202

MODELLING AND ANALYSIS OF THE FULLY-INTEGRATED MAGNETICS DC-ISOLATE0 CUK CONVERTER

Marek S.Makowski Dept. of Solid S t a t e Electronics Technical University of Gdansk 80-952 Gdansk, POLAND Andrew J.Forsyth School of Electronic and El. Eng. The University of Birmingham Edgbaston Birmingham B15 ZTT, UK

Abstract. In t h e paper t h e small-signal low-frequency model of t h e c u k converter with inductors and dc-isolation t r a n s f o r m e r integrated on one c o r e i s derived and published f o r t h e f i r s t time. Since t h e s t r u c t u r e i s a complex one attention is turned t o t h e task of finding t h e simplest possible means f o r evaluating network functions. A generalized node-pair analysis i s proposed. The factored design oriented f o r m of t h e model enables optimization of t h e converter dynamics. Full supporting practical measurements a r e included. Kevwords. Cuk converter, integrated magnetics, modelling, Tree Analysis, topology.
1.

theory

INTRODUCTION

The t r a n s f o r m e r isolated Cuk converter with integrated magnetics is a n interesting extension of t h e basic topology s t r u c t u r e Cuk and Middlebrook 18). This is mainly due t o t h e f a c t t h a t integration of t h r e e inductors on one core can substantially minimize c u r r e n t ripple in both t h e input and output p o r t s Cuk ( i o ) , Makowski 116). However, t o g e t t h e full benefit from t h e circuit it is necessary t o examine and optimize i t s AC dynamic characteristics. Due t o t h e complexity of t h i s s t r u c t u r e analytical expressions f o r t h e small-signal results have not previously been derived and t h e r e f o r e optimization of dynamic characteristics has not been possible. Hence in t h e following contribution t h e low-frequency small-signal model of the converter is t o be derived and on t h a t basis design guidelines f o r t h e choice of magnetic coupling and component values a r e t o be explained. In t h e paper t h e linear g r a p h theory is applied t o obtain t h e average solutions of switching converter network. Since t h e s t r u c t u r e is a complex one t h e attention will be t u r n t o t h e t a s k of finding t h e simplest possible means f o r evaluating network functions. A generalized node-pair analysis ( T A X method) will be applied resulting in analytical expressions f o r t h e small-signal model.
2.

W e assume a network f o r which w e define a normal tree of a graph as one containing t h e maximum number of capacitors and t h e minimum number of inductors as well as all independent voltage sources , but none of t h e independent c u r r e n t sources ( f o r details r e f e r t o Chua (4) and Makowski (15)). W e wish t o formulate state equations systematically f r o m t h e topological description of t h e network with going through t h e intermediate s t e p s of combining KVL equations f o r fundamental l o o p s . KCL equations f o r fundamental c u t - s e t s and element relationships. A set of network equations can be written having as t h e eventual variables of interest t h e capacitor % and inductor link c u r r e n t s f o r a normal tree. All o t h e r variables must be eliminated. The procedure culminates in formulation of state equations in normal f o r m Chua (4). The solution i s obtained through inverting a state m a t r i x of o r d e r equal t o t h e number of independent capacitor voltages t h e number of independent inductor currents. In case of non-degenerate converter Makowski 115) these numbers are equal t o t h e numbers of capacitor twigs and inductor links respectively.

2.2 A l t e r n a t i v e F o r m u l a t i o n of S w i t c h i n g C i r c u i t E q u a t i o n s
The t h r e e sets of equations namely KVL. KCL and branch relationships may combine in a n alternative fashion t o yield a set of simultaneous equations in a s e t of variables t h a t are e i t h e r t h e chord c u r r e n t s or t h e t r e e voltaees. The composite set describes t h e circuit completely, but in contrary t o s t a t e description t h e number of variables in a circuit of b branches and n nodes i s reduced t o b-ntl if chord c u r r e n t s a r e used, and t o n-1 if t w i e voltanes are used Wing (3). Following this observation t h e r e w a s made a decision in Pietkiewicz and Tollik I l l ) t o express t h e branch voltages in t e r m s of c u r r e n t s and retain t h e inductor link (chord) c u r r e n t s as t h e only variables in t h e final set of equations. The procedure called Chord Analysis Wing (3) led t o t h e formal solution of t h e system employing t h e inverse of loop-impedance m a t r i x of o r d e r equal t o t h e number of inductors links iL in t h e network. Thus t h e r e w a s dramatically reduced t h e amount of algebra comparing t o state equations approach. The scheme w a s used in a number of a r t i c l e s with profit ( I l l , 112).

