Acknowledgements

First of all, I would like to express my deep gratitude to my research supervisors, Dr.
Pravat Kumar Ray and Dr. Gayadhar Panda for their patient guidance, enthusiastic
encouragement and useful critiques of this research work.
.I would like to thank my Parents, wife and my son who supported and encouraged me all
the time during my research.
Finally I would like to Thank Ms.Alina Covali and Team Member of LAP LAMBERT
Academic Publishing for their support for publication of this book

Pratap Sekhar Puhan

iii
 Abstract
This book provides a brief back ground on the area of research of frequency and harmonics
estimation and design of filter using different control algorithms for harmonics elimination
in a distorted power system. It presents an Improved Recursive Netwon Type Algorithm
(IRNTA) based technique for frequency estimation. The proposed approach uses Jacobian
and covariance matrices for updating the unknown parameters. The recursive form of
unknown parameters and covariance matrix are incorporated in the algorithm to have faster
convergence. The performance of the proposed algorithm has been studied through
simulations and experiments for several critical cases that often arise in a power system.
Efficacy of the proposed algorithm is also compared with other signal processing
techniques such as Recursive Least Square (RLS) and Kalman Filter (KF). Studies made on
industrial data also support for the superiority of the proposed algorithm.

Subsequently, a harmonics estimation technique using a Variable Leaky Least Mean

Square algorithm is also proposed. In this proposed harmonics estimation method drifting
of parameters is avoided using a leak adjustment technique. To improve the rate of
convergence, step size is also adapted in this method. Real time power system is imitated
using different cases through simulation, which enables the superiority of the proposed
method over the other existing techniques. Studies made on experimental data, processed
in arduino due microcontroller, also support its superiority.
This thesis also emphasizes applications of soft computing technique to harmonics
estimation. It describes two hybrid algorithms such as KF-MGA and KF-BFO for
estimation of harmonics components of a distorted power system signal. First input signal
is fed to either MGA or BFO algorithm. Unknown parameters (weight vectors before
initialization) are optimized using any one of the said algorithms. Optimized output of
MGA / BFO is taken as the initial values of weights for KF algorithm. Then weights are
updated using the steps of KF algorithm. Harmonic components are estimated from final
updated weights of KF. A laboratory proto type is also developed for generation of power
system data in order to validate the proposed algorithm.
iv
 Regarding elimination of power system harmonics, a novel controller that uses an
indirect current controller in conjunction with Fuzzy Logic Controller (FLC) with different
fuzzy rules has been implemented for harmonics elimination in a single phase system. So
far as three phase system is concerned, a SAPF is designed using combined synchronous
detection and two level hysteresis current controller techniques for elimination of
harmonics in a three phase distribution system. A prototype experimental setup is designed
in dSPACE platform for verification of proposed elimination technique.

v
Contents
Acknowledgement iii
Abstract iv
List of Figures x
List of Tables xiv
Acronyms xv
1 Introduction 1
1.1 Background 1
1.2 A Review on Power System Frequency Estimation using Signal 4
processing Techniques
1.3 A Review on power system harmonics Estimation 15
1.4 Reviews on Harmonics Elimination 21
1.5 Motivation of the present work 30
1.6 Problem Statement 32
1.6.1 Frequency Estimation Problem 33
1.6.2 Harmonics Estimation Problem 33
1.6.3 Harmonics Elimination problem 34
1.7 Objectives 35
1.8 Thesis Orgnization 37

2 Power System Frequency Estimation Using Signal Processing 39

Techniques
2.1 Introduction 39
2.2 Frequency Estimation using existing Signal Processing 42
Technique
2.2.1 Recursive Least Square (RLS) Algorithm applied to 42
Frequency Estimation
2.2.2 Kalman Filtering (KF) for frequency Estimation 44

