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Manjing Xie
Thesis submitted to the faculty of the
Virginia Polytechnic Institute and State University
in partial fulfillment of the requirements for the degree of
Master of Science
in
Electrical Engineering
Dr. Fred C. Lee, Chair
Dr. Alex Q. Huang
Dr. Thomas L. Martin
June 2003
Blacksburg, Virginia
Keywords: SwitchMode Power Supply, Digital Control, Power Factor Correction,
Feed Forward, ThreeLevel PFC, Active Balancing
DIGITAL CONTROL FOR POWER FACTOR
CORRECTION
Manjing Xie
ABSTRACT
This thesis focuses on the study, implementation and improvement of a digital
controller for a power factor correction (PFC) converter.
The development of the telecommunications industry and the Internet demands
reliable, costeffective and intelligent power. Nowadays, the telecommunication
power systems have output current of up to several kiloamperes, consisting of
tens of modules. The highend server system, which holds over 100 CPUs,
consumes tens of kilowatts of power. For missioncritical applications,
communication between modules and system controllers is critical for reliability.
Information about temperature, current, and the total harmonic distortion (THD)
of each module will enable the availability of functions such as dynamic
temperature control, fault diagnosis and removal, and adaptive control, and will
enhance functions such as current sharing and fault protection. The dominance
of analog control at the modular level limits systemmodule communications.
Digital control is well recognized for its communication ability. Digital control will
provide the solution to systemmodule communication for the DC power supply.
The PFC converter is an important stage for the distributed power system (DPS).
Its controller is among the most complex with its threeloop structure and
multiplier/divider. This thesis studies the design method, implementation and cost
effectiveness of digital control for both a PFC converter and for an advanced
PFC converter. Also discussed is the influence of digital delay on PFC
performance. A costeffective solution that achieves good performance is
provided. The effectiveness of the solution is verified by simulation.
iii
The three level PFC with range switch is well recognized for its high efficiency.
The range switch changes the circuit topology according to the input voltage
level. Research literature has discussed the optimal control for both range
switchoff and rangeswitchon topologies. Realizing optimal analog control
requires a complex structure. Until now optimal control for the threelevel PFC
with analog control has not been achieved. Another disadvantage of the three
level PFC is the output capacitor voltage imbalance. This thesis proposes an
active balancing solution to solve this problem.
iv
ACKNOWLEDGEMENTS
I would like to express my sincere appreciation to my advisor, Dr. Fred C. Lee for
his guidance, encouragement and continuous support.
I would like to thank my master committee members: Dr. Alex Q. Huang for
providing me extended knowledge in power IC design, Dr. Thomas L. Martin for
helping me develop the basic background for the highlevel synthesis method.
I must thank all the members of the Center for Power Electronics Systems
(CPES) for their friendship, support, discussion and encouragement. My study
and research experience in CPES is enjoyable and rewarding. In particular, I
would to thank Dr. Yong Li, Dr. Qun Zhao and Dr. Wei Dong for leading me into
the field of power electronics and serving as my mentors.
Special appreciation goes to Mr. Bing Lu, who helped me with my experiment
and shared his research results and knowledge with me.
I also extend my appreciation to Mr. Francisco Canales, Mr. Bo Yang, Mr. Shuo
Wang, Mr. Liyu Yang, Mr. Nick X. Sun, Mr. Xin Zhang, Mr. Xiaoming Duan, Mr
Yang Qiu and Mr. Arthur Ball for their valuable suggestion, comments and
discussions.
I would like to thank my parents, Kaisheng Xie and Jirong Li for their endless love
and support.
This work is supported by the National Science Foundation.
v
TABLE OF CONTENTS
ABSTRACT..........................................................................................................II
ACKNOWLEDGEMENTS .................................................................................. IV
TABLE OF CONTENTS ...................................................................................... V
LIST OF FIGURES............................................................................................ VII
LIST OF TABLES................................................................................................ X
1 INTRODUCTION...........................................................................................1
1.1 Brief Review of DC Power Supply System......................................................... 2
1.2 Brief Review of the Digital Signal Processor...................................................... 4
1.3 Goal of Thesis ........................................................................................................ 5
1.4 Task Description ................................................................................................... 6
1.5 Thesis Organization.............................................................................................. 6
2 REVIEW OF LITERATURE...........................................................................7
2.1 Challenges of Digital Control for PFC................................................................ 7
2.2 Realization of Digital Control .............................................................................. 8
2.2.1 Digital Signal Processor (DSP) Realization of Digital Controller.................. 8
2.2.2 Concurrent Realization of Digital Controller ................................................. 8
2.3 SmallSignal Model for the LowFrequency Range .......................................... 9
3 DESIGN AND IMPLEMENTATION OF SINGLE SWITCH PFC
CONVERTER .....................................................................................................10
3.1 Stateoftheart controller for PFC Converter................................................. 10
3.1.1 PFC Converter .............................................................................................. 10
3.1.2 Review of Control Structure for PFC ........................................................... 12
3.2 Digital Controller for PFC................................................................................. 23
vi
3.2.1 Issues surrounding Digital Control ............................................................... 23
3.2.2 Requirements ................................................................................................ 32
3.2.3 Designing the Digital Controller for PFC..................................................... 39
3.3 Implementation ................................................................................................... 58
3.3.1 Flowchart ...................................................................................................... 58
3.3.2 Experimental Results .................................................................................... 62
3.4 CurrentLoop FeedForward Compensation................................................... 64
3.4.1 Input voltage harmonics................................................................................ 65
3.4.2 Influence of input voltage ............................................................................. 65
3.4.3 Current Loop Feed Forward.......................................................................... 71
3.4.4 Simulation Results ........................................................................................ 73
4 DIGITAL CONTROL FOR THE THREELEVEL PFC.................................82
4.1 ThreeLevel PFC Converter .............................................................................. 82
4.2 Literature Review and Previous works............................................................. 83
4.3 Review of 3LPFC with RS: Operation and Control....................................... 85
4.3.1 Topology at Rsoff mode ............................................................................... 85
4.3.2 Topology at Rson Mode................................................................................ 92
4.4 Control Parameters for Rsoff and Rson modes ............................................... 93
4.4.1 Current Loop Difference and Compensation................................................ 93
4.4.2 Voltage Loop Difference and Compensation ............................................... 94
4.5 Control structure of 3LPFC Converter........................................................... 95
4.6 Experimental Results.......................................................................................... 96
5 CONCLUSION AND DISCUSSION.............................................................97
5.1 Conclusions.......................................................................................................... 97
5.2 Future Work........................................................................................................ 98
6 REFERENCES............................................................................................99
APPENDIX I .....................................................................................................104
VITA..................................................................................................................109
vii
LIST OF FIGURES
Figure 1 Structure of the distributed power system............................................... 3
Figure 2 Illustration of PF relationship between current and voltage:
(a) 1 , 1 < <
d
k k
θ
, (b) 1 , 1 < =
d
k k
θ
, (c) 1 , 1 = <
d
k k
θ
, (d) 1 , 1 = =
d
k k
θ
............. 11
Figure 3 Boost Power Factor Correction converter ............................................. 12
Figure 4 Boost PFC converter controller: (a) Boost PFC with controller, (b)
Waveforms of input voltage and inductor current, (c) Waveforms of input
voltage and output voltage. ...................................................................... 13
Figure 5 Analog average current control For boosttype PFC............................. 14
Figure 6 Smallsignal model of current loop........................................................ 15
Figure 7 Smallsignal dutytocurrent transfer functions...................................... 16
Figure 8 Dutytocurrent transfer function and current open loop gain example . 16
Figure 9 Second order filter in feed forward loop................................................ 17
Figure 10 lowfrequency SmallSignal Model for voltage loop ............................ 19
Figure 11 Voltage loop compensation with 45
o
phase margin ............................ 19
Figure 12 (a) Boost PFC circuit, (b) Input voltage and current waveform, (c)
Average Diode forward current waveform................................................ 21
Figure 13 Quantization effect. ............................................................................. 24
Figure 14 Equivalents for quantization effect ...................................................... 24
Figure 15 Noise and disturbance amplitude (a) Original signal and quantized
signal, (b) Error signal introduced into system. ........................................ 25
Figure 16 complete control systems for the PFC current loop ............................ 25
Figure 17 (a) square waveform and (b) harmonic components .......................... 27
Figure 18 Saw tooth waveform and (b) harmonic components........................... 28
Figure 19 Frequency response of sampleandhold function with 100KHz
sampling frequency. ................................................................................. 30
Figure 20 Effect of digital delay........................................................................... 31
Figure 21 Sampling a 20Hz sinusoidal wave at 25 Hz sampling frequency........ 31
Figure 22 Illustration of the aliasing effect in frequency domain (a) Signal
spectrum, (b) Sampling frequency and (c) Wrap around spectrum.......... 32
Figure 23 Noise introduced by ADC.................................................................... 33
Figure 24 Fundamental harmonic and ADC resolution. ...................................... 35
Figure 25 harmonic ratios for semi sinusoidal wave ........................................... 36
Figure 26 Illustration of disturbance introduced by digital PWM......................... 37
Figure 27 Bode plot for
i id
id
K CG
G
+ 1
...................................................................... 38
Figure 28 Digital control structure of singleswitch PFC...................................... 40
Figure 29 Power stage of Boost PFC.................................................................. 41
Figure 30 Bit weighting for Q15 Format [40]. ..................................................... 42
Figure 31 Poles and zeros in the zplane............................................................ 44
Figure 32 Power stage with sample and hold ..................................................... 45
Figure 33 Duty to current transfer function mapped into zplane ........................ 45
viii
Figure 34 Comparison of the discrete model and continuous model .................. 46
Figure 35 Current loop with digital compensator................................................. 47
Figure 36 Bode plot for current open loop gain with one zero compensation ..... 48
Figure 37 Input current waveform with onezero digital current compensator..... 49
Figure 38 Current Open loop Bode plot with two zeros compensation ............... 50
Figure 39 Feed forward loop. .............................................................................. 52
Figure 40 Bode plot of the lowpass filter............................................................ 52
Figure 41 Bode plot for lowpass filter................................................................. 54
Figure 42 Outer voltage loop .............................................................................. 55
Figure 43 Bode plot for voltage open loop gain .................................................. 57
Figure 44 Flowchart of main program................................................................. 58
Figure 45 Flowchart for interrupt service routine program.................................. 59
Figure 46 Flowchart for current compensator subprogram................................. 60
Figure 47 Flowchart for voltage compensator subprogram................................. 61
Figure 48 Flowchart for feed forward loop subprogram...................................... 62
Figure 49 Input Current waveform w/o EMI filter................................................. 63
Figure 50 Simplified current loop system with input voltage influence. ............... 65
Figure 51 Bode plots of
ivclose
G with different current compensator ..................... 68
Figure 52 Relationship between voltage 2
nd
harmonic and line current: (a) line
voltage, (b) boost converter input voltage, (c) 2
nd
harmonic voltage and 2
nd
harmonic current and (d) fundamental and 3
rd
harmonics generated....... 69
Figure 53 Current vectors and voltage vector ..................................................... 70
Figure 54 Illustration of currentloop feedforward .............................................. 71
Figure 55 Effect of different CFF gain
vi
k ............................................................ 72
Figure 56 Line current of PFC w/o EMI filter (
c
f =8KHz)..................................... 73
Figure 57 Line current of PFC w/o EMI filter (
c
f =4KHz)..................................... 74
Figure 58 Line current of PFC w/o EMI filter (
c
f =4KHz, w/ 9 . 0 =
vi
k ) ................. 74
Figure 59 Comparison of linecurrent harmonics with different current loop
bandwidths. .............................................................................................. 75
Figure 60 Comparison of line current harmonics with and without CFF.............. 76
Figure 61 harmonic comparisons........................................................................ 76
Figure 62 Bode plots for ) , ( 1 0 ⊂
vi
k ..................................................................... 78
Figure 63 Bode plots for ) , ( 2 1 ⊂
vi
k ..................................................................... 78
Figure 64 Comparison of displacement angles (degree) and displacement factors
with different CFF gain. ............................................................................ 79
Figure 65 Line current w/o EMI filter (
c
f =4KHz, w/o CFF) ................................. 80
Figure 66 Line current w/o EMI filter (
c
f =4KHz, w/ CFF 9 . 0 =
vi
k )...................... 80
Figure 67 Line Current Harmonics Comparison.................................................. 81
Figure 68 Power stage of 3LPFC w/ RS............................................................ 83
Figure 69 Efficiency comparisons between conventional Singleswitch PFC and
analog controlled 3LPFC......................................................................... 84
Figure 70 Converter topology at Rsoff mode: (a) Original topology and (b)
simplified topology.................................................................................... 85
Figure 71 Passive balancing with balancing resistors......................................... 86
ix
Figure 72 Average model of 3LPFC at Rsoff mode. .......................................... 87
Figure 73 Smallsignal model of 3LPFC at Rsoff mode. .................................... 87
Figure 74 PWM operation in Rsoff mode: (a) Duty cycle >50% and (b) Duty cycle
<50%........................................................................................................ 91
Figure 75 Operation of 3LPFC at Rson mode: (a) Active parts at positive half
cycle and (b) Active parts at negative half cycle....................................... 92
Figure 76 Equivalent highfrequency model 3LPFC at Rson mode................... 93
Figure 77 Smallsignal model for Equivalent circuit at Rson mode..................... 93
Figure 78 Current sensors for 3LPFC with RS .................................................. 94
Figure 79 Digital Control structure for 3LPFC with RS....................................... 95
Figure 80 Input current (w/o EMI filter), input voltage, output voltage and midpoint
voltage waveforms ................................................................................... 96
Figure 81 Efficiency comparison between analog controlled 3LPFC and digital
controlled 3LPFC.................................................................................... 96
x
LIST OF TABLES
Table 1 Cost of Power outage [4].......................................................................... 1
Table 2 Two decades of DSP market integration (typical DSP figures) ................ 5
Table 3 limits for Class A equipment in IEC6100032........................................ 34
Table 4 Summary on Digital controller firmware requirement ............................. 39
Table 5 Specification of DSP ADMC401 [40]...................................................... 40
Table 6 Examples of harmonic components in input voltage.............................. 65
1 INTRODUCTION
Power supplies for the computer and telecommunications industry have become
more and more important in our society.
The greatest concern is power supply availability or redundancy. Not just
because downtime can cause millions of dollars of lost in revenue for large
corporations such as banks, insurance companies and ebusiness companies
[1], as shown in Table 1 [4], but also because it is intolerable for missioncritical
applications in which systems handle realtime commands and human lives.
Thus, power electronics and related power processing technologies are called
“enabling infrastructure technology” [2]. High redundancy, for example the N+1
technology, has been widely adopted to secure availability.
Table 1 Cost of Power outage [4]
Industry Average Cost of Downtime ($/hour)
Cellular communications 41,000
Telephone ticket sales 72,000
Credit card operations 2,580,000
Brokerage operations 6,480,000
The problem with the current power supply system is the difficulty in system
module communication, which at present is confined to on/off signals. When
there is a failure, the system controller can give only “on/off” instructions to the
individual module. With large amounts of consumable and finitelife components,
the power supply can fail and trip occasionally. At present, diagnosis and repair
are left to technicians, which adds to the redundancy and maintenance cost.
Failure diagnosis, repair on the module level, and systemlevel dynamic control
2
will prevent sudden power outages. This intelligence relies on the implementation
of digital control of power supplies on both the module level and the system level.
With expanding functions and storage, power consumption keeps increasing. No
one can predict the ultimate limit. The product life span of telecom equipment is
just 18 to 24 months [1]. While power supply technology is not evolving so
quickly, reusing the previous design could be cost effective [1]. Reusing the
power supply product for the next generation of products makes flexibility a must.
Digital control is well recognized for its communication ability, flexibility and
capability in implementation of nonlinear control. The advances of the IC industry
provide the possibility for a capable and cost effective digital signal processor.
Different from many occasions in which the computing speed of the digital signal
processor is the most critical feature, the selection of the DSP may depend more
on availability of special onchip hardware features, for example pulse width
modulation (PWM) and an analogtodigital converter (ADC). Tradeoff exists
between cost and performance. The higher cost of the DSP can even be
compensated by the reduction of the parts count, which can enable mass
production of control board instead of customized manufacture. Nonetheless,
cost effectiveness is always the goal of industry and academic research.
1.1 Brief Review of DC Power Supply System
As early as 1978, the first International Telecommunications Energy Conference
(Intelec) addressed the energy issue generated by the emerging digital, optical
and wireless systems, and the need for energyefficient and costeffective power
systems and architectures to assure the expected high reliability and
dependability of the public switched telephone network [3]. Over the years, the
exploding growth of the Internet and data communications has impacted power in
two ways. First, it has increased the demand for highercapacity central office
power plants. Highpower plants (3,000 to 10,000 Amps) are expected to grow at
20% to 25% annually for several years. Secondly, the growth has also energized
3
the debate over the preferred powering for telecommunications: nonstop DC
power system or UPSprotected AC power systems [3]. Telecom 48V DC power
systems are at least 20 times more reliable than AC UPS systems for typical
datacom applications [3]. More users and operators of the Internet are starting to
expect the nonstop DC power supply systems. As the trend continues, more and
more electric power will be processed by distributed power systems (DPSs).
System functions of DPS will soon become an important research topic.
The DPS architecture can better address the increasing concerns regarding fault
tolerance, improved reliability, serviceability and redundancy without a significant
added cost [6]. But as the DC power system grows, current sharing, fault
diagnosis and health monitoring will become more difficult.
Figure 1 shows a typical DPS [8]. Each frontend converter adopts a
conventional twostage approach. The first stage achieves the power factor
correction from universal singlephase input line voltage (90264V). The second
stage provides isolation and the tightly regulated DC bus voltage. Normally, a
conventional singleswitch continuousconductionmode (CCM) boost converter
is used in the first stage. The output DC voltage of the PFC must be higher than
375 for universalline applications. In this thesis, the output voltage of PFC is set
to 400V. The DC/DC converter converts 400V DC into 48V DC output.
Figure 1 Structure of the distributed power system.
4
The roadmap for the CPU industry suggests that the CPU of tomorrow will
operate with high di/dt, consuming more current and requiring a tighter voltage
transient response [1,4]. Reliability requirement will become stricter. System
functions such as impedance matching analysis, systemaging prediction,
dynamic thermal control and fault selfremoval will greatly increase DC power
systemlevel reliability. Realization of these functions requires better
communication between the module and the system controller and a smarter
modular controller.
1.2 Brief Review of the Digital Signal Processor
Digital signal processing is widely used in the motor control, inverter, converter
and many embedded systems because of its ability to handle deterministic
operation and deal with interruptions, and its strong computation ability, which is
required by space vector calculation.
As the technology advances, the cost continues to drop, as shown in Table 2. In
1982, a 50,000transistor DSP offered 5 MIPS for $150. A decade later, in 1992,
a 500,000transistor DSP capable of 40 MIPS cost $15. Current projections by
Texas Instruments are a 5milliontransistor DSP that provides 5,000 MIPS will
be priced at just $1.50 [5]. As the process technology advances the trend will
continue.
5
Table 2 Two decades of DSP market integration (typical DSP
figures)
1982 1992 2002
Die Size (mm) 50 50 50
Technology Size
(Microns)
3 0.8 0.18
MIPS 5 40 5,000
MHz 20 80 500
RAM (Words) 144 1,000 16,000
ROM (Words) 1,500 4,000 64,000
Transistors 50,000 500,000 5 million
Price (dollars) 150 15 1.50
At the same time, more and more analog functionality has been integrated.
Analogtodigital converter (ADC) and pulsewidthmodulation (PWM) are
standard for most motor controloriented DSPs. The speed of onchip ADC has
already reached 20MHz.
Adoption of digital control will sooner or later become a trend in the large DC
power supply industry.
1.3 Goal of Thesis
The goal of this thesis is to study both the performance and cost effectiveness of
digital control for a PFC converter and the possibility of implementing a reliable,
highefficiency, universallineinput, threelevel PFC converter with digital control.
6
1.4 Task Description
Because of the slow response speed and the complexity of the control structure,
digital control for PFC is the first task for the work on the whole system. This
thesis describes the design, implementation and improvement of digital control
for PFC. Based on the experimental and simulation results, cost effectiveness is
examined.
1.5 Thesis Organization
Chapter 1 is the introduction to this thesis, and provides a summary of the
background of this work. Task descriptions and thesis organization are also
given.
Chapter 2 surveys the current literature in the field of digital control for power
supply systems.
Chapter 3 describes the PFC converter. The function is described, and the
control structure of the converter is explained. Detailed control requirements are
explained. Finally digital controllers are designed and implemented. The current
loop feed forward method is proposed for improve power factor correction
performance.
Chapter 4 describes the design and implementation of digital control for a three
level PFC converter. Optimal control and operation of the threelevel PFC is
specified. The solution to output capacitor balancing is proposed.
7
2 REVIEW OF LITERATURE
With the development of the DC power supply, attention began to be paid to
digital control for PFC, DC/DC converters, and voltage regulation modules
(VRMs). To apply digital control to PFC, it is imperative to learn the previous
work and understand the challenges.
The boost converter and boostbuck (flyback) converter are both suitable for
PFC. The boost converter is widely used in two stage DPS for its smaller EMI
filter and lower voltage stress [2,8]. This thesis focuses on digital control for
boosttype PFC.
2.1 Challenges of Digital Control for PFC
The threeloop control scheme for PFC is widely adopted in industry. Commercial
IC chips such as UC3854 and ML4824 have been available for a long time. The
current compensator is the most important. To faithfully track the semisinusoidal
current reference, the current loop must be fast [6]. The integral, phaselead
average current compensator is widely used for the analog compensator for PFC
current loop. L. Dixon (1990) and C. Zhou (1992) discussed the design and
design tradeoffs in their own papers [17, 7]. The voltage loop bandwidth is
much slower than twice the line frequency because the existence of the second
harmonic in the output voltage [6].
When digital control is applied, it is inevitable that sampleandhold and
computation delays will be introduced, resulting in phase lag (C.L. Phillips, 1984)
[10]. For a given delay, the higher the bandwidth, the more phase lag is
introduced at the crossover frequency. For current loop, which has a wide
bandwidth, when designing a digital current compensator, one must consider the
phase lag caused by digital delays. Bibian (2001) pointed out that digital control
for PFC suffers from reduced performance due to computation delay and
sampleandhold delays [35].
8
One can either increase DSP speed to reduce digital delay or lower the current
loop bandwidth to alleviate the influence of digital delay. However, increasing
DSP speed would increase the cost while a lower current loop bandwidth would
compromise performance. Selecting the crossover frequency of current loop
becomes a tradeoff between performance and cost.
2.2 Realization of Digital Control
2.2.1 Digital Signal Processor (DSP) Realization of Digital
Controller
Because of the availability of DSPs, many DSP controllers have been proposed
and implemented [13, 2124, 29, 35]. Most of these DSPs are motor control
oriented. However, PFC has its own requirement: high frequency and low cost.
Two factors influence the selection of DSP frequency. First, DSP realization is
sequential, which means instructions are executed one after another, thus
accumulating computation delay. To achieve a small delay, a high frequency
DSP will be used. Second, most DSPs have system clock based PWM units; in
order to obtain highresolution digital PWM (DPWM), a fast DSP must be used.
The DSP solution is not costeffective for future digital control of PFC [28].
2.2.2 Concurrent Realization of Digital Controller
Concurrent realizations have also been discussed. Fieldprogrammablegate
array (FPGA) and mixsignal Applicationspecificintegratedcircuit (ASIC) are
two concurrent realizations of the digital controller for PFC.
P. Zumel, et al. in [27] noted that when a complex controller is implemented,
FPGA requires more resources. The same law applies to ASIC realization. R.
Zane, et al. pointed out that digital control for the current loop requires high
speed ADC and it may also suffer from possible stability problems if PWM
9
resolution is not high enough [34]. The current compensator and PWM resolution
become bottlenecks when low cost digital controller is implemented for PFC.
Whatever realization method is adopted, current compensator complexity,
current loop gain and loop bandwidth is closely related to cost and performance
of the digital controller. When it comes to cost effectiveness it is necessary for us
to find out the relation between current loop gain and performance and explore
the possibility of using simple compensator to achieve the desired performance.
2.3 SmallSignal Model for the LowFrequency Range
This thesis implies that the power factor is also affected by input voltage. To
understand the relation between current compensator and power factor, a small
signal model for the frequency range (twice line frequency ~ 1kHz) is necessary.
While a quasistatic small signal model is not valid for frequency range around
line frequency. A. Huliehel, et al. derived a smallsignal model for this frequency
range [38]. For low frequency range, the relation between current compensator
and input voltage might be explained by this model.
10
3 DESIGN AND IMPLEMENTATION OF SINGLE
SWITCH PFC CONVERTER
3.1 Stateoftheart controller for PFC Converter
3.1.1 PFC Converter
3.1.1.1 Power Factor
A detailed definition of power factor is given in [6]. Power factor (PF) is the ratio
of average power to apparent power at an AC terminal.
rms rms
I V
t i t v avg
power Apparent
power Average
PF
⋅
⋅
= =
)] ( ) ( [
Eq. 31
Assuming an ideal sinusoidal input voltage source, PF can be expressed as the
product of two factors: the displacement factor
θ
k and the distortion factor
d
k .
The displacement factor
θ
k is the cosine of the displacement angle between the
fundamental input current and the input voltage. The distortion factor
d
k is the
ratio of the rootmeansquare (RMS) of the fundamental input current to the total
RMS of input current. These relationships are given as follows:
θ
θ θ
k k
I
I
I V
I V
PF
d
rms
rms
rms rms
rms rms
= = =
cos cos
) 1 ( ) 1 (
Eq. 32
where: V
rms
is the voltage total RMS value,
I
rms
is the current total RMS value,
I
rms(1)
is the current fundamental harmonic RMS value,
11
θ is the displacement angle between the voltage and current fundamental
harmonics,
θ
θ
cos = k is the displacement factor,
rms
rms
d
I
I
k
) 1 (
= is the distortion factor.
In Figure 2, examples of different current shapes show the different distortion
factors and displacement factors [6].
(a) (b)
(c) (d)
Figure 2 Illustration of PF relationship between current and voltage:
(a) 1 , 1 < <
d
k k
θ
, (b) 1 , 1 < =
d
k k
θ
, (c) 1 , 1 = <
d
k k
θ
, (d) 1 , 1 = =
d
k k
θ
In the first case, a smaller
θ
k means a larger apparent current for the same load.
As we know, current causes more losses in a supply and distribution system.
Utility companies regulate customers’
θ
k . In the second case, a small k
d
means a
large amount of harmonics in the current, which pollutes the utility power source
and affects other users. All the power supplies have to meet PF standards, for
12
example, the IEC 6100032. Converting AC to DC, the conventional diode
rectifiers always produce large amounts of harmonic current. Nowadays, the
most advanced solution is to add PFC converter.
3.1.1.2 PFC Boost Converter
Among the three basic power convertersbuck, boost, buckboostthe boost
converter is the most suitable for use in implementing PFC. Because the boost
inductor is in series with the line input terminal, the inductor will achieve smaller
current ripple and it is easier to implement average current mode control. Buck
converter has discontinuous input current and would lose control when input
voltage is lower than the output voltage. The buckboost converter can achieve
average input line current, but it has higher voltage and current stress, so it is
usually used for lowpower application [8]. The power stage adopted in this thesis
is boost converter operating in continuous conduction mode. Figure 3 shows the
circuit diagram of the boost PFC converter [8].
Filter
L
C
L
o
a
d
Figure 3 Boost Power Factor Correction converter
3.1.2 Review of Control Structure for PFC
As shown in Figure 4, the controller has two tasks:
13
1. Current tracking forces the average inductor current to track the current
reference so that it has the same shape as the input voltage, as shown in
Figure 4 (b). This task gives the input a unity PF.
2. Voltage regulation regulates the output voltage keeping the output voltage
equal to 400V, which is higher than the input voltage as shown in Figure 4
(c).
L
C
L
o
a
d
+

+

i n
v
i n
i
o
v
C o n t r o l l e r
(a)
T i m e
V
i
n
,
I
i
n
V i n
i i n
(b)
T i m e
V
i
n
,
V
o
u
t V i n
V o u t
(c)
Figure 4 Boost PFC converter controller: (a) Boost PFC with controller, (b) Waveforms of
input voltage and inductor current, (c) Waveforms of input voltage and output voltage.
14
The analog controller for PFC is often achieved by a currentmode PFC control
chip such as the Unitrode UC3854 [19]. The analog control structure for a single
switch CCM PFC boost converter is illustrated in Figure 5. The PFC converter
has a threeloop control structure. The fast current loop keeps the input current
the shape of the input voltage, which renders the unity PF [67]. The input
voltage feedforward loop is to compensate the input voltage variation [6]. The
voltage loop keeps the output voltage at 380~400V [67]. The voltage loop is
very slow to avoid introducing 2
nd
harmonic ripple into the current reference [6,
7].
Ki
Current
Compensator
Voltage
Compensator
Voltage
reference
Ocsillator
Ramp
low pass
filter
L
S
D
C
B A
C
L
o
a
d
ref
i
2
C
AB
Kin
+

line
v
in
i
Figure 5 Analog average current control For boosttype PFC
15
3.1.2.1 Current loop Compensation
The function of the current compensator is to force the current to track the
current reference that is given by the multiplier and which has the same shape as
the input voltage. So the current loop bandwidth must be higher than the
reference bandwidth. For faithfully tracking a semisinusoidal waveform of 120 or
100Hz, the bandwidth of the current loop is usually set to 210KHz [6].
Using the three terminal average models, a smallsignal equivalent circuit of the
current loop is shown in Figure 6.
+

