energies

Article
General Analysis of Switching Modes in a Dual
Active Bridge with Triple Phase Shift Modulation
Carlos Calderon 1, *, Andres Barrado 1 , Alba Rodriguez 1 , Pedro Alou 2 , Antonio Lazaro 1 ,
Cristina Fernandez 1 and Pablo Zumel 1
1 Power Electronics System Group, Universidad Carlos III de Madrid, 28911 Leganes, Spain;
barrado@ing.uc3m.es (A.B.); alba.rodriguez@uc3m.es (A.R.); alazaro@ing.uc3m.es (A.L.);
cfernand@ing.uc3m.es (C.F.); pzumel@ing.uc3m.es (P.Z.)
2 Centre of Industrial Electronics, Universidad Politecnica de Madrid, 28001 Madrid, Spain;
pedro.alou@upm.es
* Correspondence: ccaldero@ing.uc3m.es; Tel.: +34-916-24-9188




Received: 11 August 2018; Accepted: 7 September 2018; Published: 12 September 2018


Abstract: This paper provides an exhaustive analysis of the Dual-Active-Bridge with

Triple-Phase-Shift (DAB-TPS) modulation and other simpler ones, identifying all the possible
switching modes to operate the DAB in both power flow directions, and for any input-to-output
voltage range and output power. This study shows four cases and seven switching modes for each
case when the energy flows in one direction. That means that the DAB operates up to fifty-six different
switching modes when the energy flows in both directions. Analytical expressions for the inductor
current, the output power, and the boundaries between switching modes are provided for all cases.
Additionally, the combination of control variables to achieve Zero-Voltage-Switching (ZVS) or
Zero-Current-Switching (ZCS) is provided for each case and switching mode, by showing which
switching modes obtain ZVS or ZCS for the whole power range and all switches—independent of the
input-to-output voltage ratio. Therefore, the most interesting cases, switching mode and modulation
for using the DAB are identified. Additionally, experimental validation has been carried out with
a 250 W prototype. This analysis is a proper tool to design the DAB in the optimum switching mode,
reducing the RMS current and achieving to increase efficiency and the power density.

Keywords: Dual-Active-Bridge (DAB); soft switching; Triple-Phase-Shift (TPS); Single Phase-Shift;

ZCS and ZVS

1. Introduction
Currently, the Dual-Active-Bridge (DAB) converter is commonly found in different sectors
such as in electric vehicles, in which DAB converters are used as battery charges [1,2] or as active
balancing systems [3]. The aeronautics industry is betting on improving emissions and reducing fuel
consumption by replacing mechanical and pneumatic systems with electrical systems. In Reference [4]
is shown a DAB working in harsh environments with high temperature as a component of an electric
actuator; Reference [5] shows a DAB as an interface between the battery storage system and DC bus.
Additionally, for electric ships [6,7] and smart grids [8–10], DAB converters can be seen as an interface
component in the medium-voltage grid. DAB converters are also an alternative for electrochemical
energy storage as shown in References [11,12].
The conventional DAB topology consists of two active bridges, a high-frequency transformer (T)
and a series inductor (L)—Figure 1. The main characteristics of the DAB are bi-directionality, galvanic
isolation, high power density, and soft switching in some operating conditions. Additionally, in the
state-of-art, a variant of the DAB without transformer can be found, for application in mobile phones
and computer chargers [13].

Energies 2018, 11, 2419; doi:10.3390/en11092419 www.mdpi.com/journal/energies

Energies 2018, 11, x FOR PEER REVIEW 2 of 23

Energies 2018, 11, 2419 2 of 23

of-art,Energies 2018, 11,of

a variant x FOR
the PEER
DABREVIEWwithout transformer can be found, for application in mobile phones 2 of 23 and

computer Thechargers
most basic [13]. modulation applied to DAB is the Phase-Shift (PS), also known as
The most basic modulation
Single-Phase-Shift (SPS), whereappliedsimplicity to DAB is the
its main Phase-Shift
advantage. (PS),
In this alsoitknown
case, as Single-Phase-Shift
is only necessary to control
(SPS), whereashift
the of-art,
phase simplicity
(ϕ) of
variant its DAB
between
the main advantage.
thewithout In this
outputtransformer
voltage (v11case,
andbeitvfound,
can is)only
22 of the necessary
forbridges, to control
with
application the
inDmobile
1=1 phase
(pulse
phones shiftof
width
and (φ)
between
voltage the
v11output
computer ) and Dvoltage
chargers 2 = 1
[13]. (v
(pulse11 and v
width 22 ) of
of the bridges,
voltage v 22 with
)—Figure D 1 = 1
2a.(pulse width
However, of
this voltage
kind of v ) and
modulation
11 D 2 =1
(pulse width
has some of voltage
disadvantages v )—Figure
such as 2a.
reductionHowever,
of the this kind
operating of modulation
range with has some disadvantages
Zero-Voltage-Switching
The most basic modulation applied to DAB is the Phase-Shift (PS), also known as Single-Phase-Shift
22 such
(ZVS)
asorreduction
(SPS), where of the
Zero-Current-Switching operating
simplicity its mainrange
(ZCS), if with
advantage. Zero-Voltage-Switching
In this case, it is only
the input-to-output voltage (ZVS)
necessary
ratio to or Zero-Current-Switching
control
moves the phase
away fromshift
the (φ)
unity,
andbetween
(ZCS), high the output
if thecurrents
input-to-output voltage
at low (v11 and
voltage
power. v22) ofmoves
ratio
Therefore, the
PSbridges,
not awith
isaway from
properD1the
= 1modulation
(pulse width
unity, and for of voltage
high v11) and
currents
wide output at and
lowD2 =input
1
power.
(pulse
Therefore, width
PS is of
not voltage
a proper
voltage ranges in the converter [14]. v 22)—Figure 2a. However, this kind of modulation has some disadvantages such
modulation for wide output and input voltage ranges in the converter [14].
as reduction of the operating range with Zero-Voltage-Switching (ZVS) or Zero-Current-Switching
(ZCS), if the input-to-output voltage ratio moves away from the unity, and high currents at low power.
i i
Therefore, PS 1is not a proper modulation for wide output and input voltage ranges in the 2converter [14].
DM1 CM1 DM3 C3M DM5 CM5 DM7 CM7
i1 M1 M3 M5 M7 i2
iL CM1
DM1 DM3 CL
3M 1:n DM5 CM5 DM7 CM7
M1 M3 + + M5 M7
V1 C1 v11 v22 C2 V2
iL - L - 1:n
+ +
V1 C1 DM2 CM2 DvM4
11 CM4 v22
T DM6 CM6 DM8 CM8C2 V2
M2 M4 - - M6 M8
DM2 CM2 DM4 CM4 T DM6 CM6 DM8 CM8
M2 M4 M6 M8
Bridge 1 Bridge 2
Bridge 1Figure 1. DAB Topology. Bridge 2
Figure 1. DAB Topology.
Figure 1. DAB Topology.
Another
Another modulation
modulation scheme
scheme applied
applied in in
DABDAB is the Extended-Phase-Shift
is the Extended-Phase-Shift modulation
modulation (EPS). This
(EPS).
modulation Another
operates
This modulation modulation
by using
operates byscheme
using applied
the Phase-Shift
the in DAB
Phase-Shift is the
(φ) between
(ϕ) Extended-Phase-Shift
output
between voltages
output ofmodulation
voltages the
of thebridges, (EPS).
bridges, asas This
in inthe
thePS
modulation
modulation, operates
along by pulse
with with
the using the Phase-Shift
width variation (φ)ofbetween theoutput
theofBridge voltages
1 output of voltage
the (D
voltage bridges,
1),(D
beingas in
D2the
= 1,DPS
PS modulation, along the pulse width variation Bridge 1 output 1 ), being 2Figure
= 1,
modulation,
2b.Figure
EPS modulation along
2b. EPS modulation with the
reduces thepulse width variation
circulating
reduces of the
energy and
the circulating Bridge
energy 1 output
theand voltage
conduction (D 1), being D2 = 1, Figure
losses losses
the conduction for mediumfor medium power,
2b. EPS modulation reduces the circulating energy and the conduction losses for medium power,
therefore improving
power, therefore the performance
improving comparedcompared
the performance to the PS to modulation [15–19], although
the PS modulation with a reduced
[15–19], although with
therefore improving the performance compared to the PS modulation [15–19], although with a reduced
impact for
a reduced low power.
impact for low power.
impact for low power.
Additionally,
Additionally,
Additionally, with
with two
with twodegrees
two degrees
degrees ofoffreedom,
offreedom,
freedom, the Dual-Phase-Shift
thethe Dual-Phase-Shift
Dual-Phase-Shift modulation
modulation
modulation is well
is well known
is well
known known
(DPS) (DPS)
[20]. This
(DPS) modulation uses, once more, the Phase-Shift (φ) between output voltages
[20]. This modulation uses, once more, the Phase-Shift (φ) between output voltages of the bridges, as inthe
[20]. This modulation uses, once more, the Phase-Shift (ϕ) between output of the bridges,
voltages of as in
thebridges,
EPS
themodulation,
EPS in the along
asmodulation, EPSalong with thethe
modulation,
with pulse
along
pulse width variation
with
width the pulse
variation ofboth
of both Bridges
width output
variation
Bridges output ofvoltages
both(D
voltages 1, (D
Bridges 1, in
D2), Doutput
), in this
2this

case being
voltages D11=, D
case being
(D D122=,),Figure
Din this2c.
2, Figure 2c. being D1 = D2 , Figure 2c.
case

v[V] v11 v22 v22 v[V] v11

v
v22 v
D22
1·TD
sw/2
v[V] v11 D1D
·T1·Tsw/2
sw/2 v[V] 11
1·Tsw/2
D2·Tsw/2 t[s] D2·Tsw/2 t[s]
D2·Tsw/2 t[s] D2·Tsw/2 t[s]

