928 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO.

3, JULY 2003

Voltage Sag Compensation With Energy Optimized

Dynamic Voltage Restorer
D. Mahinda Vilathgamuwa, Senior Member, IEEE, A. A. D. Ranjith Perera, and S. S. Choi

Abstract—The compensation capability of a dynamic voltage

restorer (DVR) depends primarily on the maximum voltage
injection ability and the amount of stored energy available
within the restorer. A new phase advance compensation (PAC)
strategy for the DVR is proposed in order to enhance the voltage
restoration property of the device. The scheme requires only an
optimum amount of energy injection from the DVR to correct a
given voltage sag. Supply voltage amplitude and phase detection
scheme as well as phase advance determination scheme are also
included. The resulting DVR design is shown to be superior in
terms of lower storage energy need compared to the conventional
in-phase boosting method. The analytical results are validated by
laboratory tests carried out on a prototype of the restorer. The
efficacy of the proposed method is illustrated.
Index Terms—Power quality.

I. INTRODUCTION
Fig. 1. Typical schematic of a power distribution system compensated by a

T HE proliferation of voltage-sensitive load equipment has

made industrial processes much more vulnerable to degra-
dation in the quality of power supply. Voltage deviations, often
DVR.

heated-up due to switching and conduction losses in semicon-

in the form of voltage sags, can cause severe process disruptions
and result in substantial economic loss. Therefore, cost-effec-
tive solutions which can help such sensitive loads ride through
momentary power supply disturbances have attracted much re-
search attention. Among the several novel custom power de-
vices, the dynamic voltage restorer (DVR) for application in dis-
tribution systems is a recent invention [1]–[3].
A schematic diagram of the DVR incorporated into a distri-
bution network is shown in Fig. 1. is the source voltage, is
the incoming supply voltage before compensation, is the load
voltage after compensation, is the series injected voltage of
the DVR, and is the line current. The restorer typically consists
of an injection transformer, the secondary winding of which is
connected in series with the distribution line, a voltage-sourced
PWM inverter bridge is connected to the primary of the in-
jection transformer and an energy storage device is connected
at the dc-link of the inverter bridge [3]. The inverter bridge
output is filtered in order to mitigate the switching frequency
harmonics generated in the inverter. The series injected voltage
of the DVR is synthesized by modulating pulse widths
of the inverter-bridge switches. While online, the DVR can get
Manuscript received April 2, 2001; revised April 4, 2002. This work was
supported in part by the Nanyang Technological University under AcRF Grant
RG50/95.
D. M. Vilathgamuwa and S. S. Choi are with the School of Electrical and
Electronic Engineering, Singapore 639798 (e-mail: emahinda@ntu.edu.sg; es-
schoi@ntu.edu.sg).
A. A. D. R. Perera is with the SP Systems, Singapore 117536 (e-mail: ran-
jith@spower.com.sg).
Digital Object Identifier 10.1109/TPWRD.2003.813880
0885-8977/03$17.00 © 2003 IEEE
ductor switches. Therefore, it is necessary to provide proper
means of heat sinking in order to operate the DVR safely and
to increase the life-span of semiconductor switches. The injec-
tion of an appropriate in the face of an up-stream voltage
disturbance requires a certain amount of real and reactive power
supply from the DVR. It is quite usual for the real power require-
ment of the DVR be provided by the energy storage device in
the form of a battery, a capacitor bank, or a fly-wheel. The re-
active power requirement is generated by the inverter.
Widely used in present DVR control is the so-called in-phase
voltage injection technique [1] where the load voltage is as-
sumed to be in-phase with the presag voltage. As the DVR is
required to inject active power into the distribution line during
the period of compensation, the capacity of the energy storage
unit can become a limiting factor in the disturbance compensa-
tion process. For sags of long duration, this could result in poor
load ride-through capability.
As was recognized by several researchers [3], [5], it is not
necessary for to be in-phase with the presag voltage. Indeed,
vector can lie anywhere on the periphery of a circle, the ra-
dius of which equals to the amplitude of the presag voltage. See
Fig. 2. This idea was considered in [3] but the method proposed
there is based only on reactive power compensation ( is per-
pendicular to the load current ) and by assuming solely magni-
tude changes of . This last assumption is hypothetical because
in practice, almost all voltage disturbances are associated with
some degree of phase shift [6].
The disturbance correction capability of the restorer depends
very much on the maximum voltage injection capability of the
VILATHGAMUWA et al.: VOLTAGE SAG COMPENSATION WITH ENERGY OPTIMIZED DYNAMIC VOLTAGE RESTORER 929

