Electrical Power and Energy Systems 28 (2006) 537–547

www.elsevier.com/locate/ijepes

Three-phase active power filter based on current

controlled voltage source inverter
a,*
E.E. EL-Kholy , A. EL-Sabbe a, A. El-Hefnawy a, Hamdy M. Mharous b

a
Electrical Engineering Department, Faculty of Engineering, Menoufiya University, Shebin El-Kom, Egypt
b
International Steel Rolling Mill Company (ISRM), Sadat, Egypt

Received 18 December 2003; received in revised form 15 December 2005; accepted 18 January 2006

Abstract

This paper presents a shunt active power filter to compensate reactive power and reduce the unwanted harmonics. A shunt active filter
is realized employing three-phase voltage source inverter (VSI) bridge with common DC bus capacitor. The shunt active filter acts as a
current source, which is connected in parallel with a nonlinear load and controlled to generate the required compensation currents. Two
different proposed control methods for determining the reference compensating currents of the three-phase shunt active power filters
based on proportional-integral (PI) controller and artificial neural network (ANN) are presented. Current controller based on modified
hysteresis current controller is used to generate the firing pulses. The proposed system is implemented using a high speed Digital Signal
Processor (DSP). Experimental and simulation results with different nonlinear loads are presented to confirm the validity of the proposed
technique.
Ó 2006 Elsevier Ltd. All rights reserved.

Keywords: Active power filter; Current control; Artificial neural network

1. Introduction developed, that they have gradually been recognized as a

The increasing use of power electronic loads in industry
and by consumers results in a considerable amount of har-
monic injection, and lower power factor [1,2]. Convention-
ally, passive filters have been used to eliminate current
harmonics and to increase the power factor. However,
the use of passive filter has many disadvantages [3–5].
Recently, because of the rapid progress in modern power
electronic technology, the presented work was oriented
mostly on the active filters instead of passive filters [6–8].
The basic difference between passive and active filters is
that the active filters have the capability to compensate ran-
dom varying currents [9–14].
One of the most popular active filters is the shunt active
power filter (SAF). The SAF’s have been researched and
*
Corresponding author. Tel.: +966500918108; fax: +96646241503.
E-mail address: eelkholy@yahoo.com (E.E. EL-Kholy).
feasible solution to the problems created by nonlinear
loads. They are used to eliminate the unwanted harmonics
and compensate fundamental reactive power consumed by
nonlinear loads through injecting the compensation cur-
rents into the AC lines. In addition to eliminating har-
monic currents and improving the power factor, SAF can
keep the power system balance under the condition of
unbalanced and nonlinear loads [9–11]. Generally, the per-
formance of SAF is based on three design criteria [15–22]:
(i) design of power inverter; (ii) types of current controllers
used; (iii) methods used to obtain the reference current.
Many control techniques have been used to obtain the ref-
erence current. These techniques such as instantaneous
reactive power theory [15], notch filters [18], flux based con-
troller [19], power balance theory [18–22], and sliding mode
controller [16,17] have been used to improve performance
of the active filters. However, most of these control tech-
niques include a number of transformations and are diffi-
cult to implement [9].

0142-0615/$ - see front matter Ó 2006 Elsevier Ltd. All rights reserved.
doi:10.1016/j.ijepes.2006.01.007
538 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547

This paper presents two different approaches used to the reference currents if1 , if2 and if3 through the control
calculate the reference current of the SAF. The first tech- circuit.
nique used the DC capacitor voltage with PI controller.
Although, this method is simple to implement and achieves 2.2. System modeling
good results, it had drawbacks at unbalance conditions of
the supply voltages. The performance of the SAF is The representation of a three-phase voltages and cur-
achieved by the second technique, which depends on an rents of the VSI in Fig. 1 are as follows: the voltages Vf1,
ANN. The output of the ANN is used to generate the ref- Vf2 and Vf3 supplied by the inverter as a function of the
erence currents of SAF. The basic objective of this control capacitor voltage, Vc, and the state of the switches G1, G3
is to provide a very precise solution to get the reference cur- and G5 are:
rent even under unbalanced conditions of supply voltages. 2 3 2 32 3
A hysteresis controller based on PWM current control is V f1 2 1 1 G1
used, which is widely used due to its fast response. Com- 6 7 Vc6 76 7
6 V f2 7 ¼ 6 1 2 1 76 G3 7 ð1Þ
parisons of simulation results are presented for the two 4 5 6 4 54 5
control strategies. The proposed control system with V f3 1 1 2 G5
ANN is implemented using a DSP. Experimental results
were presented to prove the effectiveness of the design of where G1, G3 and G5 represent three logic variables of the
the control strategy. three legs of the inverter. The inverter conduction state is
represented by these logics. Then the SAF currents can
2. System description and operation be written as:

