Aamir 2016
Aamir 2016
art ic l e i nf o a b s t r a c t
Article history: Uninterruptible Power Supplies (UPS) have reached a mature level by providing clean and unin-
Received 2 August 2014 terruptible power to the sensitive loads in all grid conditions. Generally UPS system provides regulated
Received in revised form sinusoidal output voltage, with low total harmonics distortion (THD), and high input power factor
7 September 2015
irrespective of the changes in the grid voltage. This paper provides comprehensive review of UPS
Accepted 18 December 2015
topologies, circuit congurations, and different control techniques used in the UPS system. A comparison
based on the performance, size, cost, and efciency of the system is presented. Different hybrid energy
Keywords: source UPS system and new generation UPS system for smart grid and micro-grid has been explained.
Uninterruptible Power Supply (UPS) Finally the paper describes performance evaluation of UPS system and explains different aspects that are
Energy Storage
to be considered for choosing a suitable UPS system by the user.
Control Methods
& 2016 Elsevier Ltd. All rights reserved.
Topologies
Contents
1. Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1396
2. Classication of UPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1396
2.1. Ofine UPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1396
2.2. Line Interactive UPS system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397
2.3. Online UPS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397
2.4. Power problems and UPS solutions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397
3. Topology-Based Classication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397
3.1. Conventional Transformer based UPS system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1397
3.1.1. Single stage UPS system with trapezoidal AC supply [16] . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1398
3.1.2. Three leg type converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1398
3.2. High Frequency Transformer Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1398
3.2.1. A UPS with 110-V/220-V Input Voltage and High-frequency Transformer Isolation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1398
3.2.2. UPS System with BIFRED Converter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1398
3.2.3. Two stage UPS with high power factor correction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399
3.3. Transformer-less UPS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399
3.3.1. Four Leg Type Transformer-Less UPS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399
3.3.2. Non-isolated UPS topology with 110/220 V inputoutput voltage. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399
3.3.3. Z-Source Inverter Based UPS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399
3.3.4. Ofine Transformer-less UPS System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1399
3.4. Comparison of transformer based and Transformer Less UPS system [3842]. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1400
4. Control Techniques . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1400
4.1. Single Loop Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1400
4.2. Multi-loop System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1401
4.2.1. Predictive Control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1401
4.2.2. Repetitive control scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1401
4.2.3. Iterative Learning Scheme . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1402
n
Corresponding author. Tel.: 60 379676851.
E-mail address: saad@um.edu.my (S. Mekhilef).
http://dx.doi.org/10.1016/j.rser.2015.12.335
1364-0321/& 2016 Elsevier Ltd. All rights reserved.
1396 M. Aamir et al. / Renewable and Sustainable Energy Reviews 58 (2016) 13951410
inverter. The switching time of the static switch is normally less load irrespective of the harmonics and variations in the grid vol-
than 10ms, which does not affect the normal computer load. The tage. The advantages of the online UPS include isolation of the load
advantages of the ofine UPS are low cost, simple design, and from the main line and almost negligible switching time. The
smaller size of the system. But the lack of real isolation from the major drawbacks of the online UPS are low efciency, low power
load and the lack of voltage regulation are the main drawbacks of factor, and high total harmonic distortion (THD). All the com-
the ofine UPS system. Also the performance of this system during mercial units of 5 KVA and above are commonly online UPS
non-linear load is also very poor. Ofine UPS are suitable for system.
smaller loads with rating of about 600 VA.
