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A New Improved Variable Step Size MPPT Method for Photovoltaic Systems
Using Grey Wolf and Whale Optimization Technique Based PID Controller

Article · February 2021

DOI: 10.18280/jesa.540120

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 Journal Européen des Systèmes Automatisés
Vol. 54, No. 1, February, 2021, pp. 175-185
Journal homepage: http://iieta.org/journals/jesa

A New Improved Variable Step Size MPPT Method for Photovoltaic Systems Using Grey
Wolf and Whale Optimization Technique Based PID Controller
Zemmit Abderrahim1,2*, Herraguemi Kamel Eddine3, Messalti Sabir1,2
1
Electrical Engineering Department, University of Msila, Msila 28000, Algeria
2
Mechatronics Laboratory Optics and Precision Mechanics Institute, Ferhat Abbas University Setif 1, Setif 19000, Algeria
3
Informatics Department, University of Msila, Msila 28000, Algeria

Corresponding Author Email: [email protected]

https://doi.org/10.18280/jesa.540120 ABSTRACT

Received: 24 August 2020 In this work, we have developed two new intelligent maximum power point tracking
Accepted: 6 December 2020 (MPPT) techniques for photovoltaic (PV) solar systems. To optimize the PWM duty cycle
driving the DC/DC boost converter, we have used two optimization algorithms namely the
Keywords: whale optimization algorithm (WOA) and grey wolf optimization (GWO) so we can tune
fixed / variable step size algorithms, the PID controller gains. The oscillation around the MPP and the fail accuracy under fast
perturbation and observation (P&O), variable isolation are among the well-known drawbacks of conventional MPPT
maximum power point tracking MPPT algorithms. To overcome these two drawbacks, we have formulated a new objective fitness
algorithm, optimization methods, grey wolf function that includes WOA/GWO based accuracy, ripple, and overshoot. To provide the
optimization (GWO), whale optimization most relevant variable step size, this objective fitness function was optimized using the
algorithm (WOA), overshoot, ripple two aforementioned optimization algorithms (i.e., WOA and GWO). We have carried out
several tests on Solarex MSX-150 panel and DC/DC boost converter based PV systems .
In the simulation results section, we can clearly see that the two proposed algorithms
perform better than the conventional ones in term of power overshoot, ripple and the
response time.

1. INTRODUCTION algorithms [3, 4]. Two main categories exist: the conventional
and intelligent methods. Perturb and observe (P & O) [5],
Recently, the energy consumption has reached unexpected Incremental Conductance (IC) [6], Hill Climbing (HC) [7],
high levels, in which it surpassed all expectations, besides, fractional open circuit voltage [8], fractional short circuit
continuous increasing demand and the high cost of current [9] are all conventional methods, where the intelligent
conventional energies have forced many countries and methods use neural network [10], fuzzy logic, grey wolf
institutions to find and develop new energy source able to optimization (GWO) [11], and genetic algorithms [12],
replace the fossil energy gradually with better performance Particle Swarm Optimization PSO [13].
especially in term of abundance, pollution, price, efficiency, The oscillation around the MPP and the poor accuracy under
etc. Hence, the most researchers have opted to investigate the fast variable atmospheric conditions are among the well-
renewable energy as an alternative solution, which can be the known drawbacks of MPPT algorithms. In this study, two
most promising option while it renewable and naturally optimization algorithms namely the whale optimization
replenished. Renewable energy is the energy produced from algorithm (WOA) and grey wolf optimization (GWO) are used
natural resources like geothermal, wind turbines, tides, rain, to tune the variable step size providing the adaptive duty cycle
and sun [1]. of the DC/DC boost converter. A comparison between those
In this context, many studies have demonstrated that two algorithms was done by considering a boost converter
photovoltaic (PV) energy can be considered as one the most connected to a Solarex MSX-150 model. To check the
important renewable energy sources while it exhibits better efficiency of the proposed techniques, we have considered
performances, which is clean, free and abundant in the most many scenarios and schemes for temperature and irradiation.
part of the world as well as simplicity in design, low The rest of the paper is organized as follows: Section 2 and
maintenance and low cost. However Photovoltaic still suffer section 3 describe respectively the modeling of PV cell and
some limitations particularly its low conversion efficiency P&O MPPT method. Section 4 gives a short background on
which is only in the range of 9 - 17% [2] and the nonlinear bio-inspired algorithms in which Grey-Wolf Optimizer (GWO)
characteristics. Hence, several studies and researches on the and Whale Optimization Algorithm have been presented with
subject of the development and improvement of PV systems details. Section 5 then presents the proposed variable step size
have been updated continuously in term of efficiency, cell MPPT algorithm using GWO and WOA. Section 6 shows the
materials, DC/DC converters, MPPT methods, etc. obtained results in which a comparative study has been carried
In many studies, to increase the efficiency of PV systems, out. Finally, Section 7 provides some conclusions and
the focus was on maximum power point tracking MPPT directions for future work.

