International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

A NOVEL CONTROL METHOD FOR

TRANSFORMERLESS H BRIDGE
CASCADED STATCOM WITH
EXCELLENT DYNAMIC
PERFORMANCE
Liza.V1, S.Nirosha Devi2, S.Usha Rani3
123

Student, Dept of EEE ,FRANCIS XAVIER ENGINEERING COLLEGE, Tamilnadu, India

ABSTRACT:This work proposes a novel technique in transformerless STATCOM design based on the HBridge converter star topology. The proposed method jointly implementing current control loops and also
the DC voltage control loops. The current control loops and also the DC voltage control loops are
designed based on the four parts like passivity based control, overall voltage control, Clustered balancing
control,. Individual balancing control. The current loop control, a non linear controller based on the
passivity based control theory is used in this cascaded structure STATCOM for the first time. The dc
capacitor voltage control ,overall voltage control is realized by adopting proportional resonant (PR)
controller. Clustered balancing control is obtained by using active disturbances rejection controller
(ADRC). Individual balancing control is achieved by shifting the modulation wave vertically which can be
easily implemented in FPGA .The proposed system is providing good dynamic performance while
compared with the conventional STATCOM topology because of its robust procedure.
KEYWORDS :PR-Proportional Resonant, ADRC-Active Disturbances Rejection Controller

I.

INTRODUCTION

regulation, etc. of large fluctuating loads. Voltage

support consists of reduction of voltage fluctuation

Power Generation and Transmission is a

complex process, requiring the working of many
components of the power system in tandem to
maximize the output. One of the main components
to form a major part is the reactive power in the
system. It is required to maintain the voltage to
deliver the active power through the lines. Loads
like motor loads and other loads require reactive
power for their operation. To improve the
performance of ac power systems, we need to
manage this reactive power in an efficient way and
this is known as reactive power compensation.
There are two aspects to the problem of reactive
power compensation: load compensation and
voltage support. Load compensation consists of

at a given terminal of the transmission line. Two

types of compensation can be used: series and
shunt compensation. These modify the parameters
of the system to give enhanced VAR compensation.
In recent years, static VAR compensators like the
STATCOM have been developed. These quite
satisfactorily do the job of absorbing or generating
reactive power with a faster time response and
come under Flexible AC Transmission Systems
(FACTS). This allows an increase in transfer of
apparent power through a transmission line, and
much better stability by the adjustment of
parameters that govern the power system i.e.
current, voltage, phase angle, frequency and
impedance.

improvement in power factor, balancing of real

power drawn from the supply, better voltage
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International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

As power demand increases in many parts

of the world , power transmission

needs to be

developed, as well. The FACTS devices are used in

power system to enhance the system utilization,
power transfer capacity and power quality for ac
system interconnections, STATCOM is utilized at
the point of common connection to absorb or inject
the required reactive power, through which the
voltage quality of PCC is improved. Now a days
many topologies are used in the STATCOM. One
of the topology is H-bridge cascaded STATCOM
has been widely used in high power applications.
The H bridge STATCOM leads to following
applications like high efficiency, quick response

Fig 1: Control block diagram for the 10 KV 2

MVA H-bridge cascaded STATCOM

speed, small volume, minimal interaction with the

supply grid and individual phase control ability.

.
B. PWM GENERATOR
The PWM Generator block generates

II. PROPOSED SYSTEM

A.BLOCK DIAGRAM

pulses for carrier-based pulse width modulation

(PWM) converters using two-level topology. The
block can be used to fire the forced-commutated

The below block diagram shows the

devices (FETs, GTOs, or IGBTs) of single-phase,

control algorithm for H bridge cascaded

two-phase, three-phase, two-level bridges or a

STATCOM . The whole control algorithm mainly

combination of two three-phase bridges.The pulses

consist of parts , namely ,passivity based control,

are generated by comparing a triangular carrier

overall voltage control, clustered balancing control.

waveform to a reference modulating signal. The

The three parts are achieved in DSP. The current

modulating signals can be generated by the PWM

loop control, a non linear controller based on the

generator itself, or they can be a vector of external

passivity based control theory is used in this

signals connected at the input of the block. One

cascaded structure STATCOM for the first time.

reference signal is needed to generate the pulses for

The dc capacitor voltage control ,overall voltage

a single- or a two-arm bridge, and three reference

control is realized

signals are needed to generate the pulses for a

by adopting proportional

resonant (PR) controller. Clustered balancing

control is obtained by using active disturbances
rejection controller (ADRC).

three-phase, single or double bridge.

