In this paper, parameters of PID controller and bias coefficient for Load Frequency Control (LFC) are designed using a new approach. In the proposed method, the power system uncertainties and nonlinear limitations of governors and turbines ,i.e. Valve Speed Limit (VSL)and Generation Rate Constraint (GRC), are taken into account in designing. Variations of uncertain parameters are considered between -40% and +40% of nominal values with 5% step .In order to design the proposed PID controller ,a new objective function is defined. MATLAB codes are developed for GA based PID controller tuning, the results of which are used to study the system step response. All these are through in Simulink based background.
Speed Control of DC Motor using PID FUZZY Controller.Binod kafle
speed control of separately excited dc motor using fuzzy PID controller(FLC).In this research, speed of separately excited DC motor is controlled at 1500 RPM using two approaches i.e. PSO PID and fuzzy logic based PID controller. A mathematical model of system is needed for PSO PID while knowledge based rules obtained via experiment required for fuzzy PID controller . The conventional PID controller parameters are obtained using PSO optimization technique. The simulation is performed using the in-built toolbox from MATLAB and output response are analyzed. The tuning of fuzzy PID uses simple approach based on the rules proposed and membership function of the fuzzy variables. Design specification of fuzzy logic controller (FLC) requires fuzzification, rule list and defuzzification process. The FLC has two input and three output. Inputs are the speed error and rate of change in speed error. The corresponding outputs are Kp, Ki and Kd. There are 25 fuzzy based rule list. FLC uses mamdani system which employs fuzzy sets in consequent part. The obtained result is compared on the basis of rise time, peak time, settling time, overshoot and steady state error. PSO PID controller has fast response but slightly greater overshoot whereas fuzzy PID controller has sluggish response but low overshoot. The selection can be done on the basis of system properties and working environment conditions. PSO PID can be used where the response desired is fast like robotics where as fuzzy PID can be used where desired operation is smooth like industries.
Parallel control structure scheme for load frequency controller design using ...IJECEIAES
This paper presents load frequency controller design for a single area as well as the multi-area thermal power system using direct synthesis approach with parallel control structure (PCS) scheme. The set-point and load frequency controller has been designed for frequency regulation and maintains tie-line power within a pre-specified limit for LFC power system. The proposed controller has been implemented for single-area, two-area, and four-area thermal power system for frequency regulation. The proposed method shows impressive simulation results compared with existed control method. The robustness of the proposed method has been examined with the help maximum sensitivity and parametric variation in the nominal power system.
This paper presents harmonic analysis of matrix converter using different control technique for balance and Unbalance three phase input voltage of reactive load. Since Matrix converter is subject to affected either by external disturbance or by load conditions. Due to this the supply voltage becomes unbalance. This cause improper switching of matrix converter results higher harmonics. This harmonics are harmful to the quality of the output power. The switching sequence of the matrix converter is controlled by vector control method. Different control technique is proposed in this paper to get optimized result with reduced harmonic for unbalanced and balance input voltage using PID, Fractional Order PID (PIλDδ) controller (FOPID), Particle Swarm Optimization (PSO)FOPID. PID control technique result are compared with other optimization technique for best optimum output. The FOPID controller is used to compensates the current and also improvise the quality of energy by reducing the harmonic content. The simulations and hardware results will be presented and interpreted. The effectivess of the proposed system is proven with the results is shown in this paper which produce a better steady state lesser transient rather than the conventional PID method.
Hybrid Stochastic Search Technique based Suboptimal AGC Regulator Design for ...Dr. Omveer Singh
This document proposes a hybrid genetic algorithm-simulated annealing (GASA) technique for designing suboptimal automatic generation control (AGC) regulators for a two-area power system model. GASA is applied to determine the constrained feedback gains of a PI regulator using available state variables as outputs. Simulation results show the proposed GASA regulator provides better dynamic performance than suboptimal PI regulators, with lower overshoots and faster settling times in response to load perturbations. The proposed approach provides an effective yet simple suboptimal AGC solution that does not require full state information.
This document summarizes a research paper that investigates using genetic algorithms (GA) and differential evolution (DE) to tune PID controller parameters. It first provides background on PID controllers and challenges with traditional tuning methods for complex systems. It then describes how GA and DE can be applied as evolutionary algorithms to search for optimal PID parameters. The performance of GA and DE for tuning high-order, time-delayed, and non-minimum phase systems is evaluated and compared to Ziegler-Nichols tuning.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
This document discusses non-intrusive load monitoring (NILM), which is a process that uses a single sensor installed at the main electrical panel of a home to identify individual appliance energy usage without additional per-appliance sensors. It describes the general NILM framework, which includes data acquisition, feature extraction, load identification, and system training. Challenges of NILM include identifying low power appliances and handling new appliances not in the signature database. NILM research aims to improve accuracy by combining transient and steady-state appliance signatures and using unsupervised learning methods.
IRJET-Load Forecasting using Fuzzy LogicIRJET Journal
This document discusses using fuzzy logic for short term load forecasting. It begins by explaining the importance of load forecasting for power systems and defines short term load forecasting as predicting load from 1 hour to 1 week ahead. It then describes using time, temperature, and previous day's load as inputs to a fuzzy logic system to generate load forecasts. Triangular and trapezoidal membership functions are used to fuzzify the inputs. Fuzzy rules are developed and the MATLAB Simulink software is used to simulate the system. Load data from a 132kV substation is used. The results show the fuzzy logic approach provides good short term load forecasting performance by handling the ambiguity in load data.