2.4. Power problems and UPS solutions
2.2. Line Interactive UPS system
The power supplied by the grid is not always very clean and
Line Interactive UPS consists of a static switch, bidirectional continuous. There may be some major faults in the system which
converter/inverter, and a battery bank as shown in Fig. 2. The leads to long interruptions and complete black out of the grid.
bidirectional converter/inverter connects the battery bank to the Besides voltage swells and dropouts, voltage sag, harmonic dis-
load. During normal mode of operation, the main AC line supplies tortion, etc. are other faults which are commonly encountered in
the power to the load and the bidirectional converter/inverter the grid. Different UPS system provides protection against the
charges the battery. During the grid failure, the static switch dis-
specic faults as shown in the Table 1.
connects the load from the main supply and the bidirectional
converter/inverter supplies the power to the load. The line inter-
active UPS has the advantages of low cost, small size, and high
3. Topology-Based Classication
efciency. The only limitation is that it does not provide any vol-
tage regulation during normal mode of operation. Generally the
UPS system can be classied on the basis of the topologies and
Line interactive UPS system is rated between 0.5 kVA and 5 kVA,
circuit conguration. The UPS system may be transformer-based,
and the efciency of the system is normally greater than 97%,
provided the main AC line is clean from any transients and spikes. transformer-less, or high frequency transformer based. These UPS
system are developed in the variety of congurations in order to
2.3. Online UPS System full the exact requirement of the application.
Online UPS consist of a rectier, an inverter, and a static switch 3.1. Conventional Transformer based UPS system
as shown in the Fig. 3. During normal mode of operation, the
rectier charges the batteries as well as maintains the constant DC Fig. 4 shows the circuit diagram of conventional UPS system
link voltage. While the inverter converts the DC link voltage to the [13,14]. It consists of a rectier, an inverter, line frequency trans-
required AC in order to feed the load. During power failure, the formers, and a bypass circuit. The rectier converts the AC line
Magnetic Contactor (MC) disconnects the AC line, but the inverter voltage into DC link voltage in order to charge the battery bank
keeps supplying power to the load from the battery bank without and maintain a constant DC link voltage. The inverter converts the
any interruption. Thus the inverter keeps on operation in both the DC link voltage into the AC line voltage and provides the regulated
modes. The inverter supplies clean, and conditioned power to the sinusoidal voltage to the connected load. Two power frequency
transformers are employed, one at the input side to step down the
line voltage into low voltage of battery bank and the other at the
output to step up the battery bank voltage as well as the operation
Table 1
Grid Disturbance and UPS Classication.
Fig. 3. Block Diagram of Online UPS system. Fig. 4. Conventional UPS System.
1398 M. Aamir et al. / Renewable and Sustainable Energy Reviews 58 (2016) 13951410
of bypass switch [15]. Such system has an advantage of providing system. Also the batteries connected to the DC bus are high in
galvanic isolation from the transients and spikes generated inside number; charging and discharging at the same time. Thus con-
the line grid. Also they are more robust in operation and can be tinuous overcharging may reduce the battery life.
designed for high power applications. But since both the trans-
formers are operated at line frequency, so the size and weight of 3.2. High Frequency Transformer Isolation
the system is enormously increased and so is the cost of the sys-
tem. Also most of the switches are connected to the low voltage With the development in the semiconductor industry, fast
battery bank. So high current is owing through these switches; switches and diodes are now available in the market with nearly
causing extra current stress in these switches. Hence the efciency ideal characteristics. Now the transformer can be used at high
of such systems is very low. frequency with the advantages of reduced volume, inherent
property of galvanic isolation, and improved efciency of the
3.1.1. Single stage UPS system with trapezoidal AC supply [16] system. Several UPS topologies with high frequency transformer
Fig. 5 shows a single stage UPS system which generates a tra- have been introduced in [2027]. Such UPS system has smaller size
pezoidal shape output voltage is specically design for the optical and weight as compare to the conventional UPS systems. But since
ber/coax cable hybrid networks. The circuit design of this UPS is high number of active switches is employed in such systems to
almost similar to the conventional UPS system with the only dif- operate the transformer at high frequency, it reduces the overall
ference of not using the power factor correction (PFC) circuit and efciency and increase the cost of the system.
