Repetitive Control Scheme for a Dynamic Voltage Restorer (DVR) for Power

Quality Improvement Using SVM

M. Karimian 1 A. Jalilian 2 H.Hosseini3
1. Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran,
[email protected]
2. Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran, [email protected]
Centre of Excellence for Power System Automation and Operation
3. Electrical Engineering Department, Iran University of Science and Technology, Tehran, Iran,
[email protected]

Abstract-This paper discusses a controller based on a failure. Voltage imbalance can also result from different
repetitive control for a dynamic voltage restorer (DVR). It self and mutual impedances of individual phases of
contains a feedforward term to improve transient response transmission system components.
and a feedback term of repetitive control to achieve zero DVR is one of the most common series device connected
steady-state error of tracking sinusoidal signal. This to the ac network via transformer, which was originally
controller can compensate power quality disturbances, conceived to protect against voltage sag and swells during
such as voltage sag, harmonic voltages, and voltage abnormal conditions in distribution systems. Its range of
imbalance, simultaneously. The control scheme is applicability can be extended with a suitable control
implemented in a test system with MATLAB/SIMULINK scheme [7]. The basic operating principle of the DVR is
software. Simulation results show that the output voltage voltage stabilization by connecting a series voltage source
of controller can track the reference signal accurately and between the sensitive load and power supply source. The
therefore compensate disturbances. control scheme must be sufficient enough to restore the
sensitive load voltage to its ideal state [8].
Keywords: Dynamic Voltage Restorer (DVR), Harmonic The performance analysis and control of the DVR, with
Distortion, Repetitive Control, Voltage Sag different control strategies, have been studied and
examined by researchers. Most of the published works on
I. INTRODUCTION the DVR have used an ordinary proportional-integral (PI)
In recent years, there has been an increased emphasis on controller in a synchronous frame. This basic approach is
Power Quality (PQ) due to the widespread use of sufficient to enable voltage sag compensation, to warrant
sensitive and nonlinear loads in electrical power systems, zero tracking error for the fundamental component, and to
and the rapid growth of renewable energy sources. The compensate certain kinds of unbalanced conditions but it
most common PQ disturbance in a power system is can not get zero steady-state error, when the reference is a
voltage sags, but other disturbances, such as harmonic sinusoidal signal superposed of different frequencies,
voltages and voltage imbalances, can also negatively because of its bandwidth limitation [9], [10].
impact a facility’s electric distribution system [1]. Some of references add resonant control filters to the
A voltage sag is normally caused by short-circuit faults in existing PI control scheme in order to eliminate specific
the power system [2], [3] or inrush currents when large harmonic voltages [11]. In this structure one filter is
machines are switched on [4], or switching actions in the required for each harmonic to be eliminated. When a
grid. Voltage sag occurs frequently, and therefore, sags periodic disturbance has an infinite Fourier series, then an
form the leading power quality problem [5]. Lowering the infinite number of resonant filters are required to reject it.
voltage value increases transmission losses in lines, In the repetitive control scheme, a simple delay in a
transformers and other devices. proper feedback can be used to produce an infinite
Harmonics are produced by nonlinear equipments, such as number of poles and thereby simulating a bank of an
arc furnaces, arc welders, high-pressure discharge lamps, infinite number of resonant filters (PR) [12],[13]. But this
magnetic core equipment, and loads which use power controller does not make a quick response to load
electronics. Non-linear loads represent a large percentage disturbance and needs at least one fundamental cycle.
of the total loads. Under these conditions, total harmonic This paper proposes a control technique based on
distortion (THD) may become very high and therefore repetitive controller scheme. The simulation results verify
dangerous for the system. Harmonics will intensify the effectiveness of the control algorithm which can
copper and iron losses in electrical equipment. In rotating achieve fast dynamic response, and zero steady-state error
machinery, they will produce pulsating torques and at the same time.
overheating [6].
Voltage imbalances are normally produced by unbalanced II. DVR MODEL
loads or unbalanced short-circuit faults. They cause A typical test system with a DVR is depicted in Figure 1.
overheating in synchronous machines and, in some Test system contains two loads including a nonlinear load
extreme cases, leading to load shutdowns and equipment and a sensitive load. The DVR can make a sinusoidal