WHY TOPOLOGICAL APPROACH ?

The most popular modelling technique originates in t h e state-space averaging method of Middlebrook and Cuk (7). which i s now t h e accepted approach f o r low-frequency modelling of switching regulators. For simple circuits like e l e m e n t a r y voltage and c u r r e n t c o n v e r t e r s i.e. BUCK, BOOST, BUCK-BOOST and other single-loop o r single-cut-set converters Makowski (15) t h e state equations can be obtained by inspection. However. in general case t h e derivation of t h e state equations is t o be formalized and performed in a systematic manner. The procedure is adopted in t h e l i t e r a t u r e and can be briefly summarized as follows.
2.1 S y s t e m a t i c F o r m u l a t i o n o f S t a t e E q u a t i o n s f o r RCLS

--

Networks The switching network under consideration consists of RLC elements and S-switches. Mutual inductances a r e allowed, provided t h a t t h e inductance m a t r i x is positive definite (or in o t h e r words t h a t t h e coupling coefficients never reach unity).
This
wlth
work was
Supported

by

TEMPUS

JEP-0962

In

cooperation

Power

Electronics

and

Traction

Systems

Group

School

of

Elcctronlc and Electrical Engineering. Blrmlngham, England, United Klngdom.

The

Unlverrlty

of

However, w e could also have expressed t h e branch c u r r e n t s in t e r m s of t h e voltages and to retain another set of variables as unknowns. These variables t u r n out t o be t h e tree voltages. Now t h e formal solution of t h e system utilizes t h e inverse of cut-set-admittance m a t r i x of o r d e r equal t o t h e number of capacitor t c of t h e switching network. The scheme is called T r e e Analysis of Switching Converter (TAX) and will be preserited in detail in t h e foilowing Section.

0 1993 The European Power Electronics Association

203

R e m a r k 1. Chord analysis and T r e e Analysis both lead t o t h e same solution. As t o which of t h e two we should use in a given switching circuit, i t will depend on t h e number of variables required by each method (or t h e number of inductors and capacitors rcspcctiveiy in t h e converter circuit). This is not of minor importance, since t h e number of additions and multiplications grows approximately as t h e t h i r d power of t h e o r d e r of t h e matrix t o be inverted Wing (3), P r e s s et a1 (6). R e m a r k 2. One-input-one-output non-degenerate voltage converter g r a p h wiii always contain l = l ~Inductor links and t=L+i t w i g s including 2 voltage source twigs and t h u s t h e number of capacitor twigs i s t c 4 - i Makowski (15).

where

AI = i;YLABEocVEK

ABPL

The formal solution of t h e system is:

Vc = -Y&6~YCVEo(s) + AIO(s)l

(7)

Yc + B'Y B - node-pair cut-set admittance m a t r i x c c.c On t h a t basis inserting eq.7 into 4a-4b Y-type model may be obtained in t h e form: YC-;

3 .

MODELLING PROCEDURE where:

Yi3 Yl2

Consider t h a t in t h e vicinity of steady-state a c e r t a i n (15) switching network is two-state non-degenerate constrained by KVL and KCL laws: KVL KCL vllnr,(t) = -6l W l * . vtwl*. ' t w l e ~ ( ~E ) -Qllnk:llnk*

= i n . Y n = 123 = -Y21

are dimensionally c u r r e n t s

(1)

in this paper we do not intend t o delve into t h e modelling procedure but t o put a n emphasis on some practical r e s u l t s achieved. In a subsequent paper we shall present t h e performance of t h e method in detail (17).
4.

B = d(l)B(l)+d(2)B(2)- average fundamental loop m a t r i x Q = d(I)Q(l)+d(Z)Q(Z)- av. fundamental cut-set matrix

d(1) = d - duty r a t i o d(2) = I-d(i) = d' Ts - switching period

(la) EXAMPLE To visualize t h e usefulness of t h e model eq.8 a Cuk converter with integrated magnetics and zero-ripple c u r r e n t at input and output w a s constructed and measured (Fig.2). Three windings of t h e central leg a r e tightly coupled and two o u t e r non-coupled inductors added, thus: LIZ = L23 = Lz as required f o r zero-ripple c u r r e n t s a t both ends.

