International Journal of Power Electronics and Drive Systems (IJPEDS)

Vol. 13, No. 3, September 2022, pp. 1813~1821

ISSN: 2088-8694, DOI: 10.11591/ijpeds.v13.i3.pp1813-1821  1813

Design and implementation of optimal controller for DFIG-WT

using autonomous groups particle swarm optimization

Hatem Mohamed Seoudy, Mohamed Attya Saadeldin, Wael Abdelfattah Mohamed

Department of Electrical Power and Machines Engineering, The Higher Institute of Engineering, Elshorouk, Egypt

Article Info ABSTRACT

Article history: There are many types of generators used within wind energy such as doubly
fed induction generator (DFIG). Particle swarm optimization (PSO)
Received Feb 2, 2022 algorithm is simple, robust and easy to implement. In addition to the
Revised May 25, 2022 privilege of PSO, autonomous groups particle swarm optimization (AGPSO)
Accepted June 9, 2022 has the advantages of using diverse autonomous groups which result in more
randomized and directed search. Applying AGPSO to tune PI controller to
control DFIG is proposed in this paper. An implemented laboratory
Keywords: prototype consists of brushless DC motor (BLDC) for simulating the various
wind speeds. Wound rotor induction machine, working as DFIG. This
Autonomous groups particle system is a stand-alone system. System identification strategy was
swarm optimization introduced in this work. In this study, AGPSO is suggested for tuning the PI
Brushless DC motor controller. Different case studies are performed, such as step changes in both
Doubly fed induction generator speed and electrical load for showing the effectiveness of the proposed
Optimal control algorithm. For comparison PSO is used to tune the PI controller. Results
PI controller from experiments clarify the feasibility of the proposed methodology. It is
Wind turbine simulator approved that AGPSO achieves the prevalent control execution (quicker
transient response and more modest steady state error (ess)) contrasted with
the PSO in tuning PI controller when applied to be used with off-grid
systems.
This is an open access article under the CC BY-SA license.

Corresponding Author:
Wael Abdelfattah Mohamed
Departement of Electrical Power and Machines Engineering, The Higher Institute of Engineering
4J94+QFG, El Shorouk, Cairo Governorate 4920213, Egypt
Email: [email protected]

1. INTRODUCTION
Wind energy generation has turned out to be one of the rapidest and the most significant source of
renewable energy in the world because of the huge expends of electricity needs. Now, the variable-speed
wind turbine (VSWT) fitted with doubly fed induction generator (DFIG) has a growing attention due to its
advantages [1]. DFIG is the most used generator in variable speed fixed frequency wind power systems. In
this paper DFIG system is applied to stand-alone system. Different to grid-connected wind turbine (WT)
systems, off-grid system should maintain active and reactive power beside matching the generation and load,
regardless of variation in wind speed and load changes [2], [3].
Fulfilled transient performance can't be accomplished by customary PI control for the DFIG because
of nonlinear control characteristics of DFIG. Subsequently this work delivers the issue to build up a smart
control strategy for the DFIG for off-grid system. Various control techniques, for example, Appling adaptive,
and fuzzy logic. The famous proportional-integral (PI) controller ,which is widely used in WT due to it is
simple [4] and other studies found in [5]-[7]. However, it is not easy to get the required performance if its
parameters isn’t tunned. Figure 1 shows the PI controller.

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1814  ISSN: 2088-8694

The parameter settings of the PI controller are the vital of the PI controller design because they
directly affect the control performance of the system. Over the most recent couple of years, the heuristic
algorithms are applied to fine-tune the PI controller. Numerous master's focus on the exploration of the
intelligent algorithms, for example, the neural network and its mutation algorithm [8], [9]. The controller
parameters or gains (Kp and Ki) are picked to meet recommended performance rules indicated as far as rise
and settling times overshoot, and ess, following a step change in the demand [10].

