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Design and Control of A Buck-Boost DC-DC Power Converter PDF
Design and Control of A Buck-Boost DC-DC Power Converter PDF
Robin Vujanic
Semester Thesis
July 2008
Supervision:
Dr. S. Mariethoz
Prof. M. Morari
Contents
1 Introduction 1
1.1 Motivation and Objectives . . . . . . . . . . . . . . . . . . . . . . . . . 1
1.2 Converter Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Synchronous Rectification . . . . . . . . . . . . . . . . . . . . . . . . . 5
1.4 Degrees of Freedom . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3 Power Losses 33
3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.2 Losses Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
3.3 Modeling Power Losses . . . . . . . . . . . . . . . . . . . . . . . . . . 35
iii
Contents
4 Controller Design 41
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
4.2 Why MPC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
4.3 Basic Control Strategies . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
4.3.1 Buck, the Simplest Mode . . . . . . . . . . . . . . . . . . . . . 43
4.3.2 Boost Mode and the Gain Scheduling Technique . . . . . . . . 44
4.4 Buck-Boost Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
4.4.1 The Feedforward . . . . . . . . . . . . . . . . . . . . . . . . . . 47
4.4.2 The Feedback . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
4.4.3 Results . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
5 Conclusion 59
Bibliography 61
iv
Chapter 1
Introduction
Abstract
A study on the properties and control of a promising circuit topology for a DC-DC buck-
boost power converter is presented. The circuit contains four transistors operated syn-
chronously in couples. We propose a set of mathematical models to describe this circuit,
and an approach to determine the behavior of the losses occurring inside of it. These are
then combined in order to achieve a control scheme that drives the circuit while mini-
mizing said losses. The control strategy proposed here is based on a combined feedback
(MPC) and feedforward action. Control performance parameters such as disturbances
rejection capability have been investigated as well.
T he present work deals with the design and control implementation of a Buck-
Boost DC-DC power converter.
1
CHAPTER 1. INTRODUCTION
unregulated DC regulated
v in vout
DC
Figure 1.1: Abstract functionality of a DC-DC Power Converter: an unregulated input voltage
is transformed into a regulated (i.e. clean) output voltage; The output reference voltage, in
the case of a buck-boost converter, can be set to be either smaller, larger or equal the input
voltage.
The topology was not exploited to its fullest; it was studied and controlled
only either in its full-buck mode or in its full-boost mode (see Chapter 2 for
what is meant with full-buck, full-boost modes), thereby simplifying the
analysis but causing unsatisfactory results as well.
first, with PID and LQR controls it is difficult to implement state and in-
puts constraints (which arise in a natural way when dealing with the con-
trol of this plant); an approach via saturators was attempted, but still the
controller performance was unsatisfactory, especially in the boost mode;
second, especially with the PID approach the control of a multiple-inputs
plant becomes considerably more challenging compared to a single-input
plant; since the plant was considered always either in its full-boost or in
it full-buck mode, this problem has not actually been faced
2
1.2. CONVERTER TOPOLOGY
T1 T3
C
+
L RL
Vin Vout
-
T2 T4 RC
Figure 1.2: Schematic of the circuit topology used to achieve DC-DC power conversion; the
different stages are depicted, and notice the load, which is simulated by a current source for
the moment. Later, it will be replaced by a Load resistance for calculations.
The controllers did not account for the losses inside the circuit, nor a model
for these losses was established.
The present work shows the advances made with respect to these limitations.
3
CHAPTER 1. INTRODUCTION
d1 1-d1
a)
dead-time dead-time
phase d2
b)
dead-time dead-time
Ts
Figure 1.3: Typical gate signals obtained for a certain choice of (d1 , d2 , ); (a) depicts the
signals sent to the first couple of switches (T1 and T2) while (b) shows the signals sent to T3
and T4 (also notice the phase there).
On an important side note, in order to safely avoid the occurrence of both switches
being on (which would lead to shoot-through), short periods of time between the
switchings are introduced, during which both transistors are turned off; these are
so-called dead times2 . This way of operating switches for current rectification is
referred to as synchronous rectification and is briefly discussed in Section 1.3.
Getting back to the discussion on the active times of the switches, the following
naming convention has been used (see Figure 1.3): the time during which T1 is on
(and therefore T2 is off) is denoted as d1 . Since all of the switches are operated in a
cyclic manner (as it is usual in power converter designs), d1 is actually the portion of
time over a cycle during which T1 is on. To make an example, d1 = 0.2 means that
T1 is on 20% of the time of an entire cycle, and is usually referred to as the duty-
cycle of T1. Therefore, if negelecting small dead-times, 1 d1 is the time portion
during which T2 is on (i.e. the duty-cycle of T2). The same principle applies for
the second leg, where the portion of time during which T3 is on is denoted as d2
(and therefore 1 d2 is the time during which T4 is on).
Further, notice that the two duty cycles d1 and d2 can be shifted one relative to
2 During these times, if necessary, conduction is ensured by the body-diodes found in parallel with the
4
1.3. SYNCHRONOUS RECTIFICATION
the other by adding a phase between them, which is denoted with 3 . These duty
cycles (d1 and d2 ) and the phase are important variables affecting the behavior of the
circuit because they are in fact the variables that are going to be controlled in order
to achieve the desired output voltage signal. Figure 1.3 shows the typical look of the
gate signals corresponding to certain choices of d1 , d2 and phase and illustrates the
concept of the dead time.
Note: especially when considering the circuit in its pure boost version, this
choice for d2 is *not* consistent with the literature where d2 would be the time dur-
ing which T3 is off. This controvert convention was adopted at the beginning of this
study and was kept later on for compatibility with initial results.
For the rest of the circuit, the names used for the components is to be understood
as follows:
L, C, Rload , RC , RL : these are the components inside the circuit. L and C are the
inductor and the (output) capacitor, Rload is the resistor used to model a load
on the output, RC and RL are the parasitic ESRs (Equivalent Series Resistances)
to L and C.
Note: unfortunately, C is also the de-facto established symbol for a matrix in
the standard matrix form of the state-space description of systems, and this
convention for naming this matrix is also used here (see below). However, the
meaning of each instance of C is clear from the context.
vin , vout , vC , iL : input and output voltages, voltage across the capacitor, cur-
rent through the inductor.
Note: in order to avoid confusion, voltages are going to be denoted with the
letter v and inputs (to the plant, see Chapter 4) with the letter u.
