energies

Article
Research on Improved Auto-Tuning of a PID
Controller Based on Phase Angle Margin
Deliang Zeng 1 , Yanqiu Zheng 1 , Wei Luo 1 , Yong Hu 1, *, Qingru Cui 2 , Qing Li 1 and Chen Peng 3
1 School of Control and Computer Engineering, North China Electric Power, Beijing 102206, China;
zdl@ncepu.edu.cn (D.Z.); zheng_94@ncepu.edu.cn (Y.Z.); lw_903@163.com (W.L.);
liqing@ncepu.edu.cn (Q.L.)
2 China Energy Investment, North China Electric Power, Beijing 102206, China; cuiqingru@cgdc.com.cn
3 School of Mechatronic Engineering and Automation, Shanghai University, Shanghai 200072, China;
c.peng@i.shu.edu.cn
* Correspondence: ncepu_hu@yahoo.com; Tel.: +86-185-0055-6173




Received: 15 March 2019; Accepted: 30 April 2019; Published: 6 May 2019


Abstract: In order to realize fast and efficient tuning of the proportional-integral-derivative (PID)
controller parameters in thermal power plants, this paper thoroughly analyzes the problems existing
in the relay characteristic method based on the phase angle margin auto-tuning method (PM method),
and proposes an improved PM auto-tuning method for the most common first order plus dead time
(FOPDT) model in practical engineering applications. The improved algorithm proposes the design
of the target phase angle margin and the method of plant identification. Then, the optimization
algorithm is used to calculate the correction coefficient of the setting formula to obtain the PID
controller parameters that minimize the integrated time absolute error (ITAE) index of the control
system. Finally, through the auto-tuning experiment on the generalized control model of the main
steam temperature system in thermal power plants, it is verified that the improved algorithm is
superior to the traditional PM method and Ziegler–Nichols method (Z-N method), and can obtain a
fast and stable control performance.

Keywords: relay characteristic method; PM algorithm; FOPDT models; auto-tuning; phase margin

1. Introduction
The proportional-integral-derivative (PID) controller is widely used in industry with the
characteristics of a simple structure and strong robustness [1]. In thermodynamic systems, the
characteristic parameters of each thermal plant often change in different operation conditions, so the
fixed controller parameters cannot always meet the control requirements [2]. The fast self-tuning PID
algorithm can adjust parameters of controllers online according to the characteristics of the controlled
plant, maintaining the stability, rapidity and robustness of the control system. In thermal power plants,
process plants usually exhibit first order plus dead time (FOPDT) characteristics, while larger delay
times increase the difficulty of self-tuning control.
Ziegler and Nichols first proposed the critical proportional band method [3] for the industrial PID
controller tuning, which was recognized and applied by the majority of engineers. The robustness and
stability of the controllers after tuning meet certain engineering requirements. However, the method
requires engineers to set the parameters online according to the experimental results. In this case,
the controlled plant needs to be excited to generate a critical oscillation, which seriously affects the
safety and stability of the system. In response to this shortcoming, Karl Aström and Hägglund et al.
proposed the relay characteristic method [4] in 1984, using a relay to limit the amplitude of the
modulated oscillation, and realizing the online self-tuning of PID parameters, thus reducing the

Energies 2019, 12, 1704; doi:10.3390/en12091704 www.mdpi.com/journal/energies

Energies 2019, 12, 1704 2 of 16

workload of engineers. It is necessary to analyze the relay characteristics by using the description
function method in nonlinear analysis, but there is a certain error in determining the critical point
information. Moreover, the control effect has deviation by using information of only one critical point
to calculate the controller parameters.
There are three main kinds of tuning methods for relay characteristics, namely the Ziegler–Nichols
(Z-N) formula tuning, amplitude margin tuning and phase angle margin tuning [4,5]. Several studies
have implemented Z-N formula tuning for actual plants. For example, in [6,7] the authors applied the
tuning algorithm based on the ideal relay and Z-N formula to the control of the Buck-Boost circuit
and the resistance box temperature, respectively, and put the basic relay characteristic method into
practice. However, they did not consider the impact of noise on the actual environment. In [8],
the hysteresis relay was used to remove the influence of a certain amplitude noise in the system.
The software platform was developed to operate and supervise the parameter tuning process, and was
then successfully applied into the network control system, however, there was no comparison of the
algorithm effectiveness. Gu Dake et al. [9] proposed a relay feedback self-tuning method based on
model parameters. The simulation experiment verified the proposed method and proved that the relay
feedback method based on model parameters has a better control effect than the Z-N method in cascade
control. In terms of the amplitude margin and phase angle margin settings, Chen Fuxiang et al. [10]
proposed a PID parameter tuning method based on phase margin (PM). The researchers combined
the system oscillation information, which was obtained under the hysteresis relay control loop, and
the target phase angle margin to design the controller parameters. Chai Tianyou et al. [11] proposed
a self-tuning method based on amplitude margin and phase margin (SPAM), combining oscillation
information with amplitude margin and phase margin to obtain PID controller parameters. In [12],
a pure delay link and a filter were added to the loop of the target phase angle margin tuning, and the
delay time was changed repeatedly to obtain multiple critical point information, thereby improving
the accuracy of the PM method. However, multiple operations of the tuning loop would reduce the
setting efficiency and even affect the working state of the controlled plant, which was not conducive to
engineering applications.
On the basis of the PID self-tuning principle, the researchers also combined the relay characteristic
method with intelligent algorithms such as the neural network [13], fuzzy control [14] and Gauss
algorithm [15], and proposed various modified schemes to improve the control effect of the controller.
However, they increased the complexity of the algorithm and reduced the setting speed, which was
inconsistent with the original intention of the simple PID controller. Another study [15] combined
the Gauss algorithm with self-tuning to improve the control effect during the actual operation of the
electric motor, but the implementation of the Gauss algorithm in the field would increase the economic
cost and technical cost. In the thermal field, PID self-tuning is only a coarse adjustment method; the
tuning process only needs to meet the operational safety and stability, and the control effect of the set
controller is not strictly required. Therefore, the simple and direct PID self-tuning method based on
relay characteristics can meet engineering requirements.
In the basic relay characteristic tuning methods, when compared with the Z-N formula setting, the
PM method has a higher stability and also overshoot and oscillation times of the control curve are lower.
Compared with the SPAM method, the PM method does not need to set a target amplitude margin and
has no requirement for the amplitude margin of the controlled plant. However, the PM method cannot
fix the thermal plant that does not meet the conditions of the relay characteristic method, such as the
first-order inertia link. In addition, for the controlled plant with large delay characteristics, the control
effect obtained by the PM method self-tuning is not satisfactory. Therefore, based on the traditional PM
self-tuning method, this paper proposes an improved algorithm. It optimizes the selection range of the
target phase angle margin by frequency characteristic analysis, then obtains a solution to estimate the
target phase angle margin. The parameters of the oscillation curve output of the relay loop are used for
model identification to obtain the transfer function of the control object. Then, the optimum algorithm
Energies 2018, 11, x FOR PEER REVIEW 3 of 17
Energies 2018, 11, x FOR PEER REVIEW 3 of 17
Energiesoutput
curve 2019, 12,of
1704
the relay loop are used for model identification to obtain the transfer function of3 theof 16