175
2. PHOTOVOLTAIC CELLS’ MODELING Iph to the solar irradiation.

Photovoltaic system (PV) is the conversion of light into G

electricity using semi conducting materials where the I ph = ( I sc + ki (T − Tr ) ) (3)
1000
photovoltaic effect is exhibited. In Figure 1, we show the
equivalent model of a PV cell. It consists of a light generated
current source, a single diode, a series resistance Rs and a
3. PERTURB & OBSERVE (P&O) METHOD
shunt resistance Rsh [3, 14-16].
One can express the solar cell terminal current in the form
Currently, photovoltaics can be considered as the most
of a function of photo-generated current, diode current and
relevant secondary energy source. Due to its nonlinear
shunt current.
characteristics and low efficiency, the maximum power point
tracking (MPPT) of a photovoltaic array is considered as an
I o = I ph − I d − I sh (1) essential part of a PV system. Many MPPT techniques
including perturb and observe [17, 18], incremental
conductance [19], parasitic capacitance [6], constant voltage
[20], can be tracked in literature.
The observation of the change in module output power and
the perturbation of the module operating point are essential
points to be considered in the mechanism of any classical P&O
technique. The direction of the coming perturbation can be
defined using the polarity of the module output power.
For positive polarity, the next voltage perturbation can
increase or decrease in the voltage, the same as that for the
Figure 1. Model of a photovoltaic cell previous perturbation. For negative polarity, the on the
Improvements of Perturb and Observe Based MPPT [21].
The following equation gives the output current of a PV Since it is simple and easy to implement, perturbation and
array. observation is one of the most commonly used MPPT methods
[22-24]. In this method, we need to slightly disturb (increase
 q (V + Rs I o )  or decrease) the array voltage then we compare the actual
q (V + R s I o )
I 0 = N p I ph − N p I rs e AkTN s − 1 − N p (2) value of the power P(k) to the previous obtained value P(k-1).
  N s R sh If the disturbance caused an increase-in power panel, the
following disturbance will have the same direction. In Figure
The following equation relates the generated photo-current 2 [25], we show the flowchart of this method.

Figure 2. Flowchart of the conventional P&O algorithm [25]

176
4. BACKGROUND ON BIOINSPIRED ALGORITHMS (6)
A = 2a.r1
In the last decennium, the interest in bio-inspired
optimization approaches has increased [26]. Hundreds of (7)
algorithms that proved their efficiency in various applications
C = 2.r2
in many domains have been developed. Grey Wolf Optimizer
[27-29] (GWO) and Whale Optimization Algorithm [30] where, components of a are linearlyadecreasedafroma2 toa0
(WOA) are two recently developed algorithms inspired by
grey wolfs and whale behaviors, respectively. This section will over the course of iterations and r1 , r2 are random vectors in
summarize the main inspiration and the mathematical model [0,1].
of GWO and WOA.
4.1.2 Hunting the prey
4.1 Grey wolf optimizer Grey wolves hunting behavior change position of each pack
in the group by approaching to the prey, this behavior is
To mimic the natural leadership hierarchy and the hunting mathematically described as follows: α is considered as the
strategy of grey wolves, GWO is used. It consists of a leader and the finest solution, β and δ are expected to know
stochastic algorithm and it was developed by Mirjalili et al. more information about prey’s possible positions. Therefore,
[31]. Grey wolves groups have a special hunting mechanism ω pack will pursue them and obliged to change locations in the
which has inspired the researchers who has developed this light of α, β and δ in the next iterations. Position updating or
technique. Naturally, wolves prefer to be in a pack with a hunting behavior is described by the-following-equations:
steady hierarchy. To help in the process of hunting, and based
on the mission of each individual, each pack is divided into
four categories named alpha, beta, delta and omega. During Dα =C1t . X αt X t, D β =C1t . X βt X t, Dδ
the hunting, the feeding, and the migration, the leader of the
   
