TELKOM
NIKA Indonesia
n
Journal of
Electrical En
gineering
Vol. 12, No. 8, August 201
4, pp. 5758 ~ 5765
DOI: 10.115
9
1
/telkomni
ka.
v
12i8.627
4
5758
Re
cei
v
ed Ma
rch 1
2
, 2014;
Re
vised Ma
y 14, 2014; Accepted Ma
y 27
, 2014
Harmonic Reduction in Variable Frequency Drives
Using Active Po
wer Filter
M. Tamil
v
ani
*
, K. Nith
y
a
,
M. Srini
v
asa
n
Dep
a
rtment of Electrical
and
El
ectron
ics, Bannar
i Amman Institut
e of T
e
chno
log
y
/A
nna
Univers
i
t
y
,
Che
nna
i, India
*Corres
p
o
ndi
n
g
author, e-ma
i
l
: tamilvan
i90
@
gmai
l.com, knith
y
a
7
@gm
a
il
.com
A
b
st
r
a
ct
In this pap
er V
o
ltag
e Sourc
e
Inverter (VSI) is
used to su
pply
a varia
b
le fre
q
uency var
i
a
b
le
voltag
e
to a three
ph
as
e in
ductio
n
mo
tor drive i
n
a v
a
ria
b
le
s
p
e
ed
app
licati
on. On
e i
m
p
o
rtant co
mp
licati
on
is th
at,
Voltag
e Sourc
e
Inverter (VS
I
) used in VF
D causes
non
-sinus
oid
a
l o
u
tput volta
ge a
n
d
current d
u
e
to
prese
n
ce
of ha
rmo
n
ics. Sh
unt
active fi
lter w
i
th VSI
top
o
lo
gy
is pr
opos
ed
fo
r current
har
monic
eli
m
in
atio
n.
The curr
ent c
ontrol
sch
eme
pro
pos
ed f
o
r SAPF is
Syn
c
hron
ous
Refe
rence
Fra
m
e
theory
a
ppl
ied
t
o
SVPWM. The referenc
e curr
ent can be
calculated by
using Reference
Fram
e Transform
a
tion, refer
e
nc
e
current ar
e tra
n
sformed fr
om a
−
b
−
c stationary fram
e to d
−
q rotating fram
e. In SVPWM technique, t
he
Active Pow
e
r F
ilter referenc
e voltag
e is g
ener
ated
a
nd
desir
ed Active
Pow
e
r F
ilter
output volta
g
e
is
gen
erate
d
by SVPWM. The analysis of si
mu
la
tion resu
lts are
carried o
u
t in MATLAB/SIMULINK mo
de
l.
Ke
y
w
ords
: ac
tive pow
er filte
r
, voltage s
our
ce inv
e
rter,
pu
lse w
i
dth
mo
d
u
lati
on, sync
h
rono
us refer
e
n
c
e
frame tra
n
sfor
mati
on, spac
e vector mo
du
lati
on
Copy
right
©
2014 In
stitu
t
e o
f
Ad
van
ced
En
g
i
n
eerin
g and
Scien
ce. All
rig
h
t
s reser
ve
d
.
1. Introduc
tion
In Varia
b
le S
peed
ap
plication, Voltage
Sour
ce Inve
rt
er i
s
com
m
o
n
ly used to
supply a
variable freq
uen
cy variabl
e voltage to a three p
h
a
s
e indu
ction
motor. In this PWM drive
s
are
more
efficien
t and typical
l
y provide hi
gher l
e
vels
of perfo
rman
ce. A suita
b
l
e
Pulse
Wid
t
h
Modulatio
n t
e
ch
niqu
e i
s
employed
to
obtain th
e re
quire
d o
u
tput
voltage
of the inve
rter.
The
most co
mmo
n AC drive
s
today are based on
si
nusoidal pul
se-width m
o
dulation SP
WM.