2.3 Signal Model Presentation and IRNTA Algorithm Development 47

2.4 IRNTA based frequency estimation 47
2.5 Simulation Studies 49
2.5.1 Sinusoidal signal in presence of noise 49
 2.5.2 Jump in frequency in the signal 50
2.5.3 Jump in amplitude of signal 51
2.5.4 Change in phase of signal 52
2.5.5 In the presence of harmonics 55
2.5.6 In presence of Sub and Inter harmonics 56
2.6 Experimental Results 57
2.6.1 Validation on Real time (Data Collected from Industrial 58
setup)
2.6.2 Validation on Real time (Data Collected from Industrial 59
setup)
2.7 Chapter Summary 61
3 Real time Harmonics Estimation of Distorted Power System Signal 62
3.1 Introduction 62
3.2 Algorithms applied to Power System Harmonics Estimation 66
3.2.1 VLLMS based Harmonics Estimation 66
3.2.2 Harmonics Estimation using Least Mean Square (LMS) 68
algorithm
3.2.3 Harmonics Estimation using RLS algorith 69
3.3 Simulation results 72
3.3.1 Static signal corrupted with random noise and decaying 72
DC component
3.3.2 Estimation of harmonics in presence of amplitude drift 72
3.3.3 Harmonics estimation of signal in presence of inter and 72
sub-harmonics
3.3.4 Harmonic Estimation of a Dynamic Signal 74
3.4 Experimental results 83
3.4.1 Measurement Signal Pre-Processing Circuit 83
3.4.2 Voltage Supply Circuit of the microcontroller 84
3.4.3 Arduino Due (Atmel SAM3X8E ARM Cortex-M3 CPU) 84

3.5 Chapter Summary 86

4 Development of Hybrid Algorithms for Power System Harmonics 87
Estimation
4.1 Introduction 87
4.2 Power system harmonics estimation problem 89
4.3 Structure of the Proposed KF-MGA or KF-BFO Hybrid 90
Estimation Scheme applied to Harmonic Estimation
4.4 Modified Genetic Algorithm (MGA) 93
4.4.1 Parents selection 94
4.4.2 Proposed Crossover 94
4.5 BFO Algorithm 95
4.5.1 Chemotaxis 98
4.5.2 Swarming 98
4.5.3 Reproduction 98
4.5.4 Elimination and Dispersal 98
4.6 Proposed BFO Algorithm 99
4.7 Simulation Results and Discussion 102
4.7.1 Static signal corrupted with random noise and 102
decaying DC component.
4.7.2 Harmonics Estimation of Signal in presence of inter 103
and sub-harmonics
4.8 Experimental Validation 108
4.9 Chapter Summary 111
5 Development of Control Strategies for Harmonics Elimination using 112
Shunt Active Power Filter
5.1 Introduction 113
5.2 Types of Harmonics Filter 113
5.2.1 Passive Filters 113
5.2.2 Active Filters 116
5.2.3 Hybrid Filters 117
5.3 Proposed Shunt Active Filter for Single Phase System 124
5.4 Control Strategy applied to shunt active filters 125
5.4.1 Reference source current generation 126
5.4.2 PI Controller 129
5.4.3 Fuzzy logic controller 130
5.5 Simulation results of proposed Shunt Active Power Filter 133
 5.5.1 134
Results without active power filter
5.5.2 results of shunt active power filter with PI current 135
control
5.5.3 results of shunt Active Power Filter (SAPF) with Fuzzy 136
Logic control technique with 5/5 Fuzzy Rule
5.5.4 Simulation results of shunt Active Power Filter (SAPF) 138
with hysteresis fuzzy combined control technique (7/7)
fuzzy rule.
5.6 Descripton of the Three Phase Studied System 139
5.7 Control Mechanisim applied 140
5.7.1 Hysteresis Current Controller 141
5.7.2 Synchronous detection method 143
5.8 Simulation Results and Analysis of three phase system 146
5.8.1 Simulation Results using Shunt Active Power Filter for 149
balanced case
5.8.2 Simulation results using Shunt active power filter for 152
unbalanced case
5.9 Experimental Results and Analysis 156
5.10 Chapter Summar 156
6 Summary and Conclusions 157
6.1 Summary of the Thesis Work 161
6.2 Thesis Contributions 162
6.3 Conclusions 163
6.4 Future Scope of Work 164
List of Figures