(a) (b)
(a) (b)
v22 v22
v[V] v11 D1·Tsw/2 v[V] v11 D1·Tsw/2
v22 v22
v[V] v11 D1·Tsw/2 v[V] v11 D1·Tsw/2
t[s] D2·Tsw/2 t[s]
D2·Tsw/2 t[s] D2·Tsw/2 t[s]
D2·Tsw/2 (c) (d)
Figure
Figure 2. Types
2. Types (c)
of of modulationapplied
modulation appliedto toDual
Dual active
active bridge
bridge (DAB).
(DAB).(a)(a)Phase (d)
Phaseshift (PS);
shift (b)(b)
(PS); Extended
Extended
phase shift (EPS); (c) Dual phase shift (DPS); and (d) Triple phase shift (TPS).
phase shift (EPS); (c) Dual phase shift (DPS); and (d) Triple phase shift (TPS).
Figure 2. Types of modulation applied to Dual active bridge (DAB). (a) Phase shift (PS); (b) Extended
phase shift (EPS); (c) Dual phase shift (DPS); and (d) Triple phase shift (TPS).
A more enhanced alternative is Triple-Phase-Shift modulation (TPS), which involves three control
variables: The pulse width of the output voltages of Bridge 1 (D1 ) and Bridge 2 (D2 ), and the
phase shift (ϕ) between both voltage waveforms, Figure 2d. This modulation strategy improves
Energies 2018, 11, 2419 3 of 23

the converter’s performances, with a more significant impact at low power, reduces RMS current,
and presents a higher probability of soft switching operation [21–23]. However, the complexity
increases due to the higher number of parameters to be controlled, which results in a higher number
of possible switching modes of the converter [24–28]. There are different combinations of the three
control variables that satisfy the same requirements of transferred power between the input and output
ports of the converter. However, not all the combinations imply the same performance from switching
conditions and circulating currents.
Many works can be found in the state-of-the-art that are focused on the study of the DAB switching
modes, ZVS and ZCS operation, or RMS current reduction, among other topics. In References [26,27],
the authors identify five switching modes (considering positives mismatches); in Reference [28],
the number of switching modes increases to twelve (considering positive and negative mismatches),
all of them for condition V1 > n·V2 . In Reference [29], the authors analyse the charge and discharge
of the parasitic MOSFET capacitances to get ZVS. On the other hand, Reference [30] analyses the
reduction of the transformer's coupling to achieve the same effect. However, all these works show
useful partial solutions, but without doing a general analysis of all operation possibilities.
Therefore, the contribution of this paper is oriented to provide an exhaustive analysis of the
different DAB switching modes when TPS, EPS, and PS modulation (DPS can be considered a particular
case of TPS) are applied to get the best performance for whole output power range, and considering
each V1 and V2 ratio (that includes buck and boost modes). Thanks to this in-depth analysis, the best
switching modes are identified as well as the most combinations of the modulation variables to
guarantee Zero-Voltage-Switching (ZVS) or Zero-Current-Switching (ZCS). This analysis is a tool to
design the DAB converter, ensuring the soft-switching operation, and to improve the efficiency and
the power density.
This paper organises as follows: Section 2 presents the basic operation of the TPS modulation
applied to the DAB. Section 3 defines the Cases of study (based on bridges output voltages and their
duty cycles) and the switching modes when TPS modulation is used, along with the inductor current
expressions and the transmitted power for each switching mode. Section 4 analyses and calculates
the expressions to get soft switching in the converter for each Case and switching mode. Section 5
validates the analysis for Case I and Case II with a 250 W prototype developed in the laboratory.
Finally, Section 6 summarises the conclusions of the work carried out.

2. Triple-Phase-Shift Modulation
Triple-Phase-Shift (TPS) consists of shifting the driving signals vg3 , vg5 and vg7 with respect to
vg1 (corresponding to the switches M3 , M5 , M7 , and M1 , respectively). By driving the switches in this
way, v11 is generated at the output of the Bridge 1 of amplitude V1 , v22 is generated in the primary
side of the transformer with an amplitude of V2 /n, and a current iL flows through the inductor L.
Three control parameters define TPS modulation: D1 (0 < D1 ≤ 1) representing the pulse width
of voltage v11 , D2 (0 < D2 ≤ 1) representing the pulse width of v22 and ϕ (−π < ϕ < π) measures the
phase shift between v11 and v22 , as shown in Figure 3.
Energies 2018, 11, x FOR PEER REVIEW 4 of 23

Energies 2018, 11, 2419 4 of 23

vgi[V] vg2 vg1 vg2

vg4 vg3 vg4
vg6 vg5 vg6
vg8 vg7
v[V] Tsw/4 φ·
Tsw/(2·π)
v22
V1
V2/n D1·Tsw/2
v11
iL
t[s]
0
D2·Tsw/2

t1LH t2LH t1HL t2HL

Figure 3. 3.
Figure Typical voltages
Typical andand
voltages current for for
current a Dual active
a Dual bridge
active (DAB)
bridge withwith
(DAB) a Triple phase
a Triple shiftshift
phase (TPS)
modulation.
(TPS) modulation.

The
The switching
switching instants
instants of the
of the voltages
voltages v11 (tv1LH (t1LHt1HL
11 and and t1HLv)22 and
) and (t2LH vand
22 (tt2LH
2HL), and
shownt2HL
in),Figure
shown3,inare
calculated
Figure 3, by
areEquation
calculated(1),
byconsidering
Equation (1),that the positive
considering part
that theofpositive
v11 centres
partinofTvsw11/4.centres in Tsw /4.
Tsw  11 D
− D11 )

t1LH=
t1LH = Tsw ·∙( −
2
2 2 2 2
2 
t1HL = T sw· 11 + D
Tsw D11
t1HL = 2 ∙ (2 + 2 ) 
2 2 1−2D (1)
t2LH = TTsw sw
· φ
ϕ
+1 − D 2 (1)
t2LH = 2 ∙ ( π + 2 2)
t2HL = T22sw · πϕ + 1+2D2
Tsw φπ 1 +2D2
t2HL = ∙( + )
2 π 2
3. Cases and Switching Modes

3. Cases The
andswitching
SwitchingmodesModesdefine according to the profile acquired by the current iL in each
operating state. The current iL is defined by the input parameters of the converter (V1 , V2 , n, L, fsw )
andThe switching
by the modes
parameters define
of the TPSaccording
modulation to(Dthe, D
1
profile acquired by the current iL in each operating
2 and ϕ). By considering n, L and fsw as constants,
state. The current
the voltages iL isand
v11 , v defined by the
the pulse inputDparameters
widths of the converter (V1, V2, n, L, fsw) and by the
22 1 and D2 , four cases of study can be defined:
parameters of the TPS modulation (D1, D2 and φ). By considering n, L and fsw as constants, the voltages
v11, v22 and the pulse widths D1 and DCase 2, four
I: cases
v11 ≥of v22study
and Dcan be defined:
1 > D2

Case I: v11 ≥ v22 and D1 > D2

Case II: v11 ≥ v22 and D1 ≤ D2
Case II: v11 ≥ v22 and D1 ≤ D2
Case
Case III: III:
v11 v<11v<22vand
22 andD1D>1 D>D2 2
Case VI: v11 < v22 and D1 ≤ D2.
Case VI: v11 < v22 and D1 ≤ D2 .
In Reference [20], the author concluded that the analysis performed for positive φ is equivalent to
negative φ; therefore, DAB can operate in eight cases
In Reference [20], the author concluded that the analysis of study.performed
Additionally, for positive
for positive φ, it can be
ϕ is equivalent
observed thatϕ;
to negative there are equivalences
therefore, between
DAB can operate in Case
eight Icases
and Case IV, as
of study. well as between
Additionally, Case IIϕ,
for positive and Case
it can
III;bethey obtain by
observed thatexchanging v11 with v22, and
there are equivalences D1 withCase
between D2. ItI means
and Case thatIV,
onlyas the
wellanalysis of twoCase
as between of them
II
is and
necessary. Therefore, in this paper, the analysis is developed for the Case I and II.
Case III; they obtain by exchanging v11 with v22 , and D1 with D2 . It means that only the analysis
of two of them is necessary. Therefore, in this paper, the analysis is developed for the Case I and II.
3.1. Switching Modes: Case I and Case II. Boundaries
3.1. Switching Modes: Case I and Case II. Boundaries
The total switching modes per Case are seven: SM1, SM2, SM2*, SM3, SM3*, SM4, and SM5; they can
The total
have positive switchingφmodes
or negative per Case
angle values are seven: SMTherefore,
(bidirectionality). 1 , SM2 , SM 2 *, SM3 , SM
considering 3 *, SM4 , and SM
bi-directionality, 5;
four
theyand
cases can seven
have switching
positive ormodes
negative
per ϕ angle
case, DAB values (bidirectionality).
can operate Therefore,
up to fifty-six switching considering
modes. As
bi-directionality, four cases and seven switching modes per case, DAB can operate up to
fifty-six switching modes. As aforementioned, Cases I and II are only analysed for positive ϕ angle
Energies 2018, 11, 2419 5 of 23
Energies 2018, 11, x FOR PEER REVIEW 5 of 23

values, as shown in Figures 4 and 5, respectively. These switching modes are obtained by increasing
the aforementioned,
phase shift ϕ for any value of D1 and
Cases I and II are only
D2 .
analysed for positive φ angle values, as shown in Figures 4 and
The boundaries in each switching mode
5, respectively. These switching modes are obtainedare obtained when the
by increasing the switching
phase shift instants
φ for anyofvalue
the voltages
of D1
v11 and
andDv222
. occur at the same time. For example, for SM 2 in Figure 4b: t1HL = t2HL determines the
lower boundary (switching mode from SM to SM
The boundaries in each switching mode1 are obtained 2 ,) and the upper one when t
when the switching instants 1HL = t
of the2LH (switching
voltages v11
modeandfrom
v22 occur
SM2 toat SM
the 3same time. For
,), as shown in example,
Equationfor (2).SM2 in Figure 4b: t1HL = t2HL determines the lower
boundary (switching mode from SM1 to SM2,) and the upper
 onewhen t1HL = t2LH (switching mode from
SM2 to SM3,), as shown in EquationLower
(2). boundary : D1 −D2 ·π 2
D1 −DD+
 (2) 
2D
Upper boundary:: (1 − 1 2 ) ∙2 π ·π
boundary
Lower
2 (2)
D1 + D2
Upper
The switching modes SM2 and SMboundary:
are (1 − for D ) <
obtained ∙ π1 − D , whereas SM * and SM *
3 2 1 2 2 3
are obtained for D1 ≥
The switching
1 − D . The switching mode SM * is different concerning SM2 only
modes SM22 and SM3 are obtained for D1 <21 − D2, whereas SM2* and SM3* are
in the
obtained
boundaries, whereas SM
for D1 ≥ 1 − D2. The switching3 * is different regarding SM 3 in
mode SM2* is different concerningthe boundaries,
SM2 only in the boundaries, whereasthe
the current profile and
expression of the power,
SM3* is different regardingwith
SM3respect to those inthe
in the boundaries, SM 3 . Table
current 1 summarises
profile the boundaries
and the expression of all
of the power,
switching modes
with respect to for Case
those I and
in SM Case1 summarises
3. Table II. the boundaries of all switching modes for Case I and
Case
FromII. the information in Table 1, the switching modes are plotted in a three-dimensional way
depending onthethe
From information
parameters in Table
D1 , D1,2 the
andswitching modes
ϕ, forming are plotted
a cube in a unity
with the three-dimensional way in
side, as shown
depending on the parameters D 1, D2 and φ, forming a cube with the unity side, as shown in Figure 6. The
Figure 6. The tetrahedral volumes contain the switching modes obtained with TPS modulation.
tetrahedral volumes contain the switching modes obtained with TPS modulation. In Case I: the modes
In Case I: the modes SM2 (DEFG), SM2 * (CEFG), SM3 * (BCEG) and SM4 (ABEG), are shown in
SM2 (DEFG), SM2* (CEFG), SM3* (BCEG) and SM4 (ABEG), are shown in Figure 6a; and the modes SM1
Figure 6a; and the modes SM1 (CDEI), SM3 (ADEG), and SM5 (ABEH) are shown in Figure 6b.
(CDEI), SM3 (ADEG), and SM5 (ABEH) are shown in Figure 6b. For Case II: the modes SM2 (DFGJ), SM2*
For (CFGJ),
Case II:SMthe3* modes SM (DFGJ), SM2 * (CFGJ),
(BCGJ), and2 SM4 (ABGJ) are
SM3 * (BCGJ),
shown in Figure
and SM4 (ABGJ)
6c; while, the modes
are shown in Figure 6c;
SM1 (CDJL), SM3 (ADGJ),
while,
andthe
SMmodes SM1 shown
5 (ABJK), are
(CDJL),inSM 3 (ADGJ),
Figure 6d. and SM5 (ABJK), are shown in Figure 6d.

