Instantaneous Power Theory and Applications to Power Conditioning

Hirofumi Akagi is a Professor in the department of electrical and electronic engineering at the Tokyo Institute of Technology. His research interest includes power conversion systems and its applications to industry, transportation, and utility. He has authored and coauthored some 120 IEEE Transactions papers and two invited papers published in Proceedings of the IEEE in 2001 and 2005. He was elected as an IEEE Fellow in 1996, a Distinguished Lecturer of the IEEE Power Electronics and Industry Applications Societies for 1998-1999. He received six IEEE Transactions prize paper awards, and 15 IEEE Industry Applications Society Committee prize paper awards. He is the recipient of the 2001 IEEE Power Electronics William E. Newell Award, the 2004 IEEE Industry Applications Society Outstanding Achievement Award, the 2008 IEEE Richard H. Kaufmann Technical Field Award, and the 2012 IEEE Power & Energy Society Nari Hingorani Custom Power Award. Dr. Akagi served as the President of the IEEE Power Electronics Society for 2007-2008. Since January 2015, he has been serving as the IEEE Division II Director.Edson Hirokazu Watanabe is a Professor at COPPE/Federal University of Rio de Janeiro, where he teaches Power Electronics. His main fields of interests are converters analysis, modeling and design, active filters and FACTS technologies. Dr. Watanabe has more than 50 journal papers and more than 200 conference papers. He is a member of the IEE-Japan, The Brazilian Society for Automatic Control, The Brazilian Power Electronics Society, CIGRE and Power Engineering, Industry Applications and Power Electronics Societies of IEEE. In 2005, he was admitted to the National Order of Scientific Merit, Brazil. In 2013, he received the IEEE Power & Energy Society Nari Hingorani FACTS Award and became member of the National (Brazil) Academy of Engineering and in 2015 he was elected a member of the Brazilian Academy of Sciences.Mauricio Aredes received the B.Sc. degree from UFF - Fluminense Federal University, Rio de Janeiro State in 1984, the M.Sc. degree in Electrical Engineering from UFRJ - Federal University of Rio de Janeiro in 1991, and the Dr.-Ing. degree (summa cum laude) from Technische Universität Berlin in 1996. In 1997, he became an Associate Professor at the Federal University of Rio de Janeiro, where he teaches Power Electronics. His main research area includes HVDC and FACTS systems, active filters, Custom Power, Renewable Energy Systems, and Power Quality Issues.

• PREFACE xiii CHAPTER 1 INTRODUCTION 11.1 Concepts and Evolution of Electric Power Theory 11.2 Applications of the P-q Theory to Power Electronics Equipment 41.3 Harmonic Voltages in Power Systems 51.4 Identified and Unidentified Harmonic-Producing Loads 61.5 Harmonic Current and Voltage Sources 81.6 Basic Principles of Harmonic Compensation 91.7 Basic Principle of Power Flow Control 13References 15CHAPTER 2 ELECTRIC POWER DEFINITIONS: BACKGROUND 172.1 Power Definitions Under Sinusoidal Conditions 182.2 Voltage and Current Phasors and Complex Impedance 202.3 Complex Power and Power Factor 212.4 Concepts of Power Under Nonsinusoidal Conditions: Conventional Approaches 222.4.1 Power Definitions by Budeanu 222.4.1.A Power Tetrahedron and Distortion Factor 252.4.2 Power Definitions by Fryze 272.5 Electric Power in Three-Phase Systems 282.5.1 Classifications of Three-Phase Systems 282.5.2 Power in Balanced Three-Phase Systems 312.5.3 Power in Three-Phase Unbalanced Systems 332.6 Summary 342.7 Exercises 34References 35CHAPTER 3 THE INSTANTANEOUS POWER THEORY 373.1 Basis of the p-q Theory 373.1.1 