Fig. 3. DVR connected power system.

vance compensation (PAC) technique is realized by the adjust-

Fig. 2. Phasor diagram of power distribution system during a sag.
ment in . One distinct advantage of the proposed scheme is
that less real power needs to be injected from the DVR energy
storage unit into the distribution system [5], [8]. Compared to
device and the amount of energy it can supply over the sag pe- the conventional in-phase injection method, the scheme there-
riod. In [5], an analysis of the energy requirement of the DVR fore permits the DVR to help the load rides through more severe
was presented and a control scheme proposed. It is now pro- voltage sags. However, the advancement of at the beginning
posed that the results of [5] be extended to include the DVR of compensation as well as the restoration of phase angle at the
operation with zero or minimum energy injection through ad- end of the sag must be carried out gradually in order not to dis-
vancing . This method is referred as phase advance com- turb the operation of sensitive loads [5].
pensation (PAC). Furthermore, the PAC method is to include a Fig. 3 shows that is regulated by the DVR through the in-
new closed-loop load voltage and inner-loop current mode con- jection voltage . Assume that the load has an inductance ,
trol. In essence, the control scheme requires the filter capacitor a resistance , and the DVR harmonic filter has an inductance
current to be fed back to achieve a sinusoidal capacitor current of , a resistance of , and a capacitance of . The DVR
while an outer voltage loop is included to regulate the output injection transformer has a combined winding resistance of
voltage. A feed-forward loop has also been incorporated to re- and a leakage inductance of .
duce the steady-state error in the load voltage. The scheme alle-
viates the drawbacks commonly seen in existing schemes which III. PHASE ADVANCE COMPENSATION
use supply-side voltage feed-forward control methods.
With the above considerations in mind, the paper is therefore Consider the power flow contributions of the DVR under the
organized as follows. The general principles of the DVR oper- phase advance compensation scheme.
ation is described in Section II. The main contributions of the
A. DVR Power Flow
paper on the storage energy optimization of the DVR under all
possible operating conditions are presented in Section III. The If and are the input power from the source and the
basic control method of the DVR along with the detection of the load power respectively, then
supply voltage parameters is presented in Section IV. The effec-
(1)
tiveness of the proposed DVR control system is evaluated, with
experimental results presented in Section V.
(2)
II. DVR OPERATION AND MODELLING
the subscript represents th phase and .
The function of the DVR shown in Fig. 1 is to ensure that With the correction introduced by the DVR, assume a bal-
any load voltage disturbance can be compensated for effectively anced load and a balanced output voltage
and the disturbance is therefore transparent to the load. The cor-
responding phasor diagram describing the electrical conditions (3)
during a voltage sag is depicted in Fig. 2, where only the affected Let be the real power supplied by the DVR, then from
phase is shown for clarity. With the voltage quantities as defined (1) and (3)
in Section I, let , , , and represent the load current, load
power factor angle, supply voltage phase angle, and load voltage
advance angle, respectively. Unlike the in-phase voltage injec- (4)
tion technique considered in [1] and [4], the proposed phase ad-
930 IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO. 3, JULY 2003

Similarly, let and be the input reactive power from If the voltage sag is so severe that (11) cannot be satisfied,
the source and load reactive power, respectively, then then the optimum value of can still be calculated by setting
(5) . At this operating point, the DVR is supplying
minimum real power to the external system to keep p.u.
This is considered next.
(6) Case 2—Optimal Operation When : As ,
use (4) and set . This means that
Denote the reactive power supplied by the DVR as , then
(7)
(8) i.e., (12)
Therefore, the results of cases 1 and 2 can be combined to
From (4) and (8), it is apparent that the control of real and determine an optimum adjustment strategy for any given dis-
reactive power exchange between the DVR and distribution turbance as follows:
system is possible with the adjustment of the phase angle for If
given , , , and .

