Chaper 6

Dynamic Modeling
Presentation #1

Dr. Weidong Xiao

School of Electrical and Information Engineering

University of Sydney, Australia

2017
c

Photovoltaic Power System: Modelling, Design, and Control 1 / 21

Outline

1 State space averaging

2 Linearization

3 Dynamics of PV link

4 Linearization of PV output characteristics

5 Buck converter as the PV link power interface

6 Full bridge transformer isolated DC/DC converter as the PV link power

interface

Photovoltaic Power System: Modelling, Design, and Control 2 / 21

State space averaging

When switching-mode power converters are used for PV power interfaces, the
state space averaging technique is required to derive mathematical models.
The concept was first introduced at Power Electronics Specialists Conference
(PESC) in 1976.
After then, the method had been widely utilized for various converter
topologies in order to derive mathematical models for control analysis.
The averaging approach is based on the condition that the switching
frequency is much higher than the system critical dynamics, which are formed
by energy storage components, such as inductor and capacitor.
Under the condition, the nonlinear switching dynamics can be neglected for
dynamic analysis and controller synthesis.
Based on one switching cycle, the system state space model can be derived
from the on state and off state of the power switch.
Through averaging, the averaged value of continuous signals can be used to
form a dynamic model without the representation of switching ripples.
If it falls into nonlinearity, the linearization process is required to find a
mathematical model, which can be utilized through the linear control theorem.
Photovoltaic Power System: Modelling, Design, and Control 3 / 21
Approximation based on Taylor Series expansion

If f (x) is an infinitely differentiable function, the Taylor Series expansion

regarding to a equilibrium point (x0 ) can be expressed as
∞ (n)
X f (x0 )
f (x) = (x − x0 )n
n!
n=0

where n! denotes the factorial of n and f (n) (x0 ) denotes the nth derivative
evaluated at the point x0 .
Based on the Taylor series, a small-signal models can be derived from the 1st
order approximation by neglecting high order terms, as expressed in

df (x) 
f (x) ≈ f (x0 ) + (x − x0 )
dx x=x0
| {z }
C1

where C1 is considered as a constant parameter.

Applying the approximation, a nonlinear differential equation ẋ = f (x) can be
expressed as
dx
≈ f (x0 ) + C1 (x − x0 )
dt
Photovoltaic Power System: Modelling, Design, and Control 4 / 21
Small signal linearization

The equation can be derived further if the perturbation is defined as

x̃ = x − x0 .
d(x0 + x̃)
≈ f (x0 ) + C1 (x̃)
dt
The linearization can be finalized due to the equilibrium at the point of x0 .
d x̃
= C1 (x̃)
dt
It should be noted that the linear model is only valid near the point of x0 .
The same approximation can be used for a nonlinear differential equation with
multiple states and inputs.
A nonlinear differential equation including two state variables (x1 ,x2 ) and one
input (u) is given as
dx1
= f (x1 , x2 , u) (1a)
dt
dx2
= g(x1 , x2 , u) (1b)
dt
Photovoltaic Power System: Modelling, Design, and Control 5 / 21
Small signal linearization

Applying the linearization process, the linearized dynamics of the two state
variables can be expressed as
        
d x̃1 ∂f (x1 , x2 , u)  ∂f (x1 , x2 , u)  ∂f (x1 , x2 , u) 
= x̃1 + x̃2 + ũ
dt ∂x1 
X2 ,U ∂x2 
X1 ,U ∂u 
X1 ,X2
| {z } | {z } | {z }
a11 a12 b1
(2a)
        
d x̃2 ∂g(x1 , x2 , u)  ∂g(x1 , x2 , u)  ∂g(x1 , x2 , u) 
= x̃1 + x̃2 + ũ
dt ∂x1 
X2 ,U ∂x2 
X1 ,U ∂u 
X1 ,X2
| {z } | {z } | {z }
a21 a22 b2
(2b)

where x̃1 = x1 − X1 , x̃2 = x2 − X2 , and ũ = u − U.

Photovoltaic Power System: Modelling, Design, and Control 6 / 21

Small signal linearization

The system can also be expressed in the

d x̃1

state space format, where a11 , a12 , a21 ,    " #
 dt  a11 a12 x̃1 b
and a22 are the parameters of the  + 1 ũ
=
    
dynamic matrix, while the constants of b1

 d x̃ 
2 a21 a22 x̃2 b2
and b2 form the control matrix.
dt
A linear small signal model is derived, which is only valid near the steady
states in terms of X1 , X2 , and U.
The output of PV generator is nonlinear, as discussed in Chapter 4.
The power conditioning circuits are mainly constructed by switching-mode
power converters that are nonlinear due to the operation of on-off switching
and other nonlinear nature.
From the dynamic expression of the switching on/off operation, an averaged
model can be derived through the state space averaging method.
For non-linearity, linearization is required to derive small signal linear models
for dynamic analysis and controller synthesis
Photovoltaic Power System: Modelling, Design, and Control 7 / 21
Small signal linearization for PV link dynamics

In PVSC, capacitors are required to across the PV link.

