Energy Conversion and Management 65 (2013) 655662

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Energy Conversion and Management

journal homepage: www.elsevier.com/locate/enconman

Application of the DTC control in the photovoltaic pumping system

Chergui Moulay-Idriss , Bourahla Mohamed
University of Sciences and Technology of Oran, Electrical Engineering Faculty Department of Electrotechnics, Laboratory of Electrical Drives and Power Electronics,
BP 1505, Al Mnaouar, 31000 Oran, Algeria

a r t i c l e

i n f o

Article history:
Available online 12 June 2012
Keywords:
Photovoltaic
MPPT
PWM
Direct Torque Control

a b s t r a c t
We aim to nd a better control and optimization among the different functions of a solar pumping system. The photovoltaic panel can provide a maximum power only for dened output voltage and current.
In addition, the operation to get the maximum power depends on the terminals of load, mostly a nonlinear load like induction motor. In this work, we propose an intelligent control method for the maximum
power point tracking of a photovoltaic system under variable temperature and irradiance conditions. The
system was tested without maximum power point tracking, with the use of Scalar-Based control motor,
but we cannot maintain the speed optimal. Next, we developed several methods for the control. Finally,
we have chosen the Direct Torque Control.
2012 Elsevier Ltd. All rights reserved.

1. Introduction
A photovoltaic (PV) panel is one of the cleanest and environment-friendly non-conventional energy sources. A PV panel directly converts solar energy into electrical energy. The electrical
energy produced by the PV panel can be extracted over time and
used in the form of electric power. This electric power can be used
to drive electric devices. Typically the power is extracted by using
DC/DC up/down converter circuits and/or DC/AC inverter circuit
[13]. Solar cell consists of a pn junction fabricated in a thin wafer
or layer of semiconductor. The output currentvoltage (IV) characteristic of a solar cell has an exponential characteristic similar
to that of a diode witch therefore set the open circuit voltage characteristics of the cell. Thus the simplest equivalent circuit of a solar
cell is a current source in parallel with a diode, as is illustrated in
Fig. 1.
A PV panel in a uniform and constant irradiation has IV characteristics, for irradiation there is only one operating point, known
as the Maximum Power Point (MPP). For the latter, the PV panel
operates at maximum efciency and produces a maximum of
power (Pmax). When we connect a load directly to a PV panel, the
operating point is not necessarily the MPP but it will be the intersection of the IV characteristics with the load line, as it is represented in Fig. 2. Generally the operating point is not a MPP of the
PV panel. Then in the direct coupling of the loads, the PV panels
are often oversized in order to ensure sufcient power to supply
the load and this leads to a system excessively expensive. To overcome this problem, the tracking module can be used to maintain
the operation of the PV panel at Pmax, this can be done by means
Corresponding author. Tel.: +213 771789668; fax: +213 45804236.
E-mail address: chergui_cum@yahoo.fr (C. Moulay-Idriss).
0196-8904/$ - see front matter 2012 Elsevier Ltd. All rights reserved.
http://dx.doi.org/10.1016/j.enconman.2011.08.026

of the Maximum Power Point tracking (MPPT) by controlling the

voltage or current generator independently of the load [47].
However, controls for digital, according to intelligence algorithm of the tracking, the MPP can be located and be followed by
calculation model or a search algorithm. The situation is even more
complicated due to the fact that the MPP depends in a non-linear
way on both irradiance and temperature. Usually assigned procedures are based on a search algorithm, with which the Pmax curve
is determined without interruption of the normal operation. For
this, in regular intervals, the working point voltage is changed
around a certain increment-consequently output power becomes
larger, then the search direction is maintained for the next step,
otherwise it is reverse. Hence the actual working point oscillates
therefore with a certain range around the actual point of Pmax. This
simple basic principle can be secured by additional algorithms
against misinterpretation, which can occur for example with a
wrong search direction and nevertheless a power rise due to fast
increasing irradiation.
The aim of this paper is to search for better control and optimization achieved among the different functions of a solar pumping
system with the induction motor. We developed several methods
control of induction motor that is either by the scalar or control
vector, this paper represents an extension/update of the paper of
the same title presented at the conference, GCREEDER 2011, and
contained in the Proceedings of that conference.

