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Control Schemes for DC-DC Converter Stages for PV/Battery based Autonomous
System

Data · November 2015

DOI: 10.13140/RG.2.1.3504.5848

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 Control Schemes for DC-DC Converter Stages for
PV/Battery based Autonomous System

Syed Ahmed Raza

Department of Electrical and Computer Engineering,
University of Western Ontario, London, Ontario, Canada
email: srazanaq@uwo.ca

I. I NTRODUCTION Taking Laplace transform of (7),

A. Boost Converter 1 Vdc ˆ
sîL (s) = v̂pv (s) + d(s)
1) State Equations: When the MOSFET is in ’ON’ state, L L
1 1 (8)
sv̂pv (s) = − îL (s) + v̂pv (s)
di¯L C rpv C
L
= Vi
dt (1) ˆ as input and
dv¯0 v¯0 (t) For the inner current loop with duty cycle, d(s)
C =− inductor current, îL (s) as output, the transfer function can be
dt R
derived as,
When the MOSFET is in ’OFF’ state,
îL (s) (srpv C − 1) Vdc
di¯L = 2 (9)
L = Vi − v¯0 (t) = v¯L ˆ
d(s) s Lrpv C − sL + rpv
dt (2)
dv¯0 v¯0 (t) while for the output voltage loop inductor current, îL (s) as
C = i¯L (t) −
dt R input and PV voltage, v̂pv (s) as output, the transfer function
can be derived as,
Taking the average of vL (t) over T s gives,
v̂pv (s) rpv
Z t+Ts =− (10)
1 îL (s) srpv C − 1
v̄L (t) = vL (τ )dτ (3)
Ts t
The combined feed-forward gain from (9) and (10) will be
1
= [dTs (Vi ) + (1 − d) Ts (Vi − v̄0 )] simply the multiplication of the two transfer functions,
Ts
= dVi + (1 − d) (Vi − v̄0 ) v̂pv (s) v̂pv (s) îL (s)
= × (11)
ˆ
d(s) îL (s) ˆ
d(s)
diL
∴L = vL (t) = Vi − (1 − d) v0 (4)
dt The block diagram shows the overall structure with PI controls
for both the voltage and current loops. Additionally, low
Taking the average of iC (t) over T s gives, pass filter have been added for the current loop with the
Z t+Ts time constant as 5 × 10−5 seconds. The designing of the PI
1 controller will be performed using the frequency response of
īC (t) = iC (τ )dτ (5)
Ts t the system. Figure 1 shows the open loop frequency response
1 h  v 
0
 v̄0 i of the system without PI controller with dynamic resistance
= dTs − + (1 − d) Ts īL − rpv extrema. With low gain and phase margins, this system
Ts R R
v̄0  v̄0  will have significant overshoots and steady state error.
= −d + (1 − d) īL −
R R The PI controllers are chosen as,
dv0 v0 0.5s + 250
∴C = ic (t) = (1 − d) iL − (6) GP I−pv (s) = (12)
dt R s
Making use of dynamic resistance of PV array in the 0.01s + 50
GP I−pv2 (s) = (13)
current and voltage source regions, (1) and (2) can be written s
in their linearized form as, With these controllers in the voltage and current loops, the
" # "
0 − L1    Vdc 
# step response of the system is studied with and without the
˙î îL − L ˆ
L = + d controllers. This is shown in Figure 2. From the figure the
˙v̂pv 1
− C rpv C1 v̂ pv 0 characteristics of frequency response are validated. The system
  has high overshoots and steady state error with the system
î unable to reach the vdc ref
y = [0 1] L (7) . With the PI controllers as stated
v̂pv in (8) and (9), the boost converter control scheme, work as
 Bode Diagram Bode Diagram
Gm = -109 dB (at 0 rad/s) , Pm = -180 deg (at 2.2e+04 rad/s) Gm = 39.2 dB (at 1.73e+04 rad/s) , Pm = 44.8 deg (at 471 rad/s)
200 150
With r pv-vs = -6.039Ω With r pv-vs = -6.030Ω
150 With r pv-cs = -4039Ω 100 With r pv-cs = -4030Ω
Magnitude (dB)

Magnitude (dB)
100 50

50 0

0 -50

-50 -100
180 -90
Phase (deg)

Phase (deg)
135
-135
90
-180
45

0 -225
10 -1 10 0 10 1 10 2 10 3 10 4 10 5 10 0 10 1 10 2 10 3 10 4 10 5
Frequency (rad/s) Frequency (rad/s)

Fig. 1. Open loop frequency response without PI controller for boost Fig. 3. Open loop frequency response of boost converter with different
converter dynamic resistances

Imaginary Axis (seconds -1)

Step Response Without Controller Root Locus
0 2000
Open Loop
-200 1000
Amplitude

-400 0

-600 -1000

-800 -2000
0 0.005 0.01 0.015 0.02 0.025 0.03 -800 -600 -400 -200 0 200 400 600
Time (seconds) Real Axis (seconds -1)

Imaginary Axis (seconds -1)

Step Response With Controller Root Locus
×10 4
600 4
Closed Loop
2
Amplitude

400
0
200
-2

0 -4
0 0.005 0.01 0.015 0.02 0.025 0.03 -5000 -4000 -3000 -2000 -1000 0 1000
Time (seconds) Real Axis (seconds -1)

Fig. 2. Step response of system with and without controller for boost Fig. 4. Root locus for open and closed loop boost converter
converter

