Lecture 1: August 27, 2012

Introduction to Power Electronics

ECEN 4797/5797 Robert W. Erickson University of Colorado, Boulder Fall 2012

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Introduction to Power Electronics ECEN 4797/5797

Instructor: Prof. Bob Erickson
Ofce: ECOT 356 Telephone: (303) 492-7003 Email: rwe@colorado.edu Ofce hours: MW 3:00 - 4:00 pm Telephone ofce hours: M 3:00 - 4:00 pm

Course web site:

http://ece.colorado.edu/~ecen5797 Includes lecture slides, handouts, homework assignments, links to online lecture les

Textbook:
Erickson and Maksimovic, Fundamentals of Power Electronics, second edition, Springer, ISBN 0-7923-7270-0.

Prerequisite:
A 3-4 semester sequence of undergraduate EE circuits and electronics courses (at Univ. of Colorado: ECEN 3250)
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Coursework in Power Electronics

at the University of Colorado
Power electronics courses
ECEN 4797/5797 (this course): Intro to power electronics (Fall)
ECEN 5807 Modeling and Control of Power Electronics Systems (Alt Spring semesters, including S 13) ECEN 5817 Resonant and Soft-Switching Techniques in Power Electronics (Alt Spring semesters, including S 14)

ECEN 4517/5517 Power Electronics Laboratory (Spring)

Professional Certicate in Power Electronics

ECEN 5797, 5807, and 5817

Formats for this course

On-campus, for senior or graduate credit Web-based lectures: recorded with ECHO 360 system, with viewing through the Flash viewer. For technical help, contact help@cuengineeringonline.colorado.edu (CAETE)
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Grading
Homework
Due at beginning of class on date listed on Lecture Schedule web page Submit online via D2L dropbox; late homework not accepted Homework counts 50% of grade You may speak with others about the homework, but turn in your own work Homework and exam problems of additional depth and complexity for those earning graduate credit; separately graded Midterm exam: one-week take-home exam, 17% of grade Final exam: ve-day take-home exam, 33% of grade See course schedule page for dates See course vitals page for details

Exams

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Desire-2-Learn (D2L) Site

learn.colorado.edu Log on with your campus IdentiKey

Dropbox for submission of homework and exams Scan, save as pdf, then upload to the D2L dropbox For on-campus students: a scanner is available within the SRC Automatic deadline at beginning of class A log of your grades for all assignments When grading is complete, your grade will appear online Running total of your overall course grade Grader will post comments and annotations online Homework solutions Posted within D2L after submission deadline Student discussion forum You can post questions and discussions with your classmates Normally questions will not be answered by Prof. Erickson Posting of homework solutions in the forum is prohibited
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Off-campus students
Viewing of lectures
Lectures are normally available online by the end of the day of the oncampus lecture

Assignments
Use the D2L site to upload your pdf le: same as for on-campus students Generally, by Friday the lectures will nish covering the material needed for the homework assignment due the following Friday. So you can work the homework over the weekend. Professor Erickson will be available for telephone ofce hours on Monday afternoon, to answer any questions. Check out the D2L student forums Due dates are the same as for the on-campus students

Educational Ofcers
Not needed

See course vitals page

Link to academic calendar for CAETE students, including add/drop deadlines 6

Key dates
Drop deadlines
September 12: last day to drop the course and receive full tuition refund, with no W grade appearing on transcript October 10: last day to drop the course without petitioning the Deans ofce

Tentative exam dates

Midterm exam: 1 week take-home exam. Available through D2L on Oct. 19, due on Oct. 26. Final exam: Four day take-home exam. Available through D2L on Dec. 14, due on Dec. 18.

Grades assigned in May appear on your permanent university transcript Campus holidays
Labor day: Sept. 3 Fall break / Thanksgiving holiday: Nov. 19-23

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Chapter 1: Introduction

1.1. 1.2. 1.3.

