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A fuzzy-controlled active front-end rectifier with current harmonic filtering

characteristics and minimum sensing variables

Article  in  IEEE Transactions on Power Electronics · August 1999

DOI: 10.1109/63.774211 · Source: IEEE Xplore

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724 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 14, NO. 4, JULY 1999

A Fuzzy-Controlled Active Front-End Rectifier with

Current Harmonic Filtering Characteristics and
Minimum Sensing Variables
Juan W. Dixon, Senior Member, IEEE, José M. Contardo, and Luis A. Morán, Senior Member, IEEE

Abstract— A control strategy which allows conventional in large scale, the control is complicated [5], [6], and the cost
voltage-source current-controlled (VSCC) pulsewidth modulation is high.
(PWM) rectifiers to work simultaneously as active power filters To reduce those drawbacks, the solution proposed in this
is presented. The proposed control strategy also allows
compensating the system power factor and compensating paper is to use a conventional four-quadrant voltage-source
unbalanced loads. The measurement and/or calculation of the current-controlled (VSCC) pulsewidth modulation (PWM) rec-
harmonics and reactive power are not required, making the tifier simultaneously as a shunt active power filter. This is
proposed control scheme very simple. The active front-end accomplished by simply connecting all the polluting loads
rectifier acts directly on the mains line currents, forcing them between this rectifier and their line current sensors. This
to be sinusoidal and in phase with the mains voltage supply. To
improve the dynamic of the system, the amplitude of the current solution reduces the cost of the filter to almost zero because
is controlled by a fuzzy system, which adjusts the dc-link voltage there is no need to install a specially dedicated power device
of the PWM rectifier. The strategy is based on connecting all for harmonic elimination. Besides, this approach presents
the polluting loads between the PWM rectifier and their input the following particular characteristics: 1) the four-quadrant
current sensors. The main advantages of this approach are the rectifier–inverter system can operate as an active filter and
following: 1) there is no need to install a specially dedicated active
power filter; 2) it also works simultaneously as power factor as a power factor compensator simultaneously; 2) it also can
compensator; and 3) no special and complicated calculations are operate to compensate unbalanced loads; and 3) the control
required for harmonic elimination. The viability of the proposed block is quite simple because there is no need to evaluate
active front-end rectifier is proved by simulation and with and/or to sense the current waveforms of the polluting loads.
experimental results obtained from a 2-kVA PWM prototype.

I. INTRODUCTION II. PRINCIPLES OF OPERATION

Fig. 1(a) shows the schematic of the proposed control
T RADITIONALLY, passive filters have been used
to eliminate line current harmonics and to improve the
load power factor. However, in practical applications these
strategy, which is being applied to a conventional VSCC PWM
rectifier. The control only needs to measure the dc-link voltage
passive second-order filters present many disadvantages such and the mains line currents As it can be
as aging and tuning problems, series and parallel resonance, observed, neither the polluting load current nor the
and the requirement to implement one filter per frequency rectifier current need to be measured. This fact is
harmonics that needs to be eliminated. In order to overcome very important because almost any current-controlled PWM
these problems, different kinds of active power filters, based rectifier can be used as a shunt active power filter, without
on force-commutated devices, have been researched and de- the need of additional electronic circuitry. All polluting loads
veloped [1], [2]. Particularly, shunt active power filters, using (three-phase polluting loads in Fig. 1) are connected between
different control strategies, have been widely investigated. the rectifier and their current sensors. By doing that, the
They have gradually been recognized as a viable solution to rectifier behaves as a shunt active power filter, but without
the problems created by high-power nonlinear loads [3], [4]. loosing its characteristics as a four-quadrant rectifier. The
These filters operate as current sources, connected in parallel current-controlled rectifier does not detect the proximity of
with the nonlinear load, and generate the current harmonic the nonlinear load. It simply try to keep the mains current
components required by the load. In this form the mains sinusoidal because the current sensors are located at the mains
only needs to supply the fundamental, avoiding contamination side, and they follow a sinusoidal template. In this way, there
problems along the distribution lines. However, shunt active is no need to sense and/or calculate, neither the polluting load
filters present the disadvantages that are difficult to implement current nor the filter current. In this way, the PWM converter
can operate as a four-quadrant rectifier, as a power factor
Manuscript received July 7, 1998; revised January 27, 1999. This work compensator, and as an active power filter simultaneously.
was supported by Conicyt under Project Fondecyt 1 960 572. Recommended
by Associate Editor, A. Kawamura. It can also compensate unbalanced loads. In other words, it
J. W. Dixon is with the Department of Electrical Engineering, Pontifica works as a multiple-function power converter. The control
Universidad Católica de Chile, Santiago, Chile. strategy is conventional in the sense that the dc-link voltage
J. M. Contardo is with Hidroeléctrica Guardia Vieja S.A., Chile.
L. A. Morán is with the Universidad de Concepción, Concepción, Chile. of the rectifier is controlled by adjusting the amplitude of
Publisher Item Identifier S 0885-8993(99)05560-X. the input ac currents. Due to the multiple capability of this
0885–8993/99$10.00  1999 IEEE
DIXON et al.: RECTIFIER WITH FILTERING CHARACTERISTICS AND SENSING VARIABLES 725

