electronics

Article
Efficient PID Control Design for Frequency Regulation in an
Independent Microgrid Based on the Hybrid PSO-GSA Algorithm
Farhad Zishan 1, * , Ehsan Akbari 2 , Oscar Danilo Montoya 3,4, * , Diego Armando Giral-Ramírez 5
and Alexander Molina-Cabrera 6

1 Department of Electrical Engineering, Sahand University of Technology, Tabriz 5513351996, Iran

2 Department of Electrical Engineering, Mazandaran University of Science and Technology,
Babol 4716685635, Iran
3 Grupo de Compatibilidad e Interferencia Electromágnetica (GCEM), Facultad de Ingeniería,
Universidad Distrital Francisco José de Caldas, Bogotá 110231, Colombia
4 Laboratorio Inteligente de Energía, Facultad de Ingeniería, Universidad Tecnológica de Bolívar,
Cartagena 131001, Colombia
5 Facultad Tecnológica, Universidad Distrital Francisco José de Caldas, Bogotá 110231, Colombia
6 Grupo de Campos Electromagnéticos y Fenómenos Energéticos, Universidad Tecnológica de Pereira,
Pereira 660003, Colombia
* Correspondence: f_zishan99@sut.ac.ir (F.Z.); odmontoyag@udistrital.edu.co (O.D.M.)

Abstract: Microgrids are a part of the power system that consists of one or more units of distributed
generation and are expected to remain in operation after being disconnected from the system. Since
they rely on overlying networks, frequency control is very important for network-independent
operation. Some of the most common problems in independently operating microgrids are frequency
sustainability and its fluctuations. The main purpose of this study is to control the frequency of a
microgrid in island mode in different scenarios. The objective function is defined based on time and
Citation: Zishan, F.; Akbari, E.; changes in the system frequency. Thus, the variable parameters of the PID controller are transformed
Montoya, O.D.; Giral-Ramírez, D.A.; into an optimization problem and are solved through the hybrid PSO-GSA algorithm. The study
Molina-Cabrera, A. Efficient PID
considers four scenarios: (a) a microgrid dynamic model and optimal PID controller coefficients;
Control Design for Frequency
(b) variable velocity disturbance applied to the studied system in order to observe power changes
Regulation in an Independent
and the microgrid frequency; (c) stepped load changes applied to the studied system; and (d) the
Microgrid Based on the Hybrid
proposed methods on the standard test function. Simulations under different operating conditions
PSO-GSA Algorithm. Electronics 2022,
11, 3886. https://doi.org/10.3390/
are performed, indicating improvements in the stability of microgrid frequency fluctuations by means
electronics11233886 of the proposed control method.

Academic Editor: Jiefeng Hu

Keywords: sustainability; frequency control; optimization; PSO-GSA algorithm; microgrid; PID design
Received: 28 October 2022
Accepted: 22 November 2022
Published: 24 November 2022
1. Introduction
Publisher’s Note: MDPI stays neutral
with regard to jurisdictional claims in A microgrid usually consists of a set of distributed generation sources, an energy
published maps and institutional affil- storage system, and local loads. It can be connected to a network or operate in island mode,
iations. and it has many benefits for both consumers and power generation companies. From
the perspective of the consumer, microgrids are able to simultaneously provide electricity
and heat [1], increase reliability [2], reduce greenhouse gas emissions [3], improve the
quality of power, and reduce the costs of consumption [4,5]. As for electricity companies [6],
Copyright: © 2022 by the authors. the use of microgrids has the potential to reduce consumption demand and, in turn, the
Licensee MDPI, Basel, Switzerland. facilities necessary for the development of transmission lines [7]. In addition, they eliminate
This article is an open access article peak consumption points [8], which results in reduced network losses [9]. By definition,
distributed under the terms and
distributed generation (DG) includes electrical power generation units with a capacity
conditions of the Creative Commons
of less than 10 MW which have distribution feeders or common levels connected to the
Attribution (CC BY) license (https://
network. Depending on the capacity and location of the source installation, connecting DG
creativecommons.org/licenses/by/
to a distribution network can have a positive or negative effect on its performance [10]. On
4.0/).

Electronics 2022, 11, 3886. https://doi.org/10.3390/electronics11233886 https://www.mdpi.com/journal/electronics