φ· π)
Tsw/(2· φ· π)
Tsw/(2· φ· π)
Tsw/(2·
v[V] v[V] v[V]
D1·
Tsw/2 v11 v11 D1·
Tsw/2
D1·
Tsw/2 v22
v22 v22 v11
D2·
Tsw/2 D2·
Tsw/2 iL
iL iL D2·
Tsw/2
t[s] t[s] t[s]

t2LH t2LH t2LH

t2HL Tsw t2HL Tsw t2HL Tsw
t1LH t1HL t1LH t1HL t1LH t1HL

(a) (b) (c)

φ· π)
Tsw/(2· φ· π)
Tsw/(2· φ· π)
Tsw/(2·
v[V] v[V] v11 v[V]
D1·
Tsw/2 iL iL D1·
Tsw/2 iL
D1·
Tsw/2
v11
v11 v22 v22
D1·
Tsw/2
D2 ·
Tsw/2
D2·
Tsw/2 v22
t[s] t[s] t[s]

t2LH t2LH t2LH

t2HL Tsw t2HL Tsw t2HL Tsw
t1LH t1HL t1LH t1HL t1LH t1HL

(d) (e) (f)

Figure 4. Case I: Switching modes for φ > 0. (a) SM1; (b) SM2, SM2*; (c) SM3; (d) SM4; (e) SM5, and (f) SM3*.
Figure 4. Case I: Switching modes for ϕ > 0. (a) SM1 ; (b) SM2 , SM2 *; (c) SM3 ; (d) SM4 ; (e) SM5 ,
and (f) SM3 *.
 Energies 2018, 11, x FOR PEER REVIEW 6 of 23

Energies 2018, 11, 2419 6 of 23

φ· π)
Tsw/(2· φ· π)
Tsw/(2· φ· π)
Tsw/(2·
v[V]
D1·
Tsw/2
v11 v[V] v11 v[V]
D1 ·
Tsw/2 iL D1·
Tsw/2 v11
v22 iL
D2·
Tsw/2 D2·
Tsw/2
iL v22 D2·
Tsw/2
v22
t[s] t[s] t[s]

t2HL t2HL t2LH

t2LH t1LH
Tsw Tsw
t1HL t1HL t1HL t2HL Tsw
t1LH t2LH t1LH

(a) (b) (c)

φ· π)
Tsw/(2· v11 φ· π)
Tsw/(2· φ· π)
Tsw/(2·
v[V] v[V] v[V] v11
iL v11 iL
D1·
Tsw/2 D1 ·
Tsw/2 D1·
Tsw/2 iL
D2 ·
Tsw/2
v22 D2 ·
Tsw/2 v22 D2·
Tsw/2 v22
t[s] t[s] t[s]

t1HL Tsw t1HL Tsw t1HL Tsw

t1LH t2LH t2HL t1LH t2LH t2HL t1LH t2LH t2HL

(d) (e) (f)

Figure 5. Case II: Switching modes for φ > 0. (a) SM1; (b) SM2, SM2*; (c) SM3; (d) SM4; (e) SM5, and (f)
Figure 5. Case II: Switching modes for ϕ > 0. (a) SM1 ; (b) SM2 , SM2 *; (c) SM3 ; (d) SM4 ; (e) SM5 ,
SM3*.
and (f) SM3 *.
Table 1. Boundaries for switching modes: Case I and Case II.
Table 1. Boundaries for switching modes: Case I and Case II.
SMi Case I Case II
SMi DCase
1 − D2 I Case
D2 − DII
1
SM1 0<φ≤( )∙π 0<φ≤( 2 ) ∙ π 
2 D −D  D2 −D1
SM1 D1 − D20 < ϕ ≤ D1 + 2 D2 ·π 01< ϕ ≤ D22 + D1 ·π
1 2
D2 − D
SM2 (
 2 )∙ π<φ≤(
2 )∙π
 (
 2 )∙ π < φ ≤ ( 2 ) ∙ π 
D −D D +D D −D D +D
SM2 D1 − D12 2 2 ·π < ϕ ≤ D1 + D122 2 ·π D2 − 2D21 1 ·π < ϕ ≤D2 + 2D21 1 ·π
SM2* ( ) ∙ π < φ ≤ (1 − )∙π ( ) ∙ π < φ ≤ (1 − )∙π
 2   2   2   2 
− −
SM *
SM3 2
D D
2 ) ∙ π ·<
D1 +1 D2 2
π < ϕ ≤ D11+−D2 1 + D D2
·π D D
D2 + D11 ·π < ϕ ≤ D
2 + D + D1
D
2 ) ∙ π < φ ≤ (1 − 12− 1 )2∙ π ·π
2
( φ ≤ (1 − ) ∙ 2π (
2   2   2   2 
1+
SM
SM 3* 3
DD
(1 − 2
D
1 + 2D2 ·π < ϕ ≤ D11+
)∙π<φ≤( −D2D)1∙+2πD2 ·π D2 +
(1 − 2
D2D+1 D1
·π) ∙<
π<ϕφ≤≤ (D12− +D D12 +D1
)2∙ π ·π
 2  2    2  2 
D1 + D D1 − D21 +D2 D2 +DD
SM4 3 *
SM
D21 +D2
(1 − 1 − )2∙ π < φ ·π≤<(1ϕ− ≤ )2 ∙ π ·π (1 −1 −
2+ D1
2) ∙ π <·πφ <
1 ϕ −≤ DD
≤ (1
D2 − 2+1 D1
2) ∙ π ·π
2
2 2
 2
D21 − D2 D2 +D1D2 − D1
     
D −D
SM
SM 5 4
D1 + D
1 − (1 −2 ·π )<∙ πϕ<≤φ < 1π − 1 2 2 ·π 1 − (12− ·π <) ∙ϕπ < ≤φ <1 π− D2 −2 D1 ·π
Energies 2018, 11, x FOR PEER REVIEW 2 2 7 of 23
   
SM5 1 − D1 − 2
D2
·π < ϕ < π 1− 2 D2 − D1
·π < ϕ < π

φ/π φ/π A
φ/π φ/π
A A
I A H K

B B B B

E J J
E G
G G
G
D
D D
D D2 D2
J
D1 D1 L
I
F F D1
D2 D2 D1

C C C C

(a) (b) (c) (d)

Figure 6. Switching modes. Case I: (a) SM2, SM2*, SM3*, and SM4; (b) SM1, SM3 and SM5; Case II: (c) SM2,
Figure 6. Switching modes. Case I: (a) SM2 , SM2 *, SM3 *, and SM4 ; (b) SM1 , SM3 and SM5 ; Case II:
SM2*, SM3*, and SM4; and (d) SM1, SM3 and SM5.
(c) SM2 , SM2 *, SM3 *, and SM4 ; and (d) SM1 , SM3 and SM5 .
3.2. Current Through the Inductor L
The current iL in each switching mode is calculated from Figure 4 (Case I) and Figure 5 (Case II),
together with Equation (3) for four consecutive switching instants.
diL
vL = L (3)
dt
Energies 2018, 11, 2419 7 of 23

3.2. Current Through the Inductor L

The current iL in each switching mode is calculated from Figure 4 (Case I) and Figure 5 (Case II),
together with Equation (3) for four consecutive switching instants.

diL
vL = L (3)
dt
As an example, Figure 5a has t2LH , t1LH , t1HL and t2HL as consecutive switching instants
and iL (t) = −iL (t + Tsw /2); therefore, iL (t) must be calculated for half the switching period. Equation (4)
shows iL (t) from t2LH to t2HL by applying Equation (3) and the equation systems in Equation (5) are
obtained when switching instants are replaced in iL (t). Table 2, at Case II (column) and SM1 (row),
shows the solution of Equation (5).

1 V2


 iL (t2LH ) −
 L · n ·(t 
− t2LH ); t2LH ≤ t < t1LH
V2
iL (t) = iL (t1LH ) + L1 · V1 − n ·(t − t1LH ); t1LH ≤ t < t1HL (4)

1 V2
iL (t1HL ) − L · n ·(t − t1HL ); t1HL ≤ t

< t2HL

1 V2
iL (t1LH ) = iL (t2LH ) −
 L · n ·(t 
− t2LH )
V2
iL (t1HL ) = iL (t1LH ) + L1 · V1 − n ·(t − t1LH )
(5)
1 V2
iL (t1HL ) = iL (t1HL ) − L · n ·(t − t1HL )
iL (t2HL ) = −iL (t2LH )
Using the same procedure for each switching mode, Table 2 gathers the current iL at the switching
instant for Case I and Case II.
Energies 2018, 11, 2419 8 of 23

Table 2. Inductor current and output power for Case I and Case II.

Current Power
SMi
Case I Case II Case I Case II
iL (t1LH ) = −iL (t1HL ) = − D1 ·V 1 ·n−D2 ·V2
4·L·fsw ·n
D ·V ·n−2·V2 ·(ϕ/π)−D1 ·V2
iL (t1LH ) = − 1 1 4·L·fsw ·n
D2 ·V1 ·n−2·V1 ·(ϕ/π)·n−D2 ·V2 D1 ·V1 ·n+2·V2 ·(ϕ/π)−D1 ·V2 V1 ·V2 ·D2 ·(ϕ/π) V1 ·V2 ·D1 ·(ϕ/π)
SM1 iL (t2LH ) = − 4·L·fsw ·n iL (t1HL ) = 2·L·fsw ·n 2·L·fsw ·n
4·L·fsw ·n
D2 ·V1 ·n+2·V1 ·(ϕ/π)·n−D2 ·V2
iL (t2HL ) = 4·L·fsw ·n iL (t2HL ) = −iL (t2LH ) = D1 ·V 1 ·n−D2 ·V2
4·L·fsw ·n

SM2 iL (t1LH ) = −iL (t2HL ) = − D1 ·V 1 ·n−D2 ·V2

4·L·fsw ·n  
D1 ·V1 ·n+2·V2 ·( ϕ ) − D1 · V 2 V1 ·V2 ϕ ϕ

( D1 − D2 ) 2
4·L·fsw ·n · π · D1 + D2 − −
π
iL (t1HL ) = 4·L·fsw ·n π 4
SM2∗ D2 ·V1 ·n−2·V1 ·(ϕ/π)·n−D2 ·V2
iL (t2LH ) = − 4·L·fsw ·n
iL (t1LH ) = −iL (t2HL ) = − D1 ·V 1 ·n−D2 ·V2
4·L·fsw ·n V1 ·V2 ·D1 ·D2
SM3 D1 ·V1 ·n+D2 ·V2 4·L·fsw ·n
iL (t1HL ) = iL (t2LH ) = 4·L·fsw ·n
D ·V ·n+D1 ·V2 −2·V2 ·(1−ϕ/π)
iL (t1LH ) = − 1 1 4·L·fsw ·n
D ·V ·n−D1 ·V2 +2·V2 ·(ϕ/π)
iL (t1HL ) = 1 1
 
