72 Int. J. Power Electronics, Vol. 7, Nos.

1/2, 2015

Solar PV water pumping system with DC-link voltage

regulation

Sonak Singh* and Bhim Singh

Department of Electrical Engineering,
Indian Institute of Technology Delhi,
Hauz Khas, New Delhi-110016, India
Email: sonak1989@gmail.com
Email:bsingh@ee.iitd.ac.in
*Corresponding author

Abstract: This paper deals with a solar photo voltaic (PV) array fed water
pumping system. This system includes solar PV array, a boost converter
controlled by using perturb and observe (P and O) control algorithm for
extracting the maximum power from solar array and the vector control for the
controlling speed of an induction motor drive used for driving the water pump.
The reference speed is estimated from the affinity law and dc-link voltage
proportional-integral (PI) controller. The developed model of the system in
Matlab/Simulink has been used to simulate its performance. Simulated results
have demonstrated the satisfactory performance of the controllers both in
steady state and dynamic conditions.

Keywords: solar PV array; boost converter; dc-link voltage regulation;

induction motor; pump.

Reference to this paper should be made as follows: Singh, S. and Singh, B.

(2015) ‘Solar PV water pumping system with DC-link voltage regulation’, Int.
J. Power Electronics, Vol. 7, Nos. 1/2, pp.72–85.

Biographical notes: Sonak Singh received his BTech in Electrical Engineering

from SBSCET, Ferozepur, Punjab. He has done his MTech in Power
Electronics, Electrical Machines and Drives from IIT Delhi. His interest
includes solar energy systems, electrical machines and drives. He is working as
a Senior Design Engineer in Chennai.

Bhim Singh received his BE in Electrical Engineering from University of

Roorkee, in 1977, MTech in 1979 and PhD in 1983 from IIT Delhi. He is a
Professor and Head of Electrical Department in IIT Delhi. His areas of interest
include power electronics, drives, renewable energy systems and power quality.

1 Introduction

According to the FAO (Food and agriculture organisation of US) report of 2010 on
statistics of agriculture, India is the largest producer of fruits, fibrous crops and
vegetables. Moreover, the second largest producer of, and is also India. In 2010, India has
been placed fifth rank as the largest producers of agricultural products, like coffee and
cotton (FAOSTAT, 2010; Livestock and Poultry: World Markets & Trade, 2011). Mainly

Copyright © 2015 Inderscience Enterprises Ltd.

 Solar PV water pumping system 73

rivers, wells and canals are used for irrigation in India. For minimising the dependence
over the monsoons, the solar Photo-Voltaic (PV) array fed water pumping systems can be
used to meet such demand. Solar PV array fed water pumps can deliver water for
irrigation purposes and can also deliver the drinking water. For small head irrigation,
solar PV array fed water pumps are useful but for high head irrigation system, it demands
large solar PV array. The size of the solar PV array mainly depends on the ratings of the
pump and the flow rate of pump depends on the solar insolation available. According to
the 2006 report of greening India’s future energy demand, approximately 7000 solar
pumps have been installed in India (India’s Solar Power, 2006).
Solar PV array fed pumps are already installed in several parts of the India. Solar PV
array fed dc motor driven pump requires a converter for the speed control of the dc motor
according to the insolation level of PV array (Aashoor and Robinson, 2013; Elgendy,
Zahawi and Atkinson, 2012) but the dc motor having high heat losses due to the presence
of carbon brushes. Moreover, these brushes cause maintenance problem in the dc motor.
Therefore, the dc motor is replaced by the induction motor for SPV systems. Solar PV
array fed induction motor driven pumps are most reliable and maintenance free. Its
efficiency is less compared to the solar PV array fed PMDC motor driven pump but it is
cheaper than PMDC motor driven pump (Suehrcke, Appelbaum and Reshef, 1997). The
control of an induction motor has already implemented which has limited dynamic
response and maximum power (Yao, Bustamante and Ramshaw, 1994; Muljadi, 1997).
The power from PV array varies all time following different level of insolation. The
vector control of an induction motor has also been implemented for this system. The
reference speed has been generated from the solar insolation so that the motor operates
under the solar insolation variations (Yao, Bustamante and Ramshaw, 1994). However,
the dc-link voltage control is not considered for this system. If the power balances
between the solar PV array and load pump does not occur then the dc link voltage
increases continuously which may damage the inverter and the motor.
Two types of pumps are mainly used for solar PV water pumps. First one being the
centrifugal pump, which pumps a high volume of water and operating at relatively high
efficiency. Other one being the volumetric pump, which is normally used when a low
flow rate is required (Illanes, 2003).
In this paper, an efficient solar water pump is presented using an induction motor
drive. In this system, the design of PV array (Villalva, Gazoli and Filho) is given for SPV
water pumping system. It also investigates in detail the maximum power tracking using
perturb and observe algorithm (Esram and Chapman, 2007). In this system, the induction
motor is controlled by the indirect vector control technique for driving the pump (Bose,
2007). The reference speed of the induction motor is estimated from the dc-link voltage
control and affinity law so that it operates satisfactorily under varying solar insolation
levels (Chikh and Chandra, 2009). The performance of the system is demonstrated
through simulated results.