control object. of
curve output Then, the optimum
the relay loop are algorithm is used
used for model to work out to
identification theobtain
correction coefficient
the transfer of theofPM
function the
method
control auto-tuning
object. Then, formula,
the and
optimum satisfactory
algorithm controller
is used to parameters
work out theare obtained.
correction coefficient
is used to work out the correction coefficient of the PM method auto-tuning formula, and satisfactory of the PM
method auto-tuning
controller parameters formula, and satisfactory controller parameters are obtained.
are2obtained.
Hereinafter, Section briefly introduces the basic principles of the traditional PM method and
Hereinafter,in
its shortcomings Section 2 briefly
the FOPDT introduces
plant. Section 3the basic principles
analyzes of the traditional PM method and its
Hereinafter, Section 2 briefly introduces the basic the function
principles ofofthe
the target phase
traditional PMangle
methodmargin
and
shortcomings
in in the FOPDT plant. Section 3 analyzes the function of the target phase angle margin
itsthe tuning process,
shortcomings in theand designs
FOPDT the
plant. correction
Section factorthe
3 analyzes from the tuning
function of the formula by the
target phase optimum
angle margin
in the tuning
algorithm. process,
Section and designs
4 simulates the correction
the superiority factor
of the from the
improved tuning formula
algorithm. Finally, by
thethe
lastoptimum
section
in the tuning process, and designs the correction factor from the tuning formula by the optimum
algorithm.
summarizes Section 4 simulates
the characteristics the superiority of the improved algorithm. Finally, the last section
algorithm. Section 4 simulatesof thesuperiority
the improved of PMtheself-tuning
improvedalgorithm.
algorithm.The improved
Finally, algorithm
the last section
summarizes
of the PID the characteristics
auto-tuning of
controller the improved
based on phase PM self-tuning
angle margin algorithm.
is shown inThe improved
Figure 1. algorithm of
summarizes the characteristics of the improved PM self-tuning algorithm. The improved algorithm
the PID auto-tuning controller based on phase angle margin is shown in Figure 1.
of the PID auto-tuning controller based on phase angle margin is shown in Figure 1.
Controlled object Identification of
controlled object
Controlled object Identification of
controlled object
Empirical estimating
the Ratio of Optimizing The
Empirical
delay estimating
time and Inertial correction factor of PM
timetheconstant
Ratio of Optimizing
by genetic The
algorithm
delay time and Inertial correction factor of PM
time constant by genetic algorithm

Choosing target phase Tuning Controller

margin,designning of Parameters by
Choosing
relay target
circuit phase Tuning Controller
improved PM
margin,designning of Parameters by
relay circuit improved PM

Amplitude and Angular

Acquisition of
Frequency of
Amplitude and Angular Controller
Oscillation Curve Acquisition of
Frequency of
Controller
Oscillation Curve

Figure 1. The diagrammatic sketch of the improved phase margin (PM) method.
Figure 1. The diagrammatic sketch of the improved phase margin (PM) method.
Figure 1. The diagrammatic sketch of the improved phase margin (PM) method.
2.2.Basic
BasicPrinciples
Principlesand andDisadvantages
Disadvantagesof ofthe
theTraditional
Traditional PM PM Method
Method
2. Basic Principles
Figure and Disadvantages of the Traditional PM Method
Figure 22 shows
showsthe theauto-tuning
auto-tuning principle
principle of PID
of PID parameters
parameters basedbased
on theon PM the PM method.
method. The processThe
process of calculating
Figure
of calculating 2 the
shows the controller
controller auto-tuning
auto-tuning auto-tuning
principle
parameters parameters
of PID
by the PMbymethod
parametersthe PM ismethod
based on the is as
as follows: PMfollows:
When the When
method. The
switch
the
is switch
process
thrown is
of at thrown
calculating
terminal a,at terminal
thethe
controllera, the
hysteresis hysteresis
auto-tuning
relay and therelay and
parameters the
controlled controlled
by plant
the PM form plant
method form a unit
a unitisnegative
as follows:negative
When
feedback
feedback
the switch
control control
loop. loop.
is thrown
Select Select
aatsetterminala seta,thresholds
of relay of
therelay thresholds
hysteresis deadand
and relay and dead
zonesthe zones
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can allow can
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Select under
a set the
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oscillation curve under the action of the relay, and use the amplitude and period of the oscillation curve can and
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estimate estimate
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the critical of the
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and plane.
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use theThereamplitude plane.
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to
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determined by the critical point coordinates and the target phase angle margin.

Figure 2. Principle diagram of proportional-integral-derivative (PID) parameter auto-tuning based on

Figure
PM 2. Principle diagram of proportional-integral-derivative (PID) parameter auto-tuning based
method.
on PM method.
Figure 2. Principle diagram of proportional-integral-derivative (PID) parameter auto-tuning based
on PM method.
In Figure 2, r is the input, e is the deviation of the system and y is the output of the controller.
The description
In Figure 2,function
r is the of the hysteresis
input, relay is: of the system and y is the output of the controller.
e is the deviation
The description function of the hysteresis relay is:
Energies 2019, 12, 1704 4 of 16

In Figure 2, r is the input, e is the deviation of the system and y is the output of the controller.
The description function of the hysteresis relay is:
r
4d ε2 4dε
Energies 2018, 11, x FOR PEER REVIEW N (A) = 1− −j 2 (1)17
4 of
πA A2 πA
where d is the output threshold value of the relay, d > 0. ε is the dead zone of relay, ε > 0. N(A) is the
 4d 
2
4d
complex ratio of the first harmonic component N (A) = and1 the
− input
− j signal in the steady-state output of the (1)
A A
2 2
A
relay under the action of sinusoidal signals. A is the amplitude of sine signal, A > ε.
whereSetdthe transfer
is the outputfunction of the
threshold controlled
value of the relay, > 0.G(jω).
plantd as ε is theWhen
deadthe
zoneswitch is atεterminal
of relay, > 0. N(A)a,isthe
the
closed-loop
complex ratio characteristic
of the firstequation
harmonic ofcomponent
the system is shown
and in Equation
the input (2).the
signal in The necessary condition
steady-state output offor the
the limit
relay oscillation
under of the
the action of system is that
sinusoidal the equation
signals. A is the below
amplitudehas aofpositive solution.
sine signal, A > ε.