QII~. = Q, = -6' t

= -6'

1WIC.

the transpose of

Bl W I * .

where f o r both time intervals d(i)Ts and d(2)Ts a normal tree of a g r a p h is selected as a t r e e having as twigs ail t h e independent voltage sources i.e. input voltage VE and output voltage Vo. ail t h e capacitors C and ail t h e s h o r t switches Ssc considered in eqs.1 and 2 t o be ideal; all t h e inductors a r e links constituting a co-tree of a graph, thus KVL:
KCL

CONVERTER MODEL
A

- RESULTS
diagram and

simplified tuk converter schematic corresponding graphs a r e shown in Fig.i.

vL(t) =

- BEOEvEOC(t)
steady-state v(t) = and ACL-)

(2)

Ql VhCt2

iEoc(t) = BLOCiL(t)

(2a) small-signal

dt=J-P+h

I t is assumed t h a t all t h e variables in eq.2 and eq.2a a r e

composed of t h e DC(-) components: i(t) =

i+1

i; + j

d(t) =

6+ 2

(3)

Next inserting e q . 3 into eqs.2 and 2a. neglecting t h e non-linear second o r d e r t e r m s and taking t h e Laplace t r a n s f o r m , one obtains:

KVL
KCL KCL: KCL where

vL(s) = - iEOC vEOC(SI- A B ~ ~ V ~ ~ ~ D ( S ) (41

I~(s) =

B;IL(s)

AB;T~D(s)

(4a) (4b) (4c) Fig.] integrated magnetics Cuk converter and i t s graphs. Converter graphs contain 1=3 inductor i m p s and tc=2 capacitor cut-sets a s indicated.

I (SI =
IJS) =

8.1 (SI + AB;T~D(s) O L

B;I~(s) + AB;T~D(s)
BEw(23

ABEoc = BEoc(il

B = D(i)BEOc(I)+ 0(2)BEoc(2)
loop.

E " t . e t .

Now bringing in t h e v-1 relationships, namely:

I = Y V c c c one g e t s from e q . 4 ~ :

and I L = YLVL

(5)

Y V = -B'Y B V (5) - Al(s)D(s) c c c L EOC EOC

- -

(6)

204

The modelling procedure of Section 3 r e s u l t s in t h e Y-parameter model in general f o r m which i s given in Appendix 1. I t should b e noted t h a t Y-parameter formulae allow d i f f e r e n t f o r m s of converter branches and p a r a s i t i c s t o be included into t h e general immitance symbols. As a n illustrative example t h e t w o crucial network p a r a m e t e r s are obtained, namely: control-to-output 123 and control-to-input 113 t r a n s m i t t a n c e s in polynomial f o r m in s

CONVERTER MODEL - DISCUSSION

On t h a t b a s i s t h e analytical expressions f o r t h e a l l corner frequencies c a n b e found: 113

zeros:
I O

a low frequency real z e r o at s = -D'/(LC a pair of conjugate z e r o s at s2= 123 m:

a)

117) (18)

-r/

[L c ( p - a ) ~
1 1

a low frequency RHP r e a l z e r o at s = D"/IL a p a i r of conjugate z e r o s at s2= -I/ Y poles:

I 1

I O

G aD)

119)

[L c ( I - ~ ) I

120)

a real pole at origin s = 0, and resonant modes, namely: a p a i r of conjugate poles at s2= -I/ a pair of conjugate poles at s2= n u m l ~ z s ) =v [a's3+ a's2+ a's
0 3
2

[L c ( I - ~ I I
I 1

(21)
(22)

-r/

IL

+ a'] O

c (@-all I 1

where

a: = LfCIGoa[a-p+la-l)l/D' a' = L C [a-p+r(i-a)D'/Dl

z
I 1

ao = -L G r ( p + D/D'I
1 1 0

ao = ~ D ' / D

den(Y)= where

s L l l b 4 s 4 t :b

bo)

