TRIBHUVAN UNIVERSITY

INSTITUTE OF
ENGINEERING PULCHOWK
CAMPUS

A
PROGRESS REPORT ON FINAL
YEAR PROJECT-II
ON

FUZZY LOGIC BASED CONTROLLER FOR AVR OF ALTERNATOR

BY:
Anish Khadka(076BEL008)
Mrigendra Mahara(076BEL028)
Suraj Singtan(076BEL046)

PROJECT SUPERVISOR
Prof. Yuba Raj Adhikari

DEPARTMENT OF ELECTRICAL
ENGINEERING LALITPUR, NEPAL
February, 2024
 TABLE OF CONTENTS

TABLE OF CONTENTS...........................................................................................................i
LIST OF FIGURES.................................................................................................................iii
LIST OF TABLES....................................................................................................................iv
LIST OF ABBREVIATIONS...................................................................................................v
CHAPTER ONE: INTRODUCTION.....................................................................................1
1.1 Background.......................................................................................................................1
1.2 Problem statement.............................................................................................................2
1.3 Objectives..........................................................................................................................2
1.4 Scope and limitations........................................................................................................2
1.4.1 Scope..........................................................................................................................2
1.4.2 Limitations................................................................................................................3
1.4.3 Outline of report.........................................................................................................3

CHAPTER TWO : LITERATURE REVIEW......................................................................4

2.1 Introduction....................................................................................................................4
2.2 Test for controllability....................................................................................................7
2.3 AVR excitation with the PID controller..........................................................................8
2.4 FLC based AVR of alternator.........................................................................................8
2.5 Related theory…………………………………………………………………………..8
2.5.1 Thyristor Firing Control………………………………………………………….9
2.2.2 Zero Crossing Detection………………………………………………………….9
2.5.3 Excitation System used for generator…………………………………………….9

CHAPTER THREE : METHODOLOGY...........................................................................10

3.1 Simulation tool...............................................................................................................10
3.2 Description....................................................................................................................10
3.2.1 AVR model............................................................................................................10
3.2.2 Fuzzy Logic Controller design..............................................................................10
3.2.2.1 Fuzzification..................................................................................................11
3.2.2.2 Rule processing….........................................................................................14
3.2.2.3 Deffuzzification............................................................................................15

CHAPTER FOUR : RESULTS AND DISCUSSION...........................................................16

4.1 Voltage Response..........................................................................................................16
4.2 Voltage Response on load variation..............................................................................17
4.3 Thyristor output graph………………………………………………………………...17

i
CHAPTER FIVE : CONCLUSION........................................................................................19
5.1 Works Completed……………………………………………………………………19
5.2 Works remaining……………………………………………………………………..20
REFERENCES..........................................................................................................................20
APPENDIX.............................................................................................................................21

ii
LIST OF FIGURES

2.1 : A simple diagram of AVR.....................................................................................4

2.2 : Block diagram of Simple AVR.............................................................................4

2.3 Root locus...............................................................................................................6

2.4 : Voltage Response of system without controller....................................................7

2.5 : Block diagram of PID based AVR.........................................................................8

2.6 : block diagram of FLC based AVR........................................................................9

2.7: Thyristor circuit and V-I characteristics………………………………………….9

3.1 : Membership Function Editor................................................................................12

3.2 : Membership Function for ERROR.......................................................................12

3.3 : Membership Function for INTEGRAL OF ERROR............................................13

3.4 : Membership Function for output..........................................................................13

3.5 : Rule Editor............................................................................................................15

4.1 : voltage response of PID vs FLC...........................................................................20

4.2 : output response of FLC on different gain value...................................................21

4.3 : Response of FLC on Load Variation....................................................................22

iii
 LIST OF TABLES

3.1: Decision table of 121 rules.........................................................................14

iv
 LIST OF ABBREVIATIONS

AVR Automatic Voltage Regulation

PSS Power System Stabilization
FLC Fuzzy Logic Controller
PID Proportional-Integral-Derivative
KR Sensor gain
KA Amplifier gain
KE Exciter gain
KG Generator gain
Rτ Sensor time constant
Aτ Amplifier time constant
Eτ Exciter time constant
Gτ Generator time constant
NV Negative Very
NL Negative Large
NB Negative Big
NM Negative Medium
NS Negative Small
Z Zero
PS Positive Small
PM Positive Medium
PB Positive Big
PL Positive Large
PV Positive Very
FIS Fuzzy inference System

