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Performance Comparison of PID and Fuzzy Controllers in Distributed MPPT

Article  in  International Journal of Power Electronics and Drive Systems · September 2015

DOI: 10.11591/ijpeds.v6.i3.pp625-635

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International Journal of Power Electronics and Drive System (IJPEDS)
Vol. 6, No. 3, September 2015, pp. 625~635
ISSN: 2088-8694  625

Performance Comparison of PID and Fuzzy Controllers in

Distributed MPPT

Chandani Sharma, Anamika Jain

Department of Electronics and Communication Engineering, Graphic Era University, Dehradun, India

Article Info ABSTRACT

Article history: With an increase of Green Technology applications, Photovoltaic have
emerged as the most appropriate solution for electricity generation purposes.
Received Mar 16, 2015 However, due to variable temperature and irradiance, under the partial or
Revised Jun 2, 2015 shaded conditions Maximum Power Point Tracking is needed to determine
Accepted Jun 21, 2015 highest efficiency of the system. The paper describes dynamic modeling and
control of variable temperature and irradiance on solar panel in SIMULINK-
MATLAB environment. The implementation of Buck Converter is used for
Keyword: power switching and impedance matching on connecting the panel to the
load. The effectiveness of the model, with enhanced efficiency through
Converters voltage stabilization, is performed using Proportional-Integral-Derivative and
FLC Fuzzy-Logic-Controllers. A comparative study is made for PID and FLC on
Green Technology the basis of outputs to deal with online set point variations. FLC gives closer
Maximum-Power-Point- results to Standard Test Conditions when compared with PID. The Fuzzy
Tracking system developed, using tested membership functions serve as a platform for
PID sustainable standalone and grid-based applications using distributed MPPT.
SIMULINK-MATLAB Copyright © 2015 Institute of Advanced Engineering and Science.
All rights reserved.

Corresponding Author:
Chandani Sharma,
Department of Electronics and Communication Engineering,
Graphic Era University,
Bell Road, Clement Town, Dehradun, India.
Email: [email protected]

1. INTRODUCTION
Solar is a vast, multidisciplinary technology that has expanded tremendously in recent years. The
International Energy Agency estimates exponential growth of PV in electricity generation. The roadmap
towards increasing PV share in global electricity generation targets 16% growth by 2050 over 11% in 2010.
To achieve this vision, the total PV capacity installed needs to rise rapidly, from 36 GW in 2013 to 124 GW
per year on average, with a peak of 200 GW per year between 2025 and 2040 [1]. This installation would
contribute significant rise of 17% to clean electricity and 20% of all renewable electricity generated through
PV (photovoltaic). Solar Renewable Energy Technology (SRET) has brought ample opportunities in Utility-
scale and rooftop systems projecting electric power generation from 60GW in 2014 to 250GW by 2020
throughout world. Solar India is marked by Jawaharlal Nehru National Solar Mission that integrates to add
20,000 MW of capacity in electricity generation by 2022. The clean energy security together with reduced
carbon emissions have raised per unit of its GDP by 20-25% percent in 2015 over 2005 levels [2]. There are
various snapshots for PV efficiency including utilization in infrastructure buildings, commercial banks, solar
cities development, solar parks, domestic and e-sustainability, with a vast research potential for big projects
in electricity generation and distribution.
Due to the growing demand on electricity, the limited stock and rising prices of conventional
sources (such as coal and petroleum, etc.), PV energy becomes a promising alternative being omnipresent,
freely available, environment friendly, and has less operational and maintenance costs. With availability of
3000 sunshine hours daily for 300 days in a year, efficient SRET appliances can be developed and installed.

