Faculty of Electrical Engineering

Universiti Teknologi Malaysia

VOL. 12, NO. 1, 2010, 7-13

ELEKTRIKA
http://conf.fke.utm.my/elektrika

Dynamic Voltage Restorers:

A Literature Review
Ahmet TEKE1* M. Emin MERAL2, Ltf SARIBULUT1 and Mehmet TMAY1
1

ukurova University, Department of Electrical and Electronics Engineering, Balcal/Adana, TURKEY

2
Yznc Yl University, Department of Electrical and Electronics Engineering, Zeve/Van, TURKEY

Corresponding author: ahmetteke@cu.edu.tr (First A. Author), Phone: +90 322 3386868, Fax: +90 322 3386326

Abstract: Custom power is a concept based on the application of power electronic controllers in distribution system to
improve the power quality. Dynamic Voltage Restorer (DVR) is one of the Custom Power devices that can mitigate voltage
sag/swell, unbalance and voltage harmonics originating from supply side. DVR has become very popular in recent years in
both low voltage and medium voltage applications. In this paper, the comprehensive reviews of over 80 articles concerning
DVR are presented. The advantages and disadvantages of each possible configuration and control technique are also
presented. This review will help the researchers to select the optimum control strategy and power circuit configuration for
their DVR applications.
Keywords: A Custom Power, Dynamic Voltage Restorer, Power Quality, Literature Review.
The alternative solution to DVR can be Uninterruptible
Power Supply (UPS), switched autotransformer [8] or DSTATCOM [9-11]. DVR costs less compared to the UPS
systems. UPSs have typically been designed for the
correction of different types of voltage disturbances,
which may not necessary, fall into the category of voltage
sags. Taking the UPS as an example, this has two major
implications [6]. First, the energy that a UPS is required
to store is based upon the long duration of a typical
voltage outage or blackout, not relatively short duration
voltage sag. Secondly, UPS systems are typically
designed for small loads, such as a computer mainframe
or low power safety critical systems. DVR is smaller in
size and costs less compared to the DSTATCOM. The
amount of apparent power injection required by a
DSTATCOM to compensate a given voltage sag is much
higher than that of DVR. The main reason of that is DVR
corrects the voltage sag only on the downstream side
[10].
Another solution may be using an autotransformer
where it only takes care of a limited range of voltage sag.
The autotransformer has poor controllability, slow
response time for mechanical switching units and needs
routine maintenance of its parts.
DVR system consists of power circuit and control unit.
A comprehensive literature review of DVR including
control unit, power circuit and field applications is
presented. The remainder of the paper is organized as
follows. Section 2 of this paper presents power circuit
configurations of DVR. The controller algorithms of
DVR are clearly presented in Section 3. Section 4
summarizes the field applications of DVR. Finally, main
points and significant results of the paper are summarized
in Conclusions.

1. INTRODUCTION
Dynamic Voltage Restorer is a Custom Power Device
used to eliminate supply side voltage disturbances. DVR
(also known as Static Series Compensator [1-3])
maintains the load voltage at a nominal magnitude and
phase by compensating the voltage sag/swell, voltage
unbalance and voltage harmonics presented at the point of
common coupling [4-6]. DVR injects the missing voltage
of suitable magnitude and phase in series with the line as
shown in Figure 1. During standby operation, DVR
performs no switching. However, when voltage sag/swell
occurs in the system, DVR starts to inject missing voltage
to the system. Many loads facilitated in industrial plants
such as adjustable speed drives and process control
equipments are able to detect voltage faults as minimal as
a few milliseconds. DVR should react as fast as possible
to inject the missing voltage to the system because these
loads are very sensitive to voltage variations [7].

POWER QUALITY IMPROVEMENT

Power
Supply

Load

DVR SYSTEM
Control Unit: Disturbance detection, reference signal
generation, gate signal generation, voltage measurement.
Power Circuit: Energy storage unit, DC/AC converter, LC
filter, injection transformer, standby and system protection.