W hile earlier DC-DC power converters relied on the use of diodes for current
rectification (which is necessary for the converters operation), increased per-
formances have been achieved by adopting synchronous rectification in the design
of the power supply instead. Synchronous rectification means that the functionality
3 Forreadability of the code developed for this project, it is to be noted that a unit-less denotation has
been used for the phase. A phase of 0.3 means that the d2 signal is shifted of 30% of a duty cycle with
respect to the d1 signal, i.e. the switch T3 is going to switch in the on mode 30% of a cycle later than
when the switch T1 was turned on.
5
CHAPTER 1. INTRODUCTION
once provided by the diode - i.e. current rectification - is now undertaken by a recti-
fying transistor, typically a MOSFET. Such rectification improves efficiency, thermal
performance, power densities, manufacturability, reliability as well as having typ-
ically faster switching transients, and decreases the overall system cost for power
supplies (Selders 2003). These performance increases are mainly due to the fact that
the on-resistance of MOSFETs, RDS,on , can be reduced either by increasing the size
of the die or by paralleling discrete devices, while the forward voltage-drop across
diodes cannot be lowered under a certain (physically imposed) limit; this motivates
the choice of using synchronous rectifiers in the circuit topology studied for this
project.
Two typical surfaces showing how the vout /vin ratio behaves with respect to the
(d1 , d2 , ) variables at steady state are depicted in Figures 1.5 a) and b).
It is confirmed from this surfaces that the general behavior of the output voltage,
in the ideal case, follows the equation:
d1
vout = vin (1.2)
d2
Some important aspects emerging from this figure have to be highlighted:
First, notice how this confirms the choice of naming buck and boost the
two legs composing the converter made previously; in fact, d1 (the duty cycle
corresponding to the buck leg) is a multiplicative factor to vin between zero
and one, while d2 (duty cycle of the boost leg) is a multiplicative factor to
vin between one and .
Second, this figure also shows that the output voltage varies linearly with
varying d1 while instead, when varying d2 , it varies non-linearly. The non-
linearity of the boost stage will have deep consequences for the development
of the control (it is going to pose a major challenge for the design of a valid
controller); this is going to be discussed more in detail in Chapter 2 and 4.
6
1.4. DEGREES OF FREEDOM
v / v = f(d1,d2)
out in
5
vout / vin
0
1
0.5
d1
0.9 1
0.7 0.8
0.5 0.6
0 0.3 0.4
0.1 0.2
d2
0.9
0.8
0.7
0.6
d2
0.5
0.4
0.3
0.2
0.1
0 0.4
0.2 0.3
0.4 0.2
0.6
0.8 0.1 d1
phase 1 0
Figure 1.4: Dependence of the output voltage from the inputs of the plant, i.e. (d1 , d2 , )
7
CHAPTER 1. INTRODUCTION
0.7
0.1
0.8
0.4
0.6
0.9
9
0.05
0.
1
0.2
0.3
0.8
1.2
0.5
0.7
0.8
9
0.7
0.
1
0.6
0.4
0.6
0.1
1.2 1.4
d2
0.05
1.6
0.2
0.3
0.5
1.8
0.5
2
0.8 1
9
0.
0.4
0.7
1.4 1.6
1.2
0.6
1.8 2.4
0.4
0.3 2
3 3.4
0.1
4
0.2 1.4 1.6 2.4
1 5
0.3
0.2
3 3.4
9
1.2 1.8
0.5
0.8
0.
2 4 6
0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9
d1
Figure 1.5: Output-voltage iso-lines resulting from slicing Figure a) with planes perpendicu-
lar to the vertical axis. Notice that all the points along each of these curves represents d1 ,d2
combinations that will always deliver the same vout /vin ratio.
Third, notice from Figure 1.5 b how the vout /vin ratio does not depend on
the phase ; and while the vout /vin ratio is unaffected by changes in , vari-
ables describing the circuit state (in particular the inductors current iL ) are
indeed going to be affected by changes in the phase, resulting in different per-
formances in terms of losses. This is a very important aspect, and leads to our
first degree of freedom: the phase4 .
Fourth, slicing this surface along planes perpendicular to the vout /vin (z-
)axis results in the set of curves depicted in Figure 1.5. This is the set of curves
of constant output voltage as a function of d1 and d2 . This is also a result of
fundamental importance because it leads to our second degree of freedom:
each choice of d1 and d2 along one of these curves will always lead to the same
output voltage.
The main objective of this project can now be stated as follows: by exploiting
these two degrees of freedom we will be able to affect the state of the circuit;
thus, many internal states will lead to the same output voltage, and the main task
will be to choose among all these possibilities the one that will lead to the least
possible power losses - i.e. to the most efficient way of driving the circuit.
This has been achieved as follows: first, different models of the circuit have been
4 The wording degree of freedom is used to highlight the fact that can be chosen arbitrarily while
8
1.4. DEGREES OF FREEDOM
developed for different purposes, see next Chapter. After that, a thorough study of
the losses inside the circuit has been conducted using some of these models; this is
exposed in Chapter 3. Based on the study of the losses, the design of a control that
drives the circuit while accounting for losses has been done, and will be presented
in Chapter 4. Chapter 5 is a conclusive chapter, where possible outlooks will be
discussed and a summary of this project will be given.
9
Chapter 2
Models of the Circuit
Bildung ist das, was uebrig bleibt, wenn der letzte Dollar
weg ist.
Mark Twain
T he circuit being considered in this work is depicted in Figure 2.1. Notice that for
the development of the models, the output load is simulated with a resistance,
Rload . The meaning of the rest of the symbols has been exposed in Section 1.2.
In order to develop a controller, tools in order to forecast how the behavior of the
plant and the losses are going to be are necessary. In this work, two such tools have
been used:
T1 T3
C
+
L RL
Vin R load Vout
-
T2 T4 RC
Figure 2.1: Schematic of the circuit topology used to achieve the equations of the analytical
models.
11
CHAPTER 2. MODELS OF THE CIRCUIT
The states are the current through the inductor iL and the voltage across the
capacitor vC .
Two of the inputs are the duty cycles that are imposed on the two pairs of
switches (one duty cycle for the input leg, one duty cycle for the output leg),
and a third input is the phase between the two duty cycles. As explained
previously, only one duty cycle is necessary in order to control two switches
because they must work in a complementary manner.
The output is the output voltage (equal to vC in the ideal case - i.e. no ESR).
d1 Converters Circuit
u (plant) vout
d2
phase iL,vC
(states)
Figure 2.2: Block diagram for the plant, depicting the inputs, the states and the output.
What is not going to be considered (at least for the formalization of the analytical
models) are the following non-idealities:
Dead-times: they are implemented in the PLECS simulations but not in the
analytical models (see Section 2.3-2.4).