2. Some type of tracking algorithms

This Different methods and strategies for tracking have been
proposed in the literature. At present there are numerous works
aimed at designing MPPT systems, where the efciency of each

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C. Moulay-Idriss, B. Mohamed / Energy Conversion and Management 65 (2013) 655662

Nomenclature
ICELL (A)
VCELL (V)
Ics (A)
e
Rs (X)
Rsh (X)
ISAT (A)
n

is
is
is
is
is
is
is
is

the
the
the
the
the
the
the
the

T (25 C = 298 K) is the cell temperature

K
is the Boltzmann constant (1.3806504  1023 JK-1)
is the number of cells in series
Nc
VT (V)
is the thermal voltage V T KT
e
a
is the diode parameter (usually a  1.2)
gMPPT
is efciency of a MPPT module
is the maximum power
Pmax

current cell
voltage cell
short circuit current of cell
electronic charge (1.6021  1019 C)
resistance in series parameter of the array
resistance in shunt parameter of the array
saturation current
ideality factor

which did not allow the PVG to start the pumping operation.
Although the drive shaft is rotated, however, the pump could not
ow the water. The electromagnetic torque is too low with transient peaks. This is due to the low speed and power absorbed by
the motor. According to the simulation results presented, we can
claim that the responses of the system are long and the operating
systems have not been met. To remedy this situation, we are called
to use a tracking device at the PVG to extract maximum of available power, and to insert a regulator to run the motor with a constant voltage/frequency ratio (r).

Fig. 1. The circuit diagram of the solar cell model.

4. Description of the tracking algorithm

Fig. 2. Typical IV curve for a PV panel.

of them is shown and comparatives of the different methods of

MPP tracking are established under different operating conditions,
which we can cite those being less expensive [46]:
 Perturb and Observe with an efciency of 85.5%;
 Constant voltage with an efciency of 73%;
 Incremental Conductance with an efciency of 89.9%.
The efciency of a MPPT module is dened by:

Rt

gMPPT R t0
0

Pm t  dt

Pmax t  dt

where Pm measures power produced by the PVs panels under the

MPPT control and Pmax is the maximum power, it is produced under
the same temperature and the irradiation.
3. Simulation of the pumping system by the photovoltaic
generator without MPPT
Using the scalar-based method [711], the simulation shows
that the pump cant provide water because power consumption
is not sufcient to raise the water at the desired height. This is
due to the problem of remoteness of the operating point of PV generator (PVG) compared to the optimal operating point. If the PVG
doesnt connect with an optimum load at its terminals it will not
debit Pmax, [69], as is illustrated in Fig. 3ac. We note that the
rotational speed of the motor did not reach the required regime,

With the Perturb and Observe (P&O) algorithm, the operating

voltage of the PVG is perturbed by a small increment and the
resulting change in power, the change of power (DP) is measured.
If DP is positive, then the perturbation of the operating voltage
shifts the PVG operating point closer to the MPP. Thus, further voltage perturbations in the same direction (with the same algebraic
sign) should shift the operating point toward the MPP. If DP is negative, the system operating point has moved away from the MPP,
and the algebraic sign of the perturbation should be reversed to
move back toward the MPP. The advantages of this algorithm, as
stated before, lie in two facts, on the one hand, it is easy to implement and on the other hand, its simplicity. However, P&O has some
limitations that reduce its MPP efciency, as when sunlight decreases, this makes it difcult for the MPPT to discern the location
of the MPP [5], owing to the small change in power with respect to
the perturbation of the voltage. Furthermore it cannot determine
when the MPP is actually reached. Instead, it oscillates around
the MPP, changing the sign of the perturbation after each DP measurement. Moreover, it has been shown that P&O can exhibit erratic behavior under rapid change irradiance levels. Several
improvements of the PO algorithm have been proposed. Among
the corrections obtained, we cite the incremental conductance
(INC-MPPT) algorithm. In fact, the INC-MPPT algorithm is derived
by differentiating the PV array power with respect to voltage and
setting the result equal to zero. This is shown in the following
equation:

dIMPP
IOP

dV MPP
V OP

Note that the left-hand side of Eq. (2) represents the opposite of the
PV arrays instantaneous conductance, while the right-hand side
represents its incremental conductance. Thus, at the Maximum
Power Point, these two quantities must be equal in magnitude,
but opposite in sign. If the operating point is off of the MPP, a set
of inequalities can be derived from Eq. (2) that indicates whether
the operating voltage is above or below the MPP voltage. These relationships are summarized as follow in Eqs. (3)(5).

dIMPP
IOP
dPPV

IF
0
dV MPP
V OP
dV PV

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657

(b) Electromagnetic and Resistant Torques

(ERT)

(a) Rotational Speed (N)

(c) Power consumption by the Motor

Fig. 3. Results of simulation system pumping by the PVG without MPPT.

dIMPP
IOP
dP PV
<
IF
<0
dV MPP
V OP
dV PV

dIMPP
IOP
dP PV
>
IF
>0
dV MPP
V OP
dV PV

For convenience, Eq. (3) is similar to Eq. (2). In turn, Eqs. (4) and
(5) are used to determine the direction in which a perturbation
must occur to shift the operating point toward the MPP, and the
perturbation is repeated until Eq. (3) is satised. Once the MPP is
reached, the MPPT continues to operate at this point until a change
in current is measured which will correlate to a change in irradiance on the array. The relationship between voltage and current,
for the one-exponential model, is given by the following Eq. (6):





V CELL Rs ICELL
V CELL Rs ICELL
1 
ICELL ISC  ISAT exp
nV T
Rsh

For an optimal operating point, the PV array works at its maximum power and thus the derived power at this point is null. From
Eq. (6), it follows that the derivative of current can be expressed by
Eq. (7). During the accurate tracking cycle, the PVG terminal voltage is adjusted by comparing the values of the incremental conductance and instantaneous one [47].

!1

1 !
dICELL
qISAT
V CELL Rs ICELL
1

 RS
exp
nV T
Rsh
dV
Nc aKT

The INC-MPPT method has the advantage compared to P&O

method in the sense that it calculates the direction of the perturbation without constantly varying the voltage. The operating principle of incremental conductance method is based on the following
characteristic of the PV curve. The INC-MPPT method can track
the MPP with higher precision, and it has higher accuracy under
fast changing weather conditions compared to the P&O method.
However it requires more calculation process and thus slows down
sampling speed. This method also requires extra sensors in order to
measure the current and voltage.

5. Operation of pumping solar system with incremental

conductance tracking
We must adapt to the load every moment at the solar array to
debit its Pmax. This adjustment of charge is made by controlling
the supply voltage of the motor through the inverter voltage. The
control of the voltage with an inverter can adjust requested power
relative to that available by adjusting the output and the voltage/
frequency ratio. If, for example, the irradiance increases, the inverter increases the frequency until the requested power of the motor
is equal to that provided by the generator. Otherwise, a decrease of
irradiance leads to a reduction in the frequency until a new balance
of power is established [68]. Thus, the system will be complemented by the integration of a double control: A follow of optimal
functioning point at the PV generator with a tracking device to the
MPP and an adjustment of the voltage across the motor with a PI
controller while adjusting on the ratio factor (r) of the reference
voltage with the voltage of the carrier. The MPPT based on the
INC-MPPT algorithm uses two information: the terminal voltage
of the PVG and the current output; it estimates the optimal voltage
of the PVG. The regulator PI controls the voltage of the generator to
that calculated by the MPPT and adjusts the ratio (r). This factor is
bounded to between 0 and 1 remaining in a Pulse Width Modulation (PWM). About the tracking of the Pmax, one can ensure that it
works properly.
In order to test the continuation of the Pmax provided by the
MPPT at changing weather conditions, we varied the irradiance
from 500 W/m2 to 800 W/m2 for a period of 4 s, and then it remains constant for the rest of the time of simulation. The following
Fig. 4ac illustrate this state.
In order to know the limits of our pumping system, we considered a new record of irradiance. To that end, we proposed irradiance of 800 W/m2, and then it fells over a period of 4 s of an
irradiance of 500 W/m2. The fall of irradiance begins after a running time of 4 s as its illustrated by Fig. 5ad.
According to the results, the voltage across the PVG when operating with MPPT is stable. This is contrary to the case without
MPPT; the PVG is operating at its Pmax, and MPPT could estimate
the optimal voltage quickly. Also, we nd a huge error at the outset
because the PVG was initially in open circuit while the initial release of MPPT was nil. According to the latest curve, we can