L
C
Figure 6 Smallsignal model of current loop
The power stage smallsignal dutytocurrent transfer function is derived as
follows [6]:
2
2
2
2
) 1 ( ) 1 (
1
2
1
) 1 (
2
~
~
) (
D
LC s
D R
sL
C sR
D R
V
d
i
s G
L
L
L
out
id
−
+
−
+
+
⋅
−
= = . Eq. 33
For ω = j s , whenω is large enough, the high frequency approximation can be
derived:
Ls
V
d
i
s G
out
id
≈ =
~
~
) ( . Eq. 34
i D
~
⋅
I d ⋅
~
out
v D
~
⋅
16
Figure 7 shows Bode plots for dutytocurrent transfer function for different input
voltages and the high frequency approximation.
Figure 7 Smallsignal dutytocurrent transfer functions
Integral and leadlag compensation is usually employed in averagecurrent
model control. Figure 8 shows Bode plots of ) (s G
id
and the current open loop
gain
c
T of 8kHz crossover frequency and 45
o
phase margin.
 50
0
50
100
M
a
g
n
it
u
d
e
(
d
B
)
10
1
10
2
10
3
10
4
10
5
10
6
 180
 90
0
90
P
h
a
s
e
(
d
e
g
)
w /o c ompens ation
w / c ompens ation
Bode Diagr am
Fr equenc y ( r ad/s ec )
Figure 8 Dutytocurrent transfer function and current open
loop gain example
17
3.1.2.2 Feedforward Loop Compensation
The current reference is given by:
2
C
AB
i
ref
= , Eq. 35
where
in in
v K A ⋅ = (
in
K : Input voltage gain),
c
v B = (
c
v : Voltage compensator
output) and
rms in ff
v K C
_
⋅ = (
ff
K : Input voltage feed forward gain).
Assume the inductor current tracks the reference perfectly. The input current is
proportional to the input voltage, which means the voltage loop can be affected
by input voltage variation. The feedforward loop is inserted to compensate the
line voltage variation [6]. C is in proportion to the inputvoltage RMS value. It is
derived from a second order lowpass filter (as shown in Figure 9).
+
Vin

Figure 9 Second order filter in feed forward loop
Because both the input voltage and output voltage contain 2
nd
harmonic
component, there are ripples in B and C. The ripples in components B and C are
passed into the current reference. From Equation 35, it is derived that:
C
C
B
B
i
i
ref
ref
∆
−
∆
=
∆
2 . Eq. 36
Although the phases of B ∆ and C ∆ are unknown, the worst case occurs when
they have a 180
o
phase shift:
18
C
C
B
B
i
i
worst
ref
ref
∆
+
∆
=
∆
2 . Eq. 37
If given a maximum acceptable THD of 1.5%, Equation 37 means that the
distortion of C should be smaller than 0.5%, and the total distortion of B should
be smaller than 0.5%. Selecting the cutoff frequency of the feedforward low 
pass filter and voltage compensator gain should be based on this criterion.
3.1.2.3 Voltage Loop Compensation
Assume the input current is perfectly controlled and tracks the input voltage.
Equation 35 can be written as
c in in
v kv i = , where
2
_
) (
rms in ff
in
v k
k
k = . For
out in
P P = we
have the following equations:
out o in in
v i v i = , and Eq. 38
out o c in
v i v kv =
2
. Eq. 39
Using smallsignal perturbation method [6], the linearized equation is obtained:
out
out
C in
c
out
in
in
out
in c
o
v
V
V kV
v
V
kV
v
V
V kV
i
~ ~ ~
2
~
2
2 2
− + = Eq. 310
where
C
V ,
in
V ,
out
V are steady state values, and
C
v
~
,
in
v
~
,
out
v
~
are small signal
perturbations.
Then, a lowfrequency smallsignal model is developed to design voltage
compensator, as shown in Figure 10.
19
ro C
RL
+
vout

gcVc giVi
Figure 10 lowfrequency SmallSignal Model for voltage loop
In Figure 10,
out
rms in
c
V
V
k g
2
_
= ,
out
C in
i
V
V V
k g
2
= , and
out
out
I
V
r =
0
. For a constant power
load, we have
out
out
L
I
V
R − = [6]. From the smallsignal model, the control to output
voltage transfer function is derived as follows:
Cs
g
v
v
G
c
c
out
v
= =
~
~
. Eq. 311
For a constant power load, a voltage compensation of 45
o
phase margin is
adopted [6]. Figure 11 shows the Bode plots for the controltooutput transfer
function
v
G , compensator or error amplifier transfer function
EA
G , and the voltage
open loop gain
EA v v
G G T ⋅ = .
Frequency

G
v

 20dB
v
G ∠
9 0
4 5
Frequency

G
E
A

EA
G ∠
9 0
4 5
0
Frequency

T
v

V
T ∠
1 80
1 35
9 0
Figure 11 Voltage loop compensation with 45
o
phase margin
20
3.1.2.4 Voltage Loop Bandwidth Selection
As we have discussed in section 3.1.2.2, the ripple in B will be passed on to the
current reference. The amplitude of this ripple is calculated below. Assuming that
input voltage is t V v
L in in
ω sin 2 = , that the input current is t I i
L in in
ω sin 2 = and
that
L L
f π ω 2 = , where
L
f is the line frequency:
) 2 cos 1 ( t I V i v P P
L in in in in in o
ω − ⋅ = ⋅ = = . Eq. 312
Assume that the output voltage varies small enough to be constant. Then the
output current, as shown in Figure 4 is:
) 2 cos 1 ( t
V
I V
V
P
i
L
out
in in
out
o
o
ω − = = . Eq. 313
Equation 39 indicates that the output current consists of a large 2
nd
harmonic
component, as shown in Figure 12(c), which is given by:
t
V
I V
i
L
out
in in
ripple
ω 2 cos − = . Eq. 314
This current ripple charges and discharges the output capacitor, leading to the
2
nd
harmonic ripple at the output voltage, such that:
) 2 sin(
2
π ω
ω
+ = t
C V
I V
v
L
o L out
in in
ripple
Eq. 315
The amplitude of the ripple is:
o L out
in in rip
o
C V
I V
V
ω 2
= . Eq. 316
To avoid large distortion, the voltage loop compensation should have a
bandwidth much smaller than 120Hz.
21
+
V r e c

I i n
I D
(a)
(b)
(c)
Figure 12 (a) Boost PFC circuit, (b) Input voltage and current
waveform, (c) Average Diode forward current waveform
The 2
nd
harmonic in the output voltage produces a fundamental component and
3
rd
harmonic distortions in the line current [6]. The amplitude of the 3
rd
harmonic
equals to half of 2
nd
harmonic amplitude at the voltage compensator output [6].
Another bandwidth selection of the voltage loop is based on the total allowable
3
rd
harmonic distortions [6]. For known maximum allowed third harmonic at
voltage loop, the required attenuation of output ripple (2
nd
harmonic) through the
voltage compensator is
v
rec
i
in
Time(sec)
Time(sec)
I
o
Current
Current
Voltage
C
o
22
rip
o
EA
HAR
rd
EA
V
Hz G
) 3 ( 2
) 120 ( = Eq. 317
Since the voltage compensator gain at low frequencies is flat, the crossover
frequency of voltage loop can be determined from
) ( ) 120 (
c EA EA
f G Hz G = Eq. 318
1 ) ( ) 120 ( = ⋅
c v EA
f G Hz G Eq. 319
Thus, the bandwidth of the voltage loop is chosen to be 10~20Hz.
23
3.2 Digital Controller for PFC
3.2.1 Issues surrounding Digital Control
To implement digital control on a continuous system, we need an ADC, sample
andhold circuits and a digitaltoanalog converter (DAC) for digital and analog
signal interface. Because the ADC and digital PWM quantize signals, the speed
and resolution of ADC and PWM are critical in this application.
Different from analog control, in which the compensator is realized by operational
amplifiers, the control law in digital control system is realized by binary
calculation. As a result, delay is inevitable and depends on the speed of the
digital controller. The presence of a signal of frequency higher than half of the
sampling frequency can affect the controller by the aliasing effect. This can be
relieved by low pass filter or by selecting a higher sampling frequency.
3.2.1.1 Resolution of ADC and PWM
When digital control is implemented, continuous signals are converted into
discrete signals at the input of the controller while the controller output is
converted back into a continuous signal that is the duty cycle or gatedrive signal
for switchmode power converters. ADC truncates input signal and DAC or PWM
truncates the output signal to their leastsignificantbit (LSB). The process is
equal to quantization that introduces disturbance and noise into the control
system producing undesired oscillation or distortion at output. The effect is
illustrated in Figure 13.
24
Original
Quantized
Figure 13 Quantization effect.
The difference between the quantized signal and the original signal can be
modeled by an error introduced into the system. The equivalent of the quantizer
is shown in Figure 14.
Quantized signal Original signal
Error signal
Quantized signal Original signal
Error signal
Figure 14 Equivalents for quantization effect
Although it is difficult to predict the frequency and shape of the error signal, which
varies under different conditions, we can find out its maximum amplitude, as
shown in Figure 15, where R equals one quantization step.
time time
time
Amplitude Amplitude
Amplitude
time
time
Amplitude
25
Time
(a)
Time
(b)
Figure 15 Noise and disturbance amplitude (a) Original signal
and quantized signal, (b) Error signal introduced into system.
By substituting the quantizer with the error model, the digital control system for
the current loop can be represented by Figure 16. As shown in Equation 320,
because the harmonic produced by quantization should not exceed the maximum
permissible harmonic standard, we need to determine the resolution requirement
for ADC and PWM. One objective of this thesis is to quantify these ADC and
PWM resolutions, as required to meet the harmonic standard.
current
Compensator
C(s)
power stage
Gid(s)
iref
Ki
Noise

+
+
iin
W
Quantizer
Quantizer
Figure 16 complete control systems for the PFC current loop
2
R
Quantized signal
2
2
R
R
−
Original signal
26
The inductor current is:
) (
) (
) (
) (
) ( ) (
) (
) (
) ( ) (
) ( ) (
s T
s G
s w
s T
s G s C
s n
s T
s G s C
s i s i
C
id
PWM
C
id
ADC
C
id
ref in
+
+
+
+
+
=
1 1 1
Eq. 320
where: ) (s i
in
is the Laplace transformation of inductor current,
) (s n
ADC
is the Laplace transformation of ADC quantization noise,
) (s w
PWM
is the Laplace transformation of PWM quantization error,
) (s C is the current compensator transfer function,
) (s G
id
is the dutytocurrent transfer function,
) ( ) ( ) ( s G s C K s T
id i C
= is the current open loop gain transfer function and
i
K is the current sensor gain.
In order to determine the level of introduced harmonics, the error signal is
represented by a regular shape waveform. And the fundamental component of
this regular shape waveform is used to calculate the resolution (see Appendix I).
Two regular shapes are demonstrated here.
1. Square waveform
27
1
 1
T
(a)
(b)
Figure 17 (a) square waveform and (b) harmonic components
For a square waveform of frequency f , the harmonic component values are as
follows:
¦
¹
¦
´
¦
= =
= + =
=
) 2 , 1 , 0 ( 2 , 0
) 2 , 1 , 0 ( 1 2 ,
4
L
L
k k n
k k n
n
a
n π
, Eq. 321
where a
n
is the amplitude of harmonic components and n is the harmonic order.
2. Saw tooth waveform
Time
Frequency (
T
1
)
28
T
(a)
(b)
Figure 18 Saw tooth waveform and (b) harmonic components
For a saw tooth waveform of frequency f , the harmonic component values are
as follows:
) 3 , 2 , 1 ( ,
2
L = = n
n
a
n
π
, Eq. 322
where a
n
is the amplitude of harmonic components and n is the harmonic order
Square wave is admitted for the worstcase design (see Appendix I).
Time
Frequency (
T
1
)
29
π
⋅ ≈ ω
4
2
Resolution
j n
ADC max
 ) (  Eq. 323
π
⋅ ≈ ω
4
2
Resolution
j w
PWM max
 ) (  Eq. 324
Based on this approximation and some specific conditions in a certain control
system, adequate resolution can be calculated.
3.2.1.2 Digital Delay
The sample and hold of continuous signals and the nonzero computation time
cause delay in a digital control system. Delay in a system usually causes phase
lag that leads to reduction of the phase margin.
3.2.1.2.1 SampleandHold delay
When a signal ) (t e is sampled and held at interval
s
T , the output ) (
*
t e is given
by:
L + − − +
− − + − − =
)] ( ) ( )[ 2 (
)] ( ) ( )[ ( )] ( ) ( )[ 0 ( ) (
*
s
s s
T t u t u T e
T t u t u T e T t u t u e t e
Eq. 325
Here ) (t u is the unit step function. The Laplace transformation of Equation 325
is:
s
e
e nT e s E
s T
nT
n
s
s
−
−
∞
=
−
Σ =
1
] ) ( [ ) (
0
*
Eq. 326
Note that the first part of Equation 326 is a function of the input signal and
sampling period while the second factor is independent of the input. The effect of
the sampleandhold function [10] can be described as:
30
s
e
s G
s T
H
s
⋅
−
=
1
) ( . Eq. 327
The frequency response is shown in Figure 19.
0 0. 5 1 1. 5 2 2 . 5 3
x 10
5
0
0. 2
0. 4
0. 6
0. 8
1
M
a
g
n
i
t
u
d
e
0 0. 5 1 1. 5 2 2 . 5 3
x 10
5
200
150
100
50
0
F re qen c y (Hz )
A
n
g
l
e
(
d
e
g
)
Figure 19 Frequency response of sampleandhold function
with 100KHz sampling frequency.
3.2.1.2.2 Computation Delay
The computation delay can be expressed as
delay
T s
delay
e D
⋅
=
. Eq. 328
Because in a PFC converter the fastest loop is the current loop, the digital delay
affects the current loop most. Assuming the controller has one switching cycle or
10us delay for ADC, PWM and computation, there is 29
o
phase shift reducing the
phase margin by the same volume (shown in Figure 20). This delay has to be
compensated to stabilize the system. It is predictable that compensating this
delay will result in a poor current compensator performance. Its exact influence
and compensation will be further discussed in chapter 3.
31
Figure 20 Effect of digital delay
3.2.1.3 Aliasing Effect
Aliasing is a phenomenon associated with any device or process where the data
are divided into individual samples, i.e., a continuous signal is sampled at
intervals as shown in Figure 21. Any frequency above half of the sampling
frequency can cause aliasing.
Figure 21 Sampling a 20Hz sinusoidal wave at 25 Hz sampling
frequency
From a frequency domain standpoint, frequency component above half of
s
f is
wrapped around appearing as a lower frequency component, as shown in Figure
22.
32
(a)
(b)
(c)
Figure 22 Illustration of the aliasing effect in frequency domain
(a) Signal spectrum, (b) Sampling frequency and (c) Wrap
around spectrum
The aliasing effect can cause confusion and serious error. When the sampling
frequency is fixed, the system can use a lowpass filter to reduce the aliasing
effect. If the signal processed has a wide bandwidth, the sampling frequency
should be high enough. Switching noise and switching ripple is common
phenomenon in all switching mode power supplies. Avoiding the aliasing effect is
very important for reliability and performance.
3.2.2 Requirements
3.2.2.1 ADC Resolution
In PFC circuit, three signals are sampled: inductor current, input voltage and
output voltage. Since the bandwidths of the signals are different, so are the
s
f
2
s
f
33
resolution requirements. It is also necessary to pay attention to the range of the
sampled signal. For example, the inductor current has a large range because a
universalline PFC converter is to be applied to large input voltage range
variation (90V~264V) and load ranges.
3.2.2.1.1 Inductor Current ADC Resolution
In PFC converter, the current tracks the input voltage, which has a semi
sinusoidal waveform. To guarantee a high power factor, the ADC resolution must
be high enough to reduce the sensing noise (Figure 23).
Current
Compensator
C(s)
Power
Stage
Gi d(S)
i ref
Ki
Noi se

+
+
iin
Figure 23 Noise introduced by ADC
From Figure 23, the relationship between noise and input current is derived:
0
1
=
+
=
ref
i
i id
id
in
K CG
CG
n i
. Eq. 329
Though the amplitude and frequency of the noise introduced by ADC varies
under different conditions, n has a maximum amplitude as Equation 323, and
i i id
id
K K CG
CG 1
1
≈
+
at low frequency range
c
f f << . We have:
c
i i id
id
f f
K
R
K CG
CG
n << ⋅ ⋅ ≈
+
⋅ ,
1 4
2 1
max
π
. Eq. 330
Quantizer
34
Table 3 limits for Class A equipment in IEC6100032
Harmonic order (n) Maximum Permissible harmonics current
(A)
Odd harmonics
3 2.3
5 1.14
7 0.77
9 0.40
11 0.33
13 0.21
15<=n<40 0.15*15/n
Even harmonics
2 1.08
4 0.43
6 0.30
8<=n<=40 0.23*8/n
Referring to the IEC 6100032 Class A requirement (Table 3), the lowest limit of
current harmonic RMS value is 0.046A (when n=40 in Table 3).
2 046 . 0
1 4
2
≤ ⋅ ⋅
i
K
R
π
For example, if K
i
=0.0725, the minimum ratio of noise to reference is 0.74%.
This is equivalent to 8bit resolution.
3.2.2.1.2 Input Voltage ADC Resolution
The input voltage is sampled for two purposes: giving the shape of the current
reference and as input of the feedforward lowpass filter.
35
Figure 24 shows the relation of ADC resolution and power factor of a rectified
signal of a 60Hz sinusoidal waveform. Sampling frequency is 100KHz, which is
well above the cross over frequency of current loop.
f undamental harmonic
9.50E01
9.60E01
9.70E01
9.80E01
9.90E01
1.00E+00
1 2 3 4 5 6 7 8 9 10
P
o
w
e
r
f
a
c
t
o
r
Bit of resolution
Figure 24 Fundamental harmonic and ADC resolution.
Figure 24 shows that fivebit resolution ADC is required to have a 99.9% PF
reference. It is noticed that PFC has a large input voltage range (90V~264V) in
which the highline voltage is 3 times of the lowline voltage. If the fivebit
resolution is required for 90V, the sevenbit resolution is needed for covering the
whole range.
3.2.2.1.3 Output Voltage ADC Resolution
The output voltage is 400V DC. For 1% resolution, sevenbit ADC resolution is
required.
3.2.2.2 Sampling Frequency
The sampling frequency for current loop is 100KHz, which is well above the
current loop bandwidth (2~10KHz). The sampling frequency is the same as the
switching frequency. It is costly to have high frequency ADC. The best way to
avoid the aliasing effect is to insert lowpass filter before the ADC, which can
filter out the switching noise.
36
For the feedforward lowpass filter, although the bandwidth is very low, the
existence of high order harmonic can still cause the aliasing effect. Furthermore,
the input voltage waveform serves as the current reference waveform; highorder
harmonics should be preserved [6]. Therefore, the input voltage sampling
frequency should be high enough to avoid these high order harmonic
components being wrapped into low frequencies.
0
0.1
0.2
0.3
0.4
0.5
0.6
0.7
0 200 400 600 800 1000 1200
frequency(Hz)
A
m
p
l
i
t
u
d
e
Figure 25 harmonic ratios for semi sinusoidal wave
Figure 25 shows that to keep these harmonics within half of the sampling
frequency, the input voltage sampling frequency should be larger than 2KHz. A
5kHz sampling frequency is adopted.
3.2.2.3 Pulse Width Modulation Resolution
Digital PWM resolution is closely related to the system clock. For a digital PWM
whose operation is based on the system clock, the resolution is
clock
switch
f
f
R = . For a
given switching frequency, the higher the resolution, the higher the system clock,
which means the higher the cost.
37
The currentloop diagram with the equivalent quantizer is shown in Figure 26.
Although digital controller is different from analog control, the frequency response
of digital and analog controllers are similar in the frequency range specified in
IEC6100032, which is far below the current loop crossover frequency. For
convenience analog compensator is used to represent the digital compensator
and related delays.
current Compensator
C
and delay
power stage
Gid
iref
Ki

+
+
iin
PWM error
Quantizer
w
C
T
Figure 26 Illustration of disturbance introduced by digital PWM
From Figure 26, following relationship between PWM error w and input current is
found:
0
1
=
+
=
ref
i
C
id
in
T
G
w i , Eq. 331
where
C
T is the current open loop gain.
A method similar to that described in section 3.2.2.1.1 is used to determine PWM
resolution:
2 046 . 0 
1
 ⋅ ≤
+
C
id
T
G
w . Eq. 332
For
c
f f << , the current open loop gain
C
T is large enough that the magnitude
can be approximated as follows:
38

1
 
1
 
1

i i id
id
C
id
CK K CG
G
T
G
≈
+
=
+
. Eq. 333
Since the zero is not effective at this frequency range, the behavior of the current
compensator is a simple integral, and the effect of digital delay can be ignored.
s
s
s
s
s C
i
p
z
i
ω
≈
ω
+
ω
+ ω
=
) (
) (
) (
1
1
. Thus:
f
K
s
CK T
G
i i i C
id
∝
ω
= ≈
+
   
1
1
. Eq. 334
Figure 27 Bode plot for
i id
id
K CG
G
+ 1
As shown in Figure 27,
max

1

C
id
T
G
+
in the range
th st
f f f
40 1
≤ ≤ occurs at the fortieth
harmonic frequency. Hence:
c
f
th
f
40
39
2 046 0
2 4
2 1
40
.    
max max
≤
ω
π
⋅
π
⋅ ≈
+
⋅
i i
th
i id
id
K
f R
K CG
G
w Eq. 335
For the case L=380uH, Vout = 400V and crossover frequency kHz f
c
8 = , we
have 0108 . 0 ≥ R , which is equivalent to sevenbit resolution. Because digital
current compensator has a smaller
i
ω with the same phase margin and cross
over frequency. We choose eightbit DPWM resolution.
When the DPWM clock is the DSP system clock, the clock must meet this
requirement:
8
2 ≥
switch
clock
f
f
Eq. 336
For a 100KHz switching frequency, eightbit PWM resolution requires the system
clock to be 26MHz.
3.2.3 Designing the Digital Controller for PFC
The requirement on the resolution of ADC, PWM and system clock is
summarized in Table 4.
Table 4 Summary on digital controller firmware requirement
System clock (MHz) 26
ADC channels (n) 3
ADC resolution (Bit) 8
PWM resolution (Bit) 8
According to the requirements listed above, general purpose DSP ADMC401
from Analog Device is chosen for the implementation.
The main specifications of ADMC401 are listed in Table 5.
40
Table 5 Specification of DSP ADMC401 [40]
System clock (MHz) 26
ADC Channels (n) 8
ADC Resolution (Bit) 12
PWM Resolution (Bit) 8
OnChip Data ROM and RAM (Word) 1K
OnChip Program ROM and RAM (Word) 4K
Figure 28 shows the control structure of the digital controller for a singleswitch
PFC converter.
Power Stage
Vrec
iin
Vout
Current
Compensator
d
2
C
AB
Voltage
Compensator
Low pass
filter
Kout Ki Kin
Iref
A
B
C
PWM ADC ADC ADC
ADMC401
Delay
Delay
Figure 28 Digital control structure of singleswitch PFC
41
3.2.3.1 Power Stage Parameters
Filter
L
C
Figure 29 Power stage of Boost PFC
3.2.3.1.1 Parameters
1. Boost inductance: 380µH
2. Output capacitor: 330µF
3.2.3.1.2 Specifications
1. Input voltage: 90 ~ 265V
ac
single phase
2. Output voltage: 400V
3. Output power: 1,000W between 150 ~ 265V; 600W between 90 ~ 150V
4. Switching frequency: 100KHz
5. THD: ≤1.5%
3.2.3.1.3 Interface Coefficient
The ADC of the ADMC401 has input range of (2~2V). The interface gains
should keep the signals from overflowing at input of the ADC under normal
operation conditions. The result of ADC is Q15 formatted (shown in Figure 30).
In the Q15 format, there is one sign bit (the most significant bit). Specifically, the
maximum value, 0111,1111,1111,1111 (binary) is normalized as +1, which
implies the ADC has a gain of 0.5.
42
Below are examples of Q15 numbers and their decimal equivalents.
Q15 Number (HEX) Decimal Equivalent
0x0001 0.000031
0x7FFF 0.999969
0xFFFF 0.000031
0x8000 1.000000
Sign bit
0 1 2 14 13 12 11 10 9 8 7 6 5 4 3
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
2 2 2 2 2 2 2 2 2 2 2 2 2 2 2 2
− − − − − − − − − − − − − − −
−
Figure 30 Bit weighting for Q15 Format [40].
With voltage dividers and sensing resistor, the following parameters exist.
Input voltage gain:
2
1
10 2426 . 0
−
⋅ = ⋅ =
ADC divider in
g g K
Current gain: 0725 . 0
int
= ⋅ =
ADC erface i
g g K
Output voltage gain:
2
2
10 2 . 0
−
⋅ = ⋅ =
ADC divider out
g g K
3.2.3.2 Direct Design in the ZDomain
The simplest method to implement digital control is to convert an analog
compensator into a digital controller. There are many conversion methods, such
as “backward integral,” “Tustin” and “zero and pole matching [10].” However, it is
difficult to model sample and hold, ) (s G
H
and computation delay
Tdelay
e
−
in s
domain. Designing an analog compensator may not be accurate. Even with an
43
accurate analog controller, converting it into a discrete form may compromise its
performance.
Alternatively, we design the digital controller directly in zdomain employing the
relation of z variable and s variable:
s
sT
e z =
, Eq. 337
where
s
T is the sampling cycle.
The frequency response of a digital system
) ( ) (
) ( ) (
) (
1
1
n
m
z z
z z
k z G
ρ ρ
ξ ξ
− −
− −
=
L
L
can be
represented by
) ( ) (
) ( ) (
) (
1
1
n
T j T j
m
T j T j
T j
s s
s s
s
e e
e e
k e G
ρ ρ
ξ ξ
ω ω
ω ω
ω
− −
− −
=
L
L
.
The magnitude response is
∏
=
=
−
− ∏
=
n
j
j
T j
i
T j
m
i
T j
s
s
s
e
e
k e G
1
1
) (
ρ
ξ
ω
ω
ω
. Eq. 338
The phase response is
∑ ∑
= =
− ∠ − − ∠ = ∠
n
j
j
T j
m
i
i
T j T j
s s s
e e e G
1 1
) ( ) ( ) ( ρ ξ
ω ω ω
. Eq. 339
These responses are directly related to the position of zeros and poles on the z
plain as shown in Figure 31. Particularly, the computation delay
s T
delay
e
−
can be
mapped into the origin as
s
delay
T
T
z
−
.
44
1
1
1
1
Unit Circle
ϕ
1
θ
2
θ
s
T j
e z
ω
=
1
ρ
2
ρ
1
ξ
Real
Image
) (e of angle
) (e of angle
s
s
T j
T j
ξ − − ϕ
ρ − − θ
ω
ω
Figure 31 Poles and zeros in the zplane.
In this approach the compensator is designed by placing the poles and zeros in
zplane to stablize the converter and achieve the power factor correction. Before
the compensator is designed, proper model of power stage must be obtained.
3.2.3.3 Discrete Time Model of Power Stage with SampleandHold
As discussed in section 3.2.1.2, sampleandhold function in digital control
actually modifies magnitude and phase response [10]. This effect must be
included in the power stage model.
If ) (t e is the impulse response of system G, the Laplace transformation of a
sampled signal, ) (
*
t e , is as follows:
∑
λ − −
−
∞
=
−
λ = Σ =
poles
s T
nT
n s
s
e
) E( of residue e nT e s E ] [ ) ( ) (
) (
*
1
1
0
, Eq. 340
where: ) (
*
s E is the Laplace transformation of ) (
*
t e .
Combined with the sampleandhold function [10], we can have:
45
∑
λ
−
⋅
−
λ =
−
Σ =
λ −
λ − −
−
−
∞
=
poles
T
s T
s T
nT
n
s
s
s
s
e
e
) E( of residue
s
e
e nT e s E
]
) (
[
] ) ( [ ) (
) (
*
1
1
1
1
0
. Eq. 341
Utilizing Equation 3.37, )
ln
( ) (
* *
s
T
z
E s E = [10].
The power stage can be digitized using the zeroorderhold method with
sampling frequency of 100KHz, as shown in Figure 32.
Power
Stage
Gid(s)
T
) (s G
idh
s
e
s T
s
−
− 1
d
iin
Figure 32 Power stage with sample and hold
From Figure 32, discrete duty to current transfer function is derived:
) (
) (
1 −
⋅ =
z
T
L
V
z G
s out
idz
, Eq. 342
where T
s
= 10
5
second.
Figure 33 shows the discrete transfer function in the zplane.
1
1
1
1
Unit Circle
θ
s C
T j
e z
ω
=
Real
Image
) 1 ( − ∠ −
s C
T j
e
ω
θ
Figure 33 Duty to current transfer function mapped into zplane
46
Figure 34 shows that below half of the sampling frequency, the discrete model
gives nearly the same frequency response with the continuous model with
sampleandhold.
10
0
10
1
10
2
10
3
10
4
0
20
40
60
80
100
120
M
a
g
n
i
t
u
d
e
(
d
B
)
10
0
10
1
10
2
10
3
10
4
150
135
120
105
90
frequenc y (Hz )
P
h
a
s
e
(
d
e
g
)
c ont inuous model
di s c ret e model
Figure 34 Comparison of the discrete model and continuous
model
The same method is used to derive discrete control to output transfer function:
) (
) (
1 −
⋅ =
z
T
C
g
z G
s c
vz
, Eq. 343
where T
s
= 2⋅10
4
second.
3.2.3.4 Current Loop Compensator
As mentioned before analog lowpass filters with cutoff frequency equal to half of
the switching frequency are inserted in the current and voltage feedback loops in
order to reduce the aliasing effect. As a result, only the frequency range below
half of the switching frequency is of concern in digital controller design and the
transfer function of the low pass filter is ignored.
When we are designing the current compensator, the influence of slow voltage
loop can be ignored. The current loop with digital compensator is illustrated in
Figure 35.
47
current
Compensator
C
power
stage
Gid 
+
iin
H
T
PWM
idz
G
s
delay
T
T
z
−
Ki
ref
i
Figure 35 Current loop with digital compensator
The design target is similar to that of the analog compensator. For robustness,
the phase margin is set to 45
o
. For a faithful tracking of the semi sinusoidal
waveform, the bandwidth is 8KHz.
To compensate the digital delay, there are two approaches: the onezero
approach, in which the zero is moved toward the origin, and the twozero
approach, in which a second zero is added.
3.2.3.4.1 OneZero Approach
The current compensator is
1
) (
) (
−
−
=
z
z
K z C
P
ξ
. The current loop gain is:
s
delay
s
delay
T
T
i
P s out
T
T
idz C
z K
z
z K
z L
T V
z Ki z C z G z T
−
−
⋅ ⋅
−
−
⋅
−
⋅
=
⋅ ⋅ ⋅ =
1
) (
) 1 (
) ( ) ( ) (
ξ
. Eq. 344
The two design targets, crossover frequency and phase margin are used to
determine two unknown variables, gain
P
K and zero ξ , as follows:
¦
¹
¦
´
¦
+ − = ∠
=
0 0
45 180 ) (
1 ) (
s c
s c
T j
C
T j
C
e T
e T
ω
ω
Eq. 345
48
From Equation 345, we have derived:
¦
¦
¹
¦
¦
´
¦
+ − = ⋅ − − ∠ − − ∠ − − ∠
= ⋅
−
−
⋅
−
⋅
0 0
45 180
180
) 1 ( ) 1 ( ) (
1
 1 
 