12
2.2. SIMULATIONS IN PLECS
But the essential behaviors discussed in this work are still going to be present
and are still going to be important aspects for design decisions.
The only parasitic components considered are going to be RL and RC , mainly
due to backwards compatibility with previous works (Frehner 2007).
Reverse recovery and voltage drop of diodes, skin and proximity effects of in-
ductors, transistors channel resistances and drain capacitance charge/discharge
mechanisms are some of the processes which are not modeled. Including them
in an analytical model greatly increases complexity (basically each additional
capacitance or inductance adds one more state to the model), and, further,
their presence influences homogenously the total losses rather than increasing
one in particular between the conduction or the switching losses (see Chapter
3). Since we are interested in a comparison between these tzpe of losses rather
than in their total amount, and since the stress for this study has been put on
simplicity and generality, these effects have been neglected.
In the following sub chapters, the two methodologies (PLECS Simulations and
Analytical Models) are described more in detail.
T hese simulations have been used extensively at the beginning in order to gain
an understanding of the general behavior of the circuit without having to dwelve
too much into differential equations. The Simulink schematic used for these pur-
poses is shown in Figure 2.3.
What has been done in this case is the following: first, for
D1 = {d1 R | 0 d1 1}
D2 = {d2 R | 0 d2 1}
P HASE = { R | 0 phase 1}
U := D1 D2 P HASE
has been gridded, resulting in U U . Then, for each knot of the discretized set
U U , the behavior of the circuit has been studied.
The results of a single simulation done with PLECS can be seen in Figure 2.2,
where the predicted inductor current is depicted. As can be seen, this prediction
13
CHAPTER 2. MODELS OF THE CIRCUIT
1. First, simulation times are much longer: this approach can increase calculation
times by hundreds. On one side, this makes evaluation of changes of circuit
behaviour with respect to small changes in components, control strategies etc,
less viable. And on the other hand, this forces the use of a wider grid for
the discretized set U . Larger grid translates into less accurate evaluation of
optimal input trajectories (optimal with respect to losses, see Chapter 3).
14
2.2. SIMULATIONS IN PLECS
PLECS Simulation
30.24
30.22
30.2
30.18
iL(A)
30.16
30.14
30.12
30.1
2.97 2.971 2.972 2.973 2.974 2.975 2.976 2.977 2.978 2.979 2.98
time (s) -3
x 10
30.26
30.24
30.22
i L(A)
30.2
30.18
30.16
30.14
30.12
0 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1
time (s) -5
x 10
Figure 2.4: Comparison between the result for the inductors current iL of a PLECS simula-
tion with the prediction of the analytical model.
tion times.
3. Third, in order to develop the control and in general to gain a tool with which
it is actually possible to have a grasp on the plant, it is going to be necessary
to obtain the analytical equations in any case.
Nonetheless, testings of results were sometimes made with PLECS mostly for
validation purposes; especially in order to assess the controller performance later,
the plants behavior was simulated with a PLECS circuit.
15
CHAPTER 2. MODELS OF THE CIRCUIT
16
2.3. BASIC ANALYTICAL MODELS: FULL-BUCK AND FULL-BOOST
diL dvC
vin = iL RL + L + vC + R C C (2.1)
dt dt
dvC vC dvC RC
iL = C + +C (2.2)
dt Rload dt Rload
Then, consider the complementary case where T1 is off, and T2 is on; the same
equations hold basically, if vin is taken to be zero. Again, applying KCL and KVL
leads to:
diL dvC
0 = iL RL + L + vC + RC C (2.3)
dt dt
dvC vC dvC RC
iL = C + +C (2.4)
dt Rload dt Rload
The basic idea of the averaging technique is now the following: the set of Equations
2.1-2.2 is valid during the portion of cycle time d1 , while the other set, Equations
2.3-2.4 is valid during 1 d1 . Multiply each set of Equations with these weights, and
then sum them together; simple algebraic reorganization of that result leads to:
diL RL RC Rload 1 RC vin
= + iL + + vC + d1 (2.5)
dt L L (RC + Rload ) L L (RC + Rload ) L
dvC Rload 1
= iL vC (2.6)
dt C (Rload + RC ) C (Rload + RC )
For the output the following equation holds in both switching positions (no actual
averaging is therefore required):
dvC
vout = vC + C RC (2.7)
dt
17
CHAPTER 2. MODELS OF THE CIRCUIT
dvC
Equation 2.7 can be expanded by substituting dt from Equation 2.6, and after some
algebraic manipulation we obtain:
iL Rload vC
vout = vC + RC (2.8)
Rload + RC
Equations 2.5-2.6 and 2.8 are the averaged model. It is evident that a matrix version
of these equations in the standard linear state-space description can be obtained
without the need of an additional linearization because, as can be observed (and
as explained previously), the equations are linear in the states and in the inputs by
themselves. The standard matrix formulation is:
x = Ax + Bu
(2.9)
y = Cx + Du
with:
i
x= L
vC (2.10)
u = d1
and:
" #
RC Rload
RLL + L1 + L(RCR+RC
L(RC +Rload ) load )
vin /L
A= Rload 1 B=
C(Rload +RC ) C(Rload +RC ) 0
(2.11)
h i
RC RC
C = Rload Rload +RC 1 Rload +RC D= 0
18
2.3. BASIC ANALYTICAL MODELS: FULL-BUCK AND FULL-BOOST
(step 1) The equations are again gained with a combination of KVL and KCL,
with a procedure basically equal to the previous case; after algebraic manipulations,
we achieve the equations valid while the switch T3 is on (and T4 is off)
diL 1 Rload iL vC
= vin iL RL + vC + RC (2.12)
dt L Rload + Rc
dvC 1 Rload iL vC
= (2.13)
dt C Rload + RC
Rload iL vC
vout = vC + RC (2.14)
Rload + RC
diL 1
= (vin iL RL ) (2.15)
dt L
dvC vC
= (2.16)
dt C (Rload + RC )
RC
vout = vC + vC (2.17)
Rload + RC
19
CHAPTER 2. MODELS OF THE CIRCUIT
(step 2) Now we can merge the equations taking their weighted sum. The mul-
tiplicative weight for the first set of equations is d2 , while the weight for the second
set is 1 d2 . Summing them afterward results in the following set of averaged non-
linear differential equations:
diL 1 Rload iL vC
= vin iL RL + d2 vC + d2 RC (2.18)
dt L Rload + RC
dvC 1 d2 Rload iL vC
= (2.19)
dt C Rload + RC
d2 Rload iL vC
vout = vC + RC (2.20)
Rload + RC
Notice from this equations the evident non-linearity, which is due to terms such as
d2 vC .