Electronics 2022, 11, 3886 2 of 21

the other hand, DG causes the power flow in distribution networks to change. Therefore, a
main network with the presence of DG is not optimal for reducing losses; there needs to
be a proper control in the network, so that the distribution network operates at optimal
cost and with increased reliability [11]. In other words, with the advent of DG resources,
several problems have appeared, such as maintaining and protecting resources [12], the
way in which these resources are involved in setting the basic parameters of the network
(such as frequency and voltage [13,14]), and the method for power exchange between the
global network and distributed generation sources [15]. In 1998, to solve these problems
and consider these resources and local loads as integrated, the concept of micro-grid
was introduced in modern power systems [16]. Accordingly, microgrids are small power
networks composed of several distributed generation sources and local loads. They are
usually connected to the global network, and they are isolated from the main network in
the event of heavy disturbances. They can also feed sensitive loads [17].
Real power systems face a variety of uncertainties, which are caused by changes
in load [18], system modeling errors, and structural changes [19]. Therefore, classical
controllers with constant interest are not suitable for solving the Load Frequency Control
(LFC) problem [20–22]. In order to cover these limitations, a flexible controller is required.
So far, various controllers for LFC have been presented. Among these controllers, the PID
controller has generally attracted more attention than the others [23,24]. The controller’s
interests are determined at the nominal working points. The controller’s interests are
determined through the classical method [25]. In other words, increasing the number of
microgrids changes the fundamental rules of power systems and causes the production
resources to be distributed throughout them [26]. This leads to an increase in the complexity
and nonlinearity of power networks, so the proper response of classical controllers can no
longer be observed. PD-PI controllers are widely used in power systems because they have
a simple and cost-effective structure, and, in power systems, they are more reliable than any
other controller. However, the problem with these controllers is that their control coefficients
are set up for a single time and placed in the system according to the linear conditions and
operating points of the system. If the nominal working conditions or the system’s linear
conditions change due to turbulence, the values considered for these controllers are not
optimal, and they do not have the same response. A possible solution is to update and
optimize the control coefficients according to the incident changes in the system [27]. The
development of power networks due to increased energy demand and technical issues has
caused today’s power systems to activate within their own boundaries. This has led to more
sustainability in said systems. In order to increase stability and overcome the problems
with classical controllers in different working conditions, fuzzy controllers have been used
as resistant stabilizers to modulate small signal fluctuations [28–30]. Ref. [31] used a new
method for controlling the microgrid frequency with a drop control in a photovoltaic
converter and battery, in which a low-voltage microgrid is considered to be multiple virtual
microgrids. This strategy has improved the finetuning of the microgrid frequency. In [32],
the torque and frequency power drop control are applied to the converter of a wind turbine’s
doubly fed induction generator. In [33], the optimal self-healing strategy for microgrid
islanding is formulated as an optimization problem. A reconstruction framework and
solutions for power outages in microgrids are provided in [34]. A regulatory management
of renewable resources based on controllers is discussed in [35]. In [36], the optimization
method is used by planning to maximize profit and minimize operation cost. In [37],
a microgrid strategy is proposed using a self-healing agent that operates based on a
centralized or decentralized approach. Small-signal stability analysis is performed to
evaluate the stability of microgrids to avoid any instability problems. Ref. [38] employed
the Frequency Containment Reserves (FCR) technique with the goal of improving the
economic profitability of microgrids. The primary loop control of the frequency (drop
control) was established in order to control the microgrid frequency and reduce pollution
and the cost of power generation. Drop control cannot properly control the microgrid
frequency under heavy load variations, and it is not properly efficient in island mode. To
Electronics 2022, 11, 3886 3 of 21

control the frequency of an islanded microgrid, a secondary control loop is generally used
for reducing frequency fluctuations under severe load variations [39]. LFC is one of the
most important issues in microgrids. LFC has been investigated due to the relatively low
inertia of these systems [40]. In [41], a multivariate unconstrained pattern search method
for the optimization of digital PID controllers applied in an isolated forward converter
is studied. Conventional digital PID controllers are considered to be designed based on
digital redesign and direct digitalization, adjusted by one of the multivariate name search
pattern search methods called the Hooke–Jeeves (H-J) search method; with an excellent
performance, output voltage regulation can be ensured. Droop control techniques are
currently used to coordinate DG units in a microgrid. However, this method has its own
advantage. It is used for a nonlinear analysis to predict the qualitative behavior of the
system with the aim of reducing the differential equations [42,43]. In [44], an isolated
non-DC–DC boost converter is designed. This converter is designed by adding to networks
and VMCs. In [45], frequency control in hybrid distributed power systems via a type-2
fuzzy PID controller studied. A new Internet of Things-based optimization scheme of
a residential demand side management system was tested [46]. In addition, in [47], the
Optimized Robust Controller Design based on the CPSOGSA Optimization Algorithm
and H2/H∞ Weights Distribution Method for Load Frequency Control of Microgrids
was investigated.
This paper investigates the communication aspects of multiple markets with primary
control (centralized and decentralized) loops. Designing a controller usually consists
of three steps: first, choosing a control rule that contains changeable parameters; second,
choosing a method to set these parameters; third, analysis of system convergence properties.
The PID controller and coordination algorithm and parameter optimization are used due
to the advantages of robustness against system parameter uncertainties, faster convergence
speed when approaching the reference point, adaptability to system uncertainties, and
the ability to prove stability. However, so far there have been few research results that
use the combination method to design a controller for different coordinations. This still
remains an open and challenging issue and has motivated us to write this paper. Therefore,
one of the most important goals of reducing the effect of disturbances on the system and
maintaining the quality of power and frequency is to improve the dynamic performance of
the system in microgrids and the accuracy of power distribution between units in a limited
time. In addition, an optimization method based on the PSO-GSA optimization algorithm
is presented to achieve better and more accurate results. The rest of the article is as follows:
Section 2 studies an example of independent microgrid modeling. In Section 3, the proposed
PSO-GSA algorithm and its hybrid are discussed. In Section 4, the intelligent PID controller
is designed to optimally adjust the parameters. Section 5 introduces a new method for
damping and sustainability frequency fluctuations in the microgrid (while separated from
the main grid) based on the PID controller and a hybrid PSO-GSA algorithm. The following
aspects are studied: (a) the microgrid dynamic model and PID controller; (b) Calculation
of optimal controller coefficients; (c) PID and hybrid PSO-GSA coordination; (d) Variable
velocity disturbance; (e) Power and frequency changes; (f) Stepped load changes applied to
the system; and (g) Effect of the proposed methods on the standard test function. Finally,
Section 6 presents the conclusions. The results show the appropriate efficiency of the
proposed controller in quenching fluctuations in a shorter period of time.