dif1
2.1. Power circuit description Lf1 ¼ V s1  V f1 ð2Þ
dt
dif2
As shown in Fig. 1, the SAF system consists of a three- Lf2 ¼ V s2  V f2 ð3Þ
phase voltage inverter with current regulation, which is dt
used to inject the compensating current into the power line. dif3
Lf3 ¼ V s3  V f3 ð4Þ
The VSI contains a three-phase isolated gate bipolar tran- dt
sistors (IGBT) with anti-paralleling diodes. The VSI is con-
where if1, if2 and if3 are SAF currents and Vs1, Vs2 and Vs3
nected in Parallel with the three-phase supply through
are the supply voltages. The voltage in the DC capacitor
three inductors Lf1, Lf2 and Lf3. The DC side of the VSI
can be calculated from the SAF currents and switching
is connected to a DC capacitor, C, that carries the input
function as follows:
ripple current of the inverter and the main reactive energy
storage element. The DC capacitor provides a constant DC Z
1
voltage and the real power necessary to cover the losses of Vc ¼ ½G1 if1 þ G3 if2 þ G5 if3  ð5Þ
C
the system. The inductors Lf1, Lf2 and Lf3 perform the
voltage boost operation in combination with the capacitor, The set point of the storing capacitor voltage must be
and at the same time act as the low pass filter for the AC greater than the peak value of the line neutral mains volt-
source current. Then the SAF must be controlled to pro- age in order to be able to shape properly the mains
duce the compensating currents if1, if2 and if3 following currents.

3-phase S1 S3 S5
AC supply
Lf1 D1 D3 D5
if1
Lf2 if2 C
if3
Lf3 D4 D6 D2

S4 S6 S2

if Control circuit
Vc
Vs
iL

Non linear
Load

Fig. 1. The proposed shunt active power filter.

 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547 539

2.3. The proposed control methods X

The quality and performance of the SAF depend mainly
on the method implemented to generate the compensating
reference currents. This paper presented two methods to
get the reference current, which is key issue in the control
of the SAF.
2.4. Capacitor voltage with PI controller
The basic operation of this proposed control method is
shown in Fig. 2. The estimation of the reference currents
from the measured DC bus voltage is the basic idea behind
the PI controller based operation of the SAF. The capaci-
tor voltage is compared with its reference value, V c , in
order to maintain the energy stored in the capacitor con-
stant. The PI controller is applied to regulate the error
between the capacitor voltage and its reference. The output
of PI controller is multiplied by the mains voltage wave-
form Vs1, Vs2, Vs3 in order to obtain the supply reference
currents is1 , is2 , is3 . Then the supply reference currents are
proportional to the mains voltages. The three-phase com-
pensating reference current of SAF ðif1 ; if2 ; if3 Þ are esti-
mated using reference supply currents and sensed load
currents.
2.5. Proposed control method with ANN
This method is based on the recovering of the funda-
mental active phase currents in the load. Once these cur-
rents are obtained, they are subtracted from the total
load currents to get the desired reference waveform. Let
to assume that the nonlinear load current can be repre-
sented as:
1
il ¼ i1 cos u sin wt þ i1 sin u cos wt þ in sinðnwt þ un Þ
n¼2
¼ ip ðtÞ þ iq ðtÞ þ ih ðtÞ ð6Þ
where ip(t) represents the active current, iq(t) represents the
reactive current and ih(t) represents the sum of all harmonic
currents. If the SAF can generate if(t) which is equivalent
to iq(t) + ih(t), then the mains only needs to supply the ac-
tive current ip(t), which is a sine wave and in phase with the
supply voltage Vs(t). Eq. (6) becomes;
if ðtÞiL ðtÞ  ip ðtÞ ¼ iL ðtÞ  I 1 cosð/Þ sinðxtÞ
where sinðxtÞ ¼ V s =V m ð7Þ
if ðtÞ ¼ iL ðtÞ  WV s ðtÞ
where W ¼ I 1 cosð/Þ=V m ð8Þ
According to calculation of W, the reference current of the
SAF is easy to calculate which changes according to the
nonlinear load current and the supply voltage. The calcula-
tion of W is based on neural network. The basic principle
diagram of this control algorithm is shown in Fig. 3.
The ANN in Fig. 3 consists of a neuron that is an adap-
tive linear element, the weigh of the neuron is equivalent W
and the bias is equivalent to zero. The input of the system is
the supply voltage Vs(t), the output of the ANN is funda-
mental active current ip(t) and the output of the system is
the SAF reference current if . According to The Widrow-
Hoff learning rule, the update weight equation as follows:
W ðnÞ ¼ W ðn  1Þ þ gifr V s ðn  1Þ ð9Þ
where the term gifrVs(n  1) is represents the change of
weight.
ifr ðnÞ ¼ iL ðnÞ  W ðnÞV s ðnÞ ð10Þ