(step 3) The set can now be linearized, and we choose as linearization point the
dummy point x0 = [iL,0 , vC,0 ] and u0 = [d2,0 ]. The result is the following set of
equations:
diL 1 RC Rload d2,0 RC
= RL + d2,0 iL + 1 vC + ...
dt L RC + Rload L Rload + RC
(2.21)
1 Rload iL,0 vC,0
... + vC,0 + RC d2
L Rload + RC
dvC 1 Rload 1 1
= d2,0 iL + vC + ...
dt C Rload + RC C Rload + RC
(2.22)
1 Rload iL,0
... + d2
C Rload + RC
RC Rload RC
vout = d2,0 iL + 1 vC (2.23)
Rload + RC Rload + RC
which can clearly be expressed in the standard state-space matrix form, and used
once numerical values for x0 and u0 are chosen. Explicitly, this results in the follow-
ing matrix description
x = Ax + Bu
(2.24)
y = Cx + Du
with:
iL
x=
vC (2.25)
u = d2
20
2.4. BUCK-BOOST MODEL
and:
d2,0
1
RL + d2,0 RRCC+R Rload
1 RC
A= L load L Rload +RC (2.26)
1 Rload 1 1
C d 2,0 Rload +RC C Rload +RC
1 Rload iL,0 vC,0
L vC,0 + RC Rload +RC
B=
Rload iL,0
(2.27)
1
C Rload +RC
h i
C = d2,0 RRload
C Rload
+RC 1 RloadRC
+RC (2.28)
h i
D = RRload C Rload
+RC iL,0 (2.29)
This concludes the introductory discussion on the basic full-boost and full-buck
topologies. In the next Section, the discussion is extended to the complete buck-
boost functionality and the results are going to be shown.
1. Operating the switches as discussed in Section 1.2 gives rise to four feasible
combinations of switching states 2.5 compared to the previous cases where we
only had two intermitting states. This is the reason why this converter is called
a four-state converter.
2. This also directly relates to the fact that the equations for the state-times (the
time portions, during which one of the four state is active each cycle) are more
complex than before; the solution to this problem is given below, see Section
2.4.3.
3. Previously the choice of the duty cycles d1 (for the buck) and d2 (for the boost)
was constrained by the vout output demand. For instance, in the buck mode, if
the demand was vout = 10V with a given vin = 20V , then there was only one
feasible d1 which could achieve that demand (which is d1 = 0.5 in the ideal
case). This is no longer the case, as it is going to be shown, since an infinity of
combinations of (d1 , d2 , ) exists that achieves a given vout demand.
21
CHAPTER 2. MODELS OF THE CIRCUIT
5. Another important aspect concerning the modeling is that two different mod-
eling approaches are actually going to be taken this time. The first one is the
usual averaging-technique, which will deliver the model used for the feedback
MPC. The second one is an engineered simulation of the hybrid behavior of
the switched system, described further in Section 2.4.5; the true waveform of
iL (and not only its average) will be reproduced with this model, which will
be used as a reliable tool for assessing the losses behaviour.
In the following, the presentation of the different models needed for the evaluation
of the buck-boost functionality is organized as follows: in Section 2.4.1, the Equa-
tions valid for the mean values of the plants variables at steady state is briefly de-
scribed; in Section 2.4.2, the Equations governing the circuit behavior in each of the
four possible states are presented, and in the subsequent Section 2.4.3, the algorithm
used in order to determine the state times (the weights of the average) is exposed.
The results of these two Sections will be combined in Section 2.4.4 in order to achieve
the average model, and in Section 2.4.5 in order to obtain the hybrid model.
d1
vout = vin (2.30)
d2
vin d1 /d2
iout = (2.31)
Rload
Capacitance:
vC = vout (2.32)
iC = 0 (2.33)
22
2.4. BUCK-BOOST MODEL
Inductance:
vL = 0 (2.34)
vin d1 /d2
iL = (2.35)
Rload d2
For each of the four states depicted in Figure 2.5 the corresponding sets of governing
differential equations is given here below. These differential equations are obtained,
as usual, by applying KVL and KCL laws and then by algebraically reorganizing
them, similar to what has been done in Sections 2.3.1 and 2.3.2. The denotations are
to be understood as follows: State 13 means that switches T1 and T3 are currently
on; State 23 means T2 and T3 are on, and so on.
a) c)
C C
L RL L RL
R load R load
Vin
RC RC
b) d)
C C
L RL L RL
R load R load
Vin
RC RC
23
CHAPTER 2. MODELS OF THE CIRCUIT
diL 1
= [vin RL iL ] (2.39)
dt L
dvC vC
= (2.40)
dt C (RC + Rload )
vC
vout = vC RC (2.41)
(Rload + RC )
diL RL
= iL (2.45)
dt L
dvC vC
= (2.46)
dt C (RC + Rload )
vC
vout = vC RC (2.47)
(Rload + RC )
24
2.4. BUCK-BOOST MODEL
a) d)
b) e)
c) f)
The symbols are understood as follows: t13 is the time spent while T1 and T3 are
on (therefore T2 and T4 are off). Similarly, t23 means T2 and T3 are on, and so on;
interpret the following as a MATLAB-code snippet (i.e. nested if routines where
necessary).
fundamental for properly simulating the switching behavior which is done in Section 2.4.5 in order to
gain the hybrid model
25
CHAPTER 2. MODELS OF THE CIRCUIT
t14 = d1 - (d2+phase);
t24 = 1-d1;
end
if ((phase+d2 - mod(phase+d2,1)) = 0)
t14 = phase - (1-d2);
t13 = 1-d2;
t23 = d1-phase;
t24 = 1-d1;
end
end
if ((phase+d2 - mod(phase+d2,1)) = 0)
t13 = d1;
t14 = phase-(1-d2)-d1;
t24 = 1-d2;
t23 = 1-phase;
end
end
26
2.4. BUCK-BOOST MODEL
diL 1 RC RC
= vin iL RL + vC 1 t13 + ...
dt L 1 + RC /Rload Rload + RC
1
... + [vin RL iL ] t14 + ...
L
1 RC RC
... + iL RL + vC 1 t23 + ...
L 1 + RC /Rload Rload + RC
RL
... + iL t24
L
(2.48)
dvC vC 1
= iL t13 + ...
dt Rload C (1 + RC /Rload )
vC
... + t14 + ...
