T.C.
Elektrik- Anabilim Dal
-2016 KONYA
iv Ramazan AKKAYA 2016, 119 Sayfa Ramazan AKKAYA Lineer olmay -Uzun . Pasif filtreler, , ve sabit kompanzasyon
sahiptirler. Pasif filtre ve harmonikleri
. Sonraki erin ve hassas Bu olan mektedir. Cyclone IV
EP4CE115F29 FPGA bu DE2- Kontrol
5 adet LV 25-P
g 12 adet LA 25-NP
sinyallerin da kullanabilecek hale getirilmesi 2 adet
ADS8556EVM program dijital
v
leme
-n AGF sisteminin her bir faz
nin . den
n,
.
Anahtar Kelimeler:
vi ABSTRACT
Ph.D THESIS
DESIGN AND IMPLEMENTATION OF
A FPGA BASED CONTROLLER FOR ACTIVE POWER FILTERS
THE GRADUATE SCHOOL OF NATURAL AND APPLIED SCIENCE OF VERSITY
DOCTOR OF PHILOSOPHY
IN ELECTRICAL-ELECTRONICS ENGINEERING
Advisor: Assoc. Prof. Dr. Ramazan AKKAYA
2016, 119 Pages
Jury
Assoc. Prof. Dr. Ramazan AKKAYA
Assoc. Assoc.
Asst. az MUTLUER
With spreading of power electronics based devices which have nonlinear voltage-current characteristics in our daily life, harmonics related problems in the power system have increased. In order to eliminate these negative effects of harmonics, passive filters have been used for many years. Although passive filters have advantages like being simple and inexpensive, they have important disadvantages like large size and weight, possibility of resonance occurrence with grid impedance and fixed compensation capability.Active Power Filter (APF) which does not have disadvantages of passive filters and eliminates problems caused by harmonics effectively, was first introduced in 1970s. In the following years, with the possibility of using high power semiconductor switches, complex processor units and sensitive voltage/current sensors in the APF topologies, APFs have become an important topic for researchers. Today modern APFs are used not only for the purpose of harmonic compensation but also as a complete solution to eliminate many voltage or current based power quality problems.
In this thesis project, a shunt APF is designed for three phase four wire systems. Designed APF provides solutions not only for harmonics and reactive power problems caused by three phase loads but also for excessive neutral current and three phase current imbalance problems caused by single phase -115 FPGA Development and Education
EP4CE115F29 FPGA on it. The procedures, determining reference filter currents, implementing hysteresis band current controller and fuzzy logic based voltage controller which form control algorithm, are carried out by the program which is written in VHDL language and embedded in FPGA. For the purpose of measuring voltage and current signals which will be used in the calculations, 3 current and 1 voltage sensor board are designed. In these boards, 5 LV 25-P voltage sensor and 12 LA 25-NP current
to take the digital signals produced by embedded program out of FPGA by converting them into the analog form.
vii
To evaluate reactive power and current harmonics compensation, three phase current balancing and neutral current elimination performance of implemented system, single phase nonlinear and reactive loads connected between phase and neutral which have different active powers are used. Obtained simulation and experimental results show that, reactive power and current harmonics problems caused by nonlinear and reactive loads have been successfully eliminated and a current which have sinusoidal waveform and unity power factor has been drawn from AC grid. Also it has been seen that, currents drawn from AC mains, have the same amplitude and they are balan
between each other. Because the grid currents are balanced, the current drawn from AC grid neutral line has been eliminated.
Keywords: Shunt Active Power Filter (APF), Compensation, FPGA, Harmonic, Hysteresis
viii esirgemeyen
.