Set the transfer function of the controlled

1 + N (Aplant
)G( jωas) =G(jω).
0 When the switch is at terminal a, (2) the
closed-loop characteristic equation of the system is shown in Equation (2). The necessary condition
Figure
for the limit3 oscillation
shows theofNyquist curve
the system of the
is that theplant G(jω)below
equation on the
hascomplex
a positiveplane and the negative
solution.
reciprocal description function −1/N(A) curve of the hysteresis relay. The angular frequency where
their intersection point B is located is the solution (j  ) = 0 (2). Point B is the self-excited oscillation
ofGEquation
1 + N (A) (2)
point of the closed-loop system, also known as the critical point. The negative reciprocal description
Figure 3 shows the Nyquist curve of the plant G(jω) on the complex plane and the negative
function of the relay comes as Equation (3), then the coordinates of point B (−x, −jy) can be expressed
reciprocal description function −1/N(A) curve of the hysteresis relay. The angular frequency where
by Equation (4).
their intersection point B is located is the
1 solution π of
p Equation (2). πε Point B is the self-excited oscillation
− = − A 2 − ε2 − j (3)
point of the closed-loop system, alsoNknown(A) as4d the critical point.4d The negative reciprocal description
function of the relay comes as Equation (3), then the coordinates of point B (−x, −jy) can be expressed
π p 2 πε
by Equation (4). x = A − ε2 , y = (4)
4d 4d

Im

-1
φm 0 Re

-1/N(A) C B

G(jw) -1

Figure 3. Nyquist curve of G(jω).

Figure
The form of the PID controller is 3. in
shown Nyquist curve(5).
Equation of G(jω).
When the switch is thrown at terminal
b (see Figure 2), the forward channel transfer function of the system is shown in Equation (6).
→
The controller makes the Nyquist curve of 
1 the controlled  move along these directions:G( jω),
plant
− =− A − − j
2 2
→ → (3)
G( jω)/ jω and jωG( jω), through proportional, N (A) 4derivative
d and4d integral actions, respectively. At a
certain set of PID parameters, the critical pointB can be moved  to point C which meets the target phase
angle margin requirement. x = A 2
−  2
, y = (4)
4d 4d
1
PID(s) = K (1 + Td s + ) (5)
The form of the PID controller is shown inp Equation (5).
Ti sWhen the switch is thrown at terminal
b (see Figure 2), the forward channel transfer function of the 1 system is shown in Equation (6). The
G ( s ) = K ( 1 + T s + )G(s) (6)
Ti s move along these directions: G (j  ) ,
f orward
controller makes the Nyquist curve of the controlled plant p d

G (j Assuming
) / j and that
j G (jthe
 ) , through proportional,
target phase derivative
angle margin is and
ϕm , integral actions, respectively.
the coordinate of point CAtisa
certain set of PID parameters,
(− cos ϕm , −j sin ϕm ), so: the critical point B can be moved to point C which meets the target
phase angle margin requirement. πε
= sinϕm (7)
4d
1
PID(s) = K p (1 + Td s + ) (5)
Ti s

1
G forward (s) = K p (1 + Td s + )G (s) (6)
Ti s
Energies 2019, 12, 1704 5 of 16

According to the coordinates of the B and C points in the complex plane and the vector relationship
of the controller, the traditional PM method proposes the controller parameter tuning formula as follows:
√
π
4d A − ε
x= 2 2
(x−cos ϕm ) sin ϕm
T= 2
sin ϕm +x cos ϕm
sin2 ϕm +x cos ϕm
Kp = β (8)
√ ϕm
x2 +sin2

−T± T2 + α4
Td = 2ωc
Ti = αTd

where d is the output threshold of the relay, d > 0. ε is the dead zone of the relay, ε > 0. A is the
amplitude of sine curve when the controlled plant oscillates, A > ε. T is an intermediate parameter. α
is the empirical coefficient, which is between 2 and 4. β is the correction coefficient, and the traditional
PM method takes the correction coefficient as 0.5.
In this paper, the PM method is applied to the auto-tuning of controlled plants in thermal power
plants. It is found that because the controlled plants of thermal power plants generally have first-order
inertia plus pure delay characteristics, the traditional PM method cannot guarantee good control effects.
There are two main problems as follows.
1. The characteristics of the limit cycle object have not been studied in depth. To determine
whether an object has a limit oscillation, the transfer function of the object is needed to be known.
The oscillation condition is that the Nyquist curve of the plant intersects the negative inverse
description function curve of the hysteresis relay in the third quadrant on the complex plane, and
the limit cycle at the intersection is stable. However, during the actual engineering application
process, the characteristics of the controlled plants are not fixed, the specific parameters are
unknown, and the accurate Nyquist curve cannot be obtained.
2. The PM method cannot obtain a stable PID control system when the plant delay is large.
The amplitude margin of a system is related to the open-loop amplitude-frequency characteristic
at the phase-crossing frequency. For a system with a large delay plant, the open-loop
amplitude-frequency characteristic is the Nyquist curve of the large delay plant without a
controller, with this curve having poor attenuation. The method by only moving the critical point
on the curve cannot change the amplitude-frequency characteristic of the frequency band near
the phase angle crossing frequency. Reflected on the complex plane, the PM method cannot
guarantee the system amplitude margin with the PID controller to meet the stability requirements.
For the large delay plant, the PID control system obtained by the simple PM method will have a
step response with oscillation and even divergence, and the control effect is not good.

3. Basic Principle of the Improved PM Method

In order to solve these two problems, an improved PM method is proposed in this paper. For plants
with first-order inertia and pure delay, the main contents include selecting a target phase angle margin
according to the estimated characteristics of the controlled plant to obtain an oscillation curve under
the control of a relay loop. The mathematical model of the controlled plant is identified through the
oscillation curve of the relay control loop. Then, an algorithm is used to optimize the coefficients in the
auto-tuning formula to tune the controller parameters with the smallest integrated time absolute error
(ITAE) index.