Hysteresis
iL1 if1 current
_ controller G1
VS1 _
X i*S1 i*f1
G4
+ +

Vc* iL2
VS2 if2
_ G3
_
Distribution circuit

i*S2 i*f2
Vc X G6
PI + +

VS3 iL3 if3

G5
_ _
X i*S3 i*f3
G2
+ +

Fig. 2. The proposed control system.

540 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547
Vs (t)
Fig. 3. The basic principle diagram of the proposed method.
iL
-
+ the switching logic of other two-phase G2, G3 are derived.
ip
Vs
X
W
Z-1 + conditions were developed. In Fig. 5, SAF is connected in
+
X η Z-1
Fig. 4. The proposed control method for phase-a.
From Eqs. (9) and (10), the proposed control method for
phase-a is designed, as shown in Fig. 4.
The neural network learning and training by Widrow-
Hoff learning rule is used to obtain the weight (W). Then
the SAF reference current can be calculated from Eq.
(10). After calculating the reference current for the SAF,
the hysteresis current controller has been presented to pro-
vide the signals pulses of the VSI that controlled SAF
currents.
2.6. Hysteresis current controller
Hysteresis current controller with fixed band derives the
switching signals of the inverter from the comparison of the
current error to keep the current within the hysteresis band.
Then the SAF reference currents if1 , if2 , if3 compared with
SAF feedback currents if1, if2, if3 and the error signals are
operated by the hysteresis current controller to generate
the firing pulses which activate the inverter power switches
in a manner that reduces the current error. Let hb be the
width of the hysteresis band around respective phase
SAF currents, then the equation for the fixed band as
follows:
if1 ¼ imax sinðxtÞ
iup ¼ if1 þ hb
ilow ¼ if1  hh
Where iup is the upper band, ilow is the lower band. If the
SAF current feedback if1 > ðif1 þ hb Þ then G1 = 1, which
means that the inverter output voltage switches to negative,
in order to keep the current within the hysteresis band. If
the SAF current feedback if1 < ðif1  hb Þ then G1 = 1,
which means that the inverter output voltage switches to
iL(t)
W +
X if (t)
ANN
ip (t)
if* positive, in order to increase the actual current. Similarly,
3. Simulation results
A number of simulation results with different operating
parallel with nonlinear load. Then, the three-phase con-
trolled rectifier with resistive load has to be compensated
by the SAF. In order to limit maximum slope of the rectifier
current, a smoothing inductor, Lr, has been inserted before
the rectifier. Also, it is prevented the inverter saturation even
in correspondence of rectifier commutations. Since the com-
pensation of the filter depends upon the firing angle (a) of
the rectifier, two operative conditions have been considered.
The uncontrolled rectifier is the first case, while the second
one is the controlled rectifier with firing angle a = 40°. The
parameters of system are reported in Appendix.
3.1. Simulation with uncontrolled rectifier (a = 0°)
3.1.1. Steady state operations
The simulation results in steady state operation are pre-
sented. Fig. 6 shows the performance of the SAF system
using PI controller. Waveform of the source current with-
out SAF is shown in Fig. 6(a). Fig. 6(b) shows the source
current with SAF superimposed to the supply voltage.
Fig. 6(c) shows the compensation current. The capacitor
voltage superimposed to its reference is shown in
α
3-phase AC supply
is it Lr iL RL
ð11Þ Lf
ð12Þ Controlled rectifier
if
ð13Þ
C
Fig. 5. SAF connected in parallel with nonlinear loads.
 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547 541

10

Magnitude in Amp.
(a)
5

-5

-10
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2
Time (s)
(5 Amp/div- 200 volt/div)

10
Vs (b)
5 is
Magnitude

-5

-10
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2
Time (s)

5
Magnitude in Amp.

(c)

-5
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2
Time (s)
1000
Magnitude in volt

(d)

500

0
0.1 0.11 0.12 0.13 0.14 0.15 0.16 0.17 0.18 0.19 0.2
Time (s)

