IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS. VOL. 26. NO. 6.

NOVEMBERIDECEMBER 1990 983

A New Approach to Harmonic Compensation

in Power Systems-A Combined System
of Shunt Passive and Series
Active Filters

Absfract-A new approach to compensate for harmonics in power

systems is proposed. It is a combined system of a shunt passive filter and
a small rated series active filter. The compensation principle is descibed,
and some interesting filtering characteristics are discussed in detail
theoretically. Excellent practicability and validity to compensate for
harmonics in power systems are demonstrated experimentally.

Background
~NTRODUCTION
* VF( = UL

H ARMONIC interference problems generated by bulk

thyristor converters become increasingly serious as they
are widely used in industrial applications and Fig. 1. Basic principle of shunt passive filter
transmission/distribution systems. So far, shunt passive fil-
ters have hitherto been used to suppress harmonics in power
systems. However, shunt passive filters have many problems
to discourage their applications. As shown in Fig. 1, a shunt
passive filter exhibits lower impedance at a tuned harmonic +I I I I
frequency than the source impedance to reduce the harmonic
currents flowing into the source. In principle, filtering char-
acteristics of the shunt passive filter are determined by the
impedance ratio of the source and the shunt passive filter.
Therefore the shunt passive filter has the following problems.
i) The source impednace, which is not accurately known
and varies with the system configuration, strongly
-I Fig. 2 . Basic principle of shunt active filter.
influences filtering characteristics of the shunt passive
filter.
To solve the preceding problems of the shunt passive filter,
ii) The shunt passive filter acts as a current sink to the shunt active filters using PWM inverters have been studied
harmonic voltage included in the source voltage, U,,,.
and developed in recent years. The basic principle of shunt
In the worst case, the shunt passive filter falls in series
active filters was originally presented by H. Sasaki and T.
resonance with the source impedance.
Machida in 1971 [l]. As shown in Fig. 2, a shunt active filter
iii) A t a specific frequency ( fo = 1/2s
is controlled in such a way as to actively shape the source
J <L , + L,)c,), an antiresonance or parallel reso- current, i s , into sinusoid by injecting the compensating cur-
nance occurs between the source impedance and the rent, i,. This is considered the archetype of shunt active
shunt passive filter, which is the so-called harmonic- filters. Since a linear amplifier was used to generate the
amplifying phenomenon. compensating current, its realization is unreasonable due to
low efficiency. In 1976, L. Gyugyi and E. C. Strycula [2]
Paper IPCSD 90-25, approved by the Industrial Power Converter Commit- presented a family of shunt and series active filters, and
tee of the Industry Applications Society for presentation at the 1988 Industry
Applications Society for presentation at the 1988 Industry Applications established the concept of the active filters consisting of
Society Annual Meeting, Pittsburgh, PA, October 2 - 7 . Manuscript released PWM inverters using power transistors [2]. However, no
for publication March 22, 1990. attention has been paid to series active filters and no experi-
The authors are with the Nagaoka University of Technology, Nagaoka,
940-21, Japan. mental result has been shown in any papers, because there is
IEEE Log Number 9038516. no available way to shape the source current into sinusoid.