v
 Chapter One:
Introduction

1.1 Background

The power system's core objectives are economically generating and delivering electricity within
an interconnected framework while maintaining steady-state voltage and frequency within
acceptable limits.
Uninterrupted power supply is crucial for modern societies, but increasing energy demands and
transmission challenges push systems to their operational limits. Deregulation intensifies
economic pressures, necessitating precise power flow control using innovative phase angle
controllers. These advanced components introduce non-linearity, demanding nonlinear control to
avert system instability. This prompts more meticulous system monitoring and control to enable
a less conservative operational approach than before.
In electric power systems, there are three control levels:
i. Generating Unit Controls: These encompass prime mover and excitation control,
including Automatic Voltage Regulation (AVR) and Power System Stabilization (PSS).
Prime mover control manages generator speed and energy supply variables. Excitation
control maintains terminal voltage and reactive power within machine-dependent limits.
ii. System Generation Control: It determines active power output to match overall system
load, while regulating frequency and tie line flows between system areas.
iii. Transmission Control: This level oversees power and voltage control devices, such as
tap-changing transformers, synchronous condensers, and static VAR compensators.
Modern power systems necessitate advanced control techniques due to increasing complexity
and performance demands. Fuzzy Logic Control (FLC) offers a solution to handle uncertainty
and nonlinearities, enabling flexible production and manufacturing systems. Unlike conventional
methods requiring precise mathematical models, FLC leverages heuristics and human expertise
to design controllers.
FLC streamlines the control design process by reducing complexity associated with differential
equations, as compared to conventional control. It bridges the gap between formal plant
knowledge and effective controller design, enabling more efficient development.

1
1.2 Problem Statement

1. Traditional control strategies struggle with modern power system complexities and
uncertainties, hindering reliable power generation, distribution, and voltage regulation.

2. Increasing energy demand and constrained transmission networks force power systems to
operate closer to their limits, raising stability concerns.

3. Fuzzy Logic Control (FLC) holds promise for addressing these challenges by handling
uncertainties and emulating human decision-making, but effectively integrating FLC
while maintaining stability poses significant challenges

1.3 Objectives

1. Develop a comprehensive Fuzzy Logic Control (FLC) strategy to enhance power system
stability and voltage regulation.

2. Implement and validate the FLC strategy in a simulated environment, assessing its
performance under diverse operating conditions and disturbances.

3. Explore hardware implementation of the FLC strategy, aiming to transition the control
concept from simulation to real-world application.

1.4 Scope and Limitations

1.4.1 Scope

• Design and refine a robust Fuzzy Logic Control (FLC) strategy tailored for enhancing
power system stability and voltage regulation.

2
 • Implement the FLC strategy in simulation environments to rigorously validate its
performance under dynamic load variations and disturbances.

• Explore the feasibility of transitioning the FLC strategy from simulation to hardware
implementation, aiming for real-time control accuracy in controlled experimental setups.

1.4.2 Limitations

• The optimization of FLC parameters will be bounded by the complexity of the power
system model employed in simulations.

• The performance of the FLC strategy might be influenced by the quality and accuracy of
input data used for simulations.

1.4.3 Outline of Report

This project proposal is divided into five chapters. This section enlists a brief outline of each
chapter and its contents.

• This chapter provides the project’s background theory, problem statements, objectives for
carrying out the project, and its scope and limitations.

• Chapter 2 reviews the literature in the area of Fuzzy Logic Controller based AVR of
alternator.

• Chapter 3 lays out our methodology and system of operation.

• Chapter 4 discusses the result we obtained

• Chapter 5 provides Conclusion

3
 Chapter Two
Literature
Review

2.1 Introduction

A typical arrangement of simple AVR with the different models is as shown in figure 2.1.

Figure 2.1: A simple diagram of AVR

Fig 2.2: Block diagram of Simple AVR

4
The main objective of the automatic voltage regulator is to control the terminal voltage by
adjusting the generators exciter voltage. It must keep track of the generator terminal voltage all
time and under any load condition, working in order to keep the voltage within prescribed limits.
The block diagram of Simple AVR is shown above in figure 2.2. The first block represents the
amplifier having the gain and time constant Ka, ta respectively. Similarly, the second and third
block represent exciter and generator having gain Ke and kg whereas their respective time
constant are represented by te and tg respectively. The sensor gain and time constant is in negative
feedback path.
The transfer function of the block diagram shown in figure 2.2 can be represented as

𝑉𝑡(𝑠) 𝐾𝐴. 𝐾𝐸. 𝐾𝐺.(1 + 𝑡𝑅𝑠)

