Int. J. Simulation and Process Modelling, Vol. 11, No.

2, 2016 108

Sensorless speed control of IM pumping system fed

by solar power generation

Hamza Bouzeria* and Cherif Fetha

Department of Electrical Engineering,
LEB Laboratory,
Hadj Lakhdar University,
05000, Batna, Algeria
Email: bhamza23000@gmail.com
Email: cheriffetha@gmail.com
*Corresponding author

Tahar Bahi, Issam Abadlia and Zakaria Layate

Department of Electrical Engineering,
LASA Laboratory,
Badji Mokhtar University,
Box 12,23000, Annaba, Algeria
Email: tbahi@hotmail.fr
Email: i abadlia@yahoo.fr
Email: zakarialayate@gmail.com

Salima Lekhchine
Department of Electrical Engineering,
Skikda University,
21000, Skikda, Algeria
Email: slekhchine@yahoo.fr

Abstract: This paper presents the study of the photovoltaic pumping process driven by induction
motor. The configuration of the studied conversion chain which contains the photovoltaic
generator is adapted by a DC-DC converter controlled using the fuzzy logic technique. The
induction motor is controlled by a variable hysteresis band, in order to ensure the continuation of
the maximum power point of a three-phase inverter and two levels that supplied. The objective
of this process is to ensure the operation at maximum power of the PV system under various
conditions of temperature and irradiation. The matching between the PV generator and the load
was also performed, with the boost converter. Technical vector control sensors of induction
motor have been developed and are presented. A control law without mechanical sensor using
an adaptive observer estimates the speed based on proportional integral controller. Moreover,
adaptation of the rotor time constant is powered by a photovoltaic solar energy, the latter control
system adopts inverter current control scheme with variable hysteresis band. Modelling and
simulation study performs the proposed process. Electrical and mechanical characteristics of the
propuse are simulated and tested by MATLAB/Simulink.

Keywords: photovoltaic; pumping process; fuzzy logic controller; hysteresis variable band;
modelling; simulation; maximum power point tracking; sensorless speed; proportional integral
controller.

Reference to this paper should be made as follows: Bouzeria, H., Fetha, C., Bahi, T., Abadlia, I.,
Layate, Z. and Lekhchin, S. (2016) Sensorless speed control of IM pumping system fed by
solar power generation, Int. J. Simulation and Process Modelling, Vol. 11, No. 2, pp.108118.

Biographical notes: Hamza Bouzeria received his Bachelor of Electrical Engineering from
Technical High School Ahmad Reda, Algeria in 2006. He received his Diploma of License in
2009, after his Masters degree in Electrical Engineering Option Power Electronics at University
Badji Mokhtar, Annaba, Algeria. Currently, he prepares a PhD in the field of industrial control
systems and renewable energies at University Hadj Lakhar, Batna, Algeria. His research interests
includes the photovoltaic energy and their applications, power electronics converters, artificial
intelligence commands, and their applications to advanced motor control and renewable energy
systems.

Copyright 2016 Inderscience Enterprises Ltd.

 Sensorless speed control of IM pumping system fed by solar power generation 109

Cherif Fetha received his Engineering degree from Badji Mokhtar University, Annaba, Algeria.
In 1983, he received his Magister and Doctorate degrees in Electrical Engineering from Hadj
Lakhdar University, Batna, Algeria in 1993 and 2006, respectively. Since 1983, he has been
with the Department of Electrical Engineering of Hadj Lakhdar University, where he is currently
a Professor of Power Engineering. His research interests includes the power systems and
renewable energy systems. He has published several technical papers and served as a reviewer
for different journals and conferences.

Tahar Bahi received his Engineering, Magister and Doctorate degrees in Electrical Engineering
from Badji Mokhtar University, Annaba, Algeria in 1983, 1986 and 2006, respectively. Since
1983, he has been with the Department of Electrical of the Annaba University, Algeria,
where he is currently a Professor of Electrical Engineering. His research interests includes the
modelling, control of electrical machine drives, power electronics converters, fault diagnosis,
artificial intelligence techniques and their applications to advanced motor control and renewable
energy systems. He has published several technical papers and served as reviewer for different
journals and conferences.

Issam Abadlia received his Engineering degree, Magister in Electrical Engineering from
Mohamed-Cherif Messaadia University, Souk Ahras, Algeria in 2010 and 2013, respectively.
Currently, he prepares a PhD in the field qualities of energy at Badji Mokhtar University,
Annaba, Algeria. His research interests includes the photovoltaic energy and their applications,
power electronics converters, artificial intelligence control, and their applications to advanced
grid connected control.

Zakaria Layate received his Masters degree in Electrical Engineering Option Control of
Industrial Systems in 2013 from Badji Mokhtar University, Annaba, Algeria. He prepares a PhD
in the field qualities of energy in renewable energy systems at Badji Mokhtar University. His
research interests includes the photovoltaic energy and their applications from grid connected
control with artificial intelligence techniques.