Fig. 6. Simulation results of proposed SAF using PI controller. (a) Source current without filter. (b) Source current and source voltage with filter.
(c) Compensating current. (d) Capacitor voltage with its reference.
(10 Amp/div- 400 volt/div)

10
Vs (a)
is
Magnitude

-10
0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4
Time (s)

5
Magnitude in Amp.

(b)

-5
0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4
Time (s)
Fig. 7. Simulation results of proposed SAF using ANN. (a) Source current with SAF. (b) Compensation current.
542 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547

Fig. 6(d). It is noticed that the supply current in phase with
the supply voltage, and the capacitor voltage follow its ref-
erence. Fig. 7 shows the performance of the SAF using
ANN algorithm. The source current with the supply volt-
age is shown in Fig. 7(a). Fig. 7(b) shows the compensation
current. This figure indicates that the supply current in
phase with supply voltage. In order evaluate the good per-
formance of the control, total harmonic distortion (THD)
is calculated for the source current before and after com-
pensating. The calculation shows that THD improved from

10
(a)
Magnitude in Amp.

-5

-10
0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6
Time (s)
(10 Amp/div- 200 volt/div)

20
is Vs (b)
10
Magnitude

-10

-20
0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6
Time (s)
1000
(c)
Magnitude in volt

500

0
0.1 0.15 0.2 0.25 0.3 0.35 0.4 0.45 0.5 0.55 0.6
Time (s)

Fig. 8. Simulation results for a step change in load using PI controller. (a) Source current without filter. (b) Source current and source voltage with filter.
(c) Capacitor voltage with its reference.
(20 Amp/div- 400 volt/div)

20
Vs (a)
is
Magnitude

-20
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8
Time (s)

10
(b)
Magnitude

-10
0.3 0.35 0.4 0.45 0.5 0.55 0.6 0.65 0.7 0.75 0.8
Time (s)

Fig. 9. Simulation results for a step change in load using ANN. (a) Source current and source voltage. (b) Weight magnitude.
 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547 543

24.04 % without the SAF to 4.6156 % for using PI control- 3.1.2. Step change in load
ler and 2.9156 % for using ANN control with the SAF. The To observe the regulating process in two control meth-
distortion in supply current with ANN is less than in case ods, the simulation has been studied under the step change
of PI controller method. of the nonlinear load current. Fig. 8 shows the source

10
Magnitude in Amp.
(a)
5

-5

-10
0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5
Time (s)
(5 Amp/div- 200 volt/div)

20
is Vs (b)
10
Magnitude

-10

-20
0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5
Time (s)

10
Magnitude in Amp.

(c)
5

-5

-10
0.4 0.41 0.42 0.43 0.44 0.45 0.46 0.47 0.48 0.49 0.5
Time (s)
Fig. 10. Simulation results of proposed SAF using PI controller. (a) Source current without SAF. (b) Source current and source voltage with filter.
(c) Compensating current.
(5 Amp/div-200 volt/div)

10
is Vs (a)
Magnitude

-10
0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4
Time (s)

10
Magnitude in Amp.

(b)

-10
0.3 0.31 0.32 0.33 0.34 0.35 0.36 0.37 0.38 0.39 0.4
Time (s)

Fig. 11. Simulation results of proposed SAF using ANN. (a) Source current and source voltage. (b) Compensating current.
544 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547

current without SAF, the source current with SAF super-
imposed to the supply voltage, and the DC capacitor volt-
age in case PI controller. Once the time interval of transient
is finished the DC capacitor can be recovered to be refer-
ence value, and vice versa. Fig. 9 gives the simulation
results in case of ANN algorithm. The supply current
and voltage are in phase during the load step change, as
shown in Fig. 9(a). Fig. 9(b) shows the weight magnitude
will return to its value as the step change period finished.
3.2. Simulation with firing angle a = 40°
The simulation results in case of steady state operation
with static load when a = 40° are presented. Fig. 10 shows
the simulation waveforms of the source current without
SAF, the source current with SAF superimposed to the
supply voltage, the SAF current, and the capacitor voltage
Table 1
Source current total harmonic distortion: THD%
Without SAF With SAF
(PI controller)
a = 0° THD% = 24.04 THD% = 4.6156
a = 40° THD% = 25.1115 THD% = 5.58
(5 Amp/div-200 volt/div)
using PI controller. Fig. 11 shows the same waveforms for
ANN control besides the weight function W. The final val-
ues of THD of supply current before and after compensat-
ing are listed in Table 1. The supply current has improved
significantly when using the ANN algorithm.
3.3. Simulation results with unbalance in voltage
3.3.1. PI controller
Fig. 12 shows the simulation results under the unbalance
three-phase supply voltages. The supply voltage and cur-
rent without SAF shown in Fig. 12(a). Fig. 12(b) shows
the SAF current superimposed to its reference current.
The capacitor voltage and its reference is shown in
Fig. 12(c). In order evaluate the good performance of the
control, total harmonic distortion (THD) is calculated for
the source current before and after compensating. The cal-
culation shows that THD improved from 25.7857% with-
out SAF to 15.4395% for using SAF with PI controller.
With SAF (ANN) 3.3.2. ANN algorithm
Fig. 13, shows the simulation results when the supply
THD% = 2.9156 voltages are unbalance. The results have been obtained
THD% = 2.9407
under the same pervious condition of the PI controller.

