Design and Control of An LCL-Filter-Based Three-Phase Active Rectifier

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IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 41, NO.

5, SEPTEMBER/OCTOBER 2005 1281

Design and Control of an LCL-Filter-Based


Three-Phase Active Rectifier
Marco Liserre, Member, IEEE, Frede Blaabjerg, Fellow, IEEE, and Steffan Hansen, Member, IEEE

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

Fig. 1. Three-phase active rectifier with LCL filter.

Fig. 2. Single-phase equivalent of the active rectifier with LCL filter.

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

Fig. 3. Vector diagram for the active rectifier.

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)

B. Rotating Frame Orientation where and


A rotating frame is often chosen in order to obtain current . Hence, the LCL filter has two more zeros and two
control with rapid dynamic response [2]. However, similar re- more poles compared to a simple L filter.
sults can be obtained using resonant controllers in the stationary If the transfer function expressed by (4) is discretized, and the
frame [2], [25]. For the active rectifier, the frequency of rotation closed-loop root locus is considered with the PI controller tuned
of the frame is the line frequency. If the axis is oriented on using the previously identified criteria (i.e., considering only the
the grid voltage vector , the grid current vector should inductance ), these additional zeros and poles can make the
have a zero component to obtain unity power factor while the system unstable without proper damping. Damping is achieved
component regulates the dc voltage (Fig. 3). However, prob- by connecting a resistor in series with the filter capacitor, as
lems can arise from wrong orientation of the frame: firstly shown in Fig. 1, Fig. 2, and the model of the input filter of Fig. 4.
it can be difficult to obtain unity power factor, and then the ef- This moves the unstable poles more inside the stability region,
ficiency of the control loops may be compromised. Two issues as will be shown by analyzing the -domain zeros and poles of
must be considered. the closed-loop system in Section VI.
1) Since current control is performed on the converter cur-
rent rather than the grid current , it should be controlled III. CONSTRAINTS ON THE LCL FILTER DESIGN
with the goal of zero displacement between the grid cur- The LCL filter aims to reduce high-order harmonics on the
rent and the grid voltage. This implies a nonzero -com- grid side, but a poor filter design can cause lower attenuation

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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.

compared to what is expected, or can even cause a distortion in- (11)


crease because of oscillation effects. In fact, the rectifier current
harmonics may cause saturation of the inductors or filter res- and the losses can be calculated as
onance. Therefore, the inductors should be correctly designed
considering current ripple, and the filter should be damped to (12)
avoid resonances. However, the damping level is limited by cost,
the value of the inductors, losses, and degradation of the filter
performance. where the skin effect is neglected.
The procedure for choosing the LCL filter parameters uses The main terms of the sum in (12) are for the index near
the power rating of the converter, the line frequency, and the (previously defined) and its multiples. In fact, damping ab-
switching frequency as inputs. The process to calculate the sorbs a part of the switching frequency ripple to avoid the res-
switching ripple attenuation is based on a frequency-domain onance. The losses decrease as the damping resistor value in-
approach rather than on a time-domain approach. creases but at the same time this reduces its effectiveness (11).
In the following development, the filter values are reported as Furthermore, the required damping cannot be calculated without
a percentage of the base values, given by considering the current control strategy because the LCL filter
is connected to a closed-loop-controlled rectifier. Also, a distur-
(5) bance can trigger a reaction from the closed-loop current con-
troller (e.g., caused by a PWM modulator with a wide spectrum
(6) spread between the fundamental and the switching frequency
harmonics, by an A/D characterized by poor resolution, by in-
where is the line-to-line rms voltage, is the grid fre- adequate filters on the measured grid voltage [14], [26], or by an
quency, and is the active power absorbed by the converter external disturbance such as a load connected to the same point
in rated conditions. The resonant frequency is referred to the of common coupling (PCC) [17]). If the closed-loop control is
switching frequency value by not properly damped, a resonance can occur.
Having established (10) and (12) to design the filter, some
(7) limits on the parameter values should be introduced.
a) The capacitor value is limited by the decrease of the power
where the factor expresses how far the switching frequency factor at rated power (generally less than 5%). The power
is from the resonant frequency . factor decrease can also be a function of the ac sensor
The equivalent single-phase LCL filter configuration for the position as discussed in [14].
harmonic is shown in Fig. 5, neglecting the resistors , , and b) The total value of inductance should be less than 0.1 pu
(Fig. 2). and indicate the harmonic of the cur- to limit the ac voltage drop during operation. Otherwise a
rent and of the voltage, while is the order of the switching higher dc-link voltage will be required to guarantee cur-
frequency harmonic. The current ripple attenuation is computed rent controllability, which will result in higher switching
by considering that at high frequencies, the converter is a har- losses [14]. Moreover, the maximum overall inductance
monic generator, while the grid can be considered as a short cir- of the LCL filter is strongly dependent on the power
cuit. Therefore, the converter voltage harmonic, at the switching level and on the application. A standard mass-produced
frequency, is and the grid voltage harmonic, at the product (low power) should integrate the LCL filter into
switching frequency, is . its hardware and, as a consequence, a more stringent
The ripple attenuation, passing from the converter side to the overall inductance limit (perhaps less than 5%) should
grid side, can be calculated with the following steps: be adopted to avoid packaging problems. On the other
hand, for higher power levels (at present power levels of
(8) interest by industry for active rectifier applications are
above tens of kilowatts) and in the absence of clearly
(9) defined standards on the switching ripple, the LCL filter
will probably not be integrated in the converter. In this
case the main aim is to avoid saturation in the inductors,
(10)
with consequent higher losses.