0093-9994/90/1100-0983$01.OO 0 1990 IEEE

984 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 26, NO. 6, NOVEMBERIDECEMBER 1990
Series Active Filter
r
I
I
I
I
I
I&,
(0.45kVA) I
I I
_ _ _ _ _ _ _ _ _ _ _ _ _ I
Fig. 3. Circuit configuration of combined system.
In the beginning, shunt active filters were proposed to
suppress the harmonics generated by large rated thyristor
converters and inverters used in HVDC transmission sys-
tems. However, they could not be realized in real power
systems because high-power high-speed switching devices
were unavailable in the 1970s. Then N. Mohan et al. [3]
presented a practical means for injecting the compensating
current, which was implemented by using naturally commu-
tated thyristor inverters with a specially designed passive
circuit to reduce the fundamental voltage rating of the shunt
active filter. However, the thyristor inverters generate unde-
sirable high-order harmonics, which thus discourages their
practicability.
With remarkable development and advances in switching
speed and capacity of power semiconductor devices in the
1980s, shunt active filters using PWM inverters have been
studied, with a focus on their practical applications in real
power systems [4]-[ll]. At the same time, the following
problems of shunt active filters have been pointed out, delay-
ing their practical uses [5], [7].
i) It is difficult to realize a large rated PWM inverter
with rapid current response and low loss for use as a
main circuit of shunt active filters.
ii) The initial cost is high as compared with that of shunt
passive filters, and shunt active filters are inferior in
efficiency to shunt passive filters.
iii) Injected currents by shunt active filters may flow into
shunt passive filters and capacitors connected on the
power system [ 131.
A New Approach to Harmonic Compensation
Conventional shunt passive and active filters have the
aforementioned problems, which make their practical appli-
cations difficult. Therefore a basic question is asked: Is
there an approach to solve the problems of shunt passive
filters and those of shunt active filters?
Harmoiiic-Producing Load
(ZOkVA)
I
I
I
I
I
I I
I
5th 7th High-Pass II
I Shunt Passive Filter(l0kVA) I
L _ _ _ _ _ _ _ _ _ _ _ _ _ _ _2
V F u UFu UFw isu isu isw
As is known, filtering characteristics of a shunt passive
filter partially depend on the source impedance, which is not
accurately known and is predominantly inductive. The
impedance of the shunt passive filter should be lower than the
source impedance at a turned frequency to provide the atten-
tuation required. Hence the higher the source impedance, the
better the filtering characteristics. However, the source
impedance should exhibit a negligible amount of impedance
at the fundamental frequency so that it does not cause any
appreciable fundamental voltage drop. These two require-
ments, which contradict each other, can be satisfied only by
inserting an active impedance in series with the ac source.
Also, series and parallel resonances in the shunt passive
filter, which are partially caused by the inductive source
impedance, can be eliminated by inserting an active
impedance. The active impedance can be implemented by a
series active filter using voltage-source PWM inverters.
Hence a new approach, which combines the use of a shunt
passive filter and a small rated series active filter, is the
answer to the question.
SYSTEM
CONFIGURATION
Fig. 3 shows a system configuration of the proposed
approach to harmonic compensation, which is an experimen-
tal circuit developed in this paper. Fig. 4 shows a detailed
circuit of a series active filter on a per-phase base. A passive
filter consisting of a 5th- and 7th-tuned LC filter and a
high-pass filter is shunted with a three-phase six-pulse thyris-
tor converter of rating 20 kVA, which is considered a typical
harmonic-producing load. The circuit constants of the shunt
passive filter of rating 10 kVA are shown in Table I. Three
single-phase voltage-source PWM inverters of rating 0.45
kVA are inserted in series with the source impedance through
three single-phase current transformers (CTs; turns ratio =
1:20), thus forming a series active filter. A single-phase
diode rectifier of rating 50 VA is connected on the dc side of
PENG et al.: HARMONIC COMPENSATION IN POWER SYSTEMS 985

Source r - - - i Load
:CT
LmJI
I

L
I

I 1 I
Fig. 6. Equivalent circuit for fundamental frequency.

II 1
1

Fig. 4. Detailed circuit configuration of series active filter on per-phase

base.

I I 1
Fig. 7. Equivalent circuit for harmonic frequencies.