Speed Control of DC Motor using PID FUZZY Controller.Binod kafle
speed control of separately excited dc motor using fuzzy PID controller(FLC).In this research, speed of separately excited DC motor is controlled at 1500 RPM using two approaches i.e. PSO PID and fuzzy logic based PID controller. A mathematical model of system is needed for PSO PID while knowledge based rules obtained via experiment required for fuzzy PID controller . The conventional PID controller parameters are obtained using PSO optimization technique. The simulation is performed using the in-built toolbox from MATLAB and output response are analyzed. The tuning of fuzzy PID uses simple approach based on the rules proposed and membership function of the fuzzy variables. Design specification of fuzzy logic controller (FLC) requires fuzzification, rule list and defuzzification process. The FLC has two input and three output. Inputs are the speed error and rate of change in speed error. The corresponding outputs are Kp, Ki and Kd. There are 25 fuzzy based rule list. FLC uses mamdani system which employs fuzzy sets in consequent part. The obtained result is compared on the basis of rise time, peak time, settling time, overshoot and steady state error. PSO PID controller has fast response but slightly greater overshoot whereas fuzzy PID controller has sluggish response but low overshoot. The selection can be done on the basis of system properties and working environment conditions. PSO PID can be used where the response desired is fast like robotics where as fuzzy PID can be used where desired operation is smooth like industries.
Parallel control structure scheme for load frequency controller design using ...IJECEIAES
This paper presents load frequency controller design for a single area as well as the multi-area thermal power system using direct synthesis approach with parallel control structure (PCS) scheme. The set-point and load frequency controller has been designed for frequency regulation and maintains tie-line power within a pre-specified limit for LFC power system. The proposed controller has been implemented for single-area, two-area, and four-area thermal power system for frequency regulation. The proposed method shows impressive simulation results compared with existed control method. The robustness of the proposed method has been examined with the help maximum sensitivity and parametric variation in the nominal power system.
This paper presents harmonic analysis of matrix converter using different control technique for balance and Unbalance three phase input voltage of reactive load. Since Matrix converter is subject to affected either by external disturbance or by load conditions. Due to this the supply voltage becomes unbalance. This cause improper switching of matrix converter results higher harmonics. This harmonics are harmful to the quality of the output power. The switching sequence of the matrix converter is controlled by vector control method. Different control technique is proposed in this paper to get optimized result with reduced harmonic for unbalanced and balance input voltage using PID, Fractional Order PID (PIλDδ) controller (FOPID), Particle Swarm Optimization (PSO)FOPID. PID control technique result are compared with other optimization technique for best optimum output. The FOPID controller is used to compensates the current and also improvise the quality of energy by reducing the harmonic content. The simulations and hardware results will be presented and interpreted. The effectivess of the proposed system is proven with the results is shown in this paper which produce a better steady state lesser transient rather than the conventional PID method.
Hybrid Stochastic Search Technique based Suboptimal AGC Regulator Design for ...Dr. Omveer Singh
This document proposes a hybrid genetic algorithm-simulated annealing (GASA) technique for designing suboptimal automatic generation control (AGC) regulators for a two-area power system model. GASA is applied to determine the constrained feedback gains of a PI regulator using available state variables as outputs. Simulation results show the proposed GASA regulator provides better dynamic performance than suboptimal PI regulators, with lower overshoots and faster settling times in response to load perturbations. The proposed approach provides an effective yet simple suboptimal AGC solution that does not require full state information.
This document summarizes a research paper that investigates using genetic algorithms (GA) and differential evolution (DE) to tune PID controller parameters. It first provides background on PID controllers and challenges with traditional tuning methods for complex systems. It then describes how GA and DE can be applied as evolutionary algorithms to search for optimal PID parameters. The performance of GA and DE for tuning high-order, time-delayed, and non-minimum phase systems is evaluated and compared to Ziegler-Nichols tuning.
PID controller for microsatellite yaw-axis attitude control system using ITAE...TELKOMNIKA JOURNAL
The need for effective design of satellite attitude control (SAC) subsystem for a microsatellite is imperative in order to guarantee both the quality and reliability of the data acquisition. A proportional-integral-derivative (PID) controller was proposed in this study because of its numerous advantages. The performance of PID controller can be greatly improved by adopting an integral time absolute error (ITAE) robust controller design approach. Since the system to be controlled is of the 4th order, it was approximated by its 2nd order version and then used for the controller design. Both the reduced and higher-order pre-filter transfer functions were designed and tested, in order to improve the system performance. As revealed by the results, three out of the four designed systems satisfy the design specifications; and the PD-controlled system without pre-filter transfer function was recommended out of the three systems due to its structural simplicity, which eventually enhances its digital implementation.
This document discusses non-intrusive load monitoring (NILM), which is a process that uses a single sensor installed at the main electrical panel of a home to identify individual appliance energy usage without additional per-appliance sensors. It describes the general NILM framework, which includes data acquisition, feature extraction, load identification, and system training. Challenges of NILM include identifying low power appliances and handling new appliances not in the signature database. NILM research aims to improve accuracy by combining transient and steady-state appliance signatures and using unsupervised learning methods.
IRJET-Load Forecasting using Fuzzy LogicIRJET Journal
This document discusses using fuzzy logic for short term load forecasting. It begins by explaining the importance of load forecasting for power systems and defines short term load forecasting as predicting load from 1 hour to 1 week ahead. It then describes using time, temperature, and previous day's load as inputs to a fuzzy logic system to generate load forecasts. Triangular and trapezoidal membership functions are used to fuzzify the inputs. Fuzzy rules are developed and the MATLAB Simulink software is used to simulate the system. Load data from a 132kV substation is used. The results show the fuzzy logic approach provides good short term load forecasting performance by handling the ambiguity in load data.
