are defined,
the following equation can be written: C. LC Filter Influence
The selection of the parameters of the filter will be explained
(3) in the next section, but the configuration of the filter should be
taken into account when the stability of the system is investi-
gated. So far, the current controller design has neglected the zero
The dc voltage is controlled using the converter-side dc cur-
and poles introduced by the capacitor presence. If the whole
rent. The PI controller is synthesized using zero/pole placement
LCL filter is considered as in Fig. 4, its transfer function be-
in the -domain with the objective of obtaining the best possible
comes in case
compromise between rapid dynamic control of the dc output
voltage and reduction of the ac current overshoot. All processing
and filtering delays must be considered. (4)
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1284 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO. 5, SEPTEMBER/OCTOBER 2005
where , ,
( is the switching frequency), and
is the switching frequency harmonic order.
The attenuation introduced by the LCL filter is effective only
if the filter is properly damped. Otherwise, the resonance of the
filter produces a higher ripple. One damping method is to con-
nect a resistor in series with the filter capacitor. The plant of the
current-controlled system as expressed by (4) then becomes
Fig. 5. Equivalent single-phase LCL filter at the h harmonic.
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LISERRE et al.: DESIGN AND CONTROL OF AN LCL-FILTER-BASED THREE-PHASE ACTIVE RECTIFIER 1285
c) The resonant frequency should be in a range between ten where is a constant. Before using (15) to cal-
times the line frequency and one-half of the switching culate , the desired attenuation should be multiplied by a
frequency, to avoid resonance problems in the lower and factor that takes into account the losses and the damping.
upper parts of the harmonic spectrum. If the sum of the two inductances does not respect con-
d) Passive damping must be sufficient to avoid oscillation, dition (b), another attenuation level should be chosen, or
but losses cannot be so high as to reduce efficiency [7]. another value for the absorbed reactive power should be
Finally, depending on the desired application, the designer selected as per step 2).
should impose some constraints: on the filter efficiency at low 4) Verify the resonant frequency obtained
frequency (first 50 harmonics) and high frequency (around the
switching frequency), and on the current tracking capability
(16)
(which can be compromised by the reactive power absorbed by
the input capacitors).
The following performance factors are used to verify the filter which can be written, considering (7), (13), and (14), as
effectiveness (the first three are low-frequency indicators and
the last two are high-frequency indicators): (17)
• THD of the current
where is a constant. The resonant fre-
quency is limited by condition (c). If this is not correct the
absorbed reactive power returned in step 2) or the attenu-
ation returned in step 3) should be changed.
• power factor ; 5) Set the damping according to condition d) above. At the
• average of the absolute dc voltage error ; resonant frequency the impedance of the filter is zero. The
• largest of the sideband current harmonics around the aim of the damping is to insert an impedance at this fre-
switching frequency (this is because of the fre- quency to avoid oscillation. Hence, the damping value is
quency-domain approach used to study the switching set to a similar order of magnitude as the series capacitor
ripple reduction); impedance at the resonant frequency [26].
• rms value of the high-frequency (2.5–20 kHz) harmonic If the filter attenuation is not adequate, the design pro-
cedure returns to step 3) to increase the multiplication co-
content of the current as a
efficient that takes into account the decrease of the fil-
percentage of the fundamental harmonic ;
tering action due to losses. If this is not sufficient the
where is the overall rms value of the current and is the design procedure should go back to step 2) and select a
rms value of the current harmonic and is the angle between higher value of the reactive power.
the fundamental current and fundamental voltage. 6) Verify the filter attenuation under other load conditions
and with other switching frequencies.
IV. LCL FILTER DESIGN PROCEDURE
The LCL filter can be designed using the following step-by- V. LCL FILTER DESIGN EXAMPLE
step procedure.
The step-by-step procedure has been applied to a system with
1) Select the required current ripple on the converter side a rated voltage of 380 V (line to line) and rated power of
design the inner inductor . The outer inductor value can 4.1 kW (maximum test power for the laboratory prototype). The
then be determined as a function of , using the index base impedance is approximately 35 , and the base capacitance
for the relation between the two inductances is 90 F, taking V and W in (5) and (6).
The lower rectifier switching frequency was chosen as 5 kHz,
(13)
but tests were also done up to 8 kHz because these frequencies
2) Select the reactive power absorbed at rated conditions are suitable for the chosen power level. The procedure of Sec-
determine the capacitor value. Take as a percentage of tion IV is as follows.
the reactive power absorbed under rated conditions 1) Adopting a 2.7% impedance for the converter side, a 10%
current ripple is obtained. Adding the LC part the aim is
(14) selected to reduce the current ripple to 2%.
2) The maximum capacitor value is 4.7 F under the limits
The capacitor value is limited by condition a) above.
of condition 1. However, if too low a capacitor value is
3) Select the desired current ripple reduction knowledge
selected, too high a value of inductance could be neces-
of and then design the outer inductor . The ripple at-
sary. Hence, it is better to start with about one-half of this
tenuation, calculated neglecting losses and damping of the
value (2.2 F) and then, if some of the constraints cannot
filter, is defined by (10) and can be rewritten, considering
be respected, increase it up to the maximum limit.
(13) and (14), as
3) Selecting a current ripple attenuation of 20% with respect
to the ripple on the converter side, a value of is cal-
(15)
culated using (15) (see Fig. 6). The isolation transformer
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1286 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO. 5, SEPTEMBER/OCTOBER 2005
Fig. 6. Relation between the harmonic attenuation at the switching frequency and the ratio r between grid and converter inductors.
