See discussions, stats, and author profiles for this publication at: https://www.researchgate.

net/publication/282952854

Closed loop control of solar powered boost converter with PID controller

Article · February 2015

DOI: 10.1109/PEDES.2014.7041973

CITATIONS READS
12 687

2 authors, including:

Nibedita Swain
Silicon Institute of Technology
12 PUBLICATIONS   40 CITATIONS   

SEE PROFILE

All content following this page was uploaded by Nibedita Swain on 02 March 2020.

The user has requested enhancement of the downloaded file.

 2014 IEEE International Conference on Power Electronics, Drives and Energy Systems (PEDES)
Closed Loop Control of Solar Powered Boost
Converter with PID Controller
Lopamudra Mitra
Electrical and Electronics, Silicon Institute of Technology
Bhubaneswar, India
mitralopa2011@gmail.com
Abstract—The power converter is a critical component of
distributed generation system, particularly for renewable energy
system based distributed generators. This paper presents a PV
based boost converter with closed loop control by the use of PID
controller. The PV module is modelled in MATLAB –Simulink
Environment and is directly fed to the boost converter and the
duty ratio control is obtained by means of PID controller. A
state space average model of the boost converter has been
developed and by Ziegler Nichol’s method the parameters of
PID Controller are obtained. All the simulation results are
obtained using MATLAB.
Index Terms—PV Module, Boost Converter, State Space
Average Model, PID Controller, Ziegler Nichols Method, Step
Response, Root Locus.
I. INTRODUCTION
Many distributed generators use renewable energy as their
sources, including wind energy, solar energy, hydraulic
energy etc. As most renewable energy resources are variable
in nature, power conversion is required for these DG systems.
For example, a variable speed wind turbine system needs to
convert the variable voltage and variable frequency generator
output into a fixed voltage and fixed frequency ac output
feeding into a grid. A photovoltaic (PV) system needs to
convert the variable dc output of a photovoltaic array into a
fixed voltage and fixed frequency ac output feeding into a
grid. Power converters have been used to accomplish this
power conversion function. The power converter is a critical
component of a distributed generation system, particularly for
a renewable energy based distributed generator. With the
rapid development and growing applications of DG systems,
power converters have evolved from a traditional “power
conversion device” to a “system integrator”. The high power
step up dc-dc conversion technique finds increasing
necessities and power capability demands in applications
such as UPS, electric vehicles and photovoltaic system where
978-1-4799-6373-7/14/$31.00 ©2014 IEEE
Nibedita Swain
Electrical and Electronics, Silicon Institute of Technology
Bhubaneswar, India
nibeditaswain@gmail.com
the low dc input voltage must be converted into higher dc
output voltage.
Boost converter is a dc-dc converter in which the output
voltage is always greater than the input voltage as the
energy stored in the inductor is transferred to the load, so the
output voltage is summation of voltage across inductor and
input voltage.
Output voltage regulation in the dc-dc converter is achieved
by adjusting the duty cycle with the help of PID controller.
[3].
II. OPERATION OF BOOST CONVERTER
A. State Space Average Model
A boost converter (step-up converter), as its name suggests
steps up the input DC voltage value and provides at output.
This converter contains basically a diode, a transistor as
switches and at least one energy storage element. Capacitors
are generally added to output so as to perform the function of
removing output voltage ripple and sometimes inductors are
also combined with.
Figure 1 Boost Converter
Its operation is mainly of two distinct states:
During the ON period, Switch is made to close its contacts
which results in increase of inductor current.
During the OFF period, Switch is made to open and thus
the only path for inductor current to flow is through the fly-
back diode ‘D’ and the parallel combination of capacitor and
load. This enables capacitor to transfer energy gained by it The state matrix and output matrix for ON state are obtained
during ON period. as

⎡0 0 ⎤
A1 = ⎢
⎣0 − 1 /( R × C ) ⎥⎦ (5)

⎡1/ L⎤
B1= ⎢ ⎥
Figure 2 On Mode ⎣0⎦ (6)
C1 = [0 1] (7)
D 1 = [0 ]
(8)