2 Proposed solar photovoltaic array fed pumping system

Figure 1 shows the proposed solar water pumping system. The proposed system consists
of solar PV array, dc-dc converter, VSI (Voltage Source Inverter), and an induction
motor and pump. A solar PV array consists of series and parallel combination of small
PV modules to match the pump power rating. The solar PV array is connected to the
74 S. Singh and B. Singh

boost converter for tracking the maximum power. The output of the boost converter is
connected to the dc-bus of VSI. The SPV energy conversion system is feeding power to
an induction motor driving a water pump.

Figure 1 Proposed solar photovoltaic array fed water pumping system

3 Design of photovoltaic pumping system

In this system, a five hp (3.7 kW) pump driven by an induction motor is extracting the
power from the solar PV array. For this pump, a 4.4 kW solar PV array is selected
because some losses are also present into the system.
A solar PV array fed pump uses the power derived from sunlight that is converted
into electrical power by SPV array, which gives higher power output in the afternoon and
lower power output in the morning and evening. As a result, a solar PV pump works on
the varying power input and the corresponding reference speed for the vector control is
derived and compared to the sensed speed of the induction motor. The error between the
reference speed and sensed speed is passed through the PI speed controller and it controls
the speed of the induction motor so that system operates at maximum efficiency.

3.1 Design of solar PV array

Several identical PV modules are used in parallel and series to form the solar PV array.
The combination of identical module in parallel and series determines the short circuit
current and open circuit voltage of the solar PV array (Tan, Kirschen and Jenkins, Dec.
2004).
The PV array maximum rating used for the proposed system is 4.4 kW. Each PV
module has a rated power of 200 W, a rated current of 7.6 A, a rated voltage of 26.3 V,
the short-circuit current of 8.21 A, and the open circuit voltage of 32.9 V (Tan, Kirschen
and Jenkins, 2004).
 Solar PV water pumping system 75

The active power generated by the SPV array is given as,

PmaxM = VmppM ∗ I mppM (1)

SPV array maximum power is given as, PmaxM = (80% of Voc * 90% of Isc ) thus ImppM is
7.61 A and VmppM is 26.3 V of each module. To achieve maximum voltage 579 V as Vmpp
of solar photovoltaic array set of 22 modules are connected in series. The calculated PV
array maximum power is given as (Esram and Chapman, 2007),
Pmax = Vmpp ∗ I mpp = 579 × 7.6 = 4.4 kW (2)

From (2), a 4.4 kW is the maximum power of PV array that can be extracted from the
array (Muljadi, 1997). Figure 2(a) shows the P-V curves and Figure 2(b) shows the I-V
curves from above design value of solar PV array.

Figure 2 (a) P-V characteristics of PV array, (b) I-V characteristics of PV array

3.2 DC-link capacitor voltage

For maintaining proper control of VSI, the dc-link voltage must be greater than the twice
of peak phase voltage of the motor and is expressed as (Singh, Shahani, and Verma,
2013),

2 2 VLL 2 2 × 415
Vdc = = = 677.7 V (3)
3 3
where VLL is the line voltage of the motor. The estimated value of the Vdc from (3) is
obtained as 677.7 V and it is chosen as 700 V.

3.3 Design of boost converter

In this system, a boost converter is used to tracking the maximum power of the solar
array. The inductor design equation for the boost converter (Singh, Shahani and Verma,
2013) is as,
76 S. Singh and B. Singh

V pv D(1 − D) 579 × 0.2 × (1 − 0.2)

L= = = 2.43 mH (4)
2∆iL f s 2 × 0.25 × 7.6 × 10000

where Vpv is the maximum solar PV array voltage, D is the duty ratio of the boost
converter, ∆iL is the ripple current through the inductor and fs is the switching frequency
of the boost converter. The inductor value is estimated from (4) of the order of 2.43 mH.

