Electric Power Systems Research 177 (2019) 105957

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Electric Power Systems Research

journal homepage: www.elsevier.com/locate/epsr

Investigations on shunt active power filter in a PV-wind-FC based hybrid T

renewable energy system to improve power quality using hardware-in-the-
loop testing platform
Ravinder Kumar, Hari Om Bansal
Power Electronics & Drives Lab., Department of Electrical and Electronics Engineering, Birla Institute of Technology and Science, Pilani, Rajasthan, India

ARTICLE INFO ABSTRACT

Keywords: The current power distribution system involves usage of nonlinear loads that cause power quality problems.
Renewable energy Further, the penetration of renewable energy sources is increasing in the power networks to satisfy the con-
Photovoltaic sistently rising energy demand, which changes the traditional network plan and control drastically. This paper
Wind energy presents an intelligently controlled hybrid energy system (HES) integrated with shunt active power filter (SAPF)
Fuel cell
to address the power quality problems. Renewable sources like-Wind, PV and fuel cell (FC) are integrated into
Maximum power point tracking
Adaptive neuro-fuzzy inference system
HES and are regulated using artificial intelligence techniques that are also implemented for maximum power
Shunt active power filter point tracking (MPPT) in both PV and wind energy systems. The dynamic performance of SAPF is optimized
using fuzzy logic, neural network and adaptive neuro-fuzzy inference system (ANFIS) based control algorithms.
These controllers provide the smooth DC-link voltage and minimize the total harmonic distortion (THD) pro-
duced by the balanced/unbalanced and nonlinear loads. Comparison of these reveal that the ANFIS based al-
gorithm provides minimum THD. The system is tested in real-time using hardware-in-the-loop (HIL) setup. The
control schemes are executed on FPGA based OPAL-RT4510computational engine with microsecond step.

1. Introduction
Energy is the driving force for social and financial growth of a na-
tion and plays a vital role for a sustainable economy. The sources of
energy should be long-standing, environment-friendly and secure. The
use of energy is inevitable for human life and its secure and accessible
supply is essential for the sustainability of modern societies [1]. As most
of the energy is derived from conventional sources that promote pol-
lution, therefore the government is encouraging the usage of renewable
energy sources (RESs). Further, there are many places, where electricity
is available only for a few hours. Hybrid energy system (HES) is the
integration of various RESs, which would provide a viable solution to
meet the shortage of electricity at such places and to supply world's
power demand. The advancement in the smart grid functionality has
encouraged the usage of RESs on a large scale, which changes the tra-
ditional network plan drastically.
A HES broadly consists of two or more RESs, used together to fulfill
the peak load demand. Photovoltaic (PV), wind and fuel cell (FC) are
the most widely used RESs because of the advantages such as high
overall efficiency and minimal environmental impact [2,3]. There are a
number of remote locations which cannot be connected to the national
grid and RES is a boon in such areas [4,5]. It can supply essential loads
in the event of grid failure, thereby improving reliability. This provides
a viable solution to the energy crisis increases the power grid reliability,
reduces CO2 emissions but poses challenges to power quality.
The distributed generation (DG) system based on RES such as fuel
cell and PV with maximum tracking point (MPPT) is investigated in [6].
Power controllers based on synchronous reference frame (SRF)/pro-
portional integral (PI) and stationary reference frame (STRF)/propor-
tional resonant (PR) are analyzed and compared in grid-tied DG sys-
tems. They concluded that the proportional resonant (PR) based STRF
controller has less complex control structure and better capability to
compensate harmonic terms.
The PR controller based on the dual second order generalized in-
tegrator phase locked loop (PLL) technique provides a solution to power
quality problems caused by grid disturbances such as voltage sag/swell
and voltage imbalances [7]. The conventional PLL based PR controller
ensures good performance in a balanced state; under unbalanced and
distorted grid conditions it has poor performance.
Integrating RES based DG systems into electrical grid presents many
challenges such as problems with synchronization, control, power
management and power quality in Ref. [8]. A references current gen-
erator based power management strategy for controlling three-phase
inverters and managing power flow between DG energy sources,

E-mail addresses: rksharmabits@gmail.com (K. Ravinder), hbansal@pilani.bits-pilani.ac.in (H.O. Bansal).