 1 
π
ω ξ
ξ
ω ω ω
ω
ω
ω
o
delay C
T j T j T j
i
T j
T j
P
T j
s out
T e e e
K
e
e K
e L
T V
s c s c s c
s c
s c
s c
Eq. 346
where 10 , 0725 . 0 , 380 , 400 sec, / 8 2 2 s T K H L V V krad f
delay i out C C
µ µ π π ω = = = = ⋅ = =
s T
s
µ 10 and = .
By solving Equation 346, the value of gain
P
K and zero ξ are determined as
follows:
¹
´
¦
=
=
984 . 0
6567 . 0
ξ
P
K
.
Hence, the compensator transfer function is
) 1 (
) 984 . 0 (
6567 . 0 ) (
−
−
=
z z
z
z C and its Bode
plot is shown in Figure 36.
20
0
20
40
60
80
OpenLoop Bode
G.M.: 6 dB
Freq: 1.65e+004 Hz
Stable loop
M
a
g
n
i
t
u
d
e
(
d
B
)
10
2
10
3
10
4
10
5
360
270
180
90
P.M.: 45 deg
Freq: 8e+003 Hz
P
h
a
s
e
(
d
e
g
)
Frequency (Hz)
Figure 36 Bode plot for current open loop gain with one zero
compensation
49
Compared with the analog current compensator, this digital compensator results
in a much smaller current loop gain. Simulation results show a large zerocross
distortion and great displacement angle as well.
Figure 37 Input current waveform with onezero digital current
compensator.
3.2.3.4.2 TwoZero Design
In this approach, the compensator transfer function is
) 1 (
) (
) (
2
−
−
=
z z
z
K z C
P
ξ
.
¦
¦
¹
¦
¦
´
¦
+ − = ⋅ − ⋅ − − ∠ − − ∠ − − ∠ ⋅
= ⋅
−
−
⋅
−
⋅
0 0
2
45 180
180 180
) 1 ( ) 1 ( ) ( 2
1
 1 
 
 1 
π
ω
π
ω ξ
ξ
ω ω ω
ω
ω
ω
o
s c
o
delay C
T j T j T j
i
T j
T j
P
T j
s out
T T e e e
K
e
e K
e L
T V
s c s c s c
s c
s c
s c
Eq. 347
where 10 , 0725 . 0 , 380 , 400 sec, / 8 2 2 s T K H L V V krad f
delay i out C C
µ µ π π ω = = = = ⋅ = =
s T
s
µ 10 and = .
By solving Equation 347, the value of gain
P
K and zero ξ are obtained:
¹
´
¦
=
=
6588 . 0
162 . 1
ξ
P
K
C
u
r
r
e
n
t
(
A
)
(sec)
50
The compensator transfer function is
) 1 (
) 6588 . 0 (
162 . 1 ) (
2
−
−
=
z z
z
z C and its Bode plot is
shown in Figure 37.
20
0
20
40
60
80
100
G.M.: 3.7 dB
Freq: 2.08e+004 Hz
Stable loop
OpenLoop Bode
M
a
g
n
i
t
u
d
e
(
d
B
)
10
1
10
2
10
3
10
4
10
5
360
270
180
90
P.M.: 45 deg
Freq: 8e+003 Hz
Frequency (Hz)
P
h
a
s
e
(
d
e
g
)
Figure 38 Current Open loop Bode plot with two zeros
compensation
The two zero method can obtain a higher current open loop gain. But it also
lowers the gain margin. The digital delay, which is inevitable, has limited the
current loop bandwidth. Otherwise we must make tradeoff between bandwidth
and stability. As we know, current loop bandwidth is directly related to PF. In the
first step, a digital control is implemented with the twozero compensator. Later, a
solution is proposed to improve the power factor with a low current loop
bandwidth.
3.2.3.4.3 Realization:
The simplest way to realize a digital compensator is to convert it directly into
differential equation:
51
) 2 ( 5043 . 0 ) 1 ( 5311 . 1 ) ( 162 . 1 ) 1 ( ) ( − + − − + − = k e k e k e k y k y . Eq. 348
But on some occasions these coefficients are too sensitive [10] and
implementation requires more memories. The better method is to use state
equations:
) ( ) ( ) (
) ( ) 1 ( ) (
k e D k x C k y
k e B k x A k x
⋅ + ⋅ =
⋅ + − ⋅ =
Eq. 349
From
) 1 (
) 6588 . 0 (
162 . 1 ) (
2
−
−
=
z z
z
z C the state equations are derived as follows:
) ( ) ( and
) 1 (
6588 . 0
6588 . 0
) (
162 . 1
162 . 1
) 1 (
) 1 (
1 6588 . 0
0 0
) (
) (
2
2
1
2
1
k x k d
k e k e
k x
k x
k x
k x
=
−
(
¸
(
¸
−
−
+
(
¸
(
¸
+
(
¸
(
¸
−
−
⋅
(
¸
(
¸
−
=
(
¸
(
¸
Eq. 350
The state equation method needs to store only one coefficient and three
variables ( ) 1 ( ), 1 ( ), 1 (
2 1
− − − k e k x k x ) while the direct approach needs to store three
coefficients (the value of 1 doesn’t have to be stored) and three variables
( ) 2 ( ), 1 ( ), 1 ( − − − k e k e k y ).
3.2.3.5 Feedforward looplow pass filter
The feedforward loop is shown in Figure 39. A secondorder lowpass filter is
used to filter out the average value of the input voltage. Assuming that the input
signal is an ideal semisinusoidal with unity amplitude, the DC component of
input signal a
0
is
π
2
and the second harmonic component amplitude a
2
is
π 3
4
.
The ratio of 2
nd
harmonic component to the DC component is 3 / 2 .
52
LowPass
Filter
V
f
f
time
V
i
n
time
C
2
C
AB
A
B
ref
i
V
i
n
time
f
G
Figure 39 Feed forward loop.
The simplified Bode plot of the low pass filter is shown in Figure 40.
frequency(Hz)
m
a
g
n
i
t
u
d
e
line
f 2
Gf(j2Wline)
40dB/dec
c
f
 
f
G
Figure 40 Bode plot of the lowpass filter
From Figure 40, the cutoff frequency,
c
f is derived:
40
) ( ) 2 (
10 2
dB j G
line c
line f
f f
ω
⋅ = . Eq. 351
To meet the C distortion requirement, Equation 352 must be satisfied:
max 0
2
) 2 (
C
C
j G
a
a
line f
∆
≤ ⋅ ω . Eq. 352
For the requirement given in section 3.1.2.2, % 5 . 0 ≤
∆
C
C
, so:
53
dB
a
a
C
C
j G
line f
5 . 42 0075 . 0 ) 2 (
2
0
max
− = = ⋅
∆
≤ ω . Eq. 353
The corresponding cutoff frequency is:
0866 . 0 2 10 2 10 2
40
5 . 42
40
) ( ) 2 (
⋅ = ⋅ ≤ ⋅ =
−
line line
dB j G
line c
f f f f
line f
ω
, Eq. 354
for the case Hz f
line
50 = , Hz f
c
6 . 8 ≤ .
Butterworth or Chebyshev filters are widely used to realize digital filter. For
example, the discrete state equation of a secondorder Butterworth filter can be
expressed as:
) ( ) ( ) (
and ) ( ) 1 ( ) (
k e D k x C k y
k e B k x A k x
⋅ + ⋅ =
⋅ + − ⋅ =
Eq. 355
The coefficients are as follows:
(
¸
(
¸
−
=
99994 . 0 01072 . 0
01072 . 0 98477 . 0
A ,
(
¸
(
¸
⋅
=
−5
10 2 . 8
015167 . 0
B , ] 707086 . 0 , 003792 . 0 [ = C and
5
10 8977 . 2
−
⋅ = D .
However, this implementation has some disadvantages. First, some of the
coefficients are too small and sensitive, which may cause problems when the Q
15 format truncates a number between (1,1) to its LSB, i.e. the number has a
resolution of
15
2 / 1 or
5
10 05 . 3
−
⋅ . Second, these coefficients cost much memory
resource. Therefore another method is used to implement the lowpass filter.
In this method, an analog secondorder lowpass filter is designed first, such that:
2 2
2
2 2
) (
o o
o
fs
s s
s G
ω ω
ω
+ ⋅ ⋅ ⋅ +
= , Eq. 356
54
where
c o
f π ω 2 = is the cutoff frequency.
The two poles ) 1 ( 2
2 , 1
j p
o
± − = ω are mapped into the z–plane with the relation
s
sT
e z = , which gives two discrete poles 0076 . 0 9924 . 0
) 1 ( 2
2 , 1
j e z
s o
T j
p
± = =
± − ω
. Then
the discrete state equations are derived:
) ( ) ( ) (
) ( ) 1 ( ) (
k e D k x C k y
and k e B k x A k x
⋅ + ⋅ =
⋅ + − ⋅ =
,
where
(
¸
(
¸
−
=
9924 . 0 0076 . 0
0076 . 0 9924 . 0
A ,
(
¸
(
¸
=
0
0152 . 0
B , ] 1 , 0 [ = C , 0 = D .
The lowpass filter described above has a DC gain of 1. But for a semisinusoidal
waveform, the ratio of RMS value to average value is 1.1. The matrix B should be
replaced by
(
¸
(
¸
= ⋅
(
¸
(
¸
0
0167 . 0
1 . 1
0
0152 . 0
.
Finally, the filter has a DC gain of 0.818dB and a gain of 41.8dB at 100Hz.
Attenuation at 100Hz is 42.6dB. The Bode plot is shown in Figure 41.
Bode Diagram
Frequency (Hz)
10
1
10
0
10
1
10
2
10
3
80
60
40
20
0
M
a
g
n
i
t
u
d
e
(
d
B
)
System: fil
Frequency (Hz): 0.268
Magnitude (dB): 0.818
System: fil
Frequency (Hz): 99.9
Magnitude (dB): 41.8
Figure 41 Bode plot for lowpass filter.
55
The feed forward gain
ff
K is determined by input voltage gain and the lowpass
filter gain:
2
10 2624 . 0
−
⋅ ≈ =
in ff
K K .
3.2.3.6 Voltage loop Compensator
The voltage loop is shown in Figure 42. The discrete transfer function of the
voltage compensator can be expressed as
ρ −
=
z
K
z G
p
EAZ
) ( .
Voltage
compensator
Voltage
reference
A
B
C
ref
I
Ki
2
C
AB
K
m
o
v
EAZ
G
ref
v
Delay
Figure 42 Outer voltage loop
The following equations are derived:
2
_
) (
1
) (
1
rms in ff
m c in in
i
in
v k
K v v K
K
i
⋅
⋅ ⋅ ⋅ ⋅ =
, Eq. 357
2
_
) (
1 1
rms in ff
m in
i c in
in
v k
K K
K v v
i
k
⋅
⋅ ⋅ = = and Eq. 358
2
2
_
ff out i
m in
out
rms in
c
K V K
K K
V
V
k g = = , Eq. 359
where 0725 . 0 =
i
K , (current feed back gain), 25 . 0 =
m
K (multiplier
gain), 002624 . 0 =
in
K (input voltage gain) and 002624 . 0 =
ff
K ( feedforward gain).
56
From the given parameters, we can calculate that 93 . 2 =
c
g . Hence the discrete
controltovoltage transfer function is:
1
1776 . 0
1 −
=
−
⋅ =
z z
T
C
g
G
s c
vz
. Eq. 360
For the requirement given in section 3.1.2.2, % 5 . 0 ≤
∆
B
B
, the B distortion
requirement is obtained:
00427 . 0 % 5 . 0 % 5 . 0
max
max
= = ≤ ∆
c
o
g
I
B B Eq. 361
Furthermore:
) 2 (
0 line EA out
ripp
j G K V B ω ⋅ ⋅ = ∆ , Eq. 362
where
o L out
in in rip
o
C V
I V
V
ω 2
= (Equation 316) and
2
10 2 . 0
−
⋅ =
out
K (output voltage sensing
gain).
To satisfy Equation 361, the voltage compensator gain at
line
f 2 should have
out
ripp line EA
K V
B
j G
⋅
∆
≤
0
max
) 2 ( ω .
The voltage open loop gain is
ρ −
⋅ ⋅
−
= ⋅ ⋅ ⋅ =
−
z
K
K
z C
T g
z G K G T
p
out
s c
T
Tdelay
EA out vz v
s
) 1 (
Eq. 363
Thus we have three variables: the crossover frequency for voltage loop
c
f , the
poles for voltage compensator ρ , and the gain of voltage compensator
p
K , so
57
¦
¦
¦
¹
¦
¦
¦
´
¦
=
+ − = ∠
⋅
∆
=
−
=
−
−
−
−
1 ) (
45 180 ) (
) (
0
2
2
s c
s c
s line
s line
T j
v
o o T j
v
out
ripp T j
p T j
EA
e T
e T
K V
B
e
K
e G
ω
ω
ω
ω
ρ
, Eq. 364
where 330uF C 0.002, K 2.93, g 200us, T 10us, T
out c s delay
= = = = = .
From Equation 364, voltage compensator parameters are found:
¦
¹
¦
´
¦
=
=
=
9924 . 0
0222 . 0
sec / 4 . 37
ρ
ω
p
c
K
rad
The voltage compensator transfer function is
9924 . 0
00222 . 0
) (
−
=
−
=
z z
K
z G
p
EAZ
ρ
.
The state equation is:
) ( 00222 . 0 ) 1 ( 9924 . 0 ) ( k e k x k x ⋅ + − ⋅ = Eq. 365
The Bode plot of voltage loop gain in Figure 43 shows the voltage loop has a
bandwidth of 6Hz and phase margin of 45
o
.
1 0
 1
1 0
0
1 0
1
1 0
2
1 0
3
 1 8 0
 1 3 5
 9 0
P
h
a
s
e
(
d
e
g
)
 1 0 0
 5 0
0
5 0
M
a
g
n
it
u
d
e
(
d
B
)
B o d e Dia g r a m
Fr e q u e n c y ( Hz )
Figure 43 Bode plot for voltage open loop gain
58
3.3 Implementation
The complete digital control scheme includes one lowpass filter and two
compensators. Three subprograms are established to fulfill them. For current
compensator, which has a sampling frequency equal to the switching frequency,
the compensation subprogram is executed per switching cycle. For feedforward
lowpass filter and voltage compensator, whose sampling frequency is 5kHz,
subprograms are executed once per 20 switching cycles. A software counter is
installed to organize the timing. Executions of subprograms are synchronized by
an onchip PWM timer, which generates two PWM synchronous interrupt signals
per switching cycle. The PWM synchronous interrupts also serves as the start
signal of ADC.
3.3.1 Flowchart
3.3.1.1 Main Program
The flowchart of main program is shown in Figure 44. The task of main program
is to keep DSP in operation. The condition for halting main program is the power
down or PWM trip interrupt, which can be used for fault protection.
In i ti a l iza t io n
S ta rt
E n d
C o n v e r te r?
E n d
Ye s
N o
Figure 44 Flowchart of main program
59
3.3.1.2 Interrupt Service Routine Program
The two PWM interrupt signals (PWMsyn1 and PWMsyn2) are generated
separately at the beginning and the middle of one switching cycle. Both of them
can start the interrupt service routine. To identify them the status register is read.
The interrupt service routine is separated into two parts: one for signal
PWMsyn1, the other for signal PWMsyn2. The flowchart of the interrupt service
routine is shown in Figure 45.
Start
Return
PWMSyn 1?
Current
Compensaor
subprogram
Voltage
compensator
subprogram
Feed Forward
subprogram
Counter=0?
Counter=19?
Counter =
Counter1
Yes
No
Yes
Yes
No
No
Reset
Counter
Figure 45 Flowchart for interrupt service routine program
60
3.3.1.3 Subprograms
3.3.1.3.1 Current compensator Subprogram
Start
Read ADC
Iin(k), Vin(k)
Current reference
Iref(k)=Gff*Vc*Vin(K)
Current Error
e(k)=Iref(k)Iin(k)
Store e(k) to
memory
Load e(k1) to
Register
) ( ) (
) (
.
.
) (
.
.
) (
) (
. ) (
) (
k x k d
k e k e
k x
k x
k x
k x
2
2
1
2
1
1
6588 0
6588 0
162 1
162 1
1
1
1 6588 0
0 0
=
−
(
¸
(
¸
−
−
+
(
¸
(
¸
+
(
¸
(
¸
−
−
⋅
(
¸
(
¸
−
=
(
¸
(
¸
Update PWM Channel
registers
Store state variables
Return
Figure 46 Flowchart for current compensator subprogram
61
3.3.1.3.2 Voltage Compensator Subprogram:
Read ADC For Vout (K)
Start
Vout(k)>Vmax?
ev(k)=VrefVout(k)
Yes
No
Vc=0
Store ev(k)
Load ev(k1)
) ( . ) ( . ) ( k ev k x k x ⋅ + − ⋅ = 00222 0 1 9924 0
Vc=x(k)
Return
Store x(k)
Figure 47 Flowchart for voltage compensator subprogram
62
3.3.1.3.3 Feed Forward Subprogram:
Start
Load Vin(k)
) ( . ) ( . ) (
) ( . ) ( . ) ( . ) (
1 9924 0 1 0076 0
0167 0 1 0076 0 1 9924 0
2 1 2
2 1 1
− + − =
+ − − − =
k x k x k x
k V k x k x k x
in
Store X1(k), X2(k)
Yes
No
? . ) ( 25 0
2
< k x
1 =
ff
G
2
2
0625 0
) (
.
k x
G
ff
=
Return
Figure 48 Flowchart for feed forward loop subprogram
3.3.2 Experimental Results
ADMC401 is used to implement digital control for the 1kW PFC converter.
Resource occupation:
Memory for state variables, input signals and temporary results: 20 words
Memory for control coefficients: 10 words
Maximum instructions per PWM cycle: 180
63
Figure 49 Input Current waveform w/o EMI filter
A PF of 99.7% is achieved by digital controlled 1kW PFC with 100kHz switch
frequency.
64
3.4 CurrentLoop FeedForward Compensation
As we discussed before, the digital delay limits the current loop bandwidth and
jeopardizes its stability. The reason for the high bandwidth current loop gain is
not just for faithful tracking of the semisinusoidal reference but also for achieving
a high disturbance rejection. The largest disturbance injected into the power
stage is the input voltage, as shown in Figure 50.
The input voltage contains large amounts of harmonics. As we discussed before,
evenorder harmonics in inductor current generate fundamental and oddorder
harmonics in line current. If the resulting fundamental current harmonic has a
large phase displacement between the input voltage, it can significantly reduce
the displacement factor
θ
k . Moreover, the oddorder harmonics can reduce the
distortion factor
d
k . Both lead to a smaller PF. In this section, the influence of
input voltage on line current and the relation with current compensation will be
studied. Currentloop FeedForward (CFF) Compensation is proposed to reduce
this influence. The benefit and tradeoff of inserting CFF compensation is also
studied in the following sections.
Despite the difference in frequency response at high frequency (
c
f f ≥ ), the
digital and analog compensators have a similar frequency response at low
frequency (
c
f f << ). For the purpose of convenience, the compensator
frequency response is represented by that of an analog compensator in the
following studies. For the frequency less than 2kHz, the digital delay is smaller
than 8
o
. The effect of digital delay is ignored for this frequency range. For
frequency that is much smaller than half of the switching frequency, PWM is
considered as a gain of 1 in the following sections.
65
Current
Compensator
C(s)
Power Stage
Gid(s)
iref

+
iin
Ki
Power Stage
Giv(s)
+
+
in
v
~
C
T
DPWM
Figure 50 Simplified current loop system with input voltage influence.
The inductor current is:
c
iv
g
C
id
ref in
T
G
s v
T
CG
s i s i
+
+
+
=
1 1
) ( ) ( ) ( Eq. 366
3.4.1 Input voltage harmonics
The input voltage consists of a large amount of harmonic components. Table 6
gives two examples.
Table 6 Examples of harmonic components in input voltage
Harmonic Order (n)
Vrms(V)
2 4 6 8 10 12
90
54 10.8
4.63
2.6 1.64 1.13
264
158
31.7 13.6 7.5 4.8 3.32
The higher the line voltage the more the line current is influenced.
3.4.2 Influence of input voltage
The DC component of the rectified voltage does not influence the current loop
because the current compensator always has an infinite DC gain because of the
66
integrator. However the large amount of even order harmonics influences the
current loops and increase THD and the displacement angle.
The open loop voltagetocurrent transfer function is:
2
2
2
2
) 1 ( ) 1 (
1
1
) 1 (
1
~
~
) (
D
LC s
D R
sL
C sR
D R v
i
s G
L
L
L g
in
iv
−
+
−
+
+
⋅
−
= = . Eq. 367
As shown in Figure 50, the voltagetocurrent transfer function with current loop
closed is:
) (
) (
) (
s T
s G
s G
C
iv
ivclose
+
=
1
, Eq. 368
where C G K T
id i c
= is the current openloop gain. Since significant harmonics
mainly exist in the range much below the crossover frequency where the
magnitude of loop gain is huge, it is proper to approximate
C
T + 1
1
with
C
T
1
. Thus,
ivclose
G can be simplified as:
) ( ) (
) (
) ( 1
) (
) (
s C s G K
s G
s T
s G
s G
id i
iv
C
iv
ivclose
≈
+
= . Eq. 369
And we can further simplify Equation 369 with the following approximation:
C R
f
V
C sR
C sR
V s G
s G
L o
L
L
o id
iv
π 2
2
,
1
2
1
1
2
1
) (
) (
>> ≈
+
+
⋅ =
Eq. 370
67
The output capacitor C is very large. It is appropriate to assume that the
frequency
line
f 2 is much larger than
C R
L
π 2
1
and
C R
L
π 2
2
. For frequency domain of
interest,
o id
iv
V s G
s G 1
≈
) (
) (
. We have
) (
) (
S C K V
S G
i o
ivclose
1
≈ .
A conventional averagecurrentmode compensator is:
) (
) (
) (
p
z
i
s
s
s
s C
ω
+
ω
+ ω
=
1
1
. Eq. 371
The pole is placed at half of the switching frequency that is far larger than
C
f . For
the digital control in this thesis, this function is still realized by analog
components with transfer function as
p
s
ω
+ 1
1
. The effect of
p
s
ω
+ 1
1
in the
frequency range of interest can be ignored. As we discussed before, the digital
compensator response in the frequency range of interest can be approximated
by
s
s
z
i
) (
ω
+ ω 1
. For frequency much smaller than
π
ω
=
2
z
z
f , current compensator
can be simplified as
) ( , ) (
z
i
f f
s
s C << ≈
ω
Eq. 372
Therefore the voltagetocurrent transfer function is further simplified:
) ( ,
1 1
z
i o i id i
iv
ivclose
f f
s
V K C G K
G
G << ⋅ ⋅ ≈ ≈
ω
Eq. 373
68
Therefore the magnitude of
ivclose
G is related to the current openloop gain. Figure
51 shows Bode plots of
ivclose
G with the same 45
o
phase margin and different
bandwidth.
1 0
0
1 0
1
1 0
2
1 0
3
1 0
4
1 0
5
 9 0
 4 5
0
4 5
9 0
1 3 5
P
h
a
s
e
(
d
e
g
)
 1 0 0
 8 0
 6 0
 4 0
 2 0
M
a
g
n
i
t
u
d
e
(
d
B
)
f c = 8 k Hz
f c = 4 k Hz
f c = 2 K Hz
B o d e Dia g r a m
Fr e q u e n c y ( Hz )
Figure 51 Bode plots of
ivclose
G with different current
compensator
When the onezero digital current compensator is put into simulation, great
distortion is observed at zero crossing. One of the reasons is the lower current
loop gain. The digital compensator has a lower frequency zero to compensate
the phase lag caused by digital delay, resulting in a lower
i
ω .
To fully understand how this input voltage influences PF, we can analyze the
even order voltage harmonics. From Equation 373, the harmonic of the input
voltage will create a 90
o
lead corresponding harmonic at the inductor current.
The relation is shown in Figure 52. For convenience, 2
nd
order harmonic is used
to represent all evenorder harmonics in the inductor current.
69
t i m e
V
o
l
t
a
g
e
(a)
t i m e
V
o
l
t
a
g
e
(b)
t i m e
,
V
o
l
t
a
g
e
(c)
t i m e
C
u
r
r
e
n
t
(d)
Figure 52 Relationship between voltage 2
nd
harmonic and line current: (a)
line voltage, (b) boost converter input voltage, (c) 2
nd
harmonic voltage and
2
nd
harmonic current and (d) fundamental and 3
rd
harmonics generated
The 2
nd
order harmonic component value is:
2
nd
voltage
harmonic
2
nd
current
harmonic
generated
2
nd
current
harmonic in
line current
3
rd
current
harmonic
1
st
current
harmonic
70
rms in rms n
V
n
V
_
2
_ 2
) 1 4 (
4
π −
= Eq. 374
The inductor current generated by this voltage harmonic is:
) 2 (
_ 2 _ 2 line ivclose rms nd rms n
n j G V I ω ⋅ ⋅ = Eq. 375
The fundamental line current generated by this inductor current is:
π ) 1 4 (
8
2
_ 2 _ 1
−
⋅ =
n
n
I I
rms n rms st
Eq. 376
This fundamental line current is 90
o
ahead of the line voltage. It is expressed as
⊥
I for convenience.
As shown in Figure 53, the fundamental current generated is 90
o
ahead of the
input voltage vector, increasing the displacement angle between input current
and input voltage.
θ
Vin I//
Iin
⊥
I
Figure 53 Current vectors and voltage vector
Assuming the converter has an efficiency of 0.9, we can calculate the current
vector parallel to the input voltage.
rms in
out
V
P
I
_
//
⋅
=
η
Eq. 377
Displacement angle θ is:
71
) arctan(
//
I
I
⊥
= θ Eq. 378
The input voltage can be treated as a disturbance whose attenuation is defined
as
in
in
i
v
~
~
. To have a large disturbance attenuation requires a large current open
loop gain.
The third order harmonic line current generated by 2
nd
order inductor current is:
π ) 9 4 (
8
2
_ 2 _ 3
−
⋅ =
n
n
I I
rms n rms
Eq. 379
Because low frequency zero is used to compensate the phase lag caused by
digital delay. The simple onezero compensator will result in a low current loop
gain at the frequency range of interest, while the twozero compensator has a
small gain margin and complex structure that increases cost.
Following is a solution to achieve good PF with simple onezero compensator.
3.4.3 Current Loop Feed Forward
Thus Currentloop FeedForward (shown in Figure 54) is a solution to achieve
high PF even with a low bandwidth current compensator.
Current
Compensator
C(s)
Power Stage
Gid(s)
iref