1.1 (a) sources current, (b) Unipolar Modulation, (c) Bipolar 26

1.2 Schematic of estimation and elmination problem 32
2.1 Estimation of frequency from noisy signals with SNR 40 dB 50
2.2 Estimation performance in MSE of frequency of signal 50
2.3 Estimation during sudden frequency change of 49 Hz from 50 Hz 51
2.4 Single phase signal during change of amplitude at 40th Sample 52
2.5 Estimation of Frequency during sudden change in amplitude 52
2.6 Single phase signal during change of phase at 40th Sample 53
2.7 54
Estimation of Frequency during sudden change of phase
2.8 Single phase signal containing harmonics 55
2.9 Estimation of Frequency in presence of harmonics 55
2.10 Estimation of Frequency in presence of sub- and inter- harmonics 56
2.11 Schematic Diagram of collecting industrial data 57
2.12 Estimation of Frequency from industrial data 58
2.13 Experimental set up for Laboratory data generation 59
2.14 Schematic Diagram of Experimental Data collection 60
2.15 Estimation of Frequency of Experimental data 61
3.1 Flow chart of the estimation scheme of VLLMS algorithm 70
3.2 Actual and Estimated signal using RLS, KF, EnKF and RLMS 72
3.3(a) Estimation of amplitude of fundamental component of signal 72
3.3(b) Estimation of phase of fundamental component of signal 72
3.4(a) Estimation of amplitude of 5th harmonic component of signal 73
3.4(b) Estimation of Phase of 5th harmonic component of signal 73
3.5 Estimation of amplitude of 11th harmonics component of signal 73
3.6 Comparison of MSE in Estimation of signal 74
3.7 Variation of Estimation error with sampling frequency 75
3.8 Estimation of 5th harmonic amplitude during amplitude drift 76
3.9 Estimation of sub-harmonics having phase 75 deg. 77
3.10 Estimation of inter-harmonics having amplitude 0.1 p.u. 77
3.11 Estimation of 5th harmonics amplitude of dynamic signal 80
3.12 Experimental setup of Arduino Due Microcontroller based 83
hardware for implementing the proposed algorithm
3.13 Circuit Diagram of the Experimental setup 83
3.14 Estimation of signal from real data 84
3.15 Estimation of Fundamental and other harmonic signals of real data 84
3.16 Estimation of Fundamental and other harmonics amplitudes of real 84
data
3.17 Estimation of Fundamental and other harmonics phases of real data 85
4.1 Structure of KF-MGA or KF-BFO estimation scheme 90
4.2 Example of Exploration and Exploitation in the Search Space 95
4.3 Example of Crossover 96
4.4 Flowchart for Optimal weight vector using Modified GA(MGA) 97
4.5 Flow chart of KF-BFO Algorithm 101
4.6 Estimation of amplitude of Fundamental 3rd,5th harmonics 103
4.7 Estimation of amplitude of 7th and 11th harmonics 104
4.8 Estimation of phase of Fundamental, 3rd and 5th harmonics 104
4.9 Comparison of MSE in estimation of signal 105
4.10 Estimation of amplitudes of a sub-harmonic and two inter- 107
harmonics
4.11 Experimental setup for online data generation 110
4.12 Comparison of MSE in estimation of Experimental data 110
5. 1 A single tuned Filter 113
5.2 Double tuned filter 114
5.3 High-pass filter 114
5.4 C-type high pass filter 115
5.5 Schematic diagram of a shunt active filter 115
5.6 Block diagram of VSI based shunt active power filter 117
5.7 Block diagram of VSI based shunt active power filter 117
5.8 Schematic diagram of series active filter 119
5.9 Series connection of an active filter and a passive filter 120
5.10 120
Combination of series active filter and shunt passive filter
5.11 Schematic diagram of Harmonics mitigation filter classification 121
5.12 Generalised block diagram of APF 122
5.13 124
Proposed Shunt active Power Filter
5.14 Block Diagram of Control Mechanism 130
5.15 7/7 input variable 131
5.16 7/7 input variable error 131
5.17 7/7 Output variable 131
5.18 5/5 input variable 132
5.19 5/5 input variable error 132
5.20 5/5 Output variable error 133
5.21 wave form without active power filter 135
5.22 FFT analysis of Source Current without active power filter 135
5.23 136
Wave form SAPF with PI current control
5.24 FFT Analysis of source current of SAPF with PI current control 136
5.25 Simulated wave form of SAPF with Fuzzy Logic Controller (5/5) 137
Rule
5.26 FFT Analysis of Source current of the simulated wave form of 137
SAPF with Fuzzy Logic Controller (5/5) rule
5.27 Simulated wave form of SAPF with Fuzzy Logic Controller (7/7) 138
Rule
5.28 FFT Analysis of Source current of the simulated wave form of 138
SAPF with Fuzzy Logic Controller (7/7) Rule
5.29 Three- phase shunt active power filter 140
5.30 Block diagram of the hysteresis current control 143
5.31 Diagram of two-level hysteresis current control 143
5.32(a) Source Voltage Waveform 147
5.32(b) Load Current Waveform 147
5.32© Compensating current Waveform 148
5.32(d) Source current after compensation 148
5.33 FFT Analysis of Source current spectrum without SAPF of 148
phaseA
5.34 FFT Analysis of Source current spectrum with SAPF of phase 149
 A
5.35(a) Source voltage under unbalanced condition 150
5.35(b) Load current under unbalanced condition 150
5.35(c) Compensating current under unbalanced condition 150
5.35(d) Source current after compensation under unbalanced 151
condition
5.36(a) FFT Analysis of Source current spectrums without SAPF of 151
Pha A
5.36(b) FFT Analysis of Source current spectrums without SAPF of 151
Pha B
5.36(c) FFT Analysis of Source current spectrums without SAPF of Phase 152
C
5.37(a) FFT Analysis of Source current spectrums with SAPF of 152
Phase A
5.37(b) FFT Analysis of Source current spectrums with SAPF of Phase B 152
5.37(c) FFT Analysis of Source current spectrums with SAPF of Phase C 153
5.38 Block diagram of complete hardware structure 154
5.39 The prototype of the experimental setup 154
5.40 Load Current and Source Voltage 154
5.41 Source Current and Source Voltage 155
5.42 Filter capacitor voltage with Fuzzy logic Controller 155
List of Tables
2.1 Parameters used for simulation studies (RLS, KF and IRNTA) 34
2.2 Comparative assessment of RLS, KF and IRNTA algorithms 36
3.1 Simulation parameter 53
3.2 Harmonics Parameters Estimated values using VLLMS 58
3.3 Comparision of Performance Index 61
4.1 Values of parameters used for simulation and experimental work 82
employing BFO
4.2 83
GA Parameters
4.3 86
Comparative assessment of Harmonic Estimation
4.4 Comparision of Performance Index 88
5.1 Fuzzy rule base for voltage control (7/7) 106
5.2 Fuzzy rule base for voltage control (5/5) 107
5.3 Simulation Parameter of single phase system 108
5.4 Comparison of THD reduction for each order of harmonics 113
5.5 Comparison of THD in Percentage of Fundamental 113
5.6 Simulation Parameter for Three-phase Studied System 119
5.7 Comparison of THD in Percentage for Balanced Case 123
5.8 Comparison of source current in THD for unbalanced load 128

