A Parallel Power Conditioning System with Energy Storage Capability for Power Quality Improvement in Industrial Plants
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1 A Parallel Power onditioning Sytem with Energy Storage apability for Power Quality Improvement in Indutrial Plant, Gabriele Grandi, laudio Roi DIPARTIMENTO DI INGEGNERIA ELETTRIA Univerità degli Studi di Bologna via Riorgimento, I4036 Bologna ITALY Keyword: Active filter, Power conditioning, Power quality, SMES, Emerging topologie Abtract Power onditioning Sytem (PS) with energy torage capability i propoed a a viable olution for improving the power quality in indutrial plant. Several tak, uch a reactive power compenation, current harmonic reduction, and moothing of pulating load can be performed at the ame time. In thi paper the principle of operation of the PS will be decribed, and the analyi will be focued on the control of the energy flow among the ytem component. Numerical imulation and experimental tet will be hown to demontrate the effectivene of the PS to reduce flicker phenomena and to compenate harmonic current component and reactive power. With minor change of the hardware tructure and of the control algorithm the PS can alo be operated a Uninterruptible Power Supply (UPS). I. Introduction In indutrial application ome type of high power load are required to be witched on and off with a period le than 0.5. During the witching on of thee load, the demanded high current determine a voltage drop acro the line impedance, which i reponible of flicker phenomena. The main tak of the developed PS i to reduce the negative effect of pulating load, beide to the compenation of reactive power and current harmonic of non linear load. or thi purpoe a uitable PS cheme, baed on the tranfer of energy between the network and the energy Storage Device () i propoed. Two baic configuration for a PS can be defined according to the type of energy torage device. The former i baed on a Superconducting Magnet (SM), the latter i baed on a Supercapacitor (S) bank. The control ytem that manage the energy tranfer i the ame for both the energy torage device, it i called Energy ontrol Sytem (ES) and it will be decribed in Section II. magnetic torage (uperconducting magnet) energy torage electric torage upercapacitor chopper P dclink capacitor point of common coupling aclink inductor inverter ig. Scheme of the PS ytem P P P S P L Source Load The cheme of the propoed PS i hown in ig.. The energy torage device i connected to a dcdc converter allowing the bidirectional tranfer of energy with the dclink intermediate bu. The topology of the dcdc chopper depend on the type of energy torage device. ig. how in detail the cheme required by SM and S repectively. The dclink bu i connected to the dc ide of a three phae EPE 00 Graz P.
2 Voltage Source Inverter (VSI), which i hunt connected to the main through three aclink inductor. The dc/ac ection of the PS ha the ame topology of a hunt active power filter [][6]. The availability of an energy torage device allow the ytem to compenate the flicker phenomena introduced by pulating load. The active filter ection of the PS allow to compenate the reactive power, to reduce the load current harmonic and to eliminate the load current unbalance. The flicker compenation achieve the moothing of the ource power variation due to the witching on and off of the load [7]. During thee tranient the PS operate in order to deliver the difference between the intantaneou load power and it average value. The VSI i ued to perform the direct control of the current on the aclink inductor. In thi way the ource current are forced to follow the balanced and inuoidal reference waveform for any operating condition. The ource current are alway ynchronized with the fundamental poitive equence component of the ource voltage. A a conequence, balanced and inuoidal ource current with unity power factor are achieved, even in preence of voltage perturbation coming from the main [8], [9]. The balanced and inuoidal waveform of the ource current are derived from the ource power reference, which i generated by the ES. The capability of the propoed PS to keep under control the ource power flow for any operating condition i enured by the ue of a reliable ynchronization device. The ynchronization of the inverter output with the fundamental poitive equence component of the ource voltage i carried out by mean of a Three Phae Locked Loop (TPLL). Thi algorithm operate correctly even in preence of unbalanced and non inuoidal voltage. Numerical reult and experimental tet howing the effectivene of the PS in term of reduction of the harmonic current of non linear load, and moothing of the ource power due to pulating load will be preented. II. ontrol Sytem Analyi Principle of operation The combined operation of the PS a active filter and flicker moother i achieved by a uitable control algorithm, that manage the energy tranfer among the energy torage device, the dclink capacitor, and the main. The analyi of the ES i baed on the following aumption: the control ytem of the two converter are able to keep the ource power P S, and the torage device power P cloe to their reference, i.e. P S and P ; loe in paive component uch a inductor, capacitor, torage device, and in the tatic witche are neglected. Thee two aumption are acceptable becaue of the low time repone of the control ytem ued to drive the two converter and the mall amount of the loe in the paive component. urthermore, the time contant of the torage device mut be low enough to allow the tracking of the energy variation demanded by the ES. The analyi of the ES can be uefully carried out in term of power flow and energy balance uing the Laplacian notation [], [3]. The propoed control algorithm i hown in the cheme of ig.. In thi cheme the input control variable of the PS are the energy in the dclink capacitor E, and the energy in the torage device E. The regulator R generate the reference ource power, which combined to the load power give the reference filter power. Thi lat ha to be injected by the inverter into the Point of ommon oupling (P). At the ame time, the regulator R generate the firing ignal for the dc/dc chopper, which control the power flowing into the torage device. The regulator R 3 () varie the energy reference in the on the bai of the error of the dc capacitor energy. Once the parameter of regulator R R and R 3 are defined, it i poible to determine the tranfer function of the control loop repreented in ig.. EPE 00 Graz P.