3.4 Design and selection of DC-link capacitor

The energy conservation principle is used to determine the value of DC link capacitor of
VSI. The value of DC capacitor is given as (Singh, Shahani, and Verma, 2013),
1 1
Cd Vdc2 − Vdc2 1  = 3aVIt ⇒ Cd  7002 − 6802  = 3 × 1.2 × 239.6 × 7.5 × 0.01 (5)
2 2
It results in the dc link capacitance as Cd = 4687.82 µF, where Vdc is the reference
DC-link voltage and Vdc1 is the minimum DC-link voltage, a is the overloading factor of
VSI, V is the phase voltage of the motor, I is the phase current of the motor, and t is the
time by which the DC bus voltage is to be recovered. It results in the value of a dc
capacitor Cd of the order of 4687.82 µF and it is chosen as 5000 µF.

4 Control of proposed system

The proposed system and its control scheme are shown in Figure 1. The control algorithm
of the proposed system divides into two sections. The first one is P and O technique for
MPPT which controls the boost converter and second one is the control of an induction
motor using indirect vector control technique, which controls the VSI. The vector control
technique is developed for the induction motor for controlling the flux and torque
separately.

4.1 Control of boost converter for maximum power point tracking

Several algorithms are used for tracking MPP in solar PV array system (Esram and
Chapman, 2007). The Perturb and Observe (P and O) method has been mainly used
because its easy implementation reduced complexity. Figure 3 shows the flowchart of the
P and O control algorithm. The algorithm periodically tracks the MPP and operates by
increasing or decreasing the duty ratio of the boost converter. From flowchart shown in
Figure 3, it can be observed that at first, the present samples for Vpv(k) and Ipv(k) are
sensed than Ppv(k) is generated by multiplying the Vpv(k) and Ipv(k).The present and one
past sample set Ppv(k–1), Vpv(k–1) are used for calculation of ∆Ppv and ∆Vpv. The
governing equations used for the P and O technique of MPPT at one insolation level are
as,
∆Ppv = 0 and ∆Vpv = 0, at MPP (6a)
∆Ppv > 0 and ∆Vpv > 0, Left of MPP on Ppv versus Vpv curve (6b)
∆Ppv < 0 and ∆Vpv < 0, Right of MPP on Ppv versus Vpv curve (6c)
 Solar PV water pumping system 77

The duty ratio (D) is adjusted using (7). The variation in D according to governing
equations is as,
Dnew = Dold, if ∆Ppv = 0 and ∆Vpv = 0 (7a)
Dnew = Dold – ∆d, if ∆Ppv > 0 and ∆Vpv > 0 or ∆Ppv < 0 and ∆Vpv < 0 (7b)
Dnew = Dold + ∆d, if ∆Ppv > 0 and ∆Vpv < 0 or ∆Ppv < 0 and ∆Vpv > 0 (7c)
where ∆d is the perturbing duty ratio, Dnew, Dold are new and old D duty cycles
respectively. Finally the values of Vpv(k – 1), Ipv(k – 1), Dnew, and Dold are updated for
next iteration. Dnew is assigned as output D and Dold. The control of D ensures that PV
array operation is at maximum power point.

Figure 3 Flowchart of P & O algorithm

A three level operation for tracking maximum power is used to avoid fluctuation at the
operating point, when the solar insolation is varying instantaneously. If the MPPT can be
tracked accurately then the power loss in the system is less (Elgendy, Zahawi and
Atkinson, 2012). The MPPT control algorithm runs periodically by perturbing the duty
ratio and compares the PV power and voltage with their previous values as shown in
Figure 4. The three level operation is described by using three operating points as shown
in Figure 4. If the change in power from point A to B is greater than that and also the
change in voltage from point A to B is greater than duty ratio decreases and similarly,
when the change in power from point C to B is less and the change in voltage from point
C to B is less, then duty ratio also decreased. If the change in power at point A to B is
greater but the change in voltage from point A to B is less than duty ratio increased.
Similarly, the change in power from point C to B is less but the change in voltage from
point C to B is greater than duty ratio also increased. In the other cases, if the change in
78 S. Singh and B. Singh

power and voltage between two points is zero, then the MPP is tracked and the duty ratio
of the system is not changed.

Figure 4 Maximum power point tracking of PV array

4.2 Control of the motor

In this system, the speed of an induction motor drive is controlled by an indirect vector
control (Kim and Sul, 1995; Chris, 2007). The induction motor driving pump is
controlled by an indirect vector control as it realises it to an equivalent dc motor. It also
offers a high performance control of ac motor drives. The variables of an induction motor
are considered in a d-q reference frame, and then these variables appear as constant value
in steady state condition. The stator current of an induction motor is expressed as d-axis
e* e*
current component (ids ) and the q-axis current component (iqs ), respectively, in a d-q
e* e*
reference frame. With field oriented control, ids is similar to field current and iqs is
similar to armature current of a dc motor. In this control, the speed control of the drive is
directly controlled by a voltage source inverter.