Inductio
n
mot
o
r is
rug
ged,
reliabl
e, and
single
-
f
ed m
a
chi
ne; it can
dire
ctly abso
r
b the rea
c
tive
power fro
m
the utility with this device, we can
get two
advantage
s:
one is th
at we can
get a l
o
w
start
cu
rrent;
the othe
r i
s
t
hat we
can
chang
e
the
m
o
tor
sp
eed
convenie
n
tly b
y
cont
rolling
t
h
e
output frequ
e
n
cy of the ASD.
Figure 1. Con
v
entional Ind
u
ction Moto
r
Drive
Two
ba
sic types
of inve
rters a
r
e
exist in
gene
ral
.
Curre
n
t so
urce inve
rter (CSI),
employing
a
dc li
nk ind
u
ctan
ce
acro
ss the in
ve
rt
er a
nd thi
s
provide
s
a switch
ed
cu
rrent
waveform at the motor o
u
t
put terminal
s. CSI are
ro
bust in o
pera
t
ion and
relia
ble due to th
e
inse
nsitivity to sho
r
t circuit
s
and n
o
isy e
n
vironm
ent. Voltage Source Inverte
r
(V
SI), employing a
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Harm
oni
c Re
ductio
n
in Variable Frequ
en
cy
Dri
v
e
s
Usi
ng Active Po
wer Filte
r
(M.
T
am
ilvani)
5759
dc lin
k ca
pa
ci
tor and p
r
ovid
ing a switch
e
d
voltage wav
e
form an
d they are co
mm
only use
d
wh
en
comp
ared to
Curre
n
t Source Inve
rter
si
nce th
e
u
s
e
of Pulse
Widt
h Modul
ation
(PWM
) in th
em
allows effici
e
n
t and
smo
o
t
h ope
ration,
whi
c
h i
s
free from
torq
ue pul
satio
n
s an
d
cog
g
i
ng.
Furthe
rmo
r
e,
the freq
uen
cy
ran
ge of VSI
is hi
ghe
r a
n
d
they are u
s
u
a
lly more
in e
x
pensive
wh
e
n
comp
ared to
CSI drive
s
of
the sa
me rating. Bo
th Voltage Sou
r
ce I
n
verters a
nd
Curre
n
t Source
Inverters a
r
e
used in
adj
ustabl
e
spee
d AC
driv
e
s
. Ho
weve
r, Voltage So
urce Inverte
r
s
with
con
s
tant V
o
lts/He
rtz (V/f)
are
mo
re
pop
ular,
whe
r
e
th
e ne
ed
of hig
h
a
c
curacy
of sp
eed
contro
l is
not cru
c
ial a
n
d
for the appli
c
ation
s
with
o
u
t position
co
ntrol re
quire
ments [1].
Sinusoi
dal P
u
lse
Width M
odulatio
n techniqu
e is
ap
plied to Volta
ge Source In
verter, in
sinu
soi
dal PWM inste
ad
of maintainin
g the widt
h of all pulse
s the same a
s
in the ca
se of
multiple P
W
M, the
width
of e
a
ch i
s
varied
in
pro
portion
to th
e am
plitude
of
a
sine
wave
evaluated
at the
same
pul
se. The
disto
r
tion is r
edu
ced
signifi
cantly
comp
ared to
multiple PWM.
A high-f
r
equ
ency tri
angul
ar
carrie
r wa
ve
is comp
a
r
ed with
a si
nusoidal refe
ren
c
e
of the
desi
r
ed freq
u
ency. The intersectio
n
of
and
waves determi
ne
s the swit
ching
instant
s and
comm
utation
of the modula
t
ed pulse whi
c
h is
sho
w
n i
n
Figure 2. The modul
atio
n index co
ntrols
the harm
oni
c conte
n
t of the output wavef
o
rm [2-4].
Figure 2. Sinusoi
dal Pulse
Width Modul
ation Wavefo
rm
But at the
same time, A
C
inve
rter
ca
n also
cau
s
e
s
h
a
rm
onics
in this
drive
and thi
s
harm
oni
cs
wil
l
redu
ce the
power facto
r
and the mo
to
r perfo
rma
n
ce gets affecte
d
in this syst
em.
