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Dr.AkshayKumarRathore,AssistantProfessor,NationalUniversityofSingapore
eleakr@nus.edu.sg;www.ece.nus.edu.sg/stfpage/akr
Assumptions:1)Idealboostconverter:Componentsareidealandlossless
2)Continuousconductionmode(CCM)
Fig.1.Idealboostconverter
Statevariables:1)Outputvoltagevo
2)InductorcurrentiL
3)Capacitorvoltagevc
4)Inputvoltagevin
4)Dutycycled
Duetoidealassumption,vc=vo.Thereforeonevariablecanreplaceother.
Smallsignalmodeloftheconverter
1 D
sL
1
i ( s ) V
1 L o d ( s ) vin ( s )
1 D sC R vo ( s ) I L
0
(1)
1 D
1 D
sL
iL ( s) sL
Vo
1
1 D sC 1 d ( s) 1 D sC 1 vin (s)
vo ( s)
R I L
R 0
(2)
Inversematrixcanbecalculatedandtheconvertertransferfunctionscanbeobtainedby
solvingmatrixsimply.
Controltooutputtransferfunction
vo ( s )
d ( s)
1 D Vo ( LI L )s
( LC ) s 2
L
s (1 D) 2
R
(3)
(4)
(5)
(6)
Controltoinputcurrenttransferfunction
iL ( s)
d ( s)
CVo s 2(1 D) I L
( LC ) s 2
L
s (1 D) 2
R
Currenttooutputtransferfunction
vo ( s ) 1 D Vo ( LI L ) s
iL ( s) CVo s 2(1 D) I L
Givenconverterspecificationsanddesign
Vin=20V,Vo=100V,Po=200W,L=100H,C=10F.
Fromcalculation(steadystateformulas):D=0.8,R=50,Iin=IL=10A
Controltooutputtransferfunctionfrom(3)
vo ( s )
d ( s )
vo ( s )
20 10 3 s
9 2
6
d ( s ) 10 s 2 10 s 0.04
Bode Diagram
80
M a g n itu d e ( d B )
60
40
20
0
-20
360
315
Phas e (deg)
270
225
180
135
90
2
10
10
10
10
10
Frequency (rad/sec)
PhasemarginPM=90
10
Crossoverfrequencyc=1Mrad/sec(159.16kHz)
Twoloopaveragecurrentcontrollerdesign
Fig.2.Twoloopaveragecurrentcontrolsystem.
Twocontrolloops
1) Innerloop:Currentcontrolloop(fastloop)
2) Outerloop:Voltagecontrolloop(slowloop)
Setting the outer voltage loop bandwidth (BW) lower than the inner current loop makes the design
of controller easier and is discussed while designing the loops separately. This design method is
useful in fuel cell applications. Fuel cells are very sensitive to input current ripples. For stable and
continuous operation of the fuel cells and converter, the average input current should be
controlled to be dc, which requires that bandwidths of voltage and current loops are separated far
apart with a slow voltage loop and a fast current loop.
The design of current loop, shown in Fig. 3, involves defining the current loop quantitatively and
should meet the design criteria of phase margin (PM) and BW or crossover frequency fc.
d (s)
iL(s)ref
iL (s)
T p1 ( s)
iL (s)
10 3 s 4
9 2
6
d (s) 10 s 2 10 s 0.04
(7)
Tp1 ( s)
iL ( s)
106 ( s 4 103 )
2
3
7
d ( s) ( s 2 10 s 4 10 )
(8)
A PI controller is designed to increase the low frequency gain and reduce the steady-state error
between the desired and actual inductor currents while maintaining a positive PM at selected
crossover frequency.
Bode Diagram
60
M a g n itu d e ( d B )
40
20
0
-20
-40
45
P has e (deg)
-45
-90
-135
2
10
10
10
10
10
10
10
Frequency (rad/sec)
Feedback gain H1(s): Assuming 100% efficiency, the average inductor current IL = 10 A.
Selecting the inductor current reference = 10 A. The feedback gain of the current loop is
H1 (s)
10
1
10
(9)
Vm , p p
Vo Vin Ts
K1 4 V
L
2
(10)
where K1 is a multiplying factor due to current sensor and is given by sensor datasheet.
Its value is 1V/A for the Hall Effect current sensor used.
Giving some tolerance for noise etc., peak-to-peak value of the triangle wave is chosen to be
equal to 5 V. The transfer function of the modulator is
Tm ( s)
1
Vm, p p
0.2
(11)
*Note: Actually the modulator value can be chosen by the designer at his/her own convenience
for easy and simple designing of practical controller. The Controller parameters will get
adjusted during calculation.
Tc1 ( s ) K p
K i K p s K i / K p
s
s
(12)
(13)
TOL1 ( s )
TOL1 ( s )
(14)
The PM should be 60o at the gain cross over frequency fc = 15.92 kHz. c=2fc=100krad/sec
Gain condition: At crossover frequency, the system gain is unity, i.e., |TOL1(s)| = 1.
