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Energy
EnergyProcedia
Procedia117 (2017) 000–000
00 (2017) 409–416
www.elsevier.com/locate/procedia
1st International Conference on Power Engineering, Computing and CONtrol, PECCON-2017, 2-
1st International Conference on Power
4 March Engineering,
2017, VIT Computing
University, Chennai and CONtrol, PECCON-2017, 2-
Campus
4 March 2017, VIT University, Chennai Campus
Fuzzy self tuning PI controller based inverter control for voltage
Fuzzy selfThetuning PI controller
15th International Symposium based inverter
on District Heating control for voltage
and Cooling
regulation in off-grid hybrid power system
regulation in off-grid hybrid power system
Assessing the feasibility, Dr
Harsha Anantwar a*
of Busing the heat demand-outdoor
R Lakshmikantha bb, Dr.Shanmukha Sundar aa
temperatureHarsha
function for a long-term
Anantwar a*
district heat
, Dr B R Lakshmikantha
a
Dayananda Sagar College of Engineering ,Bangalore,India,
demand forecast
, Dr.Shanmukha Sundar
b
Dayanada
a Sagar Acadamy
Dayananda of Technology
Sagar College and Mangement
of Engineering Bangalore,India
,Bangalore,India,
I. Andrića,b,c*, A. Pina , P. Ferrão , J. Fournier ., B. Lacarrière , O. Le Correc
b a a b
Dayanada Sagar Acadamy of Technology and Mangement Bangalore,India
c

a
IN+ Center for Innovation, Technology and Policy Research - Instituto Superior Técnico, Av. Rovisco Pais 1, 1049-001 Lisbon, Portugal
Abstract b
Veolia Recherche & Innovation, 291 Avenue Dreyfous Daniel, 78520 Limay, France
c
Abstract Département Systèmes Énergétiques et Environnement - IMT Atlantique, 4 rue Alfred Kastler, 44300 Nantes, France
The management of reactive power has become an important aspect of the off-grid power system as voltage control
The management
is a key parameterofin reactive
the qualitypower has become
of supply. an important
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of wind power
power support
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heating networks are commonly addressed in the literature as one of the most effective solutions for decreasing the
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to maintain
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under voltage
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and with
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change in intelligent
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and simulated
the results,
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SIMULINK/MATLAB,
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scenarios control algorithm.
were developed (shallow, intermediate, deep). To estimate the error, obtained heat demand values were
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Keywords:
The valueReactive power
of slope ; Voltage control
coefficient increased; Fuzzy
on control
average; Inverter.
within the range of 3.8% up to 8% per decade, that corresponds to the
Keywords:
decrease in the number of heating hours of 22-139h; Inverter.
Reactive power ; Voltage control ; Fuzzy control during the heating season (depending on the combination of weather and
renovation scenarios considered). On the other hand, function intercept increased for 7.8-12.7% per decade (depending on the
Nomenclature
coupled scenarios). The values suggested could be used to modify the function parameters for the scenarios considered, and
Nomenclature
improve the accuracy of heat demand estimations.
FST Fuzzy logic control based Self tuning
FST
ITAE Fuzzy
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timecontrol
by Elsevier Ltd. based
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1876-6102© 2017demand;
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Peer-review under
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Authors. Published committee
by Elsevier Ltd. of the 1st International Conference on Power Engineering, Computing and CONtrol.
Peer-review under responsibility ofthe scientific committee of the 1st International Conference on Power Engineering, Computing and CONtrol.

1876-6102 © 2017 The Authors. Published by Elsevier Ltd.

Peer-review under responsibility of the Scientific Committee of The 15th International Symposium on District Heating and Cooling.
1876-6102 © 2017 The Authors. Published by Elsevier Ltd.
Peer-review under responsibility of the scientific committee of the 1st International Conference on Power Engineering, Computing
and CONtrol.
10.1016/j.egypro.2017.05.160
410 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416
2 Author name / Energy Procedia00 (2017) 000–000

QIN ,QSG,QIG ,QL,QCP Inverter ,synchronous generator, induction generator load &capacitor reactive power,
PL ,PWD Real power demand of Load and wind power input to Induction generator
, steady state and transient of synchronous generator.
Re, xe, xm, s equivalent resistance ,reactance, magnetising reactance and slip of Induction generator
r1,x1,r1',x2' stator resistance & reactance,rotor resistance & rotor reactance referred to stator of IG
kVQ,TVQ gain and time constant of off-grid hybrid power system