The ha
rmo
n
i
c
effect
s in indu
ction mo
tor are
noi
se vibration,
shaft defle
ction, overh
eati
ng,
excessive losses, harm
oni
c torques, oscillation,
low
efficiency and shor
ten induction motor
life
operation.
Becau
s
e of these pro
b
lem
s
, the harmo
nic filter
s h
a
ve to be desig
n by consi
dering all of
those fa
ctors. There
can
be differe
nt types of
filters that are
u
s
ed in
ord
e
r to redu
ce t
h
e
harm
oni
c distortion. Passi
v
e filters hav
e been
used
as a
solutio
n
to solve h
a
rmo
n
ic
cu
rrent
probl
em
s, but
they p
r
e
s
ent
seve
ral
di
sa
dvantage
s,
n
a
mely: they o
n
ly filter the
frequ
en
cie
s
th
ey
were p
r
eviou
s
ly tuned
for;
their o
p
e
r
ati
on cann
ot be
limited to a
certai
n lo
ad;
resona
nces can
occur
be
cau
s
e of the interaction b
e
twe
en the pa
ss
ive filter and ot
her lo
ad
s, with unp
redi
ctab
le
results. T
o
cope
with the
s
e
disa
dvant
age
s,
re
ce
nt efforts
have
been
con
c
e
n
trated i
n
th
e
developm
ent
of active po
wer filters. In
whi
c
h a
c
ti
ve harm
oni
c
filters are ele
c
tro
n
ic
d
e
vice
s
t
hat
eliminate the
unde
sirable
harm
oni
cs
o
n
the net
work
by in
sertin
g neg
ative harmo
nics into
the
netwo
rk. The
Active Power Filters a
r
e no
rm
ally availab
l
e for low voltage net
works [5-7].
2. Activ
e
Po
w
e
r Filter
Active Power Filter offers flexible and versatile so
lution for mitigation of ha
rmoni
c
curre
n
t and voltage to improve the voltage quality pr
o
b
lems. Active
filters have the advanta
g
e
to
comp
en
sate f
o
r ha
rmo
n
ic
without fund
a
m
ental freq
ue
ncy
re
active power con
c
e
r
ns.
The rating
o
f
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046
TELKOM
NI
KA
Vol. 12, No. 8, August 2014: 575
8 –
5765
5760
the active p
o
w
er
ca
n be l
e
ss th
an a
co
mparable
pa
ssive filter for t
he same n
o
n
-
linea
r loa
d
a
n
d
the active filter will not introduce
system res
onances that can m
o
ve a harm
o
nic problem from
one freq
uen
cy to another.
They are co
n
nect to lo
w a
nd medi
um voltage di
strib
u
tion sy
stem
in sh
unt or in
seri
es.
The Active P
o
we
r Filters
consi
s
t of activ
e
com
pon
ent
s such as IG
BT-tran
s
i
s
tors an
d gate p
u
lse
are
gen
erate
d
by u
s
ing
Synchrono
us
Referen
c
e
F
r
ame the
o
ry
applie
d to
sp
ace
vecto
r
p
u
lse
width mod
u
la
tion.
2.1. Series Activ
e
Po
w
e
r Filter
Serie
s
Active
Powe
r Filte
r
is
con
n
e
c
ted
to the
syste
m
thro
ugh
a
cou
p
ling t
r
an
sform
e
r.
The co
mpe
n
sation voltage
is used to ca
ncel
the volta
ge harmoni
cs of the load source
Figure 3. Seri
es Active Po
wer Filte
r
2.2. Shunt Activ
e
Po
w
e
r Filter
The m
a
in
ai
m of a
n
shu
n
t Active Po
wer Filte
r
(A
PF) i
s
to
ge
nerate
comp
ensating
curre
n
ts into i
n
verter o
u
tpu
t
for can
c
elin
g t
he curre
n
t harm
oni
cs
co
ntained in the
inductio
n
mo
tor
load cu
rrent. This will thu
s
result in sin
u
soi
dal
. The curre
n
t comp
ensation ch
aracteri
stic of the
shu
n
t active power filter is sho
w
n in Fig
u
re 4.