4·L·fsw ·n V1 ·V2 (D1 −1)2 +(D2 −1)2
SM3∗ ϕ ϕ


D ·V ·n−D2 ·V2 −2·V1 ·n·(ϕ/π) 2·L·fsw ·n · π · 1− π − 4
i (t )=− 2 1
 L 2LH  4·L·fsw ·n
D ·V ·n+D2 ·V2 −2·V1 ·n·(1−ϕ/π)
iL t2HL − T2sw = − 2 1 4·L·fsw ·n
D1 ·V1 ·n+D1 ·V2 −2·V2 ·(1−ϕ/π)
iL (t1LH ) = − 4·L·fsw ·n  
( D1 − D2 ) 2
) = D1 ·V 1 ·n+D2 ·V2 V1 ·V2 ϕ ϕ



SM4 i (t ) = i (t 4·L·fsw ·n · 1− · D1 + D2 + −1 −
 L 1LH  L 2LH 4·L·fsw ·n π π 4
Tsw D2 ·V1 ·n+D2 ·V2 −2·V1 ·n·(1−ϕ/π)
iL t2HL − 2 = 4·L·fsw ·n
D1 ·V1 ·n+D1 ·V2 −2·V2 ·(1− ϕ π)
iL (t1LH ) = −
i (t ) = −i (t ) = − D1 ·V 1 ·n+D2 ·V2 4·L·fsw ·n
 L 1LH  L 1HL 4·L·fsw ·n D1 ·V1 ·n+D1 ·V2 +2·V2 ·(1− π )ϕ
D ·V ·n+D2 ·V2 +2·V1 ·n·(1−ϕ/π) iL (t1HL ) =
SM5 iL t2LH − T2sw = − 2 1 4·L·fsw ·n 4·L·fsw ·n V1 ·V2 ·D2 ·(1−ϕ/π) V1 ·V2 ·D1 ·(1−ϕ/π)
2·L·fsw ·n 2·L·fsw ·n
  
iL t2LH − T2sw = −iL t2HL − T2sw
 
D ·V ·n+D2 ·V2 −2·V1 ·n·(1−ϕ/π)
iL t2HL − T2sw = 2 1 4·L·fsw ·n
= − D1 · V 1 ·n+D2 ·V2
4·L·fsw ·n
Energies 2018, 11, 2419 9 of 23

3.3. Average Power

The input current, i1 (t), is defined from t1LH to t1HL when the power is flowing to V2 .
Without considering losses, the average power (P = V1 ·I1 ) is calculated by Equation (6) and iL at
the switching instant (Table 2). This average power is detailed for each switching mode in Table 2.

tZ1HL
2
P = V1 · iL (t)dt (6)
Tsw
t1LH

4. Soft Switching
In general, soft switching is obtained either by Zero-Voltage-Switching (ZVS) or by
Zero-Current-Switching (ZCS) of the converter switches. ZVS is achieved by switching on the switches
M1 , M4 , M6 and M7 when iL < 0, and in the switches M2 , M3 , M5 and M8 when iL > 0. ZCS is achieved
in all switches when iL = 0, during switching-off. Table 3 describes, in detail, the soft switching
conditions as a function of the current iL (t) for each switch in the converter.
For the sake of simplicity, the analysis described in this section is made without taking into
account the parasitic inductances, capacitances, and resistances that are in real converters. In particular,
MOSFET’s parasitic capacitances that affect the soft switching conditions. The capacitances effect on
the DAB has been previously analysed in several papers [26,31–33].

Table 3. Soft switching conditions for each switch.

Switch ZVS ZCS

M1 iL (t1LH ) < 0 iL (t1LH + Tsw /2) = 0
M2 iL (t1LH + Tsw /2) > 0 iL (t1LH ) = 0
M3 iL (t1HL ) > 0 iL (t1HL + Tsw /2) = 0
M4 iL (t1HL + Tsw /2) < 0 iL (t1HL ) = 0
M5 iL (t2LH ) > 0 iL (t2LH + Tsw /2) = 0
M6 iL (t2LH + Tsw /2) < 0 iL (t2LH ) = 0
M7 iL (t2HL ) < 0 iL (t2HL + Tsw /2) = 0
M8 iL (t2HL + Tsw /2) > 0 iL (t2HL ) = 0

4.1. Case I (v11 ≥ v22 and D1 > D2 )

Table 4 is obtained by combining the current iL (t) through the inductor shown in Table 2 and
the information in Table 3. Table 4 collects all the specific conditions to obtain ZVS or ZCS for all the
switches in each switching mode for the Case I. ZCS is achieved when the equations are satisfied;
ZVS is achieved when the inequalities are satisfied, for example: M1 has ZVS when (D1 ·V1 ·n > D2 ·V2 )
and ZCS (D1 ·V1 ·n = D2 ·V2 ) for SM1 . Additionally, those conditions are classified into two types:
depending on ϕ and non-depending on ϕ.

Table 4. Case I (v11 ≥ v22 and D1 > D2 ): General conditions to obtain Zero voltage switching (ZVS)
and Zero current switching (ZCS) for each switch.
Switch
SMi
M1 M2 M3 M4 M5 M6 M7 M8
h  i
D2 V2
SM1 D1 · V 1 · n ≥ D2 · V 2 h  i ϕ≤− 2 · 1− V1 ·n ·π
D2 V2
ϕ≥ 2 · 1− V1 ·n ·π
SM2 D1 · V 1 · n ≥ D2 · V 2 h  i
ϕ ≥ D21 · 1 − VV1 ·2n ·π
SM2 * D1 ·V1 ·n ≤ D2 ·V2
SM3 D1 ·V1 ·n + D2 ·V2 ≥ 0 D1 ·V1 ·n + D2 ·V2 ≥ 0
h  i h  i
SM3 * h
D1

V1 ·n
i ϕ ≥ D21 · 1 − VV1 ·2n ·π ϕ ≥ D22 · 1 − VV1 ·2n ·π h
D2

V2
i
ϕ ≥ 1− 2 · 1+ V2 ·π ϕ ≥ 1− 2 · 1+ V1 ·n ·π
SM4 D1h·V1 ·n +D2 ·V2 ≥ i0
D1 · V 1 · n + D2 · V 2 ≥ 0
SM5 D1 ·V1 ·n + D2 ·V2 ≥ 0 ϕ ≤ 1 + D22 · 1 + VV1 ·2n ·π
Energies 2018, 11, 2419 10 of 23

4.1.1. Non-Depending on ϕ
The non-depending on ϕ conditions (Table 4) summarise in the three expressions shown in
Equation (7). The first condition (D1 ·V1 ·n ≥ D2 ·V2 ) only fulfils when D1 ·V1 ·n > D2 ·V2 due to the Case I
implies v11 ≥ v22 and D1 > D2 . It means that switches with this condition have ZVS. However, the second
condition (D1 ·V1 ·n ≤ D2 ·V2 ) cannot be satisfied. Therefore, the switches depending on this condition
switch with losses (Hard Switching). Finally, the last condition (D1 ·V1 ·n + D2 ·V2 ≥ 0) can be satisfied for
all the possible values of D1 , D2 and n.

D1 · V1 ·n ≥ V2 · D2
D1 · V1 · n ≤ V2 · D2 (7)
D1 · V1 · n + V2 · D2 ≥ 0

4.1.2. Depending on ϕ
The conditions that depend on ϕ must be graphically analysed in a cube with the unity side.
The switching mode SM3 * for the Case I is analysed, by considering the voltage ratio shown in
Equation (8), to illustrate the procedure.
V2
d= (8)
n · V1
Equation in (9) show soft switching conditions from Table 4 by considering Equation (8). The plane
SSij (D1 , D2 ) represents the soft switching conditions for “i” and “j” switches with any D1 and D2 .
Figure 6a and soft switching conditions in Equation (9) are plotted in Figure 7a for SM3 *. In Figure 7a,
the switching mode SM3 * is represented by tetrahedron BCEG, and SS12 (D1 ), SS34 (D1 ), SS56 (D2 ) and
SS78 (D2 ) are represented by the planes AKWX, DLYZ, DIUT, and AHTU, respectively.
Figure 7b–e show the projections of the soft switching conditions and SM3 * region onto the planes
ϕ/π − D1 and ϕ/π − D2 .
h  i
D1 1
SS12 (D1 , d) = ϕπ = 1h− 2· 1 + i d ∀ D2
D1 1
SS34 (D1 , d) = ϕ π = h 2 · 1 − d i ∀ D2
D2
(9)
SS56 (D2 , d) = ϕπ = 2 ·(1 − d) ∀ D1
h i
D2
SS78 (D2 , d) = ϕπ = 1 − 2 ·( 1 + d ) ∀ D1

Figure 7b shows that M1 and M2 have soft switching for angles ϕ/π ≥ SS12 (D1 ,d). It has been
indicated by the region in which ϕ/π ≥ SS12 (D1 ,d) (in grey), and the values D1 and ϕ belonging
to switching mode SM3 * (in green). All combination D1 − ϕ/π, belonging to SM3 *, fulfil with
ϕ/π ≥ SS12 (D1 ,d), which means that both switches (M1 and M2 ) have soft switching for the entire
operating range of SM3 *. The condition that allows having soft switching in the switches M3 and M4
fulfils if ϕ/π ≥ SS34 (D1 ,d), Figure 7c. The condition SS34 (D1 ,d) takes negative values for the range
0 < D1 < 1, this means that M3 and M4 always switch to soft switching for ϕ/π > 0.
Figure 7d shows that the projection of the tetrahedron belonging to SM3 * onto the ϕ/π − D2 axes
is the BCE plane. For the angles ϕ/π = SS56 (D2 ,d) and ϕ contained in the BCE triangle, ZCS is achieved
in M5 and M6 ; on the other hand, when ϕ/π > SS56 (D2 ,d) and the BCE triangle contains to ϕ/π, M5
and M6 have ZVS. Similarly, switches M5 and M6 , M7 and M8 have ZCS when ϕ/π = SS78 (D2 ,d) and
ZVS for ϕ/π > SS78 (D2 ,d), and the BCE triangle contains to ϕ/π, Figure 7e. Finally, Figure 7f shows
the values for D1 , D2 and ϕ/π, in pink, that allow all the switches to have soft switching for SM3 *.
From Figure 7f, it can be concluded that ZCS is only possible for switches M7 and M8 when the plane
GTV contains to D1 , D2 and ϕ/π; for the rest of the points belonging GBVT volume, all the switches
have ZVS.
Energies 2018, 11, x FOR PEER REVIEW 11 of 23

Energies 2018, 11, 2419 11 of 23

φ/π φ/π B φ/π

A K
H K B
φ/π > SS12(D1,d)
K
B
V

G
E
SM3* G SM3*
SS12(D1,d)
G
φ/π > SS34(D1,d)
D X
U I

D1 SS34(D1,d)
L
L T Z C D1
D2 W C
W D1 φ/π =1/2·(1-1/d)
Y D1=2·d/(1+d) C Y

(a) (b) (c)

φ/π φ/π
φ/π
c

B B
H
B

φ/π > SS78(D2,d) V

SS78(D2,d) E
E E G

φ/π > SS56(D2,d)

φ/π =(1-d)/2
D1
SS56(D2,d) φ/π =(1-d)/2
T T T
I D2
D2 C D2 C C

(d) (e) (f)

