Power Electronics

Mechatronic system design
Mechatronic system design wb2414‐2013/2014
Course part 6
Power electronics
Prof.ir. R.H.Munnig Schmidt
Mechatronic System Design
1
WB2414-Mechatronic System Design 2013-2014
Delft
University of
Technology
Contents
• Power electronics, what’s so special about it?
• Passive (power) electronic filters
• Why so many inductors?
• Current or voltage source amplifier output
• Actuator determined spec.
• Linear, dissipative power amplifiers
• Dynamic impact of power amplifiers
• Stability and frequency dependent characteristics
• Switched mode power conversion
• 4 quadrant power delivery
• PWM Amplifiers
• 3‐phase amplifiers
Amplifiers for electromagnetic actuators 2
2
Delft
University of
Technology
1
Contents
• PWM Amplifiers
3
Delft
University of
Technology
Electronics in mechatronics
Power conversion
Analogue control AD/DA Sensing
4
Delft
University of
Technology
2
The amplifier and actuator have to
deliver a real force F, at best equal to
the control force
5
Delft
University of
Technology
The task of the power amplifier is

that of a controller!
• Controlling the characteristics of an electromagnetic
actuator/motor by controlling the actuator‐input signal:
the voltage and current.
• Distinguishing items:
• Power capability (Voltage  Current)
• Dynamic properties like stability and control bandwidth
• Low or high output impedance (voltage or current source output)
• Efficiency (Power dissipation)
• Linearity, full range proportional output value (freedom of distortion)
6
Delft
University of
Technology
3
Power Capability is directly visible
• High voltage and current
levels limit small size (solid‐
state) integration
• Discrete Components
• Switching relays
• Thermal Control
• Risk of interference by
strong magnetic and electric
fields (EMC)
7
Delft
University of
Technology
Dynamic Properties in two directions
• Amplifiers are part of the position feedback loop
• Delay for instance from latency in a digitally controlled amplifier, will reduce
stability .
• Also the bandwidth, how quickly can the current follow a setpoint change
(HF behaviour), is related to a negative impact on the phase.
• The dynamic load from the actuator(L,R,C) will impact stability of the
amplifier
Actuator
Amplifier
8
Delft
University of
Technology
4
Low or high output impedance of
an Amplifier
Ra
• Low impedance (voltage source output):
Actuator La
• When damping is necessary
• Loudspeakers Ua
• Feedforward (no feedback)
• High impedance (current source output)
• When the current/force has to be independent of the movement
(Lorentz actuators).
• When the current/force has to be independent of the self inductance
(servo systems)
9
Delft
University of
Technology
Efficiency
• An amplifier converts a supply voltage/ current into a motor
voltage/current.
• A difference of voltage means power loss unless….
• A difference in current requires energy buffering in capacitors or
batteries.
• Switched mode/PWM amplifiers reduce dissipation but have other
special properties that have to be known.
10
Delft
University of
Technology
5
Linearity, distortion
Vmax
Vout
Vout
Momentary gain V
in
depends on value of output!
Vin
Vmax
Clipping example
11
Delft
University of
Technology
Contents
• PWM Amplifiers
12
Delft
University of
Technology
6
First a few definitions while keeping
“real”electronics to the bare minimum
•Voltage and current source

•Ohm’s law
•Resistors
•Capacitors
•Inductors
13
Delft
University of
Technology
Ideal voltage and current sources

• An ideal voltage source is a circuit element where the voltage across it is
independent of the load (current). It has a zero source impedance.
It can be replaced by a short circuit when the influence of another electric source
in the circuit is to be determined.
- +
- + - +
• An ideal current source is a circuit element where the current through it is
independent of the load (voltage). It has an infinite source impedance.
It can be replaced by an open circuit when the influence of another electric source
in the circuit is to be determined.
- + - + - +
• Both do not exist in reality but only in physical models of circuits. In reality one
can only approximate its behaviour.
14
Delft
University of
Technology
7
Ohm’s law, the definition of
impedance
Current (I) V
V  IR I
Voltage
R
+
(V) Power in Watt (W):
Impedance
V2
(Z) P  IV  I 2 R 
- Source R
Dynamic impedance Z(f)
V( f )
V ( f )  I ( f )Z ( f ) I( f ) 
Z( f )
15
Delft
University of
Technology
Practical resistors
• Resistor size is determined by the power dissipation
• (Wirewound) resistors have parasitic self inductance and
capacitance
• Range from mΩ to GΩ
16
Delft
University of
Technology
8
First dynamic impedance, the coil
or Inductor (symbol L from Lenz).
Self‐inductance of windings is related to
induced magnetic field
Fw I
+  w,t w nI n 2
L  n n 
dF w dI I I I 
Ef µ - VL = L
dt dt
n2 Induced voltage by a changing magnetic
L=
Â field (Faraday)
_
Inductor L with n windings d w d w,t dI