Figure 4. Shunt Active Power Filter
3. Sy
nchronous Re
fer
e
n
ce Frame Th
eor
y
In this Synchronou
s Refe
re
nce F
r
ame th
eory
ba
sed d
-
q model i
s
discusse
d. Ref
e
ren
c
e
frame tran
sfo
r
mation refers to transfo
rmation fr
om
a-b
-
c to d-q
-
0 axes. Coo
r
dinate
s
from
a
three
-
ph
ase a-b
-
c
station
e
ry co
ordi
nat
e system
to
the d-q
-
0 rotating co
ord
i
nate syste
m
is
carrie
d out. Here first tra
n
sformation i
s
fr
om a
-
b-c to alpha-b
e
t
a coordinate
s
and
se
con
d
transfo
rmatio
n is from al
pha-beta to d-q
-
0 co-o
rdi
nates. T
w
o
different tran
sform
a
tion m
a
trix
need to be re
quire
d Cla
r
ke
Tran
sform
a
tion and p
a
rk tran
sform
a
tion
[9, 13].
Instantan
eou
s voltag
e a
n
d
cu
rrent in
three p
h
a
s
e
circuit it is
mathe
m
atically exp
r
esse
d
in Space Ve
ctor form. The
s
e three vect
ors
a-b
-
c
are
displa
ce
d by an angle of
120
from each
other is
sho
w
n in Figure 5.
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Harm
oni
c Re
ductio
n
in Variable Frequ
en
cy
Dri
v
e
s
Usi
ng Active Po
wer Filte
r
(M.
T
am
ilvani)
5761
Figure 5. Vector Diag
ram f
o
r a-b-c axis
3.1. Clarke T
r
ansformatio
n
The fo
rward
Clarke
(194
3
)
tra
n
sfo
r
m
d
oes
a
magni
tude inva
rian
t tran
slation
from a
three p
h
a
s
e
system into t
w
o o
r
thogo
n
a
l com
pone
n
t
s. If the neutral - g
r
ou
n
d
con
n
e
c
tion
is
negle
c
ted, th
e sum of va
ri
able
s
in
a th
ree-p
h
a
s
e
system (a
-b
-c) i
s
equ
al to
ze
ro, and
there
is
redu
nda
nt informatio
n. Therefo
r
e, the syste
m can b
e
redu
ced to two varia
b
le
s, called
and
.
The Cla
r
ke transfo
rm is gi
ven by:
=
1
0
√
√
(1)
Referen
c
e
frame th
eory
b
a
se
d d
-
q
mo
del i
s
p
r
e
s
e
n
t
ed. Instanta
neou
s volta
g
e
s i
n
the
a-b
-
c
coo
r
din
a
tes are tran
sform
ed to
two axis
coo
r
dinate
s
rep
r
e
s
ente
d
by
α
and
β
sh
ow
n
in
Figure 6.
Figure 6. Vector
Diag
ram
for a-b
-
c to
axis
3.2. Park Tra
n
sforma
tion
The Pa
rk (19
29) t
r
an
sform
is
a ve
ctor
rotati
on, which rotate
s
a v
e
ct
or (define
d
by its
quad
ratu
re compon
ents)
throug
h a specifie
d angl
e. The Park transfo
rmati
on is given
by
followin
g
set
of equation:
=
cos
sin
s
in
cos
(2)
In three p
h
a
s
e
s
bal
an
ced
system
neut
ral current i
s
ze
ro, and
zero
seq
uen
ce cu
rrent
doe
s not exist. Voltage in
α
an
d
β
refe
rence fram
e is express a
s
sho
w
n in Eq
uation (2). T
h
e
Voltage in
α
and
β
refere
nce fram
e is further tra
n
sf
orm in rotatin
g
refere
nce frame with
ω
r
as
angul
ar velocity in
d-q referen
c
e fram
e
.
Instantaneo
us voltage
s in the
β
coordi
nates are
transfo
rme
d
to d-q coo
r
din
a
tes sho
w
n in
Figure 7.