Salima Lekhchine received her Bachelor of Sciences in High School, Skikda, Algeria in 2005.
She received her Diploma of License in 2008 and Master degree in Industrial Control Systems
from Badji Mokhtar University, Annaba, Algeria in 2010. She received her Doctorate Diplomat
in the field of industrial control systems and renewable energies in 2014. Her research interests
includes the modelling, control of electrical machine drives, power electronics converters,
artificial intelligence techniques, and their applications to advanced motor control and renewable
energy systems.

1 Introduction
Standalone photovoltaic water pumping systems
(PVWPS) are one of the most important applications of
Energy consumption during the last century has increased
PV systems. They have become a favourable solution for
considerably owing to massive industrialisation. Forecasts
water supply, gaining more acceptance and market share,
of energy needs for years to come only confirm the
particularly in rural areas that have a substantial amount
acceleration this trend, especially in light of demographic
of isolation and have no access to an electric network.
change and the development of some geographical areas
So, pumping-based PV energy is used to pump water for
(Topfer, 2009). Therefore, many fields and forms of
livestock, plants or humans. Since the need for water is
renewable energies: solar, wind, water, biomass and
greatest on hot sunny days, the technology is an obvious
geothermal energies are employed. Photovoltaic (PV)
choice for this application. Agricultural watering needs
energy converted from the Sun presents the advantages of
are usually greatest during sunnier periods when more
absence of mechanical parts and little maintenance.
water can be pumped with a solar system. PV-pumping
Indeed, although solar energy is known for many years
is excellent for small to medium scale pumping and there
as a source capable of producing electrical energy from a
are thousands of agricultural PVWPS in the field today
few milliwatts to megawatts, it is still a little-known stage
throughout the world (Rekioua et al., 2013; Bendib et al.,
and does not developed yet in large proportions (Prabodh
2014).
and Vaishalee, 2012; Chaouachi et al., 2010). Algeria is
Several specific control laws have been developed to
exposed at an average rate of sunshine, in the horizontal
optimise the photovoltaic generation of energy with the aim
plane, of the order of 5,000 to 7,000 W /m2 /day of the year,
to ensure better conversion efficiency. This low yield and
with sunshine duration five to nine hours per day (Li et al.,
high cost panels, prompting users to exploit the maximum
2011; Himri et al., 2009).
110 H. Bouzeria et al.
available power at the photovoltaic generator (PVG)
where usually achieved by ensuring a good fit between
the generator and the associated load. Besides that, the
nonlinear characteristic of PVG, and its optimum operating
point depend on climatic conditions as temperature, solar
radiation and also various load variations. Therefore,
PVG does not deliver its maximum power to the DC-DC
converter so that it is the control point maximum power
point tracking (MPPT) (Mehammai et al., 2014; Liu et al.,
2012).
However, a good localisation of MPP ensures a best
conversion power from PVG, consequently to get a high
motor efficiency.
This paper presents a water pumping system based
on PV energy that is composed of two parts. The first
part is the source presents of PVG with an adaptation
stage DC-DC boost converter where is the one hand by
acting on the duty cycle (d) is controlled by MPPT. The
second part is a pumping system consisting of DC-AC
hysteresis inverter, induction motor and centrifugal pump.
In this study, fuzzy logic theory (FLC) is applied to ensure
maximum converted power from PVG and also to improve
the performance of the water pumping process. In addition,
this theory inside the source and the speed controller-based
FLC is used resulting in a more efficient IM. Also, a
variable hysteresis band performs the DC-AC inverter.
The various components of the process are modulated
mathematically. The different characteristics are simulated
and presented graphically using MATLAB/Simulink. The
obtained results confirm a good performances of our
propositions.
Owing to their mechanical robustness and
cost-effectiveness, induction motors (IM) are widely used
in serveral industrial applications where variable speed
control with high accuracy and performance of high torque
is required. Nowadays in industrialised countries, about
70 % of all generated electrical energy electric motors are
used. However, a disadvantage of the induction motor is a
precise control of the torque which can be achieved easily.
So the principal focus is to find ways to establish precise
speed control and precise torque of induction motors.
In addition, the development of algorithms for direct
torque control, the direct and indirect field-oriented control
(IFOC) is essentially different in the calculation the Park
angle (s ), which represents the phase of the faces in
the related reference stator flux. The invention of the
vector control in the early 1970, and the demonstration
that an induction motor can be controlled as a separate
excitation DC motor, brought a renaissance in the control
of high-performance AC drives. In particular, the field
control (FOC), which ensures high dynamic and static
performances, became very popular. FOC control field is
based on the decoupling torque and flux via nonlinear
coordinate transformation and control of these variables
acting on the components of the vector current and
quadrature using the vector unit (Fiaschi et al., 2005).
In this work, an efficient speed controller scheme that
can achieve high accuracy and a fast dynamic response
of the electrical machine is proposed. An online fuzzy
optimisation of the global efficiency of a PVWPS driven
by IM was introduced mainly for their robustness and
relatively low cost (Faranda and Leva, 2008; Mellit and
Kalogirou, 2008) coupled to a centrifugal pump. Water
discharge depends on opening a valve and the speed of the
motor, the speed can be controlled by frequency supplied
by the inverter to the motor. The fuzzy optimisation
procedure, which aims at the maximisation of the global
efficiency, has led to maximise the drive speed and the
water discharge rate of the coupled centrifugal pump using
variable rotational speed and a modular number of working
stages, thus achieving the highest efficiency of the system
for all conditions (Choi and Lee, 2012; Zhang et al., 2012).
The paper is organised as follows: in Section 2
the configuration of PV-pumping process is presented.
Section 3 the design of fuzzy logic methodology is
illustrated. In Section 4, flux and speed estimates are
developed. Section 5 discusses IFOC. The last section
presents the simulation and results obtained with the
proposed techniques.
2 Process modelling
The study process of PVWPS is shown in Figure 1
that consists of PVG, power converters, IM, pump and
controllers blocks.
Figure 1 Bloc diagram of photovoltaic pumping process
(see online version for colours)
Resevoir
Link DC
Water
BOOST PWM
CONVERTER INVERTER
IM pump
PVG ipv Ua,b,c
Vpv MPPT IFOC Water
ia,b,c
2.1 Modelling of PVG
The direct conversion of the solar energy into electrical
power is obtained by solar cells. Solar cells as they are
often called are semiconductor devices that convert sunlight
into direct current electricity. Groups of PV cells are
electrically configured into modules and arrays. The solar
cell may be modelled by a current source in parallel with
a diode, so shunt and a series resistance are added to the
model. PV panel is composed of NP parallel modules. Each
one including NS photovoltaic cell serial connected (Wang
et al., 2012). The equivalent circuit of solar cell is shown
in Figure 2.
 Sensorless speed control of IM pumping system fed by solar power generation 111