3 E The control algorithm ha been deigned to manage the tranfer of energy between the and the dclink capacitor during the tranient condition caued by load variation. In thi way, the ES operate in order to recover the energy level in the capacitor, uing a fraction of the energy tored in the unit. During load change, the energy variation in the capacitor are quickly compenated by the energy ig. Energy ontrol Sytem tranfer between the and the dclink capacitor. A a conequence, the energy required by the load can be conidered a coming directly from the unit. The ource i not required to upply the full load power, but an increaing amount of power. The ue of the unit to mooth the load variation i neceary becaue the dc link capacitor ha very few tored energy. Moreover, it energy variation mut be minimized in order to enure a correct operation of the inverter with a practically contant dclink voltage. Auming the capacitor energy and the energy cloe to their reference, repectively E and E, an increae of the load power P L determine a power flow from the capacitor to the ac ide, yielding to an error E = E E in the capacitor tored energy. Auming a imple proportional regulator the new energy reference will be given by: E ~ E E R 3 () E () R E E K P3 E inverter P S = P S E ~ ) =. () Thi new lower value of the reference allow the chopper to recover the dclink voltage uing the energy tored in the SM or S. Numerical Analyi of the Energy ontrol Sytem PS P L P chopper P = P E R ( P capacitor Depending on the PS feature which ha to be analyzed, it i opportune to utilize different quantitie ha input and output variable of the ES of ig.. In [] the analyi ha been carried out with reference to the capability of the PS to behave a active filter. Here the attention i focued to the poibility of the PS to compenate the flicker phenomena due to pulating load. or thi purpoe, it i ueful to conider the cheme hown in ig. 3, which relate the ource power P S to the load power P L. Analyzing the tranfer function of the control loop given in ig. 3, it i poible to emphaize the PS performance in moothing the ource power variation due to pulating load. The control cheme of P L P S E P P P E E E E E ~ R () R 3 () Storage Device R () E PS ig. 3 i derived from the baic cheme of ig., by conidering the load power P L a input ignal, and the ource power PS a output variable. The reference for the dclink capacitor energy and for the energy, can be conidered a diturbance having a contant value. ig. 3 Block diagram howing the relationhip between P L and P S The relationhip between the ource power and the load EPE 00 Graz P. 3
4 power can be eaily calculated auming for the regulator of ig. 3 the following expreion: K I capacitor energy regulator: R () = K P torage device energy regulator: R () = K P energy reference regulator: R 3 () = K P 3, with K P 3 >>. With thee aumption the expreion for P S () i given by the um of three term a repreented in () and in ig. 4. S P () = G ()E G ()E G () P () L L The expreion of G (), G (), G L () are given in Appendix. Under the aumption that E and E are contant, by applying the final value theorem to the tep repone of the tranfer function G (), G () yield lim G 0 lim G 0 () = 0 () = 0. (3) Thi mean that the relationhip between the ource power and the load power i given only by the tranfer function G L (). On the bai of thi reult, the analyi of the control ytem can be carried out with reference to the following open loop tranfer function derived from G L (), G La ( K P K I )( K P ) ( K K ) () =. (4) P3 P The reulting control ytem can be implified a repreented in ig.5. The parameter of the tranfer function (4) mut be tuned in order to obtain the deired behaviour of the ource power in repone to a load power variation. The parameter K P and K I define the behavior of the regulator R () in keeping contant the energy tored in the dc capacitor. The error in the capacitor energy determine directly the reference value of the power that the ource ha to upply. An integral action in the capacitor energy regulator i neceary in order to determine a mall overhoot in the P S behavior conequently to a tep variation of P L. The overhoot of P S, with repect to the load power, i neceary to retore the energy level in the capacitor and in the torage device. The maller i the overhoot the longer i the time neceary to recover the energy level in the and in the capacitor. The parameter K P, of the regulator R (), define the performance of the ytem in following the quick change of the reference level of E ~. The higher i K P, the fater i the energy regulator. Uing a uitable value for K P, the PS determine a tranient of the ource power without dicontinuitie in repone to a tep variation of the load power. The parameter K P3 define the capability of the PS to utilize the energy tored in. or a given load power variation, K P3 define the correponding energy reference variation in the and then the amplitude of the ource power variation. With reference to a load witching on tranient, the energy reference for the will be decreaed of an amount related to the value of K P3. A deep dicharge of the Storage Device determine a greater amount of energy flowing from the PS toward the P, E E G () G () P S P L G L () P L () P ) G La () S ( ig. 4 Simplified block diagram of Eq. ig. 5 Source power regulation loop EPE 00 Graz P. 4