112)

b4 = (L1C, )2alp-a(l+p)+v(2a-v)l b
2

= L C ([8-u(i+B)I(D2+D'Z)+aIP-a+a(l-a)l)
I I

bo = rLD2+D'2f3+2DD'vl where f o r any i Z CI = I/sC I and Z LI = s LI Once knowing t h e s e p a r a m e t e r s in analytical f o r m one can effectively analyse and optimize t h e dynamic properties of t h e converter. F o r convenience i t is recommended t o s t a r t with t h e separation of t h e r o o t s of t h e system. The precise placement of t h e z e r o s and poles of converter t r a n s m i t t a n c e s through t h e choice of magnetic coupling and LC elements seemed t o be a daunting task Forsyth and Jackson (131. However. as t o a set of coupled inductors t h e r e e x i s t s a fundamental constraint (see Appendix 2) resulting here in condition: (I-aNf3-a)

A special attention should be paid t o location of conjugate z e r o s since they are close t o imaginary a x i s but may be placed e i t h e r into t h e left or r i g h t half of t h e complex plane depending upon t h e precise values of elements, damping resistances and losses. This phenomenon cannot be t r e a t e d with the use of approximate formulae 17-22. We may t r y t o obtain a solution of t h e t h i r d o r d e r polynomials of num(l13) and num(lz3) using a c c u r a t e formulae 23-25. However, t h a t approach would be complex and cumbersome. The RHP condition c a n be tested without t h e explicit calculation of t h e r o o t s by use of t h e Routh-Hurwitz c r i t e r i a , once t h e numerators of 113 and 123 have been w r i t t e n o u t in polynomial form. Consider, f o r example, a practical feasibility of shifting t h e z e r o s through additional damping resistances Rti and Rtz a c r o s s CI and C2 (see Fig.]).

Employing 23-25 and Routh-Hurwitz criteria r e s u l t s in t h e boundary conditions where inductor losses a r e neglected:
123 t r a n s m i t t a n c e coefficients:

may

contain

three

RHP

zeros

if

the

a and

la~a~-a~a~)/a~

20

(13)

have opposite signs, otherwise 123 h a s only one real positive 2ero; t h i s z e r o cannot b e s h i f t e d t o t h e left half plane by use of damping resistances. where
a = :

where f o r t h e Cuk converter under t e s t a=w The message c a r r i e d by t h e condition 1 3 is that appropriate increasing of magnetic coupling within t h e limits of 26 and zero-ripple c u r r e n t s tends t o move t h e high frequency r o o t s of t h e system t o w a r d s infinity. Thus when overall magnetic coupling is tight enough t h e s e r o o t s can be s e p a r a t e d f r o m t h e transmittances seriously simplifying f u r t h e r analysis. Hence t h e following approximate factored design-oriented formulae of t h e network functions a r e proposed: num(l13 = -V 0 [sL1G 0a/D'+111s2LIC,(p-a)+rl num(1
23

~I-a~L~Goa~CID'2/~LlGoaD~-Gll/D'

(aoaO-aoaO)= I 2 3 0
=(l-a)aL~~~l-a~lC;G~a+D/D')ll-a)D/D'I[CID'~(LIGoaD)-GIILl+ + CIt

where:

Ci=I/Rti,Cz=Gi/r, Ctl and Ctz a r e large enough t o b e neglected, and f o r any i ZLI=SLI. Yci=sCi+ GI.

Similarly i t may be shown t h a t t r a n s m i t t a n c e 113 will not contain any RHP z e r o s if only a<B as assumed in eqs.14-16.
E X P E R I M E N T A L VERIFICATION

(14) (15) (16)

= -V 7 1 sG ~ a / ~ ' -D . / D I I ~ ~ cL(i-a)+li
0
1 0
1 1

den(Y1 = s L l l s 2 L I C I ( i - u ) + i l ~ s 2 L ~ C ~ ~ B - a ) + ~ l if only a=v. B=I and a=1 (but a<l and a<8)

T o verify t h e model derived above t h e frequency responses IiniD=113 and lout/D=lz3 of t h e experimental circuit w e r e calculated f r o m 23-25 and measured.