VL  e  n  L
dt dt dt
17
Delft
University of
Technology
First dynamic impedance, the coil

or Inductor (symbol L from Lenz).
• For AC the voltage leads the current
with 90°
I
Fourier transform:
d
    j
 dt 
+
L dw dI
V V (t )  n L
_ dt dt
 V (t )  V ( )  j LI
V
Z c ( )  ( )  j L
I
18
Delft
University of
Technology
9
Power and energy in an inductor.
I
• The current as function of the voltage equals:
+ V ( )
V ( )  j LI ( )  I ( ) 
V L j L
_
V ( )  Vp 
V ( )  Vp cos t  I ( )   I p sin t  Ip  
j L   L
• The power equals:
P  I p sin t Vp cos t  0.5 I pVp sin(2t )  average 0
• And the momentary energy equals
t1 t1 dI I1 1
EL   PL (t )dt   I (t ) L dt  L  I (t )dI  LI12
t0 t0 dt 0 2
(compare: Espring  0.5kF 2 )
19
Delft
University of
Technology
Practical Inductors
• Inductor size is determined by the selfinductance and the
current.
• Inductors have parasitic capacitance, resistance and eddy
current losses
• Range from µH to several mH
20
Delft
University of
Technology
10
Second dynamic impedance, the
Capacitor
A capacitor is storing electrical energy in charge on two
separated plates with distance D and surface A
A
• The capacitance is: C 
d
• In vacuum the permittivity ε0 is:
1
0   8.85  10-12
c 2 0
• The charge is: q  CV
• With AC the current leads the voltage by 90°:
dQ dV V 1
I (t )  C ;  I (t )  I ( )  jCV ; Z ( )  = ;
dt dt I jC
P  Vp sin t  I p cos t  0.5Vp I p sin(2t )  average 0; E  0.5CV 2 (compare: Ekin  0.5mv 2 )
21
Delft
University of
Technology
Practical Capacitors
• Capacitor size is determined by the Capacitance and current.
• Capacitors have parasitic self inductance and resistance
• Range from 1pF (ceramic) to ~ > 1 F (electrolytic super caps)
22
Delft
University of
Technology
11
So do you recognise these elements?
23
Delft
University of
Technology
These parts are used to make filters for

the output of switching-mode amplifiers
•Voltage dividers or attenuators
•1st order low‐pass filters
•2nd order low‐pass filters
24
Delft
University of
Technology
12
A voltage divider
Vi
I
Z1  Z 2
Vi Z 2
Vo  I  Z 2 
Z1  Z 2
25
Delft
University of
Technology
Discussion:
•Design a first‐order low pass filter for 1000Hz
• Use voltage divider
• Choose best suitable components
• Determine frequency response
• Determine component values
26
Delft
University of
Technology
13
1st order low-pass with capacitor
Vo Z2

Vi Z1  Z 2
1
Z1  R , Z 2  and   RC
jC 1
Vo jC
( )  G f ( )  
Vi 1
R
jC
1 1
 
j RC  1 j  1
Corner frequency :
1 1
0  2 f 0  
 RC
27
Delft
University of
Technology
Questione prosciutto!
• Will this work with power transfer

from input to output?
• So what must be avoided?
28
Delft
University of
Technology
14
1st order low-pass with inductor
without series resistor
Vo Z2