5 Table I Main data of the PS under Table II Regulator parameter of the Energy analyi ontrol Sytem energy reference E 50 [kj] K P 300 R () dc capacitor energy reference E 0.8 [kj] K I 50 load power P L 30 [kw] R () K P 30 R 3 () K P3 50 yielding to a longer time interval during which the PS upplie the load power. The tuning of K P3 define directly the capability of the PS to mooth the load power variation, and then the capability of the PS to reduce flicker phenomena introduced by load pulation. The performance of a PS characterized by the data given in Tab. ha been analyzed. The energy i high enough to allow the upply of the load during hort blackout of the main. A a conequence, during the operation of the ytem a power conditioner, the energy variation in the torage device are very mall, and thi i becaue the mut retain enough energy to utain the load for a given time period. The tuning of the three regulator i carried out by numerical imulation of the control cheme of ig. 3, uing Matlab. Table II how the regulator parameter of the analyed ES. The control cheme of ig. 3 ha been alo analyed to verify it tability. The tranfer function G La () give atifactory reult in term of tability, being the phae margin alway high. III. Implemented ontrol Sytem The ES decribed in the previou Section ha been implemented introducing ome change with repect to the baic cheme of ig.. The energy level in the dclink capacitor i kept under control through the capacitor voltage V, and the ource power through the ource current i S [6]. ig. 6 and 7 how the control ytem modified with repect to the cheme of ig., according to the previou conideration. The reference ource current i S i obtained by multiplying the unity vector ê S, by the reference ource current magnitude I S, where: the unity vector ê S i in phae with the poitive equence fundamental component of the line voltage e S, and it i generated by a proper Three Phae Locked Loop circuit. the reference ource current magnitude I S i generated by the regulator R (), which operate on the intantaneou error between the reference value V and the actual value V of the dclink voltage. Once the reference value of the ource current i generated, it ha to be yntheized by the ac current regulator. Thi regulator mut operate in order to keep the ource current i S cloe to it reference value i S. A a firt tep, the reference filter current i mut be determined ince the VSI act directly on the filter current i. V _ V v S R () vˆ S I S i S i S i L i i i K v S v PWM VSI v S v i ig. 6. dclink voltage controller ig. 7. ac current controller EPE 00 Graz P. 5
6 The filter current i given by i S = i i, (5) L where the load current i L i a meaured quantity. The reference voltage v for the PWMVSI can be generated by a regulator, uing a input variable the difference between the reference and the actual value of the filter current i = i i. (6) The equation of the current controller can be expreed a follow v i =. (7) t v S L = vs K i Thi equation how that the current controller behave a a proportional controller having gain K, with an additional term for the ource voltage compenation. On the bai of (5) and (7), the block diagram hown in ig. 7 can be derived. It can be noted that the filter current i regulated through a cloed loop control cheme. Auming that the VSI can generate the reference voltage at each cycle period, i.e. following tranfer function for the filter current can be obtained i = i. (8) L K v = v, the Eq. 8 how that the repone of the ac current controller i repreented by a firt order lowpa filter with a time contant τ = L /K. The PS behavior a active filter i mainly determined by the dynamic repone of thi current regulator. Low value of L will determine fat current variation, and then a wide filter bandwidth. On the other hand, high value of L reduce the H harmonic of the current injected into the main by the PS, improving the voltage quality at the point of common coupling. According to (8), by increaing K it i