Graphical Closure Rules for Unsupervised Load Classification in NILM SystemsJoe Krall
The document describes an unsupervised method for load classification in non-intrusive load monitoring (NILM) systems. The method involves 5 steps: (1) clustering raw energy data into steady states and transitions, (2) constructing a graph of states and transitions, (3) detecting cycles in the graph to define closure rules, (4) simplifying rules to reveal basic two-transition rules indicating loads, and (5) mapping loads to steady states by traversing from a minimum power node. The method was developed by researchers at LoadIQ to classify loads without requiring labeled training data.
This document summarizes a study that used genetic algorithm (GA) and direct search (DS) techniques to optimize the parameters of an output derivative controller for speed control of a permanent magnet DC motor (PMDCM). The controller parameters were optimized based on different performance criteria including integral square error, integral absolute error, integral time-weighted absolute error, and integral time-weighted square error. Simulation results showed that both GA and DS improved the transient and steady-state performance of the motor compared to an uncontrolled system. GA reduced settling time more but introduced some overshoot, while DS achieved zero overshoot but slower settling. Both optimization techniques eliminated steady-state error and met system requirements. Plots of the cost function, mesh size, and
A New Control Method for the Multi-Area LFC System Based on Port-Hamiltonian ...IRJET Journal
This document presents a new control method for load frequency control (LFC) in a multi-area power system based on Port-Hamiltonian and cascade systems. The proposed method uses PID control laws that decouple total tie-line power flow and provide robust disturbance rejection. Simulation results in Matlab/Simulink validate that the proposed method performs better than existing PID methods by achieving faster response speeds and smaller overshoots for changes in tie-line power and frequency deviations in both two-area and four-area test systems with and without reheated turbines.
Iaetsd design of fuzzy self-tuned load frequency controller for power systemIaetsd Iaetsd
This document describes a self-tuning fuzzy controller designed for load frequency control (LFC) in a multi-machine power system. Conventional PID gains are first obtained using ant colony system optimization. These gains are then used to design fuzzy controller gains to solve the LFC problem under different loading conditions and non-linearities like generation rate constraints. The proposed self-tuning fuzzy controller is tested on a practical thermal and hydel power system and shown to perform better than conventional integral and ACS-PID controllers in dealing with system uncertainties and changing operating conditions.
MPC Tuning Based On Desired Frequency Domain Closed Loop ResponseRyvo Octaviano
This document summarizes a graduation presentation on tuning model predictive control (MPC) based on desired closed-loop frequency domain responses. It introduces MPC and discusses two approaches to tuning MPC weighting matrices: 1) Matching an MPC controller to a predefined H-infinity controller. 2) Matching the closed-loop sensitivity function of MPC to a desired sensitivity function. Examples are provided to illustrate both approaches. The presentation concludes that both approaches successfully tuned the MPC weighting matrices but that further work is needed to reformulate the optimization problems and extend the approaches to MIMO systems.
Analysis and Design of Conventional Controller for Speed Control of DC Motor ...IJERA Editor
The objective of this paper is to control the speed of the motor using conventional controller; compensator is used to improve the steady state error. To evaluate the performance of the controller, time response analysis is carried out. The time response analysis consists of two type of analysis. One is unit step response analysis and other is performance indices analysis. The paper describes the designing of a closed loop model of the dc motor drive for controlling speed. Accuracy and the dynamic responses are better in a closed loop system. The compensator is used to compensate the parameter of the system in such a way to meet the specification, so that it improves the steady state response of the system and get desired response.
Improving Efficiency of Active Power Filter for Renewable Power Generation Sy...IRJET Journal
This document summarizes a research paper that proposes using a predictive control method and fuzzy logic control method to improve the efficiency of an active power filter for renewable power generation systems. The active power filter is implemented using a four-leg voltage-source inverter. Simulation results using MATLAB/Simulink show that the proposed control strategy is able to effectively compensate current harmonics, current imbalance, and reactive power under different operating conditions, maintaining sinusoidal current waveforms with low total harmonic distortion. Both steady state and transient responses are evaluated, demonstrating the compensation performance of the active power filter and control strategy.
Optimal tuning of pid power system stabilizer in simulink environmentIAEME Publication
This document summarizes a research paper that proposes using an optimal tuning method based on the Ziegler-Nichols tuning rules to determine the parameters of a PID power system stabilizer (PSS) controller in a MATLAB/Simulink model. The paper models a single machine connected to an infinite bus system, adds a PID controller with PSS, and simulates the system under normal load conditions. Simulation results show that the Ziegler-Nichols method yields PID controller parameters that provide better dynamic performance compared to a conventional trial and error approach, with lower overshoot and shorter settling time. The proposed optimally tuned PID-PSS controller thus improves the stability and performance of the synchronous generator in the simulated power system.
Comparison of Tuning Methods of PID Controllers for Non-Linear Systempaperpublications3
Abstract: Modern days have seen vast developments in the field of controller’s .There are various controllers developed these days with various different specifications. But the only drawback is that, there is no fixed method for the tuning of these controllers, which is necessary for controlling of the system based on the variation of the input or for the changes in the system. In order to overcome this drawback, in this paper we have compared various tuning methods of PID controller for non-linear system. As a non-linear system we have taken the dc motor as a system. For the particular DC motor controller transfer function has been determined and control parameters such as Proportional Gain, Integral Time and Derivative time are identified. They are numerous methods of developing a Proportional Integral and Derivative (PID) Controller, amongst them some methods are adopted in this paper and Comparisons of Time Domain specifications of those controllers has been carried out.