C (RC + Rload )
(2.49)
vC 1
... + iL t23 + ...
Rload C (1 + RC /Rload )
vC
... + t24
C (RC + Rload )
iL Rload vC
vout = vC + RC (t13 + t23 ) + ...
(Rload + RC )
(2.50)
vC
... + vC RC (t14 + t24 )
(Rload + RC )
27
CHAPTER 2. MODELS OF THE CIRCUIT
iL
= F (iL , vC , vin , d1 , d2 , ) =
vC
i vin i vin
= F13 L + t13 (d1 , d2 , ) + F14 L + t14 (d1 , d2 , ) + ...
vC L vC L
iL i
... + F23 t23 (d1 , d2 , ) + F24 L t24 (d1 , d2 , )
vC vC
(2.51)
with:
1 RC 1 RC
RL + 1
F13 = F23 = L 1+RC /Rload L Rload +RC (2.52)
1 1 1
C(1+RC /Rload ) Rload C(1+RC /Rload )
RL
F14 = F24 = L (2.53)
0
Since this model is non-linear, like the boost version discussed in Section 2.3.2,
a linearization around some operating point, denoted here again x0 = (iL,0 , vC,0 )
and u0 = (d1,0 , d2,0 , 0 ), needs to be made. Such linearization can be written in the
standard state-space matrix form yielding, for A:
F (iL , vC , vin , d1 , d2 , )
A= =
x(iL , vC )
x0 ,u0
(2.54)
= F13 t13 (d1,0 , d2,0 , 0 ) + F14 t14 (d1,0 , d2,0 , 0 ) + ...
... + F23 t23 (d1,0 , d2,0 , 0 ) + F24 t24 (d1,0 , d2,0 , 0 ) R22
The values t13 (d1,0 , d2,0 , 0 ), t14 (d1,0 , d2,0 , 0 ), ..., which are still left undetermined
in this last result have to be determined with the right case-choice from the if-
structure presented in the previous Section.
28
2.4. BUCK-BOOST MODEL
Notice that the last equality in Equation (2.55) is not trivial. First, only after
computation of the partial derivative of the state-times with respect to the inputs,
i.e.:
t13 (d1 , d2 , ) t14 (d1 , d2 , ) t23 (d1 , d2 , ) t24 (d1 , d2 , )
, , ,
u u u u
x0 ,u0 x0 ,u0 x0 ,u0 x0 ,u0
it turns out that for each if-case the B matrix looks always the same, while poten-
tially six different matrices could have arisen for each of the six cases. Second, notice
how the last column of B contains only zeros; this confirms the statement made in
Section 1.4, where it was asserted that the mean of the output voltage does not de-
pend on . Based on this model, it actually turns out that none of the mean values
(i.e. also the internal states mean values) changes if the phase is varied7 .
For the C and D matrices, the derivation of the output Equation with respect to
the states and the inputs has to be made, leading to8 :
h i
Rload RC RC
C= Rload +RC (t13 + t23 ) 1 Rload +RC
R12 (2.56)
x0 ,u0
Rload RC (t13 + t23 )
D = iL,0 R13 (2.57)
Rload + RC u
x0 ,u0
7 The fact that the output mean value is not influenced is in fact a consequence of this fact, and therefore
only indirectly a consequence of the fact that the last column of B only contains zeros.
8 In the MATLAB routines attached to this document, approximations for these matrices have usually
29
CHAPTER 2. MODELS OF THE CIRCUIT
This ends the discussion about the models needed for the feedback part of the
control scheme, discussed in Section 4.4.2.
State 13:
vout
vL = vin vC + iL iL RL (2.58)
Rload
State 23:
vout
vL = vC + i L iL RL (2.59)
Rload
State 14:
vL = vin iL RL (2.60)
State 24:
vL = iL RL (2.61)
Then, integrating
vL
diL = dt (2.62)
L
over the period of time during which each state is active (thereby approximating
with the assumption that vL be constant) readily gives the desired waveform with
the small addition that the offset still needs to be adjusted. This can be done either
by using the approximative equation for the mean iL at steady state (2.35), which is
done here (because of its simplicity) with good results, or by enforcing the constraint
that the current at the beginning of each period must be equal the current at the end
of it.
9 http://control.ee.ethz.ch/ hybrid/hysdel/
30
2.4. BUCK-BOOST MODEL
Figure 2.2 shows for one given (d1 , d2 , ) coordinate that the two approaches
agree up to 0.1%; it can be verified that the prediction for iL obtained this way is
accurate also for other choices of u.
As stated previously, the results from this hybrid model are used afterward to
make assessment regarding the behavior of switching and conduction losses; this is
going to be the main topic of Chapter 3.
31
Chapter 3
Power Losses
3.1 Introduction
ur objective is to drive the circuit while minimizing the losses occurring inside
O of it. In order to do this, models for the behavior of these losses are necessary;
i.e. the aim of this Chapter is to present how this mapping, Ploss = f (d1 , d2 , ), can
obtained.
T here are two different types of losses occurring inside the circuit: Conduction
Losses (PConduction ) and Switching Losses (PSwitching ); in the following, these
two types of losses are going to be shortly described.
Conduction Losses
These are losses of resistive type, and, for the particular circuit that is investi-
gated, they are produced because of current flowing through the following resistive
media:
Inductances ESR
33
CHAPTER 3. POWER LOSSES
Being these losses of resistive type, they can be modeled to be proportional to the
square of the RMS value of the current flowing inside the circuit, i.e.:
Note: this estimation is already an approximation, since higher losses will usu-
ally cause a rise of temperature, which is going to affect the values of the parasitive
resistances, which in turn is going to affect the losses.
Switching Losses
The mechanisms involved in the production of switching losses are more com-
plicated than the previous ones. They are produced by the action of turning on
and off active devices on the powers path, therefore they only happen at discrete
times tj (where j indexes all the times at which switchings of a given MOSFET
occur) and for a short period; they occur under the following circumstances (Mohan
et al. n.d.):
switching of power currents (turning on and off currents in the presence of
voltage)
PSwitching,j v(t +
j )iL (tj ) (3.2)
If the MOSFET is turning off, on the contrary, and the current will not be able
to flow through its body diode, then the switching loss can be estimated as
being proportional to the product of the current that was flowing through it
and the voltage that will be applied to the MOSFET after, i.e.:
PSwitching,j v(t+
j )iL (tj ) (3.3)
34
3.3. MODELING POWER LOSSES
because of this, if the current iL is positive (flowing from the input stage to the out-
put stage), then switching losses will occur only at switches T1 and T4. Conversely,
if iL is negative, then switching losses will occur in switches T2 and T3.
