International Journal of Pure and Applied Mathematics

Volume 118 No. 24 2018

ISSN: 1314-3395 (on-line version)
url: http://www.acadpubl.eu/hub/
Special Issue
http://www.acadpubl.eu/hub/

ANFIS tuned PI control of inverter for

VAR support for voltage control in
off-grid hybrid power system
Harsha Anantwar and Shanmukha Sundar1
Dayananda Sagar College of Engineering
2
Electrical and Electronics Engineering
Bengaluru, India
B.R.Lakshmikantha
Dayananda Sagar Academy of Technology & Management
Electrical and Electronics Engineering
Bengaluru, India

May 12, 2018

Abstract
Voltage is a fundamental element in the quality of power
supply, may rise/drop depends on reactive power balance
hence it has become extremely important to manage re-
active power balance for voltage control in off grid hybrid
power system(OGHPS). Test system considered in this work
has wind power generation (IG), Photo-Voltaic (PV) sys-
tem with inverter, diesel engine (SG) and composite load.
Over-rated PV inverter has ample amount of VAR capacity
while sourcing PV real power. This paper presents voltage
control through reactive power support by PV inverter. In-
verter control structure has proportional-integral (PI) con-
troller tuned by Adaptive Neuro- fuzzy inference system
(ANFIS). Small signal mathematical model of all compo-
nents of OGHPS with developed intelligent control is sim-
ulated in SIMULINK, tested for reactive load and supply
disturbances for voltage regulation characteristic. Voltage

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and other state variables, obtained separately from PI with

fixed gain as well as PI gains tuned by ANFIS are tested
to evaluate the effectiveness of proposed intelligent voltage
control algorithm.
Key Words:Voltage control; Inverter; reactive power;
Off-grid hybrid power system

1 INTRODUCTION
To meet the demand of electrical energy in far-off communities and
small islands where there is no connection from central public util-
ity, it is essential to have energy solution which is cost effective
and environment friendly. Combination of various renewable en-
ergy sources such called as hybrid power system, is very hopeful
solutions. Renewable energy sources possess exceptional prospects
in competent and sustainable way to supply the load of the distant
localities [1]. Presence of large quantity of wind and solar energy ob-
served in the remote localities, present prospect to use them to ful-
fill their energy requirement.[2] The concern with renewable sources
is that they are stochastic in nature, to realize reliably and qual-
ity power supply requires suitable and efficient control techniques
to regulate voltage and frequency within precise restrictions. The
test system considered in this work is Off-grid hybrid power system
(OGHPS), having power generation from Diesel, Wind, and PV
System. The isolated power systems similar to test system has been
already in existence in several small islands/ isolated communities
[3], SG is an obvious choice for DE and wind power generation us-
ing IG. An IG generates power when enough excitation is provided.
IG exhibit poor voltage characteristic as they absorb magnetizing
current from the system, the reactive power required by the IG
varies with slip. VAR/reactive power required by OGHPS varies
with portion of reactive power load on the system. Reactive power
provided by the SG is not sufficient. For VAR management and
voltage control, system reactive power is needed to be balance by
its sources and sinks under all operating conditions. Deficient reac-
tive power in the system results into poor voltage profile stability,
voltage variation may go outside the tolerable limits. Condition of
power supply will not be acceptable for consumers. Hence, it is
obligatory to have a sufficient reactive power source to be present