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ISSN: 23
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046
TELKOM
NI
KA
Vol. 12, No. 8, August 2014: 575
8 –
5765
5762
Figure. 7. Vector
Diag
ram
for
axis to d-q axis
3.3. Proporti
onal Integral
Contr
o
ller
The PI c
ont
roller is
very impor
tant part for the SAPF. It c
ons
is
ts
of
proportional term and
integral term.
With this el
ement, the best c
ontrol
perform
a
nce of the SAPF i
s
obtai
ned.
PI
focu
se
s on th
e differen
c
e
(error) bet
wee
n
the Pro
c
e
s
s Vari
able
(P
V) and th
e Set-Point (SP),
the
difference between
harmonics current
reference
signal IH and the f
ilter current If. PI controller
algorith
m
involves two
sep
a
rate pa
ram
e
te
rs; the Pro
p
o
rtional a
nd the Integral.
The Pro
porti
onal value d
e
termin
es th
e rea
c
tion t
o
the cu
rren
t erro
r; the Integral
determi
ne
s the rea
c
tion b
a
s
ed o
n
the sum of re
c
ent
errors. Average sum of these two a
c
ti
ons
is u
s
e
d
to
ad
just the
p
r
o
c
ess of th
e pl
ant. By
co
rre
c
tly "tuning" t
hese two
con
s
tants in th
e
PI
controlle
r alg
o
rithm, the P
I
controlle
r can p
r
ovid
e
control actio
n
desi
gne
d
for spe
c
ific
process
requi
rem
ents [10].
3.4. Closed
Loop Cur
r
en
t Con
t
rol Sc
heme using
Sy
nchronou
s Frame The
or
y
The
cont
rol
schem
e
sho
w
n in Fi
gure 8
co
nsi
s
ts
of
i
nner
current control
lo
op and outer
voltage control
loop. The PI
controller of
the
voltag
e control
loo
p
gives a
cu
rre
nt comma
nd
requi
re
d to maintain the DC bu
s voltag
e to set valu
e. This is
ad
ded to the A
C
co
mpo
nent
of d
axis of the load cu
rre
nt. It
gives the cu
rrent refe
re
nce
value for d axis comp
one
nt. The refere
nce
for q axis is o
b
tained after t
he orie
ntation
of load curre
n
t [10].
Figure 8. Block
Diag
ram o
f
Close
d
Loo
p Curre
n
t Co
ntrol Sch
e
me
Usin
g Synch
r
ono
us F
r
am
e
Theo
ry
4. SVPWM
SVPWM signals can
be generated
directly from
the inst
antaneous reference
phase
voltages. E
a
ch
refe
ren
c
e
pha
se volta
g
e
is
comp
are
d
with
the
tri
angul
ar
ca
rri
er, a
nd th
e p
o
le
voltages fo
r individual p
hase are
ge
nerate
d
inde
pend
ently of each oth
e
r
.
To obtain the
maximum p
o
ssi
ble p
e
a
k
amplitude
of
the funda
me
ntal pha
se v
o
ltage in li
ne
ar mo
dulatio
n, a
comm
on m
o
d
e
voltage
is
adde
d to the
referen
c
e p
h
a
se volta
g
e
s
,
whe
r
e th
e m
agnitud
e
of
is given b
y
:
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Harm
oni
c Re
ductio
n
in Variable Frequ
en
cy
Dri
v
e
s
Usi
ng Active Po
wer Filte
r
(M.
T
am
ilvani)
5763
= -
(3)
Whe
r
e
the maximum mag
n
itude of the three i
s
sampl
ed refe
ren
c
e
pha
se voltag
es an
d
is the minimu
m magnitud
e
of the three sampled
reference pha
se v
o
ltage
s [3, 8,
12].