Introduction to power processing Some applications of power electronics Elements of power electronics Summary of the course

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1.1 Introduction to Power Processing

Power input

Switching converter

Power output

Control input

Dc-dc conversion: Ac-dc rectication: Dc-ac inversion:

Change and control voltage magnitude Possibly control dc voltage, ac current Produce sinusoid of controllable magnitude and frequency Ac-ac cycloconversion: Change and control voltage magnitude and frequency

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Control is invariably required

Power input

Switching converter

Power output

Control input feedforward Controller reference

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feedback

High efciency is essential

1

=

Pout Pin

0.8

1 1 Ploss = Pin Pout = Pout

0.6

High efciency leads to low power loss within converter Small size and reliable operation is then feasible Efciency is a good measure of converter performance

0.4

0.2 0 0.5 1 1.5

Ploss / Pout

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A high-efciency converter

Pin

Converter

Pout

A goal of current converter technology is to construct converters of small size and weight, which process substantial power at high efciency

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Devices available to the circuit designer

Resistors

Capacitors

Magnetics

s s Linearmode Switched-mode Semiconductor devices

DT

+
T
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Devices available to the circuit designer

Resistors

Capacitors

Magnetics

s s Linearmode Switched-mode Semiconductor devices

DT

+
T

Signal processing: avoid magnetics

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Devices available to the circuit designer

Resistors

Capacitors

Magnetics

s s Linearmode Switched-mode Semiconductor devices

DT

+
T

Power processing: avoid lossy elements

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Power loss in an ideal switch

Switch closed: v(t) = 0 Switch open: i(t) = 0

+ v(t)

i(t)

In either event: p(t) = v(t) i(t) = 0 Ideal switch consumes zero power

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A simple dc-dc converter example

I 10A + Vg 100V + Dc-dc converter R 5 V 50V

Input source: 100V Output load: 50V, 10A, 500W How can this converter be realized?

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Dissipative realization

Resistive voltage divider

I 10A + Vg 100V + 50V R 5 + V 50V Pin = 1000W Pout = 500W

Ploss = 500W

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Dissipative realization
Series pass regulator: transistor operates in active region
+ 50V Vref I 10A + Vg 100V + linear amplifier and base driver Ploss 500W Pin 1000W + R 5 V 50V Pout = 500W

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Use of a SPDT switch

I 10 A + Vg 100 V +
2

+ R v(t) 50 V

vs(t)
vs(t) Vg

Vs = DVg 0 (1 D) Ts 2
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switch position:

DTs 1

t 1

The switch changes the dc voltage level

vs(t)

Vg Vs = DVg 0 (1 D) Ts 2

D = switch duty cycle 0 D 1 Ts = switching period fs = switching frequency = 1 / Ts

switch position:

DTs 1

t 1

DC component of vs(t) = average value:

Vs = 1 Ts
Ts 0

vs(t) dt = DVg

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Addition of low pass lter

Addition of (ideally lossless) L-C low-pass lter, for removal of switching harmonics:
1

i(t) + L C R + v(t) Pout = 500 W

Vg 100 V

vs(t)

Pin 500 W

Ploss small

Choose lter cutoff frequency f0 much smaller than switching frequency fs This circuit is known as the buck converter
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Addition of control system for regulation of output voltage

Power input Switching converter + vg + v Transistor gate driver
(t)

Load i

H(s)

Sensor gain

dTs Ts

Reference vref input

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Pulse-width vc G (s) c modulator Compensator

Error signal ve

Hv

The boost converter

L Vg +
1

+ C R V

5Vg 4Vg

3Vg 2Vg Vg 0 0 0.2 0.4 0.6 0.8 1

D
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A single-phase inverter
vs(t) + +
2

Vg

v(t) load

2 1

vs(t)

H-bridge Modulate switch duty cycles to obtain sinusoidal low-frequency component

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1.2 Several applications of power electronics

