Programmable Three-Phase Voltage Source
Controlled by Fuzzy Logic
Jose L. Paniagua
Universidad Autónoma de Occidente. Departamento
de Automática y Electrónica. Cali, Colombia.
joselouke@gmail.com
Johnny Posada
Universidad Autónoma de Occidente. Departamento
de Automática y Electrónica. Cali, Colombia.
jposada@uao.edu.co
Abstract—In this work a three-phase power supply to emulate
voltage disturbances that occur in an electrical network is
presented. The type of disturbances that can be generated are
voltage drop (voltage sags), over voltage (voltage swell). To
maintain the value of the disturbance is necessary to implement a
close loop with a control technique on it. Three control schemes
were probed in this work: PI, PID and fuzzy control. Simulations
show that the tracking properties of the PI, PID and fuzzy
control are similar. Using the smoothness of control signal shows
that the fuzzy control behaves better.
Keywords—Fuzzy control; Sag; Swell; Power supply,
Electromagnetic disturbances
I. INTRODUCTION
The quality of electrical energy is concerned with either
power quality or quality of supply. However the quality of
electrical energy is related, according to the IEEE, to the
keeping of an electrical distribution system free of variations or
electromagnetic disturbances to avoid malfunction or failure in
the equipment of the user. Compensation of electromagnetic
disturbances increases the power quality of an electrical
network To probe different algorithms that can do this
compensation is necessary to have specific hardware to
simulate the different types of disturbances. The main type of
disturbances are voltage drop (voltage sags), over voltage
(voltage swell) and voltage fluctuations (flickers). In this work
is presented a hardware (a power supply) to produce the
electromagnetic disturbances that occurs in an electrical
network. To keep the value of the disturbance is necessary to
implement a close loop with a control technique on it. Three
control schemes: PI, PID and fuzzy control were implemented
in this work. To compare the control strategies four
performance indexes were used. Two to measure the behavior
of the error and two to measure the behavior of the control
signal. Simulations show that the tracking properties of the PI,
PID and fuzzy control are similar. Using the smoothness of
control signal shows that the fuzzy control behaves better.
This paper is organized as follows. First, it explains the
electromagnetic disturbances found in an electrical network,
978-1-5090-5105-2/16/$31.00 ©2016 IEEE
Jesus A. Lopez
Universidad Autónoma de Occidente. Departamento
de Automática y Electrónica. Cali, Colombia.
jalopez@uao.edu.co
next, the description of the power supply to generate the
disturbances is presented, the work continues showing the
description of the control algorithms and their comparison
using performance indexes, lastly outlines the conclusions.
II. QUALITY OF ELECTRICAL ENERGY AND QUALITY OF SUPPLY
While the quality of supply, is related to the number of
interruptions in an electrical system and the duration of each
interruption. The electromagnetic disturbances likely to affect
the proper functioning of the equipment and the industrial
processes are classified generally in conducted and radiated
disturbances. According to the magnitude of fail frequency the
fails can be classified in low frequency (less than nine
kilohertz), high frequency (greater than or equal to nine
kilohertz) and electrostatic discharge [1]. The quality of
electrical energy is usually determined the electromagnetic
disturbances conducted in low frequency. These disturbances
can be classified in:
• Sag’s of voltage (Voltage drop).
• Swell of voltages (Over voltages).
• Fluctuations of voltage or flicker’s.
A. Sag’s of Voltage
A voltage sag is a sudden drop in voltage at a point in a
network of electric power, up to a value between 90% and 1%
(According to CEI 61000-2-1, CENELEC EN 50160), or
between 90 and 10 per cent (IEEE1159) of a reference voltage
rating (the reference voltage rating is the nominal voltage
declared for networks of Low, Medium and High Voltage). For
the Colombian norm NTE 2050, has been taken as a reference
the standard IEC 61000-2-1. The voltage sags are characterized
by its duration and the extent of the fall. See figure 1. The
SAG's of voltage are generally caused by high currents,
generated by shorts, connection of loads of high power
consumption, etc. Are irregular phenomena and random
behavior, which bring failures in the power supply of the
system of power or off the electrical system of its own, this can
also lead to voltage drops in user's neighbors of the same
electrical system, triggering of protections, operation output
drivers, velocity change in induction machines, re
reduction of
the output power in banks of capacitors, etc.
Fig. 1. Representatives at the time of voltage sags. [3].
B. Swell of voltage
The swell, are sudden increases in the effective value of
voltage above 110 per cent of the nominal voltage. The swell
can be of three types; temporary, maneuver and atmospheric
source and can occur between active conductors, phase/phase
or phase/neutral (for voltage at differential mode), or between
the active conductors and the mass or the Earth (on common
common-
mode overvoltage).. The temporary overvoltages can last
between half cycle of the signal voltage and one minute. It may
be caused by defects in insulation, ferro-resonance,
resonance, fault or
cutting of neutral, defects of the voltage regulator in
alternators, mismatches in the burdenn of transformers and on
compensation of reactive power. The overvoltage of maneuver
is produced by quick modifications of the structure of the
network (e.g.: Opening and closing of protective equipment,
transfers, etc.). The swells are characterized by ththeir average
duration above a threshold defined by the mag
magnitude of the lift.
See figure 2.. The length of the lifting tension is the time
measured from the moment in which the effective value of the
voltage rises above the threshold until when it returns un under
this. For the purposes of classification, the magnitude of the
elevation is given by the maximum deviation of the effective
value of the voltage with respect to the nominal voltage and,
the duration of the overvoltage is given by the maximum
duration off the worst phase affected in each case.
Fig. 2. Characterization of a swell of voltage. [4].
C. Fluctuations of Voltage or Flicker’s
The flicker's are variations of the effective value or the
value of crest of an amplitude less than 10% of the nominal
voltage. Fluctuations in voltage are a succession of supply
voltage variation or variations cyclical random or of the
envelope of a tension,
on, whose characteristics are the frequency
of the variation and its amplitude.
According to the standard UNE EN50160:1996, the flicker
is the impression of instability of the visual sensation due to a
stimulus luminous in which the luminosity of the spectral
distribution fluctuates with the time.
The flicker is of successive variations in voltage caused by
certain industrial loads such as welding machines, large
engines with variable loads, electric arc furnaces, etc.
D. Design of the Generator
This platform
tform consists of part software and other hardware.
The software is comprised of Matlab, Simulink and control
desk, which operate together to achieve the interaction with
the hardware part and be able to perform control over this. The
interface is based on the platform DSPACE with the card
DS1104 which is compatible with both software. The
Hardware is composed of different sub-modules
sub that meet a
specific function within the complete system. The platform
consists of a three-phase
phase rectifier, a subsystem to start,
s a
SPWM generator, three single-phasephase inverters and an output
filter based on a settlement of transformers
transfor and capacitors. In
Figure 3 shows a block diagram of the whole system.
E. Software
As you can see in Figure 3,, stage software is composed of
a graphical
hical interface made in control desk, which allows you
to interact with the hardware through a model implemented in
Simulink. These subs stages interact to generate the references
of the system and display the response of the same in real
time.
Fig. 3. General diagram of the Platform generator of events.
• Control Desk. The software developed with this
application is composed of a graphical interface (layout) in
which you can set the phenomena (sacks, swell, etc.) Its
amplitude in percentage and the duration of the same.
Similarly allows you to display the levels of voltage and
current in the load connected to the system.
• In the interface there are three regions aimed at the
generation of the disturbances in each one of the phases.
Each region, then allows you to generate sag or a swell,
letting the user detail the duration as well as the percentage
in the amplitude of the sags or swell.
F. Hardware
The hardware part of the generator consists of several
stages, among which are a starting system, a rectifier, a circuit
SPWM signal generator, a group of sources regulated voltage
to 15V and 5V, three single phase inverter, a board of signal
conditioning for current and voltage sensors, three current
transducers and three voltage.