205

The coupling arrangement was chosen here t o eliminate t h e need f o r precise adjustment t o locate t h e z e r o ripple condition (see Fig.2). The c o r e s t r u c t u r e was gapped t o prevent s a t u r a t i o n by inductor DC currents, and LI = L3 = 0.25mH+0.8mH = 1.05mH. R I = R 3 = . l 2 n Lz = 0.8mH, Rz = O.OgR, LIZ = LZ3 = L13 = LZ, Ci = 6.8pF. Cz = IpF. 2.2pF or 4.7pF. Ro = IOn, D = 0.5, fa = 80kHz

5.

CONCLUSIONS

Analytical r e s u l t s f o r t h e dynamic small-signal Y-type model of the zero-ripple, integrated magnetics tuk converter a r e derived in analytical form and published f o r t h e f i r s t time. The linear g r a p h theory and topological T r e e Analysis of Switching Converter (TASCI method were applied t o obtain t h e solutions of converter network. The r e s u l t s were used t o a s s e s s t h e e f f e c t s of various coupling conditions on t h e dynamic characteristics, within t h e limits of achieving z e r o input and output ripple. The f a c t o r e d design-oriented form of t h e model enables convenient optimization of t h e converter dynamics. Design guidelines are formulated which allow the small-signal c h a r a c t e r i s t i c s t o be "tailored" by careful design of t h e coupling within t h e physical limit of energy stored in multi-winding transformer. Approximate formulae f o r all corner frequencies a r e given. In c a s e of control-to-output Yz3 transmittance a practical feasibility of shifting t h e zeros from the right t o the left half plane through additional damping resistances was investigated, Supporting practical measurements a r e included. REFERENCES 1. 2. Balabanian.N., 1961, "Fundamentals ALLAN and BACON. Des0er.C.A.. Kuh,E.S.. McCRAW-HILL. 1969, of Circuit Theory", Circuit Theory",

"Basic

Fig.2 Experimental t e s t circuit of the integrated magnetics Cuk converter.

A comparison between t h e model predictions and experimental d a t a is given in Figs.3 and 4.

3.

Wing.0.. 1972. "Circuit Theory with Computer Methods". HOLT Inc. Chua.L.O., Pen-Min Lin. 1975, "Computer-Aided of Electronic Circuits", PRENTICE-HALL. Analysis and

4.
5.
A location of the zeros and poles of t h e transmittances according t o approximate formulae 17-22 is as follows:

Chua.L.0.. Desoer,C.A.. Kuh.E.S.. 1987, "Linear Nonlinear Circuits", McGRAW-HILL Book Company.

6.
113

3 :
7.

Press,W.H., F1annery.B.P.. Teukoisky,S.A., Vetterling, W.T.. 1991. '"Numerical Recipes in C - The Art of Scientific Computing". CAMBRIDGE UNIVERSITY PRESS. Middlebrook.R.D., Cuk,S., 1976, "A General Unified Approach t o Modelling Switching Converter Power Stages" pp.18-34.

lkHz a low frequency real zero a t f a conjugate pair of zeros at f = 6.9kHz

123

3 :
8.

--IEEE PESC Record,

a low frequency real RHP z e r o at f = LkHz 3.9kHz a conjugate pair of zeros a t f Y

Cuk.S., Middlebrook. R.D.. 1977, "A New Optimum Topology Switching DC-to-DC Converter",lEEE PESC Record Cuk,S., Midd1ebrook.R.D.. 1977. "Coupled-Inductor and Other Extensions of a New Optimum Topology Switching DC-DC Converter,lEEE Industry ADD. Soc. Annual Meeting, pp.1110-1126. Switching DC-to-DC

m:

9.

a low frequency conjugate pair of poles at f = 3.9kHz a high frequency conjugate pair of poles a t f = 6.9kHz
t o 23-25 The inclusion of circuit losses RLI, RLZ and R L ~ moved t h e r i g h t half plane zeros of 123 a t f = 3.9kHz t o t h e l e f t half plane and t h e r e was no need t o employ R-C damping networks. In both t r a n s f e r functions one pair of resonant poles is adjacent t o a pair of zeros and thus the modes tend t o be unobservable: low frequency mode in 123 and high frequency mode in I13 respectively. Excellent agreement between approximation is observed. measurements and analytical

IO. Cuk.S., 1980, " A New Zero-Ripple Converter, IEEE PESC Record.
11.