Inductors are also needed to construct the power interfaces.
The system dynamics can be expressed in the diL
general form showing the dynamics of the = f (iL , vpv , d) (3a)
dt
inductor current, iL , and the PV link voltage, vpv , dvpv
which is controlled by the switching duty cycle d. = g(iL , vpv , d) (3b)
dt
The piecewise linear or small signal model can be further derived by the
linearization process.
  
d ĩL ∂f  ∂f  ∂f 
= ṽpv + ĩL + d̃ (4a)
dt ∂vpv SS ∂iL SS ∂d SS
  
d ṽpv ∂g  ∂g  ∂g 
= ṽpv + ĩL + d̃ (4b)
dt ∂vpv SS ∂iL SS ∂d SS
where ĩL , ṽpv , and d̃ represent the small signals of the PV module voltage vpv ,
the inductor current iL , and the switching duty cycle d, respectively.
The small-signal model characterize the system dynamics and is important for
the model-based controller design.
Photovoltaic Power System: Modelling, Design, and Control 8 / 21
Linearization of PV output characteristics

The PV output characteristics are introduced in Chapter 4, expressed by the

nonlinear equations, and represented as the equivalent circuits.
The partial differentiation of ∂ipv /∂vpv is expected to derive the small-signal
model through the linearization process.
Based on the ISDM, a PV array can be expressed with the numbers of NS
and NP of PV cells in series and parallel connection.
qvpv
ipv = NP [iph − is (e NS kTc A − 1)]

The partial differentiation is described as a dynamic conductance, as

expressed in
∂ipv NP qis N qvkTpvc A
Gpv (vpv ) = =− e S
∂vpv NS kTc A
The concept of dynamic resistance is expressed by
1 ṽpv
RPV (vpv ) = ĩpv =
GPV (vpv ) RPV
Photovoltaic Power System: Modelling, Design, and Control 9 / 21
Characteristics of the PV module showing dynamic conductance and resistance

0
8
6

GPV (s)
iPV (A)

4 −0.5
I−V GPV
2
MPP(37V,7.79A) at MPP(37V,−0.21S)
0 −1
0 10 20 30 40 0 10 20 30 40

300 0
RPV

RPV (Ω)
pPV (W)

200 at MPP(37V,−4.77Ω)
−50
100 P−V
MPP(37V,288.3W)
0 −100
0 10 20 30 40 0 10 20 30 40
vPV (V) vPV (V)

Photovoltaic Power System: Modelling, Design, and Control 10 / 21

Three zone definition based on I-V curve

The absolute value of the dynamic resistance is used for dynamic modelling,
but changes with the operating point at the I-V curve.
The absolute value becomes higher when the operating point deviates from
the MPP and approaches to the left hand side, which can be called as the
current source region.

It becomes lower when the

operating point lies in the right
hand side of the MPP.
The area surrounding the MPP
is defined as the power source
region.
The three-zone definition is
based on a normalized I-V
curve.
Power zone is preferred for the
highest output.
Photovoltaic Power System: Modelling, Design, and Control 11 / 21
Buck converter for PVSC

A circuit of buck converter can be used for the PVSC, which has been
discussed in Chapter 5.
The converter is controlled by the pulse width modulation (PWM), of which the
switching duty cycle is the control input variable.

Based on the schematics, the system dynamics can be discovered according

to the CCM operation.

Photovoltaic Power System: Modelling, Design, and Control 12 / 21

State space averaging for buck converter as PVSC

When the PV link voltage is considered as the control variable, the output
voltage, Vo , is assumed to be constant for dynamic modeling.
Q on-state dynamics: Q off-state dynamics:

diL diL
L = vpv − V0 (5a) L = −Vo (6a)
dt dt
dvpv dvpv
Cin = ipv − iL (5b) Cin = ipv (6b)
dt dt
Averaging:
diL 1
= [dvpv − Vo ] (7a)
dt |L {z }
f (vpv ,d,iL )
dvpv 1
= [ipv − diL ] (7b)
dt Cin
| {z }
g(vpv ,d,iL )

where d is the switching duty cycle and the control variable.

Photovoltaic Power System: Modelling, Design, and Control 13 / 21
Linearization for buck converter as PVSC

Due to the nonlinear characteristics, linearization is required to derive the

small signal model at the nominal operating condition.
Small signal model can be derived and expressed as the state-space form.

D Vpv
     
d ĩL
0  
 dt  
 = L   ĩL +  L  d̃
 

d ṽpv
  D 1  ṽpv  IL 
− −
dt Cin RPV Cin Cin

where the symbols of D, VPV , and IL represent the switching duty cycle, the
PV terminal voltage, the inductor current, which are considered to be constant
in steady state.
The signals of ĩL and ṽpv are the state variables; d̃ represents the control
variable in the small signal model.