harmonics. The control scheme will be discussed later. For

the fundamental and harmonics, application of the law of
superposition to Fig. 5 gives us two equivalent circuits, as
I I I shown in Figs. 6 and 7, respectively. Here, Vsf is the source
Fig. 5. Equivalent circuit on per-phase base for Fig. 3 fundamental voltage and I L f is the load fundamental current
in Fig. 6 , while VSh is the source harmonic voltage and I L h
TABLE I is the load harmonic current in Fig. 7. As is seen in Fig. 6 ,
CIRCUIT CONSTANTS OF THE SHUNT PASSIVE FILTER the shunt passive filter behaves as a capacitor for power
5th L = 1.20mH C = 340 pF Q = 14 factor improvement, but the series active filter does not play
7th L = 1.20 mH C = 170 pF Q = 14 any role. Fig. 7 shows that the series active filter acts as a
HPF L = 0.26 mH C = 300pF R = 3 Q
harmonic isolator between the source and load.
To demonstrate the compensation principle of the com-
the inverters, supplying the energy corresponding to the bined system, some important equations are derived on the
switching and conducting losses in the inverters. The purpose basis of Fig. 7.
of the CTs is not only to isolate the PWM inverters from the
power system, but also to match the voltage and current Source Harmonic Current: ZSh
rating of the PWM inverters with that of the power system. The harmonic current flowing in the source, which is
The function of the series active filter is not to directly produced by both the load harmonic current ZLh and the
compensate for the harmonics of the rectifier, but to improve source harmonic voltage V S h , is given as follows:
the filtering characteristics of the shunt passive filter and to
solve the problems of the shunt passive filter used alone. In
other words, the series active filter acts not as a harmonic
compensator but as a harmonic isolator. Hence the required
rating of the series active filter is much smaller than that of a
conventional shunt active filter.
Here, Z , is the amplitude of Z,, and Z , is that of Z,.
COMPENSATION PRINCIPLE The first term on the right side of (I) means that the series
Assuming for simplicitys sake that the voltage-source active filter acts as a damping resistance, which can
PWM inverter is an ideal controllable voltage source uc, Fig. eliminate the parallel resonance between the shunt passive
3 is represented on a per-phase base by Fig. 5 . The three- filter and the source impedance, while the second term means
phase thyristor converter is also assumed to be a current that the series active filter acts as a blocking resistance,
source i, due to. the presence of sufficient inductance on the which can prevent the harmonic current produced by the
dc side. Here, Z , is the equivalent impedance of the shunt source harmonic voltage from flowing into the shunt passive
passive filter, the constants of which are shown in Table I, filter. If the resistance K is much larger than the source
and Z, is the source impedance. impedance, variations in the source impedance have no effect
The series active filter is controlled in such a way as to on the filtering characteristics of the shunt passive filter, thus
present zero impedance to the external circuit at the funda- reducing the source harmonic current to zero, as shown in
mental frequency and a high resistance K to source or load (2).
986 IEEE TRANSACTIONS I3N INDUSTRY APPLICATIONS, VOL. 26, NO. 6, NOVEMBERIDECEMBER 1990

Output Voltage of Series Active Filter: Vc

The output voltage of the series active filter, which is equal
to the harmonic voltage appearing across resistance K in
Fig. 7, is given by
10

.o
+ Vsh
Vc = iFZLh if K 9 z,, z,. (4)
Equation (4) implies that the voltage rating of the series
active filter is given as a vector sum of the first term on the
right side, which is inversely proportional to the quality
factor of the shunt passive filter, and the second term, which
is equal to the source harmonic voltage.
Filter Harmonic Voltage: VFh