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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

for the experimental setup provides a 2.7% inductance.


With a 1.8% inductor, the resultant 4.6% grid inductance
gives an value of 1.6, which takes into account the re-
duction in filter effectiveness caused by damping. It is
commented also that to obtain a ripple attenuation of less
than 20%, the value of increases too much (as shown in
Fig. 6) and the filter may become too expensive.
4) The consequent resonant frequency is 2.5 kHz, which is
exactly one-half of the switching frequency. Fig. 7. Zeros and poles of the closed-loop current control 1 without and 2 with
5) The impedance of the filter capacitor at the resonant fre- damping (5-kHz sampling frequency).
quency is 29 . The damping value is chosen as one-third,
i.e., 10 . The losses are 0.8% of rated power (under rated respond for this period after the duty cycle has been determined
conditions). Even with this damping the filter gives good by the control algorithm [7]. This half-period delay is implicitly
results and the objective of a ripple reduction to 20% is introduced by discretization of the system plant using a zeroth-
fulfilled. order hold, as is commonly used to describe continuous systems
6) Simulation and experimental tests, using the designed controlled by PWM.
LCL filter (Table I), show the ripple reduction achieved
From the analysis of the left side of the plane it is clear that
over a wide range of working conditions.
the system is close to the border of the stability region without
damping (zeros and poles numbered with 1 in Fig. 7). If a 10-
VI. ANALYSIS AND SIMULATION OF THE SYSTEM
damping resistor is used then the system becomes more stable
Simulation models have been built using Matlab and (zeros and poles numbered with 2 in Fig. 7). It is commented
Simulink. The rated rms line-to-line voltage is 380 V and the that stability analysis relating to resonance dynamics becomes
rated power of the system is 4.1 kW, the switching frequency less reliable as the sampling frequency approaches twice the res-
of the rectifier is in the range 5–8 kHz, and the modulation onant frequency [26]. For this example, the resonant frequency
strategy adopted is the sinusoidal modulation with centered is just below 2.5 kHz and, hence, a stability analysis at a 5-kHz
pulses, with the sampling frequency equal to the switching sampling frequency is still possible.
frequency. The dc-voltage reference is 700 V and the rated load From the analysis of the right side of the plane in Fig. 7, it
current is 5.5 A. is clear that the dynamic response remains unchanged with the
The stability and dynamic response of the system will now introduction of damping, because the two complex poles shift
be analyzed, and then the designed filter effectiveness will be only slightly. Further proof comes from frequency analysis of
evaluated to validate the reported procedure. the filter using the Bode diagram shown in Fig. 8, where it can
be seen that at low frequency the damped LCL filter behaves like
A. Stability and Dynamic Response an L filter of value .
The stability and dynamic response of the overall system is It is also useful to study the evolution of the zeros and poles
analyzed in the plane using the poles of the closed-loop current as the sampling frequency changes (with the consequent change
controller. It should be noted that there is one sample delay in of the parameters in the current controller) but with the same
the system for the digital processing, plus one-half sample delay damping. With respect to stability, as the sampling frequency
caused by the double-edge PWM because the modulator cannot increases the poles move toward the stability borders and so the

