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Active Filter Design PDF
Active Filter Design PDF
Mark McGranaghan
Electrotek Concepts, Inc.
Knoxville TN, USA
I I
s L
M
I
f
NONLINEAR
LOAD
Main Customer
Bus
Interface Filter
IGBT Controls
PWM and
Inverter Gating Signal
Generators
Figure 1. Diagram illustrating components of the shunt connected active filter with waveforms showing
cancellation of harmonics from an ASD load.
by the filter. This is important because relatively rolling FFT on the sampled load current waveform
high values of di/dt may be needed to cancel higher and then reproducing a current waveform that has
order harmonic components. Therefore, there is a the same harmonic components with the opposite
tradeoff involved in sizing the interface inductor. A phase angle. This calculation is performed each
larger inductor is better for isolation from the power cycle and the desired compensation is implemented
system and protection from transient disturbances. in the successive cycle. This one cycle of delay could
However, the larger inductor limits the ability of the be a problem for nonlinear loads with rapidly
active filter to cancel higher order harmonics. varying characteristics.
3.0 EMTP Model of the Active 3.3 PWM Firing Pulse Generation
As in most PWM applications, the interval between
Filter two consecutive switching actions varies constantly
The Electro-Magnetic Transients Program (EMTP) within a power frequency cycle. A rigid definition of
is an ideal tool for studying the effectiveness of the the switching frequency is not applicable. Thus, the
active filter and evaluating control system concept of an average frequency is commonly used.
requirements. The model permits evaluation of the In principle, increasing the inverter operating
possible configurations without expensive field tests frequency helps to get a better compensating current
and prototype development. Important elements of waveform. However, the actual performance of the
the model are described briefly here. active filter becomes limited by the isolating
inductance once a high enough switching frequency
3.1 IGBT Voltage Source Inverter is achieved. Control of the average frequency is
The voltage source inverter is the heart of the active realized by introducing a hysteresis characteristic
filter. This three-phase, full-wave inversion bridge into the PWM firing pulse generation logic as shown
is built using three identical IGBT inverter legs. A in Figure 3.
dc link neutral is established by equally dividing dc
capacitance between the positive and negative poles. Icomp
This design combined with separate controls of the -
Iref
individual legs allows the filter to compensate for + ∆I
unbalanced loads or even single phase loads. + PWM
Modulation Hysteresis -
Signal Specification -1 Hyst.
decrease. By increasing or decreasing the allowable inductor (L2f) to prevent overloading due to
current shaping error, which is determined by the transients and high frequency harmonic components
bandwidth of the hysteresis characteristic, the from the power system.
average switching frequency can be controlled. This
firing algorithm is sometimes called a delta- Sizing of the inductor and capacitor values must take
modulation. In the simplest delta modulation into account control of the inverter switching
control, an equal bandwidth over the whole power frequencies, power system switching transients, and
frequency cycle is used for the hysteresis. In this the characteristics of the nonlinear load to be
case, the modulation frequency is a constant. A compensated. One of the main objectives of the
nonlinear modulation can be used to help reduce the application study was to evaluate the possible
variations in the switching interval associated with a impacts of system switching events on these filter
constant bandwidth. components.
138 kV Bus 3 MW
200 MVA, 138 kV Other Feeders and Loads
Feeder
Equivalent Source
Cap.
Zs
3-mile Overhead Distribution Feeder Bank
Substation
Cap. Bank Customer Nonlinear
Cap. Bank AF Load
R e g u l a t o r w ith R e g u l a t o r w ith
resistive load RL load
REGR-INJ>ILOADA-ACREGA(Type 9) REGL-INJ>ILOADA-ACREGA(Type 9)
150 150
Max: 190.929 Max: 91.7568
Min: -103.18 Min: -67.4758
Avg: 30.623 Avg: 32.5594
100 100
Abs: 190.929 Abs: 91.7568
RMS: 44.7151 RMS: 40.9831
CF : 4.26991 CF : 2.2389
50 FF : 1.46018 50 FF : 1.25872
Load Currents
0 0
-50 -50
-100 -100
-150 -150
360 370 380 390 400 350 360 370 380 390 400
Time (mS) Time (mS)
0.075
Compensator 0.050
0.025
0.05
-0.050 -0.05
-0.075
-0.100 -0.10
360 370 380 390 400 360 370 380 390 400
Time (mS) Time (mS)
REGR-INJ>MAINSA-PTBUSA(Type 9) REGL-INJ>MAINSA-PTBUSA(Type 9)
150 150
Max: 417.374 Max: 399.957
Min: -237.178 Min: -220.969
100
Avg: 50.3947 100
Avg: 49.7815
Abs: 417.374 Abs: 399.957
RMS: 71.1235 RMS: 66.5263
CF : 5.8683 CF : 6.012
50 FF : 1.41133 50 FF : 1.33637
Net current 0 0
-100 -100
-150 -150
360 370 380 390 400 360 370 380 390 400
Time (mS) Time (mS)
Figure 5. Comparison of active filter performance for an ac voltage regulator with resistive load and with RL
load.
