Input-Output Linearizing Control of Pumping Photovoltaic System: Tests and Measurements by Micro-Controller STM32

International Journal of Advances in Engineering & Technology, Sept 2012.
IJAET ISSN: 2231-1963

25 Vol. 4, Issue 2, pp. 25-37

INPUT-OUTPUT LINEARIZING CONTROL OF PUMPING
PHOTOVOLTAIC SYSTEM: TESTS AND MEASUREMENTS BY
MICRO-CONTROLLER STM32
Dhafer Mezghani
1
and Abdelkader Mami
2
1
Laboratory of Analyze and Control of Systems, Department of Electric Engineering
National School of Engineering of Tunis, PB 37, Le Belvedere, Tunis 1002, Tunisia
2
Department of Physics, Faculty of Sciences of Tunis, Electronic Laboratory, 2092 El Manar,
Tunis, Tunisia,

ABSTRACT
The photovoltaic powered water pumping system investigated in this paper consists mainly of a photovoltaic
generator, a boost converter, a tension inverter and a centrifugal motor-pump Then, we present a method which
resolved the problem of input/output linearization of the nonlinear system from his mathematical model, this
technique is associated to the Maximum Power Point control which depends on meteorological conditions
(insulation and temperature) and the Results of simulation are given for various variables of the structure in the
closed loop. Finally, we present the implementation of the MPP control in a kit based STM32 micro-controllers
and the measurements were carried out on the experimental system that enabled us to validate the adopted
control.

Keywords: pumping photovoltaic system, linearizing control, microcontroller STM32, measurements.
I. INTRODUCTION
The nonlinearity of the current-voltage characteristic of the PV generator is the origin of the non-
linearity of the differential equations system governing the operation of PV system. This is why, we
propose to use one of the techniques of nonlinear control, it have been well developed over the last
decade. for a large part of the state space , the main advantage of this control that the controller does
not need to be reduced each time the operating point to recalculate the matrix necessary. In addition,
this command is performed even for large variations of status during the transition between multiple
operating points chosen [1]. This research aims to implement a improved linearizing control of the
pumping photovoltaic system ensuring the maximum power point tracking of photovoltaic field and in
order to optimize the total efficiency, it consists on PV generator, boost converter, three-phase voltage
inverter and asynchronous motor-pump.
So, this paper is organized as follows: Firstly, a mathematical model of the proposed system is
presented in Section II. Secondly, the input/output linearizing control of this PV system and the
calculation of the Maximum Power Point command are developed in Section III. In the Section IV,
the simulation results in closed loop are obtained via the Matlab software [10] and the Tests and
Measurements were carried out on the experimental simulator,. Finally, concluding remarks are given
in Section V.

II. MODELLING OF PUMPING PHOTOVOLTAIC SYSTEM
The diagram in Figure 1 shows the block diagram of PV pumping class. The considered class consists
essentially of a generator, boost converter, voltage inverter and asynchronous motor pump.
26 Vol. 4, Issue 2, pp. 25-37

the pump used is of centrifugal type, and the two tanks are communicating between them, the
hydraulic network characteristic of the flow Q (l/min) and the mechanical speed
m
(rd/s) is given by
the first law of similarity [2]

( )
( )
Q
Q
Q
b b b b
b
nom
nom
m
|
|
\
|
=
|
|
\
|

2
2
0
2
1 1
2
4
2
(1)

With b
0
, b
1
, b
2
and are constants related to the hydraulic network.

Figure 1. Schematic bloc diagram of PV system
In order to simplify the model of the asynchronous motor and get a decoupling between the flux and
speed (torque), its proposed to guide the direct component of d-q frame rotating about the rotor flux
and the mathematical model of the pump asynchronous is given by the equations 3 [3][12]
ds q s r
d
d
V a
+ + + = 1 0
&

qs d s r m p
q q
V n a
+ = 2 0 &

a a
d
r r 4 3 + =
&
(2)
m
m
q r m
J
C C
a
) 1 2 (
5
+
=
&

Or,
|
|
\
|
+ =
r
s
r
m
s
s
L
L
R
L
L
R
a
2
2
0 ;
r
r m
L
R L
a
2
1 =
;
r
m
L
L
a = 2
;
r
r
L
R
a = 3
;
r s
m r
L L
L R
a = 4
;
s r
m p
L L J
L n
a
= 5