2. Microgrid Modeling
Nowadays, the expansion of transmission and distribution networks can pose chal-
lenges to power systems, even though they have advantages such as increased network
reliability and improved stability. Among these challenges are the non-economic transmis-
sion of electrical energy from power plants to remote and impenetrable areas, the increase
in transmission and distribution losses, and the increased complexity of the network’s
protection system due to its widespread use. All of these have led to the widespread use of
DG resources in recent years, whose main principle is the production of electrical energy at
 Nowadays, the expansion of transmission and distribution networks can pose cha
lenges to power systems, even though they have advantages such as increased networ
reliability and improved stability. Among these challenges are the non-economic tran
mission of electrical energy from power plants to remote and impenetrable areas, the in
crease in transmission and distribution losses, and the increased complexity of the ne
Electronics 2022, 11, 3886 work’s protection system due to its widespread use. All of these have led 4 of to
21 the wide
spread use of DG resources in recent years, whose main principle is the production o
electrical energy at the place of consumption. The concept of the microgrid is a result o
several DG The
the place of consumption. resources placed
concept of thetogether [48].isMicrogrids
microgrid include DG
a result of several DG resources
resources and loca
loads that can feed the loads both disconnected from and connected
placed together [48]. Microgrids include DG resources and local loads that can feed to the
theglobal ne
work. The overall structure of a microgrid is shown in Figure 1.
loads both disconnected from and connected to the global network. The overall structure
of a microgrid is shown in Figure 1.

Figure 1. GeneralFigure 1. General

structure structure of a microgrid.
of a microgrid.

The following The following

resources areresources are included:
included: photovoltaic
photovoltaic generator
generator (PV),(PV),
dieseldiesel engine gene
engine
generator (DEG), wind turbine generator (WTG), fuel cell (FC), battery energy storage system
ator (DEG), wind turbine generator (WTG), fuel cell (FC), battery energy storage
system (BESS),(BESS),
flywheelflywheel
energy energy
storagestorage
systemsystem
(FESS),(FESS),
and aqua aqua electrolyzer
andelectrolyzer (AE). (AE).
The The m
microgrid and the global network communicate with each other at the PCC. The micro- The m
crogrid and the global network communicate with each other at the PCC.
cro-resources used in these networks are interconnected with the help of electronic ele
resources used in these networks are interconnected with the help of electronic elements.
ments. In fact, in these microgrids, AC or DC elements are used as converters or the lik
In fact, in these microgrids, AC or DC elements are used as converters or the like [49].
[49].
3. PSO-GSA Algorithm
3. PSO-GSA Algorithm
3.1. Gravitational Search Algorithm (GSA)
3.1. Gravitational Search Algorithm (GSA)
The GSA is a collective and non-memory intelligence algorithm [50,51]. This optimiza-
The GSA
tion algorithm has been is a collective
designed by modeling and non-memory
the rules andintelligence algorithm
the movement [50,51].
of factors in This opt
mization algorithm has been designed by modeling the rules and the movement of fa
an artificial system in discrete times at which the system space is the same as the problem
tors in an artificial system in discrete times at which the system space is the same as th
definition range. According to the law of gravity, each mass perceives the location and
problem definition range. According to the law of gravity, each mass perceives the loca
condition of other masses. In this algorithm, the mass of the agents is provided according
tion and condition of other masses. In this algorithm, the mass of the agents is provide
to the objective function [51]. In a system with mass n, the position of each mass is a point
in space, which is the answer to the problem. The position of mass i is shown with Xi in
Equation (1):
Xi = ( Xi1 , . . . , Xid , . . . , Xin ) (1)
where n is the dimension of the problem, and Xid is the dimension d of the mass i. This
system, with mass i at time t and in the direction d, is powered by a force with a Fijd (t) value.
The size of this force is obtained via Equation (2):
M pi (t) ∗ Maj (t) d
Fijd (t) = G (t) ( x j (t) − xid (t)) (2)
Rij (t) + e
Electronics 2022, 11, 3886 5 of 21

where Maj is the active gravitational mass of j, and M pi is the inactive gravitational mass of
j, both of which are considered the same and equal to M in the mentioned algorithm; G(t) is
the gravitational constant at time t; and Rij is the distance between the two masses i and j,
which is also a very small number. The gravitational constant is an appropriate parameter
for controlling the search and productivity capabilities, which is expressed by Equation (3):
− at
G (t) = G0 e T (3)
where α and G0 are the control coefficients of the algorithm, and T indicates the system’s
lifetime. The force on mass i in the direction of dimension t at time t is equal to the sum of
all the forces that the other masses of the system exert on this mass. In this equation, rand j
is a random number with uniform distribution in the interval (1.0), which is considered for
the sake of randomness [51]:
N
Fid (t) = ∑ j=1,j6=i rand j Fijd (t) (4)