The filter harmonic voltage, which is equal to the harmonic

voltage appearing across the shunt passive filter, is given by

2ol 1 K=O

V F=
~ -2FZLh if K % zs, 2.,
Equation (6) tells us that the source harmonic voltage does
not appear on the load side because it applies across the
series active filter.
FILTERING
CHARACTERISTICS
To illustrate filtering characteristics of the combined sys-
tem, reference is made to the equivalent circuit in Fig. 7.
Application of the law of superposition to Fig. 7 makes the
following analysis easy. As a result, the absence or presence
of the series active filter produces distinct differences in
filtering characteristics.
Harmonic Current Flowing from Load to Source
Neglecting the harmonic voltage source on the source side
in Fig. 7, the load harmonic current divides between the
shunt passive filter and the source in proportion to the
admittance of the parallel branches, as shown in the term first
on the right side of (1). The ratio of the source harmonic
current to the load current under the assumption of vsh = 0
is given by
The amplitude of (7) is called distribution factor. Figs.
8(a) and 8(b) show how the distribution factor against fre-
quency varies with resistance K for the source inductances
Ls = 2% and 5.6% (200-V 20-kVA 50-Hz base), respec-
tively. Here the source resistance is neglected because it is
much less than the source reactance. Note that harmonic
currents flowing into the source are amplified for all the
frequencies at which the distribution factor is more than 0
dB .
(5)
(6) .o
1
- 30
(b)
Fig. 8. Distribution factor against frequency. (a) L , = 2 % . (b) L , =
5.6%.
Case of the Shunt Passive Filter. used Alone, i.e.,
K = 0: It is seen from Fig. 8 that the shunt passive filter
falls in parallel resonance with the source impedance at three
frequencies, because the shunt passive filter consists of two
LC filters and a high pass filter. For example, a parallel
resonance appears at the 4th harmonic frequency in Fig. 8,
thus amplifying the load harmonic current by 22 dB ( = 13
times). It is difficult, however, to avoid the condition of
parallel resonance for a cycloconverter, because it produces
harmonic currents having frequencies that vary with the
output frequency.
Case of the Combined System, i.e., K = I or 2: The
(7) series active filter reduces the distribution factor for all the
frequencies as compared with the value obtained without it.
No amplification occurs in harmonic current at the three
resonant frequencies, because the series active filter acts as a
damping resistance. The sharpest filtering of the 5th-, 7th-,
and higher harmonics is obtained in K = 2.
Harmonic Current Flowing from Source to Shunt Passive
Filter
Under the assumption of I L h = 0 in Fig. 7, a source
harmonic current flowing into the shunt passive filter is
produced by the source harmonic voltage. The source har-
PENG er al.: HARMONIC COMPENSATION IN POWER SYSTEMS
2-
1-
0 I
0 5 10
15
(b)
Fig. 9. Ratio Z , / Z , against frequency. (a) L , = 2 % . (b) L ,
monic current is expressed by the second term on the right
side of (1):
Here, 2, = 2, 2, + +
K and Z , is a rated impedance,
i.e., 2 52 on a 200-V 20-kVA 50-Hz base. Figs. 9(a) and 9(b)
show how the ratio Z , / Z , against frequency varies with
resistance K for L , = 2% and 5.6%, respectively.
Case of K = 0: For example, the shunt passive filter falls
in series resonance with the source impedance at the 4th-
harmonic frequency in Fig. 9(b). Even if a small amount of
harmonic voltage at the resonant frequency is included in the
source voltage, the harmonic current flowing in the source
and the shunt passive filter will be excessive. The condition
of such a series resonance must be avoided, or overheating
and failure will occur in the shunt passive filter.
Case of K = I or 2: The series active filter increases the
ratio Z , / Z o for all the frequencies, as compared with the
value obtained without it. No harmonic current flows into the
source or the shunt passive filter at the three resonant fre-
quencies, because the series active filter acts as a blocking
resistance.
CONTROL
CIRCUIT
To control the series active filter in such a way as to
present zero impedance for the fundamental and pure resis-
tance for the harmonics, the reference output voltage of the
series active filter is given by
v$ = Ki,,
where is, is the source harmonic current, which can be
calculated by applying the instantaneous real and imaginary
power theory, the so-called p - q theory developed by H.
Akagi et al. [12].
Transformation of the phase voltages u L u , u L v , and uLw on
the load side and source currents is,,, is,, and is, into a-0
orthogonal coordinates gives the following expressions:
According to [12], the instantaneous real power p and the
instantaneous imaginary power q can be defined as
Note that the dimension of q is not watt, volt-ampere, or var
because vLa * iss and uLB . is, are defined by the product of
the instantaneous voltage in one phase and the instantaneous
f/f.
J , J L
Z0 current in the other phase.
The harmonic components p , and-q, are extracted from
= 5.6%.
p and q by using a high pass filter. A first-order high pass
filter, the cutoff frequency of which is 35 Hz, is used in the
following experiment, filtering characteristics in transient
states being taken into account. In the calculation circuit of
i s h , the following calculations are performed:
(13)
The reference output voltage given by (9) is compared with a
triangle carrier, producing the PWM switching patterns.
Here the frequency of the triangle carrier is 15 kHz. There-
fore the series active filter operates as a controllable voltage
source, while a conventional active filter operates as a con-
trollable current source. Hence a voltage-source PWM in-
verter is suitable for the series active filter rather than a
current-source PWM inverter. The voltage-source PWM in-
verter used in the series active filter can be protected against
overvoltage and overcurrent by the following means. All the
power MOSFETs of the upper legs are turned off to release
the dc capacitor from the secondary of the CTs, while those
of the lower legs are turned on to short the secondary of the
CTs through the on-state power MOSFETs and diodes.
OF A SMALL
DESIGN RATEDPASSIVE
FILTER
TO
SUPPRESS
SWITCHING
RIPPLES
It is important but difficult to design an effective passive
filter to suppress the switching ripples of voltage or current
generated by shunt active filters, because it is necessary to
know the source impedance of the associated power system.
(9) In the proposed system, however, the design is simple and
the implementation is easy, because the PWM inverter is
inserted to the power system through the CT with large turns
ratio.
As shown in Fig. 4, the purpose of L , (1.0 mH) and
Cr(0.33 pF) connected in the secondary of the CT is to
suppress the switching voltage ripples caused by the voltage-
.-
~