4.2.1 Estimation of reference speed

The pump model correlation between the torque and speed is approximated as,
T = a1 + a2ω 2 (8)

where, a1, a2 are the constants of the pump. T and ω are the torque and the speed of the
pump respectively. Pump characteristics analogous to the flow rate and head of the pump.
The manufacturer gives information about the hydraulic pumps. According to the affinity
law, the power is proportional to the cube of the speed ω at which the centrifugal pump is
running (Kim and Sul, 1995; Chris, 2007).
In this system, affinity law is used to estimate the one component of reference speed.
Therefore, the motor operates under the solar insolation variation and it determines the
 Solar PV water pumping system 79

centrifugal pump flow rate. The one component of reference speed corresponding to the
PV array power is given as,

ω1 = K 3 Ppv (9)

where K is constant for converting the PV array power into speed and Ppv is the power of
PV array.
The dc-link voltage controller of VSI is used to estimate the second component of the
reference speed. In this system, the sensed dc-link voltage (Vdc) is compared with the
reference dc-link voltage (Vdc* ), and it results in a voltage error as,

Vdcl ( n ) = Vdc* ( n ) − Vdc ( n ) (10)

This error signal is passed through the voltage PI controller, and the output speed is given
as,

ω2( n ) = ω2( n −1) + K pdc {Vdcl ( n ) − Vdcl ( n −1) } + K idcVdcl ( n ) (11)

where Kpdc and Kidc are the proportional and integral gains of the dc-link voltage PI
controller. The losses of the system are accounted through the output of this PI controller.
The reference speed for an induction motor drive is achieved as,
ωr* = ω1 + ω2 (12)

where ωr* is the reference speed, and ω1 is used from (9) and ω2 is used from (11).

4.2.2 Vector control of an induction motor drive

The sensed speed (ωr) and reference speed (ωr* ) are processed and the speed error is
given to the PI speed controller to estimate reference torque (Te* ) as (Kim and Sul, 1995;
Chris, 2007),

Te*( n) = Te*( n−1) + K pw{ωe ( n) − ωe ( n−1) } + Kiwωe ( n) (13)

where Kpw, Kiw are the gains of speed PI controller.

e*
The torque component of stator current (iqs ) is estimated using reference torque
(Te* ) as,

iqse * = KT Te* (14)

4 Lr
where KT is the torque constant and it is as KT = , where Lr is the rotor
3 pLmψ r
inductance, p is the poles of motor. Lm is the magnetising inductance and Ψr is the rated
flux of the motor.
e*
The d-axis stator current component (ids ) is estimated using constant rated flux Ψr
of induction motor as,
80 S. Singh and B. Singh

ψr
idse = (15)
Lm

If the reference speed of an induction motor is more than the rated speed then the field
weakening operation is used (Kim and Sul, 1995; Chris, 2007) as,
ωbase e
idse * = i (16)
ωr ds
It protects the motor from higher stator current by reducing the d-axis current component
of stator and the q-axis stator current increases due to an increase in the reference speed
and the vector sum of both currents remains same.
e* e*
Synchronously rotating reference frame stator currents (ids , iqs ) are transformed
s* s*
into stationary two phase stator reference currents (ids , iqs ) using inverse of Park’s
transformation as,
idss * = −iqse * sin θ e + idse * cos θ e (17)

iqss * = iqse * cos θ e + idse * sin θ e (18)

where θe is the rotor flux angle which is rotating at synchronous speed.

In an indirect field oriented control scheme, the rotor flux position is obtained in feed-
forward manner by integrating the addition of slip speed (ωsl) and rotor speed (ωr) as,
θ e = ∫ ωe dt = ∫ (ωr + ωsl ) dt = θ r + θ sl (19)
s* s*
Two phase stator reference currents (ids , iqs ) are transformed into three phase stator
*
reference currents (ias , ibs* , ics* ) using Clark’s transformation as,
*
ias = iqss * (20)

1 3 s*
ibs* = − iqss * − i (21)
2 2 ds

* 1 3
ics = − iqss * + idss * (22)
2 2
These reference stator currents (ias* , ibs* , ics* ) and sensed stator currents (ias , ibs , ics ) are
compared and current errors are fed to hysteresis band controllers as shown in Figure 1,
which generates the switching PWM pulses for the voltage source inverter.