During Off Mode,

diL
Figure 3 Off Mode Vin − VC − L =0 (9)
State-Space Averaging (SSA) is one of the essential
dt
techniques for analyzing switched mode power conversion VC d
circuits. Whether we are using a computer to run simulations IL − + C VC = 0 (10)
or doing hand calculations, SSA allows us to extend our R dt
standard DC and AC circuit analysis techniques to switching
In matrix form the on state equation can be written as
circuits. Transient analysis can also be run much faster by
using SSA models. The following can be obtained from SSA
analysis.[7] ⎡ diL ⎤ ⎛0 −1⎞ ⎡ ⎤
⎢ dt ⎥ ⎜ L ⎟ ⎢ ⎥
• DC Operating Point
⎢ ⎥=⎜ ⎟ ⎡i ⎤ + ⎢ 1 ⎥ V (11)
• Stability / Loop Gain and Phase / Root Locus ⎢ d VC ⎥ ⎜ ⎟ ⎢⎣ VLC ⎥⎦ ⎢ L ⎥ in
⎢⎣ dt ⎥⎦ ⎜⎜ 1 ⎟
1 ⎟ ⎢ ⎥
• Average Transient Response ⎝C RC ⎠ ⎣0 ⎦
During ON mode, The output equation is written as
diL
from KVL Vin − L =0 (1)
dt ⎡ ⎤
Vo = [ 0 1] ⎢iL ⎥ (12)
VC d ⎣ VC ⎦
from KCL + C VC = 0 (2)
R dt The state matrix and output matrix for OFF state are obtained
In matrix form the on state equation can be written as, as

⎡ ⎤
⎢ ⎥ ⎡ ⎤ ⎡ 0 −1/ L ⎤
⎢ ⎥ ⎛0 0 ⎞ A2 = ⎢ ⎥
⎢ ⎥ ⎣1 / C − 1 /( R × C )⎦
⎢ d iL ⎥ ⎜ ⎟ ⎡ ⎤ ⎢1⎥ (13)
⎢ dt ⎥ = ⎜ 0 − 1 ⎟ ⎢iL ⎥ + ⎢ L ⎥ Vin (3)
⎢ ⎥ ⎜⎝ ⎟ ⎣ Vc ⎦
RC ⎠ ⎢ ⎥ ⎡1 / L⎤
⎢ d VC ⎥ B2 = ⎢ ⎥
⎣0 ⎦ ⎣ 0 ⎦
⎢ ⎥ (14)
⎣ dt ⎦
The output equation is written as C 2 = [0 1] (15)

⎡ ⎤ D 2 = [0]
Vo = [ 0 1] ⎢iL ⎥ (4) (16)
⎣ VC ⎦
 By using the state space averaging (SSA) technique the directly fed to the boost converter and a PID controller is
averaged matrices are obtained as connected to control the duty cycle of the boost converter.

A = A1 × d + A 2 × (1 − d ) C ontinuous
c d .65

Constant1
i
PWM Block1 + - Scope

B = B1 × d + B 2 × (1 − d )
powe rgui Series RLC Branch2 C urrent Measurement

50.1

Diode Display

C = C 1 × d + C 2 × (1 − d )

D
+

g
50 Ref v
PID(s) -
Mosfet
Constant Series RLC Branch Voltage Measurement
Series RLC Branch1

S
PID Controller (2DOF)

+
C ontrolled Voltage Source

D = D1 × d + D 2 × (1 − d )

-
SCOPE1 Product

15.54 Scope1

Vpv Display2

The control transfer function is defined as the ratio of output Ppv

voltage to duty ratio and it is obtained as

SCOPE2

Insolation Ipv

SCOPE3
+ Rvar

Vo( s )
1000
Vary ing R
Constant3

= C × ( SI − A) −1 ( A1 − A2) X

PS
+
-
Variable Resistor

-
PV MODULE

d (s) (17)
Figure 4 Simulation Diagram of boost converter fed from PV
module.
Where X = − A −1 × B × Vin
(18)

From the transfer function model the root locus and step
response are obtained. From root locus plot critical gain Kc
and critical time period Tc was obtained.

B. Ziegler Nichols Method of Tuning the PID Controller

The Ziegler–Nichols tuning method is a heuristic method of
tuning a PID controller. It is performed by setting the I
(integral) and D (derivative) gains to zero. The "P"
(proportional) gain, Kp is then increased and D gains Figure 5.Output Voltage of boost converter with irradiance
depending on the type of controller used. (from zero) until it 1000W/m2.
reaches the ultimate gain, at which the output of the control
loop oscillates with a constant amplitude and the oscillation
period are used to set the P, I and D gains depending on the
type of controller.[8]

TABLE I ZIEGLER NICHOLS METHOD

Controller Proportional Integral Derivative

Type gain (Kp) gain(Ki) gain (Kd)
PID 0.6Kc Kp/Ti Kp* Td

From Ziegler Nichols method we calculated Kp, Ki, Kd of PID Figure 6.Output Voltage of boost converter with irradiance
controller by using the above table. 600W/m2.
III. DESIGN OF PV MODULE AND ITS
CHARACTERISTICS
The PV module was designed using 26 solar cells having
maximum power of 55W with short circuit current of 4.75A
and open circuit voltage of 15.6V. The I-V and P-V
characteristics are obtained. [9]

IV.SIMULATION AND RESULTS

For simulation of PV module 26 solar cells are connected in Figure 7. I-V Characteristics of PV Module
series and the output voltage obtained from PV module is
 Step Response
250

200

150

Amplitude
100

50

0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5
Time (sec)

Figure 10. Step Response

Figure 8. P-V Characteristics of PV Module TABLE II VARIATION OF OUTPUT VOLTAGE WITH
INSOLATION.