=

𝑉𝑟(𝑠) (1 + 𝑡𝐴𝑠)(1 + 𝑡𝐸𝑠)(1 + 𝑡𝐺𝑠)(1 + 𝑡𝑅𝑠) + 𝐾𝐴. 𝐾𝐸. 𝐾𝐺.𝐾𝑅

The open-loop transfer function can be represented as

𝐾𝐴. 𝐾𝐸. 𝐾𝐺.𝐾𝑅

𝐾𝑔(𝑠)𝐻𝐺(𝑠) =
(1 + 𝑡𝐴𝑠)(1 + 𝑡𝐸𝑠)(1 + 𝑡𝐺𝑠)(1 + 𝑡𝑅𝑠)

With the AVR system having following parameters,

𝐾𝐸 = 𝐾𝐺. = 𝐾𝑅 = 1 , 𝑡𝐴 = 0.1, 𝑡𝐸 = 0.4, 𝑡𝐺 = 1, 𝑡𝑅 = 0.05

The characteristics equation reduced to

KA.1.1.1
1+ (𝑠)𝐺(𝑠) 1 =1 +
(1 + 0.1𝑠)(1 + 0.4𝑠)(1 + 𝑠)(1 + 0.05𝑠)

500ka
=
𝑠4 + 33 ⋅ 5𝑠3 + 307.5𝑠2 + 775𝑠

5
The characteristics polynomial equation becomes,

𝑠4 + 33 ⋅ 5𝑠3 + 307.5𝑠2 + 775𝑠 + 500 + 500𝐾 = 0

For control stability, the value of 𝐾𝐴 can be found by Routh-Hurwitz array,

From the table for absolute stability,

58.9KA – 716.1 ≤ 0
∴KA< 12.16

The root-locus plot as K varies from 0 to 12.16 is shown in figure 2.3 and obtained using the
MATLAB commands shown in appendix I.

Fig. 2.3 Root locus

6
2.2 Test for controllability

The result shows that the loci intercept the imaginary axis ( jω ) at s = ±j4.81 for KA = 12.16 which
shows that the system is marginally stable for KA = 12.16.

Checking the stability of system when KA = 10, using Ackermann’s formula. The state equation
can be represented as.

−1 1 0
𝐴=0 −2.5 2.5
0 0 −10
0
𝐵=0
0

0 0 2.5
𝑃𝑐 = [𝐵 𝐴𝐵 𝐴 𝐵] = 0
2
25 −312.5
100 −100 1000

The determinant of Pc = -6250 and ≠ 0. Therefore, the system is controllable.

The simulation of Above AVR model was done in MATLAB Simulink and voltage response was
observed. Although the system is Controllable, but while observing the terminal voltage step
response, system has large percent of overshoot and the system takes long time to settle with an
oscillatory response.

Fig. 2.4: Voltage Response of system without controller

7
2.3 AVR Excitation with the PID controller

The inherent dynamic nature of power systems often results in undesirable voltage fluctuations,
substantial overshoots, and prolonged settling times when the AVR operates without any control
mechanism.
In order to improve the transient response of the system, AVR Excitation with the PID controller
is used. PID controller enables AVR system to respond more effectively to variations in load
and improve its transient behavior.
The block diagram of PID controller is shown in below figure 2.5

Fig. 2.5: Block diagram of PID based AVR

2.4 FLC based AVR of alternator

In control engineering, the primary aim is to design control systems that ensure reliable and high
performance operations. However, when generator conditions change, as in the presence of
faults, traditional control methods become ineffective. This necessitates alternative approaches,
where fuzzy logic control emerges as a valuable solution. Fuzzy logic provides a methodology to
represent and implement effective control strategies, accommodating imprecision in practical
systems.
Fuzzy systems assign truth values between 0 and 1 to represent uncertainty. Unlike conventional
Boolean logic, fuzzy logic allows for nuanced interpretation, addressing scenarios where
precision is lacking. Fuzzy control systems operate as model-free estimators, negating the need
for a precise mathematical system model for controller design.
Controllers developed using fuzzy logic are known as Fuzzy Logic Controllers (FLCs). FLCs
operate without formal mathematical models, instead employing linguistic rules and heuristic

8
 strategies to mimic human control mechanisms. This approach reflects the real-world control
process, embracing uncertainty and avoiding rigid analytical descriptions.