Pietkiewicz.A.. Tol1ik.D.. 1985, "A Unified Topological Approach t o Modeling of Switching DC-DC Converters", --__ IEEE PESC Record, pp.535-543.

12. Pietkiewicz.A.. Tol1ik.D.. 1987, "Unified Topological Modeling Method of Switching DC-DC Converters- in Duty-Ratio Programmed Mode", IEEE Trans. on Power El., -vol.PE-2 pp. 218-226.

1 3 . Forsyth,A.l., lackson,R.D.. 1987. "Control Design f o r a High-Ouality Switched-Mode Controller", Proc. of PCI Conf., pp. 412-422.

Circuit Current

206

14. Heinemann,L..

Froh1eke.N.. 1989, "Comparative Analysis of High Current Components in PWM Controlled Converter Topologies.. .", Proc. of EPE Conf. Makowski,M.S.. 1993, "On Topological Assumptions on PWM Converters - A Reexamination", t o be presented a t Power Electronics SDecialists Conference, Seattle USA, June 20-24 1993.

Appendix 2 Property of inductance matrix L.

15.

1 6 . Makowski,M.S.. 1993, "PWM Zero-Ripple Converters - A Mystery o r a Special Case 7 , t o be presented at Eurooean Space Power Conference , C r a z Austria, August 23-27 1993.

The averaged energy stored in coupled inductors cannot be negative. Hence t h e quadratic f o r m representing this energy must be positive semidefinite Chua e t al (51. In practical application all the coupling coefficients never reach unity and hence inductance m a t r i x must be positive definite. In case of t h r e e coupled inductors it leads t o inequality: det(L)=LIL2L3+2L12L23L13-LILZ3- L2L:3or L3LtZ

1 7 . Makowski.M.S..

F0rsyth.A.J.. "On Efficiency of Low Frequency Modelling Algorithms of PWM DC-DC Converters" in preparation.

(26)

L ~ ~ I B - ~ ( I ~ S I +2 (~ o( Z ~ - ~ ~ I I

Appendix I Y-parameters converter.

YIJ

of

the

fully

integrated

magnetics

Cut

= num(YlJ)/den(Y)

where:num(YlJ) - numerator of YIJ parameter den(Y) - common denominator of Y parameters

Ll~ ~ ~ - a ~ + Z L I Z C I ~ ~ - a ~ D 2 + Z L l Z c l ~ ~ a + ~ ~ - ~ ~ D ~ 2 1 + Z ~ l ~ D z num(Y111=Z~

num~Yz2~=Z~la~1-a~+Z~lZCl~~l-a~D~Z+ZLIZCI~a+~l-a~D2l+Z~ID~~
num(Yiz)=Z2 L I a(a-rp)+z L1zC I ( a - r p ) ( ~ ~ + 1 ~ , ~ ) + ~ : ~ r ~ ~ . ~ U ~ ( Y I ~ ) = - V ~ Z ~ ~ ( Z ~ ~ ~ + +ZLIl(~-~)D'/D+(B~lJ+ +ZL,ZclCor(rpD/D'+Bl+
+Z:ICoal (B-rp)-(a~l( l+r) I/D'

(231

where: a = Z L / Z ; 8 L = L = L
2
12

Z /Z
L3

LI

= Zc21Zcl; v = L13/LI

23

207

REF LEVEL 0 . oooaa

/DIV

t o . oooaa

MARKER 4 018.8OPHz MAG IA/R) 4.82268

REF LEVEL

0 . o a . g

/OIV 46. oooamg

MARKER 4 0 i B . W O H Z
(*/RI

53.157dm9

START 300.000Hz

STOP 20 000.000HZ

Fig.3a

Measured plots: I h / D

i k
START 300.000HZ
113

16K STOP 20 000.000Hz

control-to-input transmittance.

location of zeros and poles.

REF LEVEL 0 . oamg
/DIV

4s .oooamp

MARKER 4 018.802Hz PHASE (A/R) -BO. 9 3 4 a . g

1K START 300.000Hz

1I Ill

16K STOP 20 0OO.OOOHZ

1111

Fig.4a

Measured plots; Iout/D = Iz? control-to-output

transmittance.

Flg.4b

u response calculated from the analytical Simulated plcts: I model. Dotted lines indicate location of zeros and poles.