smaller DC link capacitor used in the circuit. The trapezoidal
shaped output voltage is synchronized with the input AC supply; 3.2.1. A UPS with 110-V/220-V Input Voltage and High-frequency
hence smaller DC link capacitor is used to remove the current Transformer Isolation
harmonics generated by the inverter. Since the line frequency Fig. 7 shows a exible UPS topology which can operate over a
transformer used in the system are more costly, and have high size wide range of input voltage [20]. During normal mode of opera-
and weight. Also the power factor of the system is considerable tion, the chopper converts the grid voltage into DC and delivers
low because of the absence of the power factor correction circuit, high frequency pulses to the primary of the high frequency
thus this UPS system is not suitable for high power applications. transformer. The transformer steps down the rectied voltage in
order to charge the batteries. During the power failure mode, the
3.1.2. Three leg type converter battery bank voltage is stepped up using boost converter and is
UPS systems using three leg type converter also gain much applied to the inverter which can supply regulated output voltage.
popularity due to reduced number of active switches [1719]. Fig.6 Although this topology has the advantages of small size and
shows the circuit diagram of the UPS system proposed in [17]. In weight because of the high frequency transformer and can also
three leg type converter, the rst leg and the common leg act as provide galvanic isolation. But high number of active switches and
rectier which also charges the battery bank. The third leg and the extra power processing stage decrease the efciency of the system
common leg act as an inverter. The switches of the common leg and add complexity to the circuit.
are controlled at the line frequency. By using this common leg, the
number of switches is reduced, which increases the overall ef- 3.2.2. UPS System with BIFRED Converter
ciency of the system. Two leakage frequency transformers are used An improved UPS system using High frequency transformer is
both at the input and output of the converter to reduce the cost of proposed in [21] as shown in the Fig. 8. In this topology, boost
the system. Though the number of switches are reduces but two integrated yback rectier/energy storage DCDC converter
low frequency transformer increase the size and weight of the (BIFRED) has been used, which maintains the constant DC link
voltage in order to feed it to the inverter and conventional
Fig. 6. Three Leg type converter proposed in [14]. Fig. 8. UPS system with BIFRED Converter.
M. Aamir et al. / Renewable and Sustainable Energy Reviews 58 (2016) 13951410 1399
bidirectional converter is used to charge and discharge the battery. The common leg is switched at a line frequency while the rectier,
The circuit provides excellent power factor correction, and with the battery charger/discharger, and the inverter are switched at
high frequency transformer the size of the system is reduced their respective PWM signals. Since a bidirectional converter has
considerable. But the battery bank voltage of the circuit will be been used, that charges the battery during normal mode and
increased signicantly if the system is design for 220 V grid discharges the battery during the power failure mode. So the
voltage. system has been operated without transformer, and the battery
bank is reduced to 192 V.
3.2.3. Two stage UPS with high power factor correction
A two stage UPS as shown in the Fig. 9 is proposed in [23]. The 3.3.2. Non-isolated UPS topology with 110/220 V inputoutput
rst stage consists of an integrated battery charger which utilizes voltage
the yback converter for charging the batteries, maintaining high Another non-isolated online topology is proposed in [31] as
power factor, and providing high frequency isolation. The second shown in the Fig.11. This UPS system can be operated at two dif-
stage consists of boost inverter which supplies the regulated ferent voltage levels and can also provide two output of 110 V.The
output voltage. Since the yback converter may operate in dis- proposed UPS topology consist of a battery charger, three level
continuous conduction mode, so the proposed topology is not boost rectier, and a double half bridge inverter. The double half
suitable for high power applications. bridge inverter generates two independent 110 V AC output vol-
tages. An autotransformer is used at the input of the system to
3.3. Transformer-less UPS System enable the operation at 110 V. The DC link voltage in this topology
is about 450 V and nine batteries connected in series form the
Nowadays with the development of advanced microcontrollers, battery bank, which is still very high.