3.1. Selection of Target Phase Angle Margin

In Figure 3, the coordinate of point C is (− cos ϕm , −j sin ϕm ), indicating that the distance is sin(ϕm )
from the origin to the intersection point of the negative reciprocal description function curve −1/N(A)
with the negative imaginary axis. The value of sin(ϕm ) is related to the Nyquist curve of the controlled
plant. The frequency characteristic curve of the FOPDT plant is in the shape of a spiral attenuation
Energies 2019, 12, 1704 6 of 16

toward the origin, as shown in Figure 4. The coordinate of the first intersection Q between the curve
and the negative imaginary axis is (0, −Ksin(τωq )), where ωq is the angular frequency at point Q.
Therefore, the target phase angel margin should satisfy.

sin(ϕm ) < K sin(τωq ) (9)

K −τs , K −jτω ,
Set the controlled plant as G(s) = Ts+1 e its frequency characteristic is G( jω) = jTω+1 e in
which the real part is:
K
Re[G( jω)] = [cos(τω) − Tω sin(τω)] (10)
T2 ω2 +1
The frequency characteristic curve needs to be satisfied that the real part of G(jω) equals to 0, i.e.,
Re[G( jω)] = 0, at the intersection point with the imaginary axis, so is simplified by Equation (10) to:

1
tan(τω) = (11)
Tω
Equation (11) is a transcendental equation with no analytic solution and infinite positive real
number solutions. As the frequency ω changes from zero to positive infinity, the frequency characteristic
curve approaches the origin in a spiral shape and has infinite intersections with the negative imaginary
axis. Each intersection point corresponds with a solution, wherein the first intersection point Q far
from the origin point corresponds with the smallest solution ωq . Draw curves f (ω) = tan(τω) and
g(ω) = 1/Tω in a plane rectangular coordinate system, as shown in Figure 5. The tangent curve is a
periodic curve that is symmetric about the axis of symmetry ω = kπ + π/2(k ∈ Z), so:

0 < τωq < π/2 (12)

Suppose τ/T = 1/M, M > 0, then there is T = τM, and Equation (11) is converted to:

1
tan(τω) = (13)
Mτω
Equivalent to:
1
tan(ω) = (14)
Mω
Let the solution of Equation (11) be ω0 ∈ Ω, then the solution ω1 of Equation (13) will satisfy:

ω1 = τω0 , ω0 ∈ Ω (15)

So:
Mω1 = Mτω0 = Tω0 (16)

That is to say, in Equation (11), when τ/T is known, the product of the solution of the equation and
the inertia time T is constant, in other words:

Tω0 = c (17)

where the constant c is uniquely determined by Equation (14).

and the inertia time T is constant, in other words:
and the inertia time T is constant, in other words:
T 0 = c (17)
T ω0 = c (17)
where the constant c is uniquely determined by Equation (14).
where2019,
Energies the 12,
constant
1704 c is uniquely determined by Equation (14). 7 of 16

Nyquist Diagram
Nyquist Diagram
0.6
0.6
0.4
0.4
0.2

Imaginary Axis
0.2
P M
0

Imaginary Axis
P M
0
-0.2
-0.2
-0.4
-0.4
-0.6 Q
-0.6 Q
-0.8
-0.8
-1 -0.8 -0.6 -0.4 -0.2 0 0.2 0.4 0.6 0.8 1
-1 -0.8 -0.6 -0.4 -0.2Real 0Axis 0.2 0.4 0.6 0.8 1
Real Axis

Nyquistcurve
Figure4.4.Nyquist
Figure curveofoffirst
firstorder
orderplus
plusdead
deadtime
time(FOPDT)
(FOPDT)plant.
plant.
Figure 4. Nyquist curve of first order plus dead time (FOPDT) plant.
1/(Tω)
5
1/(Tω)tan(τω)
5
4 tan(τω)
4
3
3
2
2 Q
1
Q
1
0
-5 -4 -3 -2 -1 0 1 2 3 4 5
0
-5 -4 -3 -2 -1 -1 0 1 2 3 4 5

-1
-2
-2
-3
-3
-4
-4
-5
-5
Figure 5. Tangent function and inverse proportional function curve.

The frequency ωq of5.point

Figure Q satisfies
Tangent functionEquation (11),
and inverse so the absolute
proportional functionvalue
curve.of the imaginary axis
Figure
coordinate of point Q is also5.constant,
Tangent function
that is: and inverse proportional function curve.
The frequency ωq of point Q satisfies Equation (11), so the absolute value of the imaginary axis
The of point Q ω
frequency of point Q satisfies Equation (11), so theKabsolute value of the imaginary axis
coordinate isqalso constant, that
Im[G( jω is:
q )] = K sin(τωq ) = q (18)
coordinate of point Q is also constant, that is:
1 + T2 ωq 2
K
Im[G(jq )] = K sin(q ) =
To sum up, when the ratio of the ωdelay
Im[G(j time and inertia2Ktime
q )] = K sin(τωq ) = 1 + T q
2 (18) is
of the controlled plant G(s)
(18)
determined, the upper limit of the target phase angle margin1of
2
+ Ttheωqsystem is:
2

K
max(sin(ϕm )) = min( q , 1) (19)
1 + T2 ωq 2

In this paper, 18 points are taken in the range of τ/T ∈ (0, 1.5), and the tangent function and
inverse proportional function curves shown in Figure 5 are drawn. The angular frequency at point Q is
obtained, and a list of coordinates of the imaginary axis of point Q on the complex plane is obtained
(see Table 1). The phase angle margin represents the stability performance of the closed-loop system.
The larger the value of ϕm , the more stable the step response curve of the system under PID control,
the less oscillation, but the slower the adjustment speed. The smaller the value of ϕm , the more the
step response curve oscillates and the faster the adjustment. When ϕm is between 10% and 50% of the
maximum value, both the rapidity and stability of the system can be considered. At the same time, the
larger the inertia time constant of the controlled plant itself or the larger the delay time relative to the
inertia time, the smaller the value ϕm can take in the above range.
Energies 2019, 12, 1704 8 of 16

Table 1. The imaginary axis coordinate of point Q under each ratio τ/T.

