3782
8, AUGUST 2012
DSP-Based Probabilistic Fuzzy Neural Network
Control for Li-Ion Battery Charger
Faa-Jeng Lin, Senior Member, IEEE, Ming-Shi Huang, Po-Yi Yeh, Han-Chang Tsai, and Chi-Hsuan Kuan
Abstract—A DSP-based probabilistic fuzzy neural network
(PFNN) controller to control a two-stage ac–dc charger is pro-
posed in this study. The charger is composed of an ac–dc boost
converter with power factor correction and a phase-shift full-
bridge dc–dc converter. Moreover, the designed charger adopts a
constant-current and constant-voltage (CC–CV) charging strategy
to charge lithium-ion battery packs. To improve the transient of
voltage regulation during load variation, a PFNN controller is pro-
posed to replace the traditional proportional–integral controller.
Furthermore, the discontinuous charging voltage and current dur-
ing the transition between the CC and CV charging modes can
also be reduced significantly using the proposed PFNN controller.
The network structure and the online learning algorithms of the
PFNN controller are introduced in detail. In addition, the control
performances of the proposed PFNN control system for CC–CV
charging are evaluated by experimental results.
Index Terms—Constant-current (CC) charging, constant-
voltage (CV) charging DSP, phase-shift full-bridge (PSFB), power
factor correction (PFC), probabilistic fuzzy neural network
(PFNN).
I. INTRODUCTION
UE to environmental requirements, electric vehicles (EVs)
D and hybrid EVs (HEVs) have become key R&D issues in
recent years. Secondary batteries are one of the high-efficiency
energy storages used for HEVs and EVs. The lithium-ion (Li-
ion) battery which offers many advantages like high power
and energy density, high charging and discharging rate, low
self-discharge, less memory effect, etc. [1], has been widely
applied in EV to replace NiCd, NiMH, and lead–acid bat-
teries. A good battery charger with suitable charging meth-
ods will provide safe charging, time efficiency, and prolonged
life for secondary batteries. To match the secondary battery’s
characters, a charger may provide the following functions:
1) delivering charge to battery; 2) optimizing charging rate; and
3) terminating charging process. The charge can be delivered to
battery through different charging schemes based on the battery
chemistry. Many battery-charge methods have been proposed,
Manuscript received August 2, 2011; revised October 24, 2011; accepted Jan-
uary 29, 2012. Date of current version April 20, 2012. This work was supported
by the National Science Council of Taiwan, under Grant NSC 99-2218-E-008-
003. Recommended for publication by Associate Editor D. Xu.
F.-J. Lin, H.-C. Tsai, and C.-H. Kuan are with the Department of Electri-
cal Engineering, National Central University, Chungli 320, Taiwan (e-mail:
linfj@ee.ncu.edu.tw; 985201009@cc.ncu.edu.tw; disgust9@hotmail.com).
M.-S. Huang and P.-Y. Yeh are with the Department of Electrical Engineer-
ing, National Taipei University of Technology, Taipei 106, Taiwan (e-mail:
simonh@ntut.edu.tw; t8319008@ntut.edu.tw).
Digital Object Identifier 10.1109/TPEL.2012.2187073
0885-8993/$31.00 © 2012 IEEE
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO.
such as the constant-current (CC charging), constant-voltage
(CV) charging, CC–CV charging, pulse charging, and reflex
charging [2], [3]. The CC charging method is based on a fixed
charging current to the batteries. The charging method is simple
and easily implemented and the charging currents are equal for
each battery in serial connection [3]. However, the main dis-
advantage of CC charging method is that its difficult to get a
precise sensing mechanism for detecting 100% state of charge
(SOC). Thus, undercharge and overcharge of secondary battery
will occur in the CC charging strategy which will shorten the
performance [4]. On the other hand, the CV charging method
simply uses a constant voltage to provide charge to battery. A
limitation of charging current is needed for the CV method to
avoid overload current, which may reduce the battery life by
increasing of the temperature [3]. Currently, the combination
of CC and CV charging method for batteries has become the
mainstream approach. The CC is first applied for low SOC until
the voltage approaches the preset value, which is determined by
the characteristics of battery. Then, a constant voltage is held
for further charging to allow the battery to be fully charged.
This strategy can effectively increase the charging speed, avoid
overcharge, and achieve a nearly 100% charging for a Li-ion
battery [4].
As is generally recognized, a full-bridge converter with proper
design can possess higher power density by increasing the
carrier frequency of power transistors. However, the energy
conversion efficiency is reduced due to the switching loss of
higher switching frequency, worsening the thermal and elec-
tromagnetic interference effects. In order to solve these prob-
lems, the phase-shift full-bridge (PSFB) converter with zero-
voltage switching (ZVS) [5]–[7] is proposed. However, it is
well known that switching dc–dc converters are highly nonlin-
ear systems with parameter uncertainties and variable operating
conditions. As a result, the conventional control method based
on the averaging and linearization techniques will provide poor
dynamic performance and even instable system [8], [9]. On the
other hand, intelligent controllers, such as fuzzy neural network
(FNN) are capable of both fuzzy reasoning in handling uncer-
tain information and artificial neural networks for learning from
processes [10]. Furthermore, FNNs do not require mathemat-
ical models and have the ability to approximate nonlinearity
and uncertainties in systems [11], [12]. Thus, there has been
much research focused on using FNNs to represent complex
plants and construct advanced controllers [13], [14] based on
the back-propagation (BP) algorithm. In addition, the proba-
bilistic neural network (PNN) is a feedforward neural network,
and its structure is the neural network implementation of Parzen
nonparametric probability density function estimation and
LIN et al.: DSP-BASED PROBABILISTIC FUZZY NEURAL NETWORK CONTROL FOR LI-ION BATTERY CHARGER 3783

Fig. 1. Configuration of battery charger.