Figure 1. PI controller

Many researches were dedicated to the insightful PI controllers, for example, the fuzzy and variable
gain algorithms [11], [12] however the fuzzy and variable gain rules actually should be optimized. Thus, the
biological optimization algorithms such as the evolutionary computing, swarm intelligence, and so on, were
introduced to improve the optimization of PI parameters [10], [13]-18]. Swarm intelligence has purposed PSO
and autonomous groups PSO (AGPSO) that have opened paths to a new generation of advanced process
control. These advanced techniques to design control systems are, in general, dependent on achieving optimum
performance with various types of disturbance that are unknown in most practical applications [15]-[19].
In this paper, the system modeling is described in section 2. Also, in section 2 validation of the
identified model. In section 3 explanation of applying the optimization techniques is presented. While the
results and discussions are presented in section 4. Finally, the conclusion is given in section 5.

2. SYSTEM MODELING
2.1. Implemented wind turbine and DFIG system
A system consists of DFIG, brushless DC motor (BLDC), Drive circuit, inverter, speed measuring
unit, reactive power measuring unit and data acquisition card shown in Figure 2. Optimization techniques is
applied to PI controller in MATLAB/Simulink while connecting the data acquisition card to the
MATLAB/SIMULINKusing Data Acquisition Toolbox. and the block diagram describing the system shown
in Figure 3. The technical data of the system is as in [4].

Figure 2. General view of the Figure 3. Block diagram of DFIG system

system setup test bench

2.2. Lab wind turbine system

MATLAB system identification toolbox is utilized to obtain the transfer function (TF) of DFIG for
VAR control and BLDC for speed control [20], [21]. The TF of the VAR loop of DFIG is as in (1) while The
TF of the speed loop of BLDC is as in (2) with matching of the real system with about 92% for the VAR TF
and about 95% for the Speed TF. Figure 4 and Figure 5 how the output measured and the percentage fit of
each simulated model to the output measured for VAR loop and speed loop respectively.

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Int J Pow Elec & Dri Syst ISSN: 2088-8694  1815

8134 𝑆 2 +2.101𝑒04 𝑆+411.6

𝐺𝑄 (𝑆) = (1)
𝑆 4 +26.4 𝑆 3 +215.5 𝑆 2 +508.4 𝑆+7.229

1279 𝑆 2 +5.867𝑒05 𝑆−1.053𝑒04

𝐺𝑆𝑝𝑒𝑒𝑑 (𝑆) = (2)
𝑆 3 +50.21 𝑆 2 +915 𝑆+2.506𝑒−12

Figure 4. Measured and simulated TF model output Figure 5. Measured and simulated TF model output
of VAR loop of speed loop

2.3. Validation of the implemented models

Figure 6 shows the validation of identified models for implemented system for step input. It can be
seen from Figure 6 that the matching of the identified model with the implemented one. Figure 7 shows the
PI controller with tuning algorithm.

PSO or AGPSO
Tuning Algorithm

Plant

Figure 6. VAR and speed response of practical and Figure 7. Structure of system with PI tuning
identified model algorithms

3. METHOD
3.1. Objective function
The PI controller has normally a TF given by (3) [21]:
𝐾𝑖
𝐺𝑐 (𝑠) = 𝐾𝑝 + (3)
𝑆

where, Kp, and Ki indicates the proportional, and integral gains respectively. In this paper, PSO, and
AGPSO algorithms are used to optimize the the controller parameters for VAR loop and speed control based
on performance index. The performance index are weighted goal attainment Method 1,2 (WGAM1), and
(WGAM2), declared by (4), and (5) [21].
1
𝑊𝐺𝐴𝑀1 = (4)
[𝑐1 (𝑡𝑟−𝑡𝑟𝑑 )2 +𝑐2 (𝑀𝑝 −𝑀𝑝𝑑 )2 +𝑐3 (𝑡𝑠 −𝑡𝑠𝑑 )2 +𝑐4 (𝑒𝑠𝑠 −𝑒𝑠𝑠𝑑 )2 ]

Design and implementation of optimal controller for DFIG-WT using … (Hatem Mohamed Seoudy)
1816  ISSN: 2088-8694