Figure
Figure7. 7.Case I (SM
Case 3*): ZVS
I (SM and ZCS Analysis. Projections of the soft switching conditions and SM3*
3 *): ZVS and ZCS Analysis. Projections of the soft switching conditions
region
and SMonto3 * the planes
region onto φ/π
the − D1 and
planes ϕ/πφ/π− −D1
D2and(a) ϕ/π
All soft
− D2switching conditions
(a) All soft andconditions
switching SM3* region;
and(b)
Projections
SM3 * region; (b) Projections for M1 and M2 ; (c) Projections for M3 and M4 ; (d) Projections for M5for
for M 1 and M 2 ; (c) Projections for M 3 and M 4; (d) Projections for M 5 and M 6 ; (e) Projections
Mand
7 and
MM 8; and (f) Soft switching region (BGTV) for all switches. For this case d = 0.677.
6 ; (e) Projections for M7 and M8 ; and (f) Soft switching region (BGTV) for all switches. For this
case d = 0.677.
Table 5 summarises the type of turn on each switch for all switching modes, and the condition to get
Table 5 summarises
soft switching on the Bridge the2type of turn on each switch for all switching modes, and the condition to
switches.
get Figure
soft switching
8 showsonthe theswitching
Bridge 2 switches.
modes, power flow, RMS current through the inductor, and the
boundaryFigure 8 shows
between HSthe
andswitching
ZVS for M modes,
5 to M8 power
(conditions flow, in RMS
Table current
5) when through
D1 takes thedifferent
inductor,values
and the (0.3,
boundary
0.6 and 0.95). between
Figure HS8a,b and ZVS the
depict for M 5 to M
power 8 (conditions
flow and the RMS in Table 5) when
current for D11 =takes
0.3 (Ddifferent
1 ≤ 0.5),values
and the
(0.3, 0.6 and
switching modes 0.95).
SM1Figure
, SM2, SM 8a,b depict
3, SM 4, and theSM power
5. For flowD1 = 0.6and(Dthe RMStwo
1 > 0.5), current
new for D1 = 0.3
switching (D1 ≤appear,
modes 0.5),
SMand the SM
2* and switching
3*, in themodes
power SM flow,1 , SM 2 , SM
Figure 8c,3 ,and
SMRMS4 , and SM5 . Figure
current, For D18d. = Finally,
0.6 (D1 when> 0.5), D1two
= 0.95new
both
switching
power flow,modes
Figureappear,
8e, andSM * and
inductor
2 SM
RMS 3 *, in the
current, powerFigure flow,
8f, Figure
tend to8c, and
achieve RMSthe current,
maximum Figure 8d.
levels. In
Finally, when
short, higher power D = 0.95 both power flow, Figure 8e, and inductor
1 is obtained when D1 is close to 1. For the same power flow, switching modes SM1,RMS current, Figure 8f, tend to
SMachieve
2, SM2*,theandmaximum
SM3* havelevels.
lessIninductor
short, higher RMSpower current is obtained
than the when rest ofD1them,is close
seetoFigure
1. For the same
8b,d,f. Soft
power flow,
switching switching
in all switches,modes
TableSM 5, is1 ,possible
SM2 , SMin 2 *, and
SM 4 , SM 5
3 ,* have
and SM less
3*, inductor
but SM 3 * RMS
obtainscurrent
the than
lowest the rest
inductor
of them,
RMS currentseewhen
FigureD8b,d,f.
1 > 0.5, Soft
Figureswitching
8d,f. When in allDswitches,
1 ≤ 0.5 less Table
RMS5, currents
is possible in SMin
appear 4 , SM15 ,and
andSM SM23, *,see
but SM
Figure 3 *but
8b, obtains the lowest
all switches inductor
in bridge 2 are RMS current
in hard when Dsee
switching, 1 >Table
0.5, Figure
5. 8d,f. When D1 ≤ 0.5 less
RMS currents appear in SM1 and SM2 , see Figure 8b, but all switches in bridge 2 are in hard switching,
see Table 5.
Energies 2018, 11, 2419 12 of 23

Table 5. Case I (v11 ≥ v22 and D1 > D2 ): Type of switching and conditions to obtain ZVS and ZCS for each switch.
Energies 2018, 11,2018,
Energies 241911, x FOR PEER REVIEW 13 of 23 13 of 23

D1=0.3 D1=0.6
SM3* D1=0.95
SS78
SS78 SS78
SM2*
SM3*
SM2*

P [p.u]

P [p.u]
P [p.u]

SS56 SS56 SS56

SM4
SM3 SM2 SM4
SM4
SM2
D2 SM1
SM5 SM3 D2 SM5
SM1 SM3 SM2 D2
SM5 SM1

φ/π
φ/π φ/π

(a) (c) (e)

D1=0.3 SM5 SS78

SM5 SM5 SS78

Irms [p.u]
D1=0.6 D1=0.95
SM4 SM4
Irms [p.u]

SM3*
Irms [p.u]

SS78 SM3* SM4

SM2*
SM3 SM2* SS56 SS56
SM2 SM3
SM3 SM2
SM1 SM2 SM1
SS56
SM1

φ/π D2 φ/π φ/π

D2 D2

(b) (d) (f)

Figure Figure
8. Case8. Case I: Power and RMS current per unit [p.u] normalized to the maximum values, and switching
I: Power and RMS current per unit [p.u] normalized to the maximum values,
modes for different D1 values when d = 0.677. (a) Power for D1 = 0.3; (b) RMS current for D1 = 0.3; (c) Power
and switching modes for different D1 values when d = 0.677. (a) Power for D1 = 0.3; (b) RMS
for D1 = 0.6; (d) RMS current for D1 = 0.6; (e) Power for D1 = 0.95; and (f) RMS current for D1 = 0.95.
current for D1 = 0.3; (c) Power for D1 = 0.6; (d) RMS current for D1 = 0.6; (e) Power for D1 = 0.95;
and (f)Case
4.2. RMS current
II (v for D
11 ≥ v22 and D11≤=D0.95.
2)

4.2. Case II Similar

(v11 ≥ to Case I, Table 6 summarises the conditions that allow the converter to have soft switching on
v22 and D1 ≤ D2 )
all switches, considering positive φ. This table is equivalent to Table 4 for Case I. Again, there are two types
of conditions
Similar to Case that have soft
I, Table switching: Those
6 summarises thedepending
conditions andthat
those non-depending
allow on φ. to have soft switching
the converter
on all switches, considering positive ϕ. This table is equivalent to Table 4 for Case I. Again, there are
Table 6. Case II (v11 ≥ v22 and D1 ≤ D2): General conditions to obtain ZVS and ZCS for each switch.
two types of conditions that have soft switching: Those depending and those non-depending on ϕ.
Switch
SMi
M1 M2 M3 M4 M5 M6 M7 M8
Table 6. Case DII1 (v11 ≥
V1 ∙v
n22 and D1 ≤ D2 ): General conditions to obtain ZVS and ZCS for each switch.
SM1 φ ≤ − [ ∙ (1 − )] ∙ π D1 ∙ V1 ∙ n ≤ D2 ∙ V2
2 V2 D1 V1 ∙ n
φ ≥ [ ∙ (1 − )] ∙ π Switch D2 V2
SMi SM2 2 V2 D1 ∙ V1 ∙ n ≤ D2 ∙ V2
SM2* MD1 1 ∙ V1 ∙ n ≥ D2 ∙ V2M2 M3 M4 φ ≥ [ 2 ∙ (1M−5 V1 ∙ n)] ∙ π M6 M7 M8
h  i
SM1 SM3ϕ ≤ − D21 · 1 − VV1 ·2n ·π D1 ∙ V1 ∙ n +hD2 ∙  V2 ≥ 0 i D1 ∙ V1 ∙ n +DD12·V∙ 1V·2n≥≤0D2 ·V2
D1ϕ ≥ DV11· ∙ 1n − VV1 ·n ·π D V
SM2SM3* φ ≥ [ ∙ (1 − 2 )] ∙ π2 φ ≥ [ 2 ∙ (1 −h 2 )] ∙ π i D2D1 ·V1 ·n V≤2 D2 ·V2
2 V2 2
ϕ≥ D V12 ∙n V2
·φ
π ≥ [1 − ∙ (1 + )] ∙ π
D ·
D1
V · n ≥ D
V1 ∙ n
· V 2 · 1 − V1 ·n 2 V1 ∙ n
SM2 *SM4 φ ≥ [1 −
1 1 ∙ (1 + 2 2 )] ∙ π D ∙ V ∙ n + D ∙ V ≥ 0
2 V2 1 1 2 2
D V ∙n D1 ∙ V1 ∙ nD+1 ·DV21∙·nV2+≥D02 ·V2 ≥ 0
SM3 SM5 φ ≤ [1 + D11∙·V (11 ·n +1 D2 ·V2 ≥ 0
h + V2 )] ∙ π i D1 ∙ V1 ∙ n + D2 ∙ V2 ≥ 0
2 h  i
SM3 * ϕ ≥ D21 · 1 − VV1 ·2n ·π ϕ ≥ D22 · 1 − VV1 ·2n ·π h  i
h
D1

V1 ·n
i ϕ ≥ 1 − D22 · 1 + VV1 ·2n ·π
ϕ ≥ 1 − 2 · 1 + V2 ·π
SM4 4.2.1. Non-Depending on φ D1 · V 1 · n + D2 · V 2 ≥ 0
h  i D1 ·V1 ·n + D2 ·V2 ≥ 0
1 ·n
SM5 As in Case I, the non-depending on φ 1conditionsϕ ≤ + D21 · 1 + VVare 2
·π
shown in Equation (7), and all conditions D1 ·V1 ·n +could
D2 ·V2 ≥ 0

be fulfilled due to V1·n ≥ V2 and D1 ≤ D2, for Case II. So, from the first and the second conditions (D1·V1·n
≥ D2·V2 and D1·V1·n ≤ D2·V2) is obtained in Equation (10) as the only solution that meets both conditions
4.2.1. Non-Depending on ϕ
at the same time, which means that the switches have ZCS. The third condition (D1·V1·n + D2·V2 ≥ 0) always
As in Case I, the non-depending on ϕ conditions are shown in Equation (7), and all conditions
could be fulfilled due to V1 ·n ≥ V2 and D1 ≤ D2 , for Case II. So, from the first and the second conditions
(D1 ·V1 ·n ≥ D2 ·V2 and D1 ·V1 ·n ≤ D2 ·V2 ) is obtained in Equation (10) as the only solution that meets
both conditions at the same time, which means that the switches have ZCS. The third condition
(D1 ·V1 ·n + D2 ·V2 ≥ 0) always fulfils because all its parameters are always positive, which means that
the corresponding switches achieve ZVS.

D1 ·V1 ·n = D2 ·V2 (10)

The switching modes depicted in Figure 6c,d, for Case II, are simplified in Figure 9a when
expression in Equation (10) is applied, turning the original volumes into planes. On the other hand,
fulfils because all its parameters are always positive, which means that the corresponding switches achieve
ZVS.

Energies 2018, 11, 2419 D1 ∙ V1 ∙ n = D2 ∙ V2 (10)

14 of 23

The switching modes depicted in Figure 6c,d, for Case II, are simplified in Figure 9a when expression
inthe
Equation (10) is
application ofapplied, turninginthe
the expression original(10)
Equation volumes
impliesinto planes. Ontothe
a limitation other
reach thehand, the application
maximum power
ofinthe expression in Equation (10) implies a limitation to reach the maximum power
the converter due to the maximum value for D1 = d, which is got when D2 = 1. In order in the converter due
to reach
tothe
themaximum
maximumpower,
value for
theDexpression
1 = d, which is got when D2 = 1. In order to reach the maximum power, the
in Equation (10) has not been considered for d < D1 < 1 and
expression in Equation (10) has
remaining as a constant D2 = 1, not
asbeen
shownconsidered
in Figurefor
9b.d Note
< D1 <that
1 and
theremaining
conditionasofathis
constant D2 = 1, as
last interval
shown in Figure 9b. Note that the
coincides with the EPS modulation. condition of this last interval coincides with the EPS modulation.