Figure 2 Equivalent circuit of solar cell The output voltage of the DC converter can be
expressed by the following equation (Mirbagheri et al.,
I ph I pv 2013):

I sh R se
Upv
Vout =Vc = (6)
D 1d
Rsh Upv
where d is duty cycle.

Figure 3 Simulation of PVG characteristics, (a) P = f(V)

(b) I = f(V) (see online version for colours)
The fundamental equation for PVG is given by (1):
2500
1000 w/m
Ipv = Np I ph
{ [ } ] 2000
800 w/m
q (Upv + Ipv Rse )
Np I 0 exp 1

Power [W]
akT Ns (1) 1500
600 w/m
Upv + Ipv Rse 1000

Rsh 200 w/m
500
( )3 { [ ]}
T qEG 1 1
I0 = I0r exp (2) 0
0 50 100 150 200 250 300 350
Tr ka Tr T Voltage [V]

(a)
Isc,n
I0r = (V ) (3)
oc,n
e aVt,n
1 12

10 1000 w/m
G
Iph = {Isc +ki (T 298)} (4) 800 w/m
Gn 8
Current [A]

6
Rp +Rse 600 w/m
Isc = Isc,n (5) 4
Rp 200 w/m
2
where
0
0 50 100 150 200 250 300 350
Ipv PV panel output current Voltage [V]

Upv PV panel output voltage (b)

Iph generated photocurrent

Figure 4 Boost converter circuit (see online
Rsh , Rse parallel and series resistance version for colours)
q electron charge
k Boltzmanns constant
a p-n junction ideality factor
L
I0 , I0r real and reference cell reverse Duty Cycle D
saturation current ce C
R Vout
ki temperature coefficient of current
Upv
e FLC Vc

T, Tr real and reference temperature

Isc , Isc,n short-circuit current and nominal
PVG
G, Gn solar radiation and nominal radiation.
PVG is simulated for a constant temperature (T = 25 C) Figure 5 Circuit of the three-phase inverter
and various solar radiations. P = f(V) and I = f(V)
characteristics are shown by Figures 3(a) and 3(b). We
S1 S2 S3
can note that sunshine ensures maximum power and the C1
ia
maximum varies depending on climatic conditions. ib
Boost
Vout ic
IM
Converter C2

2.2 Modelling of power converters S4 S5 S6

Owing to the variation of climatic conditions, the PV

module provides power to the load via a regulated converter The voltage Vout is applied to the inverter input terminals
to maintain maximum power. The chopper amplifier circuit of two capacitors C1 and C2 used to create the midpoint
considered is shown in Figure 4. seen Figure 5.
112 H. Bouzeria et al.