1
voltage in any frequency, amplitude and phase angel. A feedback repetitive control scheme with feedforward is
transformer is used to connect output voltage to the depicted in figure 3 that has the following transfer
sensitive load. An LC filter normally is used to obtain a function [14]:
DVR voltage without switching-ripple. s
1 e 1

R (s ) = (2)
s
1+e 1

The transfer function has infinite poles on the

imaginary axis. It should be noticed that with the presence
of feedforward, infinite zeroes between any two
consecutive poles will be appeared which allow peaks of
higher gains and wider bandwidth. At the same time it
will avoid excitation of even harmonics. In typical
repetitive control maximum attainable gain is 1 which
1 k
is smaller than the one considering feedforward term. In
modified repetitive control, there are simple valleys
between peaks whose maximum achievable gain is 1 + k .
1 k
So, performance and frequency response of the system is
improved. Transfer function can be written as
Figure 1. System configuration with a DVR
s s s
1 e 1
e2 1
e2 1

The equivalent circuit for the DVR is shown in Figure 2, R (s ) = = =

s s s
where VS is supply voltage, ZS is line impedance, VPCC is
1+e 1
e 2
(3)
1
+e 2 1

the voltage at the point of common coupling (PCC), U is

2
the voltage of DVR, R and L are the resistance and s s
s
2
( 1
+ 1)
inductance of the transformer respectively and VL is the sinh( 2 1 ) k =1
(2k ) 2 12
voltage at the sensitive load which is obtained with the =
s s2
following equation [13]: 2 1
cosh( ) ( + 1)
k =1
(2k 1)2 12
di
v L (t ) = v PCC (t ) + u (t ) Ri (t ) L (1) However, above compensator is not ready to be used. To
dt limit the infinite gain at the resonant frequencies and
guarantee a safer operation, it is proposed to shift poles to
the left side of the imaginary axis. The new transfer
function will be changed to R (s ) = R (s + a ) . Using this
shifting in the exponential term result
2 2 2 2
( s +a ) s a a
e =e 1
*e in which is like a gain k = e 1 .
1 1

If a gain k>1 be used, the poles will move to the right and
if a gain 0<k<1 be used, they will move to the left. Using
a simple low pass filter (LPF) is recommended in
repetitive controllers. This would restrict the bandwidth of
the controller, and at the same time improve the stability.

Figure 2. Single-phase equivalent circuit for the system

III. REPETITIVE CONTROL s

The repetitive control is a control scheme for single-input
Ke 0
single-output continuous system to achieve high accuracy
for tracking periodic reference, which was proposed by
Inoue etc. in the 1980’s.
If the sinusoidal signal is superposed of one harmonic
frequency, one PR controller would be needed but if the
signal is superposed of infinite harmonic frequencies, Figure 3. Continuous-time model and pole locations of negative
infinite PR controller would be needed. Repetitive feedback (odd harmonics) compensator with feedforward
controller is able to compensate all of harmonics only
with a feedback of delay in its scheme. The negative-

2
 IV. PROPOSED CONTROL SCHEME voltage’s distortion. They are offering better DC bus
The continuous time of the whole control scheme is utilization, lower Total Harmonic Distortion (THD),
shown in figure 4 where C(s) is the proposed controller. lower switching losses, and easier to implement in the
digital systems. SVM technique works according to the
switching between two adjacent boundary active vectors
and a zero vector on switching period. For first sector (0-
60°), reference vector voltage and SVM pattern are shown
in Fig.5.

Figure 4. Modified control scheme

(a) (b)
I(s) is load current, P1(s)=Ls+R, U(s) is the output
voltage of DVR, V*(s) is the reference voltage for the
load, Gu(s) is the DVR modeled as a linear amplifier and Figure 5. SVM in the first sector (a) reference voltage (b) switching
V(s) is the load voltage. pattern
s
1 kQe 1
(4) Reference voltage vector is calculated as follow:
C (s ) =
s
1 + kQe 1
Vr* = Vrd + jVrq (11)
v (s ) = F (s )v (s ) + Fi (s ) I (s )
*
(5)
Where Vr* is the controller output voltage and Vrd and Vrq
are its dq components.
Where Switching times can be calculated from following
F (s ) =
C (s )Gu (s ) (6) equations :
1 + C (s )Gu (s )
P1 (s ) (7) TzVr* = T AV1 + TBV2 (12)
Fi (s ) =
1 + C (s )Gu (s )
sin( / 3 ) (13)
T A = Tz a
The substitution of (4) into (6) and (7) and assuming sin( / 3 )
Gu(s)=1 yields
sin( ) (14)
TB = T z a
(8)
s s
(1 + kQe 1
)(1 kQe 1
) sin( / 3 )
F (s ) =
s s
(1 + kQe ) + (1 kQe ) (15)
T0 = T7 = Tz TA TB
1 1

s
(9) Vr* (16)
(1 + kQe 1
) P1 (s ) a=
Fi (s ) =
s s 2
(1 + kQe 1
) + (1 kQe 1
) × Vdc
3