Photovoltaic Power System: Modelling, Design, and Control 14 / 21

Transfer function for buck converter as PVSC

It can be transformed and expressed in Standardized:

the transfer function. K0 (βs + 1)
G0 (s) =
IL DVpv s2 + 2ξωn s + ωn2
− s−
ṽpv (s) Cin LCin
= where the undamped natural frequency
d̃(s) 1 D2 and damping factor are expressed as ωn
s2 − ( )s +
RPV Cin LCin and ξ, respectively.
Coefficient:
This is a 2nd order system with two poles and one
D
minimal-phase zero, which can be standardized by ωn = p (8a)
LCin
K0 is negative that represents the change of PV terminal √
voltage follows the opposite direction of the duty cycle. L
ξ=− p (8b)
When the absolute value of Rpv is higher, the damping 2DRpv Cin
becomes lighter, which causes more oscillation. DVpv
K0 = − (8c)
The damping becomes critical when the operating point LCin
enters the current source region. IL L
β= (8d)
Photovoltaic Power System: Modelling, Design, and Control
DVpv 15 / 21
Modelling verification for buck converter as PVSC

When the system enter steady state, a small perturbation can be applied
periodically to the duty cycle in order to evaluate the step response of vpv .
For comparison, the small signal model works in parallel with the simulation
model
The output of the small signal model does not show any switching ripples, but
captures the critical dynamics during the transient period.

The negative gain is

Duty Cycle (%)

65
reflected by the voltage
64.5
response, which is
64
opposite to the variation 200 210 220 230 240 250 260 270 280 290 300
of the duty cycle.
38 vpv
The model is verified
Voltage (V)

37.5 vpv−small
since it matches very
37
well at the nominal
operating condition. 36.5
200 210 220 230 240 250 260 270 280 290 300
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 16 / 21

Full bridge transformer isolated DC/DC converter for PVSC

A circuit of full bridge

transformed isolated
DC/DC converter can be
used for the PVSC,
which has been
discussed in Chapter 5.
The converter is
controlled by the pulse
width modulation
(PWM), of which the
switching duty cycle is
the control input
variable.

Photovoltaic Power System: Modelling, Design, and Control 17 / 21

State space averaging for full bridge transformer isolated DC/DC converter as PVSC

When the PV link voltage is considered as the control variable, the output
voltage, Vo , is assumed to be constant for dynamic modeling.
Either pair of switches is on-state: All switches are off-state:
diL diL
L = Nvpv − V0 (9a) L = −Vo (10a)
dt dt
dvpv dvpv
Cin = ipv − NiL (9b) Cin = ipv (10b)
dt dt
Averaging is applied:
diL 1
= [2dNvpv − Vo ] (11a)
dt |L {z }
f (vpv ,d,iL )
dvpv 1
= [ipv − 2dNiL ] (11b)
dt Cin
| {z }
g(vpv ,d,iL )

where d is the switching duty cycle and the control variable.

Photovoltaic Power System: Modelling, Design, and Control 18 / 21
Linearization for full bridge transformer isolated DC/DC converter as PVSC

Due to the nonlinear characteristics, linearization is required to derive the

small signal model at the nominal operating condition.
The winding turn ratio of the transformer, N, is included in the modeling
process.
Small signal model can be derived and expressed as the state-space form.

2ND 2NVPV
     
d ĩL
0  
 dt  
 = L   ĩL +  L  d̃
 

d ṽpv
  2ND 1  ṽpv  2NIL 
− −
dt Cin RPV Cin Cin

where the symbols of D, VPV , and IL represent the switching duty cycle, the
PV terminal voltage, the inductor current , which are considered to be
constant at steady state.
The signals of ĩL and ṽpv are the state variables that represent any small
variation; d̃ represents the control variable in the small signal model.

Photovoltaic Power System: Modelling, Design, and Control 19 / 21

Transfer function for full bridge transformer isolated DC/DC converter as PVSC

Even though the circuit is more complex than the buck topology, the dynamic
modeling approach can follow the same except for including the winding turn
ratio.
The dynamic model can be standardized the format:
K0 (βs + 1)
G0 (s) =
s2 + 2ξωn s + ωn2
where the undamped natural frequency and damping factor are expressed as
ωn and ξ, respectively.
This is a 2nd order system with two poles and one minimal-phase zero.
K0 is negative that represents the change of PV terminal voltage follows the
opposite direction of the duty cycle.
When the absolute value of Rpv is higher, the damping becomes lighter, which
causes more oscillation.
The damping becomes critical when the operating point enters the current
source region.
Photovoltaic Power System: Modelling, Design, and Control 20 / 21
Modelling verification for full bridge transformer isolated DC/DC converter as PVSC

When the system enter steady state, a small perturbation can be applied
periodically to the duty cycle in order to evaluate the step response of vpv .
For comparison, the small signal model works in parallel with the simulation
model
The output of the small signal model does not show any switching ripples, but
captures the critical dynamics during the transient period.
32.6
The negative gain is

Duty Cycle (%)

32.4
reflected by the voltage 32.2
response, which is 32
31.8
opposite to the variation 200 210 220 230 240 250 260 270 280 290 300
of the duty cycle.
38 vpv
The model is verified
Voltage (V)

37.5 vpv−small
since it matches very
37
well at the nominal
operating condition. 36.5
200 210 220 230 240 250 260 270 280 290 300
Time (ms)

Photovoltaic Power System: Modelling, Design, and Control 21 / 21