With is the flux and Vs is the stator voltage in the d-q frame
The inverter tension transforms a DC voltage in a three phase alternative voltage using the Pulse
Width Modulation (PWM) technique [4], his model is given by equation 4

|
|
|
\
|

= =
|
|
|
\
|
2 1 3
3 1 2
3 2 1
2
2
2
3

c
c
c
b
a
U
n U
V
V
V
(3)
With n is the logic of commutation of inverter depending of duty cyclic
1
,
2
and
3

This inverter is coupled to an induction motor-pump, The modeling of the induction motor is carried
out in the (d-q) frame using the Park Transformation
( )
|
|
|
\
|
(
(
(
(
+
+
=
|
|
|
\
|
=
|
|
\
|
|
|
|
\
|
|
|
|
\
|
|
|
|
\
|
|
|
|
\
|
3
2
1
3
2
1
3
2
sin
3
2
sin sin
3
2
cos
3
2
cos cos
3
2
V
V
V
t -
t - - t -
t - t

V
V
V
t P
V
V
s s s
s s s
s
qs
ds

(4)
27 Vol. 4, Issue 2, pp. 25-37

With s=2fs, s et fs are respectively the stator pulsation and frequency.
In Order to maximize the solar field and to put the generator maximum power point, we place a boost
converter that increases the voltage generated by the PV generator, the mathematical model of the
association PVG and the boost converter is given by the following equations [2]
( ) ( ) ( ) ( )
|
\
|

|
\
|
+

+ = 1
25 .
exp . . 1
1000
.
1000
25 .
.
0 2
0
1
C
a C p
cc
c
cc
a c
sc cc p
V k
T U V
k I
E
I
T E
I I I (5)
( ) c p
p
p U V
dt
I d
L = 1
&
(6)
With I
cc
is Short circuit current 1.19A, I
sc
is Temperature coefficient of short circuit current
0.075%/C, U
C0
is Temperature coefficient of open circuit Voltage -280mV/C, V
CO
is Open circuit
voltage 92V, k
1
and k
2
are constants of GPV respectively 0,015 and 0,192, where Ec and Ta are
respectively the insulation and the ambient temperature, and Lp are respectively the duty cyclic and
the self of converter
III. INPUT-OUTPUT LINEARIZNG CONTROL OF PUMPING PV SYSTEM
In this part, we propose a improved technique of control makes it possible to obtain a linear order by
holding account of all no-linearity [11][13][14][15][16]. This approach is the linearizing order input-
output which consists in applying to the system a change of reference frame and a return of nonlinear
state in order to ensure a decoupling and the linearization of the relations between the inputs and the
outputs we can to applicate this technique in the DC machine [5] and asynchronous machine [1].
So, we restrict ourselves to the study of the order as having linearizing output current Ip to enslave the
maximum power delivered by the generator, the rotor flux module decoupled from variable torque
and speed of to operate the pump motor about a speed corresponding to a total yield maximum.
The block diagram of closed-loop structure is given in Figure 3.

Figure 2. The block diagram of closed-loop structure
3.1 Elaboration of the Control Laws
The method consists to derive the vector output y several times (relative degree r) until the appearance
the vector input u and the command equation that allows to linearize the system, its given by the
following equation [2][11]
28 Vol. 4, Issue 2, pp. 25-37

( ) ( ) x x u + = (7)
With is the new vector input of linearizing system obeys the equation
(
(
(
(
=
(
(
(
=
|
\
|
|
\
|
y
rm
y
r
m
m
M M
1
1
1
(8)
in our structure, from the (eq.2) we obtain the nonlinear state feedback following
( ) p popt gs gs I I h =
( ) r r ref m h h
&
1 2 1 = (9)
( ) m m ref m h h
&
1 2 2 =
With
[ ] [ ] qs ds m m g ,V ,V ,u ,u u u = = 2 1
;
[ ] [ ] m r p m m gs , , I , ,
& & & & &
= = 2 1
; 1 1 ln +
|
\
|
+
= |
\
|
sst
p ph
c
T
gs
I
I I
U
V
x ;
( )
c
p
gs
U
L
x = ;
4
1
1
a
x m = |
\
|
;
r
m
a
x
5
2
1
= |
\
|