Figure 1. Basic representation of DVR

Ahmet TEKE, M. Emin MERAL, Ltf SARIBULUT and Mehmet TMAY / ELEKTRIKA, 12(1), 2010, 7-13

grid of DVR is weak. In this type, variable DC link

voltage [23] or constant DC link voltage [24] topologies
are applied (Figures 2a, 2c).
Storage systems with grid itself: The remaining
voltage on supply side [16] or load side [19] is used to
supply necessary power to the system if DVR is connected
to the stiff grid (Figures 2b, 2d).
Flywheel Energy Storage: The ywheel as a preferred
energy storage device, the system utilizes a single AC/AC
power converter for the grid interface as opposed to a
more conventional AC/DC/AC converter, leading to
higher power density and increased system reliability [2527].
Therefore, a new inter-phase AC-AC topology is
presented in [28-29] that needs no storage device.
However, this topology has the following disadvantages
over the storage based voltage sag supporter: the voltage
harmonics cannot be compensated, point of common
coupling may experience noise due to AC chopper circuit
and the required power is drawn from the faulty phases in
the case of symmetrical sag compensation. In [30],
voltage control using a Distributed Generation supported
DVR is presented. When the DC link is fed from the
rectifier, the rectifier can be controlled using PI [26], [30]
or hysteresis [31].

2. POWER CIRCUIT OF DVR

DVR can be used for medium voltage [12-14] and low
voltage applications [15]. DVR is generally designed as
3-phase 3-wire [16] but there are also 1-phase [17] and 3phase 4-wire [18] studies for DVR. Available topologies
for DVR are H bridge [19], multilevel [20], four-leg DVR
[21] and transformerless topologies [22]. Power circuit of
DVR generally consists of DC link, DC/AC converter,
LC filter and injection transformer.

Source

Injection
Transformer

Load

Lf
DC Link
Cf

LC
Filter

Inverter
(a) Storage systems with auxiliary supply / Inverter side filtering

Source

Load
Lf

2.2 DC/AC Inverter

The inverter circuits convert DC power to AC power. The
types of inverter circuits are voltage source (fed) inverter
(VSI) and current source (fed) inverter (CSI) [32-34].
Current source inverter: It is easy to limit over
current conditions but the value of output voltage varies
widely with changes in load (Figure 2d).
Voltage source inverter: The values of output voltage
variations are relatively low due to capacitor but it is
difficult to limit current because of capacitor (Figures 2a,
2b, 2c). Some types of this inverter are: H bridge [19], 6bridge [35], multilevel inverter [20], [36] and cycloconverter based [29].
VSIs have its drawbacks, such as a rather slow control
of converters (LC filter) output voltage and current
protection problems. DC bus voltage oscillations can be
observed that make the control of series filter output
voltage more difficult. Such problems can be overcome
using current-source converters [34].

Cf
Rectifier
Inverter
(b) Storage systems with grid itself / Voltage source inverter

Source

Load

DC Link

Inverter
(c) Storage systems with auxiliary supply / Load side filtering

Source

Load
Lf

2.3 LC Filter
The filter unit eliminates the dominant harmonics
produced by inverter circuit. Filter unit consists of
inductor (L) and capacitor (C). The design procedure for
LC filter is given in [37]. The harmful effects of
harmonics generated by the inverter can be minimized
using the inverter side [38] and line side filtering [39].
Inverter side filtering scheme: It has the advantage of
being closer to the harmonic source thus high order
harmonic currents are prevented to penetrate into the
series injection transformer but this scheme has the
disadvantages of causing voltage drop and phase angle
shift in the fundamental component of the inverter output
(Figures 2a, 2b, 2d).
Line side filtering scheme: Harmonic currents
penetrate into the series injection transformer but the
voltage drops and phase shift problems do not disturb the
system (Figure 2c).

Cf
Rectifier

Inverter

(d) Storage systems with grid itself / Current source inverter

Figure 2. Various power circuit topologies of DVR

2.1 DC Link
DC link (energy storage unit) supplies the required power
for compensation of load voltage during voltage sag/swell
or harmonics. Electrolytic capacitor bank is usually
preferred as an energy source for majority of DVR
applications. The selection of the optimum topology and
DVR ratings is related with the distribution of the
remaining voltage, the outage cost and investment cost.
Storage systems with auxiliary supply: This topology
is applied to increase the system performance when the

Ahmet TEKE, M. Emin MERAL, Ltf SARIBULUT and Mehmet TMAY / ELEKTRIKA, 12(1), 2010, 7-13

methods to detect voltage sag/swell are tracking the

positive sequence of the supply voltage [49] applying the
Fourier transform [50], Kalman filtering [51], Neural
Network [52-53] and applying the Wavelet Transform
[54]. Further information about conventional sag
detection method is presented in [55]. In [48], a new
control method for DVR system is proposed by detecting
the negative and positive sequence components using
differential controllers and digital filters.