+
iin
Ki
Power Stage
Giv(s)
+
+
in
v
~
+
+
Kvi
DPWM
Figure 54 Illustration of currentloop feedforward
72
Assuming the CFF gain is
vi
K , a new voltagetocurrent transfer function is
obtained:
C
iv
id
vi
iv ivclose
T
G
G
K
G G
+
⋅ +
=
1
1
. Eq. 380
The aim of CFF compensation is to reduce the magnitude of
ivclose
G in the
frequency range of interest. It is noticed in Equation 370 that
o id
iv
V G
G 1
≈ for
(
c line
L
f f f
C R
<< < < 2
2
2
π
). If
o
vi
V
K
1
− = , the magnitude of
ivclose
G is greatly
decreased. A normalized coefficient
vi
k is applied,
0
V K k
vi vi
⋅ − = .
Figure 55 shows how the value of
vi
k affects the magnitude of voltagetocurrent
transfer function. The current loop has a bandwidth of 4kHz. It is observed that
the closer
vi
k is to 1, and the smaller is
ivclose
G .
 140
 120
 100
 80
 60
 40
 20
M
a
g
n
i
t
u
d
e
(
d
B
)
10
0
10
1
10
2
10
3
10
4
10
5
 90
0
90
180
270
P
h
a
s
e
(
d
e
g
)
kv i=0
kv i=1
kv i=0.9
kv i=0.75
kv i=0.5
Bod e Diagr am
Fr eq uenc y ( Hz )
Figure 55 Effect of different CFF gain
vi
k
73
3.4.4 Simulation Results
As we mentioned before, input voltage harmonics can influence both the
displacement factor and distortion factor. Comparisons of both of these factors
are made. Following simulations are run at V
in_rms
=220V.
3.4.4.1 Displacement Factor Comparison
Simulations are run in Simulink to verify the effectiveness of CFF comparison.
First analog current compensator with an 8KHz bandwidth is used as the base
line. PFs are tested under full load condition. The output power is 1,000W.
Figure 56 Line current of PFC w/o EMI filter (
c
f =8KHz).
Fourier analysis is used to calculate the fundamental component of the line
current. For the fundamental component: A I A I 149 . 0 and , 5964 . 4
//
= =
⊥
.
The displacement angle θ is 1.86
o
ahead. The displacement factor without EMI
filter is 9995 0 86 1 . . cos = =
θ
o
K .
Then an analog current compensator with a 4 KHz bandwidth is used to verify
the relationship between the current compensator and the displacement factor.
C
u
r
r
e
n
t
(
A
)
(Sec)
74
Figure 57 Line current of PFC w/o EMI filter (
c
f =4KHz)
Fourier analysis is used to calculate the fundamental component of the line
current. For the fundamental component: A I A I 4418 . 0 and 2748 . 4
//
= =
⊥
.
The displacement angle θ is 5.9
o
ahead. The displacement factor without EMI
filter is 9947 . 0 9 . 5 cos = =
o
K
θ
.
A 4 KHz bandwidth current compensator with CFF compensation is used to verify
the effectiveness of CFF.
Figure 58 Line current of PFC w/o EMI filter (
c
f =4KHz, w/ 9 . 0 =
vi
k )
C
u
r
r
e
n
t
(
A
)
C
u
r
r
e
n
t
(
A
)
(Sec)
(Sec)
75
Fourier analysis is used to calculate the fundamental component of the line
current. For the fundamental component: A I A I 069 . 0 and 6984 . 4
//
= =
⊥
.
The displacement angle θ is 0.84
o
. The displacement factor without EMI filter is
9999 . 0 84 . 0 cos = =
o
K
θ
. The CFF compensation is effective to improve the
displacement factor.
3.4.4.2 Harmonic Distortion Comparisons
The FFT method is used to calculate linecurrent harmonics. Figure 59 is the
linecurrent harmonics of current loop bandwidth 8kHz and 4kHz. In the
frequency range (120Hz~2,400Hz), i.e., harmonic order from 2 to 40, 8kHz
bandwidth design shows lower level of harmonics current than that of the 4kHz
bandwidth.
10
2
10
3
80
60
40
20
0
frequency(Hz)
C
u
r
r
e
n
t
R
M
S
(
A
)
Line Current Harmonics
fc=8kHz
fc=4kHz
Figure 59 Comparison of linecurrent harmonics with different
current loop bandwidths.
Comparison is also made between line current harmonics with and without CFF.
Figure 60 shows that with the same current compensator, the one with CFF
shows lower level of current harmonics.
76
10
2
10
3
80
60
40
20
0
20
frequency(Hz)
C
u
r
r
e
n
t
R
M
S
(
A
)
Line Current Harmonics
fc=4kHz w/DFFC
fc=4kHz
Figure 60 Comparison of line current harmonics with and
without CFF
Figure 61 shows the maximum permissible harmonic values and the three
examples. All of them can meet the requirement.
10
2
10
3
80
70
60
50
40
30
20
10
0
10
Harmonic standards
fc=8KHz
fc=4kHz
fc=4kHz w/ CFF
Frequency(Hz)
C
u
r
r
e
n
t
R
M
S
(
A
)
Figure 61 harmonic comparisons
Not only high frequency harmonics are reduced, but 3
rd
order harmonic is
reduced as well, which indicates that CFF is effective at low frequencies. As we
77
know, the quasistatic model is only valid for frequencies much higher than
line
f 2 .
However A. Huliehel pointed out that despite the large input voltage variation at
low frequencies and nonlinearity, it is still possible to derive smallsignal model
for low frequencies [39]. This smallsignal model in [39] differs from the quasi
static model just in operation point. If so, CFF is effective for low frequencies.
3.4.4.3 Influence of CFF Gain
vi
K
It is noted that there is no perfect sensor. K
vi
is subject to deviation. Furthermore,
implementing CFF with K
vi
=1 will require extra multiplication and storage of result
and coefficients. It is necessary to study the influence of K
vi
. From section 3.4.3,
we have
) 1 (
1 1
1
1
1
vi
C
iv
ivclose
out vi vi
C
out vi
iv
C
iv
id
vi
iv ivclose
k
T
G
G
V K k
T
V K
G
T
G
G
K
G G −
+
= ⇒
¦
¦
)
¦
¦
`
¹
⋅ − =
+
⋅ +
≈
+
⋅ +
= , Eq. 381
where
vi
k is the normalized CFF gain. To have:
C
iv
vi
C
iv
ivclose
T
G
k
T
G
G
+
< −
+
=
1
1
1
) ( , Eq. 382
we should have
2 0 1 1 < < ⇒ < −
vi vi
k k . Eq. 383
From Equation 373, ) ( ,
c
i o i id i
iv
C
iv
f f
s
V K C G K
G
T
G
<<
ω
⋅ ⋅ ≈ ≈
+
1 1
1
. Then when 1 <
vi
k ,
0 1
1 1 1
> − ⋅
ω
⋅ ⋅ ) (
vi
i o i
k
V K
. The input voltage harmonics generate 90
o
lead input
current harmonics. Figure 62 gives several Bode plots with different ⊂
vi
k (0,1).
78
1 0
2
1 0
3
1 0
4
1 0
5
 9 0
 4 5
0
4 5
9 0
1 3 5
1 8 0
P
h
a
s
e
(
d
e
g
)
 1 4 0
 1 2 0
 1 0 0
 8 0
 6 0
 4 0
 2 0
M
a
g
n
i
t
u
d
e
(
d
B
)
kv i=0
kv i=1
kv i=0 . 7 5
kv i=0 . 5
B o d e Dia g r a m
Fr e q u e n c y ( Hz )
Figure 62 Bode plots for ) , ( 1 0 ⊂
vi
k
When
vi
k < 1 , 0 ) 1 (
1
< −
vi
i o i
k
V K ω
. Then input voltage harmonics generate 90
o
lag
input current harmonic. Figure 63 gives several Bode plots with different ⊂
vi
k
(1,2).
1 0
2
1 0
3
1 0
4
1 0
5
 9 0
0
9 0
1 8 0
2 7 0
P
h
a
s
e
(
d
e
g
)
 1 4 0
 1 2 0
 1 0 0
 8 0
 6 0
 4 0
 2 0
M
a
g
n
i
t
u
d
e
(
d
B
)
k v i= 0
k v i= 1
k v i= 1 . 2 5
k v i= 1 . 5
k v i= 2
B o d e Dia g r a m
F r e q u e n c y ( Hz )
Figure 63 Bode plots for ) , ( 2 1 ⊂
vi
k
79
Simulations with different
vi
k are run in Simulink. FFT analysis and Fourier
analysis are given to each case. Figure 64 compares the results with different
vi
k .
6
4
2
0
2
4
6
0 0.5 1 1.5 2
Feed Forward Gain
D
i
s
p
l
a
c
e
m
e
n
t
a
n
g
l
e
s
0.994
0.995
0.996
0.997
0.998
0.999
1
D
i
s
p
l
a
c
e
m
e
n
t
f
a
c
t
o
r
s
Displacement angles Displacement factors
Figure 64 Comparison of displacement angles (degree) and displacement
factors with different CFF gain.
3.4.4.4 Digital Controller with CFF Compensation
The previous study of CFF carried out is with analog controllers. Digital controller
performance is compromised by digital delay. Thus the effectiveness has to be
proved for digital controller. A digital current compensator is designed to achieve
4kHz current loop bandwidth.
3.4.4.4.1 Displacement Factor Comparison:
Simulation result of digital current compensator without CFF compensation is
shown in Figure 65.
80
Figure 65 Line current w/o EMI filter (
c
f =4KHz, w/o CFF)
Fourier analysis is used to calculate the fundamental component of the line
current. For the fundamental component: A I A I 67 . 0 and 6975 . 4
//
= =
⊥
.
The displacement angle θ is 8.23
o
. Then displacement factor without EMI filter is
9895 0 23 8 . . cos = =
θ
o
K .
A CFF compensation with 9 . 0 =
vi
k is applied.
Figure 66 Line current w/o EMI filter (
c
f =4KHz, w/ CFF 9 . 0 =
vi
k )
Fourier analysis is used to calculate the fundamental component of the line
current. For the fundamental component: A I A I 0825 . 0 and 6966 . 4
//
= =
⊥
.
C
u
r
r
e
n
t
(
A
)
C
u
r
r
e
n
t
(
A
)
(Sec)
(Sec)
81
The displacement angle θ is 1.04
o
. The displacement factor without EMI filter is
9998 0 04 1 . . cos = =
θ
o
K . Significant improvement is observed.
3.4.4.4.2 Harmonic Distortion Comparison:
10
2
10
3
80
60
40
20
0
20
Frequency(Hz)
C
u
r
r
e
n
t
R
M
S
(
A
)
Line current Harmonics
Harmonic standard
Digital Control w/ CFF
Digital Control w/o CFF
Figure 67 Line Current Harmonics Comparison
It is observed Digital Controller w/ CFF compensation has greatly reduced the
line current harmonics.
82
4 DIGITAL CONTROL FOR THE THREELEVEL
PFC
Increasing power density is one of the goals of research in DC power supply.
Conventional single switch PFC has larger power loss at low line than at high
line. It is common that universalline PFC always has power derating at 90~150
V
ac
. An advanced PFC was proposed to solve this problem. This threelevel PFC
(3LPFC) has high efficiency at low line, which indicates it can achieve higher
power density than single switch PFC under the same power rating. However,
problems such as control of range switch, complex optimal control structure and
output capacitor imbalance are to be solved before wide application of 3L PFC.
Digital control can provide logic operation, which may provide simple solutions. It
is necessary to study digital control for 3L PFC.
4.1 ThreeLevel PFC Converter
When the input voltage of the PFC decreases, the input current will increase
accordingly, which means larger power loss in the converter. This generates a
great stress on thermal management. To solve this problem, the threelevel PFC
w/ Range Switch (3LPFC w/ RS) was proposed, as shown in Figure 68. The
range switch (RS) turns on when input voltage is 90~140V, when the circuit is
referred as working in Rson mode. The RS turns off when input voltage is
140~264V, when the circuit is referred as working in Rsoff mode. The most
significant feature of this converter is its high efficiency at Rson mode.
83
Range
switch
S1
S2
C1
C2
L1
L2
+
Vin

+
Vout

+
Vc1

+
Vc2

Figure 68 Power stage of 3LPFC w/ RS
The reasons for high efficiency at Rson mode are:
1. Lower conduction loss: The input current flows through one of the rectifier
diodes instead of two of them. Thus, lower diode bridge conduction loss is
achieved.
2. Lower switching loss: For MOSFETs, V
ds
is half of the output voltage, and
lower rating MOSFETs can be used. Each switch is working half of the time.
Thus, lower switching loss is achieved.
Implementation of optimal operation for the Rson and Rsoff modes and reliable
balancing of output capacitor voltages can greatly enhance the 3LPFC’s
competitiveness.
4.2 Literature Review and Previous works
Y. Jiang with VPEC proposed a 3LPFC without RS [39]. The paper proposed the
180
o
phase shift PWM for the two switches, which reduced the inductor current
ripple amplitude to a quarter of the original one. However, this topology has not
been widely adapted. The PWM operation proposed is the optimal method for the
3LPFC at its Rsoff mode.
84
In 1995, Dr. Erickson from the University of Colorado applied the concept of RS
to the 3LPFC. The paper proved the high efficiency of 3LPFC at low line.
However, the 3LPFC at Rsoff mode had the same control and operation with the
3LPFC at Rson mode. The output capacitor voltage was balanced passively
[33].
In 2000, Bing Lu with CPES at Virginia Tech built an analogcontrolled 1kW 3
LPFC with RS prototype. The control schemes are the same for RS on/off.
Experimental results show that its performance is compromised at Rsoff mode
because it is not working with optimal operation. The efficiency chart shows that
the worst case of Rsoff is only slightly higher than the worst case of Rson. If heat
distribution is taken into consideration, it is possible that the thermal
management worst case occurs at Rsoff.
0 . 9 2
0 . 9 3
0 . 9 4
0 . 9 5
0 . 9 6
0 . 9 7
0 . 9 8
0 . 9 9
8 0 1 3 0 1 8 0 2 3 0
H i g h l in e r an g e
s w it c h of f
C on ven t ion al
P F C F s = 1 0 0 k H z
L ow l in e r an g e
s w it c h on
I n p u t v o l t a g e ( V
a c
)
E
f
f
i
c
i
e
n
c
y
Figure 69 Efficiency comparisons between conventional
Singleswitch PFC and analog controlled 3LPFC.
85
4.3 Review of 3LPFC with RS: Operation and Control
4.3.1 Topology at Rsoff mode
When the range switch is turned off the two well coupled inductors are in series
(Figure 70 (a)). They equal to one inductor with inductance of
2 1 2 1
2 L L L L L
eq
+ + =
The simplified circuit is equivalent to the circuit proposed by Jiang [39]. When
L L L = =
2 1
, we have L L
eq
4 = .
S 1
S 2
C 1
C 2
L 1
L 2
(a)
S 1
S 2
C 1
C 2
L e q
(b)
Figure 70 Converter topology at Rsoff mode: (a) Original
topology and (b) simplified topology
86
The switching frequency is half of the frequency of the inductor current ripples
[39]. With the optimal operation proposed in [39], the switching frequency is just
half of the switching frequency used by Erickson [33] and B. Lu (2000). This
would help to reduce the switching loss at Rsoff mode. However, balancing the
output capacitor is a challenge.
4.3.1.1 Output Capacitor Imbalance
Output capacitor imbalance can be caused by driver mismatching, device
mismatching and unequal capacitor leakage currents. Previous work used
balancing resistors to balance the output capacitor voltage shown in Figure 71.
S 1
S 2
C 1
C 2
L e q
Figure 71 Passive balancing with balancing resistors.
It is difficult to predict either the mismatching of devices or drivers or the leakage
current for each capacitor. Concerns exist pertaining to underdesign of
balancing resistors.
4.3.1.2 Power Stage Modeling
To find out the opportunity to actively balance output capacitor voltage, it is
necessary to find out the exact power stage model.
Different from conventional singleswitch PFC, the 3LPFC has two capacitors
and one inductor. Two threeterminal average models are used to find out the
smallsignal model. Here the two switches are independent. The duty cycle is
defined separately as
1
d and
2
d .
87
C1
C2
Leq
 +
+ 
1 1 c
v d
L
i d
1
L
i d
2
L
i +

+

1 c
v
2 c
v
+

o
v
Figure 72 Average model of 3LPFC at Rsoff mode.
Using the perturbation and linearization method, the smallsignal model is
derived.
L
o
a
d
C1
C2
Leq
 +
1 1
~
c
V d
L
I d
1
~
L
I d
2
~
L
i +

+

1
~
c
v
2
~
c
v
+

o
v
~
 +
1 1
~
c
v D
+  + 
2 2
~
c
V d
2 2
~
c
v D
Figure 73 Smallsignal model of 3LPFC at Rsoff mode.
The state equations for the topology shown in Figure 73 are
88
(
(
(
¸
(
¸
⋅
(
(
(
(
(
(
(
¸
(
¸
−
−
+ ⋅
(
(
(
(
(
(
(
¸
(
¸
− −
−
− −
−
−
−
−
−
=
2
1
2
1
2 1
2 2 2
2
1 1 1
1
2 1
~
~
~
0 0
0 0
1
~
1 1 1
1 1 1
1 1
0
~
d
d
v
C
I
C
I
L
V
L
V
L
x
R C R C C
D
R C R C C
D
L
D
L
D
dt
x d
g
c c
eq eq eq
, Eq. 41
where D
1
is the steady state value of duty cycle d
1
, D
2
is the steady state value
of duty cycle d
2
, and x
~
are the state variables for 3_LPFC circuit,
(
(
(
¸
(
¸
=
2
1
c
c
L
v
v
i
x
~
~
~
~
.
To better understand the relationship, we define the average of two duty cycles
as
s
d
~
:
89
2
2 1
d d
d
s
~ ~
~ +
= . Eq. 42
Deviation of the two duty cycle as d ∆ yields:
2 1
d d d
~ ~ ~
− = ∆ . Eq. 43
From Equations 42 and 43, we find that:
(
(
(
¸
(
¸
∆
(
(
(
(
(
(
¸
(
¸
−
=
(
(
(
¸
(
¸
d
d
v
d
d
v
s
g g
~
~
~
~
~
~
2
1
1 0
2
1
1 0
0 0 1
2
1
. Eq. 44
Applying this transformation to Equation 41 yields:
(
(
(
¸
(
¸
∆
⋅
(
(
(
(
(
(
(
¸
(
¸
−
− −
− +
+ ⋅
(
(
(
(
(
(
(
¸
(
¸
− −
−
− −
−
−
−
−
−
=
d
d
v
C
I
C
I
C
I
C
I
L
V V
L
V V
L
x
R C R C C
D
R C R C C
D
L
D
L
D
dt
x d
s
g
eq
c c
eq
c c
eq eq eq
~
~
~
2
0
2
0
1
~
1 1 1
1 1 1
1 1
0
~
2 2
1 1
2 1 2 1
2 2 2
2
1 1 1
1
2 1
. Eq. 45
The two most important transfer functions are derived from this state equation.
The
s
d
~
to
L
i
~
transfer function is:
(
(
(
(
¸
(
¸
+
−
+
−
+
⋅ ⋅ −
+ +
+
=
1
) 1 ( ) 1 (
) 1 (
) )( 1
) ( 2
( 2
~
~
2
2 1
2 1 2
2
2 1
2 1
2 1
s
eq
s
s
eq
s
c c
s
L
D R
L
D
C C
C C
L s
R D
V V
C C
C sRC
d
i
. Eq. 46
90
Because D
1
=D
2
, the system is reduced to a secondorder system. Equation 46
shows that
s
d
~
to
L
i
~
transfer function is similar to dutytocurrent transfer function
for a singleswitch PFC. The current compensator of a conventional single switch
PFC can therefore be adopted.
The high frequency approximation can be expressed as:
s L
V V
d
i
eq
c c
s
L 2 1
~
~
+
= . Eq. 47
Because L L
eq
4 = and
o c c
V V V = +
2 1
,
Ls
V
d
i
o
s
L
4
~
~
≈ .
The d
~
∆ to )
~ ~
(
2 1 c c
v v − transfer function is:
(
(
(
(
¸
(
¸
+
−
+
−
+
⋅ +
(
¸
(
¸
+
−
+
−
+
⋅ +
−
− ⋅ −
⋅
−
=
∆
−
1
) 1 ( ) 1 (
) (
1
) 1 ( ) 1 ( 4
) (
4
1
) ( ) (
2
1
~
~ ~
2
2 1
2 1 2
2 1
2
2 1
2
2 1 2 1
2 1
s
s
s
s
s
s s
c c
c c
D R
Ls
D
C C
C C
L s
C C
D R
Ls
D
C C L s
I
D
V V C C s
s
d
v v
. Eq. 48
The low frequency approximation of the d
~
∆ to
2 1 c c
v v
~ ~
− transfer function is:
2 1
2 1
2 1
2 1
1
for ,
) (
2
~
~ ~
C C
C C
L
D
f
C C
I
s
d
v v
s c c
+
−
<<
+
−
≈
∆
−
Eq. 49
An active balance loop can be formed based on this relationship.
One could raise the concern as to whether or not the deviation of duty cycle
would affect the inductor current. Another transfer function is derived from
Equation 45.
91
d
~
∆ to
L
i
~
transfer function is:
(
(
(
(
¸
(
¸
+
−
+
−
+
⋅ ⋅ −
−
+ + − ⋅ +
+
=
∆
1
1 1
1
2
1
1
2
2 1
2 1 2
2
2 1
2 1
2 1 2 1
2 1
2 1
) ( ) (
) (
) ( ) ( ) (
~
~
s
s
s
s
c c c c
L
D R
L
D
C C
C C
L s
R D
C C
C C
V V V V
C C
C C
sR
d
i
. Eq. 410
When 5% capacitors are used, we can say that 0
2 1
2 1
≈
−
C C
C C
. If the output
capacitors are well balanced, we can say that 0
2 1
≈ −
c c
V V . Then, 0 ≈
∆d
i
L
~
~
, which
means that deviation of duty cycles does not affect the inductor current.
4.3.1.3 PWM Pattern
The voltage across the inductor
mb am in L
v v v v − − = , where
am
v and
mb
v are
pulsating voltages with similar duty cycles. Inductor current is the integration of
mb am in
v v v − − . To decrease the current ripple, interleaving technology is applied
[39]. The switches are 180
o
phaseshifted (see Figure 74).
T
s
T
s
/2
S
1
S
2
in
i
T
s
T
s
/2
S
1
S
2
in
i
T
s
T
s
/2
S
1
S
2
T
s
T
s
/2
S
1
S
2
in
i
(a) (b)
Figure 74 PWM operation in Rsoff mode: (a) Duty cycle >50%
and (b) Duty cycle <50%.
92
With the 180
o
phaseshifted PWM, switching frequency can be reduced to half of
the original one while maintaining very small current ripple amplitude. Lowering
the switching frequency can increase efficiency.
4.3.2 Topology at Rson Mode
When the RS is turned on, we assume that
2
2 1
out
c c
V
V V = = .
+
Vin

(a)
+
Vin

(b)
Figure 75 Operation of 3LPFC at Rson mode: (a) Active parts
at positive half cycle and (b) Active parts at negative half cycle.
Figure 75 shows that for each half cycle, only half of the circuit is active. For each
half cycle, the equivalent circuit is shown in Figure 76. Applying the three
terminal averaging techniques, we can obtain the average model and derive the
smallsignal model (Figure 77).
93
+
Vin