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in the system. The works reported in [4, 7-8] for voltage and re-
active power control of hybrid Power System are based on Static
voltage Compensator (SVC) and Static synchronous compensator
(STATCOM)]. Flexible AC transmission (FACTS) devices for re-
active power compensation are a very efficient and viable solution.
But it is high-priced solution, especially for case of the isolated loads
supplied by OGHPS. The paper [9] has pointed out the prospect of
distributed generation arrangement with suitable power-electronic
interface, capable to supply nonactive power while supplying active
power to the utility.
Energy resources such as PV, wind turbine, fuel cell and micro
hydro, connected in distribution network have capability to regu-
late local voltage by matching source and sink of non-active power
due to power electronics interface [10]. A PV inverter can control
the active and nonactive power within the bounds obliged by its
apparent power size, can control feeder voltage in the distribution
system is presented in [11]. PV inverter is fast reacting, has su-
perior transient performance, put off the need of a reactive power
compensator, hence extra investment. PV inverter ability to supply
/source reactive power to control voltage is a convincing answer to
address voltage regulation problem in OGHPS.
Conventional PI control is usually employed for inverter control,
can work satisfactory for rated condition ,but does not gives desire
control results under varying operating condition[12]. ANFIS add
adaptability and learning to Fuzzy inference system. ANFIS has
been applied in many power systems controls such as load frequency
control, power flow analysis and FACTS control,etc. [13-14] .An in-
telligent control with ANFIS tuned PI of inverter is presented in
this paper to regulate load bus voltage through reactive power sup-
port. This paper considered composite load model to capture load
voltage dynamics during perturbation in load and supply. A com-
posite load model constitutes of a dynamic load plus a static load.
Mathematical model of OGHPS based on power balance equation
with proposed ANFIS based an intelligent control is developed and
tested under the different supply and load disturbances. An AN-
FIS works using neural network learning techniques to optimize
the parameters of a Fuzzy Inference System (FIS). ANFIS tuned
PI controller is designed for PV inverter and dynamic response of
system state variables with conventional PI and ANFIS -PI control

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are compared to validate the improvements of voltage profile of the

test system. The benefit of this application is that it eliminates the
need of additional reactive power compensating devices.

2 OFF-GRID HYBRID POWER SYS-

TEM CONFIGURATIONS AND MATH-
EMATICAL MODEL
The OGHPS considered for the study is as shown in Fig.1, consist
of SG (Diesel Engine) with excitation control, IG (variable wind
speed turbine), Single stage PV system interfaced with inverter
and a fixed capacitor bank are connected to a common load bus.
State space model of the OGHPS, are developed based on small sig-
nal analysis and implemented in MATLAB/Simulnik. An analysis
is carried out for voltage profile stability and VAR control of PV
inverter under different disturbances. In this configuration, power
sources and load are assumed to close to each other.

Fig.1- Schematic of OGHPS.

Under the steady state, for the system presented in Fig.1, has
active and reactive power balanced. System reactive power request
will change due to reactive power load and input wind power dis-
turbance, which results in load voltage fluctuations. In order to
regulate load bus voltage, other components of OGHPS takes ac-
tion by incrementing their reactive power generation and absorption
and try to attain equilibrium condition. The net reactive power de-
viation ∆QN during∆ V (voltage disturbance) is given in Eq. (1).
[4]

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∆QN = ∆QSG + ∆QIN + ∆QCP − ∆QL − ∆QIG (1)

The net reactive power if surplus than demand, voltage goes
up and vice versa. Incremental change in net reactive power with
incremental change in voltage is expressed in Laplace form as:

∆V (s) 1
= v (2)
∆QN (s) (s( ωxm ) + D1vq (s))
v
Where term ωxm depends on the electromagnetic energy, ab-
sorbed by IG during wind power perturbation and load voltage
δQ1
characteristic and term D1vq = is reactive power - load volt-
δV
age characteristic. This work considers composite load QL to eval-
uate voltage profile QL = QLstatic + QLdynamic represents com-
bined effect of aggregate of static and dynamic load (Induction
motor). Composite load model is developed for total system load
of 300kw with 80% static load and 20% dynamic (induction motor)
load. Load characteristic factor Dlvq from Eq.2 is defined for com-
posite load, has two components as Dlvq-static.( static load) and
Dlvq-dyna (Aggregate dynamic load). Mathematical expression for
Dlvq−static [4] is
QL
Dlvq−static (s) = nq ∗ ()∆V (s) (3)
V
Mathematical expression Dlvq−dyna is developed based on de-
tailed fifth order model of induction motor of [6] 60kw is as given
in Eq. (4)
Dlvq−dyna (S) =