and advancement in the power electronics, transformer-less UPS
are getting popularity in the market. These UPS are less costly, 3.3.3. Z-Source Inverter Based UPS System
highly efcient, and most importantly smaller in size than the Another transformer-less UPS topology has been proposed in
transformer-based UPS. But the transformer-less UPS still has also [3236] which utilizes a Z-source inverter. No dedicated boost
some major limitation which needs to be addressed. This type of converter has been used to step up the battery bank voltage as the
UPS is more likely to be effected by the transients and spikes Z source inverter combines the two stages of power conversions
caused by miscellaneous devices connected to the main utility grid (DCDC Step up converter and DCAC inverter) into a single power
[28]. The battery bank in transformer-less UPS is very high to conversion stage. Also a dual loop control scheme has been used to
achieve high DC link voltage, which increases the battery cost and increase the transient response time of the system. No dead time
lower the reliability of the system [29,30]. in the PWM signal is required to prevent the switches of the same
leg turning ON at the same time. Thus the distortion in the AC
3.3.1. Four Leg Type Transformer-Less UPS output voltage is reduced considerable. Thirty batteries connected
Four leg type transformer-less online UPS system has been in series provide the 360 V DC voltage at the input of the DC
proposed in [29]. The four leg type converter act as a rectier, voltage. So the battery bank is very high, and is only feasible for
battery charger/discharger, and an inverter as shown in the Fig.10. high power applications.(Fig. 12)
Fig. 10. Circuit Diagram of Four Leg type converter. Fig. 12. Z-Source inverter UPS System.
1400 M. Aamir et al. / Renewable and Sustainable Energy Reviews 58 (2016) 13951410
Application
Application
networks
Fig. 13. Ofine Transformer-less UPS system.
the line AC into DC link voltage, while the boost converter per-
Very High
forms the PFC (Power Factor Correction) and the buck converter
Medium
Medium
Weight
Smaller
Smaller
Smaller
smaller
step down the voltage in order to charge the battery. During
Size &
High
High
power failure, the boost converter steps up the battery bank vol-
tage and the inverter converts it into the AC voltage to provide it to
the load terminals.(Fig. 13)
Battery
12 V
360 V
360 V
192 V
108 V
192 V
bank
48 V
48 V
80 V
96 V
3.4. Comparison of transformer based and Transformer Less UPS
system [3842]
System Specication
Nowadays the transformer-based UPS system has been sub-
220 Vac
220 Vac
220 Vac
220 Vac
highly compact and cost effective design for low power applica-
110 Vac
110 Vac
110 Vac
220Vac
tions without using any bulky power transformer. Table 2 shows
the comparison of different UPS congurations.
But which one is the most suitable UPS system according to the
0.8 0.9
required circumstances? The answer is very complex. It requires
Power
Factor
understanding of the basic topologies and the particular require-
high
0.99
0.99
0.99
0.9
0.7
0.9
ment for the specic application. In selecting a UPS system, there
-
is always a trade-off among certain features of the system, and the Less than 90% Available with ratings
selectors always have to go for the features which are important greater than 750KVA
for that specic application. Transformer based UPS system iso-
Power Ratings
lates the load from the faults generated in the main supply. In fact
the transformer itself acts like a barrier and avert all the transients
o500 VA
o1 KVA
2.6 KVA
and spikes propagating to the DC bus from the main supply and
1 KVA
3 KVA
3 KVA
3KVA
2 KV
vice versa. Also the transformer based UPS are more reliable and
robust in operation with high Mean Time Before Failure (MTBF). Less than 90%
However the transformer based UPS are more expensive than
Efciency
4 90%
mer, the cost of the transformer-less UPS system can be reduced to
85%
87%
86%
84%
96%
86%
30% or even more. Also the size and weight can be reduced to 50%
in transformer-less UPS system as shown in the Table 2. Moreover
Single Stage UPS system with trapezoidal AC Three & a Power Frequency
An on-line UPS system with electric isolation Three & a High Frequency
Number of Power stages
Transformers
Three Stages
Transformer
Transformer
Transformer
Two Stages
Properties
4. Control Techniques
Comparison of different UPS system Congurations.