Vi Z1  Z 2
L
Z1  j L , Z 2  R and  
R
Vo R
( )  G f ( )  
Vi R  j L
Z2 represents the power in the load. 1 1
 
j  1 j  1
L
R
Corner frequency :
1 R
0  2 f 0  
 L
29
Delft
University of
Technology
A second order passive low pass filter

without series resistor
Vo Z2

Vi Z1  Z 2
1 1
Z1  j L , Z 2  , 0 
jC LC
1
Vo jC
( )  G f ( )  
Vi 1
j L 
jC
1 1
 
( j ) LC  1
2
2
 2 1
Mechatronic system design WB2414 R. Munnig Schmidt 30 0
30
Delft
University of
Technology
15
A second order low pass filter with
parallel damping
Vo Z 2  Z3 1 1
  
Vi Z1  Z 2  Z 3 Z1
 1 Z1  1  1   1
Z 2  Z3
 Z 2 Z3 
1
Z1  j L , Z 2  , Z3  R
jC
1 1 L 1 C
0  ,   Q R
LC 2 R C 2 L
Z3 represents
the power in the load. Vo 1
( )  G f ( )  
Vi  1
j L  jC    1
 R
1 1 1
  
L
( j ) LC  j  1  2 
2  2
2 j  2
j
1  2  1
R 0 0 0 0Q
Mechatronic system design WB2414 R. Munnig Schmidt 31
31
Delft
University of
Technology
A second order low pass filter with

parallel damping
Q=1
1
G f ( ) 
2
j
  1
02 0Q
Mechatronic system design WB2414 R. Munnig Schmidt 32
32
Delft
University of
Technology
16
Contents
• Actuator determined
• PWM Amplifiers
33
Delft
University of
Technology
Group discussion
• Discuss difference of voltage and current control to drive an

actuator in mechatronic systems
34
Delft
University of
Technology
17
A current source output will cancel
effects of the self inductance and
motion EMF
With a voltage source the current is:
dI
Va  Vm  L
V V  Vm  VL dt
I R  a 
R R R
With a Lorentz actuator a current source will
create a direct conversion from the setpoint
(control force) to actuator force.
35
Delft
University of
Technology
Low or high output impedance of

an Amplifier
Ra
• Low impedance (voltage source output): Actuator La
• When damping is necessary
• Loudspeakers Ua
• Feedforward (no feedback)
• High impedance (current source output)
• When the current/force has to be independent of the movement
(Lorentz actuators).
• When the current/force has to be independent of the self inductance
(servo systems)
36
Delft
University of
Technology
18
Contents
• PWM Amplifiers
37
Delft
University of
Technology
Linear power amplifiers
• A linear power amplifier is nothing else than a powerful version of

a small signal amplifier.
• It is often designed like an operational amplifier with high‐power

output stage
• So it starts with the basic Op‐amp.
38
Delft
University of
Technology
19
The analogue (operational) amplifier is an
integrated feedback-controlled system!
Vo Ga,o 1 Ga ,o   1
Complementary     
sensitivity: Vi 1  Ga,oGa,f 1 Ga,f
 Ga,f
Ga,o
39
Delft
University of
Technology
Main guidelines of determining the

behaviour of an ideal Op-Amp circuit
1. Input currents in the Op‐amp are zero
2. With negative feedback the output will do whatever it can to keep the
negative input voltage equal to the positive input voltage.
Modelling:
1. Verify that there is Negative Feedback
2. Calculate the voltage on the positive input.
3. Calculate the voltage at the output by applying rule 1 and 2, which means that
it generates the same voltage over the feedback path at the negative input as
was calculated in step 2.
40
Delft
University of
Technology
20
What source is the output of this
amplifier?
Voltage or Current source? What is controlled?
41
Delft
University of
Technology
Transconductance amplifier has a

current source output
• Converts an input setpoint
voltage into an output current
by measuring the current
through the load and controlling
the output of the amplifier to
keep the current proportional to
the setpoint.
• Used for driving
electromagnetic actuators
• Rcs measures current but there

is a better way without voltage
drop.
42
Delft
University of
Technology
21
Lossless current sensing for high
current levels and improved efficiency
magnetic field
Active compensation of magnetic field

Hall sensor for magnetic field generated by current Ip
43
Delft
University of
Technology
Contents
• PWM Amplifiers
44
Delft
University of
Technology
22
Ideal and real properties of regular
(non-power) operational amplifiers
Parameter Ideal Op OPA27 Unit
Amp
DC Open loop Gain (G0) ∞ 120 (=106) dB
Input impedance (Zin) ∞ 6·106 Ω
Output impedance (Zout) 0 70 Ω
Input offset voltage (Vos) 0 < 25 μV
Temp. coëff of Vos (γ) 0 0,6 μV/oC
Input bias current (Ib) 0 40 nA
Input offset current (Ios) 0 10 nA
Gain bandwidth product ∞ 5·106 Hz.
Common mode rejection ratio ∞ 120 (=106) dB
(CMRR)
45
Delft
University of
Technology
Dynamic limitations of standard