1
𝑊𝐺𝐴𝑀2 = (5)
(1−𝑒 −𝛽 )⋅(𝑀𝑝 +𝑒𝑠𝑠 )+(𝑒 −𝛽 )⋅(𝑡𝑠 −𝑡𝑟 )

Where, r(t): required output, y(t): plant output, e(t): error signal, β: weighting factor, c1 to c4: weighting
factors, trd, Mpd: desired rise time, and maximum overshoot. tsd, and essd: desired settling time, and steady
state error. In (4) the actual parameters (tr, Mp, ts, and ess) are used to find the best solution for the objective
function by ∑(𝑒𝑟𝑟𝑜𝑟𝑠)2 of actual and desired parameters (trd, Mpd, tsd, and essd). In (5), The factor β is
above 0.7 to minimize Mp and ess. meanwhile β is below 0.7 to minimize tr and ts [4].

3.2. Optimization techniques

Two techniques have been used in this paper PSO as a basic technique and AGPSO as a modern
one. In the PSO algorithm, each particle velocity is adjusted according to its experience and the other
particles experience as in [17]-[19]:

𝑣𝑖𝑘+1 = 𝑤𝑣𝑖𝑘 + 𝑐1 𝑟𝑎𝑛𝑑1𝑖 (𝑝𝑏𝑒𝑠𝑡𝑖 − 𝑠𝑖𝑘 ) + 𝑐2 𝑟𝑎𝑛𝑑2𝑖 (𝑔𝑏𝑒𝑠𝑡 − 𝑠𝑖𝑘 ) (6)

where, 𝑣𝑖𝑘 is the present velocity of particle i at iteration k, 𝑣𝑖𝑘+1 is the updated velocity of particle i, w is the
inertia weight, c1, c2 are two acceleration positive PSO constants, 𝑠𝑖𝑘 is the present position of particle i at
iteration k, rand1i, rand2i are random numbers between 0 and 1, pbesti is the best position of particle i, and
gbest is the global best position of the group so far. The new position 𝑠𝑖𝑘+1 can be modified using the present
position 𝑠𝑖𝑘 and updated velocity 𝑣𝑖𝑘+1 .

𝑠𝑖𝑘+1 = 𝑠𝑖𝑘 + 𝑣𝑖𝑘+1 (7)

The positive constants c1 and c2 are usually set between 0.5 to 2 [14].The inertia weight w is set as a
decreasing linear function with the iteration number from 0.9 to 0.4 [22]-[24]. PSO parameters are
summarized in Table 1.
In addition to the privilege of PSO, autonomous groups particle swarm optimization (AGPSO) has
the advantages of using diverse autonomous groups which result in more randomized and directed search.
Applying AGPSO to tune PI controller to control DFIG is proposed beside PSO. A mathematical model of
the AGPSO is utilize different strategies for updating c1 and c2 [25]. Finding a good balance between c1 and
c2 and considering them as dynamic coefficients. The dynamic coefficients of AGPSO algorithm are
presented in the Figure 8 [25].
In Table 2, T indicates the maximum number of iterations and t is the present iteration. For instance,
the particles of AGPSO utilizes two principal third root, two cubic functions for groups 1 and 2 in addition to
one principal third root and cubic functions for groups 3 and 4.

Table 1. PSO parameters Table 2. Updating strategies

Parameter Value Updating formula
Algorithm
Population size 10 C1 C2
Number of generations 10 AGPSO
Acceleration Constant c1 0.5 Group1 1.95-2t1/3/ T1/3 2t1/3/ T1/3+0.05
Acceleration Constantc2 1.5 Group2 (-2t3/T3)+2.5 (2t3/T3)+0.5
Initial inertia weight wmax 0.9 Group3 1.95-2t1/3/ T1/3 (2t3/T3)+0.5
Final inertia weight wmin 0.2 Group4 (-2t3/T3)+2.5 2t1/3/ T1/3+0.05

Figure 8. Mathematical models of autonomous groups for AGPSO [25]