1. Introduction

There is growing need of developing as well as implementing cost effective energy solutions , to meet energy
demands and also minimize potential environmental impacts for areas which are remote wherein the extension of
public grid is challenging and difficult. Hybrid power systems based on wind, PV, Biomass, etc. are very promising
solutions with excellent prospects in an efficient and sustainable way to cater the local demands of remote locations
[1]. The abundant amount of wind energy and solar energy is observed in the remote areas, provides an opportunity
to use renewable sources for power generation.[2] The issue with renewable sources is that they are not predictable
and moreover fluctuating in nature, to achieve reliable and quality supply needs an appropriate control mechanism
to maintain voltage and frequency within specified limits
The Off-grid hybrid power system (OFHPS)considered in this work consists of Diesel generator(DG), Wind
generator, and Photovoltaic generator(PV). This type of OFHPS has been already in existence in several small
islands or isolated communities [3], The system reactive power requirement varies with reactive power demand of
load and also Induction generator connected to wind turbine consumes reactive power. The reactive power
imbalance in the system causes unsatisfactory voltage regulation characteristic, system voltage variation may go
beyond the voltage allowable bounds and the quality of power supply will not be tolerable for end users. The
previous works on the voltage control scheme of HPS using Static voltage Compensator and Static synchronous
compensator) for reactive power is reported in [4-6].The paper [7] has discussed the potential of distributed
generation systems equipped with an appropriate power electronic interface to support reactive power other than the
supply of active power to the utility. A promising answer to the voltage regulation problem in off-grid HPS is to
utilize PV inverter capability to generate or consume reactive power to control voltage . Classical PID and PI
controllers are commonly used to control inverter. The PI controller with fixed gains constants performs well for
rated operating condition, but fails to provide better response under variable operating condition. [8].Therefore
control structures needs the flexible controller with adjustable nature to cope up with the effects of system
parameters variations..
Fuzzy Logic Control(FLC) is demonstrated its strength as it is capable to work over wide range of operating
conditions and its simple to modify fuzzy rules, which mimic a human operator’s strategies., FLC rules are
represented in linguistic terms of natural language.[9,10]. Hence this paper present the intelligent control based on
combination of fuzzy logic with classical PI controller to control VAR power of inverter for voltage profile
stability while PV inverter supplying active power to the system.

1. System configurations and mathematical model

The block diagram of configuration of the system considered in this study is as shown in Fig. 1. System consist
of SG (Diesel Generator) with excitation control, variable wind speed turbine with IG, PV system with DC-AC
inverter, and a capacitor bank are connected to a common bus. The total load is lumped as single load is connected
to common bus .
At steady state operating condition, the system reactive power equation is balanced, is given as

QSG + QIN +QCP–QL-QIG = 0 (1)

When there is a small change in load ΔQL , around steady state condition, then system voltage deviates
and hence reactive power demand of various components of the system under study changes. The net reactive
 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416 411
Author name / Energy Procedia00 (2017) 000–000 3

power imbalance, is given as

ΔQN = ΔQSG +ΔQIN+ΔQCP –ΔQL-ΔQIG, (2)
The net reactive power imbalance will cause the load bus voltage (ΔV) deviation. [4],
The reactive power balance equation of the system for small perturbation is given as

Δ
(3)

The equation for ΔQSG and ΔQIG are given as .[4]

Δ Δ Δ (4)

ͳൌ ƒ†
ʹൌ (5)

(6)

where Rp= r2'/s(1-s) and Rt= Rp-Re (7)

Δ Δ 1 (8)
Reactive power capacity of PV system inverter depends on the rating of inverters and real power of PV . Inverter on
over-sizing will have fixed VAR capacity available all time for reactive power compensation while supplying
active power . In this work inverter is oversized by 38% to have 0.5 pu VAR capacity available for voltage
regulation . The inverter model considered here is as an ideal controllable voltage source is connected to system
load bus through reactance 'x' ohm .The reactive power of inverter is given as

(9)

The change in reactive power of inverter around steady state operating condition, is given as
(10)

Where KQP and KQVin are sensitivity factors.

Fig.1. Block diagram of off-grid hybrid power system considered for the study .

2. FST-PI controller based control of PV inverter

PV system configuration considered in this study is assumed to have a stiff DC supply Vdc, on the input side of
inverter hence control scheme is considered with Fuzzy self tuning PI is limited to inverter control itself, as shown
412 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416
4 Author name / Energy Procedia00 (2017) 000–000

in Fig 2a.
The main function of the control scheme is to control inverter reactive power QIN for voltage regulation and an
active power PIN as per the reference demand from the local grid. The controllable inputs are a magnitude of inverter
voltage VIN and phase angle for two controlled outputs PIN and QIN. Hence the control structure consists of two
control loops, one for voltage regulation and another for active power control. Control structure based on fixed gain
PI controller exhibit poor response when system experiences change in its operating point due to disturbances. The
gains of the PI controller of voltage control loop depend upon the of magnitude of reactive power load for optimum
performance. Due to the variable nature of the load, the PI gains of inverter need to be adjusted for proper tuning
The proposed control structure is based on fuzzy control algorithm to auto adjust the gains PI controller is as shown
in Fig.2b.. The proposed controller composed of adjustable parameter PI controller and FLC which offers
convenience of PI with flexibility of fuzzy control. In FST -PI control ,the gains of Kp, and, Ki , are continuously
corrected by the FLC according to operating condition. In FST-PI , Mamdani Fuzzy Inference model, provides a
non-linear mapping between two input variables error (∆V) and its derivative ( ) and two output variables kp '
and Ki'.