−
+
2
o
V
L
Figure 76 Equivalent highfrequency model 3LPFC at Rson mode
+
Vin

−
−
+
2
~
o
V
d
L
D i
L
⋅
~
L
i
~
d I
L
~
⋅
Figure 77 Smallsignal model for Equivalent circuit at Rson mode
The high frequency approximation of dutytocurrent transfer function is:
Ls
V
d
i
o L
2
~
~
= . Eq. 411
4.4 Control Parameters for Rsoff and Rson modes
The PWM patterns and switching frequency differ at Rsoff and Rson modes. As
discussed in section 4.3 with the change of power stage topology, control
parameters changes accordingly.
4.4.1 Current Loop Difference and Compensation
The dutytocurrent transfer function in Rsoff mode is:
Ls
V
d
i
o
s
4
~
~
= .
94
The dutytocurrent transfer function in Rson mode is:
Ls
V
d
i
o
2
~
~
= .
Two current sensors are installed in the 3LPFC as shown in Figure 78. For the
two modes, current sensor gain is different, as follows:
2 =
iRson
iRsoff
K
K
. Eq. 412
We have
iRson
out
iRsoff
out
K
Ls
V
K
Ls
V
⋅ = ⋅
2 4
. The current compensator is the same for both
Rsoff and Rson modes.
S1
S2
C1
C2
L1
L 2
+ +
Figure 78 Current sensors for 3LPFC with RS
4.4.2 Voltage Loop Difference and Compensation
In Chapter 3, we discussed the controltooutput voltage transfer
function:
Cs
g
G
c
v
= , where
2
2
_
ff out i
m in
out
rms in
c
K V K
K K
V
V
k g = = . As we discussed in 4.4.1,
i
K
is different for the two different mode, which results in different
c
g , so
95
2
1
= =
iRson
iRson
cRson
cRsoff
K
K
g
g
, Eq. 413
where
cRsoff
g is the value of
c
g at Rsoff mode and
cRson
g is the value of
c
g at
Rson mode.
The difference in voltage loop is compensated by software. When the converter
is started, the initialization program sets up the control parameters accordingly.
4.5 Control structure of 3LPFC Converter
Figure 79 shows the digital control structure of for 3LPFC w/ RS. The structure
includes three compensators and one low pass filter. The design method is the
same with single switch PFC.
Power Stage
Vin
iin
Vc1
Current
Compensator
d1
2
C
AB
Voltage
Error Amplifier
Low pass
filter
Kout Ki Kin
Iref
A
B
C
PWM
ADC ADC ADC
ADMC401
Delay
Vc2
Kout
ADC
Balancing
compensator
d2
PWM
d ∆
Figure 79 Digital Control structure for 3LPFC with RS
96
4.6 Experimental Results
Figure 80 shows experimental results in Rsoff mode. Input power factor is over
99%. Middle point voltage is about half of output voltage, which means active
balance is effective.
V
in
I
in
V
o
V
m
V
in
I
in
V
o
V
m
Figure 80 Input current (w/o EMI filter), input voltage, output
voltage and midpoint voltage waveforms
Figure 81 shows the improved efficiency in Rsoff mode with digital control.
Input voltage (V
ac
)
0.92
0.93
0.94
0.95
0.96
0.97
0.98
0.99
80 130 180 230
Analog control
Three Level
PFC RS off
Analog control
Three Level
PFC RS on
Digital Controlled
Three level PFC
E
f
f
i
c
i
e
n
c
y
Figure 81 Efficiency comparison between analog controlled 3LPFC and
digital controlled 3LPFC
97
5 CONCLUSION AND DISCUSSION
5.1 Conclusions
Digital control is the trend for tomorrow’s DC power supply systems. Despite the
merits of communication ability, noise immunity and capability to implement
complex control methods. Digital control has its disadvantages. DPWM resolution
and digital delay is the bottleneck in implementing digital control for PFC. It is
necessary to know the requirement for ADC resolution, DPWM resolution and the
system clock.
This thesis presents a generalized analysis of sampling frequency, DPWM
resolution and ADC resolution requirements. The design experience and
implementation of a digital controller for PFC are discussed. The experimental
result is presented. Then, the effect of digital delay and how it influences the
performance of PFC are studied. The CFF compensation method is proposed to
improve PF with low current loop gain design. Simulation results are presented to
prove the effectiveness of this solution.
Chapter 4 discusses optimal control for 3LPFC with RS circuit. The PWM
operation at Rsoff mode, and the difference in power stage model and control
parameters are studied. Optimal controls for the two distinct modes are
implemented using a digital controller.
Previous works show that analog control compromises performance in Rsoff
mode. When analog control is applied, implementing optimal control requires
much more extra analog components for 3LPFC. Digital control implements
optimal control without extra components. Experimental results demonstrate
improved efficiency at Rsoff mode.
Although the passive balancing method can balance the output capacitor voltage,
there are concerns as far as the underdesign of balance resistors. The active
98
balancing method is introduced. Studies in Chapter 4 show that changing the two
switch duty cycles can not only influence inductor current but also change the
output capacitor voltages. The frequency responses are derived in Chapter 4.
The active balancing method is developed. Experimental results prove the
effectiveness of the active balancing method.
5.2 Future Work
This thesis gives a general study of DPWM resolution. In reality, frequency and
shape of the PWM error are related to input voltage, current reference and
current loop gain and bandwidth. The exact effect of the PWM error may be
tested in simulation or experiment. More accurate models may be established for
study.
Digital delay is another factor for digital control. Currently, most digital control for
PFC is realized by a DSP. The sequential execution of DSP is the main source of
computation delay. Thus ASIC design is not only a low cost approach, but also
helps to reduce digital delay and improve performance. However the huge
amount of calculation required by PFC controller may result in a complex
structure, which might require several adders and dividers. Mixedsignal design
is also possible. Further research is required for cost effectiveness of digital
control.
One of the goals of research in PFC is to achieve higher power density. One of
the methods pushes switching frequency up to reduce the bulky boost inductor.
Studies included in this thesis shows that pushing the switching frequency may
increase the DPWM resolution requirements. Even with the promise of hybrid
PWM and development of IC industry [32], this will remain the most challenging
aspect for implementing digital control for DPS.
99
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208.
[2] F.C. Lee, “The stateoftheart power electronics technologies and future
trends,” Power Engineering Society Summer Meeting, 2000, vol. 2, pp. 1229
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[3] N. Osifchin, “A telecommunication building/power infrastructure In a new era
of public networking,” IEEE International Telecommunications Energy
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[4] BCHP (2003), “General public benefits,” http://www.bchp.org/publicbenefit.html.
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104
APPENDIX I
Following are theorems we will use in this appendix.
A.1a Theorem. If ) (t f is integrable on { b t a ≤ ≤ }, and c is an intermediate point,
then
∫ ∫ ∫
+ =
b
c
c
a
b
a
dt t f dt t f dt t f ) ( ) ( ) ( .
A.1b Theorem. If ) (t f is integrable on { b t a ≤ ≤ }, and if c is a constant, then
) (t cf is integrable there and
∫ ∫
=
b
a
b
a
dt t f c dt t cf ) ( ) ( .
A.1c Theorem. If ) (t f and ) (t g are integrable on { b t a ≤ ≤ }, and if
) ( ) ( t g t f ≥ there, then
∫ ∫
≥
b
a
b
a
dt t g dt t f ) ( ) ( .
A.1d Theorem. If ) (t f is integrable on { b t a ≤ ≤ }, then so is ) (t f , and
∫ ∫
≥
b
a
b
a
dt t f dt t f ) ( ) ( .
Before we proceed to the next conclusion, it is convenient to set up some
notation. Given a function ) (t f , we define the corresponding functions ) (t f
+
and
) (t f
−
by
¹
´
¦
<
≥
=
+
0 ) ( , 0
0 ) ( ), (
) (
t f
t f t f
t f ,
and
105
¹
´
¦
< −
≥
=
−
0 ) ( ), (
0 ) ( , 0
) (
t f t f
t f
t f .
Then, we have
) ( ) ( ) ( t f t f t f
− +
− = ,
and
) ( ) ( ) ( t f t f t f
− +
+ = .
Then, we have
¦
¹
¦
´
¦
< −
≥ −
=
− =
∫ ∫ ∫
∫ ∫ ∫
∫ ∫ ∫
+ −
− +
− +
0 ) ( , ) ( ) (
0 ) ( , ) ( ) (
) ( ) ( ) (
b
a
b
a
b
a
b
a
b
a
b
a
b
a
b
a
b
a
dt t f dt t f dt t f
dt t f dt t f dt t f
dt t f dt t f dt t f
,
and
∫ ∫ ∫
− +
+ =
b
a
b
a
b
a
dt t f dt t f dt t f ) ( ) ( ) ( .
To have
∫ ∫
=
b
a
b
a
dt t f dt t f ) ( ) ( , we have
0 ) (
0 ) ( , ) ( ) ( ) ( ) (
= ⇒
≥ + = −
∫
∫ ∫ ∫ ∫ ∫
−
− + − +
b
a
b
a
b
a
b
a
b
a
b
a
dt t f
dt t f dt t f dt t f dt t f dt t f
.
Because 0 ) ( ≥
−
t f , we have ] , [ , 0 ) ( b a t t f ⊂ =
−
which means ] , [ , 0 ) ( b a t t f ⊂ ≥
Or, we have
106
0 ) (
0 ) ( , ) ( ) ( ) ( ) (
= ⇒
< + = −
∫
∫ ∫ ∫ ∫ ∫
+
− + + −
b
a
b
a
b
a
b
a
b
a
b
a
dt t f
dt t f dt t f dt t f dt t f dt t f
.
Because 0 ) ( ≥
+
t f , we have ] , [ , 0 ) ( b a t t f ⊂ =
+
, which means ] , [ , 0 ) ( b a t t f ⊂ ≤ .
Assuming the periodic function is ) ( ) ( T t f t f + = , the amplitude of the waveform
is M (M>0). Then we have M t f ≤ ) ( . For any periodic function, we can have its
Fourier series:
∑
∞
=
+ + =
1
0
) cos(
2
) (
n
n n
t n C
C
t f δ ω , Eq. A11
where
∫
+ =
T
dt t t f
T
C
0
1 1
) cos( ) (
2
δ ω . Eq. A12
Function ) cos( ) (
1
δ ω + t t f is periodic with a period of T so:
∫
∫
−
− =
+ =
4
3
4
1
0
1 1
) cos( ) (
2
) cos( ) (
2
T
T
T
dt t t f
T
dt t t f
T
C
ω
ω
δ
δ ω
. Eq. A13
We have
∫
−
− =
4
3
4
1
1
) cos( ) (
2
T
T
dt t t f
T
C ω
ω
δ
. Eq. A14
For
∫
−
−
4
3
4
1
) cos( ) (
T
T
dt t t f ω
ω
δ
, we have (see Theorem A1.c):
107
∫
∫ ∫
−
− −
⋅ − =
− ≤ −
4
3
4
1
4
3
4
1
4
3
4
1
) cos( ) (
) cos( ) ( ) cos( ) (
T
T
T
T
T
T
dt t t f
dt t t f dt t t f
ω
ω
δ
ω
ω
δ
ω
ω
δ
. Eq. A15
Because M t f ≤ ) ( , ) cos( ) cos( ) (
1
t M t t f ω ω
ω
δ
≤ ⋅ − .
With Equation A15, we have
∫
∫ ∫
−
− −
⋅ ≤
⋅ − ≤ −
4
3
4
4
3
4
1
4
3
4
1
) cos(
) cos( ) ( ) cos( ) (
T
T
T
T
T
T
dt t M
dt t t f dt t t f
ω
ω
ω
δ
ω
ω
δ
. Eq. A16
With Eq. A16, we have
π
ω
ω
ω
δ
M
dt t
T
M
dt t t f
T
C
T
T
T
T
4
) cos(
2
) cos( ) (
2
4
3
4
4
3
4
1
1
=
≤
− ≤
∫
∫
−
−
. Eq. A17
For any periodic function ) (t f , which has amplitude of M (M>0), the fundamental
component amplitude is less than or equal to
π
M 4
.
From Eq. A16, to have
∫ ∫
− −
⋅ = −
4
3
4
4
3
4
1
) cos( ) cos( ) (
T
T
T
T
dt t M dt t t f ω ω
ω
δ
, we must have
M t f = − ) (
1
ω
δ
.
108
As we discussed before, to have
∫ ∫
− −
⋅ − = −
4
3
4
1
4
3
4
1
) cos( ) ( ) cos( ) (
T
T
T
T
dt t t f dt t t f ω
ω
δ
ω
ω
δ
,
we must have )
4
3
,
4
[ , 0 ) cos( ) (
1
T T
t t t f
−
⊂ ≥ − ω
ω
δ
or
)
4
3
,
4
[ , 0 ) cos( ) (
1
T T
t t t f
−
⊂ ≤ − ω
ω
δ
. We know
¦
¹
¦
´
¦
⊂ <
−
⊂ ≥
)
4
3
,
4
[ , 0 cos
)
4
,
4
[ , 0 cos
T T
t t
T T
t t
ω
ω
.
If )
4
3
,
4
[ , 0 ) cos( ) (
1
T T
t t t f
−
⊂ ≥ − ω
ω
δ
, then we have
¦
¹
¦
´
¦
⊂ − = −
−
⊂ = −
)
4
3
,
4
[ , ) (
)
4
,
4
[ , ) (
1
1
T T
t M t f
T T
t M t f
ω
δ
ω
δ
. If )
4
3
,
4
[ , 0 ) cos( ) (
1
T T
t t t f
−
⊂ ≤ − ω
ω
δ
, then we
have
¦
¹
¦
´
¦
⊂ + = −
−
⊂ − = −
)
4
3
,
4
[ , ) (
)
4
,
4
[ , ) (
1
1
T T
t M t f
T T
t M t f
ω
δ
ω
δ
. In both case, the periodic function
results in a square waveform.
109
VITA
Manjing Xie was born on March 11, 1978, in Guangzhou, Guangdong, People’s
Republic of China. She received a B.S. degree in Electrical Engineering from
Tsinghua University in 2001, in Beijing, P.R. China. In the fall of 2001, she
entered the Center for Power Electronics System (CPES) at Virginia Tech to
pursue her Master’s degree. Her research interests include switchmode power
supplies and digital control for DC power supplies.
DIGITAL CONTROL FOR POWER FACTOR CORRECTION
Manjing Xie
ABSTRACT
This thesis focuses on the study, implementation and improvement of a digital controller for a power factor correction (PFC) converter. The development of the telecommunications industry and the Internet demands reliable, costeffective and intelligent power. Nowadays, the telecommunication power systems have output current of up to several kiloamperes, consisting of tens of modules. The highend server system, which holds over 100 CPUs, consumes tens of kilowatts of power. For missioncritical applications, communication between modules and system controllers is critical for reliability. Information about temperature, current, and the total harmonic distortion (THD) of each module will enable the availability of functions such as dynamic temperature control, fault diagnosis and removal, and adaptive control, and will enhance functions such as current sharing and fault protection. The dominance of analog control at the modular level limits systemmodule communications. Digital control is well recognized for its communication ability. Digital control will provide the solution to systemmodule communication for the DC power supply. The PFC converter is an important stage for the distributed power system (DPS). Its controller is among the most complex with its threeloop structure and multiplier/divider. This thesis studies the design method, implementation and cost effectiveness of digital control for both a PFC converter and for an advanced PFC converter. Also discussed is the influence of digital delay on PFC performance. A costeffective solution that achieves good performance is provided. The effectiveness of the solution is verified by simulation.
The three level PFC with range switch is well recognized for its high efficiency. The range switch changes the circuit topology according to the input voltage level. Research literature has discussed the optimal control for both rangeswitchoff and rangeswitchon topologies. Realizing optimal analog control requires a complex structure. Until now optimal control for the threelevel PFC with analog control has not been achieved. Another disadvantage of the threelevel PFC is the output capacitor voltage imbalance. This thesis proposes an active balancing solution to solve this problem.
iii
Mr. Yong Li. Lee for his guidance.ACKNOWLEDGEMENTS I would like to express my sincere appreciation to my advisor. comments and discussions. Wei Dong for leading me into the field of power electronics and serving as my mentors. Sun. Mr. Arthur Ball for their valuable suggestion. Mr. Kaisheng Xie and Jirong Li for their endless love and support. Mr. Mr. Special appreciation goes to Mr. My study and research experience in CPES is enjoyable and rewarding. Shuo Wang. Dr. Liyu Yang. Dr. Thomas L. discussion and encouragement. I also extend my appreciation to Mr. Martin for helping me develop the basic background for the highlevel synthesis method. I must thank all the members of the Center for Power Electronics Systems (CPES) for their friendship. Xin Zhang. This work is supported by the National Science Foundation. I would like to thank my parents. Nick X. Huang for providing me extended knowledge in power IC design. iv . Fred C. encouragement and continuous support. Qun Zhao and Dr. Alex Q. Bo Yang. Francisco Canales. Dr. support. Mr. Xiaoming Duan. who helped me with my experiment and shared his research results and knowledge with me. In particular. Mr Yang Qiu and Mr. I would like to thank my master committee members: Dr. I would to thank Dr. Bing Lu.
..........................................................1 Brief Review of DC Power Supply System ..II ACKNOWLEDGEMENTS .....1 INTRODUCTION ....1 Stateoftheart controller for PFC Converter......................................................................................... 8 2........................................................2...................... 7 2.......................................................................................................................................................................... VII LIST OF TABLES..........................................7 Challenges of Digital Control for PFC.....................3 SmallSignal Model for the LowFrequency Range ..................................... IV TABLE OF CONTENTS ........................................................................................................2 Digital Controller for PFC ...... 23 v ............................10 3...... 6 Thesis Organization ..................... 4 Goal of Thesis ................................. 8 2............2 Concurrent Realization of Digital Controller ................................. 10 3................................................. 12 3...............................1................................5 2 2.............................................4 1...................1 1............................................................2 Review of Control Structure for PFC .....................................................................................................1 PFC Converter ..............................................2 Realization of Digital Control .......................2 1......................................... V LIST OF FIGURES ........1.................................................. 2 Brief Review of the Digital Signal Processor... 10 3....... 8 2......3 1.................. 9 3 DESIGN AND IMPLEMENTATION OF SINGLE SWITCH PFC CONVERTER ..................................................2................ 6 REVIEW OF LITERATURE .................... 5 Task Description ...........TABLE OF CONTENTS ABSTRACT ..........................................................................................................................1 Digital Signal Processor (DSP) Realization of Digital Controller........................................................................................................................... X 1 1............................................................
.........................2....................4 Simulation Results ...............................................................................2 Influence of input voltage .......................................................... 82 Literature Review and Previous works..........3.............. 73 4 4.............97 Conclusions........................................................................................ 85 4...................... 92 4........................2 DIGITAL CONTROL FOR THE THREELEVEL PFC .................................................................. 65 3......................... 23 Requirements .................................. 83 4...........................2 Topology at Rson Mode...............................2 3........................... 65 3................................99 APPENDIX I ........... 93 4......................6 5 5.4...........................................1 Current Loop Difference and Compensation....................1 Flowchart .............................................................................................................................104 VITA.......................... 96 CONCLUSION AND DISCUSSION..............3 Implementation ..................... 98 REFERENCES ....................................................................................................................4 Control Parameters for Rsoff and Rson modes .........1 Topology at Rsoff mode ............3..................1 Input voltage harmonics.......................................3...........................................................................................................................................................................2 Experimental Results .......................4............................................................................................................................................3.....82 ThreeLevel PFC Converter ..... 93 4.......................... 62 3.......4................. 97 Future Work.................................. 39 3...4 CurrentLoop FeedForward Compensation ...4................................... 94 4............................. 58 3...................................... 32 Designing the Digital Controller for PFC........1 4........109 vi ................................... 85 4.................3 Current Loop Feed Forward......................................2 6 Control structure of 3LPFC Converter.............2.........4...................4..... 64 3........................... 58 3.............................3........3 Issues surrounding Digital Control ...............................................................................................................................2...................................................1 3......5 4.....3 Review of 3LPFC with RS: Operation and Control..... 71 3................................................... 95 Experimental Results...........................................1 5..........2 Voltage Loop Difference and Compensation .....................
........ 13 Figure 5 Analog average current control For boosttype PFC.... ................................................................................ 28 Figure 19 Frequency response of sampleandhold function with 100KHz sampling frequency.......................... 12 Figure 4 Boost PFC converter controller: (a) Boost PFC with controller.......LIST OF FIGURES Figure 1 Structure of the distributed power system.................... 40 Figure 29 Power stage of Boost PFC..... 25 Figure 17 (a) square waveform and (b) harmonic components ........... 24 Figure 15 Noise and disturbance amplitude (a) Original signal and quantized signal...................... (c) kθ < 1............... 11 Figure 3 Boost Power Factor Correction converter ............................................ (b) Input voltage and current waveform.......................... k d = 1 ........................................... 14 Figure 6 Smallsignal model of current loop... 41 Figure 30 Bit weighting for Q15 Format [40].............. (b) Error signal introduced into system.................................. ............................. (b) Waveforms of input voltage and inductor current............................................... 31 Figure 21 Sampling a 20Hz sinusoidal wave at 25 Hz sampling frequency .... 3 Figure 2 Illustration of PF relationship between current and voltage: (a) kθ < 1................... 21 Figure 13 Quantization effect...................................... 45 vii ................. 19 Figure 11 Voltage loop compensation with 45o phase margin .............. 37 Gid Figure 27 Bode plot for ...................................... 44 Figure 32 Power stage with sample and hold ........ (b) Sampling frequency and (c) Wrap around spectrum .............................................................................................. 35 Figure 25 harmonic ratios for semi sinusoidal wave .................................................. 31 Figure 22 Illustration of the aliasing effect in frequency domain (a) Signal spectrum........................ (c) Waveforms of input voltage and output voltage..... 15 Figure 7 Smallsignal dutytocurrent transfer functions.............................................. (c) Average Diode forward current waveform .................................. 16 Figure 9 Second order filter in feed forward loop ....................................... (d) kθ = 1.............................................................................. 42 Figure 31 Poles and zeros in the zplane.......................... 33 Figure 24 Fundamental harmonic and ADC resolution...................... 27 Figure 18 Saw tooth waveform and (b) harmonic components...... 45 Figure 33 Duty to current transfer function mapped into zplane .............................. k d < 1 ........................... 17 Figure 10 lowfrequency SmallSignal Model for voltage loop .......................... .............. 36 Figure 26 Illustration of disturbance introduced by digital PWM ........................................... 16 Figure 8 Dutytocurrent transfer function and current open loop gain example .......................................................................... 24 Figure 14 Equivalents for quantization effect ...... k d < 1 ... (b) kθ = 1......................................... 19 Figure 12 (a) Boost PFC circuit...................... 38 1 + CGid K i Figure 28 Digital control structure of singleswitch PFC............ k d = 1 ........................................... 30 Figure 20 Effect of digital delay.............................. 25 Figure 16 complete control systems for the PFC current loop ............. ............. ... 32 Figure 23 Noise introduced by ADC...................................
76 Figure 62 Bode plots for k vi ⊂ (0........................................ 49 Figure 38 Current Open loop Bode plot with two zeros compensation ................... 85 Figure 71 Passive balancing with balancing resistors......................................................................................................... 74 Figure 58 Line current of PFC w/o EMI filter ( f c =4KHz.......................................................................................................... 50 Figure 39 Feed forward loop.......... 70 Figure 54 Illustration of currentloop feedforward ....... 74 Figure 59 Comparison of linecurrent harmonics with different current loop bandwidths............................. (b) boost converter input voltage............................ 55 Figure 43 Bode plot for voltage open loop gain . 80 Figure 67 Line Current Harmonics Comparison......................................... 71 Figure 55 Effect of different CFF gain k vi ............ 61 Figure 48 Flowchart for feed forward loop subprogram ................................... 86 viii ........................................ 72 Figure 56 Line current of PFC w/o EMI filter ( f c =8KHz).......................................................................... 84 Figure 70 Converter topology at Rsoff mode: (a) Original topology and (b) simplified topology......................................................... 75 Figure 60 Comparison of line current harmonics with and without CFF....................... 54 Figure 42 Outer voltage loop .................................................................................... w/ CFF k vi = 0.............................. 52 Figure 40 Bode plot of the lowpass filter.......................................................................... 83 Figure 69 Efficiency comparisons between conventional Singleswitch PFC and analog controlled 3LPFC............................... .. (c) 2nd harmonic voltage and 2nd harmonic current and (d) fundamental and 3rd harmonics generated... 48 Figure 37 Input current waveform with onezero digital current compensator...................... w/ k vi = 0..................................................................................... 79 Figure 65 Line current w/o EMI filter ( f c =4KHz........................................ 81 Figure 68 Power stage of 3LPFC w/ RS ........................ 60 Figure 47 Flowchart for voltage compensator subprogram...1) ......................... 47 Figure 36 Bode plot for current open loop gain with one zero compensation ................ 73 Figure 57 Line current of PFC w/o EMI filter ( f c =4KHz).. 57 Figure 44 Flowchart of main program ......................................................................... 68 Figure 52 Relationship between voltage 2nd harmonic and line current: (a) line voltage............ 78 Figure 63 Bode plots for k vi ⊂ (1...................... 65 Figure 51 Bode plots of Givclose with different current compensator ................................. 69 Figure 53 Current vectors and voltage vector .......... w/o CFF) ............................... 59 Figure 46 Flowchart for current compensator subprogram ................................... ...Figure 34 Comparison of the discrete model and continuous model .............. 78 Figure 64 Comparison of displacement angles (degree) and displacement factors with different CFF gain. 80 Figure 66 Line current w/o EMI filter ( f c =4KHz................................................ 46 Figure 35 Current loop with digital compensator.................................... 52 Figure 41 Bode plot for lowpass filter. 76 Figure 61 harmonic comparisons......................................................... 63 Figure 50 Simplified current loop system with input voltage influence.............. 58 Figure 45 Flowchart for interrupt service routine program .................................................................2) ............................................................................................................... 62 Figure 49 Input Current waveform w/o EMI filter...........................9 ) .............................................. .....9 )...........................
................... 87 Figure 73 Smallsignal model of 3LPFC at Rsoff mode.................................................................................. 93 Figure 77 Smallsignal model for Equivalent circuit at Rson mode ....................... 94 Figure 79 Digital Control structure for 3LPFC with RS..................................................................................................... input voltage........................................................................................... ............................. 92 Figure 76 Equivalent highfrequency model 3LPFC at Rson mode .................................. 93 Figure 78 Current sensors for 3LPFC with RS ... 96 ix .......Figure 72 Average model of 3LPFC at Rsoff mode................................. ........................... 87 Figure 74 PWM operation in Rsoff mode: (a) Duty cycle >50% and (b) Duty cycle <50%.. 95 Figure 80 Input current (w/o EMI filter). 96 Figure 81 Efficiency comparison between analog controlled 3LPFC and digital controlled 3LPFC .................. 91 Figure 75 Operation of 3LPFC at Rson mode: (a) Active parts at positive half cycle and (b) Active parts at negative half cycle.............................................. output voltage and midpoint voltage waveforms ......
.....................................................................LIST OF TABLES Table 1 Cost of Power outage [4]........ 34 Table 4 Summary on Digital controller firmware requirement .... 65 x ... 1 Table 2 Two decades of DSP market integration (typical DSP figures) ................................. 40 Table 6 Examples of harmonic components in input voltage ............................................................ 39 Table 5 Specification of DSP ADMC401 [40]................................................... 5 Table 3 limits for Class A equipment in IEC6100032................
Thus. for example the N+1 technology.000 2. as shown in Table 1 [4].580. Table 1 Cost of Power outage [4] Industry Cellular communications Telephone ticket sales Credit card operations Brokerage operations Average Cost of Downtime ($/hour) 41. insurance companies and ebusiness companies [1]. power electronics and related power processing technologies are called “enabling infrastructure technology” [2].000 6. the system controller can give only “on/off” instructions to the individual module. but also because it is intolerable for missioncritical applications in which systems handle realtime commands and human lives. When there is a failure. High redundancy. and systemlevel dynamic control . repair on the module level. diagnosis and repair are left to technicians. The greatest concern is power supply availability or redundancy.1 INTRODUCTION Power supplies for the computer and telecommunications industry have become more and more important in our society. which adds to the redundancy and maintenance cost. has been widely adopted to secure availability. which at present is confined to on/off signals. At present. Failure diagnosis.000 The problem with the current power supply system is the difficulty in systemmodule communication.480. Not just because downtime can cause millions of dollars of lost in revenue for large corporations such as banks.000 72. the power supply can fail and trip occasionally. With large amounts of consumable and finitelife components.