Furthermore, each of the masses has a specific speed and acceleration, each of which
is shown in Equations (5) and (6), respectively. According to Newton’s second law, each
mass is accelerated in the direction of dimension d, which is proportional to the force on
the mass in that dimension, divided by its inertia mass, as stated in Equation (4). On the
other hand, the velocity of each factor at time t is equal to the sum of the coefficients of the
current velocity and the acceleration of the factor, as expressed in Equations (5) and (6):
vid (t + 1) = rand × vid (t) + aid (t) (5)
Fid (t)
aid (t) = (6)
Mi ( t )
When the acceleration and velocity of each mass are calculated, the new position of
agent i in the dimension d is calculated according to Equation (7):
xid (t + 1) = xi d (t) + vid (t + 1) (7)

New situations are considered as the locations of new masses within the search space,
where the weight of new masses is normalized via Equations (8) and (9):
f i ti
mi ( t ) = (8)
best(t) − worst(t)
mi ( t )
Mi ( t ) = N
(9)
∑ j =1 m j ( t )
where f i ti (t) represents the degree of maturity of the mass of agent i at time t, and worst(t)
and best(t), respectively, indicate the suitability of the worst and the best factors of popula-
tion in time, whose size can be calculated using Equations (10) and (11):
worst(t) = max { f i ti (t)} (10)

Best(t) = min{ f i ti (t)} (11)

3.2. Particle Swarm Optimization (PSO)

In this section, the particle swarm optimization algorithm is briefly outlined. For
more information on this topic, the readers are advised to refer to [52,53]. In the topology
of the particle swarm optimization algorithm in the D-dimensional search space, the
best personal position of particle i is indicated by pid (t), and the best position of the
group is represented by gd (t). The relationship between the velocity and the motion of
particle i at a given moment or the repetition of the dimension are obtained in the form of
Equations (12) and (13):
vid (t + 1) = ωvid (t) + c1 rand1 ( pid (t) − xid (t)) + c2 rand2 ( gd (t) − xid (t)) (12)

x ( t + 1) = x ( t ) + v ( t + 1) (13)
Electronics 2022, 11, 3886 6 of 21

In Equation (12), ω is the inertia coefficient of the particle, and c1 and c2 are Hook
spring coefficients or acceleration coefficients, which are usually set to 2. To randomize the
nature of the velocity, the coefficients c1 and c2 are multiplied by the random numbers rand1
and rand2 . Usually, in the implementation of the PSO, the value of ω decreases linearly
from one to values close to zero. The inertia coefficient ω is generally determined according
to Equation (14):
ωmax − ωmin
ω = ωmax − × iter (14)
itermax
where iter max is the maximum repetition number, iter is the current repetition number,
and ωmax and ωmin are the maximum and minimum values of the inertial coefficients,
→
which are set at 0.9 and 0.3, respectively. vi is the magnitude of the velocity of particle
i in each dimension of the D-dimensional search space, which is limited to the interval
[−vmax , +vmax ], so that the particle’s possibility of leaving the search space is reduced.
The value of vmax is usually chosen so that vmaxx = kvmax , where 0.1 < k < 1, so that xmax
specifies the length of the search.

4. Hybrid PSO-GSA Algorithm

The aim of combining different methods is to achieve better results than each technique
would obtain on its own. The particle swarm optimization and gravitational search algo-
rithms are well suited to be combined, through which a primary randomized population,
generational upgrading, and the generation of new solutions can be achieved. Figure 2
shows such a combination with a primary population [54]. If the problem is N-dimensional,
then the hybrid algorithm has 4N members, which are generated in a completely random
way. 4N members are arranged by competency, and 2N upper members are considered as
masses in the gravitational search algorithm. Additionally, a new 2N member population is
created. Particle swarm optimization is applied to the 2N lower members. In applying the
particle swarm optimization mechanism, the new population created by the gravitational
search algorithm is used as a regulator. The best member of this new population is used
as the Pgbest, and each corresponding member is used as a neighborhood or Pibest in
Equation (12). The population generated by applying particle swarm optimization and the
population created by the gravitation search algorithm are merged and integrated, and the
new 4N members are arranged by competency. The previous process is then repeated until
convergence is achieved. The mechanism of particle swarm optimization is applied to the
2N lower members as particles. In applying the particle swarm optimization mechanism,
the new population created by the gravitational search algorithm is used as a regulator.
In the proposed controller (according to Figure 3), in the first stage, the changes in
power sources, load, and frequency of the microgrid are evaluated and measured. Then, in
the next step, the output of the system (frequency changes) and the appropriate controller
signals are applied according to the law. The relationships governing the behavior of the
controller are described using relationships (15) to (21).
N2 Nu
minJ = ∑ J = N1 Wj (∆F)(k + j)2 + ∑i=1 Vi(∆uDEG )(k + j) − (∆uDEG )(k + j − 1)2 (15)

Nt
(∆u DEG )(k) = (∆u DEG )(k − 1) + ∑i=0 δi (∆F )(k − i ) (16)
∆umin ≤ (∆u DEG )(k) − (∆u DEG )(k − 1) ≤ ∆umax (17)
V jmin ≤ V j ≤ V jmax (18)
U = [∆u DEG , ∆u BESS , ∆u FESS ] (19)
W = [∆PFC + ∆PWTG + ∆PPV + ∆PFC − ∆PL ] (20)
 Electronics
Electronics 2022, 11,2022,
388611, x FOR PEER REVIEW 7 of 22 7 of 21

Electronics 2022, 11, x FOR PEER REVIEW 8 of 22

Figure
Figure 2. Hybrid
2. Hybrid PSO-GSA method.
PSO-GSA method.

