EE5704/6704

DynamicModellingofSomePower
ElectronicConvertersinCCM
Lesson1

DynamicModellingandControlof
SomePowerElectronicConverters
ACequivalentcircuitmodeling
Convertertransferfunctions

ATypicalClosedLoopSwitchingPower
Converter:SteadyState
MainObjectives:
Maintaindesiredoutput
voltageVoordesiredoutput
currentIo
Disturbances:
Variationininputvoltage
Variationinoutputload
Variationinparameters

ATypicalClosedLoopSwitchingPower
Converter:SmallPerturbation

ATypicalClosedLoopSwitchingPower
Converter:SmallPerturbation

TypicallycontrollersforSMPShavelowcutofffrequencywith
slowresponsetimeforstableoperation
Inherentlycontrollersincorporatelowpassfilterwhichfilters
outswitchingandhigherfrequencydisturbancesinthe
converter
Disturbancesthatremaininthesystemareoflowfrequency

DynamicModellingandControlof
SomePowerElectronicConverters
Why do we need dynamic modelling of switching power
converters?
To understand the open loop dynamic behavior of the
SMPS mathematically during external disturbances like
variation in input voltage, output load, duty ratio etc.
Simplify dynamic behavior by ignoring effects of
switching i.e. ripple arising from switching action
To design suitable controller for stable operation of a
SMPS and to get desired outputs for given inputs

DynamicModellingandControlof
SomePowerElectronicConverters
Howdowedodynamicmodelling?
SMPShasmemoryelementslikeinductorsand
capacitors
Inductorcurrentandcapacitorvoltagescanbe
consideredasthestatevariablesoftheSMPS
Findingthederivativesofthesestatevariables
withrespecttotimeisessentialfordynamic
modellingofSMPS

DynamicModellingandControlof
SomePowerElectronicConverters
Difficultyinfindingtimederivativesofstate
variablesoveraswitchingcycleinaSMPSis
thatthecircuitconfigurationinaSMPS
changesduetoswitchingofpowerelectronic
switchesATHIGHFREQUENCIES
AnySolution?

DynamicModellingandControlof
SomePowerElectronicConverters
Typicallythefiltersinductorandcapacitorsaredesignedto
reducetheripplecomponentofrespectivecurrentandvoltages
Itisthislowripplecontentwhichhelpusinaveragingthetime
derivativesofstatevariablesoveraswitchingcycleneglectingthe
variationsoftheDCvaluesofthestateswithinaswitchingcycle
Anotherkeyassumptionwhichismadeinthiscaseisthatany
externaldisturbancethatoccursinoperatingconditionactually
happensatmuchslowerratecomparedtotheswitching
frequencyandassociatedripplefrequencyofthestatevariables

Theseassumptionshelpusaveragingcertaintermsovera
switchingcyclethussimplifyingtheswitchingbehavior

LargesignalDynamicModellingusing
statespaceaveraging:
BasicPrinciples:
Derivethetimederivativesforeachstatevariablefora
nthswitchingstatehavingdutyratiosDn(t)
Multiplyeachoftheresultingtimederivativesbytheir
respectivedutyratios
Sumtheproductsofsteptwoforallsuchderivatives
found
Averagethemoveraswitchingcyclebydividingthesum
instep3bytheswitchingperiodTsw
Condition: Dn (t ) 1

BuckConverterExample:
State Variables :
iL (t ) and vC (t )
Output :
vo (t ) vC (t )
Switch ON :
v
v (t )
diL (t )

= in C

dt
L
L

for 0 t DTS
dvC (t ) iL (t ) vC (t )
and

dt
C
R L C
for small ripple approximation:
voltages and currents can be replaced by their average values so that:
vC ( t )
v in
diL (t )
=

dt
L
L
vC ( t )
iL (t )
dvC (t )

a nd
dt
C
RL C

BuckConverterExample:
Switch OFF :
v (t )
diL (t )

=0 C

dt
L

for DTS t TS
dvC (t ) iL (t ) vC (t )

and
dt
C
R L C
for small ripple approximation:
voltages and currents can be replaced by their average values so that:
vC ( t )
diL (t )
=
dt
L
vC ( t )
iL ( t )
dvC (t )
and

dt
C
RL C

Howdowerelatethesetwosetsofdifferentialequationsoveraswitchingcycleto
Determinethedynamicbehaviorofthebuckconveter?