Fig. 4. Graphical interface
nterface of Control Desk to generate shocks.
• The starting system has as a main component a
microcontroller atmega16-P, P, which is responsible for
checking the voltage levels in each of the phases and the
phase sequence of the three phase electrical grid. Th The
purpose of this is to ensure optimum operation in the
rectifier, which makes part of another fundamental stage of
the system. Once the boot system has verified the
parameters already mentioned, turns on a pilot in the panel
indicating that the system can be started by the user. The
reason why it was necessary the implementation of this
starting system was to ensure the optimal functioning of
the rectifier and therefore provide a suitable DC level for
each single phase inverter.
Fig. 5. Block diagram of the starting system.
• The rectifier has as function to generate the level DC to
single phase inverter from the three phase electrical grid.
[6]. In this case it is using the conventional three
three-phase
network of the laboratory of the university which provides
a voltage line by line of 208Vrms with which it gets a DC
voltage to the rectifier output of 280Vdc.
• The SPWM modulation or width modulation ssinusoidal
pulse is a modulation type wherein the pulse width is not
fixed is maintained and varies according to the comparison
in amplitude of a triangular reference signal with a carrier
sine, reducing factor significantly the distortion factor and
lower order harmonics. In the diagram of Figure 6 shows a
general scheme SPWM signal generator whose function is
to provide such signals to each of the three single
single-phase
inverters for proper activation. It is important to note that
this scheme is replicated three
ee times, because as it tries to
emulate a three-phase system.
Fig. 6. Diagram of SPWM Signal Generator
Referring to Figure 6,, the triangle wave generator is based
on an integrated circuit XR2206, which can generate
different types of signals among whichwhi is triangular. In
addition to manually adjust both the amplitude and
frequency of the signal generated, facilitating tests and
experiments of the entire system.
system Furthermore, the phase
signal is generated from DSPACE with amplitude not
greater than 8V, thishis in order to ensure good results
comparing this signal with the triangles. To ensure proper
protection of the platform DSPACE insulation
implemented by insulating operational amplifier reference
AD202 of Analog Devices connected to each of the
sinusoidall signals and configured as voltage followers in
order to prevent damage to the DAC channels (digital to
analog channel) of the DSPACE. The comparator is
composed entirely by a reference operational amplifier
LM393, which is a pure comparator, allowing this thi
operation to achieve SPWM signal. The triangular signal
generated has a much higher frequency (5 KHz) that the
sine signal, and is slightly greater (above 1 Volt)
amplitude. These two conditions are necessary to achieve
optimal modulation bipolar SPWM. For F proper operation
of a voltage inverter DC/AC/AC is necessary that the control
signals or activation of the inverter are complementary and
there is a time delay between them. This in order to avoid
short circuit in the DC voltage source that provides the
inverter.
verter. Because of this, a circuit composed of a NOT
gate array and a network of the capacitor and an resistor in
order to introduce said delay time is implemented.
Furthermore an enable circuit implemented by each pair of
signal SPWM and its complement,
complem which is based on an
array of AND gates and an activation signal from the
interface ControlDesk.
• The three-phase
phase inverter consists of three single-phase
single
inverters connected to the same DC bus, whose outputs are
connected to a transformer coupling as showns in Figure 7.
[7]. A single-phase
phase inverter is a circuit in which an array of
power semiconductors, switched following a certain
sequence to generate an alternating voltage signal. Full
bridge Inverter topology is used in this work. Electronic
switches must switch simultaneously crosshair to prevent a
short circuit in the DC voltage source. The output of this
inverter iss an alternating square wave. [5].
[5 Therefore, it is
necessary to include a filter or filter output based on
Inductor or transformer and capacitor
apacitor in order to obtain an
AC voltage signal.