B. Minimum Power Operation

The real and reactive powers supplied by the DVR depend on
the type of voltage disturbance experienced as well as the di-
rection of the DVR injected voltage component with reference
then
to presag voltage. depends on the advance angle for a
given and , as shown in Fig. 2. Indeed, depending on the
particular values of used, the minimum value of can be
negative. When this occurs, it means that real power is being
absorbed by the DVR. However, there is no technical and eco-
nomical advantage by operating this way: during the sag period, else
the DVR should be exporting energy to support the load instead
of drawing more power from the source. A negative may (13)
even aggravate the sag situation. A larger energy storage facility
will be required to cater for the absorbed power for no obvious The corresponding DVR injection voltage and real power re-
technical advantage. quirement under control strategy are
The possibility of operating at during sag is an in-
(14)
teresting proposition. The following analysis is therefore carried
out to explore this possibility by determining the corresponding (15)
value of for such an operation.
Case 1—Operation at : From (4) For completeness, the corresponding equations for DVR
(9) under in-phase injection control are given as
(16)
Let , , then, following
some simple manipulations, the phase advance angle that cor- (17)
responds to is given by

(10) C. Comparison With In-Phase Injection Scheme

where . It can be seen from the expressions
already shown that for balanced sags, . method, the DVR uses the power from the source-side healthy
A necessary condition for the existence of is such that
(11)
Thus, DVR voltage correction with zero power injection is
possible only if the condition imposed by (11) is satisfied. In-
deed, if one were to consider a balanced sag, equals
for which it can be seen that (11) will be satisfied if and
only if the per unit value of the sustained sag voltage is greater
than the load power factor, assuming is normalized to remain
at 1 p.u. Of course, if it is not necessary to maintain at 1 p.u.,
then the effect of the particular disturbance can still be mitigated
using zero power injection.
Under the proposed phase advancement control (PAC)
phases to minimize active power supply from the stored energy
source. This can be seen by noting that the active power contri-
bution of supply phase , ,
differs for each phase during sag conditions. A healthy phase
is forced to contribute more active power compared to that
of faulty phase(s) with the phase advancement so that the
energy supply from the DVR is minimized. As an illustration,
consider the following single-phase sag where the post-sag
voltages are ( , , ), respectively.
Assume a 2-MVA, 0.85 (lag) power factor load at 22 kV. The
optimum phase advance can be readily evaluated and is found
to be 31.78 . The source-side input power for the three phases,
VILATHGAMUWA et al.: VOLTAGE SAG COMPENSATION WITH ENERGY OPTIMIZED DYNAMIC VOLTAGE RESTORER 931

