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Sliding Mode Control Optimization and Comparison

between PI,Fuzzy and Fuzzy PI controllers


Photovoltaic current injected to Grid
Abdelhalim Borni Layachi Zaghba
Unite de Recherche Appliquee en Energies Renouvelables, Unite de Recherche Appliquee en Energies Renouvelables,
URAER, Centre de Developpement Des Energies URAER, Centre de Developpement Des Energies
Renouvelables, CDER, 47133 GhardaYa, Algeria Renouvelables, CDER, 47133 GhardaYa, Algeria
borni.abdelhalim@yahoo.fr layachi40@yahoo.fr

Abstract- This paper presents a simulation of the operation of a compensated proportional-integral (FPPI) voltage controller is
chain of photovoltaic energy connected to a low voltage grid. implemented for the current injected to the grid.
Starting with the modeling phase of the components of the
conversion system, where we modeled the photovoltaic cell
(elementary of the solar panel) and the parallel converter DC-DC
IT. MODELING OF THE PROPOSED SYSTEM
(Boost) that allows the variation of the value of the capacitor
voltage placed to the output of the photovoltaic panel .then we A. Model ofPV Array
study the optimization phase with sliding mode control for
Solar cells are basically p-n junctions. In the dark, their 1-V
tracking the maximum power point (VMPP) for extracting
maximum power panel solar. In the end, we proceed with the characteristic is similar to that of a diode. Most of the models
injection of the power grid operated via the inverter, the inverter used in the literature include an ideal diode, related to the
injects the electric active power operated by controlling the value junction behavior, and a series resistance, taking into account
of the DC bus voltage through a corrector "IP" .Because of the the ohmic losses. We obtain then the equivalent circuit
random waveform of the output current of the inverter we are diagram drawn at the figure 1 [10].
studied the various current controller: PI, Fuzzy and Fuzzy PI
the objective is to obtain current inverter output faithfully The characteristic 1-V of the cell is then given by the
following a prescribed reference.. The output current should be implicit equation.
as sinusoidal as possible with low harmonic distortion as required
by the standards of a system of network connection.
1 = 1
L
- 10 [exp
[ q (v + R s .1 ) ) - I] (I)
y.K.T c
Keywords - Photovoltaics; Boost chopper (Boost); DC bus;
MPPT; PI controller; Fuzzy; Fuzzy PI; Three-phase inverter; Grid.
Where: fL, la, I, V, are the photocurrent, saturation current,
I. INTRODUCTION Operating current and voltage, Rs and yare series resistance
and diode quality which depend on the incident solar
Nowadays, fossil fuels reduced day by day, at the same time, irradiation and the cell's temperature.At fixed temperature, the
clean power has been used to generate power such as wind model offers four degrees of freedom, namely Jr, la, Y and Rs
power, solar power and so on. Therefore, the grid connected
inverter is essential. This article was based on the solar power
system. In the grid connected inverter system, the outer
voltage loop is traditionally implemented by fixed-gain
proportional-integral (PI) or proportional-integral-derivative
(PID) controller. However, the design of the above controller
depends on the precise system mathematical model and it is Fig .1 Equivalent circuit of PV cell
difficult to develop an accurate mathematical model. Recently,
much attention has been given to fuzzy logic controller (FLC)
in order to overcome the above problems. The fuzzy logic
controller is being used for the three-phase grid connected
inverter control purpose. As compared to the traditionally PI,
PID, and the adaptive controller, the special merit of FLC is
that it does not require the knowledge of mathematical model
of the plant, and it is can be easily implemented. In the present
investigation, a fuzzy logic control (FLC) based on pre

978-1-4799-7336-1/14/$31.00 2014 IEEE


A sliding mode controller is a variable structure control where
4.5 L f= 0(' I the dynamics of a nonlinear system is altered via the
f= 250('- 1
_________________ c _________________ c _________________ __

:
4 ----------------------------
G = i lOOO W/mz
..------ ----------------- : ----------------- - application of a high frequency switching control. In sliding