https://doi.org/10.1016/j.epsr.2019.105957
Received 16 April 2019; Received in revised form 8 July 2019; Accepted 19 July 2019
Available online 21 August 2019
0378-7796/ © 2019 Elsevier B.V. All rights reserved.
K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Nomenclature oi3 Output of layer 3, i is 1, 2, 3

oi5 Output of layer 5, i is 1, 2, 3
A Area swept by the blades PCC Point of common coupling
AI Artificial intelligence P&O Perturb & observe
ADALINE Adaptive linear neuron PLL Phase locked loop
ANFIS Adaptive neuro-fuzzy inference system PV Photovoltaic
ANN Artificial neural network Q Electron charge
BPA Back propagation algorithm R Radius of the blades
CPV Capacitance of PV array RESs Renewable energy sources
Cdc DC-link capacitor RBF Radial basis function
Cp Power coefficient RSH Shunt resistance
D Duty cycle SAPF Shunt active power filter
DSTATCOM Distribution static compensator SRF Synchronous reference frame
FLC Fuzzy logic control T Torque
FIS Fuzzy inference system THD Total harmonic distortion
FC Fuel cell UPQC Unified power quality conditioner
FPGA Field programmable gate array Voc Open circuit voltage
GUI Graphical user interface Vsa,Vsb, Vsc Source voltages
HES Hybrid energy system Vdc DC-link voltage
HIL Hardware-in-the-loop Vdc* Reference DC-link voltage
ic Compensating current Vwg Wind generator voltage
I&C Incremental and conductance Vpv PV array voltage
iLa,iLb, iLc Load currents VSI Voltage source inverter
IL PV current WECS Wind energy conversion system
IRPT Instantaneous reactive power theory TSR Tip-speed ratio
isa*,isb*, isc* Source reference currents wi Firing strengths, i is 1, 2, 3
isa,isb,isc Actual source current w̄i Normalized firing strengths, i is 1, 2, 3
id,iq Current axis of direct and quadrature iL Ripple filter inductance
id*,iq* Reference current axis direct and quadrature d Duty cycle variation
Isat Saturation current of the diode P Power variation
k Overloading factor V Voltage variation
mi Modulation index ρ Air density
MF Membership function % Percentage
MNN Multilayer neural network β Pitch angle
MPPT Maximum power point tracking m Rotor speed
n nth harmonic order

electrical grid and load demand under balanced and unbalanced load
conditions.
The design of a hybrid wind, PV and hydrogen energy storage
system including electrolyzer, fuel cell and hydrogen tank is introduced
in Ref. [9] to fulfill the power demand in a microgrid system using a
multi-objective particle swarm optimization algorithm. The ANFIS al-
gorithm based inverter-interfaced microgrid is implemented to reduce
the THD and improve the performance of the microgrid [10]. Ref. [11]
described a radial basis function neural network (RBF-NN) determi-
nistic fundamental frequency power calculation approach to enhance
the power sharing of a droop based hierarchical control system in mi-
crogrids. RBF-NN is capable of nonlinear mapping and used to obtain
voltage harmonics and active and reactive powers by solving harmonic
power flow.
In microgrids, different approaches for standalone and grid-con-
nected applications are considered. However, it is now necessary to
design flexible microgrid capable of operating in both grid-connected
and islanded modes. Therefore, it is necessary to study topologies, ar-
chitectures, planning and microgrid configurations. This is a major
challenge due, among others, to the need to integrate various power
electronics, telecommunications, generation, and energy storage tech-
nologies. Microgrid hierarchical controls are essentially linked to en-
ergy management systems that provide references to and from tertiary
control to optimize the microgrids efficiency [12,13].
In Ref. [14], hierarchical control scheme is presented to enhance the
power sharing of multi- distributed microgrid energy resources using
RBF-NN based on the THD and active/reactive powers for tertiary
control system. The hierarchical control scheme along with FLC was
employed to control the reactive power [15,16]. This helped in main-
taining the stability of the system and continued power flow even in
case of major signal disturbances.
Hierarchical control scheme is a compromise between centralized
and decentralized controls and requires a low bandwidth system of
communication. There are three levels of hierarchical control: primary,
secondary, and tertiary in Ref. [17]. Hierarchical drop based control
scheme determines and controls the reactive power reference through a
novel application of RBF-NN for fast, authentic and accurate power
calculation to enhance power sharing and enhance microgrid stability
margins when facing small and large signal disturbances [18].
The Gibbs phenomenon based hybrid method is described for is-
landing detection of inverter interfaced RES low voltage DS, which is
basically based on a combination of active and passive frequency
change methods at a given moment and constant THD measurement
[19].
PV, wind and FC power generation systems are used to meet the
demand for load and then provide the grid with excessive generation. A
wind, PV and FC hybrid generating system connected to the grid has
been developed with improved characteristics of power quality [20]. It
was demonstrated in Ref. [21] that the hybrid PV-wind energy system
reduces the overall power output variation and improves reliability.
Wind, PV and FC hybrid systems have been connected to a common DC
bus and a three-phase voltage source inverter (VSI) has been used to
connect the grid [22,23]. In Ref. [24] the performance of an HES grid
connected inverter using PI controller based on particle swarm

