INSTANTANEOUS POWER THEORY AND APPLICATIONS TO POWER CONDITIONING

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1 INSTANTANEOUS POWER THEORY AND APPLICATIONS TO POWER CONDITIONING Hirofumi Akagi Professor of Electrica! Engineering TIT Tokyo Institute of Technology, Japan Edson Hirokazu Watanabe Professor of Electrica! Engineering UFRJ Federal University of Rio de Janeiro, Brazil Mauricio Aredes Associate Professor of Electrica! Engineering UFRJ Federal University of Rio de Janeiro, Brazil POWER ENGINEERING Mohamed E. El-Hawary, Series Editor IEEE PRESS W1LEY 2 OO 7 WILEY-INTERSCIENCE A JOHN WILEY & SONS, INC., PUBLICATION

CONTENTS Preface xiii 1. Introduction 1 1.1. Concepts and Evolution of Electric Power Theory 2 1.2. Applications of the p-q Theory to Power Electronics Equipment 4 1.3.

2 CONTENTS Preface xiii 1. Introduction Concepts and Evolution of Electric Power Theory Applications of the p-q Theory to Power Electronics Equipment Harmonie Voltages in Power Systems Identified and Unidentified Harmonic-Producing Loads Harmonie Current and Voltage Sources Basic Principles of Harmonie Compensation Basic Principles of Power Flow Control 14 References Electric Power Definitions: Background Power Definitions Under Sinusoidal Conditions Voltage and Current Phasors and the Complex Impedance Complex Power and Power Factor Concepts of Power Under Non-Sinusoidal Conditions 25 Conventional Approaches Power Definitions by Budeanu A. Power Tetrahedron and Distortion Factor Power Definitions by Fryze Electric Power in Three-Phase Systems Classifications of Three-Phase Systems Power in Balanced Three-Phase Systems Power in Three-Phase Unbalanced Systems 36 vii

viii CONTENTS 2.6. Summary 37 References 38 The Instantaneous Power Theory 41 3.1. Basis of the p-q Theory 42 3.1.1. Historical Background of the p-q Theory 42 3.1.2. The Clarke Transformation 43 3.1.2.A.

3 viii CONTENTS 2.6. Summary 37 References 38 The Instantaneous Power Theory Basis of the p-q Theory Historical Background of the p-q Theory The Clarke Transformation A. Calculation of Voltage and Current Vectors when 45 Zero-Sequence Components are Excluded Three-Phase Instantaneous Active Power in Terms of 47 Clarke Components The Instantaneous Powers of the p-q Theory The p-q Theory in Three-Phase, Three-Wire Systems Comparisons with the Conventional Theory I.A. Example #1 Sinusoidal Voltages and Currents I.B. Example #2 Balanced Voltages and Capacitive 54 Loads 3.2.l.C. Example #3 Sinusoidal Balanced Voltage and 55 Nonlinear Load Use of thep-q Theory for Shunt Current Compensation A. Examples ofappearance ofhidden Currents A.1 Presence of the Fifth Harmonie in 64 Load Current A.2 Presence of the Seventh Harmonie in 67 Load Current The Dual p-q Theory The p-q Theory in Three-Phase, Four-Wire Systems The Zero-Sequence Power in a Three-Phase Sinusoidal 72 Voltage Source Presence ofnegative-sequence Components General Case-Including Distortions and Imbalances in 75 the Voltages and in the Currents Physical Meanings of the Instantaneous Real, Imaginary, 79 and Zero-Sequence Powers Avoiding the Clarke Transformation in the p-q Theory Modifiedp-q Theory Instantaneous abc Theory Active and Nonactive Current Calculation by Means of a 89 Minimization Method Generalized Fryze Currents Minimization Method Comparisons between the p-q Theory and the abc Theory Selection of Power Components to be Compensated Summary 102 References 104

CONTENTS ix 4 Shunt Active Filters 109 4.1. General Description of Shunt Active Filters 111 4.1.1. PWM Converters for Shunt Active Filters 112 4.1.2. Active Filter Controllers 113 4.2. Three-Phase, Three-Wire Shunt Active Filters 116 4.

