Fuzzy PI controller for improved voltage regulation

in STATCOM based SEIG

Jyotirmayee Dalei∗ , Kanungo Barada Mohanty†, Sumit Singh‡ and Gour Sunder Garain§
Department of Electrical Engineering
National Institute of Technology Rourkela, Rourkela-769 008, India
∗ [email protected], † [email protected]

Abstract—This paper proposes a fuzzy PI based voltage control less start up transient response. Section 2 describes the system
scheme of the self-excited induction generator (SEIG) using static description and control strategy using the PI and fuzzy PI
synchronous compensator (STATCOM) for feeding balanced and is presented in section 3. Simulation results are described in
unbalanced load. The main aim of SEIG discussed in this
paper is to regulate voltage under balanced and unbalanced section 4, followed by conclusions. 1
load conditions. A three-phase insulated gate-bipolar-transistor II. SYSTEM DESCRIPTION
based current controlled voltage source inverter working as
a static synchronous compensator (STATCOM) is considered. Schematic diagram of the STATCOM based SEIG to reg-
Performance of STATCOM depends entirely on capacitor voltage ulate voltage is shown in Fig. 1. The whole system consists
and performance of STATCOM with a PI controller provides a of an induction machine with capacitor bank used as a self-
high DC voltage across capacitor during start up. To optimize the
start-up DC voltage the proposed fuzzy PI based voltage control excited induction generator (SEIG) driven by prime-mover, ca-
scheme has been developed which yields superior response under pacitor bank for excitation, STATCOM for regulating voltage
balanced and unbalanced loading case. and balanced/unbalanced load.
Index Terms—Self-excited induction generator, static syn-
chronous compensator (STATCOM), PI controller, fuzzy PI A. Modeling of SEIG
controller. Modeling of SEIG is developed, for the simulation in
MATLAB/Simulink using d − q axes stationary reference
I. I NTRODUCTION frame. The d − qaxes stator and rotor current equations of
Induction machine requires magnetizing energy to operate the SEIG represented through fourth-order state-space model
as a generator. If induction generator operates in grid con- and expressed by:
1
nected mode, magnetizing reactive power is supplied by grid. ˙ =
isd
2
[ωr Lm isq − Lr rs isd + ωr Lm Lr irq + Lm rr ird + Lr vsd ] (1)
K
In stand-alone mode, reactiveo power is supplied to induction
1
generator by connecting suitable capacitor bank across stator ˙ =
isq [−Ls rs isq − ωr L2m isd + Lm rr irq − ωr Lm Lr ird + Lr vsq ] (2)
K
[1]. In this mode it is called self-excited induction generator 1
˙ =
ird [ωr Lm Ls isq + rs Lm isd − ωr Ls Lr irq − rr Ls ird + Lm vsd ] (3)
(SEIG) [2]. The major problem with SEIG is the variation K
of voltage with prime mover speed and load connected to ˙ =
1
irq [rs Lm isq + ωr Lm Ls isd − Ls rr irq + ωr Ls Lr ird − Lm vsq ] (4)
SEIG. Various schemes are developed for regulating SEIG K
voltage in the literature starting from switching capacitor where Ls = Lls + Lm and Lr = Llr + Lm and
to static synchronous compensator (STATCOM) [3]. Design K = (Ls Lr − L2m ).
of STATCOM based voltage regulator is presented in [4]. Here the subscripts q and d are for quadrature and direct axes,
For maintaining constant SEIG voltage STATCOM is used subscripts s and r are for stator and rotor variables, l for
to provide reactive power employing with two PI controller leakage component v and i instantaneous voltage and current
taking nonlinear and unbalanced loads, [5], [6]. But in this respectively. = flux linkage, im = magnetizing current, Lm
STATCOM based SEIG DC voltage developed during start up = magnetizing inductance, r = resistance, L = inductance and
is more. Recently, fuzzy control technique has been applied ωr = electrical rotor speed.
successfully to get better performance for various fields such Magnetizing current im is determined from isd , isq , ird and
as for an automatic voltage regulator (AVR) using STATCOM irq using expression
in distribution systems [7], for speed control of permanent 
magnet synchronous machines [8] and also in shunt active im = (isd + ird )2 + (isq + irq )2 (5)

