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Parameter Optimization Of PI Controller By PSO For Optimal Controlling Of A

Buck Converter's Output

Conference Paper · September 2017

DOI: 10.1109/IDAP.2017.8090234

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Parameter Optimization Of PI Controller By PSO For
Optimal Controlling Of A Buck Converter's Output
Gülçin Mühürcü
Control and Automation Technologies of Pinarhisar VHS
.ÕUNODUHOL University
.ÕUNODUHOL, Turkey
gulcinmuhurcu@klu.edu.tr
Aydin Muhurcu
Mechatronic Engineering, Faculty of Kirklareli Technology
Kirklareli University
Kirklareli, Turkey
amuhurcu@sakarya.edu.tr
Abstract²This study focuses on the Buck Converter which is
one of the Power Electronic topologies. The output of converter is
tried to keep under control. The control is implemented via
discrete time PI algorithm. In order to maintain efficiency of
control process at high level, the controller parameters of Kp and
Ki are optimized with the help of Particle Swarm Optimization
(PSO) which is an iterative algorithm. The study is simulated in
Matlab-Simulink and the results of control process are discussed.
Index Terms²Optimization, Recursive, PSO, Cost Function,
Discrete Time, PI, Control, Buck Converter.
I. INTRODUCTION
Nature has been a rich source of inspiration for researchers
with many aspects. Researchers who observe the nature and
creatures in have come out with new methods in order to solve
their problems by being inspired from the nature.
Many intuitive optimization algorithm processes have been
written down by scientist considering the movements and life
style of swarms in nature, set mathematical model of them and
arranged to be implemented to current problems.
Algortihms improved by observing the behave of creatures
living together to reach a particular target are called swarm
intelligence based optimization algorithms. Bird (BMO), Frog
(SFLA), Bee (BCO), Artificial Bee Colony (ABC), Ant (ACO)
and Particle Swarm Optimization (PSO) algorithms have been
improved by being inspired from animals that lives in a swarm
together, [1, 2, 13, 14, 15, 16, 17].
PSO algorithm which was improved by Eberhart and Dr.
Kennedy in 1995 by being inspired from social behaviour of
birds and fishes is a population based optimization algorithm
including the science of probability [3]. In the PSO, potential
solutions called particles tend to seek the best solution moving
around the best optimum solution in the search space.
PSO based, various current control studies are available. To
illustrate, Xutao Li and his team have performed PSO based
PID parameter optimization [5]. Shan-Cheng Pan and his co-
978-1-5386-1880-6/17/$31.00 ©2017 IEEE
Ercan Kose
Mechatronic Engineering, Faculty of Tarsus Technology
Mersin University
Mersin, Turkey
ekose@mersin.edu.tr
Ali Kuyumcu
Elc-Elctr Engineering, Faculty of Sakarya Engineering
Sakarya University
Sakarya, Turkey
alikuyumcu1@gmail.com
workers have modeled Buck Type Converter of Power
Electronic Circuit in simulation interface [6]. Vishnu Teja and
his team have utilized PSO algorithm to keep the output
voltage of Buck Converter and parameter values of sliding-
mode controller under control [7]. Hamit Erdem and O. Tolga
Altinoz have determined the coefficient of fixed frequency
sliding-mode controller in their Buck Converter study using
PSO algorithm and compared the results by applying it with
real hardware components [8].
Buck Voltage Converter mentioned so far provides
conversion of voltage level of DC source to a new lower
targeted DC voltage level based on switching method. The
output voltage of Buck Converter is brought under control in
order not to be affected from environment conditions. During
the control process, the control software belongs to hardware,
which is responsible for monitoring the output voltage is
arranged most appropriately on the purpose of providing the
lowest control cost. The conversion of DC voltage can be
fulfilled most efficiently by arranging controller software [5-
12].
In this study, the circuit components of Buck Converter have
been chosen as real components from market, modelling and
control process have fulfilled in Matlab/Simulink. Here, DC
voltage level has brought under control with the help of
Discrete Time PI Controller. With the aim of providing the
lowest control cost, the most appropriate Kp and Ki
parameters have calculated via PSO algorithm. Thanks to the
lowest control cost obtained, the lowest settling time, steady
state error and overflow related to the output voltage of
converter have achieved.
II. PSO ALGORITHM
SFLA is an algorithm which aims to find the global best
solution based on a heuristic search. PSO algorithm is a
metaheuristic optimization algorithm which models the random
distribution and instinctive behavior of living creatures. They
are called particles and move as swarm.
Fig. 1. Swarm and it¶s particles.
Particles affect each other so that they affect the general
The main components belong to the circuit are a coil and a
capacitor. While power consumption is fulfilled by Rload, a
battery is used as power supply. As pulse supply, a PWM
centre and for power transmission and cutoff, one IGBT are
used
Equivalent serial resistance (ESR) of the coil and the
capacitor are also added to have the highest similarity between
Buck Topology in simulation and real hardware.
If Transfer Function of System T(s) is analysed based on
electronical circuit analysis methods, the formula between the
input and the output voltages for the Laplace Space is shown in
Eq. 3
velocity and position of all swarm.  X s  R  / /R
T s c c
.
load
(3)
A particle in the swarm has its individual velocity and
position. Accordingly, PSO includes two main calculation
XL s  R   X s  R  / /R
l c c load

types as velocity and position, Eq. 1 and Eq. 2.