Journal homepage: http://iaesjournal.com/online/index.php/IJPEDS

626  ISSN: 2088-8694

The main requirement for solar design, process and control is that they must be more productive, adaptive to
variations in environmental conditions producing high efficiency as per customers and market requirements
in the world market’s conditions. Therefore, every stage in optimization for production systems can be used
for continuous improvement. For this purpose, many tools, techniques, subsystems, and systems can be used.
DMPPT (Distributed Maximum Power Point Tracking) technique locates MPP, a unique operating point to
deliver highest efficiency even for variable temperature and irradiance [3].
The continuous stride towards achieving the sufficiency in power shortage for economic growth
needs to remove barriers of non-regulation of power. Since, the output voltage from the solar panel is applied
across a load; fluctuations in temperature and irradiance effect output power. This impedance mismatch is
stabilized using Converters acting as an interface between panel and load monitored by Set Point Controllers
for real time applications to overcome power fluctuation. Several MPPT techniques are reported in the
literature. Offline or Indirect techniques like Curve fitting [4], Fractional Short Circuit Current, Fractional
Open Circuit Voltage [5]-[6] and Look Up Table [7] operate upon pre experimented datasets and
approximations. Sampling techniques like Perturb and Observe [8], Centered Differentiation [9], Incremental
Conductance [10] and Feedback techniques were based on direct samples used earlier until 2007. But many
new MPPT Intelligent techniques such as Fuzzy logic[11]-[16], Artificial Neural Network [17], Estimated
perturb and perturb [18], Genetic Algorithm [19], Adaptive Neuro-Fuzzy [20] and particle swarm
optimization [21]-[22] based MPPT, etc., have been reported since then based on advanced knowledge of the
PV panel characteristics. It is justified that the Fuzzy logic system based Intelligent techniques in PV give
Good performances, Fast responses, No overshoot and less Fluctuations for rapid temperature and irradiance
variations. For analyzing Fuzzy Logic Controller, there is no requirement of exact PV model and hence it can
be easily implemented [23]-[29].
Various Converters are available that aim increase, decrease or maintaining same output
power/voltage across load. These are classified into Buck Converter (Step Down), Boost Converter (Step
Up), Buck-Boost Converter (Both Step Up and Step Down), Cuk Converter (Both Step Up and Step Down
reversing polarity of voltage), and SEPIC (Single-ended primary-inductor converter) allowing voltage at its
output to be higher than, less than, or equal to that at its input without inversion. The degree of output voltage
at Converter varies sharply when used to locate DMPP. Controller monitors the desired set point from
Converter continuously in process applications. The Controller establishes set of control functions required to
make appropriate adjustments in the desired voltage output of panel using Converter [30], [31]. Simple
circuitry with direct feed and short circuit protection for inrush current makes Buck converter most
acceptable converter for temperature and irradiance variation [32]-[33].

2. RESEARCH METHOD
In this study, firstly a systematic analysis of solar panel module based on mathematical modeling in
Simulink-MATLAB is performed for the panel operated by 36 cells generating 60W. Thereafter, to
understand the operation of variable temperature and irradiance investigation is experimented on model. MPP
is obtained at STC (Standard Test Conditions) maintaining temperature of 25°C (298.15K) and irradiance of
1000 W/m2. Any deviation in STC distorts MPP and results in power discrepancy, hence MPPT is employed.
The MPPT system is supported by implementing DC/DC Buck Converter followed by PID and FLC to
monitor output of Converter. An estimation of different temperature and irradiance conditions is carried out
with the comparison of voltage conversion ratio and duty cycle for the converter. The Converter is tracked to
desired STC set point by using control functions for Conventional PID and Fuzzy Controllers adaptive to
changes in temperature and irradiance. A comparison is formulated for estimating performance of PID and
FLC.
PV panel uses an array of solar cells that convert light into electric energy using photo-electric
effect. Solar cell equations are used to model the dc equivalent circuit of solar cell [34]. The model is tested
for different range of temperature from 5°C to 45°C and irradiance including constant, step and trapezoidal
functions [35].
The DC equivalent of solar cell is represented by a current source in parallel with shunt and series
resistance described in Figure 1.

IJPEDS Vol. 6, No. 3, September 2015 : 625 – 635

IJPEDS ISSN: 2088-8694  627

Figure 1. Solar Cell DC equivalent model

The complete subsystem of panel is displayed in Figure 2, followed by I-V (Current Voltage) and P-
V (Power Voltage) Characteristic curves obtained after simulation plotted in Figure 3. The values for MPP
delivered at load for panel is PMAX =59.39W with VOC=21.07Vand ISC=3.7981A.

Figure 2. Solar Panel Subsystem

Figure 3. I-V and P-V Characteristics of solar panel

The graphs of Figure 3 predict that solar panel behaves neither as a current source nor as a voltage
source. For variations in temperature and irradiance, panel output varies severely across the resistive load.
The intersection of source and load characteristics can fix MPP. Figure 4 shows more closely MPP variation
with load. R2 is desired operating load line for MPP. R1 is voltage source region and R3 is current source
characterized region. Thus, optimizing R1 and R3 closer to R2 in all possible conditions will give MPP even
on variation in load.