τ/T 0.01 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Ksin(τωq ) 0.0996 K 0.3061 K 0.4192 K 0.4985 K 0.5591 K 0.6079 K 0.6481 K 0.6821 K 0.7111 K
τ/T 0.9 1.0 1.1 1.2 1.3 1.4 1.5 1.6 1.7
Ksin(τωq ) 0.7362 K 0.7581 K 0.7773 K 0.7943 K 0.8094 K 0.8229 K 0.835 K 0.846 K 0.8559 K

3.2. Controller Parameter Optimization

3.2.1. Problems in the Traditional PM Method Tuning Formula

When the amplitude and frequency of the critical oscillation and the target phase angle margin of
the controlled plant are determined, the traditional PM method can tune a group of PID controller
parameters according to Equation (8). However, it has been proven by experiments that when the
correction factor β in Equation (8) is equal to 0.5, it may not meet the control requirements. Therefore,
a new auto-tuning strategy is proposed here to improve the control effect of the controller. According
to Equation (5), if the Kp value decreases, the proportional action, integral action and derivative action
of the controller are weakened, thus reducing the oscillation times and improving the stability of
the system. Therefore, the selection of the correction coefficient can directly affect the control effect
obtained by the PM method.
In this paper, 0.05, 0.5 and 2.75 for β are respectively applied to the tuning formula of the controlled
plant G1 (s) = 50s5+1 e−s , and determined the PID controller parameters and the step response curve,
as shown in Figure 6 by Equation (8). The overshoot of the control curve when β = 0.5 is about 21%,
and the adjustment time is longer than that of the curve with β = 2.75. When β = 2.75, the control
effect of the controller is optimal, the curve overshoot is the smallest and the adjustment time is
the shortest. Take 0.5, 2.75 and 8.45 for β and apply them to the tuning formula of controlled plant
G2 (s) = 100s1 +1 e−s , respectively, and find the PID controller parameters and the step response curve
according to Equation (8) also. The result is shown in Figure 7. With β = 0.5, the overshoot of the
control
Energies curve isxabout
2018, 11, and the adjustment time is the longest. With β = 8.45, the controller has
25%,REVIEW
FOR PEER the17
9 of
best control effect—the overshoot of the curve is the smallest and the adjustment time is the shortest.
Itguarantee
can be seen that the
that controlcorrection
a single effect of coefficient
the auto-tuning controller
for different is satisfactory.
control Those
systems cannot PID controllers
guarantee that the
below are shown in Table 2.
control effect of the auto-tuning controller is satisfactory. Those PID controllers below are shown in
Table 2.

Figure 6. Comparison of control effect by different correction factors of G1 (s).

Figure 6. Comparison of control effect by different correction factors of G1(s).
 Figure 6. Comparison of control effect by different correction factors of G1(s).
Energies 2019, 12, 1704 9 of 16

Figure 7. Comparison of control effect by different correction factors of G2 (s).

Figure 7. Comparison of control effect by different correction factors of G2(s).
Table 2. PID controllers by different correction factors of G1 (s) and G2 (s).
Table 2. PID controllers by different correction factors of G1(s) and G2(s).
G1 (s) PID Controllers G2 (s) PID Controllers
G1(s) β = 0.05 PID
PID Controllers
(s) = 1
0.0642 + 133.2331s + 0.1371s G2(s)
β = 0.5 PID(s) =PID Controllers
1.2782 1
+ 12.2314s + 27.4576s
β = 0.5 1
PID(s) = 0.6416 + 13.3233s + 0.1371s β = 2.75 1
PID(s) = 7.0299 + 2.2239s + 27.4756s
β = 2.75 PID(s) = 3.5286 1
1 + 2.4224s + 7.5406s β = 8.45 1 1 + 84.4251s
PID(s) = 21.6008 + 0.7238s
PID(s) = 0.0642 + + 0.1371s PID(s) = 1.2782 + + 27.4576 s
β= 0.05 133.2331s β = 0.5 12.2314 s
3.2.2. Optimization of the Correction Coefficient
1 1
PID(s) = 0.6416 + + 0.1371s PID(s) = 7.0299 + + 27.4756 s
β= 0.5 According to the previous analysis,
13.3233 s β = 2.75
the PM method can be applied to first-order
2.2239inertial
s plants
with different characteristics by modifying the correction coefficient in the setting formula. Since the
1 1
thermal engineering
PID(s) = plant
3.5286 +characteristics
+ 7.5406s of the actual power plantPID
are(s)not fixed+ and
= 21.6008 often change,
+ 84.4251s
β= 2.75 2.4224 s β = 8.45 0.7238 s
this paper proposes the idea of changing the correction coefficient according to the characteristics
of the controlled plant to ensure the control effect meets the requirements of stability and rapidity.
The specific
3.2.2. idea is shown
Optimization of the in Figure 8, Coefficient
Correction and the optimization method is shown below.
In Figure 8, Nmax1 equals 100, representing the maximum number of iterations of the genetic
algorithm, and f min equals 10-4 , showing the maximum acceptable deviation to meet model accuracy
requirements. Nmax2 means the maximum number of iterations of the optimization algorithm and
equals 100 as well. The termination conditions of genetic algorithm running are that the fitness function
has been less than f min , or the number of iterations has been larger than Nmax1 . During the running of
the optimization algorithm, the termination condition is that the number of iterations has been larger
than Nmax2 , and the minimum ITAE index can be located during the iterative process.
After the target phase angle margin is selected, the ratio of the dead zone and the threshold value of
the relay can be designed according to Equation (7), wherein the dead zone is larger than the amplitude
of noise, so that the system output of the relay control loop presents a critical oscillation curve. Then,
the fast Fourier algorithm is used to analyze the frequency spectrum of the system output data to
obtain the amplitude A0 and angular frequency ωc0 of the oscillation curve. The method of identifying
the controlled plant using the amplitude A0 and the angular frequency ωc0 is described below.
Assuming that the controlled plant is G(s) = TsK+1 e−τs , connect the actual controlled plant to
the relay controlled loop, and the output of the system generates critical oscillation. The oscillation
waveform and the output waveform of the relay are shown in Figure 9.
 According to the previous analysis, the PM method can be applied to first-order inertial plants
with different characteristics by modifying the correction coefficient in the setting formula. Since the
thermal engineering plant characteristics of the actual power plant are not fixed and often change,
this paper proposes the idea of changing the correction coefficient according to the characteristics of
the controlled
Energies plant to ensure the control effect meets the requirements of stability and rapidity.
2019, 12, 1704 10 The
of 16
specific idea is shown in Figure 8, and the optimization method is shown below.