BuckConverterExample:
OURGOAL:
RemovalofSwitchingActionbyaveragingoveraswitchingcycle:
Thisisbasedontheassumptionsthatswitchingfrequencyisveryhighcomparedtothe
frequencyofvariationoftheinputvoltage,loadandotherparameterssothatthese
parameterscanbeconsideredconstantduringaswitchingcycle
And
Switching frequency ripple is much smaller than the instantaneous DC value of the
states of the converter.
Inordertounderstandtheeffectoftheexternaldisturbancethecorresponding
changeintheDCvaluesofthestatesneedstobeevaluated.
Incaseofinductor,duringadisturbance,thenetchangeofitsDCcurrenthastobe
foundattheendofaswitchingcycle

BuckConverterExample:
Inductorequation:
di (t )
L L vL (t )
dt

t TS

d (i )

1
L

t TS

vL (t )d (t )

Thelefthandsideoftheaboveintegralisthenetchangeofinductorcurrentovera
t TS
switchingcycle:
L
d (i ) L[i (t TS ) i (t )]

Assumption:Therighthandsideoftheaboveintegralcanberelatedtothenetaverage
voltageacrosstheinductoroveraswitchingcyclemultipliedbytheSwitchperiodTs.The
problemistoprovethatthisassumptionistrue.Wehave

L[i (t TS ) i (t )] TS vL (t )

vL (t )
[i (t TS ) i (t )]

TS
L

ForverysmallvaluesofTs,LHScanbewrittenfollowingEulersFormulaas:

d iL

vL (t )

This is valid for the approximation that the switching frequency is very high

dt
L
compared to the frequency at which disturbance is created in the system so that changes in
converter states within one switching cycle can be neglected

BuckConverterExample:
Forthebuckconverterexampleletusfindoutthenet
changeintheinductorcurrentoveraswitchingperiod

ForthebuckconverterexamplewhenswitchisONfromt0<t<DTs:

v (t ) vc (t )
iL (t0 dTS ) iL (t0 ) dTS in

ForthebuckconverterexamplewhenswitchisOFFfromDTs<t<Ts:

v (t )
iL (t0 TS ) iL (to dTS ) (1 d )TS c
L

BuckConverterExample:
NowthenetchangeoncurrentintheinductorattheendofSwitchingcycleistobe
determinedbyeliminating iL (t0 dTS )
iL (t0 TS ) iL (t0 )

TS
i (t T ) iL (t0 ) d (t )vin (t ) vc (t )

d (t )vin (t ) vc (t ) L 0 S
L
TS
L
L

diL (t ) d (t )vin (t ) vc (t )

dt
L
L
Note that the average voltage across the inductor over a switching cycle is actually

vL (t ) d (t )vin (t ) vc (t )
similarly for output capacitor voltage:
dvc (t ) iL (t ) vc (t )

dt
C
RL C
diL (t ) d (t )vin (t ) vc (t )

dt
L
L
Large signal dynamic model of buck converter
dvc (t ) iL (t ) vc (t )

dt
C
RL C
Note that the state variables of the converter in above equations are actually average values of the corresponding states

Itisalsoworthtomentiontheinputcurrentoftheconverterwhichis:

iin (t ) d (t )iL (t )

BuckConverterExample:

Theaveragevoltageacrosstheinductoroveraswitchingcycleisproportionalto
thechangeintheaverage currentoftheinductoroverthatswitchingcycle
Duringtransientsorduringdisturbancesinconverteroperatingconditionthe
average inductorcurrentandtheaveragecapacitorvoltageisnolongerfixed.
ThefiniteDCvoltageacrosstheinductorandfiniteDCcurrentinthecapacitor
leadstochangeofaveragevaluesofinductorcurrentandcapacitorvoltageover
aswitchingcycle
Steadystateisthestateoftheconverterwhenthenetchangeinaveragevalues
ofitsstatesremainsunchangedsothatthenetaveragevoltageacrossthe
inductoriszerooveraswitchingcycle

BoostConverterExample:

1
1
R
vin . iL .(1 d (t )). vo
dt
L
L
L
d vBUS
1
1
.1 d (t ) . iL
. vBUS

dt
CBUS
CBUS .RL
d iL

large signal dynamic model of Boost Converter

BuckBoostConverterExample:

1
d
vin .(1 d ). vo

dt
L
L

large signal dynamic model of Buck Boost Converter

d vo
1
1
. vo
.1 d . iL

dt
Co
Co .RL

d iL

NonLinearityinLargeSignalModel
ofBoostTypeConverters
1
1
R
vin . iL .(1 d ). vo
dt
L
L
L
d vBUS
1
1
.1 d . iL
. vBUS

dt
CBUS
CBUS .RL
d iL

large signal dynamic model of Boost Converter

1
d
vin .(1 d ). vo

dt
L
L

large signal dynamic model of Buck Boost Converter

d vo
1
1
. vo
.1 d . iL

dt
Co
Co .RL

d iL

Thereisacouplingofthestatevariableandthecontrolinputd(t)!!!!!!!!
Theaboveequationscanbeexpressedas:

x Ax B( x)u E

NonLinearityinLargeSignalModel
ofBoostTypeConverters
Thelargesignalmodelofboosttypeconverterscanbeexpressedas:

x Ax B( x)u E
mn
Let beasmoothndimensionalmanifold,and u m forsome.Thenusinga
coordinateneighborhood,anonlinearsystemoftheform

x Ax B( x)u
forsmoothfunctionsAandBiscalledacontrolaffinesystem oraffineincontrolsystem.
Theyarelinearintheactionsbutnonlinearwithrespecttothestateequation.
N.B.Smoothfunctionsarefunctionshavingcontinuousderivativesoveracertainmanifold
WhatgivesrisetothisNONLINEARLITYinaboosttypeconverter?????
Discussedlater!!!

SomekeyaspectsofLargesignalmodelling:
Largesignalmodelisessentialtorealizethechangeinaverage
valuesofconverterstatevariablesduringlargesignaldisturbances
Largesignalmodelisrequiredforunderstandingthefundamental
natureofconverterdynamicsandalsoshowswhetherthe
converterislinearofnonlinearintermsofcontroltheory

SmallSignalModelling:Perturbationand
Linearization
Smallsignalmodelisessentialtounderstandtheconverterresponseto
smallchangesorperturbationsaroundcertainquiescentpoint.
Smallperturbationandfollowinglinearizationisacommontechniqueto
linearizenonlinearbehaviorinaconverter
Onemajordisadvantageforthiskindofmodellingespeciallyinnonlinear
convertersisthatthelinearizationhastobedoneabouttheworstcase
operatingconditionotherwisetherecanbestabilityissueswiththe
resultingclosedloopsystem
Anotherdisadvantageincludesnonoptimalbehaviorofthecontroller
designedusingthismethodsincethefundamentalnonlinearbehaviorof
theconverterisforciblylinearizedaboutacertainquiescentpoint.
Stillthismethodisusedsinceitcansimplifycontrollerdesignandsuch
controllerscanbeimplementedusinganalogcircuits

SmallSignalModelling:Perturbationand
Linearization
Buckboostconverterexample:

SteadyStateQuiescentOperatingPoint:
Steady State Inputs :

Steady State Outputs :

d (t ) D

Vo

vg (t ) Vg

D
V
1 D
Vo
I
(1 D) R
I g DI

SmallSignalModelling:Perturbationand
Linearization
Buckboostconverterexample:

SmallSignalModelling:Perturbationand
Linearization
Buckboostconverterexample:

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:PerturbedStateEquations
1
d ( I i) ( D d )

(Vg vg ) .{1 ( D d )}.(Vo vo )

dt
L
L
Simplifying and collecting DC and small signal terms :

dI di DVg (1 D)Vo Dvg (1 D)vo (Vg V )d d (vg vo )

dt dt
L
L
L
Steady State Term:
DVg (1 D)Vo

on RHS will cancel out with dI on LHS

L
dt
1st order small signal terms:
Dvg (1 D)vo (Vg V )d

will remain in the equation

L
2nd order small signal terms:

d (vg vo )
will be neglected since they are products of small quantities henceforth neglected
L
di

L Dvg (1 D)vo (Vg V )d A linear equation representing the small signal differentail equation for inductor current
dt
Similarly for the capacitor the following small signal differential equation can be found:

dvo
vo

C
(1 D)i Id
dt
Ro
Applying similar perturbation on input current leads to:

I in iin ( D d )(I i) iin Di I d

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:SmallSignalStateEquations

The small signal LINEARIZED state space model of a buck boost converter is as follows:
di

L Dvg (1 D)vo (Vg V )d

dt

dvo
v
C
(1 D)i o Id
dt
Ro

i Di I d
in

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:SmallSignalCanonicalCircuitforaBuckBoostConverter

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:SmallSignalCanonicalCircuitforaBuckBoostConverter

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:SmallSignalCanonicalCircuitforaBuckBoostConverter

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:SmallSignalCanonicalCircuitforaBuckBoostConverter

SmallSignalModelling:PerturbationandLinearization
Buckboostconverterexample:SmallSignalCanonicalCircuitforaBuckBoostConverter

SmallSignalCanonicalModelofConverter:

PWMSwitchModel

PWMSwitchModel:
Featureandutilityofsmallsignalcanonicalmodel
1)Sameasthemainpowertrain

TheSwitchisreplacedbyadependentcurrentsourceId (t )

TheDiodeisreplacedbyadependentvoltagesource Vd (t )
Thecapacitorandinductorareincludedinthesmallsignal
canonicalmodel
2)SPICEbasedSimulationsoftwarelikeSimterix cancalculatetransfer
functionsusingACanalysis
3)Impactofparasitics canbeincludedeasily

ConverterTransferFunction:
Incontrolsense,aconverterisaplantwithtwoinputswhicharethe
a) inputvoltageand
b) DutyRatio
Inmostcasesthedesiredoutputofthisplantis:
OutputVoltage
Insomecasesforexampleparalleloperationofseveralconverters,aconvertermaybe
requiredtooutputcertainoutputcurrentforagivenoutputvoltagewhichissetbya
masterunit.
Inthiscaseasdesiredvalueofaverageinductorcurrentcanbeconsideredtobethe
outputoftheplantsincealwaysinaswitchmodepowersupplyoutputcurrentis
proportionaltoaverageinductorcurrent.
Insuchcasesoutputofthisplantcanbe:
Inductorcurrent

ConverterTransferFunction:
The small signal variations in the converter can be expressed by applying
superposition theorem to the small signal equivalent circuits in laplace domain:

vo (s) Gvd (s)d (s) Gvg (s)d (s)

iL (s) Gid (s)d (s) Gig (s)d (s)
where

vo (s)
Gvd (s)
d (s)

vo (s)
Gvg (s)
vg (s)

i ( s)
Gid (s)
d (s)

is the control to output voltage transfer function

vg ( s )0

d ( s ) 0

is the input line to output voltage transfer function

is the control to inductor current transfer function

vg ( s )0

i ( s)
Gig (s)
vg (s)

is the input line to inductor current transfer function

vg ( s ) 0

DerivationofConverterTransferFunction:
BuckBoostConverter

DerivationofConverterTransferFunction:
BuckBoostConverter

DerivationofConverterTransferFunction:
BuckBoostConverter

sLi ( s ) Dvg ( s ) (1 D)v ( s ) (Vg V )d ( s )

v ( s)