Bayes classification rule [15]. The PNNs can handle the un- TABLE I
SPECIFICATIONS OF BATTERY CHARGER
certainties in industrial applications effectively and have been
widely used in pattern classification [16], nonlinear mapping
[17], and fault detection and classification [18]. According to the
aforementioned advantages of FNNs and PNNs, the probabilis-
tic FNN (PFNN), which combines the characteristics of FNN
(degree of truth) and the characteristics of PNN (probability of
truth), has been applied in some areas such as modeling and con-
trol problems [19] and stochastic modeling [20]; however, the
aforementioned references only provide the simulated results.
Additionally, there are two parts in the inference operation of
PFNN: the Mamdani inference for the fuzzy information and the
Bayesian inference for the probabilistic information [19]; there-
fore, the PFNN can enhance the fuzzy systems applicability by
bridging the gap between fuzziness and probability.
A DSP-based PFNN is proposed in this study to control a two-
stage ac–dc charger. The active power factor correction (PFC)
front-end stage can effectively increase the power factor and
lower the harmonic interference from the other electrical facili-
ties. The PSFB dc–dc converter power stage is insulated electri- II. CIRCUITS DESCRIPTION AND MODELING
cally to charge the Li-ion battery packs using CC–CV charging The proposed battery charger shown in Fig. 1 consists of two
modes. However, it may cause problems at the switchover point stages including a single-phase ac–dc converter with PFC in
if the CC and CV modes work separately [21]. After the CC the front-end stage and a PSFB dc–dc converter in the power
mode quits operating, the current rate is related to the internal stage. Two LiMn2O4 battery packs are adopted as the load of the
resistance of the battery in the CV mode. If the internal re- charger. The specifications of the proposed charger are listed in
sistance is small, the current rate at the switchover point may Table I. All the control schemes of converters are implemented
be larger than the one in the CC mode. Moreover, since the in a DSP-based control system using TMS320F28035.
battery has been almost fully charged in the CC mode, the dis-
continuous charging voltage and current during the transition
between the CC and CV charging modes may push it into the A. PFC AC–DC Converter
dangerous region [21]. Therefore, the key technology for CC– The objective of the PFC ac–dc converter shown in Fig. 1 is to
CV charger is how to transit from the current to the voltage provide both a stable dc-link voltage Vdc 200 V and less power
sources smoothly and properly [22]. In this study, the discontin- line disturbances on utility to meet the total demand distortion
uous charging voltage and current during the transition between (TDD) of <5% specified in IEEE Std 519-1992 for the input
the CC and CV charging modes can be reduced significantly us- current [23]. In Fig. 1, vac is the grid voltage, iac is the input cur-
ing the proposed PFNN controller. Furthermore, the proposed rent, vin is the rectified voltage, RA , RB , and RC are the divider
PFNN controller can improve the transient of voltage regula- resistors, LPFC is the boost inductor, CPFC is the boost capac-
tion during load variation. In addition, in order to lower the itor, and DPFC is the boost diode. The control scheme of the
cost and the interference between different power switches, the PFC ac–dc converter is shown in Fig. 2 [24]–[26]. In Fig. 2, the
proposed control system is implemented using a single DSP control block consists of a zero cross detection circuit, a sine
TMS320F28035 to control the two-stage charger. Finally, the ef- wave lookup table, the proportional–integral (PI) current and
fectiveness of the proposed PFNN control system is verified by voltage controllers, and a pulsewidth modulation (PWM) gener-
experimentation. ator. The reference current is designed as i∗L = Icm d | sin ωt|. Its
3784 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 8, AUGUST 2012

Fig. 2. Control scheme of PFC ac–dc converter.

amplitude Icm d is determined by the PI controller in the voltage TABLE II

CIRCUIT PARAMETERS OF TWO-STAGE AC–DC CHARGER
loop. Its phase and sinusoidal waveform are determined by the
zero cross signal and the sine wave lookup table. The dc-link
voltage Vdc is controlled by the closed-loop PI controller to
∗
track the dc-link voltage command Vdc . The average inductor
current iL is forced to follow the reference current i∗L , which is
proportional to vin so that unit power factor can be achieved.
The switch QPFC is controlled by PWM to achieve unit power
factor. The sampling period of current controller and voltage
controller is 20 and 160 μs, respectively.