with the phase advancement, are 666.6, 666.6, and 266.6

kW, respectively while the DVR supplies the remaining 100
kW. Under presag conditions, each phase supplies 566.7 kW.
Compare this with the case when in-phase boosting is used: the
supplied power from the phases are 566.7, 566.7, and 226.6
kW, respectively, while the DVR will supply the balance 340
kW. Therefore, it is clear from this example that with the PAC
method, the healthy phases of the source boost their supply,
thus reducing the energy storage burden on the DVR. However,
there is a significant increase in reactive power supplied by
the DVR. Note that 1054 kVAr is supplied by the DVR with
the PAC scheme while 210 kVAr is supplied with in-phase
boosting scheme.
While the analysis from before is based on energy storage re-
quirement, in practice, of course, the PAC has to be evaluated
with in-phase injection scheme on the basis of cost and relia- Fig. 4. Per unit real power supplied by the DVR at two different sag events.
bility in order to determine which control technique is suitable
for a particular situation.
Based on the above analysis, it can be seen that the merits of
the PAC scheme are
• The amount of storage energy can be reduced, thus re-
sulting in a more economical restorer in terms of a more
compact design.
• It is possible to ride through some sags without the need to
supply energy from the DVR. Therefore, the sag duration
is not an important issue for this type of sag, while it can
be extremely critical for the in-phase boosting technique.
With PAC, the following drawbacks are evident.
• Magnitude of the injected voltage is larger than that based
on in-phase injection method.
• As the phase advancement angle needs to be determined
in real time, the control system is more complex.
• There could be significant increase in reactive power sup- Fig. 5. Per unit reactive power supplied by the DVR at two different sag events.
plied by the DVR under PAC scheme, depending on the
advanced angle and nature of the sag.
In case 1, it can be seen that the power required for in-phase
The increase in the injection voltage magnitude may not be a
injection (i.e., ) is 0.08 p.u. and this decreases with the
serious drawback. This is because the specification of maximum
advance in , reaching a DVR real power value of 0.1 p.u.
voltage injection depends on the anticipated upper limit of the
at . Negative DVR real power means that the DVR
sag at a given location. As will be discussed in Section III-D,
absorbs the power from the line and this is undesirable. The cor-
the difference in the injection voltages resulting from the two
responding results on the DVR reactive power are as shown in
methods for shallow voltage sags is not significant since the
Fig. 5. For case 1, the reactive power required from the DVR
design consideration on the voltage injection is solely depen-
for in-phase injection is 0.06 p.u. and this increases with the ad-
dent on the anticipated maximum sag. Under severe sag situa-
vance in . Again, there exists a minimum reactive power op-
tions, however, it will be shown that the injected voltage mag-
erating point at 0.3 p.u. at (306.53) when the
nitude under PAC is similar to that resulting from the in-phase
DVR absorbs reactive power from the ac source. Equations (4)
boosting technique. Therefore, the injection transformer and in-
and (8) show that the and are sinusoidal functions of
verter voltage ratings are similar for both techniques.
, , and . Hence, it is not surprising that the real and reactive
power curves are of the same shape but phase-shifted by 90 .
D. Illustrative Example Similar observation can also be reached for case 2 disturbance.
The results of the analysis shown before may now be illus- To illustrate the merits of the phase advance scheme, examine
trated with a simple example. Consider the typical system ar- Fig. 6. Fig. 6 shows the amount of the DVR injected power for
rangement as shown in Fig. 1 where the sensitive load is as- a balanced 0.8 power factor (lagging) load during a three-phase
sumed to have a power factor of 0.80 lag and the presag load balanced sag. Using the PAC technique, it can be seen that the
voltage and current are at 1 p.u. Fig. 4 shows the relationship DVR can control the load voltage without supplying any real
between the real power supplied by the DVR and the corre- power to the load for a balanced sag level of up to 0.2 p.u. It
sponding phase advance angle . The voltage sags considered is noted that this is in agreement with the observation made in
are 30% sag for single-phase (case 1) and three-phase (case 2). Section III-B. Even if the three-phase sag is deeper than 0.2 p.u.,
932
Fig. 6. Real power supplied by the DVR Vs three-phase voltage sag
magnitude.
Fig. 7. Real power supplied by the DVR Vs two-phase voltage sag magnitude.