ix ... iv ABSTRACT ... vi ... viii ... ix ISALTMALAR ... xi ... 1 ... 13 ... 21 ... 22 ... 22 ... 27 ... 27 eleri ... 29 ... 31 ... 31 ... 32 ... 32 ... 33 ... 33 ... 40 ... 44 ... 50 ... 51 ... 56 ... 58 5.2.2. DE2- ... 63 5.2.3. ADC- ... 72 5.2.3.1. Analog- ... 74 5.2.3.2. Dijital- ... 79 - - ... 82 ... 83 ... 85 ... 88 5.2.5. Koruma Devresi ... 90 ... 91
x ... 93 ... 94 ... 94 ... 98 ... 102 ... 102 ... 106 ... 110 ... 110 ... 112 KAYNAKLAR ... 114 ... 118
xi Simgeler i i i,b ,c a : e, e : s f : 1 m I ,I 1 : m N I ,IN : * x _ _ m I : x a,b,c x _ filt i : x a,b,c,n * x _ filt i : x a,b,c x _ i : x a,b,c,n * x _ i : x a,b,c x _ yük i : x a,b,c,n kyp P , kyp P : ort P : top P : x _ yük P : x a,b,c x _ yük p : x a,b,c i T : s T : Anahtarlama periyodu x _ hat V : x 1,2 1 m V ,V 1 : m N V ,VN : x _ _ m V : - x a,b,c x _ v : - x a,b,c i w : i i,Y X : i Z : fonksiyonu , , : :
xii
AC :
DC :
DSP :
FPGA : Alanda programlanabilir k dizileri
OBN :
IGBT :
I/O :
MOSFET : Metal letkenli alan etkili t
PWM :
THD : Toplam harmonik distorsiyon
en
enerjisine olan talep elektrik enerjisi
mi -2015
-(Anonim, 2016).
elektrik enerjisin
Bunun sonucu olarak da
.
1.2. 1971-urumda, r ve du 1- 2-
problemlerin etkisinden kendisini koruya
meydana gelebilecek olums
- - - u bozulmadan etkilenirler. - - gitmektedir. vermekteydiler. Fakat
-gerili 2 1 H N n n YUK I I I I I 1 2 1 (1.1) 1.3.
) ZG ZT1 ve ZL1 T1 trafosunun ve L1 etmektedir. 1 1 L T G E Z Z Z Z (1.2) Bu d H E E G YUK E G B _ OBN V Z I V Z I Z I V 1 (1.3) denklemde, (Z IH bozulmaya L2 -L3 ve L4 T3 trafosu 1.4. aki bozulma
ne kadar
-
(Kocatepe ve ark., 2003). Denklemlerdeki V1 ve I1
Vn ve In lerini ifade etmektedir. 100 1 2 2 V V THD n n V (1.4) 100 1 2 2 I I THD n n I (1.5)
(Institute of Electrical and Electronics Engineers IEEE Std. 519-1992 (Halpin, 2006) ve IEC (International Electrotechnical Commission
, nlanan iki . Bunlardan ilki, ele an d etinin, belirtilmektedir az , THD . Harmonik 6446 s Kanunu n 16.
1.1.
Tek Harmonikler Tek Harmonikler
Harmonik (%) Harmonik (%) Harmonik (%) 5 7 11 13 17 19 23 25 % 6,0 % 5,0 % 3,5 % 3,0 % 2,0 % 1,5 % 1,5 % 1,5 3 9 15 21 % 5,0 % 1,5 % 0,5 % 0,5 2 4 % 2,0 % 1,0 % 0,5 THD % 8
Yine ilg eaktif enerji bedeli
uygulanan . Buna THD L ye verilen armonik bozulmaya neden o belirli bir kesil 1.2. Tek Harmonikler IK/IL <11 THD <20 20-50 50-100 100-1000 >1000 4.0 7.0 10.0 12.0 15.0 2.0 3.5 4.5 5.5 7.0 1.5 2.5 4.0 5.0 6.0 0.6 1.0 1.5 2.0 2.5 0.3 0.5 0.7 1.0 1.4 5.0 8.0 12.0 15.0 20.0 kler IK IL
sine engel olur. (a) (b) 1.5. har filtreni gerekmektedir.
neden olacak ve b
. (Ucak, 2009)
letken
AGF) gerilim dal
Bu tez projesinde ilm .
e de akt
m e - -n AGF sisteminin, ki
Akagi ve ark. (1984) Instantaneous Reactive Power Compensators Comprising
Switching Devices without Energy Storage Components alede
.
