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TwoLoopAverageCurrentControlofBoostConverter

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 )

1 0.8 100 (100 10 6 x10)s


100 10 6
(100 10 x10 10 ) s
s (1 0.8) 2
50
6

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.

A. Current Loop design

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)

Fig. 3. Inner current control loop.


The inner current loop (higher BW) has fast dynamics and outer voltage loop (low BW) has slow
dynamics. Therefore, the inductor currents are able to change more quickly than the output
voltage owing to the existence of time scale separation between the two loops or state variables.
This can be exploited to simplify the controller design.
Current loop transfer function from (4)-

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)

Bode plot of Tp1(s) shows PM = 90o is obtained at fc = 159.16 kHz (c = 1M rad/sec).

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)

Therefore, a unity feedback loop is designed.


Modulator design: A triangular or sawtooth wave, either unipolar or bipolar, is used as a carrier
signal. The frequency of carrier signal should be same as switching frequency of the converter.
A unipolar triangular wave is used as a modulating signal. The maximum slope of the inductor
current is (Vo-Vin)/L. In half of the period of the triangle wave (Ts/2), the current ripple reaches a
value, equal to peak-to-peak value of the triangular modulating signal.

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.

PI Controller Design: The transfer function of a PI controller is given by

Tc1 ( s ) K p

K i K p s K i / K p

s
s

(12)

Open loop transfer function of the current loop is given by


TOL1(s) = Tc1(s).Tm(s).Tp1(s).H1(s)

(13)

Substituting the values from (35), (37)-(39) in (40) gives

TOL1 ( s )
TOL1 ( s )

0.2 K p (10 3 s 4)s K i / K p

(14)

s(10 9 s 2 2 106 s 0.04)


2 105 K p ( s 4 103 )s K i / K p
s ( s 2 2 10 3 s 4 107 )

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

4000 996 2 1014

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

B. Voltage Loop Design

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)

Fig.4. Voltage control loop using controller.

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)

Bode plot of Tp2(s). PM = 91o is obtained at fc = 3.183 kHz (20k rad/sec).


A PI controller is designed to increase the low frequency gain while maintaining minimum PM of
60o at fc = 320 Hz. c = 2fc = 2000 rad/sec

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)

Substituting the values from (39), (43)-(44) in (45) gives

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)

Open loop transfer function of the complete two-loop control system is

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)

It can be presented by the following expression:


TOL ( s)

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.

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