In the proposed controller (according to Figure 3), in the first stage, the changes in
power sources, load, and frequency of the microgrid are evaluated and measured. Then,
in the next step, the output of the system (frequency changes) and the appropriate con-
troller signals are applied according to the law. The relationships governing the behavior
of the controller are described using relationships (15) to (21).
min 𝐽 = ∑ 𝑊 (∆𝐹)(𝑘 + 𝑗) + ∑ 𝑉𝑖 (∆𝑢 )(𝑘 + 𝑗) − (∆𝑢 )(𝑘 + 𝑗 − 1) (15)
(∆𝑢 )(𝑘) = (∆𝑢 )(𝑘 − 1) + ∑ 𝛿𝑖 (∆𝐹)(𝑘 − 𝑖) (16)
∆𝑢 ≤ (∆𝑢 )(𝑘) − (∆𝑢 )(𝑘 − 1) ≤ ∆𝑢 (17)
𝑉𝑗 ≤ 𝑉𝑗 ≤ 𝑉𝑗 (18)
𝑈 = [∆𝑢 , ∆𝑢 , ∆𝑢 ] (19)

𝑊 = [∆𝑃 + ∆𝑃 + ∆𝑃 + ∆𝑃 − ∆𝑃 ] (20)
Function: 𝐽 = 𝑁1, 𝑁2 … which should be minimized; N1: Lower limit; N2: Upper
limit; 𝑁𝑢 : Control limit; 𝛿𝑖 is the numerical coefficients resulting from solving the
problem (by minimizing J). The index introduced in relation (21) is used to compare
control methods in the simulation section.

findex = ∆𝑓(𝑑𝑡) (21)

Figure
Figure 3. Studiedsystem.
3. Studied system.

5. Case Study
The studied system is shown in Figure 3, i.e., the main grid system containing con-
ventional DEG, solar panels, wind turbines, fuel cells, and battery energy storage sys-
tems. The hierarchical control structure of the microgrid includes WTG, FC, BESS, PV,
DEG, FESS, and AE.
Electronics 2022, 11, 3886 8 of 21

Function: J = N1, N2 . . . which should be minimized; N1: Lower limit; N2: Upper
limit; Nu: Control limit; δi is the numerical coefficients resulting from solving the problem
(by minimizing J). The index introduced in relation (21) is used to compare control methods
in the simulation section. Z t=tsimolation
findex = ∆ f (dt) (21)
t =0

5. Case Study
The studied system is shown in Figure 3, i.e., the main grid system containing conven-
tional DEG, solar panels, wind turbines, fuel cells, and battery energy storage systems. The
hierarchical control structure of the microgrid includes WTG, FC, BESS, PV, DEG, FESS,
and AE.
The dynamic model of a wind turbine for the analysis of a small signal is expressed by
relation, and its characteristic function is expressed as follows:
Ka kWTG ∆PWTG ∆PWTG
∆PWTG = − (22)
TWTG TWTG

Ka kWTG ∆PWTG
GWTG (s) = = (23)
1 + sTWTG ∆PW
where kWTG and TWTG are the gain coefficient and the time constant, Ka is a numerical
coefficient that expresses the wind turbine power percentage, ∆PWTG represents the changes
in the electrical output of the wind turbine, and ∆PW expresses changes in the power
obtained from the wind.
The following is the dynamic PV model:
k pv ∆ ϕ ∆Ppv
∆PPV = − (24)
Tpv Tpv
k pv
G pv (s) = (25)
1 + sTpv
where k pv and Tpv are the PV gain coefficient and the time constant, ∆Ppv are the changes
in the PV electrical output, and ∆ ϕ are changes are in solar radiation intensity.
Diesel generators play a major role in hybrid microgrids; as the load increases, they are
responsible for providing part of the capacity needed to reach equilibrium. The dynamic
model of a diesel generator is expressed via small-signal analysis as follows:
k DEG ∆PC k ∆F ∆PDEG
∆PDEG = − DEG − (26)
TDEG RTDEG TDEG
k pv
GDEG (s) = (27)
1 + sTpv
where k DEG and TDEG are the gain coefficient and the time constant of the diesel generator,
R is the speed drop coefficient, and ∆PDEG represents changes in the DEG power.
The dynamic model of the fuel cell, electrolyzer, battery, and flywheel is described below:
k ∆P ∆PFC
∆PFC = FC AE − (28)
TFC TFC
k FC
GFC (s) = (29)
1 + sTFC
k AE (1 − k a )∆PWTG ∆PAE
∆PAE = − (30)
TAE TAE
k AE
G AE (s) = (31)
1 + sTAE
k BESS
GBEES (s) = (32)
1 + sTBESS
Electronics 2022, 11, 3886 9 of 21