Homaifar ve McCormick (1995) Simultaneous Design of Membership Functions and Rule Sets for Fuzzy Controllers Using Genetic Algorithms
makalede
r metod
denetleyici
ve bir kamyonet denetleyici. Bu denetleyici a
.
Akagi (1996) New Trends in Active Filters for Power Conditioning ngesizlik
-60
beklent
Aredes ve ark. (1997) Three-Phase Four-Wire Shunt Active Filter Control Strategies
Peng ve ark. (1998) Harmonic and Reactive Power Compensation Based on the Generalized Instantaneous Reactive Power Theory for Three-Phase Four-Wire Systems
teori
, .
Singh ve ark. (1999) A Review of Active Filters for Power Quality Improvement
. (2005)
aralel AGFlerin, lineer AC
AGF
pasif elemanlar kadar, gerilim ve
AGF sisteminin DC
. Tey ve ark. (2005) Improvement of Power Quality Using Adaptive Shunt Active Filter en ntrol . (2005) - - , ideal - -telli P
- -telli PAGF, histerezis-bant -kollu gerilim beslemeli inverter ve DC
-bozuk ve dengesiz-ATLAB - -ilmesi (2006) , lumsuz ve bi kompanzasyonu y inverter . . (2006) Uygulam birisinin de Tasarlanan ve uygulanan .
Tangtheerajaroonwong ve ark. (2007) Design and Performance of a Transformerless Shunt Hybrid Filter Integrated into a Three-Phase Diode Rectifier
alede
v
harmoniklerinin azal
parametrelerinin optimum tasa .
Superti-Furga ve Todeschini (2008) Discussion on Instantaneous p q Strategies for Control of Active Filters
- -q
teorisinin dezavantajl
p-distorsiyonunun bir fonks
-. Corasaniti ve ark. (2009) Hybrid Active Filter for Reactive and Harmonics Compensation in a Distribution Network
.
Hongda ve Cao (2011) Active Power Filter Simulation Based on Instantaneous Reactive Power Theory and the PWM Hysteresis Control Mode
p - iq
olu
Srinivas ve Tulasi Ram (2014) A Fast Dynamic Response of Three Phase Four
Wire Shunt Active Power Filter under Unbalanced Non Stiff Source ,
den
da
Cichowski ve ark. (2015) Comprehensive Compensation of Grid Current Distortion by Shunt Active Power Filters
Kanjiya ve ark. (2015) Optimal Control of Shunt Active Power Filter to Meet IEEE Std. 519 Current Harmonic Constraints Under Nonideal Supply Condition
mada,
den
De Araujo Ribeiro ve ark. (2015) A Robust DC-Link Voltage Control Strategy to Enhance the Performance of Shunt Active Power Filters Without Harmonic Detection Schemes
st
Somlal ve Rao (2016) Performance Analysis of Artificial Neural Network and Neuro-Fuzzy Controlled Shunt Hybrid Active Power Filter for Power Conditioning
3.
- de
arda,
gelir.
3.1 A - , 3.1.1. -ve hib -i) Seri AGF eri AGF, (Mulla ve ark., 2015) . Bu . da gerilim
reg lasyonu, gerilim dengelenmesi ve gerilim fliker eliminasyonu
gibi, aktif filtre
(a)
(b) 3.1.
ii)
AGF, nonlineer ve/veya reaktif
ve reaktif temel frekansta saf
(Alfonso-Gil ve ark., 2015). kompanzasyonu
, de
harmonikl
hale gel
(a)
(b) 3.2.
iii)
AGF ortak
- Unified Power Quality (Karthik ve Sadiq, 2015). Bu durumda, hem seri
aktif filtrenin panzasyon, hem nin
kompanzasyon . 3.5. nonlineer gerilim-Ancak bu avantaj sadece .
iv) Hibrit AGF
seri AG
durumda, pasif filtre harmoniklerinin eliminasyonunu . edilir. B . (a) (b) 3.4. AGF
3.1.2.
(El-Habrouk ve ark., 2000). (Singh ve ark., 1999). Gerilim beslemeli
(Akagi, 1996). (Singh ve ark., 1999)
edilmektedir.
(a) (b) 3.5.