the exploding growth of the Internet and data communications has impacted power in two ways. the selection of the DSP may depend more on availability of special onchip hardware features.will prevent sudden power outages. Secondly.000 Amps) are expected to grow at 20% to 25% annually for several years. Digital control is well recognized for its communication ability. Reusing the power supply product for the next generation of products makes flexibility a must. Nonetheless. and the need for energyefficient and costeffective power systems and architectures to assure the expected high reliability and dependability of the public switched telephone network [3]. The higher cost of the DSP can even be compensated by the reduction of the parts count. The product life span of telecom equipment is just 18 to 24 months [1].1 Brief Review of DC Power Supply System As early as 1978. cost effectiveness is always the goal of industry and academic research. While power supply technology is not evolving so quickly. flexibility and capability in implementation of nonlinear control. reusing the previous design could be cost effective [1]. optical and wireless systems. the growth has also energized 2 . The advances of the IC industry provide the possibility for a capable and cost effective digital signal processor.000 to 10. it has increased the demand for highercapacity central office power plants. No one can predict the ultimate limit. Highpower plants (3. power consumption keeps increasing. First. the first International Telecommunications Energy Conference (Intelec) addressed the energy issue generated by the emerging digital. 1. Over the years. With expanding functions and storage. for example pulse width modulation (PWM) and an analogtodigital converter (ADC). Different from many occasions in which the computing speed of the digital signal processor is the most critical feature. which can enable mass production of control board instead of customized manufacture. Tradeoff exists between cost and performance. This intelligence relies on the implementation of digital control of power supplies on both the module level and the system level.
The DC/DC converter converts 400V DC into 48V DC output. In this thesis. 3 . The second stage provides isolation and the tightly regulated DC bus voltage. serviceability and redundancy without a significant added cost [6]. the output voltage of PFC is set to 400V. More users and operators of the Internet are starting to expect the nonstop DC power supply systems. current sharing. improved reliability. a conventional singleswitch continuousconductionmode (CCM) boost converter is used in the first stage. The DPS architecture can better address the increasing concerns regarding fault tolerance. System functions of DPS will soon become an important research topic. Figure 1 shows a typical DPS [8]. more and more electric power will be processed by distributed power systems (DPSs).the debate over the preferred powering for telecommunications: nonstop DC power system or UPSprotected AC power systems [3]. fault diagnosis and health monitoring will become more difficult. The first stage achieves the power factor correction from universal singlephase input line voltage (90264V). Each frontend converter adopts a conventional twostage approach. The output DC voltage of the PFC must be higher than 375 for universalline applications. Telecom 48V DC power systems are at least 20 times more reliable than AC UPS systems for typical datacom applications [3]. Figure 1 Structure of the distributed power system. As the trend continues. But as the DC power system grows. Normally.
As the process technology advances the trend will continue.000transistor DSP offered 5 MIPS for $150. Realization of these functions requires better communication between the module and the system controller and a smarter modular controller. 4 . consuming more current and requiring a tighter voltage transient response [1. converter and many embedded systems because of its ability to handle deterministic operation and deal with interruptions. Reliability requirement will become stricter. Current projections by Texas Instruments are a 5milliontransistor DSP that provides 5. In 1982.000 MIPS will be priced at just $1.50 [5]. which is required by space vector calculation. A decade later. a 50. systemaging prediction. dynamic thermal control and fault selfremoval will greatly increase DC power systemlevel reliability. in 1992. System functions such as impedance matching analysis. the cost continues to drop.4]. 1. inverter. and its strong computation ability. as shown in Table 2. As the technology advances.2 Brief Review of the Digital Signal Processor Digital signal processing is widely used in the motor control. a 500.000transistor DSP capable of 40 MIPS cost $15.The roadmap for the CPU industry suggests that the CPU of tomorrow will operate with high di/dt.
Table 2 Two decades of DSP market integration (typical DSP figures) 1982 Die Size (mm) Technology Size (Microns) MIPS MHz RAM (Words) ROM (Words) Transistors Price (dollars) 50 3 5 20 144 1. Analogtodigital converter (ADC) and pulsewidthmodulation (PWM) are standard for most motor controloriented DSPs.500 50.000 4.000 15 2002 50 0. The speed of onchip ADC has already reached 20MHz. 1.000 150 1992 50 0. more and more analog functionality has been integrated.000 64.8 40 80 1.000 5 million 1. 5 . Adoption of digital control will sooner or later become a trend in the large DC power supply industry.18 5.50 At the same time. highefficiency. threelevel PFC converter with digital control.3 Goal of Thesis The goal of this thesis is to study both the performance and cost effectiveness of digital control for a PFC converter and the possibility of implementing a reliable. universallineinput.000 500.000 500 16.
Chapter 3 describes the PFC converter.4 Task Description Because of the slow response speed and the complexity of the control structure. 1. implementation and improvement of digital control for PFC. Detailed control requirements are explained. cost effectiveness is examined. Finally digital controllers are designed and implemented. and the control structure of the converter is explained. The function is described. The current loop feed forward method is proposed for improve power factor correction performance.5 Thesis Organization Chapter 1 is the introduction to this thesis. Chapter 2 surveys the current literature in the field of digital control for power supply systems. and provides a summary of the background of this work. 6 . Based on the experimental and simulation results.1. digital control for PFC is the first task for the work on the whole system. Chapter 4 describes the design and implementation of digital control for a three level PFC converter. Optimal control and operation of the threelevel PFC is specified. This thesis describes the design. Task descriptions and thesis organization are also given. The solution to output capacitor balancing is proposed.
DC/DC converters. The boost converter and boostbuck (flyback) converter are both suitable for PFC. when designing a digital current compensator. L. For current loop. To faithfully track the semisinusoidal current reference. Zhou (1992) discussed the design and design tradeoffs in their own papers [17. The boost converter is widely used in two stage DPS for its smaller EMI filter and lower voltage stress [2. 7 . When digital control is applied. The integral. it is inevitable that sampleandhold and computation delays will be introduced. one must consider the phase lag caused by digital delays. For a given delay. The voltage loop bandwidth is much slower than twice the line frequency because the existence of the second harmonic in the output voltage [6]. Phillips. Bibian (2001) pointed out that digital control for PFC suffers from reduced performance due to computation delay and sampleandhold delays [35].L. phaselead average current compensator is widely used for the analog compensator for PFC current loop. which has a wide bandwidth. 2.1 Challenges of Digital Control for PFC The threeloop control scheme for PFC is widely adopted in industry.2 REVIEW OF LITERATURE With the development of the DC power supply. This thesis focuses on digital control for boosttype PFC. it is imperative to learn the previous work and understand the challenges. resulting in phase lag (C. To apply digital control to PFC. 1984) [10]. The current compensator is the most important. the more phase lag is introduced at the crossover frequency. Commercial IC chips such as UC3854 and ML4824 have been available for a long time. and voltage regulation modules (VRMs). the current loop must be fast [6]. Dixon (1990) and C. attention began to be paid to digital control for PFC.8]. 7]. the higher the bandwidth.
To achieve a small delay. The DSP solution is not costeffective for future digital control of PFC [28]. Most of these DSPs are motor controloriented. many DSP controllers have been proposed and implemented [13. 2.2. However. which means instructions are executed one after another. et al. Second.2 Concurrent Realization of Digital Controller Concurrent realizations have also been discussed. 35]. DSP realization is sequential. Fieldprogrammablegatearray (FPGA) and mixsignal Applicationspecificintegratedcircuit (ASIC) are two concurrent realizations of the digital controller for PFC. pointed out that digital control for the current loop requires highspeed ADC and it may also suffer from possible stability problems if PWM 8 . increasing DSP speed would increase the cost while a lower current loop bandwidth would compromise performance. FPGA requires more resources. The same law applies to ASIC realization. Two factors influence the selection of DSP frequency. 2124. 2. 29. thus accumulating computation delay. in [27] noted that when a complex controller is implemented. et al. P. Zane.1 Digital Signal Processor (DSP) Realization of Digital Controller Because of the availability of DSPs. However. Zumel. First. a fast DSP must be used.2 Realization of Digital Control 2. PFC has its own requirement: high frequency and low cost. in order to obtain highresolution digital PWM (DPWM).2.One can either increase DSP speed to reduce digital delay or lower the current loop bandwidth to alleviate the influence of digital delay. most DSPs have system clock based PWM units. a high frequency DSP will be used. R. Selecting the crossover frequency of current loop becomes a tradeoff between performance and cost.
3 SmallSignal Model for the LowFrequency Range This thesis implies that the power factor is also affected by input voltage. A. current loop gain and loop bandwidth is closely related to cost and performance of the digital controller. the relation between current compensator and input voltage might be explained by this model. When it comes to cost effectiveness it is necessary for us to find out the relation between current loop gain and performance and explore the possibility of using simple compensator to achieve the desired performance. Whatever realization method is adopted. The current compensator and PWM resolution become bottlenecks when low cost digital controller is implemented for PFC. Huliehel. derived a smallsignal model for this frequency range [38].resolution is not high enough [34]. 2. While a quasistatic small signal model is not valid for frequency range around line frequency. 9 . current compensator complexity. a smallsignal model for the frequency range (twice line frequency ~ 1kHz) is necessary. et al. For low frequency range. To understand the relation between current compensator and power factor.
1.1.1.1 PFC Converter 3.3 DESIGN AND IMPLEMENTATION OF SINGLE SWITCH PFC CONVERTER 3. PF = Average power avg[v(t ) ⋅ i (t )] = Apparent power Vrms ⋅ I rms Eq. 31 Assuming an ideal sinusoidal input voltage source.1 Stateoftheart controller for PFC Converter 3.1 Power Factor A detailed definition of power factor is given in [6]. PF can be expressed as the product of two factors: the displacement factor kθ and the distortion factor k d . Irms(1) is the current fundamental harmonic RMS value. The distortion factor k d is the ratio of the rootmeansquare (RMS) of the fundamental input current to the total RMS of input current. Power factor (PF) is the ratio of average power to apparent power at an AC terminal. These relationships are given as follows: PF = Vrms I rms(1) cosθ Vrms I rms = I rms(1) cosθ I rms = kd kθ Eq. Irms is the current total RMS value. 10 . The displacement factor kθ is the cosine of the displacement angle between the fundamental input current and the input voltage. 32 where: Vrms is the voltage total RMS value.
(d) kθ = 1. (b) kθ = 1. (a) (b) (c) (d) Figure 2 Illustration of PF relationship between current and voltage: (a) kθ < 1. k d < 1 . In the second case. which pollutes the utility power source and affects other users. Utility companies regulate customers’ kθ . a smaller kθ means a larger apparent current for the same load. I rms (1) I rms kd = is the distortion factor. k d < 1 . for 11 . current causes more losses in a supply and distribution system. k d = 1 . a small kd means a large amount of harmonics in the current. In Figure 2. examples of different current shapes show the different distortion factors and displacement factors [6]. As we know.θ is the displacement angle between the voltage and current fundamental harmonics. (c) kθ < 1. k d = 1 In the first case. All the power supplies have to meet PF standards. kθ = cosθ is the displacement factor.
The buckboost converter can achieve average input line current. Nowadays.1. Buck converter has discontinuous input current and would lose control when input voltage is lower than the output voltage. L C Figure 3 Boost Power Factor Correction converter 3.example. The power stage adopted in this thesis is boost converter operating in continuous conduction mode.1.1.2 Review of Control Structure for PFC As shown in Figure 4. the controller has two tasks: 12 Load Filter . so it is usually used for lowpower application [8]. 3. Figure 3 shows the circuit diagram of the boost PFC converter [8]. the IEC 6100032. Converting AC to DC. the most advanced solution is to add PFC converter. buckboostthe boost converter is the most suitable for use in implementing PFC. the conventional dioderectifiers always produce large amounts of harmonic current. but it has higher voltage and current stress. Because the boost inductor is in series with the line input terminal.2 PFC Boost Converter Among the three basic power convertersbuck. the inductor will achieve smaller current ripple and it is easier to implement average current mode control. boost.
2. This task gives the input a unity PF. L + i in Load C + v in  v  o C o n t r o lle r (a) V Vin. (c) Waveforms of input voltage and output voltage. 13 .Iin in i in T im e (b) V Vin. Current tracking forces the average inductor current to track the current reference so that it has the same shape as the input voltage. as shown in Figure 4 (b). Voltage regulation regulates the output voltage keeping the output voltage equal to 400V.1. which is higher than the input voltage as shown in Figure 4 (c). (b) Waveforms of input voltage and inductor current.Vout ou t V in T im e (c) Figure 4 Boost PFC converter controller: (a) Boost PFC with controller.
L  C Ki Current Compensator Ocsillator Ramp Kin i ref A low pass filter AB C2 B Voltage Compensator C Voltage reference Figure 5 Analog average current control For boosttype PFC 14 Load v line + iin D S . The voltage loop is very slow to avoid introducing 2nd harmonic ripple into the current reference [6. The PFC converter has a threeloop control structure. The fast current loop keeps the input current the shape of the input voltage. The input voltage feedforward loop is to compensate the input voltage variation [6]. The voltage loop keeps the output voltage at 380~400V [67]. The analog control structure for a single switch CCM PFC boost converter is illustrated in Figure 5.The analog controller for PFC is often achieved by a currentmode PFC control chip such as the Unitrode UC3854 [19]. 7]. which renders the unity PF [67].
2. L ~ D ⋅ v out + ~ d ⋅I  ~ D⋅i C Figure 6 Smallsignal model of current loop The power stage smallsignal dutytocurrent transfer function is derived as follows [6]: ~ 2Vout i Gid ( s ) = ~ = ⋅ 2 d RL (1 − D) 1+ sL s 2 LC 1+ + RL (1 − D) 2 (1 − D) 2 sRL C 2 . Ls d Eq. So the current loop bandwidth must be higher than the reference bandwidth.1 Current loop Compensation The function of the current compensator is to force the current to track the current reference that is given by the multiplier and which has the same shape as the input voltage.1. For faithfully tracking a semisinusoidal waveform of 120 or 100Hz. the high frequency approximation can be derived: ~ i V Gid ( s ) = ~ ≈ out . a smallsignal equivalent circuit of the current loop is shown in Figure 6. Using the three terminal average models.3. 33 For s = jω . 34 15 . when ω is large enough. Eq. the bandwidth of the current loop is usually set to 210KHz [6].
Figure 7 Smallsignal dutytocurrent transfer functions Integral and leadlag compensation is usually employed in averagecurrentmodel control.Figure 7 shows Bode plots for dutytocurrent transfer function for different input voltages and the high frequency approximation. Figure 8 shows Bode plots of Gid (s ) and the current open loop gain Tc of 8kHz crossover frequency and 45o phase margin. B o d e Dia g r a m 100 Magnitude (dB) 50 0 50 90 w /o c o mp e n s a tio n w / c o mp e n s a tio n Phase (deg) 0 90 1 80 10 1 10 2 10 3 10 4 10 5 10 6 Fr e q u e n c y ( r a d /s e c ) Figure 8 Dutytocurrent transfer function and current open loop gain example 16 .
The input current is proportional to the input voltage. The ripples in components B and C are passed into the current reference. it is derived that: ∆iref iref ∆B ∆C . + Vin  Figure 9 Second order filter in feed forward loop Because both the input voltage and output voltage contain 2nd harmonic component. the worst case occurs when they have a 180o phase shift: 17 .1. 36 Although the phases of ∆B and ∆C are unknown. there are ripples in B and C. which means the voltage loop can be affected by input voltage variation.2. The feedforward loop is inserted to compensate the line voltage variation [6]. C2 Eq. From Equation 35. 35 where A = K in ⋅ vin ( K in : Input voltage gain). It is derived from a second order lowpass filter (as shown in Figure 9).3. B = vc ( vc : Voltage compensator output) and C = K ff ⋅ vin _ rms ( K ff : Input voltage feed forward gain). Assume the inductor current tracks the reference perfectly. −2 B C = Eq. C is in proportion to the inputvoltage RMS value.2 Feedforward Loop Compensation The current reference is given by: iref = AB .
as shown in Figure 10. vin . Vin .1. where k = have the following equations: iin vin = io vout . Then. kin . vout are small signal perturbations. 37 If given a maximum acceptable THD of 1. 18 .5%. and the total distortion of B should be smaller than 0.3 Voltage Loop Compensation Assume the input current is perfectly controlled and tracks the input voltage.5%. a lowfrequency smallsignal model is developed to design voltage compensator. and vC . B C Eq. Equation 35 can be written as iin = kvin vc . the linearized equation is obtained: 2 2 kVin ~ kVin VC ~ ~ 2kVcVin ~ io = vin + vc − vout 2 Vout Vout Vout Eq. 3. Vout are steady state values. and 2 kvin vc = io vout . 310 ~ ~ ~ where VC . 38 Eq. Equation 37 means that the distortion of C should be smaller than 0.∆iref iref worst = ∆B ∆C +2 .5%. For Pin = Pout we (k ff vin _ rms ) 2 Eq. Selecting the cutoff frequency of the feedforward low pass filter and voltage compensator gain should be based on this criterion.2. 39 Using smallsignal perturbation method [6].
gi = k 2VinVC V . For a constant power Vout I out load. a voltage compensation of 45o phase margin is adopted [6]. and the voltage open loop gain Tv = Gv ⋅ GEA . the control to output I out voltage transfer function is derived as follows: ~ vout g Gv = ~ = c . we have RL = − Vout [6]. Figure 11 shows the Bode plots for the controltooutput transfer function Gv . ∠Gv 2 0 d B Gv 4 5 9 0 F re q u e n c y 0 GEA ∠ G EA 4 5 9 0 F re q u e n c y ∠ TV 9 0 1 3 5 1 8 0 Tv F re q u e n c y Figure 11 Voltage loop compensation with 45 phase margin o 19 .+ giVi gcVc ro C RL vout  Figure 10 lowfrequency SmallSignal Model for voltage loop 2 Vin _ rms In Figure 10. g c = k Vout . vc Cs Eq. compensator or error amplifier transfer function GEA . and r0 = out . From the smallsignal model. 311 For a constant power load.
2.2.2.1. where f L is the line frequency: Po = Pin = vin ⋅ iin = Vin ⋅ I in (1 − cos 2ω Lt ) . which is given by: iripple = − Vin I in cos 2ω L t . that the input current is iin = 2 I in sin ω L t and that ω L = 2πf L . as shown in Figure 4 is: io = Po Vin I in = (1 − cos 2ω L t ) . 312 Assume that the output voltage varies small enough to be constant. the voltage loop compensation should have a bandwidth much smaller than 120Hz. Assuming that input voltage is vin = 2Vin sin ω L t . 315 The amplitude of the ripple is: Vorip = Vin I in . 2Voutω LCo Eq. Vout Vout Eq. 20 . 314 This current ripple charges and discharges the output capacitor. as shown in Figure 12(c). 316 To avoid large distortion. such that: vripple = Vin I in sin(2ω L t + π ) 2Vout ω L C o Eq. Then the output current. 313 Equation 39 indicates that the output current consists of a large 2nd harmonic component.1. the ripple in B will be passed on to the current reference. Eq.3. Vout Eq. The amplitude of this ripple is calculated below. leading to the 2nd harmonic ripple at the output voltage.4 Voltage Loop Bandwidth Selection As we have discussed in section 3.
(b) Input voltage and current waveform. Another bandwidth selection of the voltage loop is based on the total allowable 3rd harmonic distortions [6].+ I in ID V re c  Co (a) Current Voltage vrec iin Time(sec) (b) Current Io Time(sec) (c) Figure 12 (a) Boost PFC circuit. The amplitude of the 3rd harmonic equals to half of 2nd harmonic amplitude at the voltage compensator output [6]. the required attenuation of output ripple (2nd harmonic) through the voltage compensator is 21 . For known maximum allowed third harmonic at voltage loop. (c) Average Diode forward current waveform The 2nd harmonic in the output voltage produces a fundamental component and 3rd harmonic distortions in the line current [6].
Eq. 318 Eq. 317 Since the voltage compensator gain at low frequencies is flat.2(3rd ) EA HAR G EA (120 Hz ) = Vorip Eq. the bandwidth of the voltage loop is chosen to be 10~20Hz. 319 22 . the crossover frequency of voltage loop can be determined from G EA (120 Hz ) = GEA ( f c ) G EA (120 Hz ) ⋅ Gv ( f c ) = 1 Thus.
3. Different from analog control.1. This can be relieved by low pass filter or by selecting a higher sampling frequency.3. 23 .2 Digital Controller for PFC 3. the control law in digital control system is realized by binary calculation. continuous signals are converted into discrete signals at the input of the controller while the controller output is converted back into a continuous signal that is the duty cycle or gatedrive signal for switchmode power converters. delay is inevitable and depends on the speed of the digital controller.1 Issues surrounding Digital Control To implement digital control on a continuous system. The process is equal to quantization that introduces disturbance and noise into the control system producing undesired oscillation or distortion at output. we need an ADC. sampleandhold circuits and a digitaltoanalog converter (DAC) for digital and analog signal interface.2.2. As a result. the speed and resolution of ADC and PWM are critical in this application. The effect is illustrated in Figure 13. Because the ADC and digital PWM quantize signals. ADC truncates input signal and DAC or PWM truncates the output signal to their leastsignificantbit (LSB). in which the compensator is realized by operational amplifiers.1 Resolution of ADC and PWM When digital control is implemented. The presence of a signal of frequency higher than half of the sampling frequency can affect the controller by the aliasing effect.
which varies under different conditions. as shown in Figure 15. where R equals one quantization step. Amplitude Error signal Amplitude time Original signal time Quantized signal time Figure 14 Equivalents for quantization effect Although it is difficult to predict the frequency and shape of the error signal. we can find out its maximum amplitude.Amplitude Amplitude Original time Figure 13 Quantization effect. 24 . Quantized time The difference between the quantized signal and the original signal can be modeled by an error introduced into the system. The equivalent of the quantizer is shown in Figure 14.
we need to determine the resolution requirement for ADC and PWM. as required to meet the harmonic standard. iref Noise current Compensator C(s) W + + power stage Gid (s) iin Quantizer Quantizer Ki Figure 16 complete control systems for the PFC current loop 25 . One objective of this thesis is to quantify these ADC and PWM resolutions. because the harmonic produced by quantization should not exceed the maximum permissible harmonic standard. As shown in Equation 320. By substituting the quantizer with the error model. the digital control system for the current loop can be represented by Figure 16.Quantized signal R 2 Original signal Time (a) R 2 − R 2 Time (b) Figure 15 Noise and disturbance amplitude (a) Original signal and quantized signal. (b) Error signal introduced into system.
Gid (s ) is the dutytocurrent transfer function.The inductor current is: iin ( s ) = iref ( s ) C ( s )Gid ( s ) C ( s )Gid ( s ) G (s) + n ADC ( s ) + wPWM ( s ) id 1 + TC ( s ) 1 + TC ( s ) 1 + TC ( s ) Eq. Square waveform 26 . the error signal is represented by a regular shape waveform. 320 where: iin (s ) is the Laplace transformation of inductor current. C (s ) is the current compensator transfer function. In order to determine the level of introduced harmonics. And the fundamental component of this regular shape waveform is used to calculate the resolution (see Appendix I). n ADC (s ) is the Laplace transformation of ADC quantization noise. 1. TC ( s ) = K i C ( s)Gid ( s) is the current open loop gain transfer function and K i is the current sensor gain. wPWM (s ) is the Laplace transformation of PWM quantization error. Two regular shapes are demonstrated here.
321 where an is the amplitude of harmonic components and n is the harmonic order. the harmonic component values are as follows: 4 . n = 2k (k = 0.2L) . n = 2k + 1(k = 0. 2.2L) Eq.1 1 Time T (a) Frequency (b) Figure 17 (a) square waveform and (b) harmonic components ( 1 ) T For a square waveform of frequency f .1.1. Saw tooth waveform 27 . a n = πn 0.
Time
T
(a)
Frequency (b)
(
1 ) T
Figure 18 Saw tooth waveform and (b) harmonic components
For a saw tooth waveform of frequency f , the harmonic component values are as follows:
an = 2 , (n = 1,2,3L) , πn
Eq. 322
where an is the amplitude of harmonic components and n is the harmonic order Square wave is admitted for the worstcase design (see Appendix I).
28
 n ADC ( jω)  max ≈
Resolution 4 ⋅ 2 π Resolution 4 ⋅ 2 π
Eq. 323
 wPWM ( jω) max ≈
Eq. 324
Based on this approximation and some specific conditions in a certain control system, adequate resolution can be calculated.
3.2.1.2 Digital Delay
The sample and hold of continuous signals and the nonzero computation time cause delay in a digital control system. Delay in a system usually causes phase lag that leads to reduction of the phase margin.
3.2.1.2.1 SampleandHold delay
When a signal e(t ) is sampled and held at interval Ts , the output e* (t ) is given by:
e* (t ) = e(0)[u (t ) − u (t − Ts )] + e(T )[u (t ) − u (t − Ts )] + e(2T )[u (t ) − u (t − Ts )] + L
Eq. 325
Here u (t ) is the unit step function. The Laplace transformation of Equation 325 is:
∞ − nTs
E ( s ) = [ Σ e(nT )e
n =0
*
1 − e −Ts s ] s
Eq. 326
Note that the first part of Equation 326 is a function of the input signal and sampling period while the second factor is independent of the input. The effect of the sampleandhold function [10] can be described as:
29
1 − eTs ⋅s . GH ( s ) = s
Eq. 327
The frequency response is shown in Figure 19.
1 0.8 Magnitude 0.6 0.4 0.2 0
0
0.5
1
1.5
2
2 .5 x 10
3
5
0
5 0 Angle(deg)
1 0 0
1 5 0
2 0 0
0
0.5
1
1.5 F re q e n c y (H z )
2
2 .5 x 10
3
5
Figure 19 Frequency response of sampleandhold function with 100KHz sampling frequency.
3.2.1.2.2 Computation Delay
The computation delay can be expressed as
Ddelay = e
s⋅Tdelay
.
Eq. 328
Because in a PFC converter the fastest loop is the current loop, the digital delay affects the current loop most. Assuming the controller has one switching cycle or 10us delay for ADC, PWM and computation, there is 29o phase shift reducing the phase margin by the same volume (shown in Figure 20). This delay has to be compensated to stabilize the system. It is predictable that compensating this delay will result in a poor current compensator performance. Its exact influence and compensation will be further discussed in chapter 3.
30
frequency component above half of f s is wrapped around appearing as a lower frequency component.1. 31 .3 Aliasing Effect Aliasing is a phenomenon associated with any device or process where the data are divided into individual samples.e. a continuous signal is sampled at intervals as shown in Figure 21. Figure 21 Sampling a 20Hz sinusoidal wave at 25 Hz sampling frequency From a frequency domain standpoint.2. Any frequency above half of the sampling frequency can cause aliasing..Figure 20 Effect of digital delay 3. i. as shown in Figure 22.
3. When the sampling frequency is fixed.2. input voltage and output voltage. Since the bandwidths of the signals are different. If the signal processed has a wide bandwidth.2.(a) fs (b) fs 2 (c) Figure 22 Illustration of the aliasing effect in frequency domain (a) Signal spectrum. Avoiding the aliasing effect is very important for reliability and performance. Switching noise and switching ripple is common phenomenon in all switching mode power supplies. so are the 32 . the system can use a lowpass filter to reduce the aliasing effect.1 ADC Resolution In PFC circuit. (b) Sampling frequency and (c) Wrap around spectrum The aliasing effect can cause confusion and serious error.2. the sampling frequency should be high enough. three signals are sampled: inductor current.2 Requirements 3.