B. PSFB DC–DC Converter

The PSFB dc–dc converter shown in Fig. 1 is constructed
using a full-bridge converter, an HF transformer Tr , and an LC
low-pass filter [5]. The switches QA –QD are implemented as
full bridge by phase shifting the switching of one-half bridge
with respect to the other, and each half bridge produces square-
wave voltage. The diodes DA –DD serve as rectifier. Then, the
transmitted power is controlled by adjusting the phase-shift an-
gle φ. In steady state, the relation between Vdc and vo can be
represented by the following [5]:
φ
vo = ntr Vdc (1)
π
Fig. 3. Small-signal circuit model of PSFB dc–dc converter.
where ntr = Ns /Np is the transformer turns ratio, Np is the
transformer primary turns, and Ns is the transformer secondary perturbations of the filter inductor current îL O , dc-link voltage
turns. Moreover, if the leakage inductance is carefully designed, V̂dc , and the duty cycle of the primary voltage d. ˆ Therefore,
the switches may achieve ZVS to enhance the efficiency in light- the perturbation of the effective duty cycle of the transformer
load condition. Furthermore, a low-pass filter composed of an secondary voltage can be represented by dˆeff = dˆ + dˆi + dˆv ,
inductor Lo and a capacitor Co is applied to mitigate the current where dˆi is the effect of duty cycle modulation due to îL O and
and voltage ripples. Hence, the accurate controlled voltage can dˆv is the effect of duty cycle modulation due to V̂dc . The small-
be yielded to extend the cycle life of the battery pack. In addition, signal circuit model of the PSFB dc–dc converter is shown
in Fig. 1, Vbatt1 and Vbatt2 are the terminal voltage of the two in Fig. 3 [27]. In Fig. 3, the contributions of dˆi and dˆv are
Li-ion battery packs. To avoid the circular current between the represented by two dependent sources. Moreover, dˆi , dˆv , and
two battery packs, two external diodes Dbatt1 and Dbatt2 are Rd are represented by the following equations [27]:
added in the circuit. All the circuit parameters of the two-stage Rd Rd iL O
ac–dc charger are listed in Table II. dˆi = − îL O , dˆv = 2 V̂dc , Rd = 4n2tr Lk fs .
ntr Vdc ntr Vdc
1) Small-Signal Circuit Model: The small-signal analysis of (2)
the PSFB converter is based on a resistive load. The effective
duty cycle of the transformer secondary voltage is deff = Deff + Furthermore, the open-loop control-to-output transfer func-
dˆeff , where Deff is the duty of the operating point and dˆeff is the tion is [27]
duty cycle perturbation. The dˆeff depends not only on the duty v̂o (s)
Δ
cycle d of the primary voltage, but also on the filter inductor Gv d (s) = =
ˆ
d(s)
current iL O , the leakage inductance Lk , the input voltage Vdc ,
and the switching frequency fs [27]. Thus, the small-signal ntr Vdc
= (3)
transfer function of this converter depends on Lk , fs , and the s2 Lo Co + s((Lo /Rlao d ) + Rd Co ) + (Rd /Rload ) + 1
LIN et al.: DSP-BASED PROBABILISTIC FUZZY NEURAL NETWORK CONTROL FOR LI-ION BATTERY CHARGER
Fig. 4. Control blocks of PSFB dc–dc converter. (a) Control scheme of PSFB
dc–dc converter. (b) Function block of voltage control. (c) Function block of
current control.
where v̂o is the perturbation of the output voltage, and the
related circuit parameters of the transfer function are ntr =
6/14, Rload = 4.5 Ω, fs = 50 kHz, Lk = 4.17 μH, and Rd =
0.1532.
2) Control Scheme: The control scheme of the PSFB dc–dc
converter is shown in Fig. 4(a) [22]. It consists of a PI cur-
rent controller for CC mode, a PI voltage controller for CV
mode, and a PWM generator. In Fig. 4(a), vo∗ is the output
voltage command, vo is the output voltage, i∗o is the output
current command, io is the output current, uv is the output of
voltage controller, ui is the output of current controller, and
u is the limited value of the uv or ui . The sampling period
of each controller is 40 μs. The command of PWM generator
can be selected from CC or CV mode according to the SOC
of the Li-ion battery packs. At low SOC, a constant current
command i∗o is applied and io will track i∗o until the battery
voltage has risen to a predetermined value. At that point, the
CC mode will change to CV mode and the charging voltage vo
is held constant according to vo∗ and the charging current io is
reduced.
For the development of voltage control, an added PI voltage
controller Gc1 (s) is shown in Fig. 4(b), where v̂o∗ (s) is the per-
turbation of output voltage command, v̂o (s) is the perturbation
of output voltage, êv is the perturbation of output voltage error,
and dˆ1 is the perturbation of duty cycle for the transformer pri-
mary voltage vpri at CV control mode. All the perturbations are
based on the operating point of the voltage control mode. After
compensation, the open-loop voltage control transfer function
3785
Fig. 5. PFNN control block of charger.
Tv (s) can be obtained from Fig. 4(b) as follows:
Tv (s) = Gc1 (s)Gv d (s). (4)
The required specifications of the compensated open-loop trans-
fer function Tv (s) are phase margin 22.5◦ and bandwidth
28.7 Hz. The resulting compensator is Gc1 (s) = 0.01479 +
2.958/s. Moreover, for the development of current control, a
current controller Gc2 (s) is added and the function block is
shown in Fig. 4(c), where î∗o (s) is the perturbation of output
current command, îo (s) is the perturbation of output current, êi
is the perturbation of output current error, and dˆ2 is the pertur-
bation of duty cycle for the transformer primary voltage vpri at
CC control mode. All the perturbations are based on the operat-
ing point of the current control mode. After compensation, the
open-loop transfer function of current controller Ti (s) can be
obtained from Fig. 4(c) as follows:
1
Ti (s) = Gc2 (s)Gv d (s) . (5)
Rload
The required specifications of the compensated open-loop trans-
fer function Ti (s) are phase margin 13.8◦ and bandwidth 1 kHz.
The resulting compensator is Gc2 (s) = 0.1562 + 9.4/s.
III. PROPOSED PFNN CONTROL SYSTEM
In the control scheme of the PSFB dc–dc converter shown
in Fig. 4(a), discontinuous control effort u occurs when the
control mode is switched from CC mode to CV mode resulting
in discontinuous charging voltage and current. Overvoltage or
overcurrent could occur which would harm the life cycles of the
battery packs because of the discontinuous control effort u . To
solve the aforementioned difficulties, a PFNN control system
for the CC–CV charging strategy is proposed in Fig. 5, where a
PFNN controller is proposed for both the CC and CV charging
modes. In Fig. 5, e is the voltage or current tracking error, ė is the
first derivative of voltage or current tracking error, u is the output
of PFNN controller, and u is the limited value of u. Though
the tracking error e is discontinuous in the switching instant
from CC mode to CV mode, the control effort u still remains
continuous. Thus, continuous charging current and voltage can
be achieved.
A. Probabilistic Fuzzy Neural Network
The architecture of the PFNN including the input layer
(layer 1), the membership layer (layer 2), the probabilistic layer
3786 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 8, AUGUST 2012