Fig. 7. Three-Phase Invrter. [7]
• The event generating source was equipped with current
sensors and voltage to know the status of these variables
and to perform a type of closed-loop control of the entire
system. It was also necessary to design and implement an
interface between these sensors and DSpace. This circuit is
composed by an active filter based on an LF353 operational
amplifier in Sallen-key configuration to eliminate high
frequency noise and an arrangement of Zener diodes to
protect the DSPACE ADC channels and not exceed +/-
10V levels supported.
Six circuits like this were implemented because the system
was equipped with six sensors, three current and three voltages
per phase respectively. Current transducers of reference LA-
55P were used. These devices have galvanic isolation between
the primary circuit (high power) and secondary (electronic
circuit), managing a conversion scale of 1000: 1. Its main
feature is that it uses the Hall Effect for measurement and has
advantages such as linearity, high immunity to external
interference and a wide bandwidth. To measure the voltage in
each phase, voltage transducers of reference LV-20P were
used. These devices have galvanic isolation between the
primary circuit (high voltage) and the secondary (electronic
circuit), managing a conversion scale 2500: 1000. The
operating principle of this device is that for voltage
measurements, proportional to the measured voltage, current
must pass through an external resistor, which must be selected
by the user and installed in series with the circuit primary
transducer. The value of this resistance should be chosen
depending on the voltage that is expected to measure and
according to the manufacturer specifications provided in the
data sheet.
Fig. 8. Hardware. 1) Starter. 2) Three-Phase Rectifier. 3) LC Filter. 4) Indicator
Panel. 5) PWM Generator. 6) Three-Phase Invrter. 7) Current Transducers. 8)
Sallen-Key Filter. 9) Voltage Transdcers.
III. CONTROL DESIGN AND SIMULATION
A. PID Control
The PID is short for Proportional, Integral and Derivate.
PID control is the most used control technique in industrial
processes mainly because is easy to implement [8]
One problem that PID control has is the wind up. This
means that the integral term may become very large. It is then
required that the error has opposite sign for a long period
before things return to normal. The consequence is that any
controller with integral action may give large transients when
the actuator saturates. To avoid this problem anti-windup
scheme is used [8].
The design of a PID controller with ant-windup consists on
find four gains. Thus, is necessary to define the proportional
gain (K), the integral time (Ti), the derivative time (Td) and
the anti-windup time (Tt). These parameters were found using
simulation of the process.
B. Fuzzy Control
Fuzzy control allows design a controller for a process
having a qualitative understanding of its operation [9]. The
control strategy is defined using linguistic rules. For the
definition of the rules two inputs and one output were defined
for the fuzzy controller. The inputs are the error (E) and the
rate of change of error (dE) and the output is the variation of
the control signal apply to the process (dU). We used the next
linguistic variables to characterize the inputs and output of the
controller: Very Negative (VN), Negative (N), Zero (Z),
Positive (P) and Very Positive (VP) Table I shows the rules of
the fuzzy control
Fig. 9. Fuzzy logic Controller
Figure 9 shows the scheme with the fuzzy controller, wich C. Simulation of PI and PID controllers
will also implement a sheme of Anti-windup. Figures 12 shows the behavior of the output signal when a
PI and PID controllers are used, and figures 13 shows the
TABLE I behavior of the control signal when a PI and PID controllers
LINGUISTIC RULES FOR THE FUZZY CONTROLLER are used.
Variation of Error derivative
Control Signal VN N Z P VP D. Simulation of Fuzzy controller
VN VN VN VN VN VN Figures 14 shows the behavior of the output signal and the
N VN N N Z Z control signal when a fuzzy controller is used.
Error C N N Z P P
IV. CONTROLLERS COMPARISON
P C C P P VP
VP VP VP VP VP VP To compare the behavior of the controller are used four
performance indexes.
Fuzzy controller inputs are the error signal and its A. Performance indexes for error
derivative, these go through an inference mechanism
Evaluates the difference between the desired value and the
generating the control action. Both the error signal as the
value obtained at the output To measure the quality of the
derivative can be positive, zero or negative (linguistic labels).
error, we used two performance indexes: The first one is the
The error gives us information about how far or is the current
mean square error Eq. 1, the second one is the mean absolute
reference to the desired reference and error derivative provides
error, Eq. 2.
information about how fast or slow you change the reference.
If the error is negative means that the current reference is 400 400