2
K. Ravinder and H.O. Bansal
optimization (PSO) was investigated. Ref. [25] presented the dynamic
response of a grid-integrated hybrid RES with hydrogen and batteries
using ANFIS based control strategy.
The advancement in power electronics has resulted in an ex-
ponential increase in the use of semiconductor devices (non-linear
loads) that inject harmonics into the system; decrease the power factor,
create unbalancing loads and distort the waveforms of source current
and voltage. Harmonics lead to circuit power loss and communication
system interference [26–29]. Due to these losses, oversized power de-
vices would be needed for the same power output. Harmonics also play
an important role in the loss of equipment. Deficient power supply leads
to lower equipment performance, while good power quality ensures
proper operation without affecting the life expectancy of equipment.
Therefore, harmonic minimization in power systems is a primary con-
cern. Traditionally, passive filters were used to compensate for har-
monics and reactive power. These filters are bulky in size and fixed
tuned, so the tuned frequency cannot be easily changed for changes in
system parameters [30,31].
Shunt active power filters (SAPF) is a prominent solution to the
problems of power quality [32]. This device is connected to the load in
parallel, injecting a reference current that cancels out the harmonics
produced [33,34]. It is highly suited for non-linear loads and offers
maximum compensation for harmonics [35].
PV, wind and FC based HES can be integrated with SAPF to improve
its performance further. SAPF mitigates power (mainly current) quality
problems like low power factor, harmonics and unbalancing in the
system simultaneously [36–38]. An SAPF provides the compensating
current to minimize the grid side current harmonics. The reference
current is extracted while controlling DC bus voltage when compensa-
tion procedure is applied. Generally, instantaneous reactive power
theory (IRPT) and synchronous reference frame (SRF) theory is used to
control the reference current generation in SAPF. However, IRPT is
inefficient for dynamic load changes and has sluggish response and
large computational burden so SRF is used here in this work. PV based
distributed static compensator (DSTATCOM) is reported in the litera-
ture to improve power quality using SRF theory [39].
The traditional controllers like PI and PID yield inferior perfor-
mance during varying load conditions. Compared with PI, PID and PR
controller, the AI based controllers does not need mathematical mod-
eling of the system. The AI based controllers improve the dynamic
Fig. 1. Proposed system configuration.
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Electric Power Systems Research 177 (2019) 105957
performance of the system for balanced/unbalanced and nonlinear load
conditions.
Soft computing techniques like Fuzzy, ANN and ANFIS etc. can
easily handle faults and nonlinearities and are aggressively used
nowadays to solve complex problems [40]. The ANFIS based control
strategy is a hybrid of NN and fuzzy systems and has an ability to learn,
remember and decide [41–43]. It avails benefits of both, the NN and
FLC therefore has been used here.
In addition, maximum power point tracking (MPPT) is also sig-
nificantly important for improving the efficiency of PV and wind sys-
tems. Due to the different climatic conditions, MPPT tracking is very
sophisticated due to nonlinearity associated with PV and wind systems.
Various researchers have developed and reported many MPPT techni-
ques in the literature, including perturbation and observation (P&O),
incremental conductance (I&C), open circuit voltage and short circuit
current, etc. [44,45]. Other techniques based on ANN, FLC and genetic
algorithms etc. are also reported in the literature [46–48]. Cascaded
DC-DC boost converter for renewable energy application is presented in
Refs. [49,50].
Recently, the ANFIS based algorithm has been applied in many non-
linear systems to improve system performance. The proposed HES deals
with highly uncertain climatic conditions like wind speed, solar irra-
diation, temperature and load variations. Therefore, the algorithm
chosen should be adaptive and responsive to these changes. The NN has
ability to learn and adapt whereas fuzzy system is capable in handling
imprecision and uncertainties. Therefore, ANFIS algorithm, which
comprises the advantages of both NN and fuzzy logic, is applied in this
work. The ANFIS based MPPT is used in PV and wind systems to
achieve faster response and convergence. The complexity and un-
certainty involved with real world problems (under consideration) are
high, thus the conventional approach would require a complex math-
ematical model or a detailed description of the problem to be solved
whereas ANFIS based algorithm could solve this rather easily. The soft
computing approach is utilized to solve the real-world problem.
The main goals and contributions of this article are:
• Design of a PV-wind-FC based hybrid energy system (HES).
• Integration of SAPF in the HES to improve the power quality.
• Extraction of MPP in PV and wind systems using ANFIS based
strategy.
K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

• Control of SAPF using SRF based ANFIS strategy. voltage respectively.

