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Abstract—This paper presents the control strategy and power two-port converter, N-port converter has N-1 control inputs,
management for an integrated three-port converter, which inter- which requires more modeling effort. Moreover, since the mul-
faces one solar input port, one bidirectional battery port, and an tiport converter has integrated power stage and, thus, multi-input
isolated output port. Multimode operations and multiloop designs
are vital for such multiport converters. However, control design is multi-output (MIMO) feature, it necessitates proper decoupling
difficult for a multiport converter to achieve multifunctional power for various control-loops design. Table I gives a comparison of
management because of various cross-coupled control loops. Since the two different system structures.
there are various modes of operation, it is challenging to define Due to the advantages of multiport converter, recently there
different modes and to further implement autonomous mode tran- have been extensive researches that result in a wide variety of
sition based on the energy state of the three power ports. A com-
petitive method is used to realize smooth and seamless mode tran- topologies. One simple approach is to interface several con-
sition. Multiport converter has plenty of interacting control loops verter stages to a common dc bus with independent control for
due to integrated power trains. It is difficult to design close-loop each converter stage. A multiinput boost-type converter [1] was
controls without proper decoupling method. A detailed approach designed for hybrid electric vehicles using such loose struc-
is provided utilizing state-space averaging method to obtain the ture. But, it is widely accepted that an integrated topology spe-
converter model under different modes of operation, and then a
decoupling network is introduced to allow separate controller de- cially tailored for multiport conversions will be more compact
signs. Simulation and experimental results verify the converter in size and lower in mass since switches and passive compo-
control design and power management during various operational nents are shared. A buck-based topology was used to interface
modes. spacecraft front-end power systems [3]. But the battery port is
Index Terms—DC–DC converters, digital control, mode tran- unidirectional and cannot be charged from solar port. Model-
sition, multi-input multi-output (MIMO), multiport, small-signal ing of this converter was further discussed in [4], but plenty
modeling, state-space averaging. of interacting control loops were neither analyzed nor decou-
pled. A multiinput buck–boost-topology-based converter was
proposed to accommodate various renewable sources [5]. But
I. INTRODUCTION there is neither bidirectional port nor isolated power port to
interface battery and comply with safety requirement for cer-
HE INTEGRATED multiport converter, instead of sev-
T eral independent converters, has advantages such as less
component count and conversion stage because resources like
tain applications. A triple-voltage half-bridge topology is de-
veloped for automotive application in 14-V/42-V/high-voltage
bus system [10], which has one isolated high-voltage port. Its
switching devices and storage elements are shared in each
power flow management is based on a combined duty ratio
switching period. As a result, the integrated system will have
and phase shift control, and it can achieve soft-switching with
a lower overall mass and more compact packaging. In addi-
four main switches, but soft-switching range is limited when
tion, some other advantages of integrated power converters are
the phase shifts between two very different voltage levels to
lower cost, improved reliability, and enhanced dynamic perfor-
have large current swing. Another half-bridge-based topology
mance due to power stage integration and centralized control.
has also been proposed for vehicle application [18]. It has three
Besides, it requires no communication capabilities that would
fully isolated power ports, but utilizes six switches and many
be necessary for multiple converters. Therefore, the commu-
components, which is overqualified for our application that re-
nication delay and error can be avoided with the centralized
quires only one isolated port. Similarly, isolated-bidirectional
control structure. Instead of one control input for traditional
multiport converters can also be constructed out of full-bridge
topology for relatively high-power applications [19]–[23], since
Manuscript received April 29, 2009; revised September 11, 2009. Current they apply full voltage to the transformer and adopt more
version published April 2, 2010. This work was supported by the National
Aeronautics and Space Administration and by the Advance Power Electronics switches to process power. But full-bridge-based topologies
Corporation. Recommended for publication by Associate Editor K. Ngo. utilize a lot of switches with complicated driving and con-
Z. Qian is with the Department of Electrical Engineering, University of Cen- trol circuitry that counteracts the size benefit of integrated
tral Florida, Orlando, FL 32816 USA (e-mail: pebajie@gmail.com).
