Classical Compensation Theory Generalization Based in Losses Optimization Applied in Current and Voltage Unbalanced Systems

Ruben B. Godoy, Joo O. P. Pinto

Electrical Engineering Department UFMS - Federal University of Mato Grosso do Sul Campo Grande, Brazil ruben@batlab.ufms.br

Abstract It is proposed in this paper a generalization of classical power compensation theory considering current and voltage unbalanced systems. The work demonstrates that for these systems the optimum compensation does not implies in null neutral currents. It was also possible to conclude that the classical theory can be expanded for different compensation situations since the systems constraints are properly used. In this work, aiming to validate the proposal, some non-active power compensations were performed and evaluated through simulation results of a hypothetic system. Keywords- ABC theory, compensating currents, unbalanced voltages, theory generalization.
TABLE I. Symbol a, b, c ILa, ILb, ILc Iqa, Iqb, Iqc Va, Vb, Vc R Rn In P SYMBOLS LIST

~ P P
V0 T Va(rms) Vb(rms) Vc(rms) V0(rms)

Description Phase indicators Load currents Compensating currents Phase voltages Line resistance (phases) Line resistance (neutral) Lagrange multiplier Neutral current Instantaneous power Oscilating instantaneous power Average power Zero sequence voltage Period Root mean square phase voltages Root mean square zero sequence voltage

I.

INTRODUCTION

With the increase of non linear loads it becomes impossible to reject the effects of these loads in electrical systems. These loads contributed significantly to the power theories to be revisited and expanded from the traditional concepts to broader concepts [1, 2]. Through the contemporary studies of power flow, which are now considered the effects of harmonic currents and voltages, compensators were developed based on power electronics. These compensation devices became

known as active power filters which can roughly be understood as sources of voltage or current [3]. In general, in order to obtain compensation for non-active power, it is fundamental to know the power types that it should be compensate. In this sense, the classical theory of power seemed limited to situations where power flow is now composed of parts that result from the harmonic components of the system, since the phasor representation became limited due to the presence of different frequencies flowing through a circuit. It is observed so that the compensation of non-active power will only be effective if carried out instantaneously [35]. As a result of studies appeared that were able to reset the power theory in reference axes which are distinguishable from traditional axes A, B and C (ABC theory) to aggregate different types of powers, independent of the circulation frequency of the signals. The PQ theory was presented as an excellent proposition, going to define system currents and voltages as components , and zero [3]. The level of details and facility in practical implementations promoted by PQ theory contributed to omission of ABC theory in cases for non-active power compensation. In other way it is important to highlight that the ABC theory was defined in three-phase frames, which represent physically the electrical systems. The references in ABC frames make easy the voltages and currents interpretations and consequently of power components [6]. However, the interpretations given by the theory PQ inhibited improvements in ABC theory. It can be cited, for example, that the classical ABC theory is limited for balanced systems, in other words, this theory is not capable to evaluate the neutral current, and it is impossible to compensate oscillating active power or provide unitary power factor compensation [7]. Another concern to be observed in compensation techniques is that there is a consensus that the minimal losses occur for zeroing the neutral current. However, this is not a correct issue when the system voltages are unbalanced [8]. So, it is proposed in this work to generalize the ABC theory having as a rule the reduction of system losses remembering that the neutral losses must also be computed. For this it is proposed a cost function, integrating power losses in phases and neutral,

however, submitted to appropriate constraints. The resolution tool used to solve the set of differential equations and constraints imposed to them was the Lagrange multiplier, and the solutions were evaluated through simulation results of a hypothetic system. II. ABC THEORY GENERALIZATION

In accordance with optimization method, differencing previous equations and making them equal zero, (7), (8) and (9) are obtained. 0 = 2 . 0 = 2 . 0 = 2 . + . + . + . (7) (8) (9)

A. Classical ABC Theory Fryze Optimization Method Although the ABC theory has been evaluated under many points of view, it is important to highlight that a compensation, it is summarized in two basics necessities. The first of them is the most important, it considered under power systems point of view, which, the attempt is reducing the rms current in feeders. Is fact to consider that the reduction of rms current contributes for system losses decrease and consequently in the section reduction of wires [3]. Other necessity, more related to generators, it refers to operational difficulties of generator to supply currents with high harmonic content. These currents prevent appropriated generator operation, compromising the voltage quality, efficiency and the life cycle. This fact allows concluding that the compensation can be view as an optimization problem, whose optimization rule must be the reduction of line currents respecting appropriated constraints. So the cost function can be represented as (1). , , = + + + (1)