power filter [9]. It is also shown in [10], [11] that fuzzy PI The magnetization characteristic of the SEIG has a great
controller is a nonlinear and adaptive controller and perform role for achieving steady state voltage. Relation between
significantly better than the conventional PI controller in magnetizing inductance Lm and magnetizing current im
nonlinear processes. Since SEIG is used in isolated areas, are obtained from synchronous speed test. Fifth-degree
optimization of DC voltage is essential. This paper develops
a control scheme using fuzzy PI controllers which provides 1 978-1-4673-6540-6/15/31.002015IEEE
polynomial is used in [3], and same polynomial is taken in C. Modeling of STATCOM
this paper and given as: Fig.1 shows that STATCOM is a current controlled voltage
source pulse width modulated inverter, the derivative of its dc
Lm = a5 i5m + a4 i4m + a3 i3m + a2 i2m + a1 im + a0 (6) voltage is defined as
where a5 ,a4 , ....... and a0 are constants obtained through pVDC = ica Sa + icb Sb + icc Sc (11)
curve fitting of experimentally obtained characteristics given
where Sa , Sb and Sc are the switching functions for the on/off
in Figure 2. The value of these constants are given in appendix.
positions of the VSI. When Sa = 0, S4 is on and S1 is on
The electromagnetic torque Te of SEIG is
when Sa = 1. The same rule is applied for switches of the leg
  
3 P b and leg c depeding upon the switching functions Sb and Sc
Te = Lm [isq ird − isd irq ] (7)
2 2 respectively. The DC voltage is reflectd at the output of the
inverter and AC side voltage ea , eb and ec of the three-phase
The torque balance equation of the SEIG is
PWM are expressed as

2

dωr ⎡ ⎤ ⎡ ⎤⎡ ⎤
Tdrive = Te + J (8) ea 2 −1 −1 Sa
⎣ eb ⎦ = VDC ⎣−1 2 −1⎦ ⎣ Sb ⎦
P dt
(12)
3
B. Excitation modeling ec −1 −1 2 Sc
The excitation system dynamics are introduced using d − q The STATCOM line voltages are expressed as
components of stator voltage (vsd and vsq ) as state variables, eab = ea − eb ; ebc = eb − ec (13)
given as
dvsd ied Output of the VSI (STATCOM) is expressed as:
= (9)
dt Ced
vab = Rf if a + Lf pif a + eab − Rf if b − Lf pif b (14)
dvsq ieq
dt
=
Ceq
(10) vbc = Rf if b + Lf pif b + ebc − Rf if c − Lf pif c (15)
if a + if b + if c = 0 (16)

ila
Value of if c obtained from eqn (16) is substituted into eqn
(15) which provides
a ia i sa
a Balanced/
ilb Unbalanced
Load
vbc = Rf if b +Lf pif b +ebc +Rf if a +Lf pif a +Rf if b +Lf pif b
i gc i ga
V ca Vab ilc (17)
After rearranging the eqn (14) and eqn (17),
c b
ib isb b
i gb ic isc
S 13 S3 S5 + Lf pif a − Lf pif b = va − eab − Rf if a + Rf if b (18)
Vbc ica icb c
ifa
Prime icc
Mover Cc Ca ifb a b
c Cdc Vdc Lf pif a + 2Lf pif b = vb − ebc − Rf if a − 2Rf if b (19)
i fc
Rf , Lf S4 S6 S2
Cb Finally STATCOM currents are expressed as:
-
STATCOM pif a = [(vbc − ebc ) + 2(vab − eab ) − 3Rf if a ] (20)
pif b = [(vbc − ebc ) − (vab − eab ) − 3Rf if a )]/(3Lf ) (21)
Fig. 1. Schematic diagram of STATCOM based SEIG system.
where Rf and Lf are resistance and inductance connected
between SEIG and STATCOM.
III. C ONTROL SCHEME OF STATCOM USING PI AND
1
Magnetizing inductance (H)

FUZZY PI
0.9

0.8
For voltage regulation of SEIG two components of source
0.7
current are computed (one is phase and other is quadrature)
0.6
using unit vectors as represented in Fig. 3. Three-phase
voltages at the SEIG terminals (va, vb and vc) are sensed and
0.5
the peak voltage per phase is computed as
0.4
0 0.5 1 1.5 2 2.5 3 
2 2
Magnetizing current (A) vm = (v + vb2 + vc2 ) (22)
3 a
The unit vectors in phase and quadrature with va, vb and vc
Fig. 2. Graph of the identified (blue) and approximated (black) magnetizing are expressed as
inductances vrs magnetising current
va vb vb
ua = ; ub = ; uc = (23)
Vm Vm Vm
 Va Vb Vc TABLE I
C ONTROL STRATEGY OF PROPOSED FUZZY PI.
Unit Voltage
ua In-phase i*smd DC Voltage
template generator ub component PI
uc refrence current Controller
ua ub uc
edc
Cedc
Vm NB NS Z PS PB
Quadrature Voltage
Vmref - template generator
*
isad i*sbd i*scd NB NB NB NS NS Z
+ ωa ωb ω c
NS NB NS NS Z PS
*
isaq + Vdcref
+
- Z NS NS Z PS PS
AC Voltage Quadrature *
i sbq Vdc
PI Component +
Controller
i*smq
Reference Current i*scq PS NS Z PS PS PB
PB Z PS PS PB PB
isa *
isa i*sb i*sc
isb PWM
i sc Current
Controller