Fig. 6. Probabilistic fuzzy neural network (PFNN). (a) Structure of PFNN. (b) Triangular functions in membership layer of PFNN. (c) Triangular functions in
probabilistic layer of PFNN.

(layer 3), the rule layer (layer 4), and the output layer (layer 5) 1) Layer 1 (Input Layer): In the input layer, the node input
with two inputs and one output is shown in Fig. 6(a). Moreover, and the node output are represented as follows:
the signal propagation and the basic function of each layer are
introduced in the following. xn (N ) = en (N ), n = 1, 2 (6)
LIN et al.: DSP-BASED PROBABILISTIC FUZZY NEURAL NETWORK CONTROL FOR LI-ION BATTERY CHARGER 3787

where xn represents the nth input to the input layer, and N
represents the Nth iteration. In this study, the inputs of the PFNN
are e1 (N ) = e and e2 (N ) = ė, which are the tracking error
and its derivative, respectively. It must be noted that e = ev =
vo∗ − vo when the battery pack is charging at CV mode, and
e = ei = i∗o − io when the battery pack is charging at CC mode.
2) Layer 2 (Membership Layer): In the membership layer,
the receptive field function is usually a Gaussian function in
FNN. In order to reduce the computational requirements in a
where μIl and PlI are the input of rule layer, wj l is the connective
weight between the membership layer and the rule layer which is
set to be 1, wk l is the connective weight between the probabilistic
layer and the rule layer, which is also set to be 1, and μO l is the
output of the rule layer.
5) Layer 5 (Output Layer): In the output layer, the node
output is represented as follows:

9

fix-point DSP, a triangular function fm (xn ) shown in Fig. 6(b) u = y(N ) = wl μO