The simple block diagram of AVR having Fuzzy Logic is shown below in figure 2.6

Fig. 2.6: block diagram of FLC based AVR

2.5.1 Thyristor Firing Control

A thyristor firing circuit is used to control the triggering or firing of thyristors (also known as
silicon-controlled rectifiers or SCRs) in electronic circuits. Thyristors are semiconductor devices
that act as switches, allowing the controlled flow of current in a circuit. There are various methods
of triggering the thyristors like gate triggering, firing angle, zero detection , cotrolled rectifier
circuit, etc. Here the zero detection helps to detect the point where the ac voltage crosses zero and
then the information is used to trigger thyristor at desired firing angle using an optocoupler.

Fig. 2.7: Thyristor circuit and V-I characteristics

9
2.5.2 Zero-Crossing detection

Zero-crossing detection refers to the process of identifying the points in an alternating current (AC)
waveform where the voltage or current crosses zero volts. In AC waveforms, the voltage alternates
between positive and negative cycles. The zero-crossing points are the instances when the voltage or
current is at or very close to zero volts, marking the transition from positive to negative or vice
versa. In a thyristor firing circuit, for example, zero-crossing detection is often used to initiate the
firing of the thyristor at a specific phase angle of the AC waveform. This helps control the timing of
power delivery to a load and enables regulation of power in AC applications.

2.5.3 Excitation system used for Generator

The excitation system plays a crucial role in maintaining voltage stability within generator
operations. In the context of a fuzzy logic AVR for alternators, the excitation system undergoes
enhancement through the incorporation of fuzzy logic control (FLC), facilitating adaptive
regulation. Fuzzy logic enables adaptability to variable loads, precise control, and heightened fault
tolerance. The integration of fuzzy logic into the excitation system signifies a sophisticated solution,
contributing to heightened efficiency and stability in power generation.

The holistic system, encompassing a fuzzy logic AVR and the excitation system, represents an
advanced control solution for alternators. Fuzzy Logic Control (FLC) contributes to system
enrichment by delivering adaptive voltage regulation, ensuring stability under fluctuating loads. The
integrated FLC not only provides precise control but also adapts to dynamic conditions and
improves fault tolerance. Consequently, this integration enhances the overall efficiency and
reliability of the power generation system.

10
 Chapter Three
Methodology

3.1 Simulation Tool

We have utilized MATLAB-Simulink as a robust simulation tool to model the AVR system of
alternators, specifically incorporating Fuzzy Logic Controllers. This versatile platform efficiently
represents system components with its built-in mathematical features, offering a user-friendly
interface for enhanced graph visualization. In conjunction, Proteus has been employed as a
simulation tool for thyristor systems, ensuring dependable power control through integrated
modulation, precise zero detection, and microcontroller-based intelligence. Together, these
simulation tools play a pivotal role in conducting comprehensive studies and analyses in electronic
applications.

3.2 Description

3.2.1 AVR Model

Our AVR Model is comprised of four essential components: Amplifier, Exciter, Generator, and
Sensor. Employing a transfer function model, we simulated the behaviors of both a PID-based
controller and a Fuzzy Logic-based controller. In the subsequent simulation, we focused on a
synchronous generator with a rating of 8.1kva, 400V, and 50HZ. Our developed controllers,
utilizing both fuzzy logic and PID, were applied to observe the transient response of the
synchronous generator's output voltage.

During this simulation, we introduced varying loads, having active power of 6 KW and reactive
component of 3 KVAR at different time intervals(0.7sec) following the initiation of the
simulation. This load increase was achieved using a step signal along with a circuit breaker.
Consequently, we closely examined and compared the responses of both the PID and FLC
controllers to these load variations.

11
 3.2.2 Fuzzy Logic Control Design

3.2.2.1 Fuzzification

The Fuzzification phase of our Fuzzy Logic Controller (FLC), we carefully define linguistic
variables to represent the characteristics of our control system's inputs and outputs. These
variables are then split into distinct fuzzy sets, each having its own membership functions.
These functions help map input values to specific levels of membership within these fuzzy
sets. This mapping process lets us measure how closely a value fits a particular linguistic
state.
This methodical fuzzification approach is valuable because it deals effectively with the natural
uncertainty and imprecision in the dynamic behavior of the system. By assigning fuzzy
membership to linguistic variables, we create a flexible system that can adapt to real-world
unpredictability.
To emphasize the precision of our FLC design, we've created 11 detailed rules, both for error
and the integral of error as mentioned earlier. These well-thought-out rules form a foundation
for making specific decisions, fine-tuning our control system's responses.
To sum it up, our FLC's Fuzzification stage transforms real-world values into fuzzy terms,
allowing us to manage the system's uncertainties in a nuanced way.

Here are the 11 variables for which rules were formulated in your Fuzzy Logic Controller
(FLC) design.