Gate pulses C. Total reference source currents

Total reference source currents is expressed as
S5 +
S1 S3
i∗sa = i∗saq + i∗sad
i fa
a

b
i fb a b
c Cdc Vdc (29)
ifc

i∗sb = i∗sbq + i∗sbd

c R L
f f
S4 S6 S2
(30)
-
STATCOM
i∗sc = i∗scq + i∗scd (31)

Fig. 3. Control strategy of current controlled based STATCOM using PI. D. PWM current controller
√ The reference source currents (i∗sa , i∗sb and i∗sc are compared
ub −uc 3ua (ub − uc ) with the sensed source currents (isa , isb and isc ). Obtained
wa = √ + √ ;wb = + √ ;
3 3 2 2 3 error current signals are amplified and compared with the
√ (24)
− 3ua (ub − uc ) triangular carrier wave to get switching functions Sa , Sb , and
wc = + √ Sc of VSI for providing gate signals to IGBT.
2 2 3
A. Quadrature component of source currents E. Fuzzy PI controller
For finding quadrature component of reference source cur- To improve the performance of STATCOM based SEIG
rents, one PI controller is used. The reference and actual system fuzzy PI controller is used by replacing the PI which is
computed peak voltage per phase are the input variables for used for generating i∗smd and fuzzy PI controller is presented
the PI controller, whereas the i∗smq is the output variable. The in Fig. 4. Basically a fuzzy logic system (FLS) has four
PI controller is described by stages: Fuzzifier, rule base, inference engine and defuzzifier.
t Fuzzy controller operates on crisp inputs and gives crisp
∗ output, whereas processing is done on fuzzy variables. In
ismq = Kpq (Vm − Vmref ) + Kiq (Vm − Vmref )dt (25)
this proposed control scheme, error edc is computed from the
0
difference between Vdc and Vdcref . The fuzzy PI controller
Kpq and Kiq are the optimized proportional gain and integral
˙
takes The fuzzyl PI controller takes edc and its derivative C edc
gain of the PI controller respectively. The quadrature compo-
and provides i∗smd . These signals are quantized into five levels
nents of the reference source currents are expressed as
represented through a set of linguistic variables: negative big
i∗saq = i∗smq wa ; i∗sbq = i∗smq wb ; i∗scq = i∗smq wc (26) (NB), negative small (NS), zero (Z), positive small (PS), and
B. In-phase component of reference source currents positive big (PB). The 25 fuzzy rules adopted by the proposed
controller are shown in TABLE 1. The rule base is the key
For finding in-phase component of reference source current, component of the fuzzy logic system. It provides how the
voltage across dc capacitor is sensed and send to the PI controller works in different input situations. The rule base is
controller and reference dc voltage is the another input of the constructed using collection of If-Then rules. The output signal
second PI controller [5] as shown in Fig. 1. The output of the is also quantized through five levels. In this paper triangular
PI controller for maintaining the dc voltage of the STATCOM membership functions are used to mainly due to their high
is expressed as computational and performance efficiencies. The center of area
t method is used for defuzzification.
i∗smd = Kpd (Vdc − Vdcref ) + Kid (Vdc − Vdcref )dt (27)
V dcref
edc
0 + K1
- *i
i∗smd is the amplitude of the active power component of the
smd
V Fuzzy PI controller
dc
d
source current. Kpd and Kpq are the optimized proportional K2
dt .
dt edc
gain and integral gain of the PI controller respectively. The
in-phase component of reference source currents is computed
as Fig. 4. Control strategy of proposed fuzzy PI.
i∗sad = i∗smd ua ; i∗sbd = Ismd
∗
ub ; i∗scd = Ismd
∗
uc (28)
 IV. R ESULTS AND DISCUSSION
In order to validate the developed conventional two-axis
model of SEIG, a 3.7-kW, 415-V, 50-Hz, 4 pole delta con-
nected induction machine has been taken for both simulation
and experiment. Parameters of the induction machine are
determined from the standard dc resistance test, no-load test
and blocked rotor tests are given in Appendix. Capacitor bank
is connected with induction machine to operate as self-excited
induction generator.Capacitor taken both for simulation and
experiment is 21 μF per phase at no load, which is more
than is more than the minimum excitation capacitor required
to develop rated SEIG voltage of 415 V (r. m. s.). Fig. 5 (a)
and (b) shows the simulation results of voltage and current
build process of SEIG during loading condition. Experimental (a)
results of voltage and current build process of SEIG during
loading condition is shown in Fig. 6. It is observed that voltage
decreases from the rated no load voltage during loading
condition.