The voltage arms at the midpoint of the DC bus are inductance; wr : rotor electrical speed; J: Moment of inertia;
expressed by the following equations (Sargolzaei et al., Tr : Load Torque; fv : Coefficient of friction. The subscripts
2015): r and s are the rotor and stator values respectively
{ referenced to the stator, and the subscripts d and q denote
Vio = + V20ut if Sj = 1 ; ; (i = a, b, c ; ; j = 1, 2, 3) the d-q axis components in the stationary reference frame.
(7)
Vio = V20ut if Sij = 1 ; ; (i = a, b, c ; ; j = 4, 5, 6) However, in the case of a supply voltage vds and vqs
The phase voltages at the terminals of the load are: influence on both ids and iqs , so the flux and torque, which
are the values of adding compensation terms to make d and
Uan = 32 Ua0 13 Ub0 13 Uc0 q axes, are completely independent. The performance brings
U = 13 Ua0 + 23 Ub0 13 Uc0 (8) the additional decoupling also told by compensation were
bn
Ucn = 13 Ua0 31 Ub0 + 23 Uc0 shown in Nabil et al. (2012).
with,
1 2.4 Indirect field-oriented control
Un = (U + Ub0 + Uc0 ) (9)
3 a0
The diagram block of IFOC for IM is shown in Figure 6.
It consists of two feedback control loops. The inner loop
2.3 Modelling of induction motor is a conventional synchronous current regulation loop. The
torque command current, iqs is produced by selected
The three phase voltages Va , Vb , Vc are expressed as: controller in the outer speed loop, based on the control

Va = Vm cos speed wr and the actual speed wr (Xu and Liu, 2015;
Vb = Vm cos ( 2/3) (10) Orlowska-Kowalska and Dybkowski, 2010).

Vc = Vm cos ( + 2/3)
Figure 6 Block diagram of IFOC scheme-based IM drive
The transformation of the coordinates between abc and dq
frame of reference, displaced for the angle is defined by Pulses Vdc
- +
the transformation matrix A: w_ref error Iq*_e
[ ] [ ] + Speed Control i_abc*
1 1/2 -
A = 2/3
cos sin 1/2 (11) PARK
Hysteresis
PWM
sin cos 0 3/2 3/2 Transformer
variable
Band
INVERTER

y* Id*_e
Field Calculation of
The mathematical modelling of the induction motor in the Wealening ids*_e
synchronous reference may be in the form of the following
equations (Horen et al., 2015; Tajini et al., 2014):
The stator equations:
{ i_abc
vsd =Rs isd + ddtsd s sq wr_e wr and qe
d (12) IM
vsq =Rs isq + dtsq +s sd Estimator
V_abc

The rotor equations:

{
vrd = 0 =Rr ird + ddtrd (s P )rq
d (13)
vrq = 0 =Rr irq + dtrq (s P )rd The success of FOC is based on the proper division of
stator current into two components: the torque component
with,
{ iqs and magnetising flux component ids . The IFOC uses a
sd =Ls isd +Lm ird slip equation for partitioning the stator current.
(14)
sq =Ls isq +Lm irq
Rr iqs e
{ r = (18)
rd =Lr ird +Lm isd Lr ids e
(15)
rq =Lr irq +Lm isq
The axes are fixed on the stator, but the dr -qr axes, which
The electromagnetic torque (Te ) can be described to the are fixed on the rotor, are ds -qs moving at speed wr
following form: synchronously rotating axes de -qe are rotating ahead of the
dr -qr axes by the positive slip angle s corresponding to
3 slip frequency wsl . Since the rotor pole is directed on the
Te = P (rd irq rq ird ) (16)
2 de axes and we =wr +wsl one can write:
The mechanical equation:
e = e dt = (e + sl )dt = r + sl (19)
dr
J +kf r = Te TL (17)
dt The phases diagram suggests that for decoupling control,
: flux linkage; L: inductance; vs , vr : stator and rotor the stator flux component of current ids e should be aligned
voltages; Rs : stator resistance; i: current; Lm : Mutual on the de axis and the torque component of current iqs e
 Sensorless speed control of IM pumping system fed by solar power generation
should be the qe axis, as shown. For decoupling control,
one can make a derivation of control equations of IFOC
with the help of de -qe dynamic model of IM. One can easily
show the following important equations:
3pLm
Te = (dr e iqs e ) (20)
4Lr
Rs Lm
dr e = ids e (21)
Rr + Lr s
Rr iqs e
sl e = s r = (22)
Lr ids e
2.5 Modelling of speed and flux estimation
Many schemes based on simplified motor models have
been devised to sense the speed of the IM from measured
terminal quantities for control purposes. In order to obtain
an accurate dynamic representation of the motor speed, it
is necessary to base the calculation on the coupled circuit
equations of the motor. However, the performance of these
methods is deteriorated at a low speed because of the
increment of nonlinear characteristic of the system. The
current paper proposes a new rotor speed estimation method
to improve the performance of a sensorless vector controller
in the low speed region and at zero speed. From the stator
voltage equations in the stationary frame it is obtained
(Terki et al., 2012):
{ the state matrix will depend solely on the mechanical speed.
dt = Lm (Vds Rs ids Ls dt )
ddr Lr dids
dqr di (23)
dt = Lm (Vqs Rs iqs Ls dt )
Lr qs
Using the rotor flux and motor speed, the stator current is
represented as:
{
ids = L1m (Vds + r e Tr qr Tr ddtdr )
d (24)
iqs = L1m (Vqs r e Tr dr Tr dtqr )
where T r =Lr /Rr is the rotor time constant.
From the equations (23) and (24) and using the
estimated speed, the stator current is estimated as:
{ and c are determinable constants from pump geometry.
ids e = L1m (ds + r e Tr qr Tr ddtdr )
d (25)
iqs e = L1m (qs r e Tr dr Tr dtqr )
where id e and iq e are the estimated stator currents and wr e
is the estimated rotor electrical speed. The vector control
rotor flux-oriented is called direct or indirect method to
estimate the rotor flux vector.
For the speed of induction motor, it is based on power
balance between load and PV panel, here the PV system
will generates maximum power because of MPPT.
The traditional PI is widely used in industry due to its
ease design and simple structure. The rotor speed r (n)
is compared with the reference speed ref (n) and the
resulting error is estimated at sampling instant as (Terki
et al., 2012; Bensiali et al., 2006):
{
e(n) = r (n) r (n 1)
(26)
e(n) = e(n) e(n 1)
113
The value of the quadrate current reference is given by:
Iq (n) = Iq (n 1) + Kp .e(n) + Ki .e(n) (27)
where e(n 1) is the speed error of previous interval,
e(n) is the speed error of working interval. Kp and Ki
respectively proportional and integrator speed controller
gains. Fuzzy logic strategy permits to define control laws
of any process starting from linguistic description of the
control strategy to be adopted. Using the fuzzy logic
controller is regulated; it consists of an input, processing,
and output stages. The fuzzification stage maps instead
of numerical variable linguistic, ones which are variables
whose values are labels or sentences in a natural or
artificial language. So, the power mismatch between load
and photovoltaic generated power will reflect the change
in speed. Therefore, in proposed control technique the
reference speed is obtained from PV and load powers.
However, in practice, deterministic observers can take
two different forms reduced order observer where only
variables unmeasured system state are rebuilt, and the
observer complete order for which all variables states
are reconstructed. Our goal is to estimate the flow
and mechanical speed of the induction machine, if the
latter magnitudes are considered as state variables; The
construction of a nonlinear observer will be more difficult
(Tanaka et al., 2015). For this, the flows are considered as
state variables while the speed is considered as a parameter.
The fixed reference frame linked to the stator is used and
2.6 Modelling of centrifugal pump process
The modelling of centrifugal pump is illustrated by (28),
presents a model based on motor dynamics. Effects of pump
flow rate and speed are shown in modelling equation. The
expression of centrifugal force is:
v2
F =M (28)
r
The equation has the form of Riccatti equation where a, b
Hp =xQ2 +yQN +zN 2 (29)
This equation shows the influence of flow rate and speed on
outlet pressure of the centrifugal pump; also it can match
with steady-state conditions of pressure versus flow rate
curve. The pump torque in a form of similar function of
flow rate and speed may be modelled like as (30) (Wu et al.,
2011).
Tp =uQ2 +vQN +wN 2 (30)
Frictional torque as a function of friction coefficient and
rotational speed may be added to pump torque in order to
form the load torque according to (31).
Tl = Tp + Tf riction = Tp + B.N (31)
Equations (28) to (31) together form the centrifugal pump
model which the flow rate from the consumption network
114 H. Bouzeria et al.

and the rotational speed from the IM are its inputs where defuzzification uses the centre of gravity to compute the
the head to the consumption network and the load torque to output of this FLC which is the optimum duty cycle. The
the motor. control rules are indicated in Table 1.
Hydraulic power (PH ), torque (Tr ) and yield (P ) of The duty cycle (d) associated fuzzy sets involved in
the centrifugal pump are expressed respectively by the the fuzzy control rules are defined as: NB: negative big;
following equations: NM: negative medium NS: negative small; ZE: zero; PS:
H positive small; PM: positive medium; PB: positive big. The
PH =gQH= 9.81 Q. (32) defuzzification uses the centre of gravity to compute the
P
output of this FLC which is the optimum duty cycle:
Tr =k 2 +C0 (33) n
j=1 (dj ) dj
d= n (37)
Phydraulic j=1 (dj )
P = (34)
Pload
with,
Figure 8 Fuzzy membership function (see online

Q = Q.Z
version for colours)

H = H.Z2 (35)

P = P.Z3 1
NB NM NS ZO PS PM PB

Degree of membership
0.8
where Z = r /r .
0.6

0.4

3 Fuzzy logic control of MPPT 0.2

0
The artificial intelligent for maximum power point 1 0.5 0 0.5 1
technique has a fast using for robustness system (Xie et al., e
2014), so, this power can be delivered by a PVG depends NB NM NS ZO PS PM PB
1
greatly on variation of climatic conditions. Therefore, it is
Degree of membership

necessary to track the MPP all the time. They have the 0.8

advantage to be robust and relatively simple to design as 0.6

they do not require the knowledge of the exact model. They 0.4
do require on the other hand the complete knowledge of the
0.2
operation of the PV system.
0