: f 5WC I
___ 3.5 mode control, the trajectories of the system are forced to reach
a sliding manifold of surface, where it exhibit desirable
features, in [mite time and to stay on the manifold for all
future time. It is achieved by suitable control strategy [1]. To
apply sliding mode control we have to know if the system can
reach the sliding manifold. Once the systems reach the sliding
0.5 manifold, the controller has to force the system to stay in the
manifold for all future time [1].
OL------L------lO---------i
PVVoltage (V)

Fig. 2. J (V) Characteristics of PV panel

70,---------,--_,
T= 0 C

40

]
... 30

, 20

Fig. 5. Circuit diagram of a photovoltaic system (PV-boost MPPT).

PV array output power Ppv Vpv.ipv


=

Fig. 3. P (V) Characteristics of PV panel

B. Solar subsystem. The state of maximum output power (8Pp,,/8Ipv =0).


Based on the solar array characteristic curve shown In
The dynamic model of the solar subsystem written in terms of figure.3, when the solar array is operating in its maximum
voltage and current between input and output of the buck output power state, we can get [1].
boost converter can be expressed as: [5]. PV array output power
Ppv Vpv.ipv
=

(3)
8Ppv =
8(Vpv.i pv) = 0
s 8Vpv 8Vpv (4)
-1
8Ppy 8i py
S VPY i PY
= =

+
8VPY 8VPY
(5)
Fig. 4 Simplified Boost converter.

1 L-Ldi
dt
V
= -
(1 U).Ybus + Vpv
-

Vbus
x =
The system equation (2) can be written as follows :

[(x) + g(x)u (6)


C d bus (1- u i
)L
lVpvj
_
=
Where:
dt (2) R
Where ipv is the current injected on the DC-DC converter, L,
. . C py
C are electrical parameters of the DC-DC converter, u is the x- 1
Vpy-V (7)
duty cycle [7][8]. f(x) g(x)
= = -----

V L
C. Sliding mode controller v
C RC C
- Sliding Mode Controller Surface
Where the switch control signal can be selected as
u n
=
{
O
1
S O
S <O
- Vbus : La tension du bus continuo
- C : The DC bus voltage
(8) - iL : Output current of the photovoltaic panel.
Let - ibus : Current modulated by the network-side converter.
. as as as
In the Laplace domain, the above equation can be written:
S(X)=-T x =-T f(X)+-T g(X)Ueq
ax ax ax (9) Vbus -
C .S (17)
Then the duty cycle of control
1
C.S
g {x )
as
ax T (10)
Among them

Lfh
2
=
ah
ax
2T f(x) =
[ a2i py
a2vpy
vpy +2
ai py
avpy
)
c {K
Fig. 6. Control loop of the DC bus voltage.
The controller parameters will be deducted as:
c.ffi
:
=

L h
g 2
=
ah
2T x
ax g()
=
[ a2i pv
a2vpv
V
PV
+
2 ai p v
avpv
'
_
c
(11)
K I

p = 2 ..ffi I1'C
(18)
Figure 7 shows a simplified representation of the supply-side
(12)
converter which includes a dc-side capacitor, a 3-phase PWM
Putting the equations (10) and (11) into (9); obtain the inverter, and series impedances which interface the output of
equivalent control variable. the inverter to the utility grid [3].
Grid
fhus
IpV
U eq =---

lL

From the (7), (12) the control input is:


U =
ueq + un
(13) v.11] PWM
Voltage
Source
Inverter
e'
c.
1. ___ _ _ _ _____ _ _ _ ___ _ _ .J
,i .
lb
,
ic
Vb

Vc

Fi/lre RIo LI

Figure 7: Supply-side converter arrangement.