; ( ) ( ) q s d r m - a a a
a
a
x 0 3 1
4
3
2
1 + +
|
|
\
|
+ = ;
|
\
|
+ + +
|
|
\
|
+ + |
\
|
= |
\
|
J
R
a a
J
C
J
a
R
n
J
a
R C
x
nlp
q m
q
r
nlp
ds p
m
r
nlp
m 0 3
2
2
5
2
2
2
5
2
2
;
3.2 Synthesis of linear regulation and estimation
A smooth continuation of the variables to their references is given by the following system
( ) p popt gs gs I I h =
( ) r r ref m h h
&
1 2 1 =
(10)

( ) m m ref m h h
&
1 2 2 =

The coefficients h are chosen such that 0 2 . 1
2
= + + h s h s et 0 2 . 1
2
= + + h s h s is polynomials
dHurwitz. These coefficients are calculated for a pole placement.
In the equations 7 and 8, the stator pulsation and the rotor flux is calculated from a estimator block, its
given by the expressions eq.11 and eq.12

ds
r
m
r i
s T
L
|
\
|
+
=
1 .
(11)
qs
r r
m
m p s i
T
L
n |
\
|
+ = (12)

With
r
r
r
R
L
T = is the rotor time constant

29 Vol. 4, Issue 2, pp. 25-37

3.3 Calculation of the MPP Control
Generally, the PV systems considered operate over the sun and the weather conditions are variable with
time, then, we must adjust the operating point of the load at maximum power supplied by the PV
generator. It can be achieved by a Boost placed between the generator and the load of a dynamically
controlled using the variable duty cycle, this command called MPPT (Maximum Power Point Tracking).
Its treated extensively in the literature [6], [7], for our application, we adopt the following expression that
calculates the optimal value of the tension and the current generated by GPV (V
popt
and I
popt
) which
depends on weather conditions [8].
( )
( )
|
|
|
|
|
\
|
|
|
|
|
|
\
|
|
\
|
|
\
|
+

+
+ + =
cc
c
cc
a c
sc cc
CO C a C popt
I k
E
I
T E
I I
Ln V k V k T U V
.
1
1000
.
1000
25
.
. . . 25 . 76 , 0
1
2 0 2 0 (13)
and

( ) ( ) ( ) ( )
|
\
|

|
\
|
+

+ = 1
25 .
exp . . 1
1000
.
1000
25 .
.
0 2
0
1
C
a C popt
k cc
c
cc
a c
sc cc popt
V k
T U V
I
E
I
T E
I I I (14)

With Icc is Short circuit current 1.19A, Isc is Temperature coefficient of short circuit current
0.075%/C, UC0 is Temperature coefficient of open circuit Voltage -280mV/C, VCO is Open circuit
voltage 92V, k1 and k2 are constants of GPV respectively 0,015 and 0,192
IV. IMPLEMENTATION AND MEASUREMENTS
4.1 Numerical simulation
In order to apply a single command structure for PV optimized operation ensuring maximum
efficiency, we propose to simulate a configuration consisting essentially of a GPV, a boost converter
supplying the voltage necessary to power the drive (inverter + induction motor pump) and controlled
by a control input-output linearizing state feedback. We use in this part, the same simulation
conditions such as
E
c
varies from 300W/m2 to 1000W/m2 and T
a
ranges from 25 C to 45 C
the module of the rotor flux must reach a value of
ref
=0.7Wb
The simulation diagram is given in Figure 3. We see a rapid continuation of the variable Ip and Vp
evolution from their optimum values for various weather conditions, The application of the boost
converter allows the generator to keep his point MPP and provide the inverter voltage required to
operate the PV system for maximum efficiency, we find a maximum insulation and average
temperatures can exceed the voltage U
c
the 350V corresponding to a duty cycle about 0.77 as shown
in Figure 6, we also note that for a constant temperature, a decrease of 700W/m2 causes a decrease of
the stator current of about 0.45A as shown in Figures 8. This reduction also affects the temporal
evolution of the stator voltage supplied to the pump unit in terms of amplitude and phase (figures 9).