Fig. 8. Real power supplied by the DVR Vs single phase voltage sag
magnitude.
the DVR needs to supply less power than that based on in-phase
boosting technique. As the sag level increases, however, the
amount of energy saving reduces correspondingly. Similar ob-
servation can also be seen from Figs. 7 and 8: the DVR can be
operated in the PAC mode without supplying real power to the
system for two-phase sag of up to 0.3 p.u. and for single phase
sag, of up to 0.6 p.u. It is evident from Fig. 8 that the energy
saving from the proposed method is significantly higher for the
case of single-phase sags compared to that of two-phase and
three-phase sags. This can be attributed to the fact that the ex-
tent at which the energy supply by the source, which has two
IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO. 3, JULY 2003
Fig. 9. DVR injected voltage magnitude for a three-phase balanced sag.
Fig. 10. DVR injected voltage magnitude for a single-phase sag.
healthy phases in case of single-phase sag, is higher than en-
ergy supply by the source under two-phase or three-phase sag
situations.
Figs. 9 and 10 show the respective voltage injection require-
ment for in-phase boosting and the PAC techniques under three-
phase and single-phase sags, respectively. Fig. 9 shows that a
significantly higher injection voltage is required for the PAC
technique at lower sags compared with the in-phase boosting
method. This difference between the voltage injection require-
ments of the two methods diminishes with the increase in sag
magnitude. The injection voltage increases much more steeply
with the sag depth over the range where no real power is in-
jected because the load voltage boost has to be supported by an
increase in the reactive power injected from the DVR. The real
power injection, once it comes into play, offsets somewhat the
reactive power support, and thus, the increase in the injection
voltage magnitude becomes less significant.
IV. DVR CONTROL
Having considered the energy aspect of the DVR design, at-
tention will now be directed toward the dynamic performance
of the restorer.
A. Multiloop Control System
With the rapid advances in microelectronics, real-time dig-
ital control of custom power devices using cost-effective dig-
ital-signal-processor (DSP)-based hardware system has become
a viable proposition. The DSP hardware architecture enables
VILATHGAMUWA et al.: VOLTAGE SAG COMPENSATION WITH ENERGY OPTIMIZED DYNAMIC VOLTAGE RESTORER
Fig. 11. Block diagram representation of the DVR system with the multiloop feedback controller.
most of its instructions to be executed in a single instruction
cycle and complex control algorithms to be processed at a faster
rate compared to single-chip microprocessors. In the light of this
development, a multiloop control structure for the DVR is now
proposed whereby the resulting load voltage is regulated to track
a sinusoidal reference. The design of such a control scheme is
necessary as it has been shown that the consequence of using
the existing DVR open-loop control can result in poor system
damping following a voltage sag [8].
The fidelity of the DVR output voltage depends on the
accuracy and dynamic behavior of the pulse width modulated
(PWM) voltage synthesis scheme and the control system
adopted. The general requirement of such control scheme is to
obtain an ac waveform with low total harmonic distortion and
good dynamic response characteristics against supply and load
disturbances. Usually, the control voltage of the DVR is derived
by comparing the supply voltage against a reference waveform.
Although system stability is guaranteed when adopting this
method, it has been shown that the stability margin can be
inadequate and the damping of the output voltage can be very
poor due to the presence of the switching harmonic filter [8].
Poor damping results in sustained voltage oscillations in the
distribution line which could have serious repercussions on sen-
sitive loads and equipment, such as the adjustable speed-drives.
The supply voltage oscillations result in current surge into the
dc-link capacitor which holds the rectified dc voltage supply
to the drives’ inverter. The excessive charging of the dc-link
capacitor may cause nuisance tripping. Another disadvantage of
using such an open-loop control scheme is that the steady-state
load voltage may not be compensated to the desired value
owing to voltage drop across the transformer series impedance
and the filter. This becomes particularly important if the load is
nonlinear as nonsinusoidal currents drawn by such a load can
distort the load voltage. It is therefore also essential to include
in the DVR control scheme the feature of being able to correct
the load voltage toward a desirable reference value.
Current mode control techniques are usually applied to power