NV - Negative Very Large NL -

Negative Large
NB - Negative Big
NM - Negative Medium NS -
Negative Small
Z - Zero
PS - Positive Small PM - Positive
Medium PB - Positive
Big
PL - Positive Large
PV - Positive Very Large

12
The membership function editor is used to define the shapes of all the membership functions
associated with each variable as shown in figure 3.1

Fig. 3.1: Membership Function Editor

The membership function for error and integral of error is shown in figure 3.2 and figure 3.3
respectively.

Fig. 3.2: Membership Function for ERROR

13
 Fig. 3.3: Membership Function for INTEGRAL OF ERROR

The membership Function for output is shown below in figure 3.4 where the range of voltage is
from 0 to 0.0198.

Fig. 3.4: Membership Function for output

14
3.2.2.2 Rule Processing

With linguistic variables defined and their fuzzy sets established, the core of our Fuzzy Logic
Controller (FLC) materializes through an elaborate compilation of rules. These rules
constitute the pivotal engine driving our FLC's decision-making prowess. Skillfully curated
through expert insights and an in-depth grasp of system dynamics, these rules undertake the
task of mapping combined input fuzzy sets to their corresponding output fuzzy sets. In doing
so, they lay the foundation for a systematic mechanism, enabling well-informed control
judgments.
Built upon the foundation of linguistic variables, the rule base serves as an invaluable
depository of knowledge. Each individual rule encapsulates a precise control strategy,
meticulously tailored around the system's linguistic variables. These rules interplay by
employing the principles of fuzzy logic operators—AND, OR, and NOT. This orchestration
allows the determination of the degree of activation for each rule, contingent upon input
conditions.

121 rules were created using the "if and then" principle, forming a decision matrix in our
Fuzzy Logic Controller (FLC). Each rule follows "if [conditions] and [conditions], then
[outcome]," shaping our FLC's control strategy.

Table 3.1: Decision table of 121 rules

15
 Fig. 3.5: Rule Editor

3.2.2.3 Defuzzification

After rule processing, the Defuzzification stage transforms the fuzzy output sets derived from
the rule base into concrete control actions. This involves aggregating the various output fuzzy
sets based on their degrees of activation. The result is a combined fuzzy set that represents the
overall control action. To translate this fuzzy output set into a crisp value suitable for
implementation in the control system, we employ a defuzzification process. In our case, we've
chosen the centroid defuzzification method. This method calculates the center of gravity of
the aggregated fuzzy output set, yielding a single, well-defined control output value.

In summary, our FLC's operation involves transforming crisp input values into fuzzy
linguistic terms, processing these fuzzy terms through a rule base to determine appropriate
control actions, and then converting the fuzzy output sets into a crisp control signal using
defuzzification. This methodology enables the FLC to effectively navigate the complexity of
our AVR system, making context-aware control decisions that enhance the transient response
and stability of the system.

16
3.2.3 Zero Circuit Detection

It’s designed to detect a specific point in an alternating current signal, known as the zero-
crossing point. When this point is detected, a signal is sent to a microcontroller (like an
Arduino) which then triggers another component. This precise timing improves the efficiency
and reliability of the system. Please note, this is a simplified explanation and actual
implementation may require additional considerations.

The provided image represents a schematic diagram of a specialized circuit connected to an Arduino.
This circuit plays a crucial role in detecting the zero-crossing point of an alternating current (AC) signal.
Upon detection of this zero-crossing point, a signal is sent to a specific pin on the Arduino. This signal
can then be used to trigger other components in the system, such as a thyristor.
This method of detection is essential for applications requiring precise timing or phase control, and is
commonly used in power electronics, motor control, among other areas. The implementation of this
circuit significantly improves the efficiency and reliability of the overall system.

17
3.2.4 5V Dc power supply

The provided image illustrates a circuit designed to generate a stable 5V Direct Current (DC) from
an Alternating Current (AC) source.

The circuit begins with an AC sine wave generator. The AC signal is then converted into a pulsating
DC signal by a bridge rectifier. A capacitor is used to smooth the pulsating DC signal to reduce
ripples.

A voltage regulator is then used to stabilize the smoothed DC signal, providing a constant 5V
output. A resistor is connected in series with a blue LED to limit the current flow through the LED.
The LED serves as an indicator, lighting up when the circuit is operational, thus providing visual
feedback about the system’s status.

This circuit is fundamental in electronics, providing a reliable and stable 5V DC supply, which is
commonly required in many electronic devices and components. This circuit can be used to provide
dc supply required for our circuit.