Figure 7 Fuzzy logic control design 1 0.5 0 0.5 1

ce

NB NM NS ZO PS PM PB
1
Degree of membership

RULES

0.8

0.6
e Duty
FUZZIFICATION INFERENCE DEFUZZIFICATION
Cycle
0.4
ce
0.2

0
The FLC input variables are the error (e) and change of 1 0.5 0 0.5 1
error (ce) at sampled times k is defined by (Azar, 2012): duty cycle
{
Ppv (k)Ppv (k1)
e(k) = Vpv (k)Vpv (k1) (36) Table 1 Fuzzy rules
ce (k) =e (k) e(k1)
ce / e NB NM NS ZE PS PM PB
The FLC tracks the MPP based on master rule of If X and
Y, Then Z (Belaidi et al., 2012). NB NB NB NB NB NM NS ZE
To determine the output of the positive, negative and NM NB NB NB NM NS ZE PS
zero sequence voltages, currents, and impedances fuzzy NS NB NB NM NS ZE PS PM
logic, the inference is used. There are many methods for ZE NB NM NS ZE PS PM PB
inference but the popular one is Memdani. Other methods PS NM NS ZE PS PM PB PB
include compositional rule of inference, generalised modus PM NS ZE PS PM PB PB PB
ponens and Sugeno inference method. The fuzzy inference PB ZE PS PM PB PB PB PB
is carried out by using Mamdanis method and the
 Sensorless speed control of IM pumping system fed by solar power generation 115

Figure 9 Fuzzy surface (see online version for colours) mainly two types of controllers are tested and their results
analysed.
The different parts are programmed to basing of their
respective models, mainly two types of controllers are
tested, and their results are analysed.
0.5
Figure 11 Structure of hysteresis current control
duty cycle

(see online version for colours)

0

0.5 *
i + HB *
i 2 i i
1 *
1 i - HB
2
0
0
e 1 1 ce

Ton
4 Adaptive current hysteresis band control
Toff
The adaptive hysteresis band is used to control load
currents and determine switching signals for semiconductor
gates. Suitable stability, fast response, high accuracy, Figure 12 Simulation bloc of hysteresis control
simple operation, inherent current peak limitation and load
parameters variation independency which make the current
control methods of voltage source inverters.

Figure 10 Principal of hysteresis current control

Figure 13 Hysteresis current control (see online

i_ref e -HB HB
Pulses version for colours)
+ 2 2
-
8.4
i HB iaref +HB/2
8.35
iaref
8.3
In this approach, there is a difference between the error ia
8.25
Current (A)

current and the reference current, the recent current injected i

aref
HB/2
by the inverter err(t) = Iref (t) I(t) (see Figure 10). When 8.2
the error current exceeds the upper limit of the hysteresis
8.15
band, the upper switch of the inverter arm is turned to zero
Boolean 0 and the lower switch is turned to one Boolean 8.1
1, as show in Figures 11 to 13 shows the simulink 8.05
block and simulation results of the adaptative hysteresis
band. When the error current crosses the lower limit of the 8
0.523 0.524 0.525 0.526 0.527
hysteresis band (HB), the lower switch of the inverter arm Time (s)
is turned 0 and the upper switch is turned 1 (Razali Figure 14 Simulation bloc of photovoltaic pumping process
et al., 2015). As a result, the current gets back into the (see online version for colours)
hysteresis band. The switching performance as following:
{
0 if iInv (t) > iref (t) + HB/2
K= (38)
1 if iInv (t) iref (t) HB/2

5 Simulation results of pumping process

Figure 14 shows the schema that is the basis of this study

that fits in the field of renewable energy. The different parts
are programmed to bases of their respective models and
116 H. Bouzeria et al.

Figure 15 Response of pump process (see online radiation and temperature. The PV energy conversion of
version for colours) describing the concept of modularity of the conversion
chain, the development of new architectures with very high
500
conversion efficiency. This maximisation of production,
400 given the fluctuating nature of the PV source considered
Mechanical Power (watt)

300
and ensured through efficient MPPT control types, high
yields, especially during sudden changes of sunshine. For
200
our part, we opted for a control against voltage feedback.
100 And, a numerical study of the order by the rotor
0
field-oriented strategy of an induction motor energised
is presented. Suitable selection of the model of action
100
0 0.2 0.4 0.6 0.8 1 involved in the selection of the reference step is crucial in
Time(s)
5
this study.
x 10
3

2.5 Figure 16 Flux, torque, speed and current with PI controller

Hydraulic Power (watt)