On a side note, it can be noted that since these losses occur at switching times,
the more switchings there are, the higher the switching losses will be (if the same
MOSFETs are used), i.e. switching losses grow proportionally to the switching fre-
quency. Therefore, on one hand, switching frequency should not be chosen to be
arbitrarily high. But on the other hand, switching frequency should not be chosen
too low either because that would cause higher ripples on the output voltage.
Also, it is of critical importance to note at this point that during the simulations
described further in this chapter, the magnitude of the losses is estimated using these
very equations. But since these equations only give results that are proportional to the
exact values, their shape will describe the general behavior of the losses properly,
but their magnitude will need to be corrected by an adequate multiplicative correc-
tion constant. This constant will strongly depend on the choice of components that
is going to be made. This aspect is discussed more in detail in the next Section.
35
CHAPTER 3. POWER LOSSES
Figure 3.1: Switching and Conduction Losses for a low vout /vin demand. Values are not
scaled properly, but do give an idea of the percentages. Notice that the switching losses have
a pretty marked behavior in this case; this is probably due to resonant occurrences inside the
circuit which should be investigated further. This image has been selected mainly because it
shows well how conduction and switching loss minima-locations do not necessarily coincide.
A fundamental result of this study is shown in Figure 3.3: it is evident from the
two pictures that the positions at which conduction losses and switching losses
are minimal do not necessarily coincide. The same result can be verified in Figure
36
3.3. MODELING POWER LOSSES
Figure 3.2: Switching and Conduction Losses for a high vout /vin demand. Values are not
scaled properly, but do give an idea of the percentages. The switching losses behavior de-
picted for this case is more representative of what is usually encountered.
3.3. This poses a challenge in the following sense: if the two minimal positions
would coincide, then the minimum of the sum of the two losses would also be at
that same place; but since they do not, it is important to sum up together the correct
values for conduction and switching losses, in order to achieve the correct position
of the minimum of the total. On one side, this means that sometimes there needs to
37
CHAPTER 3. POWER LOSSES
be an optimized trade-off between these two types of losses. On the other hand, this
also means that the exact values of the two losses will influence the position of the
minimum of the sum. Or stated another way round: we saw that the exact values
of switching and conduction losses still depend on the value of the multiplicative
correction terms that need to be applied; these values in turn depend on the choice
of components, and as a consequence the value and position of the minimum total
loss will depend on the choice of components.
Conduction Losses vs
Swiching Losses
phase = 0.8
1.17 phase = 0.2
1.16
1.15
i L (A)
1.14
1.13
1.12
1.11
1.1
2.96 2.964 2.968 2.972 2.976 2.98
time (ms)
30
25
Switching Loss (~)
20
15
10
0
2.96 2.964 2.968 2.972 2.976 2.98
time (ms)
Figure 3.3: Comparison between conduction (upper graph) and switching losses (lower
graph) for two different (d1 , d2 , ) combinations giving both vout /vin = 0.2 (both have
d1 = 0.14, d2 = 0.7). On the first graph, it is clear that the blue curve, with = 0.2 has
overall lower conuction losses, because its RMS value is lower than the red one. On the lower
graph, however, where switching losses are depicted (as losses occurring only at discrete
times) it is clear that the blue inputs combination delivers higher switching losses. Therefore,
it is verified that conduction and switching losses do not necessarily have coinciding minimal
points, since lowering one might cause an increase in the other.
For the successive development of the controller, which will depend on these
38
3.3. MODELING POWER LOSSES
results, a certain choice for the corrective weights has been made, which is in no
way bound to any actual choice of components - as it should. This choice has been
made for prototyping purposes, and appropriate weight still need to be determined
from a proper selection of components.
39
Chapter 4
Controller Design
4.1 Introduction
ased on the research done on the models in Chapter 2 and the Losses in Chapter
B 3, it is now possible to start developing an efficient control for the plant. As a
reminder, our task is to control the duty cycles of each pair of transistors and their
phase, so as to ensure:
first and most important: reaching of and stabilizing around a given output
voltage demand;
reaching the target steady state should happen in the desired manner, i.e. the
controller needs to handle transients properly;
while doing all this, the controller (in the full buck-boost mode) needs to
choose among the infinite possibilities of inputs, that would satisfy the above
conditions, those that will cause the least losses.
41
CHAPTER 4. CONTROLLER DESIGN
and because it works for multiple inputs plants exactly the same way as it
works for the SISO ones, thereby allowing analogous implementations for the
buck/boost (one input) and buck+boost (three inputs) modes; on the contrary,
traditional implementations using control techniques such as PIDs present
many challenges when applied to multiple inputs plants, especially when it
comes to the assessment of control performances such as stability, robustness
and disturbances rejection.
Also, while MPC was previously only applied to slow-dynamics plants, be-
cause the control action needed to be calculated from an optimization problem each
time (on-line control), recent developments made it possible to move the burden of
calculating the control moves off-line, through what is called a multi-parametric
(quadratic in this case) program approach (mpQP), thus allowing to apply MPCs
also to plants with fast dynamics (IfA Website1 ).
Calculating the input move on-line would consist in solving a quadratic program
(QP) each time (if 2-norm cost functions are taken - as it is usually the case), and a
multiparametric approach just means that this optimization problem is parametrized
and solved for a certain set of parameters x (this is the set of all the xs contained
in a predefined constrained set X), and during runtime the correct input is easily
computed by plugging in the parametrized solution the appropriate current state x.
Multiparameter problems allow to calculate so-called explicit MPCs. An explitic
MPC is therefore nothing more than a look-up table that will return the control move
to be taken given some current state x. Notice that this is the same control move that
would be applied if an on-line MPC strategy would be chosen instead of the explicit
one.
Since the control moves are pre-calculated moving around the whole feasible
U X set, it is necessary to constrain it in order to make this procedure end in finite
time. This is why this technique can be applied only to constrained problems. For
this particular plant, the inputs, which are basically the duty cycles and the phase,
1 see (IfA n.d.) http://control.ee.ethz.ch/ hybrid/control.php
42
4.3. BASIC CONTROL STRATEGIES
need to be bounded between 0 and 1. This results in the inputs set U to be delimited
to:
U = u R3 | u [0, 1]3
(4.1)
X, on the other hand, is only loosely constrained, i.e. it is taken to be much larger
then the actual values of the states are ever going to be driven at, just to make the
computation feasible. Notice that other restrictions could be made, in particular a
restriction on the inductor current to be non-negative (if discontinuous mode has
to be considered) and other restrictions to ensure soft-start requirements could be
made2 .
with:
0.9992 0.0498
A=
0.03321 0.9925
0.9997
B=
0.01662
C = 0.9998 0.0009998
D = [0];
2 http://control.ee.ethz.ch/ hybrid/applications.php#powerElectronics
43
CHAPTER 4. CONTROLLER DESIGN
Table 4.1: Values of the components used to test the behavior of the controller.