We have: ≈ c 1 + CG id K i Ki n max ⋅ CG id R 4 1 ≈ ⋅ ⋅ . 3. the ADC resolution must be high enough to reduce the sensing noise (Figure 23). 330 33 . To guarantee a high power factor.2. 329 Though the amplitude and frequency of the noise introduced by ADC varies under different conditions.1. For example. i ref = 0 Eq.1 Inductor Current ADC Resolution In PFC converter. i ref N o is e + + C u rre n t C om p en s ato r C (s ) Ki Power S ta ge G id (S ) i in Quantizer Figure 23 Noise introduced by ADC From Figure 23. n has a maximum amplitude as Equation 323. 1 + CG id K i 2 π Ki Eq.resolution requirements. the relationship between noise and input current is derived: CG id 1 + CG id K i iin = n . It is also necessary to pay attention to the range of the sampled signal.2. and CG id 1 at low frequency range f << f . f << f c . the current tracks the input voltage. which has a semisinusoidal waveform. the inductor current has a large range because a universalline PFC converter is to be applied to large input voltage range variation (90V~264V) and load ranges.
2.2.14 0. R 4 1 ⋅ ⋅ ≤ 0. if Ki=0.40 0.23*8/n Referring to the IEC 6100032 Class A requirement (Table 3).21 0. the minimum ratio of noise to reference is 0.046A (when n=40 in Table 3).Table 3 limits for Class A equipment in IEC6100032 Harmonic order (n) Odd harmonics 3 5 7 9 11 13 15<=n<40 Even harmonics 2 4 6 8<=n<=40 Maximum Permissible harmonics current (A) 2.3 1.0725. 34 .30 0.046 2 2 π Ki For example.77 0.33 0.1. 3.74%. the lowest limit of current harmonic RMS value is 0.2 Input Voltage ADC Resolution The input voltage is sampled for two purposes: giving the shape of the current reference and as input of the feedforward lowpass filter.15*15/n 1.08 0.43 0. This is equivalent to 8bit resolution.
Sampling frequency is 100KHz.Figure 24 shows the relation of ADC resolution and power factor of a rectified signal of a 60Hz sinusoidal waveform.50E 01 1 2 3 4 5 6 7 8 9 10 Bit of res olution Figure 24 Fundamental harmonic and ADC resolution.2. It is noticed that PFC has a large input voltage range (90V~264V) in which the highline voltage is 3 times of the lowline voltage. which is well above the current loop bandwidth (2~10KHz).2 Sampling Frequency The sampling frequency for current loop is 100KHz.2. Figure 24 shows that fivebit resolution ADC is required to have a 99. sevenbit ADC resolution is required. The best way to avoid the aliasing effect is to insert lowpass filter before the ADC.2. 35 .00E +00 9.2. which is well above the cross over frequency of current loop. the sevenbit resolution is needed for covering the whole range.60E 01 9.80E 01 9. If the fivebit resolution is required for 90V. For 1% resolution.1. 3. It is costly to have high frequency ADC.90E 01 Power factor 9.3 Output Voltage ADC Resolution The output voltage is 400V DC.70E 01 9. 3. f undamental harmonic 1. The sampling frequency is the same as the switching frequency. which can filter out the switching noise.9% PF reference.
the higher the system clock.3 0. which means the higher the cost.6 0.5 Amplitude 0.4 0. the resolution is R = f switch .1 0 0 200 400 600 frequency(Hz) 800 1000 1200 Figure 25 harmonic ratios for semi sinusoidal wave Figure 25 shows that to keep these harmonics within half of the sampling frequency.For the feedforward lowpass filter.2 0. highorder harmonics should be preserved [6]. the higher the resolution. the input voltage waveform serves as the current reference waveform. For a digital PWM whose operation is based on the system clock.3 Pulse Width Modulation Resolution Digital PWM resolution is closely related to the system clock. the existence of high order harmonic can still cause the aliasing effect.2. the input voltage sampling frequency should be larger than 2KHz. the input voltage sampling frequency should be high enough to avoid these high order harmonic components being wrapped into low frequencies. For a f clock given switching frequency. 36 . A 5kHz sampling frequency is adopted. Furthermore.2. 3. Therefore. 0.7 0. although the bandwidth is very low.
1 is used to determine PWM resolution: w Gid ≤ 0. following relationship between PWM error w and input current is found: G iin = w id 1 + TC where TC is the current open loop gain. iref =0 Eq.The currentloop diagram with the equivalent quantizer is shown in Figure 26. .1. 332 For f << f c . the current open loop gain TC is large enough that the magnitude can be approximated as follows: 37 . Although digital controller is different from analog control.2. PW M error + i ref +  current Compensator C and delay w power stage G id i in Quantizer TC Ki Figure 26 Illustration of disturbance introduced by digital PWM From Figure 26. 1 + TC Eq.2.046 ⋅ 2 . 331 A method similar to that described in section 3. For convenience analog compensator is used to represent the digital compensator and related delays. the frequency response of digital and analog controllers are similar in the frequency range specified in IEC6100032. which is far below the current loop crossover frequency.
Thus: C ( s) = s s ) s (1 + ωp ωi (1 +  1 Gid s ≈ = ∝ f. the behavior of the current compensator is a simple integral. and the effect of digital delay can be ignored. 1 + TC ωi K i CK i Eq.  Gid max in the range f1st ≤ f ≤ f 40th occurs at the fortieth 1 + TC harmonic frequency. Gid Gid 1 = ≈ . Hence: 38 . 334 f40th fc Figure 27 Bode plot for Gid 1 + CGid K i As shown in Figure 27. 333 Since the zero is not effective at this frequency range. s ) ω ωz ≈ i . 1 + TC 1 + CGid K i CK i Eq.
046 2 1 + CGid K i 2 π ωi K i Eq. w max ⋅  Gid R 4 2πf 40th max ≈ ⋅ ⋅ ≤ 0. 336 For a 100KHz switching frequency. 335 For the case L=380uH. Vout = 400V and crossover frequency f c = 8kHz . eightbit PWM resolution requires the system clock to be 26MHz. Table 4 Summary on digital controller firmware requirement System clock (MHz) ADC channels (n) ADC resolution (Bit) PWM resolution (Bit) 26 3 8 8 According to the requirements listed above. the clock must meet this requirement: f clock ≥ 28 f switch Eq. 39 . we have R ≥ 0. 3.0108 . When the DPWM clock is the DSP system clock.3 Designing the Digital Controller for PFC The requirement on the resolution of ADC. PWM and system clock is summarized in Table 4. general purpose DSP ADMC401 from Analog Device is chosen for the implementation. The main specifications of ADMC401 are listed in Table 5. We choose eightbit DPWM resolution. which is equivalent to sevenbit resolution. Because digital current compensator has a smaller ω i with the same phase margin and cross over frequency.2.
i in V rec Power Stage V out K in ADC PWM Ki ADC K out ADC d Delay A Low pass filter Current Compensator C AB C2 B Iref Delay Voltage Compensator ADMC401 Figure 28 Digital control structure of singleswitch PFC 40 .Table 5 Specification of DSP ADMC401 [40] System clock (MHz) ADC Channels (n) ADC Resolution (Bit) PWM Resolution (Bit) OnChip Data ROM and RAM (Word) OnChip Program ROM and RAM (Word) 26 8 12 8 1K 4K Figure 28 shows the control structure of the digital controller for a singleswitch PFC converter.
0111.3 Interface Coefficient The ADC of the ADMC401 has input range of (2~2V). Input voltage: 90 ~ 265Vac single phase 2.3. Boost inductance: 380µH 2. 41 . Output power: 1.2.3. which implies the ADC has a gain of 0.5. 600W between 90 ~ 150V 4.1111. The interface gains should keep the signals from overflowing at input of the ADC under normal operation conditions.1 Parameters 1.2. In the Q15 format. Output capacitor: 330µF 3.3.1.3.5% 3.1.2.3.000W between 150 ~ 265V.1.1 Power Stage Parameters L Filter C Figure 29 Power stage of Boost PFC 3. Output voltage: 400V 3. the maximum value.2 Specifications 1. THD: ≤1.1111 (binary) is normalized as +1.1111.2. Switching frequency: 100KHz 5. there is one sign bit (the most significant bit). The result of ADC is Q15 formatted (shown in Figure 30). Specifically.
the following parameters exist.000000 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 − 20 2−1 2 −2 2 −3 2 −4 2−5 2−6 2−7 2 −8 2 −9 2−10 2−11 2 −12 2 −13 2 −14 2 −15 Figure 30 Bit weighting for Q15 Format [40].2 Direct Design in the ZDomain The simplest method to implement digital control is to convert an analog compensator into a digital controller.Below are examples of Q15 numbers and their decimal equivalents. There are many conversion methods.2426 ⋅10 −2 K i = g int erface ⋅ g ADC = 0. Input voltage gain: Current gain: K in = g divider1 ⋅ g ADC = 0.000031 1. Designing an analog compensator may not be accurate.” However. such as “backward integral. it is difficult to model sample and hold. Even with an 42 .2 ⋅10 −2 3.999969 0.000031 0. GH ( s) and computation delay e −Tdelay in sdomain.” “Tustin” and “zero and pole matching [10].0725 Output voltage gain: K out = g divider 2 ⋅ g ADC = 0.2. Q15 Number (HEX) 0x0001 0x7FFF 0xFFFF 0x8000 Sign bit Decimal Equivalent 0. With voltage dividers and sensing resistor.3.
339 These responses are directly related to the position of zeros and poles on the zplain as shown in Figure 31. Particularly. 43 . Alternatively. the computation delay mapped into the origin as e −Tdelays can be z − T delay Ts . . Eq. converting it into a discrete form may compromise its performance.accurate analog controller. 338 jωTs − ρj The phase response is ∠G (e jωTs ) = ∑ ∠(e jωTs − ξ i ) − ∑ ∠(e jωTs − ρ j ) . (e jωTs − ρ1 ) L(e jωTs − ρ n ) ( z − ξ1 )L ( z − ξ m ) can be ( z − ρ1 ) L ( z − ρ n ) The magnitude response is ∏ e jωTs − ξi m G (e jωTs ) = k ∏e j =1 i =1 n . i =1 j =1 m n Eq. 337 The frequency response of a digital system G ( z ) = k represented by G (e jωTs ) = k (e jωTs − ξ1 )L (e jωTs − ξ m ) . Eq. we design the digital controller directly in zdomain employing the relation of z variable and s variable: z = e sT s where Ts is the sampling cycle.
Image Unit Circle 1 z = e jω Ts θ1 1 ϕ θ2 1 ρ1 ξ1 ρ2 Real θ − angle of (e jωTs − ρ ) ϕ − angle of (e jω Ts − ξ ) 1 Figure 31 Poles and zeros in the zplane. Eq.3 Discrete Time Model of Power Stage with SampleandHold As discussed in section 3.1. Combined with the sampleandhold function [10]. 340 where: E * ( s) is the Laplace transformation of e* (t ) . is as follows: ∞ E * ( s ) = Σ e(nT )e − nTs = n =0 poles ∑ [residue of E( λ ) 1 1− e −Ts ( s − λ ) ]. sampleandhold function in digital control actually modifies magnitude and phase response [10].2. e* (t ) . This effect must be included in the power stage model. proper model of power stage must be obtained.3. In this approach the compensator is designed by placing the poles and zeros in zplane to stablize the converter and achieve the power factor correction. the Laplace transformation of a sampled signal.2. If e(t ) is the impulse response of system G.2. 3. Before the compensator is designed. we can have: 44 .
37. Image 1 Unit Circle z = e jωCTs θ 1 1 Real C s θ − ∠(e jω T − 1) 1 Figure 33 Duty to current transfer function mapped into zplane 45 . Ts The power stage can be digitized using the zeroorderhold method with sampling frequency of 100KHz. as shown in Figure 32. G id h (s ) d Power S ta g e G id (s ) i in T 1 − e −Tss s Figure 32 Power stage with sample and hold From Figure 32. Eq. ⋅ L ( z − 1) Eq.E ( s ) = [ Σ e(nT )e n =0 * ∞ − nTs 1 − e −Ts s ] s E( λ ) 1 1 − e −Ts ( s −λ ) (1 − e −Ts λ ) ] ⋅ λ = poles ∑ [residue of . discrete duty to current transfer function is derived: Gidz ( z ) = Vout Ts . Figure 33 shows the discrete transfer function in the zplane. 341 Utilizing Equation 3. E * ( s ) = E * ( ln z ) [10]. 342 where Ts = 105 second.
only the frequency range below half of the switching frequency is of concern in digital controller design and the transfer function of the low pass filter is ignored. the discrete model gives nearly the same frequency response with the continuous model with sampleandhold. 46 .4 Current Loop Compensator As mentioned before analog lowpass filters with cutoff frequency equal to half of the switching frequency are inserted in the current and voltage feedback loops in order to reduce the aliasing effect. When we are designing the current compensator. The current loop with digital compensator is illustrated in Figure 35. 343 where Ts = 2⋅104 second.3.2. the influence of slow voltage loop can be ignored. As a result. 120 100 Magnitude(dB) 80 60 40 20 0 0 10 9 0 1 0 5 1 2 0 1 3 5 1 5 0 0 10 10 1 c o n t in u o u s m o d e l d is c re t e m o d e l 10 2 10 3 10 4 Phase(deg) 10 1 10 fre q u e n c y (H z ) 2 10 3 10 4 Figure 34 Comparison of the discrete model and continuous model The same method is used to derive discrete control to output transfer function: Gvz ( z ) = gc Ts . ⋅ C ( z − 1) Eq.Figure 34 shows that below half of the sampling frequency. 3.
in which a second zero is added. there are two approaches: the onezero approach. and the twozero approach. Eq. 3. For a faithful tracking of the semi sinusoidal waveform. crossover frequency and phase margin are used to determine two unknown variables. the phase margin is set to 45o. the bandwidth is 8KHz.+ i ref  current C ompensator C z − T d elay Ts PW M power stage G id i in Gidz H T Ki Figure 35 Current loop with digital compensator The design target is similar to that of the analog compensator. as follows: TC (e jω cTs ) = 1 ∠TC (e jω cTs ) = −180 0 + 45 0 Eq. The current loop gain is: z −1 − Tdelay Ts Tdelay Ts TC ( z ) = Gidz ( z ) ⋅ C ( z ) ⋅ Ki ⋅ z − V ⋅ T K (z − ξ ) = out s ⋅ P ⋅ Ki ⋅ z L ( z − 1) z −1 . 344 The two design targets.2. gain K P and zero ξ . 345 47 . in which the zero is moved toward the origin.3.1 OneZero Approach The current compensator is C ( z ) = K P (z −ξ ) . To compensate the digital delay.4. For robustness.
: 45 deg Freq: 8e+003 Hz 10 2 ( z − 0. L = 380 µH .From Equation 345.984 Hence.M. we have derived: Vout ⋅ Ts K P  e jω cTs − ξ  ⋅ Ki = 1 ⋅ L  e jω cTs − 1   e jω cTs − 1  Eq. 346 180 o jω cTs jω cTs jω cTs 0 0 ∠(e − ξ ) − ∠( e − 1) − ∠(e − 1) − ω C Tdelay ⋅ = −180 + 45 π where ω C = 2πf C = 2π ⋅ 8krad / sec.: 6 dB Freq: 1. the value of gain K P and zero ξ are determined as follows: K P = 0.984) and its Bode z ( z − 1) G. ξ = 0.6567 plot is shown in Figure 36.65e+004 Hz Stable loop 10 Frequency (Hz) 3 10 4 10 5 Figure 36 Bode plot for current open loop gain with one zero compensation 48 .M.6567 . OpenLoop Bode 80 Magnitude (dB) 60 40 20 0 20 90 Phase (deg) 180 270 360 P.Vout = 400V . the compensator transfer function is C ( z ) = 0. K i = 0. By solving Equation 346. Tdelay = 10 µs and Ts = 10µs .0725.
z ( z − 1) In this approach. 3. L = 380 µH . the value of gain K P and zero ξ are obtained: K P = 1.4. this digital compensator results in a much smaller current loop gain. K i = 0. the compensator transfer function is C ( z ) = K P Vout ⋅ Ts K  e jωcTs − ξ  2 ⋅ P jω T ⋅ Ki = 1 L  e jωcTs − 1  e c s − 1 Eq.2 TwoZero Design (z − ξ )2 .Compared with the analog current compensator.Vout = 400V .0725. By solving Equation 347. Tdelay = 10 µs and Ts = 10µs .6588 49 .2.3. Current (A) (sec) Figure 37 Input current waveform with onezero digital current compensator. 347 180o 180o jωcTs jωcTs jωcTs 0 0 2 ⋅ ∠(e − ξ ) − ∠(e − 1) − ∠(e − 1) − ωC Tdelay ⋅ − ωcTs ⋅ = −180 + 45 π π where ω C = 2πf C = 2π ⋅ 8krad / sec. Simulation results show a large zerocross distortion and great displacement angle as well.162 ξ = 0.
6588) 2 and its Bode plot is z ( z − 1) 100 80 Magnitude (dB) 60 40 20 0 20 90 Phase (deg) 180 270 360 10 P. But it also lowers the gain margin. 3. In the first step. The digital delay. Otherwise we must make tradeoff between bandwidth and stability. a solution is proposed to improve the power factor with a low current loop bandwidth.2.162 shown in Figure 37.08e+004 Hz Stable loop 10 2 10 Frequency (Hz) 3 10 4 10 5 Figure 38 Current Open loop Bode plot with two zeros compensation The two zero method can obtain a higher current open loop gain.3 Realization: The simplest way to realize a digital compensator is to convert it directly into differential equation: 50 . OpenLoop Bode ( z − 0.: 45 deg Freq: 8e+003 Hz 1 G.4. Later. current loop bandwidth is directly related to PF.3. a digital control is implemented with the twozero compensator. As we know.7 dB Freq: 2.M. which is inevitable. has limited the current loop bandwidth.The compensator transfer function is C ( z ) = 1.: 3.M.
Eq. 348 But on some occasions these coefficients are too sensitive [10] and implementation requires more memories. x2 (k − 1).162e(k ) − 1.6588 1 ⋅ x (k − 1) + 1.162 e(k ) + − 0.162 x1 (k ) 0 − 0. e(k − 1) ) while the direct approach needs to store three coefficients (the value of 1 doesn’t have to be stored) and three variables ( y (k − 1).6588 x (k ) = − 0.5311e(k − 1) + 0. A secondorder lowpass filter is used to filter out the average value of the input voltage. e(k − 1). e(k − 2) ). 350 The state equation method needs to store only one coefficient and three variables ( x1 (k − 1). 3π harmonic component to the DC component is 2 / 3 .6588 e(k − 1) 2 2 and d (k ) = x2 (k ) Eq. 3. Assuming that the input signal is an ideal semisinusoidal with unity amplitude.2. The better method is to use state equations: x(k ) = A ⋅ x(k − 1) + B ⋅ e(k ) y ( k ) = C ⋅ x ( k ) + D ⋅ e( k ) Eq.3.162 ( z − 0. 51 .6588) 2 the state equations are derived as follows: z ( z − 1) 0 x1 (k − 1) 1.y (k ) = y (k − 1) + 1.5043e(k − 2) . 349 From C ( z ) = 1.5 Feedforward looplow pass filter The feedforward loop is shown in Figure 39. the DC component of input signal a0 is The ratio of 2 nd 2 π and the second harmonic component amplitude a2 is 4 .
 Gf  fc magnitude 2 f line frequency(Hz) Gf(j2W line) 40dB/dec Figure 40 Bode plot of the lowpass filter From Figure 40. 351 To meet the C distortion requirement.2. Equation 352 must be satisfied: ∆C a2 ⋅ G f ( j 2ω line ) ≤ C a0 .2.1. The simplified Bode plot of the low pass filter is shown in Figure 40.5% . so: C 52 .Vin time LowPass Filter Vff Gf A time Vin time C AB C2 i ref B Figure 39 Feed forward loop. 352 For the requirement given in section 3. the cutoff frequency. ∆C ≤ 0. Eq. max Eq. f c is derived: G f ( j 2ωline ) ( dB ) f c = 2 f line ⋅10 40 .
015167 B= . 0.e.003792.99994 D = 2. the discrete state equation of a secondorder Butterworth filter can be expressed as: x(k ) = A ⋅ x(k − 1) + B ⋅ e(k ) and y ( k ) = C ⋅ x ( k ) + D ⋅ e( k ) Eq. Eq.05 ⋅10 −5 . In this method.2 ⋅10 C = [0. 356 53 . f c ≤ 8. which may cause problems when the Q15 format truncates a number between (1.01072 A= .0075 = −42. these coefficients cost much memory resource. 0.5dB . For example.98477 − 0.6 Hz . some of the coefficients are too small and sensitive. this implementation has some disadvantages. Therefore another method is used to implement the lowpass filter.01072 0.5 40 f c = 2 f line ⋅10 40 ≤ 2 f line ⋅10 = 2 f line ⋅ 0. 2 2 s + 2 ⋅ 2 ⋅ωo ⋅ s + ωo 2 Eq. an analog secondorder lowpass filter is designed first. Butterworth or Chebyshev filters are widely used to realize digital filter. such that: G fs ( s ) = ωo . 354 for the case f line = 50 Hz .8977 ⋅10 −5 . the number has a resolution of 1 / 215 or 3.G f ( j 2ω line ) ≤ ∆C C ⋅ max a0 = 0. i.0866 .707086] and However. First. −5 8. 353 The corresponding cutoff frequency is: G f ( j 2ωline ) ( dB ) − 42. Second.1) to its LSB.0. a2 Eq. 355 The coefficients are as follows: 0.
9924 The lowpass filter described above has a DC gain of 1.1] .0076 0. the filter has a DC gain of 0.0152 0. C = [0.0076 .0167 replaced by ⋅1. the ratio of RMS value to average value is 1.8 40 60 80 10 1 10 0 10 Frequency (Hz) 1 10 2 10 3 Figure 41 Bode plot for lowpass filter. D = 0 .where ω o = 2πf c is the cutoff frequency. 0.9924 − 0. 0. which gives two discrete poles z p1. The Bode plot is shown in Figure 41.0152 where A = . The two poles p1.9 Magnitude (dB): 41. Bode Diagram 0 20 Magnitude (dB) System: fil Frequency (Hz): 0. Then the discrete state equations are derived: x(k ) = A ⋅ x(k − 1) + B ⋅ e(k ) and y ( k ) = C ⋅ x ( k ) + D ⋅ e( k ) .1.818dB and a gain of 41.0076 0. 0 Finally. B = 0 . The matrix B should be 0. 2 = 2ω o (−1 ± j ) are mapped into the z–plane with the relation z = e sTs .9924 ± j 0. Attenuation at 100Hz is 42. 54 . 2 = e 2ωo ( −1± j )Ts = 0.818 System: fil Frequency (Hz): 99.8dB at 100Hz.6dB.268 Magnitude (dB): 0.1 = 0 . But for a semisinusoidal waveform.
(current feed back gain). 2 K iVout K ff Eq.2. 3.0725 .002624 (input voltage gain) and K ff = 0. K in = 0. I AB Km 2 C vo ref Ki G EAZ B Delay Voltage compensator Voltage reference A C v ref Figure 42 Outer voltage loop The following equations are derived: iin = 1 1 ( K in ⋅ vin ) ⋅ vc ⋅ K m ⋅ . 357 k= 1 1 iin K in ⋅ K m ⋅ = and vin vc K i (k ff ⋅ vin _ rms ) 2 2 Vin _ rms Eq.6 Voltage loop Compensator The voltage loop is shown in Figure 42.The feed forward gain K ff is determined by input voltage gain and the lowpass filter gain: K ff = K in ≈ 0.25 (multiplier gain).002624 ( feedforward gain). Ki (k ff ⋅ vin _ rms ) 2 Eq. The discrete transfer function of the voltage compensator can be expressed as GEAZ ( z ) = Kp z−ρ . 55 .2624 ⋅10 −2 .3. 358 gc = k Vout = K in K m . 359 where K i = 0. K m = 0.
5% B max = 0.93 .2.5% .00427 gc Eq.2. and the gain of voltage compensator K p . the B distortion B I o max = 0. 362 where Vorip = gain). ⋅ = C z −1 z −1 Eq. so 56 . V ⋅ K out ripp 0 The voltage open loop gain is − Tv = Gvz ⋅ K out ⋅ GEA ⋅ z Tdelay Ts = K g cTs ⋅ K out ⋅ p C ( z − 1) z−ρ Eq. we can calculate that g c = 2. 361 Furthermore: ∆B = V0ripp ⋅ K out ⋅ GEA ( j 2ω line ) . Vin I in (Equation 316) and K out = 0. the poles for voltage compensator ρ .1.From the given parameters. 360 For the requirement given in section 3. 363 Thus we have three variables: the crossover frequency for voltage loop f c . the voltage compensator gain at 2 f line should have GEA ( j 2ω line ) ≤ ∆Bmax .2 ⋅10 −2 (output voltage sensing 2Voutω LCo To satisfy Equation 361. Hence the discrete controltovoltage transfer function is: Gvz = g c Ts 0. Eq.5% ∆B ≤ 0. requirement is obtained: ∆B ≤ 0.1776 .
4rad / sec K p = 0. B o d e D ia g r a m 50 Magnitude (dB) 0 50 100 90 Phase (deg) 135 180 10 1 10 0 10 1 10 (Hz ) 2 10 3 Fre q u e n c y Figure 43 Bode plot for voltage open loop gain 57 .0222 ρ = 0.002.9924 Kp z−ρ The voltage compensator transfer function is GEAZ ( z ) = = 0.9924 The state equation is: x(k ) = 0.00222 ⋅ e(k ) Eq. z − 0.93. ∠Tv (e ) = −180o + 45o − jωcTs Tv (e ) =1 Eq. Ts = 200us.9924 ⋅ x(k − 1) + 0. Kp ∆B − j 2ωlineTs ) = − j 2ωlineTs = ripp GEA (e e − ρ V0 ⋅ K out − jωcTs . voltage compensator parameters are found: ω c = 37.00222 . K out = 0. From Equation 364. C = 330uF . g c = 2. 365 The Bode plot of voltage loop gain in Figure 43 shows the voltage loop has a bandwidth of 6Hz and phase margin of 45o. 364 where Tdelay = 10us.
subprograms are executed once per 20 switching cycles. The PWM synchronous interrupts also serves as the start signal of ADC. For current compensator. The task of main program is to keep DSP in operation. S ta rt In itia liz a tio n E nd C o n v e r te r? Yes E nd No Figure 44 Flowchart of main program 58 . For feedforward lowpass filter and voltage compensator. which generates two PWM synchronous interrupt signals per switching cycle. 3. A software counter is installed to organize the timing.1 Main Program The flowchart of main program is shown in Figure 44.3. which has a sampling frequency equal to the switching frequency.3.3. which can be used for fault protection. Executions of subprograms are synchronized by an onchip PWM timer.3 Implementation The complete digital control scheme includes one lowpass filter and two compensators. the compensation subprogram is executed per switching cycle. The condition for halting main program is the power down or PWM trip interrupt.1. Three subprograms are established to fulfill them.1 Flowchart 3. whose sampling frequency is 5kHz.
2 Interrupt Service Routine Program The two PWM interrupt signals (PWMsyn1 and PWMsyn2) are generated separately at the beginning and the middle of one switching cycle. The interrupt service routine is separated into two parts: one for signal PWMsyn1.3. To identify them the status register is read. The flowchart of the interrupt service routine is shown in Figure 45. Both of them can start the interrupt service routine.1. the other for signal PWMsyn2. Start Yes PWMSyn 1? No Yes Current Compensaor subprogram Counter=0? Voltage compensator subprogram Reset Counter No Yes Counter=19? Feed Forward subprogram No Counter = Counter1 Return Figure 45 Flowchart for interrupt service routine program 59 .3.
3.3.1.3 Subprograms 3.3.1.3.1 Current compensator Subprogram
Start Read ADC Iin(k), V in (k) Current reference Iref (k)=Gff*Vc*V in (K) Current Error e(k)=Iref(k)Iin(k) Load e(k1) to Register
Store e(k) to memory
0 0 x1 ( k − 1) 1.162 x1 ( k ) − 0.6588 x (k ) = − 0.6588 1 ⋅ x ( k − 1) + 1.162 e ( k ) + − 0.6588 e ( k − 1) 2 2 d ( k ) = x2 ( k )
Store state variables
Update PW M Channel registers
Return
Figure 46 Flowchart for current compensator subprogram
60
3.3.1.3.2 Voltage Compensator Subprogram:
Start Read ADC For Vout (K) Yes Vout(k)>Vmax ? No ev(k)=VrefVout(k) Vc=0
Load ev(k1)
Store ev(k)
x (k ) = 0 .9924 ⋅ x ( k − 1) + 0 .00222 ⋅ ev ( k )
Store x(k)
Vc=x(k)
Return
Figure 47 Flowchart for voltage compensator subprogram
61
3.3.1.3.3 Feed Forward Subprogram:
Start Load Vin(k) x1 (k ) = 0.9924x1(k −1) − 0.0076x2 (k −1) + 0.0167 in (k) V x2 (k) = 0.0076x1 (k −1) + 0.9924x2 (k −1)
Store X1(k), X2(k) Yes
x2(k) < 0.25?
No G ff = 0.0625 x2 ( k ) 2
Gff = 1
Return
Figure 48 Flowchart for feed forward loop subprogram
3.3.2 Experimental Results
ADMC401 is used to implement digital control for the 1kW PFC converter. Resource occupation: Memory for state variables, input signals and temporary results: 20 words Memory for control coefficients: 10 words Maximum instructions per PWM cycle: 180
62
63 .Figure 49 Input Current waveform w/o EMI filter A PF of 99.7% is achieved by digital controlled 1kW PFC with 100kHz switch frequency.
the digital delay limits the current loop bandwidth and jeopardizes its stability. The effect of digital delay is ignored for this frequency range. As we discussed before. evenorder harmonics in inductor current generate fundamental and oddorder harmonics in line current. Both lead to a smaller PF.3. the influence of input voltage on line current and the relation with current compensation will be studied. The largest disturbance injected into the power stage is the input voltage. For the purpose of convenience. The benefit and tradeoff of inserting CFF compensation is also studied in the following sections. Moreover. Despite the difference in frequency response at high frequency ( f ≥ f c ). the digital delay is smaller than 8o. In this section. the digital and analog compensators have a similar frequency response at low frequency ( f << f c ). The reason for the high bandwidth current loop gain is not just for faithful tracking of the semisinusoidal reference but also for achieving a high disturbance rejection. it can significantly reduce the displacement factor kθ . as shown in Figure 50. the oddorder harmonics can reduce the distortion factor k d . For the frequency less than 2kHz. Currentloop FeedForward (CFF) Compensation is proposed to reduce this influence. 64 . the compensator frequency response is represented by that of an analog compensator in the following studies. If the resulting fundamental current harmonic has a large phase displacement between the input voltage. The input voltage contains large amounts of harmonics. PWM is considered as a gain of 1 in the following sections.4 CurrentLoop FeedForward Compensation As we discussed before. For frequency that is much smaller than half of the switching frequency.
64 4.13 3. Table 6 gives two examples.63 13. The inductor current is: iin ( s ) = i ref ( s ) CGid G + v g ( s ) iv 1 + TC 1 + Tc Eq.8 12 1.32 90 264 54 158 The higher the line voltage the more the line current is influenced.1 Input voltage harmonics The input voltage consists of a large amount of harmonic components.7 6 4. Table 6 Examples of harmonic components in input voltage Harmonic Order (n) 2 Vrms(V) 4 10.~ v in Power Stage G iv(s) iref +  Current Compensator C(s) DPW M Power Stage G id(s) + + iin TC Ki Figure 50 Simplified current loop system with input voltage influence.8 31.5 10 1. 366 3.4.2 Influence of input voltage The DC component of the rectified voltage does not influence the current loop because the current compensator always has an infinite DC gain because of the 65 .6 7.4. 3.6 8 2.
370 66 . it is proper to approximate Givclose can be simplified as: Giv ( s) Giv ( s ) ≈ . 1 + TC ( s ) K i Gid ( s)C ( s) 1 1 with . However the large amount of even order harmonics influences the current loops and increase THD and the displacement angle. f >> = ⋅ ≈ sR L C G id ( s ) 2V o 1 + Vo 2π R L C 2 Eq. Thus. 367 As shown in Figure 50. The open loop voltagetocurrent transfer function is: ~ iin 1 Giv ( s) = ~ = ⋅ v g RL (1 − D) 2 1 + sRL C . 368 where Tc = K i Gid C is the current openloop gain. 1 + TC ( s) Eq. sL s 2 LC 1+ + RL (1 − D) 2 (1 − D) 2 Eq.integrator. the voltagetocurrent transfer function with current loop closed is: Givclose ( s) = Giv ( s) . 1 + TC TC Givclose ( s) = Eq. Since significant harmonics mainly exist in the range much below the crossover frequency where the magnitude of loop gain is huge. 369 And we can further simplify Equation 369 with the following approximation: G iv ( s ) 1 1 + sR L C 1 2 .
the digital compensator response in the frequency range of interest can be approximated ωi (1 + s ) ωz ωz .The output capacitor C is very large. For frequency domain of 2πRL C 2πRL C Giv ( s ) 1 1 . For frequency much smaller than f z = can be simplified as C ( s) ≈ ωi s . We have Givclose ( S ) ≈ . It is appropriate to assume that the frequency 2 f line is much larger than interest. ( f << f z ) K i Gid C K i Vo ω i Eq. 371 The pole is placed at half of the switching frequency that is far larger than f C . this function is still realized by analog components with transfer function as 1 s 1+ ωp 1 s 1+ ωp . As we discussed before. current compensator 2π by s . ( f << f z ) Eq. ≈ Gid ( s) Vo Vo K i C ( S ) A conventional averagecurrentmode compensator is: s ) ωz . 1 2 and . The effect of in the frequency range of interest can be ignored. 373 67 . For the digital control in this thesis. C ( s) = s ) s (1 + ωp ωi (1 + Eq. 372 Therefore the voltagetocurrent transfer function is further simplified: Givclose ≈ Giv 1 1 s ≈ ⋅ ⋅ .
