Bulletin of Electrical Engineering and Informatics

Vol. , No. , Month, pp. 1~1x

ISSN: 2302-9285, DOI: 10.11591/eei.v I .paperID  1

Control and simulation of a water pump system

Hanen Abbes # and Hafedh Abid *
# Laboratory of Computer and Embedded Systems (Lab-CES)
* Laboratory of Sciences and Techniques of Automatic control & computer engineering (Lab-STA)
National School of Engineering of Sfax, University of Sfax, PO Box: 1173,3038 Sfax Tunisia.

Article Info ABSTRACT (10 PT)

Article history: This paper deals with the use of photovoltaic energy for direct current motor
to drive water pump. The resort to clean renewable energy, instead of fossil
Received month dd, yyyy fuels, is step up day by day. The contribution is to set up a water pump
Revised month dd, yyyy system based on the solar energy. To optimize solar photovoltaic generated
Accepted month dd, yyyy power, maximum power point tracking method is usually required. Proposed
system is made up an arrangement of solar panels, two DC-DC converters,
DC motor followed by a water pump. The presence of a DC-DC converter in
Keywords: the set is very beneficial. In fact, it operates as an interface which aims to
enhance the efficiency of photovoltaic array and ensure silky start-up of the
DC motor DC motor with definite control.The first DC-DC converter gives constant
Fuzzy DC output. Then, the second converter supplies the DC motor. The
MPPT centrifugal pump is controlled by a fuzzy supevisor so as to get the optimum
Photovoltaic flow rate of the pump. The behavior of proposed system model is simulated
Pump and its diverse performances are evaluated by the means of
MATLAB/simulink. Then, the system operation and its efficiency are
verified.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Hanen ABBES,
Department of Electrical Engineering,
ENIS, Sfax University,Tunisia
Road of Aeroport Km 0.5, Sfax
Email: [email protected]

1. INTRODUCTION
Solar energy is a freely available energy source in the world. As a renewable energy, solar power
not only reduces dependence on foreign oil and fossil fuels but also causes no greenhouse gazs. Tunisia
presents a good potential in renewable energy. Thus, the government is trying to warrant a safe and secure
energy future. The country potential of solar radiation ranges, on year, from 1800 kWh/m² in the North to
2600 kWh/m² in the South. Tunisian government, in 2009, undertook “Plan Solaire Tunisien” or Tunisia
Solar Plan to reach 4.7 GW renewable energy capacity by 2030, using for photovoltaic systems, water
heating systems and concentrated power units [1]. Photovoltaic (PV) technology is an encouraging solution
to harness the solar energy. An array of photovoltaic cells called also PV panels are widely used for electric
power generation. In the last decade, grid associated with solar PV is a system which is broadly set up in
household applications and industrial purposes with control techniques. Excesspower from SPV may be
injected to the grid and utilized later by other consumers. IRENA : International Renewable Energy Agency
has estimated a 59% cost reduction of electricity provided by solar PV by 2025. In addition, IRENA specifies
that solar PV module prices have dropped roughly 80% since 2009 [2]. As the solar panels cost has
dramatically decreased, its use is widespread in various sectors. Photovoltaic energy affords electric energy
in several cases, mainly in regions without electricity grid. A usefulness study for the establishment of 400