l (12)
l=1
is selected as the receptive field function. The equations of the
triangular function fm (xn ) are in the following: where u = y(N ) is the output of the PFNN, and wl is the con-
nective weight between the rule layer and the output layer.
μj (xn ) = fm (xn )
⎧
⎪ 0, if xn ≥ mj + σj , xn ≤ mj − σj B. Online Learning Algorithm Using Delta Adaptation Law
⎪
⎪
⎪
⎨ nx − m j + σ j
, if mj − σj < xn ≤ mj The central part of the learning algorithm for the PFNN con-
= σj
⎪
⎪ cerns how to recursively obtain a gradient vector in which each
⎪ −xn + mj + σj
⎪
⎩ , if mj < xn ≤ mj + σj element in the learning algorithm is defined as the derivative
σj of an energy function with respect to a parameter of the net-
n = 1, 2. j = 1, 2, . . . , 6 (7) work. This is done by means of the chain rule, and the method
is generally referred to as the BP learning rule. To describe the
where μj (xn ) is the output of the jth node of the nth input online learning algorithm of the PFNN using supervised gra-
variable, mj is the center of the triangle, and σj is the center’s dient decent method, first the energy function E is defined as
width of the triangle. follows:
3) Layer 3 (Probabilistic Layer): In the probabilistic layer,
1 2
the receptive field function is usually a Gaussian function. For E= e (13)
the same reason in the membership layer, the triangular func- 2
tion fp (μj ) shown in Fig. 6(c) is selected as the receptive field where e = ev if charging at CV mode and e = ei if charg-
function and its equations are as follows: ing at CC mode. Then the learning algorithm is described as
follows.
Pk (μj ) = fp (μj ) 1) Layer 5: The error term to be propagated is given by:
⎧
⎪ 0, if μj ≥ mk + σk , μj ≤ mk − σk ⎧
⎪
⎪ ⎪ ∂E ∂vo
⎪
⎨ μj − mk + σk ⎪
⎪ − , if charging at CV mode
, if mk − σk < μj ≤ mk ∂E ⎨ ∂v o ∂y(N )
= σk δo = − =
⎪
⎪ ∂y(N ) ⎪
⎪
⎪ −μj + mk + σk ⎪
⎪ − ∂E ∂io , if charging at CC mode
⎩ , if mk < μj ≤ mk + σk ⎩
σk ∂io ∂y(N )
(14)
k = 1, 2, . . . , 18 (8)
and the weights are updated by the amount:
where Pk (μj ) is the output of the kth node of the jth input ∂E ∂E ∂y(N )
variable, mk is the center of the triangle, and σk is the center’s Δwl = −η1 = −η1 = η1 δo μO
l (15)
∂wl ∂y(N ) ∂wl
width of the triangle.
4) Layer 4 (Rule Layer): In the rule layer, each node cor- where the factor η1 is the learning rate. The connective weight
responds to a rule in the knowledge base. In the Mamdani in- wl is updated according to the following equation:
ference, the node itself performs the t-norm operation (product
operation) to obtain the inference set according to the rules, as wl (N + 1) = wl (N ) + Δwl . (16)
shown in (9). The probabilistic information is processed using
the Bayes’ theorem [19] in consideration of the group of fuzzy
2) Layer 4: In this layer, the error terms to be propagated
grade being independent variables, as shown in (10). Therefore,
are given by:
the node input and the node output are represented as follows:
 ∂E ∂E ∂y(N )
μIl = wj l μj (9) δl = − =− = δo wl . (17)
∂μO
l ∂y(N ) ∂μO
l
j
 3) Layer 2: The error terms to be propagated are given by:
PlI = wk l Pk (10)
∂E ∂E ∂y(N ) ∂μO I 
l ∂μl
k
δj = − =− = δl PlI . (18)
μO I I
l = μl Pl , l = 1, 2, . . . , 9. (11) ∂μj ∂y(N ) ∂μO
l ∂μIl ∂μj l
3788 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 8, AUGUST 2012

Fig. 7. Block diagram of DSP-based control system and flow charts. (a) Block diagram of DSP-based control. (b) Flow chart of main program, 20 μs ISR and
40 μs ISR.

Applying the chain rule, the update laws of center and center’s ∂E ∂E ∂y(N ) ∂μol ∂μIl ∂μj
width of the triangle are as follows: Δσj = −η3 = −η3
∂σj ∂y(N ) ∂μol ∂μIl ∂μj ∂σj
⎧
⎪ mj − xn
⎪
⎨ η3 δj (σ )2 , if mj − σj < xn ≤ mj
∂E ∂E ∂y(N ) ∂μol ∂μIl ∂μj j
Δmj = −η2 = −η2 =
xn − mj
(20)
∂mj ∂y(N ) ∂μol ∂μIl ∂μj ∂mj ⎪
⎪
⎩ η3 δj , if mj < xn ≤ mj + σj
⎧ (σj )2
⎪ 1
⎪
⎨ −η2 δj σ , if mj − σj < xn ≤ mj
j
= (19)
⎪
⎪ 1 where the factors η2 and η3 are the learning rates. The center of
⎩ η2 δj , if mj < xn ≤ mj + σj the triangle mj and center’s width of the triangle σj are updated
σj
LIN et al.: DSP-BASED PROBABILISTIC FUZZY NEURAL NETWORK CONTROL FOR LI-ION BATTERY CHARGER 3789

according to the following equation:

mj (N + 1) = mj (N ) + Δmj (21)
σj (N + 1) = σj (N ) + Δσj . (22)
In order to reduce the computation load, in Layer 3, the
center of the triangle mk and the center’s width of the tri-
angle σk are constants, where mk is set to be 0.4 for k =
1, 4, 7, 10, 13, 16, to be 0.5 for k = 2, 5, 8, 11, 14, 17, and to be
0.6 for k = 3, 6, 9, 12, 15, 18, and σk is set to be 1. Moreover,
the exact calculation of the Jacobian of the system, ∂vo /∂y(N )
or ∂io /∂y(N ), is difficult to determine due to the unknown dy-
namics of the PSFB dc–dc converter. To overcome this problem,
a delta adaptation law is adopted as follows [28]:
δo ∼
=
 ∗
(vo −vo )+(v̇o∗ − v̇o ) = ev + ėv , if charging at CV mode

(i∗o −io )+(i̇∗o − i̇o ) = ei + ėi , if charging at CC mode

(23)
where v̇o∗ , v̇o , i̇∗o , and i̇o represent the first derivatives of
the output voltage command, output voltage, output current
command, and output current of the PSFB dc–dc converter,
respectively.