Relay loop with

controlled plant

Calculate A0 and ωc0

based on oscillation Delay time τ
curve
Output K,T

Calculate A and ωc based on

relay loop

Genetic
Objective function algorithm
fitness=(A-A0)2+(ωc-ωc0)2

If fitness<fmin or
iterations>Nmax1
Correction
factor β
Calculate
Kp,Ti,Td Output K,T,τ

r(t) + e(t)
PID Plant
-
y(t)

Optimization Objective function


Energies 2018, 11, x FOR PEER REVIEW IT A E =  t e ( t) d t 11 of 17
algorithm 0

of identifying the controlled plant using the amplitude A0 and the angular frequency ωc0 is described
below. If iterations>N max2

K − s
Assuming that the controlled plant is G ( s ) = e , connect the actual controlled plant to the
Ts + 1
relay controlled loop, and the output of the system generates critical oscillation. The oscillation
Figure 8. Flow chart of algorithm for controller optimization.
waveform and the output waveform
Figure of the
8. Flow chart relay are for
of algorithm shown in Figure
controller 9.
optimization.

In Figure 8, Nmax1 equals

output 100, representing the maximum number of iterations of the genetic

algorithm, and fmin equals 10-4y, showing the maximum acceptable deviation
2A to meet model accuracy
requirements. Nmax2 means the maximum number of iterations of the optimization algorithm and
equals 100 as well. The termination conditions of genetic algorithm running are that the fitness
function has been less than fmin, or the number of iterations has been2d larger than Nmax1. During the
running of the optimization algorithm,
d 1the termination condition is that the number of iterations has
t 1
been larger than Nmax2, and the minimum TITAE index can be located during
c time/s
the iterative process.
0

After the target

Figurephase angle margin
9. Schematic diagram is of
selected, thecurve
oscillation ratioand
of the dead
relay zonewaveform.
output and the threshold value
of the relay canFigure 9. Schematic
be designed diagramtoofEquation
according oscillation(7),
curve and relay
wherein theoutput
deadwaveform.
zone is larger than the
amplitude of noise, the
First, identify so that
gainthe system
K of outputThe
the plant. of the relay output
average control value
loop presents
y of the aoscillation
critical oscillation
curve is
curve.First,
obtainedThen,identify the gain
the fast Fourier
by multiplying K of the
algorithm
the output plant.
of theisrelayThe
usedand average
to the
analyze output
thethe
gain of value
frequency y of
plant [16], the
that is: of the curve
oscillation
spectrum systemis
obtained by multiplying the output of the relay and the gain of the plant [16],
output data to obtain the amplitude A0 and angular frequency ωc0 of the oscillation curve. The methodthat is:
(d1 + 2d)t1 d1 (Tc − t1 ) t
y = K[ + = K(d1 + 2d 1 ) (20)
(dT1c+ 2d )t1 d1 (TTc c− t1 ) t1 Tc
y = K[ + = K (d1 + 2d ) (20)
T Tc Tc
So the gain of the controlled plant is:c
So the gain of the controlled plant is: y
K= (21)
d1 + 2d(t1 /Tc )
y
K= (21)
d1 + 2d (t1 / Tc )

K
The modulus of the frequency characteristic of the controlled plant is | G (j  ) |= . The
T  +1
2 2

angular frequency of the critical point B is ωc. According to Equation (4):

Energies 2019, 12, 1704 11 of 16

K
The modulus of the frequency characteristic of the controlled plant is |G( jω)| = √ .
T2 ω2 +1
The angular frequency of the critical point B is ωc . According to Equation (4):

πA K
= p (22)
4d T2 ωc 2 + 1

So the inertia time constant of the plant is:

s
16d2 K2 − π2 A2
T= (23)
π2 A2 ω2c

After calculating the gain K and inertia time constant T of the control object from Equation (21)
and Equation (23), the delay time τ is optimized by a genetic algorithm. The specific process is as
follows: It is known that each set of parameters K, T and τ can obtain a unique amplitude A and
angular frequency ωc of the critical oscillation curve through relay loop control and the selection of an
appropriate target phase angle margin. Therefore, when K and T are determined, a unique τ can be
found in a given range, so that the obtained A and ωc are equal to the known amplitude A0 and angular
frequency ωc0 . A genetic algorithm is used here to find the variable τ that minimizes the objective
function. The
Energies 2018, 11,objective function
x FOR PEER REVIEW is as follows: 12 of 17

f itness =5 (ωc − ωc0 )2 + (A − A0 )2 (24)

Take the transfer function G3 ( s ) = e −50 s as an example. Connect G3(s) with the relay control
50s + 1
Take the transfer function G3 (s) = 50s5+1 e−50s as an example. Connect G3 (s) with the relay control
loop to obtain the oscillation curve (see Figure 10). As can be seen from Figure 10, y = 1, d1 = −0.8, d =
loop to obtain the oscillation curve (see Figure 10). As can be seen from Figure 10, y = 1, d1 = −0.8,
1, t1 = 19 and Tc = 37, so the gain is K = 4.41. In Figure 10, the amplitude of the oscillation curve is A =
d = 1, t1 = 19 and Tc = 37, so the gain is K = 4.41. In Figure 10, the amplitude of the oscillation curve is
0.5125, and the angular frequency is ωc = 0.1745, so the inertia time constant is T = 62.5221. Finally,
A = 0.5125, and the angular frequency is ωc = 0.1745, so the inertia time constant is T = 62.5221. Finally,
the delay time τ = 56.8957 is obtained by a genetic algorithm. The identification results are shown in
the delay time τ = 56.8957 is obtained by a genetic algorithm. The identification results are shown in
Table 3. Obviously, the error of the identification results is acceptable in engineering application.
Table 3. Obviously, the error of the identification results is acceptable in engineering application.

Figure 10. Limit oscillation curve of G3 (s).