Figure 4. MPP with variations in load

Performance Comparison of PID and Fuzzy Controllers in Distributed MPPT (Chandani Sharma)
628  ISSN: 2088-8694

Simulation results show that, increasing temperature increases current source (high internal
impedance) region to shift towards R3 i.e. left of load line and vice versa. An expression is determined,
considering the power output obtained from a PV system for variable temperature incremented by
incremental change in power, voltage and current given by equation (1) and (2).

P+ΔP = (I+ΔI). (V+ΔV) (1)

After ignoring small terms simplifies to:

ΔP = ΔV.I +ΔI.V (2)

ΔP must be zero at peak point. Therefore, at peak point the above expression in the limit gives
equation (3) representing Dynamic impedance of the source,

(3)

Where, P : PV power output

ΔP : Incremental Power output from PV
I : PV current output
ΔI : Incremental current output from PV
V : PV voltage output
ΔV : Incremental voltage output from PV
dV/dI : Dynamic impedance of source

In accordance with Maximum Power Transfer Theorem, Maximum Power is delivered to load when
source internal impedance matches load impedance. Hence, MPP needs to be tracked by adjusting these
variations using MPPT as shown in Figure 5. The preferable results for MPP relative to changing temperature
and irradiance can be obtained using Converter and Controller.

Figure 5 Block diagram for MPP Tracker

The mismatch in output power characteristics is compensated by using Buck Converter. It is used to
“buck up” or reduce output voltage with passive semiconductor devices to obtain voltage stabilization. Four
main components are used in designing buck converters. These include switching power MOSFET, diode,
and inductor followed by filter capacitor and load at output. The output of PV panel is used to feed Drain
input of MOSFET. The drain current is then adjusted by set of pulses received at Gate from Controller
designed. A control circuit is used to monitor the output voltage from the converter and maintain it at the
desired level. Figure 6 shows modeling of Buck converter with control pulse generator applied at Gate
terminal of MOSFET.

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IJPEDS ISSN: 2088-8694  629

Figure 6. Buck Converter using controlled Pulse Generator at gate

MOSFET acts as a switch. It is ON or OFF depending on pulses that determine converter operating
frequency. A variation in converter duty cycle is provided based on the proportion of each switching period
through which MOSFET is turned ON and OFF. Two different models were studied based on state space
model equations and use of direct components available in MATLAB-SIMULINK. Instead of using ON and
OFF variables, direct component model gave better response. The Gate of MOSFET when triggered by train
of pulses from the controller causes current flow through inductor, building up oscillations in inductor. When
MOSFET is turned ON, voltage is reduced by magnetic field developed across inductor. When MOSFET is
turned OFF, EMF is suddenly reversed in the inductor that opposes further drop in current. Thus, pulses
applied from controller helps in maintaining constant voltage output for ON and OFF phase. The appropriate
adjustments in voltage output of panel are obtained by connecting Controller in Converter system. The basic
block diagram using Controller, PV and Converter subsystem is shown in Figure 7.

Figure 7. Block diagram of Controller with PV and converter subsystem

The Controller used in Figure 7 can be constructed using Conventional PID or an Intelligent FLC
Controllers.

2.1 PID CONTROLLER

PID (Proportional-Integral-Derivative) controller is one of the earliest conventional industrial
controllers. It has many advantages like economic, simple and easy to tune. The Simulink model for the
nonlinear system using a conventional PID controller is developed. The mathematical expression for the
same is given in equation expressed by equation (4).

U (t) = KP. e (t) + KI ʃ e (t) dt + KD (4)

Where, U (t) : Control Signal

e (t) : Tracking Error, the difference between the desired and the actual output.
KP : Proportional Gain (Tuning Parameter)
KI : Integral Gain (Tuning Parameter)
KD : Derivative Gain (Tuning Parameter)

The model in Figure 8 shows Buck Converter with PID Controller. The simulation is performed for
different values of tuning parameters KP, KI and KD to get desired Set Point.

Performance Comparison of PID and Fuzzy Controllers in Distributed MPPT (Chandani Sharma)
630  ISSN: 2088-8694

Figure 8. Buck converter with PID Controller

Table 1 shows the results of different values of variable tuning parameters and controller output.

