Skip to main content

Advertisement

Log in

Robust Control of Islanded Microgrid Frequency Using Fractional-Order PID

  • Research Paper
  • Published:
Iranian Journal of Science and Technology, Transactions of Electrical Engineering Aims and scope Submit manuscript

Abstract

In this paper, a robust fractional-order PID (FOPID) controller is proposed to regulate islanded microgrid (MG) frequency. The considered MG is composed of a photovoltaic system, a wind turbine generation, a diesel generator, a battery energy storage system, the control unit, and loads. Some challenges in islanded MGs such as unpredictable variation in output power of renewable energy sources and model uncertainties, affect the system performance and lead to frequency deviations from the nominal value. For designing the proposed robust controller, the wind power and solar radiation are considered as disturbance inputs. Also, uncertainties are assumed in the inertia constant and the load damping coefficient parameters of the system. The FOPID parameters are determined by minimizing some constraints that guarantee robust stability and robust performance of the system. The performance of the proposed FOPID controller is compared with those of the classic PID and H controllers. The effectiveness of the controller is illustrated through appropriate simulations.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9
Fig. 10
Fig. 11
Fig. 12
Fig. 13
Fig. 14
Fig. 15
Fig. 16
Fig. 17
Fig. 18
Fig. 19

Similar content being viewed by others

Abbreviations

D :

Load damping coefficient

G(s):

Nominal open-loop microgrid system

Gp(s):

Set of uncertain G(s)

H :

Inertia constant

P BESS :

BESS output power

P DEG :

DEG output power

P PV :

PV output power

P t :

Total generated power

P WTG :

WTG output power

R :

Speed droop characteristic

T BESS :

BESS time constant

T g :

Governor time constant

T PV :

PV time constant

T t :

Turbine time constant

T WTG :

WTG time constant

∆:

Uncertainty block

f :

Frequency change

PL :

Load power change

BESS:

Battery energy storage system

CMPC:

Centralized model predictive control

DEG:

Diesel generator

DG:

Distributed generation

FC:

Fossil fuel

FESS:

Flywheel energy storage system

FOPID:

Fractional-order proportional–integral–derivative

GM:

Gain margin

LFC:

Load frequency control

LMI:

Linear matrix inequalities

MG:

Microgrid

MT:

Microturbine

PHEV:

Plug-in hybrid vehicle

PID:

Proportional–integral–derivative

PM:

Phase margin

PV:

Photovoltaic

RES:

Renewable energy source

WTG:

Wind turbine generator

References

  • Ahuja A, Aggarwal SK (2014) Design of fractional order PID controller for DC motor using evolutionary optimization techniques. WSEAS Trans Syst Control 9:171–182

    Google Scholar 

  • Ahuja A, Narayan S, Kumar J (2014) Robust FOPID controller for load frequency control using particle swarm optimization. In: Power India international conference (PIICON), 2014 6th IEEE, Delhi, pp 1–6

  • Al-Saedi W, Lachowicz SW, Habibi D, Bass O (2012) Power quality enhancement in autonomous microgrid operation using particle swarm optimization. Int J Electr Power Energy Syst 42(1):139–149

    Article  Google Scholar 

  • Annamraju A, Nandiraju S (2018) Robust frequency control in an autonomous microgrid: a two-stage adaptive fuzzy approach. Electr Power Compon Syst 46(1):83–94

    Article  Google Scholar 

  • Bevrani H (2009) Robust power system frequency control, vol 85. Springer, New York

    Book  MATH  Google Scholar 

  • Bevrani H, Habibi F, Babahajyani P, Watanabe M, Mitani Y (2012) Intelligent frequency control in an AC microgrid: online PSO-based fuzzy tuning approach. IEEE Trans Smart Grid 3(4):1935–1944

    Article  Google Scholar 

  • Bevrani H, Feizi MR, Ataee S (2015) Robust frequency control in an islanded microgrid: H and μ-synthesis approaches. IEEE Trans Smart Grid 99:1

    Article  Google Scholar 

  • Breckling J (ed) (1989) The analysis of directional time series: applications to wind speed and direction, ser Lecture notes in statistics, vol 61. Springer, Berlin

    MATH  Google Scholar 

  • Cao J, Cao B (2006) Design of fractional order controllers based on particle swarm optimization. Int J Control Autom Syst 4(6):775–781

