Fundamentals of Power Electronics

Robert W. Erickson University of Colorado, Boulder

Fundamentals of Power Electronics

Chapter 1: Introduction

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

Fundamentals of Power Electronics

Chapter 1: Introduction

1.1 Introduction to Power Processing

Power input

Switching converter

Power output

Control input

Dc-dc conversion: Ac-dc rectification: 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
Fundamentals of Power Electronics
3

Chapter 1: Introduction

Control is invariably required

Power input

Switching converter

Power output

Control input feedforward Controller reference feedback

Fundamentals of Power Electronics

Chapter 1: Introduction

High efficiency is essential

Pout Pin

0.8

1 Ploss = Pin Pout = Pout 1

0.6

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

0.4

0.2 0 0.5 1 1.5

Ploss / Pout

Fundamentals of Power Electronics

Chapter 1: Introduction

A high-efficiency 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 efficiency

Fundamentals of Power Electronics

Chapter 1: Introduction

Devices available to the circuit designer

Resistors

Capacitors

Magnetics

s s linearswitched-mode mode Semiconductor devices

DT

+
T

Fundamentals of Power Electronics

Chapter 1: Introduction

Devices available to the circuit designer

Resistors

Capacitors

Magnetics

s s linearswitched-mode mode Semiconductor devices

DT

+
T

Signal processing: avoid magnetics

Fundamentals of Power Electronics

Chapter 1: Introduction

Devices available to the circuit designer

Resistors

Capacitors

Magnetics

s s linearswitched-mode mode Semiconductor devices

DT

+
T

Power processing: avoid lossy elements

Fundamentals of Power Electronics

Chapter 1: Introduction

Power loss in an ideal switch

Switch closed: Switch open: In either event:

v(t) = 0 i(t) = 0

+ v(t)

i(t)

p(t) = v(t) i(t) = 0

Ideal switch consumes zero power

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Chapter 1: Introduction

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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Chapter 1: Introduction

Dissipative realization

Resistive voltage divider

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

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Chapter 1: Introduction

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

Pin 1000W

Fundamentals of Power Electronics

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Chapter 1: Introduction

Use of a SPDT switch

I 10A + + R v(t) 50V

Vg 100V

vs(t)

vs(t)

Vg Vs = DVg 0 (1D) Ts 2
14

DTs switch position: 1

t 1
Chapter 1: Introduction

Fundamentals of Power Electronics

The switch changes the dc voltage level

vs(t)

Vg Vs = DVg 0 DTs (1 D) Ts 2 t 1

D = switch duty cycle 0D1 Ts = switching period fs = switching frequency = 1 / Ts

switch position:

DC component of vs(t) = average value:

Vs = 1 Ts

Ts

vs(t) dt = DVg
0

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Chapter 1: Introduction

Addition of low pass filter

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

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

Vg 100V

vs(t)

Pin 500W

Ploss small

Choose filter cutoff frequency f0 much smaller than switching frequency fs This circuit is known as the buck converter
16

Fundamentals of Power Electronics

Chapter 1: Introduction

Addition of control system for regulation of output voltage

Power input

Switching converter +

Load i

vg

v transistor gate driver

(t)

H(s)

sensor gain

dTs Ts

reference vref input

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17

pulse-width vc G (s) c modulator compensator

error signal ve

Hv

Chapter 1: Introduction

The boost converter

L
1

+ C R V

Vg

5Vg 4Vg

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

D
Fundamentals of Power Electronics
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Chapter 1: Introduction

A single-phase inverter
vs(t)
1

Vg

+
2

+ + v(t) load

2 1

vs(t)

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

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Chapter 1: Introduction

1.2 Several applications of power electronics

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

Fundamentals of Power Electronics

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Chapter 1: Introduction

A computer power supply system

regulated dc outputs iac(t) Rectifier vac(t) ac line input 85-265Vrms dc link loads + Dc-dc converter