30 Vol. 4, Issue 2, pp. 25-37

Figure 3. Diagram simulation of the linearizing control of the PV structure
For various values of temperature and insulation, we record the time evolution of the real rotor flux
and estimated flux as shown in Figure 10, we see firstly the smooth continuation of the variable with
respect to its reference and other hand, a perfect decoupling with respect to variations of flow Q
(Figure 11), also, we find that the optimized operation of the chain corresponds to a total efficiency
exceeding 0.8% for the maximum irradiance and low temperatures (Figure 12)

.
Figure 4. current Ip for Ta constant Figure 5. Tension Vp for Ta constant

31 Vol. 4, Issue 2, pp. 25-37

Figure 6. Evolution of duty cyclic Figure 7. Evolution of tension Uc

Figure 8. Stator current for variation of insulation

Figure 9. Stator tension for variation of insulation

32 Vol. 4, Issue 2, pp. 25-37

. Figure 10. rotor flux various conditions Figure 11. Flow for variation of insulation

Figure 12. total efficiency for various climatic conditions

4.2 Implementation on STM32 and tests
To validate the numerical models of various components of the PV pumping system installed at the
Faculty of Sciences of Tunis to simulate the actual behavior of the PV system, it is necessary to have
experimental results based on acquisitions made on the laboratory prototype. These measures are used
to test the reliability and technical performance of the simulator study, the block diagram of the
simulator is given by the figure 13, there are two sensors, one for measuring the ambient temperature
(LM35) as it has sensitivity 10mV / C and another to measure the irradiance (S-LIB-M0030) with an
accuracy of 1 mV / (W/m2).
The acquisition of these two parameters is done through an STM32 microcontroller kit (element 1)
through these universal GPIO ports C who then sends the instruction on the optimal value of the
voltage according to the relationship (eq.12). through GPIO ports A, the linearizing control is
programmed in the MATLAB environment as having instructions V
popt
and I
popt
from the kit,
references
ref
,
ref
have given from a voltage generator, the outputs of this command control the
converter (boost+inverter), it generates the optimal transfer of GPV power (element 5) to the motor-
pump group (element 6), the latter is connected to a water network (element 7).

33 Vol. 4, Issue 2, pp. 25-37

Figure 13. PV simulator and measurement kit

The measurements make possible to validate the adopted control and to test the reliability and the
technical performances of the installation. for annual measures of the conditions climatic (E
C
, T
a
and
T
p
) in four typical months in 2011 (figures 14, 15 and 16), we measure the PV voltage corresponding
to the maximum power point and its decreasing as a function of ambient temperature.

Figure 14. Average insulation Ec

Figure 15. Average ambient temperature Ta
34 Vol. 4, Issue 2, pp. 25-37

Figure 16. Average Junction temperature Tp

Figure 17. Average tension Vp of PV generator
In addition, the applied value of frequency f
S
make to function the GPV in its Maximum Power Point
ensuring a optimum efficiency of the photovoltaic structure (figures 18 and 19).
Yearly efficiency of pump (%)
0
10
20
30
40
50
60
70
0 5 10 15 20 25 30 35 40
Q(l/min)
Simulation
Measurement

Figure 18. Yearly efficiency n
p
of pump according flow

35 Vol. 4, Issue 2, pp. 25-37

Yearly efficiency of PV installation (%)
0
0,5
1
1,5
2
2,5
3
0 5 10 15 20 25 30 35 40
Q(l/min)
Measurement
Simulation

