Harmonic Mitigation PDF

Drives Engineering Fundamentals Tutorial
This presentations contains equations.

Equations are known to cause drowsiness, inattentiveness,
and in severe cases complete cranial implosion. Do not
drive or attempt to operate machinery during this
presentation. Massive infusions of caffeine have been
reported effective in alleviating symptoms.
5/21/2015 Harmonics & Harmonic Mitigation 1

The ‘Perfect’ World
 In the beginning ….
It was a sinusoidal world.
‘Linear’ Loads

The ‘Perfect’ World
 Everybody loves Sine Waves, Everybody’s Happy.
Line provides Sinusoidal Motor draws Sinusoidal

Voltage which Motor Likes Current which Line Likes

Perfect World Shattered
Current
Distortion PWM - dV/dt

How Much
Drives Engineering Fundamentals Tutorial Imperfection Can Be Tolerated?
Power line does not like the Motor does not like the
distorted current drawn by sharp-edges of the voltage
the VFD pulses provided by the VFD
but can accept some. but can accept some.

Back to Perfection?
Motor is happy with the sharp

Power line is happy with sine- edges on the voltage
wave current removed.
Harmonic
Mitigation PWM
Device Filter

Just Look at the Drive Input
Input Current Distortion,

Harmonic Mitigation
Output Filtering

Distortion = Harmonic Content
 Waveform distortion is measured in terms of

relative harmonic content.
 The measure is called “THD”
THD = Total Harmonic Distortion
 Pure sine wave has no distortion
(only the 1st harmonic)
 A waveform of any other shape is considered
distorted and contains other harmonics – 2’nd,
3’rd, etc.

VFD Input Harmonic Current
 What are Harmonic Currents?

 Why the Concern?
 What Causes Harmonic Currents in VFD Input?
 How much is too much?
 Harmonic Mitigation = Reducing Harmonic Current.

What are Harmonics?
Not
Any periodic waveform can be expressed as an infinite sum Math
of sine waves in integral multiples called “harmonics”.
 

Y ( t )  YDC   c h sinht  h 
h 1
h=5
h=1 h=7
h=11
= + h=13
h=17
:
:
h= ∞
Jean Baptiste Joseph Fourier
(21 March 1768 – 16 May 1830) To know more, search ‘Fourier Series’
What are Harmonics?
Any periodic waveform can be expressed as an infinite sum of

sine waves in integral multiples called “harmonics”.
 

Y ( t )  YDC  c1 sint  1    c h sinht  h 
h 2
h=5
h=1 h=7
h=11
= + h=13
h=17
:
:
h= ∞
‘Fundamental’ = 1’st Harmonic
Jean Baptiste Joseph Fourier
(21 March 1768 – 16 May 1830)

Why the Concern?
 Harmonic currents directly create heat (power

losses) in transformers, wiring and other
components on the power line.
 Harmonic currents can resonate with line
inductance and capacitance.
 Harmonic currents can distort the voltage
causing increased losses in motors and other
line operated equipment.

Harmonics and Heat
 All current creates heat (I2R).
h=1
 Only the fundamental (1’st harmonic)
does useful work.
 Other harmonics only create heat (I2R).

Resonance and Distortion
 Harmonic currents excite destructive resonance

in the power distribution system.
 Distorted current through source impedance

distorts the voltage and causes problems with
motors, transformers and other loads on the
system.

Resonate with Power Factor Caps
Resonance occurs when: Xc = XL Parallel Resonance
Xc
XL ih P. F.
Caps
ih
Current measured at the capacitor,

Nonlinear Load (like VFD) showing 660Hz, (11th harmonic resonance) Figure 15.2
Power Factor Correction Capacitors

were intended to balance the phase
lag of inductive loads like induction
motors and transformers.

Fundamental Does All the Work
    

Y(t )  c1 sin t  1   c h sin ht   h
h 2
h=5
h=7
h=1 h=11
h=13
= + h=17
:
:
h= ∞

Does all the useful work

What Causes Harmonics
 Distortion causes harmonics.
 Non-linear loads distort the current.
 A diode rectifier like a drive’s 6-pulse converter

is a non-linear load.