(a) (b) (c) l 3.6. a) b) - bilgisayarlar, ofis ci gibi tkensiz uygulamalarda kompanza u (Becerik, 2008)
harmonik denetimine tabi
olmayan bu abonelerde, faz- tif
de or
3.2.
harmoniklerinin kompanzasyonund -d wt I nwt I wt I t i R N n n
yük( ) sin sin sin
2 1 (3.1) wt sin I nwt sin I ) t ( i R N n n filt 2 (3.2) wt sin I ) t ( i ) t ( i ) t ( i yük filt 1 (3.3) imi
3.8. 3.3. GF Kontrol Teknikleri ontrol biriminin biriminin 3.3.1. Referans a ozucu alga
(El-Habrouk ve Darwish, 2001),
(Herrera ve ark., 2008) (Jou,
1995) (Bhattacharya ve Divan, 1995) ve sabit
(Cavallini ve Montanari, 1994).
3.3
u
denetim (Chen ve Xie, 2004) (Zeng ve ark., 2004) olsa
(Rowan ve Kerkman, 1986) bant denetim (Buso ve ark., 1998)
3.3
rak bu
DC hat konda
ransal-integral) (Chaoui ve ark., 2007) (Singh ve ark., 2007; Karuppanan ve Mahapatra, 2012)
4. iminasyonu r. Daha 4.1. B wt V t v () msin (4.1) wt I t i ( ) msin (4.2)
bi wt I V t i t v t p ( ) ( ) ( ) m msin2 (4.3) 2 . sin 2 1 2 m m T t t m m I V dwt wt I V P (4.4) .
gerilimi de sabit oldu gibi bulunabilir; ) ( ) ( ) (t v t i t pyük yük (4.5) T t t yük T t t yük yük p t dt v t i t dt P ( ) ( ). 2 1 . ) ( 2 1 (4.6) _ m yük * _ m V P I 2 (4.7) wt sin V P . wt sin I ) t ( i _ m yük * _ m * 2 (4.8) ) t ( i ) t ( i ) t ( i*filt * yük (4.9)
sinwt
4.2.
) t ( i ) t ( v ) t ( pyük_x _x yük_x , (x a,b,c) (4.10) T t t x _ yük x _ yük p (t).dt P 2 1 (4.11) x _ _ m x _ yük * x _ _ m V P I 2 (4.12) x * x _ _ m * x _ (t) I sinwt i , ( x 0 , 120 , 120 ) (4.13) ) t ( i ) t ( i ) t ( i*filt_x * _x yük_x (4.14) O genlikl eri
4.3. sistemd (4.15). Dah (4.1 c _ yük b _ yük a _ yük top P P P P (4.15) 3 top ort P P (4.16) x _ _ m ort * x _ _ m V P I 2 (4.17)
faz
4.4. ve reaktif 4.2. Bulan im Denetleyici ktif ilimi 4.5
. -denet k (e) r e). Denklemlerdeki ( ) ve ( * hat hat k V V k e (4.18) 1 k e k e k e (4.19)
( Pkyp Pkyp k P k P k
Pkyp kyp 1 kyp (4.20)
re kyp c _ yük b _ yük a _ yük top P P P P P (4.21)
Mamdani tip bul (a) (b) (c) 4.6. a) b) kural tablosu ve c) i X ) k ( e VE e(k) Yi Pkyp(k) Zi OLUR (4.22) ) PB , PO , PK , SF , NK , NO , NB i (
Buradaki (Xi) ve (Yi kural Zi i i i w *T Z (4.23) k e Y , k e X Min wi i i (4.24) i i i i a .e k b. e k c T (4.25) Buradaki (Ti ve (ai), (bi) ve (ci) wi fonksiyonunu kesiyorsa b 1 1 N j j N j j Z w (4.26) 4.3.
ide PWM sinyallerinin .
(a)
(b) 4.7. H
iliminin nispeten
kHz olarak
4.8.
. son erinin 2 r olarak in h = 576 k) iki f H (VL i gerekmektedir.
(a)
(b) 4.9. B
(a)
(b)
4.10 Histerezis denetleyicinin dijital olarak .
HST_BND = !DEGER!