2.4 Injection Transformer

For most of the time, DVR is in standby mode and
conduction losses account for the bulk of converter losses
during the operation [40]. The grid voltage level and the
voltage sag depth determine the voltage rating of the
transformer. The injection voltage level multiplied by
rated current gives power rating of each phase [41]. Its
main tasks are coupling the injected compensating
voltages generated by the voltage source converters to the
incoming supply voltage and connecting DVR to the
distribution network via the HV-windings and transforms
[42].
In [20] and [36], DVR is implemented using a
multilevel inverter topology allowing the direct
connection of DVR to the distribution network without
using a bulky and costly injection transformer. In [22],
the use of the transformer is eliminated applying the
voltage boosting functions and a dynamic energy
replenishing charging circuit. This indicates a less costly
voltage restorer of a more compact structure.

Supply

Phase_A
Injection
Transformer

Phase_B
Phase_C

Vdc

G1

G4

Supply side Phase

to Neutral
Measurement

Voltage Sag/Swell
Detection

Switching Signal
Generation

Lf
Filter Cf

G2

G3

G5

G8

G6

G7

G9

G12

G10

G11

Reference Voltage
Generation

2.5 Standby and System Protection

In standby mode, the injection transformer works like a
secondary shorted current transformer using bypass
switches delivering utility power directly to the load.
Alternatively, during standby operation of DVR, two
upper IGBTs in each phase of the inverter remain turned
off while the two lower IGBTs remain turned on. A short
circuit across the secondary (inverter side) windings of
the series transformer through LF is obtained eliminating
the use of bypass switches [19].
Differential current protection of the transformer and
short circuit current on the customer load side are two
examples of many protection functions possibility [42].
The protection of a DVR against voltage surges and short
circuit conditions to prevent its malfunction or
destruction is discussed in [43-44].

L
O
A
D

Lf
Cf

Lf
Cf

Control Unit

Figure 3. Control unit of DVR

There is also single-phase sag detection methods
used in DVR. Soft Phase Locked Loop (PLL) [56],
Mathematical Morphology theory based low-pass filter
[57], Instantaneous Value Comparison Method [58] are
the commonly used methods for single phase sag
detection.
3.2 Reference Signal Generation and Voltage
Injection Strategies
Reference voltage generation can be achieved using pqr
[59], dq [33], [48], [60-61], fuzzy logic (FL) [62], sliding
mode [63], artificial neural network [64] and software
PLL [65]. Open-loop feed forward control is generally
preferred in DVR controllers to meet the fast
compensation requirement. However, the presence of the
passive LC filter can introduce voltage oscillations during
transients. These oscillations increase the damping
response time of the system as mentioned in [66].
The saturation of the series injection transformer and the
voltage drop across the inductor in steady-state operation
are other factors that affect the performance of DVR in
open-loop control [67]. The load voltage may not be
compensated to the desired value in open-loop feed
forward control. Closed-loop control can reduce the
damping oscillations coursed by the switching harmonic
LC filter and the load voltage can track closer to the
reference load voltage under different load condition.
Multi-loop control and closed-loop state variable control
are closed-loop control strategies of DVR [68-69]. The
performances of these control strategies are analyzed with
its dynamic and damping performance. These control
schemes can reduce the damping oscillations, but not
catching up with the fast dynamic response. Other control
strategy is boundary controller [7].

3. CONTROL UNIT
The control unit is the most important part of DVR
system. The main considerations for the control system of
DVR include: sag/swell detection, voltage reference
generation for transient/steady state control of the
injected voltage, voltage injection strategies and methods
for generating of gating signals. Source voltage
measurement is generally enough to generate reference
voltage and sag detection signals in most of DVR studies
as shown in Figure 3 [19], [45-46].
3.1 Sag/Swell Detection
Voltage sag/swell must be detected fast and corrected
with a minimum of false operations for three phase
systems. Monitoring of Vd2 Vq2 (Vd is the reel part of
the voltage, Vq is the imaginary part of the voltage in dq
reference frame) or Vd in a vector controller is the
simplest type of sag/swell detection, which will return the
state of supply at any instant in time and hence, detect
whether or not sag has occurred [45], [47]. To separate
the positive and negative sequence components, low-pass
filters (LPFs) are used after the d-q transformation in the
literature. For effective removal, the cut-off frequency of
the low pass filter must be reduced but it has the side
effect of reducing the controller response time [48]. Other
9

Ahmet TEKE, M. Emin MERAL, Ltf SARIBULUT and Mehmet TMAY / ELEKTRIKA, 12(1), 2010, 7-13