Id ( s )
sCv ( s ) (1 D)i ( s )
R

Eliminate v ( s ) and solve for i ( s )

V
(1 D) R

v (s)
i (s)
d (s)
(1 sRC )
(1 sRC )(1 D)

i (s)

D
R(1 D) 2 s 2

(1 sRC )
LC
L
s

1
2
2
R (1 D)
(1 D)

vg ( s )

V (Vg V )(1 sRC )

1
d ( s)
L
(1 D ) s 2 LC s
1
2
2
(1 D)
R(1 D )

DerivationofConverterTransferFunction:
BuckBoostConverter

vo (s)
Gvd (s)
d (s)

Gvd (s)

vg ( s )0

1 s

Vg V
(1 D)2 1 s

vo (s)
Gvg (s)
vg (s)
Gvg (s)

is the control to output voltage transfer function

d ( s ) 0

D
1 D 1 s

LI
Vg V

L
LC
2

s
(1 D)2 R
(1 D)2

where I=

V
(1 D)R

is the input line to output voltage transfer function

1
L
LC
2

s
(1 D)2 R
(1 D)2

Note the DC gain is given by =0 and it is

D
1 D

DerivationofConverterTransferFunction:
BuckBoostConverter

ConverterTransferFunction:BuckBoostConverter

ConverterTransferFunction:BuckBoostConverter
ControltoOutputVoltageTransferFunction:
BuckBoostConverter

ConverterTransferFunction:BuckConverter

ConverterTransferFunction:BuckConverter

LeftHalfPlaneZeroinTheTransferFunctionofBoostType
Converter
NotethattransferfunctionofthecontroltooutputvoltagehasaRHP
zero
TheRHPzerocannotbeeliminatedbypoleplacementtechniques
BecauseoftheRHPzero,boosttypeconvertersarenonminimum
phasesystemsandcanbecomeunstablefollowingNyquists phase
criterionforstability
Thetransferfunctionofthecontroltoinductorcurrentdoesnothave
aRHPsocurrentcontrolloopmustbeaddedtothecontrollerfora
boostconverter
Notethatinmostboosttypeconvertersinductorcurrent
measurementcanbeacriticalissue
WhatgivesrisetothisRHPZeroinsuchsystems?

LeftHalfPlaneZeroinTheTransferFunctionofBoostType
Converter:Changesduringtransient

Considerthecasewhenthedutyratiooftheconverterisincreasedbythecontrollerin
ordertoincreasetheoutputvoltage
Theinductorcurrentwillstartincreasingbecauseofincreaseddutyratiobutaverage
inductorcurrentcannotincreaseinstantaneouslyduetobasicnatureofinductor
Duringthisinitialperiodtheoutputvoltagewillbemainlysupportedbytheoutput
capacitor.Soitwillstartreducingsincenowtheoutputcapacitorwillneedtosupport
theoutputloadforgreatertimewithineveryswitchingcycleduetoincreasedduty
cycleandthatthecurrentintothecapacitorhasnotincreasedsincetheaverage
currentintheinputinductorhasnotyetincreased.Thiswillresultinanoperating
conditionjustfollowingtheincreaseofdutyratiochangewhentheoutputvoltage
reducesalthoughthedutycyclehasincreased.Thiscanbemathematicallyrepresented
asreversalofphaseoftheconverteroutputwithrespecttothecontrolinput
Eventuallywhentheinductoraveragecurrentincreasesandsodoesthecurrent
requiredtochargeuptheoutputcapacitor,theoutputvoltagewillbeginrisingtillan
equilibriumhasbeenreached.

