Advance in Electronic and Electric Engineering.

ISSN 2231-1297, Volume 4, Number 3 (2014), pp. 247-252

Research India Publications
http://www.ripublication.com/aeee.htm

Kalman Filter Based Unified Power Quality

Conditioner for Output Regulation
D. Chinna Kullay Reddy1 and J. Praveen2
1

Asst .Professor, EEE Dept., MITS, Madanapalle.

2
Professor, EE Dept. GRIET, Hyderabad.

Abstract
The Electrical power system contains a wide range of electrical and
power electronics components in industrial and commercial
applications. The power quality will be affected by various factors like
ripples contamination, voltage sag and voltage swells due to the
increase in loads of non-linear type like large power electronics
converters such as IGBT and GTO, rectifiers, voltage and current
glittering and switching of loads respectively which also affects the
perceptive loads to be fed from the system. In this paper the
compensation of harmonics and reduction of voltage sag/swells by
using Kalman filter based UPQC is introduced.
The aim of this paper is to regulate voltage of the source side of
distribution line against any power quality issues like balanced and
unbalanced voltage sag and reducing harmonics by using Realization
of Multilevel Inverter using Intelligent based UPQC. The promising
results are presented using MATLAB/Simulink.

1. Introduction
Nowadays the ever growing usage of nonlinear loads in many companies [1] leads to
harmonics generation. This causes great trepidation for both the customers and utilities
[2]. The customer faces voltage sags and voltage swells in the voltage supply and less
power factor at the supply end and also include the numerous power quality problems
[3]. The fulfillment with power quality standard, i.e., IEEE Standard 519, is followed
by installing the compensating devices. Compensating devices mainly passive filters
are used. Passive filters are easy in configuration and can causes unnecessary
resonance and magnify the harmonic currents.

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To overcome the above drawback of passive power filter are replaced by the active
power filters . Active power filters are broadly classified into two types like series
active filters and shunt active filters based on functionality of system. The grouping of
series and shunt active power filter is called the unified power-quality compensator
(UPQC). In order to controls the voltage sag and offers cost effective compensation
UPQC employs a quadrature insertion method. The energy required to compensate the
reactive power can be reduced by injecting a voltage that has an phase difference with
the source current. The series active filter and shunt active filter are used in the UPQC
for power conditioning in distribution systems.
The Disturbances like harmonics, voltage dips, which tends deteriorate the local
load operation in the source voltage was eliminated by using series Active power filter.
In addition to that the shunt Active power filter controls the dc-bus voltage in order to
confirm the compensation capability of the UPQC. These functionalities can be carried
out by applying inverse control strategies which can operate in the time domain, in the
frequency domain or both. Time domain methods, such as PQ or DQ based methods,
allow the fast compensation of time-variant disturbances but make more complex their
selective compensation. In this sense, frequency domain methods are more flexible but
their dynamical response is slower.
In this paper the output has been regulated by using controller and Kalman filters
for the best functioning of the UPQC. To produce control signals of ORC for the active
filters of the UPQC in a synchronized mode. As the ORC ensure the overall stability, it
as well helps for periodic reference tracking and disturbance rejection .The UPQC also
operate on self-charging circuits not depending on extra external dc source. The
exogenous Kalman filter is a part of the control design, also function as a ripple
extractor. This exogenous Kalman filter also assist selective filter the harmonic
components [9], and is very much reactive to sudden variations in the working
conditions, i.e., voltage and current ripples or load demand variations. As a state
observer also relaxes the requirement of numerous state measurements by sensors
using the plant Kalman filter.

2. Kalman Filter Design

In this controller was modeled to construct the plant output y = (vL is)T to trace a
reference r = (vL is)T, under a cyclic disturbance (vs iL)T. The reference signals vL
and is alternating waves of 50 Hz through no unwanted distortions.
This paper applies a Linear Quadratic Regulator based on which an interruption
signals will be generated and reference signal of the model is used in the controller
design. This will results the reduction of steady state error to zero. This method treats
the UPQC as a Multi-input and Multi-outputs directly. Hence, this will give a more
effective coordination of two control variables u1 and u2.