18
 3.2.4 Overall Circuit for Firing control of thyristor

The provided image represents a comprehensive circuit diagram designed for firing a thyristor by
detecting the zero-crossing point of an AC signal. The circuit is controlled by an Arduino, which
implements a fuzzy logic controller to generate the firing angle.

The Arduino is connected to various components including resistors, bridges, and capacitors to
ensure precise control and operation of the thyristor. The circuit begins with an AC sine wave
generator. The AC signal is then converted into a pulsating DC signal by a bridge rectifier. A
capacitor is used to smooth the pulsating DC signal to reduce ripples.

A voltage regulator is then used to stabilize the smoothed DC signal, providing a constant 5V
output. A resistor is connected in series with a blue LED to limit the current flow through the LED.
The LED serves as an indicator, lighting up when the circuit is operational, thus providing visual
feedback about the system’s status.

This circuit is fundamental in electronics, providing a reliable and stable 5V DC supply, which is
commonly required in many electronic devices and components. Please note, this is a simplified
explanation and actual implementation may require additional considerations for safety and
performance.

3.2.5 PCB Schematic Layout

19
The provided image represents a PCB Proteus schematic layout that connects an Arduino, an LCD
display, and a firing angle zero detection circuit.

The layout illustrates the intricate connections between various electronic components. The
Arduino, serving as the central control unit, is connected to an LCD display which provides real-
time feedback and data visualization.

The firing angle zero detection circuit is a crucial part of this layout. It detects the zero-crossing
point of an AC signal, and upon detection, the Arduino triggers the thyristor at the appropriate firing
angle. This is achieved through the implementation of a fuzzy logic controller in the Arduino.

1KRES CLASS=POWER
1k

R1 U2
1 6
300 R6
50
R4 J1
220 2 4
1
ARD MOC3021
U3 2
CONN-SIL12
BTA26-800B

C1 J3 load
D1 1nF 1
LED-GREEN 2
12
11
10
9
8
7
6
5
4
3
2
1

CLASS=POWER TBLOCK-I2

BR1
R5 ac-
U1 1000
J2
6 B 1
R2 5 C A 1 2
10k
12v transformer output
4 2
E K W04G
4N25

U4
7805 BR2
R7 3 1
J5 VO VI J6
220
GND

1 1
2 D2 2
LED-BLUE
C2
2

DCoutput5v TBLOCK-I2
2200uF
2W005G

R8
R10 R9 100k
R3 100k 10k
J4
220 1
2

TBLOCK-M2
R11
100k C3
10uF
10

12
11
1
2
3
4
5
6
7
8
9

LCD
CONN-SIL12

20
 3.2.6 3D Visualization of PCB

This 3D rendering showcases a PCB layout with an Arduino, LCD display, and a firing angle zero
detection circuit. The Arduino is the central control unit, connected to the LCD for real-time
feedback. Various components form the zero detection circuit, crucial for triggering the thyristor at
the right firing angle. This layout highlights the complexity and precision of electronic system
design and assembly.

21
 3.2.7 Fuzzy Logic Controller implemented in Arduino

The image presents a serial monitor output from the Arduino Integrated Development Environment,
demonstrating the implementation of a Fuzzy Logic Controller (FLC). The FLC is employed in an
Arduino system to control the firing angle of an Automatic Voltage Regulator (AVR) for an
alternator.

The system prompts the user to input error values. Subsequently, the FLC calculates the output
value and the corresponding firing angle. For an output value of 1.13, the calculated firing angle is
approximately 140.82 degrees. For an output value of 1.36, the firing angle is approximately 151.22
degrees.

This implementation of the FLC-based AVR system allows for precise control of the current by
adjusting the firing angle based on the error values. This enhances the performance and efficiency
of the alternator. The system exemplifies the application of fuzzy logic in real-time control systems,
providing a robust and adaptive approach to handle uncertainties and nonlinearities in system
parameters.

22
 Chapter Four
Results and
Discussions

4.1 Voltage Response

We simulated the Automatic Voltage Regulator (AVR) using both PID and Fuzzy Logic
controllers in Simulink. We used transfer functions for the amplifier, generator, exciter, and
sensor components. The reference voltage was set at 1 per unit (P.U). Within the feedback loop,
the error was calculated, and for PID control, it was used directly. In Fuzzy Logic control, we
introduced two inputs: the error and its integral. The Fuzzy Logic Controller utilized proportional
and integral gains to determine the output response. This simulation approach allowed us to
assess how well the AVR performed under different control strategies. From the simulation,
result of the Fuzzy Logic Controller (FLC) are slightly better than those of the PID controller, it
suggests that the FLC has effectively leveraged its ability to handle complex and nonlinear
system behavior.