Table 1. Converter Outputs using PID

KP KI KD Converter PID Controller
output output
0 0 0 0.01097 0
0 0 0.5 0.01097 0.07892
0 0 0.8 0.01097 0.1263
0 0 1 0.01097 0.1578
0 0 1.2 0.01097 0.1894
0 0 1.5 0.01097 0.2368
0.5 0 0 0.01097 0.4385
0.8 0 0 0.01097 0.7016
1 0 0 0.01097 0.877
1.2 0 0 21.89 1.052
1.5 0 0 21.91 1.315
0 0.5 0 0.01097 0.373
0 1 0 0.01097 0.746
0 1.2 0 0.01097 0.8952
0 1.5 0 21.89 1.119
0 1 1 0.01097 0.9038
1 1 0 21.79 1.035
1 0 1 21.79 1.035
1 1 1 21.79 1.035

It can be seen from the Table 1, that selecting value of any of the tuning parameters less than unity,
MOSFET remains in OFF state. However, on increasing any one of the parameters greater than or equal to
unity, MOSFET is turned ON and both Converter and Controller output is obtained.
Out of the above tested values, the value of KP = 1, KI = 1 and KD = 1 is selected and simulation
results are obtained as shown in Figure 9.

Figure 9. Converter output using PID Controller

IJPEDS Vol. 6, No. 3, September 2015 : 625 – 635

IJPEDS ISSN: 2088-8694  631

The Block diagram of Controller with PV and Converter subsystem is now implemented using FLC.

2.2 FUZZY LOGIC CONTROLLER

Fuzzy logic (FL) has been available as a control methodology for over four decades in various
applications to engineering control systems. Theory of fuzzy sets was introduced by Lotfi A. Zadeh,
Professor for computer science at the University of California in Berkeley in 1965 [36] and the industrial
application of the first fuzzy controller was initiated by E. H. Mamdani in 1974 [37]. Fuzzy systems have
obtained a major role in engineering systems and consumer products since then. Fuzzy Logic is a multi-
valued logic that allows intermediate values to be defined between conventional evaluations like true/false,
yes/no, high/low, etc. Fuzzy logic is a powerful problem solving methodology that provides remarkable
simple way to draw definite conclusions from vague, ambiguous or imprecise information [38]. The fuzzy
system is a knowledge-based system which utilizes fuzzy if-then rules and fuzzy logic in order to obtain the
output of the system.
There are many advantages of using Fuzzy controllers. Firstly, a Fuzzy Logic Controller gives much
better output in comparison to the conventional PID controller. The response of FLC system is stable and can
be easily varied according to the changing demand for the input. Secondly, the effects of the tuning
parameters are jointly analyzed and easy to monitor for varying outputs of PV with changing temperature and
irradiance. Thirdly, FLC can be easily tuned according to the desired output by changing the design
parameters of membership functions responsible for system performance.
FLC implementation in the present work is used to adjust the converter duty cycle by varying the
gate voltage according to the changing values of the panel voltage and set point. Practically, panel sensors are
incorporated at the end of PV subsystem to measure the online variations in temperature and irradiance.
Simulink model designed using FLC is given in Figure 10.

Figure 10. Fuzzy Logic Controller correcting Converter output

Presently, a two-input single-output fuzzy logic controller is designed at a sampling instant n. The
input variables error E (n) and change in error ΔE (n) are expressed in equations (5) and (6).

௉ሺ௡ሻି௉ሺ௡ିଵሻ
E (n) = (5)
ூሺ௡ሻିூሺ௡ିଵሻ

ΔE (n) = E (n) – E (n-1) (6)

The output variable is Duty cycle (DC) of the converter given by expression in equation (7).
௏௢௨௧
DC = (7)
௏௜௡

Where,
E (n) : Error Input
ΔE (n) : Change in Error Input
P (n) : PV power computed at an instant n
P (n-1) : PV power computed at an instant n-1
Performance Comparison of PID and Fuzzy Controllers in Distributed MPPT (Chandani Sharma)
632  ISSN: 2088-8694

I (n) : PV current computed at an instant n

I (n) : PV current computed at an instant n-1
DC : Duty Cycle
VOUT : Output Voltage of Converter
VIN : Input Voltage of Converter

The input variables in a fuzzy control system are mapped into sets of membership functions termed
"fuzzy sets". The process, of converting a crisp input value to a fuzzy value, is called "fuzzification". The
"mappings" of input variables into membership functions and truth values help the controller to make
decisions for what action is to be taken based on a set of "rules".
The developed FLC uses two inputs with universe of discourse for error input taken [-8, +8] and
change in error chosen to be [-10, +10] for the panel voltage. The range of the input variables can be changed
according to the changing demand for the varying input. The universe of discourse for the output duty cycle
of converter is chosen to be as [-8, 8]. The controller designed is described by two inputs assigned with five
membership functions namely, NB negative big, NS negative small, Z zero, PS positive small and PB
positive big.
The controller makes decisions for what action is to be taken based on a set of "rules" implementing
the expert knowledge in a form of IF-THEN rule structure. The system was tested for various subsets of error
and change in error with changing crossover points. However, Gaussian membership functions proved
smooth and non-zero at all points with 0.5 crossovers providing less over/under shoot with faster Rise time.
The fuzzy logic developed model can be derived from a 55-rule matrix that consists of 25 rules
given in Table 2.