(14) The voltage equations in Figure 2.10 can be written by using
KVL law as
D. DC-AC Inverter
- 0 0
The voltage equations for the converter in the stationary Lr i en - V n

[:: 1
a

reference frame can be expressed in terms of the switching 0 - 0 + eb - Vb


functions as given by (1-3). ! 0 Lr
ic ec - Vc
0 0 -
Lr
- 1 (19)
2 Transforming the voltage equations into the synchronous

- 1
(15)
reference frame by using the park transformation matrices:

Where:
, i =1, ..3: commutation function

E. The voltage of the DC bus


The voltage regulation of the DC bus is designed to maintain a
[d] r-
dt 1q
=

_
;
(j) _
:
__f

Lf
j.[d] l d Vd]
1q
+_
1
Lf
e
eq
=V q

(20)
constant reference value by controlling the process of loading F . Control de courant par Ie Regulateur PI
and unloading of the capacitor. [2]
The current in the branch of the capacitor is:
.
l
c = C'
dV bus
dt
=lL -lbus

(16)
X
X I

2
1
-- (e
L f

--
1
(e
V

q - V q)
d
L f
(21)
- ic : The current in the capacitor.
Kil . ( Vd et Vq ) are the direct and quadratic components of the
X I = (K pi + -S-),(I dJef - i d_mes ) - W.i q_mes
measured voltage at connection point expressed in the
repository Park.
- i q_mes ) + W.i ( id_ ref et iq _ ref ) are the direct and quadratic components of
(22)
the injected current in the grid.
G. Grid Side Controller
Figure 8 shows a block diagram of the grid side controller The controller is divided into two cascade loop control, one
for active power and the other is for the reactive power. When
system. In this control strategy, the control system based on
grid voltages on the stationary reference frame are
the d-q rotating reference frame is implemented, which has the
same rotational speed as the grid voltage. The three phase grid transformed into the d-q rotating reference frame, Vd is set to
currents (la, lb, lc) and the grid voltages (Va, Vb, Vc) are constant and Vq is set to zero. Therefore, the active and
transformed into the d-q rotating reference frame by using reactive power delivered to the grid can be controlled
Park transformation. The Phase Locked Loop (PLL) is used to separately by the d-axis current (ld) and the q-axis current (lq),
respectively. To improve the tracking capability of control
extract the grid side phase angle (B).
Grid
system, the cross coupling should be canceled by adding fdwLf
-TI-:. b.:; ::..-r-- P -WM-- i ea ,-. _._._._._ _. _._._., ia and fq. wLf at the output of the current controllers. For d-axis
Va
::;:: f-::;:-c==I- ......f-f:
and q-axis current loop regulation, in this paper, the Fuzzy-PI
Vbu..
l
I _
bU.
Inverter _
= _=.=_}-
r'--{ _.=_. -
. . _ .
_- .
_
. _
.
;. ---1---JVb

_H:..:-++-f
.. :. c
controllers are applied. The control strategy for the Fuzzy-PI
V controller will be explained in next section. The output of
current controller (Vd...Jef and Vq_ref) is transformed into the
'------+---" Filtre RI. JI
stationery reference frame (Va_ref, Vb_ref; Vc_ref), which IS
used as a reference signal for pulse wave modulation.

H Fuzzy-PI Controller Design


In order to design a fuzzy logic controller (FLC) for the
current control loop, the block diagram ofRL filter in the d-q
rotating reference frame shown in Figure 8 is considered as a
plant system. The plant system can be modelled by using the
d-axis component only. The control system is composed of a
Fuzzy-PI controller, a processing delay, and a plant system,
using the converter side voltage (V d) as input and the
converter side current (Id) as output. The FLC is used to adjust
the PI parameters according to the input signal error ( er) . To
determine a control signal for proportional signal control (Per)
and integral signal control (fer), an inference engine with rule
Fig. 8. Injection block diagram of process control base having if-then rules in form of "If er, then Per and fer" is
used. The general structure of the fuzzy logic control is shown
The purpose of this command is to impose the values of active in Figure 9. The FLC is composed of fuzzification,
and reactive power injected to the grid. The power and voltage membership function, rule base, fuzzy inference and
measurement at the connection point are calculated by the defuzzification [4][5].
Park transformation [3][10]. Fuzzy - PI Controller
Soit:

p =
(V d.id + V q.iq)
2
Q =
(V q.ld - V d.iq)
2 (23)
Ou Pr et Qr are the reference power.
We deduce the currents in the repository of Park by:
2 . Vd
p mes + Q .Vq mes
1 d ref - ) Fig. 9 Fuzzy-PI controller for d-axis current component
3 ( V 2d mes + V 2q _ mes

mes Q,Vd mes


)
mes + V 2q _ mes
(24)
40
NS z PS PB
35



30

25

20

f 15

10

5
Fig. 10. The membership function for input er.Per and ler
0
The rules are set based upon the knowledge and working of 0 0.4 0.6
Time (S)
the system. The values of Per and fer for Fuzzy-PI controller
Fig. 11.Output current of the solar panels
of the current regulator are calculated for the changes in the
input of the FLC according to the rule base. The number of
rules can be set as desired. A rule in the rule base can be
expressed in the form [4][5]:
Tf (er is NB), then (Per is NB) and (fer is NB)
Tf (er is NS), then (Per is NS) and (fer is NS)
Tf (er is ZE), then (Per is ZE) and (fer is ZE)
Tf (er is PS), then (Per is PS) and (fer is PS)
Tf (er is PB), then (Per is PB) and (fer is PB)
The rule base includes five rules, which are based upon the
five membership functions of the input variables to achieve oL---------------------------
the desired Per and fer. Tn this work, Mamdani's max-min o 0.2 0.4 0.6 0.8

method is used for inference mechanism. The centre of gravity Time (S)
Fig. l2.0utput voltage of the solar panels
method is used for defuzzification to obtain Per and fer, which
is given by the following equation [6] [8] [9]: 10000

8000
i-I
n ...

6000
Li I
i

(25)
=

4000

TT.STMULA nON ANDRESULTS


2000

Tn order to investigate the proposed current controller


performance, block diagram shown in Fig. 8 is simulated by 0
0 0.4 0.6
using power system blockset of Matlab/Simulink. Three Time(S)
controllers (PT, Fuzzy and Fuzzy PT) cases are considered to Fig. l3.0utput power of the solar panels
show the effectiveness of the proposed controllers.
1000
The figures show that the fuzzy control provides a response
time and pics lower than the fuzzy PT control and conventional 800
>
PT control. The optimal point for the current intensity is 35A
..
IOJ)
with a short transient of 0.04s, for an irradiation of 1000 600
.5
W/m2. After changing the irradiation level, which drops to '0
>
300 W/m2, it also shows that the current GPV is adjusted to its ..:.: 400
==
new optimal value, which is lOA for this level of exposure. ;J
After the new increase in the amount of irradiation to U 200

700W/m2, and after a transient regime of about 0.03 s, there is
the optimum adjustment point is 24.8A. 0
0 0.2 0.4 0.6 0.8

Time (S)
Fig. l4.Allure of the DC bus voltage
60 -- P(W)PI

--P(W) Fuzzy- PI
50

::s 40 . L ,

'"
.... .
= 30
..
...
a 20
u

o 0.2 0.4 0.6 0.8 o 0.2 0.4 0.6 0.8

Time (S) Time (S)


Fig. IS. Current system blockset model analysis. Fig. 19.Power system blockset model analysis.
40

30
CONCLUSIONS
20

10
In this paper, Application of fuzzy logic on the current

j 0
controlled voltage source converter grid connected has been
proposed. The fuzzy logic controller is combined with
-10
! -20
conventional PI controller; hence gain parameters of the PI
controller can be adjusted based on value of tracking error. We
-30 also studied the comparison between PI, Fuzzy and Fuzzy PI
controllers. The results show that the fuzzy control provides a
0.4
TI one ( S) response time and pics lower than the fuzzy PI control and
Fig.16 The grid three phase Current conventional PI control. The simulation study has been
40 -
verified the capability and effectiveness of the proposed
---------
controller by using Matlab/Simulink. In can be concluded the
voltage source converter can be controlled effectively by using
proposed controller.
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