Historical Background of the p-q Theory 383.1.2 The Clarke Transformation 393.1.2.A Calculation of Voltage and Current Vectors When Zero-Sequence Components Are Excluded 413.1.3 Three-Phase Instantaneous Active Power in Terms of Clarke Components 433.1.4 The Instantaneous Powers of the p-q Theory 443.2 The p-q Theory in Three-Phase, Three-Wire Systems 443.2.1 Comparisons with the Conventional Theory 483.2.1.A Example #1—Sinusoidal Voltages and Currents 493.2.1.B Example #2—Balanced Voltages and Capacitive Loads 493.2.1.C Example #3—Sinusoidal Balanced Voltage and Nonlinear Load 503.2.2 Use of the p-q Theory for Shunt Current Compensation 543.2.2.A Examples of Appearance of Hidden Currents 593.2.3 The Dual p-q Theory 633.3 The p-q Theory in Three-Phase, Four-Wire Systems 653.3.1 The Zero-Sequence Power in a Three-Phase Sinusoidal Voltage Source 673.3.2 Presence of Negative-Sequence Components 683.3.3 General Case Including Distortions and Imbalances in the Voltages and in the Currents 693.3.4 Physical Meanings of the Instantaneous Real, Imaginary, and Zero-Sequence Powers 743.3.5 Avoiding the Clarke Transformation in the p-q Theory 753.3.6 Modified p-q Theory 773.4 Instantaneous abc Theory 813.4.1 Active and Nonactive Current Calculation by Means of a Minimization Method 833.4.2 Generalized Fryze Currents Minimization Method 883.5 Comparisons Between the p-q Theory and the abc Theory 913.5.1 Selection of Power Components to be Compensated 953.6 The p-q-r Theory 973.7 Summary 1043.8 Exercises 105References 106CHAPTER 4 SHUNT ACTIVE FILTERS 1114.1 General Description of Shunt Active Filters 1134.1.1 PWM Converters for Shunt Active Filters 1144.1.2 Active Filter Controllers 1154.2 Three-Phase, Three-Wire Shunt Active Filters 1184.2.1 Active Filters for Constant Power Compensation 1194.2.2 Active Filters for Sinusoidal Current Control 1354.2.2.A Positive-Sequence Voltage Detector 1384.2.2.B Simulation Results 1454.2.3 Active Filters for Current Minimization 1454.2.4 Active Filters for Harmonic Damping 1494.2.4.A Shunt Active Filter Based on Voltage Detection 1514.2.4.B Active Filter Controller Based on Voltage Detection 1524.2.4.C An Application Case of an Active Filter for Harmonic Damping 1564.2.5 A Digital Controller 1714.2.5.A System Configuration of the Digital Controller 1724.2.5.B Current Control Methods 1774.3 Three-Phase, Four-Wire Shunt Active Filters 1804.3.1 Converter Topologies for Three-Phase, Four-Wire Systems 1814.3.2 Dynamic Hysteresis-Band Current Controller 1824.3.3 Active Filter dc Voltage Regulator 1844.3.4 Optimal Power Flow Conditions 1854.3.5 Constant Instantaneous Power Control Strategy 1874.3.6 Sinusoidal Current Control Strategy 1894.3.7 Performance Analysis and Parameter Optimization 1924.3.7.A Influence of the System Parameters 1924.3.7.B Dynamic Response of the Shunt Active Filter 1934.3.7.C Economical Aspects 1984.3.7.D Experimental Results 1994.4 Compensation Methods Based on the p-q-r Theory 2044.4.1 Reference Power Control Method 2064.4.2 Reference Current Control Method 2114.4.3 Alternative Control Method 2134.4.4 The Simplified Sinusoidal Source Current Strategy 2154.4.4.A The PLL Circuit and the Positive-Sequence Detector 2154.4.4.B The Sinusoidal Source Current Control Strategy with Energy Balance Inside the Active Filter 2174.5 Comparisons Between Control Methods Based on the p-q Theory and the p-q-r Theory 2184.6 Shunt Selective Harmonic Compensation 2244.7 Summary 2314.8 Exercises 231References 233CHAPTER 5 HYBRID AND SERIES ACTIVE FILTERS 2375.1 Basic Series Active Filter 2375.2 Combined Series Active Filter and Shunt Passive Filter 2395.2.1 Example of an Experimental