From equations (7), (8) and (9) the compensating currents can be synthesized as a function of . The resulting equations are (10), (11) and (12). = (10) (11) (12)

Substituting (10), (11) and (12) into constraint (2), it is possible to obtain a value for as presented in (13). = (13)

Finally, (13) can be substituted in (10), (11) and (12), resulting in compensating currents. = = = (14) (15) (16)

A cursory investigation of (1) allows concluding that the best solution would be to reduce the function to zero, making the compensating currents (Iq) equals to load currents (IL). However, a compensator has not the function of active power transferring, being necessary the inclusion of a constraint to equation (1). In other words, the compensator will be destined just to supply non-active power. Equation (2) resumes the proposed constraint. . + . + . =0 (2)

Observe that (14), (15) and (16) represent exactly the compensating currents proposed by Classical ABC Theory. B. ABC Theory Expanded As it is observed, the equation (1) can be interpreted as an equation that represents the system losses. So, the compensation theory was obtained from an optimization rule that reduces the system losses [3]. However, it is important to highlight that (1) omits the neutral current, in other words, it is supposed, during the deduction that this current is null. But, this supposition is valid only in situations whose equations (14), (15) and (16) are used in systems that voltages are balanced. In other cases, it will appear zero sequence currents, becoming the synthesized optimization rule no applicable. In this manner, it is fundamental a new optimization for generic cases that there is neutral current [8]. So, (1) is rewritten as (17). + + + + . (17) The set of equations that summarizes the optimization attending the imposed restriction (2) are presented as (18), (19) and (20). , , , =

The optimization of function (1) can be obtained zeroing simultaneously the partial derivatives of currents, as it is observed in set of equations viewed in (3). = 0; = 0; =0 (3)

However it is observed that proposed solution (3) must attend the constraint observed in (2). This type of problem can be solved using Lagrange multiplier, resulting in equations (per phase) represented in (4), (5) and (6). , , , = . = . = . + . + . + . (4) (5) (6)

0 = 2 . 0 = 2 . 0 = 2 .

2 2 2

. . .

+ . + . + .

(18) (19) (20)

(30)

The sum of (18), (19) and (20) results in an equation that simplifies the existent relationship between neutral current and Lagrange multiplier. = (21)

From (18), (19) and (20) is also possible to obtain the compensating currents as a function of . = = = + + + + + + (22) (23) (24)

D. Optimization for Power Transferring with Unitary Power Factor Another compensation possibility is to guarantee that source currents assume the waveforms of their voltages in respective phases. Making this, the power source will see the load as resistances, which denotes unitary power factor. In this case, the optimization can be performed assuming that total power losses are minimized during the fundamental period, so, it is necessary to minimize the rms losses. Furthermore, another important consideration is referred to constraint. It is necessary to impose that the active power supplied by compensator must be null during one period, and it will not zero instantaneously (as determined in the constraint used in case b). In this way, it is assumed the cost function as presented in (31) and the following (32) represents its constraint. , , = + + (31) + . =0 (32)

Substituting (22), (23) and (24) in constraint (2), it is obtained the following expression for . = (25)

+ .

Immediately it is possible to observe that the equation (25) becomes identically to (13) if the system voltages are balanced, in other words the zero sequence voltage does not exists. Substituting (25) in (21) it is obtained the neutral current value for a system with the power losses minimized. =
.

Combining equations (31) and (32) and applying the Lagrange multiplier in optimization, it is obtained the following equations (per phase). 0= 0= 0= + + + . . . (33) (34) (35)

(26)

From (26) and (25) it is possible to obtain the compensation currents described by (22), (23) and (24). C. Optimization for Constant Instantaneous Power Transferring It is also possible to adjust the constraint aiming the compensation currents contain components to supply the oscillating active power. In this case, the initial constraint (2) is readapted as it is observed in (27). . + . + . = (27)

Summing the equations (33), (34) and (35) it is obtained the relation between In and . 2 +6 = . + + (36)

Isolating the compensating currents presented in (33), (34) and (35) and substituting in imposed constraint (32), and In are obtained as observed in (37) and (38). = = (37) (38)

Considering that average power is defined in accordance with (28), can be described for (29) and (30). = =

(28) (29)

Aiming to obtain the compensating currents it is necessary simply substituting (37) and (38) in (33), (34) and (35).

III.