φ/π φ/π A
A Plane: D1·V1·n=D2·V2 Extended Switching Modes

B B

SM3 SM5 SM5

SM4 SM3 SM4
SM3* SM3*
J J
SM2 D
SM2
D D1 D1
SM2* SM2*
D2
D2 SM1
SM1
C C

(a) (b)
Figure
Figure9.9.Case
CaseII.
II. Non-depending on ϕ
Non-depending on φ conditions:
conditions:(a)
(a)Switching
Switchingmodes
modesforfor
D1D≤
1 ≤
d;d; and
and (b)(b) Extended
Extended
Switching Modes for D
Switching Modes for D1 > d.
1 > d.

4.2.2.Depending
4.2.2. Dependingon
onφϕ
Applyingthe
Applying theexpression
expression in Equation
Equation (10),
(10),in
inTable
Table6,6,for for0 <
0D< 1D≤1 ≤d,
d,the
thefour
fourconditions shown
conditions shownin in
Equation (11) summarise those that
Equation (11) summarise those that depend on φ. depend on ϕ.
D − D
2 1
φ≥−
ϕ − ( D2 −2 D1 )·π∙ π
 2 
ϕ ≤ DD22 −2−DD 1
1 ·π
φ≤ ( )∙ π
D22 +D1
ϕ ≥ 1− 2 ·π (11)
D2 + D 1
φ ≥ (1 − D2 +D1 ) ∙ π (11)

ϕ ≤ 1 + 22 ·π
D2D−2D+ 1 D1
 
φϕ ≤≥(1 + 2 ·π) ∙ π
2
D2 − D1
The first condition (ϕ ≥ − (D2 − D1φ)·π/2) ≥ ( indicates ) ∙ πthat the switches achieve soft switching
2
when ϕ ≥ − (D2 − D1 )·π /2. In Case II it is only possible to obtain ZVS for ϕ > 0 due to D1 ≤ D2 .
TheThe firstcondition
second condition − (DZVS
(φ ≥ that
means 2 − D1)·π/2) indicates that the switches achieve soft switching when φ ≥
is achieved when 0< ϕ < (D2 − D1 )·π/2, ZCS for ϕ = (D2 − D1 )·π/2
−and
(D2 −HS D1)·π /2. In Case II it is only possible to obtain (ϕ ZVS ≥for (1 φ−> (D
0 due+ to DD 1 ≤ D2. The second condition
in any other case. The third condition 2 1 )/2)·π) indicates ZVS for
means that ZVS is achieved when 0< φ < (D 2 − D1)·π/2, ZCS for φ = (D2 − D1)·π/2 and HS in any other case.
ϕ > (1 − (D2 + D1 )/2)·π), ZCS for ϕ = (1 − (D2 + D1 )/2)·π) and HS for ϕ < (1 − (D2 + D1 )/2)·π).
The
Thethird condition ≥ (1≤−(1
(φ (ϕ (D−2 +(DD1)/2)·π) indicates ZVS for φ > (1 − (D2 + D1)/2)·π), ZCS for φ = (1 − (D2
fourth condition 2 + D1 )/2)·π) indicates ZVS for ϕ < π, since for ϕ = π the output
+power
D1)/2)·π) and HS for φ < (1 − (D 2 + D1)/2)·π). The fourth condition (φ ≤ (1 − (D2 + D1)/2)·π) indicates ZVS
is equal to zero. Finally, the fifth condition means that ZVS is achieved when ϕ > (D2 − D1 )·π/2,
for φ ZCS
< π, since
for ϕ for φ =−πDthe output power is equal to zero. Finally, the fifth condition means that ZVS is
and = (D 2 1 )·π/2 and HS in any other case.
achieved when φby > (D 2 − D1)·π/2, and ZCS for φ = (D2 − D1)·π/2 and HS in any other case.
Therefore, fulfilling expression in Equation (10), ϕ > 0 from first condition (lower boundary
Therefore, by fulfilling expression
to ϕ ≤ (Din Equation (10), φ > 0 from first condition (lower boundary for
for SM1 , Table 1, Case II), up 2 − D1 )·π/2 from the second condition (upper boundary for
SM 1, Table 1, Case II), up to φ ≤ (D2 − D1)·π/2 from the second condition (upper boundary for SM1, Table
SM , Table 1, Case II), all switches for SM get soft switching, see Table 6. By fulfilling expression in
1 1
Equation (10) and ϕ ≥ (D2 − D1 )·π/2 from the fifth condition (lower boundary for SM2 and SM2 *,
Table 1, Case II), all switches for SM2 and SM2 * get soft switching. Only by fulfilling expression
in Equation (10) do all switches for SM3 get soft switching, see Table 6. In addition, by fulfilling
expression in Equation (10) and ϕ ≥ (1 − (D2 + D1 )/2)·π from the third condition (lower boundary for
SM3 *, Table 1, Case II), all switches for SM3 * get soft switching, see Table 6. By fulfilling expression in
Equation (10) and ϕ ≥ (1 − (D2 + D1 )/2)·π from the third condition (lower boundary for SM4 , Table 1,
Energies 2018, 11, 2419 15 of 23

Case II), all switches for SM4 get soft switching. Finally, by fulfilling expression in Equation (10),
ϕ ≥ (1 − (D2 + D1 )/2)·π from the third condition (ϕ values less than the lower boundary for SM5 ,
Table 1, Case II), and ϕ < 1 from the fourth condition, all switches for SM5 get soft switching.
That means, for the simple fact of working in each switching mode, it would be fulfilling these
conditions and having soft switching.

4.2.3. Extended Switching Modes

As said above, when analysing the non-depending on ϕ conditions, to overcome the limitation
on the power delivered due to the early saturation of D2 , an additional condition that coincides with
EPS modulation have to be considered. This operating zone is going to be called Extended Switching
Mode, Figure 9b. The soft switching conditions in the Extended Switching Mode (D1 > d and D2 = 1)
are shown in Table 6, for the switching modes SM1 , SM3 * and SM5 . The boundaries of these three
switching modes for the Extended Switching Mode are included in Table 7 and are shown in Figure 10a.
Additionally, soft switching conditions for the Extended Switching Mode are divided into those
depending on ϕ and those non-depending on ϕ.
From Table 6 and D2 = 1, the conditions that do not depend on ϕ are summarised in two equations,
as shown in Equation (12). The first condition (D1 ≤ d) affects to SM1 , meaning that the switches
M5 –M8 for D1 > d lose the soft switching, see Figure 10b. The second condition (D1 ·V1 ·n + D2 ≥ 0) is
always fulfilling, and only affects SM5 , which implies ZVS in switches M5 –M8 , see Figure 10b.

D1 ≤ d
(12)
D1 ·V1 ·n + D2 ≥ 0

Table 7. Case II (v11 ≥ v22 and D1 ≤ D2 ): Boundaries for each extended switching modes.

SMi Case II
 
SM1 0 < ϕ ≤ 1−2D1 ·π
   
1 − D1
SM3 * 2 ·π < ϕ ≤ 1+2D1 ·π

1 + D1
SM5 2 ·π < ϕ < π

On the other hand, the depending on ϕ conditions for the same three switching modes (SM1 ,
SM3 * and SM5 ), Table 6, are analysed similarly for D1 < d. From Table 6 and considering Equation (8),
for Case II d ≤ 1 (v22 /v11 = V2 /(n·V1 ) = d ≤ 1). For SM1 , the first condition (ϕ ≤ (−D1 /2·(1 − 1/d))·π
or ϕ ≤ (D1 /2·((1/d) − 1))·π) allows soft switching in M1 –M2 , line blue in Figure 10a, and the second
condition (ϕ ≥ D1 /2·(1 − 1/d)·π) is equivalent to consider ϕ > 0 due to d ≤ 1, this means M3 –M4
always have soft switching, see Figure 9a.
 Energies 2018, 11, x FOR PEER REVIEW 16 of 23

Energies 2018, 11, 2419 16 of 23

D2<1 D2=1 D2<1 D2=1

1 SM5 1 SM5

φ=(1+D1)π /2
SM4 SM4
SM3* ZVS
φ=D1·π·(1/d-1)/2 SM3*
SM3 SM3
φ/π φ/π
φ=(1-D1/2·(1+1/d))·π
φ=(1-d)·π /2
φ=(1-d)π /2 φ=(1-D1)·π /2
SM2* SM2*
SM2 SM2

SM1 SM1 HS
0 0
0 D1 d 1 0 D1 d 1

(a) (b)

SM5
SM3*
Irms [p.u]
P [p.u]

SM3*
SM4
SM1
SM2*
SM5 SM4
SM2*
SM3 SM1
SM3 SM2 SM2

D1
φ/π D1
φ/π
(c) (d)
Figure 10. Case II for Extended Switching Modes (SM1, SM3*, SM5), d = 0.677. (a) Depending and Non-
Figure 10. Case II for Extended Switching Modes (SM1 , SM3 *, SM5 ), d = 0.677. (a) Depending and
depending soft switching conditions; (b) ZVS and hard switching (HS) zones; (c) Power flow [p.u]; and
Non-depending soft switching conditions; (b) ZVS and hard switching (HS) zones; (c) Power flow
(d) Inductor RMS current [p.u]. [p.u] is normalized to the maximum values.
[p.u]; and (d) Inductor RMS current [p.u]. [p.u] is normalized to the maximum values.
Soft switching conditions for SM3* can be simplified as (φ ≥ (1 − D1·(1 + 1/d)/2)·π), (φ ≥ (D1·(1 −
Soft switching conditions for SM3 * 6;can
1/d)·π/2)) and (φ ≥ (1 − d)·π/2), from Table
be simplified as (ϕ ≥ (1 − D1 ·(1 +red
the third condition (φ ≥ (1 − D1·(1 + 1/d)/2)·π),
1/d)/2)
line in
·π),
(ϕ ≥ (D1 ·10a)
Figure (1 −indicates
1/d)·π/2)) and (ϕfor≥M1–M
soft switching (1 2;−the d) ·π/2),
fourth from(φTable
condition ≥ (D1·(1 6; the third
− 1/d)/2)·π) condition
is equivalent
(ϕ ≥ (1 − D
to φ > 0 due · (1 + 1/d)/2) · π), red line in Figure 10a) indicates soft switching
1 to d ≤ 1, this means M3–M4 always have soft switching; and the fifth condition (φ for M –M ; the fourth
1 ≥ (12 − d)·π/2,
condition (ϕ ≥ (D · (1 − 1/d)/2) · π) is equivalent to ϕ > 0
horizontal black 1dashed line in Figure 10a means soft switching for M5–M8. due to d ≤ 1, this means M 3 –M 4 always have
Finally, soft
soft switching; and switching
the fifthconditions
conditionfor(ϕ SM≥5 are
(1 −(φd)
≥ (1 − D1·horizontal
·π/2, (1 + 1/d)/2)·π) and (φ
black ≤ (1 + Dline
dashed 1·(1 +in1/d)/2)·π);
Figure 10a
the sixth
means condition (φ
soft switching for≥M − D81.·(1 + 1/d)/2)·π, red line, means soft switching for M1–M2, the seventh
(15 –M
condition
Finally,(φ ≤soft (1 + Dswitching
1·(1 + 1/d)/2)·π) is equivalent to φ < π and it indicates soft switching for M3–M4, see
conditions for SM5 are (ϕ ≥ (1 − D1 ·(1 + 1/d)/2)·π) and
Figure 10a.
(ϕ ≤ (1 + D1 ·(1 + 1/d)/2)·π); the sixth condition (ϕ ≥ (1 − D1 ·(1 + 1/d)/2)·π, red line, means
Depending and non-depending soft switching conditions are summarised in Table 8 and Figure 10b
soft switching for M1 –M2 , the seventh condition (ϕ ≤ (1 + D1 ·(1 + 1/d)/2)·π) is equivalent to ϕ < π
for D1 > d and D2 = 1. All the switches have zero voltage switching in the ZVS zone (blue dashed rectangle).
andFor
it indicates
SM1, M1–Msoft switching for M3 –M4 , seeand
2 always have hard switching;
Figure 10a.
for SM 3* and φ < (1 − d)·π/2, M5 to M8, always have