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MW of a Pumped-Storage Power Plant is now ongoing in the North of Tunisia Melah amont place.
Yet, the electrical power coming from PV system is conditional on climate change such as
temperature and insolation variations. By this way, a maximum power point tracking (MPPT) technique
seems to be essential to get a maximum amount of power from photovoltaic installation[3]. Several
researches relating to the MPPT algorithms study and analysis have been conducted in the literature, such as
in [4]. They are examined while taking into account a variety of parameters; including easiness,
implementation type, cost, time-response and accuracy. Perturb & observe; P&O technique, incremental
conductance; INC technique and intelligents techniques are often applied [5].
The serious problem is a scarcity of electric grid in isolated locations, in the majority of regions of
the world. Hence, photovoltaic pumping application based on solar energy seems to be a promosing key. The
technology is comparable to the traditional pumping system, with the exception that it is powered by solar
energy [6]. PV water pumping has grown in popularity in recent years as a result of the lack of energy and
the rise in diesel prices. Pumped water flow rates are determined by incident solar energy and the size of the
PV array. A well-designed PV system ensues conspicuous long-term efficiency gains with regard to
traditional pumping systems. Additionally, instead of using batteries for electricity storage, tanks can be used
to store water. Likewise, in the current energy crisis, an irrigation system fed by solar power could be a
viable option for peasants. In developing countries, agricultural production is extremely influenced by rains
and water availability during summers. Nontheless, sunshine is abundant in summers, so, much waters can be
pumped to fulfill water requirements [7]-[9].
To meet this challenge, researchers are blessed with pumping systems fed by solar energy in order
to supply remonte and industry establishments [10]-[11]. A well run standalone photovoltaic pumping system
is obtained by the set up of converters and motor drives with sophisticated power electronics [12]. A variety
of motors types can be an essential item of this system, and amongst these motors, induction motor is
distinguished by cheap cost and weight, as well as reliability and, most importantly, low maintenance
requirements [13]-[14]. Whereas, DC motors provide highly controllable speed [15]. By varying the armature
or field voltage, it is possible to reach wide speed variation and together with this level of controllability, DC
motors give the precision required by a broad range of industry applications. In addition, it offers high
starting torque [16].
For these reasons, this paper proposes an accurate model of water pump system which is fed by a
photovoltaic energy source, then, the focusing of the work is to highly take advantage from the solar energy
and to effectively control the system.
Thereafter, the paper is arranged as following : Section 2 touches at the modelling of the PV
pumping system. The first part of this section handles the model of photovoltaic panel and the MPPT
algorithm. The second part gives a detailed design of the DC motor and the third part presents a clear model
of the centrifugal pump. In Section 3, discussions and simulation results show the performances of proposed
system and T-S fuzzy supervisor. Finally, the paper is enclosed by a conclusion.

2. PHOTOVOLTAIC PUMPING SYSTEM

The main components of photovoltaic pumping system are shown by Figure 1.

Figure 1. Pattern schema of proposed pump system

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The model schema includes PV energy source, DC-DC converter, which is under the control of a
MPPT item so as to have the maximum amount of energy, assembled with a second DC-DC converter. This
latest feeds a direct current motor coupled to water pump.

2.1. Design of PV array and MPPT approach

This section comprises two parts. The first is dedicated to PV array model and converter model, the
second concernes the description of the MPPT method. Needless to say, the elementary component of
photovoltaic panel is the photovoltaic cell. A photovoltaic array is composed of a big number of panels
electrically related in series. In the literature, two basic mathematical models dominate: the model based on
one diode and the model based on two diodes describing the PV operation under temperature and irradiation
parameters variations [17].
As the cells are joined in series-parallels arrangement on a panel to obtain high power, the
corresponding circuit of the PV array is depicted in Figure 2.

2.1.1 PV array model

Figure 2. Equivalent electric circuit of photovoltaic array

Equations describing the behavoir of PV cell, following temperature and irradiation changes, are summed up
by equations (1) and (2).
The final current and voltage expression of PV panel is equal to IPV :

 VPV Rs I PV  N pVPV
 N  N   Rs I PV (1)
Ns
 N p I ph  N p I s ( )  1 
S p
I PV
 nVT  Rsh
 
 

The current induced by the light depends mostly on the sunshine and cell’s operating temperature, Iph is the
equation of photocurrent:
G
I ph  ( I sh  K I T ) (2)
Gn
Where
Ish : current of short circuit of the cell at 25°C and 1kW/m2,
KI : short circuit current temperature coefficient of the cell,
G : solar insolation in kW/m2.
Is : cell’s saturation current depends on the cell temperature
ns kT
VT  (3)
q
2.1.2 MPPT approach
- Boost Converter

The role of the power converter is to allow the adjustment of PV generator to the load so as to
acquire the maximum power from PV source. The type of the DC-DC converter is conditional on the

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intended purpose of the photovoltaic system. Numerous types of DC-DC converter are available [18]. We
consider here the Boost type (Figure 3).
For tin [0,, the transistor switch is on. So, in this case, the equations are:
iL V
 (4)
t L
V2 V
 2 (5)
t RLCs
For t in [], the transistor switch is off. So, the converter equations, in this case, are as follows:
iL V1  V2
 (6)
t L

V2 iL V
  2 (7)
t C s RL C s
where, K, L and CS represent respectively the IGBT transistor switch, the inductance and the capacitor.