IF (IFL_ACT) < (IFL_REF - HST_BND/2) THEN
PWM2 0
PWM1 1
ELSIF (IFL_ACT) > (IFL_REF + HST_BND/2) THEN
PWM1
PWM2 1
5.
5.1. AGF
5.1. Sistemin esi
5.3.
faz
en azalmaya
5.5. H
e e
rin ) ve (
d P P
ek
Bu
ak
muhafaza etmektedir. Buradaki (
5.7. Denetleyici
gi bir
-
program
y1_1 1_7 ve y2_1 2_7), lineer a1 7, b1 7, c1 7), hata (e ( e 5.2. Siste -gerilim --gerilim sinyallerini sinyal
(a)
(b)
5.2.1.
bobinlerinden, D
5.10.
.
.11.
olarak kesime sokulur.
. PM50CL1A120 IPM verilen nde rlere ekil e . Harici 24 , (VLA24151) (VLA24154) adet DC-DC
. PM50CL1A120 devresi
. EVBL1S1XX IPM
. filtre bobinleri nin toplu halde
5.2.2.
DE2-.
Field Programmable Gate Array Alanda lar
ve y
birbirlerine lar ve bu sayede istenen fonksiyon
lir
FPGA, , robotik, ses
. .18. ekil 5.19.a a Terasic -kulla Cyclone IV EP4CE115
adet 7-segment dis -Button ve Slide tip anahtarlar,
uygulama imka
-(a)
(b)
DE2 -edir. THDB- (a) (b) . THDB- a)
. THDB-
-Hardware Description Language
gerekmekted
Kontrol devresinin ana merkezi olan
.
Vmax
v
Vmax ile k v Vmax v
Vmax Vmax eri (e ) elde edilir. gelmektedir. (P P
okuma/yazma
v (k)
Vmax sinwt(k)) elde
Imax*
(i *(k) i (k))
ifilt*(k)
getirilerek kesime sokulur. D
5.23.
-Through
dead olarak
tenen sinyallerin 16 ak DAC kar 5.2.3. ADC-Ancak bu (a) (b) 5.24. a) ADS8556EVM ve b) DAC8728EVM
Her iki kart da
a) b)
5.25. a) ADS8556 ve b) DAC8728
if maksimum
lar ile uyumlu
adet 40 -ise 1 pratik ol edil ka .26.a a, 5.2.3.1.
Analog-(A0/A1,B0/B1,C0/C1) SAR (successive approximation register
log-dijital
-gerilim sinyallerinin dijital ibi uygulamalar
kSPS .2
(a)
(b) 5.26.
5.27. ADS8556
-(i _a, i _b, i _c ifilt_a, ifilt_b, ifilt_c - v b_a,
v b, v c vhat_1, vhat_2
kontrol sinya
1- Analog- in 2- 3- 4- 5- 6- 7- 8-
5.2.3.2.
Dijital-(Vout-0 out-7
sinyalleri
(A0
5.30. DAC8728EVM 1- SN74LV374A 2- -edir. 3- 4- og forma 5-
-6-
konumuna getirilir. Bu durumda DAC8728 yeni bir
portunun ilk 5 tekrar edilir. inde 5.2.4. - -g -(toplamda 12 adet) LA 25-l 5.31.
5.2.4.1. - v a, v b, v c vhat_1, vhat_2 --P, 500 V efektif veya 707 V LV 25-1) stenen ayar direnci (RM) ile elde edilir.
faz-(a)
(b)
LV
25-gerilimi
(RMS/Max) direnci (RMS/Max) (RMS/Max)
Ayar direnci (RMS/Max) Faz-Gerilim 250/353 V 10/14,14 mA 25/35,35 mA 5/7,07 V 1/50 DC Hat Gerilim 500/707 V 1/100 5.2.4.2. i _a, i _b, i _c, i _n),
f ifilt_a, ifilt_b, ifilt_c, ifilt_n i a, i b, i c, i n)
.
5.34. LA 25-NP a s
Sens
.2
5.2. LA25-NP
paral
stenen gerilim seviyesi LV 25-ayar direnci (RM) ile elde edilmektedir.