• Development of HIL for the entire system using OPAL-RT hardware The instantaneous source currents at PCC is given by Eq. (2)
controller.
is (t ) = iL (t ) i c (t ) (2)

This paper provides a detailed systematic procedure about im- where, is (t ) , iL (t ) and ic (t ) are the values of source, load and compen-
plementation of HES integrated SAPF and its HIL validation in real- sating currents respectively.
time. This manuscript is structured as follows: Section 2 shows the The iL is a combination of fundamental and harmonic components
description of the proposed system configuration. Section 3 introduces as represented in eqn. (3)
the control strategy of the SAPF based on ANFIS. Sections 4 & 5 de-
scribe the simulation and real-time results of the proposed system. Fi- iL (t ) = in sin(n t + n) = i1 sin( t + 1) + in sin(n t + n)
nally, the conclusion of this paper is presented in Section 6. n=1 n= 2 (3)
th
where in and n are the amplitude of the n current and its angle, i1 and
2. Proposed system configurations 1 are the amplitude of the fundamental current and its angle with
respect to fundamental voltage.
The HES component consists of PV module, wind energy and FC. The instantaneous load power pL can be computed from the grid
The proposed system configuration is shown below in Fig. 1. The major voltage and load current as given in Eq. (4)
components of the system are PV module, DC-DC converter, wind tur- pL (t ) = vs (t ) * iL (t ) = vm i1 sin2 t *cos + vm i1 sin t *cos t *sin
1 1
bine, generator, rectifier and proton exchange membrane (PEM)-FC.
Fig. 2 depicts the flowchart for working of a HES-SAPF. The detailed + vm sin t * in sin(n t + n) = pf (t ) + pr (t ) + ph (t )
working of the components is given in the subsequent sections. n=2 (4)
The fundamental compensation principle of SAPF is shown in Fig. 1. where, pf (t ) , pr (t ) and ph (t ) are the active, reactive and harmonic
When SAPF is not active, the source and load currents both carry the powers respectively.
same harmonics (i.e. their signatures are same). Once the SAPF is The active power extracted from the total load power is given in Eq.
connected at PCC, it injects controlled compensating current to make (5)
the supply current free of harmonics irrespective of the load char-
acteristics. A detailed mathematical modeling of the proposed system is pf (t ) = vm i1 sin2 t *cos 1 = vs (t )*is (t ) (5)
given below.
Using Eqs. (1) and (5), the source current supplied after compen-
The utility voltage is given by Eq. (1)
sation is as given in Eq. (6)
vs (t ) = vm sin t (1) pf (t )
i s (t ) = = i1 cos 1 sin t = ism sin t
where, vs (t ) and vm are the instantaneous and peak values of the source vs (t ) (6)

Fig. 2. Flowchart showing HES integrated SAPF operation.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

where ism is the peak fundamental source current. uncontrolled diode bridge rectifier. Rectifier output voltage and power are
SAPF supplies the reactive and harmonic powers, therefore source measured and fed into an ANFIS controller. The ANFIS based MPPT al-
current is becomes in phase with the sinusoidal grid voltage. Hence, the gorithm controls the duty cycle of a boost converter to extract the max-
SAPF injects harmonics as well as reactive current demanded by the imum power and it does not require knowledge of wind turbine power
load, so the grid needs to supply only the active component of funda- characteristics. The output of the boost converter is tied to the grid using
mental current to it. The SAPF provides the required compensating an SAPF. To get the maximum power, it is required that the wind turbine
current as given in Eq. (7) must operate at maximum power coefficient (Cp). This can be understood
by Eq. (11) of power captured by the wind turbine as below [51].
ic (t ) = iL (t ) i s (t ) (7)
1
In addition to non-linear load, the system is also tested on balanced/ P= Av 3Cp ( , )
2 (11)
unbalanced loads.
where, P is the power generated, ρ is the air density, A is the area swept by
2.1. Photovoltaic array the blades, v is the velocity of wind, Cp is the power coefficient, β is the
pitch angle and λ is the tip-speed ratio(TSR).
The PV cell has non-linear V-I characteristics that changes with solar In general, Cp (λ, β) is the efficiency of power i.e. ratio of power
irradiation and temperature as shown in Fig. 3. Therefore, tracking of generated to what is available by the wind. Its dependence on λ and β
maximum power output from the array is of utmost importance. There can be formulated using Eq. (12).
are different MPPT techniques as given in the previous section and the 1 21
authors have selected an ANFIS based algorithm that controls a boost Cp ( , ) = 0.5176 116 × 0.4 5 e i + 0.068
1 (12)
converter's duty cycle to extract the maximum power. PV array output
is fed to DC-DC boost converter. The output of the boost converter is Where
connected at the DC bus of the SAPF. The output voltage obtained from 1 1
the PV array is 300 V, which is boosted to 750 V using boost converter. =
The diode and load currents of the PV module are given in Eqs. (8),(9)
i ( + 0.08 ) ( )
0.035
1+ 3
as below [39]:
The TSR is defined as the rotor speed divided by the wind speed
QVoc
Id = Isat (e AkT 1) (8) shown in Eq. (13)
R
QVoc Voc = ×
I = IL Isat (e AkT 1)
m
v (13)
Rsh (9)
where, m is the rotor speed and R is the radius of the blades.
The maximum PV voltage is obtained under open circuit condition The torque (T) is given as in Eq. (14)
when I = 0 and is given by Eq. (10)
P
T=
Voc =
AkT I
logn L + 1 m (14)
Q Isat (10)
From Eq. (12), it is seen that with constant for each wind speed,
A sun power, SPR-305-WHT solar PV module is employed here for there is an optimum rotor speed, corresponding to which maximum
system implementation. power is obtained. The same thing can be inferred from the wind tur-
bine characteristics in Fig. 4.
2.2. Wind energy
2.3. Fuel cell
Wind turbine converts the wind power i.e. kinetic energy into me-
chanical energy. Permanent magnet synchronous generator (PMSG) gen- In this paper, the PEM is considered in the development of the FC
erates electricity using permanent magnet. PMSG is connected to an model because of its simplicity and quick response to load changes. The