(a)

(b)
Fig. 1. Active power filter proposed. (a) Physical implementation. (b) Block diagram with current sensor working as sinusoidal current source.

approach, a good dynamic response is required. For this stringent in the dc bus of the rectifier because their input
reason, a fuzzy control in the dc link has been implemented, currents are now contaminated. That means more dc capacitors
which allows more flexibility and better dynamic response. at the dc-link rectifier. However, the harmonics flowing into
It is important to explain how the rectifier can manage the the system have been eliminated, and the power factor has
filtering and compensation requirements without measuring been compensated, without the need of a specially dedicated
the load harmonics. First, with the help of current sensors active power filter.
connected in the mains lines, the line currents are
being forced to follow a sinusoidal reference template. This III. POWER CIRCUIT IMPLEMENTATION
template is followed using a current-hysteresis controller (or The proposed front-end rectifier prototype was implemented
other current control method), which is driving the transistors with a 2-kVA four-quadrant current-hysteresis-controlled insu-
of the PWM rectifier. In this way, if a nonlinear load is lated gate bipolar transistor (IGBT) converter. As a polluting
connected after the point where the current sensors are located, load, a three-phase diode rectifier with an input inductance and
their harmonics will not be allowed to go through the power an “RL” dc load was connected. The block called fuzzy control
distribution system. This situation happens because the current in Fig. 1 generates the three sinusoidal templates to control the
sensors force the lines to behave as sinusoidal current sources magnitude of the mains current These magnitudes are
connected in series to the mains, as shown in Fig. 1(b). Then, controlled by adjusting the error between the dc-link voltage
the mains behaves as a high-impedance circuit for harmonics, of the PWM rectifier and a preestablished reference
and hence these currents are forced to flow through the PWM voltage as shown in Fig. 1. The sinusoidal template is
rectifier. This behavior is similar to that of a series active filter synchronized with the phase to neutral mains voltage, and can
which presents a very high-impedance path for the harmonics be adjusted to be “in phase” with the mains voltage supply. In
going to the power system. In other words, the control strategy this way, the mains will see a noncontaminated and balanced
proposed not only make the PWM rectifier work as a shunt load, operating at unity power factor.
active filter, but also as a series active filter simultaneously. In the first experiments after the hardware was finished, a
The fact that the harmonic currents are forced to flow through proportional–integral (PI) control was implemented. Despite
the PWM rectifier makes the filtering requirements more this control, it worked fine, but the dynamics were not as
726 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 14, NO. 4, JULY 1999

(a) (b)
Fig. 2. (a) Fuzzy control loop. (b) PC interface for programing and debugging.