586.8
Voltage (V)

−586.8
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (s)
(a)
10
Current (A)

−10
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Time (s)
(b)
(b)

Fig. 6. Experimental results. (a) SEIG stator voltage at no-load (top) and
Fig. 5. Stator terminal voltage and current of SEIG during loading (a) stator line current (bottom). (b) Stator terminal voltage of SEIG during loading
Voltage. (b) Current. condition (top) and load current (bottom).

To maintain the rated voltage, STATCOM is used. In this

case, capacitor is charged to the SEIG rated voltage before
switching of load and STATCOM. At t=0.6 s capacitor is Proposed controller works well also in unbalanced loading
charged to SEIG peak rated voltage, 586 V. A load of 1.5 case. Load is connected at t=0.9 s and STATCOM is switched
kW is switched on to SEIG at t= 0.9 s and voltag starts to at t= 1.5 s. One phase of load is disconnected at t=2.5 s and
decrease. STATCOM is switched at t=1.5 s as represented in re-connected at t=4 s. Fig. 9 shows the response of STATCOM
Fig. 7. In the conventioal STATCOM based SEIG with two based SEIG using both the technique during this unbalanced
PI controller, a high trnsient DC voltage of 850 is developed case.
during starting period and tracks the reference DC voltage (700
V) at t= 1.7 s and SEIG peak voltage reaches to rated voltage 800
V (V)

also at t=1.735 s. At t= 2.5 s another 1.5 kW load is added. 586.8

In the proposed control technique with fuzzy PI controller, Vm using Fuzzy PI
m

400
200 Vm using PI
the starting DC voltage during switching of STATCOM is
0
approximately settles 720 V and settels down to 700 V at t= 0 0.6 0.9 1.5 2 2.5
1.62 s. Both transient and steady sate voltage responses of DC Time (s)
voltage using both the techniques are presented in Fig. 8 (a)
and 8 (b) respectively. Fig. 8 (c) represents the SEIG developed Fig. 7. SEIG peak voltage profile of STATCOM based SEIG using PI and
torque using both the technique, it is clearly depicted from the fuzzy PI controller during balanced loading.
figure that PI based STATCOM provides a higher torque and
settling time is also more compared to fuzzy PI controller. As
observed from the Fig. 8 that at t=2.5 s there is no significant
differences in transient respone using both the technique.
 800
700
Vdc using Fuzzy PI
Ref DC voltage
transient response. As established through simulation results
800 600
Vdc using PI
fuzzy PI based STATCOM provides minimum peak overshoot
Vdc (V)
1.5 1.62 1.7
700
and faster transient response Vdc and peak AC voltage vm .
600 SEIG developed torque during switching of STATCOM is
500
1.5 2 2.5 3 also less and settles quickly in Fuzzy PI controller. Thus the
Time (s)
(a) proposed fuzzy PI controller based STATCOM is better for
586.8
voltage regulation in SEIG.
586
500 Vm using Fuzzy PI
Vm (V)

Vm reference
A PPENDIX
Vm using PI
Parameters of SEIG: 3.7 kW, 415 V, 7.5 A (line), 50 Hz, 1500
300
r/min, four poles, delta connected, Rs = 7.34 Ω, Rr = 5.64 Ω,
Xls = 6.7 Ω, Xlr = 6.7 Ω and J = 0.16 kg/m2 . The
1.5 1.65 1.735
250
1.5 2 Time (s) 2.5 3
(b) constants of the magnetization characteristics of SEIG are given
Fuzzy PI
as, a5 = −0.0038, a4 = 0.0576, a3 = −0.304, a2 = 0.713,
40
PI a1 = −0.853 and a0 = 1.043.
Te (Nm)

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