To my amazing mother, MAHDIA,

for her eternal devotion and inspiration.

To yaya Zahra, yaya Amara, yaya Zahwa, great
women of my time.
To CHAHINAZ, my eternal love.
To my lovely family.
To my kind friends.
Juba

To my mother for her eternal support,

To my father who showed me how to install electrical
systems,
To Halima, Daoud and Mounir,
To Feriel,
To my sympathetic friends,

Massinissa
 ACKNOWLEDGMENT

All praise be to Allah, the lord of the universe, the Most Merciful, the Most
Beneficent.

We would start with our supervisor, dear teacher Dr. Kheldoun for his help, guidance and
passion through all the steps of our work.

We extend our gratitude to all teachers for their helps and contribution to this work.

We are infinitely grateful to our families, particularly our parents for their patience,
unwavering support, continuous encouragement, and belief in us throughout our whole life.
We would have never made it this far without them beside us, every step of the way.

We would like also to express our greatest thankfulness to our friends who have been there to
support and encourage us.

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 Page
ABSTRACT

This project presents a tuning approach based on a metaheuristic methods to obtain the
optimal Proportional-Integral-Derivative (PID) controller parameters. This PID is used within
a closed loop consisting of an amplifier, exciter, generator and the voltage sensor. The whole
system including the PID is known as the Automatic Voltage Regulator (AVR). The objective
of this optimization design is to achieve high performance voltage control of the generator. This
objective must be well coded using a cost function to be optimized by the global search
algorithm. The performance of the PID controlled system is examined by considering the
characteristics of the step response. MATLAB software will be used to carry out the
simulation.

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 TABLE OF CONTENTS

Page
DEDICATION
I
ACKNOWLEDGEMENTS II
ABSTRACT
III
TABLE OF CONTENTS IV
LIST OF FIGURES VII

LIST OF TABLES VIII

GENERAL INTRODUCTION & MOTIVATION .......................................................... 1

CHAPTER I: AUTOMATIC VOLTAGE REGULATION SYSTEM ........................... 3

I.1. INTRODUCTION ................................................................................................................. 3
I.2. POWER SYSTEM CONTROL ............................................................................................... 3
I.2.1. VOLTAGE AND REACTIVE POWER CONTROL................................................................... 4
I.2.2. EXCITATION SYSTEM .................................................................................................... 4
I.3. AUTOMATIC VOLTAGE REGULATION CONCEPT ................................................................. 5
I.3.1. AUTOMATIC VOLTAGE REGULATOR .............................................................................. 6
I.3.2. THE SIMPLIFIED MODEL OF AN AVR SYSTEM .................................................................. 7
I.3.3. LINEARIZED MODEL OF AN AVR SYSTEM ....................................................................... 8
I.3.3.1. BLOCK DIAGRAM OF AN AVR SYSTEM ......................................................................... 8
I.3.3.1.1. PID CONTROLLER .................................................................................................... 9
I.3.3.1.2. AMPLIFIER MODEL .................................................................................................. 9
I.3.3.1.3. ECITER MODEL ...................................................................................................... 10
I.3.3.1.4. GENERATOR MODEL .............................................................................................. 10
I.3.3.1.5. SENSOR MODEL ..................................................................................................... 10
I.4. PHASE AND PHASE REGULATION ..................................................................................... 10
I.5. THE NEED FOR AUTOMATIC VOLTAGE REGULATION ....................................................... 12
I.6. CONCLUSION ................................................................................................................. 12

CHAPTER II: PARTICLE SWARM OPTIMIZATION .............................................. 13

II.1. INTRODUCTION ............................................................................................................ .13
II.2. PSO’S PRINCIPLE .......................................................................................................... 13
II.3. MAIN PARAMETERS OF PSO .......................................................................................... 14

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II.3.1. PERSONAL AND GLOBAL BEST .................................................................................... 14
II.3.2. PARTICLE’S VELOCITY ............................................................................................... 14
II.3.3. ACCELERATION FACTORS ........................................................................................... 17