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4. RESULTS AND DISCUSSION

4.1. Simulation results of the identified system
4.1.1. Comparison between the proposed optimization techniques
For comparison purposes, the optimum PI parameters are searched for the TF of the identified
models obtained by in (1) and (2). The results of the identified model by PSO and AGPSO controllers are
shown in Table 3 and Table 4. The corresponding values of PI parameters are shown in Table 5 and Table 6.
Also, the time responses are shown in Figure 9 and Figure 10.
It is concluded from the above comparison that the AGPSO has been proven to be more efficient
than the PSO algorithm in seeking for the global optimum PI parameters with respect to the desired
performance indices. Thus, the system performs better time response with the optimum PI controller.

Table 3. Results of the PSO, and AGPSO for PI Table 4. Results of the PSO and AGPSO for PI
controllers in simulation of VAR loop controllers in simulation of speed loop
Response Optimization Performance Criteria Optimization Performance Criteria
Response
methods WGAM1 WGAM2 methods WGAM1 WGAM2
Value of fitness PSO 1.5392 1.4392 Value of fitness PSO 0.11515 0.86391
function AGPSO 0.2538 0.7209 function AGPSO 8.79E-04 0.1568
Rising PSO 0.087399 1.4055 Rising PSO 0.60787 0.58724
time(sec) AGPSO 0.3709 0.1735 time(sec) AGPSO 0.2787 0.1917
Overshoot PSO 0 0 Overshoot PSO 0.046845 0.01337
percentage AGPSO 0.0079 0.0044 percentage AGPSO 0.0253 0.0284
Settling time PSO 2.9721 2.9962 Settling time PSO 1.103 1.5402
(sec) AGPSO 1.505 0.9698 (sec) AGPSO 0.5491 0.3617
Steady state PSO 0.001282 0.00201 Steady state PSO -0.00578 -0.00357
error AGPSO 0.0016 7.30E-04 error AGPSO -0.0025 -0.0025

Table 5. Parameters of PI controllers for VAR loop Table 6. Parameters of PI controllers for speed loop
Performance Criteria Performance Criteria
PI Gains Optimization methods PI Gains Optimization methods
WGAM1 WGAM2 WGAM1 WGAM2
PSO 0.061582 0.027787 PSO 0.000296 0.003862
Kp Kp
AGPSO 0 0.0196 AGPSO 9.50E-04 3.06E-04
PSO 0.076026 0.054485 PSO 0.005508 0.008898
Ki Ki
AGPSO 0.0716 0.1554 AGPSO 0.0130 0.0130

Figure 9. Simulation with respect to WGAM1 Figure 10. Simulation with respect to WGAM2

4.2. Implementation results

To implement the proposed algorithm performance for controlling the system, four cases are
simulated:
Case 1: 3-phase RL load, 1600 rpm, and 30 VAR.
Case 2: 3-phase induction motor, 1600 rpm, and 30 VAR.
Case 3: 3-phase RL load, 1600 to 1400 rpm, and 30 VAR.
Case 4: 3-phase induction motor, 1600 to 1400 rpm, and 30 VAR.

Design and implementation of optimal controller for DFIG-WT using … (Hatem Mohamed Seoudy)
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In the experimentation, the resulted gains are Kp=0.0007 and Ki=0.01 for the speed regulation and
Kp=0.02 and Ki=0.1 for the VAR regulation. The experimental results of the implemented system under the
effect of PI, PSO-PI, and AGPSO-PI controllers are shown in Figures 11 to 14. Figure 11 shows the response
of speed loop and corresponding response of VAR loop for case 1 (RL load, 1600 rpm, and 30 VAR) (a) PI
controller, (b) PSO-PI controller, and (c) AGPSO-PI controller.
Also Figure 12, 13, and 14 show that responses for case 2 (induction motor, 1600 rpm, and 30
VAR), case 3 (RL load, 1600 to 1400 rpm, and 30 VAR), and case 4 (induction motor, 1600 to 1400 rpm,
and 30 VAR) respectively. The Figures show the superior of AGPSO algorithm than PSO algorithm in
finding the global optimum PI parameters and better time response.