DVR should ensure the constant load voltage with

minimum energy dissipation for injection. The
characteristics of the sensitive load determine the types of
control method and the compensation strategy for DVR.
The methods for injection of missing voltage can be
divided into four groups [53], [70-73]:
Pre-sag compensation method [74]
In-phase voltage injection method [75]
Phase advance method [76-77]
Voltage tolerance method with minimum energy
injection [78]
In pre-sag compensation method, the supply voltage is
continuously tracked and the load voltage is compensated
during fault. On the other hand, in In-phase compensation
method, DVR voltage is always in phase with the
measured supply voltage regardless of the load current
and pre-sag voltage. In phase-advance method,
decreasing the power angle between the remaining
voltage and the load current minimizes real power
consumed by DVR. In voltage tolerance method with
minimum energy injection method, the phase angle and
magnitude of corrected load voltage within the area of
load voltage tolerance are changed. The small voltage
drop and phase angle jump on load can be tolerated by
load itself and the size of the energy storage is
minimized.
FL control of DVR for voltage injection is reported in
[62] and [79] in the literature. The control of DVR can be
implemented using Digital Signal Processor (DSP) [80],
Field Programmable Gate Array (FPGA) or combination
of them with passive circuits.

iii) Bonlac Foods, Australia: The Bonlac load is

approximately 5.25-MVA and the facility is served by a
22-kV feeder from Powercors Kyabram substation 11
miles away. A 2-MVA DVR was installed to this plant.
iv) Caledonian Paper: Scottish Power serves
Caledonian Paper via a 132-kV transmission line which is
stepped and the total plant load is 47-MVA. 4-MVA
DVR, with 800W of energy storage was installed to this
plant.
v) PureWave DVR installations have produced
exceptional results for both power suppliers and energy
users. Here are but a few examples:
Semiconductor Manufacturer: A pair of 6-MVA
PureWave
DVRs
protects
a
microprocessor
manufacturing facility in the southwest U.S. Operating at
12.47-kV, DVRs serve a 35-MVA load.
Plastic Extrusion Manufacturer: A rug manufacturer in
the U.S. uses a PureWave DVR to protect the yarn
extrusion process from sags. A 2-MVA DVR installed on
the 12.47-kV system corrected over 40 sags in its first
year of full operation and over 100 sags the second year.
Food Processing Plant: Interruptions at a powdered milk
manufacturing plant in Australia not only resulted in
costly cleanups, but also mandated regulatory inspections.
The dairy processor realized savings of over $1 million
annually with the installation of a PureWave DVR on its
22-kV system, protecting a 6-MVA load.
Paper Mill: An 8-MVA machine load required
PureWave DVR protection at a paper mill in Scotland. A
4-MVA DVR placed on the mills 11-kV distribution
system provides sag correction, resulting in increased
production by enabling the machine to run at full speed.

3.3 Generating of Gating Signals

The generated reference signal is used to produce gate
switching signals of the inverter. The main modulation
techniques used in DVR are hysteresis [72], pulse width
modulation (PWM) [81], deadbeat control [82] and space
vector PWM modulation [83]. The hysteresis control has
the advantages of quick controllability, easy
implementation and variable switching frequency [72].
PWM has a great impact on its transient performance and
higher operating frequency capability [81]. PWM method
is widely used for gate signal generation in custom power
applications. The deadbeat controller has very fast
transient response [82]. The space vector PWM technique
can generate output voltages and/or currents with less
harmonic distortion [83].

5. CONCLUSIONS
DVR can mitigate the some types of power quality
disturbances such as voltage sags/swells, voltage
harmonics and unbalances. In this paper, a
comprehensive review of DVR studies is presented. The
advantages and disadvantages of applied topologies and
control techniques for DVR are also presented. This
literature review study gives detailed information on
DVR topologies and control methods which provide more
opportunities for studying DVR and give results
interesting in DVR area. With this study, the findings
about DVR studies in the literature and the application
notes of DVRs in service are presented and thus the
trends of DVR through the years are clearly observed.

4. FIELD APPLICATIONS OF DVR

ACKNOWLEDGEMENTS

DVR have been installed in the Semiconductor, Plastic

Extrusion, Food Processing and Paper Mill factories.
Some of DVR applications in service are [84-85]:

The authors gratefully acknowledge Electrical,

Electronics and Informatics Research Group of the
Scientific and Technical Research Council of Turkey
(Project No: EEEAG-106E188) for full financial support.

i) Orian Rum Company: The first DVR to enter service

was installed by Westinghouse at the Orian Rugs Co.
Plant in the USA. This is a highly automated facility with
two main processes. The plant is served by a single
12.47-kV feeder from a 20-MVA substation transformer
four miles away. A 2-MVA DVR, with 660 kJ of Energy
Storage was installed to this plant.
ii) Florida Power Corporation: 2-MVA DVR at
Econlockhatchee was installed as part of Florida Power
Corporations new Power Quality Program.

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