Enhanced Performance of Matrix Converter using Adaptive Computing TechniquesIJERA Editor
This document discusses improving the performance of a matrix converter for supplying power to linear loads under different grid conditions. It describes the operating principle and Venturini modulation method of a matrix converter. Various controllers - PI, fuzzy logic, adaptive fuzzy, and ANFIS - are implemented in simulations to minimize harmonic distortion in the linear load current. The results show that the ANFIS controller provides the best performance with the lowest total harmonic distortion, indicating it is most effective at optimizing the quality of power supplied by the matrix converter under both balanced and distorted grid conditions.
An Optimal LFC in Two-Area Power Systems Using a Meta-heuristic Optimization...IJECEIAES
The document presents a study that develops an optimal load frequency control (LFC) method for two-area power systems using a harmony search (HS) algorithm to tune the parameters of a PI controller (Kp and Ki). The HS algorithm is used to minimize an objective function of integral absolute error (IAE) in order to enhance system performance regarding settling time, maximum deviation, and peak time. The two-area power system model and HS-PI controller design are implemented in MATLAB. Results show the HS-PI controller provides more robust performance compared to a particle swarm optimization-based PI controller under different load conditions.
This document summarizes a study comparing three control methods - PID, IMC, and IMC-PID - for controlling a first-order motor-tachometer system. The key findings are:
1) IMC performs better than PID when near system limitations, as PID can exhibit reset windup causing poor control. IMC avoids this issue.
2) Both IMC and IMC-PID effectively control the system under normal operation. However, IMC has less noise than IMC-PID.
3) When a large disturbance occurs, IMC returns to the setpoint faster than IMC-PID, which overshoots due to integral windup.
The document describes optimizing an automatic generation control (AGC) scheme for a two-area power system using a particle swarm optimization (PSO) tuned fuzzy PID controller. A linearized model of the two-area power system is presented. A fuzzy PID controller is used to regulate the area control error of each area. The gains of the fuzzy PID controller are optimized using PSO to minimize time-domain performance metrics. Simulation results show the PSO tuned fuzzy PID controller provides better dynamic response than a conventional PSO PID controller, with lower error and faster settling time. Comparisons of tie-line power deviation also show improved performance with the PSO tuned fuzzy approach. The paper concludes the proposed method efficiently tunes fuzzy PID parameters
Study of PID Controllers to Load Frequency Control Systems with Various Turbi...IJERA Editor
This document discusses the use of PID controllers for load frequency control (LFC) systems with various turbine models. It first provides background on LFC and the objectives of maintaining constant system frequency. It then describes using PID controllers with different tuning methods, including Ziegler-Nichols and Integral Model Controller, for LFC systems with non-reheat, reheat, and hydro turbines. The document presents the transfer functions for these various turbine models. It also discusses designing PID controllers both with and without the droop characteristic to improve damping. The goal is to study PID controller design methods and tuning to improve the performance of LFC systems with different turbine types.
Improving Structural Limitations of Pid Controller For Unstable ProcessesIJERA Editor
PID controllers have structural limitations which make it impossible for a good closed-loop performance to be achieved. A step response with high overshoot and oscillations always results. In controlling processes with resonances, integrators and unstable transfer functions, the PI-PD controller provides a satisfactory closed-loop performance. In this paper, a simple approach to extracting parameters of a PI-PD controller from parameters of the conventional PID controller is presented so that a good closed-loop system performance is achieved. Simulated results from this formation are carried out to show the efficacy of the technique proposed.
Design and optimization of pid controller using genetic algorithmeSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
Configuration of pid controller for speed control of dc motor utilizing optim...Santosh Suman
This document discusses using optimization techniques and intelligent strategies to tune PID controllers for speed control of DC motors. It first provides background on DC motors and PID controllers. It then discusses using genetic algorithms, particle swarm optimization, differential evolution and fuzzy logic to tune the PID parameters for better performance in terms of settling time, overshoot, rise time and transient response. Tuning PID parameters is challenging but these optimization techniques and intelligent strategies can help overcome issues with conventional PID controllers for DC motor speed control applications.
Automatic power generation control structure for smart electrical power gridseSAT Publishing House
IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
Novel Adaptive Controller for PMSG Driven Wind Turbine To Improve Power Syste...IJMERJOURNAL
1) The document describes a novel adaptive controller for a permanent magnet synchronous generator (PMSG) driven wind turbine system to improve power stability.
2) The proposed system uses a PMSG generator coupled with a pulse-width modulated current source converter. An adaptive PI controller is designed to track the current reference and integrate it into the grid.
3) The adaptive controller uses an online identifier to estimate the system parameters in real-time and automatically tune the PI parameters accordingly based on a linear approximation model to achieve the desired closed-loop response.
Graphical Closure Rules for Unsupervised Load Classification in NILM SystemsJoe Krall
The document describes an unsupervised method for load classification in non-intrusive load monitoring (NILM) systems. The method involves 5 steps: (1) clustering raw energy data into steady states and transitions, (2) constructing a graph of states and transitions, (3) detecting cycles in the graph to define closure rules, (4) simplifying rules to reveal basic two-transition rules indicating loads, and (5) mapping loads to steady states by traversing from a minimum power node. The method was developed by researchers at LoadIQ to classify loads without requiring labeled training data.