What is a Non-Linear Load?
 For non-linear loads,

the current waveform does not look like applied voltage.
Current
Voltage
6-pulse Rectifier (no reactor)

A Rectifier is One Non-linear Load
6-pulse
Pre-Charge DC Bus Inverter
Converter Resistor
DC Bus Ass'y
Rectifier Inductor (+) Inverter
Contactor
+
Motoring
+
Braking
(-) I_Phase
L1 L2 L3 G G X Y Z
DB
Chassis Resistor
Ground
Drive
Fuses
Motor
Dynamic Braking Earth

Module Ground Earth
Ground

Develop a Math Model for Input
6-pulse
Pre-Charge DC Bus
Converter Resistor
DC Bus Ass'y
Rectifier Inductor (+) Inverter
Contactor
+
(-) I_Phase
L1 L2 L3 G G X Y Z
DB
Model Inverter + Motor as
Chassis
Ground
Resistor Constant Power PBus Load
Drive
Fuses
Motor
Dynamic Braking Earth

Module Ground Earth
Ground

6-Pulse Converter & DC Bus
Power Line
Input

Line-to-Line & Line-to-Neutral Voltage
VAB = VAN - VBN

VBN
VAN
VAB
VAN - VBN

Rectifier IAB

Rectifier IAC

6-Pulse Converter & DC Bus
Plots show IA (full &

fundamental), VAB and VAN

6-Pulse with Bus Reactor
Drives Engineering Fundamentals Tutorial (6-step wave is limiting case)



THD ~ 31% is theoretical limit for bus reactors

6-step Waveform Harmonics
    

Y(t )  c1 sin t  1   c h sin ht   h
h 2
h=5
h=7
h=1 h=11
h=13
= + h=17
:
:
h= ∞

Does all the useful work

Build the Waveform
Build the 6-step waveform by

adding the harmonics.

Fundamental (1st) Only

Fundamental + 5th

Fundamental + 5th & 7th

Fundamental + 5th, 7th, & 11th

Fundamental + 5th, 7th, 11th, & 13th

Fundamental + 5th through 17th


Fundamental + 5th through 23rd



Fundamental + 5th through 31st

6-Step Waveform Harmonics
 I 

I(t )  I1 sint  1   h sinht  h 
h 5, 7 ,11,13,17 ,19 ,....
h=5
h=1 h=7
h=11
= + h=13
h=17
:
:
h= ∞
=
= +
6-step Fundamental Harmonics

Relationships & Definitions
 How THD [Total Harmonic Distortion],

Power Factor and Displacement
[cos(Φ)] are related.
More
Math
 Caution – it involves some mathematics.
 It is important for understanding

specifications.

RMS Value of Anything
 The RMS (Root Mean Square) value of any function

over a time period is simply the square-root of the
average value of the square of that function over the
same time period.
For any function of time X(t) the

RMS value over tP is
1 tP
X RMS  
2
X dt
tP 0

RMS Value of Sine
The RMS (Root Mean Square) value is simply the

square-root of the average value of the square.
For Sin(t) the RMS value is 0.707

1.00
tP
1 tP 1
X RMS   sin (t )dt   0.707
2
tP 0 2
Apply RMS Formula to
Drives Engineering Fundamentals Tutorial Distorted Waveform
Distorted Current I(ωt) as Function of Time (t)
 

I( t )  I DC  I1 sint  1    I h sinht  h 
h 2
True RMS Current (neglecting DC)
IRMS  I   I 

2 2
1 h
h 2
Harmonics
AC Fundamental
To Measure Harmonic Content
‘THD’ = ‘Total Harmonic Distortion’
 

I 2
RMS I  I 2
1
2
h
h 2
= +
 I 

2
h
THD  h 2 =
I1

Power Factor & THD
 The term ‘Power Factor’ is often misused.

 The true definition of power factor is
PF = Actual Power / Apparent Power
kw Power
PF  
kVA 3  VRMS  IRMS
 Power Factor and THD are mathematically
related.
 Power Factor is NOT just the cosine of the
phase angle between voltage and current.

Vector Diagram – Power Factor
True RMS Current

‘Real’ Current --
(does all the useful work) IRMS  IR2  I2X  IH2
Harmonic Current
IRMS  I  I   Ih2 

 I 
 2 2
2 R X
h h 2
h2
Reactive Current
Fundamental Current
Power 3  VAC  IR IR
PF   
I1  IR2  I2X 3  VAC  IRMS
3  VAC  I  I   I
2
R
2
X


2
h I  I   Ih2
2
R
2
X


h2 h2

True Power Factor
True Power Factor includes the

effects of both harmonics and
Power IR
PF   displacement (φ).
3  VAC  IRMS


IR2  I2X   Ih2
h2
cos  IR I1
IR IR I1 cos 
PF     PF
1  THD 
IR2  I2X   Ih2   I 
  2
2
IR2  I2X h2 h
h2
2
 2
I1 I1
 I 

I1  I  I
2
R
2
X
2
h
h 2
THD 
I1
Power Factor and Harmonics
• True Power Factor --

THD80%
dpf
pf   0.780
1  0 .8 2
100
THD37% Current dpf

50 pf   0.937
Amps 1  0.37 2
0 .
-50

Current and Voltage THD
• If the waveform is current, then the THD is called Current Harmonic

Distortion THDI.
• If the waveform is voltage, then the THD is called Voltage Harmonic

Distortion THDV.
 