Figure 3. Electrical schema of BOOST converter

- Perturb and Observe MPPT approach

Figure 4. Organization chart of P&O approach

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Perturb and Observe is the easiest among all MPPT algorihtms, it is broadly used and it is
inexpensive control method [19]-[21]. Owing to its simple implementation, we adopt this method to track
maximum power point from PV panel. Figure 4 above illustrates the flowchart of the P&O.
The algorithm principle is to do a perturbation on the PV panel voltage whilst varying the duty ratio
α. Subsequent to this perturbation, we compute the power given by the generator at instant k, then we make a
comparison to the preceding one at instant k-1. If the power gets bigger, we go toward the maximum peak
power and the new variation of the duty ratio is uphold in the same direction. In the opposite side, if the
power becomes less, we go away from the MPP. So, the duty cycle variation should be reserved.

2.2. Modeling of Direct Current motor

DC motors are used for multi-purpose applications [22]-[24]. Modeling a dynamic process is often
necessary before the determination of a control law. In order to get an accurate model, you need to apply a
suitable method among various methods. Design a numerical model is done through the determination of the
discrete or continuous transfer function whose structure is often determined by empirical methods. To ensure
the determination of a classic control technique, a such model is usually sufficient [25]-[26].
The parameters of DC motor are given below by Table 2. The operating equations of the separately
excited direct current motor are as following :
Electrical equation :

I
V  RI  L E
t (8)

Where : V : Voltage supply of the armature

R : Total resistance of the armature (with compensation winding)

I : armature current
L : Total leakage inductance of the armature
E : Back emf developed

echanical equation :


Cm  Cr  J +f Ω (9)
t
Where

Cm : motor torque
Cr : Resistant torque
J : Overall moment of inertia (motor + driven machine)
f : Viscous coefficient of friction
: Angular speed of rotation of the motor shaft

 Electromechanical equations:

E  K m      

Cm  K m I     

Output power is equal to Pu drawn by eqaution (12)
Pu  C (12)

Direct current motor is considered as a second order system of the hyper damped type (e<<m) whose
transfer function is close to a first order system as given by equation (13).

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K
H ( p)  (13)
1  t em p

The numerical regulator is PI type, whose recurring equation is as in (14) :

Te
u r (n)  u r (n  1)  K p [e(n)  e(n  1)]  K p e(n  1) (14)
Ti

2.3. Modelling of centrifugal pump

The centrifugal pumps are extensively applied for water pumping since they afford low or medium depths
(10 to 100m) and strong flow rates. The centrifugal pump is popular with its head flow rate characteristic
curve H(Q). It is determined by the motor speed as depicted by Figure 5. The flow rate is proportional to the
rotational speed motor value while the head manometric (HMT) is proportional to the square speed. The flow
head characteristic of a centrifugal pump can be estimated by a quadratic function based on the Pfleider-
Peterman model [27], where rotor speed ω is assumed as a parameter:
H MT  a1r2  a2r Q  a3Q 2 (15)

The following equation of H (Q) characteristic of the pipe can be couched by :

H  H g  K pQ 2 (16)

Figure 5. Pump characteristic

If ω= ωmax, the power is Pmax and the flow rate is Qmax.

If ω= ωmin, the power is Pmin and the flow rate is Qmin
The HMT (Q) curve as exposed by the Figure 5, has a parabolic look. The intersection of the HMT (Q) curve
with the ordinate axis is the point zero flow. It is called the bubbling point or the closed valve point. The
pump operating point is appointed by the crossing of water pipe characteristic with the pump dependent on
the rotation speed of the motor. Nonetheless, the pump is described by a particular characteristic for each
speed value, thus, as the speed varies, the operating point varies. Thereby, it is arduous, sometimes infeasible
to anticipate the operating point coordinates. To deal with this arduousness, Takagi sugeno fuzzy type
supervisor is a bright alternative [28]-[30]. The concept aims at use the coordinates of the two extreme
operating points. The first extreme operating point respresents the highest rotational speed of the motor
whilst the second point respresents the lowest rotational speed.
Given the reference power, the optimum speed then the reference flow rate of the centrifugal pump will be
deducted.

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The torque of the pump is expressed as follows :

C  k 2 (17)
From (12) and (17), output power equation becomes as in (18)
Pu  k3         
(18)

P
As result, 3 (19)
k
Pref
and  ref  3 (20)
k
So, the angular speed depends on the power which varies according to the irradiation and the temperature
variations.
For (Gopt, Topt), we get Pmax and Ωmax
For (Gmin, Tmin), we get Pmin and Ωmin
Then, for (Gi, Ti) values corresponds Pi and Ωi
From the extreme cases, we note that for :
(1000,5°) : P1, (1000, 75°) : P2, (200, 5°) : P3, (200, 75°) : P4

We deduce P  h1 P1  h2 P2  h3 P3  h4 P4 (21)

Then, to compute the corresponding flow rate, we rely on the T-S fuzzy supervisor given by Figure 6.