This document summarizes a study that used genetic algorithm (GA) and direct search (DS) techniques to optimize the parameters of an output derivative controller for speed control of a permanent magnet DC motor (PMDCM). The controller parameters were optimized based on different performance criteria including integral square error, integral absolute error, integral time-weighted absolute error, and integral time-weighted square error. Simulation results showed that both GA and DS improved the transient and steady-state performance of the motor compared to an uncontrolled system. GA reduced settling time more but introduced some overshoot, while DS achieved zero overshoot but slower settling. Both optimization techniques eliminated steady-state error and met system requirements. Plots of the cost function, mesh size, and
A New Control Method for the Multi-Area LFC System Based on Port-Hamiltonian ...IRJET Journal
This document presents a new control method for load frequency control (LFC) in a multi-area power system based on Port-Hamiltonian and cascade systems. The proposed method uses PID control laws that decouple total tie-line power flow and provide robust disturbance rejection. Simulation results in Matlab/Simulink validate that the proposed method performs better than existing PID methods by achieving faster response speeds and smaller overshoots for changes in tie-line power and frequency deviations in both two-area and four-area test systems with and without reheated turbines.
Iaetsd design of fuzzy self-tuned load frequency controller for power systemIaetsd Iaetsd
This document describes a self-tuning fuzzy controller designed for load frequency control (LFC) in a multi-machine power system. Conventional PID gains are first obtained using ant colony system optimization. These gains are then used to design fuzzy controller gains to solve the LFC problem under different loading conditions and non-linearities like generation rate constraints. The proposed self-tuning fuzzy controller is tested on a practical thermal and hydel power system and shown to perform better than conventional integral and ACS-PID controllers in dealing with system uncertainties and changing operating conditions.
MPC Tuning Based On Desired Frequency Domain Closed Loop ResponseRyvo Octaviano
This document summarizes a graduation presentation on tuning model predictive control (MPC) based on desired closed-loop frequency domain responses. It introduces MPC and discusses two approaches to tuning MPC weighting matrices: 1) Matching an MPC controller to a predefined H-infinity controller. 2) Matching the closed-loop sensitivity function of MPC to a desired sensitivity function. Examples are provided to illustrate both approaches. The presentation concludes that both approaches successfully tuned the MPC weighting matrices but that further work is needed to reformulate the optimization problems and extend the approaches to MIMO systems.
Analysis and Design of Conventional Controller for Speed Control of DC Motor ...IJERA Editor
The objective of this paper is to control the speed of the motor using conventional controller; compensator is used to improve the steady state error. To evaluate the performance of the controller, time response analysis is carried out. The time response analysis consists of two type of analysis. One is unit step response analysis and other is performance indices analysis. The paper describes the designing of a closed loop model of the dc motor drive for controlling speed. Accuracy and the dynamic responses are better in a closed loop system. The compensator is used to compensate the parameter of the system in such a way to meet the specification, so that it improves the steady state response of the system and get desired response.
Improving Efficiency of Active Power Filter for Renewable Power Generation Sy...IRJET Journal
This document summarizes a research paper that proposes using a predictive control method and fuzzy logic control method to improve the efficiency of an active power filter for renewable power generation systems. The active power filter is implemented using a four-leg voltage-source inverter. Simulation results using MATLAB/Simulink show that the proposed control strategy is able to effectively compensate current harmonics, current imbalance, and reactive power under different operating conditions, maintaining sinusoidal current waveforms with low total harmonic distortion. Both steady state and transient responses are evaluated, demonstrating the compensation performance of the active power filter and control strategy.
Optimal tuning of pid power system stabilizer in simulink environmentIAEME Publication
This document summarizes a research paper that proposes using an optimal tuning method based on the Ziegler-Nichols tuning rules to determine the parameters of a PID power system stabilizer (PSS) controller in a MATLAB/Simulink model. The paper models a single machine connected to an infinite bus system, adds a PID controller with PSS, and simulates the system under normal load conditions. Simulation results show that the Ziegler-Nichols method yields PID controller parameters that provide better dynamic performance compared to a conventional trial and error approach, with lower overshoot and shorter settling time. The proposed optimally tuned PID-PSS controller thus improves the stability and performance of the synchronous generator in the simulated power system.
Comparison of Tuning Methods of PID Controllers for Non-Linear Systempaperpublications3
Abstract: Modern days have seen vast developments in the field of controller’s .There are various controllers developed these days with various different specifications. But the only drawback is that, there is no fixed method for the tuning of these controllers, which is necessary for controlling of the system based on the variation of the input or for the changes in the system. In order to overcome this drawback, in this paper we have compared various tuning methods of PID controller for non-linear system. As a non-linear system we have taken the dc motor as a system. For the particular DC motor controller transfer function has been determined and control parameters such as Proportional Gain, Integral Time and Derivative time are identified. They are numerous methods of developing a Proportional Integral and Derivative (PID) Controller, amongst them some methods are adopted in this paper and Comparisons of Time Domain specifications of those controllers has been carried out.
Enhanced Performance of Matrix Converter using Adaptive Computing TechniquesIJERA Editor
This document discusses improving the performance of a matrix converter for supplying power to linear loads under different grid conditions. It describes the operating principle and Venturini modulation method of a matrix converter. Various controllers - PI, fuzzy logic, adaptive fuzzy, and ANFIS - are implemented in simulations to minimize harmonic distortion in the linear load current. The results show that the ANFIS controller provides the best performance with the lowest total harmonic distortion, indicating it is most effective at optimizing the quality of power supplied by the matrix converter under both balanced and distorted grid conditions.