0.9812s5 + 1.301e4 s4 + 3.765e6 s3 + 1.807e9 s2 + 2.037e11 s + 7.9e12

S 5 + 1.326e4 s4 + 3.817e6 s3 + 1.568e9 s2 + 1.88e11 s + 7.885e12
(4)
Combining Eq.(3) and Eq.(4) transfer function of reactive power
- voltage balance loop form Eq.(2) is as presented in Fig..2. Math-
ematical expression for Incremental changes in QIG , QSG [4] , QCP
andQIN [18] , are as given in following Eqs.
0
∆QSG = KSG1 ∆Eq (s) + KSG2 ∆V (s) (5)

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The variable speed wind turbine provides mechanical power PWD

to IG. IG reactive power requirement is based on an approximate
equivalent circuit of IG can be written as

∆QIG = KIG1 ∆V (s) + KIG2 ∆PW D (s) (6)

V2
QCP = (7)
XCP

Fig .2 -Transfer- function of Q-V loop with composite load.

The inverter is modeled as an ideal controllable voltage source con-
nected to load bus through coupling reactance x. Inverter can sup-
ply both active power and non-active power [15]. The maximum
power Pmpp extracted from PV panel via inverter interface sup-
plied to the load. The reactive power control of the inverter is a
function of the operation of the active switches. Real and Reactive
power output of PV inverter [18] are given by
V VIN sin δ
PIN = (8)
x
2
VIN − VIN cos δ
QIN = (9)
x
PIN = ηinv ∗ Pmpp (10)

Small signal equations of power from PV inverter is given as

∆PIN (s) = Kpp ∆δ(s) + KP V IN ∆VIN (s) + kpv ∆V (s) (11)

∆QIN (s) = KQp ∆δ(s) + KQV IN ∆VIN (s) + kQv ∆V (s) (12)

Where KP P , KP V IN , KP V , KQP , KQV IN and KQV are sensitivity fac-

tors, their values are calculated in pu for given rated values of sys-
tem parameters. From Eq. (11) and Eq. (12), inverter can be
represented as input and output coupled control object, the con-
trollable inputs are VIN and for controlled outputs PIN and QIN.
Magnitude of inverter voltage VIN can be controlled by control-
ling modulation index. [16].The amount of reactive power sourced

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by inverter is limited to its nominal rating. The inverter can be

oversized to achieve a definite VAR capacity available at all op-
erating condition. [17], with 100% active power from PV, for 5%
Over-sizing, reactive power capacity available is 32 %.

3 ANFIS TUNED PI CONTOLLER PA-

RAMETER OF PV INVERTER
PV generation system has single stage arrangement, Hence in this
study control scheme is restricted to inverter. The controllable in-
puts are magnitude, and phase angle(δ) of inverter voltage VIN
are modulated using PI controllers for controlled outputs PIN and
QIN. The aim of this work is reactive power control; hence, detailed
real power control of inverter is not discussed further. Control con-
figuration consists of one control loop for voltage/VAR control &
other for PV maximum power (Pmpp ) with gains of the controllers
for optimum performance can be altered via ANFIS intelligent tun-
ing methods as shown in Fig .3. ANFIS controller has one output,
hence separate ANFIS controller are employed for Kp and Ki .is.
.The control output of PI tuned by ANFIS shown in Fig.4, is as
Z
U = Kp ∆V + ki ∆V dt (13)

Kp & Ki are gains of PI outputted by ANFIS controllers

Fig.3- PV inverter for voltage / active power control with ANFIS

-PI

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Fig.4- ANFIS tuned PI controller structure.

