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J.R. Vazquez and P. Salmeron
Abstract: A method for controlling an active power filter using neural networks is presented.
Currently, there is an increase of voltage and current harmonics in power systems, caused by
nonlinear loads. The active power filters (APFs) are used to compensate the generated harmonics
and to correct the load power factor. The proposed control design is a pulse width modulation
control (PWM) with two blocks that include neural networks. Adaptive networks estimate the
reference compensation currents. On the other hand, a multilayer perceptron feedforward network
(trained by a backpropagation algorithm) that works as a hysteresis band comparator is used. Two
practical cases with Matlab-Simulink are presented to check the proposed control performance.
iL, ac
1 I l l
I I I I n l J Fig. 3 Block rlicigrrini of'acfivepott:cr,filter control
If f IA h X L v tion currents, the signals Error in Fig. 3. The actual
compensation currents are the result of controlling the
switching logic of power circuit transistors.
The proposed control allows an excellent filter dynamic
APF power circuit response, and the compensation currents can be adapted
quickly to any change of load current. The results of two
Fig. 1 Three-phase four-wire system with sliiint uctive power filter practical cases will be presented in Section 5.
In this paper, a shunt APF with a hysteresis band control 3 Compensation reference current
is used to compensate for the nonlinear loads. The target is
to control the compensation currents by forcing them to 3. I Adaptive neural network principles
follow the reference ones. The switching strategies of the A periodic waveform can be expanded by Fourier analysis
three-phase inverter will keep the currents in the hysteresis as the sum of the cosine and sine frequency components.
band. The following model of the signal to be estimated is
A control block generates the IGBTs trigger signals. A proposed:
basic scheme for the proposed hysteresis band control is
shown in Fig. 2. The real load currents are sensed and they
f(t) = [x,,cos(not) + K~ sin(not)] (I)
n=I, ,N
are compared with their nonactive components, the
reference compensation currents. where X N and Y, are the amplitude of the cosine and sine
components of order-n harmonic. In vectorial notation:
hysteresis comparator
where:
cos ot
reference
compensation I I sin cot
currents W T = [ X I Y I... X N Y ~ ]and x(t)= ... (3)
cos N o t
I I I U
sin N o t
The signals are sampled at a uniform rate At, so time values
are discrete, kAt with k = 0 , 1, 2 .... The dot product
I l l presented in (2) is carried out by one Adaline neuron, where
v J W T is the network weights vector. After the initial
actual compensation currents
estimation, an adaptive algorithm updates the weights.
Fig. 2 Hysteresis band control diugmn Thus, the estimated signal converges to the actual one.
Fig. 4 shows the network topology and the weights update
algorithm. At time k, x(k) is the proposed signal model and
The hysteresis comparator outputs signals are used to J;IctLf&) is the actual signal. The neurons, taking into
turn on the inverter power switches. The compensation
current will stay in a band around the reference signal.
A new design of an APF control method based on neural
networks is presented. Load voltages and currents are f (kdt)
sensed, the control block calculates the power circuit IGBT
trigger signals from the reference compensation currents, (sin wkdt
and the power circuit of APF injects the compensation
current into the power system.
The control has two blocks. The first one is developed
with adaptive networks (Adaline neurons), which allow on-
line estimation to be made of control reference compensa-
tion currents. The second one is a feedfonvard network.
After a training process, it works on-line as a comparator
between the reference waveforms and the actual compensa-
tion currents (Fig. 3).
The first block inputs are load voltages (vL,N,tLur/)and
This block estimates the compensa-
load currents (iL,r,ctua/).
tion currents that are going to be used as reference in the
control system (i,-,cf). The second block inputs are the
differences between the actual and the reference compensa- Fig. 4 Adnl,tive network topology
hidden output
layers layer Fig. 7 Topology of,feedfonvarzl network
algorithms. This network can be trained to supply an To check the proposed design, the electrical system, with
output target when the corresponding inputs are applied. control block included, was simulated in a Matlab-Simulink
The most commonly used method is the backpropagation application. A three-phase sinusoidal source, a model of a
training algorithm. The initial weights are random. The three-phase AC regulator and the power circuit of an active
initial output pattern is compared with the current output, power filter were developed in the same application,
and the weights are adjusted by the algorithm until the error computer-aided by a power system blockset, to obtain the
becomes small enough. The training process is carried out load voltages and currents of the electrical system. In Fig. 8,
by a program that uses a large number of input/target data, the Simulink diagram of a complete compensatory electrical
whch can be obtained from simulations or from experi- system is shown.
mental results. The control block is presented in Fig. 9. An adaptive
network block estimates the load voltages and currents. The
4.2 Neural PWM control difference between the actual currents and their estimated
A feedforward neural network works as hystere:;is com- active components is the nonactive current used as reference
parator in the PWM control (Fig. 4). This network is compensation currents. On the other hand, the feedforward
designed with two inputs and two layers, the hidden with 14 block works on-line as the hysteresis comparator, their
neurons and the output layer with 1 neuron. The activation inputs are reference and actual compensation currents, and
functions are log-sigmoid in the hidden layer and linear in their outputs are the trigger signals of power circuit IGBTs.
the output layer. The training algorithm used is back- To train the feedforward network, it is necessary to know
propagation. the real system input and output signals. So, the electrical
The comparator outputs depend on the inputs and their system was simulated in Simulink, using a relay block as a
evolution. The chosen configuration has two inputs, the comparator to obtain inputs and target-output signals. To
error signal in k and its value in the previous time k-1. train the feedforward network, the Matlab neural networks
Network topology is shown in Fig. 7. toolbox was used. A training programme using Matlab
To fix the network weights, it is necessary to compare the routines was developed. Initff initialises Network weights
network outputs with the outputs of a real electrical system. and Tvninlm carries out the training process to fix the final
nonlinear -
meas.