(a)

(b)
Fig. 3. (a) Fuzzy control block. (b) Unitary discussion universe.

good as required. For this reason, a fuzzy controller was tested,

which showed to be superior in performance than PI control,
even considering that until now only a few characteristics of
this controller have been investigated. This means that there
is a lot of room for research in this option waiting for better
results, and then this is a very good reason to adopt the fuzzy
system in this proposed scheme. Even more, a final adjustment
can been reached using dedicated hardware for the fuzzy sets,
such as EPROM’s or PLA’s.
The fuzzy controller has been implemented with a micro-
Fig. 4. Flowchart of the fuzzy control.
computer called “Freedom16,” v2.1 from Intec Inoventures,
Inc. [8]. This board is built around Motorola’s 16-b 68HC16
microcontroller. This device not only has more computer Freedom16 can be programed in a ROM for a stand alone
capabilities than a PC-AT, but also features digital signal operation.
processing (DSP) capabilities, and a host of specific features Despite the F16 has eight A/D converters, the control was
such as pulse counting, high-speed inputs and outputs, and implemented with an external 8-b converter. In this form,
eight channels of ten analog–digital (A/D) conversion. The was possible to increase the conversion time and produce
board has the advantage that it can be programmed in “C” a faster response in the control loop. As the F16 does not
language through a PC serial interface and can be debugged support digital–analog (D/A) conversion, the output was also
through the parallel port. Once the program is finished, the implemented with an external 8-b D/A converter. The Fig. 2(a)
DIXON et al.: RECTIFIER WITH FILTERING CHARACTERISTICS AND SENSING VARIABLES 727

(a)

Fig. 7. Steady-state operation. (a) Line current IMAINS (4 A/div). (b) Load
current ILOAD (4 A/div). (c) Filter current IRECT (4 A/div).

(a)

(b)
(b)
Fig. 5. Transient response with PI control. (a) From 0 to 20 [A] load current.
(b) From 20 to 0 [A] load current. (c)

(d)

Fig. 8. In-phase operation of the system. (a) Phase-to-neutral source voltage

[50 V/div]. (b) Source current IMAINS [4 A/div]. (c) Current through the
nonlinear load ILOAD : (d) Current through the active power filter IRECT :

is the amplitude of the mains current In order

to compensate the ac system power factor (power factor
(a) compensator), the mains currents are kept in phase with the
respective phase to neutral mains voltage. Fig. 3(a) shows the
fuzzy control scheme implemented.
The main characteristics of the fuzzy control are the fol-
lowing:
1) seven fuzzy sets for each of the two inputs;
2) seven fuzzy sets for the output;
3) triangular membership functions;
4) fuzzyfication using continuous universe of discourse;
5) implication using the “min” operator;
6) inference mechanism based on fuzzy implication;
7) defuzzyfication using the “centroid” method.
(b)
All fuzzy variables have the same partition and membership
Fig. 6. Transient response with fuzzy control. (a) From 0 to 20 [A] load
current. (b) From 20 to 0 [A] load current.
functions. The fuzzy control has seven membership functions
called from negative big (NB) to positive big (PB). The
shows the hardware implementation for the fuzzy control loop, Fig. 3(b) shows a unitary discussion universe which can be
and Fig. 2(b) shows the PC interface for programing and modified by simple gain on each variable. The idea of this
debugging in F16. partition is to simplify the number of calibration variables,
reducing them to one gain for each variable: for error,
IV. SOFTWARE IMPLEMENTATION for error derivative (derror), and finally for
To implement the fuzzy control strategy, a PI fuzzy control The final output of the system is calculated as
with 49 rules was selected [7], [9]. The inputs are the error Fig. 4 shows the flowchart
voltage and its incremental variation The output for the software implementation.
728 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 14, NO. 4, JULY 1999

(a)

(b)

(c)

(d)

(a)

(b)

(c)

(d)

Fig. 9. Comparison between PI control (upper signals) and fuzzy control (lower signals). (a) The dc-voltage drop in Vdc [25 V/div]. (b) Source current
IMAINS [4 A/div]. (c) Nonlinear load current ILOAD [4 A/div]. (d) Filter current IRECT [4 A/div].