In general, the current waveform of an ac regulator It is important to note that these simulations were for
with resistive load is an example of the waveshape steady state conditions (load was not changing).
that poses the severest challenge for an active filter. Therefore, the effect of the response time associated
The problem is the high di/dt that is required of the with the FFT control was not a factor.
filter to compensate for the high di/dt at turn on of
the regulator. The problem is most severe when the A number of important observations can be made
regulator is turned on with a firing angle close to 90 based on the results summarized in Table 1:
degrees because this is when the available driving
voltage stored on the dc capacitor is at a minimum. • The overall filtering effectiveness depends
The output di/dt capability can be raised either by significantly on the types of loads being
increasing the dc voltage setting or by reducing the compensated. There is no simple
size of the interfacing inductance. The limiting relationship between the load current THD
factor for increasing the dc voltage is the voltage and the filter effectiveness.
withstand capability of the IGBT devices. The
limiting factors for reducing the interfacing • The active filter is most effective when the
inductance include the IGBT di/dt withstand load current waveform does not have abrupt
capability, control requirements, the interface changes. As a result, it is very effective for
passive filter requirement, and overall system most voltage source inverter-type loads,
stability. If the interfacing inductance becomes too even when the distortion is high.
small, the dc voltage cannot be kept constant for
normal operation. • The active filter effectiveness was not as
good for 12 pulse loads. This is caused by
5.2 Steady-State Rating Requirements and the fact that the higher frequency
Active Filter Effectiveness components are more dominant in these
loads.
The best way to provide a rating for an active filter is
in terms of the rms current that it must provide to • The rating requirement for the passive filter
compensate for harmonics from nonlinear loads. capacitor is also dependent on the load
Table 1 provides a convenient summary of different current characteristics. Load current
nonlinear load types with example waveforms and waveforms with more high frequency
typical levels of harmonic current distortion content (e.g. ac regulator with resistive load
associated with each load. Using these typical or 12 pulse converters) result in higher
waveforms, it is possible to calculate a theoretical duties on the filter capacitor.
value for the required harmonic compensation from
the active filter. The summary includes the THD
for each nonlinear load waveform and the required
active filter rating in rms amps per kVA of load
rating. These ratings assume that the active filter
rating should be based on the total rms harmonic
current content of the load. A simulation waveform
illustrating the active filter effectiveness for each of
these waveforms is also provided.
Table 1. Required active filter ratings for different types of nonlinear loads.
Active Filter Rating
(rms Amps/kVA of Load)
Nonlinear Supply
Type of Load Nonlinear Load Supply Current Load Current Current 120/208 volt 480 volt
Current Waveform with Active Filter THD (%) THD (%) applications applications
200 200
-100 -100
-200 -200
360 370 380 390 400 360 370 380 390 400
100 100
75
0 0
-25
-50 -50
-75
-100 -100
360 370 380 390 400 360 370 380 390 400
-50 -50
-100 -100
360 370 380 390 400 360 370 380 390 400
100 100
Regulator, 50 50
51% 16.7% 1.26 0.54
Resistive Load 0 0
-50 -50
-100 -100
-150 -150
360 370 380 390 400 360 370 380 390 400
100 150
100
6 Pulse Drive, 50
50
31% 10.3% 0.82 0.36
Current Source Inverter 0 0
-50
-50
-100
-100 -150
360 370 380 390 400 360 370 380 390 400
150
150
100
50
109% 13.2% 2.05 0.88
no series inductance 50
0 0
-50
-50
-100
-100
-150
-200 -150
360 370 380 390 400 360 370 380 390 400
0 0
-50 -50
-100 -100
-150360 370 380 390 400 -150360 370 380 390 400
150 150
0 0
-50 -50
-100 -100
-150360 370 380 390 400 -150360 370 380 390 400
150 150
0 0
-50 -50
-100 -100
-150350 360 370 380 390 400 -150350 360 370 380 390 400
6.0 Effect of Power System Simulations were performed to evaluate the effect of
switching the 3.6 Mvar capacitor at the substation in
Transients on the Active Filter Figure 4. Substation capacitor switching usually
The active filter is not designed to control transient causes the most severe transients and has the most
currents flowing to the load. It is a steady state potential to cause magnified transient voltages. The
controller. However, it is important to understand characteristics of the transient seen at the active
the impacts of transient conditions on the filter were varied by changing the size of the feeder
components of the active filter. The inverter controls capacitor bank located close to the customer facility
include hard limits to prevent excessive and by evaluating the effect of a low voltage
compensating current generation during either capacitor connected at the customer bus. The
steady state or transient conditions. The main waveforms in Figure 6 illustrate the magnification
concern during transients is for the passive filter within the customer facility for a case with both a
components in the interface module between the feeder capacitor and a customer capacitor in service.
inverter and the power system (see Figure 1). Note that the transient voltage across the interface
filter capacitor is approximately the same as the
The interface module includes inductors and transient voltage at the customer bus due to the
capacitors. Surge suppressors can limit high relatively low frequency of this transient (no
frequency voltage spikes that may be associated with additional magnification across the inductor L1f). It
load switching events within a facility or coupled is important to evaluate conditions such as this as
transients during lightning strokes. The concern part of the active filter design process. If the
evaluated in this study involves transient voltages isolation inductor size was increased, the concern for
caused by capacitor switching on the utility supply transient magnification on the interface capacitor
system. Capacitor switching on the primary would be even more severe. Also, a damping
distribution system has the potential of causing an resistor is added in the interface circuit to help
oscillation frequency that could be magnified by the prevent magnification problems.
inductor/capacitor series combination in the interface
module.