ŝŶƚŚŝƐĨŽƌŵƵůĂ͕
vij  t  1 a  t   b  t   c  t  . (1) XL s sL and X C  s 
1
represent.
sC
If Transfer Function of System T(s) is again arranged for
the simulation model ZLWK—)9PŸFapacitor and
xij  t  1 xij  t   vij  t  1 .
Parameters and variable used in Eq. 1 and Eq. 2 are defined as
follows,
(2)
—+$PŸcoil manufactured from Bourn Inc. and 6
ŸORDGUHVLVWDQFH(T becomes numerically;

a t  w * vij  t  ,

b t  c1 *  Pij  t   X ij  t   ,

c t  c2 *  g j  t   X ij  t   . Fig. 3. Bourns Inc., 33μH/3.8A/25PŸFRLO

w : Inertia coefficient.
c1,2 : Acceleration coefficient.
Xi  t  : i. particle's position.
vi  t  : i. particle's velocity. 

Pi  t  : i. particle's the best position.

Fig. 4. Bourn Inc., 1000μF/63V/44PŸFDSDFLWRU
g  t  : global the best position

III. BUCK SIMULATION MODEL 264s  6*106

T s . (4)
Buck type Step-Down power electronic circuit topology is 0.1995s 2  448.1s  6.025*106
given below in Fig. 2.
In order to move on to next step, the accuracy of Transfer
Function of System T(s) should be tested. Therefore, the Buck
Converter circuit fictionalized both Transfer Function T(s) and
power electronic components was run simultaneously in Fig. 5.

Fig. 2. Buck Converter Topology.

 The Discrete Time Integral Transfer Function reflected in
Fig. 7. derives from continuous time using Euler forward
rectangular method, [19].
V. THE KP AND KI PARAMETERS CALCULATION
In this study, Kp and Ki parameters are optimized using
PSO intuitive optimization algorithm. PSO algorithm should
observe the cost value of control process in order to calculate
optimum Controller parameters. Discrete time cost functions
sauch as ISE, IAE, ITAE and dTISDSE are utilized to
determine the cost of control process [4]. Mathematical
Fig. 5. Accuracy test of T(s).
equations of cost functions are shown respectively in Eq.
5,6,7,8.
As a result of both system given in Fig. 5. being run with
%100 duty cycle, the obtained overlapped waveform of output
t sim / Ts

¦e .
voltage is reflected below in Fig. 6.
ISE  e 
2
k
(5)
k 0

t sim / Ts

IAE  e  ¦ ek . (6)
k 0

t sim / Ts

Fig. 6. The simultaneous simulation result of Buck power circuit and T(s).
ITAE  e  ¦ k ek . (7)
k 0

IV. CLOSED LOOP CONTROL STRUCTURE

¦ k  ek2  . 
t sim / Ts
2
dTISDSE  e  
k 0

The optimization process of parameter of Controller can be

summarize through the flowchart given below in Fig. 8.

Fig. 7. Control block diagram of PI based Buck Converter.

In Fig. 7. the output voltage of Buck Converter is kept

under control as reference based control with discrete time PI
controller. The signal obtained at the output of controller is
applied to input of a dependent power supply source with DC
voltage level.
In hardware, using dependent power supply source is not
preferred. Instead of that, power transmission to LC circuit is
fulfilled by using pulse width modulation (PWM) through
power electronic circuit components such as IGBT and FET. In
hardware, dependent DC voltage source is not chosen.
Alternatively, Pulse Width Modulation Technique (PWM) is
commonly utilized. Power transmission to LC circuit is
performed by IGBT or FET which are components of power
electronic circuit.
 start

Create the closed

loop control system

chose
a cost function

Within boundaries
Kp=Ki=rand(Max,Min)

dCost=fixed1
rD=fixed2
Ts=fixed3
Tsim =fixed4 Fig. 9. The change of ISE cost function.

calculate cost
new
Kp, Ki
run PSO
No dcost < dCost
dt

Yes
cycle=0 cycle++

No
cycle==rD
Fig. 10. The change of IAE cost function.

Yes
optimum
Kp,Ki

Fig. 8. Optimization process of Kp and Ki.

The cost function graphics which are obtained after running

4 different cost function are reflected below in Fig. 9, 10, 11,
12. The initial parameters of optimization process are given in
Table 1.

TABLE I. INITIAL PARAMETERS OF OPTIMIZATION

Parameters Values Fig. 11. The change of ITAE cost function.
Tsample 5ȝV
Tsim 300ȝV
Iteration 200
Particals 250
C1 3.95
C2 0.5
w %1

Fig. 12. The change of dTISDSE cost function.

The numerical values of optimized Kp and Ki parameters

based on 4 different cost functions are given in Table 2.
TABLE II. THE VALUES OF KP AND KI BASED ON COST FUNCTIONS order to be affected at lowest level by environmental
Performance Criteria Functions
conditions. The high efficiency of Buck Converter was
Controller provided by PSO which is an intiutive optimization algorithm,
IAE ISE ITEA dTISDSE
Parameters on the purpose of decreasing the negative interactions from the
Kp 55.10 67.98 72.45 70.11 Controller. PSO optimized the Kp and Ki parameters of
Discrete Time PI Control algorithm so that the closed loop
Ki 47.04 36.78 12.21 47.28 control system could be run at the highest efficiency. Cost
Function using in the optimization process affect the efficiency
VI. SIMULATION RESULTS of parameter optimization of PSO. In this study, it is observed
In Matlab-Simulink, the closed loop control system given that ITAE cost function provides the the lowest settling time,
in Fig. 7. designed in 4 different way for 4 different optimum steady state error and overflow by means of PSO based
parameters of Controller which are obtained by using 4 parameter optimization.
different cost function.
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