C. Convergence Analyses of PFNN
The selection of the values of the learning rate parame-
ters of the PFNN has a significant effect on the network per-
formance. Therefore, in order to train the PFNN effectively,
the varied learning rates [29]–[31], which guarantee the con-
vergence of the tracking errors based on the analysis of a
discrete-type Lyapunov function, are derived in the Appendix.
Moreover, the convergence of the tracking errors can guar-
antee the perfect tracking of the output voltage and current
commands.
IV. EXPERIMENTAL RESULTS
The adopted Li-ion battery pack is composed of 42 cells with
7 cells in series as a unit and six units in parallel. The type of
Li-ion cell used is SANYO UR18650Y. The nominal capacity
and nominal voltage of the battery pack are 11.4 Ah and 25.9 V,
respectively and the recommended charging voltage is 29.2 V.
Moreover, it is strongly recommended by the producer that the
charging current must not exceed 11.4 A, otherwise the high
temperature due to high charging current will endanger the cycle
life of the battery pack. Moreover, to test the performance of
the PSFB converter, an electronic load is also adopted. The type
of electronic load is Chroma DC Load 63112 with 1200 W,
0–240 A, 0–80 V, and 6.25 mΩ–25 Ω.
The PI controllers and PFNN controllers are implemented in
the Texas Instruments DSP TMS320F28035 shown in Fig. 7(a).
Moreover, all the control algorithms for the proposed battery
charging system are realized in the DSP using the Assembly
languages. The methodology proposed for the implementation
of the CC–CV battery charging system using PFNN consists of
a main program and two interrupt service routines (ISRs). The
Fig. 8. Experimental results using PI voltage controller at rated load 800 W
of the two-stage converter. (a) Grid voltage and input current v a c and ia c . (b)
DC-link voltage ripples and the output voltage ripples ΔV d c and Δv o .
flow charts of the main program and two ISRs with interrupt in-
tervals 20 and 40 μs, respectively, are shown in Fig. 7(b). Param-
eters and I/O initialization, peripheral function setting, interrupt
setting, enabling interrupts ISRs, and main loop are included in
the main program. In the 20 μs ISR, the functions of reading
feedback signals from analog-to-digital converters, using en-
hanced capture (eCAP) function to capture the phase of grid volt-
age signal and processing sine wave lookup table, calculating the
current command, processing digital-to-analog converters out-
put using serial peripheral interface module, and executing PI
current controller of front-end stage are included. Furthermore,
the CC–CV charging control using the PFNN controller for the
PSFB dc–dc converter and the online training of the PFNN are
processed in the 40 μs ISR. In addition, the PI voltage con-
trol loop in the front-end stage is executed every 160 μs in this
ISR.
The experimentation is divided into two parts. In the first
part, the experimental results of the two-stage converter with
the PSFB operated as a dc–dc converter using electronic load
are discussed. In the second part, the experimental results of the
two-stage converter with the PSFB operated as a charger using
battery packs as the load are discussed.
A. Experimental Results of the Two-Stage Converter
Fig. 8(a) shows the grid voltage vac and input current iac and
Fig. 8(b) shows the dc-link voltage ripples ΔVdc and the output
3790
Fig. 9. Dynamic responses of a two-stage converter using PI voltage control.
(a) Negative load step using PI voltage controller. (b) Positive load step using
PI voltage controller.
Fig. 10. Dynamic responses of a two-stage converter using PFNN voltage
control. (a) Negative load step using PFNN voltage controller. (b) Positive load
step using PFNN voltage controller.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 8, AUGUST 2012
Fig. 11. Efficiency curves of two-stage converter. (a) PFC ac–dc converter.
(b) PSFB dc–dc converter.
voltage ripples Δvo using the PI voltage controller at rated load
800 W of the two-stage converter. The TDD of the proposed
two-stage converter is 4.1%. The experimental results show that
the power factor is 0.998 and the efficiency η is 82.1%, ΔVdc
is about 5% of Vdc , and Δvo as also about 5% of vo . Moreover,
Figs. 9(a) and (b) and 10(a) and (b) show the dynamic responses
of the two-stage converter with step load from 100% (800 W) to
50% (400 W) and 50% to 100% of the rated load. The dynamic
responses of Vdc , vo , and iac using the PI voltage controller in
the PSFB dc–dc converter are shown in Fig. 9(a) and (b) and the
dynamic responses of Vdc , vo , and iac using the PFNN voltage
controller in the PSFB dc–dc converter are shown in Fig. 10(a)
and (b). Since the dynamic response of the PFNN controller in
the PSFB dc–dc converter is much faster than the PI voltage
controller in the front-end stage, the dynamic responses of Vdc
are deteriorated, as shown in Fig. 10(a) and (b). However, from
the comparison of the experimental results shown in Figs. 9
and 10, the dynamic responses of vo are much improved for the
proposed PFNN controller. It can also be seen that satisfactory
output voltage regulation results can be achieved with sinusoidal
input current for the PFNN controller. Furthermore, for the
LIN et al.: DSP-BASED PROBABILISTIC FUZZY NEURAL NETWORK CONTROL FOR LI-ION BATTERY CHARGER
Fig. 12. CC–CV control transient responses with resistive load. (a) Using CC
and CV two PI controllers. (b) Using PFNN controller.
two-stage converter, the power factor is 0.994 and the efficiency
η is 82.8% at the 400 W load condition. The efficiency curves
of the PFC ac–dc and PSFB dc–dc converters are shown in
Fig. 11(a) and (b), respectively. Though the improvement of the
efficiency of the converters is not the main goal of this study,
acceptable efficiency of the converters still can be achieved at
all load conditions.
Now, the control performance of the CC and CV charging
modes are discussed here. To show the effectiveness of the
proposed PFNN controller in the PSFB dc–dc converter, the
following experiments show the transient response during the
transition of the CC and CV charging modes. Prior to the bat-
tery charging experiment, the electronic load with constant re-
sistance is adopted in this experimentation. Moreover, the com-
mand current i∗o is set at 11.4 A in the CC charging mode, and
the command voltage vo∗ is set at 30 V in the CV charging mode
in the following experimentation. Furthermore, the unit of the
control effort u is in amperes in the CC charging mode and in
volts in the CV charging mode. The transient responses during
the transition from the CC and the CV charging modes using
the PI and PFNN controllers are shown in Fig. 12(a) and (b),
respectively. In Fig. 12(a), the undesirable and larger transient
responses of vo , io , and u occur during the transition from
the CC charging mode to the CV charging mode. On the other
hand, the experimental results using the proposed PFNN con-
troller can solve this problem, as shown in Fig. 12(b). Therefore,
excellent transient control performance can be achieved using
the proposed PFNN controller.
3791
Fig. 13. CC–CV control transient responses with battery load. (a) Using CC
and CV two PI controllers. (b) Using PFNN controller.
B. Experimental Results of the Two-Stage Charger
The experimental results of the two-stage converter with the
PSFB dc–dc converter operated as a charger using two Li-ion
battery packs as the load are shown in Fig. 13. The transient re-
sponses for the switching from CC to CV charging modes using
the PI and PFNN controllers are shown in Fig. 13(a) and (b),
respectively. In Fig. 13(a), the control effort u is not continu-
ous during the transition of CC–CV charging modes. Therefore,
large transient responses occur for vo and io especially for io
due to the small internal resistance of the Li-ion battery packs.
On the other hand, the control effort u is continuous during
the transition of CC–CV charging modes using the PFNN con-
trol system. Thus, the smooth responses of vo and io responses
can be achieved, as shown in Fig. 13(b). Moreover, to verify
the effectiveness of the charger using the PFNN controller, the
complete CC–CV charging curves using the PI and PFNN con-
trollers are shown in Fig. 14(a) and (b), respectively. In the CC
charging mode, the charging current is 1 C. The charging mode
is switched from CC mode to the CV mode when vo is equal
to vo∗ . The discontinuous phenomena of the charging current
and voltage shown in Fig. 14(a) using the PI controller can be
much reduced using the proposed PFNN controller, as shown in
Fig. 14(b). Therefore, the cycle life of the battery packs can be
extended. Furthermore, in Fig. 14(a) and (b), io drops gradually
from 8 A after changing to the CV charging mode. In addition,
for the two Li-ion battery packs, the SOC is regarded as 100%
at the instant io ≤ 1.2 according to its specification, and then
the charger is turned OFF. Additionally, the efficiency curve
3792 IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 8, AUGUST 2012