hard switching, see HS zone (red dashed rectangle). Tableconditions

Depending and non-depending soft switching 8 shows the are summarised
results of the analysis in performed
Table 8 and
Figure 10bIIfor
for Case andDshows
1 > d theand D2 =of1.each
ranges Allswitching
the switches
mode,have zerotransferred
the power voltage switching
and the type inofthe ZVS zone
switching
(blue dashed
in the switches. rectangle). For SM1 , M1 –M2 always have hard switching; and for SM3 * and
ϕ < (1 − d)·π/2, M5 to M8 , always have hard switching, see HS zone (red dashed rectangle).
Table 8 shows the results of the analysis performed for Case II and shows the ranges of each switching
mode, the power transferred and the type of switching in the switches.
Figure 10c,d shows the power flow and the inductor RMS current, respectively. As depicted,
the lower RMS current can be obtained at the boundary between SM1 , SM2 and SM2 *, compared with
SM3 , SM4 and SM5 for the same transferred power.
Energies 2018, 11, 2419 17 of 23

Table 8. Case II (v11 ≥ v22 and D1 ≤ D2): Boundaries, power, and type of switching for each switch.

5. Experimental Results
This section shows the experimental results for Case I and Case II using a 250 W prototype.
The prototype has IRFP4468PbF MOSFETs in both bridges, a transformer built with an ETD59 ferrite
core and a self-manufactured inductor with a RM12 ferrite core. Additionally, a TMS320F28335 Texas
Instrument DSP generates the driving signals.
Table 9 summarises the operating parameters of the converter, and Figure 11 shows a block
diagram of the experimental circuit layout.

Table 9. DAB parameters.

Descriptions Specifications
Port 1 Voltage V1 36 V
Port 2 Voltage V2 72 V
Transformer turns ratio: 1:n 1:3
Inductance: L 3.88 µH
Switching frequency: fsw 100 kHz
Port 1 capacitor: C1 60 µF
Port 2 capacitor: C2 60 µF
 Port 2 Voltage V2 72 V
Transformer turns ratio: 1:n 1:3
Inductance: L 3.88 μH
Switching frequency: fsw 100 kHz
Energies 2018, 11, 2419 Port 1 capacitor: C1 60 μF 18 of 23
Port 2 capacitor: C2 60 μF

DSP (TMS320F28335) Oscilloscope

ADC
D1 D2 φ

PWM (V1, i1, V2 and i2) v11, v22, and iL

(vg1, vg2, vg3, vg4, vg5, vg6, vg7 and v g8)
Sensors, analog circuit and filter

i1
DAB Converter i2
DM1 CM1 DM3 C3M DM5 CM5 DM7 CM7
vg1 vg3 vg5 vg7
iL L 1:n
+ +
V1 C1 v11 v22 C2 V2
- -
DM2 CM2 DM4 CM4 T DM6 CM6 DM8 CM8
vg2 vg4 vg6 vg8

Bridge 1 Bridge 2

Figure 11. Block diagram of the experimental circuit layout.

Figure
Figure 1212 shows
shows sixsix switching
switching modesmodes(SM(SM 1, SM 1 ,2,SMSM2 2, *,SMSM 2 *,
3*, SM
SM34*, , ySM SM4 ,5) yfor SM 5 ) for
Case Case
I and d =I and
0.677,
d = 0.677,
which validate which validateperformed
the analysis the analysis performed
about the switching abouttypes, the switching
detailed intypes, Tabledetailed5. Figurein Table
12a–c 5.
show
Figure
ZVS in M12a–c
1, M2, show
M3, and ZVS M4in ; HSM1in,MM27, and
M3 , and M4 ;for
M8; and HSM in5 Mand7 and
M 6 M
the and
switching
8; for M type
5 and M
depend 6 the switching
on φ and D2.
Intype
Figure depend
12d–f,onthe and D2 . Intype
ϕ switching Figurefor12d–f,
M7 and theMswitching
8 varies intype for Mof
function 7 and
φ and M8Dvaries2, whereas in function
the restofof
ϕ and D
switches 2 , whereas
maintain thethe samerestswitching
of switches maintain
type the same
(ZVS). Figure 12aswitching
shows the type (ZVS).vFigure
voltages 11, v22 and 12aishows
L for the

the voltages
switching mode v11SM
, v122, in
andwhichiL forthe
thefour
switching
switches mode of the SMBridge
1 , in which
1 (M the
1 –M four
4) are switches
operating of the
with Bridge
ZVS. 1
On
Bridge
(M1 –M 2,4switches M5 andwith
) are operating M6 switch
ZVS. On with losses
Bridge 2, (HS)
switches due M to5(φ/π
and M = 0.050)
6 switch < (SSwith 56 =losses
0.059),(HS) as shown
due toin
Table
(ϕ/π5,=for D1 =<0.5
0.050) (SSand
56 = D =
0.059),
2 0.34.
as Switches
shown inM and
Table
7 5,M for
8 are
D 1in= HS,
0.5 as
and wasD 2 specified
= 0.34. in
SwitchesTable M 5.
7 In
and Figure
M8
12b,
arethe eightasswitches
in HS, switchin
was specified inTable
the same5. Inway
Figureas shown
12b, the in eight
Figureswitches
12a, for switch
D1 = 0.5,inDthe 2 = 0.45
same and
way (φ/π
as =
0.061)
shown < (SS = 0.075).
in56Figure 12a,In for
the D switching
1 = 0.5, D mode SMand
2 = 0.45 2*, Figure
(ϕ/π12c shows<ZVS
= 0.061) (SS56in=M0.075).
5 and M In6 for
the(φ/π = 0.222)
switching
> (SS
mode56 = 0.077)
SM2 *, with
Figure D112c= 0.75showsand ZVS
D2 = 0.487.
in M5 Figure
and M12d 6 for shows
(ϕ/π the
= switching
0.222) > (SS mode
56 = SM
0.077) 3 * with
with DZVS
1 = in M7
0.75
and
and MD 8 when D1 =Figure
2 = 0.487. 0.75, D12d 2 = 0.643
shows and
the(φ/π = 0.577·π)
switching mode > (SSSM783 *= with
0.494). ZVS In inFigure
M7 and 12e,Mswitches
8 when D M1 7=and M8
0.75,
achieve ZVSand
D2 = 0.643 for (ϕ/π
D1 = 0.75,
= 0.577D2 =·π)0.5
> and
(SS78(φ/π = 0.722)
= 0.494). > (SS7812e,
In Figure = 0.667)
switches in the M7switching
and M8 achieve mode ZVS SM4. forForDthe
1
last switching
= 0.75, D2 = 0.5mode,
andSM (ϕ/π5, the = parameters
0.722) > (SS78 D1== 0.667)
0.75, Din 2 =the0.2,switching
and (φ/π =mode 0.75) SM < (SS4 . =
For
78 0.833)
the are
last considered
switching
asmode,
havingSM HS5 ,in Mparameters
the 7 and M8, as D predicted
1 = 0.75, inD2Table
= 0.2,5,and Figure (ϕ/π 12f.= 0.75) < (SS78 = 0.833) are considered as
having HS in M7 and M8 , as predicted in Table 5, Figure 12f.
 Energies 2018, 11, x FOR PEER REVIEW 19 of 23
Energies 2018, 11, 2419 19 of 23

v11 v11
v11
n·v22 iL iL n·v22 iL
n·v22

ZVS(M2) ZVS(M2)
HS(M6) ZVS(M3) HS(M7)
HS(M6) HS(M5)
ZVS(M1) HS(M5) ZVS(M1) ZVS(M1) ZVS(M5) ZVS(M6)
ZVS(M3) ZVS(M2)
ZVS(M3) HS(M7) HS(M7)

ZVS(M4) HS(M8) ZVS(M4)

HS(M8) ZVS(M4) HS(M8)

(a) (b) (c)

v11 v11
iL
iL iL v11
n·v22 n·v22
n·v22

ZVS(M3) ZVS(M5) ZVS(M3)

ZVS(M2)
ZVS(M3) HS(M7)
ZVS(M8) ZVS(M8) HS(M8) ZVS(M5)
ZVS(M7) ZVS(M2) ZVS(M5) ZVS(M7)
ZVS(M1) ZVS(M6) ZVS(M2)
ZVS(M4) ZVS(M1) ZVS(M1)
ZVS(M4) ZVS(M6) ZVS(M4)
ZVS(M6)

(d) (e) (f)