SIMULATION RESULTS

1600

In order to confirm the proposed generalization, some simulations were evaluated. In priority it was used a system with unbalanced currents and unbalanced voltages. The simulated system was developed in accordance of Fig. 1. The circuit parameters are presented in Table II. It is important to highlight that the neutral resistance and phases resistances were strategically chosen aiming to observe the influence of this parameter during the optimization.
Is=IL-Iq IL

1500

1400

Power

1300

1200

1100

1000

900 0.03

0.035

0.04

0.045 Time(s)

0.05

0.055

0.06

Figure 3. Power supplied by means without compensation.

Iq

Figure 1. Simulation circuit. TABLE II. Parameter Phase A Voltage (V) Phase B Voltage (V) Phase C Voltage (V) Linear Load 1 Linear Load 2 Non Linear Load Three-Phase Rectifier Line Resistance (R) Neutral Resistance (Rn) CIRCUIT PARAMETERS Value Va=180.sin(t-5) + 10.sin(3t-5) Vb=175.sin(t-124) + 8.sin(3t-120) Vc=185.sin(t+118) + 12.sin(3t-300) 70.0 + j37.7 () 140.0 + j37.7 () Ro=70 () Lf=1mH 5 () 1 ()

A. Classical compensation The first proposal of compensation is to use the classical ABC theory. In this case, it is supposed, during the modeling that the neutral current is zero. However, observing the Fig. 4, even after the compensation, there is neutral current. This is a result of voltage unbalances, which are not fixed in (14), (15) and (16). Although this is not the optimum compensation there was power losses reduction for 185.7W. In Fig. 5 it is observed the instantaneous power provided by source. As it is observed the Fig. 3 and Fig. 4 are very similar, denoting that the classical compensation has a small contribution in the power performance improvement.
200 10

100

In Fig. 2, the continuous lines are voltages. The dashed lines represent the currents. In this first case there is not compensation in the system. For this situation the total power losses were 195.8W. In Fig. 3 it is observed the instantaneous power supplied by mains.
200 10

-100

-5

-200 0.03

0.035

0.04

0.045 T ime(s)

0.05

0.055

-10 0.06

Figure 4. Voltages and currents after classical compensation.

100 5
1600

Current(A)

Voltage(V)

1500

1400

-100

-5

Power

1300

1200

1100

-200 0.03

0.035

0.04

0.045 T ime(s)

0.05

0.055

-10 0.06
1000

Figure 2. Voltages and currents for the system without compensation.

900 0.03

0.035

0.04

0.045 Time(s)

0.05

0.055

0.06

Figure 5. Instantaneous power supplied by mains after classical compensation.

Current(A)

Voltage(V)

200

10

-100

-5

100

Current(A)

Voltage(V)

-200 0.06

0.065

0.07

0.075 Time(s)

0.08

0.085

-10 0.09

Figure 8. Compensated currents for Constant instantaneous active power.

-100 -5

1400

-200 0.03

0.035

0.04

0.045 Time(s)

0.05

0.055

-10 0.06

1200

Figure 6. Compensated currents for generalized compensation.

Power

1000

800

Aiming a comparison whit a compensation that forces the neutral current to zero, the system was modeled and simulating inserting this new constraint. In Fig. 4 it is observed the same compensation, however, zeroing the neutral current. The losses for this case totaled 185.8W which represents a superior small value in comparison with the previous case.
200 10

600

400

200 0.06 0.065 0.07 0.075 Time(s) 0.08 0.085 0.09

Figure 9. Constant instantaneous power.

100

-100

-5

D. Compensation for unitary power factor As described in section II-d the system can be compensated using the unitary power factor as a constraint. Using this compensation the total power losses were 184.3W. Through a visual inspection in Fig. 10 it is confirmed that currents waveforms are very similar to voltages waveforms, denoting that the mains see the load as a pure resistance. In Fig. 11 it is showed the instantaneous power provided by three phase source after the unitary power factor compensation.
200 10

-200 0.03

0.035

0.04

0.045 Time(s)

0.05

0.055

-10 0.06

Current(A)

Voltage(V)

Figure 7. Compensated currents for generalized compensation forcing the neutral current as zero.
Voltage(V)

100

C. Compensation for constant instantaneous active power For simulated cases in section III-b the system was compensated aiming to supply the non-active power required by the loads. Now the Generalized Theory was expanded for the case wherein the compensating currents supply the oscillating active power. So, as modeled in section II-c, the compensation will aggregate to power losses minimization the constraint that the mains supply a constant instantaneous active power. The Fig. 8 presents the compensating currents

-100

-5

-200 0.06

0.065

0.07

0.075 Time(s)

0.08

0.085

-10 0.09

Figure 10. Compensated currents for unitary power factor.