988 IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL. 26. NO. 6. NOVEMBERIDECEMBER 1990

L, I V,: 25OV

is
1

ZF@ +iL
fiF:lOOA

1 hn~LW&J/rA~/nW$n
i
start
I 1 I Fig 11. Experimental waveforms in case of L , = 2 %
(b)
Fig. 10. Equivalent circuit for switching ripples of voltage and current. (a)
Equivalent circuit seen from PWM inverter. (b) Equivalent circuit for U,.

source PWM inverter. Power MOSFET's are used in the

system, and their switching frequency f s is 15 kHz. Fig.
10(a) shows the equivalent circuit seen from the PWM
inverter, and Fig. 10(b) shows the equivalent circuit for the
switching voltage ripple V,. ZpWMis the amplitude of the
sum of Z, and Z,, which are seen from the secondary of the
CT and can be represented as

ZPWM = (.,/.I>' 1 % + GI. ( 14)

For the combined system, f, = 15 kHz, n 2 / n , = 20,
L , = 2 % , and Z, can be calculated from Table I. The
following relationship can be obtained
ZpwM = 9.6 kL? 9 1 / { 2 ~ ( f2s ) C , )

= 16 L? 4 2 ~ (f 2s ) L , = 200 L?. (15)

Note that the frequency of the switching ripples is 2 f s in
Figs. 3 and 4. The harmonic currents caused by the switching
voltage ripples V , are completely shunted by C,,hardly
flowing into the power system. In addition, almost no switch- Fig. 12. Frequency spectra of i s . (a) Before started. (b) After started
ing voltage ripples appear in the primary of the CT's,
because the V, are reduced to 1/400. PWM inverters was supplemented by a single-phase diode
Since the turns ratio of the CT's can be increased to 1:50, rectifier of rating 50 VA.
the relationship represented in (15) is still valid, even under Fig. 11 shows the experimental waveforms on the transient
the condition of a practical switching frequency of 2-3 kHz. state at the start of the series active filter in the case of
The small rated passive filter to suppress the switching
L , = 2%. Fig. 12 shows the frequency spectra of the source
ripples can simply be designed according to (15). current, before and after the start of the series active filter,
under the same conditions as Fig. 11. Before the series active
EXPERIMENTAL RESULTS filter was started, not enough filtering effect was obtained, so
To demonstrate the practicability and validity of such a that a large amount of harmonic current still remained in the
combined system as shown in Figs. 3 and 4, the following source current. However, after the series active filter was
experiments were done under the conditions that K = 2 Q , started, the source current became purely sinusoidal, showing
the dc voltage of the PWM inverters was 120 V, and the that the series active filter improves the filtering characteris-
capacitance of the dc capacitor was 1500 pF. The loss of the tics of the shunt passive filter. In Fig. 11, the rms value of
 _____

PENG er al.: HARMONIC COMPENSATION IN POWER SYSTEMS 989

vc:mv
L -.
--yMww/M!d 1-
start
Fig. 13. Experimental waveforms In case of L , = 5.6%.

r V,:250V was only 1 % , the source harmonic current reached about

10%before the series active filter was started. After it was
started, no harmonic current flowed into the shunt passive
filter. In addition, no harmonic voltage appeared at the
terminals of the shunt passive filter, because the source
harmonic voltage was applied to the series active filter.
The total loss of the series active filter was less than 40 W,
f 1,:lOOA
so it is concluded that the combined system proposed in this
paper is far superior in efficiency to conventional shunt active
filters.
CONCLUSION