k FESS
GFEES (s) = (33)
1 + sTFESS
where k FC , TFC , k AE , TAE , k BESS , TBESS , k FESS , and TFESS are the interest rate and time
constant of the diesel generator, electrolyzer, battery, and flywheel, respectively; R is the
speed drop coefficient, ∆PFC represents changes in the fuel cell power, and ∆PAE expresses
changes in the electrolyzer power.
The parameters of the microgrid’s power sources are shown in Table 1, and the nominal
power of the microgrid is shown in Table 2. The proposed algorithm is applied to the
studied system and used to optimize the controller parameters. Table 3 shows the initial
parameters for the PSO-GSA. The results for the studied system are shown in Table 4, and
Figure 4 depicts the proposed algorithm in the sample system.

Table 1. Parameters of the microgrid’s power sources [55,56].

Parameter Value
D 0.012
H 0.1667/2
TFESS 0.1
TBESS 0.1
TFC 4
KFC 1.1
KAE 1.5
KBESS −1.3
TDEG 2
TWTG 1.5
TAE 0.5
KWTG 1.0
R 3
Ka 0.6
KDEG 1.3
KFESS −1.1
TPV 1.5
KPV 1

Table 2. Nominal microgrid power [55,56].

Nominal Power (pu) Loads (pu)

wind turbine 1
fuel cell 0.3 PL1 = 1.1
photovoltaic 0.7
diesel generator 1.6
flywheel 0.45 PL2 = 1
batteries 0.45

Figure 5 shows the convergence of the algorithm. As shown in the figure, the proposed
hybrid algorithm is optimized at a significant speed to the final value, which indicates its
high speed and proper accuracy.
Electronics 2022, 11, x FOR PEER REVIEW 10 of 22

Electronics 2022, 11, 3886 10 of 21

TAE 0.5
KWTG 1.0
Table 3. Initial parameters
R for PSO-GSA. 3
𝐾𝑎
Parameter 0.6
Value
KDEG 1.3
Number of particles 50
KFESS −1.1
Max iterations 100
TPV 1.5
a
KPV 20
1
G0 1
Table 2. Nominal microgrid
C1 ,C2 power [55,56]. 2.2
𝐍𝐨𝐦𝐢𝐧𝐚𝐥 𝑷𝐨𝐰𝐞𝐫 (𝐩𝐮) 𝐋𝐨𝐚𝐝𝐬 (𝐩𝐮)
wind 4.
Table turbine 1
Optimized PID parameter results (PSO and PSO-GSA). PL1=1.1
fuel cell 0.3
Optimization Parameter
photovoltaic 0.7
Method Kp 0 ≤ Kp ≤ 5 Ki 0 ≤ Ki ≤ 5 0
Kd ≤ Kd ≤ 5
diesel generator 1.6 PL2=1
flywheel PSO 1.954
0.45 3.1001 2.4686
PSO-GSA
batteries 1.8406
0.45 2.997 2.4337

Figure 4. Proposed algorithm on the system under study.

study.

Kp , Ki , and Kd parameters are calculated according to the following equation:

∆k p = k1 k∗p c p
(
∗
k1 > 0
k p = k p + ∆k p , c (34)
k1 < 0 ∆k p = k1 k∗p 1+pc p

∆k i = k2 k∗i ci

k2 > 0
ki = k∗i + ∆k i , (35)
k2 < 0 ∆k i = k2 k∗i 1+cic
i
(
k3 > 0 ∗
∆k d = k3 k d cd
k d = k∗d + ∆k d , (36)
k3 < 0 ∆k d = k3 k∗d 1+cdc
d
 Table 4. Optimized PID parameter results (PSO and PSO-GSA).

Optimization Method Parameter

Kp Ki
Electronics 2022, 11, 3886
0 ≤ Kp ≤ 5 0 ≤ Ki 11≤of521
PSO 1.954 3.1001
where K1 , K2 , and K3 are the optimized normalized coefficients for the PID controller, and
PSO-GSA 1.8406 2.997
their values are 0.044, 30, and 16.5, respectively. k∗ , k∗ , k∗ are the nominal values of the
p i d
parameters, all of which were set to 5 before optimization.

Figure 5. Convergence of algorithms (PSO–PSOGSA).