System 2425.2.1.A Compensation Principle 2435.2.1.B Filtering Characteristics 2455.2.1.C Control Circuit 2465.2.1.D Filter to Suppress Switching Ripples 2485.2.1.E Experimental Results 2495.2.2 Some Remarks about the Hybrid Filters 2525.3 Series Active Filter Integrated with a Double-Series Diode Rectifier 2535.3.1 The First-Generation Control Circuit 2555.3.1.A Circuit Configuration and Delay Time 2555.3.1.B Stability of the Active Filter 2575.3.2 The Second-Generation Control Circuit 2585.3.3 Stability Analysis and Characteristics Comparison 2605.3.3.A Transfer Function of the Control Circuits 2605.3.3.B Characteristics Comparisons 2615.3.4 Design of a Switching-Ripple Filter 2635.3.4.A Design Principle 2635.3.4.B Effect on the System Stability 2635.3.4.C Experimental Testing 2645.3.5 Experimental Results 2665.4 Comparisons Between Hybrid and Pure Active Filters 2685.4.1 Low-Voltage Transformerless Hybrid Active Filter 2685.4.2 Low-Voltage, Transformerless, Pure Shunt Active Filter 2715.4.3 Comparisons through Simulation Results 2735.5 Hybrid Active Filters for Medium-Voltage Motor Drives 2745.5.1 Hybrid Active Filter for a Three-Phase Six-Pulse Diode Rectifier 2755.5.1.A System Configuration 2755.5.1.B Experimental System 2775.5.1.C Control System 2775.5.1.D Common Sixth-Harmonic Zero-Sequence Voltage Injection 2815.5.1.E Three-Phase Second-Harmonic Negative Sequence Voltages Injection 2835.5.1.F Experimental Results 2865.5.1.G Appendix 2925.5.2 Hybrid Active Filter for a Three-Phase 12-Pulse Diode Rectifier 2925.5.2.A Medium-Voltage High-Power Motor Drive Systems 2935.5.2.B Experimental System 2955.5.2.C Control System 2985.5.2.D Three-Phase Second-Harmonic Negative Sequence Voltages Injection 3005.5.2.E Experimental Results 3035.5.2.F Overall System Efficiency 3085.6 Summary 3085.7 Exercises 309References 310CHAPTER 6 COMBINED SERIES AND SHUNT POWER CONDITIONERS 3136.1 The Unified Power Flow Controller 3146.1.1 FACTS and UPFC Principles 3156.1.1.A Voltage Regulation Principle 3176.1.1.B Power Flow Control Principle 3186.1.2 A Controller Design for the UPFC 3216.1.3 UPFC Approach Using a Shunt Multipulse Converter 3286.1.3.A Six-Pulse Converter 3286.1.3.B Quasi 24-Pulse Converter 3326.1.3.C Control of Active and Reactive Power in Multipulse Converters 3346.1.3.D Shunt Multipulse Converter Controller 3366.2 The Unified Power Quality Conditioner 3396.2.1 General Description of the UPQC 3406.2.2 A Three-Phase, Four-Wire UPQC 3426.2.2.A Power Circuit of the UPQC 3436.2.2.B The UPQC Controller 3446.2.2.C Analysis of the UPQC Dynamic 3536.2.3 The UPQC Combined with Passive Filters (the Hybrid UPQC) 3706.2.3.A Controller of the Hybrid UPQC 3746.2.3.B Experimental Results 3806.3 The Universal Active Power Line Conditioner 3866.3.1 General Description of the UPLC 3866.3.2 The Controller of the UPLC 3896.3.2.A Controller for Configuration #2 of the UPLC 3966.3.3 Performance of the UPLC 3976.3.3.A Normalized System Parameters 3976.3.3.B Simulation Results of Configuration #1 of the UPLC 4016.3.3.C Simulation Results of Configuration #2 of the UPLC 4096.3.4 General Aspects 4116.4 Combined Shunt-Series Filters for AC and DC Sides of Three-Phase Rectifiers 4116.4.1 The Combined Shunt-Series Filter 4146.4.2 Instantaneous Real and Imaginary Powers in the ac Source 4156.4.3 The Instantaneous Power in the dc Side of the Rectifier 4166.4.4 Comparison of Instantaneous Powers on the ac and dc Sides of the Rectifier 4186.4.5 Control Algorithm of the Active Shunt-Series Filter 4186.4.6 The Common dc Link 4216.4.7 Digital Simulation 4246.4.8 Experimental Results 4266.5 Summary 4276.6 Exercises 428References 429INDEX 431