The amplitude (modulation), phase, and
frequency of the reference signals are set to control
the output voltage (on the AC terminals) of the
bridge connected to the PWM Generator block.
Pulse width modulation (PWM) is a method of
changing the duration of a pulse with respect to the
analog input. The duty cycle of a square wave is

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International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

modulated to encode a specific analog signal level.

words, how differently a system behaves with

This pulse width modulation tutorial gives you the

respect to a desired performance

basic principle of generation of a PWM signal. The

Passivity based control is a methodology which

PWM signal is digital because at any given instant

consists in controlling a system with the aim at

of time, the full DC supply is either ON or OFF

making the closed loop system, passive. A section

completely.PWM method is commonly used for

is also devoted to a wide class of physical

speed controlling of fans, motors, lights, pulse

passive systems: the Euler-Lagrange (EL) systems

width modulation controller etc. These signals may

and their passivity-based control.

also be used in varying intensities for approximate

time-varying of analogue signals. Below you can
see the pulse width modulation generator circuit
diagram (pulse width modulator) using op amp.
PWM

is

employed

in

wide

variety of

applications, ranging from measurement and

communications to power control and conversion.
Figure 2: Block diagram of PBC
C. PASSIVITY BASED CONTROL
To better understand the passivity concept
and passivity-based control (PBC), we need to
leave behind the notion of state of a system and
think of the latter as a device which interacts with
its environment by transforming inputs into
outputs. From an energetic viewpoint we can define
a passive system as a system which cannot store

Consider the above figure the following set of

voltage and current equations can be derived:

(3.1)
(3.2)
(3.3)

Where R is the equivalent series resistance

more energy than is supplied by some source,

with the difference between stored energy and

of the inductor.

supplied energy, being the dissipated energy.

Applying the d-q transformations ,the equations in

Passivity is a fundamental property of

d-q axix are obtained

many physical systems which may be roughly

defined in terms of energy dissipation and
transformation. It is an inherent Input-Output
property in the sense that it quantifies and qualifies

= + + (3.4)

= +
(3.5)

the energy balance of a system when stimulated by

external inputs to generate some output. Passivity

Where ud and uq are d-axis and q axis

is therefore related to the property of stability in an

components corresponding to the three-phase

input-output sense, that is, we say that the system is

STATCOM cluster voltages, ua,ub and uc. Usd

stable if bounded input energy supplied to the

and usq are those corresponding to the three- phase

system, yields bounded output energy. This is in

grid voltages usa,usb and usc. Whenthe grid

contrast to Lyapunov stability which concerns the

voltages are sinusoidal and balanced , usq is always

internal stability of a system, that is, how far the

zero because usa is aligned with d-axis.

state of a system is from a desired value. In other

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International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

To apply PBC method the above equation

frequency and very small at the other frequency.

is transformed in to the form of EL, system model

Consequently, the system can achieve the zero

in this paper. EL system model is one of the

steady state error at the fundamental frequency. By

important part of the non linear PBC theory and an

setting the

effective modelling technology. It defines the

Cut off frequency and the resonant frequency of PR

energy equation by setting the general variable and

controller appropriately, it can reduce the part of

harness the known theorem that can be used to

ripple voltage in total error, decrease the reference

analyses the dynamic performance to deduce the

current distortion which is caused by ripple voltage

dynamic equations.

and improve the quality of STATCOM output

current. Moreover, the dynamic performance and

D. OVERALL VOLTAGE CONTROL

the dynamic response speed of the system also can

As the first level control of the dc

be improved. In particular, during the start up

capacitor voltage balancing, the aim of the overall

process of STATCOM, the much larger dc voltage

voltage control is to keep the dc mean voltage of all

overshoot can be restrained effectively.

converter cells equalling to the dc capacitor

PR controller is composed of a

reference voltage. The common approach is to

proportional regulator and resonant regulator. Its

adopt the conventional PI controller which is

transfer function can be expressed as

simple to implement. However, the output voltage

and current of H-bridge cascaded STATCOM are
the power frequency sinusoidal variables and the
output power is the double power frequency
sinusoidal variable, it will make the dc capacitor
also has the double power frequency ripple voltage.
So the reference current which is obtained in the
process of the overall voltage control is not a
standard dc variable and it also has the double
power frequency alternating component and it will
reduce the quality of STATCOM output current.