(a)
(a)

(b) (b)

(c) (c)

Figure 11. Experimental results of speed and VAR Figure 12. Experimental results of speed and VAR
Case 1 at 1600 rpm: (a) PI controller, (b) PSO-PI Case 2 at 1600 rpm: (a) PI controller, (b) PSO-PI
controller, and (c) AGPSO-PI controller controller, and (c) AGPSO-PI controller

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(a) (a)

(b) (b)

(c) (c)

Figure 1. Experimental results of Speed and VAR Figure 2. Experimental results of Speed and VAR
Case 3 at 1600 rpm to 1400 rpm to 1600 rpm. (a) PI Case 4 at 1600 rpm to 1400 rpm to 1600 rpm (a) PI
controller, (b) PSO-PI controller, and (c) AGPSO- controller, (b) PSO-PI controller, and (c) AGPSO-PI
PI controller controller

5. CONCLUSION
This paper introduces a design and implementation of Optimal PI Controller for Test bed of DFIG
driven by wind turbine using autonomous group PSO. Two optimization techniques PSO and AGPSO for PI
controllers tuning of VAR loop beside speed loop of a DFIG driven by BLDC motor has been proposed in
this work. The controllers were simulated in MATLAB/Simulink and then verified experimentally. System
identification is also proposed to determine the VAR loop TF and and speed loop TF of the implemented
system. The validation of identification shows the matching of the identified model with the implemented
one. Results from experiments clarify the feasibility of the proposed methodology. It is approved that
AGPSO achieves the prevalent control execution (quicker transient response and more modest steady state
Design and implementation of optimal controller for DFIG-WT using … (Hatem Mohamed Seoudy)
1820  ISSN: 2088-8694

error (ess)) contrasted with the PSO in tuning PI controller. Experimental results show the superior of the
AGPSO than PSO in optimizing PI parameters wrt the desired performance indices.

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BIOGRAPHIES OF AUTHORS

Hatem Mohamed Seoudy received his B.Sc. degree from the Higher Institute
of Engineering, El Shorouk Academy, Cairo, Egypt, in 2005, the M.Sc. degree from the
Faculty of Engineering, Helwan University, Egypt, in 2010, and the Ph.D. degree from the
Faculty of Engineering, Alazhar University, Egypt, in 2016. He is currently an Assistant
Professor at the Department of Electrical Engineering, Higher Institute of Engineering,
ElShorouk Academy. His research interests include, smart grids, control system, artificial
intelligence, electrical drives, renewable energy, and optimization techniques. He can be
contacted at email: [email protected].

Mohamed Attya Saad-Eldin received his B.Sc. degree from the Higher
Institute of Engineering, El-Shorouk Academy, Cairo, Egypt, in 2001, the M.Sc. degree
from the Faculty of Engineering, Ain-Shams University, Egypt, in 2008, and the Ph.D.
degree from the Faculty of Engineering at Soubra, Benha University, Egypt, in 2017. He is
currently an Assistant Professor at the Department of Electrical Engineering, Higher
Institute of Engineering, El-Shorouk Academy. His research interests include, power system
protection, smart grids, control system, artificial intelligence, renewable energy, and
optimization techniques. He can be contacted at email: [email protected].

Wael Abdelfattah Mohamed Ahmed received his M.Sc. and Ph.D. degrees
from the Faculty of Engineering, Ain-Shams University, Egypt, in 2014, and 2017,
respectively. Since then he is an Assistant Professor at electrical power and machines
engineering department, the higher institute of engineering at El-Shorouk Academy, Cairo,
Egypt. His research interests include distribution system design and planning, power system
analysis, stability, reliability, renewable energy, smart grid, load Management, optimization,
and Electric Vehicles. He can be contacted at email: [email protected].

Design and implementation of optimal controller for DFIG-WT using … (Hatem Mohamed Seoudy)