These parameters are used for simulation of boost converter as INSOLATION(W/m2) OUTPUT VOLTAGE (V)
we obtain 15.54 V from the PV module and is directly fed to 1000 50
the boost converter having Vin= 15V, Vo= 50V, L=1µH, C=
2000µF, R= 200Ω, and the figure 5 shows the output voltage 900 50
of the boost converter connected with PV module. 800 50
From the state space model the transfer function of the boost 700 50.03
converter is obtained and by using MATLAB Program the
step response and the root locus are plotted. 600 50.03
7
x 10 Root Locus
3

From the simulation result it is observed that for any change in

the solar insolation the output voltage remains constant .
2

V CONCLUSION
Imaginary Axis

-1
This paper presents analysis of PV fed boost converter with
closed loop control by PID controller. Mostly PV modules
give very low output voltage depending on temperature and
-2

-3
-1 0 1 2 3 4 5 6 7 8 9 irradiance hence a boost converter is necessary to increase the
voltage and to maintain the output voltage constant by using a
Real A xis 7
x 10

Figure 9. Root Locus controller. By applying the Ziegler Nichols Method of tuning
the PID controller was designed and for any change in the
From the root locus the critical gain was found to be 1.15x10 3 input voltage the output remains constant and hence the
and the time period was found to be 2.1374x 10 -6 seconds. By
design of the controller is optimum.
means of Ziegler Nichols method the parameters are
calculated as follows: REFERENCES
Kp= 0.6 Kc , So Kp = 690
[1] J. Sun, Daniel M. Mitchell, Matthew F. Greuel, Philip T. Krein and
Ki = 6.45x10 -4 Richard M. Bass, “Averaged Modelling of PWM Converters Operating
Kd= 1.8435x10 -4 in Discontinuous Mode,” IEEE Transaction on Power Electronics,
Volume 16, NO. 4, Jul 2001.
Ti = 1.0687x10 -6 [2] Robert W. Erickson and Dragon Maksimonic, Fundamentals of Power
Electronics, Second Edition, Springer International Edition, Chapter-5.
Td= 2.6718x 10 -7 [3] S. Cuk and R. D. Middle brook, “A General Unified Approach to
modeling switching DC-to-DC converters in Discontinuous Conduction
Mode(DCM),” in Proc. IEEE PESC’77, pp. 36–57, 1977.
[4] R. Tymerski and V. Vorperian, “Generation, Classification and
Analysis of Switched-mode DC-to-DC converters by the use of
Converter cells,” in Proc. INTELEC’86, pp. 181–195, Oct. 1986.
[5] D. Maksimovic and S. Cuk, “A Unified Analysis of PWM converters in
Discontinuous mode,” IEEE Transaction On Power Electronics,
Volume 6, pp. 476–490, May 1991.
[6] V. Vorperian, “Simplified analysis of PWM converters using model of
PWM switch, Part II: Discontinuous conduction mode,” IEEE
Transaction on Aerospace Electron. Systems, Volume 26, pp. 497–505,
May 1990.
[7] Xin Cheng and Guang-jun Xie,“ Full Order Models and Simulation of [10] J. Yuncong, J.A.A. Qahouq, and I. Batarseh, “Improved solar PV cell
Boost Converters Operating in DCM,” 2009 International Conference Matlab simulation model and comparison”, in: Proc. 2010 IEEE
on Electronic Computer Technology. International Symposium on Circuits and Systems ISCAS’10,
[8] Chun T. Rim, Gyu B. Joung, and Gyu H. Cho,” Practical Switch Based Tuscalosa, Alabama, USA,2010.
State-Space Modeling of DC-DC Converters with All Parasitics,” IEEE
Trans. on power electronics, vol. 6 No. 4 October 1991
[9] M. G. Villalva, J. R. Gazoli, and E. R. Filho,“Comprehensive approach
to modeling and simulation of photovoltaic arrays”, IEEE Transactions
on Power Electronics, Vol. 24, No. 5, pp.1198-1208, May 2009.

View publication stats