Figure 5. Convergence of algorithms (PSO–PSOGSA).
Note that the general solution methodologies based on the combinatorial optimization
methods for tunning the PID gains are depicted in Figure A1.
Note that the general solution methodologies based on the combinatorial opti
6. Results and Discussion
tunning the PID gains are depicted in Figure A1.
The studied source includes a fuel cell and a photovoltaic generator, which utilize
a higher technology than other conventional DGs. This source is also connected to the
6. distribution
Results systemand Discussion
by an inverter. Since the production of electrical energy in a low-velocity
fuel cell is carried out in DC and at low voltage, the accessories of the fuel processor unit
(to produce hydrogen) and a conventional DC–DC incremental converter are required to
increase the DC link voltage. To evaluate the proposed method in the modeled space, as
well as the way to improve the dynamics of the system, various simulations were run.
By applying a control signal to the sources, frequency disturbances were subsequently
reduced due to potential changes in the microgrid. In this section, noise related to variable
wind speed was applied, which ranged from 0.2 to −0.2 pu (Figure 6). Figure 7 shows
the frequency changes of the microgrid system with and without a PID controller. It
can be observed that, to some extent, the PID controller achieved good results regarding
stability and the attenuation of frequency changes. For optimal results, the hybrid PSO-GSA
algorithm was used. It was observed that, in this simulation, the proposed smart controller
had a more favorable performance than that of the particle swarm controller (Figure 8).
The power of the wind turbines, fuel cells, photovoltaic generators, batteries, flywheels,
and diesel generators before and after the disturbances are shown in Figures 9–14. Apart
from the photovoltaic power, other sources were affected by disturbances. To evaluate the
performance of the proposed control method, several different disturbances were applied
to the test microgrid, and the system’s response was compared to the results obtained with
the algorithms. As mentioned in the previous section, there are resources in microgrids
such as solar panels and wind turbines whose power is rather volatile.
 were applied to the test microgrid, and the system’s response was compare
sults obtained with the algorithms. As mentioned in the previous section, t
sources in microgrids such as solar panels and wind turbines whose power is
Electronics 2022, 11, 3886
atile. 12 of 21

ectronics 2022, 11, x FOR PEER REVIEW

Variable velocity
Figure6.6. Variable
Figure disturbances
velocity applied to
disturbances the studied
applied to system.
the studied system.

Figure 7. Frequency changes with and without a PID controller.

Figure 7. Frequency changes with and without a PID controller.
 Figure 7. Frequency changes with and without a PID controller.
Electronics 2022, 11, 3886 13 of 21

x FOR PEER REVIEW 14 of

8. Frequency
Figurechanges
Figure 8. Frequency changes
with PSOwith
andPSO and PSO-GSA.
PSO-GSA.

Figure 9. Wind
Figure 9. Wind turbine powerturbine power
(pre- and(pre- and post-disturbance).
post-disturbance).
 Figure 9. Wind turbine power (pre- and post-disturbance).
Electronics 2022, 11, 3886 14 of 21

x FOR PEER REVIEW 15 o

Figure 10. Fuel cell power

Figure (pre-
10. Fuel and post-disturbance).
cell power (pre- and post-disturbance).

Figure 11. Photovoltaic

Figure 11. Photovoltaic power (pre- power
and(pre- and post-disturbance).
post-disturbance).
 Electronics 2022, 11, 3886 Figure 11. Photovoltaic power (pre- and post-disturbance). 15 of 21

ectronics 2022, 11, x FOR PEER REVIEW

12. Battery
Figure 12.
Figure Battery power (pre- (pre-
power and post-disturbance).
and post-disturbance).

Figure 13.Flywheel
Figure 13. Flywheelpower (pre- and
power post-disturbance).
(pre- and post-disturbance).
 Electronics 2022, 11, 3886 Figure 13. Flywheel power (pre- and post-disturbance). 16 of 21

Figure14.
Figure Diesel generator
14. Diesel generatorpower (pre-(pre-
power and post-disturbance).
and post-disturbance).
Electronics 2022, 11, x FOR PEER REVIEW 1
In this section, the stepped load was first applied to the system (Figure 15), and the
In this
standard PSOsection, the stepped
and PSO-GSA load
algorithms was
were first
then applied
executed. Thetoresults
the system (Figure 15), an
of the frequency
standard PSO and PSO-GSA algorithms were then executed. The results ofofthe freq
variations are shown in Figure 16. The figure shows that, with the stepped variations
load, the combined
variations are shownalgorithm yields16.
in Figure lessThe
overshot andshows
figure undershot.
that, with the stepped variati
load, the combined algorithm yields less overshot and undershot.

15. Stepped
Figure 15.
Figure Stepped load changes
load applied
changes to the studied
applied system. system.
to the studied

0.015
PSO-GSA
PSO
0.01
 Electronics 2022, 11, 3886 17 of 21
Figure 15. Stepped load changes applied to the studied system.

0.015
PSO-GSA
PSO
0.01

0.005
 f [Hz]

-0.005

-0.01

-0.015
0 5 10 15 20 25 30 35 40 45 50
Time (sec)

Figure 16. Frequency changes of the studied system per stepped load.
Figure 16. Frequency changes of the studied system per stepped load.
The performance of the algorithm on the standard test function was evaluated in order
The performance
to determine its standard of the algorithm
deviation. on assessment
For a better the standard of thetest functionofwas
effectiveness the evalua
proposed method, a larger range in comparison with other methods was
order to determine its standard deviation. For a better assessment of the effectiven selected. This
function is defined as follows:
the proposed method, a larger range in comparison ! 2mwith other methods was se
2
This function is defined as follows: n i ∗ xi
f ( x ) = − ∑i=1 sin ( xi ) sin ( ) (37)
π 2𝑚
𝑖∗𝑥𝑖2
𝑓 (𝑥 ) = − ∑𝑛𝑖=1 sin (𝑥𝑖 ) (sin ( ))
𝜋 other papers, albeit
For a better comparison, the best coefficients were extracted from
lectronics 2022, 11, x FOR PEER REVIEW 18
considering the same initial population. Figure 17 shows the distribution of the results
For a better comparison, the best coefficients were extracted from other pap
obtained from 30 different implementations with the proposed methods. The proximity of
beit considering
the solutions theby
obtained same initial population.
the algorithm Figure 17and
indicates its robustness shows the distribution
high performance. It of
sults obtained
also shows from
that the 30 different
proposed method hasimplementations with the proposed method
a smaller standard deviation.
proximity of the solutions obtained by the algorithm indicates its robustness an
performance. It also shows that the proposed method has a smaller standard devia