Acronyms
 LS: Least Square
 TLS: Total Least Square
 RLS: Recursive Least Square
 RLMS: Recursive Least Mean Square
 RLS-C: Recursive Least Square Covariance Form
 RLS-I: Recursive Least Square Information Form
 WLS: Weighted Least Square
 LMS: Least mean Square
 KF: Kalman Filter
 EKF: Extended Kalman Filter
 SC: Soft Computing
 GA: Genetic Algorithm
 NN: Neural Network
 FLC: Fuzzy Logic Controller
 HCC: Hysteresis Current Controller
 DFT: Discrete Fourier Transform
 FFT: Fast Fourier Transform
 SDFT: Smart Discrete Fourier Transform
 IIR: Infinite Impulse Response
 SDDI: Second-Degree Digital Integrator
 EPLL: Enhanced-Phase-Locked-Loop
 PLL: Phase-Locked Loop
 ANF: Adaptive Notch Filter
 VSSLMS: Variable Step Size Least Mean Square
 HMIQ: High Machine Intelligence Quotient
 GD: Gradient Descent
 PSO: Particle Swarm Optimization
 EA: Evolutionary Algorithms
 MOPSO: Multi Objective Particle Swarm Optimization
 BFO: Bacterial Foraging Optimization
 NTA: Newton-Type Algorithm
 IRNTA: Improved Recursive Newton-type algorithm
 ECKF: Extended Complex Kaman Filter
 SVD: Singular Value Decomposition
 CDF: Characteristics Harmonics Digital Filter
 EnKF: Ensemble Kaman Filter
 GAP: Genetic AdalinePerceptrons
 SMPS: Switch Mode Power Supply
 PCC: Point of Common Coupling
 AF: Active Filter
 SAPF: Shunt Active Power Filter
 HAPF: Hybrid Active Power Filter
 VSI: Voltage Source Inverter
 CSI: Current Source Inverter
 PI: Proportional- Integral
 PWM: Pulse Width Modulation
 HB: Hysteresis Band
 CCPWM: Current Control Pulse width Modulation
 AR: Auto Regressive
 CHARMDF: Characteristic Harmonics Digital Filter
 DKF: Discrete Kalman Filter
 ESPIRIT: Estimation of Signal Parameters Via Rotational Invariance Techniques
 FPGA: Field Programmable Gate Array
 IC: Integrated Circuits
 MSE: Mean Squared Error
 SNR: Signal to Noise Ratio
 SVC: Static VAR Compensator
 UPS: Uninterruptible Power Supplies