An Optimal LFC in Two-Area Power Systems Using a Meta-heuristic Optimization...IJECEIAES
The document presents a study that develops an optimal load frequency control (LFC) method for two-area power systems using a harmony search (HS) algorithm to tune the parameters of a PI controller (Kp and Ki). The HS algorithm is used to minimize an objective function of integral absolute error (IAE) in order to enhance system performance regarding settling time, maximum deviation, and peak time. The two-area power system model and HS-PI controller design are implemented in MATLAB. Results show the HS-PI controller provides more robust performance compared to a particle swarm optimization-based PI controller under different load conditions.
This document summarizes a study comparing three control methods - PID, IMC, and IMC-PID - for controlling a first-order motor-tachometer system. The key findings are:
1) IMC performs better than PID when near system limitations, as PID can exhibit reset windup causing poor control. IMC avoids this issue.
2) Both IMC and IMC-PID effectively control the system under normal operation. However, IMC has less noise than IMC-PID.
3) When a large disturbance occurs, IMC returns to the setpoint faster than IMC-PID, which overshoots due to integral windup.
The document describes optimizing an automatic generation control (AGC) scheme for a two-area power system using a particle swarm optimization (PSO) tuned fuzzy PID controller. A linearized model of the two-area power system is presented. A fuzzy PID controller is used to regulate the area control error of each area. The gains of the fuzzy PID controller are optimized using PSO to minimize time-domain performance metrics. Simulation results show the PSO tuned fuzzy PID controller provides better dynamic response than a conventional PSO PID controller, with lower error and faster settling time. Comparisons of tie-line power deviation also show improved performance with the PSO tuned fuzzy approach. The paper concludes the proposed method efficiently tunes fuzzy PID parameters
Study of PID Controllers to Load Frequency Control Systems with Various Turbi...IJERA Editor
This document discusses the use of PID controllers for load frequency control (LFC) systems with various turbine models. It first provides background on LFC and the objectives of maintaining constant system frequency. It then describes using PID controllers with different tuning methods, including Ziegler-Nichols and Integral Model Controller, for LFC systems with non-reheat, reheat, and hydro turbines. The document presents the transfer functions for these various turbine models. It also discusses designing PID controllers both with and without the droop characteristic to improve damping. The goal is to study PID controller design methods and tuning to improve the performance of LFC systems with different turbine types.
Improving Structural Limitations of Pid Controller For Unstable ProcessesIJERA Editor
PID controllers have structural limitations which make it impossible for a good closed-loop performance to be achieved. A step response with high overshoot and oscillations always results. In controlling processes with resonances, integrators and unstable transfer functions, the PI-PD controller provides a satisfactory closed-loop performance. In this paper, a simple approach to extracting parameters of a PI-PD controller from parameters of the conventional PID controller is presented so that a good closed-loop system performance is achieved. Simulated results from this formation are carried out to show the efficacy of the technique proposed.
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IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology.
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IJRET : International Journal of Research in Engineering and Technology is an international peer reviewed, online journal published by eSAT Publishing House for the enhancement of research in various disciplines of Engineering and Technology. The aim and scope of the journal is to provide an academic medium and an important reference for the advancement and dissemination of research results that support high-level learning, teaching and research in the fields of Engineering and Technology. We bring together Scientists, Academician, Field Engineers, Scholars and Students of related fields of Engineering and Technology
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International Journal of Engineering Research and Applications (IJERA) is an open access online peer reviewed international journal that publishes research and review articles in the fields of Computer Science, Neural Networks, Electrical Engineering, Software Engineering, Information Technology, Mechanical Engineering, Chemical Engineering, Plastic Engineering, Food Technology, Textile Engineering, Nano Technology & science, Power Electronics, Electronics & Communication Engineering, Computational mathematics, Image processing, Civil Engineering, Structural Engineering, Environmental Engineering, VLSI Testing & Low Power VLSI Design etc.
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IRJET- Speed Control of Induction Motor using Hybrid PID Fuzzy ControllerIRJET Journal
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Real coded-genetic-algorithm-for-robust-power-system-stabilizer-designCemal Ardil
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IRJET- Load Frequency Control in Two Area Power Systems Integrated with S...IRJET Journal
This document presents a study comparing the performance of PID, Fuzzy-PID, and ANFIS controllers for load frequency control in a two-area power system integrated with a superconducting magnetic energy storage (SMES) unit. Simulation results show that the ANFIS-PID controller provides the best dynamic response with the lowest overshoot and undershoot and fastest settling time for both frequency deviation and tie-line power deviation, both with and without the SMES unit. The addition of the SMES unit further improves the system performance for all three controllers by reducing initial deviations after load disturbances.
Speed control of dc motor using relay feedback tuned piAlexander Decker
This document discusses speed control of a DC motor using different controller types, including a relay feedback tuned PI controller, fuzzy PI controller (FPIC), and self-tuned fuzzy PI controller (STFPIC). The FPIC and STFPIC are developed using fuzzy logic to overcome limitations of conventional PID controllers for nonlinear systems without an accurate mathematical model. An experimental setup is used to test the controllers' performance on a DC motor. Results show the model-independent STFPIC and FPIC controllers improve speed control performance compared to the relay-tuned PI controller.