Kalman Filter Based Unified Power Quality Conditioner for Output Regulation

249

2.1 Output Regulation-Based Controller (ORC)

Here all the exogenous signals Vs, IL, VL*, Is are periodic, they can be represented by a
state-space model. The exogenous system state space model represented in general
form as
A

(V s IL) =w +w

(1)
(2)

r=(VL*Is*)T= d

(3)

state model of the UPQC model can be

.

x Ax B0 B2u

(4)

Y Cx D0 D2u

(5)

u U F ( x X )

(6)

where u is signal control parameter for the UPQC. x and are the outputs of the
exogenous and plant Kalman filters. U and X are the matrix gains, these are computed
from a pair of matrix linear equations called the regulator equations
X AX B0 B 2 U

(7)
= CX +D0 + D2 U
(8)
transform the overall closed-loop system by multiply (7) and (8) with , subtracting
them from (4) and (5) and then applying (1), (3) and (6) become to
X = (A + B2F) X
(9)
e=(C + D2F)

(10)

Where e = Y r is the error of tracking . In practice, e is suitably small but non

zero due to the nonlinear effect of the Pulse width modulation. x composes of physical
quantities which can be measured with sensor circuitries. However, this will result in
higher implementation cost. Therefore, this paper adopts another Kalman filter called
the Plant Kalman filter to estimate the x. Exogenous system can be decomposed into
two components, one for reference signal r with the state variable vector d. and the
other for the (Vs IL)T with the state variable vector w. If (Vs IL)T is measured and then
applied to Kalman filter to the first component. From state variable vector w (VsIL)T
can be estimated, which actually consists of the elementary harmonics of vs and iL. The
second component of the exogenous system may be written as

w Aw w

(11)

Vs
C w w
I L

(12)

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D. Chinna Kullay Reddy & J. Praveen

The Kalman filter estimates the states of output equation d and deduced w from

the estimate of the state. To be more precise, the Kalman filter first measures (vs iL)T to
estimate w from the equations(10), (11). Then the corresponding d is computed based
w. The computed d has been passed through the second Kalman filter to obtain a
filtered version d on the basis of equation (12) . By combining w and d, we estimate
the total exogenous state , which is used as a state feedback control law (6). Both the
Kalman filters mentioned above together called as exogenous Kalman filter. The first
set of diagonal matrices, the covariances of the measurement noise properly matching
the noise levels of the measuring signal of respective sensors .
The process noise adjustment of the covariance for the plant Kalman filter is based
on trial-and-errors to make sure that the poles locations of A LC are as well
satisfactory. In the end, the damping factors of all A LC poles are at least ten times
of the fundamental frequency, and the damping ratios are at least 0.87.

Fig. 1: Feedback control ORC with

Kalman filters.

Fig. 2: Self charging circuit of LQR.

Fig. 3: Multilevel Inverter using Intelligent based UPQC with Kalman filter.

Kalman Filter Based Unified Power Quality Conditioner for Output Regulation

251

In ORC with Kalman filter has only four measurement parameters such as vs, is,
vL, and iL, are essential. certainly, these are the four variable parameters that one
would physically choose to measure from the power system point of view. Fig.1 shows
feedback control ORC with Kalman filters.
This paper proposes that the UPQC operates without depending on an external dc
supply. For controlling the Dc link voltage the supply end has to send extra real power
through the shunt active filter. Fig. 2 shows self charging circuit of LQR control
strategy were proposed to meet up this objective.

3. Simulation Results

Fig. 4: Waveforms of voltage unclear supply with nonlinear load.

Fig. 5: Waveform of
current under nonlinear
load

Fig. 6: Waveform of voltage sag and voltage swells.

Fig. 7: Current waveforms of load side

Fig. 8: Load Current THD

waveform.

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D. Chinna Kullay Reddy & J. Praveen

4. Conclusion
In this paper a Kalman Filter with UPQC has been modeled. This model circuit
consists of design consists of the ORC, multilevel inverter and linear quadratic
regulator charging circuit .A LQR circuit is included into the design, the UPQC can
run exclusive of depending on outside dc supply. The Kalman based filter with UPQC
eliminates the harmonics on load side as well as supply side current and voltage with
improvement in power factor .An state observer for UPQC and Kalman filter to
produce control signals for extraction harmonics has been implemented effectively for
UPQC control scheme . The controller design for improving the power quality is very
accurate, more cost effective for practical implementation.

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