Figure 10. Limit oscillation curve of G3(s).
Table 3. Comparison of identification results with actual values of the plant G3 (s).
Table 3. Comparison of identification results with actual values of the plant G3(s).
Compared Values K T τ
Compared Values
Actual value 5K 50T 50 τ
Identification value 4.41 62.5221 56.8957
Actual value
Deviation 5
11.8% 50
25.04% 50
13.79%

Identification value 4.41 62.5221 56.8957

Deviation 11.8% 25.04% 13.79%

After obtaining the mathematical model of the controlled plant, the correction coefficient is
adjusted online by an optimization algorithm. The specific process is as follows: According to the
Energies 2019, 12, 1704 12 of 16

After obtaining the mathematical model of the controlled plant, the correction coefficient is
adjusted online by an optimization algorithm. The specific process is as follows: According to the
amplitude, angular frequency and target phase margin of the oscillation curve output of the relay
circuit, the PID controller parameters are calculated online by Equation (8), in which the correction
coefficient β traverses a certain range, generally taking (0,10). The PID controller and the identified
plant transfer function constitute a closed loop system. Give the set point of the closed-loop system a
step signal, then the ITAE index can be calculated from the output curve. By optimization algorithm the
minimum ITAE index can be located and also the optimal correction coefficient β, whose corresponding
controller is the tuning result. Finally, the controller is used for the control of actual plants. The ITAE
index is shown in Equation (25): Z ∞  
ITAE = te(t)dt (25)

0
Energies 2018, 11, x FOR PEER REVIEW 13 of 17
4. Simulation Example
reasonable
The main and stable
steam range can the
temperature efficient
is one of theoperation of the units
most important be ensured.
controlled The commonly
parameters used
in large boiler
main steam temperature control strategy is the cascade PID control. When adjusting
units of thermal power plants. Only when the main steam temperature is controlled within a reasonable the controller
parameters
and of the
stable range canouter loop, theoperation
the efficient inner loop of system and
the units beouter loopThe
ensured. controlled plant
commonly need
used to be
main fitted
steam
to a generalized plant first. According to [17], the generalized controlled plant function
temperature control strategy is the cascade PID control. When adjusting the controller parameters of the main
of
steam temperature to the disturbance of the feed water of a 600 MW supercritical once-through
the outer loop, the inner loop system and outer loop controlled plant need to be fitted to a generalized boiler
at 100%
plant first.load is shown
According in Equation
to [17], (25). Ancontrolled
the generalized improvedplant
PM function
auto-tuning algorithm
of the is applied
main steam to the
temperature
model to obtain PID controller parameters.
to the disturbance of the feed water of a 600 MW supercritical once-through boiler at 100% load is
shown in Equation (25). An improved PM auto-tuning algorithm is applied to the model to obtain PID
controller parameters. 1.082
G4 (s) = 1.082 e−45s (26)
G4 (s) = 70s + 1e−45s (26)
70s + 1
Here, the characteristics of the controlled plant have been determined, so the identification
Here, the characteristics of the controlled plant have been determined, so the identification process
process is omitted. The ratio of the delay time of the plant to the inertia time constant is 0.6429. In the
is omitted. The ratio of the delay time of the plant to the inertia time constant is 0.6429. In the
case of τ/T = 0.6 in Table 1, the sine of the target phase angle margin satisfies sin( )  0.6481 , so
case of τ/T = 0.6 in Table 1, the sine of the target phase angle margin satisfies sin(ϕm ) <m 0.6481, so
sin( ) = 0.4 is available. According to Equation (7), the relay parameter should be designed as ε/d =
sin (ϕm ) = 0.4 is available. According to Equation (7), the relay parameter should be designed as
m

ε/d where
= 0.5357,
0.5357, the relay
where threshold
the relay value
threshold is taken
value as d =as1.dConnect
is taken the plant
= 1. Connect and the
the plant relay
and into ainto
the relay closed
a
loop, loop,
closed and the oscillation
and curvecurve
the oscillation can becan
obtained, as shown
be obtained, in Figure
as shown 11. 11.
in Figure

Figure 11. Limit oscillation curve of G4 (s).

Figure 11. Limit oscillation curve of G4(s).

The controller parameters with the smallest ITAE index are calculated by an optimization
algorithm for the correction coefficient within the range of (0,10), and algorithm results are shown in
Table 4. The controller is:

1
PIDmPM (s) = 9.5435 + + 59.1196 s (27)
2.5964s
Energies 2019, 12, 1704 13 of 16

The controller parameters with the smallest ITAE index are calculated by an optimization algorithm
for the correction coefficient within the range of (0,10), and algorithm results are shown in Table 4.
The controller is:
1
PIDmPM (s) = 9.5435 + + 59.1196s (27)
2.5964s

Table 4. Results of relevant variables.

Parameters A ωc x β T
Energies 2018, 11, x FOR PEER REVIEW 14 of 17
Modified PM 0.4526 0.0403 0.2251 5.7 −0.7528

1
The controller obtained through (s) = 0.8371 +
PIDtPMauto-tuning by29.5994 + 5.1859PM
the traditional s method comes as: (28)
s
1
In addition, the controller of the same plant is tuned by the Z-N method, and the obtained
PIDtPM (s) = 0.8371 + + 5.1859s (28)
controller comes as: 29.5994s
In addition, the controller of the same plant is tuned by the Z-N method, and the obtained
1
controller comes as: PIDZN (s) = 1.6879 + 1
+ 32.9222s (29)
PIDZN (s) = 1.6879 + 46.2224s + 32.9222s (29)
46.2224s
When the input of the set value of the plant is disturbed, the control effect of the controlled plant
When the input of the set value of the plant is disturbed, the control effect of the controlled
under the three PID controllers is shown in Figure 12, and the ITAE indexes of the three control
plant under the three PID controllers is shown in Figure 12, and the ITAE indexes of the three control
performances is shown in Table 5. The ITAE index of the improved PM method is much smaller than
performances is shown in Table 5. The ITAE index of the improved PM method is much smaller
that of the Z-N method and the traditional PM method, and the control curve does not fluctuate
than that of the Z-N method and the traditional PM method, and the control curve does not fluctuate
frequently. The overshoot is only about 1%, and the adjustment time is about 100 s, which are both
frequently. The overshoot is only about 1%, and the adjustment time is about 100 s, which are both less
less than those of the other two control curves. In summary, the PID tuning improvement algorithm
than those of the other two control curves. In summary, the PID tuning improvement algorithm based
based on the phase angle margin obtains the best controller effect.
on the phase angle margin obtains the best controller effect.

Figure 12. Control curves of different PID controllers.