schemes
UPS topology
an error that is compensated by suitable controller. Though this on, since there is no inherent integral action in the control struc-
system is simple to design and quiet inexpensive but its perfor- ture. Fig. 15 shows a deadbeat control scheme for UPS system. A
mance is poor in complex loading condition such as unbalanced state observer is used to compute the delay while the load current
and nonlinear loads. is estimated using the disturbance observer. Any disturbance in
the system is compensated by the state observer. In Deadbeat
4.2. Multi-loop System control the load current at time k is different to the reference
current iref. This error is used for calculation the reference voltage
Multi-loop control schemes are more suitable in order to get Voref, which is applied to the load at time k. Ideally at time k 1,
better performance. They are more robust and exible in control, the load current will be equal to the reference current. This
even in non-linear and unbalanced system [44,45]. A conventional method gives better performance by reducing control sensitivity
multi-loop control scheme has been shown in the Fig. 14. In this to model uncertainties, parameter mismatches, and noise on
control scheme, different parameters are used as a feedback to the sensed variables
controllers like lter inductor/capacitor current or output current
and voltage. The outer loop uses output voltage as feedback signal; 4.2.1.2. Model Predictive Control [55,57]:. Model Predictive Control
while the inner loop uses inductor or capacitor output lter cur- (MPC) is considered as one of the important advancement in the
rent as the feedback signal. The feedback signal is compared with process control engineering. Model Predictive control also knows
the reference signal to generate an error, which is compensated by as receding horizon control, provides high performance and sta-
the suitable compensator to achieve stable output. Similarly the bility in the control of UPS system. MPC is very exible control in
output of the voltage loop is the reference for the current loop. which different system constrains e.g current and voltage limita-
Hence both the voltage and current stability is achieved using tion, switching states, and non-linearity can be included in the
multi-loop system. Different high performance controllers have optimization of the controller. A cost function is usually for-
been developed by employing multi-loop feedback control scheme mulated considering different variables and weighting factor. A
which provide excellent performance [4651]. Such as dead beat Switching state is selected in order to minimize the cost function
control[47,5254], Model Predictive control [48,55,56], Iterative and applied in the next switching state.
learning control [49] etc. Fig. 16 shows the common model predictive control for the
inverter of UPS system. The load current measured at instant K is
4.2.1. Predictive Control used as input to the predictive model which derives the value of
Predictive control technique has emerged as promising control the current for the next sampling time, for each switching state of
technique for power inverters. Predictive control uses the system the inverter. At each instant K, cost function over a nite horizon of
model to predict the future behaviour of the controller variables length N is minimized. The cost function can be derived by
and respond according to predened optimization criteria. Pre- equation
dictive control concepts are easy to understand and can handle the
system with many constraints and non-linearitys. The predictive X
K N1
ixk; uk F xK N Lxl; ul 1
control can be classied in Deadbeat control and Model Predictive lK
control. The detail of each controller is as follows.
where F and L are the weighting functions which predicts the
4.2.1.1. Deadbeat Control. Deadbeat control scheme is one of the system behaviour e.g difference between the current reference
most popular schemes for UPS system [47]. In deadbeat control, and predicted value. The optimization of the moving horizon is
the reference voltage is calculated during each sampling period performed at each sampling step i.e. at time K 1, the system
using system model parameters, and is applied to follow the state x(K 1) is measured and the horizon is shifted to next step,
reference value in the next sampling instant. It offers fastest where another optimization has been performed.
transient response because all the closed loop poles are placed
near zero. This results in minimum settling time as few sampling 4.2.2. Repetitive control scheme
steps are required. However the dead beat control is very complex Repetitive control scheme has widely been used for the rejec-
and is highly sensitive to parameter variations, loading uncer- tion of periodic disturbance in a dynamic system [46,58,59]. This
tainties, and steady state error. Moreover, performance of the scheme is based on the multiple feedback loops, with time delay
deadbeat control also reduces due to unpredicted sources of dis- unit which results in eliminating the periodic errors efciently. But
turbance, such as dead-times, dc-link voltage uctuations, and so the limitations of this system include slow dynamic response,
large memory requirements, and poor performance in non-
periodic disturbance. Repetitive control has been introduced for
the control of inverter with non-linear load. The steady state
performance of the repetitive control is quite good but the
dynamic response is not satisfactory because of long delay time
between input and output. Therefore, repetitive control is nor-
mally incorporated with other feedback controller with fast
dynamic response.