TABLE I
LCL FILTER PARAMETERS
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LISERRE et al.: DESIGN AND CONTROL OF AN LCL-FILTER-BASED THREE-PHASE ACTIVE RECTIFIER 1287
Fig. 10. Simulation of d-axis reference and feedback currents for a step change
from 33% to 100% rated load (5-kHz sampling and switching frequency).
Fig. 8. Bode plot of the transfer function of the L filter and of the damped
LCL filter (bold).
Fig. 9. Zeros and poles of the closed-loop current varying the sampling
frequency from 5 to 8 kHz with 1-kHz step variation (the arrows show the
evolution of the zeros and poles).
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1288 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO. 5, SEPTEMBER/OCTOBER 2005
TABLE II
L FILTER VERSUS LCL FILTER
TABLE III
ELECTRICAL PARAMETERS OF THE VSC
Fig. 13. Measured grid voltage (86 V/div), grid current, converter current,
and input filter capacitor current (5 A/div) at rated conditions (5-kHz switching
frequency).
Fig. 12. Controller setup for active rectifier with LCL filter.
A. Validation of the Model shown in Fig. 14 [28]. The even harmonics come from dead
The first use of the experimental system was to validate the time, some delays, suppression of pulses, and the fact that the
simulation model for both the low- and the high-frequency grid voltage is measured after a dominant reactance [23].These
ranges. harmonics have less influence as the switching and sampling
In the low-frequency range, the simulated grid current fed frequency increase (Fig. 15 shows the grid currents and the dc
from a sinusoidal grid voltage had a THD of 1.4%. In contrast, voltage in the case of 8 kHz).
the experimental system had a grid current THD of 3%, but The high-frequency range is more effective to verify the
the grid voltage had a THD of 1%, (waveforms are shown in filter’s performance. It has already been shown in simulation
Fig. 13). However, the measured grid current has some low-fre- that with a ripple-free grid voltage, the largest near switching
quency harmonics, with about a 1% amplitude relative to the frequency harmonic currents are 0.48 A on the converter
fundamental. The odd harmonics come from system unbalances side and 0.07 A on the grid side. The comparable exper-
that also cause slight even harmonics in the dc-link voltage as imental results are, respectively, 0.41 A and 0.07 A .
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LISERRE et al.: DESIGN AND CONTROL OF AN LCL-FILTER-BASED THREE-PHASE ACTIVE RECTIFIER 1289
TABLE V
GRID CURRENT HIGH-FREQUENCY HARMONIC CONTENT VARYING THE LOAD
AND THE SAMPLING/SWITCHING FREQUENCY
TABLE VI
DAMPING LOSSES VARYING THE SAMPLING/SWITCHING FREQUENCY
Fig. 15. Measured grid currents (5 A/div) and dc voltage (14 V/div only ac
component) at rated conditions (8-kHz switching frequency).
TABLE IV
GRID CURRENT THD VARYING THE LOAD AND THE
SAMPLING/SWITCHINGFREQUENCY
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1290 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO. 5, SEPTEMBER/OCTOBER 2005
frequency current ripple. The main aim is to provide a design [15] M. Bojrup, “Advanced control of active filters in a battery charger appli-
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[10] S. Fu-Yuan, D. Y. Chen, W. Yan-Pei, and C. Yie-Tone, “A procedure He is currently an Assistant Professor at the
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applications,” IEEE Trans. Power Electron., vol. 9, no. 3, pp. 328–337, Aalborg University, in 2001 and 2004, respectively.
Since 1999, he has been carrying out a collaboration
May 1994.
with the Università dell’Aquila. His research inter-
[12] H. Akagi, H. Hasegawa, and T. Doumoto, “Design and performance of
ests are in power converters and drives, namely, in the control of converters, in
a passive EMI filter for use with a voltage-source PWM inverter having
power quality, and in distributed generation. He has coauthored more than 70
sinusoidal output voltage and zero common-mode voltage,” IEEE Trans. technical papers, ten of them published in IEEE TRANSACTIONS.
Power Electron., vol. 19, no. 4, pp. 1069–1076, Jul. 2004. Dr. Liserre is a Member of the IEEE Industry Applications, IEEE Industrial
[13] A. Nagel and R. W. De Doncker, “Systematic design of EMI-filters for Electronics, and IEEE Power Electronics Societies. In the IEEE Industrial Elec-
power converters,” in Conf. Rec. IEEE-IAS Annu. Meeting, 2000, pp. tronics Society, he has been an AdCom Member for the period 2003–2004, Chair
2523–2525. for Student Activities for the period 2002–2004, Chair for Region 8 Member-
[14] M. Liserre, F. Blaabjerg, and A. Dell’Aquila, “Step-by-step design ship Activities since 2004, and Newsletter Editor since 2005. He has served
procedure for a grid-connected three-phase PWM Voltage Source as a Student Forum Co-Chair of ISIE 2002, ISIE 2003, ISIE 2004, ISIE 2005,
Converter,” Int. J. Electron., vol. 91, no. 8, pp. 445–460, Aug. 2004. Mechatronics and Robotics 2004, and ICIT 2004.
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LISERRE et al.: DESIGN AND CONTROL OF AN LCL-FILTER-BASED THREE-PHASE ACTIVE RECTIFIER 1291
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