(8)
group who is responsible for guiding and directing the whole
=C1t . X δt X t
group is called alpha (α). Beta (β) wolf stands on the second  
level of social pyramid. This category can substitute α when
they are killed or cannot lead the group anymore [32]. The next
class is delta wolves (δ) and the rest of population is called X 1t = X αt A1t .Dαt , X 2t = X βt
omega (ω). When we design the GWO and as a mathematical (9)
model for the social hierarchy of wolves, the first three that A2t .Dβt , X 3t = X βt A3t .Dβt ,
have the fittest solutions in the population are regarded as: α,
β and δ. We declare the rest of search agents as ω. In order to
find the best optimal solution and during the optimization X 1t + X 2t + X 3t
process, process ω group is guided and directed by α, β and δ X t+1 = (10)
toward the promising search space.
3
Basically, the mathematical model of GWO is described in
4.1.3 Attacking the prey
three main phases which are: encircling, hunting and attacking
the prey and they are detailed as follows:

4.1.1 Encircling
Start iterating (t=1) when we find a prey. Therefore, α, β and
δ wolves leads the rest of search agents to pursue and
eventually encircle the prey, this behavior of grey wolves is
expressed as:

X (t +1) = X p (t )+ A.D (4)

where, X is search agents (wolves) positions, X p referenced

the prey position. I is the iteration number. And A is a vector

of coefficient at the (t+1)th iteration, Whereas, D is another
coefficient that can be described as following:


D = C. X p (t ) X (t )  (5)

The parameters A and C are combinations of controlling

parameters a and random numbers and r2 which can be Figure 3. Flow chart of GWO algorithm
mathematically expressed as follows:

177
 solution obtained so far, X is the position vector. Eqns. (14)
The attacking process is controlled by the parameter a
and (15) are used to calculate the coefficient vectors A and C.
changes the vector A and conduct the omega wolves to
approach or run away from the prey (solution), theorically, if
 A = 2a.r a (14)
A > 1 wolves run a way to explore more search space. Else,
they approach to dominants which mean that omega wolves C = 2.r (15)
will follow the dominants which exploit the small search space.
a are linearly decreased from 2 to 0 over the-course of where, a decrease linearly from 2 to 0 over-the course of
iterations are cried on: iterations (in both exploration and exploitation phases) and r is
a random vector generated with uniform distribution in the
a = 2(1 t / N )
interval of [0,1]. search agents update their positions based on
(11)
the best known solution. The solution location is controlled by
the adjustments of A and C values.
where, N is the total number of iterations and t is the current The humpback hunting method is based on shrinking
iteration number. encircling mechanism and a spiral shaped path toward the prey.
The basic steps of the grey wolf optimization can be shown The shrinking behavior is formulated by the Eq. (16)
Figure 3 [27-32].
2
4.2 Whale Optimization Algorithm a= 2 t (16)
MaxIter
Mirjalili et al. [33] developed a new stochastic population
algorithm named Whale Optimization Algorithm (WOA) [34]. where, t is the iteration number and MaxIter is the maximum
The social behavior of the humpback whales is behind the number of allowed iterations. The distance between the actual
inspiration of this algorithm. More directly, the WOA is a solution and the best position is used to calculate the spiral-
mimic of the bubbles net feeding in the foraging behavior of the shaped path (see Eq. (17)),
humpback whales. This behavior is illustrated in Figure 4.
X (t +1) = D' ebl .cos(2%PIl )+ X' (t ) (17)


where, D' = X' t () ( )
X t and the distance of the whale
from the prey (The best solution obtained so far) is described
by Eq. (17). To make a choice between the two mechanisms
(shrinking encircling mechanism and the spiral-shaped path)
with probability of 50% during the optimization process, we
use a random coefficient p in [0,1]. The shrinking encircling is
used to update the position when p <0,5. The spiral-shaped
path is used elsewhere.