7I
lL:lOOA
In this paper, the combined system of a shunt passive filter
and a small rated series active filter was proposed, giving
both practical and economical points of view. The compensa-
tion principle applied to this system was quite different from
vc:20v
conventional shunt and series active power filters, thus suc-
L J d b p ? I- ceeding in better filtering characteristics and lower initial and
start running costs. The required rating of the series active filter is
Fig. 14. Experimental waveforms with no load (ir = 0 ) in case of L s =
mainly determined by the quality factor of the shunt passive
2%. filter. The quality factor of the shunt passive filter used in this
the voltage applied to the primary of the CTs was 2.5 V, so experiment was 14. Since it is 50-80 for a practical shunt
passive filter in power systems, the required rating of the
that the VA rating of the series active filter was
series active filter will be reduced to less than 1%, as
2.5V x 6 0 A x 3 = 450VA. compared with the rating of a three-phase six-pulse thyristor
converter or cycloconverter. It is believed that the combined
This was only 2.3%,as compared with that of the load, i.e.,
system is the most suitable to harmonic compensation for
20 kVA.
large rated thyristor converters and cycloconverters.
Fig. 13 shows the experimental waveforms in the case of
L , = 5.6%. Before the series active filter was started, a REFERENCES
parallel resonance at the 4th-harmonic frequency occurred in [ I ] H. Sasaki and T. Machida, A new method to eliminate ac harmonic
currents by magnetic compensation-Considerations on basic design,
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[3] N . Mohan et al., Active filters for ac harmonic suppression,
the filter voltage, uF, which was not seen in Fig. 11. How- presented at IEEE/PES Winter Meeting, A77 026-8, 1977.
ever, no parallel resonance appeared after the series active [4] H . Kawahira, T. Nakamura, and S. Nakazawa, Active power
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[5] H . Akagi, A. Nabae, and S. Atoh, Control strategy of active power
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posed of static power converter, presented at IEEE Power Elec-
tronics Specialist Conf.,1986, pp. 283.
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using static induction thyristors, presented at European Conf. on
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JIEE PE-86.154, 1986, (in Japanese).
Fang Zheng Peng was born in Hubei Province,
China. le received the B.S. degree from Wuhan
University of Hydraulic and Electric Engineering,
China, in 1983. He received the M.E. and Ph.D.
degrees in electrical engineering from Nagaoka
University of Technology, Japan, in 1987 and
1990, respectively.
He is now working for Toyo Electric Manufac-
turing Company, Ltd. His research interests are
active power filters and hybrid systems of active
and passive filters.
Dr. Peng is a member of the Institute of Electrical Engineers of Japan.
Hirofumi Akagi (M87) was born in Okayama
Prefecture, Japan, on August 19, 1951. He re-
ceived the B.S degree from the Nagoya Institute
of Technology, Nagoya, Japan, in 1974, and the
M S. and Ph.D. degrees from the Tokyo Institute
of Technology, Tokyo, Japan, in 1976 and 1979,
respectively, all in electrical engineering.
Since 1984 he has been an Associate Professor
at Nagaoka University of Technology, Japan. He is
engaged in research on ac motor drives, active
power filters, and high-frequency inverters.
Dr Akagi is a member of the Institute of Electrical Engineers of Japan.
Akira Nabae (M79-SM89-F90) was born in
Ehime Prefecture, Japan, on September 13, 1924.
He received the B.S degree from Tokyo Univer-
sity, Tokyo, Japan, in 1947, and the Dr. Eng.
degree from Wasada University, Japan, in 1987.
He joined Toshiba Corporation in 1951. From
1951 to 1970 he was engaged in the research and
development of rectifier and inverter technology at
Tsurumi Works Engineering Department. From
1970 to 1978, he was involved in research and
development of power electronics, especially ac
drive systems, at the Heavy Apparatus Engineering Laboratory. Also, from
1972 to 1978 he was a nonoccupied Lecturer of Wasada University, Japan.
From 1978 to 1990 he was a Professor at Nagaoka University of Technol-
ogy, Japan. Since 1990, he has been a Professor in the Electronics Engineer-
ing Department at Tokyo Institute of Polytechnics, Japan. He is now
interested in energy conversion and control systems.
Dr. Nabae is a member of the Institute of Electrical Engineers of Japan.