___L
- load
C3l
current
meas. current
circuit
In2
load voltage
In3
load current . -m
reference
to IGBTs
estimation of
active current
comDarator
I ’ ‘ I block
In1
compensation current
20
4
10’ .-c 0
$? l o o -20
i
g 10.’ b
1o z
20
0 20 40 60 80 100
.*
4
0
iteration -20
Fig. 10 Error during training process 0 0.05 0.10 0.15 0.20 0.25 0.30
time, s
C
The proposed design was applied in a three-phase four- Fig. 11 Case I : Controlled three-phase converter compensation
wire power system, a three-phase balanced and sinusoidal (a) load voltage
voltage source supplying a nonlinear load, a controlled (b) load current
three-phase converter. (clestimated load current
The electrical system has been simulated in a Matlab-
Simulink application. Next, the evolution of several wave- At the moment, the practical implementation of ANN
forms per phase from full load to 50% load is shown. boards is not well developed. However, the authors are
Fig. 1 l(u) presents load voltage; actual and estimated load working to obtain a practical system, which allows the
current are shown in Fig. Il(b) and ll(c). ANN proposed control to be emulated. The controller
The estimation of equivalent conductance (Fig. 12(a)) board developed by dSPACE contains a real-time processor
shows the transient evolution of process. The compensation and the necessary in/out interfaces to allow the control
current (Fig. 12(b)) is the result of hysteresis band control operation to be carried out. In particular, the DS1103 PPC
used. Fig. 12(c) presents the source current of the controller board is equipped with a PowerPC processor for
compensated system. fast floating-point calculation at 400 MHz. This hardware
Signal evolution depends on the initial weights of supports the real time interface (RTI) tool that allows
adaptive networks. Those weights have been chosen as null programming to be done viu Simulink. The RTI carries out
in this example. The dynamic filter response is one-and-a- the real time code generation, it downloads the real-time
half periods approximately. model in the controller board and makes it start. Next, this
On the other hand, a second practical case was simulated, will allow the experimental performance of the proposed
an unbalanced three-phase AC-regulator. As above, control to be checked with this hardware.
Figs. 13 and 14 show the main waveforms of t h s case:
the load voltage, the load current, the estimated load 6 Conclusions
current, the estimated equivalent conductance, the compen-
sation current and the source current. The neutral current is A control method of an active power filter has been
null in the compensated system (Fig. 14(d)). presented. The PWM control is designed with two neural
IEE Proc.-Electn Power Appl., Vol. 150, No. 2, Murclz 2003 143
100
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20
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a a
2 0 -G 0
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b b
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0 0.05 0.10 0.15 0.20 0.25 0.30
time, s C
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a three layers trained by the backpropagation algorithm. The
.I 0 use of neural principles has increased the control speed and
-50 reliability by the new parallel computing architecture. The
- 1 00
results of a practical case simulation in the Matlab-Simulink
b application have been presented. The control design
proposed allowed an excellent filter dynamic response to
100
load changes to be obtained.
50
a
i
g o 7 Acknowledgments
.-a
-50
This work is part of the projects, ‘Study of electrical
-100 waveform quality: their measurement and control’ TIC97-
0 0.05 0.10 0.15 0.20 0.25 0.30
time, s
1221-C02-01 and ‘Electric power quality control based in
C neural networks’ DP12000- 1213 financed by the CICYT
(Ministerio de Ciencia y Tecnologa), Spain.
Fig. 13 Case 2: Three-phuse AC-reguhtor compensation
(U) load voltage
(6) load current References
(c) estimated load current
ENSLIN. J.H.R., VAN WYK, J.D., and NAUDE. M.: ‘Adaptive
closed-loop control of dynamic power filters as fictitious power
network blocks. The first one has two adaptive neurons, compensators’, IEEE Trcms. Ind Elecrron., 1990, 37, (3), pp. 203-2 1 1
which estimate load voltage and current components. A JOU, H.L., WU, J.C., and CHU, H.Y.: ‘New single-phase active
power filter’, IEE Proc., Eketr. Power Appl., 1994, 141, (3), pp.
simple method for obtaining fundamental active currents 129-1 34
and reference compensation currents has been described. In SINGH, B., AL-HADDAD, K., and CHANDRA, A.: ‘Active power
filter for hamionic and reactive power compensation in three-phase,
the hysteresis band control used, the common comparators four-wire systems supplying non-linear loads’, ETEP, 1998, 8, (2),
have been substituted by feedfonvard neural networks with pp. 139-145
145