 Ih
h 2
2
V h
2
THD I  THD V  h 2
I1 V1

Sample Waveforms
Every Actual AC Current or Voltage has Harmonic Distortion!

How much is too much?
Ask IEEE 519 ---
THD = 1.2% THD = 78.3%

Harmonic Limits Per IEEE 519-1992
Table 10.3: Current Distortion Limits for General Distribution Systems

System Stiffness
(120 V through 69 kV) ‘TDD’ is not ‘THD’
 I 

2
Maximum Harmonic Current Distortion in percent of IL h
h 2
TDD 
Individual Harmonic Order (Odd Harmonics) I L (1)
ISC/IL <11 11h<17 17 h<23 23h<35 35 h TDD
<20 4.0 2.0 1.5 0.6 0.3 5.0
20<50 7.0 3.5 2.5 1.0 0.5 8.0
50<100 10.0 4.5 4.0 1.5 0.7 12.0
100<1000 12.0 5.5 5.0 2.0 1.0 15.0
>1000 15.0 7.0 6.0 2.5 1.4 20.0
Even harmonics are limited to 25% of the odd harmonic limits above.
* All power generation equipment is limited to these values of current distortion, regardless of actual Isc / IL ; where Isc is the
maximum short circuit current at PCC and
IL is the maximum demand load current (fundamental frequency) at PCC.
IEEE 519 defines IL as the fundamental frequency component of the

“maximum demand load current (15 or 30 minute demand)”.
Rename “IL” as “IL(1)” for clarity.
THD and TDD
 I 

 I 

2 2
h h
h 2
TDD  h 2
THD I 
I L (1) I1
Loading
 I1 
TDD  THD I   
I 
 L (1) 

For Transformer (Power Source)
Short Circuit Current ISC , Rated Current I AC ( Rated )

and Percent Impedance % Z
 % Z  I AC ( Rated )
 
 100%  ISC

Drives Engineering Fundamentals Tutorial Impedance
KVA SC  VLine  to  Line  ISC  3
3 - phase Short Circuit KVA,

1
KVA SC 
1 1
 Impedance
KVA SC Pr imary KVA SCSecondary “%Z”
Typical Transformer Impedances

For Practical Transformers
Drives Engineering Fundamentals Tutorial Heavily Loaded (60% to 90%)
Transformer Impedance Range Y = 1/Z = ISC/Irated IL(1)/Irated IEEE = ISC/IL(1) IEEE 519 ISC/IL(1) Range IEEE519 Allowed TDD
Rating Min Max Max Min Loading Max Min for Min Z for Max Z for Min Z for Max Z
112.5 KVA 2.30% ≤ Z≤ 5.20% 43.5 ≥ Y≥ 19.2 90% 48.3 ≥ IEEE≥ 21.4 20 to 50 20 to 50 TDD ≤ 8% TDD ≤ 8%
150 KVA 2.70% ≤ Z≤ 5.10% 37.0 ≥ Y≥ 19.6 90% 41.2 ≥ IEEE≥ 21.8 20 to 50 20 to 50 TDD ≤ 8% TDD ≤ 8%

For Practical Transformers
Drives Engineering Fundamentals Tutorial Typically Loaded (30% to 40%)

Motivation
 Eliminate harmonics because:

 Specification says we need to meet IEEE-519
 Harmonic currents create heat (losses).
 Harmonic currents excite destructive resonance in

the distribution system (capacitors).
 Harmonic currents through source impedance distort

the voltage and cause problems with motors,
transformers and other linear loads.
Harmonic Mitigation Strategy
• Do Nothing – Harmonics are no problem
• Local Solution
• Harmonic mitigation at every VFD
• Global Solution
• Harmonic mitigation at the one point of coupling
• “Clever” Solutions

Do Nothing

Global Mitigation

Local Harmonic Mitigation

Phase-Shifting
Drives Engineering Fundamentals Tutorial for Harmonic Mitigation
Works like
12-pulse
(for balanced load)

Which is Best?
 It is customer’s choice!
 Local solution usually more expensive,
but takes less thought.
 Global solution usually less expensive,

but takes more thought.