Figure 4. Bubble net feeding behavior of humpback whales 4.2.2 Exploration phase (Search for prey)
When they are constructing bubble-network, whales have
Two main phases are required to compose the algorithm certain probability of searching for prey when. Mathematically,
namely exploitation phase (which contains two steps: the the search for a prey will enhance the WOA exploration. In
encircling prey, and the bubble-net attacking) and the this phase, we have to change the coefficient A. We update the
exploration phase (which consists of the Search for prey). In distance data D randomly, if A exceeds the range of [-1,1]. At
the following section, we describe the mathematical model of this moment, the algorithm will have certain global search
WOA. ability since the whales will deviate-from the original optimal
fitness (see Eqns. (18), (19))

 
4.2.1 Exploitation phase (Encircling prey, Bubble -net a

attacking) D = C. X rand − X (18)

The mathematical model of the encircling behavior of the
humpback whales is given in Eqns. (12) and (13).
X (t +1) = X rand − A.D
 
(19)
D = C. X (t ) X (t )
' (12)
where, Xrand is random location information of a whale
selected from this iteration.
X (t +1) = X' (t ) ( A).D (13) Figure 5 depicts the flowchart of WOA technique.
Moreover, the pseudo code of WOA can be expressed as the
where, at indicates the current iteration, X’ represents the best following:

178
 Figure 5. Flowchart of WOA technique, with a duty cycle Xi and the PV power as the fitness

5. VARIABLE STEP SIZE MPPT ALGORITHM D(k ) = D(k − 1)  N * dP (20)

USING GWO AND WOA

As aforementioned, with a fixed-step size, the conventional 5.1 GWO/WOA based step size MPPT Tuning
MPPT methods have good performance. However, the slow
convergence, the oscillations around the MPP point and the To ensure optimal control MPPT performance at nominal
failing to track the MPP point under rapidly changing condition for the PV, one can apply GWO/WOA to tune PID
atmospheric conditions are the most drawbacks. A speedy parameters gains (Kp, Ki and Kd). In Figure 6, we give the
tracking can be achieved by considering larger step. The block diagram for the entire system.
oscillations with slower dynamics can be reduced using
smaller step size. Many contributions which used variable step
size have been introduced and significant progress has been
made to solve these dilemmas. In this approach, the step size
is calculated automatically according to the PV array
characteristics [1-4, 9, 25] by the algorithm. The step size
should make a satisfactory tradeoff between the dynamics and
oscillations, and this will depend on each operational condition.
In this study, we propose a new variable step size MPPT
algorithm characterized by more simplicity, faster response
time and less oscillations.
In Figure 7, we show the variable step MPPT developed
using Simulink. Figure 6. The proposed GWO/WOA Variable Step MPPT-
In the following equation, we give the proposed variable PO
step size method.

179
 Figure 7. MPPT variable step PO-GWO/WOA implementation Matlab/Simulink

5.2 Objective function function as follows:

In each optimization issue, the evaluation of the results can 𝐹 = 𝛼. 𝐼𝑆𝐸 + 𝛽. 𝑂𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 (23)
be performed using the objective function. In which, the
evaluation measures are included. The successful choice of where, α and β are two empirical parameters used for
function means more accurate and better results. In this work, balancing between the measurements. In our-case, there is no-
a combination of various criteria is introduced in the preference between-the two-objectives, so (α=β=0.5) is
evaluation function, in order to be optimized and get the best chosen.
gains in our main goals such as Ripple, Overshoot, and system
response time. Firstly, integral square error (ISE) [29] criterion
is given as a measure for ripple, in which the difference 6. SIMULATIONARESULTSAANDADISCUSSION
between the theoretical and produced power is calculated. ISE
is given by the equation: To simulate and analyze the proposed method, we choose
𝜏
the Solarex MSX-150 photovoltaic module witha36 solar cells
2 [4]. The Figure 8 shows the P-V characteristics of the PV cell
∫ (𝑃𝑟𝑒𝑓 − 𝑃𝑜𝑢𝑡 ) 𝑑𝑡 (21)
0 from a typical Solarex MSX-150 PV panel. For more details;
Figure 8(a) show the P-V voltage characteristics of the PV cell
also, the overshoot criteria employed as second part of the for different irradiation levels (0.2, 0.4, 0.6, 0.8, 1 KW/M²) at
fitness function, which is defined as follows: fixed temperature=25℃, respectively. Where, the Figure 8(b)
reports the impact of the temperature variation (T=25, 50, 75,
𝑂𝑣𝑒𝑟𝑠ℎ𝑜𝑜𝑡 = 𝑚𝑎𝑥(𝑃𝑜𝑢𝑡 ) − 𝑃𝑟𝑒𝑓 (22) 100, 125 and 150℃) with constant irradiation (S=1 KW/M²) on
the P-V voltage characteristics of the PV cell.
Based on these two measurements; we define our fitness

(a) P–Vacurves for various-irradiation-levels (Solarex-MSX-150, S= 0.25, 0.5,0.75, 1 Sun, T= 25)