Fig. 14. Multi-loop control Scheme. In repetitive controller, a periodic signal generator zN 1 1 has
been added in the closed loop system for exact tracking a
Fig. 15. Deadbeat Control for UPS system. Fig. 16. Model Predictive control for UPS system.
1402 M. Aamir et al. / Renewable and Sustainable Energy Reviews 58 (2016) 13951410
reference signal. The repetitive controller eliminates all the har- If (4) is satised for all , then monotonic decay of the tracking
monics below the Nyquist frequency by introducing innite gain error to zero will take place over successive cycles, and stable
at the harmonic frequency [60]. operation will be achieved. Table 3 shows the comparison between
A repetitive control system is shown in Fig. 17 The feedback different multi-loop control schemes.
control and repetitive control are complementary. The transfer
function of repetitive control is given as
4.3. Non-linear Control Schemes
kg Z N1 kg Z N 3
Gg z
Gf Z N Gf Z 2 Non-linear controllers are more robust in operation, show good
1z N
Z 1
performance result as compared to linear controllers. However the
where kg is the control gain and Gf Z is a low-pass lter. implementation of this system is very complex. The most common
The conventional feedback controller offers fast response and
non-linear control system is slide mode control and adaptive
robustness. However the feedback controller has no memory.
control for the UPS inverter control.
Hence if there is any imperfection, it will keep repeating in all
subsequent cycles. Similarly the repetitive controller stored per-
4.3.1. Slide Mode control:
vious information in memory, and ensures steady-state zero error
For non-linear load, Slide Mode Control (SMC) [62,63] strategy
tracking by repetitive learning. But the zero error tracking took
has gained special interest. SMC has been widely implemented in
longer time. Hence the repetitive control scheme together with
the power inverters because of its effective performance against
feedback controller ensures fast dynamic response of feedback
non-linear system with uncertainties. A major feature of the SMC
controller and the high precision tracking ability of repetitive
is its robustness, good dynamic response, stability against non-
controller [61].
linear loading conditions, and easy implementation. But the SMC
has the disadvantages of inheriting the chattering phenomena i.e
4.2.3. Iterative Learning Scheme
the undesirable oscillation with nite frequency and amplitude
In Iterative Learning Control (ILS), the control command is
which leads to low control accuracy and high heat losses in the
adjusted at each iteration, thus converging to zero tracking error.
system [64].
The ILS aims to accomplish this result without the knowledge of
A SMC has been presented in Fig. 18. SMC changes the
the system. The system is examined at each cycle and is adjusted
dynamics of the system by employing the discontinuous control
for the next repetition. But the design procedure of the ILS is very
signal that forces the system to slide along the system normal
complex.
ILS can be used to eliminate tracking error caused by the per- behaviour [65]. The linear sliding surface function for the UPS
iodic disturbance. The updated rule for ILC is given by inverter can be expressed as (6)
ui 1 z ui z kzei z 3 S x1 x2 4 0 6
Where ui z is the Z transform of the command that is given to the where is a real constant and x1 is the voltage error, and its
system at repetition I, k is the learning gain and is the designed derivative is given by x2 x_ 1 . For the dynamic behaviour the
controller transfer function. While ei is the z-transform of the (6) will be
racking error at repletion i.