2
(see online version for colours)
1.5 1
1
0.8
0.5

0
Flux (wb)
0.6

0.5
0 0.2 0.4 0.6 0.8 1 0.4
Time(s)

4 0.2 Flux
PI
Fluxref
3 0
0 0.2 0.4 0.6 0.8 1
Water Flow (l/s)

Time(s)
2
10
Te with PI
1 8 TL

6
0
Torque (N.m)

4
1
0 0.2 0.4 0.6 0.8 1 2
Time(s)
0

The simulation results are presented in Figures 15 and 16, 2

respectively. The state of change in the 0.2 s, 0.3 s and 4
0 0.2 0.4 0.6 0.8 1
0.5 s between valve affects the pump so that the flow Time(s)
rate and pressure are as shown in Figure 15. In other 200
words, the influence on the motor results in the variation w
ref
w with PI
of torque and speed, so the fuzzy logic control regulates 150 r
west
the drives according to maintain constant the desired set
speed (rad/s)

100
point. Regarding Figure 17, the rate stabilises at its value
at 0.02 s and remains constant regardless of changes in 50
load torque. The superposition of the load torque of the
electromagnetic torque of the machine and the evolution of 0

the actual speed and estimated shows the proper monitoring

50
of the load torque and two speeds (actual and estimated) 0 0.2 0.4 0.6 0.8 1
Time(s)
are similar; which implying the robustness and stability of
30
the system because of fuzzy controller.
20

10
Current(A)

6 Conclusions
0

The work presented in this paper concerns the control 10

sensorless speed of an induction motor fed by a 20

PVG. Concerning the PVG, a mathematical model
30
(current-voltage) of the equivalent electrical circuit, taking 0 0.2 0.4 0.6 0.8 1
Time(s)
into account temperature, allowed to estimate quickly and
accurately the energy considered for weather conditions
 Sensorless speed control of IM pumping system fed by solar power generation 117

Figure 17 Flux, torque, speed and current with FLC and compared with respect to the classic controller is
(see online version for colours) proportional integral.
1
References
0.8 Azar, A.T. (2012) Overview of type-2 fuzzy logic systems,
International Journal of Fuzzy System Applications, Vol. 2,
Flux (wb)

0.6
No. 4, pp.128.
0.4 Belaidi, R., Haddouche, A. and Guendouz, H. (2012) Fuzzy
logic controller based three-phase shunt active power filter
0.2 Flux
FLC for compensating harmonics and reactive power under
Fluxref unbalanced mains voltages, Energy Procedia, Vol. 18,
0
0 0.2 0.4 0.6 0.8 1 pp.560570.
Time(s)
Bendib, B., Krim, F., Belmili, H., Almi, M. and Boulouma, S.
10
Te with FLC
(2014) Advanced fuzzy MPPT controller for a stand-alone
TL
PV system, Energy Procedia, Vol. 50, pp.383392.
8
Bensiali, N., Chaigne, C., Tnani, S., Etien, E. and Champenois, G.
Torque (N.m)

6 (2006) Optimal observer design for sensorless control

of induction motor in regenerating-mode, in International
4 Symposium on Power Electronics, Electrical Drives,
Automation and Motion, SPEEDAM.
2
Chaouachi, A., Kamel, R.M. and Nagasaka, K. (2010) A novel
0
multi-model neuro-fuzzy-based mppt for three-phase
0 0.2 0.4 0.6 0.8 1 grid-connected photovoltaic system, Solar Energy, Vol. 84,
Time(s)
No. 12, pp.22192229.
200
wref Choi, W-Y. and Lee, C-G. (2012) Photovoltaic panel integrated
150
wr with FLC power conditioning system using a high efficiency step-up
west DC-DC converter, Renewable Energy, Vol. 41, pp.227234,
speed (rad/s)

100 DOI: 10.1016/j.renene.2011.10.023.

Faranda, R. and Leva, S. (2008) Energy comparison of MPPT
50
techniques for PV systems, WSEAS Transactions on Power
Systems, Vol. 3, No. 6, pp.446455.
0
Fiaschi, D., Graniglia, R. and Manfrida, G. (2005) Improving
50 the effectiveness of solar pumping systems by using modular
0 0.2 0.4 0.6 0.8 1
Time(s) centrifugal pumps with variable rotational speed, Solar
15
Energy, Vol. 79, No. 3, pp.234244.
Horen, Y., Strajnikov, P. and Kuperman, A. (2015)
10
Simple mechanical parameters identification of
5 induction machine using voltage sensor only, Energy
Current (A)