electronic circuits wherein an inner current loop is employed
within an outer voltage loop in the closed-loop regulation of
power converters. It can be seen from Fig. 3 that the rate of
change of the DVR output voltage is proportional to the cur-
rent of the filter capacitor. If this current can be regulated ap-
933
propriately, the load voltage can also be controlled in the event
of load changes. This control feature, together with the outer
voltage feedback loop described earlier, can be readily incor-
porated into the DVR control scheme. This is shown in Fig. 11
where it is shown that the DVR load-side voltage is compared
with the load voltage reference value, the error is multiplied by
the voltage error feedback gain and the product is fed to the
second stage as a reference for the filter capacitor current .
This virtual capacitor current reference is then compared with
the actual capacitor current and the error is multiplied with the
current error gain to form the inner current feedback loop.
The output signal of this loop is subsequently fed to the PWM
generator of the inverter. As the inherent delay in the feedback
control system could result in excessive overshoot or under-
shoot in the injected voltage following a sudden change in , a
feed-forward control signal has also been added to the inverter
input voltage signal in order to provide instantaneous response
to the change in . The design criterion and the detailed anal-
ysis of the resulting control scheme are described in [8].
B. Determination of Supply Voltage Parameters
The reference waveform referred to earlier is generated by a
digital phase locked loop (PLL) in the following way. The PLL
tracks the supply voltage continuously but upon the initiation of
a sag, the tracking process is frozen and the PLL subsequently
uses a look-up table to generate the reference waveform. In this
way, the desired phase advancement in the injected voltage can
be realized. Parameters of the incoming voltages, which include
supply voltage amplitude and phase angle, need to be estimated
accurately in real-time so as to obtain the actual advance angle
for a particular disturbance. In this regard, an estimation method
based on Kalman Filtering technique has been implemented [8].
The authors are unaware of any previous application of Kalman
filtering for dynamic voltage restoration purposes.
V. EXPERIMENTAL VERIFICATIONS
A detailed experimental investigation of the DVR system was
carried out in the laboratory in order to verify the effectiveness
of the proposed design. The experimental set-up and the pa-
rameters selected for the study are based on an assumed 22-kV
distribution system delivering a load of 4 MVA, such as that
934
TABLE I
ACTUAL SYSTEM 22-kV AND 4-MVA ASSUMED, SCALED-MODEL VALUES ARE
DETERMINED BY MAINTAINING THE SAME BASE IMPEDANCE OF 121
Fig. 12. Hardware prototype configuration of the DVR.
shown in Fig. 1. The filter inductor and capacitor values have
been determined for this particular application by assuming that
switching harmonics above 5 kHz are attenuated by at least
40 dB.
Table I shows the parameters of the scaled-down DVR system
used in the laboratory tests. The hardware configuration of the
prototype DVR is shown in Fig. 12. A three-phase low voltage
programmable power source supplies the R-L load through a
bank of series injection transformers. The injection transformer
primary windings are connected to the PWM voltage source in-
verter via the LC low-pass filter. The voltage source inverter
consists of six insulated gate bipolar transistor (IGBT) switches
with antiparalleled diodes connected across each switch. The
dc-link of the inverter is fed by a separate power supply. The
IEEE TRANSACTIONS ON POWER DELIVERY, VOL. 18, NO. 3, JULY 2003
Fig. 13. Estimated supply voltage parameters from Kalman filtering
algorithm, (time: 20 ms/div). (a) Supply voltage. (b) Supply voltage reference
and phase advanced voltage. (c) Estimated voltage amplitude (faulty phase).
(d) Estimated advanced angle ().
Fig. 14. Load-voltage response for two-phase 40% sag for an inductive load
under multiloop control (in-phase mode), (time: 20 ms/div).
PWM switching signals for the voltage source inverter are gen-
erated by a commercially available DSP controller board [7].
The source and load voltages as well as the filter capacitor cur-
rents are measured by transducers and are fed to the A/D con-
verters in the DSP card for real-time control. The sampling fre-
quency of the control system is set at 10 kHz.
Typical experimental results on supply voltage estimation are
discussed first. In this experiment, a 40% single-phase sag is
generated (nominal voltage is 100 V). Using the Kalman fil-
tering algorithm, the amplitude of the voltage is calculated in
real-time. After extracting the amplitude and phase angle the