S x1 x_ 1 0 7
ei 1 z 1 kzPzei z T f zei z 4
The objective of the control in (6) is to drive the trajectory of
where Tf is the transfer function between the two consecutive the system from any initial condition x(0) to the sliding surface S
repetitions. The error component at a particular frequency will (x)0. This trajectory is maintained at the sliding surface, and
decay over successive repetition if consequently directs the system towards the steady state condi-
tion. The slide mode control law for the inverter is given by
j1 k ejwT PejwT j o 1 5
Fig. 17. Repetitive control for the UPS system. Fig. 18. Slide Mode Control scheme.
Table 3
Comparison of Different Multi-loop Control Schemes.
Dead Beat Control [47] ADMC401 0.5 ms Not good for Non-linear loads Output Voltage, Inductive current Complex
Model Predictive Control [55] TMS320C6713 Slow Good Output voltage, Filter current Simple
Repetitive Control [46] TMS320FS40 Slow Excellent Output Voltage Complex
Iterative Learning Controller [49] TMS320F240/MPC8240 Slow Excellent Output voltage Complex
Neural Network Control [50] Analog Circuit Fast, 7.55 us Good Output Voltage Complex
B-spline Network (BSN) Control [51] DS1104 Fast, 7.78 us Excellent Output Voltage Simple
M. Aamir et al. / Renewable and Sustainable Energy Reviews 58 (2016) 13951410 1403
equation
1
S Vout Vref iC iref 8
C
The control law need to be tuned very precisely in order to
achieve a trade-off between the tracking precision and robustness
to the uncontrolled dynamics. The chattering phenomenon in the
SMC is eliminated by using smoothed control law in narrow
boundary layer. The smoothed control law applied to the pulse
width modulator results in the xed switching frequency of the
inverter. The control scheme shows excellent performance with
THD less than 1.7% for non-linear loads.
Table 4
Comparison of Modern Control Schemes.
Table 5
Comparison of Lead-Acid Battery and Supercapacitor.
requirement of UPS system, (3) Selecting type of UPS system, 7.4. Select conguration of UPS system
(4) Select conguration of UPS system, (5) Safety of UPS system,
(6) Availability of UPS system, (7) Is selected UPS system afford- The level of protection and the power requirement of the load
able. Fig. 26 shows the ow chart for selection of a UPS system for determine the type and conguration of the UPS system.
particular application. Transformer-based UPS are more suitable for high power appli-
cation. They are more suitable to provide protection even in the
7.1. Determining the need of UPS system polluted grid environment to more sensitive equipment like
medical equipments and data centres because of the galvanic
The selection of UPS system is strongly dependent on the isolation.
application for which the system is chosen. Applications such as While the transformer-less UPS systems are cheaper, with
hospital life support and medical equipment, military equipments, smaller size, and are suitable for low power applications. They are
and communication devices cannot tolerate any power interrup- more suitable for circumstances, where the grid supply is less
tion even for very short period of time. UPS system required for polluted. Similarly the complex control system also escalates the
such application should provide backup until the utility grid cost of the UPS system. So the choice of the UPS system is deter-
power is restored. For data centres, the backup may require for mined by the balance between the performance and cost, taking
only few moments until the devices are shutdown. Surveying the into consideration the acceptable level of other factors which best
history of commercial outages by power companies can better suits the circumstances. Table 7 correlates the properties of UPS
provide statistics about selection of UPS system. system with the different topologies of UPS system.
Table 6
Comparison of Different Type UPS system.
Practical Power Range Voltage Conditioning Cost per VA Efciency Inverter always operating
Table 7
Selection of UPS System.
Recommended Type of UPS Topology Power Level (KVA) Grid Condition Load Condition Capital Cost Weight& Volume Power Quality Efciency
Table 8
Typical 3- UPS System Specication by ANSI/IEEE 4461987 [105].
Input (Rectier/charger)
Fig. 28. Output Voltage and Current for linear load and non-linear load.
Fig. 29. Experimental waveform of step change from 0% to 100% and 100% to 0.
Fig. 30. Output Dynamic performance of the UPS Inverter. 10. Conclusion
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