Fig. 3. (a) Voltage and current characteristics of PV array (b) PV array characteristics with different irradiance.

5
K. Ravinder and H.O. Bansal
Fig. 4. Wind turbine power characteristics.
PEM-FC utilizes a solid polymer electrolyte (Teflon like layer) to ex-
change the particles between two permeable terminals, which is the
best conductor of protons and an insulator for electrons. The operating
temperature of FC is as low as 1000 C. The reactions at the anode and
cathode sides, as well as the overall reactions are given in Eqs. (15),
(16) and (17)
Anode reaction
H2 = 2H+ + 2e− (15)
Cathode reaction
1/2 O2 + 2H+ + 2e− = H2O (16)
Overall reaction
H2 + 1/2 O2 = H2 (17)
The boost converter plays a major role in FC system to regulate the
power output and steps up the voltage at the DC-link. Fig. 5 shows the
schematic of a FC.
2.4. Choice of the AI based controller
Artificial Intelligence (AI) is a technology that helps controllers to
develop online learning/self-organization capabilities from process
behavior and take appropriate control actions. The AI can provide ad-
vantages over traditional methods, such as statistical analysis, espe-
cially where the data shows some form of nonlinearity. Some existing
use of spatial analysis and modeling techniques include ANN and FLC
based on the rule system. NN is inspired biologically and is based on a
loose analogy of a brain's alleged functioning. Two types of NN, such as
multilayer perceptron (MLP) and RBF are generally used to study many
problems of power quality. The backpropagation algorithm (BPA) is the
most common NN training algorithm, and it is a supervised learning
algorithm. The advantage of the BPA is that it can easily be understood
and has been used in many applications successfully.
RBF-NN consists of a three layers such as input, hidden and output.
The hidden layer provides an arbitrary basis for input patterns with a
set of functions. The RBF in the hidden layer only produces a significant
non-zero response when the input falls within a small, localized input
space region. RBF-NN is trained with supervised learning algorithms
and can be perceived as multilayer feed forward propagation network
improvements. Many of their characteristics are similar to feed forward
NN as they perform linear representations and summation of weights.
The transformations performed are local, however, resulting in their
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Electric Power Systems Research 177 (2019) 105957
training being much faster. RBF-NN may require more neurons than
standard feed forward networks, but they can often be designed to train
standard feed forward networks for a fraction of the time. In literature,
it is proved that any function can be approximated by RBFs with one
hidden layer; as a result, they are called universal approximators.
Perceptrons also have universal approximation capability but only RBFs
possess optimal approximation capability. Even if structurally they are
less complicated than feed forward BPA networks, they can achieve
better arbitrary function approximations with only one hidden layer.
Compared to RBF strategy, BPA offers lesser THD in balanced and
nonlinear load condition. The difference between RBF-NN versus mul-
tilayer Network is shown in Table 1.
ANFIS combines, ANN robustness to solve problems and FLC flex-
ibility to generalize input values and classify problems. This combined
hybrid method in terms of prediction and relationship between input
and output is much more flexible and versatile. ANFIS is quick to
overcome the system complexities and robustness by modeling its
nonlinear function with acceptable accuracy. ANFIS’s ability to enhance
performance through rapid learning process fits as a solution where
nonlinearity change rates are constant and quick solution is needed.
The ANFIS strategies satisfactorily minimize the THD in RES-SAPF and
provide faster response.
2.5. ANFIS based control algorithm
ANFIS is a hybrid of both ANN and FL that appreciates the ad-
vantages of both. An adaptive fuzzy method derives from representative
mathematical samples and changes its fuzzy relationship. On the other
hand, from training data, the NN can erratically create and refine fuzzy
rules. Fuzzy sets are thought to be constructive for intelligent field, and
while dealing with higher processing ability. The fuzzy input, along
with triangular membership function is fed into the NN block. The NN
block consists of a rule base, which is connected to the fuzzy inference
system (FIS). BPA is used here to train the FIS. The BP learning algo-
rithm is used to train feedforward NNs. The most commonly used FIS
are Mamdani and Sugeno. In this work, the Sugeno type FIS is used
because (i) its output membership functions (MF) is either linear or
constant (ii) it is computationally efficient than the Mamdani type, and
(iii) it can be trained by real data as opposed to the former which is
more susceptible on an expert system.
Takagi Sugeno FIS is executed here using ANFIS and have five
layered structure as shown in Fig. 6. The ANFIS training flowchart is
discussed in detail in Fig. 7.The descriptions of the layers areas given
below:
Fig. 5. Schematicdiagram of a fuel cell.
K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Table 1
Difference between RBF and multilayer network.
Sr. no. RBF-NN Multilayer network