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 TABLE OF CONTENTS

II.4. TOPOLOGIES AND STRUCTURES ..................................................................................... 18

II.5. PSO’S IMPLEMENTATION .............................................................................................. 20
II.5.1. INITIALIZATION .......................................................................................................... 20
II.5.2. VELOCITY CLAMPING ................................................................................................ 21
II.5.3. BOUNDARY CONDITIONS ............................................................................................ 22
II.5.4. STOPPING CRITERIA ................................................................................................... 24
II.6. ADVANTAGES AND DRAWBACKS................................................................................... 25
II.7. CONCLUSION ................................................................................................................ 26

CHAPTER III: PSO BASED PID CONTROLLER DESIGN ....................................... 27

III.1. INTRODUCTION ............................................................................................................ 27
III.2. THE PROPORTIONAL-INTEGRAL-DERIVATIVE CONTROL THEORY.................................. 27
III.2.1. THE PROPORTIONAL TERM ........................................................................................ 28
III.2.2. THE INTEGRAL TERM ................................................................................................ 28
III.2.3. THE DERIVATIVE TERM ............................................................................................. 29
III.3. THE CHARACTERISTICS OF PID CONTROLLER .............................................................. 29
III.4. TUNING OF A PID CONTROLLER .................................................................................. 30
III.4.1. THE ZIEGLER-NICHOLS TUNING METHOD ................................................................. 31
III.4.1.1. STABILITY STUDY .................................................................................................. 31
III.4.1.2. PID PARAMETER DESIGN USING ZN RULE .............................................................. 32
III.4.1.3. SIMULATION RESULTS ........................................................................................... 33
III.4.1.4. DISADVANTAGES ................................................................................................... 34
III.5. PSO-PID ALGORITHM IMPLEMENTATION .................................................................... 34
III.5.1. PERFORMANCE SPECIFICATION ................................................................................. 34
III.5.2. FITNESS FUNCTION ................................................................................................... 35
III.6. CONCLUSION ............................................................................................................... 36

CHAPTER IV: SIMULATION RESULTS ANALYSIS ................................................ 37

IV.1. INTRODUCTION ............................................................................................................ 37
IV.2. UNCONTROLED AVR PERFORMANCE .......................................................................... 37
IV.3. OPTIMIZED CONTROLED AVR PERFORMANCE ............................................................. 38
IV.3.1. IMPACT OF ACCELERATION PROFILES AND TOPOLOGIES ........................................... 40
IV.3.2. COMPARISON WITH RECENT AND REFERENCE WORK ................................................ 44
IV.4. ROBUSTNESS ANALYSIS ............................................................................................... 45

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IV.5. CONCLUSION ............................................................................................................... 46
GENERAL CONCLUSION ............................................................................................. 47

BIBLIOGRAPHY ............................................................................................................... IX