V. SIMULATION RESULTS was adjusted to 150 V. The settings for the PI and fuzzy
Simulated results were obtained using Pascal 7.0 Borland. control were adjusted to be almost the same as the simulations.
Some simulations were performed with a thyristor rectifier as Fig. 7 shows the waveforms obtained for steady-state oper-
a nonlinear load, with different firing angles, and different ation. The first oscillogram [see (a)] shows the mains (source)
voltage and current levels. However, the simulations shown in current. The second [see (b)] shows the current through the
this paper have been programmed to match with the ratings nonlinear load (diode rectifier), and the third [see (c)] shows
and characteristics of the experimental prototype. Figs. 5 and the current through the active power filter (four-quadrant PWM
6 show a comparison between simulated results obtained with rectifier). It can be observed that the waveform of the mains
the PI control and fuzzy control. The nonlinear load is a current is quite sinusoidal, proving the good performance of
diode rectifier, and the parameters of the simulated filter are: the proposed control strategy.
[V], [mH], and [uF]. In Fig. 8 shows the in-phase operation of the input current
1), a step change from 0 to 3 [A] in the load current (diode respect to the mains voltage supply (unity power factor opera-
rectifier) is displayed. In 2) the opposite situation (from 3 to 0 tion). The first oscillogram [see (a)] shows the source voltage.
[A]) has been simulated. It is clear that the transient response The second [see (b)] shows the source current. The third
in the mains current and in the dc-link voltage is faster with [see (c)] shows the current through the nonlinear load (diode
the fuzzy control scheme. With fuzzy logic, the dc voltage in rectifier), and the fourth [see (d)] shows the current through
the filter is recovered in less than 40 [ms] (two cycles), the active power filter (four-quadrant PWM rectifier).
but with conventional PI, the same situation takes more than Fig. 9 shows a comparison between PI control (upper sig-
60 [ms]. The parameters of the PI control were and nals), and fuzzy control (lower signals). The first oscillogram
For the fuzzy system, the calibration variables of each experiment [see (a)] shows the dc-voltage drop when
were adjusted to the following values: V. The callouts (b)–(d) show the source current
and the nonlinear current and the filter current
respectively. In this experiment, two step changes
VI. EXPERIMENTAL RESULTS were generated. In the first step, a dc load at the diode rectifier
For the experiments, a 2-kVA four-quadrant current- output terminals is connected. This situation simulates the
controlled PWM rectifier, such as the one shown in Fig. 1, sudden connection of a nonlinear load. In the second step,
was used. In order to prove that the four-quadrant rectifier can a dc load is directly connected at the dc link of the active
operate simultaneously as rectifier and as active power filter, a power filter (conventional PWM rectifier and active filter). The
resistor was connected at (dc load). On the other hand, the oscillograms prove that the fuzzy control recovers the steady
“three-phase nonlinear load” of Fig. 1 was implemented with state in a shorter time, which justifies the utilization of such a
a diode rectifier connected to the mains. The PWM rectifier control method. The scales are: V/div and
was implemented with IGBT’s, and their main components A/div. The maximum switching frequency in the current-
were: F and mH. The dc-link voltage hysteresis controller is 16 kHz. The source frequency is 50 Hz.
DIXON et al.: RECTIFIER WITH FILTERING CHARACTERISTICS AND SENSING VARIABLES 729