(b)
(a)

Fig 2.a) Fuzzy logics self tuning PI control (FST -PI) of inverter. , b) Structure of FST- PI controller [11]

The steps followed to design proposed FST-PI controller is as follows.

1. Definition of system parameters- The main controlled variable is the voltage deviation at load bus and
controllable variables are inverter reactive power .The disturbances considered are perturbation in reactive power
load demand and wind speed .
2. Definition of controller parameters in fuzzy sets.- The input variables and output variables of the FST-PI
characterize the contents of rule.
1. The error (∆V) and derivative of error (∆Vr) are two inputs to FLC.
2. The Kp' and Ki ' are outputs of FLC.

The two crisp inputs of FLC are organised into five sets of linguistic variables : NL (negative large), NS (negative
small), ZR (zero), PS (positive small), PL (positive large)
Two output kp' and Ki' of FLC are organised into five sets of linguistic variables : VS ( Very small), S (Small ) ,
M ( medium), B (Big), VB (Very big).
In this work, the range of Kp is [Kp,min Kp,max], the range of Ki is [Ki,min Ki,max], is determined from PI gains
obtained by ITAE based method. The Kp,min, Kp,max, Ki,min , Ki,max are constants used to normalize the values of
Kp and Ki .[12].
The updated values of Kp and Ki are given by Eq.(11) and (12)
Kp Kp,max−Kp,min,) Kp'Kp,min (11)
Ki Ki,max −Kp,min) Ki'Kp,min (12)
 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416 413
Author name / Energy Procedia00 (2017) 000–000 5

Membership functions for input variables error and its derivative are triangular with corner trapezoid are as shown
in Fig. 3(a). The universe of discourse of error is {-1,1} and derivative of error is {-4.2, 2.4}. Membership function
for Kp' and Ki' are triangular with corner trapezoid, with universe of discourse is {0,-1} are as shown in Fig. 3(b),
The fuzzy input and output variables membership functions chosen are triangular and trapezoidal due to their
simplicity.

(a) (b)

Fig. 3 Membership function of error ,e(t) and Kp' / Ki'

3. Building of control rules- Development of control rules base is the core aspect of FLC . The fuzzy control rules
developed for Kp' and Ki' presented in table 1 , are based on following factors.
i. When ∆V (error ) and ∆Vr (derivative of ∆V ) are large enough to diverge the system away from
equilibrium point then large control action is required is 'VB' (very big) for PL and 'VS' (very small) for
NL marked in rule table 1.
ii. When ∆V and ∆Vr are in opposite nature, then system converge towards equilibrium point, control action
is required to reduce the controller gains to prevent the system from further oscillation is marked as 'M' (
medium) in rule table1.
iii. When ∆V and ∆Vr are small value (close to zero ), then control action is required to increase the controller
gain to converge the system towards equilibrium point, is marked as 'S' (small) in rule table 1.
iv. When ∆V is large and ∆Vr is small value or vice versa and then control action required to drive system
towards equilibrium is marked as 'B' (Big ) in rule table1
Table 1
Rules for Kp' and,ki'

∆Vr (derivative of ∆V)

NL NS ZR PS PL
NL VS VS S M M
Error NS VS S S M B
∆V ZR S S S B B
PS M M B B VB
PL M B B VB VB

4. Defuzzification method - The ' Centre of gravity 'is most popular de-fuzzification method is used to obtain crisp
output values of kp' and Ki' .
The above steps of FLC design are followed sequentially by creating Fuzzy Inference System (FIS) editor to create
fuzzy file (.fis), which is linked to the FLC block incorporated in the control structure of inverter.
T he control output from FST-PI is given as in Eq. 13
414 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416
6 Author name / Energy Procedia00 (2017) 000–000

U = Kp. ∆V(t) + Ki.∫ ∆V(t) dt (13)

4. Simulation Result

In order to prove effectiveness FST-PI control, the simulation of the system is carried out in Matlab -simulink with
FST-PI controller and PI controller , for step change in reactive power load and wind speed (wind power -∆PWD).
The system is at steady state operating condition till t=0.002s., experiences disturbance at t=0.002 sec. simulation
results, for load bus voltage deviation when system is subjected to 2% step change of reactive power load
demand plus 1% step increase in wind power input to IG , at t=0.002 is as shown in Fig 4 . The dynamic response
of reactive power supplied by inverter on the occurrence of the disturbances at t=0.002s , to regulate system voltage
is as shown in Fig 5. Simulations are carried out for FST-PI for 1%, 2%, 3%, 5% and 10% step increase in reactive
load power disturbance with step increase in wind power at t =0.002s and further results are compared with PI
controlled inverter for similar disturbance condition is as presented in Table 2.