Gpr s = k p +

2k r c s
s 2 +2c s+0 2

----------- (3.7)

where kp is the proportional gain coefficient. kr is

the integral gain coefficient. wc is the cutoff
frequency. Wo is the resonant frequency. Kr
influences the gain of the controller but the
bandwidth. With kr increasing, the amplitude at the
resonant frequency is also increased and it plays a
role in the elimination of the steady state error. wc
influences the gain of the controller and the
bandwidth. With wc increasing, the gain and the
bandwidth of the controller are both increased. This
paper selects kp=0.05, kr=10,wc=3.14 rad/s and
wo=100pie as the controller parameters.
E. CLUSTERED BALANCING CONTROL

The purpose of the clustered balancing

control is to keep the dc mean voltage of three
Figure 3: Block diagram of overall
voltage control.

cascaded converter cells in each cluster equal to the

dc mean voltage of the three clusters. The clustered
balancing control as the second level control of the

To resolve the problem, this paper adopts

PR controller for the overall voltage control. The
gain of PR controller is infinite at the fundamental

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dc capacitor voltage balancing , the purpose is to

keep the dc mean voltage of 12 cascaded converter
cells in each cluster equalling the dc mean voltage

International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

of the three clusters. ADRC is adopted to achieve

it.

Fig 5: Block Diagram of Individual Balancing

Figure 4: Block diagram of clustered

Control

balancing control.
The

block

diagram

of

the

clustered balancing control with the simplified

ADRC. When ADRC receives the reference
voltage udc* and the real-time detected value of the
dc mean voltage ukdc ( k = a,b,c ) of 12 cascaded
converter cells in each cluster, it will trace the
reference voltage rapidly with TD and obtain the
tracking signal v1 by filtering. Then, by subtracting
the tracking signal v1 from the state estimation
signal of the dc capacitor voltage z1 , the control
deviation command 1
calculated. 1

the system voltage is

is used as the input signal of

NLSEF. Finally, the active adjustment control

current ik ( k = a,b, c ) of the clusteredbalancing

Figure shows the block diagram of the

individual balancing dc-capacitor voltage control. It
forms an active power between the ac voltage of
each bridge cell and the corresponding cluster
current.
G. CIRCUIT DIAGRAM
Figure shows the circuit configuration of
the 10 kV 2 MVA star-configured STATCOM
cascading 12 H-bridge PWM converters in each
phase and it can be expanded easily according to
the requirement. By controlling the current of
STATCOM directly, it can absorb or provide the
required reactive current to achieve the purpose of
dynamic reactive current compensation.

control is achieved by subtracting the disturbance

estimate signals which obtained in ESO from the
output result of NLSEF.

F. INDIVIDUAL BALANCING CONTROL

The individual control becomes necessary

because of the different cells have different losses.
The aim of the individual balancing control as the
third level control is to keep each of 12 dc voltages
in the same cluster equalling to the dc mean voltage
of the corresponding cluster. It plays an important
role in balancing 12 dc mean capacitor voltages in
each cluster

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International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

Figure

6:

Circuit

diagram

of

the

experimental system.

oscilloscope. In dc capacitor voltage balancing

control experiment, the value of dc capacitor
voltages are transferred into DSP by signal

The power switching devices working in ideal

acquisition system and they can be recorded and

condition is assumed. usa , usb and usc are the

observed by CCS software in computer. Finally,

three-phase voltage of grid. a u , b u and c u are the

with the exported experimental data from CCS,

three-phase voltage of STATCOM. isa ,isb and isc

experimental waveform is plotted by using

are the three-phase current of grid. ia , ib and ic are

MATLAB.