Op-Amp
Many
capacitors!
And with a
power
amplifier
they are
large!
46
Delft
University of
Technology
23
Often a dominant pole is applied @
~1 Hz to compensate several poles
Gain‐bandwidth product
is constant over this line
47
Delft
University of
Technology
Discussion!
What is the bandwidth of this amplifier?
• Gain BW product = 106
• R1=100
• R2=10.000
48
Delft
University of
Technology
24
What is the impact of the dominant pole
on the current source output impedance?
• The higher the loop‐gain, the
better the current is controlled,
so the higher is the output
impedance.
Simplified: • Cut the loop just before the
minus input
V
Amplifier
Io
Vin V Ga Vcfb
Gl   Ga
V
Vo Vo  Ga Vcfb  Ga I o
Vcfb  I 0
Vo
 Z o  Gl
I to V I o
49
Delft
University of
Technology
What is the impact of the dominant pole

on the current source output impedance?
• The higher the loop‐gain, the
better the current is controlled,
so the higher is the output
impedance.
Z o  Gl
• The loopgain and output
V
Amplifier
Io impedance is inverse
Vin V Ga proportional to the frequency
• So what is the character of the

Vcfb  I 0 Vo output impedance?
I to V
50
Delft
University of
Technology
25
The actuator inductance creates
an additional pole (R/L)
This creates stability issues and a potential resonance 51
51
Delft
University of
Technology
The actuator inductance creates

an additional pole (R/L)
52
52
Delft
University of
Technology
26
Phase compensation can help the
stability
But that changes the closed loop response, which can be OK for rejection of resonances.
Conclusion: One has to “shape” the feedback loop inside the amplifier towards the application!
WB2414 Mechatronic system design 53
53
Delft
University of
Technology
Extreme example of loopshaping

@ voltage source audio amplifier
Two internal poles
‐2
Two external poles (output filter)
‐4
Four internal zeros plus one pole ‐1
54
Delft
University of
Technology
27
Contents
• PWM Amplifiers
55
Delft
University of
Technology
Main drawback of a linear non-switching

power output stage is dissipation of
energy
Issue 1: High supply voltage is needed with an
inductive load:
dI
Va  VR  Vm  VL  IR  Vm  L
dt
d 3 x dI
Jerk   I  
x
dt 3 dt
dI V  
x = "Jerk"
Vmax  IR  Vm  L
dt max 
x = "Snap"
56
Delft
University of
Technology
28
Issue 2: Current and voltage are
not in phase.
• In case of pure inductor:
dI
V L
dt
ˆ
I  I sin t
d(Iˆ sin t ) d( sin t ) ˆ
V L  LIˆ  V cos t Vˆ  LIˆ
dt dt
57
Delft
University of
Technology
Discussion:
What happens at t1
58
Delft
University of
Technology
29
Negative current with positive
voltage.
f.i. @ t1 Ploss  I oVl  I o Vp  Vo 
+
4 quadrant operation: V_
any combination of +/-V and I _
I +
59
Delft
University of
Technology
4 Quadrant power delivery
4 quadrant operation:
Any combination of +/-V and I
+
V
_
_ +
I
60
Delft
University of
Technology
30
Contents
• PWM Amplifiers
61
Delft
University of
Technology
PWM or switched mode power

conversion
• A switch does not dissipate energy
• Switches can only create squarewave signals (on/off) when
switching fast.
• Low pass filtering gives the average value (Fourier)
depending on duty cycle.
62
Delft
University of
Technology
31
PWM or switched mode power
conversion
• A switch does not dissipate energy
• Switches can only create squarewave signals (on/off) when
switching fast.
• Low pass filtering gives the average value (Fourier).
• L‐C filtering is non‐dissipative
63
Delft
University of
Technology
Pulse width (duty cycle) modulation
64
Delft
University of
Technology
32
Power switches, the MOSFET
N-channel
Electrons as charge carriers
65
Delft
University of
Technology
Switching cycle: step 1
66
Delft
University of
Technology
33
67
Delft
University of
Technology
68
Delft
University of
Technology
34
69
Delft
University of
Technology
Change of duty cycle Rload=5 Ω
70
Delft
University of
Technology
35
Charge pumping with unipolar output voltage
Io flows from positive supply and from negative supply