Conversion and Management, Vol. 92, pp.6066,

0
5 Liu, J., Wang, H. and Yuan, Z. (2012) Forecast model for
10
15
0 0.2 0.4 0.6
Time(s)
The orientation control flux is a strong control which is
considered in the used operation and practice of induction
machine in the applications of renewable energies. This
control technique has become feasible on these machines
owing to the possibility of decoupling the torque flux,
so, almost it is similar to that applied to the DC
machine. This will allow it to be feasible, due to its very
attractive qualities. The obtained results show clearly that
the transitional system presents less oscillatory a fast look
back compared with the fuzzy controller, it ensures the
best performances in response time and exceeding when
starting and reversing direction of rotation. Also, in the
case of unexpected load changes are amortised, peak values
of the speed are avoided, the transitional arrangements
for the components of the flux is significantly improved
DOI: http://dx.doi.org/10.1016/j.enconman.2014.12.041.
inner corrosion rate of oil pipeline based onPSO-SVM,
International Journal of Simulation and Process Modelling,
0.8 1
Vol. 7, Nos. 12, pp.7480.
Mehammai, C., Zidani, F., Benaicha, S. and Nait-Said, M-S.
(2014) Research on improvement of FOC system for
induction motor using fuzzy logic, International Journal
of Modelling, Identification and Control, Vol. 21, No. 4,
pp.370377.
Mellit, A. and Kalogirou, S.A. (2008) Artificial intelligence
techniques for photovoltaic applications: a review, Progress
in Energy and Combustion Science, Vol. 34, No. 5,
pp.574632.
Mirbagheri, S.Z., Mekhilef, S. and Mirhassani, S.M. (2013)
MPPT with inc. cond method using conventional interleaved
boost converter, Energy Procedia, Vol. 42, pp.2432.
Nabil, M., Allam, S., Rashad, E. et al. (2012) Modeling
and design considerations of a photovoltaic energy source
feeding a synchronous reluctance motor suitable for pumping
systems, Ain Shams Engineering Journal, Vol. 3, No. 4,
pp.375382.
118 H. Bouzeria et al.
Orlowska-Kowalska, T. and Dybkowski, M. (2010)
Stator-current-based mras estimator for a wide range
speed-sensorless induction-motor drive, Industrial
Electronics, IEEE Transactions on, Vol. 57, No. 4,
pp.12961308.
Prabodh, B. and Vaishalee, D. (2012) Hybrid renewable energy
systems for power generation in standalone applications,
Renewable and Sustainable Energy Reviews, Vol. 16, No. 5,
pp.29262939.
Razali, A.M., Rahman, M., George, G., Rahim, N. et al.
(2015) Analysis and design of new switching lookup table
for virtual flux direct power control of grid-connected
three-phase PWM AC-DC converter, Industry Applications,
IEEE Transactions on, Vol. 51, No. 2, pp.11891200.
Rekioua, D., Achour, A. and Rekioua, T. (2013) Tracking power
photovoltaic system with sliding mode control strategy,
Energy Procedia, Vol. 36, pp.219230.
Sargolzaei, A., Jamei, M., Yen, K., Sarwat, A.I. and
Abdelghani, M. (2015) Active/reactive power control of
three phase grid connected current source boost inverter
using particle swarm optimization, in Progress in Systems
Engineering, pp.141146, Springer.
Topfer, K. (2009) Decarbonisation of energy supply central
challenge for mankind, Clean Power from Deserts, The
DESERTEC Concept for Energy, Water and Climate
Security, WhiteBook.
Tajini, R., Elhaq, S.L. and Rachid, A. (2014) Modelling
methodology for the simulation of the manufacturing
systems, International Journal of Simulation and Process
Modelling, Vol. 9, No. 4, pp.285305.
Tanaka, K., Sato, T., Tsukamoto, H. and Suzuki, K.
(2015) Bondgraphs model on cavitating pump system,
International Journal of Simulation and Process Modelling,
Vol. 10, No. 2, pp.192203.
Terki, A., Moussi, A., Betka, A. and Terki, N. (2012)
An improved efficiency of fuzzy logic control of pmbldc
for pv pumping system, Applied Mathematical Modelling,
Vol. 36, No. 3, pp.934944.
Wang, X., Wang, J. and Wang, J. (2012) Simulation platform for
microgrid based on photovoltaic generation, International
Journal of Simulation and Process Modelling, Vol. 7,
Nos. 12, pp.2332.
Wu, Y., Zhang, B., Lu, J. and Du, K. (2011) Fuzzy
logic and neuro-fuzzy systems: A systematic introduction,
International Journal of Artificial Intelligence and Expert
Systems, Vol. 2, No. 2, pp.4780.
Xie, C., Zhao, C., Dong, D. and Zhong, P. (2014) Electric vehicle
industry development environment evaluation in china based
on bp neural network, International Journal of Simulation
and Process Modelling, Vol. 9, No. 4, pp.234239.
Xu, K. and Liu, S. (2015) Speed-sensorless vector control
based on ann mras for induction motor drives, Journal
ref: Journal of Advanced Computational Intelligence and
Intelligent Informatics, Vol. 19, No. 1, pp.127133.
Zhang, Y., Tang, T., Zheng, W. and Niu, H. (2012)
A train control system simulation and analysis method,
International Journal of Simulation and Process Modelling,
Vol. 7, Nos. 12, pp.5766.