the three-phase current of STATCOM. ila , ilb and

ilc are the three-phase current of load. Udc is the

With the proposed control method, the

reference voltage of dc capacitor. C is the dc

reactive current is compensated effectively. The

capacitor. L is the inductor. Rs is the

error of the compensation is very small. The

residual current of the grid is also quite small. The

H. SIMULATION OF PROPOSED SYSTEM

phase of the compensating current is basically the

The proposed method describes most

same as the phase of the reactive current. The

widely used linear control schemes are PI

waveforms of the compensating current and the

controllers. In to regulate reactive power, only a

reactive current are smooth and they have the small

simple PI controller is carried out. In through a

distortion and the great sinusoidal shape. When

decoupled control strategy, the PI controller is

STATCOM is running in over load state (about 1.4

employed in a synchronous dq frame. Thus, a

times current rating), due to the selected IGBT has

number of intelligent methods have been proposed

been

to adapt the PI controller gains such as particle

STATCOM still can run continuously

swarm optimization neural networks and artificial

and

immunity. A dc injection elimination method called

STATCOM is improved greatly and the operating

IDCF is proposed to build an extra feedback loop

reliability of STATCOM in practical industrial

for the dc component of the output current.

field is enhanced effectively.

reserved

steadily.

the

The

enough

over

load

safety

margin,

capability

of

To verify the correctness and effectiveness

of the proposed methods, the experimental platform
is built according to the second part of this paper.
Two H-bridge cascaded STATCOMs are running
simultaneously. One generates the set reactive
current and the other generates the compensating
current that prevents the reactive current from
flowing into the grid. The experiment is divided
into two parts: the current loop control experiment
and the dc capacitor voltage balancing control
experiment. In current loop control experiment, the
measured experimental waveform is the current of
a-phase cluster and it is recorded by the

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International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

source_power_factor

PF Source PI

Vpcc

Vpcc

VDC

From15

V DC

voltage(v)

1.5

Vdc

Vpcc*

Vdc

0.5

Real P From Gen

Vdc*

Statcom V & I3

out

Vpccc

Reactive Q drawn from Gen

Ipccc

Q from Gen

Vabc

Vabc

Vabc*

Q Demand at Load

Vinv

Vinv*

Reactive Q Demand

Ipcc

Ipcc*

Real P Demand

PF at load

Vinvv

Iabc

Iabc*

Q from StTATCOM

I_inv

Iinv

Iinv*

Subsystem3

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

0.45

0.5

Genaration

PF at Source

P from STATCOM

Iabc

0.05

Fig 8: Result for Real Power from

Iabcc

P Demand at Load
PF at Source

Ipcc

Vabcc

P from Gen

V_inv

Iinvv
P STATCOM

VDCC

Q STATCOM

The figure shows the simulation result

PFat Load

Statcom V & I2

filter concept

for power from generation

A

Aa

Aa

Bb

Bb

Cc

0.6

Cc

0.5
voltage(v)

source_power_factor
0.7

0.4
0.3

0.2
0.1
0

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

Vpcc
A
B
C

Vdc

VPcc

From14

From18
Vdc1

Fig 9:Result for Reactive Power from

V DC in

Subsystem

From19
Vdc2

Generation

A
B
C

From20
VDC
ReactivePI

This figure shous the simulation

I_mul

Goto1

Reference2

Aa
Bb
Cc

result for reactive power from

Subsystem1
V_mul

generation.

Conn4
In1
Conn5
ANGLE
Conn6

Reference1
source_power_factor
0

RealPI

-0.2

voltage(v)

-0.4

Figure 7: Simulation model of proposed system.

-0.6
-0.8
-1
-1.2
-1.4
-1.6

I.SIMULATION RESULT

This chapter will investigate the results

of the proposed model. Simulated
results of the project are shown and
discussed.
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0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

Fig 10: Result for Real Power

from STATCOM
This above figure shows the
simulation result for Real Power
from STATCOM

International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016
source_power_factor

Fig 13 : Result for Reactive Power

Demand at Load

0
-0.05

voltage(v)

-0.1
-0.15
-0.2
-0.25
-0.3
-0.35
-0.4

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

This above figure shows the

simulation result for reactive power
demand at load.
source_power_factor
1

Fig 11: Result for Reactive

Power from STATCOM
This above figure shows the simulation
result for reactive power from
STATCOM

v oltage(v )

0.5

-0.5

source_power_factor

-1

0.25

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

Fig 14 Result for Source Votage

0.2

power(w)

0.15

This above figure shows the

simulation result for source voltage.