Harmonic Mitigation Techniques
• Active Techniques
• Uses IGBTs (switching devices)
• Passive Techniques
• Uses multi-pulse transformer or LRC filters
• Combination of Active and Passive

Active Mitigation Techniques
• Active Front End:

• Boost Converter Topology – Inherently regenerative.
• Uses inverter to ‘drive’ the power line.
• Yaskawa D1000 Line Regenerative Converter
• Yaskawa AC7 (U1000) Direct AC to AC Converter

• The “Matrix” Drive
• Active Filter (Yaskawa does not make)

• Uses inverter to cancel harmonic current.
• Reasonable Global Solution

AC – DC – AC AC – DC – AC AC – AC
Standard VFD (A1000) “Active Front End” (D1000) “Matrix”
(no mitigation)
D1000
A1000

AC – DC – AC AC – DC – AC AC – AC
Standard VFD “Active Front End” “Matrix”
(no mitigation) PWM Filter
Large Reactor
(~15%) No large reactor or
filter –
it’s all “in the box”

Passive Mitigation Techniques
• AC Line Inductors (Reactors)
• DC Chokes or Bus Inductor
• LC Harmonic Filters
• Multi-pulse Schemes

Line Reactors
• Makes discontinuous current continuous
• Helps damp transient surges on line due to

lightning and capacitor switching
• Small and inexpensive
• Causes voltage overlap and reduces dc bus

voltage
Passive Mitigation Techniques

THD80%
THD40%
.

Issues With AC Line Reactors
• Reduced DC bus voltage due to overlap of diode conduction
• Increased harmonic reduction due to overlap of diode conduction

DC Bus Choke (Reactor)
• DC Link Chokes (DC Bus Inductor)

• Makes discontinuous current continuous
• Small and inexpensive
• Does NOT Cause overlap phenomenon and so
does not reduce dc bus voltage
• Does not help damp transient surges on line
due to lightning and capacitor switching
• Theoretical minimum THD is about 31%
(limiting case is 6-step wave form)

DC Bus Choke Waveforms
• DC Link Choke (DC Bus Inductor)

THD80%
100
Current THD37%
50
Amps
0 .
-50

Waveform With DC Link Choke
• No overlap of Diode Conduction
• Bus Choke built in to Yaskawa Drives over 25HP.
Ldc

AC Line Reactor vs DC Link Choke
DC reactor only
640 x (with LIN=47H)
 AC reactor only
620
Avg. DC Bus Voltage (V)
600
580
560
540
520
500
0 1 2 3 4 5
Inductance (mH)

THD versus % Reactance
2% 3% 4% 5% 7%
Normalized DC Inductance L DC called ' Lbar' : Normalized AC Inductance L AC called ' Lbar' :
B L DC  PB B L DC  PB B L AC  PB
L DC  2
  ' Lbar' L AC   ' Lbar'
2VAC VP2 VAC2
2% 3% 4% 5% 7%

The Name ‘Filter’
Drives Engineering Fundamentals Tutorial has Many Meanings
 Input Filter Types (can be grounded)

 EMI, RFI Filter
 Harmonic Filter
 Output Filter Types (never grounded)
 EMI, RFI Filter
 dV/dt Filter
 Sinewave Filter
 Common-mode vs Differential-mode Filters

Modified Shunt Harmonic Filter
• Shunt Filter with Series Impedance
• Add a series inductance to restrict import of harmonics
• MTE’s and Mirus International’s Filter Structure
5% AC 5% AC
Reactor Reactor
U
V
IM
W
Lf
Cf

Filter THD from MTE

Issues With Harmonic Filters
• All capacitor based shunt type filters draw

leading current and cause over-voltage
• Higher Stresses on DC Bus Capacitors
• Tendency to cause over-voltage at light load
• Can resonate with drive’s DC bus choke and
capacitors
• Need contactor to disconnect shunt caps at
light loads
• Leading power-factor can affect generators

Risk of Parallel Resonance
Parallel Resonance
Xc
XL ih
ih
Current measured at the capacitor,

showing 660Hz, (11th harmonic resonance) Figure 86.2
Power Factor Capacitors Relieve Load
Resonance occurs when: Xc = XL

Multi-pulse
• 12-pulse Techniques
• Three-winding Delta-Delta-Wye
isolation transformer
• Hybrid 12-pulse = Delta-Wye

Transformer with matching reactor

Three Winding 12-pulse
3-winding isolation transformer

X1
U
X1 L1 Ldc
V
H1 X2 X2 L2 VDC IM
H1 X3 L3 W
H2 X3
Y1
H3
Y1 L11
H2 H3
Y2 L21
Y3 L31
Y2 Y3
• Rated for full power operation – bulky but ONLY

option when input is medium voltage and drive is
of low voltage rating
• Required Secondary Fuses not Shown Above.