poible to compenate high value of L. However, thi poibility i limited by the maximum output voltage capability of the VSI, which i defined by the value of the dclink voltage V. The regulator R () of the ES, which i hown in the cheme of ig., keep under control the energy level in the torage device. In the implemented control ytem thi ha been achieved controlling the voltage acro the upercapacitor, or the current flowing in Superconducting magnet. Thi regulation i performed by uing a uitable PWM chopper, a it i hown in ig.. In order to enure the correct operation of the propoed PS it i neceary to identify the ource voltage ytem. The ource voltage identification require the on line calculation of the pace vector correponding to the poitive equence of the poitive fundamental component ( ê S ) of the ource voltage. or thi purpoe an identification algorithm called Three Phae Locked Loop (TPLL) ha been implemented [0], which i effective and reliable for every operating condition of the PS, uch a in the cae of voltage unbalance or voltage ditortion. IV. Simulation and experimental reult Simulation reult The PS, ha been imulated by mean of a model built in the Simulink environment of Matlab. Thi model repreent accurately both the power cheme hown in ig., and the control cheme dicued in Section II. The control algorithm ha been developed taking into account that in the experimental et up it will be implemented in a DSP board. or thi reaon the control ytem ha been repreented in the dicrete time domain. Uing thi model the whole PS ha been teted in order to verify it capability to perform the everal compenation tak, which are expected from thi EPE 00 Graz P. 6
7 ytem. Numerical imulation have been carried out auming a energy torage device a uperconducting magnet, with a rated current of 50 A. ig. 8 how the repone of the PS during a load witching on. a) a) I load [A] I ource [A] I SM [A] b) e) ig. 8 Step repone of the PS to a load witching on. rom top to bottom: a) ource and load intantaneou power P S P L ; b) load curent; c) ource current; d) dc link voltage V ; e) magnet current I SM c) d) I load [A] I ource [A] I SM [A] b) c) d) e) ig. 9 Repone of the PS to a pulating load. rom top to bottom: a) ource and load intantaneou power P S P L ; b) load curent; c) ource current; d) dc link voltage V ; e) magnet current I SM The reult obtained are in agreement with the PS performance, a expected on the bai of the analyi carried out in the previou Section. Experimental reult To validate the numerical imulation, a laboratory experimental et up ha been aembled. The configuration of the experimental etup i exactly the ame of that repreented in ig.. The dc/dc converter, connecting the energy torage device with the dclink, ha the topology of a three phae inverter. In thi way, the two dc/dc converter configuration hown in ig. can be eaily implemented, depending on the type of device ued to tore energy. At thi tage of the project development, neither the Superconducting Magnet nor the Supercapacitor bank are available, then the operation of the propoed PS a ource power moother ha been teted uing a flywheel driven by a three phae induction machine. The induction machine i controlled by the converter in it full configuration, i.e. a three phae inverter. The control algorithm of the inverter change the peed of the flywheel to regulate the tored kinetic energy. The control ytem ha been digitally implemented on a PP 333 MHz DSP baed board. The board include alo the AD converter and the encoder interface ued to meaure the rotating peed of the flywheel. By mean of a PWM ubytem and an optoelectronic interface ytem, the firing ignal for both the converter have been generated. In thi configuration the PS, with the characteritic hown in Table III, i able to operate a moother of load power variation and a active power filter. ig. 0,, emphaize the capability of thi ytem to operate a active power filter. In particular, ig. 0 how the compenation of the EPE 00 Graz P. 7