Positive supply delivers power Negative supply receives power
71
Delft
University of
Technology
In a bridge configuration these

currents are balanced
Power supply to load and inductors
72
Delft
University of
Technology
36
In a bridge configuration these
currents are balanced
Power recovery from inductors
73
Delft
University of
Technology
Contents
• PWM Amplifiers
74
Delft
University of
Technology
37
Three phase actuators need three
currents
Sum of currents
is zero!
75
Delft
University of
Technology
Three phase amplifier concept
Question: What goes wrong when all three amplifiers have a
current‐source output
76
Delft
University of
Technology
38
Three phase amplifier output
stage.
No charge pumping and three phase with three
MOSFET pairs.
One of the amplifiers is voltage controlled to
keep the average voltage at zero.
77
Delft
University of
Technology
Mechatronic system design
Mechatronic system design wb2414‐2013/2014
Course part 7
How to connect?
Prof.ir. R.H.Munnig Schmidt
Mechatronic System Design
78
Delft
University of
Technology
39
The V-model of Systems Engineering
Functional requirements Realized functions
Feedback loops
System design
Subsystem design
Detailed design Timeline
79
Delft
University of
Technology
Main items to keep in mind

• “Nesting”:
• Lower parts are nested inside higher parts in the V model
• Many nested control systems (amplifier, current, motion)
• All influence eachother in two directions
• Mechanical dynamics determine the final performance
• Bandwidth limited by eigenmodes
• Power Amplifier and actuator are one
• Control force to real force
• Optimal tuning in dynamics and electrical properties
• Motion Control is both the connecting lead as the polishing layer
• Model based feedforward to almost perfection
• All physical systems (plant=AD/DA, amplifier, actuator, mechanics,
sensor) to be included in model
• Feedback for robustness (to be minimised by feedforward)
80
Delft
University of
Technology
40

Power Electronics

Uploaded by

Document Information

Original Description:

Original Title

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

Power Electronics

Uploaded by

Copyright:

Available Formats

Mechatronic system design

The task of the power amplifier is

Dynamic Properties in two directions

Amplifiers for electromagnetic actuators 9

Amplifiers for electromagnetic actuators 10

•Voltage and current source

Ideal voltage and current sources

Inductor L with n windings d w d w,t dI

First dynamic impedance, the coil

These parts are used to make filters for

• Will this work with power transfer

• So what must be avoided?

A second order passive low pass filter

A second order low pass filter with

Mechatronic system design WB2414 R. Munnig Schmidt 32

• Discuss difference of voltage and current control to drive an

Low or high output impedance of

Amplifiers for electromagnetic actuators 36

Linear power amplifiers

• A linear power amplifier is nothing else than a powerful version of

• It is often designed like an operational amplifier with high‐power

Main guidelines of determining the

Transconductance amplifier has a

• Rcs measures current but there

Active compensation of magnetic field

Dynamic limitations of standard

What is the impact of the dominant pole

• So what is the character of the

This creates stability issues and a potential resonance 51

The actuator inductance creates

Extreme example of loopshaping

Four internal zeros plus one pole ‐1

Main drawback of a linear non-switching

4 Quadrant power delivery

PWM or switched mode power

Pulse width (duty cycle) modulation

Amplifiers for electromagnetic actuators 64

Switching cycle: step 1

Amplifiers for electromagnetic actuators 66

Amplifiers for electromagnetic actuators 67

Switching cycle: step 3

Amplifiers for electromagnetic actuators 68

Amplifiers for electromagnetic actuators 69

Change of duty cycle Rload=5 Ω

Amplifiers for electromagnetic actuators 70

Io flows from positive supply and from negative supply

Amplifiers for electromagnetic actuators 71

In a bridge configuration these

Amplifiers for electromagnetic actuators 72

Amplifiers for electromagnetic actuators 73

Three phase amplifier concept

Mechatronic system design

Main items to keep in mind

You might also like