Figure
Figure 12.12.Switching
Switching modes
modes for forCase
CaseI: I:(a)(a)
SMSM 1 with
1 with HS in HSMin5 yMM56 y M6<(ϕ/π
(φ/π < SS
SS56); (b) 562);with
SM (b) SMHS 2inwith
M5 y HS
in MM65(φ/πy M<6 SS (ϕ/π <SM
56); (c) SS256
* );
with(c)ZVS
SM2in* with
M5 y M ZVS
6 (φ/πin>M SS556y M6SM
); (d) (ϕ/π > SS
3* with ZVS56 );in(d)
M7SMy M38*(φ/π
with> SSZVS in M7
78); (e)

yM SM with ZVS
8 4(ϕ/π > SSin M(e)
78 ); 7y MSM8 (φ/π > SSZVS
4 with 78); andin(f)
MSM 7 y5 with HS in >
M8 (ϕ/π M7SSy 78
M);8 (φ/π
and<(f)SS78SM). 5 with HS in M7 y M8
(ϕ/π < SS78 ).
Figure 13 shows six switching modes (SM1, SM2, SM3, SM4, SM5, and SM3*) for Case II and d = 0.677,
applying
Figure Equation
13 shows (10)six
with values D1modes
switching ≤ d. In this(SMcase of study, all the switching modes are likely to
1 , SM2 , SM3 , SM4 , SM5 , and SM3 *) for Case II
achieve ZVS or ZCS except for SM 1 and SM3*, which may have HS in the Extended Switching Mode, as
and d = 0.677, applying Equation (10) with values D1 ≤ d. In this case of study, all the switching
shown in Table 8 and Figure 10. Figure 13a shows switching mode SM1, with the Bridge 1 switches in
modes are likely to achieve ZVS or ZCS except for SM1 and SM3 *, which may have HS in the Extended
ZVS and those in Bridge 2 in ZCS for D1 = 0.44, D2 = 0.664 and φ/π = 0.048. In Figure 13b, the switching
Switching Mode, as shown in Table 8 and Figure 10. Figure 13a shows switching mode SM1 , with the
mode SM2 is shown, achieved ZVS in M3, M4, M5, and M6, and ZCS in M1, M2, M7, and M8 for D1 = 0.42,
Bridge 1 switches
D2 = 0.656 and φ/πin= ZVS 0.206.andFigure those in Bridge
13c shows four 2switches
in ZCSwith for D 1 =(M
ZCS 0.44,
1, M2, M
D2 = 0.664 and ϕ/π = 0.048.
7 and M8) and four with
In Figure
ZVS (M313b, , M4, the
M5 andswitching
M6) for Dmode SM is shown, achieved ZVS in M , M4 , 8Mfor
1 = 0.132, D22 = 0.2 and φ/π = 0.458, as detailed in3 Table 5 , switching
and M6 , and modeZCS
in M
SM , M ,
1 3. Figure
2 M , and
713d–f show M for D
8 all their = 0.42, D = 0.656 and ϕ/π = 0.206. Figure
1 switches2in ZVS, corresponding to switching modes SM4 (D1 = 0.312, 13c shows four switches
D2
with ZCSand
= 0.34 (Mφ/π1, M , M7 and
= 20.806), SM5 M (D81)=and
0.221,four
D2 =with
0.435ZVSand φ/π(M3=, 0.896),
M4 , Mand5 andSMM 6 ) 1for
3*(D D1 =D0.132,
= 0.564, 2 = 0.838Dand
2 = 0.2
φ/πand
ϕ/π= 0.521),
= 0.458, respectively.
as detailed in Table 8 for switching mode SM3 . Figure 13d–f show all their switches in
With these experimental
ZVS, corresponding to switching results,
modes theSM analysis carried out in sections III and IV and summarised in
4 (D1 = 0.312, D2 = 0.34 and ϕ/π = 0.806), SM5 (D1 = 0.221,
D = 0.435 and ϕ/π = 0.896), and SM *(D = 0.564, validated.
2
Tables 5 for Case I and Table 8 for Case II, have been D = 0.838 and ϕ/π = 0.521), respectively.
3 1 2
With these experimental results, the analysis carried out in Sections 3 and 4 and summarised in
Table 5 for Case I and Table 8 for Case II, have been validated.
 Energies 2018, 11, x FOR PEER REVIEW 20 of 23
Energies 2018, 11, 2419 20 of 23

v11
v11
n·v22 n·v22 v11
n·v22
iL
iL iL

ZVS(M3) ZVS(M2) ZCS(M1)

ZCS(M6) ZVS(M3)
ZVS(M5)
ZVS(M5) ZCS(M7) ZCS(M1) ZCS(M2) ZCS(M2) ZCS(M7)
ZVS(M1)

ZCS(M7) ZCS(M8) ZCS(M5) ZVS(M4) ZCS(M8)

ZVS(M6) ZCS(M8) ZVS(M4) ZVS(M3) ZVS(M4) ZVS(M6)

(a)
(b) (c)

v11
n·v22 v11 iL
iL v11 iL
n·v22
n·v22

ZVS(M5) ZVS(M5) ZVS(M3)

ZVS(M5) ZVS(M2)
ZVS(M3)
ZVS(M6) ZVS(M8) ZVS(M3) ZVS(M8) ZVS(M1)
ZVS(M8) ZVS(M7) ZVS(M1) ZVS(M2) ZVS(M4) ZVS(M7) ZVS(M6) ZVS(M1) ZVS(M4) ZVS(M7) ZVS(M6) ZVS(M2) ZVS(M4)

(d) (e) (f)

Figure
Figure13.13.Switching
Switchingmodes
modesfor for Case II: (a)
Case II: (a)SM
SM1 1for
forDD = 0.44,
1 =1 0.44, D2 =D0.664,
2 = 0.664, and=ϕ/π
and φ/π 0.048;= (b)
0.048;
SM2(b) for SM
D1 =2 for
D10.42,
= 0.42,
D2 =D0.656,
2 = 0.656,
and and
φ/π = ϕ/π
0.206; = 0.206;
(c) SM 3 (c)
for DSM
1 = 3 for D
0.132, D12 =
= 0.132,
0.2, andD φ/π
2 = 0.2,
= and
0.458; ϕ/π
(d) SM =
4 0.458;
for D 1 = (d) SM
0.312, D42 for
D1 = 0.312, D2 = 0.34, and ϕ/π = 0.806; (e) SM5 for D1 = 0.221, D2 = 0.435, and ϕ/π = 0.896; (f) SM3 * for
= 0.34, and φ/π = 0.806; (e) SM 5 for D 1 = 0.221, D 2 = 0.435, and φ/π = 0.896; (f) SM 3 * for D 1 = 0.564, D 2 = 0.838,
D1and φ/π =D
= 0.564, 0.521.
2 = 0.838, and ϕ/π = 0.521.

6. Conclusions
6. Conclusions
ThisThispaper
paperprovides
provides an an exhaustive
exhaustiveanalysis
analysis of the
of the different
different DAB DAB switching
switching modes modes
when TPS,when
EPS,TPS,
and PS modulation are applied. This analysis allows the identifying of the best
EPS, and PS modulation are applied. This analysis allows the identifying of the best switching modes, switching modes, among
the possible
among fifty-sixfifty-six
the possible differentdifferent
ones, as well
ones,asas
thewell
mostassuitable
the most combinations of modulation of
suitable combinations variables to
modulation
guarantee
variables Zero-Voltage-Switching
to guarantee (ZVS) or Zero-Current-Switching
Zero-Voltage-Switching (ZVS) or Zero-Current-Switching (ZCS), and therefore
(ZCS), and advance
therefore
getting the best performance for whole output power ranges and each V1 and V2 ratio. With this analysis,
advance getting the best performance for whole output power ranges and each V1 and V2 ratio.
it is easier to do further analysis, such as to reduce reactive energy or to define the variables values to get
With this analysis, it is easier to do further analysis, such as to reduce reactive energy or to define the
minimum RMS current.
variables values
Four casestoofget
studyminimum
have been RMS current.for positive φ, depending on the relative value of input
established
Four cases of study have been established
and output voltages and the duty cycle in the bridges for positive
voltage depending on
ϕ, waveforms. Two theofrelative value
these four of input
possible
andcases
output voltages and the duty cycle in the bridges voltage waveforms. Two
are considered (Case I and Case II) in this paper since the other two are complementary. Seven of these four possible
cases are considered
switching modes, named (Case I and
as SM 1, SMCase II)SM
2, SM2*, in3, this
SM3*,paper
SM4, and since
SM5thehaveother two are complementary.
been identified for each case.
The switching
Seven analytical expression
modes, named aboutasboundaries,
SM1 , SM2 ,inductor
SM2 *, SM current
3 , SM and
3 *, average
SM 4 , and output
SM 5 power
have areidentified
been provided for
for each analysed switching mode.
each case. The analytical expression about boundaries, inductor current and average output power are
provided Theforanalysis carried out
each analysed allows knowing
switching mode.the switching in each switch (ZVS, ZCS or HS), detailed in
Table 5 and Table 8 for Case I and Case II, respectively. This information is essential to quantify the power
The analysis carried out allows knowing the switching in each switch (ZVS, ZCS or HS), detailed
losses in each switch (both switching and conduction losses) and to improve the efficiency and the power
in Tables 5 and 8 for Case I and Case II, respectively. This information is essential to quantify the power
density of the converter. Some of the most relevant conclusions regarding the soft-switching are the
losses in each switch (both switching and conduction losses) and to improve the efficiency and the
following:
power density of the converter. Some of the most relevant conclusions regarding the soft-switching are
• In Case I, only three (SM3*, SM4 and SM5) of the seven switching modes can achieve ZCS or ZVS for
the following:
all the switches, although the only SM3 has a minimum inductor RMS current when D1 > 0.5. The
*

• In Case I, only three (SM3 *, SM4 and SM5 ) of the seven switching modes can achieve ZCS or ZVS
for all the switches, although the only SM3 * has a minimum inductor RMS current when D1 > 0.5.
The remaining switching modes (SM1 , SM2 , SM2 *, and SM3 ) operate with hard switching in a leg
of bridge 2, since ϕ < SS56 (D1 , D2 ) or ϕ < SS78 (D1 , D2 ), see Table 5, Figure 8d,f.
• In Case II, ZVS and ZCS are reached for all switching modes and the whole power range. For low
and medium powers, soft switching is got by applying the expression in Equation (10) with
D1 ≤ d and D2 < 1. High power is got either by operating in extending mode with D2 = 1 and
Energies 2018, 11, 2419 21 of 23

D1 > d (EPS modulation), or with D2 = 1 and D1 =1 (PS modulation). For SM1 , SM2 , and SM2 *,
the lowest RMS current is obtained at the boundary between them, see Figure 10d for the same
transferred power. For the highest power, SM3 * achieves the lowest inductor RMS current.

A 250 W DAB experimental prototype has been built and tested in the laboratory to validate the
theoretical analysis and the soft-switching conditions for the switching modes of Case I and Case II.
In addition, the switching in each switch has been verified, for each switching mode.

Author Contributions: C.C. did theoretical analysis, derivation, circuit implementation, experimental testing,
data processing and wrote the original draft paper. A.B. is the responsible for funding acquisition, supervision
and administration, her contributions were related with the theoretical analysis, data analysis, and the paper
reviewing and editing. A.R. wrote and reviewed the paper. P.A. contributed with theoretical analysis and with
significant comments on the manuscript structure. A.L., C.F. and P.Z. reviewed and contributed with useful
comments on the paper structure and mains paper contributions.
Funding: This research was funded by the Spanish Ministry of Economy and Competitiveness and ERDF, grant
number DPI2014-53685-C2-1-R.
Acknowledgments: This work has been partially supported by the Spanish Ministry of Economy and
Competitiveness and FEDER (ERDF), through the research project “Storage and Energy Management for Hybrid
Electric Vehicles based on Fuel Cell, Battery and Supercapacitors”-ELECTRICAR-AG-(DPI2014-53685-C2-1-R).
Conflicts of Interest: The authors declare no conflicts of interest.

Nomenclature
V1 DC voltage for bridge 1. d Voltage ratio.
V2 DC voltage for bridge 2. vgx Gate-source voltage for Mosfet “x”.
v11 Output voltage of the Bridge 1. SMx Switching mode “x”.
v22 Input voltage of the Bridge 2. Mx Switch “x”.
D1 Pulse width of v11 . SSxy Soft switching condition for MOSFET “x” and “y”.
D2 Pulse width of v22 . DAB Dual Active Bridge.
ϕ Phase shift between v11 and v22 . PS Phase shift.
fsw Switching frequency. SPS Simple Phase Shift.
Tsw Switching period. DPS Dual Phase Shift.
n Transformer turns ratio. TPS Triple Phase Shift.
L Series inductor. EPS Extended Phase Shift.
iL Inductor current. ZVS Zero voltage switching.
VL Inductor voltage. ZCS Zero current switching.

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