Figure 12. Control curves of different PID controllers.
Table 5. Comparison of integrated time absolute error (ITAE) indexes by different PID controllers.
Table 5. Comparison of integrated time absolute error (ITAE) indexes by different PID controllers.
PID Tuning Method ITAE
PIDPM
Modified Tuning Method ITAE
942.13
Traditional PM 12841
Modified PM
Ziegler-Nichols 942.13
6944.2

Traditional PM 12841

Ziegler-Nichols 6944.2

In order to more directly verify the results of the improved PM tuning algorithm applied in
thermal power plants, this paper carried out a test on a 1000 MW ultra-supercritical unit. Under the
steady-state condition of the 1000 MW unit, the PID controller of the secondary spray desuperheating
Energies 2019, 12, 1704 14 of 16

In order to more directly verify the results of the improved PM tuning algorithm applied in
thermal power plants, this paper carried out a test on a 1000 MW ultra-supercritical unit. Under the
steady-state condition of the 1000 MW unit, the PID controller of the secondary spray desuperheating
system of the unit’s main steam temperature control is tuned. From the operating experience of the
power plant, it can be seen that the secondary water spray desuperheating system is a large inertial
element with delay, and the system characteristics will change according to the operating conditions.
Therefore, it is difficult to manually adjust PID parameters.
The experimental results with the main parameters during the tuning process are shown in
Energies 2018, 11, x FOR PEER REVIEW 15 of 17
Figure 13. The controlled system begins to enter the tuning mode at 100 s, and the controlled object
forms a closed loop with the relay. The output curve of the relay is a square wave, and the system
The experimental results with the main parameters during the tuning process are shown in
exhibits
Figure 13.limit
The oscillation
controlled under
systemthe excitation
begins to enterof the
the tuning
square mode
wave.atThe 100oscillation
s, and theof the mainobject
controlled steam
temperature is shown by the blue dotted line, and the fluctuation of the main steam temperature is less
forms a◦closed loop with the relay. The output curve of the relay is a square wave, and the system
than 2 C.
exhibits When
limit it reaches
oscillation 610 s,the
under theexcitation
tuning algorithm gives wave.
of the square the PIDThecontrol parameters,
oscillation of thethe controlled
main steam
object switches
temperature from the
is shown relay
by the loop
blue to theline,
dotted PIDandcontrol
the loop and the
fluctuation oftuning
the mainmode ends.
steam At 620 s, the
temperature is
system
less thanset2 point
℃. Whenis reduced
it reaches 605 ◦s,C the
from 610 to 600 ◦ C, and the main steam temperature gradually stabilizes
tuning algorithm gives the PID control parameters, the
to 600 ◦ C under
controlled object the PID control.
switches from the Then,
relaythe setto
loop value is increased
the PID control fromand
loop
◦ C to 603 ◦ C at 1170 s, and
600 the tuning mode ends. At
thes,main steam temperature is gradually increased to 603 ◦ C. the
Themain
experimental results show that the
620 the system set point is reduced from 605 ℃ to 600 ℃, and steam temperature gradually
stabilizes to 600 ℃ under the PID control. Then, the set value is increased from 600 ℃ to 603power
improved PM tuning algorithm can be applied to the control of thermal objects in thermal ℃ at
plants.
1170 Thethe
s, and tuning
main controller is calculatedisingradually
steam temperature Equationincreased
(30). to 603 ℃. The experimental results
show that the improved PM tuning algorithm can be applied1 to the control of thermal objects in
PID ( s ) = 1.4198s +
thermal power plants. The tuning controller is calculated + 19.15s (30)
38sin Equation (30).

Figure 13. Curves of setting process about main parameters.

Figure 13. Curves of setting process about main parameters.
5. Conclusions
In this paper, the application of the PID controller 1auto-tuning parameter algorithm based on the
PID(s) = 1.4198s + + 19.15s (30)
phase angle margin is studied in the objected with first-order 38s inertia and pure delay of a thermal power
plant. The study found that the traditional PM method cannot always meet the control requirements
for PID controller auto-tuning for different plants. In this paper, an improved tuning algorithm based
5. Conclusions
on phase margin is proposed. By obtaining the maximum value of the target phase angle margin of
In this
critical paper, the
oscillation application
by the frequencyof characteristics
the PID controller
of theauto-tuning parameter
plant, it can ensure thealgorithm based on
critical oscillation
the phase
of the angle margin
controlled is studied
plant under in the objected
the control with reduce
of the relay, first-order inertia auto-tuning
the online and pure delay ofand
time a thermal
ensure
power
the safeplant. The study
operation found thatplant
of the controlled the traditional PM method
when oscillating. cannot the
Furthermore, always meet and
amplitude the control
angular
requirements
frequency of thefor limit
PID oscillation
controller auto-tuning
waveform arefor different
obtained byplants. In this
combining thepaper, an improved
oscillation waveform.tuning
Based
algorithm
on this, thebased on phase parameters
PID controller margin is proposed. By obtaining
are optimized online bythe maximum
combining the value of the target
plant model phase
identification.
angle margin of critical oscillation by the frequency characteristics of the plant, it can ensure the
critical oscillation of the controlled plant under the control of the relay, reduce the online auto-tuning
time and ensure the safe operation of the controlled plant when oscillating. Furthermore, the
amplitude and angular frequency of the limit oscillation waveform are obtained by combining the
oscillation waveform. Based on this, the PID controller parameters are optimized online by
Energies 2019, 12, 1704 15 of 16

Also, the ITAE index as the optimization target is verified by simulation in the superheated steam
temperature control system of the actual power station. The simulation results show that, compared
with the traditional PM method and Ziegler–Nichols method, the improved PM online auto-tuning
algorithm proposed in this paper can effectively improve the control quality of the plant, and the
system adjustment is faster and the overshoot is smaller.
In addition, this paper tunes the parameters of the PID controller of the secondary sprinkler
cooling system for the main steam temperature control of a 1000 MW ultra-supercritical unit under full
load and steady state conditions. The experimental results show that the oscillation amplitude of the
controlled variable is safe and reliable during the setting process, and the control effect is satisfactory.
This improved tuning algorithm based on the phase margin provides a safe and feasible scheme for
the application of a fast online self-tuning algorithm in power plants.

Author Contributions: Conceptualization, Y.Z.; Data curation, Y.Z.; Formal analysis, D.Z.; Funding acquisition,
D.Z., Y.H., and Q.L.; Investigation, Y.Z. and W.L.; Methodology, Y.Z. and Y.H.; Project administration, Q.C.;
Resources, Y.H. and Q.C.; Software, D.Z. and W.L.; Supervision, Q.L.; Validation, D.Z., Y.Z. and W.L.; Visualization,
Y.Z. and C.P.; Writing—Original Draft, Y.Z. and C.P.; Writing—Review & Editing, Q.L., Q.C. and C.P.
Funding: This research was funded by National Natural Science Foundation of China, grant number 61833011,
National Natural Science Foundation of China, grant number 51806063 and Fundamental Research Funds for the
Central Universities, grant number 2017MS031.
Acknowledgments: We authors give sincere appreciations to the aid of the State Key Laboratory of Alternate
Electrical Power System with Renewable Energy Sources.
Conflicts of Interest: The authors declare no conflict of interest.

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