1. It has a single hidden layer. It has multiple hidden layers.

2. The basic neuron models as well as the hidden layer function are different from All layers computational nodes are similar.
the output layer function.
3. The layer hidden is nonlinear, but the layer of output is linear. The layers are all nonlinear.
4. The hidden layer activation function calculates the Euclidean distance between The hidden layer activation function calculates the Euclidean distance between the
that layer's input vector and center. input vector and that layer's center.

Fig. 6. Architectureof ANFIS controller.

Layer This is called as the fuzzification layer. Fig. 7. Flowchart for training ANFIS.
1:
Layer Each node's output is the product of all incoming signals.
2: the boost converters are connected to a common DC bus of 750 V.
Layer Each node calculates the ratio of the firing strength of the individual rule to
3: the sum of all the firing strengths of the rules in this layer.
Layer This layer known as the defuzzification layer. 3. Control strategies of shunt active power filter
4:
Layer This layer is known as the output layer. There are several methods for performing harmonic compensation
5:
such as IRPT, SRF and DC-link voltage regulation method in SAPF but
SRF theory provides faster transient response therefore it is implemented
The ANFIS architecture is an adaptive feedforward network struc- here in this work.SRF theory based system design is presented below.
ture. Every node has a specific function; some of the nodes are adaptive The block diagram of SRF based control algorithm is shown in
and others are fixed nodes, where the node parameters are in- Fig. 1. The load currents (iLa, iLb, iLc ) are detected as feedback signals
dependent. The ANFIS needs a set of input-output data and uses a set of and are transferred through Park transformation to obtain d q 0
MF to map the input data to output. The chosen MF should minimize reference frame as given below in Eq. (18):
the error between the actual output and ANFIS sketched output. 1
cos sin
The different data sets to train ANFIS for SAPF controller and MPPT id
2
iLa
operation respectively are collected by performing conventional con- iq =
2 cos 2
sin
2 1
iLb
3 3 3 2
trols. The epochs (iterations) and errors for SAPF and MPPT controllers i0
2 2 1
iLc
cos + sin +
are shown in Fig. 8.The trained model is then validated in HIL. 3 3 2 (18)

These signals are synchronized with point of common coupling

2.6. Boost converter control to obtain MPPT
A DC–DC boost converter is controlled by implementing the MPPT
algorithm. The inputs to the proposed MPPT algorithm are power and
voltage variations and the output is duty cycle variation. This algorithm
generates a suitable duty cycle corresponding to MPP. In this work, MPP
is tracked using ANFIS algorithm. The main advantage of this technique
is that the search for MPP will be done independent of the environmental
conditions. Each boost is controlled by individual MPPT. The outputs of
(PCC) using phase locked loop (PLL) that is required for periodic and
physical control to extract the phase information. Pure sine and cosine
waves need to be generated that are synchronized to the grid voltage to
perform abc to d q and d q to abc transformations. The components
are passed through a low pass filter to remove the DC parts of d-axis and
q-axis currents (i.e. id and iq ). Theid and iq consist of fundamental and
harmonic segments as shown in Eqs. (19),(20):
id = id DC + id AC (19)

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 8. (a) Epochs and training error in SAPF controller (b) Epochs and training error in MPPT controller. Red star indicates the predicted FIS output and blue circle
indicates the test data.

2 2 2 difference of reference and actual compensating currents is fed to a

= iLa cos ( t ) + iLb cos t + iLc cos t+
3 3 3 hysteresis current controller that generates switching pulses to drive
iq = i q DC + iq AC HES based SAPF.
2 2 2
= iLa sin ( t ) iLb sin t iLc sin t+
3 3 3 (20) 4. Simulation results
The transformation d q to abc is performed to obtain three-phase
A MATLAB/Simulink based HES integrated SAPF model is developed
reference compensating isa* , isb* , isc* currents and their expressions are
and tested to validate the proposed control algorithm under a balanced/
given in Eqs. (21),(22) and (23) as follows:
unbalanced and nonlinear load conditions. The proposed HES-SAPF in-
2 tegrated system is first simulated and then validated on HIL based real-
* =
isa [id, AC cos ( t ) iq sin ( t )]
3 (21) time platform. The system parameters are given in Appendix.