LeftHalfPlaneZeroinTheTransferFunctionofBoostType
Converter:Changesduringtransient

ControltoinputInductorcurrenttransfer
functiondoesnotshowRHPzerosince
theinductorcurrentbehavesasdesiredbythe
controlinput

LeftHalfPlaneZeroinTheTransferFunctionofBoostType
Converter:Changesduringtransient
RHPZerohasmagnitudeofaLHPzero:

ButthephaseissameasthatofaLHPpole:

LeftHalfPlaneZeroinTheTransferFunctionofBoostType
Converter:Currentmodecontrolisessential

OnlyvoltageloopcontrolcannotstabilizeaboostconverterbecauseofRHPzero
inthesmallsignaltransferfunctionwhichmakesitalmostimpossibletoacquire
enoughphasemarginbyusingwideBandwidthvoltagemodecontroller
IfONLYVoltagemodecontrolhastobeusedthentypicallythevoltageloophas
tobesuchthattheresultingcrossoverfrequencyinverylowtypicallyfew100
Hz.SuchlowBandWidthcontrollerresultsinhighlysluggishcontrollerresponse.
Asshownpreviouslythattheinductorcurrenttocontrolinputtransferfunction
ofboosttypeconvertersdoesnothaveRHPzero
Currentmodecontrolisessentialtostabilizeacontrollerforboostconverter
speciallyinCCM

UnstableoperationinaboostPFCconverterunder
severeloadchangefrom20%loadto120%load

IssueswithCurrentSensing:

Directsensingofinductorcurrentusinghalleffectsensors.Suchsensorsarevery
costlyandalsohavesevereBWlimitations.Moreovertheyarequitebulky.
Useofresistivesensingonthenegativerailofthepowersupply.Thistechnique
canonlybeusedifthesensedcurrentislow.Moreoverthistechniquerequires
differentialamplifierswhicharesusceptibletonoiseandaddsonthecost
PerhapsthebestsensingtechniqueistouseCTinastrategiclocationwherethe
currentisACandatthesametimeconsistsofaveragecurrentwhichisrequired
forthecurrentmodecontrol.ForexampleinBoostPFCconverterCTsareplaced
inserieswiththeswitchingdeviceandthecurrentintheswitchisproportionalto
theaveragecurrent

DigitalCurrentsensingusingCT

ConverterTransferFunctions

OutputImpedanceofconverters:
Considertheopenloopsmallsignalmodelofabuckconverterwithanoutputcurrentsource:

Theaboveopenloopsystemisapplicabletoconvertersoperatinginparallelsothat
outputcurrentoftheconvertercanbechangedbyotherconverteroperatinginparallel
Insuchcaseitisimperativetoknowthesmallchangesinoutputvoltageduetosmall
changesintheoutputcurrentorinotherwordstheoutputimpedanceoftheconverter
definedbyZout(s)above

OutputImpedanceofconverters:

OutputImpedanceofconverters:

OutputImpedanceofconverters:

InputImpedanceofconverters:

Essentialfordesigninginputfiltersandsnubbers

InputImpedanceofconverters:

Inputsnubbers mustbeaddedtoensureproperdampingoftheseoscillations
duringtransients
Fordesigninginputsnubbers,itisimperativetoknowtheinputimpedance

Synopsis:
WelearnthowtoeliminatetheswitchingactioninaSMPSoperatingin
CCMtofindanaveragedlargesignaldynamicequationoftheconverter
Suchanaveragedynamiclargesignalmodelrepresentsthechangeinthe
averagevalueofstatesfordisturbanceswhicharemuchslowerthanthe
switchingfrequency
Smallsignalperturbationandlinearizationwasusedtolinearizethelarge
signaldyanamic equationsaroundagivenoperatingpoint
SmallsignallinearizationgivesrisetosmallsignalmodeloftheSMPSin
eithercanonicalformandorPWMswitchmodel
SmallSignalModelscanbeusedtogenerateconvertertransferfunctions
TheTransferfunctionsofboosttypesystemshavebeenanalyzedandthe
presenceofRHPzerohadbeenexplained
Methodsofderivationofoutputandinputimpedancesofconvertershas
beenshown