Stepwise procedure to design ANFIS controller is as explained
below
• Collection of Data set: The data necessary for training, test-
ing and checking the ANFIS structure are obtained from PI
controller tuned by ISTE optimization method. Data has
three parameters i.e. voltage deviation, (V), rate of voltage
change (dV /dt) and required control action. The data of
1% reactive load and wind power disturbances is found most
effective for training with checking data as 2% reactive load
and wind power disturbances.
• Generation of Fuzzy Inference system Structure: Data set
collected in step 1, is loaded for training and checking, in
the ANFIS structure, and FIS gets generated by using grid
partitioning method. seven number of membership function
(MF) was found to be sufficient for agreeable control results
.In this FIS, the gbellmf MFs with linear type output have
been considered as it was found effective for control results.
• Optimization: ANFIS structure generated in step 2 is trained
with hybrid optimization method. In this work an error tol-
erance is set as 0and training epochs as 10. Center and
spread parameters of MF, and the linear output of each rule
of the first-order Sugeno fuzzy model were optimized based on
trained data set, using the back-propagation & least squares
estimation method, input and output variables are optimized
respectively.
• Checking and Testing of ANFIS structure: ANFIS structure is
trained for 10 epochs and is checked for error. During learning

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process, checking error decreases initially and becomes mini-

mum, corresponds to optimize output .The overall output of
the ANFIS is combination of outputs of all the rules as shown
in Fig.5.

Fig.5- ANFIS Controller structure developed for online tuning of

PI
Information of ANFIS control structure developed in MATLAB is
as follows
Number of nodes: 131
Number of linear parameters: 147
Number of nonlinear parameters: 42
Total number of parameters: 189
Number of training data pairs: 7761
Number of checking data pairs: 7841
Number of fuzzy rules: 49
The ANFIS structure of controller shown in Fig.5 consists of
five layers with nodes described as follows
1. Fuzzification Layer- Nodes present in this layer fuzzify the
crisp inputs. This layer has an adaptive node; the parame-
ters of these nodes define the membership function of input

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variables that is, voltage change (V) and the rate of voltage
change (dV /dt).

2. Rule Layer- Rule nodes correspond to a singleton fuzzy rule,

accept an input from the respective node to calculate the
firing power of fuzzy rule associated with it.

3. Normalization Layer- Nodes in this layer receive inputs from

the preceding layers nodes to normalize firing strength of a
rule. This layer presents the participation of a given fuzzy
rule to obtain final fuzzy output.

4. De-fuzzification Layer - Nodes of this layer is connected to its

particular normalized node to collect inputs, to calculate the
weighed consequent value of a given rule. Nodes in this layer
are adaptive.

5. Summation - Single fixed node calculates sum of outputs of

all incoming signal to generate the final output.

4 SIMULATION RESULTS AND DIS-

CUSSION
Test system has the Diesel engine driven SG with IEEE type-I
excitation. The steady-state VAR requirement of IG is supplied
by Capacitor while the inverter works as dynamic reactive power
compensator. The system is modeled, simulated under various op-
erating conditions & simulations results are illustrated in following
Figs.(6)-(11)

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Fig. 6 - Dynamic response of ∆V for 5% step increase in QL at t

= 0.03 sec

Fig.7 - Dynamic response of ∆QIN for 5% step increase at t =

0.03 sec

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Fig. 8 - Dynamic response of ∆V (Voltage deviation) for wind

disturbance of 5% and load disturbance of 2% at t= 0.

Fig.6 and Fig.7 shows dynamic response for ∆V and ∆QIN for load
disturbance with no change in wind power.

Fig.9-Dynamic response of ∆QIN for wind disturbance of 5% and

load disturbance of 2% at t= 0.

Transient response of ∆V and ∆QIN for 2 % step increase in ∆QL

& 5 % step change in ∆PWD at t =0 are illustrated in Fig.8 and
Fig.9 respectively. The simulation model of OGHPS is tested for
change in value of ∆QL from 0.006 at t = 0 to 0.04 at t=0.06 sec,
solar irradiance deviation changes from 0.0075 at t=0 sec to 0.02
at t = 0.075 sec and ∆PWD value changes from 0.01 at t=0 to
0.035 at t=0.09 from variable wind speed model. Time domain
responses illustrated in the Fig.10 and Fig.11, shown that system

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attains steady state. The effect of change in solar irradiance does

not show affect on reactive power control because inverter is over-
sized by 40% to increase its VAR capacity.