180
 (b) P–Vacurves for various temperatures. (Solarex-MSX-150, S=1 Sun, T=0, 25, 50, and 75)

Figure 8. Characteristics P-V and I-V under various insolation levels

Figure 9. Evolution curves of the fitness value

Figure 10. Output power of MPPT using GWO and WOA

Table 1. Test pattern signals variation of irradiation due to weather changing or cloud
passing, three irradiation steps signals were simulated using a
Irradiation (W/m2) Time (s) MATLAB/Simulink software as described by Table 1. The
1000 0-0.5 obtained results are compared to P&O classical algorithm and
600 0.5-1 even compared between them.
800 1-1.5 As stated in the background on bio-inspired algorithms
600 1.5-2
section, the main advantages of GWO and WOA is the less
1000 2-2.5
number of parameter entered by the user. Mainly, three
parameters are used in both algorithms, which are number of
In order to prove our proposals efficiency, with the quick

181
iterations, number of agents and optimized variables number, exploration in WOA. However, Gray wolves optimization
such as, the last one representing the PID parameters Kp, Ki algorithm starts with less fitness function in the first few
and Kd in our model. Table 2 reports the utilized values for iterations, which effect directly on the ripples in our model,
each parameter in the algorithms. due to the hierarchical search method that makes GWO
algorithm powerful in terms of exploration. Table 3 give the
Table 2. GWO and WAO setup parameters results of 4 executions of the proposed methods with the same
global objective with different performances (ripple, overshoot
Parameters and response time). The best results, which will be used in the
Description rest of our study, are highlighted in bold.
WAO GWO
The efficiency of the proposed GWO-MPPT and WOA-
Number ofasearchaagents 10 10 MPPT methods, is illustrated through a comparative study
Maximumanumber ofaiterations 50 50 between variable step size MPPT and MPPT-GWO/WOA
have been illustrated. We have demonstrated three
Numberaof variable 2 2
improvements: a) tracking accuracy, b) ripple. c) overshoot.
Figure 10 shows the GWO and WOA performance in training
Table 3. Optimum set of controllers gains offline step. While Figure 11 shows the obtained results using
the trained optimal variable step size MPPT.
Algorithm Ki Kp Kd
From simulation results we can see that:
Test 1 45.381005 1077.134 0.028086226
Test 2 33.342169 1300.6693 0.038502141 • MPPT tracking: fixed and variable step size MPPT
GWO
Test 3 26.151597 1425.7115 0.038324656 algorithms both have acceptable accuracy. In both
Test 4 58.341318 1470.8635 0.038500916 cases, the power values are very close to the theoretical
Test 1 81.273813 1097.8142 0.038562088 value corresponding to irradiation levels (Figure 10 and
Test 2 83.00539 1118.2084 0.039770502 Figure11A).
WOA
Test 3 65.992306 1095.0812 0.012762517 • Ripple: It is clear the variable step MPPT method gives
Test 4 93.027473 1395.4121 0.037849931 improvement regarding the ripple. The quality of the
output power PPVl (Ripple) with variable step
As the first comparison, with the aim to forecast the best GWO/WOA MPPT algorithm are obviously better than
method that gives more minimization of the fitness function it with fixed step size MPPT algorithm (Figure 11B).
between GWO and WOA. Figure 9 reports the results of • Overshoot: the power peak value of the overshoot in
fitness function in terms of number of iterations. It’s observed case of suddenly changing atmospheric conditions is
that whale optimization algorithm performs the Grey wolves more important with the fixed value GWO/WOA
optimization algorithm in terms of minimization, which means MPPT compared to overshoot using the proposed
more efficiency in terms of overshoot and response time. This variable step size GWO/WOA MPPT controller
result is due to the good trad-off between exploitation and (Figure 11C).

(a) MPPT tracking

(b) Power ripple

182
 (c) Power overshoot

Figure 11. Zoom output power of MPPT using GWO and WOA

The MPPT point tracking by both algorithms (P&O and PO- oscillation of the P&O algorithm especially around the MPPT
GOW/WAO) is shown by Figure 12. point, in the proposed PO-GWO/WAO algorithms, the race of
On can clearly see that due to the instability and the the MPPT point in most cases is less important.

(a) I-V characteristics

(b) P-V characteristics

Figure 12. Fixed step PO and GWO / WAO variable step MPP tracking

183
7. CONCLUSION http://dx.doi.org/10.1016/j.jpowsour.2019.03.055
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