1.57 pu
SRC1INJ>BS13KA(Type 1)
2
0
1.94 pu
SRC1INJ>TX13KA(Type 1)
2
13.8 kV Bus -1
-2
380 400 420 440
0
Time (mS)
-1
-2
380 400 420 440
Time (mS)
2.12.pu
SRC1INJ>MAINSA(Type 1)
3
-1
-2
380 400 420 440
Time (mS)
Nonlinear
Substation 2.26 pu Load
Cap. Bank 3
DERIVED>MAINSA-VC(Type 1)
-1
-2
380 400 420 440
Time (mS)
IGBT
PWM
Inverter
SRC1INJ>DCPLUS-DCMNUS(Type 8)
1.6
1.4
1.2
1.0
0.8
0.6
0.4
0.2
0.0
380 400 420 440
Time (mS)
It is also interesting to evaluate the effect of this transients and many utilities are making efforts to
transient on the active filter currents. Since the control substation capacitor switching transients.
transient voltage exceeds the voltage on the dc
capacitors for this case, all control is lost during the 8.0 References
transient (no driving voltage for the IGBTs).
Instead, there will be a significant transient current 1. Richard M. Duke and Simon D. Round “The
that flows through the converter to charge up the dc steady-state performance of a controlled current
capacitors. The waveforms in Figure 6 shows that active filter,” IEEE Trans. Power Electronics,
the additional charge on the dc capacitors is not Vol. 8, No. 3, April 1993, pp 140.
significant but the current waveform in Figure 7 2. V.B. Bhavaraju and Prasad N. Enjeti, “Analysis
below illustrates that the transient current during the and design of an active power filter for
capacitor switching can be quite high. This current balancing unbalanced loads,” IEEE Trans.
does not flow through the IGBTs since they are not Power Electronics, Vol. 8, No. 4 October 1993,
being gated. Instead it all flows through the anti- pp 640.
parallel diodes, resulting in possible overloading and 3. Janko Nastran, Rafael Cajhen, Matija Seliger,
failure of the diodes. and Peter Jereb “Active power filter for
nonlinear ac loads,” IEEE Trans. PE, Vol. 9,
SRC1INJ>ACFLTA-JOINTA(Type 9)
200
No. 1, January 1994, pp 92.
100 4. Mukul Rastogi, Ned Mohan and Abdel-Aty
Edris “Hybrid-active filtering of harmonic
0
currents in power systems,” IEEE 95 WM 258-4
-100 PWRD.
-200
5. W.K. Chang, W.M.Grady and M.J.Samotyj
“Controlling harmonic voltage and voltage
-300
380 400 420 440 distortion in a power system with multiple active
Time (mS)
Figure 7. Active filter current output during power line conditioners,” IEEE 95 WM 257-6
capacitor switching transient. PWRD.
6. Fang-Zhang Peng, Hirofumi Akagi, and Akira
These transients must be considered in selecting the Nabae”A study of active power filters using
capacitors to be used for the interface filter. All of quad-series voltage source PWM converters for
the capacitor switching transients can cause high harmonic compensation,” IEEE Trans. Power
currents in the anti-parallel diodes. Electronics, Vol. 5. No. 1. January 1990, pp. 9.
7. Joe F. Chicharo, Damrong Dejsakulrit, and B.
7.0 Conclusions Sarath P. Perera “A centroid based switching
strategy for active power filters,” IEEE Trans.
Active filters could have wide application for
Power Electronics, Vol. 8, No. 4, October 1993,
controlling harmonic currents from nonlinear loads.
pp 648.
The best performance is obtained for loads such as
PWM type ASDs and switch mode power supplies, 8. M. B. Brennen and B. Banerjee “Low cost, high
where the current waveform does not have abrupt performance active power line conditioners,”
changes that are hard for the active filter to follow. Proc. Conf. PQA’94, Part 2, Amsterdam, The
Guidelines for rating the active filters are presented. Netherlands, October 24-27, 1994.
9. C. Lott and H.Pouliquen “High power voltage
Capacitor switching transients should not be a major source PWM active filter,” Proc. Conf. PQA’94,
problem for the active filter inverter and controls. Part 2, Amsterdam, The Netherlands, October
However, the interface filter capacitor could 24-27, 1994.
experience high transient voltages that may exceed 10. G. C. Damstra and A. H. Eenink “An active
the capabilities of the capacitor and surge harmonic compensator for four-wire LV
suppressors. The capacitor switching transients networks,” Proc. Conf. PQA’94, Part 2,
could also cause overload of the anti-parallel diodes Amsterdam, The Netherlands, October 24-27,
in the inverter bridge. Other devices in customer 1994.
facilities can also have problems with these