Fig.10 - Dynamic response of ∆V for load and supply disturbances

Fig.11- Dynamic response of ∆QIN for load and supply

disturbances
The performance of state variables ∆QIN, ∆QSG, ∆QIG and ∆V
for different step changes in load and wind power is as presented in
Table 1.All values mentioned in Table 1 are in pu.
TABLE I. COMPARISON OF CONTROLLER
PERFORMANCE FOR SYSTEM STATE VARIABLES

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Fig.12 Comparison of settling time for 10% reactive load & 5%

wind power disturbance

Fig.13Comparison of Voltage deviation for load & wind power

disturbances

Load plays vital role in the power system voltage stability study.
In this work, the composite load model with static and dynamic
characteristics is considered for investigation of voltage stability.
Small signal system model of system components (state variables)
is developed in Simulink, from the mathematical expressions given
in Eqs.(1)-(7) and Eq. (11) -(12). The outcome of VAR control by
inverter for flat voltage profile is obtained by the training process
of ANFIS for updating the gains of PI. A program is developed in
MATLAB editor for obtaining range of optimum values of the PI
gains by using ISTE optimization method. Time domain response
for voltage deviation and reactive power control is tested for sudden
supply and load disturbances with different magnitude. Simulation
result ensures that system variables regain their equilibrium con-
dition with both PI and ANFIS tuned PI. Control performance
parameter is obtained using MATLAB Command stepinfo for vari-
ous disturbance, is illustrated in Table1. Bar charts are plotted for
setting time and voltage drop, is as illustrated in Fig.12 and Fig.13
respectively. It is noticeable from above Figs,.613 and Table 1,that
overshoots, oscillations and settling time are more with PI control

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,hence it is obvious that control dynamic is improved very well with

ANFIS tuned PI.

5 CONCLUSION
In this paper, inverter reactive power control based on ANFIS tune
PI is developed, which adjusts, gains of PI controller under chang-
ing operating condition. The analysis is carried out using small
signal model of OGHPS in Simulnik with both fixed gain PI and
ANFIS tuned PI controller for changing operating conditions to
examine voltage profile stability in time domain. Simulation re-
sults are validated by comparing results of both controller for dif-
ferent load and supply disturbance in the form of step changes.
From simulation results, it is concluded that application ANFIS
algorithm precisely tuned controller parameters under varying op-
erating conditions. The right tuning of controller parameter has
improved control system performance, hence enhanced voltage reg-
ulation characteristic with dynamic support of reactive power from
inverter. The proposed ANFIS tuned PI control has better control
effect and improved dynamic response of voltage characteristic.

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APPENDIX
Base quantities 400 KVA, 400V, 50 Hz,
Generation capacity( KW)- Wind Generation - 150; Diesel Gen-
eration -150;PV system - 100, load -300KW, load pf- 0.9, nq=3,
Dlvq−static =0.86 ,
SG KSG1 =6.366685, KSG2 =-7.09126
IG - KIG1 = 0.1260, KIG2 =0.4469,
PV-KP P =2.706,KP V IN =0.2272,Kpv =0.2545,
kQp =-0.2545, KQV IN =2.4165, kQV =-2.4178,
Ki =1,Ti =1 sec. ηinv =100%
NOMENCLATURE
SG, IG - Synchronous generator, Induction generator
DE, PV - Diesel Generator and Photovoltaic
V, VIN, δ - Load voltage and Inverter output voltage and its
phase angle

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nq - Voltage dependent parameters of static reactive power load

inv-inverter efficiency
VAR -Volt-Ampere reactive ,∆-Small change Xm- Induction
generator magnetizing reactance.
PWD- Wind power input to induction Generator

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