0.1

0.05

source_power_factor
0

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

1.5

0.5

Fig 12 : Result for Real Power

Demand at Load
The above figure shows the
simulation result for real power
demand at load.

current(amp)

1
0.5
0
-0.5
-1
-1.5
source_power_factor

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

Fig 15: Result for source current

0.25

power(w)

0.2

This above figure shows

the simulation result for source
current.

0.15

0.1

0.05

0.05

0.1

0.15

0.2

0.25
time(sec)

0.3

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0.35

0.4

0.45

0.5

International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016
source_power_factor

source_power_factor
1.5

current(amp)

voltage(v)

0.5

0.5
0
-0.5

-0.5

-1
-1.5

-1

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.5

Fig 16 : Result for Load Voltage

0.3

0.35

0.4

0.45

0.5

Fig 19: Result for

Inverter current

This above figure shows

the simulation result for load
voltage.

This above figure shows the simulation

result for inverter current.
source_power_factor
1000

source_power_factor
0.3

800

voltage(v)

0.2

current(amp)

0.1

600

400

0
200

-0.1
0

-0.2

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

Fig 20: Result for DC Voltage

-0.3
-0.4

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

This above figure shows the simulation

result for DC Voltage

Fig 17: Result for Load Current

This above figure shows
the simulation result for load
current.

1500
1000

voltage(v)

500

source_power_factor
1

0
-500
-1000

voltage(v)

0.5

-1500
0.475

0.48

0.485

0.49

0.495

0.5

Time(sec)

Fig 21: Result for H Bridge

Cascaded Input Voltage

-0.5

-1

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

The above figure shows the

Fig 18: Result for Inverter Voltage

simulation result for H Bridge

This above figure shows the

simulation result for Inverter
Voltage.

Cascaded input voltage.

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International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016
source_power_factor

CONCLUSION

0.7075

power(w)

0.7074

This paper has addressed a

0.7073

transformerless

STATCOM

model

0.7072

based on multi level H bridge converter

0.7071

0.707

with star topology. This paper has

0

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

analyzed

Fig 22: Result for Load Power

Factor

fundamentals

of

STATCOM based on multilevel Hbridge

This figure shows the

simulation result for load power factor.

the

converter

with

star

configuration. And then, the actual Hbridge cascaded STATCOM rated at 10

kV 2 MVA is constructed and the novel
control methods are also proposed in

source_power_factor
0.958
0.956

detail. The proposed methods has the

power(w)

0.954
0.952

following

0.95

characteristics:

PBC

0.948

theory based nonlinear controller is

0.946
0.944
0.942

0.05

0.1

0.15

0.2

0.25
Time(sec)

0.3

0.35

0.4

0.45

0.5

Fig 23: Result for Source Power

Factor

first used in STATCOM with this

cascaded structure for the current loop
control, and the viability is verified by

This above figure shows the

simulation result for source power
factor.

the experimental results. The PR

controller is designed for overall
voltage controland the experimental
result

proves

that

it

has

better

performance in terms of response time

and damping profile compared with the
PI controller. The ADRC is first used
in H-bridge cascaded STATCOM for
clustered balancing control

Fig 24: Resut for Total Harmonic

Distortion

and the experimental results verify that

it

can

realize

compensation

excellent
for

the

dynamic
outside

disturbance.
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10

International Journal of Research in Advanced Technology - IJORAT

Vol. 2, Issue 3, MARCH 2016

ACKNOWLEDGMENT

First of all we would like to thank the

almighty for giving me sound health

3. S.

Kouro,

M.

Gopakumar,

L.

Malinowski,
G.

Franquelo,

K.
J.

throughout my paper work. This research

J.Rodriguez, B. Wu, M. A. Perez and J.

was supported/partially supported by our

I.

college. We thank our staffs from our

industrialapplications

department who provided insight and

converters, IEEE Trans. Ind Electron.

expertise that greatly assisted the research,

, vol. 57, no. 8, pp. 25532580, Aug.

although they may not agree with all of the

2010.

Leon,

Recent

advances
of

and

multilevel

interpretations/conclusions of this paper

4. C. H. Liu and Y. Y. Hsu, Design of a

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