Taking the average of vL (t) over T s gives,

an under-damped system, with minimum overshoot and least Z t+Ts
1
settling time. v̄L (t) = v̄L (τ )dτ (16)
Ts t
The PI controllers have been tested for stability with 1
extrema of dynamic resistances using the open loop frequency = [dTs (v̄batt ) + (1 − d) Ts (v̄batt − v̄dc )]
Ts
response. Using the two extremities of resistances i.e using = v̄batt − (1 − d)v̄dc
rpv−cs (dynamic resistance in the current source region) and
rpv−vs (dynamic resistance in the voltage source region), the diL
= vL (t) = v̄batt − (1 − d)v̄dc ∴L (17)
gain and phase margin only vary slightly. This is shown in dt
Figure 3. This illustrates the robustness of the controller against Linearizing (17),
large changes in rpv . Figure 4 shows the root locus for both
L i˙L + ∆i˙L = (vbatt + ∆vbatt ) − (1 − (d + ∆d))


the open and closed loop system. (18)
(vdc + ∆vdc )

B. Bi-directional Battery Converter This gives,

L∆i˙L = −(1 − D)∆vdc + dVdc (19)
For the boost mode, the lower gate will be conducting while
the higher end transistor’s body diode will be conducting, When the lower transistor is ’ON’,
Li˙L = Vbatt (14) dv Vdc
C =− (20)
dt R
When the lower MOSFET is in ’OFF” state and the higher and when lower transistor is ’OFF’,
end is ’ON’,
dv Vdc
Li˙L = Vbatt − Vdc (15) C = iL − (21)
dt R
Taking the average of iC (t) over T s gives, controller, the system has minimum overshoot with least
Z t+Ts settling time. The PI controller design is performed through
1 the frequency response from the open and closed loop of the
īC (t) = iC (τ )dτ (22)
Ts t system. With sufficient gain and phase margin, the controller
1 h  vdc   v̄dc i performs satisfactorily. Figure 7 shows the root locus for both
= dTs − + (1 − d) Ts īL − the open and closed loop system.
Ts R R
v̄dc  v̄dc 
= −d + (1 − d) īL −
R R Step Response Without Controller
×10 4
6
dv0 v0
∴C = ic (t) = (1 − d) iL − (23)

Amplitude
dt R 4

Linearizing (23) by following the process as described in (16) 2

gives,
vdc 0
C∆vdc˙ = (1 − D)∆iL − − dIL (24) 0 0.01 0.02 0.03 0.04 0.05 0.06 0.07
R Time (seconds)
Step Response With Controller
Here ‘C’ is a parallel combination of Cdc1 and Cdc2 i.e. C = 600
Cdc1 +Cdc2 . Forming the state-space from (17) and (24) gives,

Amplitude
400

#   200
− (1−D)   " Vdc #
"
˙î 0 L îL L
L =   + dˆ 0
0 0.01 0.02 0.03 0.04 0.05 0.06 0.07
˙v̂pv (1−D) 1 v̂ dc − IL
C − C Time (seconds)
  RC
î
y = [0 1] L (25) Fig. 5. Step response of system with and without controller for buck-boost
v̂dc converter

Bode Diagram
Taking Laplace transform of (25), Gm = 33.5 dB (at 1.48e+04 rad/s) , Pm = 48.3 deg (at 271 rad/s)
150
(1 − D) Vdc ˆ Closed Loop
sîL (s) = − v̂dc (s) + d(s) 100 Open Loop
Magnitude (dB)

L L (26) 50
(1 − D) 1 IL ˆ
sv̂dc (s) = îL (s) − v̂dc (s) − d(s) 0
C RC C
-50

For the inner current loop with duty cycle, d(s) ˆ as input -100
360
and inductor current, îL (s) as output, the transfer function can
Phase (deg)

be derived as, 270

îL (s) sRCVd c + [(1 − D)IL R + Vdc ] 180

= (27)
ˆ
d(s) s2 LRC + sL + R(1 − D)2
90
10 0 10 2 10 4 10 6
while for the output voltage loop inductor current, îL (s) as Frequency (rad/s)
input and PV voltage, v̂dc (s) as output, the transfer function
can be derived as, Fig. 6. Open and closed loop bode plot for buck-boost converter with gain
and phase margins
v̂dc (s) −sRLIL + Vdc R(1 − D)
= (28)
îL (s) sRCV dc + [Vdc + R(1 − D)IL ]
Imaginary Axis (seconds -1)

Root Locus
×10 4
4

The combined feed-forward gain from (27) and (28) will 2

Open Loop

be simply the multiplication of the two transfer functions, 0

-2
v̂dc (s) v̂dc (s) îL (s)
= × (29) -4
ˆ
d(s) îL (s) ˆ
d(s) -4 -2 0 2 4 6 8 10
Real Axis (seconds -1) ×10 4
Imaginary Axis (seconds -1)

Root Locus
The PI controllers are chosen as, ×10 4
4
Closed Loop
1s + 250 2
GP I−batt1 (s) = (30)
s 0

-2
0.03s + 30
GP I−batt2 (s) = (31) -4
s -4 -2 0 2 4 6 8 10
Real Axis (seconds -1) ×10 4

The response of the system with and without the PI

controller is shown in Figure 5. It can be seen that without Fig. 7. Root locus for open and closed loop buck-boost converter
controller the system becomes unbounded. While with the

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