2 2 2
isb* = id, AC cos t iq sin t
3 3 3 (22) 4.1. Performance of the system underbalanced and nonlinear load
conditions
and

2 2 2 System performance is simulated for balanced and nonlinear load

isc* = id, AC cos t+ iq sin t+ conditions and the corresponding source voltage (Vs), source current
3 3 3 (23)
(is), load current (il) and compensating current (ic) signatures are dis-
The output of ANFIS controller is an active current required to played in Fig. 9. Their respective values are 230 V, 158A, 150Aand 40A.
maintain DC-link voltage. The reference compensating current is gen- Figs. 10 and 11 represent the source and load currents harmonic
erated by comparing the reference source and actual load currents. The spectrum. In source current, the THD falls from 19.03% to 1.87%.

Fig. 9. Performance of system balanced & nonlinear load.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 10. Harmonic spectrum of source current.

Fig. 11. Harmonic spectrum of load current.

4.2. Performance of the system under unbalanced and nonlinear load load conditions and the corresponding source voltage (Vs), source
conditions current (is), load current (iL) and compensating current (ic) waveforms
are shown in Fig. 12. Their respective values are 230 V, 156A, 150A
System performance is also assessed for unbalanced and nonlinear and 40A. Figs. 13 and 14 represent the source and load currents

Fig. 12. Performance of system under unbalanced & nonlinear load.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 13. Harmonic spectrum of source current.

Fig. 14. Harmonic spectrum of load current.

Fig. 15. Performance under dynamically load changes.

harmonic spectrum. In source current, the THD falls from 19.98% to
2.89%.
4.3. System performance analysis under dynamic load variations
The performance of the system under dynamic load variations is
shown in Fig. 15. The waveforms of DC bus voltage (Vdc), PV module
voltage (Vpv), wind generator voltage (Vwg) and fuel cell voltage (Vfc)
have been shown. The load of 75 & 150 A is switched on suddenly at
4.1 s and 4.3 s respectively. The figure shows that the response is settled
within few microseconds. One or more RESs can be switched on or off
depending on the user power requirement and power availability. Fig. 16
shows the impact of the switching on/off of RESs on DC bus voltage.
The results obtained through various control schemes are compared
in Table 2. The comparison shows that HES integrated SAPF using
ANFIS strategy has minimum THD for balanced/unbalanced & non-
linear load conditions. It is observed that the performance of ANFIS
based control strategy is better.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 16. DC bus voltage behavior under switching operation of RESs.

Table 2 Thus, this also verifies proposed design and control strategy and its
Comparative analysis of system performance using different controllers. usage for all practical purposes. The real-time results of voltage, current
Algorithm Balanced & nonlinear load grid Unbalanced & nonlinear load grid
and power are measured by reducing the scale of measurement by a
current % THD current %THD factor of 1000. Fig. 17 depicts the OPAL-RT based HIL laboratory setup.

ANFIS 1.87 2.89

NN-BP 2.95 3.75 5.1. Performance of the system under balanced and nonlinear load
NN-RBF 3.11 3.58 conditions
FLC 3.09 3.62
Fig. 18 shows the system performance waveforms when the ba-
lanced and nonlinear load is applied. The source voltage (Vs) is 235 V,
5. Real-time results source current (is) is 160 A, load current (iL) is 158 A and compensating
current (ic) is 40 A. One can easily see that the load current is highly
The results obtained using MATLAB simulations are verified by distorted, but the source current is almost purely sinusoidal after SAPF
implanting OPAL-RT controller-based hardware in loop (HIL) system. action. Figs. 19 and 20 provide the harmonic spectrum of source cur-
OPAL-RT has a very good compatibility with the MATLAB/Simulink rent and load current respectively.
environment and can validate any type of control model in it. It consists
of two main parts, first is the simulation environment in RT-Lab and the
second is HIL platform. The HES based SAPF is evaluated on FPGA 5.2. Performance of the system under unbalanced and nonlinear load
engine of OPAL-RT and proposed control algorithms are implemented conditions
on its CPU core with a time step size of 50 μs. It is observed that the
real-time results are approximately same as the simulation results. Fig. 21 displays the system performance waveforms when the un-
balanced and non-linear load is applied. The source voltage (Vs) is

Fig. 17. OPAL-RTBased HIL laboratory setup.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 18. Real-time results with balanced and nonlinear load conditions.

Fig. 19. Harmonic spectrum of source current.

Fig. 20. Harmonic spectrum of load current.

Fig. 21. Real-time results with unbalanced and nonlinear load conditions.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 22. Harmonic spectrum of source current.

Fig. 23. Harmonic spectrum of load current.

Fig. 24. DC bus voltage and PV array voltage.