Current(A)

Current(A)

Voltage(V)

B. Compensation using Generalized ABC Theory for unbalanced voltages. In this case, the system is optimized including also the power losses in neutral wire. Comparing the Fig. 6 (which contains the compensated currents) with Fig. 4 (classical compensation) it is notable the reduction in current of neutral wire, although the resultant current was not null. This is the optimum point for losses. After the compensation the total losses were reduced to 185.6W. For the simulated system the instantaneous power, supplied by mains is very similar, to presented in Fig. 5.

after the proposed compensation. For this situation the total losses were reduced for 185.2W. Observe that the total power losses are a value lower than previous cases, an immediate consequence of non-circulation oscillating active power in system phases. Fig. 9 presents the instantaneous power behavior after the proposed compensation.
200 10

100

1500 1450 1400 1350 1300 Power 1250 1200 1150 1100 1050 1000 0.06 0.065 0.07 0.075 Time(s) 0.08 0.085 0.09

cost to maintaining the power supplied by mains constant is notable (Fig. 13). This compensation results in worst case for both the power factor as for the power losses. The compensation wherein has the unitary power factor as constraint results in minimal power losses. However, it is very important to highlight that for unitary power factor the currents supplied by the source must have the same waveform of distorted and unbalanced voltages (Fig. 14), which can compromises generator operation or contributing for voltage distortion in other interconnected systems.
TABLE III. POWER F ACTOR AND POWER LOSSES COMPARISON Power Factor 0.969 0.995 0.995 0.993 0.896 1.000 Power Losses (W) 217.3 204.8 204.4 204.9 262.6 202.4

Figure 11. Instantaneous power supplied by the mains after unitary power factor compensation.

IV.

P OWER FACTOR VS POWER LOSSES

Aiming to observe the power factor and power losses variations for various compensations requirements, it is proposed for the system presented in Fig. 1 a considerable voltage unbalances. Fig. 12(a) presents the unbalanced voltages. In Fig. 12(b) it is observed the unbalanced currents for this system.
300 200

Compensation Procedure Without compensation Classical Generalized Gen. Null neutral current Constant Inst. Power Unitary power factor
10 8 6 4 Current(A) 2 0 -2 -4

100 Voltage (V) -6 0 -8 -10 0.06 -100 0.065 0.07 0.075 Time(s) 0.08 0.085 0.09

-200

(a)
0.065 0.07 0.075 Time(s) 0.08 0.085 0.09
1600 1400 1200

-300 0.06

(a)
8 6 4 2 Current 0 -2 -4 -6 -8 0.06

1000 Power 800 600 400 200 0 0.06

0.065

0.07

0.075 Time(s)

0.08

0.085

0.09

0.065

0.07

0.075 Time(s)

0.08

0.085

0.09

(b) Figure 12. (a) Unbalanced voltages (b) Unbalanced currents.

(b) Figure 13. (a) Currents supplied by the mains for constant instantaneous power. (b) Constant instantaneous power after compensation.
400 10

For the very unbalanced system, whose voltages and currents are showed in Fig. 12, compensation procedures described in section III were performed aiming a comparison between power factor and power losses. Table III summarizes the obtained results. The results presented in Table III allow conclude some important aspects. It is confirmed that the classical compensation and generalized compensation produce very similar results, although is confirmed that no null neutral current is the optimum point for the power losses. Other important observation is related to constant instantaneous power compensation. In a very unbalanced voltage system, the

200

-200

-5

-400 0.06

0.065

0.07

0.075 Time(s)

0.08

0.085

-10 0.09

Figure 14. Voltages (constinuous lines) and currents (dashed lines) for unitary power factor compensation.

Current(A)

Voltage(V)

V.

CONCLUSIONS

[2]

Considering systems with unbalanced voltages it was proved in this work that the point of minimal losses does not occurs, necessarily, for zero neutral currents. In addition the mathematical tool of Lagrange Multipliers allowed expanding the classical ABC theory the cases of compensation. Since that the constraints imposed for the system are adequately chosen, the ABC theory can be generalized for any compensation requirement. An important conclusion that the theory generalization allows to conclude is that in a compensated system, the optimum neutral current is proportional to voltages unbalances and inversely proportional to neutral resistance. For practical situations the electrical systems present voltages with small unbalances, which lead the optimized neutral current to values very close to zero. So, compensation methods that consider null neutral currents are not so distant of the optimum point for total power losses. REFERENCES
[1] J. L. Willems, J. A. Ghijselen, A. E. Emanuel, The apparent power concept and the IEEE Standard 1459-2000, IEEE Trans. On Power Delivery, vol. 20, no. 2, pp. 876-884, April 2005.

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