below the desired reference and a negative derivative means

350 350

300 300

that it is increasingly distant from the reference, whereas if a 250 250

derivative of the positive error had this would mean that the Voltage

Voltage
200 200

current reference is approaching the desired reference. If the

150 150

100 100

error and the derivative are zero this is interpreted that the 50 50

reference is still. 0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
0
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8

Figures 10 to 12 show the fuzzy sets of the inputs and

Time Time

output variables. The type of fuzzy inference chosen for this Fig 12. Behavior of the output signal for PI (left) and PID (right)
controllers
project was Mandani [9].
1 1

0.8

0.6

0.4
0.5
0.2
Control Signal

Control Signal
0

-0.2
0
-0.4

-0.6

-0.8

-0.5 -1
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time Time

Fig. 10. Fuzzy set for the input error.

Fig. 13. Behavior of the control signal for PI (left) and PID (right) control
lers

Accion de Control con Controlador Difuso

350 1.2

300 1

250 0.8
Control Signal

200 0.6
Voltage

150 0.4

100 0.2

50 0

Fig. 11. Fuzzy set for the input error derivative. 0

0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
-0.2
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8
Time Time

Fig. 14. Behaviour of the output signal (left) and the control signal (right)

1
1= ( ( − ( (1)

Fig. 12. Fuzzy set for the output control signal variation.
 1 Fuzzy control showed a better behavior than other control
2= | ( − ( | (2) strategies. To get this conclusion was very useful to use
performance indexes to compare the different controllers. This
allows to have a quantitative criteria to do the comparison.
Where r (k) and y (k) are the reference signal and the Next stage is to probe the controllers in the actual power
output signal at the k sample time supply.
B. Performance indexes for control signal An advantage of fuzzy control is the possibility of applying
To measure the quality of the control signal two the knowledge that the user has of the process in this case the
performance indexes were used: The first one is mean of the power supply to emulate electromagnetic disturbances.
control signal Eq. 3. This evaluates the average of the absolute REFERENCES
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