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 TABLE OF CONTENTS

LIST OF FIGURES

FIGURE 1.1: SCHEMATIC DIAGRAM OF DIFFERENT TIMESCALES OF POWER SYSTEM

CONTROLS .............................................................................................................................. 4
FIGURE 1.2: SCHEMATIC DIAGRAM OF A SYNCHRONOUS MACHINE WITH EXCITATION SYSTEM
CONTROL. ............................................................................................................................... 5
FIGURE 1.3: A TYPICAL ARRANGEMENT OF AN AVR SYSTEM ............................................... 6
FIGURE 1.4: TIME FOR THE AUTOMATIC VOLTAGE REGULATOR TO START ACTING ................ 7
FIGURE 1.5: CLOSED LOOP AUTOMATIC VOLTAGE REGULATION .......................................... 8
FIGURE 1.6: CLOSED LOOP BLOCK DIAGRAM OF AVR SYSTEM ............................................. 9
FIGURE 1.7: COMMON INDUSTRIAL SINGLE PHASE VOLTAGE REGULATOR
ARRANGEMENT .................................................................................................................... 11
FIGURE 1.8: COMMON INDUSTRIAL THREE PHASE VOLTAGE REGULATOR
ARRANGEMENT .................................................................................................................... 11
FIGURE 1.9: COMMON SOURCE SINGLE PHASE VOLTAGE REGULATOR ARRANGEMENT ..... 11
FIGURE 2.1: DIFFERENT STRUCTURES USED FOR PSO ALGORITHM IMPLEMENTATION. ....... 19
FIGURE 2.2: BOUNDARY CONDITIONS, CHECK & RELOCATION TECHNIQUES [8]. ................. 22
FIGURE 2.3: SIX DIFFERENT BOUNDARY CONDITIONS FOR A TWO-DIMENSIONAL SEARCH SPACE.

X’ AND V’ REPRESENT THE MODIFIED POSITION AND VELOCITY RESPECTIVELY, AND R IS A

RANDOM FACTOR [0,1] ......................................................................................................... 23

FIGURE 3.1: CONTROLLER INPUTS AND OUTPUTS ............................................................... 27
FIGURE 3.2: BLOCK DIAGRAM OF THE PID CONTROLLER .................................................... 28
FIGURE 3.3: PROPORTIONAL CONTROL TERM ...................................................................... 28
FIGURE 3.4: INTEGRAL CONTROL TERM ............................................................................... 29
FIGURE 3.5: DERIVATIVE CONTROL TERM ........................................................................... 29
FIGURE 3.6: ZIEGLER-NICHOLS STABILITY STUDY .............................................................. 32
FIGURE 3.7: THE ULTIMATE PERIOD MEASUREMENT OF ZN CLOSED LOOP TUNING
METHOD ............................................................................................................................... 32
FIGURE 3.8: TERMINAL VOLTAGE STEP RESPONSE OF THE AVR SYSTEM WITH ZN TUNING
METHOD ............................................................................................................................... 33
FIGURE 3.9: THE PROPOSED PSO-PID CONTROLLER STRUCTURE ........................................ 34
FIGURE 4.1: UNCONTROLLED AVR STEP RESPONSE ............................................................ 37
FIGURE 4.2: PSO FLOWCHART ............................................................................................ 41

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FIGURE 4.3: CONVERGENCE PROFILES OF THE CONDUCTED SIMULATIONS .......................... 43
FIGURE 4.4: OPTIMAL STEP RESPONSE ................................................................................ 44
FIGURE 4.5: ROBUSTNESS TO GENERATOR GAIN VARIATIONS .............................................. 45
FIGURE 4.6: ROBUSTNESS TO GENERATOR TIME CONSTANT VARIATION .............................. 46

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 LIST OF TABLES

TABLE 3.1: TUNING EFFECTS OF PID CONTROLLER TERMS .................................................. 30

TABLE 3.2: CONTROLLER PARAMETERS OF CLOSED-LOOP ZN TUNING RULE. .................... 33
TABLE 3.3: PERFORMANCES OF ZN BASED CONTROLLER OF THE AVR SYSTEM .................. 33
TABLE 4.1: TIME PERFORMANCE INDICES OF THE UNCONTROLLED AVR ............................ 38
TABLE 4.2: SIMULATION SET UP .......................................................................................... 38
TABLE 4.3: PERFORMANCES OF DIFFERENT FITNESS FUNCTIONS.......................................... 39
TABLE 4.4: SIMULATION DATA OF DIFFERENT TOPOLOGIES AND COEFFICIENTS
COMBINATIONS ..................................................................................................................... 42
TABLE 4.5: COMPARISON TO RECENT/REFERENCED WORK .................................................. 44
TABLE 4.6: RESULTS OF ROBUSTNESS ANALYSIS ................................................................. 45

X|Page
General Introduction
& Motivation