Fig. 4.1: voltage response of PID vs FLC using Transfer function.

23
4.2 Voltage Response on Load variation:

The experiment involved a 8.1 kva synchronous generator operating at 400V and 50 Hz. Initially,
resistive (R) and inductive (L) loads were connected to simulate typical conditions.
Additional resistance (R) and inductive (L) loads were then introduced at different
intervals(1.5sec and 2 sec) to test the controllers' responses to changing conditions.

Observing the voltage responses of both Fuzzy Logic Controller (FLC) and PID, it was found that
FLC exhibited slightly better voltage regulation. This suggests that FLC's adaptability to
nonlinearities and changing loads led to improved voltage stability compared to PID control.

In summary, the experiment showcased FLC's effectiveness in handling real-world complexities

and maintaining stable voltage levels, making it a promising choice for practical power systems.

Fig. load fluctuation using R and L at 1.5sec and 2 sec.

24
 Fig.flc vs pid response without load variation

The potential of our Fuzzy Logic Controller (FLC) is yet to be fully realized. Our initial approach
focused on enhancing system accuracy by adjusting the proportional and integral gains. However,
we recognize that the tuning process was not exhaustive, leaving room for further optimization.

By fine-tuning the gains through a systematic and iterative process, we aim to refine the FLC’s
response. This meticulous approach, coupled with comprehensive simulations, is expected to
yield a more accurate and stable output that aligns with the desired trajectory.

In our discussion, we noted that the output voltage of the fuzzy logic-based AVR system
remained constant, a phenomenon attributed to the lack of tuning in the FLC. To address this, we
plan to embark on a systematic tuning process, adjusting parameters and collaborating with
experts as needed. This iterative process of refinement is crucial for achieving optimal voltage
regulation performance. Thus, we anticipate that through continuous tuning and expert input, the
FLC’s performance will be significantly enhanced.

25
 4.3 Thyristor output graph

Fig. Firing thyristor at certain angle.

The image is a screenshot of a digital oscilloscope in Proteus, used for analyzing firing angle
control in a phase-controlled rectifier or inverter. The waveform displayed represents the output of
the simulated circuit. The interface includes various controls for adjusting the oscilloscope’s
operation and channels. The measurements shown provide insights into the circuit’s performance
and the effectiveness of the firing angle control.

26
 Fig. Firing angle at different angle.

4.4 Output from Fuzzy Logic Control Implemented in Arduino

The below image is a screenshot of serial monitor output from an Arduino program that
implements fuzzy logic. The interface shown is the COM3 port on a computer. The user is
prompted to input an error value and an integral error value, both within the range of -2 to 2.
The Arduino program then calculates and displays the output value, firing angle, and delay
time for a thyristor based on these input values.

Two sets of results are displayed in the screenshot. For an error value of 1.13, the calculated
firing angle is approximately 140.82 degrees and the delay time is 7777.00. For an error value
of 1.36, the firing angle is approximately 151.22 degrees and the delay time is 8388.00. This
screenshot effectively demonstrates the practical application of fuzzy logic in controlling the
firing angle and delay time of a thyristor.

27
Fig. Firing angle Calculation by FLC.

28
 Chapter five:
Conclusion
The project successfully completed the simulation phase, using Fuzzy Logic and PID
controllers for an Automatic Voltage Regulator (AVR). The Fuzzy Logic Controller (FLC)
showed better voltage regulation than the PID controller, suggesting its potential in handling
complex and changing loads. The next step is real-time hardware testing to validate these
findings. In summary, the simulations highlight Fuzzy Logic’s potential in enhancing power
system stability and voltage regulation.

In this project, a significant accomplishment was the successful implementation of a Fuzzy

Logic Controller (FLC) for an Automatic Voltage Regulator (AVR) of an alternator. The FLC,
designed to control the firing angle - a critical parameter in the operation of the alternator, was
developed using the versatile and effective Arduino platform.

To ensure the accurate determination of the firing angle, a zero-detection circuit was designed
and simulated in Proteus. The results from this simulation were consistent with theoretical
expectations, providing further validation for the design of the circuit.

The FLC was designed to take two inputs and calculate the firing angle value and delay time.
The output was monitored through a serial interface, and it was observed that the desired output
was successfully achieved. This successful output indicates that the FLC was able to effectively
control the AVR, leading to an improved performance of the alternator.