A typical start-up response of the controlled output can be seen in Figure 4.1.
The details of this implementation, such as the influence of the weights and of the
prediction horizon, are not discussed further, since this is a special case of the com-
plete buck-boost topology; such discussions are going to be made for the general
case in Section 2.4.
44
4.3. BASIC CONTROL STRATEGIES
4
vout (V)
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time (ms)
Figure 4.1: Startup performance of the controller developed for the full-buck operation, with
vout,ref = 6V . Small ripples are visible at steady state, since noise was added to vin in order
to make a first assessment of noise rejection performance.
face this problem from a control perspective is to apply a Gain Scheduling Tech-
nique3 : this technique basically consists in linearizing the system around as many
steady-state points as possible (and at least so many as to ensure the basic require-
ments of controlling) and then to design a control for each of these linearizations; af-
terwards switching policies between these multiple controls need to be established,
thereby obtaining a control that works for the whole region.
In the boost case, due to its low degree of non-linearity, only one of such lin-
earizations is strictly necessary in order to ensure reaching of the target steady-state
vout and stabilization around that point. Of course, the best performance is obtained
when the target steady-state point is at or near to the point around which the model
of the plant was linearized. Taking output demands far from that point result in a
degradation of performance during transients. The extent of this performance loss
depends on the choice of components, but this has not been investigated further;
yet, later in Section 2.4 the discussion on the whole buck-boost functionality is go-
ing to lead to this same topic again, and it is going to be shown that indeed the plant
behaves well.
3 http://control.ee.ethz.ch/ apnoco/Lectures/lec08.pdf
45
CHAPTER 4. CONTROLLER DESIGN
Pluggin numerical values for the components in the continuous model (2.24)-
(2.29), choosing as a linearization point vout /vin = 1.5 and then obtaining the discrete-
time model from c2d() results in the following matrix description:
with:
0.9998 0.01993
A=
0.01329 0.9932
2.509
B=
0.8137
C = 0.0003999 0.9998
D = [0.025];
The control scheme deployed for this mode can be seen in Figure 4.2. A typical
start-up response of the controlled output can be seen in Figure 4.3. Also in this
case the details of the implementation, such as the influence of the weights and
of the prediction horizon, are not discussed further since this is a special case of
the complete buck-boost topology; such discussions are going to be made for the
general case in the next Section.
control actions also need to drive the plant while ensuring least possible losses
While going from a single input to a multiple inputs plant is done smoothly
with an MPC approach, losses control require additional care. In this work, the way
the handling of losses has been achieved is by applying a combined feedforward
and feedback control structure (rather than a feedback control alone, as done pre-
viously). A simplified abstraction of the control scheme that enlightens the control
flow can be seen in the block diagram in Figure 4.4. The more detailed Simulink
implementation, including all the subsystems used, can be seen in Figure 4.4.
46
4.4. BUCK-BOOST OPERATION
Figure 4.2: Control scheme deployed for the full-boost operation mode. The feedforward ele-
ment is nothing more than an implementation of the Equations 2.4.1 used to achieve approx-
imatively the right output voltage. The finer control towards the exact value is undertaken
by the feedback MPC. The addition of noise on vin is also visible. The PLECS circuit was
substituted with an implementation of the Equatins in 2.3.2.
These total losses are then compared between each other for each vout /vin demand
and the combination of inputs that leads to the least total loss is chosen and inserted
4 Noticethat all the losses mentioned in the current discussion are losses calculated at steady state.
5 As stated,
the weights could be different based on the true value of the components chosen (and they
do not necessarily need to add up to 1).
47
CHAPTER 4. CONTROLLER DESIGN
35
30
25
vout (V)
20
15
10
0
0 0.5 1 1.5 2 2.5 3 3.5 4 4.5 5
time (ms)
Figure 4.3: Startup performance of the controller developed for the full-boost operation, with
vout,ref = 25V . Again, small ripples are visible at steady state, since noise was added to
vin in order to make a first assessment of noise rejection performance. Further, the initial
overshoot can be regulated with a proper choice of the weights, which is not shown but that
can be verified.
v in Precalculated u0
Steady State Controls
vout,ref (look-up table)
x0 u Circuit Model
+ PWM vout
(PLECS)
x
MPC-Based Feedback
Figure 4.4: Block diagram of the control scheme deployed for the full buck-boost operation
mode.
48
4.4. BUCK-BOOST OPERATION
Global Scheme
PWM Block
Figure 4.5: Detailed scheme of the control scheme deployed for the whole buck-boost func-
tionality.
49
CHAPTER 4. CONTROLLER DESIGN
(d1 , d2 , ) control combinations that will steer the plant to the desired output de-
mand at steady state, only the ones around that one which will cause the least losses
are going to be selected.
In general, feedforward control ensures that the plant will be steered to (at least
approximately) the right state even if the feedback were to be switched off. It is
straightforward in that no mathematical model needs to be elaborated and then
(somehow) patched together with the MPC, which would considerably increase its
complexity and size (in memory).
The typical content of a feedfoward table is depicted in Figure 4.4; notice how,
for the specific choice of weights of above, the control usually tries to drive the plant
with the highest d2 possible. This is directly related with the fact that the current in
the inductor iL (which increases with decreasing d2 , see Equations in Section 2.4.1)
is a direct measure for the conduction losses.
Figure 4.6: Figure depicting the typical content of a feedforward table. Each point corre-
sponds to a certain vout /vin ratio.
50
4.4. BUCK-BOOST OPERATION
51
CHAPTER 4. CONTROLLER DESIGN
The controller has been designed with the help of the mpt studio routine in-
cluded in the mpt toolboox for MATLAB (R)6 . Other than choosing a control to-
wards origin policy for the reasons explained above, the feedback MPC has been
designed as follows: to calculate the cost function, the 2-Norm has been chosen;
the weights on the states and on the output and the prediction horizon have been
determined iteratively; the procedure has been the following: first, look at the in-
fluence to the output curve given by the output weight; since the output voltage is
basically the same signal as vC , this weight is also going to be the weight to the vC
state (therefore, a weight of zero is going to be applied to the state vC , for otherwise
deviations of vC from the desired reference would be accounted twice for); for the
lower MPC implementation a weight on the output of 10 has been chosen, see
Figure 4.4.2.