Vs (a)
is
Magnitude

0.3 0.32 0.34 0.36 0.38 0.4

Time (s)

10
(b)
If*
Magnitude in Amp

0
If
-5

-10
0.3 0.32 0.34 0.36 0.38 0.4
Time (s)

1000
(c)
Magnitude in volt

500

0
0.3 0.32 0.34 0.36 0.38 0.4
Time (s)
Fig. 12. Simulation results under unbalance three-phase supply voltage. (a) The supply current and voltage with SAF. (b) The SAF current composed to
its reference current. (c) The capacitor voltage composed to its reference.
 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547 545

Through the figures and calculation the THD of source voltage isolators sense the unit vector of supply voltages
current with SAF, the THD is reduced from 15.4395% and DC capacitor voltage. Also, the current isolators using
(value obtained by means of PI controller) to 6.918% (value LEM hall-effect current sensors sense the compensating
obtained by this control algorithm). current. The control scheme is implemented in real time
using a 32-bit digital signal processor (DSP-TMS320C31).
4. Experimental results The control algorithm generates three-phase reference sup-
ply currents, which are the output of DSP. The three-phase
Active power filter prototype for experimental purpose reference supply currents are fed to hysteresis PWM cur-
has been set up and tested. The prototype system is shown rent controller. The resulting pulses are gating the IGBT’s
in Fig. 14. The power circuit is constructed IGBT’s. The of the SAF.
(5 Amp/div-200 volt/div)

Vs
is
Magnitude

0.3 0.32 0.34 0.36 0.38 0.4

Time (s)

Fig. 13. The supply current and voltage with SAF.

3-phase AC
supply

G1 G3 G5

Vc

G4 G6 G2

G1 G3 G5

Base drive

is1
is2 PWM
is3 Hysteresis current controller
i*s1 i*s2 i*s3
Vc
A/D Vs1
D/A converter Vs2
converte
Vs3
PC
Data-bus
computer
Reference
Control algorithm
generator Non-linear
DSP board (ds1102) load

Fig. 14. Digital signal processing (DSP) system hardware.

546 E.E. EL-Kholy et al. / Electrical Power and Energy Systems 28 (2006) 537–547

Fig. 15. Experimental results of proposed SAF. (a) Source current and voltage without filter. (b) Source current, its reference and source voltage.
(c) Compensation current.

Fig. 15 shows experimental waveforms for the load con- Appendix A

dition of uncontrolled rectifier. The power factor is
improved to unity using ANN control technique. Parameters of the shunt active filter
Fig. 15(a) shows the supply voltage and current without
Input voltages Vs = 380 V
ASF. Fig. 15(b) shows the supply phase voltage, supply cur-
Rectifier load resistance Rdc = 100 X
rent and its reference. It is clear from Fig. 15(b) that the sup-
Rectifier input inductor Lr = 15 mH
ply current is almost sin waveform and follows the supply
Rectifier load current iL = 5 A
voltage in its waveform shape with almost a unity displace-
SAF inductor Lf = 30 mH
ment power factor. Fig. 15(c) shows the compensating cur-
SAF DC link capacitor C = 250 lF
rent. From these figures, it is clear that the effectiveness of
SAF DC link voltage Vc = 750 V
the proposed controller for active power filter.

5. Conclusion
References
A control strategy for high performance three-phase
shunt active filter with unity input power factor has been
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modeling of the SAF have been described.
An experimental SAF has been carried out on DSP to
explore the advantages and practical implementation with
the proposed control strategy. The experimental and simu-
lation results showed that the proposed system has a good
performance in the harmonic compensation and improving
the input power factor.
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