required phase advance angle for the PAC is calculated using
(13). The results of the estimation of supply parameters are
shown in Fig. 13. It can be seen that in less than half-cycle, the
algorithm is able to detect the actual supply voltage parameters
and produce the optimal . Fig. 13 also shows the reference
voltage waveforms generated by the PLL which can be used in
conjunction with in-phase injection or PAC techniques. In the
second plot, the reference phase voltage is advanced gradually
at the beginning of the sag once has been determined while
it is gradually retarded to the normal value once the sag ceases.
Various types of sags are experimented under the proposed mul-
tiloop control. Figs. 14 and 15 show the load voltage response
VILATHGAMUWA et al.: VOLTAGE SAG COMPENSATION WITH ENERGY OPTIMIZED DYNAMIC VOLTAGE RESTORER
Fig. 15. Load-voltage response for single-phase 40% sag for an inductive load
under multiloop control (in-phase mode), (time: 20 ms/div).
Fig. 16. Load-voltage response for two-phase 40% sag for an inductive load
under multiloop control (PAC mode), (time: 20 ms/div).
Fig. 17. Load-voltage response for single-phase 40% sag for an inductive load
under multiloop control (PAC mode), (time: 20 ms/div).
under L-L and single-phase sags when in-phase control method
was implemented. Figs. 16 and 17 show the corresponding re-
sults under PAC scheme. Fig. 18 shows the waveform of the
load voltage for a single-phase sag under open-loop control with
in-phase boosting. It is noted that, in general, the degree of
damping has increased significantly with the multiloop control
scheme compared to that under the open-loop scheme.
Fig. 19 shows the real power injected by the DVR under PAC
and in-phase control mode for a three-phase 40% sag without
935
Fig. 18. Load-voltage response for single-phase 40% sag for an inductive load
under open-loop control (in-phase mode), (time: 20 ms/div).
Fig. 19. Real power supplied by the DVR under (a) PAC and (b) in-phase
modes of operation (time: 20 ms/div).
phase deviation. It shows that under in-phase control mode, the
power injection is around 72 W while for the PAC mode it is
about 52 W, for a load of 247 VA, 0.77 lagging power factor. The
corresponding values based on the results of Section III-B are 76
W and 42 W, respectively. This discrepancy may be attributed to
measurement errors and possible deviations in load impedance
and filter reactances. Nevertheless, this shows the PAC mode
is attractive over in-phase control mode with regards to energy
saving.
VI. CONCLUSIONS
A new phase advanced multiloop control scheme has been
proposed for the dynamic voltage restorer. A Kalman filter is
used to determine the supply voltage parameters such that the
control scheme can be realized in real time. Through analysis,
simulation, and experimental measurements, it is shown that
the proposed scheme is superior compared to the conventional
in-phase injection technique in terms of energy saving and dy-
namic performance. Such characteristics are highly desirable as
the design is seen to result in a more economical restorer which
can improve the ride-through capability of sensitive loads and
industrial processes.
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[7] “dSPACE DS1103 DSP Controller Board, dSPACE GmbH,”, Paderborn,
Germany.
[8] A. A. D. R. Perera, “Development of Controllers for the Dynamic
Voltage Restorer,” M.Eng., Nanyang Tech. Univ., Singapore, 2000.
A. A. D. Ranjith Perera received the B.Sc. degree in electrical engineering
from the University of Moratuwa, Sri Lanka, in 1993, and the M.Eng. degree
from Nanyang Technological University, Singapore, in 2000.
Currently, he is an Application Engineer with SP Systems Pte. Ltd., Singa-
pore. He was also an Electrical Engineer and Project Manager with Lanka Trans-
formers Ltd., Sri Lanka. His research interest is in power electronics and control.
S. S. Choi received the B.E. and Ph.D. degrees from the University of Canter-
bury, New Zealand, in 1973 and 1976, respectively.
Currently, he is a Professor in the School of Electrical and Electronic Engi-
neering at Nanyang Technological University, Singapore. He was also with the
New Zealand Electricity Department at the National University of Singapore,
and the State Energy Commission of Western Australia, Perth. His research in-
terests include power system analysis, control, FACTS, and power quality.

D. Mahinda Vilathgamuwa (SM’99) received the B.Sc. degree in electrical

engineering from the University of Moratuwa, Sri Lanka, in 1985, and the Ph.D.
degree from Cambridge University, Cambridge, U.K., in 1993.
Currently, he is an Associate Professor in the School of Electrical and
Electronic Engineering, Nanyang Technological University, Singapore. His
research interests include power electronic converters, electrical drives, and
power quality.