The prediction horizon has also iteratively been chosen to be 5, and its influence
can be seen in Figure 4.4.2. In general, it is desirable to have the highest prediction
horizon possible. High prediction horizons improve stabilization characteristics of
MPCs and in general provide better output performances; yet they cannot be chosen
arbitrarily high, since computation of the control self increases dramatically with
increasing prediction horizon, and its size (in bytes) increases considerably as well,
thus potentially making impossible their implementation on platforms with limited
storage capacities such as DSPs. After this step, the influence of the weight on the iL
state has been considered, and as can be seen in Figure 4.4.2, even while varying this
parameter by many orders of magnitude, there seems to be no appreciable influence
to the output voltage signal once the other two weights are established.
The same procedure has been applied also for the upper MPC, see Figure 4.4.2.
4.4.3 Results
It can be argued that if this precalculated lookup table does indeed contain the best
values the plant (circuit) can be driven at steady state, then the contribution from the
MPC feedback can be avoided. This is of course not the case: first, looking at Figure
4.9, it is clear that the contribution from the MPC boosts the performance during
6 http://control.ee.ethz.ch/ mpt/
52
4.4. BUCK-BOOST OPERATION
the initial transient. Furthermore, a feedback action is always desired in any control
scheme, in order to ensure the ability to reject disturbances and model uncertainties.
The two contributions to the u signal coming from the feedback and from the
feedfoward part can be seen in Figure 4.10. As it can be seen, the MPC supplies the
plant with a contribution different than zero only during the transient. As soon as
the transient has settled, it contribution goes to zero and stays there; this is always
the case as long as no disturbances or other external influences affect the circuit; if
disturbances are indeed applied, then the MPC control is going to counter those and
its contribution is going to be different than zero.
A typical disturbance rejection done by the controller can be seen in Figure 4.11:
the blue bottom curve depicts the perturbation (in percentage) affecting the input
voltage vin , while in the upper graph, the red curve shows how this perturbation
affects the output voltage if no feedback action is taken, and the green one shows
the output if rejections are countered by the MPC.
The resulting output start-up performance for a set of different output references
can be seen in Figure 4.12; notice that the controller is indeed able to drive the circuit
both in its buck mode and boost mode, as specified in the objectives for this
project. Further, notice that the control is indeed able to properly drive the plant also
towards steady states different than those around which the models were linearized,
thus showing its well behavior.
53
CHAPTER 4. CONTROLLER DESIGN
10
vout (V)
5
0.1
0 1
100
-5
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
2.5
2
iL(A)
1.5
1 0.1
1
0.5 100
0
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
10
vout (V)
-5
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
2.5
2
i L(A)
1.5
0.5
0
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
10
vout (V)
5
1
2
0 5
10
-5
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
3.5
3
2.5
i L(A)
2
1.5 1
1 2
5
0.5 10
0
0 0.2 0.4 0.6 0.8 1 1.2
time(ms)
Figure 4.7: These Figures show the change in output response and in the iL behavior with
respect to changes to weightings for the lower part of the controller.
54
4.4. BUCK-BOOST OPERATION
30
vout (V)
20
10 0.01
0.1
0 1
100
-10
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
12
10
8
iL(A)
4 0.01
0.1
2 1
100
0
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
iL Weight Dependency
40
30
vout (V)
20
10 0.01
0.1
0 1
100
-10
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
12
10
8
iL(A)
4 0.01
0.1
2 1
100
0
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
30
vout (V)
20
10 1
2
0 5
10
-10
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
15
10
iL(A)
5 1
2
5
10
0
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
Figure 4.8: These Figures show the change in output response and in the iL behaviour with
respect to changes to weightings for the upper part of the controller. As before, there is no
noticeable influence from the iL weight.
55
CHAPTER 4. CONTROLLER DESIGN
Feedforward vs
Feedforward + Feedback
40
feedforward
feedforward + feedback
35
30
25
vout (V)
20
15
10
-5
0 0.5 1 1.5 2 2.5 3 3.5
time (ms)
0.8
d1
0.6 0
d2
0
phase
0.4 0
0.4
0.2
0
-0.2
-0.4 d1*
d2*
-0.6
phase*
-0.8
0 0.2 0.4 0.6 0.8 1 1.2
time (ms)
Figure 4.10: Typical control actions of the two parts of the controller. The upper graph shows
the control actions supplied by the precalculated look-up table (which are therefore constant
signals) and the lower graph shows the signals that are superimposed generated by the MPC.
56
4.4. BUCK-BOOST OPERATION
v Perturbations Rejection
in
8.33
without Feedback
6.67 with Feedback
vout deviation %
3.33
1.67
-1.67
-3.33
-5
1.5 2 2.5 3 3.5 4 4.5 5
time (ms)
2
vin perturbation %
-1
-2
-3
-4
1.5 2 2.5 3 3.5 4 4.5 5
time (ms)
Figure 4.11: Disturbances rejection behavior, with and without the MPC action.
57
CHAPTER 4. CONTROLLER DESIGN
Start-Up Performance
2V
40 5V
10V
35 15V
20V
25V
30 30V
40V
25
vout (V)
20
15
10
58
Chapter 5
Conclusion
The present work is a study on the circuit depicted in Figure 1.2 which is used to
achieve DC-DC power conversion.
In the first part of the work (Chapters 1-3), different models for its behaviour
have been developed, including a state-space averaged model and an hybrid one.
Based on these models simulations have been conducted in order to assess the losses
occurring inside of it. These simulations reveal that it is in general not possible to
drive the circuit while minimizing simultaneously both conduction and switching
losses. Rather, in order to drive the circuit in the most efficent way, an optimized
balance between these two losses needs to be made. Further, this balance depends
on the specific choice of components used.
In the second part of the work (Chapter 4), for a specific choice of components,
the implementation of a controller for this circuit is discussed. The controller has
been designed as working on the combined action of a precalculated look-up table
(feedforward action) and a Model Predictive Control (MPC) based feedback action.
The abilty to drive the circuit both in its boost as well its buck modes and its noise
rejection capabilty are the performance benchmarks for this controller which have
been studied.
Recommended extensions to this work include the refinement of the models to
account for parasitics and non-ideal behaviours, so as to enable a subsequent con-
troller implementation based solely on MPC, and a more accurate evaluation of the
controllers stabilization capabilties.
59
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61