    Google Scholar 

  • Cao J-Y, Liang J, Cao B-G (2005) Optimization of fractional order PID controllers based on genetic algorithms. In: Proceedings of 2005 international conference on machine learning and cybernetics, Guangzhou, China, vol 9, pp 5686–5689

  • Dekker J, Nthontho M, Chowdhury S, Chowdhury SP (2012) Economic analysis of PV/diesel hybrid power systems in different climatic zones of South Africa. Int J Electr Power Energy Syst 40(1):104–112

    Article  Google Scholar 

  • Dong B, Li Y, Zheng Z (2011) Control strategies of DC-bus voltage in islanded operation of microgrid. In: 2011 4th international conference on electric utility deregulation and restructuring and power technologies (DRPT), pp 1671–1674, 6–9 July 2011

  • Habibi F, Naghshbandy AH, Bevrani H (2013) Robust voltage controller design for an isolated Microgrid using Kharitonov’s theorem and D-stability concept. Int J Electr Power Energy Syst 44(1):656–665

    Article  Google Scholar 

  • Han Y, Young PM, Jain A, Zimmerle D (2015) Robust control for microgrid frequency deviation reduction with attached storage system. IEEE Trans Smart Grid 6(2):557–565

    Article  Google Scholar 

  • Haoran Z, Qiuwei W, Chengshan W, Ling C, Claus NR (2015) Coordinated control of battery energy storage system and dispatchable distributed generation units in microgrid. J Mod Power Syst Clean Energy 3(3):422–428

    Article  Google Scholar 

  • Hawkes AD, Leach MA (2009) Modelling high level system design and unit commitment for a microgrid. Appl Energy 86(7):1253–1265

    Article  Google Scholar 

  • Hua H, Qin Y, Cao J (2017) A class of optimal and robust controller design for islanded microgrid. In: 7th international conference on power and energy systems. IEEE, pp 111–116

  • Kantamneni A, Brown LE, Parker G, Weaver WW (2015) Survey of multi-agent systems for microgrid control. Eng Appl Artif Intell 45:192–203

    Article  Google Scholar 

  • Kumar D, Nandan BR, Mathur HD, Bhanot S (2017) Robust controller synthesis for frequency regulation in islanded microgrid. In: IEEE PES Asia-Pacific power and energy engineering conference (APPEEC). IEEE, pp 1–6

  • Lam QL, Bratcu AI, Riu D (2016) Frequency robust control in stand-alone microgrids with PV sources: design and sensitivity analysis. In: Symposium de Genie Electrique, Grenoble, France

  • Liang G, Wang Z (2012) Design of fractional load frequency controller. In: 2012 international conference on control engineering and communication technology (ICCECT), Liaoning, pp 83–87

  • Majid A, Masoud KG, Nasser S (2009) Design of an H-optimal FOPID controller using particle swarm optimization. Int J Control Autom Syst 7(2):273–280

    Article  Google Scholar 

  • Malek S, Khodabakhshian A (2017) Frequency controller design for islanded microgrid by multi-objective LMI based approach. In: Smart grid conference (SGC). IEEE

  • Marinescu C, Serban I (2009) Analysis of frequency stability in a residential autonomous microgrid based on a wind turbine and a Microhydro power plant. In: Power electronics and machines in wind applications, 2009. PEMWA 2009. IEEE, pp 1–5

  • Meng L, Xue D (2009) Design of an optimal fractional-order PID controller using multi-objective GA optimization. In: Control and decision conference, CCDC’09. Chinese. IEEE, pp 3849–3853

  • Monje CA, Vinagre BM, Chen YQ, Feliu V, Lanusse P, Sabatier J (2004) Proposals for fractional PIλDµ tuning. In: Fractional differentiation and its applications

  • Monje CA, Vinagre BM, Feliu V, Chen Y (2006) On auto-tuning of fractional order PIλDµ controllers. In: Proceedings of the 2nd IFAC workshop on fractional differentiation and its application

  • Pahasa J, Ngamroo I (2018) Coordinated PHEV, PV, and ESS for microgrid frequency regulation using centralized model predictive control considering variation of PHEV number. IEEE Access 6:69151–69161