233 V, source current (is) is 162 A, load current (iL) is 158 A and
compensating current (ic) is 42 A. Figs. 22 and 23 provide the harmonic
spectrum of source and load currents respectively. Fig. 24 represents
the DC bus voltage (Vdc) and the voltage of the PV module (VPV). Their
values are 735 V and 300 Vrespectively. Fig. 25 depicts the grid & load
side active and reactive powers. The power factor of the grid side is
0.998 (∼1), while load side is 0.82(lagging).
5.3. Comparative study of various control strategies
Fig. 26 depicts the system performance in terms of THD of grid
current by applying various control strategies, both in SAPF and MPPT.
Here, the ANFIS based control algorithm provides maximum harmonic
elimination. The THD is reduced from 16% to 2.39% for balanced &
nonlinear load conditions and from 20% to 3.56% for unbalanced &
nonlinear load conditions, which are well within the acceptable range
of IEEE-519 standard.
6. Conclusion
In this paper, a PV-Wind-FC based adaptive HES has been proposed
which is further integrated with SRF based SAPF to eliminate the current
harmonics in the source current. The system injected the compensating
current and decreased the harmonic level when balanced/unbalanced &
nonlinear loads have been applied. Various control strategies like fuzzy
logic, BP-ANN, RBF-ANN, and ANFIS has been employed for SAPF con-
trol and MPPT control. The ANFIS based strategies regulating the DC-link
capacitor voltage have made it more robust and less susceptible to system
transients. The proposed control scheme based on ANFIS has been vali-
dated through an HIL using the hardware controller OPAL-RT. The
performance of the combined system had also been evaluated for dy-
namical switching (on/off) for different renewable energy sources with
different types of load. The proposed design has; mitigated harmonics,
minimized voltage variations, allowed feeding of surplus power to the
grid, better utilized the renewable energy sources, and hence has im-
proved the performance of the grid.

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K. Ravinder and H.O. Bansal Electric Power Systems Research 177 (2019) 105957

Fig. 25. Utility & load side of real and reactive power. Scale CH1, CH2, CH3, CH4-killo/div.

Fig. 26. Real-time performance of grid current THD.

Conflict of interest and authorship conformation form
Please check the following as appropriate:
• All authors have participated in (a) conception and design, or ana-
lysis and interpretation of the data; (b) drafting the article or re-
vising it critically for important intellectual content; and (c) ap-
proval of the final version.
• This manuscript has not been submitted to, nor is under review at,
another journal or other publishing venue.
• The authors have no affiliation with any organization with a direct
or indirect financial interest in the subject matter discussed in the
manuscript
• The following authors have affiliations with organizations with di-
rect or indirect financial interest in the subject matter discussed in
the manuscript:

Appendix A

To design required HES integrated SAPF, the values of a few parameters need to be selected and these are given as follows.
Three-phase grid voltage (Vs) 400 V, frequency (f) 50 Hz, load current (iL) 150 A. Supply inductance = 1 mH, load inductance = 30 mH, 20 mH,
and 10 mH, load resistance (R) = 20 Ω, 15 Ω and 10 Ω, inductance of boost converter (PV side) 3.5 mH, output capacitance of PV array 585µF , solar
irradiance 1 kW/m2, cell temperature 30 °C, wind speed 12 m/s, inductance of boost converter (wind side) 1.11 mH, output capacitance of WECS
1600µF , inductance of boost converter (FC side) 5 mH, output capacitance of FC 500µF switching frequency of boost converter (PV, WECS, FC)
10 kHz. The nonlinear load is a three-phase diode rectifier combination with RL. The balanced active load is 10 kW, while the reactive load is 6kVAR,
the unbalanced active load is 10 kW, 9 kW, and 11 kW, and the reactive load is 6kVAR, 5.5kVAR, and 6.6kVAR.The SAPF is now designed on the
basis of the analysis in Ref. [52] and its parameter is derived as follows:
The supply current (is ) is a quasi-square waveform and its value, Eq. (19) provides a three-phase diode rectifier.
2
is = iL = 122.4 A
3 (A19)
The value of the quasi-square waveform fundamental component is given by Eq. (20)

14
K. Ravinder and H.O. Bansal
6
is1 = iL = 115.5 A
SAPF current rating (harmonic current) is Eq. (21)
iSAPF = ic = ih = is2 is21 = 40.51A
The power rating of SAPF (S) is = 3Vs ic = 27.951 kVA
The SAPF DC-link voltage is Eq. (23)
2 2 Vs
Vdc = = 750 V
mi
where 'mi' is the modulation index and 'Vs' is the phase voltage. SAPF compensating inductance is provided by Eq. (24)
3
2
mi Vdc
Lf = = 4 mH
6k f I f
where 'k' is the overloading factor, f is the switching frequency and I f is the ripple factor.
The DC-link capacitor is calculated and given by Eq. (25) from the change in stored energy.
1 2 2
E= Cdc (Vdc SAPF Vdc SAPFmin ) = 3Vs k ic t ,
2
3 Vs k ic t
Cdc = 2 2
= 5750 µF
0.5(Vdc Vdc ref )
The proposed strategies minimize THD and improve the power factor.
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