Figure 19. Yearly efficiency n
t
of PV system according flow
The stages of data acquisition and the calcul of the MPP control require a configuration of the kit
STM32 in Language C with the IAR C environment [9], this code is detailed in the annex.
V. CONCLUSION
In this paper, we presented, on the one hand, an MPPT control applied to GPV and the other
controlling the motor-pump group through the input-output linearizing technique. The latter was
developed entirely by reversing mathematical model, it has allowed to deduce the laws of retro-action
accomplishing the exact input-output linearization. Then, the numerical simulations were performed
showing the variation of different variables electrical, mechanical, magnetic and hydraulic and a good
continuation of the variables with respect to the references to various weather conditions. In addition
the implementation of the MPP control on a kit-based STM32 microcontroller shows an optimum
efficiency of the PV structure.
ACKNOWLEDGEMENTS
We would like to thank especially Prof. Abdelkader Mami for the time and guidance given
throughout the all carried out works, without forgetting all those who contributed and aided for this
study in particularly L.A.C.S members (Laboratory of analysis and command systems).
REFERENCES
[1]. Mezghani D, Ellouze M, Cabani & Mami A, (2007),Linearizing control of a photovoltaic structure
and stability by Lyapunov directly on bond graph, Journal of Electrical System, Vol4(7), pp 181-192
[2]. Mezghani. D, (2009), Etude dune installation photovoltaque de pompage par une approche bond
graph , PHD thesis, National School engineers of Tunis.
[3]. Mezghani. D, R. Andoulsi .R, Mami .A & Dauphin-Tanguy .G, (2007),Bond graph modelling of a
photovoltaic system feeding an induction motor-pump, International journal of simulation, modelling,
theory and practice Vol 15, pp1224-1238.
[4]. P.Palanivel, & Subhransu Sekhar Dash, (2009), Comparative study of constant switching frequency
and variable switching frequency multicarrier pulse width modulation for three phase multilevel
inverter, Aca. Pub. Int. Journ.recent trends in Eng. Vol.2, no.1, pp.49-52.
[5]. Andoulsi. R, (2001), Etude d'une classe de systmes photovoltaques par une approche bond graph.
Modlisation, analyse et commande , PHD thesis UST Lille.
[6]. Ahmad. G.E, Hussein H.M.S & El-Ghetany. H.H, (2003), Theoretical analysis and experimental
verification of PV modules, Renewable Energy, vol 28, pp. 11591168.
[7]. Betka.A & Moussi.A, (2004), Performance optimization of a photovoltaic induction motor pumping
system, Renewable Energy, vol 29,pp 21672181.
[8]. Mezghani D, Jabalah A & Mami A, (2011), A New Design Vector Control of Pumping Photovoltaic
System: Tests and Measurements, European Journal of Scientific Research, Vol.61 No.4, pp.493-507
[9]. http://www.iar.com
[10]. http://www.matlab.com
36 Vol. 4, Issue 2, pp. 25-37

[11]. Isidori A(1989), Non linear control systems: an introduction, 2
nd
edition,spring-Verlag,
[12]. Caro J.M. & Bonal, J, (1997), Entranements Electriques Vitesse Variable, vol. 1, Lavoisier.
[13]. Marquez H.J, (2003), Nonlinear Control Systems: Analysis and Design, Wiley.
[14]. Slotine J.J & Li W, (1991), Applied Nonlinear Control, Prentice-Hall.
[15]. Vidyasagar M, (2002), Nonlinear Systems Analysis, SIAM.
[16]. Su C.Y, Stepanenko Y, Svoboda J & Leung T.P, (2000),Robust adaptive control of a class of nonlinear
systems with unknown backlash-like hysteresis, IEEE Trans. Autom. Control, vol. 45, no. 12, pp. 2427
2432,

APPENDIX
induction motor :R
s
= 24.6 , R
r
= 16.1, L
m
= 1.46H, L
r
= 1.48H, Ls= 1.49H
Centrifugal pump : C
1
=1.7510-3 kg.m
-2
.s-1, C
2
=7.510-6 Kg.m
-4
.s
-2
, J=6.510-3 Kg.m
-1
, b
0
=4.5210
-4

min
2
.m.tr
-2
, b
1
=-1.96610
-3
m min2.tr
-1
.L
-1
, b
2
=-0.012 min
2
.m.L
-2
, =4.0816 10
-3
min
2
.m.L
-2