Figure
Figure 17.17. Bestvalue
Best value obtained
obtainedfrom 30 different
from implementations
30 different for the standard
implementations for thetest function.test functio
standard

Regarding the accuracy of the algorithm with the Sphere function, in this section
Sphere function is used for the accuracy of the proposed algorithm. The Sphere func
 Figure 17. Best value obtained from 30 different implementations for the standard test function.
Electronics 2022, 11, 3886 18 of 21

Regarding the accuracy of the algorithm with the Sphere function, in this section, the
Sphere function is used for the accuracy of the proposed algorithm. The Sphere function
Regarding
acts like the accuracy
a closed circle and theofspecified
the algorithm
valuewith
tendsthe
toSphere function,
be zero. in this section,
The formulation of thethe
Sphere
desired functionfunction
objective is used for
is inthe
theaccuracy of the proposed
form of Equation (38). algorithm. The Sphere function
acts like a closed circle and the specified value tends to be zero. The formulation of the
desired objective function is in 𝑓(𝑥)the=form(𝑥 of Equation
) (38).
(−30,30) (38)
n  
f ( x ) = ∑ xi2 (−30, 30) (38)
The function in the algorithm is determined
i =1 instead of the desired objective func-
tion, and its goal is to minimize the desired parameter. The results of this function in
Figure The function
18 show that in
thethe algorithm is
convergence determined
reaches a zeroinstead
value. of the desired objective function,
and its goal is to minimize the desired parameter. The results of this function in Figure 18
show that the convergence reaches a zero value.

Figure
Figure 18.18. Algorithm
Algorithm convergence
convergence with
with Sphere
Sphere objective
objective function.
function.

7. Conclusions
In this paper, a sample microgrid with a PID controller was modeled while using
a hybrid PSO-GSA. To better investigate and analyze the proposed controller, various
errors were used. The results indicate that the proposed algorithm is more efficient in
comparison with particle swarm-based controllers. The optimization algorithm proposed
in this paper is novel and has a higher convergence speed compared to PSO algorithms. The
proposed method was tested on a case study, and the results show that setting the controller
parameters leads to a better frequency response. Therefore, the proposed controller has an
optimal performance at adjusting the frequency of the microgrid and achieving the final
response after a short transition time with low harmonic distortion.

Author Contributions: Conceptualization, F.Z. and E.A.; methodology, F.Z., E.A. and O.D.M.; soft-
ware, F.Z. and E.A.; validation, F.Z., E.A., O.D.M., D.A.G.-R. and A.M.-C.; formal analysis, F.Z. and
E.A.; investigation, F.Z., E.A. and O.D.M.; resources O.D.M., D.A.G.-R. and A.M.-C.; data curation,
D.A.G.-R. and A.M.-C.; writing—original draft preparation, F.Z. and E.A.; writing—review and
editing, O.D.M., D.A.G.-R. and A.M.-C.; visualization, F.Z. and E.A.; supervision, O.D.M., D.A.G.-R.
and A.M.-C.; project administration, O.D.M.; funding acquisition, O.D.M., D.A.G.-R. and A.M.-C. All
authors have read and agreed to the published version of the manuscript.
Funding: This research received no external funding.
Institutional Review Board Statement: Not applicable.
Informed Consent Statement: Not applicable.
 In this paper, a sample microgrid with a PID controller was modeled while us
hybrid PSO-GSA. To better investigate and analyze the proposed controller, va
errors were used. The results indicate that the proposed algorithm is more efficie
comparison with particle swarm-based controllers. The optimization algorithm prop
Electronics 2022, 11, 3886 in this paper is novel and has a higher convergence speed compared 19 toofPSO
21 algorit
The proposed method was tested on a case study, and the results show that settin
controller parameters leads to a better frequency response. Therefore, the prop
controller has an optimal performance at adjusting the frequency of the microgrid
Data Availability Statement: No new data were created or analyzed in this study. Data sharing is
achieving the final response after a short transition time with low harmonic distortio
not applicable to this article.
Conflicts of Interest: The authors
Appendix A. (a): declare no conflict
Flowchart of PSO of algorithm,
interest. (b): Flowchart of PSO–GSA algorith

Appendix A

(a) (b)

Figure A1. Flow diagram of the proposed intelligent tunning algorithm for adjusting the
PID gains using combinatorial optimization: (a) Flowchart of PSO algorithm, (b) Flowchart of
PSO–GSA algorithm.
Figure A1. Flow diagram of the proposed intelligent tunning algorithm for adjustin
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