TOL1 ( j c )
2 10 5 K p ( j c 4 10 3 ) j c K i / K p
j c [( j c ) 2 2 10 3 ( j c ) 4 10 7 ]
2 10 5 K p ( j100000 4 10 3 ) j100000 K i / K p
j100000 [( j100000) 2 2 10 3 ( j100000) 4 10 7 ]
8000 K p ( j 25 1) j100000 K i / K p
j [( j100000) 2 j 200 4 10 7 ]
K
64 10 K 626 1010 i
Kp
2
p
K
K 1010 i
Kp
2
p
0.25 1010
Phase (angle) condition: At crossover frequency, phase angle of the loop (TOL1(s)) = PM -180 =
60-180 = -120o.
TOL1 ( j c )
2 10 5 K p ( jc 4 10 3 ) j c K i / K p
jc [( j c ) 2 2 10 3 ( jc ) 4 10 7 ]
2 10 5 K p ( j100000 4 10 3 ) j100000 K i / K p
j100000[( j100000 ) 2 2 10 3 ( j100000 ) 4 10 7 ]
tan 1
120
120
10 5 K p
10 5
996 10 7
tan 1
tan 1
120
Ki
4000
200
Ki
0.525 105
Kp
It results in Ki/Kp = 52460.55. Integrator time constant sT = Kp/Ki = 0.19s.
The magnitude of TOL1(s) = 1 at the cross over frequency fc. It gives Kp = 0.443 and Ki = 23240.
Bode plot shows PM = 60o is achieved at fc = 15.92 kHz. Low frequency gain is improved.
Bode Diagram
200
M a g n itu d e ( d B )
150
100
50
0
-50
0
P has e (deg )
-45
-90
-135
-180
-225
2
10
10
10
Frequency (rad/sec)
10
10
The outer voltage control loop, shown in Fig. 4, generates the inductor current reference iL,ref for
the inner current control loop.
vo(s)
vo,ref (s)
The fast current loop can correct for the current errors quickly and the power stage transfer
function for the voltage loop experiences the reference generated by voltage loop. Therefore, in
the voltage loop design, the inner current loop dynamics can be neglected. Its transfer function is
not included and the duty cycle d can be replaced by its steady-state equivalent D. Therefore, the
perturbation in duty cycle can be neglected in (28), i.e., d ( s ) = 0, and gives
Tp 2 ( s)
vo ( s)
1 D
1
iL ( s )
Cs
R
Tp 2 ( s)
vo ( s )
0 .2
20000
5
iL ( s ) 10 s 0.02 s 2000
(15)
(16)
Feedback gain H2(s): Selecting voltage reference vo,ref = 10 V, feedback gain of the voltage
control loop
H 2 (s)
10
0. 1
100
(17)
Transfer function of PI controller Tc2(s) is represented by (39). The open loop transfer function of
the voltage loop is
TOL2(s) = Tc2(s).Tp2(s).H2(s)
(18)
2000 K p ( s
TOL 2 ( s)
ki
)
kp
(19)
s s 2000
Gain condition: At crossover frequency, the system gain is unity, i.e., |TOL2(s)| = 1.
TOL 2 ( jc )
2000 K p jc K i / K p
jc (( jc ) 2000 )
2000 K p j 2000 K i / K p
j 2000 (( j 2000) 2000)
K p j 2000 K i / K p
2000 (1 j )
K
K 4 10 6 i
Kp
2
p
8 10 6
Phase (angle) condition: At crossover frequency, phase angle of the loop (TOL2(s)) = PM -180 =
60-180 = -120o.
TOL 2 ( jc )
tan 1
K p j 2000 K i / K p
2000 (1 j )
2000 K p
Ki
tan 1
Ki
2732
Kp
120
2
120
1
Following the same procedure, the calculated parameter values of PI controller are:
Kp = 0.8354 and Ki = 2282. The time constant of the integrator sT = Kp/Ki = 366 s.
Bode plot of TOL2(s) is shown in Fig. 10. The PM of 85o is achieved at fc = 160 Hz (2k rad/sec).
Low frequency gain is improved.
Bode Diagram
30
20
M a g n itu d e ( d B )
10
0
-10
-20
-30
-40
-80
Phas e (deg)
-85
-90
-95
10
10
10
10
Frequency (rad/sec)
T p1( s ) TC1 ( s ) Tm ( s )
TOL ( s )
1 T p1 ( s ) TC1( s) Tm ( s) H1( s )
TP 2 ( s) TC 2 ( s ) H 2 ( s )
(20)
K g A1 s 3 A2 s 2 A3 s A4
B1 s 5 B2 s 4 B3 s 3 B4 s 2 B5 s
(21)
With bode plot, under different load and input voltage conditions, the PM and crossover
frequencies can be checked for the controller and system stability.