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C. Moulay-Idriss, B. Mohamed / Energy Conversion and Management 65 (2013) 655662

(a) The output current of the PVG

(b) Voltage optimally estimated by

the MPPT

(c) Powers charge and consumed

Fig. 4. Operation with INC-MPPT (test from 500 W/m2 to 800 W/m2).

(a) Terminal voltage (TV) of the PVG

(b) Rotational Speed

(c) Electromagnetic and Resistant Torques (d) Power consumed by the Motor (KVA)
Fig. 5. Operation with INC-MPPT (test from 500 W/m2 to 800 W/m2).

identify that the power consumption of the motor is comparable to

that produced by the PVG.
However, we nd that the system had a faster response since
sunlight available was important. When the sunlight decreases
the speed decreases at the same time reducing water ow. At

one point, the pump will not be able to convey the water although
the PVG works with Pmax. The MPPT has been able to operate the
PVG at its Pmax, but despite that the pump could not supply the
water when the sunlight fell. We can overcome this situation by
introduce a new laws control of induction motor. Also the electro-

C. Moulay-Idriss, B. Mohamed / Energy Conversion and Management 65 (2013) 655662

(a) Motor current

(c) Rotation Speed;

659

(b) Electromagnetic torque and resistance torque

(d) Water flow

Fig. 6. Simulation results of PV pumping system with calculated PWM.

magnetic torque is very volatile, its caused by switching of inverter and the control law that imposes the switching time. To reduce
these, we use other technical of inverter control as calculated PWM
[3,811]. The results of this approach are illustrated by Fig. 6ad.

6. The Direct Torque Control

The main features of Direct Torque Control (DTC) can be summarized a direct control of ux and torque (by selecting the optimum inverter switching vectors), Indirect control of stator
currents and voltages, approximately sinusoidal stator uxes and
currents, high dynamic performance, no vector transformation as
in vector-based control, no feedback current control and less
dependence on parameters motor [1214].
The Stator ux and torque estimation are represented by Fig. 7
and The convention Direct Torque Control scheme is illustrated by
Fig. 8, where the simulation results is represented by Figs. 9ad.
The rotational speed has exceeded zero, it increases rapidly and almost linear up to t = 0.134 s, where it stabilizes at a constant value
1000 rev/min. This fast dynamics is due to the absence of PI regulator of the current. The electromagnetic torque presents a transient increase in oscillatory up to a maximum of 38 Nm, then it
drops almost instantaneously to its reference value of 10 Nm with

Fig. 7. Stator ux and torque estimation.