29
5.2 Works Completed
• Successful simulation of the Automatic Voltage Regulator (AVR) model with both
Fuzzy Logic and PID controllers.
• Implementation of transfer function models for amplifier, generator, exciter, and sensor
components.
• Introduction of additional resistive (R) and inductive (L) loads to assess controllers'
responses to changing conditions.
• Thyristor firing circuit and overall firing control completed for current control.
• Zero detection circuit completed.
• 5v dc rectified circuit for zero crossing.
• PCB Design of Firing Circuit on Proteus.
• Voltage sensing Circuit design on Proteus.

5.3 Works Remaining

• Validation of FLC's performance in real-time control scenarios.

• Connection of all the Circuit and testing in real condition.

30
 REFERENCES

[1] Hasan, Abul R., Martis, Thomas S., Sadrul, A.H.M, “Design and Implementation of a
Fuzzy Controller Based Automatic Voltage Regulator for a Synchronous Generator”, IEEE
Transactions on Electrical Machinery, Vol.9, No.6, Sep. 1994.

[2] M. Jamshidi, “Fuzzy Logic and Control, Software and Hardware Applications”, University
of New Mexico, PTR Prentice-Hall, Inc. Ch 1-4, 1993.

[3] Aye Aye Mon., “Fuzzy Logic PID Control of Automatic Voltage Regulator System”,
World Academy of Science, Engineering and Technology, Vol:3 No 2, pp. 881-885, 2009.

[4] Zadeh, Lotfi A., “Is there a need for fuzzy logic?”, Annual Meeting of the North American
Fuzzy Information Processing Society, 2008, NAFIPS 2008, 19-22 May 2008, pp. 1-3.

[5] Y. Narendra Kumar, S. Panda, P. Tentu, and K. Durgamalleswarao, "Comparative analysis

of PID controller for an automatic voltage regulator system," in 2015 International
Conference on Electrical, Electronics, Signals, Communication and Optimization (EESCO),
2015, pp. 1-
6.

[6] D. K. Sambariya and D. Paliwal, "Comparative Design and Analysis of PIDA Controller
Using Kitti's and Jung-Dorf Approach for Third Order Practical Systems," British Journal
of Mathematics & Computer Science, vol. 16, pp. 1-16, May 9, 2016 2016.

[7] M.Y. Chow and K.Tomsovic, “Tutorial on fuzzy logic applications in power systems”.
IEESPES winter meeting in Singapore, January, 2000

[8] Okozi, Samuel & Ndubisi, Samuel. (2009). A Fuzzy Logic Based Automatic Voltage
Regulator for Alternator Terminal Voltage and Reactive Power Control.

31
Appendix A: Simulink Model

Fig. A.1: PID controller vs FLC controller

Fig. A.2: Fuzzy logic controller

32
Fig. A.3: Operation of FLC

Fig. A.4: Load variation

33
 Fig. A.5: Load variation with FLC

Appendix B: proteus Model

Fig. Zero Detection Circuit in Proteus

34
 Fig. 5v Dc power Generation in Proteus

Fig. Overall Circuit Diagram for Firing Angle Control

35
 1KRES CLASS=POWER
1k

R1 U2
1 6
300 R6
50
R4 J1
220 2 4
1
ARD MOC3021
U3 2
CONN-SIL12
BTA26-800B

C1 J3 load
D1 1nF 1
LED-GREEN 2
12
11
10
9
8
7
6
5
4
3
2
1

CLASS=POWER TBLOCK-I2

BR1
R5 ac-
U1 1000
J2
6 B 1
R2 5 C A 1 2
10k
12v transformer output
4 2
E K W04G
4N25

U4
7805 BR2
R7 3 1
J5 VO VI J6
220

GND
1 1
2 D2 2
LED-BLUE
C2

2
DCoutput5v TBLOCK-I2
2200uF
2W005G

R8
R10 R9 100k
R3 100k 10k
J4
220 1
2

TBLOCK-M2
R11
100k C3
10uF
10

12
11
1
2
3
4
5
6
7
8
9

LCD
CONN-SIL12
Fig. PCB design for Firing Angle Control, LCD display, Voltage Sensing

36
Fig. 3D visualization of PCB Design.

37
 Appendix C: MATLAB Code

APPENDIX 1: (Program for the Root-locus plot of fig. 2.3)

%program for the root locus plot of figure 2.3
numc=500;
denuc = [1 33.5 307.5 775 500];
grid on;
xlabel [real axis]
ylabel [imaginary
axis]
title ('root locus plot for equation 2.3.')
rlocus (numc, denuc);

38