Figure 6. T-S fuzzy supervisor principe

The membership functions of the rotational speed of the motor are given by Figure 7. They can be expressed
by equations (22) and (23).

Figure 7. Membership functions of rotational speed

  min
M 32  (22)
max  min
max  
M 31  1  M 32  (23)
max  min

where, ωmin and ωmax represent respectively the minimum and maximum mechanical rotation speed of the
motor. As the flow rate of the pump depends on the ω, the reference flow can be estimated by the equation
(24):

Qref=Qopt=M1Qrefmax+M2Qrefmin (24)
where, Qrefmax and Qrefmin represent the optimum maximum and minimum pump flow rates respectively.

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3. SIMULATION RESULTS AND DISCUSSIONS

The PV generator used consists of 10 photovoltaic panels. They are connected in two parallel string;
each one includes five panels connected in serial. The parameters of a panel are given in Table1.

Table 1. Parameters of one panel

Parameters at 25°c &
Nominal value
1000 W/m2 for one panel
Power P 81.5 W
Short circuit current Isc 4.8 A
Open circuit voltage Vco 21.38 V
Optimal voltage 18.4 V
Optimal current 4.4 A

The panel's fuzzy model consists of the following four local models:
G 1000 w/m2 ,T 5C , V MPP  20V, I MPP PMPP W
G 1000 w/m2 ,T 5C , V MPP  15.8V, I MPP PMPP W
G 200 w/m2 ,T 5C , V MPP  12V, I MPP PMPP W
G 200 w/m2 ,T 5C , V MPP  13.24V, I MPP PMPP W

The variations of irradiation and temperature are given by the following Figures 8 and 9.

Figure 8. Irradiation variations

Figure 9. Temperature variations

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Table 2. DC motor parameters

Resistance of the armature (R) 6.8 Ω
Leakage inductance of the armature(L) 135 mH
Electrical time constant ( 19.85 ms
Constant f.c.e.m for excitation nominal (Km) 1.7 V.s.rd-1
Coefficient of viscous friction(f) 0.2.10-2 Kg.m-2.s-1
Global Inertia(J) 77.10-3 Kg.m-2
Mechanical time constant ( 38.4 s

Electromechanical time constant ( 180 ms

Static gain (K) 0.588

The evolution of the power coming from the photovoltaic panels is presented by Figure 10.

Figure 10. Power by PV array

The voltage across the armature, the torque, the speed of the DC motor and the flow rate of the water pump
are given respectively by the Figures 11, 12, 13 and 14.

Figure 11. Voltage across the armature Figure 12. Torque of DC motor

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Figure 13. Speed of DC motor Figure 14. Flow rate of water pump

All losses are not computed and we suppose that the motor pump efficiency is equal to unity 1.
It is excepted that the power delivered by the panels vary. If the irradiation increases, the power increases and
inversely.
Figure 13 shows that the speed varies smoothly as a function of the power supplied to the motor. Figure 14
clearly shows the flow rate result of the pump which matches with theoretical values as previously
developed. Results got as estimated.

- The nominal rating of the motor are

Armature: 220V / 6.8A
Inductor: 220V / 0.4A
Speed: 1500 rpm
Fonctional power: 1.6 KW

- Centrifugal pump parameters are :

ωn=157 rad/s, a1=4.9234 10-4 m/ (rad / s)2 ; a2=-1.5286 10-5 m/ (rad / s)2 (m2/s); a3=-0.091 m/ (m3 / s)2;
g=9.81m2 / s,  1000kg /m3

4. CONCLUSION
In this work, a detailed model of a pump system powered by photovoltaic source is described. Fuzzy
and conventional techniques are exploited to control DC motor pump. Irradiation and temperature variables
are the inputs for the system control which act out current, voltage and power values of the photovoltaic
source. Then, Maximum Power Point Tracking item with a DC-DC converter aim to make the most amount
of energy by PV panels. As well, a fuzzy system control provides the optimum flow rate of the pump driven
by a DC motor. Simulation results exhibit an accurate and an error-free system response under temperature
and irradiation variations. Subsequently, the robusteness and the effectiveness of the proposed approaches are
proven.

Data Avaibility

The simulation data used in this work are available by the corresponding author at request.

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Control and simulation of a water pump system (Hanen ABBES)