.
-(a)
(b)
25
-5.2.4.3.
. verilen sinyal
sinyallerin ortaya
gelen sinyallerden, faz- v a, v b, v c
i a, i b, i c) ve filtre ifilt_a, ifilt_b, ifilt_c
vhat_1, vhat_2) hem
i a,
i b, i c) ise sadec
B ikinci ,
(a)
(b) 5.36. Sinyal
5.2.5. Koruma Devresi edemeyebilirler. 5. ID = 47 A, td(off) MOSFET birbiri TC4426 entegresi opto- -anda iletime
-(a)
(b)
5.37.
.
esistance
6. 6.1. n devre parametreleri - 110 V 50 Hz Filtre bobinleri 3 x 2 mH K E 100 mH D 6.1.
(a)
(b)
(c) 6.2.
(a)
(b)
(c) 6.3.
(a)
(b)
(c) 6.4.
-gibi ol
(a)
(b)
(c) 6.5.
(4 A/div)
(a)
(b)
(c)
geriliminden ger
(a)
(b)
(c) 9.
(a)
(b)
(c) 10.
(a)
(b)
(c) 11.
-sadece reakti
(a)
(b)
(c) 6.12.
hatt an . da 100 W 14.
(a)
(b)
(c)
7 7 --gerilim az--
- - - -n - - - - - dengelenmesi ger -
7.2
1-
un olarak
KAYNAKLAR
Akagi, H., Kanazawa, Y. ve Nabae, A., 1984, Instantaneous reactive power compensators comprising switching devices without energy storage components, Industry Applications, IEEE Transactions on (3), 625-630.
Akagi, H., 1996, New trends in active filters for power conditioning, Industry Applications, IEEE Transactions on, 32 (6), 1312-1322.
Alfonso-for Selective Compensation in a Shunt Active Power Filter, IEEE Transactions on Industrial Electronics, 62 (6), 3351-3361.
http://www.enerjiatlasi.com/elektrik-tuketimi/: [29 Nisan 2016].
Aredes, M., Hafner, J. ve Heumann, K., 1997, Three-phase four-wire shunt active filter control strategies, Power Electronics, IEEE Transactions on, 12 (2), 311-318.
-I 11-12.
Bhattacharya, S. ve Divan, D., 1995, Synchronous frame based controller implementation for a hybrid series active filter system, Industry Applications Conference, 1995. Thirtieth IAS Annual Meeting, IAS'95., Conference Record of the 1995 IEEE, 2531-2540.
, 4 (2), 105-115.
Buso, S., Malesani, L. ve Mattavelli, P., 1998, Comparison of current control techniques for active filter applications, Industrial Electronics, IEEE Transactions on, 45 (5), 722-729.
Cavallini, A. ve Montanari, G. C., 1994, Compensation strategies for shunt active-filter control, Power Electronics, IEEE Transactions on, 9 (6), 587-593.
Chaoui, A., Gaubert, J. P., Krim, F. ve Champenois, G., 2007, PI controlled three-phase shunt active power filter for power quality improvement, Electric Power Components and Systems, 35 (12), 1331-1344.
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Corasaniti, V. F., Barbieri, M. B., Arnera, P. L. ve Valla, M. I., 2009, Hybrid active filter for reactive and harmonics compensation in a distribution network, Industrial Electronics, IEEE Transactions on, 56 (3), 670-677.
de Araujo Ribeiro, R. L., Rocha, T. d. O. A., de Sousa, R. M., dos Santos, E. C. ve Lima, A. M. N., 2015, A robust DC-link voltage control strategy to enhance the performance of shunt active power filters without harmonic detection schemes, IEEE Transactions on Industrial Electronics, 62 (2), 803-813.
-, 24 (3).
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Conditioner to Improve Power Quality.
Karuppanan, P. ve Mahapatra, K. K., 2012, PI and fuzzy logic controllers for shunt active power filter A report, ISA transactions, 51 (1), 163-169.
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,
Bursa- -5.
Sempozyumu, Bursa- -5.
, Birsen, p.
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