Three Winding 12-pulse Waveforms
Load= 40hp
THD= 13.4%

Four Winding 18-pulse Scheme
4-winding
isolation
transformer
X1 L1
X1 X2 L2
X3 L3
X3
-20
deg
H1 Y3 U
H1
Ldc
Y1 L11
X2 V
H2 Y1
Y2 L21 VDC IM
H3 Y3 L31 W
H3
H2 Y2 Z1
+20 Z1 L12
deg Z2 L22
Z3
Z3 L32
Z2
• Transformer is rated for full power operation - bulky and expensive

• Cost effective method if primary is MV
• Attenuates conducted EMI effectively
• Required 9 Secondary Fuses not Shown above
Active Front End (D1000)

D1000
 5% THD is achievable
 Line Regeneration is inherent
 Maintains regulated DC bus voltage
 BUT …..
 Relatively costly
 Requires inductor & filter
 Some efficiency loss – two ‘inverters’.

U1000 Matrix Drive

Summary of Passive Techniques
 Filters work ‘Most of the Time’
 12-pulse techniques can achieve low TDD at drive input

 Hybrid 12-pulse is less bulky and most cost-effective
 Isolation transformer based method is best when input is MV
 18-pulse when Customer demands Less than 5% TDD

 Auto-transformer does not need secondary fuses
 Hybrid 18-pulse is attractive, fuses required
 Isolation transformer based method is best when input is MV

Summary of Active Techniques
 D1000 Active Converter or U1000 Matrix Drive

have low THD, seem expensive but are often
cost effective when all costs are considered.
 Active Filters make reasonable global harmonic

solutions, but are difficult to size correctly and
are expensive. (Yaskawa does not make)

KISS
 Bus Reactor and/or Line Reactor may be

“good enough”, and they are
simple and “cheep”
 Minimal side-effects

Conclusion
If there were a best

solution, there
would be only one

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Drives Engineering Fundamentals Tutorial

This presentations contains equations.

5/21/2015 Harmonics & Harmonic Mitigation 1

It was a sinusoidal world.

5/21/2015 Harmonics & Harmonic Mitigation 2

 Everybody loves Sine Waves, Everybody’s Happy.

Line provides Sinusoidal Motor draws Sinusoidal

5/21/2015 Harmonics & Harmonic Mitigation 3

5/21/2015 Harmonics & Harmonic Mitigation 4

5/21/2015 Harmonics & Harmonic Mitigation 5

Motor is happy with the sharp

5/21/2015 Harmonics & Harmonic Mitigation 6

Input Current Distortion,

5/21/2015 Harmonics & Harmonic Mitigation 7

 Waveform distortion is measured in terms of

5/21/2015 Harmonics & Harmonic Mitigation 8

 What are Harmonic Currents?

5/21/2015 Harmonics & Harmonic Mitigation 9

Any periodic waveform can be expressed as an infinite sum of

5/21/2015 Harmonics & Harmonic Mitigation 11

 Harmonic currents directly create heat (power

5/21/2015 Harmonics & Harmonic Mitigation 12

 All current creates heat (I2R).

 Other harmonics only create heat (I2R).

5/21/2015 Harmonics & Harmonic Mitigation 13

 Harmonic currents excite destructive resonance

 Distorted current through source impedance

5/21/2015 Harmonics & Harmonic Mitigation 14

Resonance occurs when: Xc = XL Parallel Resonance

Current measured at the capacitor,

Power Factor Correction Capacitors

5/21/2015 Harmonics & Harmonic Mitigation 15

‘Fundamental’ = 1’st Harmonic

5/21/2015 Harmonics & Harmonic Mitigation 16

 Distortion causes harmonics.

 Non-linear loads distort the current.

 A diode rectifier like a drive’s 6-pulse converter

5/21/2015 Harmonics & Harmonic Mitigation 17

 For non-linear loads,

6-pulse Rectifier (no reactor)

Dynamic Braking Earth

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Dynamic Braking Earth

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VAB = VAN - VBN

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Plots show IA (full &

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THD ~ 31% is theoretical limit for bus reactors

‘Fundamental’ = 1’st Harmonic

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Build the 6-step waveform by

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