REFERENCES
(a) [1] H. Akagi, Y. Kanazawa, and A. Nabae, “Instantaneous reactive power
compensators comprising switching devices without energy storage
(b) components,” IEEE Trans. Ind. Applicat., vol. IA-20, pp. 625–630,
May/June 1984.
[2] H. Akagi, A. Nabae, and S. Atoh, “Control strategy of active power
filters using multiple-voltage source PWM converters,” IEEE Trans. Ind.
Applicat., vol. IA-20, pp. 460–465, May/June 1986.
(a) [3] W. M. Grady, M. J. Samotyj, and A. H. Noyola, “Survey of active
power line conditioning methodologies,” IEEE Trans. Power Delivery,
(b) vol. 5, pp. 1536–1542, July 1990.
[4] L. Malesani, L. Rosseto, and P. Tenti, “Active filters for reactive power
and harmonic compensation,” in Proc. IEEE PESC’86, June 1986, pp.
321–330.
Fig. 10. Transient response for a sudden disconnection of the load at the [5] J. Dixon, J. Garcı́a, and L. Morán, “Control system for three phase
active filter dc link. (a) The dc-link voltage for Vref = 100 V. (b) Line active power filter, which simultaneously compensates power factor and
current IMAINS : unbalanced loads,” IEEE Trans. Ind. Electron., vol. 42, pp. 636–641,
Dec. 1995.
[6] S. Tepper, J. Dixon, G. Venegas, and L. Morán, “A simple frequency
Finally, Fig. 10 shows the transient response obtained for a independent method for calculating the reactive and harmonic current
sudden disconnection of the load at the active power filter dc in a nonlinear load,” IEEE Trans. Ind. Electron., vol. 46, pp. 647–654,
link. The upper oscillograms are for PI control, and the lower Dec. 1996.
[7] B. K. Bose, “Expert system, fuzzy logic, and neural network applications
correspond to fuzzy control. Again, it is possible to realize that in power electronics and motion control,” Proc. IEEE, vol. 82, pp.
fuzzy has better dynamic behavior than PI control. It can be no- 1303–1323, Aug. 1994.
[8] Freedom 16 Advanced 16 bit Controller, User’s Manual., Intec Inoven-
ticed that there is a power reversal in the load current to allow tures, Inc., Victoria, B.C., Canada.
fast recovery of the dc-link capacitor voltage. The oscillograms [9] R. Dorf, Modern Control Systems. Reading, MA: Addison-Wesley
show: 1) the dc-link voltage error (25 V/div) and 2) the input 1989.
source current (4 A/div). The diode rectifier was not connected,
but the transient response in that case is quite similar.
Juan W. Dixon (M’90–SM’95) was born in San-
tiago, Chile. He received the degree in electrical
VII. CONCLUSIONS engineering from the University of Chile, Santiago,
in 1977 and the M.Eng. and Ph.D. degrees in electri-
Power factor and harmonic compensation can be done cal engineering from McGill University, Montreal,
without additional equipment. A control strategy which allows P.Q., Canada, in 1986 and 1988, respectively.
Since 1979, he has been with the Pontifı́cia Uni-
a conventional PWM rectifier to operate simultaneously as versidad Católica de Chile, Santiago, where he is an
active power filter has been presented. The proposed active Associate Professor in the Department of Electrical
front-end rectifier also can compensate the system power Engineering in the areas of power electronics and
electrical machines. His research interests include
factor. The measurement and/or calculation of harmonics and electric traction, machine drives, frequency changers, high-power rectifiers,
reactive power is not required, making the control proposed static var compensators, and active power filters.
very simple. The sensors acts directly on the mains line
currents, forcing them to be sinusoidal and in phase with
the mains voltage supply. Two kinds of controllers have been
José M. Contardo was born in Santiago, Chile. He
evaluated to command the dc-link voltage of the PWM rectifier received the degree in electrical engineering from
(active power filter): conventional PI control and fuzzy control. the Catholic University of Chile, Santiago, in 1997.
The fuzzy control demonstrates better dynamic behavior than During his studies, he investigated power elec-
tronic devices and innovative control strategies,
conventional PI control and for this reason was chosen as such as applying fuzzy control in active power
a good alternative for the stringent requirements of dynamic filters. He is currently in the energy generation field
response of this multiple-function converter. The main ad- with Hidroeléctrica Guardia Vieja S.A., Chile.
vantages of this approach are the following: 1) the control
block becomes simpler because there is no need to sense or
evaluate the current template for filtering requirements and 2)
the equipment costs are minimized because the same four-
quadrant rectifier–inverter system can operate simultaneously
as an active power filter, as a power factor compensator, and Luis A. Morán (S’79–M’81–SM’94) was born in Concepción, Chile. He re-
ceived the degree in electrical engineering from the University of Concepción,
as a compensator for unbalanced loads. Concepción, Chile, in 1982, and the Ph.D. degree from Concordia University,
Montreal, P.Q., Canada, in 1990.
Since 1990, he has been with the Electrical Engineering Department,
ACKNOWLEDGMENT University of Concepción, where he is an Associate Professor. He is also
a Consultant for several industrial projects. His main areas of interest are
The authors want to thank Dr. A. Cipriano for his advice static var compensators, active power filters, ac drives, and power distribution
in the design of the fuzzy system. systems.

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