O. Abdel-Rahman is with the Advanced Power Electronics Corporation, topologies. Recently, a three-port topology with only one mid-
Orlando, FL 32816 USA (e-mail: sabdel@apecor.com). dle branch added to the traditional half-bridge converter has
H. Al-Atrash and I. Batarseh are with the Department of Electrical En- been reported in [16], which can achieve zero-voltage switch-
gineering, University of Central Florida, Orlando, FL 32816 USA (e-mail:
batarseh@mail.ucf.edu). ing (ZVS) for all three main switches, adopts a high-frequency
Digital Object Identifier 10.1109/TPEL.2009.2033926 transformer to interface an isolated distribution bus, and has a
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638 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 3, MARCH 2010
TABLE I
COMPARISON OF CONVENTIONAL STRUCTURE AND INTEGRATED STRUCTURE
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QIAN et al.: MODELING AND CONTROL OF THREE-PORT DC/DC CONVERTER INTERFACE FOR SATELLITE APPLICATIONS 639
Fig. 2. Different operational modes in satellite’s one-orbit cycle. Three-port converter can achieve MPPT, battery charge control, and load regulation depending
on available solar power, battery state of charge, and load profile. In stage I, battery acts as the exclusive source during eclipse period. In stages II and III, solar
power is maximized to decrease battery state of discharge in stage II for initial insolation period, and then to increase battery state of charge in stage III for
increased insolation period. In stage IV, battery charge control is applied to prevent battery overcharging and extend battery service life. (a) Stage I operation
(eclipse period). (b) Stage II operation (initial insolation). (c) Stage III operation (increased insolation). (d) Stage IV operation (battery charge control).
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640 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 3, MARCH 2010
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642 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 3, MARCH 2010
Fig. 7. (a) Model comparison due to duty-cycle step. (b) Averaged model and circuit model comparison for battery-regulation mode.
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QIAN et al.: MODELING AND CONTROL OF THREE-PORT DC/DC CONVERTER INTERFACE FOR SATELLITE APPLICATIONS 643
Fig. 8. Small-signal model of battery-regulation mode, control inputs and outputs are decoupled to enable separate controller design. V o re f and V b re f are the
references for output voltage and battery voltage, respectively. H O V R and H B V R are the compensators that need to be designed.
diagram shown in Fig. 8. For example, G(s)(4, 1) represents the U ∗ is the modified input vector made up of duty cycles U,
fourth state variable Vo and the first control variable d1 , which, U ∗ = G∗ U . Therefore, X = GG∗ U . According to the modern
thus, equals to open-loop transfer function of Vo /d1 . There- control theory, our goal is to make GG∗ a diagonal matrix to
fore, the row number denotes the sequence of state variable, and allow one control input to determine one output independently.
column number denotes that of control input. The values such Therefore, based on G∗ = XU −1 G−1 , G∗ can be derived and
as g11 and g12 are not expressed because the symbolic deriva- simplified as
tion of these transfer functions is fairly tedious. Alternatively, a
∗
1 −g12 /g11
computer software like MATLAB can be used to calculate the G = . (10)
desired transfer functions, and then plot out the Bode plots for −g21 /g22 1
analysis in the frequency domain as Since g11 and g21 are already known, the OVR controller can
−1 then be designed with the following equation:
G(s) = (sI − A) B
vo vb vo (s)/d1 (s) = g11 − g12 · g21 /g22 . (11)
= g11 = G(s)(4, 1) = g21 = G(s)(1, 1)
d1 d1
Similarly, the BVR-loop design utilizes the BVR-loop equa-
vo vb tion
= g12 = G(s)(4, 2) = g22 = G(s)(1, 2). (8)
d2 d2
vb (s)/d2 (s) = g22 − g12 · g21 /g11 . (12)
In Fig. 8, PWM modulator gain FM is calculated using the
following equation: With the open-loop control objects of vo (s)/d1 (s) and
vb (s)/d2 (s) are available, now it is possible to explore the close-
2M fs loop compensators design. In order to design OVR-loop com-
FM = . (9)
fPW M clo ck pensator HOVR so that a stable and high-bandwidth output-loop
gain can be obtained, the open Bode plot of OVR loop before
Where fPW M clo ck is the clock frequency of the PWM counter,
compensation has been plotted in Fig. 9(a). The Bode shape
fs is the switching frequency, and M is chosen to allow the
implies that it has two main poles at around Lo Co resonance,
logical value in the compare register of the PWM to be between
which causes a −40 dB/decade slope. Therefore, the design
0 and 1.
objective is to boost up the low-frequency gain to minimize
The gains Kv1 and Kv2 actually take into account both sens-
steady-state error and make it pass 0 dB line at −20 dB/decade
ing gain and analog-to-digital conversion gain, and the latter is
slope, while maintaining a sufficient phase margin. A tradition
dependent on the resolution of the analog-to-digital converter.
PI controller will be able to handle this, but if two poles are
As mentioned earlier, it is difficult to design close-loop
close to cause sharp phase drop as in this case, a PID controller
compensators for each control loop without proper decoupling
is recommended to boost up the phase. After compensation, the
method. Therefore, a decoupling network, as in Fig. 8, is intro-
crossover frequency for the OVR loop is set at 4.1 kHz with a
duced so that the control loops can be designed independently
phase margin of 78◦ . HOVR takes the following form:
with different bandwidth requirement. Since output-port voltage
regulation requirement is the stringiest of the three and battery HOVR = 80(s/2π · 400 + 1)(s/2π · 800 + 1)
characteristics are relatively slower, the BVR loop is designed
× /s/(s/2π · 4000 + 1)/(s/2π · 4000 + 1). (13)
to have a one decade lower bandwidth than that of OVR. The
derivation of decoupling network G∗ is described as follows. For the BVR loop, as shown in Fig. 9(b), the open-loop Bode
The state vector matrix X can be written as X = GU ∗ , where also shows a two-main-pole feature that is easy to compensate,
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644 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 3, MARCH 2010
Fig. 9. Simulated Bode plots for battery-regulation mode. (a) v o (s)/d1 (s). (b) v b (s)/d2 (s). Dashed line denotes open-loop plant transfer function before
applying the compensator, solid line denotes close-loop transfer function after applying the compensator. BVR-loop bandwidth is set to be one-tenth of that of
OVR.