8 load reactive power, ig. the compenation of current harmonic due to non linear load, ig. the compenation of a load unbalance due to a ingle phae load. ig. 3, 4 how the behaviour of the PS during the tranient caued by a load witching on. The effect of the PS i to mooth the correponding tep of the ource power by upplying the load during the firt intant of the tranient. Thi i achieved uing a fraction of the energy tored in the flywheel. It can be noted that, after the firt tranient, the ource power exceed the load power of a mall amount, neceary to retore the energy in the torage device at the reference value. At the end of the tranient the ource power equal Table III Main data of the experimental PS utility voltage V S 0 [V] flywheel inertia J 0.3 [kg.m ] utility frequency f S 50 [Hz] reference value of dclink voltage V 450 [V] 3 phae aclink inductor L ac [mh] reference value of flywheel peed ω m 50 [rpm] dclink capacitance 0 [m] i i LA SA v SA (80 V/div) i LA (50 A/div) i SA ( 50 A/div) ω m (500 rpm/div) (0 A/div) ig. 0 ompenation of load reactive power ig. 3 Repone of the PS to a load witching on i LA P L (3 kw /div) P S (3 kw/div) i SA i SA (50 A/div) ω m (500 rpm/div) 0 (A/div) ig. ompenation of current harmonic ig. 4 Repone of the PS to a load witching on i LA i LB i L i LA (50 A/div) i SA (50 A/div) i la ir SA i SB S it S ω m (500 rpm/div) 0 (A/div) ig. ompenation of load unbalance ig. 5 Operation of the PS with pulating load EPE 00 Graz P. 8
9 the load power. ig. 5 how the behaviour of the ytem in the cae of a pulating load with a witching period of econd. The effect of the PS i to keep the ource current amplitude almot contant and equal to the mean value of the load active current. In the lat three figure the load wa very mall (about 3 kw), o the weight of the loe in the induction machine and in the two converter are about /3 of the load power. Owing to thi, the moothing effect of the PS i not much evident. Obviouly increaing the load power will yield to better reult. V. oncluion A control cheme for Power onditioning Sytem, uing different type of energy torage device, ha been analyzed in thi paper. The main feature of the propoed PS i the poibility to meet everal power quality requirement. Thi ytem i able to compenate reactive power and current harmonic due to linear or nonlinear load. The availability of energy tored in the give the ability to compenate alo the flicker phenomena. The configuration of the ytem allow further development like the poibility to ue the ytem a UPS during hort time utility fault. The control cheme ha been numerically imulated in different operating condition in order to et the parameter of the three regulator. A laboratory cale prototype ha been realized at the univerity of Bologna. The experimental reult are quite atifactory, howing the effectivene of the PS in improving the power quality. Reference [] L. Gyugyi, E.. Strycula, Active A Power ilter, Proc. IEEEIAS Annual Meeting, 976, p. 59. [] H. Akagi, Y. Kanazawa, A. Nabae, Intantaneou Reactive Power ompenator ompriing Switching Device without Energy Storage omponent, IEEE Tran. on IA, Vol. 0, 984. [3] L. Maleani, L. Roetto, P. Tenti, Active ilter for Reactive Power and Harmonic ompenation, Proc. IEEEPES, June 986, p. 3. [4] E. Raaijen et. al. An Efficient and Economical Active A Line onditioner, Proc. of IEEEINTELE, The Hague, The Netherland, Oct 9Nov, 995, pp [5] L.A. Moran, J.W. Dixon, R.R. Wallace, A three phae active power filter operating with fixed witching frequency for reactive power and current harmonic compenation, IEEE Tran. on IE, Vol. 4, No.4, 996, pp [6] D. aadei, G. Grandi, U. Reggiani,. Roi, ontrol method for active power filter with minimum meaurement requirement, Proc. of IEEEAPE, DallaTX (USA), March 999, Vol., pp [7] D. aadei, G. Grandi, U. Reggiani, G. Serra, Analyi of a Power onditioning Sytem for Superconducting Magnetic Energy Storage, IEEEISIE onference, Pretoria (SA), 70 July 998, pp [8] D. aadei, G. Grandi, U. Reggiani, G. Serra, A. Tani, Behavior of a Power onditioner for µsmes Sytem under Unbalanced Supply Voltage and Unbalanced Load, Proc. of IEEE International Sympoium on Indutrial Electronic, ISIE, Bled (SI), July 6, 999. [9] D. aadei, G. Grandi,. Roi: Effect of Supply Voltage nonidealitie on the Behavior of an Active Power onditioner for ogeneration Sytem, IEEEPES onference, Galway, Ireland, 83 June, 000. [0]. M. Gardner, Phaelock Technique. New York, Wiley 979. [] S. K. hung, A Phae Tracking Sytem for Three Phae Utility Interface Inverter, IEEE Tranaction on Power Electronic, Vol. 5 no. 3, May 000, pp [] D. aadei, G. Grandi, U. Reggiani,. Roi, Active A Line onditioner for a ogeneration Sytem European onfer. on Power Electronic and Application, EPE, Lauanne (H), September 79, 999. [3]. Negrini, U. Reggiani,. Roi, G. Grandi G. D. aadei, et. al, Recent Development on microsmes Sytem Project at the Univerity of Bologna, Proc. of EESAT, OrlandoL, USA, Sept. 70, 000. EPE 00 Graz P. 9
10 APPENDIX With reference to the control cheme of ig. 4, the expreion of G (), G (), G L ()are G 3 K P ( K PK P K I ) K PK P ( K P K P K P3K P ) ( K I K PK P ) K PK P () = (A) 3 G G L KPK P KPIKP () = (A) 3 ( KP KP KP3KP) ( KI KPK P ) KIK P KP ( KPK P KI) KIK P ( KP KP3KP) ( KI KPK P ) KIK P () =. (A3) 3 EPE 00 Graz P. 0
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