ANNEX
Stage 1 : Initialization of ADC+GPIOC (Inputs)
void ADC_Init(void){
GPIO_InitTypeDef GPIO_InitStructure; ADC_InitTypeDef ADC_InitStructure ;
GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0|GPIO_Pin_1 ;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AIN ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz ;
GPIO_Init(GPIOC,&GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_ADC1|RCC_APB2Periph_GPIOC,
ENABLE); ADC_DeInit(ADC1); ADC_StructInit(&ADC_Ini00tStructure);
ADC_InitStructure.ADC_Mode = ADC_Mode_Independent;
ADC_InitStructure.ADC_ScanConvMode = DISABLE;
ADC_InitStructure.ADC_ContinuousConvMode = DISABLE;
ADC_InitStructure.ADC_ExternalTrigConv = ADC_ExternalTrigConv_None;
ADC_InitStructure.ADC_DataAlign = ADC_DataAlign_Right;
ADC_InitStructure.ADC_NbrOfChannel = 1; ADC_Init(ADC1, &ADC_InitStructure);
ADC_Cmd(ADC1,ENABLE);
}
Stage 2 : Initialization of GPIOA (Output)
void init_optimal(void){
GPIO_InitTypeDef GPIO_InitStructure; GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_PP ;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz ;
GPIO_Init(GPIOA,&GPIO_InitStructure);
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
}
Stage 3 : Calcul of the MPP Control
void main {
unit8_t val_Ec, val_Ta ;
37 Vol. 4, Issue 2, pp. 25-37

unit16_t val_tension ;
unit16_t val_current ;
ADC_init( );
Init_optimal( );
while (1) {
val_Ec=ADC_getPC0value( );
val_Ta=ADC_getPC1value( );
val_tension=(0,76*(-1,12*( ((val_Ta/256)/0.01) + 25) + 0,19*368 + LN((1,19+0,00075*
((val_Ec/256)*1280/1.2) *( ((val_Ta/256)/0.01) +273-298)/1000 + 1,19*(( ((val_Ec/256)*1280/1.2) /1000)-
1))/(1,19*0,015))*0,19))/368 ;
val_current = (1,19 + 0,00075*((val_Ec/256)*1280/1.2) *(((val_Ta/256)/0.01) +273-298)/1000 +
1,19*((((val_Ec/256)*1280/1.2) /1000)-1) - 1,19*0,01502410603*EXP(((val_tension*368)-(-
1,12*(((val_Ta/256)/0.01) +273-298)))/(0,1923894575*368)-1))/1.19 ;
}
}
Authors
DHAFER MEZGHANI: was born in Tunisia. He received the Master's degree in
Automatic from High School of Science and Technology of Tunis (ESSTT) in 2002.
Between 2002 and 2005, he occupies an assistant contractual position at High School
of Computing and Technology (ESTI). Between 2005 and 2008, he becomes
incumbent as assistant at National School of Computer Science(ENSI), in April 2009,
he obtained his Ph.D. in electrical engineering at the National School of Engineers of
Tunis(ENIT) Since September 2010, he was assistant-master at National School of
Computer Science and it operates in the field of electronics and micro-electronics for embedded systems
design (FPGA, microcontrollers) Also, its research affect the bond graph modelling, analyze and control
of power renewable systems (photovoltaic and wind) at the Faculty of Sciences of Tunis and in the ACS-
laboratory in ENIT , this research are jointly supervised with specialty societies.
ABDELKADER MAMI: Was born in Tunisia, he is a Professor in Faculty of
Sciences of Tunis (FST). He was received his Dissertation H.D.R (Enabling To Direct
of Research) from the University of Lille (France) 2003, he is a member of Advise
Scientific in Faculty of Science of Tunis (Tunisia), he is a President of commutated
thesis of electronics in the Faculty of sciences of Tunis, He is a person in charge for
the research group of analyze and command systems in the ACS- laboratory in ENIT
of Tunis and in many authors fields.

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International Journal of Advances in Engineering & Technology, Sept 2012.

IJAET ISSN: 2231-1963

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