Fig.4. Transienr response of voltage deviation for 0.02 pu increase in reactive power load demand (∆QL) and
0.01pu change in wind power.(∆PWD) at t=0.002 sec.

Fig.5. Change in inverter reactive power for 0.02 pu increase in reactive power load (∆QL) with 0.01pu change in
wind power.(∆PWD) at t=0.002 sec.
 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416 415
Author name / Energy Procedia00 (2017) 000–000 7

Table 2 - Comparison between performance of FST-PI and PI for different load disturbance conditions.

FST-PI PI
∆ QL ∆PWD ∆V ∆QIN ∆QSG ∆QIG ∆V ∆QIN ∆QSG ∆QIG

0.01 0.01 0.0285 0.0136 0.0090 0.0096 0.0421 0.0148 0.0091 0.0010
0.02 0.01 0.0320 0.0239 : 0.0173 0.0010 0.0802 0.0282 0.0176 0.0010
0.03 0.02 0.0412 0.0357 0.0264 0.0020 0.1224 0.0430 0.0267 0.0021
0.05 0.05 0.0733 0.0616 0.0444 0.0049 0.2112 0.0739 0.0449 0.0050
0.1 0.05 0.1533 0.1188 0.0846 0.0050 0.4032 0.1411 0.0855 0.0052

Inverter control with FST-PI and PI controller performance in terms of settling time for 0.1pu change in reactive
load with 0.05 pu incremental change of wind power is illustrated in Fig.6 and numeric values are mentioned in
Table 3.

0.015 Table 3
FST-PI Comparison of off-grid hybrid power
Settling Time(s)

PI system state variable in terms of settling

time for 0.1pu ∆QL and 0.05pu ∆PWD
0.01
FST-PI PI
Settling Settling
0.005 time(ms) time(ms)
∆V 7.7 14.9
∆QIN 7.6 14.9
0
∆QSG 7.7 14.9
∆V ∆QIN ∆QSG ∆QIG
∆QIG 5.6 9.2
Fig . 6 Comparison of dynamic responses of system state variable in
terms of settling time for 0.1pu ∆QL and 0.05pu ∆PWD

The comparison of ∆V , ∆QIN, ∆QSG and ∆QIG under various loading condition for both controller is presented in
Table 2 and Table 3 , it is observed that maximum deviation about equilibrium condition and settling time is more
in case of classical PI controller. The transient response of voltage deviation in Fig 4. and dynamic response of
inverter reactive power change in Fig 5, and simulation data presented in Table 2 and Table 3, showed that FST-
PI has better control dynamics compared to conventional PI controller under various operating condition .

5. Conclusion

In this paper proposed fuzzy self tuning of PI controller which adjust parameter of controller under changing
operating condition of system developed for inverter reactive power control .The analysis is carried out with
proposed controller under varying load condition to investigate the voltage profile stability. Simulation results are
validated by comparing proposed controller results with convention PI control of inverter. It is found that inverter
control with FST -PI has improved voltage profile characteristic during dynamic reactive power load condition and
the exhibited better system performance in terms of, fast settling time , less overshoot and oscillation under varying
operating condition . The proposed FST -PI control has superior control effect and can improve transient and steady
state response of the system.
416 Harsha Anantwar et al. / Energy Procedia 117 (2017) 409–416
8 Author name / Energy Procedia00 (2017) 000–000

Appendix A.

Parameters of system are in PU.,Base KVA = 400, Base Voltage = 400V, Base Frequency= 50 Hz,

Wind Generation capacity (KW) 150

Diesel Generation capacity *( KW) 150
PV system capacity (KW) 200
Load (KW) 400

Synchronous generator Induction Generator PV Load

PSG 0.35 PIG 0.3 PIN 0.5 PL 1
QSG 0.185 QIG 0.081 SIN 0.7 QL 0.75
Xsd 2.5 x1,x2 0.056 Oversizing P.F 0.8 (lag)
21.510 r1,r2 0.19 factor-38%

s -3.4%
Eq 1.1136, Eq' 0.9603
* Diesel Generator is 80 % loaded under normal condition

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