5. Simulation Resul
t
s
5.1. Variable Freque
nc
y
Driv
e
w
i
thou
t
Activ
e
Po
w
e
r Filter
This
se
ction
rep
r
e
s
ent
s
the sim
u
latio
n
re
sult of
Variabl
e Fre
quen
cy Driv
e befo
r
e
con
n
e
c
ting A
c
tive Powe
r
Filter by usi
n
g
MATLAB/SIMULINK. Fi
gure
9 and
Figure 10
sh
ows
output cu
rren
t waveform a
nd FFT an
alysis of
VFD
without co
nne
cti
ng active filter.
Figure 9. Output Curre
n
t Wavefo
rm of VSI Fed Induction Moto
r
Figure 10. THD Level for V
F
D With
out Filter
5.2. Sy
nchronous Refe
re
nce Frame T
r
ansformatio
n
Figure 11. Ou
tput Waveform of
Refere
n
c
e Frame T
r
a
n
sformation
Evaluation Warning : The document was created with Spire.PDF for Python.
ISSN: 23
02-4
046
TELKOM
NI
KA
Vol. 12, No. 8, August 2014: 575
8 –
5765
5764
The 3
φ
sin
e
wave
s with 120
d
e
g
r
ee pha
se shift
a
r
e conve
r
ted
to
2
φ
-
a
nd then
conve
r
ter to
d-q axi
s
. The
transfo
rmati
on ci
rcui
t is d
e
velope
d in the MATLAB/SIMULINK. Fi
gure
11 sho
w
s the
Va, Vb, Vc
sine wave
with
120
deg
ree
pha
se
shift is conve
r
ted to
2
φ
wave form
(
) that is 9
0
degree pha
se shift each
other when
is 0 degre
e
and
is 90 d
egre
e
. Again
-
is tran
sforme
d to d-q axis.
5.3. SVPWM Pulse Generation
Thre
e ph
ase
referen
c
e volt
age i
s
comp
a
r
ed
with the
triang
ula
r
carrier
wave to
p
r
odu
ce
gate p
u
lse t
o
VSI used
in Shunt
Act
i
ve Powe
r
Fi
lter. Figu
re
12
referen
c
e
and
tria
ngul
ar
waveform an
d Figure 13 shows the gat
e pulse for VSI inverter.
Figure 12. Th
ree Pha
s
e
Re
feren
c
e Volta
ge and tria
ng
ular waveform
Figure 13. SVPWM Pulse Generation for VSI
5.4. Variable Freque
nc
y
Driv
e
w
i
th Activ
e
Po
w
e
r Filter
Figure 14. Ou
tput Current
Wavefo
rm of VFD with Filt
er
Evaluation Warning : The document was created with Spire.PDF for Python.
TELKOM
NIKA
ISSN:
2302-4
046
Harm
oni
c Re
ductio
n
in Variable Frequ
en
cy
Dri
v
e
s
Usi
ng Active Po
wer Filte
r
(M.
T
am
ilvani)
5765
In
this
S
hunt Active
Power Filter (SAPF) is co
nnected
to load si
de i
n
order to
reduce the
output curren
t harmo
nics.
The
curre
n
t control
sc
hem
e propo
sed
for Shu
n
t Acti
ve Powe
r Filt
er
(SAPF) is S
y
nchronous
Reference F
r
ame th
eory
and SVPWM techni
que is empl
oyed to
generate pul
s
e to SAPF
by using MA
TLAB/SIMU
LINK. Figure 14 and Fi
gure 15 shows output
curre
n
t wavef
o
rm an
d FFT
analysi
s
of VFD with
conn
ecting a
c
tive filter.
Figure 15. THD Level for V
F
D with Filte
r
6. Conclusio
n
This paper present
s a nov
el Synchronous Reference
Fram
e theory with SVPWM
techni
que is
used for
cont
rolling the i
n
j
e
ction of
the
compensating curren
t.
Shunt Active Power
Filter is dev
elope
d for h
a
rmo
n
ic red
u
ction in
VSI based Indu
ction moto
r drive. From
the
simulation results it is observ
ed that To
tal Harm
onic
Disto
r
tion (T
HD) is re
du
ce
d from 12.12
% to
4.86% usin
g the pro
p
o
s
ed
methodol
ogy in efficient manne
r.
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