To calculate frequency response of (8) and (9), the Where Tz is equal to 1/fs and fs is switching frequency.
s
variable s is substituted by j5. The term (1 + kQe 1 ) is
V. SIMULATION ANALYSIS
always zero because 5 is an odd integer multiple of
The system shown in fig. 1 and the proposed controller
frequency H1, k I 1, Q is a low-pass filter and the input
are implemented in MATLAB/SIMULINK. The AC
signal is a sinusoidal signal composed of odd harmonics.
power supply is a symmetric system with fundamental
So, F(s)=1 and Fi(s)=0.
frequency 50Hz and load voltage 380V (rms line-to-line)
which feeds two different loads: 1) a nonlinear load
V. SPACE VECTOR MADULATION consists of a three phase uncontrolled rectifier and a RL
This paper has used SVM rather than traditional carrier-
load, 2) a three phase sensitive load. DVR is connected
based PWM. SVM techniques have several advantages
between the PCC and the sensitive load by means of a 20-
that waves of SVM are obtained by vectors calculation,
kVA coupling transformer with a unity turns .The voltage
and the modulated waves of carrier-based PWM are
of the dc storage device is 600V. A SVM has been used
sinusoidal wave. Therefore, the modulated waves of SVM
to generate the switching signals for the converter.
may include several independent modulated waves, and
additional switchings can be added to reduce the output

3
The The main parameters are summarized in Table 1 phase short-circuit causes big voltage sag at PCC. The
[13]. fundamental rms values of the line-to-line voltages at the
1 1
Table 1 . Parameters of the test system
PCC are v PCC ab
=185.6V, v PCC bc
=213.9V,
Sensitive load Lsl=5mH , Rsl=10K 1
v PCC =155.9V and the total harmonic distortions are
ca
Line impedance Ls=2 mH , Rs=0.01K THDab=12.35% , THDbc=6.9% , THDca= 5.28%.
Nonlinear load LDC=5mH ,
500
Nonlinear load connection inductance Ls=5LH

Vab (V)
0

Transformer: -500
0.1 0.12 0.14 0.16 0.18 0.2
inductance and resistance L=6 mH , R=0.3K Time (s)

Output filter C=1.05LF 500

Vbc (V)
0

Figure 6 shows the PCC voltage (rms) waveform. The -500

0.1 0.12 0.14 0.16 0.18 0.2
PCC voltage is distorted because the nonlinear load is Time (s)
connected at t=0s. The Fourier analysis of the line-to-line 500
voltage (Vab) shows that the total harmonic voltage

Vca (V)
0
distortion is 6.71%.
600
-500
0.1 0.12 0.14 0.16 0.18 0.2
400
Time (s)
Figure 8. Line-to-line voltages at PCC during short circuit fault
200

Figure 9 shows three line-to-line voltages of the sensitive

Vab(V)

-200
load. The two-phase short-circuit fault (the unbalanced
-400
voltage) is efficiently compensated. Furthermore, the
proposed controller has the ability to cancel out
-600
0 0.01 0.02 0.03 0.04
Time (s)
0.05 0.06 0.07 0.08 harmonics and it guarantees zero-tracking error in steady
Figure 6. Line-to-line voltage (Vab) at the PCC state. The fundamental rms values of the line-to-line
1
voltages at the sensitive load are v PCC =381.3V,
ab
Sensitive load voltage is depicted in figure 7. According 1 1
to the results, proposed controller not only compensated v PCC bc
=378.2V, v PCC ca
=383.9V and the total harmonic
voltage drop but also can compensate harmonics distortions are THDab=1.51%, THDbc=1.71%, THDca=
efficiently and the total harmonic voltage distortion is 1.19%.
decreased to 2.11% (because of line impedance there is a
little voltage drop). 500
Vab (V)

