1. CONTENTS
1. Objective
2. Introduction
3. Automatic Voltage Regulation
4. PID Controller
5. FOPID Controller
6. Classical tuning methods of PID & FOPID Controller
7. Optimal Tuning of FOPID Tuning using PSO
8. Simulation Result
9. Conclusion
2. 1. OBJECTIVE
• The aim of my work is to develop a controller based
on Particle Swarm Optimization Technique to
simulate an Automatic Voltage Regulator (AVR) for
a synchronous generator in order to achieve better
stability of the system and fulfil the requirements of
good excitation control.
3. 2. INTRODUCTION
• In this work bio-inspired optimization technique in
controllers and their advantages over conventional
methods is discussed using MATLAB/Simulink.
• Also the advantage of FOPID controller over
Conventional PID controller is discussed using
MATLAB/Simulink.
• The main aim is to apply PSO technique to design
and tune parameters of FOPID controller to get an
output with better dynamic and static performance.
4. 3. AUTOMATIC VOLTAGE
REGULATION
• The Automatic Voltage Regulator (AVR) is widely
used in industrial application to obtain the stability
and good regulation of different electrical apparatus.
• The automatic voltage regulator or AVR, as the name
implies, is a device intended to regulate voltage
automatically: that is to take a varying voltage level
and turn it into a constant voltage level.
5. Contd…
• A simple AVR consists of:-
1. Amplifier,
2. Exciter,
3. Generator and
4. Sensor.
8. 4. PID CONTROLLER
• PID (proportional-integral-derivative) control
is one of the earlier control strategies.
Fig: Block Diagram of PID Controller
9. Contd…
• PID controller has all the necessary dynamics:
• Fast reaction on change of the controller input (D
mode),
• Increase in control signal to lead error towards zero (I
mode) and
• Suitable action inside control error area to eliminate
oscillations (P mode).
• The o/p of PID controller is given as:
10. Contd…
• Table : Effect of each controllers Kp, Ti and Td on a
closed-loop system
11. 5. FOPID Controller
• Fractional-order calculus is an area of mathematics
that deals with derivatives and integrals from non-
integer orders.
• In fact, in principle, they provide more flexibility in
the controller design, with respect to the standard PID
controllers, because they have five parameters to
select (instead of three).
• The concept of FOPID controllers was proposed by
Podlubny in 1997 (Podlubny et al., 1997; Podlubny,
1999a).
12. Contd…
• It is Clear, by selecting λ = 1 and μ = 1, a classical PID
controller can be recovered. Using λ = 1, μ = 0, and λ = 0, μ =
1, respectively corresponds to the conventional PI & PD
controllers.
• All these classical types of PID controllers are special
cases of the FOPID controller.
•
13. Contd…
• The mathematical representation of such a controller
is as follows:
• ADVANTAGES OF F-O CONTROLLER
1. If the parameter of a controlled system changes, a fractional
order controller is less sensitive than a classical PID controller.
2. FOC has two extra variables to tune. This provides extra
degrees of freedom to the dynamic properties of fractional order
system.
18. Contd…
• Cohen-Coon Tuning Method
• Cohen and Coon based the controller settings on the
three parameters ϴ, T and K of the open loop step
response.
19. Contd…
FOPID Tuning
• Ziegler-Nichols Type Tuning Rules
• First set of tuning rules
• The first set of tuning rule is given as
• P=-0.0048+0.2664L+0.4982T+0.0232L2-0.0720T2-0.0348TL