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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).

damping becomes less effective (Fig. 9). In particular, for an


8-kHz switching frequency, the poles cross the border of the sta-
bility region. However, around the resonant frequency the pas-
sive elements of the system have extra resistance due to skin
effect and iron losses, and this does offer some extra damping.
As the sampling frequency increases, the bandwidth of the Fig. 11. (a) Simulated steady-state converter current, (b) grid current, and (c)
current controller varies from 200 to 400 Hz. Its dynamic re- their spectra (black for the grid current and white for the converter one) at high
sponse can be tested in simulation with a step load change. frequency with LCL filter (rated conditions).
Using a step from 33% to 100% of rated load it is possible to
confirm whether the active rectifier with LCL filter is stable and LCL filter, operating under rated conditions. The largest near
if the controllers have been well tuned. The result of this test switching frequency current harmonic component is 0.48 A
is shown in Fig. 10 and it is satisfactory. It should be noted that on the converter side and 0.07 A on the grid side. Thus, it
this result has been obtained simply by adjusting the parameters has been reduced to 15%.
of the PI controllers without any change in their structure. Table II compares the performance factors identified in Sec-
tion III, for the filter configuration and the LCL filter. The
B. Filter Effectiveness results show that the high-frequency current ripple has been re-
Fig. 11 shows the simulated converter and grid currents duced by one-half using the filter capacitors, while at low fre-
and their associated high-frequency spectra obtained with the quency the two filters have an equivalent performance.

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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.

VII. EXPERIMENTAL RESULTS


The experimental setup used in the laboratory of the Insti-
tute of Energy Technology at Aalborg University, Aalborg, Den-
mark, consists of a three-phase 30-kVA programmable power
supply, a commercial Danfoss inverter VLT 3008 (ratings shown
in Table III), with the control card removed and a resistor used
to load the dc link. The control is implemented using an Analog
Devices ADSP-21 062 SHARC floating-point digital signal pro-
cessor, while the timing of the system and the PWM generation
is managed by a Siemens microcontroller SAB80C167 [27], as Fig. 14. Measured grid currents (5 A/div) and dc voltage (14 V/div, only ac
shown in Fig. 12. component) at rated conditions (5-kHz switching frequency).

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

Also, the total rms high-frequency harmonic current ripple


(as defined in Section III) is 16% of the fundamental on the
converter side and 1.2% on the grid side.
Fig. 16. Measured grid currents (5 A/div) and dc voltage (28 V/div, only ac
B. Performance Evaluation of the Overall System component) for a step change from 33% to 100% rated load (5-kHz switching
frequency).
A performance analysis of the system on the grid side, shows
that the low-frequency distortion is well below 5% at rated load
on the damping losses, Table VI shows the effect of varying
and the high-frequency ripple is properly reduced. However, it is
switching frequency for the same value of damping resistor (10
useful to analyze the system performance under different load
). It can be seen that damping losses decrease as the switching
conditions and for different switching frequencies as stated in
frequency increases. However, as identified in Section VI-A the
step 6) of the design procedure.
system is also less damped, and at 8 kHz reaches the limit of the
In the low-frequency range, grid current THD (defined in Sec-
stability region.
tion III) is the significant parameter. Table IV shows this param-
Finally, the dynamic response of the system has been tested
eter for different switching frequencies and for three different
by step changing the load from 33% to 100% of rated power, as
load conditions. The high THD at low power occurs because the
shown in Fig. 16. It can be seen that the dc voltage dynamic
harmonics caused by the system unbalance have more weight
response is slowed down compared to simulation because of
when the fundamental current value is low.
the dc filter that is used to reduce measurement ripple to avoid
In the high-frequency range, the harmonic content of the cur-
problems in the control loops [14].
rent (defined in Section III) is the significant parameter: Table V
shows that, as would be expected, higher switching frequencies
lead to a more effective filter. VIII. CONCLUSION
The next step in the system performance analysis is to con- This paper has analyzed both the design and control of an
sider the damping losses. Since load variation has little effect active rectifier employing an LCL filter to reduce the switching