Fuzzy gain scheduling control apply to an RC Hovercraft IJECEIAES
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Fuzzy logic Technique Based Speed Control of a Permanent Magnet Brushless DC...IJMER
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Tuning PID Controller Parameters for Load Frequency Control Considering System Uncertainties
1. B Ravi Kumar et al. Int. Journal of Engineering Research and Applications www.ijera.com
ISSN : 2248-9622, Vol. 5, Issue 5, ( Part -4) May 2015, pp.42-47
www.ijera.com 42 | P a g e
Tuning PID Controller Parameters for Load Frequency Control
Considering System Uncertainties
B.RaviKumar1
, G.Ashok2
, B.SivaPrasad3
Asst.prof, AITAM, Tekkali
Asst. prof, AITAM, Tekkali
Asst.prof, AITAM, Tekkali.
Abstract
In this paper, parameters of PID controller and bias coefficient for Load Frequency Control (LFC) are
designed using a new approach. In the proposed method, the power system uncertainties and nonlinear
limitations of governors and turbines ,i.e. Valve Speed Limit (VSL)and Generation Rate Constraint (GRC),
are taken into account in designing. Variations of uncertain parameters are considered between -40% and
+40% of nominal values with 5% step .In order to design the proposed PID controller ,a new objective function
is defined. MATLAB codes are developed for GA based PID controller tuning, the results of which are used to
study the system step response. All these are through in Simulink based background.
Keywords: Load frequency control; PID controller; ACE; Power system control; genetic algorithm
I. INTRODUCTION
The Load Frequency Control (LFC) system
should maintain the system frequency and the inter-
are a tie-line power flow close to the scheduled
values[1,2].The conventional design method of LFC
is based on the power system linear model with fixed
parameters. The optimal control theory has been
proposed in[2]andutilizedsinceearly1970s.ThePID
controller is used here to nullify the effect of
frequency and tie-line power deviations in both the
areas. MATLAB code has been developed to
achieve PID controller tuning based on genetic
algorithm. PID controller tuning ensures the
improvements in the system response in terms of
settling time ,rise time, overshoot and steady state
value. Studies are made for different contract
conditions. The results are compared with step
response of similar system having a PID controller
tuned with PSO in conventional interconnected
power system [14] without deregulation. The results
obtained for the problem in hand provide interesting
load control scenario in comparison to the
conventional situation. The block diagram s of two
area load frequency control under deregulation and
conventional scenario are drawn in simulink and the
overall system response is found for change of load
in one area.
II. SYSTEM AND UNCERTAINTIES
MODELING
There are various complicated non linear models
for large power systems, but linearized model has
been usually used [1,2].InFig.1,atwo-area power
system is shown In this paper, this system is studied
and the errors of the linearization are considered as
Parametric uncertainties and un-modeled dynamics.
Each are a consists of three first-order transfer
functions ,modeling the turbine ,governor and power
system .In addition ,all generators in each area are
assumed to form a coherent group.
The transfer function of PID controller in each
area is considered as follow:
The PID controllers are widely utilized in
industries. In the industrial PID controllers, Low Pass
Filter(LPF) is used in order to remove high frequency
noise. Therefore, the transfer function of derivative of
the PID controller has been replaced by kds/(1+Tds)
(where kd<Td)[6].
In previous researches, different saturation limits
have been considered for governor and turbine[9-
11].In this paper, two saturation limits ,i.e. .VSL and
GRCareconsidered.Fig.2showsthe governor and
turbine linear model and their VSL and GRC
,respectively.
∆PV and ∆PT are the deviations of governor
position and deviations of turbine power respect to
the nominal values, respectively.
RESEARCH ARTICLE OPEN ACCESS
2. B Ravi Kumar et al. Int. Journal of Engineering Research and Applications www.ijera.com
ISSN : 2248-9622, Vol. 5, Issue 5, ( Part -4) May 2015, pp.42-47
www.ijera.com 43 | P a g e
III. OBJECTIVE FUNCTION
CONSIDERING UNCERTAINTIES
In this section, the objective function of the
proposed PID due to load changes (∆PL) is presented.
The objective function is based on ITAE expressed
by the following equation
In an N-area power system, the load disturbance
(change) can affect the frequency of all areas. To
design the load frequency controller, all inputs and
outputs should be taken in to account .For PID
controller; the objective function is defined as
follows:
the tie-line power deviation i.e .the difference
between the scheduled power deviation (Ptie12sch)
and the actual power deviation (Ptie12actual). The
latter two are represented through(4)and(5).
The PID controller design is The most important
part of the Automatic Generation Control (AGC).The
choice of proportional-integral-derivative(PID)
controller than proportional plus integral
(PI)controller ensures better system response in terms
overshoot and settling time[15]. The ACE signals are
controlled using the PID controller to produce control
vectors for the AGC. In this work, the PID controller
tuning is done through Genetic Algorithm (GA). The
proportional (kp), integral (ki) and derivative (kd)
gains are set using GA. The transfer function of the
PID controller (6) used for both the areas are
considered to be identical.
To get the optimized values of the PID gains,
suitable objective function is developed here.
However the maximum and minimum values of the
gains are appropriately chosen. This objective
function (OB) can be defined as the sum of the
squares of the area control errors (ACE1and ACE2) in
each area as shown in (8).
III. PID CONTROLLER PARAMETER
TUNING USING GENETIC
ALGORITHM
A combination of Darwinian Survival of the
fittest principle and genetic operation is popularly
known as Genetic Algorithm. This became an
effective method of optimization. To accommodate
the entire range of possible solutions, larger value of
population size(100) is chosen. The implementation
of GA starts with parameter encoding [16].This is
done with great care so that the link between the
objective function and the strings are maintained
properly.
