PERFORMANCE IMPROVEMENT OF
PID CONTROLLER FOR AVR
SYSTEM USING PARTICLE SWARM
OPTIMIZATION
Paper ID: 29
Authors:
Sheikh Abid Hossain
Sourav Roy
Animesh Karmaker
Md. Rafiqul Islam
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Presented By:
Sourav Roy
Lecturer, Dept. of EEE
Jessore University of Science and Technology
OUTLINE OF THE PRESENTATION
Automatic Voltage Regulator (AVR)
AVR with PID Controller
Optimal Design Methods of PID
Particle Swarm Optimization(PSO)
PSO Algorithm
Proposed Fitness Function
Improved Voltage Response
PSO-PID Controller for Different Weight Factors
Comparison Between GA-PID & PSO-PID
Comparison Between Proposed Function with Other Functions
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AUTOMATIC VOLTAGE REGULATOR
(AVR)
An Automatic Voltage Regulator (AVR) is used in conjunction with
synchronous generator to regulate reactive power and voltage level
under normal operating conditions at various load levels.
Main Components:
Amplifier
Exciter
Generator
Sensor
Fig.1: AVR Model
AVR WITH PID CONTROLLER
PID controller is popular for AVR system for its simple structure and robust
performance within a wide range of operating condition.
A PID controller continuously calculates an error value as the difference between a
measured process variable and a desired setpoint and attempts to minimize the
error over time by adjustment of a control variable to a new value determined by a
weighted sum:
Kp = Proportional constant
KI = Integral constant
KD = Derivative constant
Fig.2: Block Diagram of AVR with PID Controller
OPTIMAL DESIGN METHODS OF PID
For tuning the gains of PID controller, several methods have
been developed.
Some Control Methods are:
Ziegler-Nichols A trial-and-error method, very aggressive tuning.
Tuning
Slow convergence time and
Artifitial Intellegence (AI) Technique lengthy tuning process
Evolutionary Computation Technique
Unable to ensure better fitness
Genetic Algorithm (GA)
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Particle Swarm Optimization (PSO)
PARTICLE SWARM
OPTIMIZATION(PSO)
First introduced by J. Kennedy and R. Eberhart in 1995
It is a random search method
Developed from research on swarm such as fish schooling and bird flocking.
In 2004, Z.L. Gaing proposed PSO for PID Controller
Used to find the optimal controller parameters Kp, Ki, Kd
A new fitness function of the PSO-PID controller has been proposed in this work for
fast convergence and high performance AVR system.
Proposed approach yields a good step response that ensures better rise time,
settling time, overshoot and steady-state error from other literatures on PSO-
PID. 6
PSO ALGORITHM
Initilization
Find four performance criteria: Maximum Percentage Overshoot(M p),
Steady State Error(Ess), Rise Time(tr) and Settling Time(ts).
Calulate evaluation value from fitness function
Find best individual(pbest) and global best(gbest)
Modify the member velocity v of each individual K
vj,g(t+1)=w.vj(t)+C1.rand()(pbestj,g-kj,g(t))
+C2.rand()(gbest-kj,g(t))...........................................................(1)
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PSO ALGORITHM(CONTINUED)
If vj,g(t+1)>Vgmax then vj,g(t+1)=Vgmax
If vj,g(t+1)<Vgmin then vj,g(t+1)=Vgmin
Find the update position of each individual K
kj,g(t+1)=kj,g(t)+vj,g(t+1).......................................................(2)
Continue the process until the gbest is obtained
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FLOWCHART
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PROPOSED FITNESS FUNCTION
A fitness function is required to find evaluation value of each
individual.
Steady State Error should kept zero.
The proposed fitness function is:
J(k)=p(Mp+e)+q(ts-tr)..........................................................(3)
Where p & q are weight factors and
Required to control the values of Mp, tr and ts.
The most important parameter in this fitness function is e.
e influences the other parameters to be optimum. 10
OUTPUT VOLTAGE RESPONSE WITHOUT PID
Mp= 65.7%
Ess=0.091
Tr= 0.261 sec
Ts= 6.99 sec
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Fig.3: Terminal Voltage Step Response of an AVR without PID
IMPROVED VOLTAGE RESPONSE
Population size=50; No. of Generation= 100; Weight factors p= 1 & q= 0.25
[Kp, Ki, Kd] = [0.6478, 0.5245, 0.2388]
Mp= 1.0759%
Ess=0
Tr= 0.2596 sec
Ts= 0.3933 sec
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Fig.4: Terminal Voltage Step Response with PID Controller
PSO-PID CONTROLLER FOR DIFFERENT
WEIGHT FACTORS
Fig.5: Performance variation with different weight factors 13
COMPARISON BETWEEN PROPOSED
FUNCTION WITH OTHER FUNCTIONS
Some other Fitness functions are:
o W(k)=(1-exp(-β))(Mp+Ess)+exp(-β)(ts-tr).............................(4)
PSO 1
PSO 2
o F(k)=α(Mp+ISE)+β(tr+ts)..................................................(5)
Where,
The Proposed Fitness Function is:
PSO 3
J(k)=p(Mp+e)+q(ts-tr)..........................................................(6)
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COMPARISON BETWEEN PROPOSED
FUNCTION WITH OTHER FUNCTIONS
Terminal voltage step response with different fitness function
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COMPARISON BETWEEN PROPOSED
FUNCTION WITH OTHER FUNCTIONS
Performance comparison of each function for different system
Parameter PSO1 PSO2 PSO3
kp 0.6721 0.6721 0.6778
ki 0.5709 0.5709 0.5545
kd 0.2360 0.2497 0.2678
Evaluation Value 4.1843 4.0046 3.7344
Rise Time(s) 0.2718 0.2657 0.2552
Settling Time(s) 0.6060 0.3973 0.3490
Over shoot (%) 2.5432 1.9225 1.3800
Steady State Error((%)) 0 0 0
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COMPARISON BETWEEN PROPOSED FUNCTION
WITH OTHER FUNCTIONS(CONTINUED)
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Fig.7: Convergence Tendency of PID controller for Equation 4
COMPARISON BETWEEN PROPOSED FUNCTION
WITH OTHER FUNCTIONS(CONTINUED)
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Fig.8: Convergence Tendency of PID controller for Equation
5
COMPARISON BETWEEN PROPOSED FUNCTION
WITH OTHER FUNCTIONS(CONTINUED)
Only 10 steps is necessary for the PSO algorithm for prompt convergence
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Fig.9: Convergence Tendency of PID controller for Equation 6
COMPARISON BETWEEN GA-PID & PSO-PID
Fig.10: Terminal Voltage Step Response for GA and PSO with generation=100 20
COMPARISON BETWEEN GA-PID & PSO-
PID
Type kp ki kd Mp Ess ts(s) tr(s)
(%)
GA- 0.7722 0.7201 0.3196 4.54 0 0.865 0.214
PID
PSO- 0.6751 0.5980 0.2630 1.7 0 0.358 0.157
PID
THE AFTERMATH
The proposed fitness function can let PSO algorithm find a
high-quality PID control parameter set with better
computation efficiency so that the controlled AVR system has
more robust stability and can solve the searching and tuning
problems of PID controller parameters more easily and
quickly than the other methods.
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THANKS TO ALL
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