5 MATLAB modelling of the system

The performance of proposed solar photovoltaic array fed water pumping system is
simulated using developed model in MATLAB/Simulink platform as shown in Figure
5(a). The developed Simulink model for generating reference speed using PV power and
 Solar PV water pumping system 81

DC link voltage is shown in Figure 5(b). The developed model of the field oriented
control of an induction motor is also shown in Figure 5(b). The rating of the induction
motor considered for this system is a 5 hp (3.7 kW), 415 V and 50 Hz and the detailed
data of the system are given in Appendix.

Figure 5 (a) Developed MATLAB/Simulink model of solar photovoltaic water pumping system,
(b) developed MATLAB/Simulink model of control of an induction motor (see online
version for colours)

6 Results and discussion

A solar PV water pumping system is modelled using MATLAB/Simulink. The proposed

SPV water pumping system not only injects extracted power from solar PV array and also
regulates the dc-link voltage of the voltage source inverter. To demonstrate this feature
the results are shown in Figures 6–7. From these results, following observations are
made.
82 S. Singh and B. Singh

Figure 6 Dynamic and steady performances of PV array fed water pumping system
at 1000 W/m2

Figure 7 Steady state performance of boost converter switch and inductor voltage and current

6.1 Performance for maximum power tracking

Figure 6 shows the dynamic response of maximum power point tracking. In Figure 6(a),
Vpv starts from 723 V because the dc-link capacitor already charged with this voltage,
when the P and O algorithm for MPPT is enabled then the dc-link voltage decreases and
the current increases for maximum power point tracking. Figure 6 also shows the steady
 Solar PV water pumping system 83

state response of the tracking of maximum power point. Figure 6 show that the three level
operation runs periodically by perturbing the duty ratio. Figure 7 shows the steady state
performance of the boost converter switch. It shows the switch voltage and current. It
also shows the voltage across the inductor and current through the inductor. Figure 8
shows the dynamic and steady state performances of maximum power point tracking at
different solar insolation levels. In this, the maximum power point tracking occurs at
different isolations.

Figure 8 Effect of solar insolation level on the performance of SPV array fed pump from
200 W/m2 to 1000 W/m2

6.2 Performance of solar PV pumping system

The speed of an induction motor is controlled by the indirect vector control and the
reference speed for this control is decided by the PV power (PMPPT) or the radiation (G)
and the dc-link voltage controller. The obtained results show that the dc-link voltage
remains constant and the P&O algorithm is working well for maximum power extracting
from PV array.
Figure 6 also shows the dynamics of SPV water pumping system at 1000 W/m2. In
this, the performance is studied for the solar radiation of 1000 W/m2, which sets the
reference speed corresponding to the solar PV array power and dc-link voltage.
84 S. Singh and B. Singh

The steady state performance of SPV water pumping system at 1000 W/m2 is also
shown in Figure 6. In this, the proposed system is working at maximum power of solar
PV array and the dc-link voltage settles at 700 V at 0.3 s.
Figure 8 shows the performance at different insolation levels. It shows that speed
changes under varying insolation levels. In this, the solar radiation varies between
200 W/m2 to 1000 W/m2 to study the performance of the system. According to the
radiation, the reference speed changes and the load torque also varies because the load
torque depends on the speed of the motor.

7 Conclusion

The proposed solar PV water pumping system has been controlled using affinity law for
estimation of reference speed of the motor along with dc-link voltage control of voltage
source inverter. The solar photovoltaic array has been operated at maximum power
during varying atmospheric conditions. This has been achieved by P and O algorithm to
optimise the energy transfer towards the boost converter. The PI speed controller controls
the motor stator current as well as controls the flow rate of pump. The proposed system
has shown satisfactory performance under steady state as well as dynamic conditions.

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Appendix

A Solar PV array data

Vmppt = 579 V, Imppt = 7.6 A, Voc = 723 V, Isc = 8.21 A.

B DC-DC converter characteristics

Vi = 579 V, Vo = 700 V, Ii = 7.6 A, Io = 6.28 A

C Motor characteristics
P = 3.7 W, V = 415 V, N = 1425 rpm, f = 50 Hz,
Rs = 1.7 Ω, Lls = 0.00967 H, Rr = 1.85 Ω, Llr = 0.00967 H, Lo = 0.210527 H,
J = 0.02428 kg/m2

D Pump Characteristics
T = a1 + a2ω2, a1 = –35.34, a2 = 2.7×10–03