Fig. 8. Conventional DTC scheme.

ripple amplitude of 4.2 Nm in steady state. The trajectory of the

end of the stator ux is an almost circular with a radius equal to
1.2 Wb with a slight deviation to change the border zone of stator
ux vector. The major drawbacks of this control are signicant ripple torque and ux. Subsequently we develop a control to remedy
this inconvenience.
We propose a new method that implements the PWM vector.
The Direct Torque Control using a vector modulation controlled
with comparator hysteresis (DTC-CSVM), it is performed on the basis of the principle of DTC [1416]. This method determines the
module of vector terminal voltage (VS) according to the value estimated electromagnetic torque compared to baseline. Indeed, the
module voltage is chosen if the maximum torque is beyond a limit
of error of the torque. VS module gradually decreases to zero if the
torque approaches its reference value. The angle of the Vector VS is
determined by the error of stator ux and electromagnetic torque.
Finally, the modulation vector is used to generate the vector VS.
The results of the DTC-CSVM simulation used are represented as
follows by Fig. 10ad.

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C. Moulay-Idriss, B. Mohamed / Energy Conversion and Management 65 (2013) 655662

Fig. 9. Simulation results of the conventional DTC scheme.

Fig. 10. Simulation results of the DTC-CSVM.

The speed has exceeded zero, it increases rapidly and almost

linear up to t = 0.134 s, where it stabilizes at a constant value.
The electromagnetic torque presents a transient increase in oscillatory up to a maximum of 39 Nm, then it drops almost instantaneously to its reference value of 10 Nm with ripple amplitude of
0.6 Nm in steady state. One can observe a signicant reduction in

torque ripple. The trajectory of the end of the stator ux takes a

form circular with a radius equal to 1.2 Wb. One can observe an almost circular in stator ux trajectory. It is due to the use of a comparator hysteresis at two levels, in addition to the advantages of
the classical DTC, the DTC-CSVM is characterized by a considerable
reduction in torque ripples, a reduction of current distortion (using

C. Moulay-Idriss, B. Mohamed / Energy Conversion and Management 65 (2013) 655662

661

Fig. 11. Simulation results of the PV pumping system with the DTC control.

a vector PWM) and a reduction of stator ux ripples. The simulation result of the PV pumping system with the DTC control is illustrated in Fig. 11ac and e.
With the use of the DTC control, the problems of hardiness and
the requirement to use the MPPT are truly overcome and
eliminated.
7. Conclusion
To improve the efciency of PV systems, under different temperature and irradiance conditions, intelligent control for the
tracking of the maximum power point and different control method for the induction motor were applied in this paper. First, the design and simulation of a based MPPT controller was proposed.
Compared to the system without MPPT or with P&O-MPPT controller, the INC-MPPT has improved the transitional state and reduced
the uctuations in the steady state. It has characterized by relatively higher efcacy of other algorithms. Second, we have used
several methods to control the induction motor either in its scalar
or vectorial based forms with different techniques of PWM. We
opted for a voltage control to optimize the ux of induction motor.
In this case, the voltage/frequency ratio will be maintained constant by the integration of regulation based on a classic correction.
It controls the voltage of the PVG to the optimal issued by the
MPPT. After integration of MPPT, it has been noticed that the
PVG operates at its Pmax the tracking acts as an adaptor of the load.
The pump could supply the water since the requested regime has
been achieved, but we cannot conrm that this speed is optimal
because the law control of induction motor was too simplistic.
Thereafter, we carried out a test of hardiness where we found that
whatever the situation, the MPPT is able to help the PVG to run at
its maximum power. And we have overcome the problems and disadvantages of the scalar-based using different technical of PWM
control and using the different techniques of the DTC.
The introductions of DTC in PV systems are very promising.
They achieved great performances, fast responses with no over-

shoot and less uctuations in the steady state, for rapid irradiance
and/or temperature variations. This means that these controllers
are able to maintain very rapidly the operating point of the PV systems at the PPM hence improving the amount of energy effectively
extracted from the PVG, i.e. increasing the efciency of the PV system. Through this presentation, this method allows reducing ripple
of the electromagnetic torque and the stator ux, it improves the
stator current signal, but its drawback is a small ripple in the ow
due to the use of a comparator with hysteresis to two levels. It is
therefore interesting to develop and optimize a new control algorithm based on the DTC.

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