dc–dc converter power stage charges Li-ion battery packs ef-

fectively using the CC–CV charging strategy. Moreover, the
designed PFNN controller can much improve the transient of
voltage regulation during load variation as compared to the tra-
ditional PI controller. Furthermore, the discontinuous charging
voltage and current during the transition between the CC and
CV charging modes using the PI controller are also reduced
significantly using the proposed PFNN controller. Therefore,
the Li-ion battery packs can be charged quickly, safely, and ef-
ficiently using the proposed PFNN controlled two-stage ac–dc
charger.
The major contributions of this study are: 1) the success-
ful design of the PFNN controller and its online learning al-
gorithm, in which the varied learning rates are derived using
the convergence analysis; and 2) the successful implementa-
tion of the PFNN controller for the PSFB dc–dc converter to
improve the transient of voltage regulation during load varia-
tion and to reduce the discontinuous charging voltage and cur-
rent during the transition between the CC and CV charging
modes.

Fig. 14. CC–CV control complete charging curves for battery packs. (a) Using
CC and CV two PI controllers. (b) Using PFNN controller.
APPENDIX
The purpose of the convergence analyses is to derive specific
learning rate coefficients for network parameters to assure the
convergence of the tracking error. Considering the energy func-
tion in (13) as a discrete-type Lyapunov function, the change in
the Lyapunov function can be written as follows:

ΔE(N ) = E(N + 1) − E(N ). (24)

Then, the linearized model [24] of the error equation can be

represented via (15), (19), and (20) by

E(N + 1) = E(N ) + ΔE(N )

9

∂E(N )
≈ E(N ) + Δwl
∂wl
l=1
6


∂E(N ) ∂E(N )
+ Δmj + Δσj
j =1
∂mj ∂σj
9

2
1 ∂E(N ) ∂y(N )
Fig. 15. Efficiency curve of two-stage charger during a full charge cycle. = E(N ) − η1
3 ∂y(N ) ∂wl
l=1