600 0

400
-500
0.1 0.12 0.14 0.16 0.18 0.2
200 Time (s)
Vab (V)

0 500
Vbc (V)

-200 0

-400 -500
0.1 0.12 0.14 0.16 0.18 0.2
-600 Time (s)
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07 0.08
Time (s)
500
Figure 7. Line-to-line voltage (Vab) at sensitive load
Vca (V)

A two-phase short-circuit fault (in the phases a and c) is -500

happened at t=0.1 s via a fault resistance of 0.2K. This 0.1 0.12 0.14
Time (s)
0.16 0.18 0.2

short circuit fault results a 50% voltage sag in the two Figure 9. Line-to-line voltages at sensitive load during short circuit fault
affected phases with respect to their nominal values and it
causes a voltage drop until t=0.2s that the fault is So, Comparison of Figure 8 and 9 shows that the
removed. The nonlinear load is still connected. Figure 8 proposed control system and the DVR are able to cancel
shows the three-phase voltage at PCC without DVR. disturbances (the voltage sags, the unbalanced voltages,
The fault causes unbalanced voltage sag, while the and the harmonic voltages) simultaneously. Figure 10
nonlinear load continues to cause harmonic voltage shows the output voltages of the SVM. Scince phase B is
distortion. The voltage waveform distortion is because of not involved in the falut, the DVR injects a lower voltage
the harmonic currents drawn by the rectifier, while the rather than the other two phases.
total current provided to the sensitive load and the
rectifier causes little voltage drop at the PCC but the two-

4
 500
[10] H. Kim and S.-K. Sul, “Compensation Voltage
Control in Dynamic Voltage Restorers by Use of
Feed Forward and State Feedback Scheme,” IEEE
Ua (V)

0
Trans. Power Electron., vol. 20, no. 5, pp. 1169–
-500
0.1 0.12 0.14 0.16 0.18 0.2
1177, Sep. 2005.
Time (s) [11] J. G. Nielsen, M. Newman, H. Nielsen, and F.
500 Blaabjerg, “Control and Testing of a Dynamic
Voltage Restorer (DVR) at Medium Voltage Level,”
Ub (V)

0 IEEE Trans. Power Electron., vol. 19, no. 3, pp. 806–

813, May 2004.
-500
0.1 0.12 0.14 0.16 0.18 0.2 [12] T. Inoue, M. Nakano, “High Accuracy Control of a
Time (s) Proton Synchrotron Magnet Power Supply”, 8th Int.
500 Fed. Automatic Control. Triennial World Congr,
Proc., pp. 216–221, 1981.
Uc (V)

0
[13] P. Roncero-Sanchez, E. Acha, J. E. Ortega-Calderon,
-500 V. Feliu, A. Garcia-Cerrada, “A Versatile Control
0.1 0.12 0.14 0.16 0.18 0.2 Scheme for a Dynamic Voltage Restorer for Power-
Time (s) Quality Improvement“ IEEE Trans. on Power Del.,
Figure 10. SVM output voltages in volts (t=0.9s-0.2s) Vol. 24, No. 1, January 2009.
[14] G. Escobar, P. R. Martinez, J. Leyva Ramos, and P.
Mattavelli, “Analog Circuits to Implement Repetitive
VI. CONCLUSION Controllers With Feedforward for Harmonic
A control scheme based on repetitive control with Compensation”, IEEE Trans. on Industrial
feedforward was proposed in this paper. The feedforward Electronics., Vol. 54, No. 1, 2007.
term improves transient response and the negative
feedback repetitive control with feedforward, achieves BIOGRAPHIES
zero steady state error and increases the system bandwidth
without exciting even harmonics. Mohammad Karimian was born in
The MATLAB/SIMULINK software has been used to Fars, Iran, in 1986. He received the
simulate all aspects of the test system. Comprehensive B.Sc. degree in electrical
simulation results show superiority of the proposed engineering from Shiraz University,
controller to cancel all PQ disturbances at the same time. Shiraz, in 2008. His current research
Repetitive controller allows the output voltage amplitude interests in the field of power
close to the reference at steady state. systems, power quality and Power
Electronics.
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Restorer Against Balanced and Unbalanced Voltage University of Science and Technology in 1998, where he
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Problems: Voltage Sags and Interruptions. Hossein Hosseini received the B.Sc
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