The digital compensator has a lower frequency zero to compensate the phase lag caused by digital delay.Therefore the magnitude of Givclose is related to the current openloop gain. The relation is shown in Figure 52. One of the reasons is the lower current loop gain. resulting in a lower ω i . From Equation 373. For convenience. we can analyze the even order voltage harmonics. the harmonic of the input voltage will create a 90o lead corresponding harmonic at the inductor current. 68 . B o d e D ia g r a m 20 Magnitude (dB) 40 60 80 1 00 135 90 Phase (deg) 45 0 45 90 10 0 1 2 3 4 5 fc = 8 k H z fc = 4 k H z fc = 2 K H z 10 10 10 Fre q u e n c y 10 10 (Hz ) Figure 51 Bode plots of Givclose with different current compensator When the onezero digital current compensator is put into simulation. great distortion is observed at zero crossing. 2nd order harmonic is used to represent all evenorder harmonics in the inductor current. Figure 51 shows Bode plots of Givclose with the same 45o phase margin and different bandwidth. To fully understand how this input voltage influences PF.
(b) boost converter input voltage. (c) 2 harmonic voltage and nd rd 2 harmonic current and (d) fundamental and 3 harmonics generated nd The 2ndorder harmonic component value is: 69 .Voltage tim e 2 current harmonic generated (c) 1 current harmonic st nd Current t im e 3 current harmonic rd 2 current harmonic in line current nd (d) Figure 52 Relationship between voltage 2 harmonic and line current: (a) nd line voltage.Voltage t im e (a) Voltage tim e (b) nd 2 voltage harmonic .
It is expressed as I ⊥ for convenience.V2 n _ rms = 4 Vin _ rms (4n − 1)π 2 Eq. 374 The inductor current generated by this voltage harmonic is: I 2 n _ rms = V2 nd _ rms ⋅ Givclose ( j 2n ⋅ ω line ) Eq. I // = Pout η ⋅ Vin _ rms Eq.9. 375 The fundamental line current generated by this inductor current is: I1st _ rms = I 2 n _ rms ⋅ 8n (4n − 1)π 2 Eq. increasing the displacement angle between input current and input voltage. we can calculate the current vector parallel to the input voltage. 377 Displacement angle θ is: 70 . Iin θ I// I⊥ Vin Figure 53 Current vectors and voltage vector Assuming the converter has an efficiency of 0. 376 This fundamental line current is 90o ahead of the line voltage. As shown in Figure 53. the fundamental current generated is 90o ahead of the input voltage vector.
To have a large disturbance attenuation requires a large current open iin loop gain.θ = arctan( I⊥ ) I // Eq. 379 Because low frequency zero is used to compensate the phase lag caused by digital delay.3 Current Loop Feed Forward Thus Currentloop FeedForward (shown in Figure 54) is a solution to achieve high PF even with a low bandwidth current compensator. Following is a solution to achieve good PF with simple onezero compensator. while the twozero compensator has a small gain margin and complex structure that increases cost. The simple onezero compensator will result in a low current loop gain at the frequency range of interest. The third order harmonic line current generated by 2nd order inductor current is: I 3 _ rms = I 2 n _ rms ⋅ 8n (4n − 9)π 2 Eq. 3. ~ v in Kvi Power Stage Giv(s) DPWM Power Stage Gid(s) iref +  Current Compensator C(s) + + + + iin Ki Figure 54 Illustration of currentloop feedforward 71 .4. 378 The input voltage can be treated as a disturbance whose attenuation is defined ~ vin as ~ .
380 The aim of CFF compensation is to reduce the magnitude of Givclose in the frequency range of interest.Assuming the CFF gain is K vi .9 kv i= 0 . It is observed that the closer kvi is to 1. If K vi = − . Eq. B o d e Dia g r a m 20 40 Magnitude (dB) 60 80 100 120 140 270 180 Phase (deg) 90 0 90 10 kv i= 0 kv i= 1 kv i= 0 . the magnitude of Givclose is greatly 2πRL C Vo decreased. a new voltagetocurrent transfer function is obtained: 1 + K vi ⋅ Givclose = Giv Gid Giv 1 + TC .5 0 10 1 10 2 10 3 10 4 10 5 Fr e q u e n c y ( Hz ) Figure 55 Effect of different CFF gain k vi 72 . A normalized coefficient k vi is applied. and the smaller is Givclose . It is noticed in Equation 370 that ( G iv 1 for ≈ G id Vo 2 1 < 2 f line < f << f c ).7 5 kv i= 0 . The current loop has a bandwidth of 4kHz. Figure 55 shows how the value of k vi affects the magnitude of voltagetocurrent transfer function. k vi = − K vi ⋅ V0 .
4 Simulation Results As we mentioned before. Current (A) (Sec) Figure 56 Line current of PFC w/o EMI filter ( f c =8KHz).86o ahead.000W. Comparisons of both of these factors are made. First analog current compensator with an 8KHz bandwidth is used as the base line. The displacement factor without EMI filter is K θ = cos1.5964 A. Fourier analysis is used to calculate the fundamental component of the line current. 73 . 3.4.86 o = 0. PFs are tested under full load condition. Then an analog current compensator with a 4 KHz bandwidth is used to verify the relationship between the current compensator and the displacement factor.4.1 Displacement Factor Comparison Simulations are run in Simulink to verify the effectiveness of CFF comparison. Following simulations are run at Vin_rms=220V.3. and I ⊥ = 0. The output power is 1. The displacement angle θ is 1. input voltage harmonics can influence both the displacement factor and distortion factor.4. For the fundamental component: I // = 4.149 A .9995 .
The displacement angle θ is 5.9947 .9 o = 0. Current (A) (Sec) Figure 58 Line current of PFC w/o EMI filter ( f c =4KHz. w/ k vi = 0.9 ) 74 .2748 A and I ⊥ = 0.9o ahead. The displacement factor without EMI filter is Kθ = cos 5.4418 A . A 4 KHz bandwidth current compensator with CFF compensation is used to verify the effectiveness of CFF.Current (A) (Sec) Figure 57 Line current of PFC w/o EMI filter ( f c =4KHz) Fourier analysis is used to calculate the fundamental component of the line current. For the fundamental component: I // = 4.
Comparison is also made between line current harmonics with and without CFF.069 A . In the frequency range (120Hz~2.2 Harmonic Distortion Comparisons The FFT method is used to calculate linecurrent harmonics.84 o = 0. 3.400Hz). The displacement angle θ is 0. the one with CFF shows lower level of current harmonics.9999 .e. 8kHz bandwidth design shows lower level of harmonics current than that of the 4kHz bandwidth.Fourier analysis is used to calculate the fundamental component of the line current. Line Current Harmonics 0 Current RMS(A) fc=8kHz fc=4kHz 20 40 60 80 10 2 frequency(Hz) 10 3 Figure 59 Comparison of linecurrent harmonics with different current loop bandwidths. Figure 59 is the linecurrent harmonics of current loop bandwidth 8kHz and 4kHz.84o.6984 A and I ⊥ = 0. For the fundamental component: I // = 4. harmonic order from 2 to 40. Figure 60 shows that with the same current compensator. The displacement factor without EMI filter is Kθ = cos 0. i.. The CFF compensation is effective to improve the displacement factor.4.4. 75 .
All of them can meet the requirement. 10 0 10 Harmonic standards fc=8KHz fc=4kHz fc=4kHz w/ CFF Current RMS(A) 20 30 40 50 60 70 80 10 2 10 3 Frequency(Hz) Figure 61 harmonic comparisons Not only high frequency harmonics are reduced. which indicates that CFF is effective at low frequencies. As we 76 .20 Line Current Harmonics fc=4kHz w/DFFC fc=4kHz 0 Current RMS(A) 20 40 60 80 10 2 frequency(Hz) 10 3 Figure 60 Comparison of line current harmonics with and without CFF Figure 61 shows the maximum permissible harmonic values and the three examples. but 3rd order harmonic is reduced as well.
If so. CFF is effective for low frequencies. Eq. However A. The input voltage harmonics generate 90o lead input K i Vo ωi current harmonics. 381 ≈ Giv ⇒ Givclose = 1 + TC 1 + TC 1 + TC k vi = − K vi ⋅ Vout Gid Giv where k vi is the normalized CFF gain. 1 + TC K i Gid C K i Vo ωi 1 1 1 ⋅ ⋅ ⋅ (1 − k vi ) > 0 . From section 3.4. implementing CFF with Kvi=1 will require extra multiplication and storage of result and coefficients. Huliehel pointed out that despite the large input voltage variation at low frequencies and nonlinearity. Giv Giv 1 1 s ≈ ≈ ⋅ ⋅ .1). it is still possible to derive smallsignal model for low frequencies [39]. 77 .4. 3. we have 1 + K vi ⋅ Givclose = Giv Giv 1 + K vi ⋅ Vout (1 − k vi ) . This smallsignal model in [39] differs from the quasistatic model just in operation point. Kvi is subject to deviation.4. 382 we should have 1 − k vi < 1 ⇒ 0 < k vi < 2 . the quasistatic model is only valid for frequencies much higher than 2 f line .know. Eq.3 Influence of CFF Gain K vi It is noted that there is no perfect sensor. 383 From Equation 373. Then when k vi < 1 . It is necessary to study the influence of Kvi. Furthermore. To have: Giv Giv . (1 − k vi ) < 1 + TC 1 + TC Givclose = Eq. ( f << f c ) . Figure 62 gives several Bode plots with different k vi ⊂ (0.3.
Then input voltage harmonics generate 90o lag K iVoω i input current harmonic. 7 5 k v i= 0 .1) When 1 < k vi .2) 78 . 5 10 10 Fre q u e n c y (Hz ) 10 Figure 62 Bode plots for k vi ⊂ (0.2). 5 i= 2 2 10 3 10 Frequenc y (Hz ) 4 10 5 Figure 63 Bode plots for k vi ⊂ (1. B o d e D ia g r a m 20 40 Magnitude (dB) 60 80 100 120 140 270 180 Phase (deg) 90 0 90 10 kv kv kv kv kv i= 0 i= 1 i= 1 . 1 (1 − k vi ) < 0 . 2 5 i= 1 . Figure 63 gives several Bode plots with different k vi ⊂ (1.B o d e D ia g r a m 20 40 Magnitude (dB) 60 80 1 00 1 20 1 40 180 135 Phase (deg) 90 45 0 45 90 10 2 3 4 5 k v i= 0 k v i= 1 k v i= 0 .
4.4.4.4.1 Displacement Factor Comparison: Simulation result of digital current compensator without CFF compensation is shown in Figure 65. 79 .994 Displacement factors Figure 64 Comparison of displacement angles (degree) and displacement factors with different CFF gain.997 0. 3. 3.Simulations with different k vi are run in Simulink.996 0. Figure 64 compares the results with different k vi .998 0. FFT analysis and Fourier analysis are given to each case.5 2 1 0.4. A digital current compensator is designed to achieve 4kHz current loop bandwidth.995 0.4 Digital Controller with CFF Compensation The previous study of CFF carried out is with analog controllers. 6 4 Displacement angles 2 0 2 4 6 0 0. Digital controller performance is compromised by digital delay.5 1 Feed Forward Gain Displacement angles Displacement factors 1. Thus the effectiveness has to be proved for digital controller.999 0.
A CFF compensation with k vi = 0.9 ) Fourier analysis is used to calculate the fundamental component of the line current. Then displacement factor without EMI filter is K θ = cos 8.23o = 0.6966 A and I ⊥ = 0. The displacement angle θ is 8.Current (A) (Sec) Figure 65 Line current w/o EMI filter ( f c =4KHz.0825 A .67 A . For the fundamental component: I // = 4.9 is applied. Current (A) (Sec) Figure 66 Line current w/o EMI filter ( f c =4KHz.23o. w/o CFF) Fourier analysis is used to calculate the fundamental component of the line current. For the fundamental component: I // = 4.9895 .6975 A and I ⊥ = 0. 80 . w/ CFF k vi = 0.
Significant improvement is observed. The displacement factor without EMI filter is K θ = cos1.4.2 Harmonic Distortion Comparison: 20 Line current Harmonics Harmonic standard Digital Control w/ CFF Digital Control w/o CFF 0 Current RMS(A) 20 40 60 80 10 2 Frequency(Hz) 10 3 Figure 67 Line Current Harmonics Comparison It is observed Digital Controller w/ CFF compensation has greatly reduced the line current harmonics.The displacement angle θ is 1.04o. 3.4.9998 . 81 .4.04o = 0.
The most significant feature of this converter is its high efficiency at Rson mode. An advanced PFC was proposed to solve this problem. the input current will increase accordingly. 82 . which indicates it can achieve higher power density than single switch PFC under the same power rating. Digital control can provide logic operation. which means larger power loss in the converter. This generates a great stress on thermal management. The range switch (RS) turns on when input voltage is 90~140V.4 DIGITAL CONTROL FOR THE THREELEVEL PFC Increasing power density is one of the goals of research in DC power supply. when the circuit is referred as working in Rson mode. 4. which may provide simple solutions. To solve this problem. when the circuit is referred as working in Rsoff mode. This threelevel PFC (3LPFC) has high efficiency at low line. as shown in Figure 68. complex optimal control structure and output capacitor imbalance are to be solved before wide application of 3L PFC. the threelevel PFC w/ Range Switch (3LPFC w/ RS) was proposed. It is necessary to study digital control for 3L PFC. It is common that universalline PFC always has power derating at 90~150 Vac. problems such as control of range switch.1 ThreeLevel PFC Converter When the input voltage of the PFC decreases. However. Conventional single switch PFC has larger power loss at low line than at high line. The RS turns off when input voltage is 140~264V.
and lower rating MOSFETs can be used. lower switching loss is achieved. Each switch is working half of the time. this topology has not been widely adapted. The paper proposed the 180o phase shift PWM for the two switches. However. Lower conduction loss: The input current flows through one of the rectifier diodes instead of two of them. The PWM operation proposed is the optimal method for the 3LPFC at its Rsoff mode. 2. Vds is half of the output voltage. which reduced the inductor current ripple amplitude to a quarter of the original one. Lower switching loss: For MOSFETs. 83 .2 Literature Review and Previous works Y. Jiang with VPEC proposed a 3LPFC without RS [39]. Thus. 4. lower diode bridge conduction loss is achieved. Implementation of optimal operation for the Rson and Rsoff modes and reliable balancing of output capacitor voltages can greatly enhance the 3LPFC’s competitiveness. Thus.L1 + Range s w itc h S1 C1 + V c1 + + V in S2 L2 C2 V out V c2  Figure 68 Power stage of 3LPFC w/ RS The reasons for high efficiency at Rson mode are: 1.
If heat distribution is taken into consideration. The efficiency chart shows that the worst case of Rsoff is only slightly higher than the worst case of Rson. 0 .9 6 0 .9 5 0 . In 2000. 84 . the 3LPFC at Rsoff mode had the same control and operation with the 3LPFC at Rson mode. The output capacitor voltage was balanced passively [33].In 1995.9 2 80 130 180 In p u t v o lta g e (V ac) H ig h lin e r a n g e s w itc h o f f L o w lin e r a n g e s w itc h o n C o n v e n tio n a l P FC Fs=100kH z 230 Figure 69 Efficiency comparisons between conventional Singleswitch PFC and analog controlled 3LPFC.9 4 0 . Erickson from the University of Colorado applied the concept of RS to the 3LPFC.9 7 Efficiency 0 . The control schemes are the same for RS on/off. However. The paper proved the high efficiency of 3LPFC at low line.9 8 0 . it is possible that the thermal management worst case occurs at Rsoff. Dr.9 9 0 . Bing Lu with CPES at Virginia Tech built an analogcontrolled 1kW 3LPFC with RS prototype. Experimental results show that its performance is compromised at Rsoff mode because it is not working with optimal operation.9 3 0 .
4. we have Leq = 4 L .3. L 1 S 1 C 1 S L 2 2 C 2 (a) L eq S 1 C 1 S 2 C 2 (b) Figure 70 Converter topology at Rsoff mode: (a) Original topology and (b) simplified topology 85 .3 Review of 3LPFC with RS: Operation and Control 4. They equal to one inductor with inductance of Leq = L1 + L2 + 2 L1 L2 The simplified circuit is equivalent to the circuit proposed by Jiang [39].1 Topology at Rsoff mode When the range switch is turned off the two well coupled inductors are in series (Figure 70 (a)). When L1 = L2 = L .
The duty cycle is defined separately as d1 and d 2 . 4. 4. This would help to reduce the switching loss at Rsoff mode. However.The switching frequency is half of the frequency of the inductor current ripples [39].2 Power Stage Modeling To find out the opportunity to actively balance output capacitor voltage. Two threeterminal average models are used to find out the smallsignal model. the switching frequency is just half of the switching frequency used by Erickson [33] and B.1.1. balancing the output capacitor is a challenge. Different from conventional singleswitch PFC.3.1 Output Capacitor Imbalance Output capacitor imbalance can be caused by driver mismatching. It is difficult to predict either the mismatching of devices or drivers or the leakage current for each capacitor. Lu (2000). Concerns exist pertaining to underdesign of balancing resistors. Here the two switches are independent. the 3LPFC has two capacitors and one inductor. device mismatching and unequal capacitor leakage currents. Previous work used balancing resistors to balance the output capacitor voltage shown in Figure 71. With the optimal operation proposed in [39]. L eq S 1 C 1 S C 2 2 Figure 71 Passive balancing with balancing resistors. it is necessary to find out the exact power stage model. 86 .3.
the smallsignal model is derived. ~ d 1V c1 ~ D1vc1 + + C1 iL L eq  + ~ d1 I L Load ~ vc1  + ~ vo ~ d2I L + ~ d 2V c 2 + C2 + D 2 ~c 2 v ~ vc 2   Figure 73 Smallsignal model of 3LPFC at Rsoff mode. Using the perturbation and linearization method.d 1 v c1 iL L eq + + d 1i L C1 vc1 + + vo d 2iL + C2  vc2   Figure 72 Average model of 3LPFC at Rsoff mode. The state equations for the topology shown in Figure 73 are 87 .
x x ~ vc 2 To better understand the relationship. 41 where D1 is the steady state value of duty cycle d1. and ~ are the state variables for 3_LPFC circuit. ~ I d 2 − C2 Eq. ~ = vc1 . D2 is the steady state value ~ iL ~ of duty cycle d2. we define the average of two duty cycles ~ as d s : 88 . 0 d~ 1 − D1 x = dt C1 1 − D 2 C2 − 1 − D1 Leq 1 − C1 R 1 − C2 R − 1 − D2 1 L Leq eq 1 ~ ⋅x + 0 − C1 R 1 0 − C2 R Vc1 L −I C1 0 Vc 2 L v ~ g ~ 0 ⋅ d1 .
~ ~ The d s to. Eq. 46 89 . ds = 2 Eq. From Equations 42 and 43.~ ~ d1 + d 2 ~ . C1C 2 2 s Leq C + C Leq 2 1 2 (1 − Ds ) ⋅ R ⋅ + + 1 s R(1 − Ds ) 2 (1 − Ds ) 2( ~ iL ~ = ds Eq. 2 ~ − 1 ∆d 2 Eq. 42 Deviation of the two duty cycle as ∆d yields: ~ ~ ~ ∆d = d1 − d 2 . 45 2C1 ~ ∆d I 2C 2 The two most important transfer functions are derived from this state equation.iL transfer function is: sRC1C 2 + 1)(Vc1 + Vc 2 ) 2(C1 + C 2 ) . we find that: ~ 1 vg ~ d = 0 ~1 d 2 0 ~ 0 vg ~ 1 ds . 43 0 1 1 Eq. 44 Applying this transformation to Equation 41 yields: 0 d~ 1 − D1 x = dt C1 1 − D 2 C2 − 1 − D1 Leq 1 − C1 R 1 − C2 R − 1 − D2 1 L Leq eq 1 ~ − ⋅x + 0 C1 R 1 0 − C2 R Vc1 + Vc 2 Leq −I C1 −I C2 Vc1 − Vc 2 Leq v ~ g −I ~ ⋅ d s .
48 = ⋅ ~ C1C 2 2s 2 ∆d s L C + C Ls 1 2 (C1 + C 2 ) ⋅ + + 1 R(1 − Ds ) 2 (1 − Ds ) s ~ ~ ~ The low frequency approximation of the ∆d to. d s 4 Ls Eq.Because D1=D2. One could raise the concern as to whether or not the deviation of duty cycle would affect the inductor current. 47 ~ ~ ~ The ∆d to. Equation 46 ~ ~ shows that d s to.vc1 − vc 2 transfer function is: ~ ~ vc1 − vc 2 − 2 I .iL transfer function is similar to dutytocurrent transfer function for a singleswitch PFC. the system is reduced to a secondorder system. Another transfer function is derived from Equation 45. ~ = Leq s ds ~ V iL Because Leq = 4 L and Vc1 + Vc 2 = Vo . Eq. 49 An active balance loop can be formed based on this relationship. for f << ~ ≈ s (C1 + C 2 ) ∆d 1 − Ds CC L 1 2 C1 + C 2 Eq.(vc1 − vc 2 ) transfer function is: s 2 L(C1 + C 2 ) s (C1 − C 2 ) ⋅ (Vc1 − Vc 2 ) Ls + 1 + 4I ⋅ + s ~ ~ 1 − Ds R(1 − Ds ) 2 vc1 − vc 2 − 1 4(1 − Ds ) . The high frequency approximation can be expressed as: ~ iL Vc1 + Vc 2 . 90 . The current compensator of a conventional single switch PFC can therefore be adopted. ~ ≈ o .
~= 2 C1C 2 ∆d s L C + C L 2 1 2 (1 − Ds ) ⋅ R ⋅ + + 1 s R (1 − D s ) 2 (1 − Ds ) Eq. 91 .3.~ ~ ∆d to. means that deviation of duty cycles does not affect the inductor current. To decrease the current ripple.iL transfer function is: CC C − C2 1 ( sR 1 2 + 1) ⋅ (Vc1 − Vc 2 ) + (Vc1 + Vc 2 ) 1 ~ iL 2 C1 + C 2 C1C 2 . Inductor current is the integration of vin − vam − vmb . The switches are 180o phaseshifted (see Figure 74).3 PWM Pattern The voltage across the inductor vL = vin − vam − vmb . interleaving technology is applied [39].1. Then. 410 When 5% capacitors are used. we can say that Vc1 − Vc 2 ≈ 0 . which ∆d capacitors are well balanced. where vam and vmb are pulsating voltages with similar duty cycles. 4. we can say that C1 − C 2 ≈ 0 . If the output C1C 2 ~ iL ~ ≈ 0 . iin S1 S2 Ts/2 Ts iin S1 S2 Ts Ts /2 (b) (a) Figure 74 PWM operation in Rsoff mode: (a) Duty cycle >50% and (b) Duty cycle <50%.
Figure 75 shows that for each half cycle. we assume that Vc1 = Vc 2 = Vout .2 Topology at Rson Mode When the RS is turned on.3. 2 + V in  (a) + V in  (b) Figure 75 Operation of 3LPFC at Rson mode: (a) Active parts at positive half cycle and (b) Active parts at negative half cycle. the equivalent circuit is shown in Figure 76. switching frequency can be reduced to half of the original one while maintaining very small current ripple amplitude. 92 .With the 180o phaseshifted PWM. Applying the threeterminal averaging techniques. 4. For each half cycle. Lowering the switching frequency can increase efficiency. we can obtain the average model and derive the smallsignal model (Figure 77). only half of the circuit is active.
1 Current Loop Difference and Compensation ~ V i The dutytocurrent transfer function in Rsoff mode is: ~ = o . 4. control parameters changes accordingly. ~= d 2 Ls Eq.3 with the change of power stage topology.L + + Vo 2 − Vin  Figure 76 Equivalent highfrequency model 3LPFC at Rson mode L + ~ iL Vin  ~ iL⋅D ~ IL ⋅d + ~V −d o 2 − Figure 77 Smallsignal model for Equivalent circuit at Rson mode The high frequency approximation of dutytocurrent transfer function is: ~ Vo iL .4. d s 4 Ls 93 . 411 4. As discussed in section 4.4 Control Parameters for Rsoff and Rson modes The PWM patterns and switching frequency differ at Rsoff and Rson modes.
1. Eq.4. current sensor gain is different.2 Voltage Loop Difference and Compensation In Chapter 3. where g c = k in _ rms = . As we discussed in 4.4. The current compensator is the same for both 4 Ls 2 Ls Rsoff and Rson modes. which results in different g c . K i 2 Vout Cs K iVout K ff is different for the two different mode.~ V i The dutytocurrent transfer function in Rson mode is: ~ = o . as follows: K iRsoff K iRson = 2. 412 We have Vout V ⋅ K iRsoff = out ⋅ K iRson . For the two modes. we discussed 2 the controltooutput voltage transfer function: Gv = V gc K in K m . L1 S1 C1 S2 L2 C2 + + Figure 78 Current sensors for 3LPFC with RS 4. d 2 Ls Two current sensors are installed in the 3LPFC as shown in Figure 78. so 94 .
4. The difference in voltage loop is compensated by software. Vin iin Power Stage Vc2 Vc1 Ki PWM PWM ADC Kout ADC Kout ADC Kin ADC d1 d2 Current Compensator A Low pass filter ∆d C Balancing compensator AB C2 B Iref Delay Voltage Error Amplifier ADMC401 Figure 79 Digital Control structure for 3LPFC with RS 95 .g cRsoff g cRson = K iRson 1 = . 413 where g cRsoff is the value of g c at Rsoff mode and g cRson is the value of g c at Rson mode. The design method is the same with single switch PFC. When the converter is started. K iRson 2 Eq.5 Control structure of 3LPFC Converter Figure 79 shows the digital control structure of for 3LPFC w/ RS. the initialization program sets up the control parameters accordingly. The structure includes three compensators and one low pass filter.
output voltage and midpoint voltage waveforms Figure 81 shows the improved efficiency in Rsoff mode with digital control.6 Experimental Results Figure 80 shows experimental results in Rsoff mode.4. Input power factor is over 99%. Vin Iin Vo Vm Figure 80 Input current (w/o EMI filter). which means active balance is effective.96 0.99 0.98 0. input voltage. 0.94 0.95 0. Middle point voltage is about half of output voltage.97 Efficiency 0.93 0.92 80 130 180 230 Analog control Three Level PFC RS off Analog control Three Level PFC RS on Digital Controlled Three level PFC Input voltage (Vac) Figure 81 Efficiency comparison between analog controlled 3LPFC and digital controlled 3LPFC 96 .
When analog control is applied.1 Conclusions Digital control is the trend for tomorrow’s DC power supply systems. Digital control has its disadvantages. noise immunity and capability to implement complex control methods. It is necessary to know the requirement for ADC resolution. Although the passive balancing method can balance the output capacitor voltage. Then. This thesis presents a generalized analysis of sampling frequency. Despite the merits of communication ability. and the difference in power stage model and control parameters are studied. The active 97 . The PWM operation at Rsoff mode. DPWM resolution and the system clock. there are concerns as far as the underdesign of balance resistors. Experimental results demonstrate improved efficiency at Rsoff mode. Chapter 4 discusses optimal control for 3LPFC with RS circuit. Simulation results are presented to prove the effectiveness of this solution. DPWM resolution and ADC resolution requirements.5 CONCLUSION AND DISCUSSION 5. DPWM resolution and digital delay is the bottleneck in implementing digital control for PFC. The experimental result is presented. Previous works show that analog control compromises performance in Rsoff mode. The CFF compensation method is proposed to improve PF with low current loop gain design. implementing optimal control requires much more extra analog components for 3LPFC. Optimal controls for the two distinct modes are implemented using a digital controller. the effect of digital delay and how it influences the performance of PFC are studied. The design experience and implementation of a digital controller for PFC are discussed. Digital control implements optimal control without extra components.
The frequency responses are derived in Chapter 4. One of the goals of research in PFC is to achieve higher power density. Experimental results prove the effectiveness of the active balancing method. 5. Mixedsignal design is also possible. which might require several adders and dividers. this will remain the most challenging aspect for implementing digital control for DPS. but also helps to reduce digital delay and improve performance. The active balancing method is developed. In reality. The sequential execution of DSP is the main source of computation delay. However the huge amount of calculation required by PFC controller may result in a complex structure.2 Future Work This thesis gives a general study of DPWM resolution. Digital delay is another factor for digital control. Even with the promise of hybrid PWM and development of IC industry [32]. The exact effect of the PWM error may be tested in simulation or experiment. frequency and shape of the PWM error are related to input voltage. 98 . current reference and current loop gain and bandwidth. Studies included in this thesis shows that pushing the switching frequency may increase the DPWM resolution requirements. One of the methods pushes switching frequency up to reduce the bulky boost inductor. Studies in Chapter 4 show that changing the two switch duty cycles can not only influence inductor current but also change the output capacitor voltages. More accurate models may be established for study. Further research is required for cost effectiveness of digital control.balancing method is introduced. Thus ASIC design is not only a low cost approach. Currently. most digital control for PFC is realized by a DSP.
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1c Theorem.APPENDIX I Following are theorems we will use in this appendix. f (t ) < 0 104 . then ∫ b a f (t ) dt = ∫ c a f (t ) dt + ∫ f (t ) dt .1a Theorem. then so is f (t ) . and f (t ) ≥ 0 . If f (t ) is integrable on { a ≤ t ≤ b }. If f (t ) ≥ g (t ) there. c b A. and c is an intermediate point. a b f (t ) and g (t ) are integrable on { a ≤ t ≤ b }. and if c is a constant. If f (t ) is integrable on { a ≤ t ≤ b }. and ∫ b a f ( t ) dt ≥ ∫ b a f ( t ) dt . If f (t ) is integrable on { a ≤ t ≤ b }. it is convenient to set up some notation. f + (t ) = 0. Before we proceed to the next conclusion. A. Given a function f (t ) . then b a cf ( t ) dt = c ∫ f ( t ) dt . A. and if ∫ b a f ( t ) dt ≥ ∫ b a g ( t ) dt .1d Theorem. we define the corresponding functions f + (t ) and f − (t ) by f (t ). then cf (t ) is integrable there and ∫ A.1b Theorem.
f (t ) dt < 0 a and ∫ To have b a f (t ) dt = ∫ f + (t )dt + ∫ f − (t )dt . Then. we have 105 . we have f (t ) = f + (t ) − f − (t ) . t ⊂ [a. f (t ) ≥ 0 f − (t ) = . f (t ) < 0 − f (t ). a a b b ∫ b a f (t )dt = ∫ f (t ) dt . Because f − (t ) ≥ 0 . we have a b ∫ b a f + (t )dt − ∫ f − (t )dt = ∫ f + (t )dt + ∫ f − (t )dt . 0. t ⊂ [a. Then. b] which means f (t ) ≥ 0. we have ∫ b a f (t ) dt = ∫ b a f + (t ) dt − ∫ f − (t ) dt a b b f + (t ) dt − b f − (t ) dt . we have f − (t ) = 0. b] Or. ∫ ∫a = ab b − + ∫a f (t ) dt − ∫a f (t ) dt . a a a b − a b b b ∫ b a f (t )dt ≥ 0 ⇒ ∫ f (t )dt = 0 . ∫ ∫ a b b f (t ) dt ≥ 0 . and f (t ) = f + (t ) + f − (t ) .
∫ b a f − (t )dt − ∫ f + (t )dt = ∫ f + (t )dt + ∫ f − (t )dt . 3T δ1 2 4 = ∫−T f (t − ) cos(ωt )dt T 4 ω Eq. A14 For ∫ 3T 4 −T 4 f (t − δ1 ) cos(ωt )dt . a a a b + a b b b ∫ b a f (t )dt < 0 ⇒ ∫ f (t )dt = 0 . t ⊂ [a. the amplitude of the waveform is M (M>0). 2 n =1 Eq. we can have its Fourier series: f (t ) = C0 ∞ + ∑ C n cos(nωt + δ n ) . T ∫0 Eq. A12 Function f (t ) cos(ωt + δ 1 ) is periodic with a period of T so: C1 = 2 T f (t ) cos(ωt + δ 1 )dt T ∫0 . For any periodic function. b] . A13 We have 2 T C1 = ∫ 3T 4 −T 4 f (t − δ1 ) cos(ωt )dt . ω Eq. which means f (t ) ≤ 0.c): ω 106 . we have f + (t ) = 0. t ⊂ [a. Because f + (t ) ≥ 0 . Assuming the periodic function is f (t ) = f (t + T ) . A11 where C1 = 2 T f (t ) cos(ωt + δ 1 )dt . Then we have f (t ) ≤ M . b] . we have (see Theorem A1.
From Eq. ω 107 . the fundamental component amplitude is less than or equal to 4M π . A16. which has amplitude of M (M>0). A15 Because f (t ) ≤ M . Eq. f (t − δ1 ) ⋅ cos(ωt ) ≤ M cos(ωt ) . we have 2 T C1 ≤ ≤ = ∫ 3T 4 −T 4 f (t − 3T 4 −T 4 δ1 ) cos( ω t ) dt ω 2M T 4M ∫ cos( ω t ) dt . A16 M ⋅ cos(ω t ) dt With Eq. ω With Equation A15. we must have ω 4 δ1 ) =M. A16. A17 π For any periodic function f (t ) . Eq. Eq.∫ 3T 4 −T 4 f (t − 3T δ1 δ 4 ) cos(ωt )dt ≤ ∫−T f (t − 1 ) cos(ωt ) dt ω ω 4 =∫ 3T 4 −T 4 δ f (t − 1 ) ⋅ cos(ωt ) dt ω . we have ∫ 3T 4 −T 4 3T δ1 δ 4 f (t − ) cos(ω t ) dt ≤ ∫−T f (t − 1 ) ⋅ cos(ω t ) dt ω ω 4 ≤ ∫ 3T 4 −T 4 . to have f (t − ∫ 3T 4 −T 4 f (t − 3T δ1 4 ) cos(ωt ) dt = ∫−T M ⋅ cos(ωt ) dt .
t ⊂ [ . t ⊂ [ T 3T ω 4 4 cos ω t < 0 . ) 4 4 results in a square waveform. If f (t − δ 1 ) cos(ωt ) ≤ 0. to have ∫ 3T 4 −T 4 f (t − 3T δ1 δ 4 ) cos(ωt )dt = ∫−T f (t − 1 ) ⋅ cos(ωt ) dt . ) 4 4 t ⊂[ −T T . ω ω 4 we must have f (t − δ1 − T 3T ) cos(ωt ) ≥ 0. f (t − ) cos(ωt ) ≤ 0.As we discussed before. ) 4 4 f (t − If δ1 − T 3T ) cos(ωt ) ≥ 0. t ⊂ [ . ) 4 4 . have δ f (t − 1 ) = + M . ). In both case. 3T ) . 108 . then we T 3T ω 4 4 t ⊂[ . 4 ) δ1 − T 3T . ω δ1 f (t − ω ) = − M . t ⊂ [ . ω −T T . ) . ω 4 4 t ⊂[ then we have δ1 f (t − ω ) = M . ) 4 4 . ) ω 4 4 or −T T cos ω t ≥ 0 . t ⊂ [ − T . the periodic function T 3T t ⊂[ . t ⊂ [ 4 . We know . δ f (t − 1 ) = − M .
P. In the fall of 2001. in Beijing. she entered the Center for Power Electronics System (CPES) at Virginia Tech to pursue her Master’s degree. 109 . People’s Republic of China. China. in Guangzhou. degree in Electrical Engineering from Tsinghua University in 2001.VITA Manjing Xie was born on March 11. Her research interests include switchmode power supplies and digital control for DC power supplies.R.S. 1978. She received a B. Guangdong.