3. B Ravi Kumar et al. Int. Journal of Engineering Research and Applications www.ijera.com
ISSN : 2248-9622, Vol. 5, Issue 5, ( Part -4) May 2015, pp.42-47
www.ijera.com 44 | P a g e
Particle Swarm Optimization, Bacterial For
aging are currently being applied for the automatic
generation control in multi-area system under de
regulation. Such optimization techniques have also
been used for automatic generation control of
interconnected power system without deregulation.
These techniques are used either to tune the different
types of controllers or to set the parameters for power
system stabilizers. These actions enable operators to
improve the control oft he frequency deviation
situation and restoration of he tie line power
fluctuations quickly. In deregulated environment
participation contract between two or more areas are
regulated by an„ independent system operator‟.
Contract violation and its effects are also important in
these situations.
The algorithm used for tuning PID controller is
written below:
1. Set the population size, mutation rate, string size,
generation counter, population counter,
minimum and maximum values of variables etc.
2. Code the problem variables kp,ki and kd into
binary strings
3. Create the initial population of 100 members
using random number generation
4. Initialize the generation counter.
5. Increase the generation counter and initialize
population counter
6. Increase the population counter
7. Decode the binary string using (9) and(10).Use
these values of variable sin PIDGA blocks of
Simulink model to find out the objective
function i.e. area control errors (ACEs). Send
these values to MATLAB code.
8. Check the fitness.
9. If the population counter is less than population
size, GOTOstep4 and repeat.
10. Select highly fit strings as parents and produce
off springs according to their fitness.
11. Generate new strings by mating current
off springs using crossover operation.
12. Introduce variations by using mutation operator
and replace the existing strings by new strings.
13. Check i f t h e g e n e r a t i o n c o u n t e r i s
l e s s t h e maximum iteration number. It true,
GOTO step 5 and repeat. Otherwise,
14. Stop.
IV. RESULTS AND DISCUSSIONS
The code for PID controller tuning is written in
MATLAB. The best values of PID controller
parameters i.e. the gains kp, kd and ki obtained using
GA are used in PIDGA blocks of two area LFC
block diagram (Fig.2) drawn in MATLAB/Simulink.
The power system parameters used here are given in
Table I.
TABLE .I
POWER SYSTEM DATA
s = second, W = watt, M = mega.
TABLE II
VALUES OF PID GAINS
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TABLE III
PERFORMANCE STUDY
The DISCOs of this problem take power from
the GENCOs according to the DPM. Here it is
assumed that the each element of DPM has a value of
0.5. At the same time each GENCO participates in
automatic generation control according to the area
participation factors apf1 =0.5 and apf2 = 0.5
Initially the system is run without the use
of the controller due to the load change in area1
under deregulation. But it is found that the system is
unstable. The tie line power deviation due to load
change in area1 in two area load frequency control
without controller is shown in Fig. 3. Hence with the
application of PID controller the simulation is done
again for the change of load in area1 by 0.1 pu in
deregulated environment. The corresponding
frequency deviations in area1 and area2 are shown
in Fig. 4 and Fig. 5 respectively. The values of PID
controller gains obtained through GA are shown in
Table II. The tie line power deviation is depicted in
Fig. 6.
The two area power system without PIDGA was
simulated initially and it showed unstable response.
With the application of GA tuned PID controller, the
system became stable. The system performances
based on the settling time, rise time and % peak
overshoot are shown in Table III.
Fig. 3. Tie line power deviation (in pu) with respect
to time (in sec) due to change in load of area1
without any PID controller.
Fig. 4. Frequency deviation with respect to time (in
sec) in area1 due to 0.1 pu load change in area1
Fig. 5. Frequency deviation (in pu) with respect to
time (in sec) in area 2 due to 0.1 pu load change in
area1
Fig. 6. Tie line power deviation (in pu ) with respect
to time (in sec)due to change in load of area1
It is observed from Table III that peak
overshoot is well below 25%, settling time and
rise time are also within limits i.e. the steady state
frequency is restored within 12 sec (approximately)
after the sudden change of load in area1. The tie
line power characteristics show that the 0.1 pu
change of load in area 1 is shared by both the
GENCOs as per the DPM matrix. It means that
the 0.05 p.u load will be supplied.
1. An interconnected power system having same
parameters that of the power system chosen
here was simulated using PSO based PID
controller under deregulation in another work
[14]. A comparison of the frequency deviation
characteristics of these two worksreveals that
the numbers of oscillations have been
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ISSN : 2248-9622, Vol. 5, Issue 5, ( Part -4) May 2015, pp.42-47
www.ijera.com 46 | P a g e
reduced in case of PIDGA (Fig.3 and 4) in
deregulated environment.
Fig. 7. Tie line power error i.e. Ptie12error (in pu)
with respect to time (in s) due to 0.1 pu change in
load of area1 without deregulation
Fig. 8. Tie line power deviation (in pu) with respect
to time (in sec) due to 0.1 pu change in load of area1
without deregulation
Fig. 7 shows the tie line power error i.e.
Ptie12error versus time. It is clear from the plot
that the steady state value of tie line power error is
zero and its settling time is less than 4 sec (2%
basis). Fig. 8 depicts the tie line power deviation in
two area load frequency control system without
deregulation, the steady state value of which is zero.
But the corresponding tie line power deviation plot
with deregulation is smooth and has less oscillation
than that without deregulation.
V. CONCLUSION
In this work, two area load frequency control is
established under deregulation. The PID controller
which is used to bring the system dynamics within
comfortable limits is tuned with the help of genetic
algorithm. With the variation of load in one area, the
deregulated system response is better than the system
without deregulation in terms of numbers of
oscillations and at the same time the load change is
accommodated of both the areas without overloading
any one of them.
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