4 CONTENTS ix 4 Shunt Active Filters General Description of Shunt Active Filters PWM Converters for Shunt Active Filters Active Filter Controllers Three-Phase, Three-Wire Shunt Active Filters Active Filters for Constant Power Compensation Active Filters for Sinusoidal Current Control A. Positive-Sequence Voltage Detector A.1 Main Circuit ofthe Voltage Detector A.2 Phase-Locked-Loop (PLL) Circuit B. Simulation Results Active Filters for Current Minimization Active Filters for Harmonie Damping A. Shunt Active Filter Based on Voltage Detection B. Active Filter Controller Based on Voltage 152 Detection C. An Application Case of Active Filter for Harmonie 157 Damping C. 1 The Power Distribution Line for the 158 Test Case C.2 The Active Filter for Damping of 159 Harmonie Propagation C.3 Experimental Results C.4 Adjust ofthe Active Filter Gain A Digital Controller A. System Configuration ofthe Digital Controller A.1 OperatingPrincipleofPLLandPWM 175 Units A.2 Sampling Operation in the A/D Unit B. Current Control Methods B.1 Modelingof Digital Current Control B.2 Proportional Control B.3 Deadbeat Control B.4 Frequency Response of Current Control Three-Phase, Four-Wire Shunt Active Filters Converter Topologies for Three-Phase, Four-Wire Systems Dynamic Hysteresis-Band Current Controller Active Filter De Voltage Regulator Optimal Power Flow Conditions Constant Instantaneous Power Control Strategy Sinusoidal Current Control Strategy Performance Analysis and Parameter Optimization A. Influence ofthe System Parameters B. Dynamic Response ofthe Shunt Active Filter 196

x CONTENTS 4.3.7.C. Economical Aspects 201 4.3.7.D. Experimental Results 203 4.4. Shunt Selective Harmonie Compensation 208 4.5. Summary 216 References 217 Hybrid and Series Active Filters 221 5.1. Basic Series Active Filter 221 5.

5 x CONTENTS C. Economical Aspects D. Experimental Results Shunt Selective Harmonie Compensation Summary 216 References 217 Hybrid and Series Active Filters Basic Series Active Filter Combined Series Active Filter and Shunt Passive Filter Example of An Experimental System I.A. CompensationPrinciple A.1 Source Harmonie Current I sh I.A.2 Output Voltage of Series Active 229 Filter: V c 5.2.I.A.3 Shunt Passive Filter Harmonie 229 Voltage: V Fh 5.2.I.B. Filtering Characteristics B. 1 Harmonie Current Flowing From the 230 Load to the Source B.2 Harmonie Current Flowing from the 231 Source to the Shunt Passive Filter 5.2.l.C. Control Circuit I.D. Filter to Suppress Switching Ripples I.E. Experimental Results Some Remarks about the Hybrid Filters Series Active Filter Integrated with a Double-Series Diode Rectifier The First-Generation Control Circuit I.A. Circuit Configuration and Delay Time l.B. Stabilityofthe Active Filter The Second-Generation Control Circuit Stability Analysis and Characteristics Comparison A. Transfer Function of the Control Circuits B. Characteristics Comparisons Design ofa Switching-Ripple Filter A. Design Principle B. Effect on the System Stability C. Experimental Testing Experimental Results Comparisons Between Hybrid and Pure Active Filters Low-Voltage Transformerless Hybrid Active Filter Low-Voltage Transformerless Pure Shunt Active Filter Comparisons Through Simulation Results Conclusions 261 References 262

CONTENTS xi 6 Combined Series and Shunt Power Conditioners 265 6.1. The Unified Power Flow Controller (UPFC) 267 6.1.1. FACTS and UPFC Principles 268 6.1.1.A. Voltage Regulation Principle 269 6.1.1.B.

6 CONTENTS xi 6 Combined Series and Shunt Power Conditioners The Unified Power Flow Controller (UPFC) FACTS and UPFC Principles A. Voltage Regulation Principle B. Power Flow Control Principle A Controller Design for the UPFC UPFC Approach Using a Shunt Multipulse Converter I.3.A. Six-Pulse Converter I.3.B. Quasi 24-Pulse Converter C Control of Active and Reactive Power in 288 Multipulse Converters D. Shunt Multipulse Converter Controller The Unified Power Quality Conditioner (UPQC) General Description of the UPQC A Three-Phase, Four-Wire UPQC A. Power Circuit of the UPQC B. The UPQC Controller B.1 PWM Voltage Control with Minor 300 Feedback Control Loop B.2 Series Active Filter Controller B.3 Integration of the Series and Shunt 305 Active Filter Controllers B.4 General Aspects C. Analysisofthe UPQC Dynamic C.1 Optimizing the Power System Parameters C.2 Optimizing the Parameters in the Control 311 Systems C.3 Simulation Results C.4 Experimental Results The UPQC Combined with Passive Filters (Hybrid UPQC) A. Controller ofthe Hybrid UPQC B. Experimental Results The Universal Active Power Line Conditioner (UPLC) General Description of the UPLC The Controller ofthe UPLC A. Controller for the Configuration #2 of UPLC Performance ofthe UPLC A. Normalized System Parameters B. Simulation Results of Configuration #1 of UPLC C. Simulation Results of Configuration #2 of UPLC General Aspects Summary 371 References 371 Index 375

INSTANTANEOUS POWER THEORY AND APPLICATIONS TO POWER CONDITIONING

INSTANTANEOUS POWER THEORY AND APPLICATIONS TO POWER CONDITIONING Hirofumi Akagi Professor of Electrical Engineering TIT Tokyo Institute of Technology, Japan Edson Hirokazu Watanabe Professor of Electrical