Fig. 10. Averaged model and circuit model comparison for battery-balanced
B. Three-Port Converter Modeling During Battery-Balanced mode.
Mode
The same method is followed for battery-balanced mode. 1
In this mode, the input-port voltage vC 2 is considered as a state 0 − (IL m + nVo /R)
C2
variable instead of the battery-port voltage vC 1 . Averaged model
is derived by state-space representation. The state matrix X con- Vb D1 Vb
− d1
tains the four state variables vC 2 , iL m , iL o , and vo , and the input
B = Lm D2 Lm
U= . (15)
matrix U remains the two control variables d1 and d2 . The A d2
nVb nD1 Vb
and B matrices take the following form:
Lo D2 Lo
1 D2 nD2
− − − 0 0 0
RS C2 C2 C2
Again, it can be seen from Fig. 10 that the averaged model
D2 v̂C 2
0 0 0 correctly approximates the input voltage and output current ac-
Lm îL m
cording to the simulation. Since matrices A and B are derived,
A = , X=
îL
nD2 1 o
transfer functions for output and input voltage to duty-cycle val-
0 0 −
Lo Lo ues can be extracted from the small-signal model, as shown in
v̂o
Fig. 11.
1 1 The same decoupling network is adopted here as the battery-
0 0 −
Co RCo regulation mode. In fact, the design of OVR is exactly the same,
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QIAN et al.: MODELING AND CONTROL OF THREE-PORT DC/DC CONVERTER INTERFACE FOR SATELLITE APPLICATIONS 645
Fig. 11. Small-signal model of battery-balanced mode, control inputs and outputs are decoupled to enable separate controller design. V o re f and V in re f are the
references for output voltage and input voltage, respectively. HO V R and HIV R are the compensators that need to be designed.
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646 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 3, MARCH 2010
TABLE II
VALUES OF CIRCUIT PARAMETERS
Fig. 14. Autonomous mode transition. (a) Mode 1–mode 2. (b) Mode 2–mode 1.
Fig. 15. Simulated and measured Bode plots. (a) V o /d1 . (b) V b /d2 . (c) V in /d2 .
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QIAN et al.: MODELING AND CONTROL OF THREE-PORT DC/DC CONVERTER INTERFACE FOR SATELLITE APPLICATIONS 647
Fig. 17. Different mode operations based on available solar power, battery state of charge, and load profile; left column shows four stages in satellite’s one-orbit
cycle; for the right column, top one shows input solar panel voltage and current, middle one represents battery voltage and current, and the bottom one shows
output-port load level, while its voltage is regulated all the time.
verters, because MPPT and load regulation cannot be achieved solation level increases, and solar power at this point not only
simultaneously by conventional two-port converter. supplies for full load, but also has extra power to charge the
Fig. 17 presents the typical experimental results of three dif- battery, meanwhile battery current Ib becomes positive. At the
ferent ports’ voltage and current imitating for satellite’s one- 30-min point, load requirement is suddenly reduced from 3 to
orbit cycle that includes four orbiting stages to verify the control 0.5 A. As a result, the power deficit goes to charge battery and
design for space applications. The output voltage is regulated triggers BCR to prevent overcurrent, and therefore, BCR takes
all the time, while output load level is commanded to change control over d2 from previous IVR commanding, and MPPT is
deliberately from 3 to 0.5 A to allow for mode transitions. As disabled accordingly. During this period (30–34 min), because
mentioned in Section II, in stage I of satellite cycling, no solar input power and output power is fixed, battery power is fixed
power is available due to eclipse, and therefore, input current as well, more specifically, battery current reduces due to in-
Iin is zero and battery discharges to supply for full load. In crease of battery voltage. So, it eventually goes out of current
stage II of initial insolation, solar panel operates in MPPT to protection and BCR loses control when IVR takes control back
maximize power input, but it is still not enough to support full over d2 again to operate in MPPT. Then, battery voltage setting
load, and therefore, the battery still discharges, but with less is quickly reached, and BVR wins control over d2 , and thus,
discharging current, while Iin is 1.3 A. In stage III, solar in- battery voltage is regulated, meanwhile Ib drops gradually.
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648 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 25, NO. 3, MARCH 2010
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