Power levels encountered in high-efciency converters less than 1 W in battery-operated portable equipment tens, hundreds, or thousands of watts in power supplies for computers or ofce equipment kW to MW in variable-speed motor drives 1000 MW in rectiers and inverters for utility dc transmission lines

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A laptop computer power supply system

Inverter

Display backlighting

iac(t) vac(t)

Charger PWM Rectifier Buck converter Microprocessor Power management Disk drive

ac line input 85265 Vrms

Lithium battery

Boost converter

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Power system of an earth-orbiting spacecraft

Dissipative shunt regulator + vbus Battery charge/discharge controllers Batteries Payload Payload Dc-dc converter Dc-dc converter

Solar array

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An electric vehicle power and drive system

ac machine

ac machine

Inverter battery + 3ac line 50/60 Hz Battery charger vb

Inverter

control bus P system controller DC-DC converter Low-voltage dc bus Vehicle electronics

Inverter Variable-frequency Variable-voltage ac ac machine

Inverter

ac machine

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A standalone photovoltaic power system

The system constructed in ECEN 4517/5517 Power Electronics and Photovoltaic Systems Laboratory

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1.3 Elements of power electronics

Power electronics incorporates concepts from the elds of

analog circuits electronic devices control systems power systems magnetics electric machines numerical simulation

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Part I. Converters in equilibrium

Inductor waveforms
vL(t)
Vg V DTs D'Ts V switch position: 1 2 1

Averaged equivalent circuit

RL D Ron D' VD D' RD D' : 1 + V R

Vg

iL(t)
I iL(0) 0 Vg V L

iL(DTs) V L DTs Ts

iL

Predicted efciency
100% 90%

0.002 0.01

80% 70% 60%

0.02 0.05 RL/R = 0.1

50% 40%

Discontinuous conduction mode Transformer isolation

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30% 20% 10% 0% 0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1

Switch realization: semiconductor devices

The IGBT
gate

collector

Switching loss

transistor waveforms

iA(t) Qr Vg vA(t) 0 iL 0 t

emitter

Emitter Gate

diode waveforms

iL 0

iB(t) vB(t) 0 t

area Qr

Vg

np

minority carrier injection

pA(t)
area ~QrVg

tr = vA iA

Collector
t0 t1 t2

area ~iLVgtr t

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Part I. Converters in equilibrium

2. Principles of steady state converter analysis 3. Steady-state equivalent circuit modeling, losses, and efciency 4. Switch realization 5. The discontinuous conduction mode 6. Converter circuits

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Part II. Converter dynamics and control

Closed-loop converter system
Power input Switching converter + vg(t) + v(t) transistor gate driver (t)
(t)

Averaging the waveforms

Load
gate drive

R feedback connection
actual waveform v(t) including ripple t

vc(t)

voltage reference vref

t

dTs Ts

Controller

Small-signal averaged equivalent circuit

vg(t)

I d (t )

compensator pulse-width vc Gc(s) modulator

v
averaged waveform <v(t)>T s with ripple neglected t

1:D

V g V d (t )

D' : 1
+ I d (t )

v( t )

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Part II. Converter dynamics and control

7. 8. 9. 10. 11.

Ac modeling Converter transfer functions Controller design Input lter design Ac and dc equivalent circuit modeling of the discontinuous conduction mode Current-programmed control

12.

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Part III. Magnetics

n1 : n2

transformer design

i1(t)

iM(t) LM R1 R2

i2(t)

the proximity effect

layer 3

3i 2i 2i i

layer 2

ik(t)
layer 1

: nk

4226

transformer size vs. switching frequency

3622

0.1 0.08

Pot core size

2616 2213 1811 1811 2213

2616

0.06 0.04 0.02 0

25kHz

50kHz

100kHz

200kHz

250kHz

400kHz

500kHz

1000kHz

Switching frequency

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current density J
Bmax (T)

Rk

Part III. Magnetics

13. 14. 15.

Basic magnetics theory Inductor design Transformer design

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