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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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[9] W. Khan-ngern and Y. Prempaneerach, “Reduction of conducted emis- Ph.D. degrees in electrical engineering from the Po-
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pp. 189–192. spectively.
[10] S. Fu-Yuan, D. Y. Chen, W. Yan-Pei, and C. Yie-Tone, “A procedure He is currently an Assistant Professor at the
for designing EMI filters for AC line applications,” IEEE Trans. Power Politecnico di Bari. He spent one year as an Invited
Electron., vol. 11, no. 1, pp. 170–181, Jan. 1996. Researcher and two months as an Invited Associate
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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

Frede Blaabjerg (S’86–M’88–SM’97–F’03) was Steffan Hansen (S’95–A’96–M’99) was born in


born in Erslev, Denmark, in 1963. He received the Sonderborg, Denmark, in 1971. He recieved the
M.Sc.E.E. degree from Aalborg University, Aalborg M.Sc.E.E . and the Ph.D. degrees through an indus-
East, Denmark, in 1987, and the Ph.D. degree trial fellowship supported by Danfoss Drives A/S
from the Institute of Energy Technology, Aalborg and the Danish Academy of Technical Sciences from
University, in 1995. Aalborg University, Aalborg East, Denmark, in 1996
He was with ABB-Scandia, Randers, Denmark, and 2001, respectively.
from 1987 to 1988. During 1988–1992 he was a Since 1996, he has been with Danfoss Drives
Ph.D. student at Aalborg University. He became an A/S, Graasten, Denmark, where his main research
Assistant Professor in 1992, an Associate Professor activities are focused on solutions to reduce line-side
in 1996, and a Full Professor of power electronics harmonics from adjustable-speed drives. He is cur-
and drives in 1998 at Aalborg University. In 2000, he was a Visiting Professor rently Product Manager responsible for high-performance drives and products
at the University of Padova, Padova, Italy, as well as becoming a part-time reducing secondary effects.
Programme Research Leader at the Research Center Risoe, working with wind
turbines. In 2002, he was a Visiting Professor at Curtin University of Tech-
nology, Perth, Australia. His research areas are power electronics, static power
converters, ac drives, switched reluctance drives, modeling, characterization of
power semiconductor devices and simulation, wind turbines, and green power
inverters. He is involved in more than ten research projects with industry.
Among them is the Danfoss Professor Programme in Power Electronics
and Drives. He is the author or coauthor of more than 300 publications in
his research fields including the book including the book Control in Power
Electronics (New York: Academic, 2002).
Dr. Blaabjerg is a Member of the European Power Electronics and Drives
Association and of the Industrial Drives, Industrial Power Converter, and
Power Electronics Devices and Components Committee Committees of the
IEEE Industry Applications Society. He is an Associate Editor of the IEEE
TRANSACTIONS ON INDUSTRY APPLICATIONS, IEEE TRANSACTIONS ON POWER
ELECTRONICS, Journal of Power Electronics, and the Danish journal Elteknik.
He has been active in the Danish Research Policy for many years. He became
a member of the Danish Academy of Technical Science in 2001. He served as
a Member of the Danish Technical Research Council during 1997–2003, and
from 2001–2003 he was its Chairman. He received the 1995 Angelos Award
for his contribution to modulation technique and control of electric drives and
an Annual Teacher Prize from Aalborg University, also in 1995. In 1998, he
received the Outstanding Young Power Electronics Engineer Award from the
IEEE Power Electronics Society. He has received four IEEE Prize Paper Awards
during the last five years. In 2002, he received the C. Y. O’Connor Fellowship
from Perth, Australia, and in 2003, the Statoil Prize for his contributions to
power electronics. He also received the Grundfos Prize in 2004.

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