 6
2
1 ∂E(N ) ∂y(N ) ∂μj
+ E(N ) − η2
of the two-stage charger during a full charge cycle is shown 3 j =1
∂y(N ) ∂μj ∂mj
in Fig. 15.
 6
2
1 ∂E(N ) ∂y(N ) ∂μj
+ E(N ) − η3 (25)
3 j =1
∂y(N ) ∂μj ∂σj
V. CONCLUSION
A TMS320F28035 DSP-based PFNN controller has been suc- where Δwl , Δmj , and Δσj represent the change of weight
cessfully developed in this study to control a two-stage ac–dc in the output layer, and the change of the center and center’s
charger. In the two-stage ac–dc charger, the active PFC front- width of the triangle in the membership layer, respectively.
end stage can increase the input power factor and the PSFB If the learning rate parameters of the PFNN are designed as
LIN et al.: DSP-BASED PROBABILISTIC FUZZY NEURAL NETWORK CONTROL FOR LI-ION BATTERY CHARGER 3793

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3794
Faa-Jeng Lin (M’93–SM’99) received the B.S. and
M.S. degrees in electrical engineering from the Na-
tional Cheng Kung University, Tainan, Taiwan, in
1983 and 1985, respectively, and the Ph.D. degree in
electrical engineering from the National Tsing Hua
University, Hsinchu, Taiwan, in 1993.
From 1993 to 2001, he was an Associate Profes-
sor and then a Professor in the Department of Elec-
trical Engineering, Chung Yuan Christian University,
Chung Li, Taiwan. From 2001 to 2003, he was Chair-
person and a Professor in the Department of Electrical
Engineering, National Dong Hwa University, Hualien, Taiwan, where he was
also the Dean of Research and Development from 2003 to 2005 and Dean of
Academic Affairs from 2006 to 2007. Currently, he is a Chair Professor in the
Department of Electrical Engineering, National Central University, Chung Li,
Taiwan. His research interests include fuzzy and neural network control theories,
nonlinear control theories, ac and ultrasonic motor drives, DSP-based computer
control systems, power electronics, and micromechatronics.
Prof. Lin received the Crompton Premium Best Paper Award from the Insti-
tution of Electrical Engineers, U.K., in 2002, the Outstanding Research Award
from the National Science Council, Taiwan, in 2004 and 2010, the Outstanding
Research Professor Award from the National Dong Hwa University in 2004,
and the Outstanding Professor of Electrical Engineering Award in 2005 from
the Chinese Electrical Engineering Association, Taiwan. Moreover, he was the
recipient of the Distinguished Professor Award and Chair Professor Award from
National Central University in 2008 and 2010. He was the Chair of Power En-
gineering Division, National Science Council, Taiwan, and the Chair of IEEE
IE/PELS Taipei Chapter from 2007 to 2009. He is currently a member of the
Fuzzy Systems Technical Committee of Computational Intelligence Society
(CIS) and Chair of IEEE CIS Taipei Chapter. Furthermore, he is a Fellow of the
Institution of Engineering and Technology (IET).
Ming-Shi Huang received the B.S. degree in electri-
cal engineering from National Taiwan University of
Science and Technology, Taiwan, in 1987, the M.S.
degree in electrical engineering from Tatung Univer-
sity, Taipei, Taiwan, in 1991, and the Ph.D. degree in
electrical engineering from National Tsing Hua Uni-
versity, Hsinchu, Taiwan, in 2004.
From 1987 to 2004, he was a Researcher in the
Mechanical Industry Research Laboratories of the
Industrial Technology Research Institute. He is cur-
rently an Assistant Professor in the Department of
Electrical Engineering, National Taipei University of Technology, Taipei, Tai-
wan. His research interests include power electronics, variable-speed drives, and
electrical power train in vehicle applications.
IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 27, NO. 8, AUGUST 2012
Po-Yi Yeh received the M.S. degree in electrical
engineering from the National Taipei University of
Technology, Taipei, Taiwan, in 2007. He is currently
working toward the Ph.D. degree in electrical engi-
neering at the National Taipei University of Technol-
ogy, Taipei.
From 2007 to 2009, he was a Research Engineer
with Allis Electric Co., Ltd. His research interests
include modeling, design, and digital power control
of converters especially in bidirectional power flow
control.
Han-Chang Tsai was born in Taoyuan, Taiwan, in
1986. He received the B.S. degree in electrical en-
gineering from the Fu Jen Catholic University, New
Taipei, Taiwan, in 2009, and the M.S. degree in elec-
trical engineering from the National Central Univer-
sity, Chungli, Taiwan in 2011. He is currently fulfill-
ing his mandatory military service, Taoyuan, Taiwan.
His research interests include DSP-based control
system, power electronics, battery management sys-
tem, and intelligence control theories.
Chi-Hsuan Kuan was born in Taichung, Taiwan, in
1987. He received the B.S. degree in bioindustrial
mechatronics engineering from the National Chung
Hsing University, Taichung, Taiwan, in 2010. He
is currently working toward the M.S. degree in the
electrical engineering, National Central University,
Chungli, Taiwan.
His research interests include DSP-based control
system, power electronics, and intelligence control
theories.