Fundamentals of Power Electronics

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Chapter 1: Introduction

A spacecraft power system

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

Fundamentals of Power Electronics

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Chapter 1: Introduction

A variable-speed ac motor drive system

+ 3ac line 50/60Hz Rectifier vlink Inverter

variable-frequency variable-voltage ac

Ac machine Dc link

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Chapter 1: Introduction

1.3 Elements of power electronics

Power electronics incorporates concepts from the fields of

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

Fundamentals of Power Electronics

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Chapter 1: Introduction

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 efficiency
100% 90%

0.002 0.01

80% 70% 60% 50% 40%

0.02 0.05 RL/R = 0.1

Discontinuous conduction mode Transformer isolation

Fundamentals of Power Electronics
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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

Chapter 1: Introduction

Switch realization: semiconductor devices

The IGBT
gate

iA(t)

collector

Switching loss

transistor waveforms

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)

tr

= vA iA area ~QrVg

Collector
t0 t1 t2

area ~iLVgtr t

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Chapter 1: Introduction

Part I. Converters in equilibrium

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

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Chapter 1: Introduction

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)

Fundamentals of Power Electronics

compensator pulse-width vc Gc(s) modulator

v
averaged waveform <v(t)>Ts with ripple neglected t

1:D

Vg V d(t)

D' : 1
+ I d(t)

v(t)

28

Chapter 1: Introduction

Part II. Converter dynamics and control

7. 8. 9. 10.

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

11.

Fundamentals of Power Electronics

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Chapter 1: Introduction

Part III. Magnetics

n1 : n 2

transformer design

i1(t)

iM(t) LM R1 R2

i2(t)

the proximity effect

layer 3

3i 2i 2 2i i

layer 2

ik(t)
layer 1

i
d

: 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

Chapter 1: Introduction

Part III. Magnetics

12. 13. 14.

Basic magnetics theory Filter inductor design Transformer design

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Chapter 1: Introduction

Part IV. Modern rectifiers,

and power system harmonics
Pollution of power system by rectifier current harmonics A low-harmonic rectifier system
boost converter ig(t) iac(t) vac(t) + vg(t) vcontrol(t)
multiplier

i(t) L + D1 Q1 C v(t) ig(t) Rs PWM va(t) R

vg(t) X

v (t) + err Gc(s) vref(t) = kx vg(t) vcontrol(t) compensator

100% 100% 91% 73% 52% 32% 19% 15% 15% 13% 9% 1 3 5 7 9 11 13 15 17 19

controller

Harmonic amplitude, percent of fundamental

80% 60% 40% 20% 0%

THD = 136% Distortion factor = 59%

iac(t) +

Ideal rectifier (LFR) p(t) = vac / Re Re(vcontrol)

2

i(t) + v(t) dc output

Model of the ideal rectifier

vac(t) ac input

Harmonic number

vcontrol

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Chapter 1: Introduction

Part IV. Modern rectifiers,

and power system harmonics

15. 16. 17. 18.

Power and harmonics in nonsinusoidal systems Line-commutated rectifiers The ideal rectifier Low harmonic rectifier modeling and control

Fundamentals of Power Electronics

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Chapter 1: Introduction

Part V. Resonant converters

The series resonant converter
Q1 D1 Q3

L
D3

1:n +

Vg

+
Q2 Q4

D2

D4

Zero voltage switching

vds1(t) Vg

1 0.9

Q = 0.2

Q = 0.2

0.8
0.35

0.7

M = V / Vg

0.6 0.5 0.4 0.3

0.35

0.5 0.75

conducting devices:

Q1 Q4 turn off Q1, Q4

X D2 D3 commutation interval

0.5 0.75 1 1.5 2 3.5 5 10 Q = 20

1 1.5 2 3.5 5 10 Q = 20

Dc characteristics

0.2 0.1 0

0.2

0.4

0.6

0.8

1.2

1.4

1.6

1.8

F = f s / f0

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Chapter 1: Introduction

Part V. Resonant converters

19. 20. Resonant conversion Quasi-resonant converters

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Chapter 1: Introduction