    Article  Google Scholar 

  • Pan I, Das S (2015) Kriging based surrogate modeling for fractional order control of microgrids. IEEE Trans Smart Grid 6(1):36–44

    Article  Google Scholar 

  • Petras I, Dorcak L, Kostial I (1998) Control quality enhancement by fractional order controllers. Acta Montanistica Slovaca, Kosice 3(2):143–148

    Google Scholar 

  • Podlubny I (1999a) Fractional-order systems and PID-controllers. IEEE Trans Autom Control 44:208–214

    Article  MATH  Google Scholar 

  • Podlubny I (1999b) Fractional differential equations. Academic Press, San Diego

    MATH  Google Scholar 

  • Saidi B, Najar S, Amairi M, Abdelkrim MN (2013) Design of a robust fractional PID controller for a second order plus dead time system. In: 2013 10th international multi-conference on systems, signals and devices (SSD), Hammamet, pp 1–6

  • Saidi B, Amairi M, Najar S et al (2015a) Bode shaping based design methods of a fractional order PID controller for uncertain systems. Nonlinear Dyn. https://doi.org/10.1007/s11071-014-1698-1

    Article  MathSciNet  Google Scholar 

  • Saidi B, Amairi M, Najar S, Aoun M (2015b) Multi-objective optimization based design of fractional PID controller. In: 12th international multi-conference on systems, signals and devices (SSD), Mahdia, pp 1–6

  • Sedghi L, Fakharian A (2017) Voltage and frequency control of an islanded microgrid through robust control method and fuzzy droop technique. In: 5th Iranian joint congress on fuzzy and intelligent systems (CFIS), pp 110–115

  • Sedhom BE, El-Saadawi MM, Hatata AY et al (2019) Robust control technique in an autonomous microgrid: a multi-stage H controller based on harmony search algorithm. Iran J Sci Technol Trans Electr Eng. https://doi.org/10.1007/s40998-019-00221-7

    Article  Google Scholar 

  • Shayeghi H, Shayanfar HA, Jalili A (2009) Load frequency control strategies: a state-of-the-art survey for the researcher. Energy Convers Manag 50:344–353

    Article  MATH  Google Scholar 

  • Skogestad S, Postlethwaite I (2007) Multivariable feedback control: analysis and design, vol 2. Wiley, New York

    MATH  Google Scholar 

  • Sundaram VS, Jayabarathi T (2011) Load frequency control using PID tuned ANN controller in power system. In: 2011 1st international conference on electrical energy systems (ICEES), pp 269–274, 3–5 Jan 2011

  • Vachirasricirikul S, Ngamroo I (2012) Robust controller design of microturbine and electrolyzer for frequency stabilization in a microgrid system with plug-in hybrid electric vehicles. Int J Electr Power Energy Syst 43(1):804–811

    Article  Google Scholar 

  • Yeroglu C, Tan N (2011) Note on fractional-order proportional integral differential controller design. IET Control Theory Appl 5(17):1978–1989

    Article  MathSciNet  Google Scholar 

  • Yunhao H, Xingtang H, Yuanyuan S, Xin C, He B, Yang M (2018) The robust coordinated control strategy for isolated microgrid. In: 2018 China international conference on electricity distribution (CICED), Tianjin, pp 2114–2118

  • Yunwei LI, Nejabatkhah F (2014) Overview of control, integration and energy management of microgrids. J Mod Power Syst Clean Energy 2(3):212–222

    Article  Google Scholar 

  • Zhang Y, Li J (2011) Fractional-order PID controller tuning based on genetic algorithm. In: 2011 international conference on business management and electronic information (BMEI), Guangzhou, pp 764–767

  • Zhao H, Hong M, Lin W, Loparo KA (2019) Voltage and frequency regulation of microgrid with battery energy storage systems. IEEE Trans Smart Grid 10(1):414–424

    Article  Google Scholar 

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Shabnam Khosravi.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Khosravi, S., Hamidi Beheshti, M.T. & Rastegar, H. Robust Control of Islanded Microgrid Frequency Using Fractional-Order PID. Iran J Sci Technol Trans Electr Eng 44, 1207–1220 (2020). https://doi.org/10.1007/s40998-019-00303-6

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s40998-019-00303-6

Keywords

Navigation