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1
PI Controller for DC-DC Boost Converter Output
Voltage
!
Vpwm PWM mod. DC-DC Vout
(0-3.5V) and MOSFET conv. (0-120V)
driver
Vout ( s) G( s)
Vset ( s) 1 G( s)
1 1
G PI ( s) K P Gconv ( s ) G PWM G DC DC ( s )
sTi 1 sT
1
VPWM (t ) K P e(t )
Ti e(t )dt
• Proportional term: Immediate correction but steady state error (Vpwm equals
zero when there is no error (that is when Vset = Vout)).
• Integral term: Gradual correction
Consider the integral as a continuous sum (Riemman’s sum)
Thank you to the sum action, Vpwm is not zero when the e = 0
Has some “memory”
4
E.g. Buck converter
• Vin = 24 V
• Vout = 16 V (goal)
• L = 200 uH, C = 500 uF, R = 2 Ohm
5
E.g. Buck converter !
• Vin = 24 V
1
• Vout = 16 V (goal) VPWM (t ) e(t )dt
Ti
• L = 200 uH, C = 500 uF, R = 2 Ohm
• Ki = 40, Kp = 0
iL
vC
e
6
E.g. Buck converter !
• Vin = 24 V
1
• Vout = 16 V (goal) VPWM (t ) e(t )dt
Ti
• L = 200 uH, C = 500 uF, R = 2 Ohm
• Ki = 10, Kp = 0
iL
vC
e
7
E.g. Buck converter !
• Vin = 24 V
• Vout = 16 V (goal)
VPWM (t ) K P e(t )
• L = 200 uH, C = 500 uF, R = 2 Ohm
• Ki = 0, Kp = 1
iL
vC
e
8
E.g. Buck converter !
• Vin = 24 V
• Vout = 16 V (goal)
VPWM (t ) K P e(t )
• L = 200 uH, C = 500 uF, R = 2 Ohm
• Ki = 0, Kp = 0.1
iL
vC
e
9
E.g. Buck converter !
• Vin = 24 V
1
• Vout = 16 V (goal) VPWM (t ) K P e(t ) e(t )dt
Ti
• L = 200 uH, C = 500 uF, R = 2 Ohm
• Ki = 10, Kp = 1
iL
vC
e
10
Ti Ri Ci Theory, cont.
Response of Second Order System
1 1 (zeta = 0.99, 0.8, 0.6, 0.4, 0.2, 0.1)
G( s) K P 0.1
sTi 1 sT 1.8
1.6 0.2
Vout ( s) G( s)
1.4
0.4
Vset ( s) 1 G( s) 1.2
1
0.8
work! KP 1
s 0.6
0.99
Vout ( s ) T Ti K P 0.4
0.2
Vset ( s ) 1 K p 1
s s
2 0
0 2 4 6 8 10
T TTi
Recommended in PI
Ti 0.8T literature
s 2 2 n s n2
1 K p 0.65 K p 0.45
1
n2 2 n
TTi T From above curve – gives some
overshoot
2T T
K p 2 nT 1 1 2 1 11
TTi Ti
Improperly Tuned PI Controller
90V 90V
Figure 11. Closed Loop Response with Mostly Integral Control Figure 12. Closed Loop Response with Mostly Proportional Control
(ringing) (sluggish)
12
!
Op Amps
I−
V− –
Vout
I+
V+ +
I+ = I− = 0
13
!
Example 1. Buffer Amplifier
(converts high impedance signal to low impedance signal)
Vout (1 K ) KVin
K
Vout Vin
1 K
K is large
Vout Vin
14
!
Example 2. Inverting Amplifier
(used for proportional control signal)
Rf V
Vout K (0 V ) KV , so V out .
Rin K
Vin – V Vin V Vout
Vout KCL at the – node is 0.
+ Rin Rf
Eliminating V yields
V V
out Vin out Vout
K K 0 , so
Rin Rf
15
Example 3. Inverting Difference
!
(used for error signal)
V
R R Vout K (V V ) K b V , so
Va 2
– V V
Vout V b out .
R + 2 K
V Va V Vout
Vb
KCL at the – node is 0 , so
R R R
V Vout
V Va V Vout 0 , yielding V a .
2
Eliminating V yields
V V Vout V V Va K V Va
Vout K b a , so Vout K out K b , or Vout 1 K b .
2 2 2 2 2 2
16
!
Example 4. Inverting Sum
(used to sum proportional and integral control signals)
Vout
R Vout K (0 V ) KV , so V .
K
R
Va –
R Vout KCL at the – node is
Vb +
V Va V Vb V Vout
0 , so
R R R
3V Va Vb Vout .
V 3
Substituting for V yields 3 out Va Vb Vout , so Vout 1 Va Vb .
K K
17
Example 5. Inverting Integrator !
(used for integral control signal)
~ ~
Using phasor analysis, Vout K (0 V ) , so
Ci ~
~ Vout
Ri
V . KCL at the − node is
Vin – K
Vout
+ ~ ~ ~ ~
V Vin V Vout
0.
Ri 1
jC
~
Vout ~
Vin V~out ~
~ K jC Vout 0 . Gathering terms yields
Eliminating V yields
Ri K
~
~ 1 1 Vin ~ 1 1 ~
Vout jC 1 , or Vout jRi C 1 Vin For large K , the
KRi K Ri K K
~
Vin
expression reduces to Vout ( jRi C ) Vin , so Vout
~ ~ ~
(thus, negative integrator action).
jRi C
~
For a given frequency and fixed C , increasing Ri reduces the magnitude of Vout .
18
Op Amp Implementation of PI Controller
Signal flow
– error Rp
αVout
+
–
–
+ 15kΩ – Vpwm
– +
Difference +
Vset
+ (Gain = −1) Proportional
Summer
(Gain = −Kp)
(Gain = −1
1)
Buffers
(Gain = 1)
Ci
Ri
Ri is a 500kΩ pot, Rp is a 100kΩ pot, and all other
–
resistors shown are 100kΩ, except for the 15kΩ
resistor. +
Inverting Integrator
The 500kΩ pot is marked “504” meaning 50 • 10 4 . (Time Constant = Ti)
The 100kΩ pot is marked “104” meaning 10 • 10 4 .
(Note – net gain Kp is unity when, in the open loop condition and with the integrator disabled,
Vpwm is at the desired value)
19