Table 2. Fuzzy membership Functions

ΔE(n) NB NS Z PS PB
E (n)
NB Z Z NB NB NB
NS Z Z NS NS NS
Z NS Z Z Z PS
PS PS PS PS Z Z
PB PB PB PB Z Z

On the basis of these rules, the system works, and the implication method is applied. After the
implication method, the output for each rule is aggregated and the defuzzification is done to find the crisp
output. The output of the converter using Fuzzy Logic Control system is shown in Figure 11.

Figure 11. Converter output using FLC

3. COMPARISON OF PID AND FLC

A Comparative study of Converter output using PID and FLC is done on the basis of the reading of
Converter output and the Duty cycle. This can be seen from Table 3.

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IJPEDS ISSN: 2088-8694  633

Table 3. Comparison of converter Outputs using PID and FLC

Parameter Set point Fixed STC= 21.07 V
Panel output for variable T and G= 21.86 V
PID Controller FLC Controller
Converter 21.82 V 21.40 V
Output
Duty Cycle 0.998 0.978

The set point obtained at output of Converter using FLC is closer to desired set point in comparison
to the PID. Also, The Duty cycle in case of FLC is less compared to PID. Duty cycle describes the proportion
of time for which circuit is operated. The higher the duty cycle, higher the consumption of components and
lesser the span for which it can be operated. The step down Buck Converter gives less duty cycle in FLC
when compared with PID. Thus, the output of model using FLC is under control and closer to set point even
when the disturbance is added to the system with less duty cycle. The model developed can be easily
implemented in the industry.

4. RESULTS AND ANLYSIS

The modeling performance of solar panel operated on Buck Converter interface is studied using PID
and FLC Controller. A comparison of results as in Table 3 describes FLC results closer to Standard Test
Conditions (STC) when compared to conventional PID.
The panel characteristics implemented for Fuzzy and PID controllers show that duty cycle is less
than unity in both cases. However, STC results MPP closer in FLC as compared to PID. Thus, Buck
converters can monitor MPP more closely to STC by selected membership functions and parameter modeling
of FLC. Moreover, less cost for computing and faster response are advantages of FLC over traditional
controllers. More satisfactory results for FLC are observed for fixed and varying input in both the cases i.e.
temperature and irradiance.

5. CONCLUSIONS
When analyzing solar PV applications, distributed MPPT needs to be tracked. This paper explores
MPPT method for online variations using Buck Converter through PID and FLC when operated in real time
applications. The work encourages continuing on-going research to improve current assessment using future
tools like Hybrid FLC.

ACKNOWLEDGEMENTS
Acknowledgements may be made to all those individuals and institutions not mentioned else where
in the paper but that made an important contribution.

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BIOGRAPHIES OF AUTHORS

Chandani Sharma is a PhD Research Scholar at Graphic Era University, Dehradun. She
received M.Tech in Communication Engineering with specialization in Image Processing from
Shobhit University, Meerut. She has 7 years of academic experience. Her interest areas include
Photovoltaic Systems, Soft Computing, Fuzzy Logic Control Systems and Image Processing.
She published twenty International/National Journals and Conferences papers. She has been a
meritorious student throughout with an active involvement in many projects and
workshops/conference conduction.

Anamika Jain is a Professor in Electronics and Communication Engineering Department at

Graphic Era University, Dehradun. She has received her PhD Degree from IIT-Roorkee with
specialization in Soft Computing. Her interest areas include Artificial Intelligence, Fuzzy
Control Systems and Process Control. She has a vast academic experience of twenty years. She
has to her credit more than twenty four publications in National and International
Journals/Conferences. She is currently supervising three PhD students and more than ten M.Tech
and B.Tech students. She has versatile knowledge and a contributor to Journal reviews.

Performance Comparison of PID and Fuzzy Controllers in Distributed MPPT (Chandani Sharma)

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